42 #include <visp3/core/vpConfig.h>
44 #if (defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)) && \
45 (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
47 #include <visp3/core/vpDebug.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpIoTools.h>
50 #include <visp3/core/vpMath.h>
51 #include <visp3/gui/vpDisplayFactory.h>
52 #include <visp3/io/vpImageIo.h>
53 #include <visp3/io/vpParseArgv.h>
54 #include <visp3/io/vpVideoReader.h>
55 #include <visp3/mbt/vpMbGenericTracker.h>
57 #define GETOPTARGS "x:m:i:n:de:chtfColwvpT:"
59 #ifdef ENABLE_VISP_NAMESPACE
63 void usage(
const char *name,
const char *badparam)
65 #if VISP_HAVE_DATASET_VERSION >= 0x030600
66 std::string ext(
"png");
68 std::string ext(
"pgm");
71 Example of tracking based on the 3D model.\n\
74 %s [-i <test image path>] [-x <config file>]\n\
75 [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\
76 [-t] [-c] [-d] [-h] [-f] [-C] [-o] [-w] [-l] [-v] [-p]\n\
77 [-T <tracker type>]\n",
82 -i <input image path> \n\
83 Set image input path.\n\
84 From this path read images \n\
85 \"mbt/cube/image%%04d.%s\". These \n\
86 images come from visp-images-x.y.z.tar.gz available \n\
87 on the ViSP website.\n\
88 Setting the VISP_INPUT_IMAGE_PATH environment\n\
89 variable produces the same behavior than using\n\
93 Set the config file (the xml file) to use.\n\
94 The config file is used to specify the parameters of the tracker.\n\
97 Specify the name of the file of the model\n\
98 The model can either be a vrml model (.wrl) or a .cao file.\n\
100 -e <last frame index> \n\
101 Specify the index of the last frame. Once reached, the tracking is stopped\n\
104 Do not use the vrml model, use the .cao one. These two models are \n\
105 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
106 website. However, the .cao model allows to use the 3d model based tracker \n\
110 Track only the cube (not the cylinder). In this case the models files are\n\
111 cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\
112 cube_and_cylinder.wrl.\n\
114 -n <initialisation file base name> \n\
115 Base name of the initialisation file. The file will be 'base_name'.init .\n\
116 This base name is also used for the optional picture specifying where to \n\
117 click (a .ppm picture).\n\
120 Turn off the display of the the moving edges and Klt points. \n\
123 Turn off the display.\n\
126 Disable the mouse click. Useful to automate the \n\
127 execution of this program without human intervention.\n\
130 Use Ogre3D for visibility tests\n\
133 When Ogre3D is enable [-o] show Ogre3D configuration dialog that allows to set the renderer.\n\
136 Use the scanline for visibility tests.\n\
139 Compute covariance matrix.\n\
142 Compute gradient projection error.\n\
145 Set tracker type (<1 (Edge)>, <2 (KLT)>, <3 (EdgeKlt)>).\n\
148 Print the help.\n\n", ext.c_str());
151 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
154 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
155 std::string &initFile,
long &lastFrame,
bool &displayFeatures,
bool &click_allowed,
bool &display,
156 bool &cao3DModel,
bool &trackCylinder,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
157 bool &computeCovariance,
bool &projectionError,
int &trackerType)
165 lastFrame = atol(optarg_);
171 configFile = optarg_;
180 displayFeatures =
false;
186 click_allowed =
false;
192 trackCylinder =
false;
201 showOgreConfigDialog =
true;
204 computeCovariance =
true;
207 projectionError =
true;
210 trackerType = atoi(optarg_);
213 usage(argv[0],
nullptr);
218 usage(argv[0], optarg_);
224 if ((c == 1) || (c == -1)) {
226 usage(argv[0],
nullptr);
227 std::cerr <<
"ERROR: " << std::endl;
228 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
235 int main(
int argc,
const char **argv)
238 std::string env_ipath;
239 std::string opt_ipath;
241 std::string opt_configFile;
242 std::string opt_modelFile;
243 std::string modelFile;
244 std::string opt_initFile;
245 std::string initFile;
246 long opt_lastFrame = -1;
247 bool displayFeatures =
true;
248 bool opt_click_allowed =
true;
249 bool opt_display =
true;
250 bool cao3DModel =
false;
251 bool trackCylinder =
true;
252 bool useOgre =
false;
253 bool showOgreConfigDialog =
false;
254 bool useScanline =
false;
255 bool computeCovariance =
false;
256 bool projectionError =
false;
259 #if VISP_HAVE_DATASET_VERSION >= 0x030600
260 std::string ext(
"png");
262 std::string ext(
"pgm");
270 if (!env_ipath.empty())
274 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
275 opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
276 useScanline, computeCovariance, projectionError, trackerType)) {
281 if (opt_ipath.empty() && env_ipath.empty()) {
282 usage(argv[0],
nullptr);
283 std::cerr << std::endl <<
"ERROR:" << std::endl;
284 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
285 <<
" environment variable to specify the location of the " << std::endl
286 <<
" image path where test images are located." << std::endl
293 if (!opt_ipath.empty())
298 #if defined(VISP_HAVE_PUGIXML)
299 std::string configFile;
300 if (!opt_configFile.empty())
301 configFile = opt_configFile;
302 else if (!opt_ipath.empty())
308 if (!opt_modelFile.empty()) {
309 modelFile = opt_modelFile;
312 std::string modelFileCao;
313 std::string modelFileWrl;
315 modelFileCao =
"mbt/cube_and_cylinder.cao";
316 modelFileWrl =
"mbt/cube_and_cylinder.wrl";
319 modelFileCao =
"mbt/cube.cao";
320 modelFileWrl =
"mbt/cube.wrl";
323 if (!opt_ipath.empty()) {
328 #ifdef VISP_HAVE_COIN3D
331 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
341 #ifdef VISP_HAVE_COIN3D
344 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
351 if (!opt_initFile.empty())
352 initFile = opt_initFile;
353 else if (!opt_ipath.empty())
359 vpDisplay *display1 =
nullptr, *display2 =
nullptr;
368 std::cerr <<
"Cannot open sequence: " << ipath << std::endl;
384 display1->init(I1, 100, 100,
"Test tracking (Left)");
399 #if defined(VISP_HAVE_PUGIXML)
417 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
467 if (opt_display && opt_click_allowed) {
484 if (opt_display && opt_click_allowed) {
485 dynamic_cast<vpMbGenericTracker *
>(tracker)->initClick(I1, I2, initFile, initFile,
true);
491 vpHomogeneousMatrix c1Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
492 vpHomogeneousMatrix c2Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
505 bool quit =
false, click =
false;
506 while (!reader.
end() && !quit) {
515 std::stringstream ss;
522 std::cout <<
"----------Test reset tracker----------" << std::endl;
529 #if defined(VISP_HAVE_PUGIXML)
545 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
582 c1Mo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
583 c2Mo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
584 std::cout <<
"Test set pose" << std::endl;
602 if (opt_click_allowed && opt_display) {
621 if (computeCovariance) {
622 std::cout <<
"Covariance matrix: \n" << tracker->
getCovarianceMatrix() << std::endl << std::endl;
625 if (projectionError) {
626 std::cout <<
"Projection error: " << tracker->
getProjectionError() << std::endl << std::endl;
635 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
636 std::cout <<
"\nFinal poses, c1Mo:\n" << c1Mo <<
"\nc2Mo:\n" << c2Mo << std::endl;
638 if (opt_click_allowed && !quit) {
655 std::cout <<
"Catch an exception: " << e << std::endl;
660 #elif !(defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY))
663 std::cout <<
"Cannot run this example: visp_mbt, visp_gui modules are required." << std::endl;
669 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor darkRed
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
static void display(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
unsigned int getDownScalingFactor()
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix & buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
unsigned int getWidth() const
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void setMinDistance(double minDistance)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static double rad(double deg)
Real-time 6D object pose tracking using its CAD model.
Main methods for a model-based tracker.
virtual void resetTracker()=0
virtual void setOgreShowConfigDialog(bool showConfigDialog)
virtual void setDisplayFeatures(bool displayF)
virtual void setAngleDisappear(const double &a)
virtual void setCovarianceComputation(const bool &flag)
virtual void setScanLineVisibilityTest(const bool &v)
virtual void setOgreVisibilityTest(const bool &v)
virtual vpMatrix getCovarianceMatrix() const
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual double getProjectionError() const
virtual void setProjectionErrorComputation(const bool &flag)
virtual void setClipping(const unsigned int &flags)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
virtual unsigned int getClipping() const
void setMu1(const double &mu_1)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setMaskNumber(const unsigned int &mask_number)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
void setMaskSize(const unsigned int &mask_size)
void setMu2(const double &mu_2)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void setLastFrameIndex(const long last_frame)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
long getFirstFrameIndex()
long getFrameIndex() const
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.