44 #include <visp3/core/vpConfig.h>
46 #if (defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)) && \
47 (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
49 #include <visp3/core/vpDebug.h>
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpIoTools.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/gui/vpDisplayD3D.h>
54 #include <visp3/gui/vpDisplayGDI.h>
55 #include <visp3/gui/vpDisplayGTK.h>
56 #include <visp3/gui/vpDisplayOpenCV.h>
57 #include <visp3/gui/vpDisplayX.h>
58 #include <visp3/io/vpImageIo.h>
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/io/vpVideoReader.h>
61 #include <visp3/mbt/vpMbGenericTracker.h>
63 #define GETOPTARGS "x:m:i:n:de:chtfColwvpT:"
65 void usage(
const char *name,
const char *badparam)
67 #if VISP_HAVE_DATASET_VERSION >= 0x030600
68 std::string ext(
"png");
70 std::string ext(
"pgm");
73 Example of tracking based on the 3D model.\n\
76 %s [-i <test image path>] [-x <config file>]\n\
77 [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\
78 [-t] [-c] [-d] [-h] [-f] [-C] [-o] [-w] [-l] [-v] [-p]\n\
79 [-T <tracker type>]\n",
84 -i <input image path> \n\
85 Set image input path.\n\
86 From this path read images \n\
87 \"mbt/cube/image%%04d.%s\". These \n\
88 images come from visp-images-x.y.z.tar.gz available \n\
89 on the ViSP website.\n\
90 Setting the VISP_INPUT_IMAGE_PATH environment\n\
91 variable produces the same behavior than using\n\
95 Set the config file (the xml file) to use.\n\
96 The config file is used to specify the parameters of the tracker.\n\
99 Specify the name of the file of the model\n\
100 The model can either be a vrml model (.wrl) or a .cao file.\n\
102 -e <last frame index> \n\
103 Specify the index of the last frame. Once reached, the tracking is stopped\n\
106 Do not use the vrml model, use the .cao one. These two models are \n\
107 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
108 website. However, the .cao model allows to use the 3d model based tracker \n\
112 Track only the cube (not the cylinder). In this case the models files are\n\
113 cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\
114 cube_and_cylinder.wrl.\n\
116 -n <initialisation file base name> \n\
117 Base name of the initialisation file. The file will be 'base_name'.init .\n\
118 This base name is also used for the optional picture specifying where to \n\
119 click (a .ppm picture).\n\
122 Turn off the display of the the moving edges and Klt points. \n\
125 Turn off the display.\n\
128 Disable the mouse click. Useful to automate the \n\
129 execution of this program without human intervention.\n\
132 Use Ogre3D for visibility tests\n\
135 When Ogre3D is enable [-o] show Ogre3D configuration dialog that allows to set the renderer.\n\
138 Use the scanline for visibility tests.\n\
141 Compute covariance matrix.\n\
144 Compute gradient projection error.\n\
147 Set tracker type (<1 (Edge)>, <2 (KLT)>, <3 (EdgeKlt)>).\n\
150 Print the help.\n\n", ext.c_str());
153 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
156 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
157 std::string &initFile,
long &lastFrame,
bool &displayFeatures,
bool &click_allowed,
bool &display,
158 bool &cao3DModel,
bool &trackCylinder,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
159 bool &computeCovariance,
bool &projectionError,
int &trackerType)
167 lastFrame = atol(optarg_);
173 configFile = optarg_;
182 displayFeatures =
false;
188 click_allowed =
false;
194 trackCylinder =
false;
203 showOgreConfigDialog =
true;
206 computeCovariance =
true;
209 projectionError =
true;
212 trackerType = atoi(optarg_);
215 usage(argv[0],
nullptr);
220 usage(argv[0], optarg_);
226 if ((c == 1) || (c == -1)) {
228 usage(argv[0],
nullptr);
229 std::cerr <<
"ERROR: " << std::endl;
230 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
237 int main(
int argc,
const char **argv)
240 std::string env_ipath;
241 std::string opt_ipath;
243 std::string opt_configFile;
244 std::string opt_modelFile;
245 std::string modelFile;
246 std::string opt_initFile;
247 std::string initFile;
248 long opt_lastFrame = -1;
249 bool displayFeatures =
true;
250 bool opt_click_allowed =
true;
251 bool opt_display =
true;
252 bool cao3DModel =
false;
253 bool trackCylinder =
true;
254 bool useOgre =
false;
255 bool showOgreConfigDialog =
false;
256 bool useScanline =
false;
257 bool computeCovariance =
false;
258 bool projectionError =
false;
261 #if VISP_HAVE_DATASET_VERSION >= 0x030600
262 std::string ext(
"png");
264 std::string ext(
"pgm");
272 if (!env_ipath.empty())
276 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
277 opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
278 useScanline, computeCovariance, projectionError, trackerType)) {
283 if (opt_ipath.empty() && env_ipath.empty()) {
284 usage(argv[0],
nullptr);
285 std::cerr << std::endl <<
"ERROR:" << std::endl;
286 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
287 <<
" environment variable to specify the location of the " << std::endl
288 <<
" image path where test images are located." << std::endl
295 if (!opt_ipath.empty())
300 #if defined(VISP_HAVE_PUGIXML)
301 std::string configFile;
302 if (!opt_configFile.empty())
303 configFile = opt_configFile;
304 else if (!opt_ipath.empty())
310 if (!opt_modelFile.empty()) {
311 modelFile = opt_modelFile;
314 std::string modelFileCao;
315 std::string modelFileWrl;
317 modelFileCao =
"mbt/cube_and_cylinder.cao";
318 modelFileWrl =
"mbt/cube_and_cylinder.wrl";
321 modelFileCao =
"mbt/cube.cao";
322 modelFileWrl =
"mbt/cube.wrl";
325 if (!opt_ipath.empty()) {
330 #ifdef VISP_HAVE_COIN3D
333 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
343 #ifdef VISP_HAVE_COIN3D
346 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
353 if (!opt_initFile.empty())
354 initFile = opt_initFile;
355 else if (!opt_ipath.empty())
369 std::cerr <<
"Cannot open sequence: " << ipath << std::endl;
380 #if defined(VISP_HAVE_X11)
382 #elif defined(VISP_HAVE_GDI)
384 #elif defined(HAVE_OPENCV_HIGHGUI)
386 #elif defined(VISP_HAVE_D3D9)
388 #elif defined(VISP_HAVE_GTK)
394 #if defined(VISP_HAVE_DISPLAY)
397 display1.
init(I1, 100, 100,
"Test tracking (Left)");
412 #if defined(VISP_HAVE_PUGIXML)
430 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
480 if (opt_display && opt_click_allowed) {
497 if (opt_display && opt_click_allowed) {
498 dynamic_cast<vpMbGenericTracker *
>(tracker)->initClick(I1, I2, initFile, initFile,
true);
504 vpHomogeneousMatrix c1Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
505 vpHomogeneousMatrix c2Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
518 bool quit =
false, click =
false;
519 while (!reader.
end() && !quit) {
528 std::stringstream ss;
535 std::cout <<
"----------Test reset tracker----------" << std::endl;
542 #if defined(VISP_HAVE_PUGIXML)
558 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
595 c1Mo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
596 c2Mo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
597 std::cout <<
"Test set pose" << std::endl;
615 if (opt_click_allowed && opt_display) {
634 if (computeCovariance) {
635 std::cout <<
"Covariance matrix: \n" << tracker->
getCovarianceMatrix() << std::endl << std::endl;
638 if (projectionError) {
639 std::cout <<
"Projection error: " << tracker->
getProjectionError() << std::endl << std::endl;
648 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
649 std::cout <<
"\nFinal poses, c1Mo:\n" << c1Mo <<
"\nc2Mo:\n" << c2Mo << std::endl;
651 if (opt_click_allowed && !quit) {
662 std::cout <<
"Catch an exception: " << e << std::endl;
667 #elif !(defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY))
670 std::cout <<
"Cannot run this example: visp_mbt, visp_gui modules are required." << std::endl;
676 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
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="") vp_override
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.
void 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
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.