#include <cstdlib>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV)
try {
std::string opt_videoname_left = "teabox_left.mp4";
std::string opt_videoname_right = "teabox_right.mp4";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--name" && i + 2 < argc) {
opt_videoname_left = std::string(argv[i + 1]);
opt_videoname_right = std::string(argv[i + 2]);
} else if (std::string(argv[i]) == "--tracker" && i + 2 < argc) {
opt_tracker1 = atoi(argv[i + 1]);
opt_tracker2 = atoi(argv[i + 2]);
} else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0]
<< " [--name <video name left> <video name right>]"
" [--tracker <1=egde|2=klt|3=hybrid> <1=egde|2=klt|3=hybrid>]"
" [--help]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
if ((opt_tracker1 < 1 || opt_tracker1 > 3) && (opt_tracker2 < 1 || opt_tracker2 > 3)) {
std::cerr << "Wrong tracker type. Correct values are: "
"1=egde|2=keypoint|3=hybrid."
<< std::endl;
return EXIT_SUCCESS;
}
if (!parentname.empty()) {
objectname_left = parentname + "/" + objectname_left;
}
std::cout << "Video name: " << opt_videoname_left << " ; " << opt_videoname_right << std::endl;
std::cout << "Tracker requested config files: " << objectname_left << ".[init, cao]"
<< " and " << objectname_right << ".[init, cao]" << std::endl;
std::cout << "Tracker optional config files: " << opt_videoname_left << ".ppm"
<< " and " << opt_videoname_right << ".ppm" << std::endl;
#if defined(VISP_HAVE_X11)
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
display_left.
init(I_left, 100, 100,
"Model-based tracker (Left)");
display_right.
init(I_right, 110 + (
int)I_left.
getWidth(), 100,
"Model-based tracker (Right)");
std::vector<int> trackerTypes(2);
trackerTypes[0] = opt_tracker1;
trackerTypes[1] = opt_tracker2;
#if !defined(VISP_HAVE_MODULE_KLT)
if (opt_tracker >= 2) {
std::cout << "klt and hybrid model-based tracker are not available "
"since visp_klt module is missing"
<< std::endl;
return EXIT_SUCCESS;
}
#endif
tracker.
loadConfigFile(objectname_left +
".xml", objectname_right +
".xml");
tracker.
loadModel(objectname_left +
".cao", objectname_right +
".cao");
std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
cRightMcLeft.
load(file_cRightMcLeft);
std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
mapOfCameraTransformationMatrix["Camera2"] = cRightMcLeft;
tracker.
initClick(I_left, I_right, objectname_left +
".init", objectname_right +
".init",
true);
while (!g_left.
end() && !g_right.
end()) {
tracker.
track(I_left, I_right);
tracker.
getPose(cLeftMo, cRightMo);
break;
}
}
std::cerr <<
"Catch a ViSP exception: " << e.
what() << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}
Generic class defining intrinsic camera parameters.
static const vpColor none
Display for windows using GDI (available on any windows 32 platform).
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="") 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)
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.
const char * what() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
void load(std::ifstream &f)
unsigned int getWidth() const
Real-time 6D object pose tracking using its CAD model.
virtual void getCameraParameters(vpCameraParameters &camera) const override
virtual void track(const vpImage< unsigned char > &I) override
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) override
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) override
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) override
virtual void initClick(const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, bool displayHelp=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())
virtual void setCameraTransformationMatrix(const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)
virtual void getPose(vpHomogeneousMatrix &cMo) const override
virtual void setDisplayFeatures(bool displayF) override
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 open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)