Visual Servoing Platform  version 3.6.1 under development (2024-04-23)
#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) && defined(VISP_HAVE_PUGIXML)
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;
if ((opt_tracker1 < 1 || opt_tracker1 > 3) && (opt_tracker2 < 1 || opt_tracker2 > 3)) {
std::cerr << "Wrong tracker type. Correct values are: "
<< std::endl;
std::string parentname = vpIoTools::getParent(opt_videoname_left);
std::string objectname_left = vpIoTools::getNameWE(opt_videoname_left);
std::string objectname_right = vpIoTools::getNameWE(opt_videoname_right);
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;
vpImage<unsigned char> I_left, I_right;
vpVideoReader g_left, g_right;
#if defined(VISP_HAVE_X11)
vpDisplayX display_left;
vpDisplayX display_right;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_left;
vpDisplayGDI display_right;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display_left;
vpDisplayOpenCV display_right;
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;
vpMbGenericTracker tracker(trackerTypes);
#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;
tracker.loadConfigFile(objectname_left + ".xml", objectname_right + ".xml");
tracker.loadModel(objectname_left + ".cao", objectname_right + ".cao");
vpHomogeneousMatrix cRightMcLeft;
std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
mapOfCameraTransformationMatrix["Camera1"] = vpHomogeneousMatrix();
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);
vpHomogeneousMatrix cLeftMo, cRightMo;
tracker.getPose(cLeftMo, cRightMo);
vpCameraParameters cam_left, cam_right;
tracker.getCameraParameters(cam_left, cam_right);
tracker.display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right, vpColor::red, 2);
vpDisplay::displayFrame(I_left, cLeftMo, cam_left, 0.025, vpColor::none, 3);
vpDisplay::displayFrame(I_right, cRightMo, cam_right, 0.025, vpColor::none, 3);
vpDisplay::displayText(I_left, 10, 10, "A click to exit...", vpColor::red);
if (vpDisplay::getClick(I_left, false)) {
catch (const vpException &e) {
std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:211
static const vpColor none
Definition: vpColor.h:223
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
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...
Definition: vpDisplayX.h:128
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)
Definition: vpDisplay.cpp:227
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)
Definition: vpDisplay.h:179
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.
Definition: vpException.h:59
const char * what() const
Definition: vpException.cpp:70
Implementation of an homogeneous matrix and operations on such kind of matrices.
void load(std::ifstream &f)
unsigned int getWidth() const
Definition: vpImage.h:245
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:2003
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:2086
Real-time 6D object pose tracking using its CAD model.
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) vp_override
virtual void getPose(vpHomogeneousMatrix &cMo) const vp_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) vp_override
virtual void getCameraParameters(vpCameraParameters &camera) const vp_override
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) vp_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 setDisplayFeatures(bool displayF) vp_override
virtual void setCameraTransformationMatrix(const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)
virtual void track(const vpImage< unsigned char > &I) vp_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)