Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
tutorial-mb-generic-tracker-stereo.cpp
1 #include <cstdlib>
3 #include <visp3/core/vpConfig.h>
4 #include <visp3/core/vpIoTools.h>
5 #include <visp3/gui/vpDisplayGDI.h>
6 #include <visp3/gui/vpDisplayOpenCV.h>
7 #include <visp3/gui/vpDisplayX.h>
8 #include <visp3/io/vpImageIo.h>
10 #include <visp3/mbt/vpMbGenericTracker.h>
12 #include <visp3/io/vpVideoReader.h>
13 
14 int main(int argc, char **argv)
15 {
16 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020300)
17  try {
18  std::string opt_videoname_left = "teabox_left.mp4";
19  std::string opt_videoname_right = "teabox_right.mp4";
20  int opt_tracker1 = vpMbGenericTracker::EDGE_TRACKER;
21  int opt_tracker2 = vpMbGenericTracker::EDGE_TRACKER;
22 
23  for (int i = 0; i < argc; i++) {
24  if (std::string(argv[i]) == "--name" && i + 2 < argc) {
25  opt_videoname_left = std::string(argv[i + 1]);
26  opt_videoname_right = std::string(argv[i + 2]);
27  } else if (std::string(argv[i]) == "--tracker" && i + 2 < argc) {
28  opt_tracker1 = atoi(argv[i + 1]);
29  opt_tracker2 = atoi(argv[i + 2]);
30  } else if (std::string(argv[i]) == "--help") {
31  std::cout << "\nUsage: " << argv[0]
32  << " [--name <video name left> <video name right>]"
33  " [--tracker <1=egde|2=klt|3=hybrid> <1=egde|2=klt|3=hybrid>]"
34  " [--help]\n"
35  << std::endl;
36  return EXIT_SUCCESS;
37  }
38  }
39 
40  if ((opt_tracker1 < 1 || opt_tracker1 > 3) && (opt_tracker2 < 1 || opt_tracker2 > 3)) {
41  std::cerr << "Wrong tracker type. Correct values are: "
42  "1=egde|2=keypoint|3=hybrid."
43  << std::endl;
44  return EXIT_SUCCESS;
45  }
46 
47  std::string parentname = vpIoTools::getParent(opt_videoname_left);
48  std::string objectname_left = vpIoTools::getNameWE(opt_videoname_left);
49  std::string objectname_right = vpIoTools::getNameWE(opt_videoname_right);
50 
51  if (!parentname.empty()) {
52  objectname_left = parentname + "/" + objectname_left;
53  }
54 
55  std::cout << "Video name: " << opt_videoname_left << " ; " << opt_videoname_right << std::endl;
56  std::cout << "Tracker requested config files: " << objectname_left << ".[init, cao]"
57  << " and " << objectname_right << ".[init, cao]" << std::endl;
58  std::cout << "Tracker optional config files: " << opt_videoname_left << ".ppm"
59  << " and " << opt_videoname_right << ".ppm" << std::endl;
60 
62  vpImage<unsigned char> I_left, I_right;
64 
65  vpVideoReader g_left, g_right;
66  g_left.setFileName(opt_videoname_left);
67  g_left.open(I_left);
68  g_right.setFileName(opt_videoname_right);
69  g_right.open(I_right);
70 
71 #if defined(VISP_HAVE_X11)
72  vpDisplayX display_left;
73  vpDisplayX display_right;
74 #elif defined(VISP_HAVE_GDI)
75  vpDisplayGDI display_left;
76  vpDisplayGDI display_right;
77 #else
78  vpDisplayOpenCV display_left;
79  vpDisplayOpenCV display_right;
80 #endif
83  display_left.init(I_left, 100, 100, "Model-based tracker (Left)");
84  display_right.init(I_right, 110 + (int)I_left.getWidth(), 100, "Model-based tracker (Right)");
85 
87  std::vector<int> trackerTypes(2);
88  trackerTypes[0] = opt_tracker1;
89  trackerTypes[1] = opt_tracker2;
90  vpMbGenericTracker tracker(trackerTypes);
92 
93 #if !defined(VISP_HAVE_MODULE_KLT)
94  if (opt_tracker >= 2) {
95  std::cout << "klt and hybrid model-based tracker are not available "
96  "since visp_klt module is missing"
97  << std::endl;
98  return EXIT_SUCCESS;
99  }
100 #endif
101 
103  tracker.loadConfigFile(objectname_left + ".xml", objectname_right + ".xml");
105 
107  tracker.loadModel(objectname_left + ".cao", objectname_right + ".cao");
110  tracker.setDisplayFeatures(true);
112 
114  vpHomogeneousMatrix cRightMcLeft;
115  std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
116  cRightMcLeft.load(file_cRightMcLeft);
117 
118  std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
119  mapOfCameraTransformationMatrix["Camera1"] = vpHomogeneousMatrix();
120  mapOfCameraTransformationMatrix["Camera2"] = cRightMcLeft;
121 
122  tracker.setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
124 
126  tracker.initClick(I_left, I_right, objectname_left + ".init", objectname_right + ".init", true);
128 
129  while (!g_left.end() && !g_right.end()) {
130  g_left.acquire(I_left);
131  g_right.acquire(I_right);
132 
133  vpDisplay::display(I_left);
134  vpDisplay::display(I_right);
135 
137  tracker.track(I_left, I_right);
139 
141  vpHomogeneousMatrix cLeftMo, cRightMo;
142  tracker.getPose(cLeftMo, cRightMo);
144 
146  vpCameraParameters cam_left, cam_right;
147  tracker.getCameraParameters(cam_left, cam_right);
148  tracker.display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right, vpColor::red, 2);
150 
151  vpDisplay::displayFrame(I_left, cLeftMo, cam_left, 0.025, vpColor::none, 3);
152  vpDisplay::displayFrame(I_right, cRightMo, cam_right, 0.025, vpColor::none, 3);
153  vpDisplay::displayText(I_left, 10, 10, "A click to exit...", vpColor::red);
154 
155  vpDisplay::flush(I_left);
156  vpDisplay::flush(I_right);
157 
158  if (vpDisplay::getClick(I_left, false)) {
159  break;
160  }
161  }
162  vpDisplay::getClick(I_left);
163  } catch (const vpException &e) {
164  std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
165  }
166 #else
167  (void)argc;
168  (void)argv;
169  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
170 #endif
171 }
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:231
static void display(const vpImage< unsigned char > &I)
static void flush(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))
@ SCALE_AUTO
Definition: vpDisplay.h:183
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
Definition: vpException.cpp:99
Implementation of an homogeneous matrix and operations on such kind of matrices.
void load(std::ifstream &f)
unsigned int getWidth() const
Definition: vpImage.h:246
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1536
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1620
Real-time 6D object pose tracking using its CAD model.
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)