#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.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)
#ifdef ENABLE_VISP_NAMESPACE
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
#endif
try {
std::string opt_videoname = "model/teabox/teabox.mp4";
std::string opt_modelname = "model/teabox/teabox.cao";
int opt_tracker = 2;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--video" && i + 1 < argc) {
opt_videoname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--model" && i + 1 < argc) {
opt_modelname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--tracker" && i + 1 < argc) {
opt_tracker = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--video <video name>]"
<< " [--model <model name>]"
<< " [--tracker <0=egde|1=keypoint|2=hybrid>]"
<< " [--help] [-h]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
if (!parentname.empty())
objectname = parentname + "/" + objectname;
std::cout << "Video name: " << opt_videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname << ".[init, cao]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#else
#endif
display->init(I, 100, 100, "Model-based tracker");
#endif
if (opt_tracker == 0)
#if defined(VISP_HAVE_MODULE_KLT) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
else if (opt_tracker == 1)
else
#else
else {
std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is not available. "
"In CMakeGUI turn visp_klt module ON, configure and build ViSP again."
<< std::endl;
return EXIT_FAILURE;
}
#endif
if (opt_tracker == 0 || opt_tracker == 2) {
}
#if defined(VISP_HAVE_MODULE_KLT) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
if (opt_tracker == 1 || opt_tracker == 2) {
tracker.setKltOpencv(klt_settings);
tracker.setKltMaskBorder(5);
}
#endif
tracker.initClick(I, objectname + ".init", true);
break;
}
}
}
std::cout << "Catch a ViSP exception: " << e << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
return EXIT_FAILURE;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
return EXIT_SUCCESS;
}
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor none
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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.
Implementation of an homogeneous matrix and operations on such kind of matrices.
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)
Real-time 6D object pose tracking using its CAD model.
virtual void setCameraParameters(const vpCameraParameters &camera) VP_OVERRIDE
virtual void setDisplayFeatures(bool displayF) VP_OVERRIDE
virtual void getCameraParameters(vpCameraParameters &camera) const VP_OVERRIDE
virtual void getPose(vpHomogeneousMatrix &cMo) const VP_OVERRIDE
virtual void setMovingEdge(const vpMe &me)
virtual void track(const vpImage< unsigned char > &I) VP_OVERRIDE
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) VP_OVERRIDE
virtual void setTrackerType(int type)
virtual vpMe getMovingEdge() const
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
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)
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)
std::shared_ptr< vpDisplay > createDisplay()
Return a smart pointer vpDisplay specialization if a GUI library is available or nullptr otherwise.
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.