49#include <visp3/core/vpConfig.h>
51#if (defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)) \
52 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
54#include <visp3/core/vpDebug.h>
55#include <visp3/core/vpHomogeneousMatrix.h>
56#include <visp3/core/vpIoTools.h>
57#include <visp3/core/vpMath.h>
58#include <visp3/gui/vpDisplayD3D.h>
59#include <visp3/gui/vpDisplayGDI.h>
60#include <visp3/gui/vpDisplayGTK.h>
61#include <visp3/gui/vpDisplayOpenCV.h>
62#include <visp3/gui/vpDisplayX.h>
63#include <visp3/io/vpImageIo.h>
64#include <visp3/io/vpParseArgv.h>
65#include <visp3/io/vpVideoReader.h>
66#include <visp3/mbt/vpMbEdgeTracker.h>
68#define GETOPTARGS "x:m:i:n:de:chtfColwvp"
70void usage(
const char *name,
const char *badparam)
73Example 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", name);
82 -i <input image path> \n\
83 Set image input path.\n\
84 From this path read images \n\
85 \"mbt/cube/image%%04d.ppm\". These \n\
86 images come from ViSP-images-x.y.z.tar.gz available \n\
87 on the ViSP website.\n\
88 Setting the VISP_INPUT_IMAGE_PATH environment\n\
89 variable produces the same behaviour than using\n\
93 Set the config file (the xml file) to use.\n\
94 The config file is used to specify the parameters of the tracker.\n\
97 Specify the name of the file of the model\n\
98 The model can either be a vrml model (.wrl) or a .cao file.\n\
100 -e <last frame index> \n\
101 Specify the index of the last frame. Once reached, the tracking is stopped\n\
104 Do not use the vrml model, use the .cao one. These two models are \n\
105 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
106 website. However, the .cao model allows to use the 3d model based tracker \n\
110 Track only the cube (not the cylinder). In this case the models files are\n\
111 cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\
112 cube_and_cylinder.wrl.\n\
114 -n <initialisation file base name> \n\
115 Base name of the initialisation file. The file will be 'base_name'.init .\n\
116 This base name is also used for the optionnal picture specifying where to \n\
117 click (a .ppm picture).\n\
120 Turn off the display of the the moving edges. \n\
123 Turn off the display.\n\
126 Disable the mouse click. Useful to automaze the \n\
127 execution of this program without humain intervention.\n\
130 Use Ogre3D for visibility tests.\n\
133 When Ogre3D is enable [-o] show Ogre3D configuration dialog thatallows to set the renderer.\n\
136 Use the scanline for visibility tests.\n\
139 Compute covariance matrix.\n\
142 Compute gradient projection error.\n\
145 Print the help.\n\n");
148 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
151bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
152 std::string &initFile,
long &lastFrame,
bool &displayFeatures,
bool &click_allowed,
bool &display,
153 bool &cao3DModel,
bool &trackCylinder,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
154 bool &computeCovariance,
bool &projectionError)
162 lastFrame = atol(optarg_);
168 configFile = optarg_;
177 displayFeatures =
false;
183 click_allowed =
false;
189 trackCylinder =
false;
198 showOgreConfigDialog =
true;
201 computeCovariance =
true;
204 projectionError =
true;
207 usage(argv[0], NULL);
212 usage(argv[0], optarg_);
218 if ((c == 1) || (c == -1)) {
220 usage(argv[0], NULL);
221 std::cerr <<
"ERROR: " << std::endl;
222 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
229int main(
int argc,
const char **argv)
232 std::string env_ipath;
233 std::string opt_ipath;
235 std::string opt_configFile;
236 std::string configFile;
237 std::string opt_modelFile;
238 std::string modelFile;
239 std::string opt_initFile;
240 std::string initFile;
241 long opt_lastFrame = -1;
242 bool displayFeatures =
true;
243 bool opt_click_allowed =
true;
244 bool opt_display =
true;
245 bool cao3DModel =
false;
246 bool trackCylinder =
true;
247 bool useOgre =
false;
248 bool showOgreConfigDialog =
false;
249 bool useScanline =
false;
250 bool computeCovariance =
false;
251 bool projectionError =
false;
259 if (!env_ipath.empty())
263 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
264 opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
265 useScanline, computeCovariance, projectionError)) {
270 if (opt_ipath.empty() && env_ipath.empty()) {
271 usage(argv[0], NULL);
272 std::cerr << std::endl <<
"ERROR:" << std::endl;
273 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
274 <<
" environment variable to specify the location of the " << std::endl
275 <<
" image path where test images are located." << std::endl
282 if (!opt_ipath.empty())
287 if (!opt_configFile.empty())
288 configFile = opt_configFile;
289 else if (!opt_ipath.empty())
294 if (!opt_modelFile.empty()) {
295 modelFile = opt_modelFile;
297 std::string modelFileCao;
298 std::string modelFileWrl;
300 modelFileCao =
"mbt/cube_and_cylinder.cao";
301 modelFileWrl =
"mbt/cube_and_cylinder.wrl";
303 modelFileCao =
"mbt/cube.cao";
304 modelFileWrl =
"mbt/cube.wrl";
307 if (!opt_ipath.empty()) {
311#ifdef VISP_HAVE_COIN3D
314 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
322#ifdef VISP_HAVE_COIN3D
325 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
332 if (!opt_initFile.empty())
333 initFile = opt_initFile;
334 else if (!opt_ipath.empty())
346 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
356#if defined VISP_HAVE_X11
358#elif defined VISP_HAVE_GDI
360#elif defined VISP_HAVE_OPENCV
362#elif defined VISP_HAVE_D3D9
364#elif defined VISP_HAVE_GTK
370#if defined(VISP_HAVE_DISPLAY)
371 display.init(I, 100, 100,
"Test tracking");
432 if (opt_display && opt_click_allowed) {
449 if (opt_display && opt_click_allowed) {
455 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
466 while (!reader.
end()) {
516 cMo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
544 if (opt_click_allowed) {
552 if (computeCovariance) {
553 std::cout <<
"Covariance matrix: \n" << tracker.
getCovarianceMatrix() << std::endl << std::endl;
556 if (projectionError) {
557 std::cout <<
"Projection error: " << tracker.
getProjectionError() << std::endl << std::endl;
564 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
566 if (opt_click_allowed && !quit) {
573 std::cout <<
"Catch an exception: " << e << std::endl;
578#elif !(defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY))
581 std::cout <<
"Cannot run this example: visp_mbt, visp_gui modules are required."
588 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...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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))
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.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Make the complete tracking of an object by using its CAD model.
virtual void setCameraParameters(const vpCameraParameters &cam)
virtual void setNearClippingDistance(const double &dist)
virtual void setScanLineVisibilityTest(const bool &v)
virtual void setFarClippingDistance(const double &dist)
virtual void track(const vpImage< unsigned char > &I)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void setClipping(const unsigned int &flags)
virtual void setOgreVisibilityTest(const bool &v)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
void setMovingEdge(const vpMe &me)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
virtual void setOgreShowConfigDialog(bool showConfigDialog)
virtual void getCameraParameters(vpCameraParameters &cam) const
virtual void setDisplayFeatures(bool displayF)
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setCovarianceComputation(const bool &flag)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual vpMatrix getCovarianceMatrix() const
virtual double getProjectionError() const
virtual void setProjectionErrorComputation(const bool &flag)
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual unsigned int getClipping() const
void setMu1(const double &mu_1)
void setSampleStep(const double &s)
void setRange(const unsigned int &r)
void setMaskSize(const unsigned int &a)
void setMu2(const double &mu_2)
void setMaskNumber(const unsigned int &a)
void setThreshold(const double &t)
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