Visual Servoing Platform version 3.5.0
mbtGenericTracking.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Example of Hybrid Tracking of MBT and MBT KTL.
33 *
34 * Authors:
35 * Aurelien Yol
36 * Souriya Trinh
37 *
38 *****************************************************************************/
39
47#include <iostream>
48#include <visp3/core/vpConfig.h>
49
50#if (defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)) \
51 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
52
53#include <visp3/core/vpDebug.h>
54#include <visp3/core/vpHomogeneousMatrix.h>
55#include <visp3/core/vpIoTools.h>
56#include <visp3/core/vpMath.h>
57#include <visp3/gui/vpDisplayD3D.h>
58#include <visp3/gui/vpDisplayGDI.h>
59#include <visp3/gui/vpDisplayGTK.h>
60#include <visp3/gui/vpDisplayOpenCV.h>
61#include <visp3/gui/vpDisplayX.h>
62#include <visp3/io/vpImageIo.h>
63#include <visp3/io/vpParseArgv.h>
64#include <visp3/io/vpVideoReader.h>
65#include <visp3/mbt/vpMbGenericTracker.h>
66
67#define GETOPTARGS "x:m:i:n:de:chtfColwvpT:"
68
69#define USE_XML 0
70
71void usage(const char *name, const char *badparam)
72{
73 fprintf(stdout, "\n\
74Example of tracking based on the 3D model.\n\
75\n\
76SYNOPSIS\n\
77 %s [-i <test image path>] [-x <config file>]\n\
78 [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\
79 [-t] [-c] [-d] [-h] [-f] [-C] [-o] [-w] [-l] [-v] [-p]\n\
80 [-T <tracker type>]\n", name);
81
82 fprintf(stdout, "\n\
83OPTIONS: \n\
84 -i <input image path> \n\
85 Set image input path.\n\
86 From this path read images \n\
87 \"mbt/cube/image%%04d.ppm\". These \n\
88 images come from ViSP-images-x.y.z.tar.gz available \n\
89 on the ViSP website.\n\
90 Setting the VISP_INPUT_IMAGE_PATH environment\n\
91 variable produces the same behavior than using\n\
92 this option.\n\
93\n\
94 -x <config file> \n\
95 Set the config file (the xml file) to use.\n\
96 The config file is used to specify the parameters of the tracker.\n\
97\n\
98 -m <model name> \n\
99 Specify the name of the file of the model\n\
100 The model can either be a vrml model (.wrl) or a .cao file.\n\
101\n\
102 -e <last frame index> \n\
103 Specify the index of the last frame. Once reached, the tracking is stopped\n\
104\n\
105 -f \n\
106 Do not use the vrml model, use the .cao one. These two models are \n\
107 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
108 website. However, the .cao model allows to use the 3d model based tracker \n\
109 without Coin.\n\
110\n\
111 -C \n\
112 Track only the cube (not the cylinder). In this case the models files are\n\
113 cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\
114 cube_and_cylinder.wrl.\n\
115\n\
116 -n <initialisation file base name> \n\
117 Base name of the initialisation file. The file will be 'base_name'.init .\n\
118 This base name is also used for the optional picture specifying where to \n\
119 click (a .ppm picture).\n\
120\n\
121 -t \n\
122 Turn off the display of the the moving edges and Klt points. \n\
123\n\
124 -d \n\
125 Turn off the display.\n\
126\n\
127 -c\n\
128 Disable the mouse click. Useful to automate the \n\
129 execution of this program without human intervention.\n\
130\n\
131 -o\n\
132 Use Ogre3D for visibility tests\n\
133\n\
134 -w\n\
135 When Ogre3D is enable [-o] show Ogre3D configuration dialog that allows to set the renderer.\n\
136\n\
137 -l\n\
138 Use the scanline for visibility tests.\n\
139\n\
140 -v\n\
141 Compute covariance matrix.\n\
142\n\
143 -p\n\
144 Compute gradient projection error.\n\
145\n\
146 -T <tracker type>\n\
147 Set tracker type (<1 (Edge)>, <2 (KLT)>, <3 (EdgeKlt)>).\n\
148\n\
149 -h \n\
150 Print the help.\n\n");
151
152 if (badparam)
153 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
154}
155
156bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
157 std::string &initFile, long &lastFrame, bool &displayFeatures, bool &click_allowed, bool &display,
158 bool &cao3DModel, bool &trackCylinder, bool &useOgre, bool &showOgreConfigDialog, bool &useScanline,
159 bool &computeCovariance, bool &projectionError, int &trackerType)
160{
161 const char *optarg_;
162 int c;
163 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
164
165 switch (c) {
166 case 'e':
167 lastFrame = atol(optarg_);
168 break;
169 case 'i':
170 ipath = optarg_;
171 break;
172 case 'x':
173 configFile = optarg_;
174 break;
175 case 'm':
176 modelFile = optarg_;
177 break;
178 case 'n':
179 initFile = optarg_;
180 break;
181 case 't':
182 displayFeatures = false;
183 break;
184 case 'f':
185 cao3DModel = true;
186 break;
187 case 'c':
188 click_allowed = false;
189 break;
190 case 'd':
191 display = false;
192 break;
193 case 'C':
194 trackCylinder = false;
195 break;
196 case 'o':
197 useOgre = true;
198 break;
199 case 'l':
200 useScanline = true;
201 break;
202 case 'w':
203 showOgreConfigDialog = true;
204 break;
205 case 'v':
206 computeCovariance = true;
207 break;
208 case 'p':
209 projectionError = true;
210 break;
211 case 'T':
212 trackerType = atoi(optarg_);
213 break;
214 case 'h':
215 usage(argv[0], NULL);
216 return false;
217 break;
218
219 default:
220 usage(argv[0], optarg_);
221 return false;
222 break;
223 }
224 }
225
226 if ((c == 1) || (c == -1)) {
227 // standalone param or error
228 usage(argv[0], NULL);
229 std::cerr << "ERROR: " << std::endl;
230 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
231 return false;
232 }
233
234 return true;
235}
236
237int main(int argc, const char **argv)
238{
239 try {
240 std::string env_ipath;
241 std::string opt_ipath;
242 std::string ipath;
243 std::string opt_configFile;
244 std::string opt_modelFile;
245 std::string modelFile;
246 std::string opt_initFile;
247 std::string initFile;
248 long opt_lastFrame = -1;
249 bool displayFeatures = true;
250 bool opt_click_allowed = true;
251 bool opt_display = true;
252 bool cao3DModel = false;
253 bool trackCylinder = true;
254 bool useOgre = false;
255 bool showOgreConfigDialog = false;
256 bool useScanline = false;
257 bool computeCovariance = false;
258 bool projectionError = false;
259 int trackerType = vpMbGenericTracker::EDGE_TRACKER;
260
261 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
262 // environment variable value
264
265 // Set the default input path
266 if (!env_ipath.empty())
267 ipath = env_ipath;
268
269 // Read the command line options
270 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
271 opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
272 useScanline, computeCovariance, projectionError, trackerType)) {
273 return EXIT_FAILURE;
274 }
275
276 // Test if an input path is set
277 if (opt_ipath.empty() && env_ipath.empty()) {
278 usage(argv[0], NULL);
279 std::cerr << std::endl << "ERROR:" << std::endl;
280 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
281 << " environment variable to specify the location of the " << std::endl
282 << " image path where test images are located." << std::endl
283 << std::endl;
284
285 return EXIT_FAILURE;
286 }
287
288 // Get the option values
289 if (!opt_ipath.empty())
290 ipath = vpIoTools::createFilePath(opt_ipath, "mbt/cube/image%04d.pgm");
291 else
292 ipath = vpIoTools::createFilePath(env_ipath, "mbt/cube/image%04d.pgm");
293
294#if USE_XML
295 std::string configFile;
296 if (!opt_configFile.empty())
297 configFile = opt_configFile;
298 else if (!opt_ipath.empty())
299 configFile = vpIoTools::createFilePath(opt_ipath, "mbt/cube.xml");
300 else
301 configFile = vpIoTools::createFilePath(env_ipath, "mbt/cube.xml");
302#endif
303
304 if (!opt_modelFile.empty()) {
305 modelFile = opt_modelFile;
306 } else {
307 std::string modelFileCao;
308 std::string modelFileWrl;
309 if (trackCylinder) {
310 modelFileCao = "mbt/cube_and_cylinder.cao";
311 modelFileWrl = "mbt/cube_and_cylinder.wrl";
312 } else {
313 modelFileCao = "mbt/cube.cao";
314 modelFileWrl = "mbt/cube.wrl";
315 }
316
317 if (!opt_ipath.empty()) {
318 if (cao3DModel) {
319 modelFile = vpIoTools::createFilePath(opt_ipath, modelFileCao);
320 } else {
321#ifdef VISP_HAVE_COIN3D
322 modelFile = vpIoTools::createFilePath(opt_ipath, modelFileWrl);
323#else
324 std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
325 modelFile = vpIoTools::createFilePath(opt_ipath, modelFileCao);
326#endif
327 }
328 } else {
329 if (cao3DModel) {
330 modelFile = vpIoTools::createFilePath(env_ipath, modelFileCao);
331 } else {
332#ifdef VISP_HAVE_COIN3D
333 modelFile = vpIoTools::createFilePath(env_ipath, modelFileWrl);
334#else
335 std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
336 modelFile = vpIoTools::createFilePath(env_ipath, modelFileCao);
337#endif
338 }
339 }
340 }
341
342 if (!opt_initFile.empty())
343 initFile = opt_initFile;
344 else if (!opt_ipath.empty())
345 initFile = vpIoTools::createFilePath(opt_ipath, "mbt/cube");
346 else
347 initFile = vpIoTools::createFilePath(env_ipath, "mbt/cube");
348
350 vpVideoReader reader;
351
352 reader.setFileName(ipath);
353 try {
354 reader.open(I1);
355 I2 = I1;
356 } catch (...) {
357 std::cerr << "Cannot open sequence: " << ipath << std::endl;
358 return EXIT_FAILURE;
359 }
360
361 if (opt_lastFrame > 1 && opt_lastFrame < reader.getLastFrameIndex())
362 reader.setLastFrameIndex(opt_lastFrame);
363
364 reader.acquire(I1);
365 I2 = I1;
366
367// initialise a display
368#if defined VISP_HAVE_X11
369 vpDisplayX display1, display2;
370#elif defined VISP_HAVE_GDI
371 vpDisplayGDI display1, display2;
372#elif defined VISP_HAVE_OPENCV
373 vpDisplayOpenCV display1, display2;
374#elif defined VISP_HAVE_D3D9
375 vpDisplayD3D display1, display2;
376#elif defined VISP_HAVE_GTK
377 vpDisplayGTK display1, display2;
378#else
379 opt_display = false;
380#endif
381 if (opt_display) {
382#if defined(VISP_HAVE_DISPLAY)
385 display1.init(I1, 100, 100, "Test tracking (Left)");
386 display2.init(I2, (int)(I1.getWidth() / vpDisplay::getDownScalingFactor(I1)) + 110, 100, "Test tracking (Right)");
387#endif
392 }
393
394 // Object pointer to check that inheritance is ok
395 vpMbTracker *tracker = new vpMbGenericTracker(2, trackerType);
396 vpHomogeneousMatrix c1Mo, c2Mo;
397 vpCameraParameters cam1, cam2;
398
399// Initialise the tracker: camera parameters, moving edge and KLT settings
400#if USE_XML
401 // From the xml file
402 dynamic_cast<vpMbGenericTracker *>(tracker)->loadConfigFile(configFile, configFile);
403#else
404 // By setting the parameters:
405 cam1.initPersProjWithoutDistortion(547, 542, 338, 234);
406 cam2.initPersProjWithoutDistortion(547, 542, 338, 234);
407
408 vpMe me;
409 me.setMaskSize(5);
410 me.setMaskNumber(180);
411 me.setRange(7);
412 me.setThreshold(5000);
413 me.setMu1(0.5);
414 me.setMu2(0.5);
415 me.setSampleStep(4);
416
417#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
418 vpKltOpencv klt;
419 klt.setMaxFeatures(10000);
420 klt.setWindowSize(5);
421 klt.setQuality(0.01);
422 klt.setMinDistance(5);
423 klt.setHarrisFreeParameter(0.01);
424 klt.setBlockSize(3);
425 klt.setPyramidLevels(3);
426
427 dynamic_cast<vpMbGenericTracker *>(tracker)->setKltOpencv(klt);
428 dynamic_cast<vpMbGenericTracker *>(tracker)->setKltMaskBorder(5);
429#endif
430
431 dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam1, cam2);
432 dynamic_cast<vpMbGenericTracker *>(tracker)->setMovingEdge(me);
433
434 tracker->setAngleAppear(vpMath::rad(65));
435 tracker->setAngleDisappear(vpMath::rad(75));
436
437 // Specify the clipping to
438 tracker->setNearClippingDistance(0.01);
439 tracker->setFarClippingDistance(0.90);
441// tracker->setClipping(tracker->getClipping() | vpMbtPolygon::LEFT_CLIPPING
442// | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
443// vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
444#endif
445
446 // Display the moving edges, and the Klt points
447 tracker->setDisplayFeatures(displayFeatures);
448
449 // Tells if the tracker has to use Ogre3D for visibility tests
450 tracker->setOgreVisibilityTest(useOgre);
451 if (useOgre)
452 tracker->setOgreShowConfigDialog(showOgreConfigDialog);
453
454 // Tells if the tracker has to use the scanline visibility tests
455 tracker->setScanLineVisibilityTest(useScanline);
456
457 // Tells if the tracker has to compute the covariance matrix
458 tracker->setCovarianceComputation(computeCovariance);
459
460 // Tells if the tracker has to compute the projection error
461 tracker->setProjectionErrorComputation(projectionError);
462
463 // Retrieve the camera parameters from the tracker
464 dynamic_cast<vpMbGenericTracker *>(tracker)->getCameraParameters(cam1, cam2);
465
466 // Loop to position the cube
467 if (opt_display && opt_click_allowed) {
468 while (!vpDisplay::getClick(I1, false)) {
470 vpDisplay::displayText(I1, 15, 10, "click after positioning the object", vpColor::red);
472 }
473 }
474
475 // Load the 3D model (either a vrml file or a .cao file)
476 tracker->loadModel(modelFile);
477
478 // Initialise the tracker by clicking on the image
479 // This function looks for
480 // - a ./cube/cube.init file that defines the 3d coordinates (in meter,
481 // in the object basis) of the points used for the initialisation
482 // - a ./cube/cube.ppm file to display where the user have to click
483 // (optionnal, set by the third parameter)
484 if (opt_display && opt_click_allowed) {
485 dynamic_cast<vpMbGenericTracker *>(tracker)->initClick(I1, I2, initFile, initFile, true);
486 dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
487 // display the 3D model at the given pose
488 dynamic_cast<vpMbGenericTracker *>(tracker)->display(I1, I2, c1Mo, c2Mo, cam1, cam2, vpColor::red);
489 } else {
490 vpHomogeneousMatrix c1Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
491 vpHomogeneousMatrix c2Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
492 dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I1, I2, c1Moi, c2Moi);
493 }
494
495 // track the model
496 dynamic_cast<vpMbGenericTracker *>(tracker)->track(I1, I2);
497 dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
498
499 if (opt_display) {
502 }
503
504 bool quit = false, click = false;
505 while (!reader.end() && !quit) {
506 // acquire a new image
507 reader.acquire(I1);
508 I2 = I1;
509 // display the image
510 if (opt_display) {
513
514 std::stringstream ss;
515 ss << "Num frame: " << reader.getFrameIndex() << "/" << reader.getLastFrameIndex();
516 vpDisplay::displayText(I1, 40, 20, ss.str(), vpColor::red);
517 }
518
519 // Test to reset the tracker
520 if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 10) {
521 std::cout << "----------Test reset tracker----------" << std::endl;
522 if (opt_display) {
525 }
526
527 tracker->resetTracker();
528#if USE_XML
529 dynamic_cast<vpMbGenericTracker *>(tracker)->loadConfigFile(configFile, configFile);
530#else
531 // By setting the parameters:
532 cam1.initPersProjWithoutDistortion(547, 542, 338, 234);
533 cam2.initPersProjWithoutDistortion(547, 542, 338, 234);
534
535 me.setMaskSize(5);
536 me.setMaskNumber(180);
537 me.setRange(7);
538 me.setThreshold(5000);
539 me.setMu1(0.5);
540 me.setMu2(0.5);
541 me.setSampleStep(4);
542
543#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
544 klt.setMaxFeatures(10000);
545 klt.setWindowSize(5);
546 klt.setQuality(0.01);
547 klt.setMinDistance(5);
548 klt.setHarrisFreeParameter(0.01);
549 klt.setBlockSize(3);
550 klt.setPyramidLevels(3);
551
552 dynamic_cast<vpMbGenericTracker *>(tracker)->setKltOpencv(klt);
553 dynamic_cast<vpMbGenericTracker *>(tracker)->setKltMaskBorder(5);
554#endif
555
556 dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam1, cam2);
557 dynamic_cast<vpMbGenericTracker *>(tracker)->setMovingEdge(me);
558 tracker->setAngleAppear(vpMath::rad(65));
559 tracker->setAngleDisappear(vpMath::rad(75));
560
561 // Specify the clipping to
562 tracker->setNearClippingDistance(0.01);
563 tracker->setFarClippingDistance(0.90);
565// tracker->setClipping(tracker->getClipping() | vpMbtPolygon::LEFT_CLIPPING
566// | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
567// vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
568#endif
569 tracker->loadModel(modelFile);
570 dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam1, cam2);
571 tracker->setOgreVisibilityTest(useOgre);
572 tracker->setScanLineVisibilityTest(useScanline);
573 tracker->setCovarianceComputation(computeCovariance);
574 tracker->setProjectionErrorComputation(projectionError);
575 dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I1, I2, c1Mo, c2Mo);
576 }
577
578 // Test to set an initial pose
579 if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 50) {
580 c1Mo.buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
581 c2Mo.buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
582 std::cout << "Test set pose" << std::endl;
583 dynamic_cast<vpMbGenericTracker *>(tracker)->setPose(I1, I2, c1Mo, c2Mo);
584 }
585
586 // track the object: stop tracking from frame 40 to 50
587 if (reader.getFrameIndex() - reader.getFirstFrameIndex() < 40 ||
588 reader.getFrameIndex() - reader.getFirstFrameIndex() >= 50) {
589 dynamic_cast<vpMbGenericTracker *>(tracker)->track(I1, I2);
590 dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
591 if (opt_display) {
592 // display the 3D model
593 dynamic_cast<vpMbGenericTracker *>(tracker)->display(I1, I2, c1Mo, c2Mo, cam1, cam2, vpColor::darkRed);
594 // display the frame
595 vpDisplay::displayFrame(I1, c1Mo, cam1, 0.05);
596 vpDisplay::displayFrame(I2, c2Mo, cam2, 0.05);
597 }
598 }
599
600 if (opt_click_allowed && opt_display) {
601 vpDisplay::displayText(I1, 10, 10, "Click to quit", vpColor::red);
603 if (vpDisplay::getClick(I1, button, click)) {
604 switch (button) {
606 quit = !click;
607 break;
608
610 click = !click;
611 break;
612
613 default:
614 break;
615 }
616 }
617 }
618
619 if (computeCovariance) {
620 std::cout << "Covariance matrix: \n" << tracker->getCovarianceMatrix() << std::endl << std::endl;
621 }
622
623 if (projectionError) {
624 std::cout << "Projection error: " << tracker->getProjectionError() << std::endl << std::endl;
625 }
626
627 if (opt_display) {
630 }
631 }
632
633 std::cout << "Reached last frame: " << reader.getFrameIndex() << std::endl;
634 std::cout << "\nFinal poses, c1Mo:\n" << c1Mo << "\nc2Mo:\n" << c2Mo << std::endl;
635
636 if (opt_click_allowed && !quit) {
638 }
639 reader.close();
640
641 delete tracker;
642 tracker = NULL;
643
644 return EXIT_SUCCESS;
645 } catch (const vpException &e) {
646 std::cout << "Catch an exception: " << e << std::endl;
647 return EXIT_FAILURE;
648 }
649}
650
651#elif !(defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY))
652int main()
653{
654 std::cout << "Cannot run this example: visp_mbt, visp_gui modules are required."
655 << std::endl;
656 return EXIT_SUCCESS;
657}
658#else
659int main()
660{
661 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
662 return EXIT_SUCCESS;
663}
664#endif
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor red
Definition: vpColor.h:217
static const vpColor darkRed
Definition: vpColor.h:218
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:235
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
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
unsigned int getWidth() const
Definition: vpImage.h:246
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
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)
static double rad(double deg)
Definition: vpMath.h:110
Real-time 6D object pose tracking using its CAD model.
Main methods for a model-based tracker.
Definition: vpMbTracker.h:105
virtual void resetTracker()=0
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:643
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:517
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:480
virtual void setCovarianceComputation(const bool &flag)
Definition: vpMbTracker.h:499
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:601
virtual void setOgreVisibilityTest(const bool &v)
virtual vpMatrix getCovarianceMatrix() const
Definition: vpMbTracker.h:265
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual double getProjectionError() const
Definition: vpMbTracker.h:310
virtual void setProjectionErrorComputation(const bool &flag)
Definition: vpMbTracker.h:584
virtual void setClipping(const unsigned int &flags)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:469
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
Definition: vpMe.h:61
void setMu1(const double &mu_1)
Definition: vpMe.h:241
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:459
void setMu2(const double &mu_2)
Definition: vpMe.h:248
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:452
void setThreshold(const double &t)
Definition: vpMe.h:300
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
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)
long getLastFrameIndex()
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
long getFirstFrameIndex()
long getFrameIndex() const