46#include <visp3/core/vpConfig.h>
48#if defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && \
49 defined(VISP_HAVE_DISPLAY) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
51#include <visp3/core/vpDebug.h>
52#include <visp3/core/vpHomogeneousMatrix.h>
53#include <visp3/core/vpIoTools.h>
54#include <visp3/core/vpMath.h>
55#include <visp3/gui/vpDisplayD3D.h>
56#include <visp3/gui/vpDisplayGDI.h>
57#include <visp3/gui/vpDisplayGTK.h>
58#include <visp3/gui/vpDisplayOpenCV.h>
59#include <visp3/gui/vpDisplayX.h>
60#include <visp3/io/vpImageIo.h>
61#include <visp3/io/vpParseArgv.h>
62#include <visp3/io/vpVideoReader.h>
63#include <visp3/mbt/vpMbKltTracker.h>
65#define GETOPTARGS "x:m:i:n:de:chtfolwv"
67void usage(
const char *name,
const char *badparam)
70Example of tracking based on the 3D model.\n\
73 %s [-i <test image path>] [-x <config file>]\n\
74 [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\
75 [-t] [-c] [-d] [-h] [-f] [-o] [-w] [-l] [-v]\n", name);
79 -i <input image path> \n\
80 Set image input path.\n\
81 From this path read images \n\
82 \"mbt/cube/image%%04d.ppm\". These \n\
83 images come from ViSP-images-x.y.z.tar.gz available \n\
84 on the ViSP website.\n\
85 Setting the VISP_INPUT_IMAGE_PATH environment\n\
86 variable produces the same behaviour than using\n\
90 Set the config file (the xml file) to use.\n\
91 The config file is used to specify the parameters of the tracker.\n\
94 Specify the name of the file of the model\n\
95 The model can either be a vrml model (.wrl) or a .cao file.\n\
97 -e <last frame index> \n\
98 Specify the index of the last frame. Once reached, the tracking is stopped\n\
101 Do not use the vrml model, use the .cao one. These two models are \n\
102 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
103 website. However, the .cao model allows to use the 3d model based tracker \n\
106 -n <initialisation file base name> \n\
107 Base name of the initialisation file. The file will be 'base_name'.init .\n\
108 This base name is also used for the optionnal picture specifying where to \n\
109 click (a .ppm picture).\n\
112 Turn off the display of the the klt points. \n\
115 Turn off the display.\n\
118 Disable the mouse click. Useful to automaze the \n\
119 execution of this program without humain intervention.\n\
122 Use Ogre3D for visibility tests\n\
125 When Ogre3D is enable [-o] show Ogre3D configuration dialog thatallows to set the renderer.\n\
128 Use the scanline for visibility tests.\n\
131 Compute covariance matrix.\n\
134 Print the help.\n\n");
137 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
140bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
141 std::string &initFile,
long &lastFrame,
bool &displayKltPoints,
bool &click_allowed,
bool &display,
142 bool &cao3DModel,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
bool &computeCovariance)
150 lastFrame = atol(optarg_);
156 configFile = optarg_;
165 displayKltPoints =
false;
171 click_allowed =
false;
183 showOgreConfigDialog =
true;
186 computeCovariance =
true;
189 usage(argv[0], NULL);
194 usage(argv[0], optarg_);
200 if ((c == 1) || (c == -1)) {
202 usage(argv[0], NULL);
203 std::cerr <<
"ERROR: " << std::endl;
204 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
211int main(
int argc,
const char **argv)
214 std::string env_ipath;
215 std::string opt_ipath;
217 std::string opt_configFile;
218 std::string configFile;
219 std::string opt_modelFile;
220 std::string modelFile;
221 std::string opt_initFile;
222 std::string initFile;
223 long opt_lastFrame = -1;
224 bool displayKltPoints =
true;
225 bool opt_click_allowed =
true;
226 bool opt_display =
true;
227 bool cao3DModel =
false;
228 bool useOgre =
false;
229 bool showOgreConfigDialog =
false;
230 bool useScanline =
false;
231 bool computeCovariance =
false;
239 if (!env_ipath.empty())
243 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayKltPoints,
244 opt_click_allowed, opt_display, cao3DModel, useOgre, showOgreConfigDialog, useScanline,
245 computeCovariance)) {
250 if (opt_ipath.empty() && env_ipath.empty()) {
251 usage(argv[0], NULL);
252 std::cerr << std::endl <<
"ERROR:" << std::endl;
253 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
254 <<
" environment variable to specify the location of the " << std::endl
255 <<
" image path where test images are located." << std::endl
262 if (!opt_ipath.empty())
267 if (!opt_configFile.empty())
268 configFile = opt_configFile;
269 else if (!opt_ipath.empty())
274 if (!opt_modelFile.empty()) {
275 modelFile = opt_modelFile;
277 std::string modelFileCao =
"mbt/cube.cao";
278 std::string modelFileWrl =
"mbt/cube.wrl";
280 if (!opt_ipath.empty()) {
284#ifdef VISP_HAVE_COIN3D
287 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
295#ifdef VISP_HAVE_COIN3D
298 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
305 if (!opt_initFile.empty())
306 initFile = opt_initFile;
307 else if (!opt_ipath.empty())
319 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
329#if defined VISP_HAVE_X11
331#elif defined VISP_HAVE_GDI
333#elif defined VISP_HAVE_OPENCV
335#elif defined VISP_HAVE_D3D9
337#elif defined VISP_HAVE_GTK
343#if defined(VISP_HAVE_DISPLAY)
344 display.init(I, 100, 100,
"Test tracking");
404 if (opt_display && opt_click_allowed) {
421 if (opt_display && opt_click_allowed) {
427 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
438 while (!reader.
end()) {
490 cMo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
518 if (opt_click_allowed) {
526 if (computeCovariance) {
527 std::cout <<
"Covariance matrix: \n" << tracker.
getCovarianceMatrix() << std::endl << std::endl;
534 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
536 if (opt_click_allowed && !quit) {
544 std::cout <<
"Catch an exception: " << e << std::endl;
553 std::cout <<
"visp_mbt, visp_gui modules and OpenCV are required to run "
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)
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)
static double rad(double deg)
Model based tracker using only KLT.
virtual void setScanLineVisibilityTest(const bool &v)
virtual void track(const vpImage< unsigned char > &I)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
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 setOgreVisibilityTest(const bool &v)
void setCameraParameters(const vpCameraParameters &cam)
void setKltMaskBorder(const unsigned int &e)
virtual void setOgreShowConfigDialog(bool showConfigDialog)
virtual void getCameraParameters(vpCameraParameters &cam) const
virtual void setDisplayFeatures(bool displayF)
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setAngleDisappear(const double &a)
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 void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual void setClipping(const unsigned int &flags)
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 void setAngleAppear(const double &a)
virtual unsigned int getClipping() const
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