Visual Servoing Platform version 3.5.0
tutorial-mb-generic-tracker-stereo.cpp
1
2#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
14int 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
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:1532
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1606
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)