48 #include <visp/vpConfig.h>
49 #include <visp/vpDebug.h>
50 #include <visp/vpDisplayD3D.h>
51 #include <visp/vpDisplayGTK.h>
52 #include <visp/vpDisplayGDI.h>
53 #include <visp/vpDisplayOpenCV.h>
54 #include <visp/vpDisplayX.h>
55 #include <visp/vpHomogeneousMatrix.h>
56 #include <visp/vpImageIo.h>
57 #include <visp/vpIoTools.h>
58 #include <visp/vpMath.h>
59 #include <visp/vpMbKltTracker.h>
60 #include <visp/vpVideoReader.h>
61 #include <visp/vpParseArgv.h>
63 #if defined (VISP_HAVE_OPENCV) && defined (VISP_HAVE_DISPLAY) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
66 #define GETOPTARGS "x:m:i:n:dchtfo"
68 void usage(
const char *name,
const char *badparam);
69 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
70 std::string &initFile,
bool &displayKltPoints,
bool &click_allowed,
bool &display,
71 bool& cao3DModel,
bool &useOgre);
73 void usage(
const char *name,
const char *badparam)
76 Example of tracking based on the 3D model.\n\
79 %s [-i <test image path>] [-x <config file>]\n\
80 [-m <model name>] [-n <initialisation file base name>]\n\
81 [-t] [-c] [-d] [-h] [-f]",
86 -i <input image path> \n\
87 Set image input path.\n\
88 From this path read images \n\
89 \"ViSP-images/mbt/cube/image%%04d.ppm\". These \n\
90 images come from ViSP-images-x.y.z.tar.gz available \n\
91 on the ViSP website.\n\
92 Setting the VISP_INPUT_IMAGE_PATH environment\n\
93 variable produces the same behaviour than using\n\
97 Set the config file (the xml file) to use.\n\
98 The config file is used to specify the parameters of the tracker.\n\
101 Specify the name of the file of the model\n\
102 The model can either be a vrml model (.wrl) or a .cao file.\n\
105 Do not use the vrml model, use the .cao one. These two models are \n\
106 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
107 website. However, the .cao model allows to use the 3d model based tracker \n\
110 -n <initialisation file base name> \n\
111 Base name of the initialisation file. The file will be 'base_name'.init .\n\
112 This base name is also used for the optionnal picture specifying where to \n\
113 click (a .ppm picture).\
116 Turn off the display of the the klt points. \n\
119 Turn off the display.\n\
122 Disable the mouse click. Useful to automaze the \n\
123 execution of this program without humain intervention.\n\
126 Use Ogre3D for visibility tests\n\
129 Print the help.\n\n");
132 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
136 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
137 std::string &initFile,
bool &displayKltPoints,
bool &click_allowed,
bool &display,
138 bool& cao3DModel,
bool &useOgre)
145 case 'i': ipath = optarg_;
break;
146 case 'x': configFile = optarg_;
break;
147 case 'm': modelFile = optarg_;
break;
148 case 'n': initFile = optarg_;
break;
149 case 't': displayKltPoints =
false;
break;
150 case 'f': cao3DModel =
true;
break;
151 case 'c': click_allowed =
false;
break;
152 case 'd': display =
false;
break;
153 case 'o': useOgre =
true;
break;
154 case 'h': usage(argv[0], NULL);
return false;
break;
157 usage(argv[0], optarg_);
162 if ((c == 1) || (c == -1)) {
164 usage(argv[0], NULL);
165 std::cerr <<
"ERROR: " << std::endl;
166 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
174 main(
int argc,
const char ** argv)
177 std::string env_ipath;
178 std::string opt_ipath;
180 std::string opt_configFile;
181 std::string configFile;
182 std::string opt_modelFile;
183 std::string modelFile;
184 std::string opt_initFile;
185 std::string initFile;
186 bool displayKltPoints =
true;
187 bool opt_click_allowed =
true;
188 bool opt_display =
true;
189 bool cao3DModel =
false;
190 bool useOgre =
false;
197 if (! env_ipath.empty())
201 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayKltPoints, opt_click_allowed, opt_display, cao3DModel, useOgre)) {
206 if (opt_ipath.empty() && env_ipath.empty() ){
207 usage(argv[0], NULL);
208 std::cerr << std::endl
209 <<
"ERROR:" << std::endl;
210 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
212 <<
" environment variable to specify the location of the " << std::endl
213 <<
" image path where test images are located." << std::endl
220 if (!opt_ipath.empty())
225 if (!opt_configFile.empty())
226 configFile = opt_configFile;
227 else if (!opt_ipath.empty())
232 if (!opt_modelFile.empty()){
233 modelFile = opt_modelFile;
235 std::string modelFileCao =
"ViSP-images/mbt/cube.cao";
236 std::string modelFileWrl =
"ViSP-images/mbt/cube.wrl";
238 if(!opt_ipath.empty()){
243 #ifdef VISP_HAVE_COIN
246 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
256 #ifdef VISP_HAVE_COIN
259 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
266 if (!opt_initFile.empty())
267 initFile = opt_initFile;
268 else if (!opt_ipath.empty())
280 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
287 #if defined VISP_HAVE_X11
289 #elif defined VISP_HAVE_GDI
291 #elif defined VISP_HAVE_OPENCV
293 #elif defined VISP_HAVE_D3D9
295 #elif defined VISP_HAVE_GTK
302 #if (defined VISP_HAVE_DISPLAY)
303 display.
init(I, 100, 100,
"Test tracking") ;
314 #if defined (VISP_HAVE_XML2)
353 if (opt_display && opt_click_allowed)
369 if (opt_display && opt_click_allowed)
378 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
392 while (!reader.
end())
406 #if defined (VISP_HAVE_XML2)
441 cMo.
buildFrom(0.04371844921, 0.08438820979, 0.5382029442, 2.200417277, 0.873535825, -0.3479076844);
468 if (opt_click_allowed) {
482 if (opt_click_allowed && !quit) {
488 #if defined (VISP_HAVE_XML2)
493 #if defined(VISP_HAVE_COIN) && (COIN_MAJOR_VERSION == 3)
503 std::cout <<
"Catch an exception: " << e << std::endl;
512 std::cout <<
"OpenCV and display are required." << std::endl;
void setKltOpencv(const vpKltOpencv &t)
virtual void track(const vpImage< unsigned char > &I)
long getFrameIndex() const
long getFirstFrameIndex() const
void setHarrisFreeParameter(double harris_k)
virtual unsigned int getClipping() const
virtual void setAngleDisappear(const double &a)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
static const vpColor darkRed
Display for windows using GDI (available on any windows 32 platform).
void setMaxFeatures(const int maxCount)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Define the X11 console to display images.
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void setMinDistance(double minDistance)
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
virtual void loadConfigFile(const std::string &configFile)
void setQuality(double qualityLevel)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
void open(vpImage< vpRGBa > &I)
Display for windows using Direct3D.
void getPose(vpHomogeneousMatrix &cMo_) const
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void getCameraParameters(vpCameraParameters &camera) const
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void acquire(vpImage< vpRGBa > &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)
void setFileName(const char *filename)
virtual void setAngleAppear(const double &a)
Model based tracker using only KLT.
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
void setPyramidLevels(const int pyrMaxLevel)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Construction from translation vector and rotation matrix.
static double rad(double deg)
void setWindowSize(const int winSize)
void setMaskBorder(const unsigned int &e)
virtual void loadModel(const char *modelFile, const bool verbose=false)
void setCameraParameters(const vpCameraParameters &cam)
virtual void setOgreVisibilityTest(const bool &v)
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV.
void setBlockSize(const int blockSize)
virtual void setClipping(const unsigned int &flags)
virtual bool getClick(bool blocking=true)=0
void setDisplayFeatures(const bool displayF)
virtual void setFarClippingDistance(const double &dist)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual void setNearClippingDistance(const double &dist)