50 #include <visp/vpConfig.h>
51 #include <visp/vpDebug.h>
52 #include <visp/vpDisplayD3D.h>
53 #include <visp/vpDisplayGTK.h>
54 #include <visp/vpDisplayGDI.h>
55 #include <visp/vpDisplayOpenCV.h>
56 #include <visp/vpDisplayX.h>
57 #include <visp/vpHomogeneousMatrix.h>
58 #include <visp/vpImageIo.h>
59 #include <visp/vpIoTools.h>
60 #include <visp/vpMath.h>
61 #include <visp/vpMbEdgeTracker.h>
62 #include <visp/vpVideoReader.h>
63 #include <visp/vpParseArgv.h>
65 #if defined (VISP_HAVE_DISPLAY)
67 #define GETOPTARGS "x:m:i:n:dchtfCo"
69 void usage(
const char *name,
const char *badparam);
70 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
71 std::string &initFile,
bool &displayFeatures,
bool &click_allowed,
bool &display,
72 bool& cao3DModel,
bool& trackCylinder,
bool &useOgre);
74 void usage(
const char *name,
const char *badparam)
77 Example of tracking based on the 3D model.\n\
80 %s [-i <test image path>] [-x <config file>]\n\
81 [-m <model name>] [-n <initialisation file base name>]\n\
82 [-t] [-c] [-d] [-h] [-f] [-C]",
87 -i <input image path> \n\
88 Set image input path.\n\
89 From this path read images \n\
90 \"ViSP-images/mbt/cube/image%%04d.ppm\". These \n\
91 images come from ViSP-images-x.y.z.tar.gz available \n\
92 on the ViSP website.\n\
93 Setting the VISP_INPUT_IMAGE_PATH environment\n\
94 variable produces the same behaviour than using\n\
98 Set the config file (the xml file) to use.\n\
99 The config file is used to specify the parameters of the tracker.\n\
102 Specify the name of the file of the model\n\
103 The model can either be a vrml model (.wrl) or a .cao file.\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\
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\
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 optionnal picture specifying where to \n\
119 click (a .ppm picture).\
122 Turn off the display of the the moving edges. \n\
125 Turn off the display.\n\
128 Disable the mouse click. Useful to automaze the \n\
129 execution of this program without humain intervention.\n\
132 Use Ogre3D for visibility tests\n\
135 Print the help.\n\n");
138 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
142 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
143 std::string &initFile,
bool &displayFeatures,
bool &click_allowed,
bool &display,
144 bool& cao3DModel,
bool& trackCylinder,
bool &useOgre)
151 case 'i': ipath = optarg_;
break;
152 case 'x': configFile = optarg_;
break;
153 case 'm': modelFile = optarg_;
break;
154 case 'n': initFile = optarg_;
break;
155 case 't': displayFeatures =
false;
break;
156 case 'f': cao3DModel =
true;
break;
157 case 'c': click_allowed =
false;
break;
158 case 'd': display =
false;
break;
159 case 'C': trackCylinder =
false;
break;
160 case 'o': useOgre =
true;
break;
161 case 'h': usage(argv[0], NULL);
return false;
break;
164 usage(argv[0], optarg_);
169 if ((c == 1) || (c == -1)) {
171 usage(argv[0], NULL);
172 std::cerr <<
"ERROR: " << std::endl;
173 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
181 main(
int argc,
const char ** argv)
184 std::string env_ipath;
185 std::string opt_ipath;
187 std::string opt_configFile;
188 std::string configFile;
189 std::string opt_modelFile;
190 std::string modelFile;
191 std::string opt_initFile;
192 std::string initFile;
193 bool displayFeatures =
true;
194 bool opt_click_allowed =
true;
195 bool opt_display =
true;
196 bool cao3DModel =
false;
197 bool trackCylinder =
true;
198 bool useOgre =
false;
205 if (! env_ipath.empty())
210 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayFeatures, opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre)) {
215 if (opt_ipath.empty() && env_ipath.empty() ){
216 usage(argv[0], NULL);
217 std::cerr << std::endl
218 <<
"ERROR:" << std::endl;
219 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
221 <<
" environment variable to specify the location of the " << std::endl
222 <<
" image path where test images are located." << std::endl
229 if (!opt_ipath.empty())
234 if (!opt_configFile.empty())
235 configFile = opt_configFile;
236 else if (!opt_ipath.empty())
241 if (!opt_modelFile.empty()){
242 modelFile = opt_modelFile;
244 std::string modelFileCao;
245 std::string modelFileWrl;
247 modelFileCao =
"ViSP-images/mbt/cube_and_cylinder.cao";
248 modelFileWrl =
"ViSP-images/mbt/cube_and_cylinder.wrl";
250 modelFileCao =
"ViSP-images/mbt/cube.cao";
251 modelFileWrl =
"ViSP-images/mbt/cube.wrl";
254 if(!opt_ipath.empty()){
259 #ifdef VISP_HAVE_COIN
262 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
272 #ifdef VISP_HAVE_COIN
275 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
282 if (!opt_initFile.empty())
283 initFile = opt_initFile;
284 else if (!opt_ipath.empty())
296 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
303 #if defined VISP_HAVE_X11
305 #elif defined VISP_HAVE_GDI
307 #elif defined VISP_HAVE_OPENCV
309 #elif defined VISP_HAVE_D3D9
311 #elif defined VISP_HAVE_GTK
318 #if (defined VISP_HAVE_DISPLAY)
319 display.
init(I, 100, 100,
"Test tracking") ;
330 #if defined (VISP_HAVE_XML2)
367 if (opt_display && opt_click_allowed)
383 if (opt_display && opt_click_allowed)
392 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
406 while (!reader.
end())
420 #if defined (VISP_HAVE_XML2)
453 cMo.
buildFrom(0.04371844921, 0.08438820979, 0.5382029442, 2.200417277, 0.873535825, -0.3479076844);
480 if (opt_click_allowed) {
495 if (opt_click_allowed && !quit) {
500 #if defined (VISP_HAVE_XML2)
505 #if defined(VISP_HAVE_COIN) && (COIN_MAJOR_VERSION == 3)
515 std::cout <<
"Catch an exception: " << e << std::endl;
524 std::cout <<
"Display is required to run this example." << std::endl;
void setMovingEdge(const vpMe &me)
long getFrameIndex() const
long getFirstFrameIndex() const
virtual unsigned int getClipping() const
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void track(const vpImage< unsigned char > &I)
void setMaskNumber(const unsigned int &a)
static const vpColor darkRed
Display for windows using GDI (available on any windows 32 platform).
void setSampleStep(const double &s)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
void setNbTotalSample(const int &nb)
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...
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
Contains predetermined masks for sites and holds moving edges tracking parameters.
Make the complete tracking of an object by using its CAD model.
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual void setCameraParameters(const vpCameraParameters &camera)
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
void loadConfigFile(const std::string &configFile)
static void flush(const vpImage< unsigned char > &I)
void setMu1(const double &mu_1)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
virtual void setNearClippingDistance(const double &dist)
virtual void setOgreVisibilityTest(const bool &v)
void open(vpImage< vpRGBa > &I)
Display for windows using Direct3D.
void setMaskSize(const unsigned int &a)
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)
virtual void setFarClippingDistance(const double &dist)
void setFileName(const char *filename)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Construction from translation vector and rotation matrix.
void setMu2(const double &mu_2)
virtual void loadModel(const char *modelFile, const bool verbose=false)
void setThreshold(const double &t)
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 bool getClick(bool blocking=true)=0
void setDisplayFeatures(const bool displayF)
void setRange(const unsigned int &r)
virtual void setClipping(const unsigned int &flags)