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Visual Servoing Platform
version 3.2.0
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1 #include <visp3/core/vpIoTools.h>
3 #include <visp3/gui/vpDisplayGDI.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/gui/vpDisplayX.h>
6 #include <visp3/io/vpImageIo.h>
8 #include <visp3/mbt/vpMbEdgeKltTracker.h>
9 #include <visp3/mbt/vpMbEdgeTracker.h>
11 #include <visp3/io/vpVideoReader.h>
13 int main(
int argc,
char **argv)
15 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
18 std::string opt_videoname =
"teabox.mpg";
19 std::string opt_modelname =
"teabox.cao";
22 for (
int i = 0; i < argc; i++) {
23 if (std::string(argv[i]) ==
"--video")
24 opt_videoname = std::string(argv[i + 1]);
25 else if (std::string(argv[i]) ==
"--model")
26 opt_modelname = std::string(argv[i + 1]);
27 else if (std::string(argv[i]) ==
"--tracker")
28 opt_tracker = atoi(argv[i + 1]);
29 else if (std::string(argv[i]) ==
"--help") {
30 std::cout <<
"\nUsage: " << argv[0]
31 <<
" [--video <video name>] [--model <model name>] "
32 "[--tracker <0=egde|1=keypoint|2=hybrid>] [--help]\n"
40 if (!parentname.empty())
41 objectname = parentname +
"/" + objectname;
43 std::cout <<
"Video name: " << opt_videoname << std::endl;
44 std::cout <<
"Tracker requested config files: " << objectname <<
".[init,"
48 <<
"cao or wrl]" << std::endl;
49 std::cout <<
"Tracker optional config files: " << objectname <<
".[ppm]" << std::endl;
64 #if defined(VISP_HAVE_X11)
66 #elif defined(VISP_HAVE_GDI)
71 display->init(I, 100, 100,
"Model-based tracker");
77 #ifdef VISP_HAVE_MODULE_KLT
78 else if (opt_tracker == 1)
84 std::cout <<
"klt and hybrid model-based tracker are not available "
85 "since visp_klt module is missing"
104 if (opt_tracker == 0 || opt_tracker == 2) {
114 dynamic_cast<vpMbEdgeTracker *>(tracker)->setMovingEdge(me);
118 #ifdef VISP_HAVE_MODULE_KLT
119 if (opt_tracker == 1 || opt_tracker == 2) {
129 dynamic_cast<vpMbKltTracker *>(tracker)->setKltOpencv(klt_settings);
130 dynamic_cast<vpMbKltTracker *>(tracker)->setKltMaskBorder(5);
175 tracker->
initClick(I, objectname +
".init",
true);
200 #ifdef VISP_HAVE_XML2
203 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
210 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
212 #ifdef VISP_HAVE_OGRE
213 catch (Ogre::Exception &e) {
214 std::cout <<
"Catch an Ogre exception: " << e.getDescription() << std::endl;
220 std::cout <<
"Install OpenCV and rebuild ViSP to use this example." << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
virtual void loadConfigFile(const std::string &configFile)
virtual void setAngleDisappear(const double &a)
virtual void setDisplayFeatures(const bool displayF)
void setMinDistance(double minDistance)
void setMaxFeatures(const int maxCount)
Make the complete tracking of an object by using its CAD model.
virtual void loadModel(const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
static double rad(double deg)
virtual unsigned int getClipping() const
Generic class defining intrinsic camera parameters.
Model based tracker using only KLT.
void setMu2(const double &mu_2)
virtual void setOgreShowConfigDialog(const bool showConfigDialog)
virtual void getPose(vpHomogeneousMatrix &cMo_) const
virtual void track(const vpImage< unsigned char > &I)=0
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setThreshold(const double &t)
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)=0
Display for windows using GDI (available on any windows 32 platform).
void setRange(const unsigned int &r)
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))
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
void open(vpImage< vpRGBa > &I)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
static void display(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
void setMaskNumber(const unsigned int &a)
virtual void setCameraParameters(const vpCameraParameters &camera)
void setBlockSize(const int blockSize)
virtual void setAngleAppear(const double &a)
void setWindowSize(const int winSize)
static const vpColor none
virtual void setOgreVisibilityTest(const bool &v)
void setPyramidLevels(const int pyrMaxLevel)
virtual void getCameraParameters(vpCameraParameters &camera) const
virtual void setClipping(const unsigned int &flags)
void setSampleStep(const double &s)
static void flush(const vpImage< unsigned char > &I)
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
Main methods for a model-based tracker.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setMu1(const double &mu_1)
virtual void setScanLineVisibilityTest(const bool &v)
Class that defines generic functionnalities for display.
void setMaskSize(const unsigned int &a)
error that can be emited by ViSP classes.
void acquire(vpImage< vpRGBa > &I)
void setFileName(const char *filename)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)