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>
14 int main(
int argc,
char **argv)
16 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020300)
18 std::string opt_videoname_left =
"teabox_left.mpg";
19 std::string opt_videoname_right =
"teabox_right.mpg";
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>]"
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."
51 if (!parentname.empty()) {
52 objectname_left = parentname +
"/" + objectname_left;
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;
69 g_right.
open(I_right);
71 #if defined(VISP_HAVE_X11)
74 #elif defined(VISP_HAVE_GDI)
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)");
87 std::vector<int> trackerTypes(2);
88 trackerTypes[0] = opt_tracker1;
89 trackerTypes[1] = opt_tracker2;
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"
103 tracker.loadConfigFile(objectname_left +
".xml", objectname_right +
".xml");
107 tracker.loadModel(objectname_left +
".cao", objectname_right +
".cao");
110 tracker.setDisplayFeatures(
true);
115 std::ifstream file_cRightMcLeft(
"cRightMcLeft.txt");
116 cRightMcLeft.
load(file_cRightMcLeft);
118 std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
120 mapOfCameraTransformationMatrix[
"Camera2"] = cRightMcLeft;
122 tracker.setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
125 #ifndef VISP_HAVE_XML2
126 std::cout <<
"\n**********************************************************\n"
127 <<
"Warning: we are not able to load the tracker settings from\n"
128 <<
"the xml config files since ViSP is not build with libxml2\n"
129 <<
"3rd party. As a consequence, the tracking may fail!"
130 <<
"\n**********************************************************\n"
135 tracker.initClick(I_left, I_right, objectname_left +
".init", objectname_right +
".init",
true);
138 while (!g_left.
end() && !g_right.
end()) {
146 tracker.track(I_left, I_right);
151 tracker.getPose(cLeftMo, cRightMo);
156 tracker.getCameraParameters(cam_left, cam_right);
157 tracker.display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right,
vpColor::red, 2);
173 std::cerr <<
"Catch a ViSP exception: " << e.
what() << std::endl;
178 std::cout <<
"Install OpenCV and rebuild ViSP to use this example." << std::endl;