Visual Servoing Platform  version 3.3.0
tutorial-mb-edge-tracker.cpp
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/vpMbEdgeTracker.h>
10 #include <visp3/io/vpVideoReader.h>
11 
12 int main(int argc, char **argv)
13 {
14 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
15  try {
16  std::string videoname = "teabox.mpg";
17 
18  for (int i = 0; i < argc; i++) {
19  if (std::string(argv[i]) == "--name")
20  videoname = std::string(argv[i + 1]);
21  else if (std::string(argv[i]) == "--help") {
22  std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
23  return 0;
24  }
25  }
26  std::string parentname = vpIoTools::getParent(videoname);
27  std::string objectname = vpIoTools::getNameWE(videoname);
28 
29  if (!parentname.empty())
30  objectname = parentname + "/" + objectname;
31 
32  std::cout << "Video name: " << videoname << std::endl;
33  std::cout << "Tracker requested config files: " << objectname << ".[init,"
34 #ifdef VISP_HAVE_PUGIXML
35  << "xml,"
36 #endif
37  << "cao or wrl]" << std::endl;
38  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
39 
47 
48  vpVideoReader g;
49  g.setFileName(videoname);
50  g.open(I);
51 
52 #if defined(VISP_HAVE_X11)
53  vpDisplayX display;
54 #elif defined(VISP_HAVE_GDI)
55  vpDisplayGDI display;
56 #elif defined(VISP_HAVE_OPENCV)
57  vpDisplayOpenCV display;
58 #else
59  std::cout << "No image viewer is available..." << std::endl;
60  return 0;
61 #endif
62 
63  display.init(I, 100, 100, "Model-based edge tracker");
64 
66  vpMbEdgeTracker tracker;
68  bool usexml = false;
70 #ifdef VISP_HAVE_PUGIXML
71  if (vpIoTools::checkFilename(objectname + ".xml")) {
72  tracker.loadConfigFile(objectname + ".xml");
73  usexml = true;
74  }
75 #endif
76  if (!usexml) {
79  vpMe me;
80  me.setMaskSize(5);
81  me.setMaskNumber(180);
82  me.setRange(8);
83  me.setThreshold(10000);
84  me.setMu1(0.5);
85  me.setMu2(0.5);
86  me.setSampleStep(4);
87  tracker.setMovingEdge(me);
88  cam.initPersProjWithoutDistortion(839, 839, 325, 243);
89  tracker.setCameraParameters(cam);
91  tracker.setAngleAppear(vpMath::rad(70));
92  tracker.setAngleDisappear(vpMath::rad(80));
95  tracker.setNearClippingDistance(0.1);
96  tracker.setFarClippingDistance(100.0);
102  }
104  tracker.setOgreVisibilityTest(false);
105  tracker.setOgreShowConfigDialog(false);
108  if (vpIoTools::checkFilename(objectname + ".cao"))
109  tracker.loadModel(objectname + ".cao");
112  else if (vpIoTools::checkFilename(objectname + ".wrl"))
113  tracker.loadModel(objectname + ".wrl");
116  tracker.setDisplayFeatures(true);
119  tracker.initClick(I, objectname + ".init", true);
121 
122  while (!g.end()) {
123  g.acquire(I);
126  tracker.track(I);
129  tracker.getPose(cMo);
132  tracker.getCameraParameters(cam);
133  tracker.display(I, cMo, cam, vpColor::red, 2);
135  vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
136  vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
137  vpDisplay::flush(I);
138  if (vpDisplay::getClick(I, false))
139  break;
140  }
143 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
144  SoDB::finish();
145 #endif
146  } catch (const vpException &e) {
148  std::cout << "Catch a ViSP exception: " << e << std::endl;
149  }
150 #ifdef VISP_HAVE_OGRE
151  catch (Ogre::Exception &e) {
152  std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
153  }
154 #endif
155 #else
156  (void)argc;
157  (void)argv;
158  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
159 #endif
160 }
vpMbEdgeTracker::setClipping
virtual void setClipping(const unsigned int &flags)
Definition: vpMbEdgeTracker.cpp:2693
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:149
vpMbTracker::setAngleDisappear
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:475
vpMbEdgeTracker::track
virtual void track(const vpImage< unsigned char > &I)
Definition: vpMbEdgeTracker.cpp:1028
vpMbTracker::getCameraParameters
virtual void getCameraParameters(vpCameraParameters &cam) const
Definition: vpMbTracker.h:243
vpMbEdgeTracker
Make the complete tracking of an object by using its CAD model.
Definition: vpMbEdgeTracker.h:257
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:107
vpMbTracker::getClipping
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:251
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpMbEdgeTracker::setMovingEdge
void setMovingEdge(const vpMe &me)
Definition: vpMbEdgeTracker.cpp:132
vpMe::setMu2
void setMu2(const double &mu_2)
Definition: vpMe.h:247
vpMbEdgeTracker::loadConfigFile
void loadConfigFile(const std::string &configFile)
Definition: vpMbEdgeTracker.cpp:1223
vpIoTools::getNameWE
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1460
vpVideoReader::end
bool end()
Definition: vpVideoReader.h:259
vpMe::setThreshold
void setThreshold(const double &t)
Definition: vpMe.h:299
vpMbEdgeTracker::setNearClippingDistance
virtual void setNearClippingDistance(const double &dist)
Definition: vpMbEdgeTracker.cpp:2661
vpMbEdgeTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbEdgeTracker.h:440
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:127
vpMbEdgeTracker::display
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
Definition: vpMbEdgeTracker.cpp:1290
vpMbTracker::getPose
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:409
vpPolygon3D::FOV_CLIPPING
Definition: vpPolygon3D.h:69
vpMbTracker::initClick
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Definition: vpMbTracker.cpp:547
vpMbTracker::setOgreShowConfigDialog
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:638
vpMe
Definition: vpMe.h:59
vpMe::setRange
void setRange(const unsigned int &r)
Definition: vpMe.h:270
vpDisplay::displayFrame
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))
Definition: vpDisplay_uchar.cpp:383
vpMbEdgeTracker::setFarClippingDistance
virtual void setFarClippingDistance(const double &dist)
Definition: vpMbEdgeTracker.cpp:2631
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:140
vpVideoReader::open
void open(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:174
vpVideoReader
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
Definition: vpVideoReader.h:170
vpVideoReader::setFileName
void setFileName(const std::string &filename)
Definition: vpVideoReader.cpp:91
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:739
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:663
vpMe::setMaskNumber
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:453
vpIoTools::checkFilename
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:730
vpMbTracker::setAngleAppear
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:464
vpColor::none
static const vpColor none
Definition: vpColor.h:190
vpCameraParameters::initPersProjWithoutDistortion
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Definition: vpCameraParameters.cpp:181
vpMbEdgeTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbEdgeTracker.h:404
vpMe::setSampleStep
void setSampleStep(const double &s)
Definition: vpMe.h:277
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:715
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:764
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:148
vpMe::setMu1
void setMu1(const double &mu_1)
Definition: vpMe.h:240
vpMe::setMaskSize
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:460
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpVideoReader::acquire
void acquire(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:243
vpColor::red
static const vpColor red
Definition: vpColor.h:178
vpMbTracker::loadModel
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Definition: vpMbTracker.cpp:1465
vpIoTools::getParent
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1473
vpMbTracker::setDisplayFeatures
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:512