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Visual Servoing Platform
version 3.3.0
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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,"
45 #ifdef VISP_HAVE_PUGIXML
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"
94 #ifdef VISP_HAVE_PUGIXML
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 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
207 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
209 #ifdef VISP_HAVE_OGRE
210 catch (Ogre::Exception &e) {
211 std::cout <<
"Catch an Ogre exception: " << e.getDescription() << std::endl;
217 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)
void setMinDistance(double minDistance)
virtual void getCameraParameters(vpCameraParameters &cam) const
Make the complete tracking of an object by using its CAD model.
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 track(const vpImage< unsigned char > &I)=0
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setThreshold(const double &t)
Display for windows using GDI (available on any windows 32 platform).
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setCameraParameters(const vpCameraParameters &cam)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setOgreShowConfigDialog(bool showConfigDialog)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
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...
void setFileName(const std::string &filename)
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)
void setWindowSize(int winSize)
virtual void setAngleAppear(const double &a)
void setPyramidLevels(int pyrMaxLevel)
static const vpColor none
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
virtual void setOgreVisibilityTest(const bool &v)
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)
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)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
void setBlockSize(int blockSize)
virtual void setDisplayFeatures(bool displayF)
void setMaxFeatures(int maxCount)