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Visual Servoing Platform
version 3.3.0
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46 #include <visp3/core/vpConfig.h>
48 #if defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && \
49 defined(VISP_HAVE_DISPLAY) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
51 #include <visp3/core/vpDebug.h>
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpIoTools.h>
54 #include <visp3/core/vpMath.h>
55 #include <visp3/gui/vpDisplayD3D.h>
56 #include <visp3/gui/vpDisplayGDI.h>
57 #include <visp3/gui/vpDisplayGTK.h>
58 #include <visp3/gui/vpDisplayOpenCV.h>
59 #include <visp3/gui/vpDisplayX.h>
60 #include <visp3/io/vpImageIo.h>
61 #include <visp3/io/vpParseArgv.h>
62 #include <visp3/io/vpVideoReader.h>
63 #include <visp3/mbt/vpMbKltTracker.h>
65 #define GETOPTARGS "x:m:i:n:de:chtfolwv"
67 void usage(
const char *name,
const char *badparam)
70 Example of tracking based on the 3D model.\n\
73 %s [-i <test image path>] [-x <config file>]\n\
74 [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\
75 [-t] [-c] [-d] [-h] [-f] [-o] [-w] [-l] [-v]\n", name);
79 -i <input image path> \n\
80 Set image input path.\n\
81 From this path read images \n\
82 \"mbt/cube/image%%04d.ppm\". These \n\
83 images come from ViSP-images-x.y.z.tar.gz available \n\
84 on the ViSP website.\n\
85 Setting the VISP_INPUT_IMAGE_PATH environment\n\
86 variable produces the same behaviour than using\n\
90 Set the config file (the xml file) to use.\n\
91 The config file is used to specify the parameters of the tracker.\n\
94 Specify the name of the file of the model\n\
95 The model can either be a vrml model (.wrl) or a .cao file.\n\
97 -e <last frame index> \n\
98 Specify the index of the last frame. Once reached, the tracking is stopped\n\
101 Do not use the vrml model, use the .cao one. These two models are \n\
102 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
103 website. However, the .cao model allows to use the 3d model based tracker \n\
106 -n <initialisation file base name> \n\
107 Base name of the initialisation file. The file will be 'base_name'.init .\n\
108 This base name is also used for the optionnal picture specifying where to \n\
109 click (a .ppm picture).\n\
112 Turn off the display of the the klt points. \n\
115 Turn off the display.\n\
118 Disable the mouse click. Useful to automaze the \n\
119 execution of this program without humain intervention.\n\
122 Use Ogre3D for visibility tests\n\
125 When Ogre3D is enable [-o] show Ogre3D configuration dialog thatallows to set the renderer.\n\
128 Use the scanline for visibility tests.\n\
131 Compute covariance matrix.\n\
134 Print the help.\n\n");
137 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
140 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
141 std::string &initFile,
long &lastFrame,
bool &displayKltPoints,
bool &click_allowed,
bool &display,
142 bool &cao3DModel,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
bool &computeCovariance)
150 lastFrame = atol(optarg_);
156 configFile = optarg_;
165 displayKltPoints =
false;
171 click_allowed =
false;
183 showOgreConfigDialog =
true;
186 computeCovariance =
true;
189 usage(argv[0], NULL);
194 usage(argv[0], optarg_);
200 if ((c == 1) || (c == -1)) {
202 usage(argv[0], NULL);
203 std::cerr <<
"ERROR: " << std::endl;
204 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
211 int main(
int argc,
const char **argv)
214 std::string env_ipath;
215 std::string opt_ipath;
217 std::string opt_configFile;
218 std::string configFile;
219 std::string opt_modelFile;
220 std::string modelFile;
221 std::string opt_initFile;
222 std::string initFile;
223 long opt_lastFrame = -1;
224 bool displayKltPoints =
true;
225 bool opt_click_allowed =
true;
226 bool opt_display =
true;
227 bool cao3DModel =
false;
228 bool useOgre =
false;
229 bool showOgreConfigDialog =
false;
230 bool useScanline =
false;
231 bool computeCovariance =
false;
239 if (!env_ipath.empty())
243 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayKltPoints,
244 opt_click_allowed, opt_display, cao3DModel, useOgre, showOgreConfigDialog, useScanline,
245 computeCovariance)) {
250 if (opt_ipath.empty() && env_ipath.empty()) {
251 usage(argv[0], NULL);
252 std::cerr << std::endl <<
"ERROR:" << std::endl;
253 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
254 <<
" environment variable to specify the location of the " << std::endl
255 <<
" image path where test images are located." << std::endl
262 if (!opt_ipath.empty())
267 if (!opt_configFile.empty())
268 configFile = opt_configFile;
269 else if (!opt_ipath.empty())
274 if (!opt_modelFile.empty()) {
275 modelFile = opt_modelFile;
277 std::string modelFileCao =
"mbt/cube.cao";
278 std::string modelFileWrl =
"mbt/cube.wrl";
280 if (!opt_ipath.empty()) {
284 #ifdef VISP_HAVE_COIN3D
287 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
295 #ifdef VISP_HAVE_COIN3D
298 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
305 if (!opt_initFile.empty())
306 initFile = opt_initFile;
307 else if (!opt_ipath.empty())
319 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
329 #if defined VISP_HAVE_X11
331 #elif defined VISP_HAVE_GDI
333 #elif defined VISP_HAVE_OPENCV
335 #elif defined VISP_HAVE_D3D9
337 #elif defined VISP_HAVE_GTK
343 #if defined(VISP_HAVE_DISPLAY)
344 display.init(I, 100, 100,
"Test tracking");
355 #if defined(VISP_HAVE_PUGIXML)
404 if (opt_display && opt_click_allowed) {
421 if (opt_display && opt_click_allowed) {
427 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
438 while (!reader.
end()) {
451 #if defined(VISP_HAVE_PUGIXML)
490 cMo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
518 if (opt_click_allowed) {
526 if (computeCovariance) {
527 std::cout <<
"Covariance matrix: \n" << tracker.
getCovarianceMatrix() << std::endl << std::endl;
534 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
536 if (opt_click_allowed && !quit) {
542 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
551 std::cout <<
"Catch an exception: " << e << std::endl;
560 std::cout <<
"visp_mbt, visp_gui modules and OpenCV are required to run "
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
virtual void setAngleDisappear(const double &a)
void setMinDistance(double minDistance)
virtual void getCameraParameters(vpCameraParameters &cam) const
static double rad(double deg)
virtual unsigned int getClipping() const
Generic class defining intrinsic camera parameters.
virtual void setOgreVisibilityTest(const bool &v)
Model based tracker using only KLT.
virtual void setCovarianceComputation(const bool &flag)
void setLastFrameIndex(const long last_frame)
void setQuality(double qualityLevel)
long getFirstFrameIndex()
void setHarrisFreeParameter(double harris_k)
Display for windows using GDI (available on any windows 32 platform).
virtual void getPose(vpHomogeneousMatrix &cMo) const
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)
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
virtual void track(const vpImage< unsigned char > &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, const vpImagePoint &offset=vpImagePoint(0, 0))
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
long getFrameIndex() const
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)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
virtual void loadConfigFile(const std::string &configFile)
void setFileName(const std::string &filename)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
void setWindowSize(int winSize)
virtual void setAngleAppear(const double &a)
void setPyramidLevels(int pyrMaxLevel)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setKltMaskBorder(const unsigned int &e)
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
virtual void setClipping(const unsigned int &flags)
static void flush(const vpImage< unsigned char > &I)
static const vpColor darkRed
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
error that can be emited by ViSP classes.
virtual vpMatrix getCovarianceMatrix() const
void acquire(vpImage< vpRGBa > &I)
virtual void setScanLineVisibilityTest(const bool &v)
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)