Visual Servoing Platform version 3.6.0
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tutorial-mb-generic-tracker-stereo.cpp
#include <cstdlib>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV)
try {
std::string opt_videoname_left = "teabox_left.mp4";
std::string opt_videoname_right = "teabox_right.mp4";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--name" && i + 2 < argc) {
opt_videoname_left = std::string(argv[i + 1]);
opt_videoname_right = std::string(argv[i + 2]);
} else if (std::string(argv[i]) == "--tracker" && i + 2 < argc) {
opt_tracker1 = atoi(argv[i + 1]);
opt_tracker2 = atoi(argv[i + 2]);
} else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0]
<< " [--name <video name left> <video name right>]"
" [--tracker <1=egde|2=klt|3=hybrid> <1=egde|2=klt|3=hybrid>]"
" [--help]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
if ((opt_tracker1 < 1 || opt_tracker1 > 3) && (opt_tracker2 < 1 || opt_tracker2 > 3)) {
std::cerr << "Wrong tracker type. Correct values are: "
"1=egde|2=keypoint|3=hybrid."
<< std::endl;
return EXIT_SUCCESS;
}
std::string parentname = vpIoTools::getParent(opt_videoname_left);
std::string objectname_left = vpIoTools::getNameWE(opt_videoname_left);
std::string objectname_right = vpIoTools::getNameWE(opt_videoname_right);
if (!parentname.empty()) {
objectname_left = parentname + "/" + objectname_left;
}
std::cout << "Video name: " << opt_videoname_left << " ; " << opt_videoname_right << std::endl;
std::cout << "Tracker requested config files: " << objectname_left << ".[init, cao]"
<< " and " << objectname_right << ".[init, cao]" << std::endl;
std::cout << "Tracker optional config files: " << opt_videoname_left << ".ppm"
<< " and " << opt_videoname_right << ".ppm" << std::endl;
vpImage<unsigned char> I_left, I_right;
vpVideoReader g_left, g_right;
g_left.setFileName(opt_videoname_left);
g_left.open(I_left);
g_right.setFileName(opt_videoname_right);
g_right.open(I_right);
#if defined(VISP_HAVE_X11)
vpDisplayX display_left;
vpDisplayX display_right;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_left;
vpDisplayGDI display_right;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display_left;
vpDisplayOpenCV display_right;
#endif
display_left.init(I_left, 100, 100, "Model-based tracker (Left)");
display_right.init(I_right, 110 + (int)I_left.getWidth(), 100, "Model-based tracker (Right)");
std::vector<int> trackerTypes(2);
trackerTypes[0] = opt_tracker1;
trackerTypes[1] = opt_tracker2;
vpMbGenericTracker tracker(trackerTypes);
#if !defined(VISP_HAVE_MODULE_KLT)
if (opt_tracker >= 2) {
std::cout << "klt and hybrid model-based tracker are not available "
"since visp_klt module is missing"
<< std::endl;
return EXIT_SUCCESS;
}
#endif
tracker.loadConfigFile(objectname_left + ".xml", objectname_right + ".xml");
tracker.loadModel(objectname_left + ".cao", objectname_right + ".cao");
tracker.setDisplayFeatures(true);
vpHomogeneousMatrix cRightMcLeft;
std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
cRightMcLeft.load(file_cRightMcLeft);
std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
mapOfCameraTransformationMatrix["Camera1"] = vpHomogeneousMatrix();
mapOfCameraTransformationMatrix["Camera2"] = cRightMcLeft;
tracker.setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
tracker.initClick(I_left, I_right, objectname_left + ".init", objectname_right + ".init", true);
while (!g_left.end() && !g_right.end()) {
g_left.acquire(I_left);
g_right.acquire(I_right);
tracker.track(I_left, I_right);
vpHomogeneousMatrix cLeftMo, cRightMo;
tracker.getPose(cLeftMo, cRightMo);
vpCameraParameters cam_left, cam_right;
tracker.getCameraParameters(cam_left, cam_right);
tracker.display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right, vpColor::red, 2);
vpDisplay::displayFrame(I_left, cLeftMo, cam_left, 0.025, vpColor::none, 3);
vpDisplay::displayFrame(I_right, cRightMo, cam_right, 0.025, vpColor::none, 3);
vpDisplay::displayText(I_left, 10, 10, "A click to exit...", vpColor::red);
vpDisplay::flush(I_right);
if (vpDisplay::getClick(I_left, false)) {
break;
}
}
} catch (const vpException &e) {
std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition vpColor.h:211
static const vpColor none
Definition vpColor.h:223
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
static void display(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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * what() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
void load(std::ifstream &f)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
static std::string getNameWE(const std::string &pathname)
static std::string getParent(const std::string &pathname)
Real-time 6D object pose tracking using its CAD model.
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setDisplayFeatures(bool displayF)
virtual void getCameraParameters(vpCameraParameters &camera) const
virtual void initClick(const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, bool displayHelp=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void setCameraTransformationMatrix(const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
virtual void track(const vpImage< unsigned char > &I)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)