Visual Servoing Platform version 3.6.0
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tutorial-mb-generic-tracker-stereo.cpp
1
2#include <cstdlib>
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>
13
14int main(int argc, char **argv)
15{
16#if defined(VISP_HAVE_OPENCV)
17 try {
18 std::string opt_videoname_left = "teabox_left.mp4";
19 std::string opt_videoname_right = "teabox_right.mp4";
20 int opt_tracker1 = vpMbGenericTracker::EDGE_TRACKER;
21 int opt_tracker2 = vpMbGenericTracker::EDGE_TRACKER;
22
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>]"
34 " [--help]\n"
35 << std::endl;
36 return EXIT_SUCCESS;
37 }
38 }
39
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."
43 << std::endl;
44 return EXIT_SUCCESS;
45 }
46
47 std::string parentname = vpIoTools::getParent(opt_videoname_left);
48 std::string objectname_left = vpIoTools::getNameWE(opt_videoname_left);
49 std::string objectname_right = vpIoTools::getNameWE(opt_videoname_right);
50
51 if (!parentname.empty()) {
52 objectname_left = parentname + "/" + objectname_left;
53 }
54
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;
60
62 vpImage<unsigned char> I_left, I_right;
64
65 vpVideoReader g_left, g_right;
66 g_left.setFileName(opt_videoname_left);
67 g_left.open(I_left);
68 g_right.setFileName(opt_videoname_right);
69 g_right.open(I_right);
70
71#if defined(VISP_HAVE_X11)
72 vpDisplayX display_left;
73 vpDisplayX display_right;
74#elif defined(VISP_HAVE_GDI)
75 vpDisplayGDI display_left;
76 vpDisplayGDI display_right;
77#elif defined(HAVE_OPENCV_HIGHGUI)
78 vpDisplayOpenCV display_left;
79 vpDisplayOpenCV display_right;
80#endif
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)");
85
87 std::vector<int> trackerTypes(2);
88 trackerTypes[0] = opt_tracker1;
89 trackerTypes[1] = opt_tracker2;
90 vpMbGenericTracker tracker(trackerTypes);
92
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"
97 << std::endl;
98 return EXIT_SUCCESS;
99 }
100#endif
101
103 tracker.loadConfigFile(objectname_left + ".xml", objectname_right + ".xml");
105
107 tracker.loadModel(objectname_left + ".cao", objectname_right + ".cao");
110 tracker.setDisplayFeatures(true);
112
114 vpHomogeneousMatrix cRightMcLeft;
115 std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
116 cRightMcLeft.load(file_cRightMcLeft);
117
118 std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
119 mapOfCameraTransformationMatrix["Camera1"] = vpHomogeneousMatrix();
120 mapOfCameraTransformationMatrix["Camera2"] = cRightMcLeft;
121
122 tracker.setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
124
126 tracker.initClick(I_left, I_right, objectname_left + ".init", objectname_right + ".init", true);
128
129 while (!g_left.end() && !g_right.end()) {
130 g_left.acquire(I_left);
131 g_right.acquire(I_right);
132
133 vpDisplay::display(I_left);
134 vpDisplay::display(I_right);
135
137 tracker.track(I_left, I_right);
139
141 vpHomogeneousMatrix cLeftMo, cRightMo;
142 tracker.getPose(cLeftMo, cRightMo);
144
146 vpCameraParameters cam_left, cam_right;
147 tracker.getCameraParameters(cam_left, cam_right);
148 tracker.display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right, vpColor::red, 2);
150
151 vpDisplay::displayFrame(I_left, cLeftMo, cam_left, 0.025, vpColor::none, 3);
152 vpDisplay::displayFrame(I_right, cRightMo, cam_right, 0.025, vpColor::none, 3);
153 vpDisplay::displayText(I_left, 10, 10, "A click to exit...", vpColor::red);
154
155 vpDisplay::flush(I_left);
156 vpDisplay::flush(I_right);
157
158 if (vpDisplay::getClick(I_left, false)) {
159 break;
160 }
161 }
162 vpDisplay::getClick(I_left);
163 } catch (const vpException &e) {
164 std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
165 }
166#else
167 (void)argc;
168 (void)argv;
169 std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
170#endif
171}
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.
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)