 |
Visual Servoing Platform
version 3.3.0
|
49 #include <visp3/core/vpConfig.h>
51 #if defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)
53 #include <visp3/core/vpDebug.h>
54 #include <visp3/core/vpHomogeneousMatrix.h>
55 #include <visp3/core/vpIoTools.h>
56 #include <visp3/core/vpMath.h>
57 #include <visp3/gui/vpDisplayD3D.h>
58 #include <visp3/gui/vpDisplayGDI.h>
59 #include <visp3/gui/vpDisplayGTK.h>
60 #include <visp3/gui/vpDisplayOpenCV.h>
61 #include <visp3/gui/vpDisplayX.h>
62 #include <visp3/io/vpImageIo.h>
63 #include <visp3/io/vpParseArgv.h>
64 #include <visp3/io/vpVideoReader.h>
65 #include <visp3/mbt/vpMbEdgeTracker.h>
67 #define GETOPTARGS "x:m:i:n:de:chtfColwvp"
69 void usage(
const char *name,
const char *badparam)
72 Example of tracking based on the 3D model.\n\
75 %s [-i <test image path>] [-x <config file>]\n\
76 [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\
77 [-t] [-c] [-d] [-h] [-f] [-C] [-o] [-w] [-l] [-v] [-p]\n", name);
81 -i <input image path> \n\
82 Set image input path.\n\
83 From this path read images \n\
84 \"mbt/cube/image%%04d.ppm\". These \n\
85 images come from ViSP-images-x.y.z.tar.gz available \n\
86 on the ViSP website.\n\
87 Setting the VISP_INPUT_IMAGE_PATH environment\n\
88 variable produces the same behaviour than using\n\
92 Set the config file (the xml file) to use.\n\
93 The config file is used to specify the parameters of the tracker.\n\
96 Specify the name of the file of the model\n\
97 The model can either be a vrml model (.wrl) or a .cao file.\n\
99 -e <last frame index> \n\
100 Specify the index of the last frame. Once reached, the tracking is stopped\n\
103 Do not use the vrml model, use the .cao one. These two models are \n\
104 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
105 website. However, the .cao model allows to use the 3d model based tracker \n\
109 Track only the cube (not the cylinder). In this case the models files are\n\
110 cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\
111 cube_and_cylinder.wrl.\n\
113 -n <initialisation file base name> \n\
114 Base name of the initialisation file. The file will be 'base_name'.init .\n\
115 This base name is also used for the optionnal picture specifying where to \n\
116 click (a .ppm picture).\n\
119 Turn off the display of the the moving edges. \n\
122 Turn off the display.\n\
125 Disable the mouse click. Useful to automaze the \n\
126 execution of this program without humain intervention.\n\
129 Use Ogre3D for visibility tests.\n\
132 When Ogre3D is enable [-o] show Ogre3D configuration dialog thatallows to set the renderer.\n\
135 Use the scanline for visibility tests.\n\
138 Compute covariance matrix.\n\
141 Compute gradient projection error.\n\
144 Print the help.\n\n");
147 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
150 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
151 std::string &initFile,
long &lastFrame,
bool &displayFeatures,
bool &click_allowed,
bool &display,
152 bool &cao3DModel,
bool &trackCylinder,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
153 bool &computeCovariance,
bool &projectionError)
161 lastFrame = atol(optarg_);
167 configFile = optarg_;
176 displayFeatures =
false;
182 click_allowed =
false;
188 trackCylinder =
false;
197 showOgreConfigDialog =
true;
200 computeCovariance =
true;
203 projectionError =
true;
206 usage(argv[0], NULL);
211 usage(argv[0], optarg_);
217 if ((c == 1) || (c == -1)) {
219 usage(argv[0], NULL);
220 std::cerr <<
"ERROR: " << std::endl;
221 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
228 int main(
int argc,
const char **argv)
231 std::string env_ipath;
232 std::string opt_ipath;
234 std::string opt_configFile;
235 std::string configFile;
236 std::string opt_modelFile;
237 std::string modelFile;
238 std::string opt_initFile;
239 std::string initFile;
240 long opt_lastFrame = -1;
241 bool displayFeatures =
true;
242 bool opt_click_allowed =
true;
243 bool opt_display =
true;
244 bool cao3DModel =
false;
245 bool trackCylinder =
true;
246 bool useOgre =
false;
247 bool showOgreConfigDialog =
false;
248 bool useScanline =
false;
249 bool computeCovariance =
false;
250 bool projectionError =
false;
258 if (!env_ipath.empty())
262 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
263 opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
264 useScanline, computeCovariance, projectionError)) {
269 if (opt_ipath.empty() && env_ipath.empty()) {
270 usage(argv[0], NULL);
271 std::cerr << std::endl <<
"ERROR:" << std::endl;
272 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
273 <<
" environment variable to specify the location of the " << std::endl
274 <<
" image path where test images are located." << std::endl
281 if (!opt_ipath.empty())
286 if (!opt_configFile.empty())
287 configFile = opt_configFile;
288 else if (!opt_ipath.empty())
293 if (!opt_modelFile.empty()) {
294 modelFile = opt_modelFile;
296 std::string modelFileCao;
297 std::string modelFileWrl;
299 modelFileCao =
"mbt/cube_and_cylinder.cao";
300 modelFileWrl =
"mbt/cube_and_cylinder.wrl";
302 modelFileCao =
"mbt/cube.cao";
303 modelFileWrl =
"mbt/cube.wrl";
306 if (!opt_ipath.empty()) {
310 #ifdef VISP_HAVE_COIN3D
313 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
321 #ifdef VISP_HAVE_COIN3D
324 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
331 if (!opt_initFile.empty())
332 initFile = opt_initFile;
333 else if (!opt_ipath.empty())
345 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
355 #if defined VISP_HAVE_X11
357 #elif defined VISP_HAVE_GDI
359 #elif defined VISP_HAVE_OPENCV
361 #elif defined VISP_HAVE_D3D9
363 #elif defined VISP_HAVE_GTK
369 #if defined(VISP_HAVE_DISPLAY)
370 display.init(I, 100, 100,
"Test tracking");
381 #if defined(VISP_HAVE_PUGIXML)
431 if (opt_display && opt_click_allowed) {
448 if (opt_display && opt_click_allowed) {
454 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
465 while (!reader.
end()) {
478 #if defined(VISP_HAVE_PUGIXML)
515 cMo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
543 if (opt_click_allowed) {
551 if (computeCovariance) {
552 std::cout <<
"Covariance matrix: \n" << tracker.
getCovarianceMatrix() << std::endl << std::endl;
555 if (projectionError) {
556 std::cout <<
"Projection error: " << tracker.
getProjectionError() << std::endl << std::endl;
563 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
565 if (opt_click_allowed && !quit) {
570 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
579 std::cout <<
"Catch an exception: " << e << std::endl;
588 std::cout <<
"visp_mbt module is required to run this example." << std::endl;
virtual void setClipping(const unsigned int &flags)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
virtual void setProjectionErrorComputation(const bool &flag)
virtual void track(const vpImage< unsigned char > &I)
virtual void getCameraParameters(vpCameraParameters &cam) const
Make the complete tracking of an object by using its CAD model.
virtual unsigned int getClipping() const
Generic class defining intrinsic camera parameters.
void setMovingEdge(const vpMe &me)
virtual void setCovarianceComputation(const bool &flag)
void setMu2(const double &mu_2)
void loadConfigFile(const std::string &configFile)
void setLastFrameIndex(const long last_frame)
long getFirstFrameIndex()
void setThreshold(const double &t)
virtual void setNearClippingDistance(const double &dist)
virtual void setOgreVisibilityTest(const bool &v)
virtual double getProjectionError() const
Display for windows using GDI (available on any windows 32 platform).
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 getPose(vpHomogeneousMatrix &cMo) const
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....
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))
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
long getFrameIndex() const
virtual void setFarClippingDistance(const double &dist)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
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...
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)
void setMaskNumber(const unsigned int &a)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
virtual void setScanLineVisibilityTest(const bool &v)
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
virtual void setCameraParameters(const vpCameraParameters &cam)
void setSampleStep(const double &s)
static void flush(const vpImage< unsigned char > &I)
static const vpColor darkRed
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)
void setMaskSize(const unsigned int &a)
error that can be emited by ViSP classes.
virtual vpMatrix getCovarianceMatrix() const
void acquire(vpImage< vpRGBa > &I)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual void setDisplayFeatures(bool displayF)