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//! \example tutorial-mb-tracker-full.cpp
#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]
#include <visp3/mbt/vpMbEdgeKltTracker.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
//! [Include]
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV)
try {
std::string opt_videoname = "teabox.mp4";
std::string opt_modelname = "teabox.cao";
int opt_tracker = 0;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--video")
opt_videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--model")
opt_modelname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--tracker")
opt_tracker = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--video <video name>] [--model <model name>] "
"[--tracker <0=egde|1=keypoint|2=hybrid>] [--help] [-h]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
std::string parentname = vpIoTools::getParent(opt_modelname);
std::string objectname = vpIoTools::getNameWE(opt_modelname);
if (!parentname.empty())
objectname = parentname + "/" + objectname;
std::cout << "Video name: " << opt_videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname << ".[init,"
<< "xml,"
<< "cao or wrl]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
//! [Image]
vpImage<unsigned char> I;
vpCameraParameters cam;
//! [Image]
//! [cMo]
vpHomogeneousMatrix cMo;
//! [cMo]
vpVideoReader g;
g.setFileName(opt_videoname);
g.open(I);
vpDisplay *display = NULL;
#if defined(VISP_HAVE_X11)
display = new vpDisplayX;
#elif defined(VISP_HAVE_GDI)
display = new vpDisplayGDI;
#elif defined(HAVE_OPENCV_HIGHGUI)
display = new vpDisplayOpenCV;
#endif
display->init(I, 100, 100, "Model-based tracker");
//! [Constructor]
vpMbTracker *tracker;
if (opt_tracker == 0)
tracker = new vpMbEdgeTracker;
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
else if (opt_tracker == 1)
tracker = new vpMbKltTracker;
else
tracker = new vpMbEdgeKltTracker;
#else
else {
std::cout << "klt and hybrid model-based tracker are not available "
"since visp_klt module is missing"
<< std::endl;
return EXIT_FAILURE;
}
#endif
//! [Constructor]
bool usexml = false;
//! [Load xml]
if (vpIoTools::checkFilename(objectname + ".xml")) {
tracker->loadConfigFile(objectname + ".xml");
usexml = true;
}
//! [Load xml]
if (!usexml) {
//! [Set parameters]
if (opt_tracker == 0 || opt_tracker == 2) {
//! [Set moving-edges parameters]
vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(8);
me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
me.setThreshold(20);
me.setMu1(0.5);
me.setMu2(0.5);
me.setSampleStep(4);
dynamic_cast<vpMbEdgeTracker *>(tracker)->setMovingEdge(me);
//! [Set moving-edges parameters]
}
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
if (opt_tracker == 1 || opt_tracker == 2) {
//! [Set klt parameters]
vpKltOpencv klt_settings;
klt_settings.setMaxFeatures(300);
klt_settings.setWindowSize(5);
klt_settings.setQuality(0.015);
klt_settings.setMinDistance(8);
klt_settings.setHarrisFreeParameter(0.01);
klt_settings.setBlockSize(3);
klt_settings.setPyramidLevels(3);
dynamic_cast<vpMbKltTracker *>(tracker)->setKltOpencv(klt_settings);
dynamic_cast<vpMbKltTracker *>(tracker)->setKltMaskBorder(5);
//! [Set klt parameters]
}
#endif
//! [Set camera parameters]
cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
tracker->setCameraParameters(cam);
//! [Set camera parameters]
//! [Set angles]
tracker->setAngleAppear(vpMath::rad(70));
tracker->setAngleDisappear(vpMath::rad(80));
//! [Set angles]
//! [Set clipping distance]
tracker->setNearClippingDistance(0.1);
tracker->setFarClippingDistance(100.0);
//! [Set clipping distance]
//! [Set clipping fov]
tracker->setClipping(tracker->getClipping() | vpMbtPolygon::FOV_CLIPPING);
//! [Set clipping fov]
//! [Set parameters]
}
//! [Set visibility parameters]
//! [Set ogre visibility]
tracker->setOgreVisibilityTest(false);
tracker->setOgreShowConfigDialog(false);
//! [Set ogre visibility]
//! [Set scanline visibility]
tracker->setScanLineVisibilityTest(true);
//! [Set scanline visibility]
//! [Set visibility parameters]
//! [Load cao]
if (vpIoTools::checkFilename(objectname + ".cao"))
tracker->loadModel(objectname + ".cao");
//! [Load cao]
//! [Load wrl]
else if (vpIoTools::checkFilename(objectname + ".wrl"))
tracker->loadModel(objectname + ".wrl");
//! [Load wrl]
//! [Set display]
tracker->setDisplayFeatures(true);
//! [Set display]
//! [Init]
tracker->initClick(I, objectname + ".init", true);
//! [Init]
while (!g.end()) {
g.acquire(I);
vpDisplay::display(I);
//! [Track]
tracker->track(I);
//! [Track]
//! [Get pose]
tracker->getPose(cMo);
//! [Get pose]
//! [Display]
tracker->getCameraParameters(cam);
tracker->display(I, cMo, cam, vpColor::red, 2);
//! [Display]
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false))
break;
}
vpDisplay::getClick(I);
//! [Cleanup]
delete display;
delete tracker;
//! [Cleanup]
}
catch (const vpException &e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
}
#ifdef VISP_HAVE_OGRE
catch (Ogre::Exception &e) {
std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
}
#endif
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}
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