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/*! \example tutorial-mb-klt-tracker.cpp */
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/mbt/vpMbKltTracker.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
try {
std::string videoname = "teabox.mp4";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--name" && i + 1 < argc) {
videoname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0]
<< " [--name <video name>]"
<< " [--help]\n" << std::endl;
return EXIT_SUCCESS;
}
}
std::string parentname = vpIoTools::getParent(videoname);
std::string objectname = vpIoTools::getNameWE(videoname);
if (!parentname.empty())
objectname = parentname + "/" + objectname;
std::cout << "Video name: " << 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;
vpImage<unsigned char> I;
vpCameraParameters cam;
vpHomogeneousMatrix cMo;
vpVideoReader g;
g.setFileName(videoname);
g.open(I);
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I, 100, 100, "Model-based keypoint tracker");
#else
display = vpDisplayFactory::allocateDisplay(I, 100, 100, "Model-based keypoint tracker");
#endif
#else
std::cout << "No image viewer is available..." << std::endl;
return EXIT_FAILURE;
#endif
vpMbKltTracker tracker;
bool usexml = false;
//! [Load xml]
#if defined(VISP_HAVE_PUGIXML)
if (vpIoTools::checkFilename(objectname + ".xml")) {
tracker.loadConfigFile(objectname + ".xml");
usexml = true;
}
#endif
//! [Load xml]
if (!usexml) {
//! [Set 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);
tracker.setKltOpencv(klt_settings);
tracker.setKltMaskBorder(5);
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker.setCameraParameters(cam);
tracker.setAngleAppear(vpMath::rad(70));
tracker.setAngleDisappear(vpMath::rad(80));
tracker.setNearClippingDistance(0.1);
tracker.setFarClippingDistance(100.0);
tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
//! [Set parameters]
}
tracker.setOgreVisibilityTest(true);
tracker.setOgreShowConfigDialog(false);
tracker.loadModel(objectname + "-triangle.cao");
tracker.setDisplayFeatures(true);
tracker.initClick(I, objectname + ".init", true);
while (!g.end()) {
g.acquire(I);
vpDisplay::display(I);
tracker.track(I);
tracker.getPose(cMo);
tracker.getCameraParameters(cam);
tracker.display(I, cMo, cam, vpColor::red, 2);
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);
}
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
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}
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