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//! \example tutorial-mb-generic-tracker-stereo-mono.cpp
#include <cstdlib>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
//! [Include]
#include <visp3/mbt/vpMbGenericTracker.h>
//! [Include]
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV)
#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 opt_videoname = "teabox.mp4";
int opt_tracker = vpMbGenericTracker::EDGE_TRACKER;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--name" && i + 1 < argc) {
opt_videoname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--tracker" && i + 1 < argc) {
opt_tracker = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--name <video name>]"
<< " [--tracker <1=egde|2=keypoint|3=hybrid>]"
<< " [--help] [-h]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
if (opt_tracker < 1 || opt_tracker > 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);
std::string objectname = vpIoTools::getNameWE(opt_videoname);
if (!parentname.empty()) {
objectname = parentname + "/" + objectname;
}
std::cout << "Video name: " << opt_videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname << ".[init, cao]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
//! [Image]
vpImage<unsigned char> I;
//! [Image]
vpVideoReader g;
g.setFileName(opt_videoname);
g.open(I);
//! [Constructor]
vpMbGenericTracker tracker(1, opt_tracker);
//! [Constructor]
#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
//! [Set parameters]
#if defined(VISP_HAVE_PUGIXML)
//! [Load config file]
tracker.loadConfigFile(objectname + ".xml");
//! [Load config file]
#else
// Corresponding parameters manually set to have an example code
if (opt_tracker == 1 || opt_tracker == 3) {
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);
tracker.setMovingEdge(me);
}
#if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
if (opt_tracker == 2 || opt_tracker == 3) {
vpKltOpencv klt_settings;
tracker.setKltMaskBorder(5);
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);
}
#endif
{
//! [Set camera parameters]
vpCameraParameters cam;
cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
tracker.setCameraParameters(cam);
//! [Set camera parameters]
}
#endif
//! [Set parameters]
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I, 100, 100, "Model-based tracker");
#else
display = vpDisplayFactory::allocateDisplay(I, 100, 100, "Model-based tracker");
#endif
//! [Load cao]
tracker.loadModel(objectname + ".cao");
//! [Load cao]
//! [Set display features]
tracker.setDisplayFeatures(true);
//! [Set display features]
//! [Init]
tracker.initClick(I, objectname + ".init", true);
//! [Init]
while (!g.end()) {
g.acquire(I);
vpDisplay::display(I);
//! [Track]
tracker.track(I);
//! [Track]
//! [Get pose]
vpHomogeneousMatrix cMo;
tracker.getPose(cMo);
//! [Get pose]
//! [Display]
vpCameraParameters cam;
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);
}
catch (const vpException &e) {
std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
return EXIT_SUCCESS;
#endif
}
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