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//! \example tutorial-mb-edge-tracker.cpp
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
//! [Include]
#include <visp3/mbt/vpMbEdgeTracker.h>
//! [Include]
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && defined(VISP_HAVE_DISPLAY)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display = vpDisplayFactory::createDisplay();
#else
vpDisplay *display = vpDisplayFactory::allocateDisplay();
#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::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--name <video name>]"
<< " [--help,-h]\n" << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
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;
//! [Image]
vpImage<unsigned char> I;
vpCameraParameters cam;
//! [Image]
//! [cMo]
vpHomogeneousMatrix cMo;
//! [cMo]
vpVideoReader g;
g.setFileName(videoname);
g.open(I);
display->init(I, 100, 100, "Model-based edge tracker");
//! [Constructor]
vpMbEdgeTracker tracker;
//! [Constructor]
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]
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);
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker.setCameraParameters(cam);
//! [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 ogre]
tracker.setOgreVisibilityTest(false);
tracker.setOgreShowConfigDialog(false);
//! [Set ogre]
//! [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);
}
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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