V1 Readme + rangement
This commit is contained in:
Unknown
parent
3300e0efd3
commit
406e6d9b5d
1339 changed files with 248781 additions and 4282 deletions
|
|
@ -1,231 +0,0 @@
|
|||
//! \example tutorial-mb-generic-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/vpMbGenericTracker.h>
|
||||
//! [Include]
|
||||
#include <visp3/io/vpVideoReader.h>
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
|
||||
|
||||
try {
|
||||
std::string opt_videoname = "book.mpg";
|
||||
std::string opt_modelname = "book.cao";
|
||||
int opt_tracker = 2;
|
||||
|
||||
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::cout << "\nUsage: " << argv[0]
|
||||
<< " [--video <video name>] [--model <model name>] "
|
||||
"[--tracker <0=egde|1=keypoint|2=hybrid>] [--help]\n"
|
||||
<< std::endl;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
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,"
|
||||
#ifdef VISP_HAVE_XML2
|
||||
<< "xml,"
|
||||
#endif
|
||||
<< "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);
|
||||
|
||||
//Test image
|
||||
std::string imageName[] = {"train_image_000.png", "train_image_000.png"};
|
||||
vpImageIo::read(I, imageName[0]);
|
||||
// for (int i = 0; i < 2; i++) {
|
||||
// vpImageIo::read(I, imageName[i]);
|
||||
// if (i == 0) {
|
||||
// display.init(I, 10, 10);
|
||||
// }
|
||||
|
||||
vpDisplay *display = NULL;
|
||||
#if defined(VISP_HAVE_X11)
|
||||
display = new vpDisplayX;
|
||||
#elif defined(VISP_HAVE_GDI)
|
||||
display = new vpDisplayGDI;
|
||||
#else
|
||||
display = new vpDisplayOpenCV;
|
||||
#endif
|
||||
display->init(I, 100, 100, "Model-based tracker");
|
||||
|
||||
//! [Constructor]
|
||||
vpMbGenericTracker tracker;
|
||||
if (opt_tracker == 0)
|
||||
tracker.setTrackerType(vpMbGenericTracker::EDGE_TRACKER);
|
||||
#ifdef VISP_HAVE_MODULE_KLT
|
||||
else if (opt_tracker == 1)
|
||||
tracker.setTrackerType(vpMbGenericTracker::KLT_TRACKER);
|
||||
else
|
||||
tracker.setTrackerType(vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER);
|
||||
#else
|
||||
else {
|
||||
std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is not available. "
|
||||
"In CMakeGUI turn visp_klt module ON, configure and build ViSP again."
|
||||
<< std::endl;
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
//! [Constructor]
|
||||
|
||||
bool usexml = false;
|
||||
//! [Load xml]
|
||||
#ifdef VISP_HAVE_XML2
|
||||
if (vpIoTools::checkFilename(objectname + ".xml")) {
|
||||
tracker.loadConfigFile(objectname + ".xml");
|
||||
usexml = true;
|
||||
}
|
||||
#endif
|
||||
//! [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.setThreshold(10000);
|
||||
me.setMu1(0.5);
|
||||
me.setMu2(0.5);
|
||||
me.setSampleStep(4);
|
||||
tracker.setMovingEdge(me);
|
||||
//! [Set moving-edges parameters]
|
||||
}
|
||||
|
||||
#ifdef VISP_HAVE_MODULE_KLT
|
||||
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);
|
||||
tracker.setKltOpencv(klt_settings);
|
||||
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);
|
||||
vpImageIo::read(I, imageName[1]);
|
||||
|
||||
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]
|
||||
#ifdef VISP_HAVE_XML2
|
||||
vpXmlParser::cleanup();
|
||||
#endif
|
||||
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
|
||||
SoDB::finish();
|
||||
#endif
|
||||
delete display;
|
||||
//! [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
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue