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Debut tests VISP

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Unknown 2018-07-03 17:55:14 +02:00
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$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system

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# Install script for directory: /home/harle/catkin_ws/src/BaxterInterface/Visp_tests/tutorial-tracking-mb/generic
# Set the install prefix
IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
SET(CMAKE_INSTALL_PREFIX "/usr/local")
ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
IF(BUILD_TYPE)
STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
ELSE(BUILD_TYPE)
SET(CMAKE_INSTALL_CONFIG_NAME "")
ENDIF(BUILD_TYPE)
MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
# Set the component getting installed.
IF(NOT CMAKE_INSTALL_COMPONENT)
IF(COMPONENT)
MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
ELSE(COMPONENT)
SET(CMAKE_INSTALL_COMPONENT)
ENDIF(COMPONENT)
ENDIF(NOT CMAKE_INSTALL_COMPONENT)
# Install shared libraries without execute permission?
IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
SET(CMAKE_INSTALL_SO_NO_EXE "1")
ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
IF(CMAKE_INSTALL_COMPONENT)
SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
ELSE(CMAKE_INSTALL_COMPONENT)
SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
ENDIF(CMAKE_INSTALL_COMPONENT)
FILE(WRITE "/home/harle/catkin_ws/src/BaxterInterface/Visp_tests/tutorial-tracking-mb/generic/${CMAKE_INSTALL_MANIFEST}" "")
FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
FILE(APPEND "/home/harle/catkin_ws/src/BaxterInterface/Visp_tests/tutorial-tracking-mb/generic/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
ENDFOREACH(file)

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<?xml version="1.0"?>
<package>
<name>tutorial-tracking-mb</name>
<version>0.0.0</version>
<description>The tutorial-tracking-mb package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="blue@todo.todo">blue</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/rviz_interface</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<build_depend>roscpp</build_depend>
<build_depend>interactive_markers</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>tf</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>interactive_markers</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>tf</run_depend>
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
<buildtool_depend>catkin</buildtool_depend>
<!-- QT Panel -->
<build_depend>qtbase5-dev</build_depend>
<build_depend>rviz</build_depend>
<run_depend>libqt5-core</run_depend>
<run_depend>libqt5-gui</run_depend>
<run_depend>libqt5-widgets</run_depend>
<run_depend>rviz</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<rviz plugin="${prefix}/panel_plugin.xml"/>
</export>
</package>

6
Visp_tests/tutorial-tracking-mb/generic/teabox.0.pos Normal file
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-0.009257090871
-0.09401421751
0.4816391704
1.79456941
1.111968123
-0.6348895315

27
Visp_tests/tutorial-tracking-mb/generic/teabox.cao Normal file
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V1
# 3D Points
8 # Number of points
0 0 0 # Point 0: X Y Z
0 0 -0.08
0.165 0 -0.08
0.165 0 0
0.165 0.068 0
0.165 0.068 -0.08
0 0.068 -0.08
0 0.068 0 # Point 7
# 3D Lines
0 # Number of lines
# Faces from 3D lines
0 # Number of faces
# Faces from 3D points
6 # Number of faces
4 0 1 2 3 # Face 0: [number of points] [index of the 3D points]...
4 1 6 5 2
4 4 5 6 7
4 0 3 4 7
4 5 4 3 2
4 0 7 6 1 # Face 5
# 3D cylinders
0 # Number of cylinders
# 3D circles
0 # Number of circles

5
Visp_tests/tutorial-tracking-mb/generic/teabox.init Normal file
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4 # Number of points
0 0 0 # Point 0
0.165 0 0 # Point 3
0.165 0 -0.08 # Point 2
0.165 0.068 -0.08 # Point 5

BIN
Visp_tests/tutorial-tracking-mb/generic/teabox.mpg Normal file
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Binary file not shown.

5
Visp_tests/tutorial-tracking-mb/generic/teabox.ppm Normal file
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File diff suppressed because one or more lines are too long

33
Visp_tests/tutorial-tracking-mb/generic/teabox.wrl Normal file
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#VRML V2.0 utf8
DEF fst_0 Group {
children [
# Object "teabox"
Shape {
geometry DEF cube IndexedFaceSet {
coord Coordinate {
point [
0 0 0 ,
0 0 -0.08,
0.165 0 -0.08,
0.165 0 0 ,
0.165 0.068 0 ,
0.165 0.068 -0.08,
0 0.068 -0.08,
0 0.068 0 ]
}
coordIndex [
0,1,2,3,-1,
1,6,5,2,-1,
4,5,6,7,-1,
0,3,4,7,-1,
5,4,3,2,-1,
0,7,6,1,-1]}
}
]
}

44
Visp_tests/tutorial-tracking-mb/generic/teabox.xml Normal file
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<?xml version="1.0"?>
<conf>
<ecm>
<mask>
<size>5</size>
<nb_mask>180</nb_mask>
</mask>
<range>
<tracking>8</tracking>
</range>
<contrast>
<edge_threshold>10000</edge_threshold>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
</contrast>
<sample>
<step>4</step>
</sample>
</ecm>
<klt>
<mask_border>5</mask_border>
<max_features>300</max_features>
<window_size>5</window_size>
<quality>0.015</quality>
<min_distance>8</min_distance>
<harris>0.01</harris>
<size_block>3</size_block>
<pyramid_lvl>3</pyramid_lvl>
</klt>
<camera>
<u0>325.66776</u0>
<v0>243.69727</v0>
<px>839.21470</px>
<py>839.44555</py>
</camera>
<face>
<angle_appear>70</angle_appear>
<angle_disappear>80</angle_disappear>
<near_clipping>0.1</near_clipping>
<far_clipping>100</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
</conf>

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Visp_tests/tutorial-tracking-mb/generic/tutorial-mb-generic-tracker-full.cpp Normal file
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//! \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 = "teabox.mpg";
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::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);
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);
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
}

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//! \example tutorial-mb-generic-tracker.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 = "teabox.mpg";
std::string opt_modelname = "teabox";
int opt_tracker = 1;
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, cao]" << 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;
#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]
//! [Set parameters]
if (opt_tracker == 0 || opt_tracker == 2) {
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);
}
#ifdef VISP_HAVE_MODULE_KLT
if (opt_tracker == 1 || opt_tracker == 2) {
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);
}
#endif
//! [Set camera parameters]
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
//! [Set camera parameters]
tracker.setCameraParameters(cam);
//! [Set parameters]
//! [Load cao]
tracker.loadModel(objectname + ".cao");
//! [Load cao]
//! [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, true);
//! [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;
//! [Cleanup]
} catch (const vpException &e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}