Matching/Tracking/Training Tests

Visp_tests/tutorial-tracking-mb/generic/teabox.0.pos

@@ -1,6 +1,6 @@
--0.009257090871
--0.09401421751
-0.4816391704
-1.79456941
-1.111968123
--0.6348895315
+-0.07057565795
+-0.08538128375
+0.4529951733
+1.762639444
+1.100136513
+-0.5549673269

Visp_tests/tutorial-tracking-mb/generic/teabox.xml~

@@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+<conf>
+  <ecm>
+    <mask>
+      <size>5</size>
+      <nb_mask>180</nb_mask>
+    </mask>
+    <range>
+      <tracking>100</tracking>
+    </range>
+    <contrast>
+      <edge_threshold>10000</edge_threshold>
+      <mu1>0.5</mu1>
+      <mu2>0.5</mu2>
+    </contrast>
+    <sample>
+      <step>10</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>
+

Visp_tests/tutorial-tracking-mb/generic/tutorial-mb-generic-tracker.cpp

@@ -128,6 +128,13 @@ int main(int argc, char **argv)
     tracker.initClick(I, objectname + ".init", true);
     //! [Init]
 
+//////TEST//////
+vpImage<unsigned char> ImRoi;
+vpDisplay* display2 = new vpDisplayX;
+// display2->init(ImRoi);
+////////////////
+
+
     while (!g.end()) {
       g.acquire(I);
       vpDisplay::display(I);
@@ -137,18 +144,90 @@ int main(int argc, char **argv)
       //! [Get pose]
       tracker.getPose(cMo);
       //! [Get pose]
+      // std::cout<<"cMo : "; cMo.print(); std::cout<<std::endl;
+
+      ////TEST////
+      // vpPoint origine;
+      // origine.setWorldCoordinates(0,0,0) ;
+      // std::cout <<"Origne (o):"<< origine.oP << std::endl ;
+      // origine.changeFrame(cMo) ;
+      // std::cout << "Origine (c) : "<< origine.cP << std::endl ;
+      // origine.project(cMo);
+      // std::cout << "Origine (2D) : "<< origine.p << std::endl ;
+      //vpPoint res = cMo * origine;
+      // vpTranslationVector res = cMo.inverse()*torigine;
+      // std::cout<<"Point : ";
+      // res.print();
+      //std::cout<<res.get_x()<<" / "<<res.get_y(); 
+      // std::cout<<res[0]<<" / "<<res[1]<<" / "<<res[2];
+      // std::cout<<std::endl;
+      // std::cout<<"Polygon Nb : "<< tracker.getNbPolygon()<<std::endl;
+      // for(unsigned int i=0; i<tracker.getNbPolygon();i++)
+      // {
+      //   tracker.getPolygon(i).getRoi(cam,cMo);
+      // }
+
+
+      // vpImagePoint ImRes;
+      std::vector<vpImagePoint> roi;
+      // roi = tracker.getPolygon(0)->getRoi(cam,cMo);
+      // tracker.getPolygon(0)->computePolygonClipped();
+      // tracker.getPolygon(0)->getRoiClipped(cam,roi);
+      for(unsigned int i=0; i<tracker.getNbPolygon();i++)
+      {
+        // if(tracker.getPolygon(i)->isVisible())
+        // { 
+          std::vector<vpImagePoint> temp = tracker.getPolygon(i)->getRoi(cam);
+          roi.insert(roi.end(), temp.begin(), temp.end());
+        // }
+      }
+      // vpMeterPixelConversion::convertPoint(cam,origine.p[0],origine.p[1],ImRes);
+      // std::cout<<"Point : ";
+      // std::cout<<ImRes.get_u()<<" / "<<ImRes.get_v(); 
+      // std::cout<<std::endl;
+      // vpDisplay::displayPoint(I,ImRes,vpColor::green,10);
+
+      //Création de l'imageRoi
+      vpRect rect_roi(roi);
+
+      // vpPolygon3D::roiInsideImage(ImRoi,roi);
+      // std::cout<<"crop"<<std::endl;
+      vpDisplay::close(ImRoi);
+      vpImageTools::crop(I, rect_roi, ImRoi);
+      if(!display2->isInitialised ())
+      {
+        display2->init(ImRoi,-1,-1,"ROI");
+      }
+      // ImRoi.resize(I.getHeight(),I.getWidth(),0);
+      vpDisplay::displayRectangle(I,rect_roi, vpColor::green);
+
+      //Affichage
+      for(unsigned int i=0; i<roi.size();i++)
+      {
+        vpDisplay::displayPoint(I,roi[i],vpColor::green,10);
+      }
+
+       // vpDisplay::displayFrame(ImRoi, cMo, cam, 0.025, vpColor::none, 3);
+      vpDisplay::display(ImRoi);
+      vpDisplay::flush(ImRoi);
+      ////////////
+
       //! [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);
+
+    // vpImageIo::write(ImRoi, "ImRoi.png");
+
     //! [Cleanup]
     delete display;
     //! [Cleanup]