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Matching/Tracking/Training Tests

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Unknown 2018-07-17 13:31:05 +02:00
parent 9ba62cbeaf
commit b9a887cd64
5085 changed files with 79869 additions and 6 deletions
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79
Visp_tests/tutorial-tracking-mb/generic/tutorial-mb-generic-tracker.cpp
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@ -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]