48 #include <visp/vpConfig.h>
49 #include <visp/vpDebug.h>
50 #include <visp/vpDisplayD3D.h>
51 #include <visp/vpDisplayGTK.h>
52 #include <visp/vpDisplayGDI.h>
53 #include <visp/vpDisplayOpenCV.h>
54 #include <visp/vpDisplayX.h>
55 #include <visp/vpHomogeneousMatrix.h>
56 #include <visp/vpImageIo.h>
57 #include <visp/vpIoTools.h>
58 #include <visp/vpMath.h>
59 #include <visp/vpMbEdgeKltTracker.h>
60 #include <visp/vpVideoReader.h>
61 #include <visp/vpParseArgv.h>
63 #if defined (VISP_HAVE_OPENCV) && defined (VISP_HAVE_DISPLAY)
66 #define GETOPTARGS "x:m:i:n:dchtfCo"
69 void usage(
const char *name,
const char *badparam)
72 Example of tracking based on the 3D model.\n\
75 %s [-i <test image path>] [-x <config file>]\n\
76 [-m <model name>] [-n <initialisation file base name>]\n\
77 [-t] [-c] [-d] [-h] [-f] [-C]",
82 -i <input image path> \n\
83 Set image input path.\n\
84 From this path read images \n\
85 \"ViSP-images/mbt/cube/image%%04d.ppm\". These \n\
86 images come from ViSP-images-x.y.z.tar.gz available \n\
87 on the ViSP website.\n\
88 Setting the VISP_INPUT_IMAGE_PATH environment\n\
89 variable produces the same behaviour than using\n\
93 Set the config file (the xml file) to use.\n\
94 The config file is used to specify the parameters of the tracker.\n\
97 Specify the name of the file of the model\n\
98 The model can either be a vrml model (.wrl) or a .cao file.\n\
101 Do not use the vrml model, use the .cao one. These two models are \n\
102 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
103 website. However, the .cao model allows to use the 3d model based tracker \n\
107 Track only the cube (not the cylinder). In this case the models files are\n\
108 cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\
109 cube_and_cylinder.wrl.\n\
111 -n <initialisation file base name> \n\
112 Base name of the initialisation file. The file will be 'base_name'.init .\n\
113 This base name is also used for the optionnal picture specifying where to \n\
114 click (a .ppm picture).\
117 Turn off the display of the the moving edges and Klt points. \n\
120 Turn off the display.\n\
123 Disable the mouse click. Useful to automaze the \n\
124 execution of this program without humain intervention.\n\
127 Use Ogre3D for visibility tests\n\
130 Print the help.\n\n");
133 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
137 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile, std::string &initFile,
bool &displayFeatures,
bool &click_allowed,
bool &display,
bool& cao3DModel,
bool& trackCylinder,
bool &useOgre)
144 case 'i': ipath = optarg;
break;
145 case 'x': configFile = optarg;
break;
146 case 'm': modelFile = optarg;
break;
147 case 'n': initFile = optarg;
break;
148 case 't': displayFeatures =
false;
break;
149 case 'f': cao3DModel =
true;
break;
150 case 'c': click_allowed =
false;
break;
151 case 'd': display =
false;
break;
152 case 'C': trackCylinder =
false;
break;
153 case 'o' : useOgre =
true;
break;
154 case 'h': usage(argv[0], NULL);
return false;
break;
157 usage(argv[0], optarg);
162 if ((c == 1) || (c == -1)) {
164 usage(argv[0], NULL);
165 std::cerr <<
"ERROR: " << std::endl;
166 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
174 main(
int argc,
const char ** argv)
176 std::string env_ipath;
177 std::string opt_ipath;
179 std::string opt_configFile;
180 std::string configFile;
181 std::string opt_modelFile;
182 std::string modelFile;
183 std::string opt_initFile;
184 std::string initFile;
185 bool displayFeatures =
true;
186 bool opt_click_allowed =
true;
187 bool opt_display =
true;
188 bool cao3DModel =
false;
189 bool trackCylinder =
true;
190 bool useOgre =
false;
193 char *ptenv = getenv(
"VISP_INPUT_IMAGE_PATH");
198 if (! env_ipath.empty())
203 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayFeatures, opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre)) {
208 if (opt_ipath.empty() && env_ipath.empty() ){
209 usage(argv[0], NULL);
210 std::cerr << std::endl
211 <<
"ERROR:" << std::endl;
212 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
214 <<
" environment variable to specify the location of the " << std::endl
215 <<
" image path where test images are located." << std::endl
222 if (!opt_ipath.empty())
223 ipath = opt_ipath +
vpIoTools::path(
"/ViSP-images/mbt/cube/image%04d.pgm");
225 ipath = env_ipath +
vpIoTools::path(
"/ViSP-images/mbt/cube/image%04d.pgm");
227 if (!opt_configFile.empty())
228 configFile = opt_configFile;
229 else if (!opt_ipath.empty())
234 if (!opt_modelFile.empty()){
235 modelFile = opt_modelFile;
237 std::string modelFileCao;
238 std::string modelFileWrl;
240 modelFileCao =
"/ViSP-images/mbt/cube_and_cylinder.cao";
241 modelFileWrl =
"/ViSP-images/mbt/cube_and_cylinder.wrl";
243 modelFileCao =
"/ViSP-images/mbt/cube.cao";
244 modelFileWrl =
"/ViSP-images/mbt/cube.wrl";
247 if(!opt_ipath.empty()){
252 #ifdef VISP_HAVE_COIN
255 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
265 #ifdef VISP_HAVE_COIN
268 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
275 if (!opt_initFile.empty())
276 initFile = opt_initFile;
277 else if (!opt_ipath.empty())
289 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
296 #if defined VISP_HAVE_X11
298 #elif defined VISP_HAVE_GDI
300 #elif defined VISP_HAVE_OPENCV
302 #elif defined VISP_HAVE_D3D9
304 #elif defined VISP_HAVE_GTK
311 #if (defined VISP_HAVE_DISPLAY)
312 display.
init(I, 100, 100,
"Test tracking") ;
323 #if defined (VISP_HAVE_XML2)
373 if (opt_display && opt_click_allowed)
378 "click after positioning the object",
396 if (opt_display && opt_click_allowed)
398 tracker.
initClick(I, initFile.c_str(),
true);
405 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
419 while (!reader.
end())
446 std::cout <<
"error caught" << std::endl;
453 #if defined (VISP_HAVE_XML2)
458 #ifdef VISP_HAVE_COIN
470 std::cout <<
"OpenCV and display are required." << std::endl;