tutorial-mb-generic-tracker-stereo.cpp

#include <cstdlib>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#include <visp3/io/vpVideoReader.h>
 
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && defined(VISP_HAVE_PUGIXML) && defined(VISP_HAVE_DISPLAY)
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display_left;
  std::shared_ptr<vpDisplay> display_right;
#else
  vpDisplay *display_left = nullptr;
  vpDisplay *display_right = nullptr;
#endif
 
  try {
    std::string opt_videoname_left = "teabox_left.mp4";
    std::string opt_videoname_right = "teabox_right.mp4";
    int opt_tracker1 = vpMbGenericTracker::EDGE_TRACKER;
    int opt_tracker2 = vpMbGenericTracker::EDGE_TRACKER;
 
    for (int i = 1; i < argc; i++) {
      if (std::string(argv[i]) == "--name" && i + 2 < argc) {
        opt_videoname_left = std::string(argv[++i]);
        opt_videoname_right = std::string(argv[++i]);
      }
      else if (std::string(argv[i]) == "--tracker" && i + 2 < argc) {
        opt_tracker1 = atoi(argv[++i]);
        opt_tracker2 = atoi(argv[++i]);
      }
      else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
        std::cout << "\nUsage: " << argv[0]
          << " [--name <video name left> <video name right>]"
          << " [--tracker <1=egde|2=klt|3=hybrid> <1=egde|2=klt|3=hybrid>]"
          << " [--help,-h]\n"
          << std::endl;
        return EXIT_SUCCESS;
      }
    }
 
    if ((opt_tracker1 < 1 || opt_tracker1 > 3) && (opt_tracker2 < 1 || opt_tracker2 > 3)) {
      std::cerr << "Wrong tracker type. Correct values are: "
        "1=egde|2=keypoint|3=hybrid."
        << std::endl;
      return EXIT_SUCCESS;
    }
 
    std::string parentname = vpIoTools::getParent(opt_videoname_left);
    std::string objectname_left = vpIoTools::getNameWE(opt_videoname_left);
    std::string objectname_right = vpIoTools::getNameWE(opt_videoname_right);
 
    if (!parentname.empty()) {
      objectname_left = parentname + "/" + objectname_left;
    }
 
    std::cout << "Video name: " << opt_videoname_left << " ; " << opt_videoname_right << std::endl;
    std::cout << "Tracker requested config files: " << objectname_left << ".[init, cao]"
      << " and " << objectname_right << ".[init, cao]" << std::endl;
    std::cout << "Tracker optional config files: " << opt_videoname_left << ".ppm"
      << " and " << opt_videoname_right << ".ppm" << std::endl;

    vpImage<unsigned char> I_left, I_right;
 
    vpVideoReader g_left, g_right;
    g_left.setFileName(opt_videoname_left);
    g_left.open(I_left);
    g_right.setFileName(opt_videoname_right);
    g_right.open(I_right);
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    display_left = vpDisplayFactory::createDisplay();
    display_right = vpDisplayFactory::createDisplay();
#else
    display_left = vpDisplayFactory::allocateDisplay();
    display_right = vpDisplayFactory::allocateDisplay();
#endif
    display_left->setDownScalingFactor(vpDisplay::SCALE_AUTO);
    display_right->setDownScalingFactor(vpDisplay::SCALE_AUTO);
    display_left->init(I_left, 100, 100, "Model-based tracker (Left)");
    display_right->init(I_right, 110 + static_cast<int>(I_left.getWidth()), 100, "Model-based tracker (Right)");

    std::vector<int> trackerTypes(2);
    trackerTypes[0] = opt_tracker1;
    trackerTypes[1] = opt_tracker2;
    vpMbGenericTracker tracker(trackerTypes);
 
#if !defined(VISP_HAVE_MODULE_KLT)
    unsigned int nbTracker = trackerTypes.size();
    for (unsigned int i = 0; i < nbTracker; ++i) {
      if (trackerTypes[i] >= 2) {
        std::cout << "klt and hybrid model-based tracker are not available "
          "since visp_klt module is missing"
          << std::endl;
        return EXIT_SUCCESS;
      }
    }
#endif

    tracker.loadConfigFile(objectname_left + ".xml", objectname_right + ".xml");

    tracker.loadModel(objectname_left + ".cao", objectname_right + ".cao");
    tracker.setDisplayFeatures(true);

    vpHomogeneousMatrix cRightMcLeft;
    std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
    cRightMcLeft.load(file_cRightMcLeft);
 
    std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
    mapOfCameraTransformationMatrix["Camera1"] = vpHomogeneousMatrix();
    mapOfCameraTransformationMatrix["Camera2"] = cRightMcLeft;
 
    tracker.setCameraTransformationMatrix(mapOfCameraTransformationMatrix);

    tracker.initClick(I_left, I_right, objectname_left + ".init", objectname_right + ".init", true);
 
    while (!g_left.end() && !g_right.end()) {
      g_left.acquire(I_left);
      g_right.acquire(I_right);
 
      vpDisplay::display(I_left);
      vpDisplay::display(I_right);

      tracker.track(I_left, I_right);

      vpHomogeneousMatrix cLeftMo, cRightMo;
      tracker.getPose(cLeftMo, cRightMo);

      vpCameraParameters cam_left, cam_right;
      tracker.getCameraParameters(cam_left, cam_right);
      tracker.display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right, vpColor::red, 2);
 
      vpDisplay::displayFrame(I_left, cLeftMo, cam_left, 0.025, vpColor::none, 3);
      vpDisplay::displayFrame(I_right, cRightMo, cam_right, 0.025, vpColor::none, 3);
      vpDisplay::displayText(I_left, 10, 10, "A click to exit...", vpColor::red);
 
      vpDisplay::flush(I_left);
      vpDisplay::flush(I_right);
 
      if (vpDisplay::getClick(I_left, false)) {
        break;
      }
    }
    vpDisplay::getClick(I_left);
  }
  catch (const vpException &e) {
    std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
  }
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display_left != nullptr) {
    delete display_left;
  }
  if (display_right != nullptr) {
    delete display_right;
  }
#endif
#else
  (void)argc;
  (void)argv;
  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}