vcs.maemo.org Git - opencv/blob - docs/appPage/3dTracker/3dTracker.htm

   1 <HTML>\r
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   3         <TITLE>Tracker 3D Demo</TITLE>\r
   4         <META HTTP-EQUIV="Content-Type" CONTENT="text/html; charset=iso-8859-1">\r
   5     </HEAD>\r
   6     <BODY>\r
   7         <CENTER><TABLE CELLSPACING="0" CELLPADDING="5" WIDTH="90%" BGCOLOR="#6a9bed" NOSAVE>\r
   8                 <TR NOSAVE>\r
   9                     <TD NOSAVE>\r
  10                         <CENTER><I><FONT COLOR="#000000"><FONT SIZE="+4"> Tracker 3D Demo </FONT></FONT></I>\r
  11                         </CENTER>\r
  12                     </TD>\r
  13                 </TR>\r
  14             </TABLE>\r
  15         </CENTER>\r
  16         <H2>Description\r
  17         </H2>\r
  18         <p>\r
  19             This application illustrates the use of the <a href="3dTrackerFilter.htm">Tracker3DFilter</a>\r
  20             to perform multi-camera 3D tracking.&nbsp; The intention with this application \r
  21             is to provide a straightforward example of the use of \r
  22             Tracker3dFilter in a Windows MFC application.&nbsp; The program \r
  23             serves a second purpose as well in it's ability to log results from \r
  24             the tracker to a file for testing or debugging.&nbsp; The details of \r
  25             configuring the Tracker3dFilter for operation are discussed further \r
  26             in the document describing the Filter and it's property page.&nbsp; \r
  27             Here we will deal specifically with the demonstration application.</p>\r
  28         <p>\r
  29             &nbsp;The initial configuration of the application is \r
  30             specified via a series of command line arguments:\r
  31         </p>\r
  32         <P><FONT face="Courier New">Tracker3dDemo.exe &lt;-blob&gt; &lt;-[c|C]<EM>intrinsicsfilename</EM>&gt;&nbsp; \r
  33                 &lt;-s<EM>#,#</EM>&gt; &lt;-n<EM>#</EM>&gt; &lt;-m<EM>#</EM>&gt; &lt;-t<EM>#</EM>&gt; \r
  34                 &lt;-l<EM>logfilename</EM>&gt; <EM>graphfile.grf</EM></FONT></P>\r
  35         <p>\r
  36             <TABLE id="Table1" cellSpacing="1" cellPadding="1" width="100%" border="0">\r
  37                 <TR>\r
  38                     <TD width="70"><FONT face="Courier New">-blob</FONT></TD>\r
  39                     <TD>Operate in BlobTracker mode.&nbsp; The default is to operate in CamShiftTracker \r
  40                         mode</TD>\r
  41                 </TR>\r
  42                 <TR>\r
  43                     <TD width="70"><FONT face="Courier New">-c|C</FONT></TD>\r
  44                     <TD>"c" instructs the application to calibrate with the filename \r
  45                         intrinsictsfilename "C" instructs the program to calibrate the camera location \r
  46                         continuously (for testing only).&nbsp; Specify the camera intrinsic files in \r
  47                         the same order that the cameras are attached to the input pins of the filter in \r
  48                         the graph.</TD>\r
  49                 </TR>\r
  50                 <TR>\r
  51                     <TD width="70"><FONT face="Courier New">-s</FONT></TD>\r
  52                     <TD>specify the dimensions of the checkerboard that will be used in calibrating the \r
  53                         cameras, only has an effect when "c" or "C" options are specified</TD>\r
  54                 </TR>\r
  55                 <TR>\r
  56                     <TD width="70"><FONT face="Courier New">-n</FONT></TD>\r
  57                     <TD>specify the number of objects to track (in BlobTracker mode only)</TD>\r
  58                 </TR>\r
  59                 <TR>\r
  60                     <TD width="70"><FONT face="Courier New">-m</FONT></TD>\r
  61                     <TD>specify the minimum area of object to track in pixels (in BlobTracker mode \r
  62                         only)</TD>\r
  63                 </TR>\r
  64                 <TR>\r
  65                     <TD width="70"><FONT face="Courier New">-t</FONT></TD>\r
  66                     <TD>specify the minimum brightness of the objects to track (0-255, in BlobTracker \r
  67                         mode only)</TD>\r
  68                 </TR>\r
  69                 <TR>\r
  70                     <TD width="70"><FONT face="Courier New">-l</FONT></TD>\r
  71                     <TD>operate in debugging mode and log results to a file</TD>\r
  72                 </TR>\r
  73             </TABLE>\r
  74         </p>\r
  75         <P>When the application runs it will open one video render window for \r
  76         each camera attached to the Tracker3dFilter in the DirectShow graph \r
  77         specified on the command line.&nbsp; There will also be a control panel \r
  78         dialog which provides access to the tracker parameters, allows \r
  79         calibration of the cameras and displays the tracking results.&nbsp; The \r
  80         layout and function of this dialog is presented below.</P>\r
  81         <h2>Controls</h2>\r
  82         <CENTER>\r
  83         <IMG alt="Tracker3dDemo Application" src="Tracker3dDemo.png" width="356" height="247"><p>&nbsp;</p>\r
  84         </CENTER>\r
  85         <p>\r
  86             <TABLE id="Table2" cellSpacing="1" cellPadding="1" width="100%" border="0">\r
  87                 <TR>\r
  88                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-top-style: solid; border-top-width: 1"><STRONG>Camera Calibration</STRONG></TD>\r
  89                     <TD style="border-right-style: solid; border-right-width: 1; border-top-style: solid; border-top-width: 1"></TD>\r
  90                 </TR>\r
  91                 <TR>\r
  92                     <TD width="213" style="border-left-style: solid; border-left-width: 1">&nbsp;&nbsp;&nbsp; Calibrate Cameras</TD>\r
  93                     <TD style="border-right-style: solid; border-right-width: 1"><EM>Pressing this button will produce a dialog box with which to specify the camera \r
  94                             intrinsics files for each of the&nbsp;</EM></TD>\r
  95                 </TR>\r
  96                 <TR>\r
  97                     <TD width="213" style="border-left-style: solid; border-left-width: 1">&nbsp;&nbsp;&nbsp; Checkerboard Width</TD>\r
  98                     <TD style="border-right-style: solid; border-right-width: 1"><EM>Specifies the width of the checkerboard in squares</EM></TD>\r
  99                 </TR>\r
 100                 <TR>\r
 101                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-bottom-style: solid; border-bottom-width: 1">&nbsp;&nbsp;&nbsp; Checkerboard Height</TD>\r
 102                     <TD style="border-right-style: solid; border-right-width: 1; border-bottom-style: solid; border-bottom-width: 1"><EM>Specifies the height of the checkerboard in squares</EM></TD>\r
 103                 </TR>\r
 104                 <TR>\r
 105                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-top-style: solid; border-top-width: 1"><STRONG>Tracker Results</STRONG>\r
 106                     </TD>\r
 107                     <TD style="border-right-style: solid; border-right-width: 1; border-top-style: solid; border-top-width: 1"></TD>\r
 108                 </TR>\r
 109                 <TR>\r
 110                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-bottom-style: solid; border-bottom-width: 1"></TD>\r
 111                     <TD style="border-right-style: solid; border-right-width: 1; border-bottom-style: solid; border-bottom-width: 1"><EM>This is the location where the application will output the coordinates of the \r
 112                             tracked objects (up to 3 in up to 3 rows)&nbsp; These results are updated per \r
 113                             frame as the tracker runs.</EM></TD>\r
 114                 </TR>\r
 115                 <TR>\r
 116                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-top-style: solid; border-top-width: 1"><STRONG>Tracker Config</STRONG>\r
 117                     </TD>\r
 118                     <TD style="border-right-style: solid; border-right-width: 1; border-top-style: solid; border-top-width: 1"></TD>\r
 119                 </TR>\r
 120                 <TR>\r
 121                     <TD width="213" style="border-left-style: solid; border-left-width: 1">&nbsp;&nbsp;&nbsp; Number of Objects</TD>\r
 122                     <TD style="border-right-style: solid; border-right-width: 1"><EM>Specifies the number of objects the BlobTracker will track, the CamShiftTracker \r
 123                             will track only one</EM></TD>\r
 124                 </TR>\r
 125                 <TR>\r
 126                     <TD width="213" style="border-left-style: solid; border-left-width: 1">&nbsp;&nbsp;&nbsp; Threshold</TD>\r
 127                     <TD style="border-right-style: solid; border-right-width: 1"><EM>Specifies the minimum brightness of the objects the BlobTracker will \r
 128                             track.&nbsp; Range is 0-255 for black to white. Has no effect in \r
 129                             CamShiftTracker mode.</EM></TD>\r
 130                 </TR>\r
 131                 <TR>\r
 132                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-bottom-style: solid; border-bottom-width: 1">&nbsp;&nbsp;&nbsp; Min Size</TD>\r
 133                     <TD style="border-right-style: solid; border-right-width: 1; border-bottom-style: solid; border-bottom-width: 1"><EM>Specifies the minimum size of the object the BlobTracker will track in \r
 134                             pixels.&nbsp; Has no effect in CamShiftTracker mode.</EM></TD>\r
 135                 </TR>\r
 136                 <TR>\r
 137                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-top-style: solid; border-top-width: 1"><STRONG>Output Config</STRONG></TD>\r
 138                     <TD style="border-right-style: solid; border-right-width: 1; border-top-style: solid; border-top-width: 1"></TD>\r
 139                 </TR>\r
 140                 <TR>\r
 141                     <TD width="213" style="border-left-style: solid; border-left-width: 1">&nbsp;&nbsp;&nbsp; Color classified pixels</TD>\r
 142                     <TD style="border-right-style: solid; border-right-width: 1"><EM>If selected the pixels in the images are colored when they area&nbsp; a part of \r
 143                             an object found by BlobTracker</EM></TD>\r
 144                 </TR>\r
 145                 <TR>\r
 146                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-bottom-style: solid; border-bottom-width: 1">&nbsp;&nbsp;&nbsp; Bounding box&nbsp;</TD>\r
 147                     <TD style="border-right-style: solid; border-right-width: 1; border-bottom-style: solid; border-bottom-width: 1"><EM>If selected a bounding box is drawn around each of the objects found by the \r
 148                             BlobTracker</EM></TD>\r
 149                 </TR>\r
 150                 <TR>\r
 151                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-top-style: solid; border-top-width: 1"><STRONG>Exit </STRONG>\r
 152                     </TD>\r
 153                     <TD style="border-right-style: solid; border-right-width: 1; border-top-style: solid; border-top-width: 1"></TD>\r
 154                 </TR>\r
 155                 <TR>\r
 156                     <TD width="213" style="border-left-style: solid; border-left-width: 1; border-bottom-style: solid; border-bottom-width: 1"></TD>\r
 157                     <TD style="border-right-style: solid; border-right-width: 1; border-bottom-style: solid; border-bottom-width: 1"><EM>Exit the Application</EM></TD>\r
 158                 </TR>\r
 159             </TABLE>\r
 160         </p>\r
 161         <DL>\r
 162             <DT></DT>\r
 163         </DL>\r
 164     </BODY>\r
 165 </HTML>\r