[visp-images] 02/07: Imported Upstream version 3.0.0
Olivier Sallou
osallou at debian.org
Mon Dec 21 06:13:21 UTC 2015
This is an automated email from the git hooks/post-receive script.
osallou pushed a commit to branch master
in repository visp-images.
commit 229cbfef8b6716df60cfe8767ac0910b62645717
Author: Fabien Spindler <Fabien.Spindler at inria.fr>
Date: Fri Dec 18 14:38:27 2015 +0100
Imported Upstream version 3.0.0
---
.DS_Store | Bin 6148 -> 0 bytes
ChangeLog | 59 --------------------------
README | 68 ------------------------------
README.md | 37 ++++++++++++++++
mbt/cube.cao | 44 +++++++++++--------
mbt/cube.init | 11 ++---
mbt/cube.wrl | 61 +++++++++++++--------------
mbt/cube.xml | 84 ++++++++++++++++++-------------------
mbt/cube_and_cylinder.cao | 51 +++++++++++++----------
mbt/cube_and_cylinder.init | 11 ++---
mbt/cube_and_cylinder.wrl | 102 ++++++++++++++++++++++-----------------------
mire/mire.jpg | Bin
12 files changed, 225 insertions(+), 303 deletions(-)
diff --git a/.DS_Store b/.DS_Store
deleted file mode 100644
index f9868b1..0000000
Binary files a/.DS_Store and /dev/null differ
diff --git a/ChangeLog b/ChangeLog
deleted file mode 100644
index 98f62e9..0000000
--- a/ChangeLog
+++ /dev/null
@@ -1,59 +0,0 @@
- Change log for ViSP-images
-
- Copyright Projet Lagadic / IRISA - Inria Rennes, 2006-2013
- www: http://team.inria.fr/lagadic
-
-
-ViSP-images contains data (images, sequences, cad models, calibration grid)
-useful to ViSP examples and tests provided in ViSP releases.
-
-The most recent version of ViSP-images is available on ViSP download web page:
-http://www.irisa.fr/lagadic/visp/download.html
-
-See README to learn how to use ViSP-images data.
-
-ViSP-images-2.8.0: July 24th, 2013:
-- Zip renaming in 2.8.0 to match the release.
-
-ViSP-images-2.7.1: July 19th, 2013:
-- This version of ViSP-images was introduced with ViSP-2.7.1 release.
-- New mbt/cube.xml file that contains new clipping parameters.
-- New calibration/OpenCV_Chessboard.pdf grid.
-
-ViSP-images-2.7.0: February 11th, 2013:
-- This version of ViSP-images was introduced with ViSP-2.7.0 release.
-- New mbt/cube.xml file that contains Edges, KLT or hybrid model based
- trackers settings.
-
-ViSP-images-2.6.1: February 16th, 2011:
-- This version of ViSP-images was introduced with ViSP-2.6.1 release.
-- Suppression of mbt/cube2 dataset.
-- Addition of mbt/cube.cao 3d model.
-- Modification of the sequence in "mbt/cube/"
-- Addition of new model to track a cylinder and a cube for the model based
- tracker example.
-
-ViSP-images-2.6.0: September 23rd, 2010:
-- This version of ViSP-images was introduced with ViSP-2.6.0 release.
-- Addition of the mire directory containing two mire files used by the
- servoSimu4Points demo.
- This version of ViSP-images is to use with
-- Addition of the mbt directory used by the vpMbEdgeTracker example.
-
-ViSP-images-2.4.4: January 4th, 2010:
-- This version of ViSP-images was introduced with ViSP-2.4.4 release.
-- Addition of video directory containing an mpeg video file used by the
- videoReader example.
-- Addition of Klimt.jpeg and Klimt.png used by the testReadImage test.
-
-ViSP-images-2.4.2: March 19th, 2008:
-- This version of ViSP-images was introduced with ViSP-2.4.2 release.
-- Addition of calibration directory containing calibration images and data for
- example/calibration binaries.
-
-ViSP-images-1.1.0: September 13th, 2006:
-- Addition of iv directory containing cad models useful for
- test/simulator binaries
-
-ViSP-images-1.0.0: August 25th, 2006:
-- Initial version.
diff --git a/README b/README
deleted file mode 100644
index 5c67ace..0000000
--- a/README
+++ /dev/null
@@ -1,68 +0,0 @@
- ViSP-images
-
- Copyright Lagadic Projet / IRISA - Inria Rennes, 2006-2013
- www: http://team.inria.fr/lagadic
-
-
-
-ViSP-images contains some images, image sequences and cad models
-useful to run the ViSP example or test programs.
-
-ViSP (ViSP states for ``Visual Servoing Platform'') is a modular
-software that allows fast development of visual servoing
-applications. Visual servoing consists in specifying a task as the
-regulation of a set of visual features. ViSP is avalaible from
-http://www.irisa.fr/lagadic/visp
-
-The most recent version of ViSP-images is available on ViSP download web page:
-http://www.irisa.fr/lagadic/visp/download.html
-
-To know which are the new data introduced in ViSP-images see ChangeLog.
-
-To use ViSP-images in conjunction with ViSP examples or tests, you can
-either set the VISP_INPUT_IMAGE_PATH environment variable
-(recommended) or precise the location of ViSP-images through the
-program's -i command line option.
-
-Below, we suppose that ViSP-images directory is installed in
-<my directory>/ViSP-images
-
-1. Setting VISP_INPUT_IMAGE_PATH environment variable
-1.1. On Unix platforms
-
-Depending on your shell you can set VISP_INPUT_IMAGE_PATH by:
-
- setenv VISP_INPUT_IMAGE_PATH <my directory>
-
-or by:
-
- export VISP_INPUT_IMAGE_PATH=<my directory>
-
-1.2. On Windows platforms
-
-You can create an C:\autoexec.bat file in which you have:
-
- SET VISP_INPUT_IMAGE_PATH=<my directory>
-
-
-2. Using program's -i command line option
-
-Most of ViSP test or example programs are using command line
-options. If these programs need images, sequences or cad models
-located in ViSP-images, you can use the -i command line option to
-precise the location of ViSP-images.
-
-Here an example:
-Suppose that ViSP is installed and compiled. Thus you have build
-<ViSP>/test/images/testConversion executable.
-
-
-%<ViSP>/test/images/testConversion -h
-
- Show the program usage.
-
-%<ViSP>/test/images/testConversion -i <my directory>
-
- Will run testConversion on images located in <my directory>/ViSP-images
-
-
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..769441d
--- /dev/null
+++ b/README.md
@@ -0,0 +1,37 @@
+# ViSP-images
+
+ViSP-images contains data useful to run [ViSP][1] examples.
+
+## Getting ViSP-images
+
+- To get the data set as a zip archive corresponding to a release just [visit download page][2].
+
+- To get the data set using git:
+
+ git clone https://github.com/lagadic/ViSP-images.git
+
+## Setting ViSP-images
+
+To use the data set you have to set VISP_INPUT_IMAGE_PATH environment variable:
+
+- on unix-like platforms:
+
+ export VISP_INPUT_IMAGE_PATH=<my directory>
+
+- on windows platforms:
+
+ setx VISP_INPUT_IMAGE_PATH <my directory>
+
+Notice the the folder <my directory> should not contain the parent directory ViSP-images.
+
+## Example
+
+The following example that can be achieved on unix-like platforms allows to use the data set installed in /home/user/visp/ViSP-images:
+
+ cd /home/user/visp
+ git clone https://github.com/lagadic/ViSP-images.git
+ export VISP_INPUT_IMAGE_PATH=/home/user/visp
+
+
+[1]: http://visp.inria.fr "ViSP"
+[2]: http://visp.inria.fr/download "ViSP download"
diff --git a/mbt/cube.cao b/mbt/cube.cao
index 4408839..d8e1a51 100644
--- a/mbt/cube.cao
+++ b/mbt/cube.cao
@@ -1,19 +1,27 @@
V1
-8
- 0.000 0.000 0.000
--0.084 0.000 0.000
--0.084 0.084 0.000
- 0.000 0.084 0.000
- 0.000 0.000 0.084
--0.084 0.000 0.084
--0.084 0.084 0.084
- 0.000 0.084 0.084
-0
-0
-6
-4 0 4 5 1
-4 1 5 6 2
-4 6 7 3 2
-4 3 7 4 0
-4 0 1 2 3
-4 7 6 5 4
+# 3D points
+8 # Number of points (here 8 cube corners)
+ 0.000 0.000 0.000 # Point with index 0
+-0.084 0.000 0.000
+-0.084 0.084 0.000
+ 0.000 0.084 0.000
+ 0.000 0.000 0.084
+-0.084 0.000 0.084
+-0.084 0.084 0.084
+ 0.000 0.084 0.084 # point with index 7
+# 3D lines
+0 # No 3D lines
+# 3D faces from lines
+0 # No 3D faces from lines
+# 3D faces from points
+6 # 6 faces to describe the cube
+4 0 4 5 1 # Face with index 0 defined by 3D point 0, 4, 5 and 1
+4 1 5 6 2
+4 6 7 3 2
+4 3 7 4 0
+4 0 1 2 3
+4 7 6 5 4 # Face with index 5
+# 3D cylinders
+0
+# 3D circle
+0 # No 3D circle
diff --git a/mbt/cube.init b/mbt/cube.init
index a43f558..ba92899 100644
--- a/mbt/cube.init
+++ b/mbt/cube.init
@@ -1,6 +1,7 @@
-4
- 0.000 0.000 0.000
+# Define the coordinates of 3D points used to compute the pose
+# after the user click on their corresponding location in the image
+4 # We define 4 3D points
+ 0.000 0.000 0.000 # First 3D point
0.000 0.000 0.084
--0.084 0.000 0.084
--0.084 0.084 0.084
-
+-0.084 0.000 0.084
+-0.084 0.084 0.084 # Last 3D point
diff --git a/mbt/cube.wrl b/mbt/cube.wrl
index 759f76c..0a4b0d2 100644
--- a/mbt/cube.wrl
+++ b/mbt/cube.wrl
@@ -1,34 +1,33 @@
-#VRML V2.0 utf8
-
-DEF fst_0 Group {
-children [
+#VRML V2.0 utf8
-# Object "cube"
-Shape {
-
-geometry DEF cube IndexedFaceSet {
+DEF fst_0 Group {
+children [
-coord Coordinate {
-point [
- 0.000 0.000 0.000,
--0.084 0.000 0.000,
--0.084 0.084 0.000,
- 0.000 0.084 0.000,
- 0.000 0.000 0.084,
--0.084 0.000 0.084,
--0.084 0.084 0.084,
- 0.000 0.084 0.084 ]
-}
-
-coordIndex [
- 0,4,5,1,-1,
- 1,5,6,2,-1,
- 6,7,3,2,-1,
- 3,7,4,0,-1,
- 0,1,2,3,-1,
- 7,6,5,4,-1]}
-}
-
-
-]
+# Object "cube"
+Shape {
+
+geometry DEF cube IndexedFaceSet {
+
+coord Coordinate {
+point [
+ 0.000 0.000 0.000,
+-0.084 0.000 0.000,
+-0.084 0.084 0.000,
+ 0.000 0.084 0.000,
+ 0.000 0.000 0.084,
+-0.084 0.000 0.084,
+-0.084 0.084 0.084,
+ 0.000 0.084 0.084 ]
+}
+
+coordIndex [
+ 0,4,5,1,-1,
+ 1,5,6,2,-1,
+ 6,7,3,2,-1,
+ 3,7,4,0,-1,
+ 0,1,2,3,-1,
+ 7,6,5,4,-1]}
+}
+
+]
}
diff --git a/mbt/cube.xml b/mbt/cube.xml
index 75b3854..3835f9e 100644
--- a/mbt/cube.xml
+++ b/mbt/cube.xml
@@ -1,47 +1,43 @@
<?xml version="1.0"?>
<conf>
- <ecm>
- <mask>
- <size>5</size>
- <nb_mask>180</nb_mask>
- </mask>
- <range>
- <tracking>7</tracking>
- </range>
- <contrast>
- <edge_threshold>5000</edge_threshold>
- <mu1>0.5</mu1>
- <mu2>0.5</mu2>
- </contrast>
- </ecm>
- <sample>
- <step>4</step>
- <nb_sample>250</nb_sample>
- </sample>
- <camera>
- <width>640</width>
- <height>480</height>
- <u0>338.7036994</u0>
- <v0>234.5083345</v0>
- <px>547.7367575</px>
- <py>542.0744058</py>
- </camera>
- <face>
- <angle_appear>65</angle_appear>
- <angle_disappear>75</angle_disappear>
- <near_clipping>0.01</near_clipping>
- <far_clipping>0.90</far_clipping>
- <fov_clipping>1</fov_clipping>
- </face>
- <klt>
- <mask_border>5</mask_border>
- <max_features>10000</max_features>
- <window_size>5</window_size>
- <quality>0.01</quality>
- <min_distance>5</min_distance>
- <harris>0.01</harris>
- <size_block>3</size_block>
- <pyramid_lvl>3</pyramid_lvl>
- </klt>
+ <ecm>
+ <mask>
+ <size>5</size>
+ <nb_mask>180</nb_mask>
+ </mask>
+ <range>
+ <tracking>7</tracking>
+ </range>
+ <contrast>
+ <edge_threshold>5000</edge_threshold>
+ <mu1>0.5</mu1>
+ <mu2>0.5</mu2>
+ </contrast>
+ <sample>
+ <step>4</step>
+ </sample>
+ </ecm>
+ <klt>
+ <mask_border>5</mask_border>
+ <max_features>300</max_features>
+ <window_size>5</window_size>
+ <quality>0.01</quality>
+ <min_distance>5</min_distance>
+ <harris>0.01</harris>
+ <size_block>3</size_block>
+ <pyramid_lvl>3</pyramid_lvl>
+ </klt>
+ <camera>
+ <u0>338.7036994</u0>
+ <v0>234.5083345</v0>
+ <px>547.7367575</px>
+ <py>542.0744058</py>
+ </camera>
+ <face>
+ <angle_appear>65</angle_appear>
+ <angle_disappear>75</angle_disappear>
+ <near_clipping>0.1</near_clipping>
+ <far_clipping>0.90</far_clipping>
+ <fov_clipping>1</fov_clipping>
+ </face>
</conf>
-
diff --git a/mbt/cube_and_cylinder.cao b/mbt/cube_and_cylinder.cao
index 4b8a9d8..23aa216 100644
--- a/mbt/cube_and_cylinder.cao
+++ b/mbt/cube_and_cylinder.cao
@@ -1,23 +1,30 @@
V1
-10
- 0.000 0.000 0.000
--0.084 0.000 0.000
--0.084 0.084 0.000
- 0.000 0.084 0.000
- 0.000 0.000 0.084
--0.084 0.000 0.084
--0.084 0.084 0.084
- 0.000 0.084 0.084
--0.170 -0.030 0.000
--0.170 -0.030 0.250
-0
-0
-6
-4 0 4 5 1
-4 1 5 6 2
-4 6 7 3 2
-4 3 7 4 0
-4 0 1 2 3
-4 7 6 5 4
-1
-8 9 0.04
+# 3D points
+10 # Number of points
+ 0.000 0.000 0.000 # Point with index 0
+-0.084 0.000 0.000
+-0.084 0.084 0.000
+ 0.000 0.084 0.000
+ 0.000 0.000 0.084
+-0.084 0.000 0.084
+-0.084 0.084 0.084
+ 0.000 0.084 0.084
+-0.170 -0.030 0.000 # Point with index 8 used to define the cylinder
+-0.170 -0.030 0.250 # Point with index 9 used to define the cylinder
+# 3D lines
+0 # No 3D lines
+# 3D faces from lines
+0 # No 3D faces from lines
+# 3D faces from points
+6 # 6 faces to describe the cube
+4 0 4 5 1 # Face with index 0 defined by 3D point 0, 4, 5 and 1
+4 1 5 6 2
+4 6 7 3 2
+4 3 7 4 0
+4 0 1 2 3
+4 7 6 5 4 # Face with index 5
+# 3D cylinders
+1 # One 3D cylinder
+8 9 0.04 # Revolution axis between 3D points 8 and 9
+# 3D circle
+0 # No 3D circle
diff --git a/mbt/cube_and_cylinder.init b/mbt/cube_and_cylinder.init
index a43f558..ba92899 100644
--- a/mbt/cube_and_cylinder.init
+++ b/mbt/cube_and_cylinder.init
@@ -1,6 +1,7 @@
-4
- 0.000 0.000 0.000
+# Define the coordinates of 3D points used to compute the pose
+# after the user click on their corresponding location in the image
+4 # We define 4 3D points
+ 0.000 0.000 0.000 # First 3D point
0.000 0.000 0.084
--0.084 0.000 0.084
--0.084 0.084 0.084
-
+-0.084 0.000 0.084
+-0.084 0.084 0.084 # Last 3D point
diff --git a/mbt/cube_and_cylinder.wrl b/mbt/cube_and_cylinder.wrl
index 6fdba69..98517fd 100644
--- a/mbt/cube_and_cylinder.wrl
+++ b/mbt/cube_and_cylinder.wrl
@@ -1,41 +1,41 @@
-#VRML V2.0 utf8
-
-DEF fst_0 Group {
-children [
-
-# Object "cube"
-Shape {
-
-geometry DEF cube IndexedFaceSet {
-
-coord Coordinate {
-point [
- 0.000 0.000 0.000,
--0.084 0.000 0.000,
--0.084 0.084 0.000,
- 0.000 0.084 0.000,
- 0.000 0.000 0.084,
--0.084 0.000 0.084,
--0.084 0.084 0.084,
- 0.000 0.084 0.084 ]
-}
-
-coordIndex [
- 0,4,5,1,-1,
- 1,5,6,2,-1,
- 6,7,3,2,-1,
- 3,7,4,0,-1,
- 0,1,2,3,-1,
- 7,6,5,4,-1]}
-}
-
-
-# Object "cylinre"
-Shape {
-
-geometry DEF cyl_cylindre IndexedFaceSet {
-
-coord Coordinate {
+#VRML V2.0 utf8
+
+DEF fst_0 Group {
+children [
+
+# Object "cube"
+Shape {
+
+geometry DEF cube IndexedFaceSet {
+
+coord Coordinate {
+point [
+ 0.000 0.000 0.000,
+-0.084 0.000 0.000,
+-0.084 0.084 0.000,
+ 0.000 0.084 0.000,
+ 0.000 0.000 0.084,
+-0.084 0.000 0.084,
+-0.084 0.084 0.084,
+ 0.000 0.084 0.084 ]
+}
+
+coordIndex [
+ 0,4,5,1,-1,
+ 1,5,6,2,-1,
+ 6,7,3,2,-1,
+ 3,7,4,0,-1,
+ 0,1,2,3,-1,
+ 7,6,5,4,-1]}
+}
+
+
+# Object "cylinder"
+Shape {
+
+geometry DEF cyl_cylinder IndexedFaceSet {
+
+coord Coordinate {
point [
-0.170 0.010 0.000,
-0.170 -0.070 0.000,
@@ -44,17 +44,17 @@ point [
-0.170 0.010 0.250,
-0.170 -0.070 0.250,
-0.130 -0.030 0.250,
--0.210 -0.030 0.250]
-}
-
-coordIndex [
- 0,4,5,1,-1,
- 1,5,6,2,-1,
- 6,7,3,2,-1,
- 3,7,4,0,-1,
- 0,1,2,3,-1,
- 7,6,5,4,-1]}
-}
-
-]
+-0.210 -0.030 0.250]
+}
+
+coordIndex [
+ 0,4,5,1,-1,
+ 1,5,6,2,-1,
+ 6,7,3,2,-1,
+ 3,7,4,0,-1,
+ 0,1,2,3,-1,
+ 7,6,5,4,-1]}
+}
+
+]
}
diff --git a/mire/mire.jpg b/mire/mire.jpg
old mode 100755
new mode 100644
--
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