Update mbt tutorial for data generation with Blender

- full generation of data including cam intrinsics - step by step detailed instructionns with a recent Blender version
lagadic · Oct 15, 2023 · 787639a · 787639a
1 parent dfb5691
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diff --git a/.gitignore b/.gitignore
@@ -10,3 +10,4 @@ platforms/ios/build_framework.pyc
 modules/java/\.idea/
 .scannerwork
 build
+*.blend1
diff --git a/doc/image/tutorial/tracking/img-Blender-add-camera.jpg b/doc/image/tutorial/tracking/img-Blender-add-camera.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-color-location.jpg b/doc/image/tutorial/tracking/img-Blender-camera-color-location.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-color-render.jpg b/doc/image/tutorial/tracking/img-Blender-camera-color-render.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-color-settings.jpg b/doc/image/tutorial/tracking/img-Blender-camera-color-settings.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-depth-add.jpg b/doc/image/tutorial/tracking/img-Blender-camera-depth-add.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-depth-location.jpg b/doc/image/tutorial/tracking/img-Blender-camera-depth-location.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-depth-parenting-done.jpg b/doc/image/tutorial/tracking/img-Blender-camera-depth-parenting-done.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-depth-parenting.jpg b/doc/image/tutorial/tracking/img-Blender-camera-depth-parenting.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-depth-settings.jpg b/doc/image/tutorial/tracking/img-Blender-camera-depth-settings.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-final-position-rendered.jpg b/doc/image/tutorial/tracking/img-Blender-camera-final-position-rendered.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-final-position.jpg b/doc/image/tutorial/tracking/img-Blender-camera-final-position.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-image-resolution.jpg b/doc/image/tutorial/tracking/img-Blender-camera-image-resolution.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-initial-position-rendered.jpg b/doc/image/tutorial/tracking/img-Blender-camera-initial-position-rendered.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-initial-position.jpg b/doc/image/tutorial/tracking/img-Blender-camera-initial-position.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-settings1.jpg b/doc/image/tutorial/tracking/img-Blender-camera-settings1.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-settings2.jpg b/doc/image/tutorial/tracking/img-Blender-camera-settings2.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-stereo-depth-exr.jpg b/doc/image/tutorial/tracking/img-Blender-camera-stereo-depth-exr.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-stereo-enable-Z.jpg b/doc/image/tutorial/tracking/img-Blender-camera-stereo-enable-Z.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-stereo-enabled.jpg b/doc/image/tutorial/tracking/img-Blender-camera-stereo-enabled.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-camera-stereo-rendered.jpg b/doc/image/tutorial/tracking/img-Blender-camera-stereo-rendered.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-coords-pt-3.jpg b/doc/image/tutorial/tracking/img-Blender-cube-coords-pt-3.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-cursor-to-selected.jpg b/doc/image/tutorial/tracking/img-Blender-cube-cursor-to-selected.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-select.jpg b/doc/image/tutorial/tracking/img-Blender-cube-select.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-set-origin.jpg b/doc/image/tutorial/tracking/img-Blender-cube-set-origin.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-texture-add.jpg b/doc/image/tutorial/tracking/img-Blender-cube-texture-add.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-texture-select.jpg b/doc/image/tutorial/tracking/img-Blender-cube-texture-select.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-textured.jpg b/doc/image/tutorial/tracking/img-Blender-cube-textured.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-transform.jpg b/doc/image/tutorial/tracking/img-Blender-cube-transform.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-cube-zoom.jpg b/doc/image/tutorial/tracking/img-Blender-cube-zoom.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-depth.png b/doc/image/tutorial/tracking/img-Blender-depth.png
diff --git a/doc/image/tutorial/tracking/img-Blender-python-get-pose.jpg b/doc/image/tutorial/tracking/img-Blender-python-get-pose.jpg
diff --git a/doc/image/tutorial/tracking/img-Blender-stereocameras-settings1.png b/doc/image/tutorial/tracking/img-Blender-stereocameras-settings1.png
diff --git a/doc/image/tutorial/tracking/img-Blender-stereocameras-settings2.png b/doc/image/tutorial/tracking/img-Blender-stereocameras-settings2.png
diff --git a/doc/image/tutorial/tracking/img-Blender-texture.png b/doc/image/tutorial/tracking/img-Blender-texture.png
diff --git a/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox b/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/CMakeLists.txt b/tutorial/tracking/model-based/generic-rgbd-blender/CMakeLists.txt
@@ -8,16 +8,8 @@ find_package(VISP REQUIRED visp_core visp_mbt visp_io visp_gui)
 set(tutorial_cpp
   tutorial-mb-generic-tracker-rgbd-blender.cpp)
 
-list(APPEND tutorial_data_dir "camera_poses")
-list(APPEND tutorial_data_dir "depth")
-list(APPEND tutorial_data_dir "images")
-
-list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/depth_M_color.txt")
-list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao")
-list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init")
-list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.png")
-list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml")
-list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox_depth.xml")
+list(APPEND tutorial_data_dir "data")
+list(APPEND tutorial_data_dir "model")
 
 foreach(cpp ${tutorial_cpp})
   visp_add_target(${cpp})
@@ -47,7 +39,3 @@ endforeach()
 foreach(data_dir ${tutorial_data_dir})
   visp_copy_dir(tutorial-mb-generic-tracker-rgbd-blender.cpp "${CMAKE_CURRENT_SOURCE_DIR}" ${data_dir})
 endforeach()
-
-foreach(data ${tutorial_data})
-  visp_copy_data(tutorial-mb-generic-tracker-rgbd-blender.cpp ${data})
-endforeach()
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_001.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_001.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_002.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_002.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_003.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_003.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_004.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_004.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_005.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_005.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_006.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_006.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_007.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_007.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_008.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_008.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_009.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_009.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_010.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_010.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_011.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_011.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_012.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_012.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_013.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_013.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_014.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_014.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_015.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_015.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_016.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_016.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_017.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_017.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_018.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_018.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_019.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_019.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_020.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_020.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_021.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_021.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_022.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_022.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_023.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_023.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_024.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_024.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_025.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_025.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_026.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_026.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_027.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_027.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_028.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_028.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_029.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_029.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_030.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_030.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_031.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_031.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_032.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_032.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_033.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_033.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_034.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_034.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_035.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_035.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_036.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_036.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_037.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_037.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_038.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_038.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_039.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_039.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_040.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_040.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_041.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_041.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_042.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_042.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_043.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_043.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_044.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_044.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_045.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_045.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_046.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_046.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_047.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_047.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_048.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_048.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_049.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_049.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_050.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_050.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_051.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_051.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_052.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_052.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_053.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_053.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_054.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_054.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_055.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_055.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_056.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_056.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_057.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_057.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_058.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_058.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_059.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_059.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_060.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_060.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_061.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_061.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_062.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_062.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_063.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_063.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_064.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_064.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_065.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_065.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_066.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_066.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_067.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_067.txt
diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_068.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_068.txt