Visual Servoing Platform  version 3.3.0
tutorial-klt-tracker.cpp

[Include]

#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/klt/vpKltOpencv.h>
int main(int argc, const char *argv[])
{
#ifdef VISP_HAVE_OPENCV
try {
bool opt_init_by_click = false;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--init-by-click")
opt_init_by_click = true;
else if (std::string(argv[i]) == "--help") {
std::cout << "Usage: " << argv[0] << " [--init-by-click] [--help]" << std::endl;
return 0;
}
}
vpVideoReader reader;
reader.setFileName("video-postcard.mpeg");
reader.acquire(I);
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
IplImage *cvI = NULL;
#else
cv::Mat cvI;
#endif
vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
vpKltOpencv tracker;
tracker.setMaxFeatures(200);
tracker.setWindowSize(10);
tracker.setQuality(0.01);
tracker.setMinDistance(15);
tracker.setHarrisFreeParameter(0.04);
tracker.setBlockSize(9);
tracker.setUseHarris(1);
tracker.setPyramidLevels(3);
// Initialise the tracking
if (opt_init_by_click) {
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
std::vector<CvPoint2D32f> feature;
#else
std::vector<cv::Point2f> feature;
#endif
do {
vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
if (vpDisplay::getClick(I, ip, button, false)) {
if (button == vpMouseButton::button1) {
feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
}
}
} while (button != vpMouseButton::button3);
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
tracker.initTracking(cvI, &feature[0], feature.size());
#else
tracker.initTracking(cvI, feature);
#endif
} else {
tracker.initTracking(cvI);
}
std::cout << "Tracker initialized with " << tracker.getNbFeatures() << " features" << std::endl;
while (!reader.end()) {
reader.acquire(I);
if (opt_init_by_click && reader.getFrameIndex() == reader.getFirstFrameIndex() + 20) {
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
std::vector<CvPoint2D32f> feature;
#else
std::vector<cv::Point2f> feature;
#endif
do {
vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
if (vpDisplay::getClick(I, ip, button, false)) {
if (button == vpMouseButton::button1) {
feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
}
}
} while (button != vpMouseButton::button3);
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
tracker.initTracking(cvI, &feature[0], feature.size());
#else
tracker.initTracking(cvI, feature);
#endif
}
tracker.track(cvI);
tracker.display(I, vpColor::red);
}
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
cvReleaseImage(&cvI);
#endif
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#endif
}
vpTime::wait
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:172
vpKltOpencv::setMinDistance
void setMinDistance(double minDistance)
Definition: vpKltOpencv.cpp:380
vpKltOpencv::getNbFeatures
int getNbFeatures() const
Get the number of current features.
Definition: vpKltOpencv.h:119
vpKltOpencv::track
void track(const cv::Mat &I)
Definition: vpKltOpencv.cpp:146
vpImageConvert::convert
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Definition: vpImageConvert.cpp:78
vpMouseButton::button1
Definition: vpMouseButton.h:52
vpKltOpencv::display
void display(const vpImage< unsigned char > &I, const vpColor &color=vpColor::red, unsigned int thickness=1)
Definition: vpKltOpencv.cpp:216
vpKltOpencv::setQuality
void setQuality(double qualityLevel)
Definition: vpKltOpencv.cpp:355
vpVideoReader::getFirstFrameIndex
long getFirstFrameIndex()
Definition: vpVideoReader.h:301
vpVideoReader::end
bool end()
Definition: vpVideoReader.h:259
vpKltOpencv::setHarrisFreeParameter
void setHarrisFreeParameter(double harris_k)
Definition: vpKltOpencv.cpp:363
vpKltOpencv::initTracking
void initTracking(const cv::Mat &I, const cv::Mat &mask=cv::Mat())
Definition: vpKltOpencv.cpp:117
vpVideoReader::getFrameIndex
long getFrameIndex() const
Definition: vpVideoReader.h:294
vpImagePoint::get_v
double get_v() const
Definition: vpImagePoint.h:273
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:140
vpKltOpencv
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:77
vpVideoReader
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
Definition: vpVideoReader.h:170
vpColor::green
static const vpColor green
Definition: vpColor.h:181
vpVideoReader::setFileName
void setFileName(const std::string &filename)
Definition: vpVideoReader.cpp:91
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:739
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:663
vpKltOpencv::setWindowSize
void setWindowSize(int winSize)
Definition: vpKltOpencv.cpp:342
vpImagePoint::get_u
double get_u() const
Definition: vpImagePoint.h:262
vpKltOpencv::setPyramidLevels
void setPyramidLevels(int pyrMaxLevel)
Definition: vpKltOpencv.cpp:408
vpKltOpencv::setUseHarris
void setUseHarris(int useHarrisDetector)
Definition: vpKltOpencv.cpp:371
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
vpMouseButton::button3
Definition: vpMouseButton.h:54
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:715
vpDisplay::displayCross
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Definition: vpDisplay_uchar.cpp:179
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:764
vpMouseButton::vpMouseButtonType
vpMouseButtonType
Definition: vpMouseButton.h:51
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpVideoReader::acquire
void acquire(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:243
vpColor::red
static const vpColor red
Definition: vpColor.h:178
vpKltOpencv::setBlockSize
void setBlockSize(int blockSize)
Definition: vpKltOpencv.cpp:398
vpKltOpencv::setMaxFeatures
void setMaxFeatures(int maxCount)
Definition: vpKltOpencv.cpp:333