#include <vpKltOpencv.h>

Public Member Functions
	vpKltOpencv ()

	vpKltOpencv (const vpKltOpencv &copy)

virtual	~vpKltOpencv ()

void	initTracking (const IplImage I, const IplImage mask=NULL)

void	track (const IplImage *I)

void	display (const vpImage< unsigned char > &I, vpColor color=vpColor::red)

void	setMaxFeatures (const int input)

void	setWindowSize (const int input)

void	setQuality (double input)

void	setMinDistance (double input)

void	setHarrisFreeParameter (double input)

void	setBlockSize (const int input)

void	setUseHarris (const int input)

void	setPyramidLevels (const int input)

void	setTrackerId (int tid)

void	setOnInitialize (funcevent input)

void	setOnFeatureLost (funcinfo input)

void	setOnNewFeature (funcinfo input)

void	setOnMeasureFeature (funcinfo input)

void	setIsFeatureValid (funccheck input)

bool *	getListOfLostFeature () const

CvPoint2D32f *	getFeatures () const

long *	getFeaturesId () const

CvPoint2D32f *	getPrevFeatures () const

long *	getPrevFeaturesId () const

int	getNbFeatures () const

int	getNbPrevFeatures () const

int	getMaxFeatures () const

void	getFeature (int index, int &id, float &x, float &y) const

void	getPrevFeature (int index, int &id, float &x, float &y) const

void	addFeature (const int &id, const float &x, const float &y)

void	suppressFeature (int index)

Static Public Member Functions
static void	display (const vpImage< unsigned char > &I, const CvPoint2D32f *features_list, const int &nbFeatures, vpColor color=vpColor::green, unsigned int thickness=1)

static void	display (const vpImage< unsigned char > &I, const CvPoint2D32f features_list, const long featuresid_list, const int &nbFeatures, vpColor color=vpColor::green, unsigned int thickness=1)

Detailed Description

Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented with OpenCV.

The following example shows how to use the main functions of the class:

#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpKltOpencv.h>
#include <visp/vpImageConvert.h>
int main()
{
#if VISP_HAVE_OPENCV_VERSION >= 0x010100 // KLT only available since OpenCV-1.1.0
  vpImage<unsigned char> I;
  IplImage* Icv = NULL;
  vpKltOpencv klt;
  //First grab the initial image I
  //Convert the image I to the IplImage format.
  vpImageConvert::convert(I, Icv);
  //Initialise the tracking on the whole image.
  klt.initTracking(Icv, NULL);
  while(true)
  {
    // Grab a new image and convert it to the OpenCV format.
    vpImageConvert::convert(I, Icv);
    // Track the features on the current image.
    klt.track(Icv);
    // Display the features tracked at the current iteration.
    klt.display(I);
  }
  cvReleaseImage(&Icv);
#else
  std::cout << "vpKltOpencv requires ViSP with OpenCV." << std::endl;
#endif
  return(0);
}

Examples:: trackKltOpencv.cpp.

Definition at line 141 of file vpKltOpencv.h.

Constructor & Destructor Documentation

vpKltOpencv::vpKltOpencv ( )

Definition at line 102 of file vpKltOpencv.cpp.

vpKltOpencv::vpKltOpencv ( const vpKltOpencv & copy )

Definition at line 148 of file vpKltOpencv.cpp.

vpKltOpencv::~vpKltOpencv ( )

virtual

Definition at line 259 of file vpKltOpencv.cpp.

Member Function Documentation

void vpKltOpencv::addFeature	(	const int &	id,
		const float &	x,
		const float &	y
	)

Add at the end of the feauture list.

If there is no space left, the feature is not added (just return)

Definition at line 496 of file vpKltOpencv.cpp.

References vpERROR_TRACE.

void vpKltOpencv::display	(	const vpImage< unsigned char > &	I,
		vpColor	color = `vpColor::red`
	)

Examples:: trackKltOpencv.cpp.

Definition at line 436 of file vpKltOpencv.cpp.

References vpImage< Type >::bitmap, vpException::memoryAllocationError, and vpERROR_TRACE.

void vpKltOpencv::display	(	const vpImage< unsigned char > &	I,
		const CvPoint2D32f *	features_list,
		const int &	nbFeatures,
		vpColor	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display of vpKLTOpenCV features list

Parameters

I	: The image used as background.
features_list	: List of features
nbFeatures	: Number of features
color	: Color used to display the points.
thickness	: Thickness of the points.

Definition at line 543 of file vpKltOpencv.cpp.

References vpDisplay::displayCross(), vpMath::round(), vpImagePoint::set_u(), and vpImagePoint::set_v().

void vpKltOpencv::display	(	const vpImage< unsigned char > &	I,
		const CvPoint2D32f *	features_list,
		const long *	featuresid_list,
		const int &	nbFeatures,
		vpColor	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display of vpKLTOpenCV features list with ids

Parameters

I	: The image used as background.
features_list	: List of features
featuresid_list	: List of ids corresponding to the features list
nbFeatures	: Number of features
color	: Color used to display the points.
thickness	: Thickness of the points

Definition at line 571 of file vpKltOpencv.cpp.

References vpDisplay::displayCharString(), vpDisplay::displayCross(), vpMath::round(), vpImagePoint::set_u(), and vpImagePoint::set_v().

void vpKltOpencv::getFeature	(	int	index,
		int &	id,
		float &	x,
		float &	y
	)		const

Get the 'index'th feature image coordinates. Beware that getFeature(i,...) may not represent the same feature before and after a tracking iteration (if a feature is lost, features are shifted in the array).

Definition at line 456 of file vpKltOpencv.cpp.

References vpException::memoryAllocationError, and vpERROR_TRACE.

CvPoint2D32f* vpKltOpencv::getFeatures ( ) const

inline

Get the list of features.

Definition at line 278 of file vpKltOpencv.h.

long* vpKltOpencv::getFeaturesId ( ) const

inline

Get the list of features id.

Definition at line 280 of file vpKltOpencv.h.

bool* vpKltOpencv::getListOfLostFeature ( ) const

inline

Get the list of lost feature.

Definition at line 276 of file vpKltOpencv.h.

int vpKltOpencv::getMaxFeatures ( ) const

inline

Get Max number of features.

Definition at line 290 of file vpKltOpencv.h.

int vpKltOpencv::getNbFeatures ( ) const

inline

Get the current number of features.

Definition at line 286 of file vpKltOpencv.h.

int vpKltOpencv::getNbPrevFeatures ( ) const

inline

Get the previous number of features.

Definition at line 288 of file vpKltOpencv.h.

void vpKltOpencv::getPrevFeature	(	int	index,
		int &	id,
		float &	x,
		float &	y
	)		const

Get the 'index'th previous feature image coordinates. Beware that getPrevFeature(i,...) may not represent the same feature before and after a tracking iteration (if a feature is lost, features are shifted in the array).

Definition at line 477 of file vpKltOpencv.cpp.

References vpException::memoryAllocationError, and vpERROR_TRACE.

CvPoint2D32f* vpKltOpencv::getPrevFeatures ( ) const

inline

Get the list of features.

Definition at line 282 of file vpKltOpencv.h.

long* vpKltOpencv::getPrevFeaturesId ( ) const

inline

Get the list of features id.

Definition at line 284 of file vpKltOpencv.h.