#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	setInitialGuess (CvPoint2D32f **guess_pts)

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)

int	getBlockSize () const

CvPoint2D32f *	getFeatures () const

long *	getFeaturesId () const

double	getHarrisFreeParameter () const

bool *	getListOfLostFeature () const

int	getMaxFeatures () const

double	getMinDistance () const

int	getNbFeatures () const

int	getNbPrevFeatures () const

CvPoint2D32f *	getPrevFeatures () const

long *	getPrevFeaturesId () const

int	getPyramidLevels () const

double	getQuality () const

int	getWindowSize () 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< vpRGBa > &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)

static void	display (const vpImage< vpRGBa > &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:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and 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 149 of file vpKltOpencv.cpp.

vpKltOpencv::~vpKltOpencv ( )

virtual

Definition at line 260 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 539 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 447 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 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 586 of file vpKltOpencv.cpp.

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

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

static

Display 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 611 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 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 639 of file vpKltOpencv.cpp.

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

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

static

Display 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 673 of file vpKltOpencv.cpp.

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

int vpKltOpencv::getBlockSize ( ) const

inline

Get the block size.

Definition at line 283 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

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).

Parameters

index	: index of feature
id	: id of the feature
x	: x coordinate
y	: y coordinate

Definition at line 472 of file vpKltOpencv.cpp.

References vpException::memoryAllocationError, and vpERROR_TRACE.

Referenced by vpMbtKltPolygon::computeNbDetectedCurrent(), vpMbKltTracker::getKltImagePoints(), vpMbKltTracker::getKltImagePointsWithId(), and vpMbtKltPolygon::init().

CvPoint2D32f* vpKltOpencv::getFeatures ( ) const

inline

Get the list of features.

Definition at line 285 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::getKltPoints().

long* vpKltOpencv::getFeaturesId ( ) const

inline

Get the list of features id.

Definition at line 287 of file vpKltOpencv.h.

double vpKltOpencv::getHarrisFreeParameter ( ) const

inline

Get Harris free parameter.

Definition at line 289 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

bool* vpKltOpencv::getListOfLostFeature ( ) const

inline

Get the list of lost feature.

Definition at line 291 of file vpKltOpencv.h.

int vpKltOpencv::getMaxFeatures ( ) const

inline

Get Max number of features.

Definition at line 293 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::setPose().

double vpKltOpencv::getMinDistance ( ) const

inline

Get Min Distance.

Definition at line 295 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

int vpKltOpencv::getNbFeatures ( ) const

inline

Get the current number of features.

Definition at line 297 of file vpKltOpencv.h.

Referenced by vpMbtKltPolygon::computeNbDetectedCurrent(), vpMbKltTracker::getKltImagePoints(), vpMbKltTracker::getKltImagePointsWithId(), vpMbKltTracker::getNbKltPoints(), and vpMbtKltPolygon::init().

int vpKltOpencv::getNbPrevFeatures ( ) const

inline

Get the previous number of features.

Definition at line 299 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 520 of file vpKltOpencv.cpp.

References vpException::memoryAllocationError, and vpERROR_TRACE.

CvPoint2D32f* vpKltOpencv::getPrevFeatures ( ) const

inline

Get the list of features.

Definition at line 301 of file vpKltOpencv.h.

long* vpKltOpencv::getPrevFeaturesId ( ) const

inline

Get the list of features id.

Definition at line 303 of file vpKltOpencv.h.

int vpKltOpencv::getPyramidLevels ( ) const

inline

Get the number of pyramid levels.

Definition at line 305 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

double vpKltOpencv::getQuality ( ) const

inline

Get the quality of the tracker.

Definition at line 307 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

int vpKltOpencv::getWindowSize ( ) const

inline

Get Max number of features.

Definition at line 309 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

void vpKltOpencv::initTracking	(	const IplImage *	I,
		const IplImage *	mask = `NULL`
	)

Examples:: trackKltOpencv.cpp.

Definition at line 291 of file vpKltOpencv.cpp.

References vpTrackingException::initializationError.

Referenced by vpMbKltTracker::reinit().

void vpKltOpencv::setBlockSize ( const int input )

inline

Set the size of the averaging block used to track the features.

Warning: The input is a signed integer to be compatible with OpenCV. However, it must be a positive integer.

Parameters

input : The new size of the block.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and trackKltOpencv.cpp.

Definition at line 255 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setHarrisFreeParameter ( double input )

inline

Set the Harris parameter (The k value).

Warning: The tracker must be re-initialised using the method initTracking().

Parameters

input : The new Harris parameter.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and trackKltOpencv.cpp.

Definition at line 245 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setInitialGuess ( CvPoint2D32f ** guess_pts )

Set the points that will be used as initial guess during the next call to track().

Warning: Those points will be used just one time (next track()).

Parameters

guess_pts : Reference on an array of CvPoint2D32f allocated with cvAlloc().

Definition at line 494 of file vpKltOpencv.cpp.

Referenced by vpMbKltTracker::setPose().

void vpKltOpencv::setIsFeatureValid ( funccheck input )

inline

Definition at line 280 of file vpKltOpencv.h.

void vpKltOpencv::setMaxFeatures ( const int input )

Set the maximum number of features to track in the image.

Warning: The tracker must be re-initialised using the method initTracking().

Parameters

input : The new number of maximum features.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and trackKltOpencv.cpp.

Definition at line 272 of file vpKltOpencv.cpp.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setMinDistance ( double input )

inline

Set the minimal distance between two points during the initialisation.

Warning: The tracker must be re-initialised using the method initTracking().

Parameters

input : The new minimal distance between two points.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and trackKltOpencv.cpp.

Definition at line 236 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setOnFeatureLost ( funcinfo input )

inline

Definition at line 274 of file vpKltOpencv.h.

void vpKltOpencv::setOnInitialize ( funcevent input )

inline

Definition at line 272 of file vpKltOpencv.h.

void vpKltOpencv::setOnMeasureFeature ( funcinfo input )

inline

Definition at line 278 of file vpKltOpencv.h.

void vpKltOpencv::setOnNewFeature ( funcinfo input )

inline

Definition at line 276 of file vpKltOpencv.h.

void vpKltOpencv::setPyramidLevels ( const int input )

inline

Set the maximal pyramid level. If the level is zero, then no pyramid is computed for the optical flow.

Warning: The tracker must be re-initialised using the method initTracking().

Parameters

input : The new maximal pyramid level.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and trackKltOpencv.cpp.

Definition at line 266 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setQuality ( double input )

inline

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and trackKltOpencv.cpp.

Definition at line 227 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setTrackerId ( int tid )

inline

Examples:: trackKltOpencv.cpp.

Definition at line 267 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::resetTracker(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setUseHarris ( const int input )

inline

Examples:: trackKltOpencv.cpp.

Definition at line 256 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::resetTracker(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::setWindowSize ( const int input )

inline

Set the window size for the sub-pixel computation.

Warning: The tracker must be re-initialised using the method initTracking().

Parameters

input : The new number of maximum features.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and trackKltOpencv.cpp.

Definition at line 226 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), and vpMbKltTracker::vpMbKltTracker().

void vpKltOpencv::suppressFeature ( int index )

Definition at line 556 of file vpKltOpencv.cpp.

References vpException::memoryAllocationError, and vpERROR_TRACE.

void vpKltOpencv::track ( const IplImage * I )

Examples:: trackKltOpencv.cpp.

Definition at line 366 of file vpKltOpencv.cpp.

References vpTrackingException::initializationError, and vpERROR_TRACE.

Referenced by vpMbKltTracker::preTracking().

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation