tutorial-klt-tracker.cpp

#include <visp/vpImageConvert.h>
#include <visp/vpKltOpencv.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpVideoReader.h>

int main()
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x010100) && defined(VISP_HAVE_FFMPEG)
  vpVideoReader reader;
  reader.setFileName("video-postcard.mpeg");

  vpImage<unsigned char> I;
  reader.acquire(I);

  IplImage * cvI = NULL;
  vpImageConvert::convert(I, cvI);
  
  // Display initialisation
  vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
  vpDisplay::display(I);
  vpDisplay::flush(I);
  
  vpKltOpencv tracker;
  // Set tracker parameters
  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
  tracker.initTracking(cvI);
  
  while ( ! reader.end() )
  {
    reader.acquire(I);
    vpDisplay::display(I);

    vpImageConvert::convert(I, cvI);
    tracker.track(cvI);

    tracker.display(I, vpColor::red);
    vpDisplay::flush(I);
  }

  vpDisplay::getClick(I);

  cvReleaseImage(&cvI);

  return 0;
#endif
}