#include <vpKltOpencv.h>

Public Member Functions
	vpKltOpencv ()

	vpKltOpencv (const vpKltOpencv &copy)

virtual	~vpKltOpencv ()

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

void	display (const vpImage< unsigned char > &I, vpColor color=vpColor::red, unsigned int thickness=1)

int	getBlockSize () const

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

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

CvPoint2D32f *	getPrevFeatures () const

long *	getPrevFeaturesId () const

int	getPyramidLevels () const

double	getQuality () const

int	getWindowSize () const

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

vpKltOpencv &	operator= (const vpKltOpencv &copy)

void	track (const IplImage *I)

void	setBlockSize (const int input)

void	setHarrisFreeParameter (double input)

void	setInitialGuess (CvPoint2D32f **guess_pts)

void	setIsFeatureValid (funccheck input)

void	setMaxFeatures (const int input)

void	setMinDistance (double input)

void	setOnInitialize (funcevent input)

void	setOnFeatureLost (funcinfo input)

void	setOnNewFeature (funcinfo input)

void	setOnMeasureFeature (funcinfo input)

void	setPyramidLevels (const int input)

void	setQuality (double input)

void	setTrackerId (int tid)

void	setUseHarris (const int input)

void	setWindowSize (const int input)

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 in OpenCV.

The following example available in tutorial-klt-tracker.cpp shows how to use the main functions of the class.

#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)
  try {
    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;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
#endif
}

A line by line explanation is provided in Tutorial: Keypoint tracking.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 103 of file vpKltOpencv.h.

Constructor & Destructor Documentation

vpKltOpencv::vpKltOpencv ( )

Default constructor.

Definition at line 105 of file vpKltOpencv.cpp.

vpKltOpencv::vpKltOpencv ( const vpKltOpencv & copy )

Copy constructor.

Definition at line 125 of file vpKltOpencv.cpp.

vpKltOpencv::~vpKltOpencv ( )

virtual

Definition at line 247 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 542 of file vpKltOpencv.cpp.

References vpERROR_TRACE.

void vpKltOpencv::display	(	const vpImage< unsigned char > &	I,
		vpColor	color = `vpColor::red`,
		unsigned int	thickness = `1`
	)

Display features position and id.

Parameters

I	: Image used as background. Display should be initialized on it.
color	: Color used to display the features.
thickness	: Thickness of the drawings.

Examples:: trackKltOpencv.cpp, and tutorial-klt-tracker.cpp.

Definition at line 450 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 589 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 614 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 642 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 676 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 172 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 475 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 175 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::getKltPoints().

long* vpKltOpencv::getFeaturesId ( ) const

inline

Get the list of features id.

Definition at line 177 of file vpKltOpencv.h.

double vpKltOpencv::getHarrisFreeParameter ( ) const

inline

Get Harris free parameter.

Definition at line 179 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

bool* vpKltOpencv::getListOfLostFeature ( ) const

inline

Get the list of lost feature.

Definition at line 181 of file vpKltOpencv.h.

int vpKltOpencv::getMaxFeatures ( ) const

inline

Get Max number of features.

Definition at line 183 of file vpKltOpencv.h.

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

double vpKltOpencv::getMinDistance ( ) const

inline

Get Min Distance.

Definition at line 185 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

int vpKltOpencv::getNbFeatures ( ) const

inline

Get the current number of features.

Definition at line 187 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 189 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 523 of file vpKltOpencv.cpp.

References vpException::memoryAllocationError, and vpERROR_TRACE.

CvPoint2D32f* vpKltOpencv::getPrevFeatures ( ) const

inline

Get the list of features.

Definition at line 192 of file vpKltOpencv.h.

long* vpKltOpencv::getPrevFeaturesId ( ) const

inline

Get the list of features id.

Definition at line 194 of file vpKltOpencv.h.

int vpKltOpencv::getPyramidLevels ( ) const

inline

Get the number of pyramid levels.

Definition at line 196 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

double vpKltOpencv::getQuality ( ) const

inline

Get the quality of the tracker.

Definition at line 198 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

int vpKltOpencv::getWindowSize ( ) const

inline

Get Max number of features.

Definition at line 200 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::setKltOpencv().

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

Initialise the tracking by extracting KLT keypoints on the provided image.

Parameters

I	: Grey level image used as input. This image should have only 1 channel.
mask	: Image mask used to restrict the keypoint detection area. If mask is NULL, all the image will be considered.

Exceptions

vpTrackingException::initializationError : If the image I is not initialized, or if the image or the mask have bad coding format.

Examples:: trackKltOpencv.cpp, and tutorial-klt-tracker.cpp.

Definition at line 288 of file vpKltOpencv.cpp.

References vpTrackingException::initializationError.

Referenced by vpMbKltTracker::reinit().

vpKltOpencv & vpKltOpencv::operator= ( const vpKltOpencv & copy )

Copy operator.

Definition at line 140 of file vpKltOpencv.cpp.

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, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 219 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbEdgeKltTracker::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, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 227 of file vpKltOpencv.h.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbEdgeKltTracker::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 497 of file vpKltOpencv.cpp.

Referenced by vpMbKltTracker::setPose().

void vpKltOpencv::setIsFeatureValid ( funccheck input )

inline

Is a feature valid (e.g. : test if not too close to borders) -> event(id_tracker, x, y)

Definition at line 232 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, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 259 of file vpKltOpencv.cpp.

Referenced by vpMbKltTracker::loadConfigFile(), vpMbEdgeKltTracker::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, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 243 of file vpKltOpencv.h.

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

void vpKltOpencv::setOnFeatureLost ( funcinfo input )

inline

Definition at line 250 of file vpKltOpencv.h.

void vpKltOpencv::setOnInitialize ( funcevent input )

inline

Definition at line 248 of file vpKltOpencv.h.

void vpKltOpencv::setOnMeasureFeature ( funcinfo input )

inline

Definition at line 254 of file vpKltOpencv.h.

void vpKltOpencv::setOnNewFeature ( funcinfo input )

inline

Definition at line 252 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, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 263 of file vpKltOpencv.h.

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

void vpKltOpencv::setQuality ( double input )

inline

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 264 of file vpKltOpencv.h.

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

void vpKltOpencv::setTrackerId ( int tid )

inline

Examples:: trackKltOpencv.cpp.

Definition at line 265 of file vpKltOpencv.h.

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

void vpKltOpencv::setUseHarris ( 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:: trackKltOpencv.cpp, and tutorial-klt-tracker.cpp.

Definition at line 273 of file vpKltOpencv.h.

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

void vpKltOpencv::setWindowSize ( const int input )

inline

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, trackKltOpencv.cpp, tutorial-klt-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 274 of file vpKltOpencv.h.

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

void vpKltOpencv::suppressFeature ( int index )

Definition at line 559 of file vpKltOpencv.cpp.

References vpException::memoryAllocationError, and vpERROR_TRACE.

void vpKltOpencv::track ( const IplImage * I )

Examples:: trackKltOpencv.cpp, and tutorial-klt-tracker.cpp.

Definition at line 362 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