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)
  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
}