1 #include <visp3/gui/vpDisplayGDI.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/gui/vpDisplayX.h>
5 #include <visp3/io/vpImageIo.h>
6 #include <visp3/core/vpIoTools.h>
8 #include <visp3/mbt/vpMbEdgeTracker.h>
9 #include <visp3/mbt/vpMbEdgeKltTracker.h>
11 #include <visp3/io/vpVideoReader.h>
13 int main(
int argc,
char** argv)
15 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
18 std::string opt_videoname =
"teabox.mpg";
21 for (
int i=0; i<argc; i++) {
22 if (std::string(argv[i]) ==
"--name")
23 opt_videoname = std::string(argv[i+1]);
24 if (std::string(argv[i]) ==
"--tracker")
25 opt_tracker = atoi(argv[i+1]);
26 else if (std::string(argv[i]) ==
"--help") {
27 std::cout <<
"\nUsage: " << argv[0] <<
" [--name <video name>] [--tracker <0=egde|1=keypoint|2=hybrid>] [--help]\n" << std::endl;
34 if(! parentname.empty())
35 objectname = parentname +
"/" + objectname;
37 std::cout <<
"Video name: " << opt_videoname << std::endl;
38 std::cout <<
"Tracker requested config files: " << objectname
39 <<
".[init, cao]" << std::endl;
40 std::cout <<
"Tracker optional config files: " << objectname <<
".[ppm]" << std::endl;
55 #if defined(VISP_HAVE_X11)
57 #elif defined(VISP_HAVE_GDI)
62 display->
init(I, 100, 100,
"Model-based tracker");
68 #ifdef VISP_HAVE_MODULE_KLT
69 else if (opt_tracker == 1)
75 std::cout <<
"klt and hybrid model-based tracker are not available since visp_klt module is missing" << std::endl;
82 if (opt_tracker == 0 || opt_tracker == 2) {
94 #ifdef VISP_HAVE_MODULE_KLT
95 if (opt_tracker == 1 || opt_tracker == 2) {
104 dynamic_cast<vpMbKltTracker*
>(tracker)->setKltOpencv(klt_settings);
122 tracker->
initClick(I, objectname +
".init",
true);
152 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
157 std::cout <<
"Install OpenCV and rebuild ViSP to use this example." << std::endl;
virtual void init(vpImage< unsigned char > &I, int x=-1, int y=-1, const char *title=NULL)=0
Class that defines generic functionnalities for display.
virtual void track(const vpImage< unsigned char > &I)=0
void setHarrisFreeParameter(double harris_k)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setMaskNumber(const unsigned int &a)
Display for windows using GDI (available on any windows 32 platform).
void setMaxFeatures(const int maxCount)
void setSampleStep(const double &s)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Define the X11 console to display images.
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
static const vpColor none
void setMinDistance(double minDistance)
error that can be emited by ViSP classes.
Make the complete tracking of an object by using its CAD model.
static void flush(const vpImage< unsigned char > &I)
void setMu1(const double &mu_1)
void setQuality(double qualityLevel)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
void open(vpImage< vpRGBa > &I)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)=0
virtual void setCameraParameters(const vpCameraParameters &camera)
void setMaskSize(const unsigned int &a)
void getPose(vpHomogeneousMatrix &cMo_) const
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void getCameraParameters(vpCameraParameters &camera) const
Generic class defining intrinsic camera parameters.
Main methods for a model-based tracker.
void acquire(vpImage< vpRGBa > &I)
void setFileName(const char *filename)
Model based tracker using only KLT.
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
void setPyramidLevels(const int pyrMaxLevel)
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, vpImagePoint offset=vpImagePoint(0, 0))
void setMu2(const double &mu_2)
void setWindowSize(const int winSize)
virtual void loadModel(const char *modelFile, const bool verbose=false)
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV.
void setBlockSize(const int blockSize)
void setThreshold(const double &t)
virtual bool getClick(bool blocking=true)=0
void setDisplayFeatures(const bool displayF)
void setRange(const unsigned int &r)