Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
#include <visp3/core/vpConfig.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/blob/vpDot2.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <opencv2/videoio.hpp>
int main(int argc, char **argv)
#if ((defined(VISP_HAVE_V4L2) || defined(HAVE_OPENCV_VIDEOIO)) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)))
int device = 0;
if (argc == 2) {
device = std::atoi(argv[1]);
vpImage<unsigned char> I; // Create a gray level image container
std::stringstream ss;
ss << "/dev/video" << device;
std::cout << "Connect to: " << ss.str() << std::endl;
#if defined(VISP_HAVE_V4L2)
#elif defined(HAVE_OPENCV_VIDEOIO)
cv::VideoCapture g(device); // open the default camera
if (!g.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
cv::Mat frame;
g >> frame; // get a new frame from camera
#if defined(VISP_HAVE_X11)
vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I, 0, 0, "Camera view");
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK d(I, 0, 0, "Camera view");
vpDot2 blob;
bool init_done = false;
std::cout << "Click!!!" << std::endl;
while (1) {
try {
#if defined(VISP_HAVE_V4L2)
#elif defined(HAVE_OPENCV_VIDEOIO)
g >> frame;
if (!init_done) {
vpDisplay::displayText(I, vpImagePoint(10, 10), "Click in the blob to initialize the tracker", vpColor::red);
if (vpDisplay::getClick(I, germ, false)) {
blob.initTracking(I, germ);
init_done = true;
else {
catch (...) {
init_done = false;
static const vpColor red
Definition: vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:128
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:128
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:124
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition: vpDot2.cpp:439
void setGraphics(bool activate)
Definition: vpDot2.h:310
void setGraphicsThickness(unsigned int t)
Definition: vpDot2.h:318
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:245
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void open(vpImage< unsigned char > &I)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)