2 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vpV4l2Grabber.h>
6 #include <visp3/core/vpImageConvert.h>
7 #include <visp3/gui/vpDisplayOpenCV.h>
8 #include <visp3/io/vpVideoReader.h>
9 #include <visp3/klt/vpKltOpencv.h>
11 #if defined(HAVE_OPENCV_VIDEOIO)
12 #include <opencv2/videoio.hpp>
15 int main(
int argc,
const char *argv [])
17 #if (defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_VIDEOIO) || defined(VISP_HAVE_V4L2)) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
19 bool opt_init_by_click =
false;
22 for (
int i = 0; i < argc; i++) {
23 if (std::string(argv[i]) ==
"--init-by-click")
24 opt_init_by_click =
true;
25 else if (std::string(argv[i]) ==
"--device")
26 opt_device = atoi(argv[i + 1]);
27 else if (std::string(argv[i]) ==
"--help") {
28 std::cout <<
"Usage: " << argv[0] <<
" [--init-by-click] [--device <camera device>] [--help]" << std::endl;
35 #if defined(VISP_HAVE_V4L2)
37 std::ostringstream device;
38 device <<
"/dev/video" << opt_device;
42 #elif defined(HAVE_OPENCV_VIDEOIO)
43 cv::VideoCapture g(opt_device);
45 std::cout <<
"Failed to open the camera" << std::endl;
73 if (opt_init_by_click) {
75 std::vector<cv::Point2f> guess;
81 guess.push_back(cv::Point2f((
float)ip.
get_u(), (
float)ip.
get_v()));
96 #if defined(VISP_HAVE_V4L2)
98 #elif defined(HAVE_OPENCV_VIDEOIO)
115 std::cout <<
"Catch an exception: " << e << std::endl;
static const vpColor green
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
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)
error that can be emitted by ViSP classes.
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 ...
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void track(const cv::Mat &I)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void initTracking(const cv::Mat &I, const cv::Mat &mask=cv::Mat())
void setMinDistance(double minDistance)
void display(const vpImage< unsigned char > &I, const vpColor &color=vpColor::red, unsigned int thickness=1)
void setUseHarris(int useHarrisDetector)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
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)
VISP_EXPORT int wait(double t0, double t)