Visual Servoing Platform  version 3.3.1 under development (2020-07-09)
tutorial-klt-tracker.cpp

[Include]

#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/klt/vpKltOpencv.h>
int main(int argc, const char *argv[])
{
#ifdef VISP_HAVE_OPENCV
try {
std::string opt_videoname = "video-postcard.mpeg";
bool opt_init_by_click = false;
unsigned int opt_subsample = 1;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--videoname")
opt_videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--init-by-click")
opt_init_by_click = true;
else if (std::string(argv[i]) == "--subsample")
opt_subsample = static_cast<unsigned int>(std::atoi(argv[i + 1]));
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0] << " [--videoname <video name>] [--subsample <scale factor>] [--init-by-click] [--help] [-h]" << std::endl;
return 0;
}
}
vpVideoReader reader;
reader.setFileName(opt_videoname);
reader.acquire(Iacq);
Iacq.subsample(opt_subsample, opt_subsample, I);
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
IplImage *cvI = NULL;
#else
cv::Mat cvI;
#endif
vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
vpKltOpencv tracker;
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
if (opt_init_by_click) {
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
std::vector<CvPoint2D32f> feature;
#else
std::vector<cv::Point2f> feature;
#endif
do {
vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
if (vpDisplay::getClick(I, ip, button, false)) {
if (button == vpMouseButton::button1) {
feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
}
}
} while (button != vpMouseButton::button3);
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
tracker.initTracking(cvI, &feature[0], feature.size());
#else
tracker.initTracking(cvI, feature);
#endif
} else {
tracker.initTracking(cvI);
}
std::cout << "Tracker initialized with " << tracker.getNbFeatures() << " features" << std::endl;
while (!reader.end()) {
double t = vpTime::measureTimeMs();
reader.acquire(Iacq);
Iacq.subsample(opt_subsample, opt_subsample, I);
if (opt_init_by_click && reader.getFrameIndex() == reader.getFirstFrameIndex() + 20) {
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
std::vector<CvPoint2D32f> feature;
#else
std::vector<cv::Point2f> feature;
#endif
do {
vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
if (vpDisplay::getClick(I, ip, button, false)) {
if (button == vpMouseButton::button1) {
feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
}
}
} while (button != vpMouseButton::button3);
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
tracker.initTracking(cvI, &feature[0], feature.size());
#else
tracker.initTracking(cvI, feature);
#endif
}
tracker.track(cvI);
tracker.display(I, vpColor::red);
vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I, false))
break;
if (! reader.isVideoFormat()) {
vpTime::wait(t, 40);
}
}
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
cvReleaseImage(&cvI);
#endif
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#endif
}