Visual Servoing Platform  version 3.6.1 under development (2023-12-02)
tutorial-me-ellipse-tracker.cpp
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/me/vpMeEllipse.h>
#if defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio.hpp>
#endif
int main()
{
#if (defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_V4L2) || defined(HAVE_OPENCV_VIDEOIO))
try {
#if defined(VISP_HAVE_DC1394)
vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
#elif defined(VISP_HAVE_V4L2)
#elif defined(HAVE_OPENCV_VIDEOIO)
cv::VideoCapture g(0); // open the default camera
if (!g.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return EXIT_FAILURE;
}
cv::Mat frame;
#endif
#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
g >> frame; // get a new frame from camera
#endif
#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");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpMe me;
me.setRange(25);
me.setThreshold(20);
me.setSampleStep(10);
vpMeEllipse ellipse;
ellipse.setMe(&me);
ellipse.initTracking(I);
while (1) {
#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
g >> frame;
#endif
ellipse.track(I);
ellipse.display(I, vpColor::red);
}
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
static const vpColor red
Definition: vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.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 void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition: vpException.h:59
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:90
void display(const vpImage< unsigned char > &I, const vpColor &col, unsigned int thickness=1)
void initTracking(const vpImage< unsigned char > &I, bool trackCircle=false, bool trackArc=false)
void track(const vpImage< unsigned char > &I)
@ RANGE_RESULT
Definition: vpMeSite.h:75
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:238
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:259
Definition: vpMe.h:120
void setRange(const unsigned int &range)
Definition: vpMe.h:393
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
Definition: vpMe.h:448
void setThreshold(const double &threshold)
Definition: vpMe.h:438
void setSampleStep(const double &sample_step)
Definition: vpMe.h:400
@ NORMALIZED_THRESHOLD
Definition: vpMe.h:131
Class that is a wrapper over the Video4Linux2 (V4L2) driver.