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 {
                vpImage<unsigned char> I;
 
#if defined(VISP_HAVE_DC1394)
                vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
                vp1394CMUGrabber g;
#elif defined(VISP_HAVE_V4L2)
                vpV4l2Grabber g;
#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
                vpImageConvert::convert(frame, I);
#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
 
                vpDisplay::display(I);
                vpDisplay::flush(I);
 
                vpMe me;
                me.setRange(25);
                me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
                me.setThreshold(20);
                me.setSampleStep(10);
 
                vpMeEllipse ellipse;
                ellipse.setMe(&me);
                ellipse.setDisplay(vpMeSite::RANGE_RESULT);
                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;
                        vpImageConvert::convert(frame, I);
#endif
                        vpDisplay::display(I);
                        ellipse.track(I);
                        ellipse.display(I, vpColor::red);
                        vpDisplay::flush(I);
                }
        }
        catch (const vpException &e) {
                std::cout << "Catch an exception: " << e << std::endl;
        }
#endif
}