Visual Servoing Platform  version 3.5.1 under development (2022-07-01)
tutorial-template-tracker.cpp
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
std::string opt_videoname = "bruegel.mp4";
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]) == "--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 << "\nUsage: " << argv[0] << " [--videoname <video name>] [--subsample <scale factor>] [--help] [-h]\n"
<< std::endl;
return 0;
}
}
std::cout << "Video name: " << opt_videoname << std::endl;
g.setFileName(opt_videoname);
g.open(Iacq);
Iacq.subsample(opt_subsample, opt_subsample, I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display;
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
display.init(I, 100, 100, "Template tracker");
tracker.setSampling(2, 2);
tracker.setLambda(0.001);
tracker.setIterationMax(200);
tracker.setPyramidal(2, 1);
tracker.initClick(I);
while (1) {
double t = vpTime::measureTimeMs();
g.acquire(Iacq);
Iacq.subsample(opt_subsample, opt_subsample, I);
tracker.track(I);
vpColVector p = tracker.getp();
std::cout << "Homography: \n" << H << std::endl;
tracker.display(I, vpColor::red);
"Click to quit", vpColor::red);
if (vpDisplay::getClick(I, false))
break;
if (!g.isVideoFormat()) {
vpTime::wait(t, 40);
}
}
#else
(void)argc;
(void)argv;
#endif
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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:135
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)
@ SCALE_AUTO
Definition: vpDisplay.h:183
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:235
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
void subsample(unsigned int v_scale, unsigned int h_scale, vpImage< Type > &sampled) const
Definition: vpImage.h:1217
vpHomography getHomography(const vpColVector &ParamM) const
void display(const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, unsigned int thickness=3)
void setIterationMax(const unsigned int &n)
void setPyramidal(unsigned int nlevels=2, unsigned int level_to_stop=1)
vpColVector getp() const
void track(const vpImage< unsigned char > &I)
void setLambda(double l)
void setSampling(int sample_i, int sample_j)
void initClick(const vpImage< unsigned char > &I, bool delaunay=false)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
bool isVideoFormat() const
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()