Visual Servoing Platform version 3.5.0
tutorial-klt-tracker.cpp
1
3#include <visp3/core/vpImageConvert.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/io/vpVideoReader.h>
6#include <visp3/klt/vpKltOpencv.h>
8
9int main(int argc, const char *argv[])
10{
12#ifdef VISP_HAVE_OPENCV
14 try {
15 std::string opt_videoname = "video-postcard.mp4";
16 bool opt_init_by_click = false;
17 unsigned int opt_subsample = 1;
18 for (int i = 0; i < argc; i++) {
19 if (std::string(argv[i]) == "--videoname")
20 opt_videoname = std::string(argv[i + 1]);
21 else if (std::string(argv[i]) == "--init-by-click")
22 opt_init_by_click = true;
23 else if (std::string(argv[i]) == "--subsample")
24 opt_subsample = static_cast<unsigned int>(std::atoi(argv[i + 1]));
25 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
26 std::cout << "Usage: " << argv[0]
27 << " [--videoname <video name>] [--subsample <scale factor>] [--init-by-click]"
28 << " [--help] [-h]" << std::endl;
29 return 0;
30 }
31 }
32
34 vpVideoReader reader;
35 reader.setFileName(opt_videoname);
37
40 reader.acquire(Iacq);
41 Iacq.subsample(opt_subsample, opt_subsample, I);
43
45#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
46 IplImage *cvI = NULL;
47#else
48 cv::Mat cvI;
49#endif
52
54 vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
58
60 vpKltOpencv tracker;
61 tracker.setMaxFeatures(200);
62 tracker.setWindowSize(10);
64 tracker.setQuality(0.01);
66 tracker.setMinDistance(15);
67 tracker.setHarrisFreeParameter(0.04);
68 tracker.setBlockSize(9);
69 tracker.setUseHarris(1);
70 tracker.setPyramidLevels(3);
72
73 // Initialise the tracking
74 if (opt_init_by_click) {
76#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
77 std::vector<CvPoint2D32f> feature;
78#else
79 std::vector<cv::Point2f> feature;
80#endif
81 vpImagePoint ip;
82 do {
83 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
84 if (vpDisplay::getClick(I, ip, button, false)) {
85 if (button == vpMouseButton::button1) {
86 feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
88 }
89 }
91 vpTime::wait(20);
92 } while (button != vpMouseButton::button3);
93#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
94 tracker.initTracking(cvI, &feature[0], feature.size());
95#else
96 tracker.initTracking(cvI, feature);
97#endif
98 } else {
100 tracker.initTracking(cvI);
102 }
103
105 std::cout << "Tracker initialized with " << tracker.getNbFeatures() << " features" << std::endl;
107
109 while (!reader.end()) {
110 double t = vpTime::measureTimeMs();
111 reader.acquire(Iacq);
112 Iacq.subsample(opt_subsample, opt_subsample, I);
114
116
117 if (opt_init_by_click && reader.getFrameIndex() == reader.getFirstFrameIndex() + 20) {
119#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
120 std::vector<CvPoint2D32f> feature;
121#else
122 std::vector<cv::Point2f> feature;
123#endif
124 vpImagePoint ip;
125 do {
126 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
127 if (vpDisplay::getClick(I, ip, button, false)) {
128 if (button == vpMouseButton::button1) {
129 feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
131 }
132 }
134 vpTime::wait(20);
135 } while (button != vpMouseButton::button3);
136#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
137 tracker.initTracking(cvI, &feature[0], feature.size());
138#else
139 tracker.initTracking(cvI, feature);
140#endif
141 }
142
143 tracker.track(cvI);
144
145 tracker.display(I, vpColor::red);
146
147 vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
148 if (vpDisplay::getClick(I, false))
149 break;
150
152 if (! reader.isVideoFormat()) {
153 vpTime::wait(t, 40);
154 }
155 }
157
161
163#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
164 cvReleaseImage(&cvI);
165#endif
167
168 return 0;
169 } catch (const vpException &e) {
170 std::cout << "Catch an exception: " << e << std::endl;
171 }
172#else
173 (void)argc;
174 (void)argv;
175#endif
176}
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
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 emited by ViSP classes.
Definition: vpException.h:72
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 ...
Definition: vpImagePoint.h:88
double get_u() const
Definition: vpImagePoint.h:262
double get_v() const
Definition: vpImagePoint.h:273
void subsample(unsigned int v_scale, unsigned int h_scale, vpImage< Type > &sampled) const
Definition: vpImage.h:1220
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void track(const cv::Mat &I)
int getNbFeatures() const
Get the number of current features.
Definition: vpKltOpencv.h:120
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 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 setFileName(const std::string &filename)
long getFirstFrameIndex()
long getFrameIndex() const
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()