Visual Servoing Platform version 3.6.0
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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#if (defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_VIDEOIO) || defined(VISP_HAVE_V4L2)) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
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 EXIT_SUCCESS;
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 cv::Mat cvI;
48
50 vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
54
56 vpKltOpencv tracker;
57 tracker.setMaxFeatures(200);
58 tracker.setWindowSize(10);
60 tracker.setQuality(0.01);
62 tracker.setMinDistance(15);
63 tracker.setHarrisFreeParameter(0.04);
64 tracker.setBlockSize(9);
65 tracker.setUseHarris(1);
66 tracker.setPyramidLevels(3);
68
69 // Initialise the tracking
70 if (opt_init_by_click) {
72#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
73 std::vector<CvPoint2D32f> feature;
74#else
75 std::vector<cv::Point2f> feature;
76#endif
77 vpImagePoint ip;
78 do {
79 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
80 if (vpDisplay::getClick(I, ip, button, false)) {
81 if (button == vpMouseButton::button1) {
82 feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
84 }
85 }
87 vpTime::wait(20);
88 } while (button != vpMouseButton::button3);
89#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
90 tracker.initTracking(cvI, &feature[0], feature.size());
91#else
92 tracker.initTracking(cvI, feature);
93#endif
94 } else {
96 tracker.initTracking(cvI);
98 }
99
101 std::cout << "Tracker initialized with " << tracker.getNbFeatures() << " features" << std::endl;
103
105 while (!reader.end()) {
106 double t = vpTime::measureTimeMs();
107 reader.acquire(Iacq);
108 Iacq.subsample(opt_subsample, opt_subsample, I);
110
112
113 if (opt_init_by_click && reader.getFrameIndex() == reader.getFirstFrameIndex() + 20) {
115#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
116 std::vector<CvPoint2D32f> feature;
117#else
118 std::vector<cv::Point2f> feature;
119#endif
120 vpImagePoint ip;
121 do {
122 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
123 if (vpDisplay::getClick(I, ip, button, false)) {
124 if (button == vpMouseButton::button1) {
125 feature.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
127 }
128 }
130 vpTime::wait(20);
131 } while (button != vpMouseButton::button3);
132#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
133 tracker.initTracking(cvI, &feature[0], feature.size());
134#else
135 tracker.initTracking(cvI, feature);
136#endif
137 }
138
139 tracker.track(cvI);
140
141 tracker.display(I, vpColor::red);
142
143 vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
144 if (vpDisplay::getClick(I, false))
145 break;
146
148 if (!reader.isVideoFormat()) {
149 vpTime::wait(t, 40);
150 }
151 }
153
157 } catch (const vpException &e) {
158 std::cout << "Catch an exception: " << e << std::endl;
159 return EXIT_FAILURE;
160 }
161#else
162 (void)argc;
163 (void)argv;
164#endif
165 return EXIT_SUCCESS;
166}
static const vpColor red
Definition vpColor.h:211
static const vpColor green
Definition vpColor.h:214
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 emitted by ViSP classes.
Definition vpException.h:59
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 ...
double get_u() const
double get_v() const
Definition of the vpImage class member functions.
Definition vpImage.h:135
void subsample(unsigned int v_scale, unsigned int h_scale, vpImage< Type > &sampled) const
Definition vpImage.h:1466
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition vpKltOpencv.h:73
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void track(const cv::Mat &I)
int getNbFeatures() const
Get the number of current features.
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()