Visual Servoing Platform version 3.6.0
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tutorial-klt-tracker-live-v4l2.cpp
1
2#include <visp3/core/vpConfig.h>
3#ifdef VISP_HAVE_MODULE_SENSOR
4#include <visp3/sensor/vpV4l2Grabber.h>
5#endif
6#include <visp3/core/vpImageConvert.h>
7#include <visp3/gui/vpDisplayOpenCV.h>
8#include <visp3/io/vpVideoReader.h>
9#include <visp3/klt/vpKltOpencv.h>
10
11#if defined(HAVE_OPENCV_VIDEOIO)
12#include <opencv2/videoio.hpp>
13#endif
14
15int main(int argc, const char *argv [])
16{
17#if (defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_VIDEOIO) || defined(VISP_HAVE_V4L2)) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
18 try {
19 bool opt_init_by_click = false;
20 int opt_device = 0;
21
22 for (int i = 0; i < argc; i++) {
23 if (std::string(argv[i]) == "--init-by-click")
24 opt_init_by_click = true;
25 else if (std::string(argv[i]) == "--device")
26 opt_device = atoi(argv[i + 1]);
27 else if (std::string(argv[i]) == "--help") {
28 std::cout << "Usage: " << argv[0] << " [--init-by-click] [--device <camera device>] [--help]" << std::endl;
29 return EXIT_SUCCESS;
30 }
31 }
32
34
35#if defined(VISP_HAVE_V4L2)
37 std::ostringstream device;
38 device << "/dev/video" << opt_device;
39 g.setDevice(device.str());
40 g.open(I);
41 g.acquire(I);
42#elif defined(HAVE_OPENCV_VIDEOIO)
43 cv::VideoCapture g(opt_device);
44 if (!g.isOpened()) { // check if we succeeded
45 std::cout << "Failed to open the camera" << std::endl;
46 return EXIT_FAILURE;
47 }
48 cv::Mat frame;
49 g >> frame; // get a new frame from camera
51#endif
52
53 cv::Mat cvI;
55
56 // Display initialisation
57 vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
60
61 vpKltOpencv tracker;
62 // Set tracker parameters
63 tracker.setMaxFeatures(200);
64 tracker.setWindowSize(10);
65 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);
71
72 // Initialise the tracking
73 if (opt_init_by_click) {
75 std::vector<cv::Point2f> guess;
76 vpImagePoint ip;
77 do {
78 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
79 if (vpDisplay::getClick(I, ip, button, false)) {
80 if (button == vpMouseButton::button1) {
81 guess.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
82 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
84 }
85 }
87 vpTime::wait(20);
88 } while (button != vpMouseButton::button3);
89 tracker.initTracking(cvI, guess);
90 }
91 else {
92 tracker.initTracking(cvI);
93 }
94
95 while (1) {
96#if defined(VISP_HAVE_V4L2)
97 g.acquire(I);
98#elif defined(HAVE_OPENCV_VIDEOIO)
99 g >> frame;
100 vpImageConvert::convert(frame, I);
101#endif
103
105 tracker.track(cvI);
106
107 tracker.display(I, vpColor::red);
108 vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
110 if (vpDisplay::getClick(I, false))
111 break;
112 }
113 }
114 catch (const vpException &e) {
115 std::cout << "Catch an exception: " << e << std::endl;
116 return EXIT_FAILURE;
117 }
118#else
119 (void)argc;
120 (void)argv;
121#endif
122 return EXIT_SUCCESS;
123}
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
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)
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 is a wrapper over the Video4Linux2 (V4L2) driver.
void open(vpImage< unsigned char > &I)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)
VISP_EXPORT int wait(double t0, double t)