Visual Servoing Platform version 3.5.0
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
11int main(int argc, const char *argv[])
12{
13#if defined(VISP_HAVE_OPENCV) && (defined(VISP_HAVE_V4L2) || (VISP_HAVE_OPENCV_VERSION >= 0x020100))
14 try {
15 bool opt_init_by_click = false;
16 int opt_device = 0;
17
18 for (int i = 0; i < argc; i++) {
19 if (std::string(argv[i]) == "--init-by-click")
20 opt_init_by_click = true;
21 else if (std::string(argv[i]) == "--device")
22 opt_device = atoi(argv[i + 1]);
23 else if (std::string(argv[i]) == "--help") {
24 std::cout << "Usage: " << argv[0] << " [--init-by-click] [--device <camera device>] [--help]" << std::endl;
25 return 0;
26 }
27 }
28
30
31#if defined(VISP_HAVE_V4L2)
33 std::ostringstream device;
34 device << "/dev/video" << opt_device;
35 g.setDevice(device.str());
36 g.open(I);
37 g.acquire(I);
38#elif defined(VISP_HAVE_OPENCV)
39 cv::VideoCapture g(opt_device);
40 if (!g.isOpened()) { // check if we succeeded
41 std::cout << "Failed to open the camera" << std::endl;
42 return -1;
43 }
44 cv::Mat frame;
45 g >> frame; // get a new frame from camera
47#endif
48
49#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
50 IplImage *cvI = NULL;
51#else
52 cv::Mat cvI;
53#endif
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) {
74#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
76 std::vector<cv::Point2f> guess;
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 guess.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
83 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
85 }
86 }
88 vpTime::wait(20);
89 } while (button != vpMouseButton::button3);
90 tracker.initTracking(cvI, guess);
91#endif
92 } else {
93 tracker.initTracking(cvI);
94 }
95
96 while (1) {
97#if defined(VISP_HAVE_V4L2)
98 g.acquire(I);
99#elif defined(VISP_HAVE_OPENCV)
100 g >> frame;
101 vpImageConvert::convert(frame, I);
102#endif
104
106 tracker.track(cvI);
107
108 tracker.display(I, vpColor::red);
109 vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
111 if (vpDisplay::getClick(I, false))
112 break;
113 }
114
115#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
116 cvReleaseImage(&cvI);
117#endif
118
119 return 0;
120 } catch (const vpException &e) {
121 std::cout << "Catch an exception: " << e << std::endl;
122 }
123#else
124 (void)argc;
125 (void)argv;
126#endif
127}
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
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)
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)