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//! \example tutorial-me-line-tracker.cpp
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
//! [camera headers]
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpV4l2Grabber.h>
//! [camera headers]
#endif
//! [display headers]
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
//! [display headers]
//! [me line headers]
#include <visp3/me/vpMeLine.h>
//! [me line headers]
#if defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio.hpp>
#endif
int main()
{
#if (defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_V4L2) || defined(HAVE_OPENCV_VIDEOIO))
try {
//! [image container]
vpImage<unsigned char> I;
//! [image container]
//! [grabber container]
#if defined(VISP_HAVE_DC1394)
vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
vp1394CMUGrabber g;
#elif defined(VISP_HAVE_V4L2)
vpV4l2Grabber g;
#elif defined(HAVE_OPENCV_VIDEOIO)
cv::VideoCapture g(0); // open the default camera
if (!g.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return EXIT_FAILURE;
}
cv::Mat frame;
#endif
//! [grabber container]
//! [first image acquisition]
#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
g >> frame; // get a new frame from camera
vpImageConvert::convert(frame, I);
#endif
//! [first image acquisition]
//! [display container]
#if defined(VISP_HAVE_X11)
vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I, 0, 0, "Camera view");
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV d(I, 0, 0, "Camera view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
//! [display container]
//! [display image]
vpDisplay::display(I);
vpDisplay::flush(I);
//! [display image]
//! [me container]
vpMe me;
me.setRange(25);
me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
me.setThreshold(20);
me.setSampleStep(10);
//! [me container]
//! [me line container]
vpMeLine line;
line.setMe(&me);
line.setDisplay(vpMeSite::RANGE_RESULT);
line.initTracking(I);
//! [me line container]
//! [loop]
while (1) {
#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
g >> frame;
vpImageConvert::convert(frame, I);
#endif
vpDisplay::display(I);
line.track(I);
line.display(I, vpColor::red);
vpDisplay::flush(I);
}
//! [loop]
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
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