1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
|
/*! \example tutorial-template-tracker.cpp */
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpVideoReader.h>
//! [Include]
#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
//! [Include]
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV)
std::string opt_videoname = "bruegel.mp4";
unsigned int opt_subsample = 1;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--videoname")
opt_videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--subsample")
opt_subsample = static_cast<unsigned int>(std::atoi(argv[i + 1]));
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0] << " [--videoname <video name>] [--subsample <scale factor>] [--help] [-h]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
std::cout << "Video name: " << opt_videoname << std::endl;
vpImage<unsigned char> I, Iacq;
vpVideoReader g;
g.setFileName(opt_videoname);
g.open(Iacq);
Iacq.subsample(opt_subsample, opt_subsample, I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
display.setDownScalingFactor(vpDisplay::SCALE_AUTO);
display.init(I, 100, 100, "Template tracker");
vpDisplay::display(I);
vpDisplay::flush(I);
//! [Construction]
vpTemplateTrackerWarpHomography warp;
vpTemplateTrackerSSDInverseCompositional tracker(&warp);
//! [Construction]
tracker.setSampling(2, 2);
tracker.setLambda(0.001);
tracker.setIterationMax(200);
tracker.setPyramidal(2, 1);
//! [Init]
tracker.initClick(I);
//! [Init]
while (1) {
double t = vpTime::measureTimeMs();
g.acquire(Iacq);
Iacq.subsample(opt_subsample, opt_subsample, I);
vpDisplay::display(I);
//! [Track]
tracker.track(I);
//! [Track]
//! [Homography]
vpColVector p = tracker.getp();
vpHomography H = warp.getHomography(p);
std::cout << "Homography: \n" << H << std::endl;
//! [Homography]
//! [Display]
tracker.display(I, vpColor::red);
//! [Display]
vpDisplay::displayText(I, 10 * vpDisplay::getDownScalingFactor(I), 10 * vpDisplay::getDownScalingFactor(I),
"Click to quit", vpColor::red);
if (vpDisplay::getClick(I, false))
break;
vpDisplay::flush(I);
if (!g.isVideoFormat()) {
vpTime::wait(t, 40);
}
}
#else
(void)argc;
(void)argv;
#endif
}
|
