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/*! \example tutorial-template-tracker.cpp */
#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayFactory.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)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
std::string opt_videoname = "bruegel.mp4";
unsigned int opt_subsample = 1;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--videoname" && i + 1 < argc) {
opt_videoname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--subsample" && i + 1 < argc) {
opt_subsample = static_cast<unsigned int>(std::atoi(argv[++i]));
}
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_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display = vpDisplayFactory::createDisplay(I, 100, 100, "Template tracker", vpDisplay::SCALE_AUTO);
#else
vpDisplay *display = vpDisplayFactory::allocateDisplay(I, 100, 100, "Template tracker", vpDisplay::SCALE_AUTO);
#endif
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
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);
}
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11) && defined(VISP_HAVE_DISPLAY)
if (display != nullptr) {
delete display;
}
#endif
#else
(void)argc;
(void)argv;
#endif
}
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