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//! \example tutorial-blob-tracker-live.cpp
#include <iostream>
#include <visp3/core/vpConfig.h>
//! [Undef grabber]
// Comment / uncomment following lines to use the specific 3rd party compatible with your camera
// #undef VISP_HAVE_V4L2
// #undef VISP_HAVE_DC1394
// #undef VISP_HAVE_CMU1394
// #undef VISP_HAVE_FLYCAPTURE
// #undef VISP_HAVE_REALSENSE2
// #undef HAVE_OPENCV_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
//! [Undef grabber]
#if defined(VISP_HAVE_DISPLAY) && \
(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) || defined(VISP_HAVE_OPENCV) && \
(((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))))
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#include <visp3/blob/vpDot2.h>
#include <visp3/gui/vpDisplayFactory.h>
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp>
#endif
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
vpImage<unsigned char> I; // Create a gray level image container
int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
//! [Grabber]
#if defined(VISP_HAVE_V4L2)
vpV4l2Grabber g;
std::ostringstream device;
device << "/dev/video" << opt_device;
std::cout << "Use Video 4 Linux grabber on device " << device.str() << std::endl;
g.setDevice(device.str());
g.setScale(1);
g.open(I);
#elif defined(VISP_HAVE_DC1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use DC1394 grabber" << std::endl;
vp1394TwoGrabber g;
g.open(I);
#elif defined(VISP_HAVE_CMU1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use CMU1394 grabber" << std::endl;
vp1394CMUGrabber g;
g.open(I);
#elif defined(VISP_HAVE_FLYCAPTURE)
(void)opt_device; // To avoid non used warning
std::cout << "Use FlyCapture grabber" << std::endl;
vpFlyCaptureGrabber g;
g.open(I);
#elif defined(VISP_HAVE_REALSENSE2)
(void)opt_device; // To avoid non used warning
std::cout << "Use Realsense 2 grabber" << std::endl;
vpRealSense2 g;
rs2::config config;
config.disable_stream(RS2_STREAM_DEPTH);
config.disable_stream(RS2_STREAM_INFRARED);
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
g.open(config);
g.acquire(I);
#elif defined(VISP_HAVE_OPENCV) && \
(((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
cv::VideoCapture g(opt_device); // 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;
g >> frame; // get a new frame from camera
vpImageConvert::convert(frame, I);
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display = vpDisplayFactory::createDisplay(I, 0, 0, "Camera view");
#else
vpDisplay *display = vpDisplayFactory::allocateDisplay(I, 0, 0, "Camera view");
#endif
//! [Construction]
vpDot2 blob;
//! [Construction]
//! [Setting]
blob.setGraphics(true);
blob.setGraphicsThickness(2);
//! [Setting]
vpImagePoint germ;
bool init_done = false;
bool quit = false;
bool germ_selected = false;
vpMouseButton::vpMouseButtonType button;
while (!quit) {
try {
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
g.acquire(I);
#elif defined(VISP_HAVE_OPENCV) && \
(((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
g >> frame;
vpImageConvert::convert(frame, I);
#endif
vpDisplay::display(I);
vpDisplay::displayText(I, 20, 20, "Left click in the blob to initialize the tracker", vpColor::red);
vpDisplay::displayText(I, 40, 20, "Right click to quit", vpColor::red);
if (vpDisplay::getClick(I, germ, button, false)) {
if (button == vpMouseButton::button3) {
quit = true;
}
else {
germ_selected = true;
}
}
if (germ_selected && !init_done) {
//! [Init]
std::cout << "Tracking initialized" << std::endl;
blob.initTracking(I, germ);
//! [Init]
init_done = true;
germ_selected = false;
}
else if (init_done) {
//! [Track]
blob.track(I);
//! [Track]
}
vpDisplay::flush(I);
}
catch (const vpException &e) {
std::cout << "Tracking failed: " << e.getMessage() << std::endl;
init_done = false;
}
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
}
#else
int main()
{
std::cout << "There are missing 3rd parties to run this tutorial" << std::endl;
}
#endif
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