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/*! \example tutorial-klt-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 HAVE_OPENCV_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
//! [Undef grabber]
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) && \
(defined(VISP_HAVE_V4L2) || ((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/vpV4l2Grabber.h>
#endif
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/klt/vpKltOpencv.h>
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp>
#endif
int main(int argc, const char *argv[])
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
bool opt_init_by_click = false;
int opt_device = 0;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--init-by-click") {
opt_init_by_click = true;
}
else if (std::string(argv[i]) == "--device" && i + 1 < argc) {
opt_device = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--help") {
std::cout << "Usage: " << argv[0] << " [--init-by-click] [--device <camera device>] [--help]" << std::endl;
return EXIT_SUCCESS;
}
}
vpImage<unsigned char> I;
#if defined(VISP_HAVE_V4L2)
std::cout << "Use v4l2 grabber..." << std::endl;
vpV4l2Grabber g;
std::ostringstream device;
device << "/dev/video" << opt_device;
g.setDevice(device.str());
g.open(I);
g.acquire(I);
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
std::cout << "Use OpenCV grabber..." << std::endl;
cv::VideoCapture g(opt_device);
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
cv::Mat cvI;
vpImageConvert::convert(I, cvI);
// Display initialisation
vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
vpDisplay::display(I);
vpDisplay::flush(I);
vpKltOpencv tracker;
// Set tracker parameters
tracker.setMaxFeatures(200);
tracker.setWindowSize(10);
tracker.setQuality(0.01);
tracker.setMinDistance(15);
tracker.setHarrisFreeParameter(0.04);
tracker.setBlockSize(9);
tracker.setUseHarris(1);
tracker.setPyramidLevels(3);
// Initialise the tracking
if (opt_init_by_click) {
vpMouseButton::vpMouseButtonType button;
std::vector<cv::Point2f> guess;
vpImagePoint ip;
do {
vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
if (vpDisplay::getClick(I, ip, button, false)) {
if (button == vpMouseButton::button1) {
guess.push_back(cv::Point2f(static_cast<float>(ip.get_u()), static_cast<float>(ip.get_v())));
vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
vpDisplay::displayCross(I, ip, 12, vpColor::green);
}
}
vpDisplay::flush(I);
vpTime::wait(20);
} while (button != vpMouseButton::button3);
tracker.initTracking(cvI, guess);
}
else {
tracker.initTracking(cvI);
}
while (1) {
#if defined(VISP_HAVE_V4L2)
g.acquire(I);
#elif ((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);
vpImageConvert::convert(I, cvI);
tracker.track(cvI);
tracker.display(I, vpColor::red);
vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false))
break;
}
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(HAVE_OPENCV_HIGHGUI)
std::cout << "This tutorial needs OpenCV highgui module that is missing." << std::endl;
#endif
#if !defined(HAVE_OPENCV_IMGPROC)
std::cout << "This tutorial needs OpenCV imgproc module that is missing." << std::endl;
#endif
#if !defined(HAVE_OPENCV_VIDEO)
std::cout << "This tutorial needs OpenCV video module that is missing." << std::endl;
#endif
#if !(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_OPENCV) && \
(((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))))
std::cout << "This tutorial needs V4l2 or OpenCV grabber capabilities." << std::endl;
#endif
}
#endif
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