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//! \example tutorial-me-line-tracker.cpp
#include <iostream>
#include <visp3/core/vpConfig.h>
//! [Undef grabber]
// If openCV available, priority to OpenCV capture, otherwise the user has to modify the code uncommenting/commenting
// one of the following lines
#if defined(VISP_HAVE_OPENCV) && \
(((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
#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
#else
// Use the first grabber that is available. Uncomment/comment the following lines to disable usage of a grabber
// #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
#endif
//! [Undef grabber]
//! [Ensure that a grabber is available]
#if (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))) && \
((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_FEATURES2D)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_3D) && defined(HAVE_OPENCV_FEATURES)))
//! [Ensure that a grabber is available]
#ifdef VISP_HAVE_MODULE_SENSOR
//! [camera headers]
#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>
#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> // for cv::VideoCapture
#endif
//! [camera headers]
#endif
//! [display headers]
#include <visp3/gui/vpDisplayFactory.h>
//! [display headers]
//! [me line headers]
#include <visp3/me/vpMeLine.h>
//! [me line headers]
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
//! [me default options]
int opt_me_range = 10;
int opt_me_sample_step = 5;
int opt_me_threshold = 20; // Value in [0 ; 255]
//! [me default options]
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--me-range" && i + 1 < argc) {
opt_me_range = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--me-sample-step" && i + 1 < argc) {
opt_me_sample_step = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--me-threshold" && i + 1 < argc) {
opt_me_threshold = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--me-range <range>]"
<< " [--me-sample-step <sample step>]"
<< " [--me-threshold <threshold>]"
<< " [--help] [-h]\n"
<< std::endl;
return EXIT_SUCCESS;
}
else {
std::cout << "\nError: wrong parameter " << argv[i] << std::endl;
return EXIT_FAILURE;
}
}
try {
//! [image container]
vpImage<unsigned char> I;
//! [image container]
//! [grabber container]
int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
#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)))
std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
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;
int i = 0;
while ((i++ < 20) && !g.read(frame)) {
} // warm up camera by skiping unread frames
g >> frame; // get a new frame from camera
vpImageConvert::convert(frame, I);
#endif
//! [grabber container]
//! [first image acquisition]
#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; // get a new frame from camera
vpImageConvert::convert(frame, I);
#endif
//! [first image acquisition]
//! [display container]
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I, -1, -1, "Camera view");
#else
display = vpDisplayFactory::allocateDisplay(I, -1, -1, "Camera view");
#endif
#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(opt_me_range);
me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
me.setThreshold(opt_me_threshold);
me.setSampleStep(opt_me_sample_step);
//! [me container]
std::cout << "Moving-edges settings" << std::endl;
me.print();
//! [me line container]
vpMeLine line;
line.setMe(&me);
line.setDisplay(vpMeSite::RANGE_RESULT);
line.initTracking(I);
//! [me line container]
//! [loop]
bool quit = false;
while (!quit) {
#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, "Click to quit", vpColor::red);
line.track(I);
line.display(I, vpColor::red);
if (vpDisplay::getClick(I, false)) {
quit = true;
}
vpDisplay::flush(I);
}
//! [loop]
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
}
#else
int main()
{
#if defined(VISP_HAVE_OPENCV)
std::cout << "Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, "
<< "Realsense2), configure and build ViSP again to use this tutorial."
<< std::endl;
#else
std::cout << "Install OpenCV 3rd party, configure and build ViSP again to use this tutorial." << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif
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