1 /*! \example tutorial-klt-tracker-live-v4l2.cpp */
2 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vpV4l2Grabber.h>
5 #endif
6 #include <visp3/core/vpImageConvert.h>
7 #include <visp3/gui/vpDisplayOpenCV.h>
8 #include <visp3/io/vpVideoReader.h>
9 #include <visp3/klt/vpKltOpencv.h>
10
main(int argc,const char * argv[])11 int main(int argc, const char *argv[])
12 {
13 #if defined(VISP_HAVE_OPENCV) && (defined(VISP_HAVE_V4L2) || (VISP_HAVE_OPENCV_VERSION >= 0x020100))
14 try {
15 bool opt_init_by_click = false;
16 int opt_device = 0;
17
18 for (int i = 0; i < argc; i++) {
19 if (std::string(argv[i]) == "--init-by-click")
20 opt_init_by_click = true;
21 else if (std::string(argv[i]) == "--device")
22 opt_device = atoi(argv[i + 1]);
23 else if (std::string(argv[i]) == "--help") {
24 std::cout << "Usage: " << argv[0] << " [--init-by-click] [--device <camera device>] [--help]" << std::endl;
25 return 0;
26 }
27 }
28
29 vpImage<unsigned char> I;
30
31 #if defined(VISP_HAVE_V4L2)
32 vpV4l2Grabber g;
33 std::ostringstream device;
34 device << "/dev/video" << opt_device;
35 g.setDevice(device.str());
36 g.open(I);
37 g.acquire(I);
38 #elif defined(VISP_HAVE_OPENCV)
39 cv::VideoCapture g(opt_device);
40 if (!g.isOpened()) { // check if we succeeded
41 std::cout << "Failed to open the camera" << std::endl;
42 return -1;
43 }
44 cv::Mat frame;
45 g >> frame; // get a new frame from camera
46 vpImageConvert::convert(frame, I);
47 #endif
48
49 #if (VISP_HAVE_OPENCV_VERSION < 0x020408)
50 IplImage *cvI = NULL;
51 #else
52 cv::Mat cvI;
53 #endif
54 vpImageConvert::convert(I, cvI);
55
56 // Display initialisation
57 vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
58 vpDisplay::display(I);
59 vpDisplay::flush(I);
60
61 vpKltOpencv tracker;
62 // Set tracker parameters
63 tracker.setMaxFeatures(200);
64 tracker.setWindowSize(10);
65 tracker.setQuality(0.01);
66 tracker.setMinDistance(15);
67 tracker.setHarrisFreeParameter(0.04);
68 tracker.setBlockSize(9);
69 tracker.setUseHarris(1);
70 tracker.setPyramidLevels(3);
71
72 // Initialise the tracking
73 if (opt_init_by_click) {
74 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
75 vpMouseButton::vpMouseButtonType button;
76 std::vector<cv::Point2f> guess;
77 vpImagePoint ip;
78 do {
79 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
80 if (vpDisplay::getClick(I, ip, button, false)) {
81 if (button == vpMouseButton::button1) {
82 guess.push_back(cv::Point2f((float)ip.get_u(), (float)ip.get_v()));
83 vpDisplay::displayText(I, 10, 10, "Left click to select a point, right to start tracking", vpColor::red);
84 vpDisplay::displayCross(I, ip, 12, vpColor::green);
85 }
86 }
87 vpDisplay::flush(I);
88 vpTime::wait(20);
89 } while (button != vpMouseButton::button3);
90 tracker.initTracking(cvI, guess);
91 #endif
92 } else {
93 tracker.initTracking(cvI);
94 }
95
96 while (1) {
97 #if defined(VISP_HAVE_V4L2)
98 g.acquire(I);
99 #elif defined(VISP_HAVE_OPENCV)
100 g >> frame;
101 vpImageConvert::convert(frame, I);
102 #endif
103 vpDisplay::display(I);
104
105 vpImageConvert::convert(I, cvI);
106 tracker.track(cvI);
107
108 tracker.display(I, vpColor::red);
109 vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
110 vpDisplay::flush(I);
111 if (vpDisplay::getClick(I, false))
112 break;
113 }
114
115 #if (VISP_HAVE_OPENCV_VERSION < 0x020408)
116 cvReleaseImage(&cvI);
117 #endif
118
119 return 0;
120 } catch (const vpException &e) {
121 std::cout << "Catch an exception: " << e << std::endl;
122 }
123 #else
124 (void)argc;
125 (void)argv;
126 #endif
127 }
128