Visual Servoing Platform  version 3.3.0
tutorial-template-tracker.cpp
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
std::string videoname = "bruegel.mpg";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--videoname")
videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
return 0;
}
}
std::cout << "Video name: " << videoname << std::endl;
g.setFileName(videoname);
g.open(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display;
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
display.init(I, 100, 100, "Template tracker");
tracker.setSampling(2, 2);
tracker.setLambda(0.001);
tracker.setIterationMax(200);
tracker.setPyramidal(2, 1);
tracker.initClick(I);
while (1) {
g.acquire(I);
tracker.track(I);
vpColVector p = tracker.getp();
std::cout << "Homography: \n" << H << std::endl;
tracker.display(I, vpColor::red);
if (vpDisplay::getClick(I, false))
break;
}
#else
(void)argc;
(void)argv;
#endif
}
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:149
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:127
vpTemplateTrackerWarpHomography
Definition: vpTemplateTrackerWarpHomography.h:55
vpTemplateTracker::display
void display(const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, unsigned int thickness=3)
Definition: vpTemplateTracker.cpp:340
vpTemplateTracker::setIterationMax
void setIterationMax(const unsigned int &n)
Definition: vpTemplateTracker.h:207
vpTemplateTracker::initClick
void initClick(const vpImage< unsigned char > &I, bool delaunay=false)
Definition: vpTemplateTracker.cpp:670
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:129
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:140
vpVideoReader::open
void open(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:174
vpVideoReader
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
Definition: vpVideoReader.h:170
vpTemplateTracker::getp
vpColVector getp() const
Definition: vpTemplateTracker.h:172
vpVideoReader::setFileName
void setFileName(const std::string &filename)
Definition: vpVideoReader.cpp:91
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:739
vpTemplateTracker::setLambda
void setLambda(double l)
Definition: vpTemplateTracker.h:212
vpTemplateTracker::track
void track(const vpImage< unsigned char > &I)
Definition: vpTemplateTracker.cpp:794
vpTemplateTrackerWarpHomography::getHomography
vpHomography getHomography(const vpColVector &ParamM) const
Definition: vpTemplateTrackerWarpHomography.cpp:185
vpHomography
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:173
vpTemplateTracker::setPyramidal
void setPyramidal(unsigned int nlevels=2, unsigned int level_to_stop=1)
Definition: vpTemplateTracker.h:228
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:715
vpImage< unsigned char >
vpTemplateTrackerSSDInverseCompositional
Definition: vpTemplateTrackerSSDInverseCompositional.h:55
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:764
vpTemplateTracker::setSampling
void setSampling(int sample_i, int sample_j)
Definition: vpTemplateTracker.h:247
vpVideoReader::acquire
void acquire(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:243
vpColor::red
static const vpColor red
Definition: vpColor.h:178