Visual Servoing Platform version 3.6.0
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tutorial-klt-tracker-with-reinit.cpp
1
2#include <visp3/core/vpImageConvert.h>
3#include <visp3/gui/vpDisplayOpenCV.h>
4#include <visp3/io/vpVideoReader.h>
5#include <visp3/klt/vpKltOpencv.h>
6
7int main()
8{
9#if defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) && defined(HAVE_OPENCV_VIDEOIO)
10 try {
11 vpVideoReader reader;
12 reader.setFileName("video-postcard.mp4");
13
15 reader.acquire(I);
16
17 cv::Mat cvI;
18
20
21 // Display initialisation
22 vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
25
26 vpKltOpencv tracker;
27 // Set tracker parameters
28 tracker.setMaxFeatures(200);
29 tracker.setWindowSize(10);
30 tracker.setQuality(0.01);
31 tracker.setMinDistance(15);
32 tracker.setHarrisFreeParameter(0.04);
33 tracker.setBlockSize(9);
34 tracker.setUseHarris(1);
35 tracker.setPyramidLevels(3);
36
37 // Initialise the tracking
38 tracker.initTracking(cvI);
39
40 while (!reader.end()) {
41 reader.acquire(I);
42 std::cout << "Process image " << reader.getFrameIndex() << std::endl;
44
46
48 // Restart the initialization to detect new keypoints
49 if (reader.getFrameIndex() == 25) {
50 std::cout << "Re initialize the tracker" << std::endl;
51
52 // Save of previous features
53 std::vector<cv::Point2f> prev_features = tracker.getFeatures();
54
55 // Start a new feature detection
56 tracker.initTracking(cvI);
57 std::vector<cv::Point2f> new_features = tracker.getFeatures();
58
59 // Add previous features if they are not to close to detected one
60 double distance, minDistance_ = tracker.getMinDistance();
61 for (size_t i = 0; i < prev_features.size(); i++) {
62 // Test if a previous feature is not redundant with one of the newly
63 // detected
64 bool is_redundant = false;
65 for (size_t j = 0; j < new_features.size(); j++) {
66 distance = sqrt(vpMath::sqr(new_features[j].x - prev_features[i].x) +
67 vpMath::sqr(new_features[j].y - prev_features[i].y));
68 if (distance < minDistance_) {
69 is_redundant = true;
70 break;
71 }
72 }
73 if (is_redundant) {
74 continue;
75 }
76 // std::cout << "Add previous feature with index " << i <<
77 // std::endl;
78 tracker.addFeature(prev_features[i]);
79 }
80 }
81 // Track the features
82 tracker.track(cvI);
84
85 std::cout << "tracking of " << tracker.getNbFeatures() << " features" << std::endl;
86
87 tracker.display(I, vpColor::red);
89 }
90
92
93 } catch (const vpException &e) {
94 std::cout << "Catch an exception: " << e << std::endl;
95 return EXIT_FAILURE;
96 }
97#endif
98 return EXIT_SUCCESS;
99}
static const vpColor red
Definition vpColor.h:211
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Definition of the vpImage class member functions.
Definition vpImage.h:135
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition vpKltOpencv.h:73
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void track(const cv::Mat &I)
int getNbFeatures() const
Get the number of current features.
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void addFeature(const float &x, const float &y)
void initTracking(const cv::Mat &I, const cv::Mat &mask=cv::Mat())
double getMinDistance() const
void setMinDistance(double minDistance)
void display(const vpImage< unsigned char > &I, const vpColor &color=vpColor::red, unsigned int thickness=1)
void setUseHarris(int useHarrisDetector)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
std::vector< cv::Point2f > getFeatures() const
Get the list of current features.
static double sqr(double x)
Definition vpMath.h:124
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
long getFrameIndex() const