开发环境：Ubuntu 18.04 LTS + ROS Melodic + ViSP 3.3.1
文章内容主要参考ViSP官方教学文档：https://visp-doc.inria.fr/doxygen/visp-daily/tutorial_mainpage.html

  本文主要介绍了如何使用ViSP实现特定形状模板的跟踪，本文主要参考了template-tracker中的tutorial-template-tracker.cpp 例程。首先要获取这个例程文件并编译它

svn export https://github.com/lagadic/visp.git/trunk/tutorial/tracking/template-tracker
cd template-tracker/
mkdir build
cd build 
cmake .. -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=$VISP_WS/visp-build
make

  执行例程，查看效果

./tutorial-template-tracker

  点击鼠标左键绘制模板形状
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  点击鼠标右键开始跟踪
在这里插入图片描述

  下面介绍一下代码实现过程

#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 opt_videoname = "bruegel.mp4";
  unsigned int opt_subsample = 1;
  for (int i = 0; i < argc; i++) {
    if (std::string(argv[i]) == "--videoname")
      opt_videoname = std::string(argv[i + 1]);
    else if (std::string(argv[i]) == "--subsample")
      opt_subsample = static_cast<unsigned int>(std::atoi(argv[i + 1]));
    else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
      std::cout << "\nUsage: " << argv[0] << " [--videoname <video name>] [--subsample <scale factor>] [--help] [-h]\n" << std::endl;
      return 0;
    }
  }
  std::cout << "Video name: " << opt_videoname << std::endl;
  vpImage<unsigned char> I, Iacq;
  vpVideoReader g;
  g.setFileName(opt_videoname);
  g.open(Iacq);
  Iacq.subsample(opt_subsample, opt_subsample, 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.setDownScalingFactor(vpDisplay::SCALE_AUTO);
  display.init(I, 100, 100, "Template tracker");
  vpDisplay::display(I);
  vpDisplay::flush(I);
  vpTemplateTrackerWarpHomography warp;//定义基于单应性矩阵的warp，有多种warp计算方式可以选择
  vpTemplateTrackerSSDInverseCompositional tracker(&warp);//定义基于SSD的跟踪算法
  tracker.setSampling(2, 2);//从2*2的范围内选择一个像素来创建参考模板，该值越大则跟踪越快
  tracker.setLambda(0.001);//优化过程中的增益参数
  tracker.setIterationMax(200);//最大优化迭代次数
  tracker.setPyramidal(2, 1);//金字塔的第一级和最后一级，级别越少跟踪速度越快
  tracker.initClick(I);
  while (1) {
    double t = vpTime::measureTimeMs();
    g.acquire(Iacq);
    Iacq.subsample(opt_subsample, opt_subsample, I);
    vpDisplay::display(I);
    tracker.track(I);
    vpColVector p = tracker.getp();
    vpHomography H = warp.getHomography(p);
    std::cout << "Homography: \n" << H << std::endl;
    tracker.display(I, vpColor::red);
    vpDisplay::displayText(I, 10*vpDisplay::getDownScalingFactor(I), 10*vpDisplay::getDownScalingFactor(I),
                           "Click to quit", vpColor::red);
    if (vpDisplay::getClick(I, false))
      break;
    vpDisplay::flush(I);
    if (! g.isVideoFormat()) {
      vpTime::wait(t, 40);
    }
  }
#else
  (void)argc;
  (void)argv;
#endif
}

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