1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
|
// system includes
#include <getopt.h>
#include <iostream>
// library includes
#include <opencv2/imgproc.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/videoio.hpp>
#include <opencv2/videoio/videoio_c.h>
#define CVVISUAL_DEBUGMODE
#include <opencv2/cvv/debug_mode.hpp>
#include <opencv2/cvv/show_image.hpp>
#include <opencv2/cvv/filter.hpp>
#include <opencv2/cvv/dmatch.hpp>
#include <opencv2/cvv/final_show.hpp>
using namespace cv;
template<class T> std::string toString(const T& p_arg)
{
std::stringstream ss;
ss << p_arg;
return ss.str();
}
void
usage()
{
printf("usage: cvv_demo [-r WxH]\n");
printf("-h print this help\n");
printf("-r WxH change resolution to width W and height H\n");
}
int
main(int argc, char** argv)
{
cv::Size* resolution = nullptr;
// parse options
const char* optstring = "hr:";
int opt;
while ((opt = getopt(argc, argv, optstring)) != -1) {
switch (opt) {
case 'h':
usage();
return 0;
break;
case 'r':
{
char dummych;
resolution = new cv::Size();
if (sscanf(optarg, "%d%c%d", &resolution->width, &dummych, &resolution->height) != 3) {
printf("%s not a valid resolution\n", optarg);
return 1;
}
}
break;
default: /* '?' */
usage();
return 2;
}
}
// setup video capture
cv::VideoCapture capture(0);
if (!capture.isOpened()) {
std::cout << "Could not open VideoCapture" << std::endl;
return 3;
}
if (resolution) {
printf("Setting resolution to %dx%d\n", resolution->width, resolution->height);
capture.set(CV_CAP_PROP_FRAME_WIDTH, resolution->width);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, resolution->height);
}
cv::Mat prevImgGray;
std::vector<cv::KeyPoint> prevKeypoints;
cv::Mat prevDescriptors;
int maxFeatureCount = 500;
Ptr<ORB> detector = ORB::create(maxFeatureCount);
cv::BFMatcher matcher(cv::NORM_HAMMING);
for (int imgId = 0; imgId < 10; imgId++) {
// capture a frame
cv::Mat imgRead;
capture >> imgRead;
printf("%d: image captured\n", imgId);
std::string imgIdString{"imgRead"};
imgIdString += toString(imgId);
cvv::showImage(imgRead, CVVISUAL_LOCATION, imgIdString.c_str());
// convert to grayscale
cv::Mat imgGray;
cv::cvtColor(imgRead, imgGray, CV_BGR2GRAY);
cvv::debugFilter(imgRead, imgGray, CVVISUAL_LOCATION, "to gray");
// detect ORB features
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
detector->detectAndCompute(imgGray, cv::noArray(), keypoints, descriptors);
printf("%d: detected %zd keypoints\n", imgId, keypoints.size());
// match them to previous image (if available)
if (!prevImgGray.empty()) {
std::vector<cv::DMatch> matches;
matcher.match(prevDescriptors, descriptors, matches);
printf("%d: all matches size=%zd\n", imgId, matches.size());
std::string allMatchIdString{"all matches "};
allMatchIdString += toString(imgId-1) + "<->" + toString(imgId);
cvv::debugDMatch(prevImgGray, prevKeypoints, imgGray, keypoints, matches, CVVISUAL_LOCATION, allMatchIdString.c_str());
// remove worst (as defined by match distance) bestRatio quantile
double bestRatio = 0.8;
std::sort(matches.begin(), matches.end());
matches.resize(int(bestRatio * matches.size()));
printf("%d: best matches size=%zd\n", imgId, matches.size());
std::string bestMatchIdString{"best " + toString(bestRatio) + " matches "};
bestMatchIdString += toString(imgId-1) + "<->" + toString(imgId);
cvv::debugDMatch(prevImgGray, prevKeypoints, imgGray, keypoints, matches, CVVISUAL_LOCATION, bestMatchIdString.c_str());
}
prevImgGray = imgGray;
prevKeypoints = keypoints;
prevDescriptors = descriptors;
}
cvv::finalShow();
return 0;
}
|
