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
|
//! \example tutorial-matching-keypoint-SIFT.cpp
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpVideoReader.h>
//! [Include]
#include <visp3/vision/vpKeyPoint.h>
//! [Include]
int main()
{
//! [Define]
#if defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_FEATURES2D) && \
(defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
(VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400))
//! [Define]
vpImage<unsigned char> I;
vpVideoReader reader;
reader.setFileName("video-postcard.mp4");
reader.acquire(I);
//! [Construction]
const std::string detectorName = "SIFT";
const std::string extractorName = "SIFT";
// Use L2 distance with a matching done using FLANN (Fast Library for
// Approximate Nearest Neighbors)
const std::string matcherName = "FlannBased";
vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
//! [Construction]
//! [Build Reference]
std::cout << "Reference keypoints=" << keypoint.buildReference(I) << std::endl;
//! [Build Reference]
//! [Create image]
vpImage<unsigned char> Idisp;
Idisp.resize(I.getHeight(), 2 * I.getWidth());
Idisp.insert(I, vpImagePoint(0, 0));
Idisp.insert(I, vpImagePoint(0, I.getWidth()));
//! [Create image]
//! [Init display]
vpDisplayOpenCV d(Idisp, 0, 0, "Matching keypoints with SIFT keypoints");
vpDisplay::display(Idisp);
vpDisplay::flush(Idisp);
//! [Init display]
while (!reader.end()) {
//! [Acquisition]
reader.acquire(I);
Idisp.insert(I, vpImagePoint(0, I.getWidth()));
//! [Acquisition]
//! [Display]
vpDisplay::display(Idisp);
vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
vpColor::white, 2);
//! [Display]
vpChrono chrono;
chrono.start();
//! [Matching]
unsigned int nbMatch = keypoint.matchPoint(I);
//! [Matching]
chrono.stop();
std::ostringstream oss;
oss << "Computation time: " << chrono.getDurationMs() << " ms";
vpDisplay::displayText(Idisp, vpImagePoint(20, 20), oss.str(), vpColor::red);
std::cout << "Matches=" << nbMatch << std::endl;
//! [Get matches]
vpImagePoint iPref, iPcur;
for (unsigned int i = 0; i < nbMatch; i++) {
keypoint.getMatchedPoints(i, iPref, iPcur);
//! [Get matches]
//! [Display matches]
vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
//! [Display matches]
}
//! [Display flush]
vpDisplay::flush(Idisp);
//! [Display flush]
if (vpDisplay::getClick(Idisp, false))
break;
}
vpDisplay::getClick(Idisp);
#endif
return EXIT_SUCCESS;
}
|
