143 lines
4.4 KiB
C++
143 lines
4.4 KiB
C++
//! \example tutorial-matching-keypoint-homography.cpp
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#include <visp3/core/vpPixelMeterConversion.h>
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#include <visp3/gui/vpDisplayOpenCV.h>
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#include <visp3/io/vpVideoReader.h>
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#include <visp3/vision/vpHomography.h>
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#include <visp3/vision/vpKeyPoint.h>
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int main(int argc, const char **argv)
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{
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#if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
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//! [Select method]
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int method = 0;
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if (argc > 1)
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method = atoi(argv[1]);
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if (method == 0)
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std::cout << "Uses Ransac to estimate the homography" << std::endl;
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else
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std::cout << "Uses a robust scheme to estimate the homography" << std::endl;
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//! [Select method]
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vpImage<unsigned char> I;
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vpVideoReader reader;
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reader.setFileName("video-postcard.mpeg");
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reader.acquire(I);
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const std::string detectorName = "ORB";
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const std::string extractorName = "ORB";
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// Hamming distance must be used with ORB
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const std::string matcherName = "BruteForce-Hamming";
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vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
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vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
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keypoint.buildReference(I);
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vpImage<unsigned char> Idisp;
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Idisp.resize(I.getHeight(), 2 * I.getWidth());
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Idisp.insert(I, vpImagePoint(0, 0));
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Idisp.insert(I, vpImagePoint(0, I.getWidth()));
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vpDisplayOpenCV d(Idisp, 0, 0, "Homography from matched keypoints");
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vpDisplay::display(Idisp);
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vpDisplay::flush(Idisp);
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//! [Set coordinates]
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vpImagePoint corner_ref[4];
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corner_ref[0].set_ij(115, 64);
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corner_ref[1].set_ij(83, 253);
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corner_ref[2].set_ij(282, 307);
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corner_ref[3].set_ij(330, 72);
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//! [Set coordinates]
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//! [Display]
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for (unsigned int i = 0; i < 4; i++) {
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vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
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}
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vpDisplay::flush(Idisp);
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//! [Display]
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//! [Camera]
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vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
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//! [Camera]
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vpHomography curHref;
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while (!reader.end()) {
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reader.acquire(I);
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Idisp.insert(I, vpImagePoint(0, I.getWidth()));
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vpDisplay::display(Idisp);
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vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
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vpColor::white, 2);
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//! [Matching]
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unsigned int nbMatch = keypoint.matchPoint(I);
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std::cout << "Nb matches: " << nbMatch << std::endl;
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//! [Matching]
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std::vector<vpImagePoint> iPref(nbMatch),
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iPcur(nbMatch); // Coordinates in pixels (for display only)
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//! [Allocation]
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std::vector<double> mPref_x(nbMatch), mPref_y(nbMatch);
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std::vector<double> mPcur_x(nbMatch), mPcur_y(nbMatch);
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std::vector<bool> inliers(nbMatch);
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//! [Allocation]
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for (unsigned int i = 0; i < nbMatch; i++) {
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keypoint.getMatchedPoints(i, iPref[i], iPcur[i]);
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//! [Pixel conversion]
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vpPixelMeterConversion::convertPoint(cam, iPref[i], mPref_x[i], mPref_y[i]);
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vpPixelMeterConversion::convertPoint(cam, iPcur[i], mPcur_x[i], mPcur_y[i]);
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//! [Pixel conversion]
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}
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//! [Homography estimation]
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try {
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double residual;
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if (method == 0)
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vpHomography::ransac(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
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(unsigned int)(mPref_x.size() * 0.25), 2.0 / cam.get_px(), true);
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else
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vpHomography::robust(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual, 0.4, 4, true);
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} catch (...) {
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std::cout << "Cannot compute homography from matches..." << std::endl;
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}
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//! [Homography estimation]
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//! [Projection]
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vpImagePoint corner_cur[4];
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for (int i = 0; i < 4; i++) {
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corner_cur[i] = vpHomography::project(cam, curHref, corner_ref[i]);
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}
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//! [Projection]
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//! [Display contour]
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vpImagePoint offset(0, I.getWidth());
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for (int i = 0; i < 4; i++) {
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vpDisplay::displayLine(Idisp, corner_cur[i] + offset, corner_cur[(i + 1) % 4] + offset, vpColor::blue, 3);
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}
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//! [Display contour]
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//! [Display matches]
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for (unsigned int i = 0; i < nbMatch; i++) {
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if (inliers[i] == true)
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vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::green);
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else
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vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::red);
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}
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//! [Display matches]
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vpDisplay::flush(Idisp);
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if (vpDisplay::getClick(Idisp, false))
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break;
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}
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vpDisplay::getClick(Idisp);
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#else
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(void)argc;
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(void)argv;
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#endif
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return 0;
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}
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