86 lines
2.5 KiB
C++
86 lines
2.5 KiB
C++
//! \example tutorial-matching-keypoint-SIFT.cpp
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#include <visp3/gui/vpDisplayOpenCV.h>
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#include <visp3/io/vpImageIo.h>
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#include <visp3/io/vpVideoReader.h>
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//! [Include]
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#include <visp3/vision/vpKeyPoint.h>
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//! [Include]
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int main()
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{
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//! [Define]
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#if (VISP_HAVE_OPENCV_VERSION >= 0x020101) && \
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(defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
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//! [Define]
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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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//! [Construction]
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const std::string detectorName = "SIFT";
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const std::string extractorName = "SIFT";
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// Use L2 distance with a matching done using FLANN (Fast Library for
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// Approximate Nearest Neighbors)
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const std::string matcherName = "FlannBased";
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vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::ratioDistanceThreshold;
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vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
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//! [Construction]
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//! [Build Reference]
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std::cout << "Reference keypoints=" << keypoint.buildReference(I) << std::endl;
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//! [Build Reference]
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//! [Create image]
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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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//! [Create image]
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//! [Init display]
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vpDisplayOpenCV d(Idisp, 0, 0, "Matching keypoints with SIFT keypoints");
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vpDisplay::display(Idisp);
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vpDisplay::flush(Idisp);
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//! [Init display]
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while (!reader.end()) {
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//! [Acquisition]
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reader.acquire(I);
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Idisp.insert(I, vpImagePoint(0, I.getWidth()));
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//! [Acquisition]
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//! [Display]
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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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//! [Display]
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//! [Matching]
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unsigned int nbMatch = keypoint.matchPoint(I);
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//! [Matching]
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std::cout << "Matches=" << nbMatch << std::endl;
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//! [Get matches]
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vpImagePoint iPref, iPcur;
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for (unsigned int i = 0; i < nbMatch; i++) {
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keypoint.getMatchedPoints(i, iPref, iPcur);
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//! [Get matches]
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//! [Display matches]
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vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
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//! [Display matches]
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}
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//! [Display flush]
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vpDisplay::flush(Idisp);
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//! [Display flush]
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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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#endif
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return 0;
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}
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