Visual Servoing Platform version 3.5.0
tutorial-matching-keypoint-SIFT.cpp
1
2#include <visp3/gui/vpDisplayOpenCV.h>
3#include <visp3/io/vpImageIo.h>
4#include <visp3/io/vpVideoReader.h>
6#include <visp3/vision/vpKeyPoint.h>
8
9int main()
10{
12#if (VISP_HAVE_OPENCV_VERSION >= 0x020101) && \
13 (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D) || \
14 (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400))
17
18 vpVideoReader reader;
19 reader.setFileName("video-postcard.mp4");
20 reader.acquire(I);
21
23 const std::string detectorName = "SIFT";
24 const std::string extractorName = "SIFT";
25 // Use L2 distance with a matching done using FLANN (Fast Library for
26 // Approximate Nearest Neighbors)
27 const std::string matcherName = "FlannBased";
29 vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
31
33 std::cout << "Reference keypoints=" << keypoint.buildReference(I) << std::endl;
35
38 Idisp.resize(I.getHeight(), 2 * I.getWidth());
39 Idisp.insert(I, vpImagePoint(0, 0));
40 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
43 vpDisplayOpenCV d(Idisp, 0, 0, "Matching keypoints with SIFT keypoints");
44 vpDisplay::display(Idisp);
45 vpDisplay::flush(Idisp);
47
48 while (!reader.end()) {
50 reader.acquire(I);
51 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
53
55 vpDisplay::display(Idisp);
59
60 vpChrono chrono;
61 chrono.start();
63 unsigned int nbMatch = keypoint.matchPoint(I);
65 chrono.stop();
66 std::ostringstream oss;
67 oss << "Computation time: " << chrono.getDurationMs() << " ms";
68 vpDisplay::displayText(Idisp, vpImagePoint(20, 20), oss.str(), vpColor::red);
69
70 std::cout << "Matches=" << nbMatch << std::endl;
71
73 vpImagePoint iPref, iPcur;
74 for (unsigned int i = 0; i < nbMatch; i++) {
75 keypoint.getMatchedPoints(i, iPref, iPcur);
78 vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
80 }
82 vpDisplay::flush(Idisp);
84
85 if (vpDisplay::getClick(Idisp, false))
86 break;
87 }
88
90#endif
91
92 return 0;
93}
void start(bool reset=true)
Definition: vpTime.cpp:409
void stop()
Definition: vpTime.cpp:424
double getDurationMs()
Definition: vpTime.cpp:392
static const vpColor white
Definition: vpColor.h:212
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1115
unsigned int getHeight() const
Definition: vpImage.h:188
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:223
vpFilterMatchingType
Definition: vpKeyPoint.h:227
@ ratioDistanceThreshold
Definition: vpKeyPoint.h:232
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)