1 //! \example tutorial-matching-surf-homography-deprecated.cpp
2 #include <visp3/core/vpPixelMeterConversion.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/io/vpVideoReader.h>
5 #include <visp3/vision/vpHomography.h>
6 #include <visp3/vision/vpKeyPointSurf.h>
7
main(int argc,const char ** argv)8 int main(int argc, const char **argv)
9 {
10 #if defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
11 //! [Select method]
12 int method = 0;
13
14 if (argc > 1)
15 method = atoi(argv[1]);
16
17 if (method == 0)
18 std::cout << "Uses Ransac to estimate the homography" << std::endl;
19 else
20 std::cout << "Uses a robust scheme to estimate the homography" << std::endl;
21 //! [Select method]
22
23 vpImage<unsigned char> I;
24
25 vpVideoReader reader;
26 reader.setFileName("video-postcard.mp4");
27 reader.acquire(I);
28
29 vpKeyPointSurf surf;
30 surf.buildReference(I);
31
32 vpImage<unsigned char> Idisp;
33 Idisp.resize(I.getHeight(), 2 * I.getWidth());
34 Idisp.insert(I, vpImagePoint(0, 0));
35 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
36
37 vpDisplayOpenCV d(Idisp, 0, 0, "Homography from matched Surf keypoints");
38 vpDisplay::display(Idisp);
39 vpDisplay::flush(Idisp);
40
41 //! [Set coordinates]
42 vpImagePoint corner_ref[4];
43 corner_ref[0].set_ij(115, 64);
44 corner_ref[1].set_ij(83, 253);
45 corner_ref[2].set_ij(282, 307);
46 corner_ref[3].set_ij(330, 72);
47 //! [Set coordinates]
48 //! [Display]
49 for (unsigned int i = 0; i < 4; i++) {
50 vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
51 }
52 vpDisplay::flush(Idisp);
53 //! [Display]
54
55 //! [Camera]
56 vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
57 //! [Camera]
58
59 vpHomography curHref;
60 while (!reader.end()) {
61 reader.acquire(I);
62 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
63 vpDisplay::display(Idisp);
64 vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()),
65 vpColor::white, 2);
66
67 //! [Matching]
68 unsigned int nbMatch = surf.matchPoint(I);
69 //! [Matching]
70
71 std::vector<vpImagePoint> iPref(nbMatch),
72 iPcur(nbMatch); // Coordinates in pixels (for display only)
73 //! [Allocation]
74 std::vector<double> mPref_x(nbMatch), mPref_y(nbMatch);
75 std::vector<double> mPcur_x(nbMatch), mPcur_y(nbMatch);
76 std::vector<bool> inliers(nbMatch);
77 //! [Allocation]
78
79 for (unsigned int i = 0; i < nbMatch; i++) {
80 vpImagePoint matched_ref, matched_cur;
81 surf.getMatchedPoints(i, matched_ref, matched_cur);
82 //! [Pixel conversion]
83 vpPixelMeterConversion::convertPoint(cam, matched_ref, mPref_x[i], mPref_y[i]);
84 vpPixelMeterConversion::convertPoint(cam, matched_cur, mPcur_x[i], mPcur_y[i]);
85 //! [Pixel conversion]
86
87 // Store the image coordinates in pixel of the matched points
88 iPref[i] = matched_ref;
89 iPcur[i] = matched_cur;
90 }
91
92 //! [Homography estimation]
93 double residual;
94 if (method == 0)
95 vpHomography::ransac(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
96 (unsigned int)mPref_x.size() / 2, 2.0 / cam.get_px(), true);
97 else
98 vpHomography::robust(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual, 0.4, 4, true);
99 //! [Homography estimation]
100
101 //! [Projection]
102 vpImagePoint corner_cur[4];
103 for (int i = 0; i < 4; i++) {
104 corner_cur[i] = vpHomography::project(cam, curHref, corner_ref[i]);
105 }
106 //! [Projection]
107
108 //! [Display contour]
109 vpImagePoint offset(0, I.getWidth());
110 for (int i = 0; i < 4; i++) {
111 vpDisplay::displayLine(Idisp, corner_cur[i] + offset, corner_cur[(i + 1) % 4] + offset, vpColor::blue, 3);
112 }
113 //! [Display contour]
114
115 //! [Display matches]
116 for (unsigned int i = 0; i < nbMatch; i++) {
117 if (inliers[i] == true)
118 vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::green);
119 else
120 vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::red);
121 }
122 //! [Display matches]
123
124 vpDisplay::flush(Idisp);
125
126 if (vpDisplay::getClick(Idisp, false))
127 break;
128 }
129
130 vpDisplay::getClick(Idisp);
131 #else
132 (void)argc;
133 (void)argv;
134 #endif
135 return 0;
136 }
137