Visual Servoing Platform version 3.5.0
tutorial-matching-surf-deprecated.cpp
1
2#include <visp3/gui/vpDisplayOpenCV.h>
3#include <visp3/io/vpVideoReader.h>
7
8int main()
9{
11#if defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
14
15 vpVideoReader reader;
16 reader.setFileName("video-postcard.mp4");
17 reader.acquire(I);
18
20 vpKeyPointSurf surf;
21 surf.buildReference(I);
23
26 Idisp.resize(I.getHeight(), 2 * I.getWidth());
27 Idisp.insert(I, vpImagePoint(0, 0));
28 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
31 vpDisplayOpenCV d(Idisp, 0, 0, "Matching surf keypoints");
32 vpDisplay::display(Idisp);
33 vpDisplay::flush(Idisp);
35
36 while (!reader.end()) {
38 reader.acquire(I);
39 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
41
43 vpDisplay::display(Idisp);
47
49 unsigned int nbMatch = surf.matchPoint(I);
51
53 vpImagePoint iPref, iPcur;
54 for (unsigned int i = 0; i < nbMatch; i++) {
55 surf.getMatchedPoints(i, iPref, iPcur);
58 vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
60 }
62 vpDisplay::flush(Idisp);
64
65 if (vpDisplay::getClick(Idisp, false))
66 break;
67 }
68
70#endif
71
72 return 0;
73}
static const vpColor white
Definition: vpColor.h:212
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)
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 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)
Class that implements the SURF key points and technics thanks to the OpenCV library.