Visual Servoing Platform version 3.6.0
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tutorial-matching-keypoint-homography.cpp
1
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/vpKeyPoint.h>
7
8int main(int argc, const char **argv)
9{
10#if defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_FEATURES2D)
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;
22
24
25 vpVideoReader reader;
26 reader.setFileName("video-postcard.mp4");
27 reader.acquire(I);
28
29 const std::string detectorName = "ORB";
30 const std::string extractorName = "ORB";
31 // Hamming distance must be used with ORB
32 const std::string matcherName = "BruteForce-Hamming";
34 vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
35 keypoint.buildReference(I);
36
38 Idisp.resize(I.getHeight(), 2 * I.getWidth());
39 Idisp.insert(I, vpImagePoint(0, 0));
40 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
41
42 vpDisplayOpenCV d(Idisp, 0, 0, "Homography from matched keypoints");
43 vpDisplay::display(Idisp);
44 vpDisplay::flush(Idisp);
45
47 vpImagePoint corner_ref[4];
48 corner_ref[0].set_ij(115, 64);
49 corner_ref[1].set_ij(83, 253);
50 corner_ref[2].set_ij(282, 307);
51 corner_ref[3].set_ij(330, 72);
54 for (unsigned int i = 0; i < 4; i++) {
55 vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
56 }
57 vpDisplay::flush(Idisp);
59
61 vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
63
64 vpHomography curHref;
65
66 while (!reader.end()) {
67 reader.acquire(I);
68 Idisp.insert(I, vpImagePoint(0, I.getWidth()));
69 vpDisplay::display(Idisp);
72
74 unsigned int nbMatch = keypoint.matchPoint(I);
75 std::cout << "Nb matches: " << nbMatch << std::endl;
77
78 std::vector<vpImagePoint> iPref(nbMatch),
79 iPcur(nbMatch); // Coordinates in pixels (for display only)
81 std::vector<double> mPref_x(nbMatch), mPref_y(nbMatch);
82 std::vector<double> mPcur_x(nbMatch), mPcur_y(nbMatch);
83 std::vector<bool> inliers(nbMatch);
85
86 for (unsigned int i = 0; i < nbMatch; i++) {
87 keypoint.getMatchedPoints(i, iPref[i], iPcur[i]);
89 vpPixelMeterConversion::convertPoint(cam, iPref[i], mPref_x[i], mPref_y[i]);
90 vpPixelMeterConversion::convertPoint(cam, iPcur[i], mPcur_x[i], mPcur_y[i]);
92 }
93
95 try {
96 double residual;
97 if (method == 0)
98 vpHomography::ransac(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
99 (unsigned int)(mPref_x.size() * 0.25), 2.0 / cam.get_px(), true);
100 else
101 vpHomography::robust(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual, 0.4, 4, true);
102 } catch (...) {
103 std::cout << "Cannot compute homography from matches..." << std::endl;
104 }
105
107
109 vpImagePoint corner_cur[4];
110 for (int i = 0; i < 4; i++) {
111 corner_cur[i] = vpHomography::project(cam, curHref, corner_ref[i]);
112 }
114
116 vpImagePoint offset(0, I.getWidth());
117 for (int i = 0; i < 4; i++) {
118 vpDisplay::displayLine(Idisp, corner_cur[i] + offset, corner_cur[(i + 1) % 4] + offset, vpColor::blue, 3);
119 }
121
123 for (unsigned int i = 0; i < nbMatch; i++) {
124 if (inliers[i] == true)
125 vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::green);
126 else
127 vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::red);
128 }
130
131 vpDisplay::flush(Idisp);
132
133 if (vpDisplay::getClick(Idisp, false))
134 break;
135 }
136
137 vpDisplay::getClick(Idisp);
138#else
139 (void)argc;
140 (void)argv;
141#endif
142 return EXIT_SUCCESS;
143}
Generic class defining intrinsic camera parameters.
static const vpColor white
Definition vpColor.h:206
static const vpColor red
Definition vpColor.h:211
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
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 displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
Implementation of an homography and operations on homographies.
static vpImagePoint project(const vpCameraParameters &cam, const vpHomography &bHa, const vpImagePoint &iPa)
static void robust(const std::vector< double > &xb, const std::vector< double > &yb, const std::vector< double > &xa, const std::vector< double > &ya, vpHomography &aHb, std::vector< bool > &inliers, double &residual, double weights_threshold=0.4, unsigned int niter=4, bool normalization=true)
static bool ransac(const std::vector< double > &xb, const std::vector< double > &yb, const std::vector< double > &xa, const std::vector< double > &ya, vpHomography &aHb, std::vector< bool > &inliers, double &residual, unsigned int nbInliersConsensus, double threshold, bool normalization=true)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_ij(double ii, double jj)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition vpImage.h:795
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition vpImage.h:1361
unsigned int getHeight() const
Definition vpImage.h:184
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition vpKeyPoint.h:212
@ ratioDistanceThreshold
Definition vpKeyPoint.h:221
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
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)