Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
tutorial-matching-keypoint.cpp
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/vision/vpKeyPoint.h>
int main()
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
vpVideoReader reader;
reader.setFileName("video-postcard.mpeg");
reader.acquire(I);
const std::string detectorName = "ORB";
const std::string extractorName = "ORB";
// Hamming distance must be used with ORB
const std::string matcherName = "BruteForce-Hamming";
vpKeyPoint keypoint(detectorName, extractorName, matcherName, filterType);
std::cout << "Reference keypoints=" << keypoint.buildReference(I) << std::endl;
Idisp.resize(I.getHeight(), 2 * I.getWidth());
Idisp.insert(I, vpImagePoint(0, 0));
Idisp.insert(I, vpImagePoint(0, I.getWidth()));
vpDisplayOpenCV d(Idisp, 0, 0, "Matching keypoints with ORB keypoints");
while (!reader.end()) {
reader.acquire(I);
Idisp.insert(I, vpImagePoint(0, I.getWidth()));
unsigned int nbMatch = keypoint.matchPoint(I);
std::cout << "Matches=" << nbMatch << std::endl;
vpImagePoint iPref, iPcur;
for (unsigned int i = 0; i < nbMatch; i++) {
keypoint.getMatchedPoints(i, iPref, iPcur);
}
if (vpDisplay::getClick(Idisp, false))
break;
}
#endif
return 0;
}