Visual Servoing Platform  version 3.4.0 under development (2021-03-03)
tutorial-matching-surf-homography-deprecated.cpp
1 #include <visp3/core/vpPixelMeterConversion.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/io/vpVideoReader.h>
5 #include <visp3/vision/vpHomography.h>
7 
8 int main(int argc, const char **argv)
9 {
10 #if defined(VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)
11  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  vpKeyPointSurf surf;
30  surf.buildReference(I);
31 
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 
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);
49  for (unsigned int i = 0; i < 4; i++) {
50  vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
51  }
52  vpDisplay::flush(Idisp);
54 
56  vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
58 
59  vpHomography curHref;
60  while (!reader.end()) {
61  reader.acquire(I);
62  Idisp.insert(I, vpImagePoint(0, I.getWidth()));
63  vpDisplay::display(Idisp);
65  vpColor::white, 2);
66 
68  unsigned int nbMatch = surf.matchPoint(I);
70 
71  std::vector<vpImagePoint> iPref(nbMatch),
72  iPcur(nbMatch); // Coordinates in pixels (for display only)
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);
78 
79  for (unsigned int i = 0; i < nbMatch; i++) {
80  vpImagePoint matched_ref, matched_cur;
81  surf.getMatchedPoints(i, matched_ref, matched_cur);
83  vpPixelMeterConversion::convertPoint(cam, matched_ref, mPref_x[i], mPref_y[i]);
84  vpPixelMeterConversion::convertPoint(cam, matched_cur, mPcur_x[i], mPcur_y[i]);
86 
87  // Store the image coordinates in pixel of the matched points
88  iPref[i] = matched_ref;
89  iPcur[i] = matched_cur;
90  }
91 
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);
100 
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  }
107 
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  }
114 
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  }
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 }
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static vpImagePoint project(const vpCameraParameters &cam, const vpHomography &bHa, const vpImagePoint &iPa)
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
static const vpColor green
Definition: vpColor.h:220
static void flush(const vpImage< unsigned char > &I)
Class that implements the SURF key points and technics thanks to the OpenCV library.
static const vpColor red
Definition: vpColor.h:217
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:174
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
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)
void acquire(vpImage< vpRGBa > &I)
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition: vpImage.h:1115
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 > &inlier, double &residual, double weights_threshold=0.4, unsigned int niter=4, bool normalization=true)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void set_ij(double ii, double jj)
Definition: vpImagePoint.h:188
unsigned int getHeight() const
Definition: vpImage.h:188
void setFileName(const std::string &filename)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
static const vpColor white
Definition: vpColor.h:212
unsigned int getWidth() const
Definition: vpImage.h:246
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 const vpColor blue
Definition: vpColor.h:223