/*
- * starter_video.cpp
- *
- * Created on: Nov 23, 2010
- * Author: Ethan Rublee
- *
- * A starter sample for using opencv, get a video stream and display the images
- * easy as CV_PI right?
- */
+* starter_video.cpp
+*
+* Created on: Nov 23, 2010
+* Author: Ethan Rublee
+*
+* A starter sample for using opencv, get a video stream and display the images
+* easy as CV_PI right?
+*/
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
#include <vector>
//hide the local functions in an anon namespace
namespace {
-void help(char** av) {
- cout << "\nThis program justs gets you started reading images from video\n"
- "Usage:\n./" << av[0] << " <video device number>\n"
- << "\tThis is a starter sample, to get you up and going in a copy pasta fashion\n"
- << "\tThe program captures frames from a camera connected to your computer.\n"
- << "\tTo find the video device number, try ls /dev/video* \n"
- << "\tYou may also pass a video file, like my_vide.avi instead of a device number"
- << endl;
-}
+ void help(char** av) {
+ cout << "\nThis program justs gets you started reading images from video\n"
+ "Usage:\n./" << av[0] << " <video device number>\n"
+ << "\tThis is a starter sample, to get you up and going in a copy pasta fashion\n"
+ << "\tThe program captures frames from a camera connected to your computer.\n"
+ << "\tTo find the video device number, try ls /dev/video* \n"
+ << "\tYou may also pass a video file, like my_vide.avi instead of a device number"
+ << endl;
+ }
-int process(VideoCapture& capture) {
- string window_name = "video | q or esc to quit";
- cout << "press q or esc to quit" << endl;
- namedWindow(window_name, CV_WINDOW_KEEPRATIO); //resizable window;
- Mat frame;
- for (;;) {
- capture >> frame;
- if (frame.empty())
- continue;
- imshow(window_name, frame);
- char key = (char)waitKey(5); //delay N millis, usually long enough to display and capture input
- switch (key) {
- case 'q':
- case 'Q':
- case 27: //escape key
- return 0;
- default:
- break;
- }
- }
- return 0;
-}
+ int process(VideoCapture& capture) {
+ string window_name = "video | q or esc to quit";
+ cout << "press q or esc to quit" << endl;
+ namedWindow(window_name, CV_WINDOW_KEEPRATIO); //resizable window;
+ Mat frame;
+ for (;;) {
+ capture >> frame;
+ if (frame.empty())
+ continue;
+ imshow(window_name, frame);
+ char key = (char)waitKey(5); //delay N millis, usually long enough to display and capture input
+ switch (key) {
+ case 'q':
+ case 'Q':
+ case 27: //escape key
+ return 0;
+ default:
+ break;
+ }
+ }
+ return 0;
+ }
}
int main(int ac, char** av) {
- if (ac != 2) {
- help(av);
- return 1;
- }
- std::string arg = av[1];
- VideoCapture capture(arg); //try to open string, this will attempt to open it as a video file
- if (!capture.isOpened()) //if this fails, try to open as a video camera, through the use of an integer param
- capture.open(atoi(arg.c_str()));
- if (!capture.isOpened()) {
- cerr << "Failed to open a video device or video file!\n" << endl;
- help(av);
- return 1;
- }
- return process(capture);
+ if (ac != 2) {
+ help(av);
+ return 1;
+ }
+ std::string arg = av[1];
+ VideoCapture capture(arg); //try to open string, this will attempt to open it as a video file
+ if (!capture.isOpened()) //if this fails, try to open as a video camera, through the use of an integer param
+ capture.open(atoi(arg.c_str()));
+ if (!capture.isOpened()) {
+ cerr << "Failed to open a video device or video file!\n" << endl;
+ help(av);
+ return 1;
+ }
+ return process(capture);
}
/*
- * video_homography.cpp
- *
- * Created on: Oct 18, 2010
- * Author: erublee
- */
+* video_homography.cpp
+*
+* Created on: Oct 18, 2010
+* Author: erublee
+*/
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
void help(char **av)
{
- cout << "\nThis program demonstrated the use of features2d with the Fast corner detector and brief descriptors\n"
- << "to track planar objects by computing their homography from the key (training) image to the query (test) image\n\n" << endl;
+ cout << "\nThis program demonstrated the use of features2d with the Fast corner detector and brief descriptors\n"
+ << "to track planar objects by computing their homography from the key (training) image to the query (test) image\n\n" << endl;
cout << "usage: " << av[0] << " <video device number>\n" << endl;
cout << "The following keys do stuff:" << endl;
cout << " t : grabs a reference frame to match against" << endl;
namespace
{
-void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query,
- std::vector<cv::DMatch>& matches, Mat& img, const vector<unsigned char>& mask = vector<
- unsigned char> ())
-{
- for (int i = 0; i < (int)matches.size(); i++)
- {
- if (mask.empty() || mask[i])
+ void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query,
+ std::vector<cv::DMatch>& matches, Mat& img, const vector<unsigned char>& mask = vector<
+ unsigned char> ())
{
- Point2f pt_new = query[matches[i].queryIdx].pt;
- Point2f pt_old = train[matches[i].trainIdx].pt;
- Point2f dist = pt_new - pt_old;
+ for (int i = 0; i < (int)matches.size(); i++)
+ {
+ if (mask.empty() || mask[i])
+ {
+ Point2f pt_new = query[matches[i].queryIdx].pt;
+ Point2f pt_old = train[matches[i].trainIdx].pt;
+ Point2f dist = pt_new - pt_old;
- cv::line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
- cv::circle(img, pt_new, 2, Scalar(255, 0, 125), 1);
+ cv::line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
+ cv::circle(img, pt_new, 2, Scalar(255, 0, 125), 1);
+ }
+ }
}
- }
-}
-//Takes a descriptor and turns it into an xy point
-void keypoints2points(const vector<KeyPoint>& in, vector<Point2f>& out)
-{
- out.clear();
- out.reserve(in.size());
- for (size_t i = 0; i < in.size(); ++i)
- {
- out.push_back(in[i].pt);
- }
-}
+ //Takes a descriptor and turns it into an xy point
+
void keypoints2points(const vector<KeyPoint>& in, vector<Point2f>& out)
+ {
+ out.clear();
+ out.reserve(in.size());
+ for (size_t i = 0; i < in.size(); ++i)
+ {
+ out.push_back(in[i].pt);
+ }
+ }
-//Takes an xy point and appends that to a keypoint structure
-void points2keypoints(const vector<Point2f>& in, vector<KeyPoint>& out)
-{
- out.clear();
- out.reserve(in.size());
- for (size_t i = 0; i < in.size(); ++i)
- {
- out.push_back(KeyPoint(in[i], 1));
- }
-}
+ //Takes an xy point and appends that to a keypoint structure
+
void points2keypoints(const vector<Point2f>& in, vector<KeyPoint>& out)
+ {
+ out.clear();
+ out.reserve(in.size());
+ for (size_t i = 0; i < in.size(); ++i)
+ {
+ out.push_back(KeyPoint(in[i], 1));
+ }
+ }
-//Uses computed homography H to warp original input points to new planar position
-void warpKeypoints(const Mat& H, const vector<KeyPoint>& in, vector<KeyPoint>& out)
-{
- vector<Point2f> pts;
- keypoints2points(in, pts);
- vector<Point2f> pts_w(pts.size());
- Mat m_pts_w(pts_w);
- perspectiveTransform(Mat(pts), m_pts_w, H);
- points2keypoints(pts_w, out);
-}
+ //Uses computed homography H to warp original input points to new planar position
+ void warpKeypoints(const Mat& H, const vector<KeyPoint>& in, vector<KeyPoint>& out)
+ {
+ keypoints2points(in, pts);
+
vector<Point2f> pts_w(pts.size());
+ Mat m_pts_w(pts_w);
+ perspectiveTransform(Mat(pts), m_pts_w, H);
+ points2keypoints(pts_w, out);
+ }
-//Converts matching indices to xy points
-void matches2points(const vector<KeyPoint>& train, const vector<KeyPoint>& query,
- const std::vector<cv::DMatch>& matches, std::vector<cv::Point2f>& pts_train,
-
std::vector<Point2f>& pts_query)
-{
+ //Converts matching indices to xy points
+ void matches2points(const vector<KeyPoint>& train, const vector<KeyPoint>& query,
+ const std::vector<cv::DMatch>& matches, std::vector<cv::Point2f>& pts_train,
+ std::vector<Point2f>& pts_query)
+ {
- pts_train.clear();
- pts_query.clear();
- pts_train.reserve(matches.size());
- pts_query.reserve(matches.size());
+ pts_train.clear();
+ pts_query.clear();
+ pts_train.reserve(matches.size());
+ pts_query.reserve(matches.size());
- size_t i = 0;
+ size_t i = 0;
- for (; i < matches.size(); i++)
- {
+ for (; i < matches.size(); i++)
+ {
- const DMatch & dmatch = matches[i];
+ const DMatch & dmatch = matches[i];
- pts_query.push_back(query[dmatch.queryIdx].pt);
- pts_train.push_back(train[dmatch.trainIdx].pt);
+ pts_query.push_back(query[dmatch.queryIdx].pt);
+ pts_train.push_back(train[dmatch.trainIdx].pt);
- }
+ }
-}
+ }
-void resetH(Mat&H)
-{
- H = Mat::eye(3, 3, CV_32FC1);
-}
+ void resetH(Mat&H)
+ {
+ H = Mat::eye(3, 3, CV_32FC1);
+ }
}
int main(int ac, char ** av)
{
- if (ac != 2)
- {
- help(av);
- return 1;
- }
-
- BriefDescriptorExtractor brief(32);
-
- VideoCapture capture;
- capture.open(atoi(av[1]));
- if (!capture.isOpened())
- {
- help(av);
- cout << "capture device " << atoi(av[1]) << " failed to open!" << endl;
- return 1;
- }
-
- cout << "following keys do stuff:" << endl;
- cout << "t : grabs a reference frame to match against" << endl;
- cout << "l : makes the reference frame new every frame" << endl;
- cout << "q or escape: quit" << endl;
-
- Mat frame;
+ if (ac != 2)
+ {
+ help(av);
+ return 1;
+ }
- vector<DMatch> matches;
+ BriefDescriptorExtractor brief(32);
- BruteForceMatcher<Hamming> desc_matcher;
+ VideoCapture capture;
+ capture.open(atoi(av[1]));
+ if (!capture.isOpened())
+ {
+ help(av);
+ cout << "capture device " << atoi(av[1]) << " failed to open!" << endl;
+ return 1;
+ }
- vector<Point2f> train_pts, query_pts;
- vector<KeyPoint> train_kpts, query_kpts;
- vector<unsigned char> match_mask;
+ cout << "following keys do stuff:" << endl;
+ cout << "t : grabs a reference frame to match against" << endl;
+ cout << "l : makes the reference frame new every frame" << endl;
+ cout << "q or escape: quit" << endl;
- Mat gray;
+ Mat frame;
- bool ref_live = true;
+ vector<DMatch> matches;
- Mat train_desc, query_desc;
- const int DESIRED_FTRS = 500;
- GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
+ BruteForceMatcher<Hamming> desc_matcher;
- Mat H_prev = Mat::eye(3, 3, CV_32FC1);
- for (;;)
- {
- capture >> frame;
- if (frame.empty())
- continue;
+ vector<Point2f> train_pts, query_pts;
+ vector<KeyPoint> train_kpts, query_kpts;
+ vector<unsigned char> match_mask;
- cvtColor(frame, gray, CV_RGB2GRAY);
+ Mat gray;
- detector.detect(gray, query_kpts); //Find interest points
+ bool ref_live = true;
- brief.compute(gray, query_kpts, query_desc); //Compute brief descriptors at each keypoint location
+ Mat train_desc, query_desc;
+ const int DESIRED_FTRS = 500;
+ GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
- if (!train_kpts.empty())
+ Mat H_prev = Mat::eye(3, 3, CV_32FC1);
+ for (;;)
{
+ capture >> frame;
+ if (frame.empty())
+ continue;
- vector<KeyPoint> test_kpts;
- warpKeypoints(H_prev.inv(), query_kpts, test_kpts);
+ cvtColor(frame, gray, CV_RGB2GRAY);
- Mat mask = windowedMatchingMask(test_kpts, train_kpts, 25, 25);
- desc_matcher.match(query_desc, train_desc, matches, mask);
- drawKeypoints(frame, test_kpts, frame, Scalar(255, 0, 0), DrawMatchesFlags::DRAW_OVER_OUTIMG);
+ detector.detect(gray, query_kpts); //Find interest points
- matches2points(train_kpts, query_kpts, matches, train_pts, query_pts);
+ brief.compute(gray, query_kpts, query_desc); //Compute brief descriptors at each keypoint location
- if (matches.size() > 5)
- {
- Mat H = findHomography(Mat(train_pts), Mat(query_pts), match_mask, RANSAC, 4);
- if (countNonZero(Mat(match_mask)) > 15)
+ if (!train_kpts.empty())
{
- H_prev = H;
+
+ vector<KeyPoint> test_kpts;
+ warpKeypoints(H_prev.inv(), query_kpts, test_kpts);
+
+ Mat mask = windowedMatchingMask(test_kpts, train_kpts, 25, 25);
+ desc_matcher.match(query_desc, train_desc, matches, mask);
+ drawKeypoints(frame, test_kpts, frame, Scalar(255, 0, 0), DrawMatchesFlags::DRAW_OVER_OUTIMG);
+
+ matches2points(train_kpts, query_kpts, matches, train_pts, query_pts);
+
+ if (matches.size() > 5)
+ {
+ Mat H = findHomography(Mat(train_pts), Mat(query_pts), match_mask, RANSAC, 4);
+ if (countNonZero(Mat(match_mask)) > 15)
+ {
+ H_prev = H;
+ }
+ else
+ resetH(H_prev);
+ drawMatchesRelative(train_kpts, query_kpts, matches, frame, match_mask);
+ }
+ else
+ resetH(H_prev);
+
}
else
- resetH(H_prev);
- drawMatchesRelative(train_kpts, query_kpts, matches, frame, match_mask);
- }
- else
- resetH(H_prev);
+ {
+ H_prev = Mat::eye(3, 3, CV_32FC1);
+ Mat out;
+ drawKeypoints(gray, query_kpts, out);
+ frame = out;
+ }
- }
- else
- {
- H_prev = Mat::eye(3, 3, CV_32FC1);
- Mat out;
- drawKeypoints(gray, query_kpts, out);
- frame = out;
- }
+ imshow("frame", frame);
- imshow("frame", frame);
+ if (ref_live)
+ {
+ train_kpts = query_kpts;
+ query_desc.copyTo(train_desc);
+ }
+ char key = (char)waitKey(2);
+ switch (key)
+ {
+ case 'l':
+ ref_live = true;
+ resetH(H_prev);
+ break;
+ case 't':
+ ref_live = false;
+ train_kpts = query_kpts;
+ query_desc.copyTo(train_desc);
+ resetH(H_prev);
+ break;
+ case 27:
+ case 'q':
+ return 0;
+ break;
+ }
- if (ref_live)
- {
- train_kpts = query_kpts;
- query_desc.copyTo(train_desc);
}
- char key = waitKey(2);
- switch (key)
- {
- case 'l':
- ref_live = true;
- resetH(H_prev);
- break;
- case 't':
- ref_live = false;
- train_kpts = query_kpts;
- query_desc.copyTo(train_desc);
- resetH(H_prev);
- break;
- case 27:
- case 'q':
- return 0;
- break;
- }
-
- }
- return 0;
+ return 0;
}
projects / platform / upstream / opencv.git / commitdiff