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Updated to OpenCV 2.4 (as well as all feature descriptors and detectors parameters).

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Updated to OpenCV C++ interface (using cv::Mat instead of IplImage).


git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@97 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
2012-05-07 22:36:59 +00:00
parent 8e44f2bedf
commit 5c4625a300
16 changed files with 388 additions and 394 deletions
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example/CMakeLists.txt
+1 -1
View File
@@ -11,7 +11,7 @@ SET(SRC_FILES
main.cpp
../src/ObjWidget.cpp
../src/KeypointItem.cpp
../src/qtipl.cpp
../src/QtOpenCV.cpp
../src/Settings.cpp
../src/Camera.cpp
${moc_srcs}
example/main.cpp
+28 -34
View File
@@ -16,10 +16,12 @@
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp> // for homography
// From this project (see src folder)
#include "ObjWidget.h"
#include "QtOpenCV.h"
void showUsage()
{
@@ -44,10 +46,10 @@ int main(int argc, char * argv[])
ObjWidget sceneWidget;
//Load as grayscale
IplImage * objectImg = cvLoadImage(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
IplImage * sceneImg = cvLoadImage(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
cv::Mat objectImg = cv::imread(argv[1], cv::IMREAD_GRAYSCALE);
cv::Mat sceneImg = cv::imread(argv[2], cv::IMREAD_GRAYSCALE);
if(objectImg && sceneImg)
if(!objectImg.empty() && !sceneImg.empty())
{
std::vector<cv::KeyPoint> objectKeypoints;
std::vector<cv::KeyPoint> sceneKeypoints;
@@ -58,13 +60,15 @@ int main(int argc, char * argv[])
// EXTRACT KEYPOINTS
////////////////////////////
// The detector can be any of (see OpenCV features2d.hpp):
// cv::FeatureDetector * detector = new cv::OrbFeatureDetector();
// cv::FeatureDetector * detector = new cv::DenseFeatureDetector();
// cv::FeatureDetector * detector = new cv::FastFeatureDetector();
// cv::FeatureDetector * detector = new cv::MserFeatureDetector();
// cv::FeatureDetector * detector = new cv::SiftFeatureDetector();
// cv::FeatureDetector * detector = new cv::SurfFeatureDetector();
// cv::FeatureDetector * detector = new cv::GFTTDetector();
// cv::FeatureDetector * detector = new cv::MSER();
// cv::FeatureDetector * detector = new cv::ORB();
// cv::FeatureDetector * detector = new cv::SIFT();
// cv::FeatureDetector * detector = new cv::StarFeatureDetector();
cv::FeatureDetector * detector = new cv::SurfFeatureDetector();
// cv::FeatureDetector * detector = new cv::SURF();
cv::FeatureDetector * detector = new cv::SURF(600.0);
detector->detect(objectImg, objectKeypoints);
printf("Object: %d keypoints detected in %d ms\n", (int)objectKeypoints.size(), time.restart());
detector->detect(sceneImg, sceneKeypoints);
@@ -75,10 +79,10 @@ int main(int argc, char * argv[])
////////////////////////////
// The extractor can be any of (see OpenCV features2d.hpp):
// cv::DescriptorExtractor * extractor = new cv::BriefDescriptorExtractor();
// cv::DescriptorExtractor * extractor = new cv::OrbDescriptorExtractor();
// cv::DescriptorExtractor * extractor = new cv::SiftDescriptorExtractor();
// cv::DescriptorExtractor * extractor = new cv::SurfDescriptorExtractor();
cv::DescriptorExtractor * extractor = new cv::SurfDescriptorExtractor();
// cv::DescriptorExtractor * extractor = new cv::ORB();
// cv::DescriptorExtractor * extractor = new cv::SIFT();
// cv::DescriptorExtractor * extractor = new cv::SURF();
cv::DescriptorExtractor * extractor = new cv::SURF(600.0);
extractor->compute(objectImg, objectKeypoints, objectDescriptors);
printf("Object: %d descriptors extracted in %d ms\n", objectDescriptors.rows, time.restart());
extractor->compute(sceneImg, sceneKeypoints, sceneDescriptors);
@@ -187,7 +191,7 @@ int main(int argc, char * argv[])
}
QPen rectPen(color);
rectPen.setWidth(4);
QGraphicsRectItem * rectItem = new QGraphicsRectItem(objWidget.image().rect());
QGraphicsRectItem * rectItem = new QGraphicsRectItem(objWidget.pixmap().rect());
rectItem->setPen(rectPen);
rectItem->setTransform(hTransform);
sceneWidget.addRect(rectItem);
@@ -201,54 +205,44 @@ int main(int argc, char * argv[])
// Wait for gui
objWidget.setGraphicsViewMode(false);
objWidget.setWindowTitle("Object");
if(objWidget.image().width() <= 800)
if(objWidget.pixmap().width() <= 800)
{
objWidget.setGeometry(0, 0, objWidget.image().width(), objWidget.image().height());
objWidget.setMinimumSize(objWidget.pixmap().width(), objWidget.pixmap().height());
}
else
{
objWidget.setGeometry(0, 0, 800, 600);
objWidget.setMinimumSize(800, 600);
objWidget.setAutoScale(false);
}
objWidget.show();
sceneWidget.setGraphicsViewMode(false);
sceneWidget.setWindowTitle("Scene");
if(sceneWidget.image().width() <= 800)
if(sceneWidget.pixmap().width() <= 800)
{
sceneWidget.setGeometry(0, 0, sceneWidget.image().width(), sceneWidget.image().height());
sceneWidget.setMinimumSize(sceneWidget.pixmap().width(), sceneWidget.pixmap().height());
}
else
{
sceneWidget.setGeometry(0, 0, 800, 600);
sceneWidget.setMinimumSize(800, 600);
sceneWidget.setAutoScale(false);
}
sceneWidget.show();
objWidget.show();
int r = app.exec();
printf("Closing...\n");
////////////////////////////
//Cleanup
////////////////////////////
delete detector;
delete extractor;
if(objectImg) {
cvReleaseImage(&objectImg);
}
if(sceneImg) {
cvReleaseImage(&sceneImg);
}
return r;
}
else
{
if(objectImg) {
cvReleaseImage(&objectImg);
}
if(sceneImg) {
cvReleaseImage(&sceneImg);
}
printf("Images are not valid!\n");
showUsage();
}