PARP Research Group

Universidad de Murcia

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examples/SIFTGPU/realTime/realTime.cpp Go to the documentation of this file. /* * Copyright (C) 2011, 2012. PARP Research Group. * <http://perception.inf.um.es> * University of Murcia, Spain. * * This file is part of the QVision library. * * QVision is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as * published by the Free Software Foundation, version 3 of the License. * * QVision is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with QVision. If not, see <http://www.gnu.org/licenses/>. */ #include <stdio.h> #include <stdlib.h> #include <iostream> #include <QDebug> #include <QVApplication> #include <QVVideoReaderBlock> #include <QVDefaultGUI> #include <QVImageCanvas> #include <qvipp.h> #include <qvsiftgpu.h> #ifndef DOXYGEN_IGNORE_THIS class SIFTGPUMatcher: public QVProcessingBlock { private: QVImage<uChar, 3> referenceFrame; QList<QVSIFTFeature> referenceFrameFeatures; public: SIFTGPUMatcher(QString name): QVProcessingBlock(name), referenceFrame(1,1) { addProperty< QVImage<uChar,3> >("Actual frame", inputFlag|outputFlag); addProperty< QList<QPointF> >("Actual features", outputFlag); addProperty< QList<QVPolylineF> >("Actual features orientations", outputFlag); // Matching with reference frame addProperty< QVImage<uChar,3> >("Matching images", outputFlag); addProperty< QList<QPointFMatching> >("Matching correspondences", outputFlag); addTrigger("Grab reference frame"); } // Sets the reference frame void processTrigger(const QString triggerName) { referenceFrame = getPropertyValue< QVImage<uChar,3> >("Actual frame"); referenceFrameFeatures = getSiftGPUFeatures(referenceFrame, CUDA_METHOD); //setPropertyValue< QVImage<uChar,3> >("Reference frame", referenceFrame); } void iterate() { // Read actual image frame. const QVImage<sFloat,3> actualFrame = getPropertyValue< QVImage<uChar,3> >("Actual frame"); timeFlag("Read input image"); // Get SIFT features for the actual frame. const QList<QVSIFTFeature> actualFrameFeatures = getSiftGPUFeatures(actualFrame, CUDA_METHOD); timeFlag("Get SIFT features"); // Show SIFT features. QList<QPointF> points; QList<QVPolylineF> orientations; foreach(QVSIFTFeature feature, actualFrameFeatures) { QVPolylineF orientation; orientation << feature.keypoint.location(); orientation << feature.keypoint.location() + 3.0 * ABS(feature.keypoint.scale()) * QPointF( sin(feature.keypoint.orientation()), cos(feature.keypoint.orientation())); orientations << orientation; points << feature.keypoint.location(); } setPropertyValue< QList<QPointF> >("Actual features", points); setPropertyValue< QList<QVPolylineF> >("Actual features orientations", orientations); timeFlag("Show SIFT features"); if (referenceFrame.getCols() == 1 and referenceFrame.getRows() == 1) return; // Get matchings between actual and reference features. const QList< QPair<int, int> > matchings = matchSiftGPUFeatures(actualFrameFeatures, referenceFrameFeatures); timeFlag("Match with reference frame"); // Show SIFT matchings. const QPointF offset(referenceFrame.getCols(), 0); QList<QPointFMatching> matchingCorrespondences; for(int i = 0; i < matchings.count(); i++) { const QPointF sourcePoint = referenceFrameFeatures[matchings[i].second].keypoint.location(), destinationPoint = actualFrameFeatures[matchings[i].first].keypoint.location(); matchingCorrespondences << QPointFMatching( sourcePoint, destinationPoint + offset); } QVImage<uChar, 3> matchingImages = referenceFrame; Copy(actualFrame, matchingImages, QPoint(referenceFrame.getCols(), 0)); matchingImages.resetROI(); setPropertyValue< QVImage<uChar,3> >("Matching images", matchingImages); setPropertyValue< QList<QPointFMatching> >("Matching correspondences", matchingCorrespondences); timeFlag("Show matchings"); } }; int main(int argc, char *argv[]) { QVApplication app(argc, argv, "Example program for QVision library. Performs SIFT feature detection and matching on an input video sequence." ); SIFTGPUMatcher SIFTMatcher("SIFT matcher"); QVVideoReaderBlock videoReader("Video"); videoReader.linkProperty(&SIFTMatcher,"Actual frame"); QVDefaultGUI interface; // Image canvas for displaying SIFT features. QVImageCanvas actualFrame("Actual frame"); SIFTMatcher.linkProperty("Actual frame", actualFrame); SIFTMatcher.linkProperty("Actual features", actualFrame); SIFTMatcher.linkProperty("Actual features orientations", actualFrame); actualFrame.setRadius("Actual features", 2); actualFrame.setColor("Actual features orientations", Qt::blue); // Image canvas for displaying SIFT matchings. QVImageCanvas referenceFrame("Matchings"); SIFTMatcher.linkProperty("Matching images", referenceFrame); SIFTMatcher.linkProperty("Matching correspondences", referenceFrame); referenceFrame.setRadius("Matching correspondences", 2); return app.exec(); } #endif

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