#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
using namespace cv;
int main(
int,
char**)
{
VideoCapture input("./stream.sdp");
if(!input.isOpened()){
// check if we succeeded
std::cout<< "open failed" << std::endl;
return -1;
}
Mat img, img_gray;
OrbFeatureDetector detector(7000);
vector<KeyPoint> img_keypoints, car_keypoints;
Mat img_descriptors, car_descriptors;
input.read(img);
Mat car;
img(Rect(400, 320, 150, 100)).copyTo(car);
detector(car, Mat(), car_keypoints, car_descriptors);
drawKeypoints(car, car_keypoints, car);
for(;;)
{
if(!input.read(img))
break;
detector(img, Mat(), img_keypoints, img_descriptors);
drawKeypoints(img, img_keypoints, img);
BFMatcher matcher;
vector<DMatch> matches;
matcher.match(car_descriptors, img_descriptors, matches);
vector<Point2f> car_points, img_points;
for(
int i=0; i < matches.size(); ++i){
car_points.push_back(car_keypoints[matches[i].queryIdx].pt);
img_points.push_back(img_keypoints[matches[i].queryIdx].pt);
}
std::cout<<"car points count = " << car_points.size() << std::endl;
if(car_points.size() >= 4){
Matx33f H = findHomography(car_points, img_points, CV_RANSAC);
vector<Point> car_border, img_border;
car_border.push_back(Point(0, 0));
car_border.push_back(Point(0, car.rows));
car_border.push_back(Point(car.cols, car.rows));
car_border.push_back(Point(car.cols, 0));
for (size_t i = 0; i < car_border.size(); ++i){
Vec3f p = H * Vec3f(car_border[i].x, car_border[i].y, 1);
img_border.push_back(Point(p[0]/p[2], p[1]/p[2]));
}
polylines(img, img_border,
true, CV_RGB(255, 255, 0));
Mat img_matches;
drawMatches(car, car_keypoints, img, img_keypoints, matches, img_matches);
imshow("img_matches", img_matches);
}
// imshow("car", car);
// imshow("img", img);
if(waitKey(27) >= 0)
break;
}
// the camera will be deinitialized automatically in VideoCapture destructor
return 0;
}