vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

modules/cvv/samples/cvv_demo.cpp

@@ -0,0 +1,119 @@
+// system includes
+#include <iostream>
+
+// library includes
+#include <opencv2/imgproc.hpp>
+#include <opencv2/features.hpp>
+#include <opencv2/videoio.hpp>
+
+#define CVVISUAL_DEBUGMODE
+#include <opencv2/cvv/debug_mode.hpp>
+#include <opencv2/cvv/show_image.hpp>
+#include <opencv2/cvv/filter.hpp>
+#include <opencv2/cvv/dmatch.hpp>
+#include <opencv2/cvv/final_show.hpp>
+
+using namespace std;
+using namespace cv;
+
+template<class T> std::string toString(const T& p_arg)
+{
+  std::stringstream ss;
+
+  ss << p_arg;
+
+  return ss.str();
+}
+
+
+
+
+int
+main(int argc, char** argv)
+{
+  // parser keys
+  const char *keys =
+      "{ help h usage ?  |   | show this message }"
+      "{ width W         |  0| camera resolution width. leave at 0 to use defaults }"
+      "{ height H        |  0| camera resolution height. leave at 0 to use defaults }";
+
+  CommandLineParser parser(argc, argv, keys);
+  if (parser.has("help")) {
+    parser.printMessage();
+    return 0;
+  }
+  int res_w = parser.get<int>("width");
+  int res_h = parser.get<int>("height");
+
+  // setup video capture
+  cv::VideoCapture capture(0);
+  if (!capture.isOpened()) {
+    std::cout << "Could not open VideoCapture" << std::endl;
+    return 1;
+  }
+
+  if (res_w>0 && res_h>0) {
+    printf("Setting resolution to %dx%d\n", res_w, res_h);
+    capture.set(cv::CAP_PROP_FRAME_WIDTH, res_w);
+    capture.set(cv::CAP_PROP_FRAME_HEIGHT, res_h);
+  }
+
+
+  cv::Mat prevImgGray;
+  std::vector<cv::KeyPoint> prevKeypoints;
+  cv::Mat prevDescriptors;
+
+  int maxFeatureCount = 500;
+  Ptr<ORB> detector = ORB::create(maxFeatureCount);
+
+  cv::BFMatcher matcher(cv::NORM_HAMMING);
+
+  for (int imgId = 0; imgId < 10; imgId++) {
+    // capture a frame
+    cv::Mat imgRead;
+    capture >> imgRead;
+    printf("%d: image captured\n", imgId);
+
+    std::string imgIdString{"imgRead"};
+    imgIdString += toString(imgId);
+		cvv::showImage(imgRead, CVVISUAL_LOCATION, imgIdString.c_str());
+
+    // convert to grayscale
+    cv::Mat imgGray;
+    cv::cvtColor(imgRead, imgGray, COLOR_BGR2GRAY);
+		cvv::debugFilter(imgRead, imgGray, CVVISUAL_LOCATION, "to gray");
+
+    // detect ORB features
+    std::vector<cv::KeyPoint> keypoints;
+    cv::Mat descriptors;
+    detector->detectAndCompute(imgGray, cv::noArray(), keypoints, descriptors);
+    printf("%d: detected %zd keypoints\n", imgId, keypoints.size());
+
+    // match them to previous image (if available)
+    if (!prevImgGray.empty()) {
+      std::vector<cv::DMatch> matches;
+      matcher.match(prevDescriptors, descriptors, matches);
+      printf("%d: all matches size=%zd\n", imgId, matches.size());
+      std::string allMatchIdString{"all matches "};
+      allMatchIdString += toString(imgId-1) + "<->" + toString(imgId);
+      cvv::debugDMatch(prevImgGray, prevKeypoints, imgGray, keypoints, matches, CVVISUAL_LOCATION, allMatchIdString.c_str());
+
+      // remove worst (as defined by match distance) bestRatio quantile
+      double bestRatio = 0.8;
+      std::sort(matches.begin(), matches.end());
+      matches.resize(int(bestRatio * matches.size()));
+      printf("%d: best matches size=%zd\n", imgId, matches.size());
+      std::string bestMatchIdString{"best " + toString(bestRatio) + " matches "};
+      bestMatchIdString += toString(imgId-1) + "<->" + toString(imgId);
+      cvv::debugDMatch(prevImgGray, prevKeypoints, imgGray, keypoints, matches, CVVISUAL_LOCATION, bestMatchIdString.c_str());
+    }
+
+    prevImgGray = imgGray;
+    prevKeypoints = keypoints;
+    prevDescriptors = descriptors;
+  }
+
+  cvv::finalShow();
+
+  return 0;
+}