Example: vision_capture_video_build_pyr
C++ example source code:
/* +------------------------------------------------------------------------+ | Mobile Robot Programming Toolkit (MRPT) | | https://www.mrpt.org/ | | | | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file | | See: https://www.mrpt.org/Authors - All rights reserved. | | Released under BSD License. See: https://www.mrpt.org/License | +------------------------------------------------------------------------+ */ #include <mrpt/gui/CDisplayWindow3D.h> #include <mrpt/hwdrivers/CCameraSensor.h> #include <mrpt/img/TColor.h> #include <mrpt/opengl/Scene.h> #include <mrpt/vision/CFeatureExtraction.h> #include <mrpt/vision/CImagePyramid.h> #include <mrpt/vision/TKeyPoint.h> #include <mrpt/vision/types.h> #include <chrono> #include <iostream> #include <thread> using namespace std; using namespace mrpt; using namespace mrpt::gui; using namespace mrpt::opengl; using namespace mrpt::obs; using namespace mrpt::vision; using namespace mrpt::img; // ------------------------------------------------------ // TestVideoBuildPyr // ------------------------------------------------------ void TestVideoBuildPyr() { size_t N_OCTAVES = 4; bool do_smooth = false; bool do_grayscale = false; // Ask for a different number of octaves: cout << "Number of octaves to use [4]: "; { std::string s; std::getline(cin, s); int i = atoi(s.c_str()); if (i > 0) N_OCTAVES = i; } // Show to the user a list of possible camera drivers and creates and open // the selected camera. cout << "Please, select the input video file or camera...\n"; mrpt::hwdrivers::CCameraSensor::Ptr cam = mrpt::hwdrivers::prepareVideoSourceFromUserSelection(); if (!cam) return; cout << "Video stream open OK\n"; // Create 3D window: CDisplayWindow3D win("Demo of pyramid building from live video", 800, 600); // Get the smart pointer to the main viewport object in this window, // and create other viewports for the smaller images: std::vector<Viewport::Ptr> gl_views(N_OCTAVES); { Scene::Ptr& theScene = win.get3DSceneAndLock(); gl_views[0] = theScene->getViewport("main"); ASSERT_(gl_views[0]); // Create the other viewports: for (size_t i = 1; i < N_OCTAVES; i++) gl_views[i] = theScene->createViewport(format("view_%i", (int)i)); // Assign sizes: // It can be shown mathematically than if we want all viewports to be // one next to each other // horizontally so they fit to the viewport width (="1") and each is // the half the previous one, // the first one must have a width of 2^(n-1)/(2^n - 1) const double W0 = (double(1 << (N_OCTAVES - 1))) / ((1 << N_OCTAVES) - 1); double X = 0; double W = W0; for (size_t i = 0; i < N_OCTAVES; i++) { Viewport* vw = gl_views[i].get(); vw->setViewportPosition(X, .0, W, 1.); // cout << "Created viewport " << i << " at X=" << X << " with // Width=" << W << endl; X += W; W *= 0.5; } // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); } win.setPos(10, 10); win.addTextMessage( 0.51, 5, // X,Y<=1 means coordinates are factors over the entire // viewport area. "Keys: 's'=Smoothing, 'g': Grayscale 'f': Features", 10 // An arbitrary ID ); // The image pyramid: Initially empty CImagePyramid imgpyr; cout << "Close the window to end.\n"; while (win.isOpen()) { win.addTextMessage(5, 5, format("%.02fFPS", win.getRenderingFPS())); std::this_thread::sleep_for(1ms); // Grab new video frame: CObservation::Ptr obs = cam->getNextFrame(); if (obs) { if (IS_CLASS(*obs, CObservationImage)) { // Get the observation object: CObservationImage::Ptr o = std::dynamic_pointer_cast<CObservationImage>(obs); // Update pyramid: imgpyr.buildPyramidFast( o->image, // This image is destroyed since we are calling // the *Fast() version N_OCTAVES, do_smooth, do_grayscale); win.get3DSceneAndLock(); for (size_t i = 0; i < N_OCTAVES; i++) { Viewport* vw = gl_views[i].get(); vw->setImageView(imgpyr.images[i]); } win.addTextMessage( 0.51, 25, // X,Y<=1 means coordinates are factors over the // entire viewport area. format( "Smooth=%i Grayscale=%i", int(do_smooth ? 1 : 0), int(do_grayscale ? 1 : 0)), 11 // An arbitrary ID ); win.unlockAccess3DScene(); win.repaint(); } if (win.keyHit()) { mrptKeyModifier kmods; int key = win.getPushedKey(&kmods); if (key == MRPTK_ESCAPE) break; if (key == 's' || key == 'S') do_smooth = !do_smooth; if (key == 'g' || key == 'G') do_grayscale = !do_grayscale; } } } } // ------------------------------------------------------ // MAIN // ------------------------------------------------------ int main() { try { TestVideoBuildPyr(); return 0; } catch (const std::exception& e) { std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl; return -1; } }