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https://github.com/opencv/opencv.git
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removed old sample on keypoints matching and added new one
This commit is contained in:
Maria Dimashova
parent
045402e481
commit
583a08d5c7
@ -48,7 +48,6 @@ if (BUILD_EXAMPLES)
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MY_DEFINE_EXAMPLE(convexhull convexhull.c)
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MY_DEFINE_EXAMPLE(delaunay delaunay.c)
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MY_DEFINE_EXAMPLE(demhist demhist.c)
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MY_DEFINE_EXAMPLE(detectors_sample detectors_sample.cpp)
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MY_DEFINE_EXAMPLE(dft dft.c)
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MY_DEFINE_EXAMPLE(distrans distrans.c)
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MY_DEFINE_EXAMPLE(drawing drawing.c)
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@ -1,259 +0,0 @@
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#include <cv.h>
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#include <cvaux.h>
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#include <highgui.h>
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#include <iostream>
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using namespace cv;
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using namespace std;
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inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
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{
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double w = 1./(H(2,0)*pt.x + H(2,1)*pt.y + H(2,2));
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return Point2f( (float)((H(0,0)*pt.x + H(0,1)*pt.y + H(0,2))*w), (float)((H(1,0)*pt.x + H(1,1)*pt.y + H(1,2))*w) );
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}
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void drawCorrespondences( const Mat& img1, const Mat& img2, const Mat& transfMtr,
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const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2,
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const vector<int>& matches, float maxDist, Mat& drawImg )
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{
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Scalar RED = CV_RGB(255, 0, 0);
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Scalar PINK = CV_RGB(255,130,230);
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Scalar GREEN = CV_RGB(0, 255, 0);
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Scalar BLUE = CV_RGB(0, 0, 255);
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/* Output:
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red point - point without corresponding point;
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grean point - point having correct corresponding point;
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pink point - point having incorrect corresponding point, but excised by threshold of distance;
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blue point - point having incorrect corresponding point;
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*/
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Size size(img1.cols + img2.cols, MAX(img1.rows, img2.rows));
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drawImg.create(size, CV_MAKETYPE(img1.depth(), 3));
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Mat drawImg1 = drawImg(Rect(0, 0, img1.cols, img1.rows));
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cvtColor(img1, drawImg1, CV_GRAY2RGB);
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Mat drawImg2 = drawImg(Rect(img1.cols, 0, img2.cols, img2.rows));
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cvtColor(img2, drawImg2, CV_GRAY2RGB);
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for(vector<KeyPoint>::const_iterator it = keypoints1.begin(); it < keypoints1.end(); ++it )
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{
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circle(drawImg, it->pt, 3, RED);
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}
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for(vector<KeyPoint>::const_iterator it = keypoints2.begin(); it < keypoints2.end(); ++it )
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{
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Point p = it->pt;
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circle(drawImg, Point2f(p.x+img1.cols, p.y), 3, RED);
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}
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Mat vec1(3, 1, CV_32FC1), vec2;
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float err = 3;
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vector<int>::const_iterator mit = matches.begin();
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assert( matches.size() == keypoints1.size() );
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for( int i1 = 0; mit < matches.end(); ++mit, i1++ )
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{
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Point2f pt1 = keypoints1[i1].pt, pt2 = keypoints2[*mit].pt;
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Point2f diff = applyHomography(transfMtr, pt1) - pt2;
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if( norm(diff) < err )
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{
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circle(drawImg, pt1, 3, GREEN);
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circle(drawImg, Point2f(pt2.x+img1.cols, pt2.y), 3, GREEN);
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line(drawImg, pt1, Point2f(pt2.x+img1.cols, pt2.y), GREEN);
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}
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else
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{
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/*if( *dit > maxDist )
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{
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circle(drawImg, pt1, 3, PINK);
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circle(drawImg, Point2f(pt2.x+img1.cols, pt2.y), 3, PINK);
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}
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// TODO add key point filter
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else*/
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{
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circle(drawImg, pt1, 3, BLUE);
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circle(drawImg, Point2f(pt2.x+img1.cols, pt2.y), 3, BLUE);
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line(drawImg, pt1, Point2f(pt2.x+img1.cols, pt2.y), BLUE);
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}
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}
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}
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}
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FeatureDetector* createDetector( const string& detectorType )
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{
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FeatureDetector* fd = 0;
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if( !detectorType.compare( "FAST" ) )
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{
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fd = new FastFeatureDetector( 1/*threshold*/, true/*nonmax_suppression*/ );
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}
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else if( !detectorType.compare( "STAR" ) )
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{
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fd = new StarFeatureDetector( 16/*max_size*/, 30/*response_threshold*/, 10/*line_threshold_projected*/,
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8/*line_threshold_binarized*/, 5/*suppress_nonmax_size*/ );
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}
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else if( !detectorType.compare( "SIFT" ) )
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{
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fd = new SiftFeatureDetector(SIFT::DetectorParams::GET_DEFAULT_THRESHOLD(),
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SIFT::DetectorParams::GET_DEFAULT_EDGE_THRESHOLD());
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}
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else if( !detectorType.compare( "SURF" ) )
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{
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fd = new SurfFeatureDetector( 400./*hessian_threshold*/, 3 /*octaves*/, 4/*octave_layers*/ );
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}
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else if( !detectorType.compare( "MSER" ) )
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{
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fd = new MserFeatureDetector( 5/*delta*/, 60/*min_area*/, 14400/*_max_area*/, 0.25f/*max_variation*/,
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0.2/*min_diversity*/, 200/*max_evolution*/, 1.01/*area_threshold*/, 0.003/*min_margin*/,
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5/*edge_blur_size*/ );
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}
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else if( !detectorType.compare( "GFTT" ) )
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{
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fd = new GoodFeaturesToTrackDetector( 1000/*maxCorners*/, 0.01/*qualityLevel*/, 1./*minDistance*/,
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3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ );
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}
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else
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fd = 0;
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return fd;
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}
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DescriptorExtractor* createDescExtractor( const string& descriptorType )
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{
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DescriptorExtractor* de = 0;
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if( !descriptorType.compare( "CALONDER" ) )
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{
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assert(0);
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//de = new CalonderDescriptorExtractor<float>("");
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}
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else if( !descriptorType.compare( "SURF" ) )
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{
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de = new SurfDescriptorExtractor( 3/*octaves*/, 4/*octave_layers*/, false/*extended*/ );
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}
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else
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de = 0;
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return de;
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}
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DescriptorMatcher* createDescMatcher( const string& matherType = string() )
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{
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return new BruteForceMatcher<L2<float> >();
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}
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const string DETECTOR_TYPE_STR = "detector_type";
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const string DESCRIPTOR_TYPE_STR = "descriptor_type";
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const string winName = "correspondences";
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void iter( Ptr<FeatureDetector> detector, Ptr<DescriptorExtractor> descriptor,
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const Mat& img1, float maxDist, Mat& transfMtr, RNG* rng = 0 )
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{
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if( transfMtr.empty() )
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transfMtr = Mat::eye(3, 3, CV_32FC1);
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if( rng )
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{
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transfMtr.at<float>(0,0) = rng->uniform( 0.7f, 1.3f);
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transfMtr.at<float>(0,1) = rng->uniform(-0.2f, 0.2f);
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transfMtr.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*img1.cols;
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transfMtr.at<float>(1,0) = rng->uniform(-0.2f, 0.2f);
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transfMtr.at<float>(1,1) = rng->uniform( 0.7f, 1.3f);
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transfMtr.at<float>(1,2) = rng->uniform(-0.1f, 0.3f)*img1.rows;
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transfMtr.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f);
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transfMtr.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f);
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transfMtr.at<float>(2,2) = rng->uniform( 0.7f, 1.3f);
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}
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Mat img2; warpPerspective( img1, img2, transfMtr, img1.size() );
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cout << endl << "< Extracting keypoints... ";
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vector<KeyPoint> keypoints1, keypoints2;
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detector->detect( img1, keypoints1 );
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detector->detect( img2, keypoints2 );
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cout << keypoints1.size() << " from first image and " << keypoints2.size() << " from second image >" << endl;
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if( keypoints1.empty() || keypoints2.empty() )
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cout << "end" << endl;
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cout << "< Computing descriptors... ";
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Mat descs1, descs2;
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if( keypoints1.size()>0 && keypoints2.size()>0 )
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{
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descriptor->compute( img1, keypoints1, descs1 );
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descriptor->compute( img2, keypoints2, descs2 );
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}
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cout << ">" << endl;
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cout << "< Matching keypoints by descriptors... ";
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vector<int> matches;
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Ptr<DescriptorMatcher> matcher = createDescMatcher();
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matcher->add( descs2 );
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matcher->match( descs1, matches );
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cout << ">" << endl;
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// TODO time
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Mat drawImg;
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drawCorrespondences( img1, img2, transfMtr, keypoints1, keypoints2,
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matches, maxDist, drawImg );
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imshow( winName, drawImg);
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}
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Ptr<FeatureDetector> detector;
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Ptr<DescriptorExtractor> descriptor;
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Mat img1;
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Mat transfMtr;
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RNG rng;
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const float maxDistScale = 0.01f;
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int maxDist;
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void onMaxDistChange( int maxDist, void* )
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{
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float realMaxDist = maxDist*maxDistScale;
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cout << "maxDist " << realMaxDist << endl;
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iter( detector, descriptor, img1, realMaxDist, transfMtr );
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}
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int main(int argc, char** argv)
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{
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if( argc != 4 )
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{
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cout << "Format:" << endl;
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cout << "./" << argv[0] << " [detector_type] [descriptor_type] [image]" << endl;
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return 0;
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}
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cout << "< Creating detector, descriptor and matcher... ";
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detector = createDetector(argv[1]);
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descriptor = createDescExtractor(argv[2]);
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//Ptr<DescriptorMatcher> matcher = createDescMatcher(argv[3]);
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cout << ">" << endl;
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if( detector.empty() || descriptor.empty()/* || matcher.empty() */ )
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{
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cout << "Can not create detector or descriptor or matcher of given types" << endl;
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return 0;
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}
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cout << "< Reading the image... ";
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img1 = imread( argv[3], CV_LOAD_IMAGE_GRAYSCALE);
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cout << ">" << endl;
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if( img1.empty() )
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{
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cout << "Can not read image" << endl;
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return 0;
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}
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namedWindow(winName, 1);
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maxDist = 12;
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createTrackbar( "maxDist", winName, &maxDist, 100, onMaxDistChange );
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onMaxDistChange(maxDist, 0);
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for(;;)
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{
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char c = (char)cvWaitKey(0);
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if( c == '\x1b' ) // esc
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{
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cout << "Exiting ..." << endl;
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return 0;
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}
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else if( c == 'n' )
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iter(detector, descriptor, img1, maxDist*maxDistScale, transfMtr, &rng);
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}
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waitKey(0);
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}
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@ -40,6 +40,7 @@ if (BUILD_EXAMPLES)
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MY_DEFINE_EXAMPLE(connected_components connected_components.cpp)
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MY_DEFINE_EXAMPLE(contours2 contours2.cpp)
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MY_DEFINE_EXAMPLE(keypoints_matching keypoints_matching.cpp)
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MY_DEFINE_EXAMPLE(morphology2 morphology2.cpp)
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MY_DEFINE_EXAMPLE(segment_objects segment_objects.cpp)
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endif(BUILD_EXAMPLES)
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259
samples/cpp/keypoints_matching.cpp
Normal file
259
samples/cpp/keypoints_matching.cpp
Normal file
@ -0,0 +1,259 @@
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#include <cv.h>
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#include <cvaux.h>
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#include <highgui.h>
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#include <iostream>
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using namespace cv;
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using namespace std;
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inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
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{
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double z = H(2,0)*pt.x + H(2,1)*pt.y + H(2,2);
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if( z )
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{
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double w = 1./z;
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return Point2f( (H(0,0)*pt.x + H(0,1)*pt.y + H(0,2))*w, (H(1,0)*pt.x + H(1,1)*pt.y + H(1,2))*w );
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}
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return Point2f( numeric_limits<double>::max(), numeric_limits<double>::max() );
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}
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Mat warpPerspectiveRand( const Mat& src, Mat& dst, RNG* rng )
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{
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Mat H(3, 3, CV_32FC1);
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H.at<float>(0,0) = rng->uniform( 0.8f, 1.2f);
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H.at<float>(0,1) = rng->uniform(-0.1f, 0.1f);
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H.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*src.cols;
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H.at<float>(1,0) = rng->uniform(-0.1f, 0.1f);
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H.at<float>(1,1) = rng->uniform( 0.8f, 1.2f);
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H.at<float>(1,2) = rng->uniform(-0.1f, 0.3f)*src.rows;
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H.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f);
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H.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f);
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H.at<float>(2,2) = rng->uniform( 0.8f, 1.1f);
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warpPerspective( src, dst, H, src.size() );
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return H;
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}
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FeatureDetector* createDetector( const string& detectorType )
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{
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FeatureDetector* fd = 0;
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if( !detectorType.compare( "FAST" ) )
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{
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fd = new FastFeatureDetector( 10/*threshold*/, true/*nonmax_suppression*/ );
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}
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else if( !detectorType.compare( "STAR" ) )
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{
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fd = new StarFeatureDetector( 16/*max_size*/, 5/*response_threshold*/, 10/*line_threshold_projected*/,
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8/*line_threshold_binarized*/, 5/*suppress_nonmax_size*/ );
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}
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else if( !detectorType.compare( "SIFT" ) )
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{
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fd = new SiftFeatureDetector(SIFT::DetectorParams::GET_DEFAULT_THRESHOLD(),
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SIFT::DetectorParams::GET_DEFAULT_EDGE_THRESHOLD());
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}
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else if( !detectorType.compare( "SURF" ) )
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{
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fd = new SurfFeatureDetector( 100./*hessian_threshold*/, 3 /*octaves*/, 4/*octave_layers*/ );
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}
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else if( !detectorType.compare( "MSER" ) )
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{
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fd = new MserFeatureDetector( 5/*delta*/, 60/*min_area*/, 14400/*_max_area*/, 0.25f/*max_variation*/,
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0.2/*min_diversity*/, 200/*max_evolution*/, 1.01/*area_threshold*/, 0.003/*min_margin*/,
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5/*edge_blur_size*/ );
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}
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else if( !detectorType.compare( "GFTT" ) )
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{
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fd = new GoodFeaturesToTrackDetector( 1000/*maxCorners*/, 0.01/*qualityLevel*/, 1./*minDistance*/,
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3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ );
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}
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else
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assert(0);
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return fd;
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}
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GenericDescriptorMatch* createDescriptorMatch( const string& descriptorType )
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{
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GenericDescriptorMatch* de = 0;
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if( !descriptorType.compare( "SIFT" ) )
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{
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SiftDescriptorExtractor extractor/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(),
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bool isNormalize=true, bool recalculateAngles=true,
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int nOctaves=SIFT::CommonParams::DEFAULT_NOCTAVES,
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int nOctaveLayers=SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS,
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int firstOctave=SIFT::CommonParams::DEFAULT_FIRST_OCTAVE,
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int angleMode=SIFT::CommonParams::FIRST_ANGLE )*/;
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BruteForceMatcher<L2<float> > matcher;
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de = new VectorDescriptorMatch<SiftDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher);
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}
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else if( !descriptorType.compare( "SURF" ) )
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{
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SurfDescriptorExtractor extractor/*( int nOctaves=4,
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int nOctaveLayers=2, bool extended=false )*/;
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BruteForceMatcher<L2<float> > matcher;
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de = new VectorDescriptorMatch<SurfDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher);
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}
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else
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assert(0);
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return de;
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}
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void drawCorrespondences( const Mat& img1, const Mat& img2,
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const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2,
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const vector<int>& matches, Mat& drawImg, const Mat& H12 = Mat() )
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{
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Scalar RED = CV_RGB(255, 0, 0); // red keypoint - point without corresponding point
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Scalar GREEN = CV_RGB(0, 255, 0); // green keypoint - point having correct corresponding point
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Scalar BLUE = CV_RGB(0, 0, 255); // blue keypoint - point having incorrect corresponding point
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Size size(img1.cols + img2.cols, MAX(img1.rows, img2.rows));
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drawImg.create(size, CV_MAKETYPE(img1.depth(), 3));
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Mat drawImg1 = drawImg(Rect(0, 0, img1.cols, img1.rows));
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cvtColor(img1, drawImg1, CV_GRAY2RGB);
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Mat drawImg2 = drawImg(Rect(img1.cols, 0, img2.cols, img2.rows));
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cvtColor(img2, drawImg2, CV_GRAY2RGB);
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// draw keypoints
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for(vector<KeyPoint>::const_iterator it = keypoints1.begin(); it < keypoints1.end(); ++it )
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{
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circle(drawImg, it->pt, 3, RED);
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}
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for(vector<KeyPoint>::const_iterator it = keypoints2.begin(); it < keypoints2.end(); ++it )
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{
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Point p = it->pt;
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circle(drawImg, Point2f(p.x+img1.cols, p.y), 3, RED);
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}
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||||
|
||||
// draw matches
|
||||
vector<int>::const_iterator mit = matches.begin();
|
||||
assert( matches.size() == keypoints1.size() );
|
||||
for( int i1 = 0; mit != matches.end(); ++mit, i1++ )
|
||||
{
|
||||
Point2f pt1 = keypoints1[i1].pt,
|
||||
pt2 = keypoints2[*mit].pt,
|
||||
dpt2 = Point2f( std::min(pt2.x+img1.cols, float(drawImg.cols-1)), pt2.y);
|
||||
if( !H12.empty() )
|
||||
{
|
||||
if( norm(pt2 - applyHomography(H12, pt1)) > 3 )
|
||||
{
|
||||
circle(drawImg, pt1, 3, BLUE);
|
||||
circle(drawImg, dpt2, 3, BLUE);
|
||||
continue;
|
||||
}
|
||||
}
|
||||
circle(drawImg, pt1, 3, GREEN);
|
||||
circle(drawImg, dpt2, 3, GREEN);
|
||||
line(drawImg, pt1, dpt2, GREEN);
|
||||
}
|
||||
}
|
||||
|
||||
const string winName = "correspondences";
|
||||
|
||||
void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<KeyPoint>& keypoints1,
|
||||
Ptr<FeatureDetector>& detector, Ptr<GenericDescriptorMatch>& descriptor,
|
||||
double ransacReprojThreshold = -1, RNG* rng = 0 )
|
||||
{
|
||||
assert( !img1.empty() );
|
||||
Mat H12;
|
||||
if( isWarpPerspective )
|
||||
{
|
||||
assert( rng );
|
||||
H12 = warpPerspectiveRand(img1, img2, rng);
|
||||
}
|
||||
else
|
||||
assert( !img2.empty() && img2.cols==img1.cols && img2.rows== img1.rows );
|
||||
|
||||
cout << endl << "< Extracting keypoints from second image..." << endl;
|
||||
vector<KeyPoint> keypoints2;
|
||||
detector->detect( img2, keypoints2 );
|
||||
cout << keypoints2.size() << " >" << endl;
|
||||
|
||||
cout << "< Computing and matching descriptors..." << endl;
|
||||
vector<int> matches;
|
||||
//if( keypoints1.size()>0 && keypoints2.size()>0 )
|
||||
{
|
||||
descriptor->clear();
|
||||
descriptor->add( img2, keypoints2 );
|
||||
descriptor->match( img1, keypoints1, matches );
|
||||
}
|
||||
cout << ">" << endl;
|
||||
|
||||
if( !isWarpPerspective && ransacReprojThreshold >= 0 )
|
||||
{
|
||||
cout << "< Computing homography (RANSAC)..." << endl;
|
||||
vector<Point2f> points1(matches.size()), points2(matches.size());
|
||||
for( int i = 0; i < matches.size(); i++ )
|
||||
{
|
||||
points1[i] = keypoints1[i].pt;
|
||||
points2[i] = keypoints2[matches[i]].pt;
|
||||
}
|
||||
H12 = findHomography( Mat(points1), Mat(points2), CV_RANSAC, ransacReprojThreshold );
|
||||
cout << ">" << endl;
|
||||
}
|
||||
|
||||
Mat drawImg;
|
||||
drawCorrespondences( img1, img2, keypoints1, keypoints2, matches, drawImg, H12 );
|
||||
imshow( winName, drawImg );
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
if( argc != 4 && argc != 6 )
|
||||
{
|
||||
cout << "Format:" << endl;
|
||||
cout << "case1: second image is obtained from the first (given) image using random generated homography matrix" << endl;
|
||||
cout << argv[0] << " [detectorType] [descriptorType] [image1]" << endl;
|
||||
cout << "case2: both images are given. If ransacReprojThreshold>=0 then homography matrix are calculated" << endl;
|
||||
cout << argv[0] << " [detectorType] [descriptorType] [image1] [image2] [ransacReprojThreshold]" << endl;
|
||||
cout << endl << "Mathes are filtered using homography matrix in case1 and case2 (if ransacReprojThreshold>=0)" << endl;
|
||||
return 0;
|
||||
}
|
||||
bool isWarpPerspective = argc == 4;
|
||||
double ransacReprojThreshold = -1;
|
||||
if( !isWarpPerspective )
|
||||
ransacReprojThreshold = atof(argv[5]);
|
||||
|
||||
cout << "< Creating detector, descriptor..." << endl;
|
||||
Ptr<FeatureDetector> detector = createDetector(argv[1]);
|
||||
Ptr<GenericDescriptorMatch> descriptor = createDescriptorMatch(argv[2]);
|
||||
cout << ">" << endl;
|
||||
if( detector.empty() || descriptor.empty() )
|
||||
{
|
||||
cout << "Can not create detector or descriptor or matcher of given types" << endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
cout << "< Reading the images..." << endl;
|
||||
Mat img1 = imread( argv[3], CV_LOAD_IMAGE_GRAYSCALE), img2;
|
||||
if( !isWarpPerspective )
|
||||
img2 = imread( argv[4], CV_LOAD_IMAGE_GRAYSCALE);
|
||||
cout << ">" << endl;
|
||||
if( img1.empty() || (!isWarpPerspective && img2.empty()) )
|
||||
{
|
||||
cout << "Can not read images" << endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
cout << endl << "< Extracting keypoints from first image..." << endl;
|
||||
vector<KeyPoint> keypoints1;
|
||||
detector->detect( img1, keypoints1 );
|
||||
cout << keypoints1.size() << " >" << endl;
|
||||
|
||||
namedWindow(winName, 1);
|
||||
RNG rng;
|
||||
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng );
|
||||
for(;;)
|
||||
{
|
||||
char c = (char)cvWaitKey(0);
|
||||
if( c == '\x1b' ) // esc
|
||||
{
|
||||
cout << "Exiting ..." << endl;
|
||||
return 0;
|
||||
}
|
||||
else if( isWarpPerspective )
|
||||
{
|
||||
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng );
|
||||
}
|
||||
}
|
||||
waitKey(0);
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user