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modified keypoints_matching sample

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This commit is contained in:
Maria Dimashova 2010-06-10 12:13:35 +00:00
parent 8e53eb5cbe
commit d5ef5b88f0
1 changed files with 68 additions and 41 deletions
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109
samples/cpp/keypoints_matching.cpp
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@ -17,21 +17,20 @@ inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
return Point2f( numeric_limits<double>::max(), numeric_limits<double>::max() );
}
Mat warpPerspectiveRand( const Mat& src, Mat& dst, RNG* rng )
void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG* rng )
{
Mat H(3, 3, CV_32FC1);
H.create(3, 3, CV_32FC1);
H.at<float>(0,0) = rng->uniform( 0.8f, 1.2f);
H.at<float>(0,1) = rng->uniform(-0.1f, 0.1f);
H.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*src.cols;
H.at<float>(1,0) = rng->uniform(-0.1f, 0.1f);
H.at<float>(1,1) = rng->uniform( 0.8f, 1.2f);
H.at<float>(1,2) = rng->uniform(-0.1f, 0.3f)*src.rows;
H.at<float>(1,2) = rng->uniform(-0.1f, 0.1f)*src.rows;
H.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f);
H.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f);
H.at<float>(2,2) = rng->uniform( 0.8f, 1.1f);
H.at<float>(2,2) = rng->uniform( 0.8f, 1.2f);
warpPerspective( src, dst, H, src.size() );
return H;
}
FeatureDetector* createDetector( const string& detectorType )
@ -67,37 +66,50 @@ FeatureDetector* createDetector( const string& detectorType )
3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ );
}
else
assert(0);
{
//CV_Error( CV_StsBadArg, "unsupported feature detector type");
}
return fd;
}
GenericDescriptorMatch* createDescriptorMatch( const string& descriptorType )
DescriptorExtractor* createDescriptorExtractor( const string& descriptorExtractorType )
{
GenericDescriptorMatch* de = 0;
if( !descriptorType.compare( "SIFT" ) )
DescriptorExtractor* de = 0;
if( !descriptorExtractorType.compare( "SIFT" ) )
{
SiftDescriptorExtractor extractor/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(),
de = new SiftDescriptorExtractor/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(),
bool isNormalize=true, bool recalculateAngles=true,
int nOctaves=SIFT::CommonParams::DEFAULT_NOCTAVES,
int nOctaveLayers=SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS,
int firstOctave=SIFT::CommonParams::DEFAULT_FIRST_OCTAVE,
int angleMode=SIFT::CommonParams::FIRST_ANGLE )*/;
BruteForceMatcher<L2<float> > matcher;
de = new VectorDescriptorMatch<SiftDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher);
}
else if( !descriptorType.compare( "SURF" ) )
else if( !descriptorExtractorType.compare( "SURF" ) )
{
SurfDescriptorExtractor extractor/*( int nOctaves=4,
int nOctaveLayers=2, bool extended=false )*/;
BruteForceMatcher<L2<float> > matcher;
de = new VectorDescriptorMatch<SurfDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher);
de = new SurfDescriptorExtractor/*( int nOctaves=4, int nOctaveLayers=2, bool extended=false )*/;
}
else
assert(0);
{
//CV_Error( CV_StsBadArg, "unsupported descriptor extractor type");
}
return de;
}
DescriptorMatcher* createDescriptorMatcher( const string& descriptorMatcherType )
{
DescriptorMatcher* dm = 0;
if( !descriptorMatcherType.compare( "BruteForce" ) )
{
dm = new BruteForceMatcher<L2<float> >();
}
else
{
//CV_Error( CV_StsBadArg, "unsupported descriptor matcher type");
}
return dm;
}
void drawCorrespondences( const Mat& img1, const Mat& img2,
const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2,
const vector<int>& matches, Mat& drawImg, const Mat& H12 = Mat() )
@ -149,8 +161,10 @@ void drawCorrespondences( const Mat& img1, const Mat& img2,
const string winName = "correspondences";
void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<KeyPoint>& keypoints1,
Ptr<FeatureDetector>& detector, Ptr<GenericDescriptorMatch>& descriptor,
void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
const vector<KeyPoint>& keypoints1, const Mat& descriptors1,
Ptr<FeatureDetector>& detector, Ptr<DescriptorExtractor>& descriptorExtractor,
Ptr<DescriptorMatcher>& descriptorMatcher,
double ransacReprojThreshold = -1, RNG* rng = 0 )
{
assert( !img1.empty() );
@ -158,31 +172,33 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<Key
if( isWarpPerspective )
{
assert( rng );
H12 = warpPerspectiveRand(img1, img2, rng);
warpPerspectiveRand(img1, img2, H12, rng);
}
else
assert( !img2.empty() && img2.cols==img1.cols && img2.rows== img1.rows );
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;
cout << "< Computing descriptors for keypoints from second image..." << endl;
Mat descriptors2;
descriptorExtractor->compute( img2, keypoints2, descriptors2 );
cout << " >" << endl;
cout << "< Matching descriptors..." << endl;
vector<int> matches;
//if( keypoints1.size()>0 && keypoints2.size()>0 )
{
descriptor->clear();
descriptor->add( img2, keypoints2 );
descriptor->match( img1, keypoints1, matches );
}
descriptorMatcher->clear();
descriptorMatcher->add( descriptors2 );
descriptorMatcher->match( descriptors1, 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++ )
for( size_t i = 0; i < matches.size(); i++ )
{
points1[i] = keypoints1[i].pt;
points2[i] = keypoints2[matches[i]].pt;
@ -206,21 +222,22 @@ int main(int argc, char** argv)
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;
return -1;
}
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 << "< Creating detector, descriptor extractor and descriptor matcher ..." << endl;
Ptr<FeatureDetector> detector = createDetector( argv[1] );
Ptr<DescriptorExtractor> descriptorExtractor = createDescriptorExtractor( argv[2] );
Ptr<DescriptorMatcher> descriptorMatcher = createDescriptorMatcher( "BruteForce" );
cout << ">" << endl;
if( detector.empty() || descriptor.empty() )
if( detector.empty() || descriptorExtractor.empty() || descriptorMatcher.empty() )
{
cout << "Can not create detector or descriptor or matcher of given types" << endl;
return 0;
cout << "Can not create detector or descriptor exstractor or descriptor matcher of given types" << endl;
return -1;
}
cout << "< Reading the images..." << endl;
@ -231,7 +248,7 @@ int main(int argc, char** argv)
if( img1.empty() || (!isWarpPerspective && img2.empty()) )
{
cout << "Can not read images" << endl;
return 0;
return -1;
}
cout << endl << "< Extracting keypoints from first image..." << endl;
@ -239,9 +256,16 @@ int main(int argc, char** argv)
detector->detect( img1, keypoints1 );
cout << keypoints1.size() << " >" << endl;
cout << "< Computing descriptors for keypoints from first image..." << endl;
Mat descriptors1;
descriptorExtractor->compute( img1, keypoints1, descriptors1 );
cout << " >" << endl;
namedWindow(winName, 1);
RNG rng;
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng );
doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
ransacReprojThreshold, &rng );
for(;;)
{
char c = (char)cvWaitKey(0);
@ -252,8 +276,11 @@ int main(int argc, char** argv)
}
else if( isWarpPerspective )
{
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng );
doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
ransacReprojThreshold, &rng );
}
}
waitKey(0);
return 0;
}