Added SURF_Homography sample codee

samples/cpp/tutorial_code/features2D/SURF_Homography.cpp

@@ -0,0 +1,129 @@
+/**
+ * @file SURF_Homography
+ * @brief SURF detector + descriptor + FLANN Matcher + FindHomography
+ * @author A. Huaman
+ */
+
+#include <stdio.h>
+#include <iostream>
+#include "opencv2/core/core.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+
+using namespace cv;
+
+void readme();
+
+/**
+ * @function main
+ * @brief Main function
+ */
+int main( int argc, char** argv )
+{
+  if( argc != 3 )
+  { readme(); return -1; }
+
+  Mat img_1 = imread( argv[1], CV_LOAD_IMAGE_GRAYSCALE );
+  Mat img_2 = imread( argv[2], CV_LOAD_IMAGE_GRAYSCALE );
+  
+  if( !img_1.data || !img_2.data )
+  { std::cout<< " --(!) Error reading images " << std::endl; return -1; }
+
+  //-- Step 1: Detect the keypoints using SURF Detector
+  int minHessian = 400;
+
+  SurfFeatureDetector detector( minHessian );
+
+  std::vector<KeyPoint> keypoints_1, keypoints_2;
+
+  detector.detect( img_1, keypoints_1 );
+  detector.detect( img_2, keypoints_2 );
+
+  //-- Step 2: Calculate descriptors (feature vectors)
+  SurfDescriptorExtractor extractor;
+
+  Mat descriptors_1, descriptors_2;
+
+  extractor.compute( img_1, keypoints_1, descriptors_1 );
+  extractor.compute( img_2, keypoints_2, descriptors_2 );
+
+  //-- Step 3: Matching descriptor vectors using FLANN matcher
+  FlannBasedMatcher matcher;
+  std::vector< DMatch > matches;
+  matcher.match( descriptors_1, descriptors_2, matches );
+
+  double max_dist = 0; double min_dist = 100;
+
+  //-- Quick calculation of max and min distances between keypoints
+  for( int i = 0; i < descriptors_1.rows; i++ )
+  { double dist = matches[i].distance;
+    if( dist < min_dist ) min_dist = dist;
+    if( dist > max_dist ) max_dist = dist;
+  }
+
+  printf("-- Max dist : %f \n", max_dist );
+  printf("-- Min dist : %f \n", min_dist );
+  
+  //-- Draw only "good" matches (i.e. whose distance is less than 3*min_dist )
+  std::vector< DMatch > good_matches;
+
+  for( int i = 0; i < descriptors_1.rows; i++ )
+  { if( matches[i].distance < 3*min_dist )
+    { good_matches.push_back( matches[i]); }
+  }  
+
+  Mat img_matches;
+  drawMatches( img_1, keypoints_1, img_2, keypoints_2, 
+               good_matches, img_matches, Scalar::all(-1), Scalar::all(-1), 
+               vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS ); 
+
+
+  //-- Localize the object from img_1 in img_2 
+  std::vector<Point2f> obj;
+  std::vector<Point2f> scene;
+
+  for( int i = 0; i < good_matches.size(); i++ )
+  {
+    //-- Get the keypoints from the good matches
+    obj.push_back( keypoints_1[ good_matches[i].queryIdx ].pt );
+    scene.push_back( keypoints_2[ good_matches[i].trainIdx ].pt ); 
+  }
+
+  Mat H = findHomography( obj, scene, CV_RANSAC );
+
+  //-- Get the corners from the image_1 ( the object to be "detected" )
+  Point2f obj_corners[4] = { cvPoint(0,0), cvPoint( img_1.cols, 0 ), cvPoint( img_1.cols, img_1.rows ), cvPoint( 0, img_1.rows ) };
+  Point scene_corners[4];
+
+  //-- Map these corners in the scene ( image_2)
+  for( int i = 0; i < 4; i++ )
+  {
+    double x = obj_corners[i].x; 
+    double y = obj_corners[i].y;
+
+    double Z = 1./( H.at<double>(2,0)*x + H.at<double>(2,1)*y + H.at<double>(2,2) );
+    double X = ( H.at<double>(0,0)*x + H.at<double>(0,1)*y + H.at<double>(0,2) )*Z;
+    double Y = ( H.at<double>(1,0)*x + H.at<double>(1,1)*y + H.at<double>(1,2) )*Z;
+    scene_corners[i] = cvPoint( cvRound(X) + img_1.cols, cvRound(Y) );
+  }  
+   
+  //-- Draw lines between the corners (the mapped object in the scene - image_2 )
+  line( img_matches, scene_corners[0], scene_corners[1], Scalar(0, 255, 0), 2 );
+  line( img_matches, scene_corners[1], scene_corners[2], Scalar( 0, 255, 0), 2 );
+  line( img_matches, scene_corners[2], scene_corners[3], Scalar( 0, 255, 0), 2 );
+  line( img_matches, scene_corners[3], scene_corners[0], Scalar( 0, 255, 0), 2 );
+
+  //-- Show detected matches
+  imshow( "Good Matches & Object detection", img_matches );
+
+  waitKey(0);
+
+  return 0;
+}
+
+/**
+ * @function readme
+ */
+void readme()
+{ std::cout << " Usage: ./SURF_descriptor <img1> <img2>" << std::endl; }