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247 lines
9.8 KiB
C++
247 lines
9.8 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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const int draw_shift_bits = 4;
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const int draw_multiplier = 1 << draw_shift_bits;
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namespace cv
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{
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/*
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* Functions to draw keypoints and matches.
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*/
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static inline void _drawKeypoint( InputOutputArray img, const KeyPoint& p, const Scalar& color, int flags )
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{
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CV_Assert( !img.empty() );
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Point center( cvRound(p.pt.x * draw_multiplier), cvRound(p.pt.y * draw_multiplier) );
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if( flags & DrawMatchesFlags::DRAW_RICH_KEYPOINTS )
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{
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int radius = cvRound(p.size/2 * draw_multiplier); // KeyPoint::size is a diameter
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// draw the circles around keypoints with the keypoints size
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circle( img, center, radius, color, 1, LINE_AA, draw_shift_bits );
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// draw orientation of the keypoint, if it is applicable
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if( p.angle != -1 )
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{
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float srcAngleRad = p.angle*(float)CV_PI/180.f;
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Point orient( cvRound(cos(srcAngleRad)*radius ),
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cvRound(sin(srcAngleRad)*radius )
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);
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line( img, center, center+orient, color, 1, LINE_AA, draw_shift_bits );
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}
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#if 0
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else
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{
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// draw center with R=1
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int radius = 1 * draw_multiplier;
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circle( img, center, radius, color, 1, LINE_AA, draw_shift_bits );
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}
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#endif
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}
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else
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{
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// draw center with R=3
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int radius = 3 * draw_multiplier;
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circle( img, center, radius, color, 1, LINE_AA, draw_shift_bits );
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}
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}
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void drawKeypoints( InputArray image, const std::vector<KeyPoint>& keypoints, InputOutputArray outImage,
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const Scalar& _color, int flags )
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{
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if( !(flags & DrawMatchesFlags::DRAW_OVER_OUTIMG) )
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{
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if( image.type() == CV_8UC3 )
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{
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image.copyTo( outImage );
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}
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else if( image.type() == CV_8UC1 )
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{
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cvtColor( image, outImage, COLOR_GRAY2BGR );
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}
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else
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{
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CV_Error( Error::StsBadArg, "Incorrect type of input image.\n" );
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}
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}
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RNG& rng=theRNG();
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bool isRandColor = _color == Scalar::all(-1);
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CV_Assert( !outImage.empty() );
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std::vector<KeyPoint>::const_iterator it = keypoints.begin(),
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end = keypoints.end();
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for( ; it != end; ++it )
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{
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Scalar color = isRandColor ? Scalar(rng(256), rng(256), rng(256)) : _color;
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_drawKeypoint( outImage, *it, color, flags );
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}
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}
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static void _prepareImgAndDrawKeypoints( InputArray img1, const std::vector<KeyPoint>& keypoints1,
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InputArray img2, const std::vector<KeyPoint>& keypoints2,
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InputOutputArray _outImg, Mat& outImg1, Mat& outImg2,
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const Scalar& singlePointColor, int flags )
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{
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Mat outImg;
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Size img1size = img1.size(), img2size = img2.size();
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Size size( img1size.width + img2size.width, MAX(img1size.height, img2size.height) );
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if( flags & DrawMatchesFlags::DRAW_OVER_OUTIMG )
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{
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outImg = _outImg.getMat();
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if( size.width > outImg.cols || size.height > outImg.rows )
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CV_Error( Error::StsBadSize, "outImg has size less than need to draw img1 and img2 together" );
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outImg1 = outImg( Rect(0, 0, img1size.width, img1size.height) );
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outImg2 = outImg( Rect(img1size.width, 0, img2size.width, img2size.height) );
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}
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else
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{
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_outImg.create( size, CV_MAKETYPE(img1.depth(), 3) );
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outImg = _outImg.getMat();
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outImg = Scalar::all(0);
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outImg1 = outImg( Rect(0, 0, img1size.width, img1size.height) );
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outImg2 = outImg( Rect(img1size.width, 0, img2size.width, img2size.height) );
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if( img1.type() == CV_8U )
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cvtColor( img1, outImg1, COLOR_GRAY2BGR );
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else
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img1.copyTo( outImg1 );
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if( img2.type() == CV_8U )
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cvtColor( img2, outImg2, COLOR_GRAY2BGR );
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else
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img2.copyTo( outImg2 );
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}
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// draw keypoints
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if( !(flags & DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS) )
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{
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Mat _outImg1 = outImg( Rect(0, 0, img1size.width, img1size.height) );
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drawKeypoints( _outImg1, keypoints1, _outImg1, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
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Mat _outImg2 = outImg( Rect(img1size.width, 0, img2size.width, img2size.height) );
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drawKeypoints( _outImg2, keypoints2, _outImg2, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
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}
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}
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static inline void _drawMatch( InputOutputArray outImg, InputOutputArray outImg1, InputOutputArray outImg2 ,
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const KeyPoint& kp1, const KeyPoint& kp2, const Scalar& matchColor, int flags )
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{
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RNG& rng = theRNG();
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bool isRandMatchColor = matchColor == Scalar::all(-1);
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Scalar color = isRandMatchColor ? Scalar( rng(256), rng(256), rng(256) ) : matchColor;
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_drawKeypoint( outImg1, kp1, color, flags );
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_drawKeypoint( outImg2, kp2, color, flags );
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Point2f pt1 = kp1.pt,
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pt2 = kp2.pt,
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dpt2 = Point2f( std::min(pt2.x+outImg1.size().width, float(outImg.size().width-1)), pt2.y );
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line( outImg,
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Point(cvRound(pt1.x*draw_multiplier), cvRound(pt1.y*draw_multiplier)),
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Point(cvRound(dpt2.x*draw_multiplier), cvRound(dpt2.y*draw_multiplier)),
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color, 1, LINE_AA, draw_shift_bits );
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}
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void drawMatches( InputArray img1, const std::vector<KeyPoint>& keypoints1,
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InputArray img2, const std::vector<KeyPoint>& keypoints2,
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const std::vector<DMatch>& matches1to2, InputOutputArray outImg,
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const Scalar& matchColor, const Scalar& singlePointColor,
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const std::vector<char>& matchesMask, int flags )
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{
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if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
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CV_Error( Error::StsBadSize, "matchesMask must have the same size as matches1to2" );
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Mat outImg1, outImg2;
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_prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
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outImg, outImg1, outImg2, singlePointColor, flags );
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// draw matches
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for( size_t m = 0; m < matches1to2.size(); m++ )
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{
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if( matchesMask.empty() || matchesMask[m] )
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{
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int i1 = matches1to2[m].queryIdx;
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int i2 = matches1to2[m].trainIdx;
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CV_Assert(i1 >= 0 && i1 < static_cast<int>(keypoints1.size()));
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CV_Assert(i2 >= 0 && i2 < static_cast<int>(keypoints2.size()));
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const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
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_drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
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}
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}
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}
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void drawMatches( InputArray img1, const std::vector<KeyPoint>& keypoints1,
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InputArray img2, const std::vector<KeyPoint>& keypoints2,
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const std::vector<std::vector<DMatch> >& matches1to2, InputOutputArray outImg,
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const Scalar& matchColor, const Scalar& singlePointColor,
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const std::vector<std::vector<char> >& matchesMask, int flags )
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{
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if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
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CV_Error( Error::StsBadSize, "matchesMask must have the same size as matches1to2" );
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Mat outImg1, outImg2;
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_prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
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outImg, outImg1, outImg2, singlePointColor, flags );
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// draw matches
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for( size_t i = 0; i < matches1to2.size(); i++ )
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{
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for( size_t j = 0; j < matches1to2[i].size(); j++ )
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{
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int i1 = matches1to2[i][j].queryIdx;
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int i2 = matches1to2[i][j].trainIdx;
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if( matchesMask.empty() || matchesMask[i][j] )
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{
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const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
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_drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
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}
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}
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}
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}
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}
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