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568 lines
20 KiB
C++
568 lines
20 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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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., 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 the copyright holders 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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#include "opencv2/core/opencl/ocl_defs.hpp"
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using namespace cv;
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using namespace cv::detail;
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using namespace cv::cuda;
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#ifdef HAVE_OPENCV_CUDAIMGPROC
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# include "opencv2/cudaimgproc.hpp"
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#endif
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namespace {
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struct DistIdxPair
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{
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bool operator<(const DistIdxPair &other) const { return dist < other.dist; }
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double dist;
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int idx;
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};
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struct MatchPairsBody : ParallelLoopBody
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{
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MatchPairsBody(FeaturesMatcher &_matcher, const std::vector<ImageFeatures> &_features,
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std::vector<MatchesInfo> &_pairwise_matches, std::vector<std::pair<int,int> > &_near_pairs)
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: matcher(_matcher), features(_features),
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pairwise_matches(_pairwise_matches), near_pairs(_near_pairs) {}
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void operator ()(const Range &r) const CV_OVERRIDE
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{
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cv::RNG rng = cv::theRNG(); // save entry rng state
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const int num_images = static_cast<int>(features.size());
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for (int i = r.start; i < r.end; ++i)
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{
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cv::theRNG() = cv::RNG(rng.state + i); // force "stable" RNG seed for each processed pair
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int from = near_pairs[i].first;
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int to = near_pairs[i].second;
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int pair_idx = from*num_images + to;
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matcher(features[from], features[to], pairwise_matches[pair_idx]);
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pairwise_matches[pair_idx].src_img_idx = from;
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pairwise_matches[pair_idx].dst_img_idx = to;
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size_t dual_pair_idx = to*num_images + from;
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pairwise_matches[dual_pair_idx] = pairwise_matches[pair_idx];
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pairwise_matches[dual_pair_idx].src_img_idx = to;
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pairwise_matches[dual_pair_idx].dst_img_idx = from;
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if (!pairwise_matches[pair_idx].H.empty())
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pairwise_matches[dual_pair_idx].H = pairwise_matches[pair_idx].H.inv();
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for (size_t j = 0; j < pairwise_matches[dual_pair_idx].matches.size(); ++j)
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std::swap(pairwise_matches[dual_pair_idx].matches[j].queryIdx,
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pairwise_matches[dual_pair_idx].matches[j].trainIdx);
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LOG(".");
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}
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}
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FeaturesMatcher &matcher;
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const std::vector<ImageFeatures> &features;
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std::vector<MatchesInfo> &pairwise_matches;
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std::vector<std::pair<int,int> > &near_pairs;
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private:
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void operator =(const MatchPairsBody&);
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};
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//////////////////////////////////////////////////////////////////////////////
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typedef std::set<std::pair<int,int> > MatchesSet;
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// These two classes are aimed to find features matches only, not to
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// estimate homography
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class CpuMatcher CV_FINAL : public FeaturesMatcher
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{
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public:
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CpuMatcher(float match_conf) : FeaturesMatcher(true), match_conf_(match_conf) {}
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void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) CV_OVERRIDE;
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private:
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float match_conf_;
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};
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#ifdef HAVE_OPENCV_CUDAFEATURES2D
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class GpuMatcher CV_FINAL : public FeaturesMatcher
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{
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public:
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GpuMatcher(float match_conf) : match_conf_(match_conf) {}
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void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info);
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void collectGarbage();
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private:
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float match_conf_;
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GpuMat descriptors1_, descriptors2_;
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GpuMat train_idx_, distance_, all_dist_;
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std::vector< std::vector<DMatch> > pair_matches;
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};
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#endif
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void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
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{
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CV_INSTRUMENT_REGION();
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CV_Assert(features1.descriptors.type() == features2.descriptors.type());
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CV_Assert(features2.descriptors.depth() == CV_8U || features2.descriptors.depth() == CV_32F);
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matches_info.matches.clear();
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Ptr<cv::DescriptorMatcher> matcher;
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#if 0 // TODO check this
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if (ocl::isOpenCLActivated())
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{
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matcher = makePtr<BFMatcher>((int)NORM_L2);
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}
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else
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#endif
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{
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Ptr<flann::IndexParams> indexParams = makePtr<flann::KDTreeIndexParams>();
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Ptr<flann::SearchParams> searchParams = makePtr<flann::SearchParams>();
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if (features2.descriptors.depth() == CV_8U)
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{
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indexParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
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searchParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
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}
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matcher = makePtr<FlannBasedMatcher>(indexParams, searchParams);
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}
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std::vector< std::vector<DMatch> > pair_matches;
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MatchesSet matches;
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// Find 1->2 matches
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matcher->knnMatch(features1.descriptors, features2.descriptors, pair_matches, 2);
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for (size_t i = 0; i < pair_matches.size(); ++i)
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{
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if (pair_matches[i].size() < 2)
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continue;
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const DMatch& m0 = pair_matches[i][0];
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const DMatch& m1 = pair_matches[i][1];
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if (m0.distance < (1.f - match_conf_) * m1.distance)
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{
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matches_info.matches.push_back(m0);
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matches.insert(std::make_pair(m0.queryIdx, m0.trainIdx));
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}
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}
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LOG("\n1->2 matches: " << matches_info.matches.size() << endl);
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// Find 2->1 matches
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pair_matches.clear();
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matcher->knnMatch(features2.descriptors, features1.descriptors, pair_matches, 2);
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for (size_t i = 0; i < pair_matches.size(); ++i)
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{
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if (pair_matches[i].size() < 2)
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continue;
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const DMatch& m0 = pair_matches[i][0];
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const DMatch& m1 = pair_matches[i][1];
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if (m0.distance < (1.f - match_conf_) * m1.distance)
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if (matches.find(std::make_pair(m0.trainIdx, m0.queryIdx)) == matches.end())
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matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
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}
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LOG("1->2 & 2->1 matches: " << matches_info.matches.size() << endl);
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}
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#ifdef HAVE_OPENCV_CUDAFEATURES2D
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void GpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
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{
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CV_INSTRUMENT_REGION();
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matches_info.matches.clear();
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ensureSizeIsEnough(features1.descriptors.size(), features1.descriptors.type(), descriptors1_);
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ensureSizeIsEnough(features2.descriptors.size(), features2.descriptors.type(), descriptors2_);
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descriptors1_.upload(features1.descriptors);
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descriptors2_.upload(features2.descriptors);
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//TODO: NORM_L1 allows to avoid matcher crashes for ORB features, but is not absolutely correct for them.
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// The best choice for ORB features is NORM_HAMMING, but it is incorrect for SURF features.
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// More accurate fix in this place should be done in the future -- the type of the norm
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// should be either a parameter of this method, or a field of the class.
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Ptr<cuda::DescriptorMatcher> matcher = cuda::DescriptorMatcher::createBFMatcher(NORM_L1);
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MatchesSet matches;
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// Find 1->2 matches
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pair_matches.clear();
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matcher->knnMatch(descriptors1_, descriptors2_, pair_matches, 2);
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for (size_t i = 0; i < pair_matches.size(); ++i)
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{
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if (pair_matches[i].size() < 2)
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continue;
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const DMatch& m0 = pair_matches[i][0];
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const DMatch& m1 = pair_matches[i][1];
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if (m0.distance < (1.f - match_conf_) * m1.distance)
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{
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matches_info.matches.push_back(m0);
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matches.insert(std::make_pair(m0.queryIdx, m0.trainIdx));
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}
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}
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// Find 2->1 matches
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pair_matches.clear();
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matcher->knnMatch(descriptors2_, descriptors1_, pair_matches, 2);
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for (size_t i = 0; i < pair_matches.size(); ++i)
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{
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if (pair_matches[i].size() < 2)
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continue;
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const DMatch& m0 = pair_matches[i][0];
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const DMatch& m1 = pair_matches[i][1];
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if (m0.distance < (1.f - match_conf_) * m1.distance)
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if (matches.find(std::make_pair(m0.trainIdx, m0.queryIdx)) == matches.end())
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matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
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}
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}
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void GpuMatcher::collectGarbage()
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{
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descriptors1_.release();
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descriptors2_.release();
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train_idx_.release();
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distance_.release();
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all_dist_.release();
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std::vector< std::vector<DMatch> >().swap(pair_matches);
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}
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#endif
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} // namespace
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namespace cv {
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namespace detail {
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void computeImageFeatures(
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const Ptr<Feature2D> &featuresFinder,
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InputArrayOfArrays images,
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std::vector<ImageFeatures> &features,
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InputArrayOfArrays masks)
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{
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// compute all features
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std::vector<std::vector<KeyPoint>> keypoints;
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std::vector<UMat> descriptors;
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// TODO replace with 1 call to new over load of detectAndCompute
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featuresFinder->detect(images, keypoints, masks);
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featuresFinder->compute(images, keypoints, descriptors);
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// store to ImageFeatures
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size_t count = images.total();
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features.resize(count);
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CV_Assert(count == keypoints.size() && count == descriptors.size());
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for (size_t i = 0; i < count; ++i)
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{
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features[i].img_size = images.size(int(i));
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features[i].keypoints = std::move(keypoints[i]);
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features[i].descriptors = std::move(descriptors[i]);
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}
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}
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void computeImageFeatures(
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const Ptr<Feature2D> &featuresFinder,
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InputArray image,
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ImageFeatures &features,
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InputArray mask)
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{
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features.img_size = image.size();
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featuresFinder->detectAndCompute(image, mask, features.keypoints, features.descriptors);
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}
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//////////////////////////////////////////////////////////////////////////////
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MatchesInfo::MatchesInfo() : src_img_idx(-1), dst_img_idx(-1), num_inliers(0), confidence(0) {}
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MatchesInfo::MatchesInfo(const MatchesInfo &other) { *this = other; }
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MatchesInfo& MatchesInfo::operator =(const MatchesInfo &other)
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{
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src_img_idx = other.src_img_idx;
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dst_img_idx = other.dst_img_idx;
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matches = other.matches;
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inliers_mask = other.inliers_mask;
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num_inliers = other.num_inliers;
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H = other.H.clone();
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confidence = other.confidence;
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return *this;
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}
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//////////////////////////////////////////////////////////////////////////////
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void FeaturesMatcher::operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
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const UMat &mask)
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{
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const int num_images = static_cast<int>(features.size());
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CV_Assert(mask.empty() || (mask.type() == CV_8U && mask.cols == num_images && mask.rows));
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Mat_<uchar> mask_(mask.getMat(ACCESS_READ));
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if (mask_.empty())
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mask_ = Mat::ones(num_images, num_images, CV_8U);
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std::vector<std::pair<int,int> > near_pairs;
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for (int i = 0; i < num_images - 1; ++i)
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for (int j = i + 1; j < num_images; ++j)
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if (features[i].keypoints.size() > 0 && features[j].keypoints.size() > 0 && mask_(i, j))
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near_pairs.push_back(std::make_pair(i, j));
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pairwise_matches.clear(); // clear history values
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pairwise_matches.resize(num_images * num_images);
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MatchPairsBody body(*this, features, pairwise_matches, near_pairs);
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if (is_thread_safe_)
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parallel_for_(Range(0, static_cast<int>(near_pairs.size())), body);
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else
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body(Range(0, static_cast<int>(near_pairs.size())));
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LOGLN_CHAT("");
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}
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//////////////////////////////////////////////////////////////////////////////
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BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
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{
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CV_UNUSED(try_use_gpu);
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#ifdef HAVE_OPENCV_CUDAFEATURES2D
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if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
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{
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impl_ = makePtr<GpuMatcher>(match_conf);
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}
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else
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#endif
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{
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impl_ = makePtr<CpuMatcher>(match_conf);
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}
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is_thread_safe_ = impl_->isThreadSafe();
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num_matches_thresh1_ = num_matches_thresh1;
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num_matches_thresh2_ = num_matches_thresh2;
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}
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Ptr<BestOf2NearestMatcher> BestOf2NearestMatcher::create(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
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{
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return makePtr<BestOf2NearestMatcher>(try_use_gpu, match_conf, num_matches_thresh1, num_matches_thresh2);
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}
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void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2,
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MatchesInfo &matches_info)
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{
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CV_INSTRUMENT_REGION();
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(*impl_)(features1, features2, matches_info);
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// Check if it makes sense to find homography
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if (matches_info.matches.size() < static_cast<size_t>(num_matches_thresh1_))
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return;
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// Construct point-point correspondences for homography estimation
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Mat src_points(1, static_cast<int>(matches_info.matches.size()), CV_32FC2);
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Mat dst_points(1, static_cast<int>(matches_info.matches.size()), CV_32FC2);
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for (size_t i = 0; i < matches_info.matches.size(); ++i)
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{
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const DMatch& m = matches_info.matches[i];
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Point2f p = features1.keypoints[m.queryIdx].pt;
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p.x -= features1.img_size.width * 0.5f;
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p.y -= features1.img_size.height * 0.5f;
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src_points.at<Point2f>(0, static_cast<int>(i)) = p;
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p = features2.keypoints[m.trainIdx].pt;
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p.x -= features2.img_size.width * 0.5f;
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p.y -= features2.img_size.height * 0.5f;
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dst_points.at<Point2f>(0, static_cast<int>(i)) = p;
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}
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// Find pair-wise motion
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matches_info.H = findHomography(src_points, dst_points, matches_info.inliers_mask, RANSAC);
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if (matches_info.H.empty() || std::abs(determinant(matches_info.H)) < std::numeric_limits<double>::epsilon())
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return;
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// Find number of inliers
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matches_info.num_inliers = 0;
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for (size_t i = 0; i < matches_info.inliers_mask.size(); ++i)
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if (matches_info.inliers_mask[i])
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matches_info.num_inliers++;
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// These coeffs are from paper M. Brown and D. Lowe. "Automatic Panoramic Image Stitching
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// using Invariant Features"
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matches_info.confidence = matches_info.num_inliers / (8 + 0.3 * matches_info.matches.size());
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// Set zero confidence to remove matches between too close images, as they don't provide
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// additional information anyway. The threshold was set experimentally.
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matches_info.confidence = matches_info.confidence > 3. ? 0. : matches_info.confidence;
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// Check if we should try to refine motion
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if (matches_info.num_inliers < num_matches_thresh2_)
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return;
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// Construct point-point correspondences for inliers only
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src_points.create(1, matches_info.num_inliers, CV_32FC2);
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dst_points.create(1, matches_info.num_inliers, CV_32FC2);
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int inlier_idx = 0;
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for (size_t i = 0; i < matches_info.matches.size(); ++i)
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{
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if (!matches_info.inliers_mask[i])
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continue;
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const DMatch& m = matches_info.matches[i];
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Point2f p = features1.keypoints[m.queryIdx].pt;
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p.x -= features1.img_size.width * 0.5f;
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p.y -= features1.img_size.height * 0.5f;
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src_points.at<Point2f>(0, inlier_idx) = p;
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p = features2.keypoints[m.trainIdx].pt;
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p.x -= features2.img_size.width * 0.5f;
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p.y -= features2.img_size.height * 0.5f;
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dst_points.at<Point2f>(0, inlier_idx) = p;
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inlier_idx++;
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}
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// Rerun motion estimation on inliers only
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matches_info.H = findHomography(src_points, dst_points, RANSAC);
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}
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void BestOf2NearestMatcher::collectGarbage()
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{
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impl_->collectGarbage();
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}
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BestOf2NearestRangeMatcher::BestOf2NearestRangeMatcher(int range_width, bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2): BestOf2NearestMatcher(try_use_gpu, match_conf, num_matches_thresh1, num_matches_thresh2)
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{
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range_width_ = range_width;
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}
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|
|
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void BestOf2NearestRangeMatcher::operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
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const UMat &mask)
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{
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const int num_images = static_cast<int>(features.size());
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|
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CV_Assert(mask.empty() || (mask.type() == CV_8U && mask.cols == num_images && mask.rows));
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Mat_<uchar> mask_(mask.getMat(ACCESS_READ));
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if (mask_.empty())
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mask_ = Mat::ones(num_images, num_images, CV_8U);
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|
|
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std::vector<std::pair<int,int> > near_pairs;
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for (int i = 0; i < num_images - 1; ++i)
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|
for (int j = i + 1; j < std::min(num_images, i + range_width_); ++j)
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if (features[i].keypoints.size() > 0 && features[j].keypoints.size() > 0 && mask_(i, j))
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near_pairs.push_back(std::make_pair(i, j));
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|
|
|
pairwise_matches.resize(num_images * num_images);
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MatchPairsBody body(*this, features, pairwise_matches, near_pairs);
|
|
|
|
if (is_thread_safe_)
|
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parallel_for_(Range(0, static_cast<int>(near_pairs.size())), body);
|
|
else
|
|
body(Range(0, static_cast<int>(near_pairs.size())));
|
|
LOGLN_CHAT("");
|
|
}
|
|
|
|
|
|
void AffineBestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2,
|
|
MatchesInfo &matches_info)
|
|
{
|
|
(*impl_)(features1, features2, matches_info);
|
|
|
|
// Check if it makes sense to find transform
|
|
if (matches_info.matches.size() < static_cast<size_t>(num_matches_thresh1_))
|
|
return;
|
|
|
|
// Construct point-point correspondences for transform estimation
|
|
Mat src_points(1, static_cast<int>(matches_info.matches.size()), CV_32FC2);
|
|
Mat dst_points(1, static_cast<int>(matches_info.matches.size()), CV_32FC2);
|
|
for (size_t i = 0; i < matches_info.matches.size(); ++i)
|
|
{
|
|
const cv::DMatch &m = matches_info.matches[i];
|
|
src_points.at<Point2f>(0, static_cast<int>(i)) = features1.keypoints[m.queryIdx].pt;
|
|
dst_points.at<Point2f>(0, static_cast<int>(i)) = features2.keypoints[m.trainIdx].pt;
|
|
}
|
|
|
|
// Find pair-wise motion
|
|
if (full_affine_)
|
|
matches_info.H = estimateAffine2D(src_points, dst_points, matches_info.inliers_mask);
|
|
else
|
|
matches_info.H = estimateAffinePartial2D(src_points, dst_points, matches_info.inliers_mask);
|
|
|
|
if (matches_info.H.empty()) {
|
|
// could not find transformation
|
|
matches_info.confidence = 0;
|
|
matches_info.num_inliers = 0;
|
|
return;
|
|
}
|
|
|
|
// Find number of inliers
|
|
matches_info.num_inliers = 0;
|
|
for (size_t i = 0; i < matches_info.inliers_mask.size(); ++i)
|
|
if (matches_info.inliers_mask[i])
|
|
matches_info.num_inliers++;
|
|
|
|
// These coeffs are from paper M. Brown and D. Lowe. "Automatic Panoramic
|
|
// Image Stitching using Invariant Features"
|
|
matches_info.confidence =
|
|
matches_info.num_inliers / (8 + 0.3 * matches_info.matches.size());
|
|
|
|
/* should we remove matches between too close images? */
|
|
// matches_info.confidence = matches_info.confidence > 3. ? 0. : matches_info.confidence;
|
|
|
|
// extend H to represent linear transformation in homogeneous coordinates
|
|
matches_info.H.push_back(Mat::zeros(1, 3, CV_64F));
|
|
matches_info.H.at<double>(2, 2) = 1;
|
|
}
|
|
|
|
|
|
} // namespace detail
|
|
} // namespace cv
|