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583a08d5
编写于
5月 26, 2010
作者:
M
Maria Dimashova
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电子邮件补丁
差异文件
removed old sample on keypoints matching and added new one
上级
045402e4
变更
4
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Showing
4 changed file
with
260 addition
and
260 deletion
+260
-260
samples/c/CMakeLists.txt
samples/c/CMakeLists.txt
+0
-1
samples/c/detectors_sample.cpp
samples/c/detectors_sample.cpp
+0
-259
samples/cpp/CMakeLists.txt
samples/cpp/CMakeLists.txt
+1
-0
samples/cpp/keypoints_matching.cpp
samples/cpp/keypoints_matching.cpp
+259
-0
未找到文件。
samples/c/CMakeLists.txt
浏览文件 @
583a08d5
...
...
@@ -48,7 +48,6 @@ if (BUILD_EXAMPLES)
MY_DEFINE_EXAMPLE
(
convexhull convexhull.c
)
MY_DEFINE_EXAMPLE
(
delaunay delaunay.c
)
MY_DEFINE_EXAMPLE
(
demhist demhist.c
)
MY_DEFINE_EXAMPLE
(
detectors_sample detectors_sample.cpp
)
MY_DEFINE_EXAMPLE
(
dft dft.c
)
MY_DEFINE_EXAMPLE
(
distrans distrans.c
)
MY_DEFINE_EXAMPLE
(
drawing drawing.c
)
...
...
samples/c/detectors_sample.cpp
已删除
100644 → 0
浏览文件 @
045402e4
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>
#include <iostream>
using
namespace
cv
;
using
namespace
std
;
inline
Point2f
applyHomography
(
const
Mat_
<
double
>&
H
,
const
Point2f
&
pt
)
{
double
w
=
1.
/
(
H
(
2
,
0
)
*
pt
.
x
+
H
(
2
,
1
)
*
pt
.
y
+
H
(
2
,
2
));
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
)
);
}
void
drawCorrespondences
(
const
Mat
&
img1
,
const
Mat
&
img2
,
const
Mat
&
transfMtr
,
const
vector
<
KeyPoint
>&
keypoints1
,
const
vector
<
KeyPoint
>&
keypoints2
,
const
vector
<
int
>&
matches
,
float
maxDist
,
Mat
&
drawImg
)
{
Scalar
RED
=
CV_RGB
(
255
,
0
,
0
);
Scalar
PINK
=
CV_RGB
(
255
,
130
,
230
);
Scalar
GREEN
=
CV_RGB
(
0
,
255
,
0
);
Scalar
BLUE
=
CV_RGB
(
0
,
0
,
255
);
/* Output:
red point - point without corresponding point;
grean point - point having correct corresponding point;
pink point - point having incorrect corresponding point, but excised by threshold of distance;
blue point - point having incorrect corresponding point;
*/
Size
size
(
img1
.
cols
+
img2
.
cols
,
MAX
(
img1
.
rows
,
img2
.
rows
));
drawImg
.
create
(
size
,
CV_MAKETYPE
(
img1
.
depth
(),
3
));
Mat
drawImg1
=
drawImg
(
Rect
(
0
,
0
,
img1
.
cols
,
img1
.
rows
));
cvtColor
(
img1
,
drawImg1
,
CV_GRAY2RGB
);
Mat
drawImg2
=
drawImg
(
Rect
(
img1
.
cols
,
0
,
img2
.
cols
,
img2
.
rows
));
cvtColor
(
img2
,
drawImg2
,
CV_GRAY2RGB
);
for
(
vector
<
KeyPoint
>::
const_iterator
it
=
keypoints1
.
begin
();
it
<
keypoints1
.
end
();
++
it
)
{
circle
(
drawImg
,
it
->
pt
,
3
,
RED
);
}
for
(
vector
<
KeyPoint
>::
const_iterator
it
=
keypoints2
.
begin
();
it
<
keypoints2
.
end
();
++
it
)
{
Point
p
=
it
->
pt
;
circle
(
drawImg
,
Point2f
(
p
.
x
+
img1
.
cols
,
p
.
y
),
3
,
RED
);
}
Mat
vec1
(
3
,
1
,
CV_32FC1
),
vec2
;
float
err
=
3
;
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
;
Point2f
diff
=
applyHomography
(
transfMtr
,
pt1
)
-
pt2
;
if
(
norm
(
diff
)
<
err
)
{
circle
(
drawImg
,
pt1
,
3
,
GREEN
);
circle
(
drawImg
,
Point2f
(
pt2
.
x
+
img1
.
cols
,
pt2
.
y
),
3
,
GREEN
);
line
(
drawImg
,
pt1
,
Point2f
(
pt2
.
x
+
img1
.
cols
,
pt2
.
y
),
GREEN
);
}
else
{
/*if( *dit > maxDist )
{
circle(drawImg, pt1, 3, PINK);
circle(drawImg, Point2f(pt2.x+img1.cols, pt2.y), 3, PINK);
}
// TODO add key point filter
else*/
{
circle
(
drawImg
,
pt1
,
3
,
BLUE
);
circle
(
drawImg
,
Point2f
(
pt2
.
x
+
img1
.
cols
,
pt2
.
y
),
3
,
BLUE
);
line
(
drawImg
,
pt1
,
Point2f
(
pt2
.
x
+
img1
.
cols
,
pt2
.
y
),
BLUE
);
}
}
}
}
FeatureDetector
*
createDetector
(
const
string
&
detectorType
)
{
FeatureDetector
*
fd
=
0
;
if
(
!
detectorType
.
compare
(
"FAST"
)
)
{
fd
=
new
FastFeatureDetector
(
1
/*threshold*/
,
true
/*nonmax_suppression*/
);
}
else
if
(
!
detectorType
.
compare
(
"STAR"
)
)
{
fd
=
new
StarFeatureDetector
(
16
/*max_size*/
,
30
/*response_threshold*/
,
10
/*line_threshold_projected*/
,
8
/*line_threshold_binarized*/
,
5
/*suppress_nonmax_size*/
);
}
else
if
(
!
detectorType
.
compare
(
"SIFT"
)
)
{
fd
=
new
SiftFeatureDetector
(
SIFT
::
DetectorParams
::
GET_DEFAULT_THRESHOLD
(),
SIFT
::
DetectorParams
::
GET_DEFAULT_EDGE_THRESHOLD
());
}
else
if
(
!
detectorType
.
compare
(
"SURF"
)
)
{
fd
=
new
SurfFeatureDetector
(
400.
/*hessian_threshold*/
,
3
/*octaves*/
,
4
/*octave_layers*/
);
}
else
if
(
!
detectorType
.
compare
(
"MSER"
)
)
{
fd
=
new
MserFeatureDetector
(
5
/*delta*/
,
60
/*min_area*/
,
14400
/*_max_area*/
,
0.25
f
/*max_variation*/
,
0.2
/*min_diversity*/
,
200
/*max_evolution*/
,
1.01
/*area_threshold*/
,
0.003
/*min_margin*/
,
5
/*edge_blur_size*/
);
}
else
if
(
!
detectorType
.
compare
(
"GFTT"
)
)
{
fd
=
new
GoodFeaturesToTrackDetector
(
1000
/*maxCorners*/
,
0.01
/*qualityLevel*/
,
1.
/*minDistance*/
,
3
/*int _blockSize*/
,
true
/*useHarrisDetector*/
,
0.04
/*k*/
);
}
else
fd
=
0
;
return
fd
;
}
DescriptorExtractor
*
createDescExtractor
(
const
string
&
descriptorType
)
{
DescriptorExtractor
*
de
=
0
;
if
(
!
descriptorType
.
compare
(
"CALONDER"
)
)
{
assert
(
0
);
//de = new CalonderDescriptorExtractor<float>("");
}
else
if
(
!
descriptorType
.
compare
(
"SURF"
)
)
{
de
=
new
SurfDescriptorExtractor
(
3
/*octaves*/
,
4
/*octave_layers*/
,
false
/*extended*/
);
}
else
de
=
0
;
return
de
;
}
DescriptorMatcher
*
createDescMatcher
(
const
string
&
matherType
=
string
()
)
{
return
new
BruteForceMatcher
<
L2
<
float
>
>
();
}
const
string
DETECTOR_TYPE_STR
=
"detector_type"
;
const
string
DESCRIPTOR_TYPE_STR
=
"descriptor_type"
;
const
string
winName
=
"correspondences"
;
void
iter
(
Ptr
<
FeatureDetector
>
detector
,
Ptr
<
DescriptorExtractor
>
descriptor
,
const
Mat
&
img1
,
float
maxDist
,
Mat
&
transfMtr
,
RNG
*
rng
=
0
)
{
if
(
transfMtr
.
empty
()
)
transfMtr
=
Mat
::
eye
(
3
,
3
,
CV_32FC1
);
if
(
rng
)
{
transfMtr
.
at
<
float
>
(
0
,
0
)
=
rng
->
uniform
(
0.7
f
,
1.3
f
);
transfMtr
.
at
<
float
>
(
0
,
1
)
=
rng
->
uniform
(
-
0.2
f
,
0.2
f
);
transfMtr
.
at
<
float
>
(
0
,
2
)
=
rng
->
uniform
(
-
0.1
f
,
0.1
f
)
*
img1
.
cols
;
transfMtr
.
at
<
float
>
(
1
,
0
)
=
rng
->
uniform
(
-
0.2
f
,
0.2
f
);
transfMtr
.
at
<
float
>
(
1
,
1
)
=
rng
->
uniform
(
0.7
f
,
1.3
f
);
transfMtr
.
at
<
float
>
(
1
,
2
)
=
rng
->
uniform
(
-
0.1
f
,
0.3
f
)
*
img1
.
rows
;
transfMtr
.
at
<
float
>
(
2
,
0
)
=
rng
->
uniform
(
-
1e-4
f
,
1e-4
f
);
transfMtr
.
at
<
float
>
(
2
,
1
)
=
rng
->
uniform
(
-
1e-4
f
,
1e-4
f
);
transfMtr
.
at
<
float
>
(
2
,
2
)
=
rng
->
uniform
(
0.7
f
,
1.3
f
);
}
Mat
img2
;
warpPerspective
(
img1
,
img2
,
transfMtr
,
img1
.
size
()
);
cout
<<
endl
<<
"< Extracting keypoints... "
;
vector
<
KeyPoint
>
keypoints1
,
keypoints2
;
detector
->
detect
(
img1
,
keypoints1
);
detector
->
detect
(
img2
,
keypoints2
);
cout
<<
keypoints1
.
size
()
<<
" from first image and "
<<
keypoints2
.
size
()
<<
" from second image >"
<<
endl
;
if
(
keypoints1
.
empty
()
||
keypoints2
.
empty
()
)
cout
<<
"end"
<<
endl
;
cout
<<
"< Computing descriptors... "
;
Mat
descs1
,
descs2
;
if
(
keypoints1
.
size
()
>
0
&&
keypoints2
.
size
()
>
0
)
{
descriptor
->
compute
(
img1
,
keypoints1
,
descs1
);
descriptor
->
compute
(
img2
,
keypoints2
,
descs2
);
}
cout
<<
">"
<<
endl
;
cout
<<
"< Matching keypoints by descriptors... "
;
vector
<
int
>
matches
;
Ptr
<
DescriptorMatcher
>
matcher
=
createDescMatcher
();
matcher
->
add
(
descs2
);
matcher
->
match
(
descs1
,
matches
);
cout
<<
">"
<<
endl
;
// TODO time
Mat
drawImg
;
drawCorrespondences
(
img1
,
img2
,
transfMtr
,
keypoints1
,
keypoints2
,
matches
,
maxDist
,
drawImg
);
imshow
(
winName
,
drawImg
);
}
Ptr
<
FeatureDetector
>
detector
;
Ptr
<
DescriptorExtractor
>
descriptor
;
Mat
img1
;
Mat
transfMtr
;
RNG
rng
;
const
float
maxDistScale
=
0.01
f
;
int
maxDist
;
void
onMaxDistChange
(
int
maxDist
,
void
*
)
{
float
realMaxDist
=
maxDist
*
maxDistScale
;
cout
<<
"maxDist "
<<
realMaxDist
<<
endl
;
iter
(
detector
,
descriptor
,
img1
,
realMaxDist
,
transfMtr
);
}
int
main
(
int
argc
,
char
**
argv
)
{
if
(
argc
!=
4
)
{
cout
<<
"Format:"
<<
endl
;
cout
<<
"./"
<<
argv
[
0
]
<<
" [detector_type] [descriptor_type] [image]"
<<
endl
;
return
0
;
}
cout
<<
"< Creating detector, descriptor and matcher... "
;
detector
=
createDetector
(
argv
[
1
]);
descriptor
=
createDescExtractor
(
argv
[
2
]);
//Ptr<DescriptorMatcher> matcher = createDescMatcher(argv[3]);
cout
<<
">"
<<
endl
;
if
(
detector
.
empty
()
||
descriptor
.
empty
()
/* || matcher.empty() */
)
{
cout
<<
"Can not create detector or descriptor or matcher of given types"
<<
endl
;
return
0
;
}
cout
<<
"< Reading the image... "
;
img1
=
imread
(
argv
[
3
],
CV_LOAD_IMAGE_GRAYSCALE
);
cout
<<
">"
<<
endl
;
if
(
img1
.
empty
()
)
{
cout
<<
"Can not read image"
<<
endl
;
return
0
;
}
namedWindow
(
winName
,
1
);
maxDist
=
12
;
createTrackbar
(
"maxDist"
,
winName
,
&
maxDist
,
100
,
onMaxDistChange
);
onMaxDistChange
(
maxDist
,
0
);
for
(;;)
{
char
c
=
(
char
)
cvWaitKey
(
0
);
if
(
c
==
'\x1b'
)
// esc
{
cout
<<
"Exiting ..."
<<
endl
;
return
0
;
}
else
if
(
c
==
'n'
)
iter
(
detector
,
descriptor
,
img1
,
maxDist
*
maxDistScale
,
transfMtr
,
&
rng
);
}
waitKey
(
0
);
}
samples/cpp/CMakeLists.txt
浏览文件 @
583a08d5
...
...
@@ -40,6 +40,7 @@ if (BUILD_EXAMPLES)
MY_DEFINE_EXAMPLE
(
connected_components connected_components.cpp
)
MY_DEFINE_EXAMPLE
(
contours2 contours2.cpp
)
MY_DEFINE_EXAMPLE
(
keypoints_matching keypoints_matching.cpp
)
MY_DEFINE_EXAMPLE
(
morphology2 morphology2.cpp
)
MY_DEFINE_EXAMPLE
(
segment_objects segment_objects.cpp
)
endif
(
BUILD_EXAMPLES
)
...
...
samples/cpp/keypoints_matching.cpp
0 → 100644
浏览文件 @
583a08d5
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>
#include <iostream>
using
namespace
cv
;
using
namespace
std
;
inline
Point2f
applyHomography
(
const
Mat_
<
double
>&
H
,
const
Point2f
&
pt
)
{
double
z
=
H
(
2
,
0
)
*
pt
.
x
+
H
(
2
,
1
)
*
pt
.
y
+
H
(
2
,
2
);
if
(
z
)
{
double
w
=
1.
/
z
;
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
);
}
return
Point2f
(
numeric_limits
<
double
>::
max
(),
numeric_limits
<
double
>::
max
()
);
}
Mat
warpPerspectiveRand
(
const
Mat
&
src
,
Mat
&
dst
,
RNG
*
rng
)
{
Mat
H
(
3
,
3
,
CV_32FC1
);
H
.
at
<
float
>
(
0
,
0
)
=
rng
->
uniform
(
0.8
f
,
1.2
f
);
H
.
at
<
float
>
(
0
,
1
)
=
rng
->
uniform
(
-
0.1
f
,
0.1
f
);
H
.
at
<
float
>
(
0
,
2
)
=
rng
->
uniform
(
-
0.1
f
,
0.1
f
)
*
src
.
cols
;
H
.
at
<
float
>
(
1
,
0
)
=
rng
->
uniform
(
-
0.1
f
,
0.1
f
);
H
.
at
<
float
>
(
1
,
1
)
=
rng
->
uniform
(
0.8
f
,
1.2
f
);
H
.
at
<
float
>
(
1
,
2
)
=
rng
->
uniform
(
-
0.1
f
,
0.3
f
)
*
src
.
rows
;
H
.
at
<
float
>
(
2
,
0
)
=
rng
->
uniform
(
-
1e-4
f
,
1e-4
f
);
H
.
at
<
float
>
(
2
,
1
)
=
rng
->
uniform
(
-
1e-4
f
,
1e-4
f
);
H
.
at
<
float
>
(
2
,
2
)
=
rng
->
uniform
(
0.8
f
,
1.1
f
);
warpPerspective
(
src
,
dst
,
H
,
src
.
size
()
);
return
H
;
}
FeatureDetector
*
createDetector
(
const
string
&
detectorType
)
{
FeatureDetector
*
fd
=
0
;
if
(
!
detectorType
.
compare
(
"FAST"
)
)
{
fd
=
new
FastFeatureDetector
(
10
/*threshold*/
,
true
/*nonmax_suppression*/
);
}
else
if
(
!
detectorType
.
compare
(
"STAR"
)
)
{
fd
=
new
StarFeatureDetector
(
16
/*max_size*/
,
5
/*response_threshold*/
,
10
/*line_threshold_projected*/
,
8
/*line_threshold_binarized*/
,
5
/*suppress_nonmax_size*/
);
}
else
if
(
!
detectorType
.
compare
(
"SIFT"
)
)
{
fd
=
new
SiftFeatureDetector
(
SIFT
::
DetectorParams
::
GET_DEFAULT_THRESHOLD
(),
SIFT
::
DetectorParams
::
GET_DEFAULT_EDGE_THRESHOLD
());
}
else
if
(
!
detectorType
.
compare
(
"SURF"
)
)
{
fd
=
new
SurfFeatureDetector
(
100.
/*hessian_threshold*/
,
3
/*octaves*/
,
4
/*octave_layers*/
);
}
else
if
(
!
detectorType
.
compare
(
"MSER"
)
)
{
fd
=
new
MserFeatureDetector
(
5
/*delta*/
,
60
/*min_area*/
,
14400
/*_max_area*/
,
0.25
f
/*max_variation*/
,
0.2
/*min_diversity*/
,
200
/*max_evolution*/
,
1.01
/*area_threshold*/
,
0.003
/*min_margin*/
,
5
/*edge_blur_size*/
);
}
else
if
(
!
detectorType
.
compare
(
"GFTT"
)
)
{
fd
=
new
GoodFeaturesToTrackDetector
(
1000
/*maxCorners*/
,
0.01
/*qualityLevel*/
,
1.
/*minDistance*/
,
3
/*int _blockSize*/
,
true
/*useHarrisDetector*/
,
0.04
/*k*/
);
}
else
assert
(
0
);
return
fd
;
}
GenericDescriptorMatch
*
createDescriptorMatch
(
const
string
&
descriptorType
)
{
GenericDescriptorMatch
*
de
=
0
;
if
(
!
descriptorType
.
compare
(
"SIFT"
)
)
{
SiftDescriptorExtractor
extractor
/*( 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"
)
)
{
SurfDescriptorExtractor
extractor
/*( int nOctaves=4,
int nOctaveLayers=2, bool extended=false )*/
;
BruteForceMatcher
<
L2
<
float
>
>
matcher
;
de
=
new
VectorDescriptorMatch
<
SurfDescriptorExtractor
,
BruteForceMatcher
<
L2
<
float
>
>
>
(
extractor
,
matcher
);
}
else
assert
(
0
);
return
de
;
}
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
()
)
{
Scalar
RED
=
CV_RGB
(
255
,
0
,
0
);
// red keypoint - point without corresponding point
Scalar
GREEN
=
CV_RGB
(
0
,
255
,
0
);
// green keypoint - point having correct corresponding point
Scalar
BLUE
=
CV_RGB
(
0
,
0
,
255
);
// blue keypoint - point having incorrect corresponding point
Size
size
(
img1
.
cols
+
img2
.
cols
,
MAX
(
img1
.
rows
,
img2
.
rows
));
drawImg
.
create
(
size
,
CV_MAKETYPE
(
img1
.
depth
(),
3
));
Mat
drawImg1
=
drawImg
(
Rect
(
0
,
0
,
img1
.
cols
,
img1
.
rows
));
cvtColor
(
img1
,
drawImg1
,
CV_GRAY2RGB
);
Mat
drawImg2
=
drawImg
(
Rect
(
img1
.
cols
,
0
,
img2
.
cols
,
img2
.
rows
));
cvtColor
(
img2
,
drawImg2
,
CV_GRAY2RGB
);
// draw keypoints
for
(
vector
<
KeyPoint
>::
const_iterator
it
=
keypoints1
.
begin
();
it
<
keypoints1
.
end
();
++
it
)
{
circle
(
drawImg
,
it
->
pt
,
3
,
RED
);
}
for
(
vector
<
KeyPoint
>::
const_iterator
it
=
keypoints2
.
begin
();
it
<
keypoints2
.
end
();
++
it
)
{
Point
p
=
it
->
pt
;
circle
(
drawImg
,
Point2f
(
p
.
x
+
img1
.
cols
,
p
.
y
),
3
,
RED
);
}
// 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
);
}
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