diff --git a/doc/cv_feature_detection.tex b/doc/cv_feature_detection.tex index c8dfdbdd08..93b33edfce 100644 --- a/doc/cv_feature_detection.tex +++ b/doc/cv_feature_detection.tex @@ -1957,4 +1957,72 @@ protected: }; \end{lstlisting} +\cvCppFunc{drawMatches} +This function draws matches of keypints from two images on output image. +Match is a line connecting two keypoints (circles). + +\cvdefCpp{ +void drawMatches( const Mat\& img1, const Mat\& img2, + const vector\& keypoints1, const vector\& keypoints2, + const vector\& matches, const vector\& mask, Mat\& outImg, + const Scalar\& matchColor = Scalar::all(-1), + const Scalar\& singlePointColor = Scalar::all(-1), + int flags = DrawMatchesFlags::DEFAULT ); +} + +\begin{description} +\cvarg{img1}{First sourse image.} +\end{description} + +\begin{description} +\cvarg{img1}{Second sourse image.} +\end{description} + +\begin{description} +\cvarg{keypoints1}{Keypoints from first sourse image.} +\end{description} + +\begin{description} +\cvarg{keypoints2}{Keypoints from second sourse image.} +\end{description} + +\begin{description} +\cvarg{matches}{Matches from first image to second one, i.e. keypoints1[i] has corresponding point keypoints2[matches[i]]} +\end{description} + +\begin{description} +\cvarg{mask}{Mask determining which matches will be drawn. If mask is empty all matches will be drawn. } +\end{description} + +\begin{description} +\cvarg{outImg}{Output image. Its content depends on \texttt{flags} value what is drawn in output image. See below possible \texttt{flags} bit values. } +\end{description} + +\begin{description} +\cvarg{matchColor}{Color of matches (lines and connected keypoints). If \texttt{matchColor}==Scalar::all(-1) color will be generated randomly.} +\end{description} + +\begin{description} +\cvarg{singlePointColor}{Color of single keypoints (circles), i.e. keypoints not having the matches. If \texttt{singlePointColor}==Scalar::all(-1) color will be generated randomly.} +\end{description} + +\begin{description} +\cvarg{flags}{Each bit of \texttt{flags} sets some feature of drawing. Possible \texttt{flags} bit values is defined by DrawMatchesFlags, see below. } +\end{description} + +\begin{lstlisting} +struct DrawMatchesFlags +{ + enum{ DEFAULT = 0, // Output image matrix will be created (Mat::create), + // i.e. existing memory of output image will be reused. + // Two source image, matches and single keypoints will be drawn. + DRAW_OVER_OUTIMG = 1, // Output image matrix will not be created (Mat::create). + // Matches will be drawn on existing content + // of output image. + NOT_DRAW_SINGLE_POINTS = 2 // Single keypoints will not be drawn. + }; +}; + +\end{lstlisting} + \fi diff --git a/modules/features2d/include/opencv2/features2d/features2d.hpp b/modules/features2d/include/opencv2/features2d/features2d.hpp index 5b4294aee0..f311780ed5 100644 --- a/modules/features2d/include/opencv2/features2d/features2d.hpp +++ b/modules/features2d/include/opencv2/features2d/features2d.hpp @@ -2121,6 +2121,24 @@ protected: //vector classIds; }; +struct CV_EXPORTS DrawMatchesFlags +{ + enum{ DEFAULT = 0, // Output image matrix will be created (Mat::create), + // i.e. existing memory of output image will be reused. + // Two source image, matches and single keypoints will be drawn. + DRAW_OVER_OUTIMG = 1, // Output image matrix will not be created (Mat::create). + // Matches will be drawn on existing content of output image. + NOT_DRAW_SINGLE_POINTS = 2 // Single keypoints will not be drawn. + }; +}; + +// Draws matches of keypints from two images on output image. +CV_EXPORTS void drawMatches( const Mat& img1, const Mat& img2, + const vector& keypoints1, const vector& keypoints2, + const vector& matches, const vector& mask, Mat& outImg, + const Scalar& matchColor = Scalar::all(-1), const Scalar& singlePointColor = Scalar::all(-1), + int flags = DrawMatchesFlags::DEFAULT ); + } #endif /* __cplusplus */ diff --git a/modules/features2d/src/descriptors.cpp b/modules/features2d/src/descriptors.cpp index 7806d67423..ddeb61119e 100644 --- a/modules/features2d/src/descriptors.cpp +++ b/modules/features2d/src/descriptors.cpp @@ -44,7 +44,66 @@ using namespace std; using namespace cv; -//#define _KDTREE +CV_EXPORTS void cv::drawMatches( const Mat& img1, const Mat& img2, + const vector& keypoints1, const vector& keypoints2, + const vector& matches, const vector& mask, Mat& outImg, + const Scalar& matchColor, const Scalar& singlePointColor, + int flags ) +{ + Size size( img1.cols + img2.cols, MAX(img1.rows, img2.rows) ); + if( flags & DrawMatchesFlags::DRAW_OVER_OUTIMG ) + { + if( size.width > outImg.cols || size.height > outImg.rows ) + CV_Error( CV_StsBadSize, "outImg has size less than need to draw img1 and img2 together" ); + } + else + { + outImg.create( size, CV_MAKETYPE(img1.depth(), 3) ); + Mat outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) ); + cvtColor( img1, outImg1, CV_GRAY2RGB ); + Mat outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) ); + cvtColor( img2, outImg2, CV_GRAY2RGB ); + } + + RNG rng; + // draw keypoints + if( !(flags & DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS) ) + { + bool isRandSinglePointColor = singlePointColor == Scalar::all(-1); + for( vector::const_iterator it = keypoints1.begin(); it < keypoints1.end(); ++it ) + { + circle( outImg, it->pt, 3, isRandSinglePointColor ? + Scalar(rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256)) : singlePointColor ); + } + for( vector::const_iterator it = keypoints2.begin(); it < keypoints2.end(); ++it ) + { + Point p = it->pt; + circle( outImg, Point2f(p.x+img1.cols, p.y), 3, isRandSinglePointColor ? + Scalar(rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256)) : singlePointColor ); + } + } + + // draw matches + bool isRandMatchColor = matchColor == Scalar::all(-1); + if( matches.size() != keypoints1.size() ) + CV_Error( CV_StsBadSize, "matches must have the same size as keypoints1" ); + if( !mask.empty() && mask.size() != keypoints1.size() ) + CV_Error( CV_StsBadSize, "mask must have the same size as keypoints1" ); + vector::const_iterator mit = matches.begin(); + for( int i1 = 0; mit != matches.end(); ++mit, i1++ ) + { + if( (mask.empty() || mask[i1] ) && *mit >= 0 ) + { + Point2f pt1 = keypoints1[i1].pt, + pt2 = keypoints2[*mit].pt, + dpt2 = Point2f( std::min(pt2.x+img1.cols, float(outImg.cols-1)), pt2.y ); + Scalar randColor( rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256) ); + circle( outImg, pt1, 3, isRandMatchColor ? randColor : matchColor ); + circle( outImg, dpt2, 3, isRandMatchColor ? randColor : matchColor ); + line( outImg, pt1, dpt2, isRandMatchColor ? randColor : matchColor ); + } + } +} /****************************************************************************************\ * DescriptorExtractor *