added GridAdaptedFeatureDetector, PyramidAdaptedFeatureDetector and funcs to draw keypoints and matches

modules/features2d/include/opencv2/features2d/features2d.hpp

@@ -1477,6 +1477,44 @@ protected:
 
 CV_EXPORTS Ptr<FeatureDetector> createDetector( const string& detectorType );
 
+/*
+ * Adapts a detector to partition the source image into a grid and detect
+ * points in each cell.
+ */
+class CV_EXPORTS GridAdaptedFeatureDetector : public FeatureDetector
+{
+public:
+    GridAdaptedFeatureDetector( const Ptr<FeatureDetector>& _detector, int _maxTotalKeypoints,
+                                int _gridRows=4, int _gridCols=4 );
+    // todo read/write
+
+protected:
+    Ptr<FeatureDetector> detector;
+    int maxTotalKeypoints;
+    int gridRows;
+    int gridCols;
+
+    virtual void detectImpl( const Mat& image, const Mat& mask, vector<KeyPoint>& keypoints ) const;
+};
+
+/*
+ * Adapts a detector to detect points over multiple levels of a Gaussian
+ * pyramid. Useful for detectors that are not inherently scaled.
+ */
+class PyramidAdaptedFeatureDetector : public FeatureDetector
+{
+public:
+    PyramidAdaptedFeatureDetector( const Ptr<FeatureDetector>& _detector, int _levels=2 );
+
+    // todo read/write
+
+protected:
+    Ptr<FeatureDetector> detector;
+    int levels;
+
+    virtual void detectImpl( const Mat& image, const Mat& mask, vector<KeyPoint>& keypoints ) const;
+};
+
 /****************************************************************************************\
 *                                 DescriptorExtractor                                    *
 \****************************************************************************************/
@@ -2273,18 +2311,38 @@ struct CV_EXPORTS DrawMatchesFlags
     enum{ DEFAULT = 0, // Output image matrix will be created (Mat::create),
                        // i.e. existing memory of output image may be reused.
                        // Two source image, matches and single keypoints will be drawn.
+                       // For each keypoint only the center point will be drawn (without
+                       // the circle around keypoint with keypoint size and orientation).
           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.
+          NOT_DRAW_SINGLE_POINTS = 2, // Single keypoints will not be drawn.
+          DRAW_RICH_KEYPOINTS = 4 // For each keypoint the circle around keypoint with keypoint size and
+                                 // orientation will be drawn.
         };
 };
 
+// Draw keypoints.
+CV_EXPORTS void drawKeypoints( const Mat& image, const vector<KeyPoint>& keypoints, Mat& outImg,
+                               const Scalar& color=Scalar::all(-1), int flags=DrawMatchesFlags::DEFAULT );
+
 // Draws matches of keypints from two images on output image.
 CV_EXPORTS void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
 							 const Mat& img2, const vector<KeyPoint>& keypoints2,
-                             const vector<int>& matches, Mat& outImg,
-                             const Scalar& matchColor = Scalar::all(-1), const Scalar& singlePointColor = Scalar::all(-1),
-                             const vector<char>& matchesMask = vector<char>(), int flags = DrawMatchesFlags::DEFAULT );
+                             const vector<int>& matches1to2, Mat& outImg,
+                             const Scalar& matchColor=Scalar::all(-1), const Scalar& singlePointColor=Scalar::all(-1),
+                             const vector<char>& matchesMask=vector<char>(), int flags=DrawMatchesFlags::DEFAULT );
+
+CV_EXPORTS void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
+                             const Mat& img2, const vector<KeyPoint>& keypoints2,
+                             const vector<DMatch>& matches1to2, Mat& outImg,
+                             const Scalar& matchColor=Scalar::all(-1), const Scalar& singlePointColor=Scalar::all(-1),
+                             const vector<char>& matchesMask=vector<char>(), int flags=DrawMatchesFlags::DEFAULT );
+
+CV_EXPORTS void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
+                             const Mat& img2, const vector<KeyPoint>& keypoints2,
+                             const vector<vector<DMatch> >& matches1to2, Mat& outImg,
+                             const Scalar& matchColor=Scalar::all(-1), const Scalar& singlePointColor=Scalar::all(-1),
+                             const vector<vector<char> >& matchesMask=vector<vector<char> >(), int flags=DrawMatchesFlags::DEFAULT );
 
 }
 

modules/features2d/src/descriptors.cpp

@@ -48,6 +48,10 @@
 //#define _KDTREE
 
 using namespace std;
+
+const int draw_shift_bits = 4;
+const int draw_multiplier = 1 << draw_shift_bits;
+
 namespace cv
 {
 
@@ -69,63 +73,190 @@ Mat windowedMatchingMask( const vector<KeyPoint>& keypoints1, const vector<KeyPo
     return mask;
 }
 
-void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
-                  const Mat& img2,const vector<KeyPoint>& keypoints2,
-                  const vector<int>& matches, Mat& outImg,
-                  const Scalar& matchColor, const Scalar& singlePointColor,
-                  const vector<char>& matchesMask, int flags )
+/*
+ * Drawing functions
+ */
+
+static inline void _drawKeypoint( Mat& img, const KeyPoint& p, const Scalar& color, int flags )
+{
+    Point center( p.pt.x * draw_multiplier, p.pt.y * draw_multiplier );
+
+    if( flags & DrawMatchesFlags::DRAW_RICH_KEYPOINTS )
+    {
+        int radius = p.size/2 * draw_multiplier; // KeyPoint::size is a diameter
+
+        // draw the circles around keypoints with the keypoints size
+        circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
+
+        // draw orientation of the keypoint, if it is applicable
+        if( p.angle != -1 )
+        {
+            float srcAngleRad = p.angle*CV_PI/180;
+            Point orient(cos(srcAngleRad)*radius, sin(srcAngleRad)*radius);
+            line( img, center, center+orient, color, 1, CV_AA, draw_shift_bits );
+        }
+#if 0
+        else
+        {
+            // draw center with R=1
+            int radius = 1 * draw_multiplier;
+            circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
+        }
+#endif
+    }
+    else
+    {
+        // draw center with R=3
+        int radius = 3 * draw_multiplier;
+        circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
+    }
+}
+
+void drawKeypoints( const Mat& image, const vector<KeyPoint>& keypoints, Mat& outImg,
+                    const Scalar& _color, int flags )
+{
+    if( !(flags & DrawMatchesFlags::DRAW_OVER_OUTIMG) )
+        cvtColor( image, outImg, CV_GRAY2BGR );
+
+    RNG& rng=theRNG();
+    bool isRandColor = _color == Scalar::all(-1);
+
+    for( vector<KeyPoint>::const_iterator i = keypoints.begin(), ie = keypoints.end(); i != ie; ++i )
+    {
+        Scalar color = isRandColor ? Scalar(rng(256), rng(256), rng(256)) : _color;
+        _drawKeypoint( outImg, *i, color, flags );
+    }
+}
+
+static void _prepareImgAndDrawKeypoints( const Mat& img1, const vector<KeyPoint>& keypoints1,
+                                         const Mat& img2, const vector<KeyPoint>& keypoints2,
+                                         Mat& outImg, Mat& outImg1, Mat& outImg2,
+                                         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" );
+        outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
+        outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
     }
     else
     {
         outImg.create( size, CV_MAKETYPE(img1.depth(), 3) );
-        Mat outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
+        outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
+        outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.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<KeyPoint>::const_iterator it = keypoints1.begin(); it < keypoints1.end(); ++it )
+        Mat outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
+        drawKeypoints( outImg1, keypoints1, outImg1, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
+
+        Mat outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
+        drawKeypoints( outImg2, keypoints2, outImg2, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
+    }
+}
+
+static inline void _drawMatch( Mat& outImg, Mat& outImg1, Mat& outImg2 ,
+                          const KeyPoint& kp1, const KeyPoint& kp2, const Scalar& matchColor, int flags )
+{
+    RNG& rng = theRNG();
+    bool isRandMatchColor = matchColor == Scalar::all(-1);
+    Scalar color = isRandMatchColor ? Scalar( rng(256), rng(256), rng(256) ) : matchColor;
+
+    _drawKeypoint( outImg1, kp1, color, flags );
+    _drawKeypoint( outImg2, kp2, color, flags );
+
+    Point2f pt1 = kp1.pt,
+            pt2 = kp2.pt,
+            dpt2 = Point2f( std::min(pt2.x+outImg1.cols, float(outImg.cols-1)), pt2.y );
+
+    line( outImg, Point(pt1.x*draw_multiplier, pt1.y*draw_multiplier), Point(dpt2.x*draw_multiplier, dpt2.y*draw_multiplier),
+          color, 1, CV_AA, draw_shift_bits );
+}
+
+void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
+                  const Mat& img2,const vector<KeyPoint>& keypoints2,
+                  const vector<int>& matches1to2, Mat& outImg,
+                  const Scalar& matchColor, const Scalar& singlePointColor,
+                  const vector<char>& matchesMask, int flags )
+{
+    if( matches1to2.size() != keypoints1.size() )
+        CV_Error( CV_StsBadSize, "matches1to2 must have the same size as keypoints1" );
+    if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
+        CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
+
+    Mat outImg1, outImg2;
+    _prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
+                                 outImg, outImg1, outImg2, singlePointColor, flags );
+
+    // draw matches
+    for( size_t i1 = 0; i1 < keypoints1.size(); i1++ )
+    {
+        int i2 = matches1to2[i1];
+        if( (matchesMask.empty() || matchesMask[i1] ) && i2 >= 0 )
         {
-            circle( outImg, it->pt, 3, isRandSinglePointColor ?
-                    Scalar(rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256)) : singlePointColor );
+            const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
+            _drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
         }
-        for( vector<KeyPoint>::const_iterator it = keypoints2.begin(); it < keypoints2.end(); ++it )
+    }
+}
+
+void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
+                  const Mat& img2, const vector<KeyPoint>& keypoints2,
+                  const vector<DMatch>& matches1to2, Mat& outImg,
+                  const Scalar& matchColor, const Scalar& singlePointColor,
+                  const vector<char>& matchesMask, int flags )
+{
+    if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
+        CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
+
+    Mat outImg1, outImg2;
+    _prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
+                                 outImg, outImg1, outImg2, singlePointColor, flags );
+
+    // draw matches
+    for( size_t m = 0; m < matches1to2.size(); m++ )
+    {
+        int i1 = matches1to2[m].indexQuery;
+        int i2 = matches1to2[m].indexTrain;
+        if( matchesMask.empty() || matchesMask[m] )
         {
-            Point p = it->pt;
-            circle( outImg, Point(p.x+img1.cols, p.y), 3, isRandSinglePointColor ?
-                    Scalar(rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256)) : singlePointColor );
+            const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
+            _drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
         }
-     }
+    }
+}
+
+void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
+                  const Mat& img2, const vector<KeyPoint>& keypoints2,
+                  const vector<vector<DMatch> >& matches1to2, Mat& outImg,
+                  const Scalar& matchColor, const Scalar& singlePointColor,
+                  const vector<vector<char> >& matchesMask, int flags )
+{
+    if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
+        CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
+
+    Mat outImg1, outImg2;
+    _prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
+                                 outImg, outImg1, outImg2, singlePointColor, flags );
 
     // 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( !matchesMask.empty() && matchesMask.size() != keypoints1.size() )
-        CV_Error( CV_StsBadSize, "mask must have the same size as keypoints1" );
-    vector<int>::const_iterator mit = matches.begin();
-    for( int i1 = 0; mit != matches.end(); ++mit, i1++ )
-    {
-        if( (matchesMask.empty() || matchesMask[i1] ) && *mit >= 0 )
+    for( size_t i = 0; i < matches1to2.size(); i++ )
+    {
+        for( size_t j = 0; j < matches1to2[i].size(); j++ )
         {
-            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 );
+            int i1 = matches1to2[i][j].indexQuery;
+            int i2 = matches1to2[i][j].indexTrain;
+            if( matchesMask.empty() || matchesMask[i][j] )
+            {
+                const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
+                _drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
+            }
         }
     }
 }

modules/features2d/src/detectors.cpp

@@ -46,8 +46,8 @@ using namespace std;
 namespace cv
 {
 /*
-    FeatureDetector
-*/
+ *  FeatureDetector
+ */
 struct MaskPredicate
 {
     MaskPredicate( const Mat& _mask ) : mask(_mask)
@@ -70,8 +70,8 @@ void FeatureDetector::removeInvalidPoints( const Mat& mask, vector<KeyPoint>& ke
 };
 
 /*
-    FastFeatureDetector
-*/
+ *   FastFeatureDetector
+ */
 FastFeatureDetector::FastFeatureDetector( int _threshold, bool _nonmaxSuppression )
   : threshold(_threshold), nonmaxSuppression(_nonmaxSuppression)
 {}
@@ -95,8 +95,8 @@ void FastFeatureDetector::detectImpl( const Mat& image, const Mat& mask, vector<
 }
 
 /*
-    GoodFeaturesToTrackDetector
-*/
+ *  GoodFeaturesToTrackDetector
+ */
 GoodFeaturesToTrackDetector::GoodFeaturesToTrackDetector( int _maxCorners, double _qualityLevel, \
                                                           double _minDistance, int _blockSize,
                                                           bool _useHarrisDetector, double _k )
@@ -140,8 +140,8 @@ void GoodFeaturesToTrackDetector::detectImpl( const Mat& image, const Mat& mask,
 }
 
 /*
-    MserFeatureDetector
-*/
+ *  MserFeatureDetector
+ */
 MserFeatureDetector::MserFeatureDetector( int delta, int minArea, int maxArea,
                                           double maxVariation, double minDiversity,
                                           int maxEvolution, double areaThreshold,
@@ -204,8 +204,8 @@ void MserFeatureDetector::detectImpl( const Mat& image, const Mat& mask, vector<
 }
 
 /*
-    StarFeatureDetector
-*/
+ *  StarFeatureDetector
+ */
 StarFeatureDetector::StarFeatureDetector(int maxSize, int responseThreshold,
                                          int lineThresholdProjected,
                                          int lineThresholdBinarized,
@@ -244,8 +244,8 @@ void StarFeatureDetector::detectImpl( const Mat& image, const Mat& mask, vector<
 }
 
 /*
-    SiftFeatureDetector
-*/
+ *   SiftFeatureDetector
+ */
 SiftFeatureDetector::SiftFeatureDetector(double threshold, double edgeThreshold,
                                          int nOctaves, int nOctaveLayers, int firstOctave, int angleMode) :
     sift(threshold, edgeThreshold, nOctaves, nOctaveLayers, firstOctave, angleMode)
@@ -286,8 +286,8 @@ void SiftFeatureDetector::detectImpl( const Mat& image, const Mat& mask,
 }
 
 /*
-    SurfFeatureDetector
-*/
+ *  SurfFeatureDetector
+ */
 SurfFeatureDetector::SurfFeatureDetector( double hessianThreshold, int octaves, int octaveLayers)
     : surf(hessianThreshold, octaves, octaveLayers)
 {}
@@ -360,4 +360,98 @@ Ptr<FeatureDetector> createDetector( const string& detectorType )
     return fd;
 }
 
+/*
+ *  GridAdaptedFeatureDetector
+ */
+GridAdaptedFeatureDetector::GridAdaptedFeatureDetector( const Ptr<FeatureDetector>& _detector,
+                                                        int _maxTotalKeypoints, int _gridRows, int _gridCols )
+    : detector(_detector), maxTotalKeypoints(_maxTotalKeypoints), gridRows(_gridRows), gridCols(_gridCols)
+{}
+
+struct ResponseComparator
+{
+    bool operator() (const KeyPoint& a, const KeyPoint& b)
+    {
+        return std::abs(a.response) > std::abs(b.response);
+    }
+};
+
+void keepStrongest( int N, vector<KeyPoint>& keypoints )
+{
+    if( (int)keypoints.size() > N )
+    {
+        vector<KeyPoint>::iterator nth = keypoints.begin() + N;
+        std::nth_element( keypoints.begin(), nth, keypoints.end(), ResponseComparator() );
+        keypoints.erase( nth, keypoints.end() );
+    }
+}
+
+void GridAdaptedFeatureDetector::detectImpl( const Mat &image, const Mat &mask,
+                                             vector<KeyPoint> &keypoints ) const
+{
+    keypoints.clear();
+    keypoints.reserve(maxTotalKeypoints);
+
+    int maxPerCell = maxTotalKeypoints / (gridRows * gridCols);
+    for( int i = 0; i < gridRows; ++i )
+    {
+        Range row_range((i*image.rows)/gridRows, ((i+1)*image.rows)/gridRows);
+        for( int j = 0; j < gridCols; ++j )
+        {
+            Range col_range((j*image.cols)/gridCols, ((j+1)*image.cols)/gridCols);
+            Mat sub_image = image(row_range, col_range);
+            Mat sub_mask;
+            if( !mask.empty() )
+                sub_mask = mask(row_range, col_range);
+
+            vector<KeyPoint> sub_keypoints;
+            detector->detect( sub_image, sub_keypoints, sub_mask );
+            keepStrongest( maxPerCell, sub_keypoints );
+            for( std::vector<cv::KeyPoint>::iterator it = sub_keypoints.begin(), end = sub_keypoints.end();
+                 it != end; ++it )
+            {
+                it->pt.x += col_range.start;
+                it->pt.y += row_range.start;
+            }
+
+            keypoints.insert( keypoints.end(), sub_keypoints.begin(), sub_keypoints.end() );
+        }
+    }
+}
+
+/*
+ *  GridAdaptedFeatureDetector
+ */
+PyramidAdaptedFeatureDetector::PyramidAdaptedFeatureDetector( const Ptr<FeatureDetector>& _detector, int _levels )
+    : detector(_detector), levels(_levels)
+{}
+
+void PyramidAdaptedFeatureDetector::detectImpl( const Mat& image, const Mat& mask, vector<KeyPoint>& keypoints ) const
+{
+    Mat src = image;
+    for( int l = 0, multiplier = 1; l <= levels; ++l, multiplier *= 2 )
+    {
+        // Detect on current level of the pyramid
+        vector<KeyPoint> new_pts;
+        detector->detect(src, new_pts);
+        for( vector<KeyPoint>::iterator it = new_pts.begin(), end = new_pts.end(); it != end; ++it)
+        {
+            it->pt.x *= multiplier;
+            it->pt.y *= multiplier;
+            it->size *= multiplier;
+            it->octave = l;
+        }
+        removeInvalidPoints( mask, new_pts );
+        keypoints.insert( keypoints.end(), new_pts.begin(), new_pts.end() );
+
+        // Downsample
+        if( l < levels )
+        {
+            Mat dst;
+            pyrDown(src, dst);
+            src = dst;
+        }
+    }
+}
+
 }

samples/cpp/descriptor_extractor_matcher.cpp

@@ -8,6 +8,9 @@
 using namespace cv;
 using namespace std;
 
+#define DRAW_RICH_KEYPOINTS_MODE     0
+#define DRAW_OUTLIERS_MODE           0
+
 void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG& rng )
 {
     H.create(3, 3, CV_32FC1);
@@ -79,12 +82,18 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
                 matchesMask[i1] = 1;
         }
         // draw inliers
-        drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg, CV_RGB(0, 255, 0), CV_RGB(0, 0, 255), matchesMask );
-#if 0   // draw outliers
+        drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg, CV_RGB(0, 255, 0), CV_RGB(0, 0, 255), matchesMask
+#if DRAW_RICH_KEYPOINTS_MODE
+                     , DrawMatchesFlags::DRAW_RICH_KEYPOINTS
+#endif
+                   );
+
+#if DRAW_OUTLIERS_MODE
+        // draw outliers
         for( size_t i1 = 0; i1 < matchesMask.size(); i1++ )
             matchesMask[i1] = !matchesMask[i1];
         drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg, CV_RGB(0, 0, 255), CV_RGB(255, 0, 0), matchesMask,
-                     DrawMatchesFlags::DRAW_OVER_OUTIMG | DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS )
+                     DrawMatchesFlags::DRAW_OVER_OUTIMG | DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
 #endif
     }
     else