parent
045402e481
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583a08d5c7
4 changed files with 260 additions and 260 deletions
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#include <cv.h> |
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#include <cvaux.h> |
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#include <highgui.h> |
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#include <iostream> |
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using namespace cv; |
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using namespace std; |
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inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt ) |
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{ |
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double w = 1./(H(2,0)*pt.x + H(2,1)*pt.y + H(2,2)); |
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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) ); |
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} |
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void drawCorrespondences( const Mat& img1, const Mat& img2, const Mat& transfMtr, |
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const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2, |
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const vector<int>& matches, float maxDist, Mat& drawImg ) |
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{ |
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Scalar RED = CV_RGB(255, 0, 0); |
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Scalar PINK = CV_RGB(255,130,230); |
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Scalar GREEN = CV_RGB(0, 255, 0); |
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Scalar BLUE = CV_RGB(0, 0, 255); |
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/* Output:
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red point - point without corresponding point; |
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grean point - point having correct corresponding point; |
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pink point - point having incorrect corresponding point, but excised by threshold of distance; |
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blue point - point having incorrect corresponding point; |
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*/ |
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Size size(img1.cols + img2.cols, MAX(img1.rows, img2.rows)); |
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drawImg.create(size, CV_MAKETYPE(img1.depth(), 3)); |
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Mat drawImg1 = drawImg(Rect(0, 0, img1.cols, img1.rows)); |
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cvtColor(img1, drawImg1, CV_GRAY2RGB); |
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Mat drawImg2 = drawImg(Rect(img1.cols, 0, img2.cols, img2.rows)); |
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cvtColor(img2, drawImg2, CV_GRAY2RGB); |
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for(vector<KeyPoint>::const_iterator it = keypoints1.begin(); it < keypoints1.end(); ++it ) |
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{ |
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circle(drawImg, it->pt, 3, RED); |
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} |
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for(vector<KeyPoint>::const_iterator it = keypoints2.begin(); it < keypoints2.end(); ++it ) |
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{ |
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Point p = it->pt; |
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circle(drawImg, Point2f(p.x+img1.cols, p.y), 3, RED); |
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} |
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Mat vec1(3, 1, CV_32FC1), vec2; |
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float err = 3; |
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vector<int>::const_iterator mit = matches.begin(); |
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assert( matches.size() == keypoints1.size() ); |
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for( int i1 = 0; mit < matches.end(); ++mit, i1++ ) |
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{ |
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Point2f pt1 = keypoints1[i1].pt, pt2 = keypoints2[*mit].pt; |
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Point2f diff = applyHomography(transfMtr, pt1) - pt2; |
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if( norm(diff) < err ) |
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{ |
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circle(drawImg, pt1, 3, GREEN); |
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circle(drawImg, Point2f(pt2.x+img1.cols, pt2.y), 3, GREEN); |
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line(drawImg, pt1, Point2f(pt2.x+img1.cols, pt2.y), GREEN); |
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} |
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else |
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{ |
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/*if( *dit > maxDist )
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{ |
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circle(drawImg, pt1, 3, PINK); |
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circle(drawImg, Point2f(pt2.x+img1.cols, pt2.y), 3, PINK); |
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} |
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// TODO add key point filter
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else*/ |
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{ |
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circle(drawImg, pt1, 3, BLUE); |
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circle(drawImg, Point2f(pt2.x+img1.cols, pt2.y), 3, BLUE); |
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line(drawImg, pt1, Point2f(pt2.x+img1.cols, pt2.y), BLUE); |
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} |
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} |
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} |
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} |
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FeatureDetector* createDetector( const string& detectorType ) |
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{ |
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FeatureDetector* fd = 0; |
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if( !detectorType.compare( "FAST" ) ) |
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{ |
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fd = new FastFeatureDetector( 1/*threshold*/, true/*nonmax_suppression*/ ); |
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} |
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else if( !detectorType.compare( "STAR" ) ) |
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{ |
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fd = new StarFeatureDetector( 16/*max_size*/, 30/*response_threshold*/, 10/*line_threshold_projected*/, |
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8/*line_threshold_binarized*/, 5/*suppress_nonmax_size*/ ); |
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} |
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else if( !detectorType.compare( "SIFT" ) ) |
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{ |
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fd = new SiftFeatureDetector(SIFT::DetectorParams::GET_DEFAULT_THRESHOLD(), |
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SIFT::DetectorParams::GET_DEFAULT_EDGE_THRESHOLD()); |
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} |
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else if( !detectorType.compare( "SURF" ) ) |
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{ |
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fd = new SurfFeatureDetector( 400./*hessian_threshold*/, 3 /*octaves*/, 4/*octave_layers*/ ); |
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} |
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else if( !detectorType.compare( "MSER" ) ) |
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{ |
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fd = new MserFeatureDetector( 5/*delta*/, 60/*min_area*/, 14400/*_max_area*/, 0.25f/*max_variation*/, |
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0.2/*min_diversity*/, 200/*max_evolution*/, 1.01/*area_threshold*/, 0.003/*min_margin*/,
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5/*edge_blur_size*/ ); |
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} |
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else if( !detectorType.compare( "GFTT" ) ) |
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{ |
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fd = new GoodFeaturesToTrackDetector( 1000/*maxCorners*/, 0.01/*qualityLevel*/, 1./*minDistance*/, |
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3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ ); |
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} |
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else |
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fd = 0; |
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return fd; |
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} |
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DescriptorExtractor* createDescExtractor( const string& descriptorType ) |
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{ |
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DescriptorExtractor* de = 0; |
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if( !descriptorType.compare( "CALONDER" ) ) |
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{ |
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assert(0); |
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//de = new CalonderDescriptorExtractor<float>("");
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} |
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else if( !descriptorType.compare( "SURF" ) ) |
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{ |
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de = new SurfDescriptorExtractor( 3/*octaves*/, 4/*octave_layers*/, false/*extended*/ ); |
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} |
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else
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de = 0; |
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return de; |
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} |
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DescriptorMatcher* createDescMatcher( const string& matherType = string() ) |
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{ |
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return new BruteForceMatcher<L2<float> >(); |
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} |
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const string DETECTOR_TYPE_STR = "detector_type"; |
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const string DESCRIPTOR_TYPE_STR = "descriptor_type"; |
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const string winName = "correspondences"; |
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void iter( Ptr<FeatureDetector> detector, Ptr<DescriptorExtractor> descriptor, |
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const Mat& img1, float maxDist, Mat& transfMtr, RNG* rng = 0 ) |
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{ |
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if( transfMtr.empty() ) |
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transfMtr = Mat::eye(3, 3, CV_32FC1); |
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if( rng ) |
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{ |
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transfMtr.at<float>(0,0) = rng->uniform( 0.7f, 1.3f); |
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transfMtr.at<float>(0,1) = rng->uniform(-0.2f, 0.2f); |
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transfMtr.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*img1.cols; |
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transfMtr.at<float>(1,0) = rng->uniform(-0.2f, 0.2f); |
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transfMtr.at<float>(1,1) = rng->uniform( 0.7f, 1.3f); |
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transfMtr.at<float>(1,2) = rng->uniform(-0.1f, 0.3f)*img1.rows; |
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transfMtr.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f); |
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transfMtr.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f); |
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transfMtr.at<float>(2,2) = rng->uniform( 0.7f, 1.3f); |
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} |
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Mat img2; warpPerspective( img1, img2, transfMtr, img1.size() ); |
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cout << endl << "< Extracting keypoints... "; |
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vector<KeyPoint> keypoints1, keypoints2; |
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detector->detect( img1, keypoints1 ); |
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detector->detect( img2, keypoints2 ); |
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cout << keypoints1.size() << " from first image and " << keypoints2.size() << " from second image >" << endl; |
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if( keypoints1.empty() || keypoints2.empty() ) |
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cout << "end" << endl; |
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cout << "< Computing descriptors... "; |
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Mat descs1, descs2; |
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if( keypoints1.size()>0 && keypoints2.size()>0 ) |
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{ |
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descriptor->compute( img1, keypoints1, descs1 ); |
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descriptor->compute( img2, keypoints2, descs2 ); |
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} |
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cout << ">" << endl; |
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cout << "< Matching keypoints by descriptors... "; |
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vector<int> matches; |
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Ptr<DescriptorMatcher> matcher = createDescMatcher(); |
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matcher->add( descs2 ); |
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matcher->match( descs1, matches ); |
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cout << ">" << endl; |
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// TODO time
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Mat drawImg; |
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drawCorrespondences( img1, img2, transfMtr, keypoints1, keypoints2, |
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matches, maxDist, drawImg ); |
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imshow( winName, drawImg); |
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} |
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Ptr<FeatureDetector> detector; |
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Ptr<DescriptorExtractor> descriptor; |
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Mat img1; |
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Mat transfMtr; |
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RNG rng; |
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const float maxDistScale = 0.01f; |
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int maxDist; |
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void onMaxDistChange( int maxDist, void* ) |
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{ |
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float realMaxDist = maxDist*maxDistScale; |
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cout << "maxDist " << realMaxDist << endl; |
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iter( detector, descriptor, img1, realMaxDist, transfMtr ); |
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} |
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int main(int argc, char** argv) |
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{ |
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if( argc != 4 ) |
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{ |
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cout << "Format:" << endl; |
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cout << "./" << argv[0] << " [detector_type] [descriptor_type] [image]" << endl; |
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return 0; |
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} |
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cout << "< Creating detector, descriptor and matcher... "; |
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detector = createDetector(argv[1]); |
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descriptor = createDescExtractor(argv[2]); |
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//Ptr<DescriptorMatcher> matcher = createDescMatcher(argv[3]);
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cout << ">" << endl; |
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if( detector.empty() || descriptor.empty()/* || matcher.empty() */ ) |
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{ |
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cout << "Can not create detector or descriptor or matcher of given types" << endl; |
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return 0; |
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} |
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cout << "< Reading the image... "; |
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img1 = imread( argv[3], CV_LOAD_IMAGE_GRAYSCALE); |
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cout << ">" << endl; |
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if( img1.empty() ) |
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{ |
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cout << "Can not read image" << endl; |
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return 0; |
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} |
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namedWindow(winName, 1); |
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maxDist = 12; |
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createTrackbar( "maxDist", winName, &maxDist, 100, onMaxDistChange ); |
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onMaxDistChange(maxDist, 0); |
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for(;;) |
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{ |
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char c = (char)cvWaitKey(0); |
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if( c == '\x1b' ) // esc
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{ |
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cout << "Exiting ..." << endl; |
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return 0; |
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} |
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else if( c == 'n' ) |
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iter(detector, descriptor, img1, maxDist*maxDistScale, transfMtr, &rng); |
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} |
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waitKey(0); |
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} |
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@ -0,0 +1,259 @@ |
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#include <cv.h> |
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#include <cvaux.h> |
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#include <highgui.h> |
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#include <iostream> |
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using namespace cv; |
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using namespace std; |
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inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt ) |
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{ |
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double z = H(2,0)*pt.x + H(2,1)*pt.y + H(2,2); |
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if( z ) |
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{ |
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double w = 1./z; |
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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 ); |
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} |
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return Point2f( numeric_limits<double>::max(), numeric_limits<double>::max() ); |
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} |
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Mat warpPerspectiveRand( const Mat& src, Mat& dst, RNG* rng ) |
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{ |
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Mat H(3, 3, CV_32FC1); |
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H.at<float>(0,0) = rng->uniform( 0.8f, 1.2f); |
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H.at<float>(0,1) = rng->uniform(-0.1f, 0.1f); |
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H.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*src.cols; |
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H.at<float>(1,0) = rng->uniform(-0.1f, 0.1f); |
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H.at<float>(1,1) = rng->uniform( 0.8f, 1.2f); |
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H.at<float>(1,2) = rng->uniform(-0.1f, 0.3f)*src.rows; |
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H.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f); |
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H.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f); |
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H.at<float>(2,2) = rng->uniform( 0.8f, 1.1f); |
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warpPerspective( src, dst, H, src.size() ); |
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return H; |
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} |
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FeatureDetector* createDetector( const string& detectorType ) |
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{ |
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FeatureDetector* fd = 0; |
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if( !detectorType.compare( "FAST" ) ) |
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{ |
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fd = new FastFeatureDetector( 10/*threshold*/, true/*nonmax_suppression*/ ); |
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} |
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else if( !detectorType.compare( "STAR" ) ) |
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{ |
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fd = new StarFeatureDetector( 16/*max_size*/, 5/*response_threshold*/, 10/*line_threshold_projected*/, |
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8/*line_threshold_binarized*/, 5/*suppress_nonmax_size*/ ); |
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} |
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else if( !detectorType.compare( "SIFT" ) ) |
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{ |
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fd = new SiftFeatureDetector(SIFT::DetectorParams::GET_DEFAULT_THRESHOLD(), |
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SIFT::DetectorParams::GET_DEFAULT_EDGE_THRESHOLD()); |
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} |
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else if( !detectorType.compare( "SURF" ) ) |
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{ |
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fd = new SurfFeatureDetector( 100./*hessian_threshold*/, 3 /*octaves*/, 4/*octave_layers*/ ); |
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} |
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else if( !detectorType.compare( "MSER" ) ) |
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{ |
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fd = new MserFeatureDetector( 5/*delta*/, 60/*min_area*/, 14400/*_max_area*/, 0.25f/*max_variation*/, |
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0.2/*min_diversity*/, 200/*max_evolution*/, 1.01/*area_threshold*/, 0.003/*min_margin*/, |
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5/*edge_blur_size*/ ); |
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} |
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else if( !detectorType.compare( "GFTT" ) ) |
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{ |
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fd = new GoodFeaturesToTrackDetector( 1000/*maxCorners*/, 0.01/*qualityLevel*/, 1./*minDistance*/, |
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3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ ); |
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} |
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else |
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assert(0); |
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return fd; |
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} |
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GenericDescriptorMatch* createDescriptorMatch( const string& descriptorType ) |
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{ |
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GenericDescriptorMatch* de = 0; |
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if( !descriptorType.compare( "SIFT" ) ) |
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{ |
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SiftDescriptorExtractor extractor/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(),
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bool isNormalize=true, bool recalculateAngles=true, |
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int nOctaves=SIFT::CommonParams::DEFAULT_NOCTAVES, |
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int nOctaveLayers=SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS, |
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int firstOctave=SIFT::CommonParams::DEFAULT_FIRST_OCTAVE, |
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int angleMode=SIFT::CommonParams::FIRST_ANGLE )*/; |
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BruteForceMatcher<L2<float> > matcher; |
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de = new VectorDescriptorMatch<SiftDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher); |
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} |
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else if( !descriptorType.compare( "SURF" ) ) |
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{ |
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SurfDescriptorExtractor extractor/*( int nOctaves=4,
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int nOctaveLayers=2, bool extended=false )*/; |
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BruteForceMatcher<L2<float> > matcher; |
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de = new VectorDescriptorMatch<SurfDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher); |
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} |
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else |
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assert(0); |
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return de; |
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} |
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void drawCorrespondences( const Mat& img1, const Mat& img2, |
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const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2, |
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const vector<int>& matches, Mat& drawImg, const Mat& H12 = Mat() ) |
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{ |
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Scalar RED = CV_RGB(255, 0, 0); // red keypoint - point without corresponding point
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Scalar GREEN = CV_RGB(0, 255, 0); // green keypoint - point having correct corresponding point
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Scalar BLUE = CV_RGB(0, 0, 255); // blue keypoint - point having incorrect corresponding point
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Size size(img1.cols + img2.cols, MAX(img1.rows, img2.rows)); |
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drawImg.create(size, CV_MAKETYPE(img1.depth(), 3)); |
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Mat drawImg1 = drawImg(Rect(0, 0, img1.cols, img1.rows)); |
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cvtColor(img1, drawImg1, CV_GRAY2RGB); |
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Mat drawImg2 = drawImg(Rect(img1.cols, 0, img2.cols, img2.rows)); |
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|
cvtColor(img2, drawImg2, CV_GRAY2RGB); |
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|
|
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// draw keypoints
|
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|
for(vector<KeyPoint>::const_iterator it = keypoints1.begin(); it < keypoints1.end(); ++it ) |
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|
{ |
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|
circle(drawImg, it->pt, 3, RED); |
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|
} |
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|
for(vector<KeyPoint>::const_iterator it = keypoints2.begin(); it < keypoints2.end(); ++it ) |
||||||
|
{ |
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|
Point p = it->pt; |
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|
circle(drawImg, Point2f(p.x+img1.cols, p.y), 3, RED); |
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|
} |
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|
|
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|
// draw matches
|
||||||
|
vector<int>::const_iterator mit = matches.begin(); |
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|
assert( matches.size() == keypoints1.size() ); |
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|
for( int i1 = 0; mit != matches.end(); ++mit, i1++ ) |
||||||
|
{ |
||||||
|
Point2f pt1 = keypoints1[i1].pt, |
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|
pt2 = keypoints2[*mit].pt, |
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|
dpt2 = Point2f( std::min(pt2.x+img1.cols, float(drawImg.cols-1)), pt2.y); |
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|
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); |
||||||
|
} |
Loading…
Reference in new issue