Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

modified keypoints_matching sample

Browse Source
pull/13383/head
Maria Dimashova 15 years ago
parent 8e53eb5cbe
commit d5ef5b88f0
1 changed files with 68 additions and 41 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 105
      samples/cpp/keypoints_matching.cpp

105
samples/cpp/keypoints_matching.cpp
Unescape View File

@ -17,21 +17,20 @@ inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
return Point2f( numeric_limits<double>::max(), numeric_limits<double>::max() );
}
Mat warpPerspectiveRand( const Mat& src, Mat& dst, RNG* rng )
void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG* rng )
{
Mat H(3, 3, CV_32FC1);
H.create(3, 3, CV_32FC1);
H.at<float>(0,0) = rng->uniform( 0.8f, 1.2f);
H.at<float>(0,1) = rng->uniform(-0.1f, 0.1f);
H.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*src.cols;
H.at<float>(1,0) = rng->uniform(-0.1f, 0.1f);
H.at<float>(1,1) = rng->uniform( 0.8f, 1.2f);
H.at<float>(1,2) = rng->uniform(-0.1f, 0.3f)*src.rows;
H.at<float>(1,2) = rng->uniform(-0.1f, 0.1f)*src.rows;
H.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f);
H.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f);
H.at<float>(2,2) = rng->uniform( 0.8f, 1.1f);
H.at<float>(2,2) = rng->uniform( 0.8f, 1.2f);
warpPerspective( src, dst, H, src.size() );
return H;
}
FeatureDetector* createDetector( const string& detectorType )
@ -67,37 +66,50 @@ FeatureDetector* createDetector( const string& detectorType )
3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ );
}
else
assert(0);
{
//CV_Error( CV_StsBadArg, "unsupported feature detector type");
}
return fd;
}
GenericDescriptorMatch* createDescriptorMatch( const string& descriptorType )
DescriptorExtractor* createDescriptorExtractor( const string& descriptorExtractorType )
{
GenericDescriptorMatch* de = 0;
if( !descriptorType.compare( "SIFT" ) )
DescriptorExtractor* de = 0;
if( !descriptorExtractorType.compare( "SIFT" ) )
{
SiftDescriptorExtractor extractor/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(),
de = new SiftDescriptorExtractor/*( 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" ) )
else if( !descriptorExtractorType.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);
de = new SurfDescriptorExtractor/*( int nOctaves=4, int nOctaveLayers=2, bool extended=false )*/;
}
else
assert(0);
{
//CV_Error( CV_StsBadArg, "unsupported descriptor extractor type");
}
return de;
}
DescriptorMatcher* createDescriptorMatcher( const string& descriptorMatcherType )
{
DescriptorMatcher* dm = 0;
if( !descriptorMatcherType.compare( "BruteForce" ) )
{
dm = new BruteForceMatcher<L2<float> >();
}
else
{
//CV_Error( CV_StsBadArg, "unsupported descriptor matcher type");
}
return dm;
}
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() )
@ -149,8 +161,10 @@ void drawCorrespondences( const Mat& img1, const Mat& img2,
const string winName = "correspondences";
void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<KeyPoint>& keypoints1,
Ptr<FeatureDetector>& detector, Ptr<GenericDescriptorMatch>& descriptor,
void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
const vector<KeyPoint>& keypoints1, const Mat& descriptors1,
Ptr<FeatureDetector>& detector, Ptr<DescriptorExtractor>& descriptorExtractor,
Ptr<DescriptorMatcher>& descriptorMatcher,
double ransacReprojThreshold = -1, RNG* rng = 0 )
{
assert( !img1.empty() );
@ -158,7 +172,7 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<Key
if( isWarpPerspective )
{
assert( rng );
H12 = warpPerspectiveRand(img1, img2, rng);
warpPerspectiveRand(img1, img2, H12, rng);
}
else
assert( !img2.empty() && img2.cols==img1.cols && img2.rows==img1.rows );
@ -168,21 +182,23 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<Key
detector->detect( img2, keypoints2 );
cout << keypoints2.size() << " >" << endl;
cout << "< Computing and matching descriptors..." << endl;
cout << "< Computing descriptors for keypoints from second image..." << endl;
Mat descriptors2;
descriptorExtractor->compute( img2, keypoints2, descriptors2 );
cout << " >" << endl;
cout << "< Matching descriptors..." << endl;
vector<int> matches;
//if( keypoints1.size()>0 && keypoints2.size()>0 )
{
descriptor->clear();
descriptor->add( img2, keypoints2 );
descriptor->match( img1, keypoints1, matches );
}
descriptorMatcher->clear();
descriptorMatcher->add( descriptors2 );
descriptorMatcher->match( descriptors1, 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++ )
for( size_t i = 0; i < matches.size(); i++ )
{
points1[i] = keypoints1[i].pt;
points2[i] = keypoints2[matches[i]].pt;
@ -206,21 +222,22 @@ int main(int argc, char** argv)
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;
return -1;
}
bool isWarpPerspective = argc == 4;
double ransacReprojThreshold = -1;
if( !isWarpPerspective )
ransacReprojThreshold = atof(argv[5]);
cout << "< Creating detector, descriptor..." << endl;
cout << "< Creating detector, descriptor extractor and descriptor matcher ..." << endl;
Ptr<FeatureDetector> detector = createDetector( argv[1] );
Ptr<GenericDescriptorMatch> descriptor = createDescriptorMatch(argv[2]);
Ptr<DescriptorExtractor> descriptorExtractor = createDescriptorExtractor( argv[2] );
Ptr<DescriptorMatcher> descriptorMatcher = createDescriptorMatcher( "BruteForce" );
cout << ">" << endl;
if( detector.empty() || descriptor.empty() )
if( detector.empty() || descriptorExtractor.empty() || descriptorMatcher.empty() )
{
cout << "Can not create detector or descriptor or matcher of given types" << endl;
return 0;
cout << "Can not create detector or descriptor exstractor or descriptor matcher of given types" << endl;
return -1;
}
cout << "< Reading the images..." << endl;
@ -231,7 +248,7 @@ int main(int argc, char** argv)
if( img1.empty() || (!isWarpPerspective && img2.empty()) )
{
cout << "Can not read images" << endl;
return 0;
return -1;
}
cout << endl << "< Extracting keypoints from first image..." << endl;
@ -239,9 +256,16 @@ int main(int argc, char** argv)
detector->detect( img1, keypoints1 );
cout << keypoints1.size() << " >" << endl;
cout << "< Computing descriptors for keypoints from first image..." << endl;
Mat descriptors1;
descriptorExtractor->compute( img1, keypoints1, descriptors1 );
cout << " >" << endl;
namedWindow(winName, 1);
RNG rng;
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng );
doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
ransacReprojThreshold, &rng );
for(;;)
{
char c = (char)cvWaitKey(0);
@ -252,8 +276,11 @@ int main(int argc, char** argv)
}
else if( isWarpPerspective )
{
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng );
doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
ransacReprojThreshold, &rng );
}
}
waitKey(0);
return 0;
}

Write Preview
Loading…
Cancel
Save