2010-11-14 07:28:41 +01:00
|
|
|
/*
|
|
|
|
* matching_test.cpp
|
|
|
|
*
|
|
|
|
* Created on: Oct 17, 2010
|
|
|
|
* Author: ethan
|
|
|
|
*/
|
2010-11-26 18:59:40 +01:00
|
|
|
#include <opencv2/calib3d/calib3d.hpp>
|
|
|
|
#include <opencv2/features2d/features2d.hpp>
|
|
|
|
#include <opencv2/imgproc/imgproc.hpp>
|
|
|
|
#include <opencv2/highgui/highgui.hpp>
|
2010-11-14 07:28:41 +01:00
|
|
|
#include <vector>
|
|
|
|
#include <iostream>
|
|
|
|
|
|
|
|
using namespace cv;
|
|
|
|
|
|
|
|
using std::cout;
|
|
|
|
using std::cerr;
|
|
|
|
using std::endl;
|
|
|
|
using std::vector;
|
|
|
|
|
2010-11-24 03:35:10 +01:00
|
|
|
void help(char **av)
|
|
|
|
{
|
|
|
|
cerr << "usage: " << av[0] << " im1.jpg im2.jpg"
|
|
|
|
<< "\n"
|
2010-12-04 09:30:22 +01:00
|
|
|
<< "This program shows how to use BRIEF descriptor to match points in features2d\n"
|
2010-11-24 03:35:10 +01:00
|
|
|
<< "It takes in two images, finds keypoints and matches them displaying matches and final homography warped results\n"
|
|
|
|
<< endl;
|
|
|
|
}
|
|
|
|
|
|
|
|
//Copy (x,y) location of descriptor matches found from KeyPoint data structures into Point2f vectors
|
2010-11-14 07:28:41 +01:00
|
|
|
void matches2points(const vector<DMatch>& matches, const vector<KeyPoint>& kpts_train,
|
|
|
|
const vector<KeyPoint>& kpts_query, vector<Point2f>& pts_train, vector<Point2f>& pts_query)
|
|
|
|
{
|
|
|
|
pts_train.clear();
|
|
|
|
pts_query.clear();
|
|
|
|
pts_train.reserve(matches.size());
|
|
|
|
pts_query.reserve(matches.size());
|
|
|
|
for (size_t i = 0; i < matches.size(); i++)
|
|
|
|
{
|
|
|
|
const DMatch& match = matches[i];
|
|
|
|
pts_query.push_back(kpts_query[match.queryIdx].pt);
|
|
|
|
pts_train.push_back(kpts_train[match.trainIdx].pt);
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
2010-11-26 19:25:30 +01:00
|
|
|
double match(const vector<KeyPoint>& kpts_train, const vector<KeyPoint>& kpts_query, DescriptorMatcher& matcher,
|
2010-11-14 07:28:41 +01:00
|
|
|
const Mat& train, const Mat& query, vector<DMatch>& matches)
|
|
|
|
{
|
|
|
|
|
2010-11-26 11:35:48 +01:00
|
|
|
double t = (double)getTickCount();
|
2010-11-24 03:35:10 +01:00
|
|
|
matcher.match(query, train, matches); //Using features2d
|
2010-11-14 07:28:41 +01:00
|
|
|
return ((double)getTickCount() - t) / getTickFrequency();
|
|
|
|
}
|
|
|
|
|
2010-11-24 03:35:10 +01:00
|
|
|
|
|
|
|
|
2010-11-14 07:28:41 +01:00
|
|
|
int main(int ac, char ** av)
|
|
|
|
{
|
|
|
|
if (ac != 3)
|
|
|
|
{
|
2010-11-24 03:35:10 +01:00
|
|
|
help(av);
|
2010-11-14 07:28:41 +01:00
|
|
|
return 1;
|
|
|
|
}
|
|
|
|
string im1_name, im2_name;
|
|
|
|
im1_name = av[1];
|
|
|
|
im2_name = av[2];
|
|
|
|
|
|
|
|
Mat im1 = imread(im1_name, CV_LOAD_IMAGE_GRAYSCALE);
|
|
|
|
Mat im2 = imread(im2_name, CV_LOAD_IMAGE_GRAYSCALE);
|
|
|
|
|
|
|
|
if (im1.empty() || im2.empty())
|
|
|
|
{
|
|
|
|
cerr << "could not open one of the images..." << endl;
|
|
|
|
return 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
double t = (double)getTickCount();
|
|
|
|
|
|
|
|
FastFeatureDetector detector(50);
|
2010-11-24 03:35:10 +01:00
|
|
|
BriefDescriptorExtractor extractor(32); //this is really 32 x 8 matches since they are binary matches packed into bytes
|
2010-11-14 07:28:41 +01:00
|
|
|
|
|
|
|
vector<KeyPoint> kpts_1, kpts_2;
|
|
|
|
detector.detect(im1, kpts_1);
|
|
|
|
detector.detect(im2, kpts_2);
|
|
|
|
|
|
|
|
t = ((double)getTickCount() - t) / getTickFrequency();
|
|
|
|
|
|
|
|
cout << "found " << kpts_1.size() << " keypoints in " << im1_name << endl << "fount " << kpts_2.size()
|
|
|
|
<< " keypoints in " << im2_name << endl << "took " << t << " seconds." << endl;
|
|
|
|
|
|
|
|
Mat desc_1, desc_2;
|
|
|
|
|
|
|
|
cout << "computing descriptors..." << endl;
|
|
|
|
|
|
|
|
t = (double)getTickCount();
|
|
|
|
|
|
|
|
extractor.compute(im1, kpts_1, desc_1);
|
|
|
|
extractor.compute(im2, kpts_2, desc_2);
|
|
|
|
|
|
|
|
t = ((double)getTickCount() - t) / getTickFrequency();
|
|
|
|
|
|
|
|
cout << "done computing descriptors... took " << t << " seconds" << endl;
|
|
|
|
|
2010-11-24 03:35:10 +01:00
|
|
|
//Do matching with 2 methods using features2d
|
2010-11-14 07:28:41 +01:00
|
|
|
cout << "matching with BruteForceMatcher<HammingLUT>" << endl;
|
|
|
|
BruteForceMatcher<HammingLUT> matcher;
|
|
|
|
vector<DMatch> matches_lut;
|
|
|
|
float lut_time = match(kpts_1, kpts_2, matcher, desc_1, desc_2, matches_lut);
|
|
|
|
cout << "done BruteForceMatcher<HammingLUT> matching. took " << lut_time << " seconds" << endl;
|
|
|
|
|
|
|
|
cout << "matching with BruteForceMatcher<Hamming>" << endl;
|
|
|
|
BruteForceMatcher<Hamming> matcher_popcount;
|
|
|
|
vector<DMatch> matches_popcount;
|
2010-11-26 19:25:30 +01:00
|
|
|
double pop_time = match(kpts_1, kpts_2, matcher_popcount, desc_1, desc_2, matches_popcount);
|
2010-11-14 07:28:41 +01:00
|
|
|
cout << "done BruteForceMatcher<Hamming> matching. took " << pop_time << " seconds" << endl;
|
|
|
|
|
|
|
|
vector<Point2f> mpts_1, mpts_2;
|
2010-11-24 03:35:10 +01:00
|
|
|
matches2points(matches_popcount, kpts_1, kpts_2, mpts_1, mpts_2); //Extract a list of the (x,y) location of the matches
|
2010-11-14 07:28:41 +01:00
|
|
|
vector<uchar> outlier_mask;
|
|
|
|
Mat H = findHomography(Mat(mpts_2), Mat(mpts_1), outlier_mask, RANSAC, 1);
|
|
|
|
|
|
|
|
Mat outimg;
|
|
|
|
drawMatches(im2, kpts_2, im1, kpts_1, matches_popcount, outimg, Scalar::all(-1), Scalar::all(-1),
|
|
|
|
reinterpret_cast<const vector<char>&> (outlier_mask));
|
|
|
|
imshow("matches - popcount - outliers removed", outimg);
|
|
|
|
|
|
|
|
Mat warped;
|
|
|
|
warpPerspective(im2, warped, H, im1.size());
|
|
|
|
imshow("warped", warped);
|
|
|
|
imshow("diff", im1 - warped);
|
|
|
|
waitKey();
|
|
|
|
return 0;
|
|
|
|
}
|