84 lines
2.5 KiB
C++
84 lines
2.5 KiB
C++
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#ifndef __OPENCV_MATCHERS_HPP__
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#define __OPENCV_MATCHERS_HPP__
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#include <vector>
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#include <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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struct ImageFeatures
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{
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std::vector<cv::KeyPoint> keypoints;
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cv::Mat descriptors;
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};
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class FeaturesFinder
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{
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public:
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virtual ~FeaturesFinder() {}
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void operator ()(const std::vector<cv::Mat> &images, std::vector<ImageFeatures> &features) { find(images, features); }
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protected:
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virtual void find(const std::vector<cv::Mat> &images, std::vector<ImageFeatures> &features) = 0;
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};
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class SurfFeaturesFinder : public FeaturesFinder
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{
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public:
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explicit SurfFeaturesFinder(bool gpu_hint = true, double hess_thresh = 500.0,
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int num_octaves = 3, int num_layers = 4,
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int num_octaves_descr = 4, int num_layers_descr = 2);
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protected:
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void find(const std::vector<cv::Mat> &images, std::vector<ImageFeatures> &features);
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cv::Ptr<FeaturesFinder> impl_;
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};
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struct MatchesInfo
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{
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MatchesInfo();
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MatchesInfo(const MatchesInfo &other);
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const MatchesInfo& operator =(const MatchesInfo &other);
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int src_img_idx, dst_img_idx; // Optional images indices
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std::vector<cv::DMatch> matches;
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std::vector<uchar> inliers_mask;
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int num_inliers; // Number of geometrically consistent matches
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cv::Mat H; // Homography
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};
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class FeaturesMatcher
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{
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public:
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virtual ~FeaturesMatcher() {}
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void operator ()(const cv::Mat &img1, const ImageFeatures &features1, const cv::Mat &img2, const ImageFeatures &features2,
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MatchesInfo& matches_info) { match(img1, features1, img2, features2, matches_info); }
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void operator ()(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features,
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std::vector<MatchesInfo> &pairwise_matches);
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protected:
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virtual void match(const cv::Mat &img1, const ImageFeatures &features1, const cv::Mat &img2, const ImageFeatures &features2,
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MatchesInfo& matches_info) = 0;
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};
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class BestOf2NearestMatcher : public FeaturesMatcher
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{
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public:
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explicit BestOf2NearestMatcher(bool gpu_hint = true, float match_conf = 0.55f, int num_matches_thresh1 = 5, int num_matches_thresh2 = 5);
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protected:
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void match(const cv::Mat &img1, const ImageFeatures &features1, const cv::Mat &img2, const ImageFeatures &features2,
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MatchesInfo &matches_info);
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int num_matches_thresh1_;
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int num_matches_thresh2_;
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cv::Ptr<FeaturesMatcher> impl_;
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};
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#endif // __OPENCV_MATCHERS_HPP__
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