diff --git a/samples/cpp/matchmethod_orb_akaze_brisk.cpp b/samples/cpp/matchmethod_orb_akaze_brisk.cpp new file mode 100644 index 000000000..4e3884d69 --- /dev/null +++ b/samples/cpp/matchmethod_orb_akaze_brisk.cpp @@ -0,0 +1,188 @@ +#include +#include +#include + +using namespace std; +using namespace cv; + +static void help() +{ + cout << "\n This program demonstrates how to detect compute and match ORB BRISK and AKAZE descriptors \n" + "Usage: \n" + " ./matchmethod_orb_akaze_brisk \n" + "Press a key when image window is active to change algorithm or descriptor"; +} + + + +int main(int argc, char *argv[]) +{ + vector typeDesc; + vector typeAlgoMatch; + vector fileName; + help(); + // This descriptor are going to be detect and compute + typeDesc.push_back("AKAZE-DESCRIPTOR_KAZE_UPRIGHT"); // see http://docs.opencv.org/trunk/d8/d30/classcv_1_1AKAZE.html + typeDesc.push_back("AKAZE"); // see http://docs.opencv.org/trunk/d8/d30/classcv_1_1AKAZE.html + typeDesc.push_back("ORB"); // see http://docs.opencv.org/trunk/de/dbf/classcv_1_1BRISK.html + typeDesc.push_back("BRISK"); // see http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html + // This algorithm would be used to match descriptors see http://docs.opencv.org/trunk/db/d39/classcv_1_1DescriptorMatcher.html#ab5dc5036569ecc8d47565007fa518257 + typeAlgoMatch.push_back("BruteForce"); + typeAlgoMatch.push_back("BruteForce-L1"); + typeAlgoMatch.push_back("BruteForce-Hamming"); + typeAlgoMatch.push_back("BruteForce-Hamming(2)"); + if (argc==1) + { + fileName.push_back("../data/basketball1.png"); + fileName.push_back("../data/basketball2.png"); + } + else if (argc==3) + { + fileName.push_back(argv[1]); + fileName.push_back(argv[2]); + } + else + { + help(); + return(0); + } + Mat img1 = imread(fileName[0], IMREAD_GRAYSCALE); + Mat img2 = imread(fileName[1], IMREAD_GRAYSCALE); + if (img1.rows*img1.cols <= 0) + { + cout << "Image " << fileName[0] << " is empty or cannot be found\n"; + return(0); + } + if (img2.rows*img2.cols <= 0) + { + cout << "Image " << fileName[1] << " is empty or cannot be found\n"; + return(0); + } + + vector desMethCmp; + Ptr b; + + // Descriptor loop + vector::iterator itDesc; + for (itDesc = typeDesc.begin(); itDesc != typeDesc.end(); itDesc++) + { + Ptr descriptorMatcher; + // Match between img1 and img2 + vector matches; + // keypoint for img1 and img2 + vector keyImg1, keyImg2; + // Descriptor for img1 and img2 + Mat descImg1, descImg2; + vector::iterator itMatcher = typeAlgoMatch.end(); + if (*itDesc == "AKAZE-DESCRIPTOR_KAZE_UPRIGHT"){ + b = AKAZE::create(AKAZE::DESCRIPTOR_KAZE_UPRIGHT); + } + if (*itDesc == "AKAZE"){ + b = AKAZE::create(); + } + if (*itDesc == "ORB"){ + b = ORB::create(); + } + else if (*itDesc == "BRISK"){ + b = BRISK::create(); + } + try + { + // We can detect keypoint with detect method + b->detect(img1, keyImg1, Mat()); + // and compute their descriptors with method compute + b->compute(img1, keyImg1, descImg1); + // or detect and compute descriptors in one step + b->detectAndCompute(img2, Mat(),keyImg2, descImg2,false); + // Match method loop + for (itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); itMatcher++){ + descriptorMatcher = DescriptorMatcher::create(*itMatcher); + if ((*itMatcher == "BruteForce-Hamming" || *itMatcher == "BruteForce-Hamming(2)") && (b->descriptorType() == CV_32F || b->defaultNorm() <= NORM_L2SQR)) + { + cout << "**************************************************************************\n"; + cout << "It's strange. You should use Hamming distance only for a binary descriptor\n"; + cout << "**************************************************************************\n"; + } + if ((*itMatcher == "BruteForce" || *itMatcher == "BruteForce-L1") && (b->defaultNorm() >= NORM_HAMMING)) + { + cout << "**************************************************************************\n"; + cout << "It's strange. You shouldn't use L1 or L2 distance for a binary descriptor\n"; + cout << "**************************************************************************\n"; + } + try + { + descriptorMatcher->match(descImg1, descImg2, matches, Mat()); + // Keep best matches only to have a nice drawing. + // We sort distance between descriptor matches + Mat index; + int nbMatch=int(matches.size()); + Mat tab(nbMatch, 1, CV_32F); + for (int i = 0; i(i, 0) = matches[i].distance; + } + sortIdx(tab, index, SORT_EVERY_COLUMN + SORT_ASCENDING); + vector bestMatches; + for (int i = 0; i<30; i++) + { + bestMatches.push_back(matches[index.at(i, 0)]); + } + Mat result; + drawMatches(img1, keyImg1, img2, keyImg2, bestMatches, result); + namedWindow(*itDesc+": "+*itMatcher, WINDOW_AUTOSIZE); + imshow(*itDesc + ": " + *itMatcher, result); + // Saved result could be wrong due to bug 4308 + FileStorage fs(*itDesc + "_" + *itMatcher + ".yml", FileStorage::WRITE); + fs<<"Matches"<::iterator it; + cout<<"**********Match results**********\n"; + cout << "Index \tIndex \tdistance\n"; + cout << "in img1\tin img2\n"; + // Use to compute distance between keyPoint matches and to evaluate match algorithm + double cumSumDist2=0; + for (it = bestMatches.begin(); it != bestMatches.end(); it++) + { + cout << it->queryIdx << "\t" << it->trainIdx << "\t" << it->distance << "\n"; + Point2d p=keyImg1[it->queryIdx].pt-keyImg2[it->trainIdx].pt; + cumSumDist2=p.x*p.x+p.y*p.y; + } + desMethCmp.push_back(cumSumDist2); + waitKey(); + } + catch (Exception& e) + { + cout << e.msg << endl; + cout << "Cumulative distance cannot be computed." << endl; + desMethCmp.push_back(-1); + } + } + } + catch (Exception& e) + { + cout << "Feature : " << *itDesc << "\n"; + if (itMatcher != typeAlgoMatch.end()) + { + cout << "Matcher : " << *itMatcher << "\n"; + } + cout << e.msg << endl; + } + } + int i=0; + cout << "Cumulative distance between keypoint match for different algorithm and feature detector \n\t"; + cout << "We cannot say which is the best but we can say results are differents! \n\t"; + for (vector::iterator itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); itMatcher++) + { + cout<<*itMatcher<<"\t"; + } + cout << "\n"; + for (itDesc = typeDesc.begin(); itDesc != typeDesc.end(); itDesc++) + { + cout << *itDesc << "\t"; + for (vector::iterator itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); itMatcher++, i++) + { + cout << desMethCmp[i]<<"\t"; + } + cout<<"\n"; + } + return 0; +}