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added GridAdaptedFeatureDetector, PyramidAdaptedFeatureDetector and funcs to draw keypoints and matches

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This commit is contained in:
Maria Dimashova
2010-08-03 16:28:52 +00:00
parent 9c94a96c40
commit 4e60decad3
4 changed files with 349 additions and 57 deletions
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203
modules/features2d/src/descriptors.cpp
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@@ -48,6 +48,10 @@
//#define _KDTREE
using namespace std;
const int draw_shift_bits = 4;
const int draw_multiplier = 1 << draw_shift_bits;
namespace cv
{
@@ -69,63 +73,190 @@ Mat windowedMatchingMask( const vector<KeyPoint>& keypoints1, const vector<KeyPo
return mask;
}
void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
const Mat& img2,const vector<KeyPoint>& keypoints2,
const vector<int>& matches, Mat& outImg,
const Scalar& matchColor, const Scalar& singlePointColor,
const vector<char>& matchesMask, int flags )
/*
* Drawing functions
*/
static inline void _drawKeypoint( Mat& img, const KeyPoint& p, const Scalar& color, int flags )
{
Point center( p.pt.x * draw_multiplier, p.pt.y * draw_multiplier );
if( flags & DrawMatchesFlags::DRAW_RICH_KEYPOINTS )
{
int radius = p.size/2 * draw_multiplier; // KeyPoint::size is a diameter
// draw the circles around keypoints with the keypoints size
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
// draw orientation of the keypoint, if it is applicable
if( p.angle != -1 )
{
float srcAngleRad = p.angle*CV_PI/180;
Point orient(cos(srcAngleRad)*radius, sin(srcAngleRad)*radius);
line( img, center, center+orient, color, 1, CV_AA, draw_shift_bits );
}
#if 0
else
{
// draw center with R=1
int radius = 1 * draw_multiplier;
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
}
#endif
}
else
{
// draw center with R=3
int radius = 3 * draw_multiplier;
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
}
}
void drawKeypoints( const Mat& image, const vector<KeyPoint>& keypoints, Mat& outImg,
const Scalar& _color, int flags )
{
if( !(flags & DrawMatchesFlags::DRAW_OVER_OUTIMG) )
cvtColor( image, outImg, CV_GRAY2BGR );
RNG& rng=theRNG();
bool isRandColor = _color == Scalar::all(-1);
for( vector<KeyPoint>::const_iterator i = keypoints.begin(), ie = keypoints.end(); i != ie; ++i )
{
Scalar color = isRandColor ? Scalar(rng(256), rng(256), rng(256)) : _color;
_drawKeypoint( outImg, *i, color, flags );
}
}
static void _prepareImgAndDrawKeypoints( const Mat& img1, const vector<KeyPoint>& keypoints1,
const Mat& img2, const vector<KeyPoint>& keypoints2,
Mat& outImg, Mat& outImg1, Mat& outImg2,
const Scalar& singlePointColor, int flags )
{
Size size( img1.cols + img2.cols, MAX(img1.rows, img2.rows) );
if( flags & DrawMatchesFlags::DRAW_OVER_OUTIMG )
{
if( size.width > outImg.cols || size.height > outImg.rows )
CV_Error( CV_StsBadSize, "outImg has size less than need to draw img1 and img2 together" );
outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
}
else
{
outImg.create( size, CV_MAKETYPE(img1.depth(), 3) );
Mat outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
cvtColor( img1, outImg1, CV_GRAY2RGB );
Mat outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
cvtColor( img2, outImg2, CV_GRAY2RGB );
}
RNG rng;
// draw keypoints
if( !(flags & DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS) )
{
bool isRandSinglePointColor = singlePointColor == Scalar::all(-1);
for( vector<KeyPoint>::const_iterator it = keypoints1.begin(); it < keypoints1.end(); ++it )
{
circle( outImg, it->pt, 3, isRandSinglePointColor ?
Scalar(rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256)) : singlePointColor );
}
for( vector<KeyPoint>::const_iterator it = keypoints2.begin(); it < keypoints2.end(); ++it )
{
Point p = it->pt;
circle( outImg, Point(p.x+img1.cols, p.y), 3, isRandSinglePointColor ?
Scalar(rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256)) : singlePointColor );
}
}
Mat outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
drawKeypoints( outImg1, keypoints1, outImg1, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
Mat outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
drawKeypoints( outImg2, keypoints2, outImg2, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
}
}
static inline void _drawMatch( Mat& outImg, Mat& outImg1, Mat& outImg2 ,
const KeyPoint& kp1, const KeyPoint& kp2, const Scalar& matchColor, int flags )
{
RNG& rng = theRNG();
bool isRandMatchColor = matchColor == Scalar::all(-1);
Scalar color = isRandMatchColor ? Scalar( rng(256), rng(256), rng(256) ) : matchColor;
_drawKeypoint( outImg1, kp1, color, flags );
_drawKeypoint( outImg2, kp2, color, flags );
Point2f pt1 = kp1.pt,
pt2 = kp2.pt,
dpt2 = Point2f( std::min(pt2.x+outImg1.cols, float(outImg.cols-1)), pt2.y );
line( outImg, Point(pt1.x*draw_multiplier, pt1.y*draw_multiplier), Point(dpt2.x*draw_multiplier, dpt2.y*draw_multiplier),
color, 1, CV_AA, draw_shift_bits );
}
void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
const Mat& img2,const vector<KeyPoint>& keypoints2,
const vector<int>& matches1to2, Mat& outImg,
const Scalar& matchColor, const Scalar& singlePointColor,
const vector<char>& matchesMask, int flags )
{
if( matches1to2.size() != keypoints1.size() )
CV_Error( CV_StsBadSize, "matches1to2 must have the same size as keypoints1" );
if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
Mat outImg1, outImg2;
_prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
outImg, outImg1, outImg2, singlePointColor, flags );
// draw matches
bool isRandMatchColor = matchColor == Scalar::all(-1);
if( matches.size() != keypoints1.size() )
CV_Error( CV_StsBadSize, "matches must have the same size as keypoints1" );
if( !matchesMask.empty() && matchesMask.size() != keypoints1.size() )
CV_Error( CV_StsBadSize, "mask must have the same size as keypoints1" );
vector<int>::const_iterator mit = matches.begin();
for( int i1 = 0; mit != matches.end(); ++mit, i1++ )
for( size_t i1 = 0; i1 < keypoints1.size(); i1++ )
{
if( (matchesMask.empty() || matchesMask[i1] ) && *mit >= 0 )
int i2 = matches1to2[i1];
if( (matchesMask.empty() || matchesMask[i1] ) && i2 >= 0 )
{
Point2f pt1 = keypoints1[i1].pt,
pt2 = keypoints2[*mit].pt,
dpt2 = Point2f( std::min(pt2.x+img1.cols, float(outImg.cols-1)), pt2.y );
Scalar randColor( rng.uniform(0, 256), rng.uniform(0, 256), rng.uniform(0, 256) );
circle( outImg, pt1, 3, isRandMatchColor ? randColor : matchColor );
circle( outImg, dpt2, 3, isRandMatchColor ? randColor : matchColor );
line( outImg, pt1, dpt2, isRandMatchColor ? randColor : matchColor );
const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
_drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
}
}
}
void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
const Mat& img2, const vector<KeyPoint>& keypoints2,
const vector<DMatch>& matches1to2, Mat& outImg,
const Scalar& matchColor, const Scalar& singlePointColor,
const vector<char>& matchesMask, int flags )
{
if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
Mat outImg1, outImg2;
_prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
outImg, outImg1, outImg2, singlePointColor, flags );
// draw matches
for( size_t m = 0; m < matches1to2.size(); m++ )
{
int i1 = matches1to2[m].indexQuery;
int i2 = matches1to2[m].indexTrain;
if( matchesMask.empty() || matchesMask[m] )
{
const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
_drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
}
}
}
void drawMatches( const Mat& img1, const vector<KeyPoint>& keypoints1,
const Mat& img2, const vector<KeyPoint>& keypoints2,
const vector<vector<DMatch> >& matches1to2, Mat& outImg,
const Scalar& matchColor, const Scalar& singlePointColor,
const vector<vector<char> >& matchesMask, int flags )
{
if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
Mat outImg1, outImg2;
_prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
outImg, outImg1, outImg2, singlePointColor, flags );
// draw matches
for( size_t i = 0; i < matches1to2.size(); i++ )
{
for( size_t j = 0; j < matches1to2[i].size(); j++ )
{
int i1 = matches1to2[i][j].indexQuery;
int i2 = matches1to2[i][j].indexTrain;
if( matchesMask.empty() || matchesMask[i][j] )
{
const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
_drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
}
}
}
}