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added sample for LATCH

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This commit is contained in:
GilLevi 2015-05-16 22:37:38 +03:00
parent f85eb23c3b
commit 6613519c2e
1 changed files with 52 additions and 52 deletions
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104
samples/cpp/tutorial_code/xfeatures2D/LATCH_match.cpp
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@ -18,75 +18,75 @@ int main(void)
{ {
Mat img1 = imread("../data/graf1.png", IMREAD_GRAYSCALE); Mat img1 = imread("../data/graf1.png", IMREAD_GRAYSCALE);
Mat img2 = imread("../data/graf3.png", IMREAD_GRAYSCALE); Mat img2 = imread("../data/graf3.png", IMREAD_GRAYSCALE);
Mat homography;
Mat homography;
FileStorage fs("../data/H1to3p.xml", FileStorage::READ); FileStorage fs("../data/H1to3p.xml", FileStorage::READ);
fs.getFirstTopLevelNode() >> homography; fs.getFirstTopLevelNode() >> homography;
vector<KeyPoint> kpts1, kpts2; vector<KeyPoint> kpts1, kpts2;
Mat desc1, desc2; Mat desc1, desc2;
Ptr<cv::ORB> orb_detector = cv::ORB::create(10000); Ptr<cv::ORB> orb_detector = cv::ORB::create(10000);
Ptr<xfeatures2d::LATCHDescriptorExtractor> latch = xfeatures2d::LATCHDescriptorExtractor::create(); Ptr<xfeatures2d::LATCHDescriptorExtractor> latch = xfeatures2d::LATCHDescriptorExtractor::create();
orb_detector->detect(img1, kpts1); orb_detector->detect(img1, kpts1);
latch->compute(img1, kpts1, desc1); latch->compute(img1, kpts1, desc1);
orb_detector->detect(img2, kpts2); orb_detector->detect(img2, kpts2);
latch->compute(img2, kpts2, desc2); latch->compute(img2, kpts2, desc2);
BFMatcher matcher(NORM_HAMMING); BFMatcher matcher(NORM_HAMMING);
vector< vector<DMatch> > nn_matches; vector< vector<DMatch> > nn_matches;
matcher.knnMatch(desc1, desc2, nn_matches, 2); matcher.knnMatch(desc1, desc2, nn_matches, 2);
vector<KeyPoint> matched1, matched2, inliers1, inliers2; vector<KeyPoint> matched1, matched2, inliers1, inliers2;
vector<DMatch> good_matches; vector<DMatch> good_matches;
for (size_t i = 0; i < nn_matches.size(); i++) { for (size_t i = 0; i < nn_matches.size(); i++) {
DMatch first = nn_matches[i][0]; DMatch first = nn_matches[i][0];
float dist1 = nn_matches[i][0].distance; float dist1 = nn_matches[i][0].distance;
float dist2 = nn_matches[i][1].distance; float dist2 = nn_matches[i][1].distance;
if (dist1 < nn_match_ratio * dist2) { if (dist1 < nn_match_ratio * dist2) {
matched1.push_back(kpts1[first.queryIdx]); matched1.push_back(kpts1[first.queryIdx]);
matched2.push_back(kpts2[first.trainIdx]); matched2.push_back(kpts2[first.trainIdx]);
} }
} }
for (unsigned i = 0; i < matched1.size(); i++) { for (unsigned i = 0; i < matched1.size(); i++) {
Mat col = Mat::ones(3, 1, CV_64F); Mat col = Mat::ones(3, 1, CV_64F);
col.at<double>(0) = matched1[i].pt.x; col.at<double>(0) = matched1[i].pt.x;
col.at<double>(1) = matched1[i].pt.y; col.at<double>(1) = matched1[i].pt.y;
col = homography * col; col = homography * col;
col /= col.at<double>(2); col /= col.at<double>(2);
double dist = sqrt(pow(col.at<double>(0) - matched2[i].pt.x, 2) + double dist = sqrt(pow(col.at<double>(0) - matched2[i].pt.x, 2) +
pow(col.at<double>(1) - matched2[i].pt.y, 2)); pow(col.at<double>(1) - matched2[i].pt.y, 2));
if (dist < inlier_threshold) { if (dist < inlier_threshold) {
int new_i = static_cast<int>(inliers1.size()); int new_i = static_cast<int>(inliers1.size());
inliers1.push_back(matched1[i]); inliers1.push_back(matched1[i]);
inliers2.push_back(matched2[i]); inliers2.push_back(matched2[i]);
good_matches.push_back(DMatch(new_i, new_i, 0)); good_matches.push_back(DMatch(new_i, new_i, 0));
} }
} }
Mat res; Mat res;
drawMatches(img1, inliers1, img2, inliers2, good_matches, res); drawMatches(img1, inliers1, img2, inliers2, good_matches, res);
imwrite("../../samples/data/latch_res.png", res); imwrite("../../samples/data/latch_res.png", res);
double inlier_ratio = inliers1.size() * 1.0 / matched1.size();
cout << "LATCH Matching Results" << endl; double inlier_ratio = inliers1.size() * 1.0 / matched1.size();
cout << "*******************************" << endl; cout << "LATCH Matching Results" << endl;
cout << "# Keypoints 1: \t" << kpts1.size() << endl; cout << "*******************************" << endl;
cout << "# Keypoints 2: \t" << kpts2.size() << endl; cout << "# Keypoints 1: \t" << kpts1.size() << endl;
cout << "# Matches: \t" << matched1.size() << endl; cout << "# Keypoints 2: \t" << kpts2.size() << endl;
cout << "# Inliers: \t" << inliers1.size() << endl; cout << "# Matches: \t" << matched1.size() << endl;
cout << "# Inliers Ratio: \t" << inlier_ratio << endl; cout << "# Inliers: \t" << inliers1.size() << endl;
cout << endl; cout << "# Inliers Ratio: \t" << inlier_ratio << endl;
cout << endl;
return 0; return 0;
} }