generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added possibility of matcher filtering to sample

Browse Source
This commit is contained in:
Maria Dimashova 2010-10-29 13:13:46 +00:00
parent 00ec555252
commit ce0132583a
1 changed files with 96 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

124
samples/cpp/descriptor_extractor_matcher.cpp
View File

@ -11,6 +11,58 @@ using namespace std;
#define DRAW_RICH_KEYPOINTS_MODE 0
#define DRAW_OUTLIERS_MODE 0
const string winName = "correspondences";
enum { NONE_FILTER = 0, CROSS_CHECK_FILTER = 1 };
int getMatcherFilterType( const string& str )
{
if( str == "NoneFilter" )
return NONE_FILTER;
if( str == "CrossCheckFilter" )
return CROSS_CHECK_FILTER;
CV_Assert(0);
return -1;
}
void simpleMatching( Ptr<DescriptorMatcher>& descriptorMatcher,
const Mat& descriptors1, const Mat& descriptors2,
vector<DMatch>& matches12 )
{
vector<DMatch> matches;
descriptorMatcher->match( descriptors1, descriptors2, matches12 );
}
void crossCheckMatching( Ptr<DescriptorMatcher>& descriptorMatcher,
const Mat& descriptors1, const Mat& descriptors2,
vector<DMatch>& filteredMatches12, int knn=1 )
{
filteredMatches12.clear();
vector<vector<DMatch> > matches12, matches21;
descriptorMatcher->knnMatch( descriptors1, descriptors2, matches12, knn );
descriptorMatcher->knnMatch( descriptors2, descriptors1, matches21, knn );
for( size_t m = 0; m < matches12.size(); m++ )
{
bool findCrossCheck = false;
for( size_t fk = 0; fk < matches12[m].size(); fk++ )
{
DMatch forward = matches12[m][fk];
for( size_t bk = 0; bk < matches21[forward.trainIdx].size(); bk++ )
{
DMatch backward = matches21[forward.trainIdx][bk];
if( backward.trainIdx == forward.queryIdx )
{
filteredMatches12.push_back(forward);
findCrossCheck = true;
break;
}
}
if( findCrossCheck ) break;
}
}
}
void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG& rng )
{
H.create(3, 3, CV_32FC1);
@ -27,12 +79,10 @@ void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG& rng )
warpPerspective( src, dst, H, src.size() );
}
const string winName = "correspondences";
void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
vector<KeyPoint>& keypoints1, const Mat& descriptors1,
Ptr<FeatureDetector>& detector, Ptr<DescriptorExtractor>& descriptorExtractor,
Ptr<DescriptorMatcher>& descriptorMatcher,
Ptr<DescriptorMatcher>& descriptorMatcher, int matcherFilter, bool eval,
double ransacReprojThreshold, RNG& rng )
{
assert( !img1.empty() );
@ -47,7 +97,7 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
detector->detect( img2, keypoints2 );
cout << keypoints2.size() << " points" << endl << ">" << endl;
if( !H12.empty() )
if( !H12.empty() && eval )
{
cout << "< Evaluate feature detector..." << endl;
float repeatability;
@ -64,11 +114,18 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
cout << ">" << endl;
cout << "< Matching descriptors..." << endl;
vector<DMatch> matches;
descriptorMatcher->match( descriptors1, descriptors2, matches, Mat() );
vector<DMatch> filteredMatches;
switch( matcherFilter )
{
case CROSS_CHECK_FILTER :
crossCheckMatching( descriptorMatcher, descriptors1, descriptors2, filteredMatches, 1 );
break;
default :
simpleMatching( descriptorMatcher, descriptors1, descriptors2, filteredMatches );
}
cout << ">" << endl;
if( !H12.empty() )
if( !H12.empty() && eval )
{
cout << "< Evaluate descriptor match..." << endl;
vector<Point2f> curve;
@ -79,14 +136,17 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
cout << ">" << endl;
}
vector<int> trainIdxs( matches.size() );
for( size_t i = 0; i < matches.size(); i++ )
trainIdxs[i] = matches[i].trainIdx;
vector<int> queryIdxs( filteredMatches.size() ), trainIdxs( filteredMatches.size() );
for( size_t i = 0; i < filteredMatches.size(); i++ )
{
queryIdxs[i] = filteredMatches[i].queryIdx;
trainIdxs[i] = filteredMatches[i].trainIdx;
}
if( !isWarpPerspective && ransacReprojThreshold >= 0 )
{
cout << "< Computing homography (RANSAC)..." << endl;
vector<Point2f> points1; KeyPoint::convert(keypoints1, points1);
vector<Point2f> points1; KeyPoint::convert(keypoints1, points1, queryIdxs);
vector<Point2f> points2; KeyPoint::convert(keypoints2, points2, trainIdxs);
H12 = findHomography( Mat(points1), Mat(points2), CV_RANSAC, ransacReprojThreshold );
cout << ">" << endl;
@ -95,8 +155,8 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
Mat drawImg;
if( !H12.empty() ) // filter outliers
{
vector<char> matchesMask( matches.size(), 0 );
vector<Point2f> points1; KeyPoint::convert(keypoints1, points1);
vector<char> matchesMask( filteredMatches.size(), 0 );
vector<Point2f> points1; KeyPoint::convert(keypoints1, points1, queryIdxs);
vector<Point2f> points2; KeyPoint::convert(keypoints2, points2, trainIdxs);
Mat points1t; perspectiveTransform(Mat(points1), points1t, H12);
for( size_t i1 = 0; i1 < points1.size(); i1++ )
@ -105,7 +165,7 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
matchesMask[i1] = 1;
}
// draw inliers
drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg, CV_RGB(0, 255, 0), CV_RGB(0, 0, 255), matchesMask
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, CV_RGB(0, 255, 0), CV_RGB(0, 0, 255), matchesMask
#if DRAW_RICH_KEYPOINTS_MODE
, DrawMatchesFlags::DRAW_RICH_KEYPOINTS
#endif
@ -115,48 +175,56 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
// draw outliers
for( size_t i1 = 0; i1 < matchesMask.size(); i1++ )
matchesMask[i1] = !matchesMask[i1];
drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg, CV_RGB(0, 0, 255), CV_RGB(255, 0, 0), matchesMask,
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, CV_RGB(0, 0, 255), CV_RGB(255, 0, 0), matchesMask,
DrawMatchesFlags::DRAW_OVER_OUTIMG | DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
#endif
}
else
drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg );
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg );
imshow( winName, drawImg );
}
int main(int argc, char** argv)
{
if( argc != 4 && argc != 6 )
if( argc != 7 && argc != 8 )
{
cout << "Format:" << endl;
cout << "case1: second image is obtained from the first (given) image using random generated homography matrix" << endl;
cout << argv[0] << " [detectorType] [descriptorType] [image1]" << endl;
cout << argv[0] << " [detectorType] [descriptorType] [matcherType] [matcherFilterType] [image] [evaluate(0 or 1)]" << endl;
cout << "Example:" << endl;
cout << "./descriptor_extractor_matcher SURF SURF FlannBased NoneFilter cola.jpg 0" << endl;
cout << endl;
cout << "case2: both images are given. If ransacReprojThreshold>=0 then homography matrix are calculated" << endl;
cout << argv[0] << " [detectorType] [descriptorType] [image1] [image2] [ransacReprojThreshold]" << endl;
cout << argv[0] << " [detectorType] [descriptorType] [matcherType] [matcherFilterType] [image1] [image2] [ransacReprojThreshold]" << endl;
cout << endl << "Mathes are filtered using homography matrix in case1 and case2 (if ransacReprojThreshold>=0)" << endl;
cout << "Example:" << endl;
cout << "./descriptor_extractor_matcher SURF SURF BruteForce CrossCheckFilter cola1.jpg cola2.jpg 3" << endl;
return -1;
}
bool isWarpPerspective = argc == 4;
bool isWarpPerspective = argc == 7;
double ransacReprojThreshold = -1;
if( !isWarpPerspective )
ransacReprojThreshold = atof(argv[5]);
ransacReprojThreshold = atof(argv[7]);
cout << "< Creating detector, descriptor extractor and descriptor matcher ..." << endl;
Ptr<FeatureDetector> detector = createFeatureDetector( argv[1] );
Ptr<DescriptorExtractor> descriptorExtractor = createDescriptorExtractor( argv[2] );
Ptr<DescriptorMatcher> descriptorMatcher = createDescriptorMatcher( "BruteForce" );
Ptr<DescriptorMatcher> descriptorMatcher = createDescriptorMatcher( argv[3] );
int mactherFilterType = getMatcherFilterType( argv[4] );
bool eval = !isWarpPerspective ? false : (atoi(argv[6]) == 0 ? false : true);
cout << ">" << endl;
if( detector.empty() || descriptorExtractor.empty() || descriptorMatcher.empty() )
{
cout << "Can not create detector or descriptor exstractor or descriptor matcher of given types" << endl;
return -1;
}
}
cout << "< Reading the images..." << endl;
Mat img1 = imread( argv[3] ), img2;
Mat img1 = imread( argv[5] ), img2;
if( !isWarpPerspective )
img2 = imread( argv[4] );
img2 = imread( argv[6] );
cout << ">" << endl;
if( img1.empty() || (!isWarpPerspective && img2.empty()) )
{
@ -177,11 +245,11 @@ int main(int argc, char** argv)
namedWindow(winName, 1);
RNG rng = theRNG();
doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
detector, descriptorExtractor, descriptorMatcher, mactherFilterType, eval,
ransacReprojThreshold, rng );
for(;;)
{
char c = (char)cvWaitKey(0);
char c = (char)waitKey(0);
if( c == '\x1b' ) // esc
{
cout << "Exiting ..." << endl;
@ -190,7 +258,7 @@ int main(int argc, char** argv)
else if( isWarpPerspective )
{
doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
detector, descriptorExtractor, descriptorMatcher, mactherFilterType, eval,
ransacReprojThreshold, rng );
}
}