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modified keypoints_matching sample

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This commit is contained in:
Maria Dimashova 2010-06-10 12:13:35 +00:00
parent 8e53eb5cbe
commit d5ef5b88f0
1 changed files with 68 additions and 41 deletions

109
samples/cpp/keypoints_matching.cpp

@ -17,21 +17,20 @@ inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
return Point2f( numeric_limits<double>::max(), numeric_limits<double>::max() ); return Point2f( numeric_limits<double>::max(), numeric_limits<double>::max() );
} }
Mat warpPerspectiveRand( const Mat& src, Mat& dst, RNG* rng ) void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG* rng )
{ {
Mat H(3, 3, CV_32FC1); H.create(3, 3, CV_32FC1);
H.at<float>(0,0) = rng->uniform( 0.8f, 1.2f); H.at<float>(0,0) = rng->uniform( 0.8f, 1.2f);
H.at<float>(0,1) = rng->uniform(-0.1f, 0.1f); H.at<float>(0,1) = rng->uniform(-0.1f, 0.1f);
H.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*src.cols; H.at<float>(0,2) = rng->uniform(-0.1f, 0.1f)*src.cols;
H.at<float>(1,0) = rng->uniform(-0.1f, 0.1f); H.at<float>(1,0) = rng->uniform(-0.1f, 0.1f);
H.at<float>(1,1) = rng->uniform( 0.8f, 1.2f); H.at<float>(1,1) = rng->uniform( 0.8f, 1.2f);
H.at<float>(1,2) = rng->uniform(-0.1f, 0.3f)*src.rows; H.at<float>(1,2) = rng->uniform(-0.1f, 0.1f)*src.rows;
H.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f); H.at<float>(2,0) = rng->uniform( -1e-4f, 1e-4f);
H.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f); H.at<float>(2,1) = rng->uniform( -1e-4f, 1e-4f);
H.at<float>(2,2) = rng->uniform( 0.8f, 1.1f); H.at<float>(2,2) = rng->uniform( 0.8f, 1.2f);
warpPerspective( src, dst, H, src.size() ); warpPerspective( src, dst, H, src.size() );
return H;
} }
FeatureDetector* createDetector( const string& detectorType ) FeatureDetector* createDetector( const string& detectorType )
@ -67,37 +66,50 @@ FeatureDetector* createDetector( const string& detectorType )
3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ ); 3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ );
} }
else else
assert(0); {
//CV_Error( CV_StsBadArg, "unsupported feature detector type");
}
return fd; return fd;
} }
GenericDescriptorMatch* createDescriptorMatch( const string& descriptorType ) DescriptorExtractor* createDescriptorExtractor( const string& descriptorExtractorType )
{ {
GenericDescriptorMatch* de = 0; DescriptorExtractor* de = 0;
if( !descriptorType.compare( "SIFT" ) ) if( !descriptorExtractorType.compare( "SIFT" ) )
{ {
SiftDescriptorExtractor extractor/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(), de = new SiftDescriptorExtractor/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(),
bool isNormalize=true, bool recalculateAngles=true, bool isNormalize=true, bool recalculateAngles=true,
int nOctaves=SIFT::CommonParams::DEFAULT_NOCTAVES, int nOctaves=SIFT::CommonParams::DEFAULT_NOCTAVES,
int nOctaveLayers=SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS, int nOctaveLayers=SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS,
int firstOctave=SIFT::CommonParams::DEFAULT_FIRST_OCTAVE, int firstOctave=SIFT::CommonParams::DEFAULT_FIRST_OCTAVE,
int angleMode=SIFT::CommonParams::FIRST_ANGLE )*/; int angleMode=SIFT::CommonParams::FIRST_ANGLE )*/;
BruteForceMatcher<L2<float> > matcher;
de = new VectorDescriptorMatch<SiftDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher);
} }
else if( !descriptorType.compare( "SURF" ) ) else if( !descriptorExtractorType.compare( "SURF" ) )
{ {
SurfDescriptorExtractor extractor/*( int nOctaves=4, de = new SurfDescriptorExtractor/*( int nOctaves=4, int nOctaveLayers=2, bool extended=false )*/;
int nOctaveLayers=2, bool extended=false )*/;
BruteForceMatcher<L2<float> > matcher;
de = new VectorDescriptorMatch<SurfDescriptorExtractor, BruteForceMatcher<L2<float> > >(extractor, matcher);
} }
else else
assert(0); {
//CV_Error( CV_StsBadArg, "unsupported descriptor extractor type");
}
return de; return de;
} }
DescriptorMatcher* createDescriptorMatcher( const string& descriptorMatcherType )
{
DescriptorMatcher* dm = 0;
if( !descriptorMatcherType.compare( "BruteForce" ) )
{
dm = new BruteForceMatcher<L2<float> >();
}
else
{
//CV_Error( CV_StsBadArg, "unsupported descriptor matcher type");
}
return dm;
}
void drawCorrespondences( const Mat& img1, const Mat& img2, void drawCorrespondences( const Mat& img1, const Mat& img2,
const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2, const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2,
const vector<int>& matches, Mat& drawImg, const Mat& H12 = Mat() ) const vector<int>& matches, Mat& drawImg, const Mat& H12 = Mat() )
@ -149,8 +161,10 @@ void drawCorrespondences( const Mat& img1, const Mat& img2,
const string winName = "correspondences"; const string winName = "correspondences";
void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<KeyPoint>& keypoints1, void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
Ptr<FeatureDetector>& detector, Ptr<GenericDescriptorMatch>& descriptor, const vector<KeyPoint>& keypoints1, const Mat& descriptors1,
Ptr<FeatureDetector>& detector, Ptr<DescriptorExtractor>& descriptorExtractor,
Ptr<DescriptorMatcher>& descriptorMatcher,
double ransacReprojThreshold = -1, RNG* rng = 0 ) double ransacReprojThreshold = -1, RNG* rng = 0 )
{ {
assert( !img1.empty() ); assert( !img1.empty() );
@ -158,31 +172,33 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector<Key
if( isWarpPerspective ) if( isWarpPerspective )
{ {
assert( rng ); assert( rng );
H12 = warpPerspectiveRand(img1, img2, rng); warpPerspectiveRand(img1, img2, H12, rng);
} }
else else
assert( !img2.empty() && img2.cols==img1.cols && img2.rows== img1.rows ); assert( !img2.empty() && img2.cols==img1.cols && img2.rows==img1.rows );
cout << endl << "< Extracting keypoints from second image..." << endl; cout << endl << "< Extracting keypoints from second image..." << endl;
vector<KeyPoint> keypoints2; vector<KeyPoint> keypoints2;
detector->detect( img2, keypoints2 ); detector->detect( img2, keypoints2 );
cout << keypoints2.size() << " >" << endl; cout << keypoints2.size() << " >" << endl;
cout << "< Computing and matching descriptors..." << endl; cout << "< Computing descriptors for keypoints from second image..." << endl;
Mat descriptors2;
descriptorExtractor->compute( img2, keypoints2, descriptors2 );
cout << " >" << endl;
cout << "< Matching descriptors..." << endl;
vector<int> matches; vector<int> matches;
//if( keypoints1.size()>0 && keypoints2.size()>0 ) descriptorMatcher->clear();
{ descriptorMatcher->add( descriptors2 );
descriptor->clear(); descriptorMatcher->match( descriptors1, matches );
descriptor->add( img2, keypoints2 );
descriptor->match( img1, keypoints1, matches );
}
cout << ">" << endl; cout << ">" << endl;
if( !isWarpPerspective && ransacReprojThreshold >= 0 ) if( !isWarpPerspective && ransacReprojThreshold >= 0 )
{ {
cout << "< Computing homography (RANSAC)..." << endl; cout << "< Computing homography (RANSAC)..." << endl;
vector<Point2f> points1(matches.size()), points2(matches.size()); vector<Point2f> points1(matches.size()), points2(matches.size());
for( int i = 0; i < matches.size(); i++ ) for( size_t i = 0; i < matches.size(); i++ )
{ {
points1[i] = keypoints1[i].pt; points1[i] = keypoints1[i].pt;
points2[i] = keypoints2[matches[i]].pt; points2[i] = keypoints2[matches[i]].pt;
@ -206,21 +222,22 @@ int main(int argc, char** argv)
cout << "case2: both images are given. If ransacReprojThreshold>=0 then homography matrix are calculated" << 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] [image1] [image2] [ransacReprojThreshold]" << endl;
cout << endl << "Mathes are filtered using homography matrix in case1 and case2 (if ransacReprojThreshold>=0)" << endl; cout << endl << "Mathes are filtered using homography matrix in case1 and case2 (if ransacReprojThreshold>=0)" << endl;
return 0; return -1;
} }
bool isWarpPerspective = argc == 4; bool isWarpPerspective = argc == 4;
double ransacReprojThreshold = -1; double ransacReprojThreshold = -1;
if( !isWarpPerspective ) if( !isWarpPerspective )
ransacReprojThreshold = atof(argv[5]); ransacReprojThreshold = atof(argv[5]);
cout << "< Creating detector, descriptor..." << endl; cout << "< Creating detector, descriptor extractor and descriptor matcher ..." << endl;
Ptr<FeatureDetector> detector = createDetector(argv[1]); Ptr<FeatureDetector> detector = createDetector( argv[1] );
Ptr<GenericDescriptorMatch> descriptor = createDescriptorMatch(argv[2]); Ptr<DescriptorExtractor> descriptorExtractor = createDescriptorExtractor( argv[2] );
Ptr<DescriptorMatcher> descriptorMatcher = createDescriptorMatcher( "BruteForce" );
cout << ">" << endl; cout << ">" << endl;
if( detector.empty() || descriptor.empty() ) if( detector.empty() || descriptorExtractor.empty() || descriptorMatcher.empty() )
{ {
cout << "Can not create detector or descriptor or matcher of given types" << endl; cout << "Can not create detector or descriptor exstractor or descriptor matcher of given types" << endl;
return 0; return -1;
} }
cout << "< Reading the images..." << endl; cout << "< Reading the images..." << endl;
@ -231,7 +248,7 @@ int main(int argc, char** argv)
if( img1.empty() || (!isWarpPerspective && img2.empty()) ) if( img1.empty() || (!isWarpPerspective && img2.empty()) )
{ {
cout << "Can not read images" << endl; cout << "Can not read images" << endl;
return 0; return -1;
} }
cout << endl << "< Extracting keypoints from first image..." << endl; cout << endl << "< Extracting keypoints from first image..." << endl;
@ -239,9 +256,16 @@ int main(int argc, char** argv)
detector->detect( img1, keypoints1 ); detector->detect( img1, keypoints1 );
cout << keypoints1.size() << " >" << endl; cout << keypoints1.size() << " >" << endl;
cout << "< Computing descriptors for keypoints from first image..." << endl;
Mat descriptors1;
descriptorExtractor->compute( img1, keypoints1, descriptors1 );
cout << " >" << endl;
namedWindow(winName, 1); namedWindow(winName, 1);
RNG rng; RNG rng;
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng ); doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
ransacReprojThreshold, &rng );
for(;;) for(;;)
{ {
char c = (char)cvWaitKey(0); char c = (char)cvWaitKey(0);
@ -252,8 +276,11 @@ int main(int argc, char** argv)
} }
else if( isWarpPerspective ) else if( isWarpPerspective )
{ {
doIteration( img1, img2, isWarpPerspective, keypoints1, detector, descriptor, ransacReprojThreshold, &rng ); doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1,
detector, descriptorExtractor, descriptorMatcher,
ransacReprojThreshold, &rng );
} }
} }
waitKey(0); waitKey(0);
return 0;
} }