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

Added ORB features finder into stitching module

Browse Source
This commit is contained in:
Andrey Kamaev
2011-10-19 10:48:45 +00:00
parent 40ee754e28
commit f299bde3a9
4 changed files with 112 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
modules/stitching/src/matchers.cpp
View File

@@ -148,7 +148,20 @@ private:
void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
{
matches_info.matches.clear();
FlannBasedMatcher matcher;
CV_Assert(features1.descriptors.type() == features2.descriptors.type());
CV_Assert(features2.descriptors.depth() == CV_8U || features2.descriptors.depth() == CV_32F);
Ptr<flann::IndexParams> indexParams = new flann::KDTreeIndexParams();
Ptr<flann::SearchParams> searchParams = new flann::SearchParams();
if (features2.descriptors.depth() == CV_8U)
{
indexParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
searchParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
}
FlannBasedMatcher matcher(indexParams, searchParams);
vector< vector<DMatch> > pair_matches;
MatchesSet matches;
@@ -166,6 +179,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
matches.insert(make_pair(m0.queryIdx, m0.trainIdx));
}
}
LOG("\n1->2 matches: " << matches_info.matches.size() << endl);
// Find 2->1 matches
pair_matches.clear();
@@ -180,6 +194,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
if (matches.find(make_pair(m0.trainIdx, m0.queryIdx)) == matches.end())
matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
}
LOG("1->2 & 2->1 matches: " << matches_info.matches.size() << endl);
}
#ifndef ANDROID
@@ -304,11 +319,10 @@ SurfFeaturesFinder::SurfFeaturesFinder(double hess_thresh, int num_octaves, int
}
}
void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
Mat gray_image;
CV_Assert(image.depth() == CV_8U);
CV_Assert(image.type() == CV_8UC3);
cvtColor(image, gray_image, CV_BGR2GRAY);
if (surf == 0)
{
@@ -323,6 +337,19 @@ void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
}
}
OrbFeaturesFinder::OrbFeaturesFinder(size_t n_features, const ORB::CommonParams & detector_params)
{
orb = new ORB(n_features, detector_params);
}
void OrbFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
Mat gray_image;
CV_Assert(image.type() == CV_8UC3);
cvtColor(image, gray_image, CV_BGR2GRAY);
(*orb)(gray_image, Mat(), features.keypoints, features.descriptors);
}
#ifndef ANDROID
SurfFeaturesFinderGpu::SurfFeaturesFinderGpu(double hess_thresh, int num_octaves, int num_layers,