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replaced brute force matcher with flann based one (opencv_stitching)

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Alexey Spizhevoy 2011-05-26 07:10:44 +00:00
parent 24e5ff7ab6
commit fd83d6fe59
2 changed files with 10 additions and 24 deletions
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33
modules/stitching/matchers.cpp
View File

@ -53,21 +53,9 @@ using namespace cv::gpu;
void FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features) void FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features)
{ {
features.img_size = image.size();
// Calculate histogram
Mat hsv;
cvtColor(image, hsv, CV_BGR2HSV);
int hbins = 30, sbins = 32, vbins = 30;
int hist_size[] = { hbins, sbins, vbins };
float hranges[] = { 0, 180 };
float sranges[] = { 0, 256 };
float vranges[] = { 0, 256 };
const float* ranges[] = { hranges, sranges, vranges };
int channels[] = { 0, 1, 2 };
calcHist(&hsv, 1, channels, Mat(), features.hist, 3, hist_size, ranges);
find(image, features); find(image, features);
features.img_size = image.size();
//features.img = image.clone();
} }
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -293,7 +281,7 @@ namespace
void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
{ {
matches_info.matches.clear(); matches_info.matches.clear();
BruteForceMatcher< L2<float> > matcher; FlannBasedMatcher matcher;
vector< vector<DMatch> > pair_matches; vector< vector<DMatch> > pair_matches;
// Find 1->2 matches // Find 1->2 matches
@ -340,10 +328,6 @@ namespace
continue; continue;
const DMatch& m0 = pair_matches[i][0]; const DMatch& m0 = pair_matches[i][0];
const DMatch& m1 = pair_matches[i][1]; const DMatch& m1 = pair_matches[i][1];
CV_Assert(m0.queryIdx < static_cast<int>(features1.keypoints.size()));
CV_Assert(m0.trainIdx < static_cast<int>(features2.keypoints.size()));
if (m0.distance < (1.f - match_conf_) * m1.distance) if (m0.distance < (1.f - match_conf_) * m1.distance)
matches_info.matches.push_back(m0); matches_info.matches.push_back(m0);
} }
@ -358,10 +342,6 @@ namespace
continue; continue;
const DMatch& m0 = pair_matches[i][0]; const DMatch& m0 = pair_matches[i][0];
const DMatch& m1 = pair_matches[i][1]; const DMatch& m1 = pair_matches[i][1];
CV_Assert(m0.trainIdx < static_cast<int>(features1.keypoints.size()));
CV_Assert(m0.queryIdx < static_cast<int>(features2.keypoints.size()));
if (m0.distance < (1.f - match_conf_) * m1.distance) if (m0.distance < (1.f - match_conf_) * m1.distance)
matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance)); matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
} }
@ -388,9 +368,16 @@ void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFea
{ {
(*impl_)(features1, features2, matches_info); (*impl_)(features1, features2, matches_info);
//Mat out;
//drawMatches(features1.img, features1.keypoints, features2.img, features2.keypoints, matches_info.matches, out);
//stringstream ss;
//ss << features1.img_idx << features2.img_idx << ".png";
//imwrite(ss.str(), out);
// Check if it makes sense to find homography // Check if it makes sense to find homography
if (matches_info.matches.size() < static_cast<size_t>(num_matches_thresh1_)) if (matches_info.matches.size() < static_cast<size_t>(num_matches_thresh1_))
return; return;
// Construct point-point correspondences for homography estimation // Construct point-point correspondences for homography estimation
Mat src_points(1, matches_info.matches.size(), CV_32FC2); Mat src_points(1, matches_info.matches.size(), CV_32FC2);
Mat dst_points(1, matches_info.matches.size(), CV_32FC2); Mat dst_points(1, matches_info.matches.size(), CV_32FC2);

1
modules/stitching/matchers.hpp
View File

@ -48,7 +48,6 @@ struct ImageFeatures
{ {
int img_idx; int img_idx;
cv::Size img_size; cv::Size img_size;
cv::Mat hist;
std::vector<cv::KeyPoint> keypoints; std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors; cv::Mat descriptors;
}; };