84 lines
2.4 KiB
C++
84 lines
2.4 KiB
C++
#ifndef __OPENCV_MATCHERS_HPP__
|
|
#define __OPENCV_MATCHERS_HPP__
|
|
|
|
#include <vector>
|
|
#include <opencv2/core/core.hpp>
|
|
#include <opencv2/features2d/features2d.hpp>
|
|
|
|
struct ImageFeatures
|
|
{
|
|
cv::Size img_size;
|
|
cv::Mat hist;
|
|
std::vector<cv::KeyPoint> keypoints;
|
|
cv::Mat descriptors;
|
|
};
|
|
|
|
|
|
class FeaturesFinder
|
|
{
|
|
public:
|
|
virtual ~FeaturesFinder() {}
|
|
void operator ()(const cv::Mat &image, ImageFeatures &features);
|
|
|
|
protected:
|
|
virtual void find(const cv::Mat &image, ImageFeatures &features) = 0;
|
|
};
|
|
|
|
|
|
class SurfFeaturesFinder : public FeaturesFinder
|
|
{
|
|
public:
|
|
SurfFeaturesFinder(bool try_use_gpu = true, double hess_thresh = 300.0,
|
|
int num_octaves = 3, int num_layers = 4,
|
|
int num_octaves_descr = 4, int num_layers_descr = 2);
|
|
|
|
protected:
|
|
void find(const cv::Mat &image, ImageFeatures &features);
|
|
|
|
cv::Ptr<FeaturesFinder> impl_;
|
|
};
|
|
|
|
|
|
struct MatchesInfo
|
|
{
|
|
MatchesInfo();
|
|
MatchesInfo(const MatchesInfo &other);
|
|
const MatchesInfo& operator =(const MatchesInfo &other);
|
|
|
|
int src_img_idx, dst_img_idx; // Images indices (optional)
|
|
std::vector<cv::DMatch> matches;
|
|
std::vector<uchar> inliers_mask; // Geometrically consistent matches mask
|
|
int num_inliers; // Number of geometrically consistent matches
|
|
cv::Mat H; // Estimated homography
|
|
double confidence; // Confidence two images are from the same panorama
|
|
};
|
|
|
|
|
|
class FeaturesMatcher
|
|
{
|
|
public:
|
|
virtual ~FeaturesMatcher() {}
|
|
void operator ()(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
|
|
{ match(features1, features2, matches_info); }
|
|
void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches);
|
|
|
|
protected:
|
|
virtual void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) = 0;
|
|
};
|
|
|
|
|
|
class BestOf2NearestMatcher : public FeaturesMatcher
|
|
{
|
|
public:
|
|
BestOf2NearestMatcher(bool try_use_gpu = true, float match_conf = 0.55f, int num_matches_thresh1 = 6, int num_matches_thresh2 = 6);
|
|
|
|
protected:
|
|
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info);
|
|
|
|
int num_matches_thresh1_;
|
|
int num_matches_thresh2_;
|
|
|
|
cv::Ptr<FeaturesMatcher> impl_;
|
|
};
|
|
|
|
#endif // __OPENCV_MATCHERS_HPP__
|