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Detection test, smoothed removal, setter modified, samples corrected

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This commit is contained in:
biagio montesano
2014-08-09 18:34:40 +02:00
parent 97854e2b0c
commit 1c246d476b
12 changed files with 521 additions and 92 deletions
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98
modules/line_descriptor/samples/matching.cpp
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@@ -92,7 +92,7 @@ int main( int argc, char** argv )
cv::Mat mask2 = Mat::ones( imageMat2.size(), CV_8UC1 );
/* create a pointer to a BinaryDescriptor object with default parameters */
Ptr<BinaryDescriptor> bd = BinaryDescriptor::createBinaryDescriptor();
Ptr<BinaryDescriptor> bd = BinaryDescriptor::createBinaryDescriptor( );
/* compute lines and descriptors */
std::vector<KeyLine> keylines1, keylines2;
@@ -101,27 +101,48 @@ int main( int argc, char** argv )
( *bd )( imageMat1, mask1, keylines1, descr1, false, false );
( *bd )( imageMat2, mask2, keylines2, descr2, false, false );
/* select keylines from first octave and their descriptors */
std::vector<KeyLine> lbd_octave1, lbd_octave2;
Mat left_lbd, right_lbd;
for ( int i = 0; i < (int) keylines1.size(); i++ )
{
if( keylines1[i].octave == 0 )
{
lbd_octave1.push_back( keylines1[i] );
left_lbd.push_back( descr1.row( i ) );
}
}
for ( int j = 0; j < (int) keylines2.size(); j++ )
{
if( keylines2[j].octave == 0 )
{
lbd_octave2.push_back( keylines2[j] );
right_lbd.push_back( descr2.row( j ) );
}
}
/* create a BinaryDescriptorMatcher object */
Ptr<BinaryDescriptorMatcher> bdm = BinaryDescriptorMatcher::createBinaryDescriptorMatcher();
/* require match */
std::vector<DMatch> matches;
bdm->match( descr1, descr2, matches );
bdm->match( left_lbd, right_lbd, matches );
/* select best matches */
std::vector<DMatch> good_matches;
for(int i = 0; i<(int)matches.size(); i++)
for ( int i = 0; i < (int) matches.size(); i++ )
{
if(matches[i].distance < MATCHES_DIST_THRESHOLD)
good_matches.push_back(matches[i]);
if( matches[i].distance < MATCHES_DIST_THRESHOLD )
good_matches.push_back( matches[i] );
}
/* plot matches */
cv::Mat outImg;
cv::Mat scaled1, scaled2;
std::vector<char> mask( matches.size(), 1 );
drawLineMatches( imageMat1, keylines1, imageMat2, keylines2, good_matches , outImg, Scalar::all( -1 ), Scalar::all( -1 ), mask,
DrawLinesMatchesFlags::DEFAULT );
drawLineMatches( imageMat1, lbd_octave1, imageMat2, lbd_octave2, good_matches, outImg, Scalar::all( -1 ), Scalar::all( -1 ), mask,
DrawLinesMatchesFlags::DEFAULT );
imshow( "Matches", outImg );
waitKey();
@@ -132,48 +153,55 @@ int main( int argc, char** argv )
/* detect lines */
std::vector<KeyLine> klsd1, klsd2;
Mat lsd_descr1, lsd_descr2;
lsd->detect(imageMat1, klsd1, 2, 2, mask1);
lsd->detect(imageMat2, klsd2, 2, 2, mask2);
/* select lines from first octave */
std::vector<KeyLine> octave0_1, octave0_2;
for(int i = 0; i<(int)klsd1.size(); i++)
{
if(klsd1[i].octave == 0)
octave0_1.push_back(klsd1[i]);
}
for(int j = 0; j<(int)klsd1.size(); j++)
{
if(klsd2[j].octave == 0)
octave0_2.push_back(klsd2[j]);
}
lsd->detect( imageMat1, klsd1, 2, 2, mask1 );
lsd->detect( imageMat2, klsd2, 2, 2, mask2 );
/* compute descriptors for lines from first octave */
bd->compute( imageMat1, octave0_1, lsd_descr1 );
bd->compute( imageMat2, octave0_2, lsd_descr2 );
bd->compute( imageMat1, klsd1, lsd_descr1 );
bd->compute( imageMat2, klsd2, lsd_descr2 );
/* select lines and descriptors from first octave */
std::vector<KeyLine> octave0_1, octave0_2;
Mat leftDEscr, rightDescr;
for ( int i = 0; i < (int) klsd1.size(); i++ )
{
if( klsd1[i].octave == 1 )
{
octave0_1.push_back( klsd1[i] );
leftDEscr.push_back( lsd_descr1.row( i ) );
}
}
for ( int j = 0; j < (int) klsd2.size(); j++ )
{
if( klsd2[j].octave == 1 )
{
octave0_2.push_back( klsd2[j] );
rightDescr.push_back( lsd_descr2.row( j ) );
}
}
/* compute matches */
std::vector<DMatch> lsd_matches;
bdm->match( lsd_descr1, lsd_descr2, lsd_matches);
bdm->match( leftDEscr, rightDescr, lsd_matches );
/* select best matches */
good_matches.clear();
for(int i = 0; i<(int)lsd_matches.size(); i++)
{
if(lsd_matches[i].distance < MATCHES_DIST_THRESHOLD)
good_matches.push_back(lsd_matches[i]);
}
for ( int i = 0; i < (int) lsd_matches.size(); i++ )
{
if( lsd_matches[i].distance < MATCHES_DIST_THRESHOLD )
good_matches.push_back( lsd_matches[i] );
}
/* plot matches */
cv::Mat lsd_outImg;
resize( imageMat1, imageMat1, Size( imageMat1.cols / 2, imageMat1.rows / 2 ) );
resize( imageMat2, imageMat2, Size( imageMat2.cols / 2, imageMat2.rows / 2 ) );
std::vector<char> lsd_mask( matches.size(), 1 );
drawLineMatches( imageMat1, octave0_1, imageMat2, octave0_2, good_matches , lsd_outImg, Scalar::all( -1 ), Scalar::all( -1 ), lsd_mask,
drawLineMatches( imageMat1, octave0_1, imageMat2, octave0_2, good_matches, lsd_outImg, Scalar::all( -1 ), Scalar::all( -1 ), lsd_mask,
DrawLinesMatchesFlags::DEFAULT );
imshow("LSD matches", lsd_outImg);
imshow( "LSD matches", lsd_outImg );
waitKey();
}