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https://github.com/opencv/opencv_contrib.git
synced 2025-10-22 07:31:26 +08:00
Corrected errors on matching
This commit is contained in:
biagio montesano
@@ -63,6 +63,222 @@ static void help()
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}
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inline void writeMat( cv::Mat m, std::string name, int n )
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{
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std::stringstream ss;
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std::string s;
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ss << n;
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ss >> s;
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std::string fileNameConf = name + s;
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cv::FileStorage fsConf( fileNameConf, cv::FileStorage::WRITE );
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fsConf << "m" << m;
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fsConf.release();
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}
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inline void loadMat( cv::Mat& m, std::string name )
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{
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cv::FileStorage fsConf( name, cv::FileStorage::READ );
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fsConf["m"] >> m;
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fsConf.release();
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}
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int binaryDist( const uchar * p_descriptor, const uchar * p_trained )
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{
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int count = 0;
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for ( int i = 0; i < 32; i++ )
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{
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uchar a = p_descriptor[i];
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uchar a1 = a & 1;
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uchar a2 = a & 2;
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uchar a4 = a & 4;
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uchar a8 = a & 8;
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uchar a16 = a & 16;
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uchar a32 = a & 32;
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uchar a64 = a & 64;
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uchar a128 = a & 128;
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uchar b = p_trained[i];
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uchar b1 = b & 1;
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uchar b2 = b & 2;
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uchar b4 = b & 4;
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uchar b8 = b & 8;
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uchar b16 = b & 16;
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uchar b32 = b & 32;
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uchar b64 = b & 64;
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uchar b128 = b & 128;
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if( a1 == b1 )
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count++;
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if( a2 == b2 )
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count++;
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if( a4 == b4 )
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count++;
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if( a8 == b8 )
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count++;
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if( a16 == b16 )
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count++;
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if( a32 == b32 )
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count++;
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if( a64 == b64 )
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count++;
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if( a128 == b128 )
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count++;
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}
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return count;
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}
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std::vector<DMatch> computeBruteForceSingleImages( Mat descriptor_query, Mat descriptor_db )
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{
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//BRUTE FORCE//
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std::vector<DMatch> matches;
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for ( int i = 0; i < descriptor_query.rows; i++ )
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{
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const uchar * p_descriptor = ( descriptor_query.ptr() ) + i * 32;
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const uchar * p_trained = descriptor_db.ptr();
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int min_dist = 0;
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int min_index = -1;
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for ( int k = 0; k < descriptor_db.rows; k++ )
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{
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int dist = binaryDist( p_descriptor, p_trained + ( k * 32 ) );
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if( dist > min_dist )
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{
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min_dist = dist;
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min_index = k;
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}
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}
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DMatch m( i, min_index, (float) min_dist );
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matches.push_back( m );
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}
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return matches;
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}
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void computeDescr( Mat sm_image, Mat img )
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{
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Mat query = sm_image.clone();
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Mat db = img.clone();
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Ptr<BinaryDescriptor> bd = BinaryDescriptor::createBinaryDescriptor();
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/* compute lines */
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std::vector<KeyLine> keylines1, keylines2;
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bd->detect( query, keylines1 );
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bd->detect( db, keylines2 );
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/* compute descriptors */
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cv::Mat descr1, descr2;
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bd->compute( query, keylines1, descr1 );
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bd->compute( db, keylines2, descr2 );
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std::vector<cv::KeyPoint> keypoints_1;
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std::vector<cv::KeyPoint> keypoints_2;
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std::vector<std::pair<cv::KeyPoint, int> > v_pair_k1;
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std::vector<std::pair<cv::KeyPoint, int> > v_pair_k2;
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for ( int i = 0; i < keylines1.size(); i++ )
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{
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KeyLine l = keylines1[i];
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keypoints_1.push_back( cv::KeyPoint( l.startPointX, l.startPointY, 8, l.angle ) );
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v_pair_k1.push_back( std::make_pair( cv::KeyPoint( l.startPointX, l.startPointY, 8, l.angle ), i ) );
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}
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for ( int i = 0; i < keylines2.size(); i++ )
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{
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KeyLine l = keylines2[i];
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keypoints_2.push_back( cv::KeyPoint( l.startPointX, l.startPointY, 8, l.angle ) );
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v_pair_k2.push_back( std::make_pair( cv::KeyPoint( l.startPointX, l.startPointY, 8, l.angle ), i ) );
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}
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// vector<DMatch> matches = ImageFinderFLANN::computeBruteForceSingleImages(purged_descriptor_query, purged_descriptor_db );
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std::vector<DMatch> matches = computeBruteForceSingleImages( descr1, descr2 );
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Mat img_draw_matches, img_draw_matches_debug;
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std::vector<DMatch> good_matches;
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int thresh_good = 200;
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for ( int i = 0; i < matches.size(); i++ )
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{
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if( matches[i].distance > thresh_good )
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{
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good_matches.push_back( matches[i] );
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}
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}
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srand( (unsigned) time( 0 ) );
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int lowest = 100, highest = 255;
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int range = ( highest - lowest ) + 1;
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unsigned int r, g, b;
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//DISEGNO MATCHES
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std::vector<cv::KeyPoint> fake_k1;
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std::vector<cv::KeyPoint> fake_k2;
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std::vector<cv::DMatch> fake_match;
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drawMatches( sm_image, fake_k1, img, fake_k2, fake_match, img_draw_matches, Scalar::all( -1 ), Scalar::all( -1 ), Mat(),
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DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
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for ( int i = 0; i < keylines1.size(); i++ )
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{
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KeyLine line = keylines1[i];
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cv::Point startP( line.sPointInOctaveX, line.sPointInOctaveY );
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cv::Point endP( line.ePointInOctaveX, line.ePointInOctaveY );
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cv::Point midP( ( startP.x + endP.x ) / 2, ( startP.y + endP.y ) / 2 );
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//cv::putText(img_draw_matches, std::to_string(i), midP, 1, 1, Scalar(255,0,0), 1 );
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cv::line( img_draw_matches, startP, endP, Scalar( 0, 0, 255 ) );
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}
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for ( int i = 0; i < keylines2.size(); i++ )
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{
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KeyLine line = keylines2[i];
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cv::Point startP( line.sPointInOctaveX + sm_image.cols, line.sPointInOctaveY );
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cv::Point endP( line.ePointInOctaveX + sm_image.cols, line.ePointInOctaveY );
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cv::Point midP( ( startP.x + endP.x ) / 2, ( startP.y + endP.y ) / 2 );
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//cv::putText(img_draw_matches, std::to_string(i), midP, 1, 1, Scalar(255,0,0), 1 );
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cv::line( img_draw_matches, startP, endP, Scalar( 0, 0, 255 ) );
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}
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for ( int i = 0; i < good_matches.size(); i++ )
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{
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r = lowest + int( rand() % range );
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g = lowest + int( rand() % range );
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b = lowest + int( rand() % range );
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std::pair<cv::KeyPoint, int> tmp_pair_1 = v_pair_k1[good_matches[i].queryIdx];
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std::pair<cv::KeyPoint, int> tmp_pair_2 = v_pair_k2[good_matches[i].trainIdx];
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cv::KeyPoint tmp_key_1 = tmp_pair_1.first;
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cv::KeyPoint tmp_key_2 = tmp_pair_2.first;
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KeyLine line1 = keylines1[tmp_pair_1.second];
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cv::Point startP1( line1.sPointInOctaveX, line1.sPointInOctaveY );
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cv::Point endP1( line1.ePointInOctaveX, line1.ePointInOctaveY );
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cv::line( img_draw_matches, startP1, endP1, Scalar( r, g, b ), 2 );
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KeyLine line2 = keylines2[tmp_pair_2.second];
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cv::Point startP2( line2.sPointInOctaveX + sm_image.cols, line2.sPointInOctaveY );
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cv::Point endP2( line2.ePointInOctaveX + sm_image.cols, line2.ePointInOctaveY );
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cv::line( img_draw_matches, startP2, endP2, Scalar( r, g, b ), 2 );
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cv::Point startP_connect( tmp_key_1.pt.x, tmp_key_1.pt.y );
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cv::Point endP_connect( tmp_key_2.pt.x + sm_image.cols, tmp_key_2.pt.y );
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cv::line( img_draw_matches, startP_connect, endP_connect, Scalar( r, g, b ), 2 );
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}
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imshow( "Imshow", img_draw_matches );
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waitKey();
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}
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int main( int argc, char** argv )
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{
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/* get parameters from comand line */
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@@ -80,7 +296,6 @@ int main( int argc, char** argv )
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cv::Mat imageMat1 = imread( image_path1, 1 );
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cv::Mat imageMat2 = imread( image_path2, 1 );
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waitKey();
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if( imageMat1.data == NULL || imageMat2.data == NULL )
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{
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std::cout << "Error, images could not be loaded. Please, check their path" << std::endl;
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@@ -95,13 +310,21 @@ int main( int argc, char** argv )
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/* compute lines */
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std::vector<KeyLine> keylines1, keylines2;
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bd->detect( imageMat1, keylines1, mask1 );
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bd->detect( imageMat2, keylines2, mask2 );
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/* compute descriptors */
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cv::Mat descr1, descr2;
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bd->compute( imageMat1, keylines1, descr1 );
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bd->compute( imageMat2, keylines2, descr2 );
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bd->detect( imageMat2, keylines2, mask2 );
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bd->detect( imageMat1, keylines1, mask1 );
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//compute descriptors
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/* cv::Mat descr1, descr2;*/
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cv::Mat descr1, descr2;
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bd->compute( imageMat1, keylines1, descr1 );
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bd->compute( imageMat2, keylines2, descr2 );
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//cv::Mat descr1, descr2;
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//( *bd )( imageMat1, mask1, keylines1, descr1, true, false );
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//( *bd )( imageMat2, mask2, keylines2, descr2, true, false );
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/* create a BinaryDescriptorMatcher object */
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Ptr<BinaryDescriptorMatcher> bdm = BinaryDescriptorMatcher::createBinaryDescriptorMatcher();
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@@ -109,14 +332,59 @@ int main( int argc, char** argv )
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/* require match */
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std::vector<DMatch> matches;
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bdm->match( descr1, descr2, matches );
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/* Mat newd1, newd2;
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loadMat(newd1, "bd_descriptors0");
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loadMat(newd2, "bd_descriptors1");*/
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//matches = computeBruteForceSingleImages(newd1, newd2);
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//matches = computeBruteForceSingleImages( descr1, descr2 );
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std::vector<DMatch> good_matches;
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int thresh_good = 25;
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for(int i = 0; i<matches.size(); i++)
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{
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if(matches[i].distance < thresh_good)
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{
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good_matches.push_back(matches[i]);
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}
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}
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/* plot matches */
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cv::Mat outImg;
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std::vector<char> mask( matches.size(), 1 );
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drawLineMatches( imageMat1, keylines1, imageMat2, keylines2, matches, outImg, Scalar::all( -1 ), Scalar::all( -1 ), mask,
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drawLineMatches( imageMat1, keylines1, imageMat2, keylines2, good_matches , outImg, Scalar::all( -1 ), Scalar::all( -1 ), mask,
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DrawLinesMatchesFlags::DEFAULT );
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imshow( "Matches", outImg );
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waitKey();
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Ptr<LSDDetector> lsd = LSDDetector::createLSDDetector();
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std::vector<KeyLine> klsd1, klsd2;
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Mat lsd_descr1, lsd_descr2;
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lsd->detect(imageMat1, klsd1, 2, 2, mask1);
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lsd->detect(imageMat2, klsd2, 2, 2, mask2);
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bd->compute( imageMat1, klsd1, lsd_descr1 );
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bd->compute( imageMat2, klsd2, lsd_descr2 );
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std::vector<DMatch> lsd_matches;
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bdm->match( lsd_descr1, lsd_descr2, lsd_matches);
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good_matches.clear();
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for(int i = 0; i<lsd_matches.size(); i++)
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{
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if(lsd_matches[i].distance < thresh_good)
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{
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good_matches.push_back(lsd_matches[i]);
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}
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}
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cv::Mat lsd_outImg;
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std::vector<char> lsd_mask( matches.size(), 1 );
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drawLineMatches( imageMat1, klsd1, imageMat2, klsd2, good_matches , lsd_outImg, Scalar::all( -1 ), Scalar::all( -1 ), lsd_mask,
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DrawLinesMatchesFlags::DEFAULT );
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imshow("LSD matches", lsd_outImg);
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waitKey();
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}
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