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Add Java and Python code for the following features2d tutorials: Harris corner detector, Shi-Tomasi corner detector, Creating your own corner detector, Detecting corners location in subpixels, Feature Detection, Feature Description, Feature Matching with FLANN, Features2D + Homography to find a known object. Use Lowe's ratio test to filter the matches.

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This commit is contained in:
catree
2018-05-28 01:33:56 +02:00
parent 0a6d190095
commit ade21f142e
43 changed files with 2140 additions and 583 deletions
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samples/cpp/tutorial_code/TrackingMotion/cornerDetector_Demo.cpp
+69 -67
View File
@@ -13,15 +13,15 @@ using namespace std;
/// Global variables
Mat src, src_gray;
Mat myHarris_dst; Mat myHarris_copy; Mat Mc;
Mat myShiTomasi_dst; Mat myShiTomasi_copy;
Mat myHarris_dst, myHarris_copy, Mc;
Mat myShiTomasi_dst, myShiTomasi_copy;
int myShiTomasi_qualityLevel = 50;
int myHarris_qualityLevel = 50;
int max_qualityLevel = 100;
double myHarris_minVal; double myHarris_maxVal;
double myShiTomasi_minVal; double myShiTomasi_maxVal;
double myHarris_minVal, myHarris_maxVal;
double myShiTomasi_minVal, myShiTomasi_maxVal;
RNG rng(12345);
@@ -37,56 +37,54 @@ void myHarris_function( int, void* );
*/
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/stuff.jpg | input image}" );
src = imread( parser.get<String>( "@input" ), IMREAD_COLOR );
if ( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/building.jpg | input image}" );
src = imread( parser.get<String>( "@input" ) );
if ( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Set some parameters
int blockSize = 3; int apertureSize = 3;
/// Set some parameters
int blockSize = 3, apertureSize = 3;
/// My Harris matrix -- Using cornerEigenValsAndVecs
myHarris_dst = Mat::zeros( src_gray.size(), CV_32FC(6) );
Mc = Mat::zeros( src_gray.size(), CV_32FC1 );
/// My Harris matrix -- Using cornerEigenValsAndVecs
cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize );
cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize, BORDER_DEFAULT );
/* calculate Mc */
Mc = Mat( src_gray.size(), CV_32FC1 );
for( int i = 0; i < src_gray.rows; i++ )
{
for( int j = 0; j < src_gray.cols; j++ )
{
float lambda_1 = myHarris_dst.at<Vec6f>(i, j)[0];
float lambda_2 = myHarris_dst.at<Vec6f>(i, j)[1];
Mc.at<float>(i, j) = lambda_1*lambda_2 - 0.04f*pow( ( lambda_1 + lambda_2 ), 2 );
}
}
/* calculate Mc */
for( int j = 0; j < src_gray.rows; j++ )
{ for( int i = 0; i < src_gray.cols; i++ )
{
float lambda_1 = myHarris_dst.at<Vec6f>(j, i)[0];
float lambda_2 = myHarris_dst.at<Vec6f>(j, i)[1];
Mc.at<float>(j,i) = lambda_1*lambda_2 - 0.04f*pow( ( lambda_1 + lambda_2 ), 2 );
}
}
minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal );
minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() );
/* Create Window and Trackbar */
namedWindow( myHarris_window );
createTrackbar( "Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function );
myHarris_function( 0, 0 );
/* Create Window and Trackbar */
namedWindow( myHarris_window, WINDOW_AUTOSIZE );
createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function );
myHarris_function( 0, 0 );
/// My Shi-Tomasi -- Using cornerMinEigenVal
cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize );
/// My Shi-Tomasi -- Using cornerMinEigenVal
myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 );
cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT );
minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal );
minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() );
/* Create Window and Trackbar */
namedWindow( myShiTomasi_window );
createTrackbar( "Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function );
myShiTomasi_function( 0, 0 );
/* Create Window and Trackbar */
namedWindow( myShiTomasi_window, WINDOW_AUTOSIZE );
createTrackbar( " Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function );
myShiTomasi_function( 0, 0 );
waitKey(0);
return(0);
waitKey();
return 0;
}
/**
@@ -94,18 +92,20 @@ int main( int argc, char** argv )
*/
void myShiTomasi_function( int, void* )
{
myShiTomasi_copy = src.clone();
myShiTomasi_copy = src.clone();
myShiTomasi_qualityLevel = MAX(myShiTomasi_qualityLevel, 1);
if( myShiTomasi_qualityLevel < 1 ) { myShiTomasi_qualityLevel = 1; }
for( int j = 0; j < src_gray.rows; j++ )
{ for( int i = 0; i < src_gray.cols; i++ )
{
if( myShiTomasi_dst.at<float>(j,i) > myShiTomasi_minVal + ( myShiTomasi_maxVal - myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel )
{ circle( myShiTomasi_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
}
}
imshow( myShiTomasi_window, myShiTomasi_copy );
for( int i = 0; i < src_gray.rows; i++ )
{
for( int j = 0; j < src_gray.cols; j++ )
{
if( myShiTomasi_dst.at<float>(i,j) > myShiTomasi_minVal + ( myShiTomasi_maxVal - myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel )
{
circle( myShiTomasi_copy, Point(j,i), 4, Scalar( rng.uniform(0,256), rng.uniform(0,256), rng.uniform(0,256) ), FILLED );
}
}
}
imshow( myShiTomasi_window, myShiTomasi_copy );
}
/**
@@ -113,16 +113,18 @@ void myShiTomasi_function( int, void* )
*/
void myHarris_function( int, void* )
{
myHarris_copy = src.clone();
myHarris_copy = src.clone();
myHarris_qualityLevel = MAX(myHarris_qualityLevel, 1);
if( myHarris_qualityLevel < 1 ) { myHarris_qualityLevel = 1; }
for( int j = 0; j < src_gray.rows; j++ )
{ for( int i = 0; i < src_gray.cols; i++ )
{
if( Mc.at<float>(j,i) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel )
{ circle( myHarris_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
}
}
imshow( myHarris_window, myHarris_copy );
for( int i = 0; i < src_gray.rows; i++ )
{
for( int j = 0; j < src_gray.cols; j++ )
{
if( Mc.at<float>(i,j) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel )
{
circle( myHarris_copy, Point(j,i), 4, Scalar( rng.uniform(0,256), rng.uniform(0,256), rng.uniform(0,256) ), FILLED );
}
}
}
imshow( myHarris_window, myHarris_copy );
}
samples/cpp/tutorial_code/TrackingMotion/cornerHarris_Demo.cpp
+42 -42
View File
@@ -27,26 +27,26 @@ void cornerHarris_demo( int, void* );
*/
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/building.jpg | input image}" );
src = imread( parser.get<String>( "@input" ), IMREAD_COLOR );
if ( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/building.jpg | input image}" );
src = imread( parser.get<String>( "@input" ) );
if ( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Create a window and a trackbar
namedWindow( source_window, WINDOW_AUTOSIZE );
createTrackbar( "Threshold: ", source_window, &thresh, max_thresh, cornerHarris_demo );
imshow( source_window, src );
/// Create a window and a trackbar
namedWindow( source_window );
createTrackbar( "Threshold: ", source_window, &thresh, max_thresh, cornerHarris_demo );
imshow( source_window, src );
cornerHarris_demo( 0, 0 );
cornerHarris_demo( 0, 0 );
waitKey(0);
return(0);
waitKey();
return 0;
}
/**
@@ -55,33 +55,33 @@ int main( int argc, char** argv )
*/
void cornerHarris_demo( int, void* )
{
/// Detector parameters
int blockSize = 2;
int apertureSize = 3;
double k = 0.04;
Mat dst, dst_norm, dst_norm_scaled;
dst = Mat::zeros( src.size(), CV_32FC1 );
/// Detecting corners
Mat dst = Mat::zeros( src.size(), CV_32FC1 );
cornerHarris( src_gray, dst, blockSize, apertureSize, k );
/// Detector parameters
int blockSize = 2;
int apertureSize = 3;
double k = 0.04;
/// Normalizing
Mat dst_norm, dst_norm_scaled;
normalize( dst, dst_norm, 0, 255, NORM_MINMAX, CV_32FC1, Mat() );
convertScaleAbs( dst_norm, dst_norm_scaled );
/// Detecting corners
cornerHarris( src_gray, dst, blockSize, apertureSize, k, BORDER_DEFAULT );
/// Drawing a circle around corners
for( int i = 0; i < dst_norm.rows ; i++ )
{
for( int j = 0; j < dst_norm.cols; j++ )
{
if( (int) dst_norm.at<float>(i,j) > thresh )
{
circle( dst_norm_scaled, Point(j,i), 5, Scalar(0), 2, 8, 0 );
}
}
}
/// Normalizing
normalize( dst, dst_norm, 0, 255, NORM_MINMAX, CV_32FC1, Mat() );
convertScaleAbs( dst_norm, dst_norm_scaled );
/// Drawing a circle around corners
for( int j = 0; j < dst_norm.rows ; j++ )
{ for( int i = 0; i < dst_norm.cols; i++ )
{
if( (int) dst_norm.at<float>(j,i) > thresh )
{
circle( dst_norm_scaled, Point( i, j ), 5, Scalar(0), 2, 8, 0 );
}
}
}
/// Showing the result
namedWindow( corners_window, WINDOW_AUTOSIZE );
imshow( corners_window, dst_norm_scaled );
/// Showing the result
namedWindow( corners_window );
imshow( corners_window, dst_norm_scaled );
}
samples/cpp/tutorial_code/TrackingMotion/cornerSubPix_Demo.cpp
+60 -58
View File
@@ -28,29 +28,29 @@ void goodFeaturesToTrack_Demo( int, void* );
*/
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/pic3.png | input image}" );
src = imread(parser.get<String>( "@input" ), IMREAD_COLOR);
if ( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/pic3.png | input image}" );
src = imread( parser.get<String>( "@input" ) );
if( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Create Window
namedWindow( source_window, WINDOW_AUTOSIZE );
/// Create Window
namedWindow( source_window );
/// Create Trackbar to set the number of corners
createTrackbar( "Max corners:", source_window, &maxCorners, maxTrackbar, goodFeaturesToTrack_Demo );
/// Create Trackbar to set the number of corners
createTrackbar( "Max corners:", source_window, &maxCorners, maxTrackbar, goodFeaturesToTrack_Demo );
imshow( source_window, src );
imshow( source_window, src );
goodFeaturesToTrack_Demo( 0, 0 );
goodFeaturesToTrack_Demo( 0, 0 );
waitKey(0);
return(0);
waitKey();
return 0;
}
/**
@@ -59,52 +59,54 @@ int main( int argc, char** argv )
*/
void goodFeaturesToTrack_Demo( int, void* )
{
if( maxCorners < 1 ) { maxCorners = 1; }
/// Parameters for Shi-Tomasi algorithm
maxCorners = MAX(maxCorners, 1);
vector<Point2f> corners;
double qualityLevel = 0.01;
double minDistance = 10;
int blockSize = 3, gradientSize = 3;
bool useHarrisDetector = false;
double k = 0.04;
/// Parameters for Shi-Tomasi algorithm
vector<Point2f> corners;
double qualityLevel = 0.01;
double minDistance = 10;
int blockSize = 3, gradiantSize = 3;
bool useHarrisDetector = false;
double k = 0.04;
/// Copy the source image
Mat copy = src.clone();
/// Copy the source image
Mat copy;
copy = src.clone();
/// Apply corner detection
goodFeaturesToTrack( src_gray,
corners,
maxCorners,
qualityLevel,
minDistance,
Mat(),
blockSize,
gradiantSize,
useHarrisDetector,
k );
/// Apply corner detection
goodFeaturesToTrack( src_gray,
corners,
maxCorners,
qualityLevel,
minDistance,
Mat(),
blockSize,
gradientSize,
useHarrisDetector,
k );
/// Draw corners detected
cout<<"** Number of corners detected: "<<corners.size()<<endl;
int r = 4;
for( size_t i = 0; i < corners.size(); i++ )
{ circle( copy, corners[i], r, Scalar(rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255)), -1, 8, 0 ); }
/// Draw corners detected
cout << "** Number of corners detected: " << corners.size() << endl;
int radius = 4;
for( size_t i = 0; i < corners.size(); i++ )
{
circle( copy, corners[i], radius, Scalar(rng.uniform(0,255), rng.uniform(0, 256), rng.uniform(0, 256)), FILLED );
}
/// Show what you got
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, copy );
/// Show what you got
namedWindow( source_window );
imshow( source_window, copy );
/// Set the needed parameters to find the refined corners
Size winSize = Size( 5, 5 );
Size zeroZone = Size( -1, -1 );
TermCriteria criteria = TermCriteria( TermCriteria::EPS + TermCriteria::COUNT, 40, 0.001 );
/// Set the needed parameters to find the refined corners
Size winSize = Size( 5, 5 );
Size zeroZone = Size( -1, -1 );
TermCriteria criteria = TermCriteria( TermCriteria::EPS + TermCriteria::COUNT, 40, 0.001 );
/// Calculate the refined corner locations
cornerSubPix( src_gray, corners, winSize, zeroZone, criteria );
/// Calculate the refined corner locations
cornerSubPix( src_gray, corners, winSize, zeroZone, criteria );
/// Write them down
for( size_t i = 0; i < corners.size(); i++ )
{ cout<<" -- Refined Corner ["<<i<<"] ("<<corners[i].x<<","<<corners[i].y<<")"<<endl; }
/// Write them down
for( size_t i = 0; i < corners.size(); i++ )
{
cout << " -- Refined Corner [" << i << "] (" << corners[i].x << "," << corners[i].y << ")" << endl;
}
}
samples/cpp/tutorial_code/TrackingMotion/goodFeaturesToTrack_Demo.cpp
+49 -49
View File
@@ -29,29 +29,29 @@ void goodFeaturesToTrack_Demo( int, void* );
*/
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/pic3.png | input image}" );
src = imread( parser.get<String>( "@input" ), IMREAD_COLOR );
if( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Load source image and convert it to gray
CommandLineParser parser( argc, argv, "{@input | ../data/pic3.png | input image}" );
src = imread( parser.get<String>( "@input" ) );
if( src.empty() )
{
cout << "Could not open or find the image!\n" << endl;
cout << "Usage: " << argv[0] << " <Input image>" << endl;
return -1;
}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Create Window
namedWindow( source_window, WINDOW_AUTOSIZE );
/// Create Window
namedWindow( source_window );
/// Create Trackbar to set the number of corners
createTrackbar( "Max corners:", source_window, &maxCorners, maxTrackbar, goodFeaturesToTrack_Demo );
/// Create Trackbar to set the number of corners
createTrackbar( "Max corners:", source_window, &maxCorners, maxTrackbar, goodFeaturesToTrack_Demo );
imshow( source_window, src );
imshow( source_window, src );
goodFeaturesToTrack_Demo( 0, 0 );
goodFeaturesToTrack_Demo( 0, 0 );
waitKey(0);
return(0);
waitKey();
return 0;
}
/**
@@ -60,40 +60,40 @@ int main( int argc, char** argv )
*/
void goodFeaturesToTrack_Demo( int, void* )
{
if( maxCorners < 1 ) { maxCorners = 1; }
/// Parameters for Shi-Tomasi algorithm
maxCorners = MAX(maxCorners, 1);
vector<Point2f> corners;
double qualityLevel = 0.01;
double minDistance = 10;
int blockSize = 3, gradientSize = 3;
bool useHarrisDetector = false;
double k = 0.04;
/// Parameters for Shi-Tomasi algorithm
vector<Point2f> corners;
double qualityLevel = 0.01;
double minDistance = 10;
int blockSize = 3, gradiantSize = 3;
bool useHarrisDetector = false;
double k = 0.04;
/// Copy the source image
Mat copy = src.clone();
/// Copy the source image
Mat copy;
copy = src.clone();
/// Apply corner detection
goodFeaturesToTrack( src_gray,
corners,
maxCorners,
qualityLevel,
minDistance,
Mat(),
blockSize,
gradiantSize,
useHarrisDetector,
k );
/// Apply corner detection
goodFeaturesToTrack( src_gray,
corners,
maxCorners,
qualityLevel,
minDistance,
Mat(),
blockSize,
gradientSize,
useHarrisDetector,
k );
/// Draw corners detected
cout<<"** Number of corners detected: "<<corners.size()<<endl;
int r = 4;
for( size_t i = 0; i < corners.size(); i++ )
{ circle( copy, corners[i], r, Scalar(rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255)), -1, 8, 0 ); }
/// Draw corners detected
cout << "** Number of corners detected: " << corners.size() << endl;
int radius = 4;
for( size_t i = 0; i < corners.size(); i++ )
{
circle( copy, corners[i], radius, Scalar(rng.uniform(0,255), rng.uniform(0, 256), rng.uniform(0, 256)), FILLED );
}
/// Show what you got
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, copy );
/// Show what you got
namedWindow( source_window );
imshow( source_window, copy );
}