diff --git a/samples/cpp/descriptor_extractor_matcher.cpp b/samples/cpp/descriptor_extractor_matcher.cpp index 102a81b62f..afbfbcae1f 100644 --- a/samples/cpp/descriptor_extractor_matcher.cpp +++ b/samples/cpp/descriptor_extractor_matcher.cpp @@ -11,6 +11,58 @@ using namespace std; #define DRAW_RICH_KEYPOINTS_MODE 0 #define DRAW_OUTLIERS_MODE 0 +const string winName = "correspondences"; + +enum { NONE_FILTER = 0, CROSS_CHECK_FILTER = 1 }; + +int getMatcherFilterType( const string& str ) +{ + if( str == "NoneFilter" ) + return NONE_FILTER; + if( str == "CrossCheckFilter" ) + return CROSS_CHECK_FILTER; + CV_Assert(0); + return -1; +} + +void simpleMatching( Ptr& descriptorMatcher, + const Mat& descriptors1, const Mat& descriptors2, + vector& matches12 ) +{ + vector matches; + descriptorMatcher->match( descriptors1, descriptors2, matches12 ); +} + +void crossCheckMatching( Ptr& descriptorMatcher, + const Mat& descriptors1, const Mat& descriptors2, + vector& filteredMatches12, int knn=1 ) +{ + filteredMatches12.clear(); + vector > matches12, matches21; + descriptorMatcher->knnMatch( descriptors1, descriptors2, matches12, knn ); + descriptorMatcher->knnMatch( descriptors2, descriptors1, matches21, knn ); + for( size_t m = 0; m < matches12.size(); m++ ) + { + bool findCrossCheck = false; + for( size_t fk = 0; fk < matches12[m].size(); fk++ ) + { + DMatch forward = matches12[m][fk]; + + for( size_t bk = 0; bk < matches21[forward.trainIdx].size(); bk++ ) + { + DMatch backward = matches21[forward.trainIdx][bk]; + if( backward.trainIdx == forward.queryIdx ) + { + filteredMatches12.push_back(forward); + findCrossCheck = true; + break; + } + } + if( findCrossCheck ) break; + } + } +} + void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG& rng ) { H.create(3, 3, CV_32FC1); @@ -27,12 +79,10 @@ void warpPerspectiveRand( const Mat& src, Mat& dst, Mat& H, RNG& rng ) warpPerspective( src, dst, H, src.size() ); } -const string winName = "correspondences"; - void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, vector& keypoints1, const Mat& descriptors1, Ptr& detector, Ptr& descriptorExtractor, - Ptr& descriptorMatcher, + Ptr& descriptorMatcher, int matcherFilter, bool eval, double ransacReprojThreshold, RNG& rng ) { assert( !img1.empty() ); @@ -47,7 +97,7 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, detector->detect( img2, keypoints2 ); cout << keypoints2.size() << " points" << endl << ">" << endl; - if( !H12.empty() ) + if( !H12.empty() && eval ) { cout << "< Evaluate feature detector..." << endl; float repeatability; @@ -64,11 +114,18 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, cout << ">" << endl; cout << "< Matching descriptors..." << endl; - vector matches; - descriptorMatcher->match( descriptors1, descriptors2, matches, Mat() ); + vector filteredMatches; + switch( matcherFilter ) + { + case CROSS_CHECK_FILTER : + crossCheckMatching( descriptorMatcher, descriptors1, descriptors2, filteredMatches, 1 ); + break; + default : + simpleMatching( descriptorMatcher, descriptors1, descriptors2, filteredMatches ); + } cout << ">" << endl; - if( !H12.empty() ) + if( !H12.empty() && eval ) { cout << "< Evaluate descriptor match..." << endl; vector curve; @@ -79,14 +136,17 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, cout << ">" << endl; } - vector trainIdxs( matches.size() ); - for( size_t i = 0; i < matches.size(); i++ ) - trainIdxs[i] = matches[i].trainIdx; + vector queryIdxs( filteredMatches.size() ), trainIdxs( filteredMatches.size() ); + for( size_t i = 0; i < filteredMatches.size(); i++ ) + { + queryIdxs[i] = filteredMatches[i].queryIdx; + trainIdxs[i] = filteredMatches[i].trainIdx; + } if( !isWarpPerspective && ransacReprojThreshold >= 0 ) { cout << "< Computing homography (RANSAC)..." << endl; - vector points1; KeyPoint::convert(keypoints1, points1); + vector points1; KeyPoint::convert(keypoints1, points1, queryIdxs); vector points2; KeyPoint::convert(keypoints2, points2, trainIdxs); H12 = findHomography( Mat(points1), Mat(points2), CV_RANSAC, ransacReprojThreshold ); cout << ">" << endl; @@ -95,8 +155,8 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, Mat drawImg; if( !H12.empty() ) // filter outliers { - vector matchesMask( matches.size(), 0 ); - vector points1; KeyPoint::convert(keypoints1, points1); + vector matchesMask( filteredMatches.size(), 0 ); + vector points1; KeyPoint::convert(keypoints1, points1, queryIdxs); vector points2; KeyPoint::convert(keypoints2, points2, trainIdxs); Mat points1t; perspectiveTransform(Mat(points1), points1t, H12); for( size_t i1 = 0; i1 < points1.size(); i1++ ) @@ -105,7 +165,7 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, matchesMask[i1] = 1; } // draw inliers - drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg, CV_RGB(0, 255, 0), CV_RGB(0, 0, 255), matchesMask + drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, CV_RGB(0, 255, 0), CV_RGB(0, 0, 255), matchesMask #if DRAW_RICH_KEYPOINTS_MODE , DrawMatchesFlags::DRAW_RICH_KEYPOINTS #endif @@ -115,48 +175,56 @@ void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective, // draw outliers for( size_t i1 = 0; i1 < matchesMask.size(); i1++ ) matchesMask[i1] = !matchesMask[i1]; - drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg, CV_RGB(0, 0, 255), CV_RGB(255, 0, 0), matchesMask, + drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, CV_RGB(0, 0, 255), CV_RGB(255, 0, 0), matchesMask, DrawMatchesFlags::DRAW_OVER_OUTIMG | DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS ); #endif } else - drawMatches( img1, keypoints1, img2, keypoints2, matches, drawImg ); + drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg ); imshow( winName, drawImg ); } int main(int argc, char** argv) { - if( argc != 4 && argc != 6 ) + if( argc != 7 && argc != 8 ) { cout << "Format:" << endl; cout << "case1: second image is obtained from the first (given) image using random generated homography matrix" << endl; - cout << argv[0] << " [detectorType] [descriptorType] [image1]" << endl; + cout << argv[0] << " [detectorType] [descriptorType] [matcherType] [matcherFilterType] [image] [evaluate(0 or 1)]" << endl; + cout << "Example:" << endl; + cout << "./descriptor_extractor_matcher SURF SURF FlannBased NoneFilter cola.jpg 0" << endl; + cout << endl; cout << "case2: both images are given. If ransacReprojThreshold>=0 then homography matrix are calculated" << endl; - cout << argv[0] << " [detectorType] [descriptorType] [image1] [image2] [ransacReprojThreshold]" << endl; + cout << argv[0] << " [detectorType] [descriptorType] [matcherType] [matcherFilterType] [image1] [image2] [ransacReprojThreshold]" << endl; cout << endl << "Mathes are filtered using homography matrix in case1 and case2 (if ransacReprojThreshold>=0)" << endl; + cout << "Example:" << endl; + cout << "./descriptor_extractor_matcher SURF SURF BruteForce CrossCheckFilter cola1.jpg cola2.jpg 3" << endl; + return -1; } - bool isWarpPerspective = argc == 4; + bool isWarpPerspective = argc == 7; double ransacReprojThreshold = -1; if( !isWarpPerspective ) - ransacReprojThreshold = atof(argv[5]); + ransacReprojThreshold = atof(argv[7]); cout << "< Creating detector, descriptor extractor and descriptor matcher ..." << endl; Ptr detector = createFeatureDetector( argv[1] ); Ptr descriptorExtractor = createDescriptorExtractor( argv[2] ); - Ptr descriptorMatcher = createDescriptorMatcher( "BruteForce" ); + Ptr descriptorMatcher = createDescriptorMatcher( argv[3] ); + int mactherFilterType = getMatcherFilterType( argv[4] ); + bool eval = !isWarpPerspective ? false : (atoi(argv[6]) == 0 ? false : true); cout << ">" << endl; if( detector.empty() || descriptorExtractor.empty() || descriptorMatcher.empty() ) { cout << "Can not create detector or descriptor exstractor or descriptor matcher of given types" << endl; return -1; - } + } cout << "< Reading the images..." << endl; - Mat img1 = imread( argv[3] ), img2; + Mat img1 = imread( argv[5] ), img2; if( !isWarpPerspective ) - img2 = imread( argv[4] ); + img2 = imread( argv[6] ); cout << ">" << endl; if( img1.empty() || (!isWarpPerspective && img2.empty()) ) { @@ -177,11 +245,11 @@ int main(int argc, char** argv) namedWindow(winName, 1); RNG rng = theRNG(); doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1, - detector, descriptorExtractor, descriptorMatcher, + detector, descriptorExtractor, descriptorMatcher, mactherFilterType, eval, ransacReprojThreshold, rng ); for(;;) { - char c = (char)cvWaitKey(0); + char c = (char)waitKey(0); if( c == '\x1b' ) // esc { cout << "Exiting ..." << endl; @@ -190,7 +258,7 @@ int main(int argc, char** argv) else if( isWarpPerspective ) { doIteration( img1, img2, isWarpPerspective, keypoints1, descriptors1, - detector, descriptorExtractor, descriptorMatcher, + detector, descriptorExtractor, descriptorMatcher, mactherFilterType, eval, ransacReprojThreshold, rng ); } }