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added example_16-02 with both features2d and xfeatures2d
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pkhaustov committed Jul 3, 2017
1 parent c940b0e commit e14c9d5
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213 changes: 213 additions & 0 deletions example_16-02.cpp
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// Example 16-2. 2D Feature detectors and 2D Extra Features framework

#include <vector>
#include <iostream>
#include <cstdlib>
#include <fstream>
#include <algorithm>
#include <opencv2/opencv.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/xfeatures2d.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/core/utility.hpp>
#include <opencv2/core/ocl.hpp>

using std::cout;
using std::cerr;
using std::vector;
using std::string;

using cv::Mat;
using cv::Point2f;
using cv::KeyPoint;
using cv::Scalar;
using cv::Ptr;

using cv::FastFeatureDetector;
using cv::SimpleBlobDetector;

using cv::DMatch;
using cv::BFMatcher;
using cv::DrawMatchesFlags;
using cv::Feature2D;
using cv::ORB;
using cv::BRISK;
using cv::AKAZE;
using cv::KAZE;

using cv::xfeatures2d::BriefDescriptorExtractor;
using cv::xfeatures2d::SURF;
using cv::xfeatures2d::SIFT;
using cv::xfeatures2d::DAISY;
using cv::xfeatures2d::FREAK;

const double kDistanceCoef = 4.0;
const int kMaxMatchingSize = 50;

inline void detect_and_compute(string type, Mat& img, vector<KeyPoint>& kpts, Mat& desc) {
if (type.find("fast") == 0) {
type = type.substr(4);
Ptr<FastFeatureDetector> detector = FastFeatureDetector::create(10, true);
detector->detect(img, kpts);
}
if (type.find("blob") == 0) {
type = type.substr(4);
Ptr<SimpleBlobDetector> detector = SimpleBlobDetector::create();
detector->detect(img, kpts);
}
if (type == "surf") {
Ptr<Feature2D> surf = SURF::create(800.0);
surf->detectAndCompute(img, Mat(), kpts, desc);
}
if (type == "sift") {
Ptr<Feature2D> sift = SIFT::create();
sift->detectAndCompute(img, Mat(), kpts, desc);
}
if (type == "orb") {
Ptr<ORB> orb = ORB::create();
orb->detectAndCompute(img, Mat(), kpts, desc);
}
if (type == "brisk") {
Ptr<BRISK> brisk = BRISK::create();
brisk->detectAndCompute(img, Mat(), kpts, desc);
}
if (type == "kaze") {
Ptr<KAZE> kaze = KAZE::create();
kaze->detectAndCompute(img, Mat(), kpts, desc);
}
if (type == "akaze") {
Ptr<AKAZE> akaze = AKAZE::create();
akaze->detectAndCompute(img, Mat(), kpts, desc);
}
if (type == "freak") {
Ptr<FREAK> freak = FREAK::create();
freak->compute(img, kpts, desc);
}
if (type == "daisy") {
Ptr<DAISY> daisy = DAISY::create();
daisy->compute(img, kpts, desc);
}
if (type == "brief") {
Ptr<BriefDescriptorExtractor> brief = BriefDescriptorExtractor::create(64);
brief->compute(img, kpts, desc);
}
}

inline void match(string type, Mat& desc1, Mat& desc2, vector<DMatch>& matches) {
matches.clear();
if (type == "bf") {
BFMatcher desc_matcher(cv::NORM_L2, true);
desc_matcher.match(desc1, desc2, matches, Mat());
}
if (type == "knn") {
BFMatcher desc_matcher(cv::NORM_L2, true);
vector< vector<DMatch> > vmatches;
desc_matcher.knnMatch(desc1, desc2, vmatches, 1);
for (int i = 0; i < static_cast<int>(vmatches.size()); ++i) {
if (!vmatches[i].size()) {
continue;
}
matches.push_back(vmatches[i][0]);
}
}
std::sort(matches.begin(), matches.end());
while (matches.front().distance * kDistanceCoef < matches.back().distance) {
matches.pop_back();
}
while (matches.size() > kMaxMatchingSize) {
matches.pop_back();
}
}

inline void findKeyPointsHomography(vector<KeyPoint>& kpts1, vector<KeyPoint>& kpts2,
vector<DMatch>& matches, vector<char>& match_mask) {
if (static_cast<int>(match_mask.size()) < 3) {
return;
}
vector<Point2f> pts1;
vector<Point2f> pts2;
for (int i = 0; i < static_cast<int>(matches.size()); ++i) {
pts1.push_back(kpts1[matches[i].queryIdx].pt);
pts2.push_back(kpts2[matches[i].trainIdx].pt);
}
findHomography(pts1, pts2, cv::RANSAC, 4, match_mask);
}

int main(int argc, char** argv) {
// Program expects at least four arguments:
// - descriptors type ("surf", "sink", "orb", "brisk",
// "kaze", "akaze", "freak", "daisy", "brief").
// For "brief", "freak" and "daisy" you also need a prefix
// that is either "blob" or "fast" (e.g. "fastbrief", "blobdaisy")
// - match algorithm ("bf", "knn")
// - path to the object image file
// - path to the scene image file
//
if (argc < 5) {
cerr << "\nError: wrong number of arguments.\n";
cerr << "\nExample 16-2. 2D Feature detectors and 2D Extra Features framework\n\n"
<< "Use:\n" << argv[0] << "<descriptors_type> <matching_algirthm> "
<< "<path/image_file1> <path/image_file2>\n"
<< "to run this demo\n\n"
<< "Program expects at least four arguments:\n"
<< " - descriptors type (\"surf\", \"sink\", \"orb\", \"brisk\",\n"
<< " \"kaze\", \"akaze\", \"freak\", \"daisy\", \"brief\").\n"
<< " For \"brief\", \"freak\" and \"daisy\" you also need a prefix\n"
<< " that is either \"blob\" or \"fast\" (e.g. \"fastbrief\", "
<< "\"blobdaisy\")\n"
<< " - match algorithm (\"bf\", \"knn\")\n"
<< " - path to the object image file\n"
<< " - path to the scene image file\n\n"
<< "Examples:\n"
<< argv[0] << " surf knn box.png box_in_scene.png\n"
<< argv[0] << " fastfreak bf box.png box_in_scene.png\n"
<< std::endl;
exit(1);
}

string desc_type(argv[1]);
string match_type(argv[2]);

string img_file1(argv[3]);
string img_file2(argv[4]);

Mat img1 = cv::imread(img_file1, CV_LOAD_IMAGE_COLOR);
Mat img2 = cv::imread(img_file2, CV_LOAD_IMAGE_COLOR);

if (img1.channels() != 1) {
cvtColor(img1, img1, cv::COLOR_RGB2GRAY);
}

if (img2.channels() != 1) {
cvtColor(img2, img2, cv::COLOR_RGB2GRAY);
}

vector<KeyPoint> kpts1;
vector<KeyPoint> kpts2;

Mat desc1;
Mat desc2;

vector<DMatch> matches;

detect_and_compute(desc_type, img1, kpts1, desc1);
detect_and_compute(desc_type, img2, kpts2, desc2);

match(match_type, desc1, desc2, matches);

vector<char> match_mask(matches.size(), 1);
findKeyPointsHomography(kpts1, kpts2, matches, match_mask);

Mat res;
cv::drawMatches(img1, kpts1, img2, kpts2, matches, res, Scalar::all(-1),
Scalar::all(-1), match_mask, DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);

cv::imshow("result", res);
cv::waitKey(0);

return 0;
}
14 changes: 7 additions & 7 deletions example_22-01.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ using std::string;
//
void detectAndDraw(
cv::Mat& img, // input image
cv::Ptr<cv::CascadeClassifier> classifier, // preloaded classifier
cv::Ptr<cv::CascadeClassifier> classifier, // preloaded classifier
double scale = 1.3) { // resize image by ...
// Just some pretty colors to draw with
//
Expand Down Expand Up @@ -69,12 +69,12 @@ int main(int argc, char** argv) {
//
if (argc < 3) {
cerr << "\nError: wrong number of arguments.\n";
cerr << "\nExample 22-1. Detecting and drawing faces\n\n"
<< "Use:\n" << argv[0] << " <path/image_file> <path/xml_classifier_file>\n"
<< "to run this demo\n\n"
<< "Example:\n"
<< argv[0] << " ../faces.png ../haarcascade_frontalface_alt.xml\n"
<< std::endl;
cerr << "\nExample 22-1. Detecting and drawing faces\n\n"
<< "Use:\n" << argv[0] << " <path/image_file> <path/xml_classifier_file>\n"
<< "to run this demo\n\n"
<< "Example:\n"
<< argv[0] << " ../faces.png ../haarcascade_frontalface_alt.xml\n"
<< std::endl;
exit(1);
}
string image_file_name = string(argv[1]);
Expand Down

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