forked from opencv/opencv
-
Notifications
You must be signed in to change notification settings - Fork 0
/
matchmethod_orb_akaze_brisk.cpp
186 lines (179 loc) · 8.03 KB
/
matchmethod_orb_akaze_brisk.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui.hpp>
#include <vector>
#include <iostream>
using namespace std;
using namespace cv;
static void help()
{
cout << "\n This program demonstrates how to detect compute and match ORB BRISK and AKAZE descriptors \n"
"Usage: \n"
" ./matchmethod_orb_akaze_brisk --image1=<image1(basketball1.png as default)> --image2=<image2(basketball2.png as default)>\n"
"Press a key when image window is active to change algorithm or descriptor";
}
int main(int argc, char *argv[])
{
vector<String> typeDesc;
vector<String> typeAlgoMatch;
vector<String> fileName;
// This descriptor are going to be detect and compute
typeDesc.push_back("AKAZE-DESCRIPTOR_KAZE_UPRIGHT"); // see https://docs.opencv.org/master/d8/d30/classcv_1_1AKAZE.html
typeDesc.push_back("AKAZE"); // see https://docs.opencv.org/master/d8/d30/classcv_1_1AKAZE.html
typeDesc.push_back("ORB"); // see https://docs.opencv.org/master/de/dbf/classcv_1_1BRISK.html
typeDesc.push_back("BRISK"); // see https://docs.opencv.org/master/db/d95/classcv_1_1ORB.html
// This algorithm would be used to match descriptors see https://docs.opencv.org/master/db/d39/classcv_1_1DescriptorMatcher.html#ab5dc5036569ecc8d47565007fa518257
typeAlgoMatch.push_back("BruteForce");
typeAlgoMatch.push_back("BruteForce-L1");
typeAlgoMatch.push_back("BruteForce-Hamming");
typeAlgoMatch.push_back("BruteForce-Hamming(2)");
cv::CommandLineParser parser(argc, argv,
"{ @image1 | basketball1.png | }"
"{ @image2 | basketball2.png | }"
"{help h ||}");
if (parser.has("help"))
{
help();
return 0;
}
fileName.push_back(samples::findFile(parser.get<string>(0)));
fileName.push_back(samples::findFile(parser.get<string>(1)));
Mat img1 = imread(fileName[0], IMREAD_GRAYSCALE);
Mat img2 = imread(fileName[1], IMREAD_GRAYSCALE);
if (img1.empty())
{
cerr << "Image " << fileName[0] << " is empty or cannot be found" << endl;
return 1;
}
if (img2.empty())
{
cerr << "Image " << fileName[1] << " is empty or cannot be found" << endl;
return 1;
}
vector<double> desMethCmp;
Ptr<Feature2D> b;
// Descriptor loop
vector<String>::iterator itDesc;
for (itDesc = typeDesc.begin(); itDesc != typeDesc.end(); ++itDesc)
{
Ptr<DescriptorMatcher> descriptorMatcher;
// Match between img1 and img2
vector<DMatch> matches;
// keypoint for img1 and img2
vector<KeyPoint> keyImg1, keyImg2;
// Descriptor for img1 and img2
Mat descImg1, descImg2;
vector<String>::iterator itMatcher = typeAlgoMatch.end();
if (*itDesc == "AKAZE-DESCRIPTOR_KAZE_UPRIGHT"){
b = AKAZE::create(AKAZE::DESCRIPTOR_KAZE_UPRIGHT);
}
if (*itDesc == "AKAZE"){
b = AKAZE::create();
}
if (*itDesc == "ORB"){
b = ORB::create();
}
else if (*itDesc == "BRISK"){
b = BRISK::create();
}
try
{
// We can detect keypoint with detect method
b->detect(img1, keyImg1, Mat());
// and compute their descriptors with method compute
b->compute(img1, keyImg1, descImg1);
// or detect and compute descriptors in one step
b->detectAndCompute(img2, Mat(),keyImg2, descImg2,false);
// Match method loop
for (itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); ++itMatcher){
descriptorMatcher = DescriptorMatcher::create(*itMatcher);
if ((*itMatcher == "BruteForce-Hamming" || *itMatcher == "BruteForce-Hamming(2)") && (b->descriptorType() == CV_32F || b->defaultNorm() <= NORM_L2SQR))
{
cout << "**************************************************************************\n";
cout << "It's strange. You should use Hamming distance only for a binary descriptor\n";
cout << "**************************************************************************\n";
}
if ((*itMatcher == "BruteForce" || *itMatcher == "BruteForce-L1") && (b->defaultNorm() >= NORM_HAMMING))
{
cout << "**************************************************************************\n";
cout << "It's strange. You shouldn't use L1 or L2 distance for a binary descriptor\n";
cout << "**************************************************************************\n";
}
try
{
descriptorMatcher->match(descImg1, descImg2, matches, Mat());
// Keep best matches only to have a nice drawing.
// We sort distance between descriptor matches
Mat index;
int nbMatch=int(matches.size());
Mat tab(nbMatch, 1, CV_32F);
for (int i = 0; i<nbMatch; i++)
{
tab.at<float>(i, 0) = matches[i].distance;
}
sortIdx(tab, index, SORT_EVERY_COLUMN + SORT_ASCENDING);
vector<DMatch> bestMatches;
for (int i = 0; i<30; i++)
{
bestMatches.push_back(matches[index.at<int>(i, 0)]);
}
Mat result;
drawMatches(img1, keyImg1, img2, keyImg2, bestMatches, result);
namedWindow(*itDesc+": "+*itMatcher, WINDOW_AUTOSIZE);
imshow(*itDesc + ": " + *itMatcher, result);
// Saved result could be wrong due to bug 4308
FileStorage fs(*itDesc + "_" + *itMatcher + ".yml", FileStorage::WRITE);
fs<<"Matches"<<matches;
vector<DMatch>::iterator it;
cout<<"**********Match results**********\n";
cout << "Index \tIndex \tdistance\n";
cout << "in img1\tin img2\n";
// Use to compute distance between keyPoint matches and to evaluate match algorithm
double cumSumDist2=0;
for (it = bestMatches.begin(); it != bestMatches.end(); ++it)
{
cout << it->queryIdx << "\t" << it->trainIdx << "\t" << it->distance << "\n";
Point2d p=keyImg1[it->queryIdx].pt-keyImg2[it->trainIdx].pt;
cumSumDist2=p.x*p.x+p.y*p.y;
}
desMethCmp.push_back(cumSumDist2);
waitKey();
}
catch (const Exception& e)
{
cout << e.msg << endl;
cout << "Cumulative distance cannot be computed." << endl;
desMethCmp.push_back(-1);
}
}
}
catch (const Exception& e)
{
cerr << "Exception: " << e.what() << endl;
cout << "Feature : " << *itDesc << "\n";
if (itMatcher != typeAlgoMatch.end())
{
cout << "Matcher : " << *itMatcher << "\n";
}
}
}
int i=0;
cout << "Cumulative distance between keypoint match for different algorithm and feature detector \n\t";
cout << "We cannot say which is the best but we can say results are different! \n\t";
for (vector<String>::iterator itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); ++itMatcher)
{
cout<<*itMatcher<<"\t";
}
cout << "\n";
for (itDesc = typeDesc.begin(); itDesc != typeDesc.end(); ++itDesc)
{
cout << *itDesc << "\t";
for (vector<String>::iterator itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); ++itMatcher, ++i)
{
cout << desMethCmp[i]<<"\t";
}
cout<<"\n";
}
return 0;
}