diff --git a/src/examples/fundamental_matrix.cpp b/src/examples/fundamental_matrix.cpp
index 834093920a008a348d15c93243a8c9e0bf78d6cb..2810b287f53462ddabd32fc86fcd3b93297668c2 100644
--- a/src/examples/fundamental_matrix.cpp
+++ b/src/examples/fundamental_matrix.cpp
@@ -153,6 +153,11 @@ int main(int argc, char** argv)
KeyPointVector keypoints_1 = det_ptr->detect(image_buffer.back());
cv::Mat descriptors_1 = des_ptr->getDescriptor( image_buffer.back(), keypoints_1);
+ clock_t tStart, tDet, tDesc, tMatch, tFilter, tFund;
+ double t_det(0), t_desc(0), t_match(0), t_filter(0), t_fund(0);
+ const int CLOCKS_PER_MSEC = (CLOCKS_PER_SEC/1000);
+
+ int n_iter = 0;
while(1)
{
capture >> img;
@@ -167,15 +172,22 @@ int main(int argc, char** argv)
DMatchVector good_matches, inlier_matches;
PointVector inliers_1, inliers_2;
+
+ tStart = clock();
+
// detect and describe in new image
KeyPointVector keypoints_2 = det_ptr->detect(img);
+ tDet = clock();
+
if (keypoints_2.size()>0)
{
image_buffer.add(img);
cv::Mat descriptors_2 = des_ptr->getDescriptor( image_buffer.back(), keypoints_2);
+ tDesc = clock();
+
unsigned int max_dist = 0;
unsigned int min_dist = 512;
@@ -185,6 +197,8 @@ int main(int argc, char** argv)
//-- Step 3: Matching descriptor vectors using FLANN matcher
mat_ptr->match(descriptors_1,descriptors_2,des_ptr->getSize(),matches);
+ tMatch = clock();
+
//-- Quick calculation of max and min distances between keypoints
for (int ii = 0; ii < descriptors_1.rows; ii++)
{
@@ -192,7 +206,7 @@ int main(int argc, char** argv)
if (dist < min_dist)
min_dist = dist;
if (dist > max_dist)
- max_dist = dist;
+ max_dist = dist;
}
}
else
@@ -215,13 +229,17 @@ int main(int argc, char** argv)
}
}
+ tFilter = clock();
+
+
// Compute the Fundamental matrix F and discard outliers through ransac in one go
if (good_matches.size() > 20) // Minimum is 8 points, but we need more for robustness
{
// find fundamental matrix using RANSAC, return set of inliers as bool vector
- cv::Mat F = findFundamentalMat(matched_1, matched_2, cv::FM_RANSAC, 3.0, 0.98, inliers_bool);
+ cv::Mat F = findFundamentalMat(matched_1, matched_2, cv::FM_RANSAC, 2.0, 0.98, inliers_bool);
+
- std::cout << "F = " << F << std::endl;
+ std::cout << "F = " << F << std::endl;
// Recover the inlier matches
for (unsigned int ii = 0; ii < good_matches.size(); ii++)
@@ -229,16 +247,34 @@ int main(int argc, char** argv)
inlier_matches.push_back(good_matches[ii]);
}
- std::cout << "Matches: initial " << matches.size() << " | good " << good_matches.size() << " | inliers "
+ tFund = clock();
+
+ std::cout << "Matches: initial " << matches.size() << " | good " << good_matches.size() << " | inliers "
<< inlier_matches.size() << std::endl;
std::cout << "kp1: " << keypoints_1.size() << " kp2: " << keypoints_2.size() << " inliers:" << inlier_matches.size() << std::endl;
+ n_iter ++;
+ t_det += double( tDet - tStart )/CLOCKS_PER_MSEC;
+ t_desc += double( tDesc - tDet )/CLOCKS_PER_MSEC;
+ t_match += double( tMatch - tDesc )/CLOCKS_PER_MSEC;
+ t_filter += double(tFilter - tMatch )/CLOCKS_PER_MSEC;
+ t_fund += double( tFund - tFilter)/CLOCKS_PER_MSEC;
+
+ std::cout << "det: " << t_det/n_iter << "ms - desc: " << t_desc/n_iter << "ms - match: " << t_match/n_iter << "ms - filter: " << t_filter/n_iter << "ms - fund: " << t_fund/n_iter << "ms" << std::endl;
+
std::cout << "+++++++++++++++" << std::endl;
// Draw RANSAC inliers
- cv::drawMatches(image_buffer[image_buffer.size()-2], keypoints_1, image_buffer.back(), keypoints_2, inlier_matches, img_matches,
- cv::Scalar::all(-1), cv::Scalar::all(-1), std::vector<char>(), 0); //cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
+ cv::drawMatches(image_buffer[image_buffer.size()-2], // before the last img
+ keypoints_1,
+ image_buffer.back(), // last img
+ keypoints_2,
+ inlier_matches,
+ img_matches,
+ cv::Scalar::all(-1),
+ cv::Scalar::all(-1),
+ std::vector<char>(), 0); //cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
// Show detected matches
imshow("Feature tracker", img_matches);
diff --git a/src/examples/yaml/fundamental_matrix.yaml b/src/examples/yaml/fundamental_matrix.yaml
index ef24ff4c86d73352d05d0c375e2724a852d29dbe..b2e097790ac82e5fd6812887b656f63c867a666f 100644
--- a/src/examples/yaml/fundamental_matrix.yaml
+++ b/src/examples/yaml/fundamental_matrix.yaml
@@ -1,13 +1,13 @@
detector:
type: "AGAST"
- threshold: 9
+ threshold: 8
nonmaxSuppression: true
detection type: 0 # AGAST_5_8=0, AGAST_7_12d=1, AGAST_7_12s=2, OAST_9_16=3, THRESHOLD=10000, NONMAX_SUPPRESSION=10001
descriptor:
type: "BRIEF"
- bytes: 32
- use_orientation: true
+ bytes: 16
+ use_orientation: false
matcher:
type: "FLANNBASED" # BRUTEFORCE, BRUTEFORCE_HAMMING, BRUTEFORCE_HAMMING_2, BRUTEFORCE_L1, FLANNBASED
diff --git a/src/vision_utils.h b/src/vision_utils.h
index df9631e4aa99cf3717bc94d5a8d47b631fb5fe2c..2ae117b4a14f71caef517e318cedbf768947b098 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -212,7 +212,7 @@ struct FeatureIdxMap_GreaterThan// : public std::binary_function<Scalar, Scalar,
};
typedef std::multimap<Scalar, size_t, FeatureIdxMap_GreaterThan> FeatureIdxMap;
-VU_STRUCT_PTR_TYPEDEFS(FeatureIdxGrid);
+VU_PTR_TYPEDEFS(FeatureIdxGrid);
class FeatureIdxGrid {