diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index 041c8b35186fc2b1ebe7439d3a2aa1aca5b22aa5..b8a58066fe135d7cb63ff236ea99a6253e79c55d 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -155,7 +155,7 @@ int main(void)
mat_ptr->match(descriptors_old,descriptors,des_ptr->getSize(),matches);
// filter
- mat_ptr->filterByDistance(10, 0.25, kpts_old, kpts, matches, frame_cur.rows, frame_cur.cols, best_matches, kpts_matched_curf, kpts_matched_prevf);
+ mat_ptr->filterByDistance(10, 0.25, kpts_old, kpts, matches, frame_cur.rows, frame_cur.cols, kpts_matched_prevf, kpts_matched_curf, best_matches);
}
else
{
@@ -164,7 +164,7 @@ int main(void)
mat_ptr->match(descriptors_old,descriptors,des_ptr->getSize(),matches);
//filter
- mat_ptr->filterByDistance(10, 0.25, kpts_old, kpts, matches, frame_cur.rows, frame_cur.cols, best_matches, kpts_matched_curf, kpts_matched_prevf);
+ mat_ptr->filterByDistance(10, 0.25, kpts_old, kpts, matches, frame_cur.rows, frame_cur.cols, kpts_matched_prevf, kpts_matched_curf, best_matches);
}
// Draw
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 698a4256042e010d49f170d812da48af5bbff98b..2affc12462088c6a09725e52928787f5f6f17129 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -16,7 +16,10 @@ MatcherBase::~MatcherBase(void)
{
}
-Scalar MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _desc2, const int& _desc_size_bytes, cv::DMatch& _match)
+Scalar MatcherBase::match(const cv::Mat& _desc1,
+ const cv::Mat& _desc2,
+ const int& _desc_size_bytes,
+ cv::DMatch& _match)
{
std::vector<Scalar> normalized_scores;
if (params_base_ptr_->match_type == MATCH)
@@ -35,7 +38,11 @@ Scalar MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _desc2, const in
return normalized_scores[0];
}
-std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _desc2, const int& desc_size_bytes, DMatchVector& matches, cv::InputArray _mask)
+std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1,
+ const cv::Mat& _desc2,
+ const int& desc_size_bytes,
+ DMatchVector& matches,
+ cv::InputArray _mask)
{
std::vector<Scalar> normalized_scores;
@@ -63,7 +70,11 @@ std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _de
return normalized_scores;
}
-std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _desc2, const int& desc_size_bytes, std::vector< DMatchVector >& matches, cv::InputArray _mask)
+std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1,
+ const cv::Mat& _desc2,
+ const int& desc_size_bytes,
+ std::vector< DMatchVector >& matches,
+ cv::InputArray _mask)
{
std::vector<Scalar> normalized_scores;
@@ -114,29 +125,36 @@ std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _de
return normalized_scores;
}
-void MatcherBase::filterByDistance(const int& _max_pixel_dist, const float& _img_size_percentage, const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const DMatchVector& _dirty, const int& _img_width, const int& _img_height, DMatchVector& _filtered_matches, KeyPointVector& _filtered_kpts, KeyPointVector& _filtered_kpts_prev)
+void MatcherBase::filterByDistance(const int& _max_pixel_dist,
+ const float& _img_size_percentage,
+ const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
+ const DMatchVector& _dirty,
+ const int& _img_width,
+ const int& _img_height,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
+ DMatchVector& _inlier_matches)
{
if (params_base_ptr_->match_type == MATCH)
{
double tresholdDist = _img_size_percentage * sqrt(double(_img_height*_img_height + _img_width*_img_width));
- _filtered_matches.reserve(_dirty.size());
+ _inlier_matches.reserve(_dirty.size());
for (size_t ii = 0; ii < _dirty.size(); ++ii)
{
- cv::Point2f from = _kpts1[_dirty[ii].queryIdx].pt;
- cv::Point2f to = _kpts2[_dirty[ii].trainIdx].pt;
+ cv::Point2f p1 = _kps1[_dirty[ii].queryIdx].pt;
+ cv::Point2f p2 = _kps2[_dirty[ii].trainIdx].pt;
//calculate local distance for each possible match
- double dist = std::sqrt((from.x - to.x) * (from.x - to.x) + (from.y - to.y) * (from.y - to.y));
+ double dist = std::sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y));
//save as best match if local distance is in specified area
- if (dist < tresholdDist && std::abs(from.y-to.y)<_max_pixel_dist && std::abs(from.x-to.x)<_max_pixel_dist)
+ if (dist < tresholdDist && std::abs(p1.y-p2.y)<_max_pixel_dist && std::abs(p1.x-p2.x)<_max_pixel_dist)
{
- _filtered_matches.push_back(_dirty[ii]);
- cv::KeyPoint kpt = cv::KeyPoint(to,1);
- cv::KeyPoint kpt_prev = cv::KeyPoint(from,1);
- _filtered_kpts.push_back(kpt);
- _filtered_kpts_prev.push_back(kpt_prev);
+ _inlier_matches.push_back(_dirty[ii]);
+ _inlier_kps1.push_back(cv::KeyPoint(p1,1));
+ _inlier_kps2.push_back(cv::KeyPoint(p2,1));
}
}
}
@@ -144,32 +162,39 @@ void MatcherBase::filterByDistance(const int& _max_pixel_dist, const float& _img
std::cerr << "[" << name_ << "]: Wrong input type in filterByDistance method." << std::endl;
}
-void MatcherBase::filterByDistance(const int& _max_pixel_dist, const float& _img_size_percentage, const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const std::vector< DMatchVector >& _dirty, const int& _img_width, const int& _img_height, DMatchVector& _filtered_matches, KeyPointVector& _filtered_kpts, KeyPointVector& _filtered_kpts_prev)
+void MatcherBase::filterByDistance(const int& _max_pixel_dist,
+ const float& _img_size_percentage,
+ const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
+ const std::vector< DMatchVector >& _dirty,
+ const int& _img_width,
+ const int& _img_height,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
+ DMatchVector& _inlier_matches)
{
if (params_base_ptr_->match_type == KNNMATCH || params_base_ptr_->match_type == RADIUSMATCH)
{
double tresholdDist = _img_size_percentage * sqrt(double(_img_height*_img_height + _img_width*_img_width));
- _filtered_matches.reserve(_dirty.size());
+ _inlier_matches.reserve(_dirty.size());
for (size_t ii = 0; ii < _dirty.size(); ++ii)
{
for (unsigned int jj = 0; jj < _dirty[ii].size(); jj++)
{
- cv::Point2f from = _kpts1[_dirty[ii][jj].queryIdx].pt;
- cv::Point2f to = _kpts2[_dirty[ii][jj].trainIdx].pt;
+ cv::Point2f p1 = _kps1[_dirty[ii][jj].queryIdx].pt;
+ cv::Point2f p2 = _kps2[_dirty[ii][jj].trainIdx].pt;
//calculate local distance for each possible match
- double dist = std::sqrt((from.x - to.x) * (from.x - to.x) + (from.y - to.y) * (from.y - to.y));
+ double dist = std::sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y));
//save as best match if local distance is in specified area and on same height
- if (dist < tresholdDist && std::abs(from.y-to.y)<_max_pixel_dist && std::abs(from.x-to.x)<_max_pixel_dist)
+ if (dist < tresholdDist && std::abs(p1.y-p2.y)<_max_pixel_dist && std::abs(p1.x-p2.x)<_max_pixel_dist)
{
- _filtered_matches.push_back(_dirty[ii][jj]);
- cv::KeyPoint kpt = cv::KeyPoint(to,1);
- cv::KeyPoint kpt_prev = cv::KeyPoint(from,1);
- _filtered_kpts.push_back(kpt);
- _filtered_kpts_prev.push_back(kpt_prev);
- jj = _dirty[ii].size();
+ _inlier_matches.push_back(_dirty[ii][jj]);
+ _inlier_kps2.push_back(cv::KeyPoint(p2,1));
+ _inlier_kps1.push_back(cv::KeyPoint(p1,1));
+ jj = _dirty[ii].size(); // Keep best match from NN
}
}
}
@@ -178,11 +203,11 @@ void MatcherBase::filterByDistance(const int& _max_pixel_dist, const float& _img
std::cerr << "[" << name_ << "]: Wrong input type in filterByDistance method." << std::endl;
}
-void MatcherBase::filterByDistance(const KeyPointVector& _kpts1,
- const KeyPointVector& _kpts2,
+void MatcherBase::filterByDistance(const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
const DMatchVector& _raw_matches,
- KeyPointVector& _inlier_kpts1,
- KeyPointVector& _inlier_kpts2,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
DMatchVector& _inlier_matches)
{
if (params_base_ptr_->match_type == MATCH)
@@ -190,8 +215,8 @@ void MatcherBase::filterByDistance(const KeyPointVector& _kpts1,
_inlier_matches.reserve(_raw_matches.size());
for (size_t ii = 0; ii < _raw_matches.size(); ++ii)
{
- cv::Point2f p1 = _kpts1[_raw_matches[ii].queryIdx].pt;
- cv::Point2f p2 = _kpts2[_raw_matches[ii].trainIdx].pt;
+ cv::Point2f p1 = _kps1[_raw_matches[ii].queryIdx].pt;
+ cv::Point2f p2 = _kps2[_raw_matches[ii].trainIdx].pt;
//calculate local distance for each possible match
Scalar dist = std::sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y));
@@ -200,8 +225,8 @@ void MatcherBase::filterByDistance(const KeyPointVector& _kpts1,
if (dist < params_base_ptr_->max_match_euclidean_dist)
{
_inlier_matches.push_back(_raw_matches[ii]);
- _inlier_kpts1.push_back(cv::KeyPoint(p1,1));
- _inlier_kpts2.push_back(cv::KeyPoint(p2,1));
+ _inlier_kps1.push_back(cv::KeyPoint(p1,1));
+ _inlier_kps2.push_back(cv::KeyPoint(p2,1));
}
}
}
@@ -209,11 +234,11 @@ void MatcherBase::filterByDistance(const KeyPointVector& _kpts1,
std::cerr << "[" << name_ << "]: Wrong input type in filterByDistance method." << std::endl;
}
-void MatcherBase::filterByDistance(const KeyPointVector& _kpts1,
- const KeyPointVector& _kpts2,
+void MatcherBase::filterByDistance(const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
const std::vector< DMatchVector >& _raw_matches,
- KeyPointVector& _inlier_kpts1,
- KeyPointVector& _inlier_kpts2,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
DMatchVector& _inlier_matches)
{
if (params_base_ptr_->match_type == KNNMATCH || params_base_ptr_->match_type == RADIUSMATCH)
@@ -223,8 +248,8 @@ void MatcherBase::filterByDistance(const KeyPointVector& _kpts1,
{
for (unsigned int jj = 0; jj < _raw_matches[ii].size(); jj++)
{
- cv::Point2f p1 = _kpts1[_raw_matches[ii][jj].queryIdx].pt;
- cv::Point2f p2 = _kpts2[_raw_matches[ii][jj].trainIdx].pt;
+ cv::Point2f p1 = _kps1[_raw_matches[ii][jj].queryIdx].pt;
+ cv::Point2f p2 = _kps2[_raw_matches[ii][jj].trainIdx].pt;
//calculate local distance for each possible match
double dist = std::sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y));
@@ -233,8 +258,8 @@ void MatcherBase::filterByDistance(const KeyPointVector& _kpts1,
if (dist < params_base_ptr_->max_match_euclidean_dist)
{
_inlier_matches.push_back(_raw_matches[ii][jj]);
- _inlier_kpts1.push_back(cv::KeyPoint(p2,1));
- _inlier_kpts2.push_back(cv::KeyPoint(p1,1));
+ _inlier_kps1.push_back(cv::KeyPoint(p2,1));
+ _inlier_kps2.push_back(cv::KeyPoint(p1,1));
break;
}
}
diff --git a/src/matchers/matcher_base.h b/src/matchers/matcher_base.h
index dd906e4596ad79170e2aef385a7cc2643b9d18d3..966c147ba2159ec11b977dd72d37c62a47327052 100644
--- a/src/matchers/matcher_base.h
+++ b/src/matchers/matcher_base.h
@@ -90,49 +90,50 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
const int& desc_size_bytes,
cv::DMatch& _match);
- // Identify good matches using RANSAC
- void ransacTest(const KeyPointVector& _raw_kps1,
- const KeyPointVector& _raw_kps2,
- const DMatchVector& _raw_matches,
- KeyPointVector& _inlier_kps1,
- KeyPointVector& _inlier_kps2,
- DMatchVector& _inlier_matches);
-
void filterByDistance(const int& _max_pixel_dist,
const float& _percentage,
- const KeyPointVector& _kpts1,
- const KeyPointVector& _kpts2,
+ const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
const DMatchVector& _dirty,
const int& _img_width,
const int& _img_height,
- DMatchVector& _filtered_matches,
- KeyPointVector& _filtered_kpts,
- KeyPointVector& _filtered_kpts_prev);
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
+ DMatchVector& _inlier_matches);
+
void filterByDistance(const int& _max_pixel_dist,
const float& _percentage,
- const KeyPointVector& _kpts1,
- const KeyPointVector& _kpts2,
+ const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
const std::vector< DMatchVector >& _dirty,
const int& _img_width,
const int& _img_height,
- DMatchVector& _filtered_matches,
- KeyPointVector& _filtered_kpts,
- KeyPointVector& _filtered_kpts_prev);
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
+ DMatchVector& _inlier_matches);
- void filterByDistance(const KeyPointVector& _kpts1,
- const KeyPointVector& _kpts2,
+ void filterByDistance(const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
const DMatchVector& _raw_matches,
- KeyPointVector& _inlier_kpts1,
- KeyPointVector& _inlier_kpts2,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
DMatchVector& _inlier_matches);
- void filterByDistance(const KeyPointVector& _kpts1,
- const KeyPointVector& _kpts2,
+ void filterByDistance(const KeyPointVector& _kps1,
+ const KeyPointVector& _kps2,
const std::vector< DMatchVector >& _raw_matches,
- KeyPointVector& _inlier_kpts1,
- KeyPointVector& _inlier_kpts2,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
DMatchVector& _inlier_matches);
+ // Identify good matches using RANSAC
+ void ransacTest(const KeyPointVector& _raw_kps1,
+ const KeyPointVector& _raw_kps2,
+ const DMatchVector& _raw_matches,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2,
+ DMatchVector& _inlier_matches);
+
// Factory method
static MatcherBasePtr create(const std::string& _unique_name,
const ParamsBasePtr _params);
diff --git a/src/test/gtest_matchers.cpp b/src/test/gtest_matchers.cpp
index 7155e3a2f23f1d5541e18e2b0575478bbb8db0dc..4bda4f81feb3b056f15d856a0c2595762ed0da7e 100644
--- a/src/test/gtest_matchers.cpp
+++ b/src/test/gtest_matchers.cpp
@@ -68,7 +68,7 @@ TEST(Matchers, MATCH)
DMatchVector best_matches;
KeyPointVector kpts_matched_img2;
KeyPointVector kpts_matched_img1;
- mat_ptr->filterByDistance(10, 0.25, kpts1, kpts2, matches, image1.rows, image1.cols, best_matches, kpts_matched_img2, kpts_matched_img1);
+ mat_ptr->filterByDistance(10, 0.25, kpts1, kpts2, matches, image1.rows, image1.cols, kpts_matched_img1, kpts_matched_img2, best_matches);
ASSERT_TRUE(best_matches.size()-35>0);
}
@@ -121,7 +121,7 @@ TEST(Matchers, KNNMATCH)
DMatchVector best_matches;
KeyPointVector kpts_matched_img2;
KeyPointVector kpts_matched_img1;
- mat_ptr->filterByDistance(10, 0.25, kpts1, kpts2, matches_vec, image1.rows, image1.cols, best_matches, kpts_matched_img2, kpts_matched_img1);
+ mat_ptr->filterByDistance(10, 0.25, kpts1, kpts2, matches_vec, image1.rows, image1.cols, kpts_matched_img1, kpts_matched_img2, best_matches);
ASSERT_TRUE(best_matches.size()-45>0);
}
@@ -176,7 +176,7 @@ TEST(Matchers, RADIUSMATCH)
// DMatchVector best_matches;
// KeyPointVector kpts_matched_img2;
// KeyPointVector kpts_matched_img1;
-// mat_ptr->filterByDistance(10, 0.25, kpts1, kpts2, matches_vec, image1.rows, image1.cols, best_matches, kpts_matched_img2, kpts_matched_img1);
+// mat_ptr->filterByDistance(10, 0.25, kpts1, kpts2, matches_vec, image1.rows, image1.cols, kpts_matched_img1, kpts_matched_img2, best_matches);
// ASSERT_EQ(best_matches.size(),48);
}