From 6c07df30284360898e90dc3e87abb9eeb47d7bd8 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Fri, 18 May 2018 18:07:59 +0200
Subject: [PATCH] Add nnSymmetryTest. No gtest yet
---
src/matchers/matcher_base.cpp | 26 ++++++++++++++++++++++++++
src/matchers/matcher_base.h | 5 +++++
2 files changed, 31 insertions(+)
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 2affc12..84e8d41 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -308,6 +308,32 @@ void MatcherBase::ransacTest(const KeyPointVector& _raw_kps1,
}
}
+void MatcherBase::nnSymmetryTest(const std::vector<DMatchVector>& _matches1,
+ const std::vector<DMatchVector>& _matches2,
+ DMatchVector& _sym_matches)
+{
+ // for all matches image 1 -> image 2
+ for (std::vector<DMatchVector>::const_iterator itM1 = _matches1.begin(); itM1 != _matches1.end(); ++itM1)
+ {
+ if (itM1->size() < 2) // ignore deleted matches
+ continue;
+
+ // for all matches image 2 -> image 1
+ for (std::vector<DMatchVector>::const_iterator itM2 = _matches2.begin(); itM2 != _matches2.end(); ++itM2)
+ {
+ if (itM2->size() < 2) // ignore deleted matches
+ continue;
+
+ // Match symmetry test
+ if ((*itM1)[0].queryIdx == (*itM2)[0].trainIdx && (*itM2)[0].queryIdx == (*itM1)[0].trainIdx)
+ {
+ // add symmetrical match
+ _sym_matches.push_back(cv::DMatch((*itM1)[0].queryIdx, (*itM1)[0].trainIdx, (*itM1)[0].distance));
+ break; // next match in image 1 -> image 2
+ }
+ }
+ }
+}
cv::Mat MatcherBase::drawMatches(const cv::Mat _img1, const cv::Mat _img2, KeyPointVector _kpts12_img1, KeyPointVector _kpts12_img2)
{
diff --git a/src/matchers/matcher_base.h b/src/matchers/matcher_base.h
index 966c147..224d2c5 100644
--- a/src/matchers/matcher_base.h
+++ b/src/matchers/matcher_base.h
@@ -134,6 +134,11 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
KeyPointVector& _inlier_kps2,
DMatchVector& _inlier_matches);
+ // Check symmetry between nn matches from <im1->im2> and from <im2->im1> pairs
+ void nnSymmetryTest(const std::vector<DMatchVector>& _matches1,
+ const std::vector<DMatchVector>& _matches2,
+ DMatchVector& _sym_matches);
+
// Factory method
static MatcherBasePtr create(const std::string& _unique_name,
const ParamsBasePtr _params);
--
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