From 758cdee6cc2e48013a315ed6ef2ce8f1e42c32d6 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 2 Aug 2017 11:24:00 +0200
Subject: [PATCH] adde update of kp in example
---
.../feature_detect_descript_match.cpp | 26 +++++++++++--------
src/feature_descriptor/feature_descriptor.cpp | 3 ++-
src/feature_matcher/feature_matcher.cpp | 12 ++++++---
3 files changed, 25 insertions(+), 16 deletions(-)
diff --git a/src/examples/feature_detect_descript_match.cpp b/src/examples/feature_detect_descript_match.cpp
index 5b3b7eb..02658d1 100644
--- a/src/examples/feature_detect_descript_match.cpp
+++ b/src/examples/feature_detect_descript_match.cpp
@@ -33,7 +33,7 @@ int main(int argc, char *argv[])
std::cout << std::endl << "Which DETECTOR do you want to test?[default: " << detectors_list[feat_type] << "]";
- feat_type = readFromUser(feat_type);
+// feat_type = readFromUser(feat_type);
detector.set(detectors_list[feat_type],detector_params);
@@ -56,7 +56,7 @@ int main(int argc, char *argv[])
std::cout << std::endl << "Which DESCRIPTOR do you want to test?[default: " << descriptor_list[desc_type] << "]";
- desc_type = readFromUser(desc_type);
+// desc_type = readFromUser(desc_type);
descriptor.set(descriptor_list[desc_type],descriptor_params);
@@ -80,7 +80,7 @@ int main(int argc, char *argv[])
std::cout << std::endl << "Which MATCHER do you want to test?[default: " << matchers_list[match_type] << "]";
- match_type = readFromUser(match_type);
+// match_type = readFromUser(match_type);
matcher.set(matchers_list[match_type],matcher_params);
@@ -96,7 +96,7 @@ int main(int argc, char *argv[])
std::cout << std::endl << "Which MATCHER do you want to test?[default: " << matchers_search_list[match_search_type] << "]";
- match_search_type = readFromUser(match_search_type);
+// match_search_type = readFromUser(match_search_type);
matcher.setSearchType(matchers_search_list[match_search_type],matcher_search_params);
@@ -137,13 +137,17 @@ int main(int argc, char *argv[])
cv::Mat descriptors;
descriptors = descriptor.getDescriptor(frame,keypoints);
-// // Matcher
-// if (nframe > 0)
-// {
-// std::vector<cv::DMatch> matches;
-// matcher.match(keypoints,keypoints_old,matches);
-// }
-// keypoints_old = keypoints;
+ // Matcher
+ if (nframe > 1)
+ {
+ std::vector<cv::DMatch> matches;
+ matcher.match(keypoints,keypoints_old,matches);
+ }
+
+ // update old keypoints
+ keypoints_old.clear();
+ for (unsigned int ii = 0; ii < keypoints.size(); ++ii)
+ keypoints_old.push_back(keypoints[ii]);
// Show frame with features
detector.drawKeyFeatures(frame, keypoints);
diff --git a/src/feature_descriptor/feature_descriptor.cpp b/src/feature_descriptor/feature_descriptor.cpp
index 86c6fab..aca2e40 100644
--- a/src/feature_descriptor/feature_descriptor.cpp
+++ b/src/feature_descriptor/feature_descriptor.cpp
@@ -113,7 +113,8 @@ cv::Mat CFeature_Descriptor::getDescriptor(const cv::Mat& _image, KeyPointVector
cv::Mat descriptors;
clock_t tStart = clock();
- feature_descriptor_->compute(_image, _kpts, descriptors);
+ if (!_kpts.empty())
+ feature_descriptor_->compute(_image, _kpts, descriptors);
comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
return descriptors;
diff --git a/src/feature_matcher/feature_matcher.cpp b/src/feature_matcher/feature_matcher.cpp
index 32b15f1..a0a7e99 100644
--- a/src/feature_matcher/feature_matcher.cpp
+++ b/src/feature_matcher/feature_matcher.cpp
@@ -112,6 +112,7 @@ bool CFeature_Matcher::init(const std::string& _type, const CMatcher_Params& _pa
// TODO: Match features and process matches (e.g. https://github.com/kipr/opencv/blob/master/samples/cpp/detector_descriptor_matcher_evaluation.cpp)
void CFeature_Matcher::match(const KeyPointVector& _kpts1, const KeyPointVector& _kpts2, std::vector<cv::DMatch>& matches)
{
+ std::cout << __LINE__ << std::endl;
if (!is_init_)
std::cerr << "[CFeature_Matcher::match]: Matcher non initialized." << std::endl;
@@ -119,7 +120,9 @@ void CFeature_Matcher::match(const KeyPointVector& _kpts1, const KeyPointVector&
{
clock_t tStart = clock();
// TODO: use parameters related with the search type (match_search_params_)
- feature_matcher_->match( _kpts1, _kpts2, matches);
+ std::cout << __LINE__ << " " << _kpts1.size() << " " << _kpts2.size() << std::endl;
+ if (!_kpts1.empty() && !_kpts2.empty())
+ feature_matcher_->match( _kpts1, _kpts2, matches);
comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
}
else
@@ -136,16 +139,17 @@ void CFeature_Matcher::match(const KeyPointVector& _kpts1, const KeyPointVector&
{
clock_t tStart = clock();
// TODO: use parameters related with the search type (match_search_params_)
- feature_matcher_->knnMatch(_kpts1, _kpts2, matches, 2);
+ if (!_kpts1.empty() && !_kpts2.empty())
+ feature_matcher_->knnMatch(_kpts1, _kpts2, matches, 2);
comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
}
else if (match_search_type_.compare(match_search_types_(2))==0) // radius match
{
clock_t tStart = clock();
// TODO: use parameters related with the search type (match_search_params_)
- feature_matcher_->radiusMatch(_kpts1, _kpts2, matches, 2);
+ if (!_kpts1.empty() && !_kpts2.empty())
+ feature_matcher_->radiusMatch(_kpts1, _kpts2, matches, 2);
comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
-
}
else
std::cerr << "[CFeature_Matcher::match]: The selected matcher output is different than your object." << std::endl;
--
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