diff --git a/src/examples/yaml/fundamental_matrix.yaml b/src/examples/yaml/fundamental_matrix.yaml
index da5949a696f6071f752482cd19a2fed564aa9529..ef24ff4c86d73352d05d0c375e2724a852d29dbe 100644
--- a/src/examples/yaml/fundamental_matrix.yaml
+++ b/src/examples/yaml/fundamental_matrix.yaml
@@ -1,13 +1,13 @@
detector:
type: "AGAST"
- threshold: 10
+ threshold: 9
nonmaxSuppression: true
- detection type: 3 # AGAST_5_8=0, AGAST_7_12d=1, AGAST_7_12s=2, OAST_9_16=3, THRESHOLD=10000, NONMAX_SUPPRESSION=10001
+ 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: false
+ use_orientation: true
matcher:
type: "FLANNBASED" # BRUTEFORCE, BRUTEFORCE_HAMMING, BRUTEFORCE_HAMMING_2, BRUTEFORCE_L1, FLANNBASED
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 8ee93a2e2c58eb57f502a87dd5ef98a359d0af0f..0edd244f3394e17e20dc7b82b3ca3e5eeedd5658 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -180,6 +180,55 @@ void MatcherBase::filterByDistance(const int& _max_pixel_dist, const float& _img
std::cerr << "[" << name_ << "]: Wrong input type in filterByDistance method." << std::endl;
}
+void MatcherBase::ransacTest(const DMatchVector& _raw_matches,
+ const KeyPointVector& _raw_kps1,
+ const KeyPointVector& _raw_kps2,
+ DMatchVector& _inlier_matches,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2)
+{
+ // To be set outside
+ Scalar distance = 3.0;// distance to epipolar line
+ Scalar confidence = 0.99; // confidence probability
+
+
+ // Convert keypoints into Point2f
+ PointVector raw_pts1, raw_pts2;
+
+ std::vector<cv::Point2f> raw_pts1, raw_pts2;
+ for (std::vector<cv::DMatch>::const_iterator it= _raw_matches.begin(); it!= _raw_matches.end(); ++it)
+ {
+ raw_pts1.push_back(cv::Point2f(_raw_kps1[it->queryIdx].pt.x, _raw_kps1[it->queryIdx].pt.y));
+ raw_pts2.push_back(cv::Point2f(_raw_kps2[it->trainIdx].pt.x, _raw_kps2[it->trainIdx].pt.y));
+ }
+
+ // Compute F matrix using RANSAC
+ std::vector<uchar> inliers(raw_pts1.size(),0);
+ cv::Mat fundemental= cv::findFundamentalMat(raw_pts1,
+ raw_pts2, // matching points
+ inliers, // match status (inlier ou outlier)
+ CV_FM_RANSAC, // RANSAC method
+ distance, // distance to epipolar line
+ confidence); // confidence probability
+
+ // extract the surviving (inliers) matches
+ std::vector<uchar>::const_iterator itIn = inliers.begin();
+ std::vector<cv::DMatch>::const_iterator itM= _raw_matches.begin();
+ // for all raw matches
+ for ( ;itIn!= inliers.end(); ++itIn, ++itM)
+ {
+ if (*itIn)// it is a valid match
+ {
+ _inlier_matches.push_back(*itM);
+ _inlier_kps1.push_back(_raw_kps1[itM->queryIdx]);
+ _inlier_kps2.push_back(_raw_kps1[itM->trainIdx]);
+ }
+ }
+
+ std::cout << "Number of matched points (after cleaning): " << _inlier_matches.size() << std::endl;
+}
+
+
cv::Mat MatcherBase::drawMatches(const cv::Mat _img1, const cv::Mat _img2, KeyPointVector _kpts12_img1, KeyPointVector _kpts12_img2)
{
// Concatenate images
diff --git a/src/matchers/matcher_base.h b/src/matchers/matcher_base.h
index d5710d2b1df4c74366d6c2220c62484fb1ba0cd5..ca30b6011dcc5811b8ec43b2f2b2d01f32f20565 100644
--- a/src/matchers/matcher_base.h
+++ b/src/matchers/matcher_base.h
@@ -25,9 +25,9 @@ VU_PTR_TYPEDEFS(MatcherBase);
VU_STRUCT_PTR_TYPEDEFS(MatcherParamsBase);
enum MATCH_TYPE{
- MATCH = 1,
- KNNMATCH = 2,
- RADIUSMATCH = 3
+ MATCH = 1,
+ KNNMATCH = 2,
+ RADIUSMATCH = 3
};
/** \brief Class parameters
@@ -35,13 +35,13 @@ enum MATCH_TYPE{
*/
struct MatcherParamsBase: public ParamsBase
{
- std::string type;
- int match_type = MATCH; // Type of Match. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
- int roi_width = 20; // ROI width around a keypoint to search for a match.
- int roi_height = 20; // ROI height around a keypoint to search for a match.
- double min_norm_score; //< [-1..0]: awful match; 1: perfect match; out of [-1,1]: error
- MatcherParamsBase(const std::string& _type): type(_type){}
- virtual ~MatcherParamsBase(){}
+ std::string type;
+ int match_type = MATCH; // Type of Match. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
+ int roi_width = 20; // ROI width around a keypoint to search for a match.
+ int roi_height = 20; // ROI height around a keypoint to search for a match.
+ double min_norm_score; //< [-1..0]: awful match; 1: perfect match; out of [-1,1]: error
+ MatcherParamsBase(const std::string& _type): type(_type){}
+ virtual ~MatcherParamsBase(){}
};
/** \brief base class for Matcher base
@@ -50,7 +50,7 @@ struct MatcherParamsBase: public ParamsBase
*/
class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBase>
{
- public:
+ public:
/**
* \brief Constructor without parameters
@@ -72,23 +72,77 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
void setParams(const MatcherParamsBasePtr _params);
- std::vector<Scalar> match(const cv::Mat& _desc1, const cv::Mat& _desc2, const int& desc_size_bytes, DMatchVector& matches, cv::InputArray _mask=cv::noArray());
- std::vector<Scalar> match(const cv::Mat& _desc1, const cv::Mat& _desc2, const int& desc_size_bytes, std::vector< DMatchVector >& matches, cv::InputArray _mask=cv::noArray());
- Scalar match(const cv::Mat& _desc1, const cv::Mat& _desc2, const int& desc_size_bytes, cv::DMatch& _match);
-
- void filterByDistance(const int& _max_pixel_dist, const float& _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 filterByDistance(const int& _max_pixel_dist, const float& _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);
+ std::vector<Scalar> match(const cv::Mat& _desc1,
+ const cv::Mat& _desc2,
+ const int& desc_size_bytes,
+ DMatchVector& matches,
+ cv::InputArray _mask=cv::noArray());
+
+ std::vector<Scalar> match(const cv::Mat& _desc1,
+ const cv::Mat& _desc2,
+ const int& desc_size_bytes,
+ std::vector< DMatchVector >& matches,
+ cv::InputArray _mask=cv::noArray());
+
+ Scalar match(const cv::Mat& _desc1,
+ const cv::Mat& _desc2,
+ const int& desc_size_bytes,
+ cv::DMatch& _match);
+
+ // Identify good matches using RANSAC
+ void ransacTest(const DMatchVector& _raw_matches,
+ const KeyPointVector& _raw_kps1,
+ const KeyPointVector& _raw_kps2,
+ DMatchVector& _inlier_matches,
+ KeyPointVector& _inlier_kps1,
+ KeyPointVector& _inlier_kps2);
+
+ void filterByDistance(const int& _max_pixel_dist,
+ const float& _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 filterByDistance(const int& _max_pixel_dist,
+ const float& _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);
// Factory method
- static MatcherBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
-
- cv::Mat drawMatches(const cv::Mat _img1, const cv::Mat _img2, KeyPointVector _kpts12_img1, KeyPointVector _kpts12_img2);
-
- cv::Mat drawMatches(const cv::Mat& _img1, const cv::Mat& _img2, const cv::Mat& _img3, KeyPointVector _kpts12_img1, KeyPointVector _kpts12_img2, KeyPointVector _kpts23_img2, KeyPointVector _kpts23_img3);
-
- cv::Mat drawMatches(const cv::Mat& _img1, const cv::Mat& _img2, const cv::Mat& _img3, KeyPointVector _kpts123_img1, KeyPointVector _kpts123_img2, KeyPointVector _kpts123_img3);
-
- protected:
+ static MatcherBasePtr create(const std::string& _unique_name,
+ const ParamsBasePtr _params);
+
+ cv::Mat drawMatches(const cv::Mat _img1,
+ const cv::Mat _img2,
+ KeyPointVector _kpts12_img1,
+ KeyPointVector _kpts12_img2);
+
+ cv::Mat drawMatches(const cv::Mat& _img1,
+ const cv::Mat& _img2,
+ const cv::Mat& _img3,
+ KeyPointVector _kpts12_img1,
+ KeyPointVector _kpts12_img2,
+ KeyPointVector _kpts23_img2,
+ KeyPointVector _kpts23_img3);
+
+ cv::Mat drawMatches(const cv::Mat& _img1,
+ const cv::Mat& _img2,
+ const cv::Mat& _img3,
+ KeyPointVector _kpts123_img1,
+ KeyPointVector _kpts123_img2,
+ KeyPointVector _kpts123_img3);
+
+ protected:
std::string name_;