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Commit 97588d3e authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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WIP add ransac match

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src/examples/yaml/fundamental_matrix.yaml
+ 3
− 3
View file @ 97588d3e
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
......
src/matchers/matcher_base.cpp
+ 49
− 0
View file @ 97588d3e
......@@ -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
......
src/matchers/matcher_base.h
+ 80
− 26
View file @ 97588d3e
......@@ -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_;
......
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