From c362a071b24436699580908b57d00af29d435df8 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Thu, 31 May 2018 17:26:43 +0200
Subject: [PATCH] FIX matcher to use other matchers than flannbased
---
src/matchers/matcher_base.cpp | 64 +++++++++++++++++++++--------------
src/matchers/matcher_base.h | 34 ++++++++++---------
2 files changed, 56 insertions(+), 42 deletions(-)
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 15290d5..3a186e6 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -7,7 +7,9 @@
namespace vision_utils {
-MatcherBase::MatcherBase(const std::string& _type)
+MatcherBase::MatcherBase(const std::string& _type) :
+ match_type_(MATCH),
+ matcher_type_(_type)
{
params_base_ptr_ = std::make_shared<MatcherParamsBase>(_type);
}
@@ -40,41 +42,51 @@ Scalar MatcherBase::match(const cv::Mat& _desc1,
std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1,
const cv::Mat& _desc2,
- const int& desc_size_bytes,
- DMatchVector& matches,
+ const int& _desc_size_bytes,
+ DMatchVector& _matches,
cv::InputArray _mask)
{
+ clock_t tStart = clock();
+
std::vector<Scalar> normalized_scores;
- if (params_base_ptr_->match_type==MATCH)
+ if (!_desc1.empty() && !_desc2.empty())
{
- clock_t tStart = clock();
- if (!_desc1.empty() && !_desc2.empty())
+ if (params_base_ptr_->match_type==MATCH)
{
// The following line is needed because flann by default is built with .
// This conversion is required when using with hamming descriptors outputs
// like BRIEF, ORB, FREAK, AKAZE etc
- if (_desc1.type()!=CV_32F)
+ if (_desc1.type()!=CV_32F && matcher_type_.compare("FLANNBASED")==0)
matcher_ = new cv::FlannBasedMatcher(new cv::flann::LshIndexParams(LSH_TABLE_NUM, LSH_KEY_SIZE, LSH_MULTI_PROBE_LEVEL));
- matcher_->match( _desc1, _desc2, matches, _mask);
+ matcher_->match( _desc1, _desc2, _matches, _mask);
// here we get only the best match score
- for (auto m : matches)
- normalized_scores.push_back(1.0 - m.distance/(desc_size_bytes*8));
+ for (auto m : _matches)
+ normalized_scores.push_back(1.0 - m.distance/(_desc_size_bytes*8));
}
- comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
+ else if (params_base_ptr_->match_type == KNNMATCH || params_base_ptr_->match_type == RADIUSMATCH)
+ {
+ std::vector<DMatchVector> matches_vec;
+ std::vector<Scalar> normalized_scores_vec = match( _desc1, _desc2, _desc_size_bytes, matches_vec, _mask);
+ for (auto match_candidates : matches_vec)
+ _matches.push_back(match_candidates[0]);
+ }
+ else
+ std::cerr << "[" << name_ << "]:Wrong match type or output object." << std::endl;
}
- else
- std::cerr << "[" << name_ << "]:Wrong match type or output object." << std::endl;
+
+ comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
+
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;
@@ -86,14 +98,14 @@ std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1,
// The following line is needed because flann by default is built with .
// This conversion is required when using with hamming descriptors outputs
// like BRIEF, ORB, FREAK, AKAZE etc
- if (_desc1.type()!=CV_32F)
+ if (_desc1.type()!=CV_32F && matcher_type_.compare("FLANNBASED")==0)
matcher_ = new cv::FlannBasedMatcher(new cv::flann::LshIndexParams(LSH_TABLE_NUM, LSH_KEY_SIZE, LSH_MULTI_PROBE_LEVEL));
- matcher_->knnMatch(_desc1, _desc2, matches, 2);
+ matcher_->knnMatch(_desc1, _desc2, _matches, 2, _mask);
// here we get only the best match score
- for (auto m : matches)
+ for (auto m : _matches)
if (m.size()>0)
- normalized_scores.push_back(1.0 - m[0].distance/(desc_size_bytes*8));
+ normalized_scores.push_back(1.0 - m[0].distance/(_desc_size_bytes*8));
else
normalized_scores.push_back(0.0);
}
@@ -107,13 +119,13 @@ std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1,
// The following line is needed because flann by default is built with .
// This conversion is required when using with hamming descriptors outputs
// like BRIEF, ORB, FREAK, AKAZE etc
- if (_desc1.type()!=CV_32F)
+ if (_desc1.type()!=CV_32F && matcher_type_.compare("FLANNBASED")==0)
matcher_ = new cv::FlannBasedMatcher(new cv::flann::LshIndexParams(LSH_TABLE_NUM, LSH_KEY_SIZE, LSH_MULTI_PROBE_LEVEL));
- matcher_->radiusMatch(_desc1, _desc2, matches, 2, _mask);
+ matcher_->radiusMatch(_desc1, _desc2, _matches, 20.0, _mask);
- for (auto m : matches)
+ for (auto m : _matches)
if (m.size()>0)
- normalized_scores.push_back(1.0 - m[0].distance/(desc_size_bytes*8));
+ normalized_scores.push_back(1.0 - m[0].distance/(_desc_size_bytes*8));
else
normalized_scores.push_back(0.0);
}
diff --git a/src/matchers/matcher_base.h b/src/matchers/matcher_base.h
index 9df1412..27d2a0b 100644
--- a/src/matchers/matcher_base.h
+++ b/src/matchers/matcher_base.h
@@ -9,8 +9,8 @@ typedef cv::Ptr<cv::DescriptorMatcher> FeatureMatcherPtr;
// The following definitions are required because flann by default is built with .
// This conversion is required when using with hamming descriptors outputs
// like BRIEF, ORB, FREAK, AKAZE etc
-#define LSH_TABLE_NUM 20 // The number of hash tables to use (between 10 and 30 usually).
-#define LSH_KEY_SIZE 15 // The size of the hash key in bits (between 10 and 20 usually)
+#define LSH_TABLE_NUM 30 // The number of hash tables to use (between 10 and 30 usually).
+#define LSH_KEY_SIZE 20 // The size of the hash key in bits (between 10 and 20 usually)
#define LSH_MULTI_PROBE_LEVEL 2 // The number of bits to shift to check for neighboring buckets (0 is regular LSH, 2 is recommended)
namespace vision_utils
@@ -25,8 +25,8 @@ VU_PTR_TYPEDEFS(MatcherBase);
VU_STRUCT_PTR_TYPEDEFS(MatcherParamsBase);
enum MATCH_TYPE{
- MATCH = 1,
- KNNMATCH = 2,
+ MATCH = 1,
+ KNNMATCH = 2,
RADIUSMATCH = 3
};
@@ -36,7 +36,7 @@ enum MATCH_TYPE{
struct MatcherParamsBase: public ParamsBase
{
std::string type;
- int match_type = MATCH; //< Type of Match. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
+ int match_type = MATCH; //< Type of Match. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
double min_norm_score; //< [-1..0]: awful match; 1: perfect match; out of [-1,1]: error
Scalar ransac_epipolar_distance; //< distance to epipolar line
Scalar ransac_confidence_prob; //< confidence probability
@@ -73,22 +73,22 @@ 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());
+ Scalar match(const cv::Mat& _desc1,
+ const cv::Mat& _desc2,
+ const int& _desc_size_bytes,
+ cv::DMatch& _match);
std::vector<Scalar> match(const cv::Mat& _desc1,
const cv::Mat& _desc2,
- const int& desc_size_bytes,
- std::vector< DMatchVector >& matches,
+ const int& _desc_size_bytes,
+ 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);
+ 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());
std::vector<Scalar> robustMatch(const KeyPointVector& _raw_kps1,
const KeyPointVector& _raw_kps2,
@@ -167,6 +167,8 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
int match_type_;
+ std::string matcher_type_; //< Type of Matcher.
+
FeatureMatcherPtr matcher_;
MatcherParamsBasePtr params_base_ptr_;
--
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