// Transforms the given coords all the way back to source image space using
// the full transformation sequence defined by this and its predecesors
// recursively, shallowest first, and finally any block re_rotation.
void DENORM::DenormTransform(const TPOINT& pt, TPOINT* original) const {
FCOORD src_pt(pt.x, pt.y);
FCOORD float_result;
DenormTransform(src_pt, &float_result);
original->x = IntCastRounded(float_result.x());
original->y = IntCastRounded(float_result.y());
}
// Transforms the given coords forward to normalized space using the
// full transformation sequence defined by the block rotation, the
// predecessors, deepest first, and finally this.
void DENORM::NormTransform(const TPOINT& pt, TPOINT* transformed) const {
FCOORD src_pt(pt.x, pt.y);
FCOORD float_result;
NormTransform(src_pt, &float_result);
transformed->x = IntCastRounded(float_result.x());
transformed->y = IntCastRounded(float_result.y());
}
void DENORM::NormTransform(const FCOORD& pt, FCOORD* transformed) const {
FCOORD src_pt(pt);
if (predecessor_ != NULL) {
predecessor_->NormTransform(pt, &src_pt);
} else if (block_ != NULL) {
FCOORD fwd_rotation(block_->re_rotation().x(), -block_->re_rotation().y());
src_pt.rotate(fwd_rotation);
}
LocalNormTransform(src_pt, transformed);
}
void CvxImgMatch::SIFTMatching(const cv::Mat & srcImg, const cv::Mat & dstImg,
const SIFTMatchingParameter & param,
vector<cv::Point2d> & srcPts, vector<cv::Point2d> & dstPts)
{
const double ratio_threshold = 0.7;
double feature_distance_threshold = 0.5;
vl_feat_sift_parameter sift_param;
sift_param.edge_thresh = 10;
sift_param.dim = 128;
sift_param.nlevels = 3;
vector<std::shared_ptr<sift_keypoint> > src_keypoints;
vector<std::shared_ptr<sift_keypoint> > dst_keypoints;
EigenVLFeatSIFT::extractSIFTKeypoint(srcImg, sift_param, src_keypoints, false);
EigenVLFeatSIFT::extractSIFTKeypoint(dstImg, sift_param, dst_keypoints, false);
Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> src_descriptors;
Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> dst_descriptors;
EigenVLFeatSIFT::descriptorToMatrix(src_keypoints, src_descriptors);
EigenVLFeatSIFT::descriptorToMatrix(dst_keypoints, dst_descriptors);
EigenFlann32F flann32;
flann32.setData(dst_descriptors);
vector<vector<int> > indices; // index of src descriptors
vector<vector<float> > dists;
flann32.search(src_descriptors, indices, dists, 2);
for (int i = 0; i<src_keypoints.size(); i++) {
double dis1 = dists[i][0];
double dis2 = dists[i][1];
if (dis1 < feature_distance_threshold && dis1 < dis2 * ratio_threshold) {
int dst_index = indices[i][0];
cv::Point2d src_pt(src_keypoints[i]->location_x(), src_keypoints[i]->location_y());
cv::Point2d dst_pt(dst_keypoints[dst_index]->location_x(), dst_keypoints[dst_index]->location_y());
srcPts.push_back(src_pt);
dstPts.push_back(dst_pt);
}
}
assert(srcPts.size() == dstPts.size());
}
