int match(vector<DMatch> &match, frame &f1, frame &f2)
{
vector<DMatch> matches;
FlannBasedMatcher matcher;
matcher.match(f1.desp, f2.desp, matches);
static reader pd("../config/config.ini");
double min_distance = 9999;
double match_threshold = atof(pd.get("match_threshold").c_str());
for (int i = 0; i < matches.size(); ++i)
{
if (matches[i].distance < min_distance)
{
min_distance = matches[i].distance;
}
}
for (int i = 0; i < matches.size(); ++i)
{
if (matches[i].distance < (min_distance * match_threshold))
{
match.push_back(matches[i]);
}
}
return match.size();
}
frame readframe(int index, reader &pd)
{
frame f;
string rgb = pd.get("rgb");
string depth = pd.get("depth");
string suffix = pd.get("suffix");
stringstream name;
name << rgb << index << suffix;
string file;
name >> file;
f.rgb = imread(file);
name.clear();
file.clear();
name << depth << index << suffix;
name >> file;
f.depth = imread(file, CV_LOAD_IMAGE_UNCHANGED);
return f;
}