void FeatureMatchThread::run()
{
Mat resultImg;
Mat grayImg;
cvtColor(cropImg,grayImg,CV_BGR2GRAY);
featureDetector.detect(grayImg,keyPoints);
featureExtractor.compute(grayImg,keyPoints,descriptors);
flannIndex.build(descriptors,flann::LshIndexParams(12,20,2),cvflann::FLANN_DIST_HAMMING);
while(true)
{
Mat captureImage_gray;
vector<KeyPoint> captureKeyPoints;
Mat captureDescription;
vector<DMatch> goodMatches;
cap >> captureImage;
if(captureImage.empty())
continue;
cvtColor(captureImage,captureImage_gray,CV_BGR2GRAY);
featureDetector.detect(captureImage_gray,captureKeyPoints);
featureExtractor.compute(captureImage_gray,captureKeyPoints,captureDescription);
Mat matchIndex(captureDescription.rows,2,CV_32SC1);
Mat matchDistance(captureDescription.rows,2,CV_32FC1);
flannIndex.knnSearch(captureDescription,matchIndex,matchDistance,2,flann::SearchParams());
for(int i=0;i<matchDistance.rows;i++)
{
if(matchDistance.at<float>(i,0) < 0.6 * matchDistance.at<float>(i,1))
{
DMatch dmatches(i,matchIndex.at<int>(i,0),matchDistance.at<float>(i,0));
goodMatches.push_back(dmatches);
}
}
drawMatches(captureImage,captureKeyPoints,cropImg,keyPoints,goodMatches,resultImg);
emit NewFeatureMatch(&resultImg);
imshow(WindowName,captureImage);
cv::setMouseCallback(WindowName,mouse_callback);
captureKeyPoints.clear();
goodMatches.clear();
waitKey(30);
}
return;
}
void YawAngleEstimator::Indexmatch(Mat& CurrentDescriptors, float* CurrentVote)
{
//Lowe's Algorithm to caculate vote for each angletemplate
for (int i = 4; i < AngleNum; i++)
{
//rows:numbers of keypoints
Mat matchIndex(CurrentDescriptors.rows, 2, CV_32SC1), matchDistance(CurrentDescriptors.rows, 2, CV_32FC1);
CurrentVote[i] = 0;
//cout << CurrentDescriptors[0] << endl;
YawIndex[i].knnSearch(CurrentDescriptors, matchIndex, matchDistance, 2, flann::SearchParams());
for (int j = 0; j < matchDistance.rows; j++)
{
if (matchDistance.at<float>(j, 0) < 0.6*matchDistance.at<float>(j, 1))
++CurrentVote[i];
}
}
}
/**
Removes comm addresses from the 3 lists that are already in the database and have been updated.
It takes the 3 lists in as parameters and modifies them accordingly. It also populates the list
of comm address ids that are free to be recycled during updating.
*/
void CPplCommAddrTable::RemoveNonUpdatedAddrsL(RArray<TMatch>& aNewPhones, RArray<TPtrC>& aNewEmails, RArray<TPtrC>& aNewSips,
RArray<TInt>& aFreeCommAddrIds, const TInt aItemId,CPplCommAddrTable::TCommAddrExtraInfoType
aExtraInfoType )
{
// build the RSqlStatement
RSqlStatement stmnt;
CleanupClosePushL(stmnt);
stmnt.PrepareL(iDatabase, iWholeSelectStmnt->SqlStringL() );
const TInt KContactIdParamIndex(KFirstIndex); // first and only parameter in the query
User::LeaveIfError(stmnt.BindInt(KContactIdParamIndex, aItemId) ) ;
// fetch the results from the query and compare them with the new comm_addrs we have
TInt err(KErrNone);
while ((err = stmnt.Next() ) == KSqlAtRow)
{
const TInt KType(stmnt.ColumnInt(iWholeSelectStmnt->ParameterIndex(KCommAddrType() ) ) );
if (KType == EPhoneNumber)
{
TMatch phoneNumber;
TPtrC valString = stmnt.ColumnTextL(iWholeSelectStmnt->ParameterIndex(KCommAddrValue() ) );
TPtrC extValString = stmnt.ColumnTextL(iWholeSelectStmnt->ParameterIndex(KCommAddrExtraValue() ) );
TInt extTypeInfoString = stmnt.ColumnInt(iWholeSelectStmnt->ParameterIndex(KCommAddrExtraTypeInfo() ) );
User::LeaveIfError(TLex(valString).Val(phoneNumber.iLowerSevenDigits) );
User::LeaveIfError(TLex(extValString).Val(phoneNumber.iUpperDigits) );
TInt matchIndex(aNewPhones.Find(phoneNumber, TIdentityRelation<TMatch>(&TMatch::Equals) ) );
// remove any phone numbers from the new list if we already
// have them in the db and they haven't changed...
if (matchIndex != KErrNotFound && (extTypeInfoString == aExtraInfoType))
{
aNewPhones.Remove(matchIndex);
}
// ...and add any spare ids to the recycle list
else
{
aFreeCommAddrIds.AppendL(
stmnt.ColumnInt(iWholeSelectStmnt->ParameterIndex(KCommAddrId() ) ) );
}
}
else // is Email or SIP
{
TPtrC valString = stmnt.ColumnTextL(iWholeSelectStmnt->ParameterIndex(KCommAddrValue() ) );
TInt matchIndex(0);
// remove any email and sip addresses from the new list if
// we already have them in the db and they haven't changed...
if (KType == EEmailAddress)
{
matchIndex = aNewEmails.Find(valString);
if (matchIndex != KErrNotFound)
{
aNewEmails.Remove(matchIndex);
}
}
else // SIP
{
matchIndex = aNewSips.Find(valString);
if (matchIndex != KErrNotFound)
{
aNewSips.Remove(matchIndex);
}
}
// ...and add any spare ids to the recycle list
if (matchIndex == KErrNotFound)
{
aFreeCommAddrIds.AppendL(
stmnt.ColumnInt(iWholeSelectStmnt->ParameterIndex(KCommAddrId() ) ) );
}
}
}
// leave if we didn't complete going through the results properly
if(err != KSqlAtEnd)
{
User::Leave(err);
}
CleanupStack::PopAndDestroy(&stmnt);
}