int mainStaticMatch()
{
IplImage *img1, *img2;
img1 = cvLoadImage("imgs/img1.jpg");
img2 = cvLoadImage("imgs/img2.jpg");
IpVec ipts1, ipts2;
surfDetDes(img1,ipts1,false,4,4,2,0.0001f);
surfDetDes(img2,ipts2,false,4,4,2,0.0001f);
IpPairVec matches;
getMatches(ipts1,ipts2,matches);
for (unsigned int i = 0; i < matches.size(); ++i)
{
drawPoint(img1,matches[i].first);
drawPoint(img2,matches[i].second);
const int & w = img1->width;
cvLine(img1,cvPoint(matches[i].first.x,matches[i].first.y),cvPoint(matches[i].second.x+w,matches[i].second.y), cvScalar(255,255,255),1);
cvLine(img2,cvPoint(matches[i].first.x-w,matches[i].first.y),cvPoint(matches[i].second.x,matches[i].second.y), cvScalar(255,255,255),1);
}
std::cout<< "Matches: " << matches.size();
cvNamedWindow("1", CV_WINDOW_AUTOSIZE );
cvNamedWindow("2", CV_WINDOW_AUTOSIZE );
cvShowImage("1", img1);
cvShowImage("2",img2);
cvWaitKey(0);
return 0;
}
//! Populate IpPairVec with matched ipts
void getMatches(IpVec &ipts1, IpVec &ipts2, IpPairVec &matches) {
float dist, d1, d2;
Ipoint *match;
matches.clear();
for (unsigned int i = 0; i < ipts1.size(); i++) {
d1 = d2 = 1000;
for (unsigned int j = 0; j < ipts2.size(); j++) {
dist = ipts1[i] - ipts2[j];
if (dist < d1) // if this feature matches better than current best
{
d2 = d1;
d1 = dist;
match = &ipts2[j];
} else if (dist < d2) // this feature matches better than second best
{
d2 = dist;
}
}
// If match has a d1:d2 ratio < 0.65 ipoints are a match
if (d1 / d2 < 0.65) {
// Store the change in position
ipts1[i].dx = match->x - ipts1[i].x;
ipts1[i].dy = match->y - ipts1[i].y;
match->dx = ipts1[i].x -match->x;
match->dy = ipts1[i].y -match->y;
matches.push_back(std::make_pair(ipts1[i], *match));
}
}
}
int ofxSurfObjCorners(IpPairVec & matches,const ofPoint src_crn[4],ofPoint dst_crn[4]) {
double h[9];
CvMat _h = cvMat(3,3,CV_64F,h);
vector<CvPoint2D32f> pt1,pt2;
CvMat _pt1,_pt2;
int n = (int)(matches.size());
if(n<4)return 0;
pt1.resize(n);
pt2.resize(n);
for(int i=0; i<n; i++) {
pt1[i] = cvPoint2D32f(matches[i].second.x,matches[i].second.y);
pt2[i] = cvPoint2D32f(matches[i].first.x,matches[i].first.y);
}
_pt1 = cvMat(1,n,CV_32F,&pt1[0]);
_pt2 = cvMat(1,n,CV_32F,&pt2[0]);
//if(!cvFindHomography(&_pt1,&_pt2,&_h,CV_RANSAC,5))return 0;
/*for(int i=0;i<4;i++){
double x = (double)src_crn[i].x;
double y = (double)src_crn[i].y;
double Z = 1./(h[6]*x + h[7]*y + h[8]);
double X = (h[0]*x + h[1]*y + h[2])*Z;
double Y = (h[3]*x + h[4]*y + h[5])*Z;
dst_crn[i].set(cvRound(X),cvRound(Y));
}*/
return 1;
}
int mainStaticMatch( IplImage *img1, IplImage *img2)
{
//IplImage *img1, *img2;
//img1 = cvLoadImage("../imgs/img1.jpg");
//img2 = cvLoadImage("../imgs/img2.jpg");
IpVec ipts1, ipts2;
LARGE_INTEGER llPerfCount = {0};
QueryPerformanceCounter(&llPerfCount);
__int64 beginPerfCount = llPerfCount.QuadPart;
//surfDetDes(img1,ipts1,false,4,4,2,0.0001f);
//surfDetDes(img2,ipts2,false,4,4,2,0.0001f);
surfDetDes(img1,ipts1,true,4,4,2,0.0001f);
surfDetDes(img2,ipts2,true,4,4,2,0.0001f);
IpPairVec matches;
getMatches(ipts1,ipts2,matches);
QueryPerformanceCounter(&llPerfCount);
__int64 endPerfCount = llPerfCount.QuadPart;
LARGE_INTEGER liPerfFreq={0};
QueryPerformanceFrequency(&liPerfFreq);
std::cout << __FUNCTION__ << " excute time: "
<< float(endPerfCount - beginPerfCount) * 1000 / liPerfFreq.QuadPart << " millisecond(ºÁÃë)" << std::endl;
for (unsigned int i = 0; i < matches.size(); ++i)
{
drawPoint(img1,matches[i].first);
drawPoint(img2,matches[i].second);
const int & w = img1->width;
cvLine(img1,cvPoint(matches[i].first.x,matches[i].first.y),cvPoint(matches[i].second.x+w,matches[i].second.y), cvScalar(255,255,255),1);
cvLine(img2,cvPoint(matches[i].first.x-w,matches[i].first.y),cvPoint(matches[i].second.x,matches[i].second.y), cvScalar(255,255,255),1);
}
std::cout<< "Matches: " << matches.size();
cvNamedWindow("1", CV_WINDOW_AUTOSIZE );
cvNamedWindow("2", CV_WINDOW_AUTOSIZE );
cvShowImage("1", img1);
cvShowImage("2",img2);
cvWaitKey(0);
return 0;
}
int mainMotionPoints(void)
{
// Initialise capture device
CvCapture* capture = cvCaptureFromCAM( CV_CAP_ANY );
if(!capture) error("No Capture");
// Create a window
cvNamedWindow("OpenSURF", CV_WINDOW_AUTOSIZE );
// Declare Ipoints and other stuff
IpVec ipts, old_ipts, motion;
IpPairVec matches;
IplImage *img;
// Main capture loop
while( 1 )
{
// Grab frame from the capture source
img = cvQueryFrame(capture);
// Detect and describe interest points in the image
old_ipts = ipts;
surfDetDes(img, ipts, true, 3, 4, 2, 0.0004f);
// Fill match vector
getMatches(ipts,old_ipts,matches);
for (unsigned int i = 0; i < matches.size(); ++i)
{
const float & dx = matches[i].first.dx;
const float & dy = matches[i].first.dy;
float speed = sqrt(dx*dx+dy*dy);
if (speed > 5 && speed < 30)
drawIpoint(img, matches[i].first, 3);
}
// Display the result
cvShowImage("OpenSURF", img);
// If ESC key pressed exit loop
if( (cvWaitKey(10) & 255) == 27 ) break;
}
// Release the capture device
cvReleaseCapture( &capture );
cvDestroyWindow( "OpenSURF" );
return 0;
}
void
getMatches(IpVec &ipts1, IpVec &ipts2, IpPairVec &matches)
{
// Allocate host memory
float *lin_descs1 = new float[ipts1.size() * 64];
float *lin_descs2 = new float[ipts2.size() * 64];
int *indices = new int[ipts1.size()];
float *dists = new float[ipts1.size()];
linearizeDescriptors(lin_descs1, ipts1);
linearizeDescriptors(lin_descs2, ipts2);
// Allocate GPU memory
float *d_lin_descs1;
float *d_lin_descs2;
int *d_indices;
float *d_dists;
CUDA_SAFE_CALL( cudaMalloc((void **)&d_lin_descs1, ipts1.size() * 64 * sizeof(float)) );
CUDA_SAFE_CALL( cudaMalloc((void **)&d_lin_descs2, ipts2.size() * 64 * sizeof(float)) );
CUDA_SAFE_CALL( cudaMalloc((void **)&d_indices, ipts1.size() * sizeof(int)) );
CUDA_SAFE_CALL( cudaMalloc((void **)&d_dists, ipts1.size() * sizeof(float)) );
CUDA_SAFE_CALL( cudaMemcpy(d_lin_descs1, lin_descs1, ipts1.size() * 64 * sizeof(float), cudaMemcpyHostToDevice) );
CUDA_SAFE_CALL( cudaMemcpy(d_lin_descs2, lin_descs2, ipts2.size() * 64 * sizeof(float), cudaMemcpyHostToDevice) );
prepare_matchSURFKeypointsGPU(0.77f);
matchSURFKeypointsGPU(d_indices, d_dists,
d_lin_descs1, ipts1.size(), 64 * sizeof(float),
d_lin_descs2, ipts2.size(), 64 * sizeof(float),
64);
CUDA_SAFE_CALL( cudaMemcpy(indices, d_indices, ipts1.size() * sizeof(int), cudaMemcpyDeviceToHost) );
CUDA_SAFE_CALL( cudaMemcpy(dists, d_dists, ipts1.size() * sizeof(float), cudaMemcpyDeviceToHost) );
for (size_t i = 0; i < ipts1.size(); i++)
{
if (indices[i] != -1)
{
Ipoint &ipt1 = ipts1[i];
const Ipoint &match = ipts2[indices[i]];
ipt1.dx = match.x - ipt1.x;
ipt1.dy = match.y - ipt1.y;
matches.push_back(std::make_pair(ipt1, match));
}
}
delete[] lin_descs1;
delete[] lin_descs2;
delete[] indices;
delete[] dists;
CUDA_SAFE_CALL( cudaFree(d_lin_descs1) );
CUDA_SAFE_CALL( cudaFree(d_lin_descs2) );
CUDA_SAFE_CALL( cudaFree(d_indices) );
CUDA_SAFE_CALL( cudaFree(d_dists) );
}
int mainStaticMatch()
{
// Make images as Mats; convert to IplImage for OpenSURF library actions
cv::Mat mimg1, mimg2;
mimg1=cv::imread("OpenSURF/imgs/img1.jpg", CV_LOAD_IMAGE_COLOR);
mimg2=cv::imread("OpenSURF/imgs/img2.jpg", CV_LOAD_IMAGE_COLOR);
IplImage iimg1, iimg2;
iimg1=mimg1;
iimg2=mimg2;
IplImage *img1, *img2;
img1 = &iimg1;
img2 = &iimg2;
IpVec ipts1, ipts2;
surfDetDes(img1,ipts1,false,4,4,2,0.0001f);
surfDetDes(img2,ipts2,false,4,4,2,0.0001f);
IpPairVec matches;
getMatches(ipts1,ipts2,matches);
for (unsigned int i = 0; i < matches.size(); ++i)
{
drawPoint(img1,matches[i].first);
drawPoint(img2,matches[i].second);
const int & w = img1->width;
cvLine(img1,cvPoint(matches[i].first.x,matches[i].first.y),cvPoint(matches[i].second.x+w,matches[i].second.y), cvScalar(255,255,255),1);
cvLine(img2,cvPoint(matches[i].first.x-w,matches[i].first.y),cvPoint(matches[i].second.x,matches[i].second.y), cvScalar(255,255,255),1);
}
std::cout<< "Matches: " << matches.size();
cvNamedWindow("1", CV_WINDOW_AUTOSIZE );
cvNamedWindow("2", CV_WINDOW_AUTOSIZE );
cvShowImage("1", img1);
cvShowImage("2",img2);
cvWaitKey(0);
return 0;
}
//! Find homography between matched points and translate src_corners to dst_corners
int translateCorners(IpPairVec &matches, const CvPoint src_corners[4], CvPoint dst_corners[4])
{
#ifndef LINUX
double h[9];
cv::Mat _h = cv::Mat(3, 3, CV_64F, h);
std::vector<CvPoint2D32f> pt1, pt2;
cv::Mat _pt1, _pt2;
int n = (int)matches.size();
if( n < 4 ) return 0;
// Set vectors to correct size
pt1.resize(n);
pt2.resize(n);
// Copy Ipoints from match vector into cvPoint vectors
for(int i = 0; i < n; i++ )
{
pt1[i] = cvPoint2D32f(matches[i].second.x, matches[i].second.y);
pt2[i] = cvPoint2D32f(matches[i].first.x, matches[i].first.y);
}
_pt1 = cv::Mat(1, n, CV_32FC2, &pt1[0] );
_pt2 = cv::Mat(1, n, CV_32FC2, &pt2[0] );
cv::InputArray _pt1_ia(_pt1);
cv::InputArray _pt2_ia(_pt2);
cv::OutputArray _h_ia(_h);
cv::Mat hMat = cv::findHomography(_pt1_ia, _pt2_ia, _h_ia, CV_RANSAC, 5.0);
// Find the homography (transformation) between the two sets of points
if(hMat.empty()) // this line requires opencv 1.1
return 0;
// Translate src_corners to dst_corners using homography
for(int i = 0; i < 4; i++ )
{
double x = src_corners[i].x, y = src_corners[i].y;
double Z = 1./(h[6]*x + h[7]*y + h[8]);
double X = (h[0]*x + h[1]*y + h[2])*Z;
double Y = (h[3]*x + h[4]*y + h[5])*Z;
dst_corners[i] = cvPoint(cvRound(X), cvRound(Y));
}
#endif
return 1;
}
int main(int argc, char ** argv) {
//Set the arguments
//std::string feat_detector = "SURF";
//int threshold = 1000
bool hamming=false;
std::string feat_detector = "SURF";
std::string feat_descriptor = "SURF";
//Create the Feature extraction
OSFeatureExtraction feature(10,200);
//Create data analysis object
//DataAnalysis dataAnalysis;
//The directory where the files are stored TESTING
std::string dir = "../brisk/images/PicsMG/Matching_Pics_Right_Overlapping";
std::string dir1 = "../brisk/images/PicsMG/Matching_Pics_Right_Overlapping";//PicsOG/Matching_Images_OG_Left
//Names of the two image files
std::string name1 = "4";
std::string name2 = "24";
//Threshold
float threshold = 325.125f;
//Choose the images to compare
// name1 = to_string<int>(ii);
// if(ii==jj)
// continue;
//
// name2 = to_string<int>(jj);
cout<<"Image in directory 1: "<<name1<<", Image in directory 2: "<<name2<<endl;
// names of the two images
std::string fname1;
std::string fname2;
//Declare the two images
IplImage *imgYUV1, *imgYUV2;
//Determine the region of interest
int horizonStart = 200;
int horizonLine = 240;
//******************************************************************
//Compute the image that will be stored in the image bank
//The Grayscale image
IplImage *imgGray1;
fname1 =dir + "/"+ name1+".jpg";
imgYUV1 = cvLoadImage(fname1.c_str());
cout<<"Size of the image is: "<<imgYUV1->height<<", "<<imgYUV1->width<<endl;
//Create an image from the YUV image
imgGray1 = cvCreateImage(cvSize(imgYUV1->width,imgYUV1->height),IPL_DEPTH_8U,1);
//Convert the image to grayscale
cvCvtColor(imgYUV1,imgGray1,CV_RGB2GRAY);
//Create images that are of width 640 and height 1
IplImage *imgFinal1 = cvCreateImage(cvSize(imgYUV1->width,1),IPL_DEPTH_8U,1);
//Get a row of pixels by sub-sampling every 4th pixel and taking the mean
imgFinal1 = getRowOfPixels(imgGray1, horizonStart, horizonLine);
//Generate a vector of interest points
IpVec interestPoints1;
//Detect the interest points
surfDet(imgFinal1,interestPoints1, 4, 3, 2, threshold);
//Compute the SURF descriptor
surfDes(imgFinal1,interestPoints1, false);
//******************************************************************
//Read in the current image
//*****************************************************************
fname2 = dir1+ "/"+ name2+".jpg";
imgYUV2 = cvLoadImage(fname2.c_str());
//*****************************************************************
//Set the regions of interest in which we want to work
//cvSetImageROI(imgYUV1, cvRect(0,0,imgYUV1->width,horizonLine));
//cvSetImageROI(imgYUV2, cvRect(0,0,imgYUV2->width,horizonLine));
//Note that the image dimensions do not change for the image
//Create Grayscale images from the YUV images
IplImage *imgGray2;
imgGray2 = cvCreateImage(cvSize(imgYUV2->width,imgYUV2->height),IPL_DEPTH_8U,1);
//cvSetImageROI(imgGray1, cvRect(0,0,imgYUV1->width,horizonLine));
//cvSetImageROI(imgGray2, cvRect(0,0,imgYUV2->width,horizonLine));
#if (DEBUG_MODE)
cout<<"The image WIDTH is: "<<imgYUV1->width<<endl;
cout<<"The image HEIGHT is: "<<imgYUV1->height<<endl;
cout<<"The image depth is: "<<imgYUV1->depth<<endl;
cout<<"The number of channels is: "<<imgYUV1->nChannels<<endl;
cout<<"The image data order is: "<<imgYUV1->dataOrder<<endl;
#endif
//cvAddS(imgYUV1, cvScalar(100), imgYUV1);
timespec ts, te, matchings, matchinge, detectors, detectore, extractors, extractore;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &ts);
//Convert the images to grayscale
cvCvtColor(imgYUV2,imgGray2,CV_RGB2GRAY);
//Create images that are of width 640 and height 1
IplImage *imgFinal2 = cvCreateImage(cvSize(imgYUV1->width,1),IPL_DEPTH_8U,1);
//Compute a vertical average of the row of pixels above the horizon
imgFinal2 = getRowOfPixels(imgGray2, horizonStart, horizonLine);
#if (DEBUG_MODE)
cvNamedWindow("1", CV_WINDOW_AUTOSIZE );
cvNamedWindow("2", CV_WINDOW_AUTOSIZE );
cvShowImage("1", imgFinal1);
cvShowImage("2",imgFinal2);
// Save the frame into a file
cvSaveImage("Imgs/image1Row.jpg" ,imgFinal1);
// Save the frame into a file
cvSaveImage("Imgs/image2Row.jpg" ,imgFinal2);
cvWaitKey(200);
#endif
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &detectors);
//MC: Generate a vector of Interest Points
//*****************************************************************
IpVec interestPoints2;
//*****************************************************************
// create the OpenSURF detector:
//*****************************************************************
surfDet(imgFinal2,interestPoints2, 4, 3, 2, threshold);
//*****************************************************************
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &detectore);
float detectionTime = diff(detectors,detectore).tv_nsec/1000000.0f;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &extractors);
// get the OpenSURF descriptors
// first image. Computes the descriptor for each of the keypoints.
//Outputs a 64 bit vector describing the keypoints.
//*****************************************************************
surfDes(imgFinal2,interestPoints2, false);//False means we do not wish to use upright SURF (U-SURF)
//*****************************************************************
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &extractore);
float extractionTime = diff(extractors,extractore).tv_nsec/1000000.0f;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &matchings);
//OpenSURF matching
//*****************************************************************
cout<<"The number of interestPoints 1 is: "<<interestPoints1.size()<<endl;
cout<<"The number of interestPoints 2 is: "<<interestPoints2.size()<<endl;
IpPairVec matches;
getMatches(interestPoints1, interestPoints2, matches, 0);
//*****************************************************************
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &matchinge);
float matchingTime = diff(matchings,matchinge).tv_nsec/1000000.0f;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &te);
float overallTime = diff(ts,te).tv_nsec/1000000.0f;
//Find the number of valid matches
feature.performRansac(matches);
//Get the matching Statistics
feature.calculateMatchingScore(*imgFinal2,interestPoints1, interestPoints2, matches);
// ofstream writeFile;
// std::string filename = "../../data/implementation/matchingData.txt";
// writeFile.open(filename.c_str(), ios::app);//ios::app
// //Output the matches
// for (int i=1;i<matches.size();i++)
// {
// cout<<"First Match coords x,y: "<<matches[i].first.x<<", "<<matches[i].first.y<<endl;
// cout<<"Second Match coords x,y: "<<matches[i].second.x<<", "<<matches[i].second.y<<endl;
// cout<<"The distance between interest points is: "<<matches[i].first-matches[i].second<<endl;
//
// writeFile <<matches[i].first.x<<", "<<matches[i].second.x<<", "<<matches[i].first-matches[i].second<<"\n";
//
// }
//
// //close the file
// writeFile.close();
//cv::Mat outimg;
//Write the data to a file
// ofstream writeFile;
//
// std::string filename = "../../data/implementation/matchingData.txt";
// writeFile.open(filename.c_str(), ios::app);//ios::app
//To store the incorrect matches
#if(DISPLAY || DEBUG_MODE)
std::vector<Ipoint> leftPoints;
std::vector<Ipoint> rightPoints;
#endif
#if (DEBUG_MODE)
//cout<<"The total number of keypoints in image 1 is: "<<keypoints.size()<<endl;
//cout<<"The total number of keypoints in image 2 is: "<<keypoints2.size()<<endl;
#endif
#if 1// (DEBUG_MODE)
cout<<"****************************************"<<endl;
cout<<"The matching score for the image (condsidering all matches) is "<<feature.imageMatchingScore<<endl;
cout<<"The total number of matches is "<<feature.totalNumMatches<<endl;
cout<<"The total number of valid matches is "<<feature.totalNumValidMatches<<endl;
cout<<"The total number of invalid Matches is: "<<feature.totalNumMatches -feature.totalNumValidMatches <<endl;
cout<<"****************************************"<<endl;
#endif
#if 1//(DEBUG_MODE)
std::cout<<"The times:"<<endl;
std::cout<<"Detection Time: "<<detectionTime<<" us"<<endl;
std::cout<<"Extraction Time: "<<extractionTime<<" us"<<endl;
std::cout<<"Matching Time: "<<matchingTime<<" us"<<endl;
std::cout<<"Overall Time: "<<overallTime<<" ms"<<endl;
#endif
// threshold = atoi(argv[3]+5);
// // writeFile <<threshold<<", "<<name1<<", "<<name2<<", "<<keypoints.size()<<", "<<keypoints2.size()<<", "<<imageMatchingScoreBest<<", "<<imageMatchingScore<<","<<totalNumMatches<<", "<<totalNumBestMatches<<"\n";
// // //close the file
// // writeFile.close();
//#if (DEBUG_MODE)
// cout<<"The total number of keypoints in image 1 is: "<<keypoints.size()<<endl;
// cout<<"The total number of keypoints in image 2 is: "<<keypoints2.size()<<endl;
//#endif
//
//
//#if (DISPLAY)
// drawMatches(imgYUV2, keypoints2, imgYUV1, keypoints,matches,outimg,
// cv::Scalar(0,255,0), cv::Scalar(0,0,255),
// std::vector<std::vector<char> >(), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS );
////NOT_DRAW_SINGLE_POINTS
//
// int colourChanger = 0;
// for (int k = 0; k<leftPoints.size(); k++)
// {
//
// circle(imgYUV2,cv::Point(leftPoints[k].x, leftPoints[k].y), 5, cv::Scalar(colourChanger, 100, 255), 4, 8, 0);
//
//#if(DEBUG_MODE)
// cout<<"Incorrect coord Left row,col : "<<leftPoints[k].y<<", "<<leftPoints[k].x<<endl;
//#endif
// colourChanger = colourChanger+30;
// }
// colourChanger = 0;
// for (int k = 0; k<rightPoints.size(); k++)
// {
// circle(imgYUV1,cv::Point(rightPoints[k].x, rightPoints[k].y), 5, cv::Scalar(colourChanger, 100, 255), 4, 8, 0);
//#if(DEBUG_MODE)
// cout<<"Incorrect coord Right row,col : "<<rightPoints[k].y<<", "<<rightPoints[k].x<<endl;
//#endif
// colourChanger = colourChanger+30;
// }
//
//
//
// cv::namedWindow("Matches");
// cv::imshow("Matches", outimg);
// //imgYUV1 is right. imgYUV2 is left
//#if(DEBUG_MODE)
// cv::imshow("keypoints", imgYUV1);
// cv::imshow("keypoints2", imgYUV2);
//#endif
//
// cv::waitKey();
//#endif
std::cout<< "Matches: " << feature.totalNumValidMatches<<endl;
//Image created for drawing
for (unsigned int i = 0; i < matches.size(); ++i)
{
matches[i].first.clusterIndex = i;
matches[i].second.clusterIndex = i;
if(matches[i].first.x!=-1){
drawPoint(imgYUV1,matches[i].first);
drawPoint(imgYUV2,matches[i].second);
const int & w = imgYUV1->width;
cvLine(imgYUV1,cvPoint(matches[i].first.x,matches[i].first.y),cvPoint(matches[i].second.x+w,matches[i].second.y), cvScalar(0,128,0),1.5);
cvLine(imgYUV2,cvPoint(matches[i].first.x-w,matches[i].first.y),cvPoint(matches[i].second.x,matches[i].second.y), cvScalar(0,128,0),1.5);
}
}
cvNamedWindow("1", CV_WINDOW_AUTOSIZE );
cvNamedWindow("2", CV_WINDOW_AUTOSIZE );
cvShowImage("1", imgYUV1);
cvShowImage("2",imgYUV2);
// Save the frame into a file
cvSaveImage("Imgs/image1.jpg" ,imgYUV1);
// Save the frame into a file
cvSaveImage("Imgs/image2.jpg" ,imgYUV2);
cvWaitKey(0);
return 0;
}
int mainMatch(void)
{
// Initialise capture device
CvCapture* capture = cvCaptureFromCAM( CV_CAP_ANY );
if(!capture) error("No Capture");
// Declare Ipoints and other stuff
IpPairVec matches;
IpVec ipts, ref_ipts;
// This is the reference object we wish to find in video frame
// Replace the line below with IplImage *img = cvLoadImage("imgs/object.jpg");
// where object.jpg is the planar object to be located in the video
IplImage *img = cvLoadImage("../imgs/object.jpg");
if (img == NULL) error("Need to load reference image in order to run matching procedure");
CvPoint src_corners[4] = {{0,0}, {img->width,0}, {img->width, img->height}, {0, img->height}};
CvPoint dst_corners[4];
// Extract reference object Ipoints
surfDetDes(img, ref_ipts, false, 3, 4, 3, 0.004f);
drawIpoints(img, ref_ipts);
showImage(img);
// Create a window
cvNamedWindow("OpenSURF", CV_WINDOW_AUTOSIZE );
// Main capture loop
while( true )
{
// Grab frame from the capture source
img = cvQueryFrame(capture);
// Detect and describe interest points in the frame
surfDetDes(img, ipts, false, 3, 4, 3, 0.004f);
// Fill match vector
getMatches(ipts,ref_ipts,matches);
// This call finds where the object corners should be in the frame
if (translateCorners(matches, src_corners, dst_corners))
{
// Draw box around object
for(int i = 0; i < 4; i++ )
{
CvPoint r1 = dst_corners[i%4];
CvPoint r2 = dst_corners[(i+1)%4];
cvLine( img, cvPoint(r1.x, r1.y),
cvPoint(r2.x, r2.y), cvScalar(255,255,255), 3 );
}
for (unsigned int i = 0; i < matches.size(); ++i)
drawIpoint(img, matches[i].first);
}
// Draw the FPS figure
drawFPS(img);
// Display the result
cvShowImage("OpenSURF", img);
// If ESC key pressed exit loop
if( (cvWaitKey(10) & 255) == 27 ) break;
}
// Release the capture device
cvReleaseCapture( &capture );
cvDestroyWindow( "OpenSURF" );
return 0;
}
float visualStaticMatch(TestImage image1, TestImage image2, bool visual, IplImage* &half)
{
// Get matches
IpPairVec matches;
// double time = (double)cvGetTickCount();
Score result = getMatchesRANSAC(image1.ipts,image2.ipts,matches);
float match_score = result.score;
// double ttmatch = (double)cvGetTickCount() - time;
if(visual){
IplImage* img1 = image1.img;
IplImage* img2 = image2.img;
// Display the horizon lines on the images
int integral_height = WIDTH;
//Draws the horizon lines
cvLine(img1, cvPoint(0, image1.left+WIDTH/2),cvPoint(img1->width, image1.right+WIDTH/2), cvScalar(0, 0, 255),1);
cvLine(img1, cvPoint(0, image1.left-WIDTH/2),cvPoint(img1->width, image1.right-WIDTH/2), cvScalar(0, 0, 255),1);
cvLine(img2, cvPoint(0, image2.left+WIDTH/2),cvPoint(img2->width, image2.right+WIDTH/2), cvScalar(0, 0, 255),1);
cvLine(img2, cvPoint(0, image2.left-WIDTH/2),cvPoint(img2->width, image2.right-WIDTH/2), cvScalar(0, 0, 255),1);
// Copy the original images to the output
IplImage* visual = cvCreateImage( cvSize(img1->width + img2->height + integral_height,
img2->width + img1->height + integral_height), img1->depth, img1->nChannels );
cvZero(visual);
cvSetImageROI( visual, cvRect( img2->height + integral_height, img2->width+ integral_height, img1->width, img1->height ) );
cvCopy( img1, visual );
cvSetImageROI( visual, cvRect( 0, 0, img2->height, img2->width ) );
cvFlip(img2, NULL, 0);
//cvFlip(img2, NULL, 1);
cvTranspose(img2, visual);
//cvFlip(img2, NULL, 1);
cvFlip(img2, NULL, 0);
// Display the integral image above each image
std::vector<int> y_coords;
IplImage *int_img1 = getGrayHorizon(img1, image1.left, image1.right, y_coords, WIDTH, 1, true);
IplImage *im8 = cvCreateImage(cvSize(int_img1->width, int_img1->height), visual->depth, int_img1->nChannels);
cvConvertScale(int_img1, im8, 255.);
IplImage *colint_img1 = cvCreateImage( cvSize(int_img1->width, int_img1->height), visual->depth, visual->nChannels );
cvCvtColor( im8, colint_img1, CV_GRAY2BGR );
cvSetImageROI( visual, cvRect( img2->height + integral_height, img2->width, int_img1->width, integral_height ) );
cvResize(colint_img1, visual);
cvReleaseImage(&int_img1);
cvReleaseImage(&im8);
cvReleaseImage(&colint_img1);
IplImage *int_img2 = getGrayHorizon(img2, image2.left, image2.right, y_coords, WIDTH, 1, true);
im8 = cvCreateImage(cvSize(int_img2->width, int_img2->height), visual->depth, int_img2->nChannels);
cvConvertScale(int_img2, im8, 255.);
IplImage *colint_img2 = cvCreateImage( cvSize(int_img2->width, int_img2->height), visual->depth, visual->nChannels );
cvCvtColor( im8, colint_img2, CV_GRAY2BGR );
cvSetImageROI( visual, cvRect( img2->height , 0, integral_height, int_img2->width ) );
IplImage *transpose = cvCreateImage( cvSize(colint_img2->height, colint_img2->width), colint_img2->depth, colint_img2->nChannels );
cvFlip(colint_img2, NULL, 0);
//cvFlip(colint_img2, NULL, 1);
cvTranspose(colint_img2, transpose);
cvResize(transpose, visual);
cvReleaseImage(&transpose);
cvReleaseImage(&int_img2);
cvReleaseImage(&im8);
cvReleaseImage(&colint_img2);
// Draw match points
cvSetImageROI( visual, cvRect( img2->height+integral_height, 0, img1->width, img2->width ) );
cvSet(visual,cvScalar(255, 255, 255));
for (unsigned int i = 0; i < matches.size(); ++i){
drawMatch(visual, matches[i], img2->width, visual);
}
// Display text
cvSetImageROI( visual, cvRect( 0 , img2->width, img2->height + integral_height, img2->height + integral_height ) );
char text[200];
CvFont font;
cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX, 0.9,0.9,0,2);
sprintf(text,"Features: %d/%d",(int)image2.ipts.size(),(int)image1.ipts.size());
cvPutText (visual, text, cvPoint(20,50), &font, cvScalar(255,255,255));
sprintf(text,"Valid matches: %d",(int)matches.size());
cvPutText (visual, text, cvPoint(20,100), &font, cvScalar(255,255,255));
sprintf(text,"Recognition score: %.2f",match_score);
cvPutText (visual, text, cvPoint(20,150), &font, cvScalar(255,255,255));
sprintf(text,"Extraction time: %.2fms",Ipoint::extractionTime);//image2.tt_extraction, image1.tt_extraction);
cvPutText (visual, text, cvPoint(20,200), &font, cvScalar(255,255,255));
sprintf(text,"Matching time: %.2fms",Ipoint::detectionTime);
cvPutText (visual, text, cvPoint(20,250), &font, cvScalar(255,255,255));
// Resize and Show output
cvResetImageROI( visual );
half = cvCreateImage( cvSize(visual->width/2, visual->height/2), visual->depth, visual->nChannels );
cvResize(visual, half);
cvReleaseImage(&visual);
}
return match_score;
}
void msrmtupdate(unsigned char *img,double updt[][9],IpVec *refpts,double
*refhist,int w,int h)
{
long double tot=0,dist2=0;
double hist[257 * 10]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
static double ptr[4],p;
int key[10][2];
IpVec pts,tpts;
IplImage *cl,*tmp2;
cl=cvCreateImage(cvSize(w,h),IPL_DEPTH_8U,3);
memcpy(cl->imageData,(img),cl->imageSize);
tmp2=cvCloneImage(cl);
surfDetDes(cl,tpts ,false, 5, 4, 2, 0.00004f);
IpPairVec matches;
IpVec ipts, ref_ipts;
CvPoint src_corners[4] = {cvPoint(0,0), cvPoint(80,0), cvPoint(80, 60),
cvPoint(0, 60)};
CvPoint dst_corners[4];
getMatches(tpts,*refpts,matches);
int tt=0;
tt=translateCorners(matches, src_corners, dst_corners);
if (translateCorners(matches, src_corners, dst_corners))
{
// Draw box around object
for(int i = 0; i < 4; i++ )
{
CvPoint r1 = dst_corners[i%4];
CvPoint r2 = dst_corners[(i+1)%4];
cvLine( cl, cvPoint(r1.x, r1.y), cvPoint(r2.x, r2.y), cvScalar(255,255,255),3 );
}
for (unsigned int i = 0; i < matches.size(); ++i)
drawIpoint(cl, matches[i].first);
}
CvPoint cpt;
cpt.x=((dst_corners[0].x)+(dst_corners[2].x))/2;
cpt.y=((dst_corners[0].y)+(dst_corners[2].y))/2;
p++;
if(tt)
{
if((abs(ptr[2]-abs(dst_corners[0].x-dst_corners[1].x))>=30 ||
abs(ptr[3]-abs(dst_corners[0].y-dst_corners[3].y))>=30 ||
!isrect(dst_corners)) && p>3 )
{
tt=0;
}
else
{
cvCvtColor(tmp2,cl ,CV_RGB2HSV);
ptr[0]=cpt.x;ptr[1]=cpt.y;ptr[2]=abs(dst_corners[0].xst_corners[1].x);ptr[3]=abs(dst_corners[0].y-dst_corners[3].y);
crhist((unsigned char *)cl->imageData,hist,w,h,ptr);
dist2=.1*(double)exp(-2*pow(comphist(hist,refhist),2));
}
}
for(int i=0;i<N;i++)
{
if(tt && dist2>.05 )
{
updt[i][0]=cpt.x;
updt[i][1]=cpt.y;
updt[i][2]=ptr[2];
updt[i][3]=ptr[3];
updt[i][4]=1;
updt[i][5]=1;
updt[i][8]=1;
tot++;
}
else
{
double pt[4];
for(int k=0;k<4;k++)
{
pt[k]=updt[i][k];
}
cvCvtColor(tmp2,cl, CV_RGB2HSV);
crhist((unsigned char *)cl->imageData,hist,w,h,pt);
dist2=.1*(double)exp(-100*pow(comphist(hist,refhist),2));
updt[i][8]=dist2;
tot+=updt[i][8];
}
}
for(int i=0;i<N;i++)
updt[i][8]/=(double)tot;
}
//! Populate IpPairVec with matched ipts using nearest neighbour and RANSAC
Score getMatchesRANSAC(IpVec &ipts1, IpVec &ipts2, IpPairVec &matches)
{
#if RUNSWIFT
#else
timespec matchings, matchinge, verifys, verifye;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &matchings);
#endif
float dist, d1, d2;
Ipoint *match;
float matching_score = 0;
matches.clear();
for(unsigned int i = 0; i < ipts1.size(); i++)
{
ipts1[i].x = ipts1[i].x;
d1 = d2 = FLT_MAX;
match = &ipts2[0]; // to avoid unitialized warning
for(unsigned int j = 0; j < ipts2.size(); j++)
{
ipts2[j].x = ipts2[j].x;
dist = ipts1[i] - ipts2[j];
if(dist<d1) // if this feature matches better than current best
{
d2 = d1;
d1 = dist;
match = &ipts2[j];
}
else if(dist<d2) // this feature matches better than second best
{
d2 = dist;
}
}
// If match has a d1:d2 ratio < 0.75 ipoints are a match
if(d1/d2 < 0.75)
{
// Store the match
matches.push_back(std::make_pair(ipts1[i], *match));
//Increment the matching score
matching_score += 1/d1;
}
}
float best_score = matching_score;
float best_b = -1;
float best_m = -1;
#if RUNSWIFT
#else
Ipoint::totalNumMatches = matches.size();
//At this point we have the total matches before the final number of matches
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &verifys);
#endif
if(matches.size()>1){
best_score = 0;
for(int i=0; i<ITERATIONS; i++){
//Choose random matches
int pos1 = rand() % (int)matches.size();
int pos2 = rand() % (int)matches.size();
while(pos1 == pos2) {
//Make sure that both matches are different
pos2 = rand() % (int)matches.size();
}
//Should generate a positive value
float m = (matches.at(pos2).second.x - matches.at(pos1).second.x)/(matches.at(pos2).first.x - matches.at(pos1).first.x);
//If a gradient is discarded
if (m <= 0){
continue;
}
//Calculate the translation component
float b = matches.at(pos2).second.x - m*matches.at(pos2).first.x;
float score = 0;
for(int j=0; j<(int)matches.size(); j++){
//Calculate the function x_stored,i = b_s * x_test,i + b_d
if( fabs(matches.at(j).second.x - (m*matches.at(j).first.x + b)) < PIXEL_ERROR_MARGIN)
score += 1/fabs(matches.at(j).first - matches.at(j).second);
}
if (score > best_score){
best_score = score;
best_b = b;
best_m = m;
}
}
}
// Now remove all matches who are not within this pixel error margin
//if(best_m > 0){
for(int j=0; j<(int)matches.size(); j++){
if( fabs(matches.at(j).second.x - (best_m*matches.at(j).first.x + best_b)) >= PIXEL_ERROR_MARGIN) {
matches.erase(matches.begin() + j);
j--;
}
}
//}
Score score = {best_score, best_m, best_b};
#if RUNSWIFT
#else
Ipoint::numValidMatches = matches.size();
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &verifye);
Ipoint::verificationTime = Ipoint::diffSurf(verifys,verifye).tv_nsec/1000000.0f;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &matchinge);
Ipoint::matchingTime = Ipoint::diffSurf(matchings,matchinge).tv_nsec/1000000.0f;
#endif
return score;
}
int mainStaticMatch()
{
time_t start,end1,end2,end3,end4,end5;
start = clock();
IplImage *img1, *img2;
img1 = cvLoadImage("../data/1.JPG");
img2 = cvLoadImage("../data/2.JPG");
end1 = clock();
IpVec ipts1, ipts2;
surfDetDes(img1,ipts1,false,4,4,2,0.0008f);
surfDetDes(img2,ipts2,false,4,4,2,0.0008f);
std::cout << "im1" << std::endl;
std::cout << "Size:" << ipts1.size() << std::endl;
std::cout << "im2" << std::endl;
std::cout << "Size:" << ipts2.size() << std::endl;
end2 = clock();
IpPairVec matches;
getMatches(ipts1,ipts2,matches);
end3 = clock();
for (unsigned int i = 0; i < matches.size(); ++i)
{
drawPoint(img1,matches[i].first);
drawPoint(img2,matches[i].second);
const int & w = img1->width;
cvLine(img1,cvPoint(matches[i].first.x,matches[i].first.y),cvPoint(matches[i].second.x+w,matches[i].second.y), cvScalar(255,255,255),1);
cvLine(img2,cvPoint(matches[i].first.x-w,matches[i].first.y),cvPoint(matches[i].second.x,matches[i].second.y), cvScalar(255,255,255),1);
}
std::cout << "Matches: " << matches.size() << std::endl;
/*
cvNamedWindow("1", CV_WINDOW_AUTOSIZE );
cvNamedWindow("2", CV_WINDOW_AUTOSIZE );
cvShowImage("1", img1);
cvShowImage("2", img2);
cvWaitKey(0);
*/
end4 = clock();
// cvSaveImage("result_gpu1.jpg",img1);
// cvSaveImage("result_gpu2.jpg",img2);
// Stitch two images
IplImage *img = cvCreateImage(cvSize(img1->width + img2->width,
img1->height),img1->depth,img1->nChannels);
cvSetImageROI( img, cvRect( 0, 0, img1->width, img1->height ) );
cvCopy(img1, img);
cvSetImageROI( img, cvRect(img1->width,0, img2->width, img2->height) );
cvCopy(img2, img);
cvResetImageROI(img);
cvSaveImage("result_gpu.jpg",img);
end5 = clock();
double dif1 = (double)(end1 - start) / CLOCKS_PER_SEC;
double dif2 = (double)(end2 - end1) / CLOCKS_PER_SEC;
double dif3 = (double)(end3 - end2) / CLOCKS_PER_SEC;
double dif4 = (double)(end4 - end3) / CLOCKS_PER_SEC;
double dif5 = (double)(end5 - end4) / CLOCKS_PER_SEC;
double total = (double)(end5 - start) / CLOCKS_PER_SEC;
std::cout.setf(std::ios::fixed,std::ios::floatfield);
std::cout.precision(5);
std::cout << "Time(load):" << dif1 << std::endl;
std::cout << "Time(descriptor):" << dif2 << std::endl;
std::cout << "Time(match):" << dif3 << std::endl;
std::cout << "Time(plot):" << dif4 << std::endl;
std::cout << "Time(save):" << dif5 << std::endl;
std::cout << "Time(Total):" << total << std::endl;
return 0;
}
