bool recognize(const cv::Mat &in, cv::Rect roi) {
bool result= false;
cv::Mat image1 = cv::imread("data/sim.png",0);
// Prepare the matcher
RobustMatcher rmatcher;
rmatcher.setConfidenceLevel(0.98);
rmatcher.setMinDistanceToEpipolar(1.0);
rmatcher.setRatio(0.65f);
cv::Ptr<cv::FeatureDetector> pfd = new cv::SurfFeatureDetector(10);
rmatcher.setFeatureDetector(pfd);
cv::Mat face = in(roi);
// Match the two images
std::vector<cv::DMatch> matches;
std::vector<cv::KeyPoint> keypoints1, keypoints2;
rmatcher.match(image1, face ,matches, keypoints1, keypoints2);
// draw the matches
cv::Mat imageMatches;
cv::drawMatches(image1,keypoints1, // 1st image and its keypoints
face,keypoints2, // 2nd image and its keypoints
matches, // the matches
imageMatches, // the image produced
cv::Scalar(255,255,255)); // color of the lines
if (rmatcher.getRecognition()){
result=true;
}
return result;
}
int main(int argc,char **argv)
{
// Read input images
char* str1;
char* str2;
char* str3;
char* str4;
str1 = argv[1]; str2 = argv[2];
str3 = argv[3]; str4 = argv[4];
cv::Mat image1 = cv::imread(str1,0);
cv::Mat image2 = cv::imread(str2,0);
cv::Mat imageD1 = cv::imread(str3,CV_LOAD_IMAGE_ANYDEPTH);
cv::Mat imageD2 = cv::imread(str4,CV_LOAD_IMAGE_ANYDEPTH);
// cv::Mat image1= cv::imread("/home/tyu/ubuntu_opencv/image/1.png",0);
// cv::Mat image2= cv::imread("/home/tyu/ubuntu_opencv/image/2.png",0);
// cv::Mat imageD1 = cv::imread("/home/tyu/ubuntu_opencv/image/1d.png",CV_LOAD_IMAGE_ANYDEPTH);
// cv::Mat imageD2 = cv::imread("/home/tyu/ubuntu_opencv/image/2d.png",CV_LOAD_IMAGE_ANYDEPTH);
if (!image1.data || !image2.data)
{
std::cout<<"Cannt load the image data!\n";
return 0;
}
// Display the images
// cv::namedWindow("Right Image");
// cv::imshow("Right Image",image1);
// cv::namedWindow("Left Image");
// cv::imshow("Left Image",image2);
// Prepare the matcher
RobustMatcher rmatcher;
rmatcher.setConfidenceLevel(0.98);
rmatcher.setMinDistanceToEpipolar(1.0);
rmatcher.setRatio(0.65f);
cv::Ptr<cv::FeatureDetector> pfd= new cv::SurfFeatureDetector(15000);
rmatcher.setFeatureDetector(pfd);
// Match the two images
std::vector<cv::DMatch> matches;
std::vector<cv::KeyPoint> keypoints1, keypoints2;
cv::Mat fundemental= rmatcher.match(image1,image2,matches, keypoints1, keypoints2);
std::cout<<fundemental<<std::endl;
std::cout<<keypoints1.size()<<std::endl;
// draw the matches
// cv::Mat imageMatches;
/* cv::drawMatches(image1,keypoints1, // 1st image and its keypoints
image2,keypoints2, // 2nd image and its keypoints
matches, // the matches
imageMatches, // the image produced
cv::Scalar(1,255,255)); // color of the lines*/
// std::cout<<"imageMatches\'s size is :"<<imageMatches.size()<<std::endl;
/* /////draw lines///////
line(image1,
cv::Point(0,255.3),
cv::Point(640,255.3),
cv::Scalar(0,0,0)
);
);*/
// cv::namedWindow("Matches");
// cv::imshow("Matches",imageMatches);
/////////////////////
// Convert keypoints into Point2f
// std::vector<cv::Point2f> points1, points2;
std::vector<cv::Point3f> points_xyz1,points_xyz2;
compute3dPosition(imageD1,imageD2,keypoints1,keypoints2,points_xyz1,points_xyz2);
std::cout<<points_xyz1.size()<<std::endl;
std::cout<<points_xyz2.size()<<std::endl;
cv::Mat p1 = cv::Mat(points_xyz1).t();
cv::Mat p2 = cv::Mat(points_xyz2).t();
cv::Mat mat;
// mat = p1;
// std::cout<<mat<<std::endl;
int iterations = 0;
double distance = 100.0;
double Error = 0.0;
while(iterations < 0)
{
cv::Mat np1 , np2, np1_, np2_;
int num = 0;
for(int i=0; i<points_xyz1.size(); i++)
{
num++;
cv::Mat temp = p1.col(i).clone();
// temp.copyTo(np1.col(i));
np1.push_back(temp);
temp = p2.col(i).clone();
np2.push_back(temp);
}
iterations++;
}
/* for (std::vector<cv::DMatch>::const_iterator it= matches.begin();
it!= matches.end();
++it) {
// Get the position of left keypoints
float xpoint1= keypoints1[it->queryIdx].pt.x;
float ypoint1= keypoints1[it->queryIdx].pt.y;
double z = imageD1.at<ushort>(ypoint1,xpoint1);
// Get the position of right keypoints
float xpoint2= keypoints2[it->trainIdx].pt.x;
float ypoint2= keypoints2[it->trainIdx].pt.y;
double z1 = imageD2.at<ushort>(ypoint2,xpoint2);
if(z != 0 &&z1 != 0)
{
points_xyz1.push_back(cv::Point3f(xpoint1,ypoint1,z/5000));
points_xyz2.push_back(cv::Point3f(xpoint2,ypoint2,z1/5000));
points1.push_back(cv::Point2f(xpoint1,ypoint1));
points2.push_back(cv::Point2f(xpoint2,ypoint2));
// cv::circle(image1,cv::Point(xpoint1,ypoint1),5,cv::Scalar(1,1,255),3);
// cv::circle(image2,cv::Point(xpoint2,ypoint2),5,cv::Scalar(1,1,255),3);
}
else
continue;
}*/
std::ofstream p1out("p1.txt"), p2out("p2.txt");
if(!p1out||!p2out)
std::cout<<"Can not open the file!"<<std::endl;
// out<<"fundemental = "<<std::endl<<std::endl;
// out<<fundemental<<std::endl<<std::endl;
// out<<"p1 = "<<std::endl<<std::endl;
//true location
//write p1 location to out.txt
for(int i = 0 ; i < points_xyz1.size(); i++)
p1out<<points_xyz1[i].x<<" "<<points_xyz1[i].y<<" "<<points_xyz1[i].z<<std::endl;
// out<<std::endl;
//write p2 location to out.txt
// out<<"p2 = "<<std::endl<<std::endl;
for(int i = 0 ; i < points_xyz2.size(); i++)
p2out<<points_xyz2[i].x<<" "<<points_xyz2[i].y<<" "<<points_xyz2[i].z<<std::endl;
// out<<"p1 = "<<std::endl<<std::endl<<points_xyz1<<std::endl;
// out<<"p2 = "<<std::endl<<std::endl<<points_xyz2<<std::endl;
// out.close();
p1out.close();p2out.close();
//////////////////////////centroid/////////
// std::cout<<"The centroid is :"<<std::endl<<centroid(points_xyz1)<<std::endl;
// std::cout<<"The distance between each points to the centroid: "<<std::endl<<centroid_dist(points_xyz1,centroid(points_xyz1))<<std::endl;
/* // Draw the epipolar lines
std::vector<cv::Vec3f> lines1;
cv::computeCorrespondEpilines(cv::Mat(points1),1,fundemental,lines1);
for (std::vector<cv::Vec3f>::const_iterator it= lines1.begin();
it!=lines1.end(); ++it) {
cv::line(image2,cv::Point(0,-(*it)[2]/(*it)[1]),
cv::Point(image2.cols,-((*it)[2]+(*it)[0]*image2.cols)/(*it)[1]),
cv::Scalar(255,255,255));
}
std::vector<cv::Vec3f> lines2;
cv::computeCorrespondEpilines(cv::Mat(points2),2,fundemental,lines2);
for (std::vector<cv::Vec3f>::const_iterator it= lines2.begin();
it!=lines2.end(); ++it) {
cv::line(image1,cv::Point(0,-(*it)[2]/(*it)[1]),
cv::Point(image1.cols,-((*it)[2]+(*it)[0]*image1.cols)/(*it)[1]),
cv::Scalar(255,255,255));
}
// Display the images with epipolar lines
cv::namedWindow("Right Image Epilines (RANSAC)");
cv::imshow("Right Image Epilines (RANSAC)",image1);
cv::namedWindow("Left Image Epilines (RANSAC)");
cv::imshow("Left Image Epilines (RANSAC)",image2);
cv::waitKey();*/
return 0;
}
