int main( int argc, char** argv )
{
IplImage* img;
struct feature* features;
int n = 0;
arg_parse( argc, argv );
fprintf( stderr, "Finding SIFT features...\n" );
img = cvLoadImage( img_file_name, 1 );
if( ! img )
fatal_error( "unable to load image from %s", img_file_name );
n = _sift_features( img, &features, intvls, sigma, contr_thr, curv_thr,
img_dbl, descr_width, descr_hist_bins );
fprintf( stderr, "Found %d features.\n", n );
if( display )
{
draw_features( img, features, n );
display_big_img( img, img_file_name );
cvWaitKey( 0 );
}
if( out_file_name != NULL )
export_features( out_file_name, features, n );
if( out_img_name != NULL )
cvSaveImage( out_img_name, img, NULL );
return 0;
}
/*
Allows user to view an array of images as a video. Keyboard controls
are as follows:
<ul>
<li>Space - start and pause playback</li>
<li>Page Down - skip forward 10 frames</li>
<li>Page Up - jump back 10 frames</li>
<li>Right Arrow - skip forward 1 frame</li>
<li>Left Arrow - jump back 1 frame</li>
<li>Backspace - jump back to beginning</li>
<li>Esc - exit playback</li>
<li>Closing the window also exits playback</li>
</ul>
@param imgs an array of images
@param n number of images in \a imgs
@param win_name name of window in which images are displayed
*/
void vid_view( IplImage** imgs, int n, char* win_name )
{
int k, i = 0, playing = 0;
display_big_img( imgs[i], win_name );
while( ! win_closed( win_name ) )
{
/* if already playing, advance frame and check for pause */
if( playing )
{
i = MIN( i + 1, n - 1 );
display_big_img( imgs[i], win_name );
k = cvWaitKey( 33 );
if( k == ' ' || i == n - 1 )
playing = 0;
}
else
{
k = cvWaitKey( 0 );
switch( k )
{
/* space */
case ' ':
playing = 1;
break;
/* esc */
case 27:
case 1048603:
cvDestroyWindow( win_name );
break;
/* backspace */
case '\b':
i = 0;
display_big_img( imgs[i], win_name );
break;
/* left arrow */
case 65288:
case 1113937:
i = MAX( i - 1, 0 );
display_big_img( imgs[i], win_name );
break;
/* right arrow */
case 65363:
case 1113939:
i = MIN( i + 1, n - 1 );
display_big_img( imgs[i], win_name );
break;
/* page up */
case 65365:
case 1113941:
i = MAX( i - 10, 0 );
display_big_img( imgs[i], win_name );
break;
/* page down */
case 65366:
case 1113942:
i = MIN( i + 10, n - 1 );
display_big_img( imgs[i], win_name );
break;
}
}
}
}
int main( int argc, char** argv )
{
IplImage* img1, * img2, * stacked;
struct feature* feat1, * feat2, * feat;
struct feature** nbrs;
struct kd_node* kd_root;
CvPoint pt1, pt2;
double d0, d1;
int n1, n2, k, i, m = 0;
if( argc != 3 )
fatal_error( "usage: %s <img1> <img2>", argv[0] );
img1 = cvLoadImage( argv[1], 1 );
if( ! img1 )
fatal_error( "unable to load image from %s", argv[1] );
img2 = cvLoadImage( argv[2], 1 );
if( ! img2 )
fatal_error( "unable to load image from %s", argv[2] );
stacked = stack_imgs( img1, img2 );
fprintf( stderr, "Finding features in %s...\n", argv[1] );
n1 = sift_features( img1, &feat1 );
fprintf( stderr, "Finding features in %s...\n", argv[2] );
n2 = sift_features( img2, &feat2 );
kd_root = kdtree_build( feat2, n2 );
for( i = 0; i < n1; i++ )
{
feat = feat1 + i;
k = kdtree_bbf_knn( kd_root, feat, 2, &nbrs, KDTREE_BBF_MAX_NN_CHKS );
if( k == 2 )
{
d0 = descr_dist_sq( feat, nbrs[0] );
d1 = descr_dist_sq( feat, nbrs[1] );
if( d0 < d1 * NN_SQ_DIST_RATIO_THR )
{
pt1 = cvPoint( cvRound( feat->x ), cvRound( feat->y ) );
pt2 = cvPoint( cvRound( nbrs[0]->x ), cvRound( nbrs[0]->y ) );
pt2.y += img1->height;
cvLine( stacked, pt1, pt2, CV_RGB(255,0,255), 1, 8, 0 );
m++;
feat1[i].fwd_match = nbrs[0];
}
}
free( nbrs );
}
fprintf( stderr, "Found %d total matches\n", m );
display_big_img( stacked, "Matches" );
cvWaitKey( 0 );
/*
UNCOMMENT BELOW TO SEE HOW RANSAC FUNCTION WORKS
Note that this line above:
feat1[i].fwd_match = nbrs[0];
is important for the RANSAC function to work.
*/
// /*
// {
CvMat* H;
IplImage* xformed;
H = ransac_xform( feat1, n1, FEATURE_FWD_MATCH, lsq_homog, 4, 0.01,
homog_xfer_err, 3.0, NULL, NULL );
if( H )
{
xformed = cvCreateImage( cvGetSize( img2 ), IPL_DEPTH_8U, 3 );
cvWarpPerspective( img1, xformed, H,
CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS,
cvScalarAll( 0 ) );
cvNamedWindow( "Xformed", 1 );
cvShowImage( "Xformed", xformed );
cvWaitKey( 0 );
cvReleaseImage( &xformed );
cvReleaseMat( &H );
}
// }
//*/
cvReleaseImage( &stacked );
cvReleaseImage( &img1 );
cvReleaseImage( &img2 );
kdtree_release( kd_root );
free( feat1 );
free( feat2 );
return 0;
}
int main( int argc, char** argv )
{
IplImage* img1, * img2, * stacked;
struct feature* feat1, * feat2, * feat;
struct feature** nbrs;
struct kd_node* kd_root;
CvPoint pt1, pt2;
double d0, d1;
int n1, n2, k, i, m = 0;
int match_cnt = 0;
//CvMat *im1_mask = cvCreateMat( img1->height, img1->width, CV_64FC1 );
//CvMat *im2_mask = cvCreateMat( img2->height, img2->width, CV_64FC1 );
//cvSet( im1_mask, cvScalar( 1, 0, 0, 0 ), NULL );
//cvSet( im2_mask, cvScalar( 1, 0, 0, 0 ), NULL );
if( argc != 3 )
fatal_error( "usage: %s <img1> <img2>", argv[0] );
img1 = cvLoadImage( argv[1], 1 );
if( ! img1 )
fatal_error( "unable to load image from %s", argv[1] );
img2 = cvLoadImage( argv[2], 1 );
if( ! img2 )
fatal_error( "unable to load image from %s", argv[2] );
stacked = stack_imgs( img1, img2 );
fprintf( stderr, "Finding features in %s...\n", argv[1] );
n1 = sift_features( img1, &feat1 );
fprintf( stderr, "Finding features in %s...\n", argv[2] );
n2 = sift_features( img2, &feat2 );
kd_root = kdtree_build( feat2, n2 );
for( i = 0; i < n1; i++ )
{
feat = feat1 + i;
k = kdtree_bbf_knn( kd_root, feat, 2, &nbrs, KDTREE_BBF_MAX_NN_CHKS );
if( k == 2 )
{
d0 = descr_dist_sq( feat, nbrs[0] );
d1 = descr_dist_sq( feat, nbrs[1] );
if( d0 < d1 * NN_SQ_DIST_RATIO_THR )
{
if( m >= 2000 ) break;
pt1 = cvPoint( cvRound( feat->x ), cvRound( feat->y ) );
pt2 = cvPoint( cvRound( nbrs[0]->x ), cvRound( nbrs[0]->y ) );
pt2.y += img1->height;
cvLine( stacked, pt1, pt2, CV_RGB(255,0,255), 1, 8, 0 );
m++;
feat1[i].fwd_match = nbrs[0];
}
}
free( nbrs );
}
fprintf( stderr, "Found %d total matches\n", m );
display_big_img( stacked, "Matches" );
cvWaitKey( 0 );
/*********************************************************************************************************/
CvMat* H;
IplImage* xformed;
H = ransac_xform( feat1, n1, FEATURE_FWD_MATCH, lsq_homog, 4, 0.01, homog_xfer_err, 3.0, NULL, NULL );
/* output H */
printf("xform Homography Matrix is :\n");
printMat( H );
/* get the size of new image */
double XDATA[2];
double YDATA[2];
CvSize new_size;
CvSize im1_size = cvGetSize( img1 );
CvSize im2_size = cvGetSize( img2 );
new_size = get_Stitched_Size( im1_size, im2_size, H, XDATA, YDATA );
/*declare the mask*/
CvMat *im1_mask = cvCreateMat( new_size.height, new_size.width, CV_64FC1 );
CvMat *im2_mask = cvCreateMat( new_size.height, new_size.width, CV_64FC1 );
CvMat *im1_tempMask = cvCreateMat( im1_size.height, im1_size.width, CV_64FC1 );
CvMat *im2_tempMask = cvCreateMat( im2_size.height, im2_size.width, CV_64FC1 );
cvSet( im1_tempMask, cvScalar(1,0,0,0), NULL );
cvSet( im2_tempMask, cvScalar(1,0,0,0), NULL );
/* get translation Matrix for Aligning */
CvMat *T = cvCreateMat( 3, 3, CV_64FC1 );
double tx = 0;
double ty = 0;
if( XDATA[0] < 0 )
{
tx = -XDATA[0] ;
printf("tx = %f\n", tx );
}
if( YDATA[0] < 0 )
{
ty = -YDATA[0];
printf("ty = %f\n", ty );
}
cvmSet( T, 0, 0, 1 );
cvmSet( T, 0, 2, tx );
cvmSet( T, 1, 1, 1 );
cvmSet( T, 1, 2, ty );
cvmSet( T, 2, 2, 1 );
printf("T Matrix:\n");
printMat( T );
/* Transform and Align image2 */
cvGEMM( T, H, 1, NULL, 0, H, 0 );
printMat( H );
xformed = cvCreateImage( new_size, IPL_DEPTH_8U, 3 );
cvWarpPerspective( img1, xformed, H, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll( 0 ) );
cvNamedWindow( "Xformed1", 1 );
cvShowImage( "Xformed1", xformed );
cvWaitKey( 0 );
cvDestroyWindow("Xformed1");
//cvSaveImage("im2.png", xformed);
cvWarpPerspective( im1_tempMask, im1_mask, H, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll( 0 ) );
//cvSaveImage("im1_mask.png", im1_mask);
cvNamedWindow( "im1_mask", 1 );
cvShowImage( "im1_mask", im1_mask );
cvWaitKey( 0 );
cvDestroyWindow("im1_mask");
/* Align image1 to bound */
cvWarpPerspective( im2_tempMask, im2_mask, T, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll( 0 ) );
//cvSaveImage( "im2_mask.png", im2_mask );
cvNamedWindow( "im12_mask", 1 );
cvShowImage( "im2_mask", im2_mask );
cvWaitKey( 0 );
cvDestroyWindow("im2_mask");
cvSetImageROI( xformed, cvRect( tx, ty, img2->width, img2->height ) );
cvCopy( img2, xformed, NULL );
IplImage* huaijin = cvCreateImage( new_size, IPL_DEPTH_8U, 3 );
cvWarpPerspective( img2, huaijin, T, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll( 0 ) );
cvNamedWindow( "im12_mask_i", 1 );
cvShowImage( "im2_mask_i", huaijin);
cvWaitKey( 0 );
cvDestroyWindow("im2_mask_i");
cvResetImageROI( xformed );
//cvSaveImage( "re.png", xformed );
/* composite */
cvNamedWindow( "Xformed", 1 );
cvShowImage( "Xformed", xformed );
cvWaitKey( 0 );
cvDestroyWindow("Xformed");
/* */
cvReleaseImage( &xformed );
cvReleaseMat( &H );
cvReleaseMat( &im1_tempMask );
cvReleaseMat( &im2_tempMask );
cvReleaseMat( &T );
cvReleaseMat ( &im1_mask );
cvReleaseMat ( &im2_mask );
cvReleaseImage( &stacked );
cvReleaseImage( &img1 );
cvReleaseImage( &img2 );
kdtree_release( kd_root );
free( feat1 );
free( feat2 );
/****************************************************
* using RANSAC algorithm get the Homegraphy Matrix
* get T image1-->image2
*
* n_pts the number of points for estimating parameters
*
*
*
* create unique indics of matchs : get_randi( int j )
*
*
* ******slove***********
* 1.create the coff matrix
* 2.Ah=0 -->decomposit A = UDV^T using gsl
* 3
* [ v19 v29 v39 ... v99 ]
* h = -------------------------
* v99
*
* ***************************************************/
/*
CvMat *H1 = cvCreateMat( 3, 3, CV_64FC1 );
CvMat *inliers_mask = cvCreateMat( m, 1, CV_64FC1 );
RANSAC_Homography( m, pts1, pts2, H1, inliers_mask );
printf("my code Homography Matrix is :\n");
for ( i = 0; i < H->rows; i++ ){
for( k = 0; k < H->cols; k++ ){
printf("%f ",cvmGet( H1, i, k ));
}
printf("\n");
}
cvReleaseMat( &H1 );
cvReleaseMat( &inliers_mask );*/
/***********************************************
* composit image1 & image2
* 1) transform image2 to image
*
* 2)***stitched image bounds****
* W = max( [size(im1,2) size(im1,2)-XDATA(1) size(im2,2) size(im2,2)+XDATA(1)] );
* H = max( [size(im1,1) size(im1,1)-YDATA(1) size(im2,1) size(im2,1)+YDATA(1)] );
*
* 3)*** Align image1 to bound ***
*
* 4)*** Align image2 to bound ***
*
* 5)*** Check size of bounds ***
*
* 6)*** combine both images ***
* im1_mask
* im2_mask
* im1_part_mask
* im2_part_mask
* com_part_mask
* stitched_image
*
* 7)****copy im2 transformed to ROI of stitching plan ( just a idear )
*
************************************************/
void compositImages( IplImage *im1, IplImage *im2, CvMat *H )
{
/* 1.create a plan */
/* 2.transform im2 & im2_mask */
/* 3.emstime translation of im2 --T cp im1 -->plan with cvRect( tx, ty) */
/* 4.cp tranformed im2 to plan with im2_mask where im2_mask has the same size with plan */
}
return 0;
}
