void getMatches(cv::BFMatcher &m_matcher, const cv::Mat &trainDescriptors, const cv::Mat& queryDescriptors, std::vector<cv::DMatch>& good_matches)
{
std::vector<std::vector<cv::DMatch> > m_knnMatches;
good_matches.clear();
// To avoid NaNs when best match has
// zero distance we will use inverse ratio.
const float minRatio =1.f / 1.5f;
// KNN match will return 2 nearest
// matches for each query descriptor
m_matcher.knnMatch(trainDescriptors, queryDescriptors, m_knnMatches,10);
for (size_t i=0; i < m_knnMatches.size(); i++)
{
const cv::DMatch& bestMatch = m_knnMatches[i][0];
const cv::DMatch& betterMatch = m_knnMatches[i][1];
float distanceRatio = bestMatch.distance /
betterMatch.distance;
// Pass only matches where distance ratio between
// nearest matches is greater than 1.5
// (distinct criteria)
if (distanceRatio < minRatio)
{
good_matches.push_back(bestMatch);
}
}
}
std::vector<cv::DMatch> BTB::StaticDetector::computeMatches(cv::BFMatcher &matcher, const BTB::ProcessedImage &processedImage)
{
// TODO Use radiusMatch()? with radius < 0.3
std::vector<cv::DMatch> matches;
matcher.match(processedImage.descriptors, matches);
std::vector<cv::DMatch> goodMatches;
for (int i = 0; i < matches.size(); i++)
{
if (matches[i].distance < 0.3)
{
goodMatches.push_back(matches[i]);
}
}
return goodMatches;
}
JNIEXPORT void JNICALL Java_org_opencv_samples_tutorial2_Tutorial2Activity_FindFeatures1(JNIEnv*, jobject, jlong addrGray, jlong addrRgba)
{
Mat& mGr = *(Mat*)addrGray;
Mat& mRgb = *(Mat*)addrRgba;
if (b==1&&capture1==true){
image_runtime=mRgb;
FastFeatureDetector fastdetect( 10/*threshold*/, true/*nonmax_suppression*/ );
StarFeatureDetector stardetect( 16/*max_size*/, 5/*response_threshold*/, 10/*line_threshold_projected*/,8/*line_threshold_binarized*/, 5/*suppress_nonmax_size*/ );
OrbFeatureDetector orbdetect(500);
cv::BRISK Briskdetect(60,4,1.0f);
Briskdetect.create("Feature2D.BRISK");
GoodFeaturesToTrackDetector Gooddetect( 1000/*maxCorners*/, 0.01/*qualityLevel*/, 1./*minDistance*/,3/*int _blockSize*/, true/*useHarrisDetector*/, 0.04/*k*/ );
DenseFeatureDetector Densedetect(4, 4, 1.5);
const clock_t start_fast = clock();
// do stuff here
fastdetect.detect(image_runtime,keypoints_fast);
clock_t now_fast = clock();
clock_t delta_fast = now_fast - start_fast;
seconds_elapsed_fast = static_cast<double>(delta_fast) / CLOCKS_PER_SEC;
const clock_t start_star = clock();
// do stuff here
stardetect.detect(image_runtime,keypoints_star);
clock_t now_star = clock();
clock_t delta_star = now_star - start_star;
seconds_elapsed_star = static_cast<double>(delta_star) / CLOCKS_PER_SEC;
const clock_t start_orb = clock();
// do stuff here
orbdetect.detect(image_runtime,keypoints_orb);
clock_t now_orb = clock();
clock_t delta_orb = now_orb - start_orb;
seconds_elapsed_orb = static_cast<double>(delta_orb) / CLOCKS_PER_SEC;
const clock_t start_brisk = clock();
// do stuff here
Briskdetect.detect(image_runtime, keypoints_brisk);
clock_t now_brisk = clock();
clock_t delta_brisk = now_brisk - start_brisk;
seconds_elapsed_brisk = static_cast<double>(delta_brisk) / CLOCKS_PER_SEC;
const clock_t start_good = clock();
// do stuff here
Gooddetect.detect(image_runtime, keypoints_good);
clock_t now_good = clock();
clock_t delta_good = now_good - start_good;
seconds_elapsed_good = static_cast<double>(delta_good) / CLOCKS_PER_SEC;
const clock_t start_dense = clock();
// do stuff here
Densedetect.detect(image_runtime, keypoints_dense);
clock_t now_dense = clock();
clock_t delta_dense = now_dense - start_dense;
seconds_elapsed_dense = static_cast<double>(delta_dense) / CLOCKS_PER_SEC;
capture1=false;
display1=true;
}
if (display1==true){
std::stringstream str_stream_features1;
str_stream_features1 << "#fast:" << seconds_elapsed_fast<<"#star:" << seconds_elapsed_star<<"#orb:" << seconds_elapsed_orb<<"#brisk:" << seconds_elapsed_brisk;
cv::putText(mRgb, str_stream_features1.str() , cv::Point2i(50,40), CV_FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0));
std::stringstream str_stream_features2;
str_stream_features2 << "#good:" << seconds_elapsed_good<< "#dense:" << seconds_elapsed_dense;
cv::putText(mRgb, str_stream_features2.str() , cv::Point2i(50,80), CV_FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0));
}
if (b==2&&capture1==true){
OrbFeatureDetector orb_detect(500);
orb_detect.detect(image_runtime,keypoints_orb);
const clock_t startorb = clock();
// do stuff here
orb_detect.compute(image_runtime,keypoints_orb,descriptors_orb);
clock_t noworb = clock();
clock_t deltaorb = noworb - startorb;
seconds_elapsedorb = static_cast<double>(deltaorb) / CLOCKS_PER_SEC;
BriefDescriptorExtractor extractor_brief(32);
const clock_t startbrief = clock();
// do stuff here
extractor_brief.compute(image_runtime,keypoints_orb,descriptors_brief);
clock_t nowbrief = clock();
clock_t deltabrief = nowbrief - startbrief;
seconds_elapsedbrief = static_cast<double>(deltabrief) / CLOCKS_PER_SEC;
int Threshl=60;
int Octaves=4;
float PatternScales=1.0f;
cv::BRISK Brisk_detect(Threshl,Octaves,PatternScales);
Brisk_detect.create("Feature2D.BRISK");
Brisk_detect.detect(image_runtime, keypoints_brisk);
const clock_t startbrisk = clock();
// do stuff here
Brisk_detect.compute(image_runtime, keypoints_brisk,descriptors_brisk);
clock_t nowbrisk = clock();
clock_t deltabrisk = nowbrisk - startbrisk;
seconds_elapsedbrisk = static_cast<double>(deltabrisk) / CLOCKS_PER_SEC;
capture1=false;
display2=true;
}
if (display2==true){
std::stringstream str_stream_features3;
str_stream_features3 << "#orb_des:" << seconds_elapsedorb<< "#brisk_des:" << seconds_elapsedbrisk<< "#brief_des:" << seconds_elapsedbrief ;
cv::putText(mRgb, str_stream_features3.str() , cv::Point2i(50,700), CV_FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0));
}
if (capture==true&&a==1){
image1=mRgb;
capture=false;
OrbFeatureDetector detector2(500);
BriefDescriptorExtractor extractor2(32);
detector2.detect(image1,keypoints_old2);
extractor2.compute(image1,keypoints_old2,descriptors_old2);
OrbFeatureDetector detector1(500);
detector1.detect(image1,keypoints_old1);
detector1.compute(image1,keypoints_old1,descriptors_old1);
int Threshl=60;
int Octaves=4;
float PatternScales=1.0f;
cv::BRISK BRISKD(Threshl,Octaves,PatternScales);
BRISKD.create("Feature2D.BRISK");
BRISKD.detect(image1, keypoints_old3);
BRISKD.compute(image1, keypoints_old3,descriptors_old3);
}
if (capture==true&&a==2){
image2=mRgb;
capture=false;
OrbFeatureDetector detector1(500);
detector1.detect(image2,keypoints_new1);
detector1.compute(image2,keypoints_new1,descriptors_new1);
FastFeatureDetector detector2(50);
BriefDescriptorExtractor extractor2(32);
detector2.detect(image2,keypoints_new2);
extractor2.compute(image2,keypoints_new2,descriptors_new2);
int Threshl=60;
int Octaves=4;
float PatternScales=1.0f;
cv::BRISK BRISKD(Threshl,Octaves,PatternScales);
BRISKD.create("Feature2D.BRISK");
BRISKD.detect(image2, keypoints_new3);
BRISKD.compute(image2, keypoints_new3,descriptors_new3);
a=3;
//process of orb features
const clock_t startmatch1 = clock();
// do stuff here
matcher1.match(descriptors_old1, descriptors_new1, matches1);
clock_t nowmatch1 = clock();
clock_t deltamatch1 = nowmatch1 - startmatch1;
seconds_elapsedmatch1 = static_cast<double>(deltamatch1) / CLOCKS_PER_SEC;
for(int i = 0; i < matches1.size(); i++ ){
cv::DMatch& d = matches1[i];
cv::KeyPoint& init_pt = keypoints_old1[d.queryIdx];
cv::KeyPoint& new_pt = keypoints_new1[d.trainIdx];
initial_pts1.push_back(init_pt.pt);
new_pts1.push_back(new_pt.pt);
}
const clock_t starthomo1 = clock();
// do stuff here
homography1 = cv::findHomography(initial_pts1, new_pts1, CV_RANSAC, 2, mask1);
clock_t nowhomo1 = clock();
clock_t deltahomo1 = nowhomo1 - starthomo1;
seconds_elapsedhomo1 = static_cast<double>(deltahomo1) / CLOCKS_PER_SEC;
for(unsigned int i = 0; i<mask1.size();i++)
{
if (mask1[i]){//> Inlier
nbinliner1++;
}
}
inliner_ratio1=100*nbinliner1/mask1.size();
//process of brief
const clock_t startmatch2 = clock();
// do stuff here
matcher2.match(descriptors_old2, descriptors_new2, matches2);
clock_t nowmatch2 = clock();
clock_t deltamatch2 = nowmatch2 - startmatch2;
seconds_elapsedmatch2 = static_cast<double>(deltamatch2) / CLOCKS_PER_SEC;
for(int i = 0; i < matches2.size(); i++ ){
cv::DMatch& d = matches2[i];
cv::KeyPoint& init_pt = keypoints_old2[d.queryIdx];
cv::KeyPoint& new_pt = keypoints_new2[d.trainIdx];
initial_pts2.push_back(init_pt.pt);
new_pts2.push_back(new_pt.pt);
}
const clock_t starthomo2 = clock();
// do stuff here
homography2 = cv::findHomography(initial_pts2, new_pts2, CV_RANSAC, 2, mask2);
clock_t nowhomo2 = clock();
clock_t deltahomo2 = nowhomo2 - starthomo2;
seconds_elapsedhomo2 = static_cast<double>(deltahomo2) / CLOCKS_PER_SEC;
for(unsigned int i = 0; i<mask2.size();i++)
{
if (mask2[i]){//> Inlier
nbinliner2++;
}
}
inliner_ratio2=100*nbinliner2/mask2.size();
//process of brisk
const clock_t startmatch3 = clock();
// do stuff here
matcher3.match(descriptors_old3, descriptors_new3, matches3);
clock_t nowmatch3 = clock();
clock_t deltamatch3 = nowmatch3 - startmatch3;
seconds_elapsedmatch3 = static_cast<double>(deltamatch3) / CLOCKS_PER_SEC;
for(int i = 0; i < matches3.size(); i++ ){
cv::DMatch& d = matches3[i];
cv::KeyPoint& init_pt = keypoints_old3[d.queryIdx];
cv::KeyPoint& new_pt = keypoints_new3[d.trainIdx];
initial_pts3.push_back(init_pt.pt);
new_pts3.push_back(new_pt.pt);
}
const clock_t starthomo3 = clock();
// do stuff here
homography3 = cv::findHomography(initial_pts3, new_pts3, CV_RANSAC, 2, mask3);
clock_t nowhomo3 = clock();
clock_t deltahomo3 = nowhomo3 - starthomo3;
seconds_elapsedhomo3 = static_cast<double>(deltahomo3) / CLOCKS_PER_SEC;
for(unsigned int i = 0; i<mask3.size();i++)
{
if (mask3[i]){//> Inlier
nbinliner3++;
}
}
inliner_ratio3=100*nbinliner3/mask3.size();
display=true;
}
if (a>0&&capture==false){
for( unsigned int i = 0; i < keypoints_old1.size(); i++ )
{
const KeyPoint& kp = keypoints_old1[i];
circle(mRgb, Point(kp.pt.x, kp.pt.y), 5, Scalar(0,0,255,0));
}
for( unsigned int j = 0; j < keypoints_new1.size(); j++ )
{
const KeyPoint& kp = keypoints_new1[j];
circle(mRgb, Point(kp.pt.x, kp.pt.y), 5, Scalar(255,0,0,0));
}
std::stringstream str_stream1;
str_stream1 << "#nb_k1: " << keypoints_new1.size()<< "-" <<keypoints_new2.size()<< "-" <<keypoints_new3.size()<<"#nb_k2: "<<keypoints_old1.size() <<"-" <<keypoints_old2.size() <<"-" <<keypoints_old3.size() << "#nb_m: " << matches1.size()<<"-" << matches2.size()<<"-" << matches3.size(); //<< s.height;
cv::putText(mRgb, str_stream1.str() , cv::Point2i(50,80), CV_FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0));
std::stringstream str_stream2;
str_stream2 << "#m_size:" << mask1.size()<< "-"<< mask2.size()<< "-"<<mask3.size()<< "#in_n:" << nbinliner1<< "-"<< nbinliner2<< "-"<< nbinliner3<<"# in_r%" << inliner_ratio1<<"-" << inliner_ratio2<<"-" << inliner_ratio3; //<< s.height;
cv::putText(mRgb, str_stream2.str() , cv::Point2i(50,40), CV_FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0));
std::stringstream str_stream3;
str_stream3 << "#homography1:" << seconds_elapsedhomo1 << "#homography2:" << seconds_elapsedhomo2<< "#homography3:" << seconds_elapsedhomo3 ;
cv::putText(mRgb, str_stream3.str() , cv::Point2i(50,700), CV_FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0));
std::stringstream str_stream4;
str_stream4 << "#match1:" << seconds_elapsedmatch1 << "#match2:" << seconds_elapsedmatch2<< "#match3:" << seconds_elapsedmatch3 ;
cv::putText(mRgb, str_stream4.str() , cv::Point2i(50,660), CV_FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0));
}
}
cv::Point2f calcLocation(cv::Mat query_img) {
std::vector<cv::KeyPoint> kp_query; // Keypoints of the query image
cv::Mat des_query;
cv::Mat query_img_gray;
cv::cvtColor(query_img,
query_img_gray,
cv::COLOR_BGR2GRAY);
detector->detectAndCompute(query_img_gray,
cv::noArray(),
kp_query,
des_query);
std::vector< std::vector<cv::DMatch> > matches;
matcher.knnMatch(des_ref,
des_query,
matches,
2);
std::vector<cv::KeyPoint> matched_query, matched_ref, inliers_query, inliers_ref;
std::vector<cv::DMatch> good_matches;
//-- Localize the object
std::vector<cv::Point2f> pts_query;
std::vector<cv::Point2f> pts_ref;
for(size_t i = 0; i < matches.size(); i++) {
cv::DMatch first = matches[i][0];
float dist_query = matches[i][0].distance;
float dist_ref = matches[i][1].distance;
if (dist_query < match_ratio * dist_ref) {
matched_query.push_back(kp_query[first.queryIdx]);
matched_ref.push_back(kp_ref[first.trainIdx]);
pts_query.push_back(kp_query[first.queryIdx].pt);
pts_ref.push_back(kp_ref[first.trainIdx].pt);
}
}
cv::Mat mask;
// Homograpy
cv::Mat homography;
homography = cv::findHomography(pts_query,
pts_ref,
cv::RANSAC,
5,
mask);
// Input Quadilateral or Image plane coordinates
std::vector<cv::Point2f> centers(1), centers_transformed(1);
cv::Point2f center(query_img_gray.rows / 2,
query_img_gray.cols / 2);
cv::Point2f center_transformed(query_img.rows / 2,
query_img.cols / 2);
centers[0] = center; // Workaround for using perspective transform
cv::perspectiveTransform(centers,
centers_transformed,
homography);
center_transformed = centers_transformed[0];
return center_transformed;
}
