int KitechSurfObjectRecognitionComp::NaiveNearestNeighbor( const float* vec, int laplacian, const CvSeq* model_keypoints, const CvSeq* model_descriptors )
{
int length = (int)(model_descriptors->elem_size/sizeof(float));
int i, neighbor = -1;
double d, dist1 = 1e6, dist2 = 1e6;
CvSeqReader reader, kreader;
cvStartReadSeq( model_keypoints, &kreader, 0 );
cvStartReadSeq( model_descriptors, &reader, 0 );
for( i = 0; i < model_descriptors->total; i++ )
{
const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr;
const float* mvec = (const float*)reader.ptr;
CV_NEXT_SEQ_ELEM( kreader.seq->elem_size, kreader );
CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
if( laplacian != kp->laplacian )
continue;
d = CompareSURFDescriptors( vec, mvec, dist2, length );
if( d < dist1 )
{
dist2 = dist1;
dist1 = d;
neighbor = i;
}
else if ( d < dist2 )
dist2 = d;
}
if ( dist1 < 0.6*dist2 )
return neighbor;
return -1;
}
void CompareImagesByHarrisFeatures(cv::Mat img1, cv::Mat img2,bool doAHE, bool doPlot, bool doSave, double &score, double &avgTrackLength){
//SURF parameters
const int maxCorners = 500;
const double qualityLevel = 1.0;
const double minDistance = 1.0;
//function variables
std::vector<cv::KeyPoint> keypoints1,keypoints2;
//assign default values for output variables
score = 0.0;
avgTrackLength = 0.0;
cv::Mat im1,im2;
//apply adaptive histogram equalization
if(doAHE){
cv::equalizeHist(img1,im1);
cv::equalizeHist(img2,im2);
} else {
im1 = img1;
im2 = img2;
}
//detect surf features
cv::GoodFeaturesToTrackDetector detector(maxCorners,qualityLevel,minDistance,3,true,0.04);
detector.detect(im1,keypoints1);
detector.detect(im2,keypoints2);
if(doPlot){
cv::Mat im1withKeypoints,im2withKeypoints;
//draw kp and plot
cv::drawKeypoints(im1,keypoints1,im1withKeypoints,cv::Scalar::all(-1),cv::DrawMatchesFlags::DEFAULT);
cv::drawKeypoints(im2,keypoints2,im2withKeypoints,cv::Scalar::all(-1),cv::DrawMatchesFlags::DEFAULT);
cv::imshow("Image 1",im1withKeypoints);
cv::imshow("Image 2",im2withKeypoints);
}
CompareSURFDescriptors(im1,im2,keypoints1,keypoints2,true,false,score,avgTrackLength);
}
void CompareImagesByMSERFeatures(cv::Mat img1, cv::Mat img2,bool doAHE, bool doPlot, bool doSave, double &score, double &avgTrackLength){
//function variables
std::vector<cv::KeyPoint> keypoints1,keypoints2;
//assign default values for output variables
score = 0.0;
avgTrackLength = 0.0;
cv::Mat im1,im2;
//apply adaptive histogram equalization
if(doAHE){
cv::equalizeHist(img1,im1);
cv::equalizeHist(img2,im2);
} else {
im1 = img1;
im2 = img2;
}
//detect surf features
cv::MSER detector;
detector.detect(im1,keypoints1);
detector.detect(im2,keypoints2);
if(doPlot){
cv::Mat im1withKeypoints,im2withKeypoints;
//draw kp and plot
cv::drawKeypoints(im1,keypoints1,im1withKeypoints,cv::Scalar::all(-1),cv::DrawMatchesFlags::DEFAULT);
cv::drawKeypoints(im2,keypoints2,im2withKeypoints,cv::Scalar::all(-1),cv::DrawMatchesFlags::DEFAULT);
cv::imshow("Image 1",im1withKeypoints);
cv::imshow("Image 2",im2withKeypoints);
}
CompareSURFDescriptors(im1,im2,keypoints1,keypoints2,true,false,score,avgTrackLength);
}
