std::string recCard(const Image<PixRGB<byte> > &img)
{
std::string cardName;
std::vector< rutz::shared_ptr<VisualObjectMatch> > matches;
rutz::shared_ptr<VisualObject>
vo(new VisualObject("PIC", "PIC", img,
Point2D<int>(-1,-1),
std::vector<double>(),
std::vector< rutz::shared_ptr<Keypoint> >(),
USECOLOR));
const uint nm =
itsObjectDB.getObjectMatches(vo, matches, VOMA_SIMPLE,
100U, //max objs to return
0.5F, //keypoint distance score default 0.5F
0.5F, //affine distance score default 0.5F
1.0F, //minscore default 1.0F
3U, //min # of keypoint match
100U, //keypoint selection thershold
false //sort by preattentive
);
LINFO("Found %i", nm);
if (nm > 0)
{
cardName = matches[0]->getVoTest()->getName();
LINFO("***** %u object recognition match(es) *****", nm);
for (uint i = 0 ; i < nm; i ++)
LINFO(" Match with '%s' [score = %f]",
matches[i]->getVoTest()->getName().c_str(),
matches[i]->getScore());
}
else
LINFO("***** Could not identify attended object! *****");
return cardName;
}
std::string matchObject(Image<PixRGB<byte> > &ima){
//find object in the database
std::vector< rutz::shared_ptr<VisualObjectMatch> > matches;
rutz::shared_ptr<VisualObject>
vo(new VisualObject("PIC", "PIC", ima,
Point2D<int>(-1,-1),
std::vector<float>(),
std::vector< rutz::shared_ptr<Keypoint> >(),
USECOLOR));
const uint nmatches = vdb.getObjectMatches(vo, matches, VOMA_SIMPLE,
10000U, //max objs to return
0.5F, //keypoint distance score default 0.5F
0.5F, //affine distance score default 0.5F
1.0F, //minscore default 1.0F
3U, //min # of keypoint match
100U, //keypoint selection thershold
false //sort by preattentive
);
std::string objName;
//LINFO("Found %i", nmatches);
if (nmatches > 0 ){
rutz::shared_ptr<VisualObject> obj; //so we will have a ref to the last matches obj
rutz::shared_ptr<VisualObjectMatch> vom;
//for(unsigned int i=0; i< nmatches; i++){
for(unsigned int i=0; i< 1; i++){
vom = matches[i];
obj = vom->getVoTest();
// LINFO("### Object match with '%s' score=%f ID:%i",
// obj->getName().c_str(), vom->getScore(), objId);
objName = obj->getName();
}
}
return objName;
}
std::string matchObject(Image<PixRGB<byte> > &ima)
{
//find object in the database
std::vector< rutz::shared_ptr<VisualObjectMatch> > matches;
rutz::shared_ptr<VisualObject>
vo(new VisualObject("PIC", "PIC", ima,
Point2D(-1,-1),
std::vector<double>(),
std::vector< rutz::shared_ptr<Keypoint> >(),
USECOLOR));
const uint nmatches = vdb.getObjectMatches(vo, matches, VOMA_SIMPLE,
5U, //max objs to return
0.5F, //keypoint distance score default 0.5F
0.5F, //affine distance score default 0.5F
1.0F, //minscore default 1.0F
3U, //min # of keypoint match
6U, //keypoint selection thershold
false //sort by preattentive
);
LINFO("Found %i", nmatches);
float score = 0, avgScore = 0, affineAvgDist = 0;
int nkeyp = 0;
int objId = -1;
if (nmatches > 0 ){
rutz::shared_ptr<VisualObject> obj; //so we will have a ref to the last matches obj
rutz::shared_ptr<VisualObjectMatch> vom;
//for(unsigned int i=0; i< nmatches; i++){
for(unsigned int i=0; i< 1; i++){
vom = matches[i];
obj = vom->getVoTest();
score = vom->getScore();
nkeyp = vom->size();
avgScore = vom->getKeypointAvgDist();
affineAvgDist = vom->getAffineAvgDist();
objId = atoi(obj->getName().c_str()+3);
return obj->getName();
LINFO("### Object match with '%s' score=%f ID:%i",
obj->getName().c_str(), vom->getScore(), objId);
//calculate the actual distance (location of keypoints) between
//keypoints. If the same patch was found, then the distance should
//be close to 0
double dist = 0;
for (int keyp=0; keyp<nkeyp; keyp++){
const KeypointMatch kpm = vom->getKeypointMatch(keyp);
float refX = kpm.refkp->getX();
float refY = kpm.refkp->getY();
float tstX = kpm.tstkp->getX();
float tstY = kpm.tstkp->getY();
dist += (refX-tstX) * (refX-tstX);
dist += (refY-tstY) * (refY-tstY);
}
// printf("%i:%s %i %f %i %f %f %f\n", objNum, obj->getName().c_str(),
// nmatches, score, nkeyp, avgScore, affineAvgDist, sqrt(dist));
//analizeImage();
}
}
return std::string("nomatch");
}
/*! Load a database, an image, and find best matches. */
int main(const int argc, const char **argv)
{
MYLOGVERB = LOG_INFO;
// check command-line args:
if (argc < 3 || argc > 4)
LFATAL("USAGE: app-match-SIFT-database <dbname.vdb> <image.png> "
"[<fused.png>]");
// load the database:
VisualObjectDB vdb;
if (vdb.loadFrom(argv[1]) == false)
LFATAL("Cannot operate without a valid database.");
// get input image:
Image< PixRGB<byte> > colim = Raster::ReadRGB(argv[2]);
// create visual object and extract keypoints:
rutz::shared_ptr<VisualObject> vo(new VisualObject(argv[2], argv[2], colim));
// get the matching objects:
std::vector< rutz::shared_ptr<VisualObjectMatch> > matches;
const uint nmatches = vdb.getObjectMatches(vo, matches, VOMA_KDTREEBBF);
// prepare the fused image:
Image< PixRGB<byte> > mimg;
std::vector<Point2D<int> > tl, tr, br, bl;
// if no match, forget it:
if (nmatches == 0U)
LINFO("### No matching object found.");
else
{
// let the user know about the matches:
for (uint i = 0; i < nmatches; i ++)
{
rutz::shared_ptr<VisualObjectMatch> vom = matches[i];
rutz::shared_ptr<VisualObject> obj = vom->getVoTest();
LINFO("### Object match with '%s' score=%f",
obj->getName().c_str(), vom->getScore());
// add to our fused image if desired:
if (argc > 3)
{
mimg = vom->getTransfTestImage(mimg);
// also keep track of the corners of the test image, for
// later drawing:
Point2D<int> ptl, ptr, pbr, pbl;
vom->getTransfTestOutline(ptl, ptr, pbr, pbl);
tl.push_back(ptl); tr.push_back(ptr);
br.push_back(pbr); bl.push_back(pbl);
}
}
// do a final mix between given image and matches:
if (mimg.initialized())
{
mimg = Image<PixRGB<byte> >(mimg * 0.5F + colim * 0.5F);
// finally draw all the object outlines:
PixRGB<byte> col(255, 255, 0);
for (uint i = 0; i < tl.size(); i ++)
{
drawLine(mimg, tl[i], tr[i], col, 1);
drawLine(mimg, tr[i], br[i], col, 1);
drawLine(mimg, br[i], bl[i], col, 1);
drawLine(mimg, bl[i], tl[i], col, 1);
}
}
}
// save result image if desired:
if (argc > 3)
{
if (mimg.initialized() == false)
mimg = Image< PixRGB<byte> >(colim * 0.5F);
Raster::WriteRGB(mimg, std::string(argv[3]));
}
return 0;
}
