bool FaceRecognition::matchImages(cv::Mat p_ImagePrimary, cv::Mat p_ImageScondary)
{
std::vector<cv::KeyPoint> primaryKeyPoints = getKeyPoints(p_ImagePrimary);
std::vector<cv::KeyPoint> secondaryKeyPoints = getKeyPoints(p_ImageScondary);
std::vector<cv::Point2f> primaryPoints;
std::vector<cv::Point2f> secondaryPoints;
std::vector<cv::DMatch> goodMatches = getMatches(p_ImagePrimary, p_ImageScondary);
if(!goodMatches.size() || goodMatches.size() < 4)
return false;
for( int i = 0; i < goodMatches.size(); i++ )
{
primaryPoints.push_back( primaryKeyPoints[ goodMatches[i].queryIdx ].pt );
secondaryPoints.push_back( secondaryKeyPoints[ goodMatches[i].trainIdx ].pt );
}
cv::Mat homography;
try
{
homography = cv::findHomography(primaryPoints, secondaryPoints, CV_RANSAC);
}
catch(std::exception)
{
return false;
}
return true;
}
std::vector<cv::DMatch> FaceRecognition::getMatches(cv::Mat p_ImagePrimary, cv::Mat p_ImageSecondary, int p_MinDist, int p_MaxDist)
{
cv::SurfDescriptorExtractor extractor;
cv::Mat primaryDescriptor, secondaryDescriptor;
std::vector<cv::KeyPoint> primaryKeyPoints = getKeyPoints(p_ImagePrimary), secondaryKeyPoints = getKeyPoints(p_ImageSecondary);
extractor.compute(p_ImagePrimary, primaryKeyPoints, primaryDescriptor);
extractor.compute(p_ImageSecondary, secondaryKeyPoints, secondaryDescriptor);
cv::FlannBasedMatcher matcher;
std::vector<cv::DMatch> matches;
if(primaryDescriptor.data && secondaryDescriptor.data)
matcher.match(primaryDescriptor, secondaryDescriptor, matches);
else
return matches;
for( int i = 0; i < primaryDescriptor.rows; i++ )
{
double dist = matches[i].distance;
if( dist < p_MinDist ) p_MinDist = dist;
if( dist > p_MaxDist ) p_MaxDist = dist;
}
std::vector<cv::DMatch> goodMatches;
for( int i = 0; i < primaryDescriptor.rows; i++ )
{
if(matches[i].distance <= 3 * p_MinDist)
goodMatches.push_back(matches[i]);
}
return goodMatches;
}
void phdGimbal2d::draw(ofMatrix4x4 & _mat) {
ofPolyline _keys; getKeyPoints(_keys); getTransformedPolyline(_keys,_keys,_mat);
if(_keys.size() > 1) {
glBegin(GL_LINES);
for(int i = 0; i < _keys.size()-1; i++) {
glVertex2f(_keys[i].x, _keys[i].y);
glVertex2f(_keys[i+1].x, _keys[i+1].y);
}
glEnd();
ofFill();
ofRect(_keys[0].x-3, _keys[0].y-3, 6, 6); // drag to scale width
ofCircle(_keys[1].x, _keys[1].y, 4); // drag to rotate
ofCircle(_keys[2].x, _keys[2].y, 5); // drag to translate
ofRect(_keys[3].x-3, _keys[3].y-3, 6, 6); // drag to scale height
}
}
void CFast::operator ()(const cv::gpu::GpuMat& cvgmImg_, const cv::gpu::GpuMat& cvgmMask_, cv::gpu::GpuMat* pcvgmKeyPoints_)
{
calcKeyPointsLocation(cvgmImg_, cvgmMask_);
//perform non-max suppression
pcvgmKeyPoints_->cols = getKeyPoints(&*pcvgmKeyPoints_);
}
