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#include "featureMatch.h"
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void PointMatcher::featureExtractor(bool extraPoints)
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{
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int i, j;
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if (!extraPoints)
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{
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for (i = 0; i < _imgNum; i ++)
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{
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int imgIndex = i;
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char saveName[1024];
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sprintf(saveName, "Cache/keyPtfile/keys%d", imgIndex);
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string saveName_ = Utils::baseDir + string(saveName);
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_keysFileList.push_back(saveName_);
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}
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loadImgSizeList();
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return;
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}
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SurfFeatureDetector detector(400);
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SurfDescriptorExtractor extractor;
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for (i = 0; i < _imgNum; i ++)
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{
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string imgPath = _imgNameList[i];
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Mat image = imread(imgPath);
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Size imgSize(image.cols, image.rows);
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_imgSizeList.push_back(imgSize);
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vector<KeyPoint> keyPts;
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Mat descriptors;
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detector.detect(image, keyPts);
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extractor.compute(image, keyPts, descriptors);
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int imgIndex = i;
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char saveName[1024];
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sprintf(saveName, "Cache/keyPtfile/keys%d", imgIndex);
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string saveName_ = Utils::baseDir + string(saveName);
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_keysFileList.push_back(saveName_);
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savefeatures(keyPts, descriptors, saveName_);
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cout<<imgIndex<<" keyPoint file saved!"<<endl;
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}
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saveImgSizeList();
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}
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void PointMatcher::savefeatures(vector<KeyPoint> keyPts, Mat descriptors, string saveName)
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{
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FILE *fout;
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fout = fopen(saveName.c_str(), "w");
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int PtNum = keyPts.size();
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fprintf(fout, "%d\n", PtNum);
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unsigned i, j;
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// int n0 = 0, n1 = 0, n2 = 0, n3 = 0;
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for (i = 0; i < PtNum; i ++)
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{
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Point2d point = keyPts[i].pt;
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int octave = keyPts[i].octave;
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fprintf(fout, "%.8lf %.8lf %d\n", point.x, point.y, octave);
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//if (octave == 0)
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//{
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// n0 ++;
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//}
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//else if (octave == 1)
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//{
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// n1 ++;
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//}
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//else if (octave == 2)
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//{
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// n2 ++;
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//}
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//else
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//{
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// n3 ++;
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//}
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}
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//int nn = n0+n1+n2+n3;
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//cout<<n0*1.0/nn<<" "<<n1*1.0/nn<<" "<<n2*1.0/nn<<" "<<n3*1.0/nn<<" from "<<nn<<endl;
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for (i = 0; i < PtNum; i ++) //write feature descriptor data
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{
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for (j = 0; j < featureDimension; j ++)
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{
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float temp = descriptors.at<float>(i,j);
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fprintf(fout, "%.8f ", temp);
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}
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fprintf(fout, "\n");
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}
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fclose(fout);
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}
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void PointMatcher::readfeatures(int imgIndex, vector<Point2d> &keyPts, Mat &descriptors, double ratio)
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{
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string fileName = _keysFileList[imgIndex];
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FILE *fin = fopen(fileName.c_str(), "r");
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int PtNum = 0;
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fscanf(fin, "%d", &PtNum);
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int step = int(1/ratio);
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int realNum = 0;
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unsigned i, j;
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for (i = 0; i < PtNum; i ++)
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{
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Point2d point;
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int octave = 0;
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fscanf(fin, "%lf%lf%d", &point.x, &point.y, &octave);
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if (i%step == 0)
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{
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keyPts.push_back(point);
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realNum++;
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}
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}
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descriptors = Mat(realNum, featureDimension, CV_32FC1, Scalar(0));
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int cnt = 0;
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for (i = 0; i < PtNum; i ++) //write feature descriptor data
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{
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if (i%step != 0)
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{
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for (j = 0; j < featureDimension; j ++)
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{
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float temp;
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fscanf(fin, "%f", &temp);
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}
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}
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else
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{
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for (j = 0; j < featureDimension; j ++)
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{
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float temp;
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fscanf(fin, "%f", &temp);
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descriptors.at<float>(cnt,j) = temp;
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}
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cnt++;
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}
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}
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fclose(fin);
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}
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void PointMatcher::loadImgSizeList()
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{
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string filePath = Utils::baseDir + "Cache/imgSizeList.txt";
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FILE *fin = fopen(filePath.c_str(), "r");
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if (fin == nullptr)
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{
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cout<<"No image size file!\n";
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return;
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}
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for (int i = 0; i < _imgNum; i ++)
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{
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int width, height;
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fscanf(fin, "%d %d\n", &width, &height);
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_imgSizeList.push_back(Size(width,height));
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}
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fclose(fin);
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}
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void PointMatcher::saveImgSizeList()
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{
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string savePath = Utils::baseDir + "Cache/imgSizeList.txt";
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FILE *fout = fopen(savePath.c_str(), "w");
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for (int i = 0; i < _imgNum; i ++)
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{
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int width = _imgSizeList[i].width, height = _imgSizeList[i].height;
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fprintf(fout, "%d %d\n", width, height);
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}
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fclose(fout);
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}
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bool PointMatcher::featureMatcher(int imgIndex1, int imgIndex2, vector<Point2d> &pointSet1, vector<Point2d> &pointSet2)
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{
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pointSet1.clear();
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pointSet2.clear();
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vector<Point2d> keyPts1, keyPts2;
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Mat descriptors1, descriptors2;
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readfeatures(imgIndex1, keyPts1, descriptors1, 1.0);
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readfeatures(imgIndex2, keyPts2, descriptors2, 1.0);
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// Matching descriptor vectors using FLANN matcher
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vector<DMatch> m_Matches;
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FlannBasedMatcher matcher;
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vector<vector<DMatch>> knnmatches;
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int num1 = keyPts1.size(), num2 = keyPts2.size();
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int kn = min(min(num1, num2), 5);
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matcher.knnMatch(descriptors1, descriptors2, knnmatches, kn);
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int i, j;
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double minimaDsit = 99999;
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for (i = 0; i < knnmatches.size(); i ++)
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{
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double dist = knnmatches[i][1].distance;
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if (dist < minimaDsit)
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{
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minimaDsit = dist;
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}
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}
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double fitedThreshold = minimaDsit * 5;
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int keypointsize = knnmatches.size();
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for (i = 0; i < keypointsize; i ++)
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{
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const DMatch nearDist1 = knnmatches[i][0];
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const DMatch nearDist2 = knnmatches[i][1];
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double distanceRatio = nearDist1.distance / nearDist2.distance;
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if (nearDist1.distance < fitedThreshold && distanceRatio < 0.7)
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{
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m_Matches.push_back(nearDist1);
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}
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}
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vector<Point2d> iniPts1, iniPts2;
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for (i = 0; i < m_Matches.size(); i ++) //get initial match pairs
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{
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int queryIndex = m_Matches[i].queryIdx;
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int trainIndex = m_Matches[i].trainIdx;
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Point2d tempPt1 = keyPts1[queryIndex];
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Point2d tempPt2 = keyPts2[trainIndex];
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iniPts1.push_back(tempPt1);
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iniPts2.push_back(tempPt2);
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}
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if (iniPts1.size() < 10)
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{
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return false;
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}
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vector<uchar> status;
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//! utilize epi-polar geometry constraints to delete missing matches
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Mat Fmatrix = findFundamentalMat(iniPts1, iniPts2, CV_RANSAC, 1.5, 0.99, status);
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for (i = 0; i < status.size(); i ++)
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{
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if (status[i] == 1)
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{
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pointSet1.push_back(iniPts1[i]);
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pointSet2.push_back(iniPts2[i]);
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}
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}
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if (pointSet1.size() < 10)
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{
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return false;
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}
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Mat homoMat = findHomography(iniPts2, iniPts1, CV_RANSAC, 2.5); //! Pt1 = homoMat*Pt2
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vector<Point2d> goodPts1, goodPts2;
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for (i = 0; i < pointSet1.size(); i ++) //mean value
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{
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Point2d warpedPt;
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Utils::pointTransform(homoMat, pointSet2[i], warpedPt);
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double dist = 0;
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dist = sqrt((warpedPt.x-pointSet1[i].x)*(warpedPt.x-pointSet1[i].x) + (warpedPt.y-pointSet1[i].y)*(warpedPt.y-pointSet1[i].y));
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if (dist < 3.0)
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{
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goodPts1.push_back(pointSet1[i]);
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goodPts2.push_back(pointSet2[i]);
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}
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}
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pointSet1 = goodPts1;
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pointSet2 = goodPts2;
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if (pointSet1.size() < 10) //! modify as 20
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{
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return false;
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}
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// cout<<"Image "<<imgIndex1<<" and image "<<imgIndex2<<" matched "<<pointSet1.size()<<" points"<<endl;
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////! chouxi
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//int step = max(1,int(pointSet1.size()/30));
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//vector<Point2d> set1, set2;
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//for (int i = 0; i < pointSet1.size(); i += step)
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//{
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// set1.push_back(pointSet1[i]);
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// set2.push_back(pointSet2[i]);
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//}
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//saveMatchPts(imgIndex1, imgIndex2, set1, set2);
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//drawMatches(imgIndex1, imgIndex2, set1, set2);
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saveMatchPts(imgIndex1, imgIndex2, pointSet1, pointSet2);
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// drawMatches(imgIndex1, imgIndex2, pointSet1, pointSet2);
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return true;
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}
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void PointMatcher::saveMatchPts(int imgIndex1, int imgIndex2, vector<Point2d> pointSet1, vector<Point2d> pointSet2)
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{
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bool exchanged = false;
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if (imgIndex1 > imgIndex2) //set a consistent standard: smaller index in the left
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{
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int temp = imgIndex2;
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imgIndex2 = imgIndex1;
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imgIndex1 = temp;
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exchanged = true;
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|
|
|
|
}
|
|
|
|
|
|
char saveName[1024];
|
|
|
|
|
|
sprintf(saveName, "Cache/matchPtfile/match%d&%d.txt", imgIndex1, imgIndex2);
|
|
|
|
|
|
string savePath = Utils::baseDir + string(saveName);
|
|
|
|
|
|
FILE *fout = fopen(savePath.c_str(), "w");
|
|
|
|
|
|
int PtNum = pointSet1.size();
|
|
|
|
|
|
fprintf(fout, "%d\n", PtNum);
|
|
|
|
|
|
if (!exchanged)
|
|
|
|
|
|
{
|
|
|
|
|
|
for (int i = 0; i < PtNum; i ++)
|
|
|
|
|
|
{
|
|
|
|
|
|
double x1 = pointSet1[i].x, y1 = pointSet1[i].y;
|
|
|
|
|
|
double x2 = pointSet2[i].x, y2 = pointSet2[i].y;
|
|
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|
|
fprintf(fout, "%lf %lf %lf %lf\n", x1, y1, x2, y2);
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|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
for (int i = 0; i < PtNum; i ++)
|
|
|
|
|
|
{
|
|
|
|
|
|
double x1 = pointSet1[i].x, y1 = pointSet1[i].y;
|
|
|
|
|
|
double x2 = pointSet2[i].x, y2 = pointSet2[i].y;
|
|
|
|
|
|
fprintf(fout, "%lf %lf %lf %lf\n", x2, y2, x1, y1);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
fclose(fout);
|
|
|
|
|
|
// cout<<"Matched Points of image "<<imgIndex1<<" & image "<<imgIndex2<<" saved!"<<endl;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bool PointMatcher::loadMatchPts(int imgIndex1, int imgIndex2, vector<Point2d> &pointSet1, vector<Point2d> &pointSet2)
|
|
|
|
|
|
{
|
|
|
|
|
|
bool exchanged = false;
|
|
|
|
|
|
if (imgIndex1 > imgIndex2) //set a consistent standard: smaller index in the left
|
|
|
|
|
|
{
|
|
|
|
|
|
int temp = imgIndex2;
|
|
|
|
|
|
imgIndex2 = imgIndex1;
|
|
|
|
|
|
imgIndex1 = temp;
|
|
|
|
|
|
exchanged = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
char fileName[1024];
|
|
|
|
|
|
sprintf(fileName, "Cache/matchPtfile/match%d&%d.txt", imgIndex1, imgIndex2);
|
|
|
|
|
|
string filePath = Utils::baseDir + string(fileName);
|
|
|
|
|
|
FILE *fin = fopen(filePath.c_str(), "r");
|
|
|
|
|
|
if (fin == nullptr)
|
|
|
|
|
|
{
|
|
|
|
|
|
cout<<"invalid matching file of image "<<imgIndex1<<" & image "<<imgIndex2<<endl;
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
int PtNum = 0;
|
|
|
|
|
|
fscanf(fin, "%d", &PtNum);
|
|
|
|
|
|
if (!exchanged)
|
|
|
|
|
|
{
|
|
|
|
|
|
for (int i = 0; i < PtNum; i ++)
|
|
|
|
|
|
{
|
|
|
|
|
|
double x1, y1, x2, y2;
|
|
|
|
|
|
fscanf(fin, "%lf %lf %lf %lf", &x1, &y1, &x2, &y2);
|
|
|
|
|
|
Point2d point1(x1,y1), point2(x2,y2);
|
|
|
|
|
|
pointSet1.push_back(point1);
|
|
|
|
|
|
pointSet2.push_back(point2);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
for (int i = 0; i < PtNum; i ++)
|
|
|
|
|
|
{
|
|
|
|
|
|
double x1, y1, x2, y2;
|
|
|
|
|
|
fscanf(fin, "%lf %lf %lf %lf", &x1, &y1, &x2, &y2);
|
|
|
|
|
|
Point2d point1(x1,y1), point2(x2,y2);
|
|
|
|
|
|
pointSet1.push_back(point2);
|
|
|
|
|
|
pointSet2.push_back(point1);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
fclose(fin);
|
|
|
|
|
|
cout<<"Loaded "<<pointSet1.size()<<" points between image "<<imgIndex1<<" and image "<<imgIndex2<<endl;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bool PointMatcher::tentativeMatcher(int imgIndex1, int imgIndex2)
|
|
|
|
|
|
{
|
|
|
|
|
|
vector<Point2d> keyPts1, keyPts2;
|
|
|
|
|
|
Mat descriptors1, descriptors2;
|
|
|
|
|
|
readfeatures(imgIndex1, keyPts1, descriptors1, 0.3);
|
|
|
|
|
|
readfeatures(imgIndex2, keyPts2, descriptors2, 0.3);
|
|
|
|
|
|
|
|
|
|
|
|
// Matching descriptor vectors using FLANN matcher
|
|
|
|
|
|
vector<DMatch> m_Matches;
|
|
|
|
|
|
FlannBasedMatcher matcher;
|
|
|
|
|
|
vector<vector<DMatch>> knnmatches;
|
|
|
|
|
|
int num1 = keyPts1.size(), num2 = keyPts2.size();
|
|
|
|
|
|
int kn = min(min(num1, num2), 5);
|
|
|
|
|
|
matcher.knnMatch(descriptors1, descriptors2, knnmatches, kn);
|
|
|
|
|
|
int i, j;
|
|
|
|
|
|
double minimaDsit = 99999;
|
|
|
|
|
|
for (i = 0; i < knnmatches.size(); i ++)
|
|
|
|
|
|
{
|
|
|
|
|
|
double dist = knnmatches[i][0].distance;
|
|
|
|
|
|
if (dist < minimaDsit)
|
|
|
|
|
|
{
|
|
|
|
|
|
minimaDsit = dist;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
double fitedThreshold = minimaDsit * 5;
|
|
|
|
|
|
int keypointsize = knnmatches.size();
|
|
|
|
|
|
for (i = 0; i < keypointsize; i ++)
|
|
|
|
|
|
{
|
|
|
|
|
|
const DMatch nearDist1 = knnmatches[i][0];
|
|
|
|
|
|
const DMatch nearDist2 = knnmatches[i][1];
|
|
|
|
|
|
double distanceRatio = nearDist1.distance / nearDist2.distance;
|
|
|
|
|
|
if (nearDist1.distance < fitedThreshold && distanceRatio < 0.7)
|
|
|
|
|
|
{
|
|
|
|
|
|
m_Matches.push_back(nearDist1);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
vector<Point2d> iniPts1, iniPts2;
|
|
|
|
|
|
for (i = 0; i < m_Matches.size(); i ++) //get initial match pairs
|
|
|
|
|
|
{
|
|
|
|
|
|
int queryIndex = m_Matches[i].queryIdx;
|
|
|
|
|
|
int trainIndex = m_Matches[i].trainIdx;
|
|
|
|
|
|
Point2d tempPt1 = keyPts1[queryIndex];
|
|
|
|
|
|
Point2d tempPt2 = keyPts2[trainIndex];
|
|
|
|
|
|
iniPts1.push_back(tempPt1);
|
|
|
|
|
|
iniPts2.push_back(tempPt2);
|
|
|
|
|
|
}
|
|
|
|
|
|
if (iniPts1.size() < 15)
|
|
|
|
|
|
{
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
Mat_<double> homoMat = findHomography(iniPts1, iniPts2, CV_RANSAC, 5.0); //initial solution : from image2 to image1
|
|
|
|
|
|
vector<Point2d> goodPts1, goodPts2;
|
|
|
|
|
|
for (i = 0; i < iniPts1.size(); i ++) //mean value
|
|
|
|
|
|
{
|
|
|
|
|
|
Point2d warpedPt;
|
|
|
|
|
|
pointConvert(homoMat, iniPts2[i], warpedPt);
|
|
|
|
|
|
double dist = 0;
|
|
|
|
|
|
dist = sqrt((warpedPt.x-iniPts1[i].x)*(warpedPt.x-iniPts1[i].x) + (warpedPt.y-iniPts1[i].y)*(warpedPt.y-iniPts1[i].y));
|
|
|
|
|
|
if (dist < 5.0)
|
|
|
|
|
|
{
|
|
|
|
|
|
goodPts1.push_back(iniPts1[i]);
|
|
|
|
|
|
goodPts2.push_back(iniPts2[i]);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
if (goodPts1.size() < 5)
|
|
|
|
|
|
{
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
return true;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void PointMatcher::pointConvert(Mat_<double> homoMat, Point2d src, Point2d &dst)
|
|
|
|
|
|
{
|
|
|
|
|
|
Mat_<double> srcX = (Mat_<double>(3,1)<< src.x, src.y, 1);
|
|
|
|
|
|
Mat_<double> dstX = homoMat * srcX;
|
|
|
|
|
|
dst = Point2d(dstX(0)/dstX(2), dstX(1)/dstX(2));
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void PointMatcher::drawMatches(int imgIndex1, int imgIndex2, vector<Point2d> pointSet1, vector<Point2d> pointSet2)
|
|
|
|
|
|
{
|
|
|
|
|
|
int i, j;
|
|
|
|
|
|
string fileName1 = _imgNameList[imgIndex1];
|
|
|
|
|
|
string fileName2 = _imgNameList[imgIndex2];
|
|
|
|
|
|
Mat image1 = imread(fileName1);
|
|
|
|
|
|
Mat image2 = imread(fileName2);
|
|
|
|
|
|
int w = 8;
|
|
|
|
|
|
CvFont font;
|
|
|
|
|
|
double hScale = 1;
|
|
|
|
|
|
double vScale = 1;
|
|
|
|
|
|
cvInitFont(&font,CV_FONT_HERSHEY_PLAIN, hScale,vScale,0,1); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
for (i = 0; i < pointSet1.size(); i ++)
|
|
|
|
|
|
{
|
|
|
|
|
|
Point2d tempPt1 = pointSet1[i];
|
|
|
|
|
|
circle(image1, tempPt1, 3, Scalar(0,0,255), -1);
|
|
|
|
|
|
|
|
|
|
|
|
Point2d tempPt2 = pointSet2[i];
|
|
|
|
|
|
circle(image2, tempPt2, 3, Scalar(0,0,255), -1);
|
|
|
|
|
|
|
|
|
|
|
|
/* char text[100];
|
|
|
|
|
|
sprintf(text,"%d", i);
|
|
|
|
|
|
Point2d dotPt(3, 3);
|
|
|
|
|
|
cv::putText(image1, text, tempPt1+dotPt, 2, 1, Scalar(0,0,0));
|
|
|
|
|
|
cv::putText(image2, text, tempPt2+dotPt, 2, 1, Scalar(0,0,0));*/
|
|
|
|
|
|
line(image1, tempPt1, tempPt2, Scalar(0,255,0), 1);
|
|
|
|
|
|
line(image2, tempPt2, tempPt1, Scalar(0,255,0), 1);
|
|
|
|
|
|
}
|
|
|
|
|
|
char name1[512], name2[512];
|
|
|
|
|
|
static int no = 0;
|
|
|
|
|
|
sprintf(name1, "match%d_0.jpg", no);
|
|
|
|
|
|
sprintf(name2, "match%d_1.jpg", no);
|
|
|
|
|
|
no ++;
|
|
|
|
|
|
string filePath1 = Utils::baseDir + "Cache/match_map/" + string(name1);
|
|
|
|
|
|
string filePath2 = Utils::baseDir + "Cache/match_map/" + string(name2);
|
|
|
|
|
|
imwrite(filePath1, image1);
|
|
|
|
|
|
imwrite(filePath2, image2);
|
|
|
|
|
|
}
|
