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object_localiser.cpp
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#include "object_localiser.h"
ol::object_localiser::object_localiser()
{
}
ol::object_localiser::~object_localiser()
{
}
const bool ol::object_localiser::ORB(const cv::Mat & in1, const cv::Mat & in2, cv::Mat * out1, ol::matcher matcher)
{
cv::Ptr<cv::ORB> detector = cv::ORB::create();
std::vector<cv::KeyPoint> keypoints_object, keypoints_scene;
cv::Mat descriptors_object, descriptors_scene;
detector->detectAndCompute(in1, cv::Mat(), keypoints_object, descriptors_object);
detector->detectAndCompute(in2, cv::Mat(), keypoints_scene, descriptors_scene);
switch (matcher) {
case ol::BF:
cv::BFMatcher bf;
std::vector< cv::DMatch > matches;
bf.match(descriptors_object, descriptors_scene, matches);
double max_dist = 0; double min_dist = 100;
for (int i = 0; i < descriptors_object.rows; i++)
{
double dist = matches[i].distance;
if (dist < min_dist) min_dist = dist;
if (dist > max_dist) max_dist = dist;
}
std::vector< cv::DMatch > good_matches;
for (int i = 0; i < descriptors_object.rows; i++)
{
if (matches[i].distance <= 0.25 * max_dist)
{
good_matches.push_back(matches[i]);
}
}
cv::drawMatches(in1, keypoints_object, in2, keypoints_scene,
good_matches, *out1, cv::Scalar(0,0,255), cv::Scalar(0,0,255),
std::vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
std::vector<cv::Point2f> obj;
std::vector<cv::Point2f> scene;
for (size_t i = 0; i < good_matches.size(); i++)
{
obj.push_back(keypoints_object[good_matches[i].queryIdx].pt);
scene.push_back(keypoints_scene[good_matches[i].trainIdx].pt);
}
cv::Mat H = findHomography(obj, scene, cv::RANSAC);
std::vector<cv::Point2f> obj_corners(4);
obj_corners[0] = cvPoint(0, 0); obj_corners[1] = cvPoint(in1.cols, 0);
obj_corners[2] = cvPoint(in1.cols, in1.rows); obj_corners[3] = cvPoint(0, in1.rows);
std::vector<cv::Point2f> scene_corners(4);
perspectiveTransform(obj_corners, scene_corners, H);
line(*out1, scene_corners[0] + cv::Point2f(in1.cols, 0.0), scene_corners[1] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
line(*out1, scene_corners[1] + cv::Point2f(in1.cols, 0.0), scene_corners[2] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
line(*out1, scene_corners[2] + cv::Point2f(in1.cols, 0.0), scene_corners[3] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
line(*out1, scene_corners[3] + cv::Point2f(in1.cols, 0.0), scene_corners[0] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
break;
}
return false;
}
const bool ol::object_localiser::BRISK(const cv::Mat & in1, const cv::Mat & in2, cv::Mat * out1, ol::matcher matcher)
{
cv::Ptr<cv::BRISK> detector = cv::BRISK::create();
std::vector<cv::KeyPoint> keypoints_object, keypoints_scene;
cv::Mat descriptors_object, descriptors_scene;
detector->detectAndCompute(in1, cv::Mat(), keypoints_object, descriptors_object);
detector->detectAndCompute(in2, cv::Mat(), keypoints_scene, descriptors_scene);
switch (matcher) {
case ol::BF:
cv::BFMatcher bf;
std::vector< cv::DMatch > matches;
bf.match(descriptors_object, descriptors_scene, matches);
double max_dist = 0; double min_dist = 100;
for (int i = 0; i < descriptors_object.rows; i++)
{
double dist = matches[i].distance;
if (dist < min_dist) min_dist = dist;
if (dist > max_dist) max_dist = dist;
}
std::vector< cv::DMatch > good_matches;
for (int i = 0; i < descriptors_object.rows; i++)
{
if (matches[i].distance <= 0.33* max_dist)
{
good_matches.push_back(matches[i]);
}
}
cv::drawMatches(in1, keypoints_object, in2, keypoints_scene,
good_matches, *out1, cv::Scalar(0, 0, 255), cv::Scalar(0, 0, 255),
std::vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
std::vector<cv::Point2f> obj;
std::vector<cv::Point2f> scene;
for (size_t i = 0; i < good_matches.size(); i++)
{
obj.push_back(keypoints_object[good_matches[i].queryIdx].pt);
scene.push_back(keypoints_scene[good_matches[i].trainIdx].pt);
}
cv::Mat H = findHomography(obj, scene, cv::RANSAC);
std::vector<cv::Point2f> obj_corners(4);
obj_corners[0] = cvPoint(0, 0); obj_corners[1] = cvPoint(in1.cols, 0);
obj_corners[2] = cvPoint(in1.cols, in1.rows); obj_corners[3] = cvPoint(0, in1.rows);
std::vector<cv::Point2f> scene_corners(4);
perspectiveTransform(obj_corners, scene_corners, H);
line(*out1, scene_corners[0] + cv::Point2f(in1.cols, 0.0), scene_corners[1] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
line(*out1, scene_corners[1] + cv::Point2f(in1.cols, 0.0), scene_corners[2] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
line(*out1, scene_corners[2] + cv::Point2f(in1.cols, 0.0), scene_corners[3] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
line(*out1, scene_corners[3] + cv::Point2f(in1.cols, 0.0), scene_corners[0] + cv::Point2f(in1.cols, 0.0), cv::Scalar(0, 255, 0), 4);
break;
}
return false;
}