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Port GMS matching by JiaWang Bian into xfeatures2d module.
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#include <iostream> | ||
#include <opencv2/core.hpp> | ||
#include <opencv2/videoio.hpp> | ||
#include <opencv2/highgui.hpp> | ||
#include <opencv2/imgproc.hpp> | ||
#include <opencv2/features2d.hpp> | ||
#include <opencv2/flann.hpp> | ||
#include <opencv2/xfeatures2d.hpp> | ||
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using namespace cv; | ||
using namespace cv::xfeatures2d; | ||
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//////////////////////////////////////////////////// | ||
// This program demonstrates the GMS matching strategy. | ||
int main(int argc, char* argv[]) | ||
{ | ||
const char* keys = | ||
"{ h help | | print help message }" | ||
"{ l left | | specify left (reference) image }" | ||
"{ r right | | specify right (query) image }" | ||
"{ camera | 0 | specify the camera device number }" | ||
"{ nfeatures | 10000 | specify the maximum number of ORB features }" | ||
"{ fastThreshold | 20 | specify the FAST threshold }" | ||
"{ drawSimple | true | do not draw not matched keypoints }" | ||
"{ withRotation | false | take rotation into account }" | ||
"{ withScale | false | take scale into account }"; | ||
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CommandLineParser cmd(argc, argv, keys); | ||
if (cmd.has("help")) | ||
{ | ||
std::cout << "Usage: gms_matcher [options]" << std::endl; | ||
std::cout << "Available options:" << std::endl; | ||
cmd.printMessage(); | ||
return EXIT_SUCCESS; | ||
} | ||
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Ptr<Feature2D> orb = ORB::create(cmd.get<int>("nfeatures")); | ||
orb.dynamicCast<cv::ORB>()->setFastThreshold(cmd.get<int>("fastThreshold")); | ||
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming"); | ||
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if (!cmd.get<String>("left").empty() && !cmd.get<String>("right").empty()) | ||
{ | ||
Mat imgL = imread(cmd.get<String>("left")); | ||
Mat imgR = imread(cmd.get<String>("right")); | ||
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std::vector<KeyPoint> kpRef, kpCur; | ||
Mat descRef, descCur; | ||
orb->detectAndCompute(imgL, noArray(), kpRef, descRef); | ||
orb->detectAndCompute(imgR, noArray(), kpCur, descCur); | ||
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std::vector<DMatch> matchesAll, matchesGMS; | ||
matcher->match(descCur, descRef, matchesAll); | ||
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matchGMS(imgR.size(), imgL.size(), kpCur, kpRef, matchesAll, matchesGMS, cmd.get<bool>("withRotation"), cmd.get<bool>("withScale")); | ||
std::cout << "matchesGMS: " << matchesGMS.size() << std::endl; | ||
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Mat frameMatches; | ||
if (cmd.get<bool>("drawSimple")) | ||
drawMatches(imgR, kpCur, imgL, kpRef, matchesGMS, frameMatches, Scalar::all(-1), Scalar::all(-1), | ||
std::vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS); | ||
else | ||
drawMatches(imgR, kpCur, imgL, kpRef, matchesGMS, frameMatches); | ||
imshow("Matches GMS", frameMatches); | ||
waitKey(); | ||
} | ||
else | ||
{ | ||
std::vector<KeyPoint> kpRef; | ||
Mat descRef; | ||
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VideoCapture capture(cmd.get<int>("camera")); | ||
//Camera warm-up | ||
for (int i = 0; i < 10; i++) | ||
{ | ||
Mat frame; | ||
capture >> frame; | ||
} | ||
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Mat frameRef; | ||
for (;;) | ||
{ | ||
Mat frame; | ||
capture >> frame; | ||
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if (frameRef.empty()) | ||
{ | ||
frame.copyTo(frameRef); | ||
orb->detectAndCompute(frameRef, noArray(), kpRef, descRef); | ||
} | ||
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TickMeter tm; | ||
tm.start(); | ||
std::vector<KeyPoint> kp; | ||
Mat desc; | ||
orb->detectAndCompute(frame, noArray(), kp, desc); | ||
tm.stop(); | ||
double t_orb = tm.getTimeMilli(); | ||
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tm.reset(); | ||
tm.start(); | ||
std::vector<DMatch> matchesAll, matchesGMS; | ||
matcher->match(desc, descRef, matchesAll); | ||
tm.stop(); | ||
double t_match = tm.getTimeMilli(); | ||
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matchGMS(frame.size(), frameRef.size(), kp, kpRef, matchesAll, matchesGMS, cmd.get<bool>("withRotation"), cmd.get<bool>("withScale")); | ||
tm.stop(); | ||
Mat frameMatches; | ||
if (cmd.get<bool>("drawSimple")) | ||
drawMatches(frame, kp, frameRef, kpRef, matchesGMS, frameMatches, Scalar::all(-1), Scalar::all(-1), | ||
std::vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS); | ||
else | ||
drawMatches(frame, kp, frameRef, kpRef, matchesGMS, frameMatches); | ||
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String label = format("ORB: %.2f ms", t_orb); | ||
putText(frameMatches, label, Point(20, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255)); | ||
label = format("Matching: %.2f ms", t_match); | ||
putText(frameMatches, label, Point(20, 40), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255)); | ||
label = format("GMS matching: %.2f ms", tm.getTimeMilli()); | ||
putText(frameMatches, label, Point(20, 60), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255)); | ||
putText(frameMatches, "Press r to reinitialize the reference image.", Point(frameMatches.cols-380, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255)); | ||
putText(frameMatches, "Press esc to quit.", Point(frameMatches.cols-180, 40), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255)); | ||
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imshow("Matches GMS", frameMatches); | ||
int c = waitKey(30); | ||
if (c == 27) | ||
break; | ||
else if (c == 'r') | ||
{ | ||
frame.copyTo(frameRef); | ||
orb->detectAndCompute(frameRef, noArray(), kpRef, descRef); | ||
} | ||
} | ||
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} | ||
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return EXIT_SUCCESS; | ||
} |
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