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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2014, Biagio Montesano, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include <opencv2/line_descriptor.hpp>
#include "opencv2/core/utility.hpp"
#include <opencv2/imgproc.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui.hpp>
#include <iostream>
#define MATCHES_DIST_THRESHOLD 25
using namespace cv;
using namespace cv::line_descriptor;
static const char* keys =
{ "{@image_path1 | | Image path 1 }"
"{@image_path2 | | Image path 2 }" };
static void help()
{
std::cout << "\nThis example shows the functionalities of lines extraction " << "and descriptors computation furnished by BinaryDescriptor class\n"
<< "Please, run this sample using a command in the form\n" << "./example_line_descriptor_compute_descriptors <path_to_input_image 1>"
<< "<path_to_input_image 2>" << std::endl;
}
int main( int argc, char** argv )
{
/* get parameters from command line */
CommandLineParser parser( argc, argv, keys );
String image_path1 = parser.get<String>( 0 );
String image_path2 = parser.get<String>( 1 );
if( image_path1.empty() || image_path2.empty() )
{
help();
return -1;
}
/* load image */
cv::Mat imageMat1 = imread( image_path1, 1 );
cv::Mat imageMat2 = imread( image_path2, 1 );
if( imageMat1.data == NULL || imageMat2.data == NULL )
{
std::cout << "Error, images could not be loaded. Please, check their path" << std::endl;
}
/* create binary masks */
cv::Mat mask1 = Mat::ones( imageMat1.size(), CV_8UC1 );
cv::Mat mask2 = Mat::ones( imageMat2.size(), CV_8UC1 );
/* create a pointer to a BinaryDescriptor object with default parameters */
Ptr<BinaryDescriptor> bd = BinaryDescriptor::createBinaryDescriptor( );
/* compute lines and descriptors */
std::vector<KeyLine> keylines1, keylines2;
cv::Mat descr1, descr2;
( *bd )( imageMat1, mask1, keylines1, descr1, false, false );
( *bd )( imageMat2, mask2, keylines2, descr2, false, false );
/* select keylines from first octave and their descriptors */
std::vector<KeyLine> lbd_octave1, lbd_octave2;
Mat left_lbd, right_lbd;
for ( int i = 0; i < (int) keylines1.size(); i++ )
{
if( keylines1[i].octave == 0 )
{
lbd_octave1.push_back( keylines1[i] );
left_lbd.push_back( descr1.row( i ) );
}
}
for ( int j = 0; j < (int) keylines2.size(); j++ )
{
if( keylines2[j].octave == 0 )
{
lbd_octave2.push_back( keylines2[j] );
right_lbd.push_back( descr2.row( j ) );
}
}
/* create a BinaryDescriptorMatcher object */
Ptr<BinaryDescriptorMatcher> bdm = BinaryDescriptorMatcher::createBinaryDescriptorMatcher();
/* require match */
std::vector<DMatch> matches;
bdm->match( left_lbd, right_lbd, matches );
/* select best matches */
std::vector<DMatch> good_matches;
for ( int i = 0; i < (int) matches.size(); i++ )
{
if( matches[i].distance < MATCHES_DIST_THRESHOLD )
good_matches.push_back( matches[i] );
}
/* plot matches */
cv::Mat outImg;
cv::Mat scaled1, scaled2;
std::vector<char> mask( matches.size(), 1 );
drawLineMatches( imageMat1, lbd_octave1, imageMat2, lbd_octave2, good_matches, outImg, Scalar::all( -1 ), Scalar::all( -1 ), mask,
DrawLinesMatchesFlags::DEFAULT );
imshow( "Matches", outImg );
waitKey();
imwrite("/home/ubisum/Desktop/images/env_match/matches.jpg", outImg);
/* create an LSD detector */
Ptr<LSDDetector> lsd = LSDDetector::createLSDDetector();
/* detect lines */
std::vector<KeyLine> klsd1, klsd2;
Mat lsd_descr1, lsd_descr2;
lsd->detect( imageMat1, klsd1, 2, 2, mask1 );
lsd->detect( imageMat2, klsd2, 2, 2, mask2 );
/* compute descriptors for lines from first octave */
bd->compute( imageMat1, klsd1, lsd_descr1 );
bd->compute( imageMat2, klsd2, lsd_descr2 );
/* select lines and descriptors from first octave */
std::vector<KeyLine> octave0_1, octave0_2;
Mat leftDEscr, rightDescr;
for ( int i = 0; i < (int) klsd1.size(); i++ )
{
if( klsd1[i].octave == 1 )
{
octave0_1.push_back( klsd1[i] );
leftDEscr.push_back( lsd_descr1.row( i ) );
}
}
for ( int j = 0; j < (int) klsd2.size(); j++ )
{
if( klsd2[j].octave == 1 )
{
octave0_2.push_back( klsd2[j] );
rightDescr.push_back( lsd_descr2.row( j ) );
}
}
/* compute matches */
std::vector<DMatch> lsd_matches;
bdm->match( leftDEscr, rightDescr, lsd_matches );
/* select best matches */
good_matches.clear();
for ( int i = 0; i < (int) lsd_matches.size(); i++ )
{
if( lsd_matches[i].distance < MATCHES_DIST_THRESHOLD )
good_matches.push_back( lsd_matches[i] );
}
/* plot matches */
cv::Mat lsd_outImg;
resize( imageMat1, imageMat1, Size( imageMat1.cols / 2, imageMat1.rows / 2 ) );
resize( imageMat2, imageMat2, Size( imageMat2.cols / 2, imageMat2.rows / 2 ) );
std::vector<char> lsd_mask( matches.size(), 1 );
drawLineMatches( imageMat1, octave0_1, imageMat2, octave0_2, good_matches, lsd_outImg, Scalar::all( -1 ), Scalar::all( -1 ), lsd_mask,
DrawLinesMatchesFlags::DEFAULT );
imshow( "LSD matches", lsd_outImg );
waitKey();
}
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