1 #include "opencv2/highgui/highgui.hpp"
2 #include "opencv2/core/core.hpp"
3 #include "opencv2/imgproc/imgproc.hpp"
4 #include "opencv2/features2d/features2d.hpp"
5 #include "opencv2/objdetect/objdetect.hpp"
15 printf( "This program shows the use of the \"fern\" plannar PlanarObjectDetector point\n"
16 "descriptor classifier"
18 "./find_obj_ferns [--object_filename]=<object_filename, box.png as default> \n"
19 "[--scene_filename]=<scene_filename box_in_scene.png as default>]\n\n");
22 int main(int argc, const char** argv)
26 CommandLineParser parser(argc, argv);
28 string objectFileName = parser.get<string>("object_filename", "box.png");
29 string sceneFileName = parser.get<string>("scene_filename", "box_in_scene.png");
31 cvNamedWindow("Object", 1);
32 cvNamedWindow("Image", 1);
33 cvNamedWindow("Object Correspondence", 1);
35 Mat object = imread( objectFileName.c_str(), CV_LOAD_IMAGE_GRAYSCALE );
40 Mat _image = imread( sceneFileName.c_str(), CV_LOAD_IMAGE_GRAYSCALE );
41 resize(_image, image, Size(), 1./imgscale, 1./imgscale, INTER_CUBIC);
44 if( !object.data || !image.data )
46 fprintf( stderr, "Can not load %s and/or %s\n"
47 "Usage: find_obj_ferns [<object_filename> <scene_filename>]\n",
48 objectFileName.c_str(), sceneFileName.c_str() );
52 Size patchSize(32, 32);
53 LDetector ldetector(7, 20, 2, 2000, patchSize.width, 2);
54 ldetector.setVerbose(true);
55 PlanarObjectDetector detector;
57 vector<Mat> objpyr, imgpyr;
60 GaussianBlur(object, object, Size(blurKSize, blurKSize), sigma, sigma);
61 GaussianBlur(image, image, Size(blurKSize, blurKSize), sigma, sigma);
62 buildPyramid(object, objpyr, ldetector.nOctaves-1);
63 buildPyramid(image, imgpyr, ldetector.nOctaves-1);
65 vector<KeyPoint> objKeypoints, imgKeypoints;
66 PatchGenerator gen(0,256,5,true,0.8,1.2,-CV_PI/2,CV_PI/2,-CV_PI/2,CV_PI/2);
68 string model_filename = format("%s_model.xml.gz", objectFileName.c_str());
69 printf("Trying to load %s ...\n", model_filename.c_str());
70 FileStorage fs(model_filename, FileStorage::READ);
73 detector.read(fs.getFirstTopLevelNode());
74 printf("Successfully loaded %s.\n", model_filename.c_str());
78 printf("The file not found and can not be read. Let's train the model.\n");
79 printf("Step 1. Finding the robust keypoints ...\n");
80 ldetector.setVerbose(true);
81 ldetector.getMostStable2D(object, objKeypoints, 100, gen);
82 printf("Done.\nStep 2. Training ferns-based planar object detector ...\n");
83 detector.setVerbose(true);
85 detector.train(objpyr, objKeypoints, patchSize.width, 100, 11, 10000, ldetector, gen);
86 printf("Done.\nStep 3. Saving the model to %s ...\n", model_filename.c_str());
87 if( fs.open(model_filename, FileStorage::WRITE) )
88 detector.write(fs, "ferns_model");
90 printf("Now find the keypoints in the image, try recognize them and compute the homography matrix\n");
93 vector<Point2f> dst_corners;
94 Mat correspond( object.rows + image.rows, std::max(object.cols, image.cols), CV_8UC3);
95 correspond = Scalar(0.);
96 Mat part(correspond, Rect(0, 0, object.cols, object.rows));
97 cvtColor(object, part, CV_GRAY2BGR);
98 part = Mat(correspond, Rect(0, object.rows, image.cols, image.rows));
99 cvtColor(image, part, CV_GRAY2BGR);
104 double t = (double)getTickCount();
105 objKeypoints = detector.getModelPoints();
106 ldetector(imgpyr, imgKeypoints, 300);
108 std::cout << "Object keypoints: " << objKeypoints.size() << "\n";
109 std::cout << "Image keypoints: " << imgKeypoints.size() << "\n";
110 bool found = detector(imgpyr, imgKeypoints, H, dst_corners, &pairs);
111 t = (double)getTickCount() - t;
112 printf("%gms\n", t*1000/getTickFrequency());
117 for( i = 0; i < 4; i++ )
119 Point r1 = dst_corners[i%4];
120 Point r2 = dst_corners[(i+1)%4];
121 line( correspond, Point(r1.x, r1.y+object.rows),
122 Point(r2.x, r2.y+object.rows), Scalar(0,0,255) );
126 for( i = 0; i < (int)pairs.size(); i += 2 )
128 line( correspond, objKeypoints[pairs[i]].pt,
129 imgKeypoints[pairs[i+1]].pt + Point2f(0,(float)object.rows),
133 imshow( "Object Correspondence", correspond );
135 cvtColor(object, objectColor, CV_GRAY2BGR);
136 for( i = 0; i < (int)objKeypoints.size(); i++ )
138 circle( objectColor, objKeypoints[i].pt, 2, Scalar(0,0,255), -1 );
139 circle( objectColor, objKeypoints[i].pt, (1 << objKeypoints[i].octave)*15, Scalar(0,255,0), 1 );
142 cvtColor(image, imageColor, CV_GRAY2BGR);
143 for( i = 0; i < (int)imgKeypoints.size(); i++ )
145 circle( imageColor, imgKeypoints[i].pt, 2, Scalar(0,0,255), -1 );
146 circle( imageColor, imgKeypoints[i].pt, (1 << imgKeypoints[i].octave)*15, Scalar(0,255,0), 1 );
148 imwrite("correspond.png", correspond );
149 imshow( "Object", objectColor );
150 imshow( "Image", imageColor );