vector<String> typeAlgoMatch;
vector<String> fileName;
help();
- system("cd");
// This descriptor are going to be detect and compute
+ typeDesc.push_back("AKAZE-DESCRIPTOR_KAZE_UPRIGHT"); // see http://docs.opencv.org/trunk/d8/d30/classcv_1_1AKAZE.html
typeDesc.push_back("AKAZE"); // see http://docs.opencv.org/trunk/d8/d30/classcv_1_1AKAZE.html
typeDesc.push_back("ORB"); // see http://docs.opencv.org/trunk/de/dbf/classcv_1_1BRISK.html
typeDesc.push_back("BRISK"); // see http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html
// Descriptor for img1 and img2
Mat descImg1, descImg2;
vector<String>::iterator itMatcher = typeAlgoMatch.end();
+ if (*itDesc == "AKAZE-DESCRIPTOR_KAZE_UPRIGHT"){
+ b = AKAZE::create(AKAZE::DESCRIPTOR_KAZE_UPRIGHT);
+ }
if (*itDesc == "AKAZE"){
b = AKAZE::create();
- }
+ }
if (*itDesc == "ORB"){
b = ORB::create();
}
// Match method loop
for (itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); itMatcher++){
descriptorMatcher = DescriptorMatcher::create(*itMatcher);
- descriptorMatcher->match(descImg1, descImg2, matches, Mat());
- // Keep best matches only to have a nice drawing.
- // We sort distance between descriptor matches
- Mat index;
- int nbMatch=int(matches.size());
- Mat tab(nbMatch, 1, CV_32F);
- for (int i = 0; i<nbMatch; i++)
+ if ((*itMatcher == "BruteForce-Hamming" || *itMatcher == "BruteForce-Hamming(2)") && (b->descriptorType() == CV_32F || b->defaultNorm() <= NORM_L2SQR) )
{
- tab.at<float>(i, 0) = matches[i].distance;
+ cout << "**************************************************************************\n";
+ cout << "It's strange. You should use Hamming distance only for a binary descriptor\n";
+ cout << "**************************************************************************\n";
}
- sortIdx(tab, index, SORT_EVERY_COLUMN + SORT_ASCENDING);
- vector<DMatch> bestMatches;
- for (int i = 0; i<30; i++)
+ try
{
- bestMatches.push_back(matches[index.at<int>(i, 0)]);
+ descriptorMatcher->match(descImg1, descImg2, matches, Mat());
+ // Keep best matches only to have a nice drawing.
+ // We sort distance between descriptor matches
+ Mat index;
+ int nbMatch=int(matches.size());
+ Mat tab(nbMatch, 1, CV_32F);
+ for (int i = 0; i<nbMatch; i++)
+ {
+ tab.at<float>(i, 0) = matches[i].distance;
+ }
+ sortIdx(tab, index, SORT_EVERY_COLUMN + SORT_ASCENDING);
+ vector<DMatch> bestMatches;
+ for (int i = 0; i<30; i++)
+ {
+ bestMatches.push_back(matches[index.at<int>(i, 0)]);
+ }
+ Mat result;
+ drawMatches(img1, keyImg1, img2, keyImg2, bestMatches, result);
+ namedWindow(*itDesc+": "+*itMatcher, WINDOW_AUTOSIZE);
+ imshow(*itDesc + ": " + *itMatcher, result);
+ // Saved result could be wrong due to bug 4308
+ FileStorage fs(*itDesc + "_" + *itMatcher + ".yml", FileStorage::WRITE);
+ fs<<"Matches"<<matches;
+ vector<DMatch>::iterator it;
+ cout<<"**********Match results**********\n";
+ cout << "Index \tIndex \tdistance\n";
+ cout << "in img1\tin img2\n";
+ // Use to compute distance between keyPoint matches and to evaluate match algorithm
+ double cumSumDist2=0;
+ for (it = bestMatches.begin(); it != bestMatches.end(); it++)
+ {
+ cout << it->queryIdx << "\t" << it->trainIdx << "\t" << it->distance << "\n";
+ Point2d p=keyImg1[it->queryIdx].pt-keyImg2[it->trainIdx].pt;
+ cumSumDist2=p.x*p.x+p.y*p.y;
+ }
+ desMethCmp.push_back(cumSumDist2);
+ waitKey();
}
- Mat result;
- drawMatches(img1, keyImg1, img2, keyImg2, bestMatches, result);
- namedWindow(*itDesc+": "+*itMatcher, WINDOW_AUTOSIZE);
- imshow(*itDesc + ": " + *itMatcher, result);
- // Saved result could be wrong due to bug 4308
- FileStorage fs(*itDesc + "_" + *itMatcher + ".yml", FileStorage::WRITE);
- fs<<"Matches"<<matches;
- vector<DMatch>::iterator it;
- cout<<"**********Match results**********\n";
- cout << "Index \tIndex \tdistance\n";
- cout << "in img1\tin img2\n";
- // Use to compute distance between keyPoint matches and to evaluate match algorithm
- double cumSumDist2=0;
- for (it = bestMatches.begin(); it != bestMatches.end(); it++)
- {
- cout << it->queryIdx << "\t" << it->trainIdx << "\t" << it->distance << "\n";
- Point2d p=keyImg1[it->queryIdx].pt-keyImg2[it->trainIdx].pt;
- cumSumDist2=p.x*p.x+p.y*p.y;
+ catch (Exception& e)
+ {
+ desMethCmp.push_back(-1);
+ }
}
- desMethCmp.push_back(cumSumDist2);
- waitKey();
- }
}
catch (Exception& e)
{
{
cout << "Matcher : " << *itMatcher << "\n";
}
- cout<<e.msg<<endl;
+ cout << e.msg << endl;
}
}
int i=0;
cout << "Cumulative distance between keypoint match for different algorithm and feature detector \n\t";
+ cout << "We cannot say which is the best but we can say results are differents! \n\t";
for (vector<String>::iterator itMatcher = typeAlgoMatch.begin(); itMatcher != typeAlgoMatch.end(); itMatcher++)
{
cout<<*itMatcher<<"\t";