gistfile1.cpp

#include "opencv2/highgui/highgui.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/nonfree/nonfree.hpp"

#include <iostream>
#include <fstream>

using namespace cv;
using namespace std;

/*** 


   program detector extracto matcher


DETECTORS

• "FAST" – FastFeatureDetector
• "STAR" – StarFeatureDetector
• "SIFT" – SIFT (nonfree module)
• "SURF" – SURF (nonfree module)
• "ORB" – ORB
• "BRISK" – BRISK
• "MSER" – MSER
• "GFTT" – GoodFeaturesToTrackDetector
• "HARRIS" – GoodFeaturesToTrackDetector with Harris detector enabled
• "Dense" – DenseFeatureDetector
• "SimpleBlob" – SimpleBlobDetector
  Also a combined format is supported: feature detector adapter name ( "Grid" – GridAdaptedFeatureDetector,
	"Pyramid" – PyramidAdaptedFeatureDetector ) + feature detector name (see above), for example: "GridFAST",
	"PyramidSTAR" .



EXTRACTORS
• "SIFT" – SIFT
• "SURF" – SURF
• "ORB" – ORB
• "BRISK" – BRISK
• "BRIEF" – BriefDescriptorExtractor
	A combined format is also supported: descriptor extractor adapter name ( "Opponent" –
	OpponentColorDescriptorExtractor ) + descriptor extractor name (see above), for example: "OpponentSIFT" .


MATCHERS
– BruteForce (it uses L2 )
– BruteForce-L1
– BruteForce-Hamming
– BruteForce-Hamming(2)
– FlannBased
***/

struct PointMatcher
{
    Ptr<FeatureDetector>	 detector;
    Ptr<DescriptorExtractor> extractor;
    Ptr<DescriptorMatcher>	 matcher;

	PointMatcher(string detect, string extract, string match)
	{
		detector  = FeatureDetector::create( detect );
		extractor = DescriptorExtractor::create( extract );
		matcher   = DescriptorMatcher::create( match );
	}

	void match( const Mat& img1, const Mat& img2, vector<DMatch>& matches12, vector<KeyPoint> &keys1, vector<KeyPoint> &keys2 )
	{
		Mat desc1, desc2;
		detector->detect( img1, keys1 );
		cerr << ".";
		detector->detect( img2, keys2 );
		cerr << ".";
		extractor->compute( img1, keys1, desc1 );
		cerr << ":";
		extractor->compute( img2, keys2, desc2 );
		cerr << ":";
		//matcher->knnMatch( desc1, desc2, matches12, 5 );	
	    matcher->match( desc1, desc2, matches12 );	
		cerr << "!" << endl;
	}
};

int main(int argc, char** argv)
{
    cv::initModule_nonfree();
	string detect="ORB";
	if ( argc > 1 ) detect = argv[1];
	string extract="ORB";
	if ( argc > 2 ) extract = argv[2];
	string match="BruteForce";
	if ( argc > 3 ) match = argv[3];
	PointMatcher points(detect,extract,match);
	//PointMatcher points("GFTT","ORB","BruteForce-Hamming");
	vector<KeyPoint> keys1, good1;
	vector<KeyPoint> keys2, good2;
	vector<DMatch> matches;
	namedWindow("m1",0);
	namedWindow("m2",0);
	{
		Mat m1 = imread( "E:/code/opencv242/p/stereo24/l/0246.pgm");
		Mat m2 = imread( "E:/code/opencv242/p/stereo24/r/0246.pgm");
		if ( (!m1.empty()) && (!m2.empty()) )
		{
			points.match( m1,m2,matches,keys1,keys2 );
			cerr << detect << "." << extract << "." << match << " : " << matches.size() << " " << keys1.size() << " " << keys2.size() << endl;

			if ( (!keys1.empty()) && (!keys2.empty()) )
			{
				drawKeypoints(m1,keys1,m1,Scalar(200,0,0));
				drawKeypoints(m2,keys2,m2,Scalar(0,0,200));
				for ( size_t i=0; i<matches.size(); i++ )
				{
					DMatch & dm = matches[i];
					Point p1(keys1[dm.queryIdx].pt);
					Point p2(keys2[dm.trainIdx].pt);
					circle(m1,p2,3,Scalar(0,0,200));
					circle(m2,p2,3,Scalar(0,200,200));
				}
				//drawMatches( m1, keys1, m2, keys2, matches, m1 );
			}

			imshow("m1",m1);
			imshow("m2",m2);
			waitKey(0);
		}
	}
	return 0;

}