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/******************************************************************************
* Copyright (C) 2018 Alejandro Colomar Andrés *
* SPDX-License-Identifier: GPL-2.0-only *
******************************************************************************/
/******************************************************************************
******* headers **************************************************************
******************************************************************************/
#include "vision-artificial/image/orb.hpp"
#include <cstddef>
#include <cstdio>
#include <vector>
#include <opencv2/opencv.hpp>
#include <opencv2/features2d/features2d.hpp>
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
#define MAX_FEATURES (50000)
#define GOOD_MATCH_P (0.25)
/******************************************************************************
******* enums ****************************************************************
******************************************************************************/
/******************************************************************************
******* structs / unions *****************************************************
******************************************************************************/
/******************************************************************************
******* variables ************************************************************
******************************************************************************/
/******************************************************************************
******* static functions (prototypes) ****************************************
******************************************************************************/
static void img_orb_align (const class cv::Mat *img_0,
class cv::Mat *img_1);
/******************************************************************************
******* global functions *****************************************************
******************************************************************************/
void img_orb_act (const class cv::Mat *img_ref,
class cv::Mat *imgptr, int action)
{
switch (action) {
case IMG_ORB_ACT_ALIGN:
img_orb_align(img_ref, imgptr);
break;
}
}
/******************************************************************************
******* static functions (definitions) ***************************************
******************************************************************************/
static void img_orb_align (const class cv::Mat *img_0,
class cv::Mat *img_1)
{
class std::vector <class cv::KeyPoint> keypoints_0;
class std::vector <class cv::KeyPoint> keypoints_1;
class cv::Mat descriptors_0;
class cv::Mat descriptors_1;
#if (CV_VERSION_EPOCH == 2)
class cv::ORB orb;
#elif (CV_VERSION_EPOCH == 3)
class cv::Ptr <class cv::Feature2D> orb;
#endif
class std::vector <struct cv::DMatch> matches;
class cv::Ptr <class cv::DescriptorMatcher> matcher;
ptrdiff_t good_matches;
class cv::Mat img_matches;
class std::vector <class cv::Point_ <float>> points_0;
class std::vector <class cv::Point_ <float>> points_1;
ptrdiff_t size;
class cv::Mat img_hg;
class cv::Mat img_align;
/* Detect ORB features & compute descriptors */
#if (CV_VERSION_EPOCH == 2)
orb(*img_0, cv::Mat(), keypoints_0, descriptors_0);
orb(*img_1, cv::Mat(), keypoints_1, descriptors_1);
#elif (CV_VERSION_EPOCH == 3)
orb = cv::ORB::create(MAX_FEATURES);
orb->detectAndCompute(*img_0, cv::Mat(), keypoints_0, descriptors_0);
orb->detectAndCompute(*img_1, cv::Mat(), keypoints_1, descriptors_1);
#endif
/* Match structures */
matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
matcher->match(descriptors_1, descriptors_0, matches, cv::Mat());
/* Sort matches by score */
std::sort(matches.begin(), matches.end());
/* Remove not so good matches */
good_matches = GOOD_MATCH_P * matches.size();
matches.erase(matches.begin() + good_matches, matches.end());
/* Draw top matches */
cv::drawMatches(*img_1, keypoints_1, *img_0, keypoints_0, matches,
img_matches);
cv::imwrite("matches.jpg", img_matches);
/* Extract location of good matches */
size = matches.size();
for (ptrdiff_t i = 0; i < size; i++) {
points_1.push_back(keypoints_1[matches[i].queryIdx].pt);
points_0.push_back(keypoints_0[matches[i].trainIdx].pt);
}
/* Find homography */
img_hg = cv::findHomography(points_1, points_0, CV_RANSAC);
/* Use homography to warp image */
cv::warpPerspective(*img_1, img_align, img_hg, img_0->size());
/* Write img_align into img_1 */
*img_1 = img_align;
img_align.release();
}
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
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