Subversion Repositories OpenCV2-Cookbook

/*------------------------------------------------------------------------------------------*\
   This file contains material supporting chapter 8 of the cookbook:  
   Computer Vision Programming using the OpenCV Library.
   by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify,
   and distribute this source code, or portions thereof, for any purpose, without fee,
   subject to the restriction that the copyright notice may not be removed
   or altered from any source or altered source distribution.
   The software is released on an as-is basis and without any warranties of any kind.
   In particular, the software is not guaranteed to be fault-tolerant or free from failure.
   The author disclaims all warranties with regard to this software, any use,
   and any consequent failure, is purely the responsibility of the user.
 
   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/

#include <iostream>
#include <vector>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>

int main()
{
        // Read input images
        cv::Mat image1= cv::imread("../church01.jpg",0);
        cv::Mat image2= cv::imread("../church02.jpg",0);
        if (!image1.data || !image2.data)
                return 0;

    // Display the images
        cv::namedWindow("Right Image");
        cv::imshow("Right Image",image1);
        cv::namedWindow("Left Image");
        cv::imshow("Left Image",image2);

        // vector of keypoints
        std::vector<cv::KeyPoint> keypoints1;
        std::vector<cv::KeyPoint> keypoints2;

        // Construction of the SURF feature detector
        cv::SurfFeatureDetector surf(3000);

        // Detection of the SURF features
        surf.detect(image1,keypoints1);
        surf.detect(image2,keypoints2);

        std::cout << "Number of SURF points (1): " << keypoints1.size() << std::endl;
        std::cout << "Number of SURF points (2): " << keypoints2.size() << std::endl;
       
        // Draw the kepoints
        cv::Mat imageKP;
        cv::drawKeypoints(image1,keypoints1,imageKP,cv::Scalar(255,255,255),cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
        cv::namedWindow("Right SURF Features");
        cv::imshow("Right SURF Features",imageKP);
        cv::drawKeypoints(image2,keypoints2,imageKP,cv::Scalar(255,255,255),cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
        cv::namedWindow("Left SURF Features");
        cv::imshow("Left SURF Features",imageKP);

        // Construction of the SURF descriptor extractor
        cv::SurfDescriptorExtractor surfDesc;

        // Extraction of the SURF descriptors
        cv::Mat descriptors1, descriptors2;
        surfDesc.compute(image1,keypoints1,descriptors1);
        surfDesc.compute(image2,keypoints2,descriptors2);

        std::cout << "descriptor matrix size: " << descriptors1.rows << " by " << descriptors1.cols << std::endl;

        // Construction of the matcher
        cv::BruteForceMatcher<cv::L2<float>> matcher;

        // Match the two image descriptors
        std::vector<cv::DMatch> matches;
        matcher.match(descriptors1,descriptors2, matches);

        std::cout << "Number of matched points: " << matches.size() << std::endl;

        std::nth_element(matches.begin(),    // initial position
                             matches.begin()+24, // position of the sorted element
                                         matches.end());     // end position
        // remove all elements after the 25th
        matches.erase(matches.begin()+25, matches.end());

        cv::Mat imageMatches;
        cv::drawMatches(image1,keypoints1,  // 1st image and its keypoints
                            image2,keypoints2,  // 2nd image and its keypoints
                                        matches,                        // the matches
                                        imageMatches,           // the image produced
                                        cv::Scalar(255,255,255)); // color of the lines
        cv::namedWindow("Matches");
        cv::imshow("Matches",imageMatches);

        cv::waitKey();
        return 0;

        int size=7;
        cv::Mat imaf1;
        image1.convertTo(imaf1,CV_32F);

        cv::Mat imaf2;
        image2.convertTo(imaf2,CV_32F);

        cv::waitKey();
        return 0;
}