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/*------------------------------------------------------------------------------------------*\
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;
}