From 2ca50933d2ee0524ba9ea68b4a6a1930ca81536e Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@620bd6b2-0a58-f614-fd9a-1bd335dccda9>
Date: Thu, 25 Apr 2013 00:11:56 +0000
Subject: [PATCH] Added console app

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@191 620bd6b2-0a58-f614-fd9a-1bd335dccda9
---
 CMakeLists.txt             |   7 +-
 console_app/CMakeLists.txt |  25 ++++++
 console_app/main.cpp       | 169 +++++++++++++++++++++++++++++++++++++
 3 files changed, 198 insertions(+), 3 deletions(-)
 create mode 100644 console_app/CMakeLists.txt
 create mode 100644 console_app/main.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 40b898ba..8a749d79 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,7 +39,7 @@ SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
 ####### DEPENDENCIES #######
 FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
-FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui) # tested on Qt4.7
+#FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui) # tested on Qt4.7
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
@@ -60,8 +60,9 @@ IF(APPLE AND BUILD_AS_BUNDLE)
 ENDIF(APPLE AND BUILD_AS_BUNDLE)
 
 ####### SOURCES (Projects) #######
-ADD_SUBDIRECTORY( app )
-ADD_SUBDIRECTORY( example )
+#ADD_SUBDIRECTORY( app )
+#ADD_SUBDIRECTORY( example )
+ADD_SUBDIRECTORY( console_app )
 
 
 
diff --git a/console_app/CMakeLists.txt b/console_app/CMakeLists.txt
new file mode 100644
index 00000000..8d05e4bd
--- /dev/null
+++ b/console_app/CMakeLists.txt
@@ -0,0 +1,25 @@
+
+
+SET(SRC_FILES
+    main.cpp
+)
+
+SET(INCLUDE_DIRS
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${OpenCV_LIBS} 
+)
+
+# Make sure the compiler can find include files from our library.
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+# Add binary called "console" that is built from the source file "main.cpp".
+# The extension is automatically found.
+ADD_EXECUTABLE(console ${SRC_FILES})
+TARGET_LINK_LIBRARIES(console ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( console 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-console)
+
diff --git a/console_app/main.cpp b/console_app/main.cpp
new file mode 100644
index 00000000..c8ee8a99
--- /dev/null
+++ b/console_app/main.cpp
@@ -0,0 +1,169 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+
+// OpenCV stuff
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+#include <opencv2/calib3d/calib3d.hpp> // for homography
+
+void showUsage()
+{
+	printf(
+	"\n"
+	"Return similarity between two images.\n"
+	"Usage :\n"
+	"  ./find_object-console [option] object.png scene.png\n"
+	"Options: \n"
+	"   -total              return total matches (default total)\n"
+	"   -inliers			return inliers percentage : inliers / (inliers + outliers)\n"
+	"   -quiet				don't show messages\n");
+
+	exit(-1);
+}
+
+enum {mTotal, mInliers};
+
+int main(int argc, char * argv[])
+{
+	bool quiet = false;
+	int method = mTotal; //total matches
+	if(argc<3)
+	{
+		printf("Two images required!\n");
+		showUsage();
+	}
+	else if(argc>3)
+	{
+		for(int i=1; i<argc-2; ++i)
+		{
+			if(std::string(argv[1]).compare("-total") == 0)
+			{
+				method = mTotal;
+			}
+			else if(std::string(argv[1]).compare("-inliers") == 0)
+			{
+				method = mInliers;
+			}
+			else if(std::string(argv[1]).compare("-quiet") == 0)
+			{
+				quiet = true;
+			}
+			else
+			{
+				printf("Option %s not recognized!", argv[1]);
+				showUsage();
+			}
+		}
+	}
+
+
+	//Load as grayscale
+	cv::Mat objectImg = cv::imread(argv[argc-2], cv::IMREAD_GRAYSCALE);
+	cv::Mat sceneImg = cv::imread(argv[argc-1], cv::IMREAD_GRAYSCALE);
+
+	int value = 0;
+	if(!objectImg.empty() && !sceneImg.empty())
+	{
+		std::vector<cv::KeyPoint> objectKeypoints;
+		std::vector<cv::KeyPoint> sceneKeypoints;
+		cv::Mat objectDescriptors;
+		cv::Mat sceneDescriptors;
+
+		////////////////////////////
+		// EXTRACT KEYPOINTS
+		////////////////////////////
+		cv::SIFT sift;
+		sift.detect(objectImg, objectKeypoints);
+		sift.detect(sceneImg, sceneKeypoints);
+
+		////////////////////////////
+		// EXTRACT DESCRIPTORS
+		////////////////////////////
+		sift.compute(objectImg, objectKeypoints, objectDescriptors);
+		sift.compute(sceneImg, sceneKeypoints, sceneDescriptors);
+
+		////////////////////////////
+		// NEAREST NEIGHBOR MATCHING USING FLANN LIBRARY (included in OpenCV)
+		////////////////////////////
+		cv::Mat results;
+		cv::Mat dists;
+		std::vector<std::vector<cv::DMatch> > matches;
+		int k=2; // find the 2 nearest neighbors
+
+		// Create Flann KDTree index
+		cv::flann::Index flannIndex(sceneDescriptors, cv::flann::KDTreeIndexParams(), cvflann::FLANN_DIST_EUCLIDEAN);
+		results = cv::Mat(objectDescriptors.rows, k, CV_32SC1); // Results index
+		dists = cv::Mat(objectDescriptors.rows, k, CV_32FC1); // Distance results are CV_32FC1
+
+		// search (nearest neighbor)
+		flannIndex.knnSearch(objectDescriptors, results, dists, k, cv::flann::SearchParams() );
+
+		////////////////////////////
+		// PROCESS NEAREST NEIGHBOR RESULTS
+		////////////////////////////
+
+		// Find correspondences by NNDR (Nearest Neighbor Distance Ratio)
+		float nndrRatio = 0.6;
+		std::vector<cv::Point2f> mpts_1, mpts_2; // Used for homography
+		std::vector<int> indexes_1, indexes_2; // Used for homography
+		std::vector<uchar> outlier_mask;  // Used for homography
+		// Check if this descriptor matches with those of the objects
+
+		for(int i=0; i<objectDescriptors.rows; ++i)
+		{
+			// Apply NNDR
+			if(dists.at<float>(i,0) <= nndrRatio * dists.at<float>(i,1))
+			{
+				mpts_1.push_back(objectKeypoints.at(i).pt);
+				indexes_1.push_back(i);
+
+				mpts_2.push_back(sceneKeypoints.at(results.at<int>(i,0)).pt);
+				indexes_2.push_back(results.at<int>(i,0));
+			}
+		}
+
+		if(method == mInliers)
+		{
+			// FIND HOMOGRAPHY
+			unsigned int minInliers = 8;
+			if(mpts_1.size() >= minInliers)
+			{
+				cv::Mat H = findHomography(mpts_1,
+						mpts_2,
+						cv::RANSAC,
+						1.0,
+						outlier_mask);
+				int inliers=0, outliers=0;
+				for(unsigned int k=0; k<mpts_1.size();++k)
+				{
+					if(outlier_mask.at(k))
+					{
+						++inliers;
+					}
+					else
+					{
+						++outliers;
+					}
+				}
+				if(!quiet)
+					printf("Total=%d Inliers=%d Outliers=%d\n", (int)mpts_1.size(), inliers, outliers);
+				value = (inliers*100) / (inliers+outliers);
+			}
+		}
+		else
+		{
+			value = mpts_1.size();
+		}
+	}
+	else
+	{
+		printf("Images are not valid!\n");
+		showUsage();
+	}
+	if(!quiet)
+		printf("Similarity = %d\n", value);
+	return value;
+}