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Added homographyComputed parameter

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git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@63 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2012-01-04 21:58:29 +00:00
parent 03341c215d
commit 921206332c
2 changed files with 72 additions and 57 deletions
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128
src/MainWindow.cpp
View File

@ -405,6 +405,8 @@ void MainWindow::update(const cv::Mat & image)
float maxMatchedDistance = -1.0f;
for(int i=0; i<dataTree_.rows; ++i)
{
QColor color((Qt::GlobalColor)(j % 12 + 7 ));
color.setAlpha(alpha);
bool matched = false;
// Check if this descriptor matches with those of the objects
if(Settings::getNearestNeighbor_nndrRatioUsed() &&
@ -447,84 +449,96 @@ void MainWindow::update(const cv::Mat & image)
}
mpts_2.push_back(keypoints.at(results.at<int>(i,0)).pt);
indexes_2.push_back(results.at<int>(i,0));
// colorize all matched if homography is not computed
if(!Settings::getHomography_homographyComputed())
{
objects_.at(j)->setKptColor(indexes_1.back(), color);
ui_->imageView_source->setKptColor(results.at<int>(i,0), color);
}
}
if(i+1 >= dataRange_.at(j))
{
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(objects_.at(j)->id()));
if(mpts_1.size() >= Settings::getHomography_minimumInliers())
if(Settings::getHomography_homographyComputed())
{
cv::Mat H = findHomography(mpts_1,
mpts_2,
cv::RANSAC,
Settings::getHomography_ransacReprojThr(),
outlier_mask);
uint inliers=0, outliers=0;
QColor color((Qt::GlobalColor)(j % 12 + 7 ));
color.setAlpha(alpha);
for(unsigned int k=0; k<mpts_1.size();++k)
if(mpts_1.size() >= Settings::getHomography_minimumInliers())
{
if(outlier_mask.at(k))
cv::Mat H = findHomography(mpts_1,
mpts_2,
cv::RANSAC,
Settings::getHomography_ransacReprojThr(),
outlier_mask);
uint inliers=0, outliers=0;
for(unsigned int k=0; k<mpts_1.size();++k)
{
++inliers;
}
else
{
++outliers;
}
}
// COLORIZE
if(inliers >= Settings::getHomography_minimumInliers())
{
if(this->isVisible())
{
for(unsigned int k=0; k<mpts_1.size();++k)
if(outlier_mask.at(k))
{
if(outlier_mask.at(k))
{
objects_.at(j)->setKptColor(indexes_1.at(k), color);
ui_->imageView_source->setKptColor(indexes_2.at(k), color);
}
else
{
objects_.at(j)->setKptColor(indexes_1.at(k), QColor(0,0,0,alpha));
}
++inliers;
}
else
{
++outliers;
}
}
QTransform hTransform(
H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
H.at<double>(0,2), H.at<double>(1,2), H.at<double>(2,2));
// find center of object
QRect rect = objects_.at(j)->image().rect();
objectsDetected.insert(objects_.at(j)->id(), QPair<QRect, QTransform>(rect, hTransform));
// Example getting the center of the object in the scene using the homography
//QPoint pos(rect.width()/2, rect.height()/2);
//hTransform.map(pos)
// add rectangle
if(this->isVisible())
// COLORIZE
if(inliers >= Settings::getHomography_minimumInliers())
{
label->setText(QString("%1 in %2 out").arg(inliers).arg(outliers));
QPen rectPen(color);
rectPen.setWidth(4);
QGraphicsRectItem * rectItem = new QGraphicsRectItem(rect);
rectItem->setPen(rectPen);
rectItem->setTransform(hTransform);
ui_->imageView_source->addRect(rectItem);
if(this->isVisible())
{
for(unsigned int k=0; k<mpts_1.size();++k)
{
if(outlier_mask.at(k))
{
objects_.at(j)->setKptColor(indexes_1.at(k), color);
ui_->imageView_source->setKptColor(indexes_2.at(k), color);
}
else
{
objects_.at(j)->setKptColor(indexes_1.at(k), QColor(0,0,0,alpha));
}
}
}
QTransform hTransform(
H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
H.at<double>(0,2), H.at<double>(1,2), H.at<double>(2,2));
// find center of object
QRect rect = objects_.at(j)->image().rect();
objectsDetected.insert(objects_.at(j)->id(), QPair<QRect, QTransform>(rect, hTransform));
// Example getting the center of the object in the scene using the homography
//QPoint pos(rect.width()/2, rect.height()/2);
//hTransform.map(pos)
// add rectangle
if(this->isVisible())
{
label->setText(QString("%1 in %2 out").arg(inliers).arg(outliers));
QPen rectPen(color);
rectPen.setWidth(4);
QGraphicsRectItem * rectItem = new QGraphicsRectItem(rect);
rectItem->setPen(rectPen);
rectItem->setTransform(hTransform);
ui_->imageView_source->addRect(rectItem);
}
}
else
{
label->setText(QString("Too low inliers (%1)").arg(inliers));
}
}
else
{
label->setText(QString("Too low inliers (%1)").arg(inliers));
label->setText(QString("Too low matches (%1)").arg(mpts_1.size()));
}
}
else
{
label->setText(QString("Too low matches (%1)").arg(mpts_1.size()));
label->setText(QString("%1 matches").arg(mpts_1.size()));
}
mpts_1.clear();
mpts_2.clear();

1
src/Settings.h
View File

@ -126,6 +126,7 @@ class Settings
PARAMETER(General, nextObjID, uint, 1);
PARAMETER(Homography, homographyComputed, bool, true);
PARAMETER(Homography, ransacReprojThr, double, 1.0);
PARAMETER(Homography, minimumInliers, uint, 10);