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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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18
src/MainWindow.cpp
View File

@ -405,6 +405,8 @@ void MainWindow::update(const cv::Mat & image)
float maxMatchedDistance = -1.0f; float maxMatchedDistance = -1.0f;
for(int i=0; i<dataTree_.rows; ++i) for(int i=0; i<dataTree_.rows; ++i)
{ {
QColor color((Qt::GlobalColor)(j % 12 + 7 ));
color.setAlpha(alpha);
bool matched = false; bool matched = false;
// Check if this descriptor matches with those of the objects // Check if this descriptor matches with those of the objects
if(Settings::getNearestNeighbor_nndrRatioUsed() && if(Settings::getNearestNeighbor_nndrRatioUsed() &&
@ -447,11 +449,20 @@ void MainWindow::update(const cv::Mat & image)
} }
mpts_2.push_back(keypoints.at(results.at<int>(i,0)).pt); mpts_2.push_back(keypoints.at(results.at<int>(i,0)).pt);
indexes_2.push_back(results.at<int>(i,0)); 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)) if(i+1 >= dataRange_.at(j))
{ {
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(objects_.at(j)->id())); QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(objects_.at(j)->id()));
if(Settings::getHomography_homographyComputed())
{
if(mpts_1.size() >= Settings::getHomography_minimumInliers()) if(mpts_1.size() >= Settings::getHomography_minimumInliers())
{ {
cv::Mat H = findHomography(mpts_1, cv::Mat H = findHomography(mpts_1,
@ -460,8 +471,6 @@ void MainWindow::update(const cv::Mat & image)
Settings::getHomography_ransacReprojThr(), Settings::getHomography_ransacReprojThr(),
outlier_mask); outlier_mask);
uint inliers=0, outliers=0; 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) for(unsigned int k=0; k<mpts_1.size();++k)
{ {
if(outlier_mask.at(k)) if(outlier_mask.at(k))
@ -526,6 +535,11 @@ void MainWindow::update(const cv::Mat & image)
{ {
label->setText(QString("Too low matches (%1)").arg(mpts_1.size())); label->setText(QString("Too low matches (%1)").arg(mpts_1.size()));
} }
}
else
{
label->setText(QString("%1 matches").arg(mpts_1.size()));
}
mpts_1.clear(); mpts_1.clear();
mpts_2.clear(); mpts_2.clear();
indexes_1.clear(); indexes_1.clear();

1
src/Settings.h
View File

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