Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31'
git-subtree-dir: find-object git-subtree-mainline:9bd639e88cgit-subtree-split:635efcd622
This commit is contained in:
@@ -0,0 +1,38 @@
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SET(SRC_FILES
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main.cpp
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)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}
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${OpenCV_INCLUDE_DIRS}
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${CMAKE_CURRENT_SOURCE_DIR}/../include
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)
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IF(QT4_FOUND)
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INCLUDE(${QT_USE_FILE})
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ENDIF(QT4_FOUND)
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SET(LIBRARIES
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${OpenCV_LIBS}
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${QT_LIBRARIES}
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)
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# Make sure the compiler can find include files from our library.
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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# Add binary called "example" that is built from the source file "main.cpp".
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# The extension is automatically found.
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ADD_EXECUTABLE(example ${SRC_FILES})
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TARGET_LINK_LIBRARIES(example find_object ${LIBRARIES})
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IF(Qt5_FOUND)
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QT5_USE_MODULES(example Widgets Core Gui Network PrintSupport)
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ENDIF(Qt5_FOUND)
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SET_TARGET_PROPERTIES( example
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)
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INSTALL(TARGETS example
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
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BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
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@@ -0,0 +1,346 @@
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/*
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Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <stdio.h>
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// Qt stuff
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#include <QtCore/QTime>
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#include <QtCore/QTimer>
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#include <QApplication>
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#include <QGraphicsRectItem>
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#include <QPen>
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#include <QColor>
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// OpenCV stuff
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <opencv2/calib3d/calib3d.hpp> // for homography
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#include <opencv2/opencv_modules.hpp>
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#ifdef HAVE_OPENCV_NONFREE
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#if CV_MAJOR_VERSION == 2 && CV_MINOR_VERSION >=4
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#include <opencv2/nonfree/gpu.hpp>
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#include <opencv2/nonfree/features2d.hpp>
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#endif
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#endif
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#ifdef HAVE_OPENCV_XFEATURES2D
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#include <opencv2/xfeatures2d.hpp>
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#include <opencv2/xfeatures2d/cuda.hpp>
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#endif
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// From this project
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#include "find_object/ObjWidget.h"
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#include "find_object/QtOpenCV.h"
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using namespace find_object;
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void showUsage()
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{
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printf("\n");
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printf("Usage :\n");
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printf(" ./example object.png scene.png\n");
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exit(1);
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}
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int main(int argc, char * argv[])
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{
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if(argc<3)
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{
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showUsage();
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}
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QTime time;
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// GUI stuff
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QApplication app(argc, argv);
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time.start();
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//Load as grayscale
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cv::Mat objectImg = cv::imread(argv[1], cv::IMREAD_GRAYSCALE);
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cv::Mat sceneImg = cv::imread(argv[2], cv::IMREAD_GRAYSCALE);
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if(!objectImg.empty() && !sceneImg.empty())
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{
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printf("Loading images: %d ms\n", time.restart());
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std::vector<cv::KeyPoint> objectKeypoints;
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std::vector<cv::KeyPoint> sceneKeypoints;
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cv::Mat objectDescriptors;
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cv::Mat sceneDescriptors;
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////////////////////////////
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// EXTRACT KEYPOINTS
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////////////////////////////
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cv::Ptr<cv::FeatureDetector> detector;
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// The detector can be any of (see OpenCV features2d.hpp):
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#if CV_MAJOR_VERSION == 2
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// detector = cv::Ptr(new cv::DenseFeatureDetector());
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// detector = cv::Ptr(new cv::FastFeatureDetector());
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// detector = cv::Ptr(new cv::GFTTDetector());
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// detector = cv::Ptr(new cv::MSER());
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// detector = cv::Ptr(new cv::ORB());
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detector = cv::Ptr<cv::FeatureDetector>(new cv::SIFT());
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// detector = cv::Ptr(new cv::StarFeatureDetector());
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// detector = cv::Ptr(new cv::SURF(600.0));
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// detector = cv::Ptr(new cv::BRISK());
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#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
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detector = cv::xfeatures2d::SIFT::create();
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#else // >= 4.3.0
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detector = cv::SIFT::create();
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#endif
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detector->detect(objectImg, objectKeypoints);
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printf("Object: %d keypoints detected in %d ms\n", (int)objectKeypoints.size(), time.restart());
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detector->detect(sceneImg, sceneKeypoints);
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printf("Scene: %d keypoints detected in %d ms\n", (int)sceneKeypoints.size(), time.restart());
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////////////////////////////
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// EXTRACT DESCRIPTORS
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////////////////////////////
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cv::Ptr<cv::DescriptorExtractor> extractor;
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#if CV_MAJOR_VERSION == 2
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// The extractor can be any of (see OpenCV features2d.hpp):
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// extractor = cv::Ptr(new cv::BriefDescriptorExtractor());
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// extractor = cv::Ptr(new cv::ORB());
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extractor = cv::Ptr<cv::DescriptorExtractor>(new cv::SIFT());
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// extractor = cv::Ptr(new cv::SURF(600.0));
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// extractor = cv::Ptr(new cv::BRISK());
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// extractor = cv::Ptr(new cv::FREAK());
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#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
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extractor = cv::xfeatures2d::SIFT::create();
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#else // >= 4.3.0
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extractor = cv::SIFT::create();
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#endif
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extractor->compute(objectImg, objectKeypoints, objectDescriptors);
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printf("Object: %d descriptors extracted in %d ms\n", objectDescriptors.rows, time.restart());
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extractor->compute(sceneImg, sceneKeypoints, sceneDescriptors);
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printf("Scene: %d descriptors extracted in %d ms\n", sceneDescriptors.rows, time.restart());
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////////////////////////////
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// NEAREST NEIGHBOR MATCHING USING FLANN LIBRARY (included in OpenCV)
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////////////////////////////
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cv::Mat results;
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cv::Mat dists;
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std::vector<std::vector<cv::DMatch> > matches;
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int k=2; // find the 2 nearest neighbors
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bool useBFMatcher = false; // SET TO TRUE TO USE BRUTE FORCE MATCHER
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if(objectDescriptors.type()==CV_8U)
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{
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// Binary descriptors detected (from ORB, Brief, BRISK, FREAK)
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printf("Binary descriptors detected...\n");
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if(useBFMatcher)
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{
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cv::BFMatcher matcher(cv::NORM_HAMMING); // use cv::NORM_HAMMING2 for ORB descriptor with WTA_K == 3 or 4 (see ORB constructor)
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matcher.knnMatch(objectDescriptors, sceneDescriptors, matches, k);
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}
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else
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{
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// Create Flann LSH index
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cv::flann::Index flannIndex(sceneDescriptors, cv::flann::LshIndexParams(12, 20, 2), cvflann::FLANN_DIST_HAMMING);
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printf("Time creating FLANN LSH index = %d ms\n", time.restart());
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// search (nearest neighbor)
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flannIndex.knnSearch(objectDescriptors, results, dists, k, cv::flann::SearchParams() );
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}
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}
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else
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{
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// assume it is CV_32F
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printf("Float descriptors detected...\n");
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if(useBFMatcher)
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{
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cv::BFMatcher matcher(cv::NORM_L2);
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matcher.knnMatch(objectDescriptors, sceneDescriptors, matches, k);
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}
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else
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{
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// Create Flann KDTree index
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cv::flann::Index flannIndex(sceneDescriptors, cv::flann::KDTreeIndexParams(), cvflann::FLANN_DIST_EUCLIDEAN);
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printf("Time creating FLANN KDTree index = %d ms\n", time.restart());
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// search (nearest neighbor)
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flannIndex.knnSearch(objectDescriptors, results, dists, k, cv::flann::SearchParams() );
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}
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}
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printf("Time nearest neighbor search = %d ms\n", time.restart());
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// Conversion to CV_32F if needed
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if(dists.type() == CV_32S)
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{
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cv::Mat temp;
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dists.convertTo(temp, CV_32F);
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dists = temp;
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}
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////////////////////////////
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// PROCESS NEAREST NEIGHBOR RESULTS
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////////////////////////////
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// Set gui data
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ObjWidget objWidget(0, objectKeypoints, QMultiMap<int,int>(), cvtCvMat2QImage(objectImg));
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ObjWidget sceneWidget(0, sceneKeypoints, QMultiMap<int,int>(), cvtCvMat2QImage(sceneImg));
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// Find correspondences by NNDR (Nearest Neighbor Distance Ratio)
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float nndrRatio = 0.8f;
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std::vector<cv::Point2f> mpts_1, mpts_2; // Used for homography
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std::vector<int> indexes_1, indexes_2; // Used for homography
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std::vector<uchar> outlier_mask; // Used for homography
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// Check if this descriptor matches with those of the objects
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if(!useBFMatcher)
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{
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for(int i=0; i<objectDescriptors.rows; ++i)
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{
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// Apply NNDR
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//printf("q=%d dist1=%f dist2=%f\n", i, dists.at<float>(i,0), dists.at<float>(i,1));
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if(results.at<int>(i,0) >= 0 && results.at<int>(i,1) >= 0 &&
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dists.at<float>(i,0) <= nndrRatio * dists.at<float>(i,1))
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{
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mpts_1.push_back(objectKeypoints.at(i).pt);
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indexes_1.push_back(i);
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mpts_2.push_back(sceneKeypoints.at(results.at<int>(i,0)).pt);
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indexes_2.push_back(results.at<int>(i,0));
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}
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}
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}
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else
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{
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for(unsigned int i=0; i<matches.size(); ++i)
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{
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// Apply NNDR
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//printf("q=%d dist1=%f dist2=%f\n", matches.at(i).at(0).queryIdx, matches.at(i).at(0).distance, matches.at(i).at(1).distance);
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if(matches.at(i).size() == 2 &&
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matches.at(i).at(0).distance <= nndrRatio * matches.at(i).at(1).distance)
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{
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mpts_1.push_back(objectKeypoints.at(matches.at(i).at(0).queryIdx).pt);
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indexes_1.push_back(matches.at(i).at(0).queryIdx);
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mpts_2.push_back(sceneKeypoints.at(matches.at(i).at(0).trainIdx).pt);
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indexes_2.push_back(matches.at(i).at(0).trainIdx);
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}
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}
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}
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// FIND HOMOGRAPHY
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unsigned int minInliers = 8;
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if(mpts_1.size() >= minInliers)
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{
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time.start();
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cv::Mat H = findHomography(mpts_1,
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mpts_2,
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cv::RANSAC,
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1.0,
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outlier_mask);
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printf("Time finding homography = %d ms\n", time.restart());
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int inliers=0, outliers=0;
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for(unsigned int k=0; k<mpts_1.size();++k)
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{
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if(outlier_mask.at(k))
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{
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++inliers;
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}
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else
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{
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++outliers;
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}
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}
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QTransform hTransform(
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H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
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H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
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H.at<double>(0,2), H.at<double>(1,2), H.at<double>(2,2));
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// GUI : Change color and add homography rectangle
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QColor color(Qt::green);
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int alpha = 130;
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color.setAlpha(alpha);
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for(unsigned int k=0; k<mpts_1.size();++k)
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{
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if(outlier_mask.at(k))
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{
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objWidget.setKptColor(indexes_1.at(k), color);
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sceneWidget.setKptColor(indexes_2.at(k), color);
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}
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else
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{
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objWidget.setKptColor(indexes_1.at(k), QColor(255,0,0,alpha));
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sceneWidget.setKptColor(indexes_2.at(k), QColor(255,0,0,alpha));
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}
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}
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QPen rectPen(color);
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rectPen.setWidth(4);
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QGraphicsRectItem * rectItem = new QGraphicsRectItem(objWidget.pixmap().rect());
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rectItem->setPen(rectPen);
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rectItem->setTransform(hTransform);
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sceneWidget.addRect(rectItem);
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printf("Inliers=%d Outliers=%d\n", inliers, outliers);
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}
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else
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{
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printf("Not enough matches (%d) for homography...\n", (int)mpts_1.size());
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}
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// Wait for gui
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objWidget.setGraphicsViewMode(false);
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objWidget.setWindowTitle("Object");
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if(objWidget.pixmap().width() <= 800)
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{
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objWidget.setMinimumSize(objWidget.pixmap().width(), objWidget.pixmap().height());
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}
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else
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{
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objWidget.setMinimumSize(800, 600);
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objWidget.setAutoScale(false);
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}
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sceneWidget.setGraphicsViewMode(false);
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sceneWidget.setWindowTitle("Scene");
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if(sceneWidget.pixmap().width() <= 800)
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{
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sceneWidget.setMinimumSize(sceneWidget.pixmap().width(), sceneWidget.pixmap().height());
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}
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else
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{
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sceneWidget.setMinimumSize(800, 600);
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sceneWidget.setAutoScale(false);
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}
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sceneWidget.show();
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objWidget.show();
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int r = app.exec();
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printf("Closing...\n");
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return r;
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}
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else
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{
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printf("Images are not valid!\n");
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showUsage();
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}
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return 1;
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}
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Reference in New Issue
Block a user