Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31'

git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c git-subtree-split: 635efcd622
2023-02-25 14:20:22 +05:30
parent 9bd639e88c 635efcd622
commit fabea45044
142 changed files with 33699 additions and 0 deletions
@@ -0,0 +1,28 @@
+
+
+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 "similarity" that is built from the source file "main.cpp".
+# The extension is automatically found.
+ADD_EXECUTABLE(similarity ${SRC_FILES})
+TARGET_LINK_LIBRARIES(similarity ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( similarity 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-similarity)
+
+INSTALL(TARGETS similarity
+        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+        BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
@@ -0,0 +1,219 @@
+/*
+Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#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/calib3d/calib3d.hpp> // for homography
+#include <opencv2/opencv_modules.hpp>
+
+#ifdef HAVE_OPENCV_NONFREE
+  #if CV_MAJOR_VERSION == 2 && CV_MINOR_VERSION >=4
+  #include <opencv2/nonfree/gpu.hpp>
+  #include <opencv2/nonfree/features2d.hpp>
+  #endif
+#endif
+#ifdef HAVE_OPENCV_XFEATURES2D
+  #include <opencv2/xfeatures2d.hpp>
+  #include <opencv2/xfeatures2d/cuda.hpp>
+#endif
+
+void showUsage()
+{
+	printf(
+	"\n"
+	"Return similarity between two images (the number of similar features between the images).\n"
+	"Usage :\n"
+	"  ./find_object-similarity [option] object.png scene.png\n"
+	"Options: \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[i]).compare("-inliers") == 0)
+			{
+				method = mInliers;
+			}
+			else if(std::string(argv[i]).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;
+
+#if CV_MAJOR_VERSION < 3
+		////////////////////////////
+		// 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);
+#else
+		////////////////////////////
+		// EXTRACT KEYPOINTS
+		////////////////////////////
+#if (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
+		cv::Ptr<cv::xfeatures2d::SIFT> sift = cv::xfeatures2d::SIFT::create();
+#else
+        cv::Ptr<cv::SIFT> sift = cv::SIFT::create();
+#endif
+		sift->detect(objectImg, objectKeypoints);
+		sift->detect(sceneImg, sceneKeypoints);
+
+		////////////////////////////
+		// EXTRACT DESCRIPTORS
+		////////////////////////////
+		sift->compute(objectImg, objectKeypoints, objectDescriptors);
+		sift->compute(sceneImg, sceneKeypoints, sceneDescriptors);
+#endif
+		////////////////////////////
+		// 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 = 0.6f;
+		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 = (int)mpts_1.size();
+		}
+	}
+	else
+	{
+		printf("Images are not valid!\n");
+		showUsage();
+	}
+	if(!quiet)
+		printf("Similarity = %d\n", value);
+	return value;
+}