114 lines
3.2 KiB
C++
114 lines
3.2 KiB
C++
#include <iostream>
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#include "opencv2/opencv.hpp"
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using namespace std;
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using namespace cv;
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void keypoint_matching() {
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Mat src1 = imread("../../resources/images/box.png", IMREAD_GRAYSCALE);
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Mat src2 = imread("../../resources/images/box_in_scene.png", IMREAD_GRAYSCALE);
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Ptr<Feature2D> feature = ORB::create();
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vector<KeyPoint> keypoints1, keypoints2;
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Mat desc1, desc2;
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feature->detectAndCompute(src1, Mat(), keypoints1, desc1);
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feature->detectAndCompute(src2, Mat(), keypoints2, desc2);
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Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_HAMMING);
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vector<DMatch> matches;
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matcher->match(desc1, desc2, matches);
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Mat dst;
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drawMatches(src1, keypoints1, src2, keypoints2, matches, dst);
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imshow("dst", dst);
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waitKey(0);
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destroyAllWindows();
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}
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void good_matching() {
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Mat src1 = imread("../../resources/images/box.png", IMREAD_GRAYSCALE);
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Mat src2 = imread("../../resources/images/box_in_scene.png", IMREAD_GRAYSCALE);
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Ptr<Feature2D> feature = ORB::create();
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vector<KeyPoint> keypoints1, keypoints2;
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Mat desc1, desc2;
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feature->detectAndCompute(src1, Mat(), keypoints1, desc1);
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feature->detectAndCompute(src2, Mat(), keypoints2, desc2);
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Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_HAMMING);
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vector<DMatch> matches;
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matcher->match(desc1, desc2, matches);
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sort(matches.begin(), matches.end());
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vector<DMatch> good_matches(matches.begin(), matches.begin() + 50);
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Mat dst;
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drawMatches(src1, keypoints1, src2, keypoints2, good_matches, dst, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
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imshow("dst", dst);
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waitKey(0);
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destroyAllWindows();
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}
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void find_homography() {
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Mat src1 = imread("../../resources/images/box.png", IMREAD_GRAYSCALE);
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Mat src2 = imread("../../resources/images/box_in_scene.png", IMREAD_GRAYSCALE);
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Ptr<Feature2D> orb = ORB::create();
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vector<KeyPoint> keypoints1, keypoints2;
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Mat desc1, desc2;
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orb->detectAndCompute(src1, Mat(), keypoints1, desc1);
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orb->detectAndCompute(src2, Mat(), keypoints2, desc2);
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Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_HAMMING);
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vector<DMatch> matches;
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matcher->match(desc1, desc2, matches);
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sort(matches.begin(), matches.end());
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vector<DMatch> good_matches(matches.begin(), matches.begin() + 50);
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Mat dst;
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drawMatches(src1, keypoints1, src2, keypoints2, good_matches, dst, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
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vector<Point2f> pts1, pts2;
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for (size_t i = 0; i < good_matches.size(); i++) {
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pts1.push_back(keypoints1[good_matches[i].queryIdx].pt);
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pts2.push_back(keypoints2[good_matches[i].trainIdx].pt);
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}
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Mat H = findHomography(pts1, pts2, RANSAC);
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vector<Point2f> corners1, corners2;
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corners1.emplace_back(0.f, 0.f);
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corners1.emplace_back(src1.cols - 1.f, 0.f);
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corners1.emplace_back(src1.cols - 1.f, src1.rows - 1.f);
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corners1.emplace_back(0.f, src1.rows - 1.f);
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perspectiveTransform(corners1, corners2, H);
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vector<Point> corners_dst;
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for (Point2f pt : corners2) {
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corners_dst.emplace_back(cvRound(pt.x + src1.cols), cvRound(pt.y));
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}
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polylines(dst, corners_dst, true, Scalar(0, 255, 0), 2, LINE_AA);
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imshow("dst", dst);
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waitKey(0);
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destroyAllWindows();
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}
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int main() {
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find_homography();
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} |