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WIP SIFT descriptors

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This commit is contained in:
Pavol Debnar
2023-02-16 23:09:33 +01:00
parent 838d9408ec
commit 73224b10ec
1 changed files with 74 additions and 5 deletions
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79
src/pointbase.cpp
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@ -3,6 +3,8 @@
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/stitching.hpp"
#include <opencv2/xfeatures2d.hpp>
#include <opencv2/features2d.hpp>
#include <fstream>
#include <iostream>
#include <json/json.h>
@ -380,7 +382,7 @@ class PointBase {
void cumdump(int imgWidth,int imgHeight)
{
std::vector <double> edges;
@ -390,7 +392,10 @@ class PointBase {
double minY=edges[2];
double maxY=edges[3];
Mat img = Mat::zeros((int)(maxY*(imgHeight/imgHeightDeg))+imgHeight,(int)((360/imgWidthDeg)*imgWidth) + imgWidth,CV_8UC3);
int windowHeight = (int)(maxY*(imgHeight/imgHeightDeg))+imgHeight;
int windowWidth = (int)((360/imgWidthDeg)*imgWidth) + imgWidth;
Mat img = Mat::zeros(windowHeight,windowWidth,CV_8UC3);
rectangle(img,Point(3,3),Point(15,15),Scalar(128,128, 0),2,2,0);
int imgIdx = 0;
@ -465,11 +470,12 @@ class PointBase {
Mat img = Mat::zeros((int)(maxY*(imgHeight/imgHeightDeg))+imgHeight,(int)((360/imgWidthDeg)*imgWidth) + imgWidth,CV_8UC3);
rectangle(img,Point(3,3),Point(15,15),Scalar(128,128, 0),2,2,0);
*/
//open stream for logging
string logFileName = to_string(imgIdx) + ".log";
ofstream logFile(logFileName);
int qIdx = 0;
for (Point2d coords: stitchQueue)
{
//log which images are in which result file
@ -492,13 +498,76 @@ class PointBase {
cout <<minX <<"\n";
cout <<minY <<"\n";
//cout << (int)round(coords.x)-(int)round(minX)<< "\n";
//cout << (int)round(coords.y)-(int)round(minY)<< "\n";
cout << (int)round(coords.y)*(int)(imgHeight/imgHeightDeg)<< "\n";
imgSmall.copyTo(img(cv::Rect((int)round(coords.x)*(int)(imgWidth/imgWidthDeg),(int)round(coords.y)*(int)(imgHeight/imgHeightDeg),imgSmall.cols, imgSmall.rows)));
//first image is added to result img, others will be stitched
if (qIdx==0) imgSmall.copyTo(img(cv::Rect((int)round(coords.x)*(int)(imgWidth/imgWidthDeg),(int)round(coords.y)*(int)(imgHeight/imgHeightDeg),imgSmall.cols, imgSmall.rows)));
else {
//default ROI location and size
int xLoc=(int)round(coords.x)*(int)(imgWidth/imgWidthDeg) - imgWidth; //=normalized x-coord. minus 1 width of image
int yLoc=(int)round(coords.y)*(int)(imgHeight/imgHeightDeg) - imgHeight;
int xWitdth=3*imgWidth;
int yHeight=3*imgHeight;
//edge cases
if ((int)round(coords.x)*(int)(imgWidth/imgWidthDeg) - imgWidth < 0) xLoc=0;
if ((int)round(coords.y)*(int)(imgHeight/imgHeightDeg) - imgHeight < 0) yLoc = 0;
if (xLoc + xWitdth > windowWidth) xWitdth = windowWidth - xLoc;
if (yLoc + yHeight > windowHeight) yHeight = windowHeight - yLoc;
Mat roi;
roi = img(Rect(xLoc, yLoc, xWitdth, yHeight));
/*imshow("roi",roi);
imwrite("temp.jpg", roi);
waitKey(0);*/
cv::Ptr<SIFT> siftPtr = SIFT::create();
std::vector<cv::KeyPoint> keypointsROI, keypointsImg;
cv::Ptr<SiftDescriptorExtractor> siftExtrPtr;
cv::Mat descriptorsROI, descriptorsImg;
siftPtr->detect(roi, keypointsROI);
siftPtr->detect(imgSmall, keypointsImg);
// Add results to image and save.
/*
cv::Mat output;
cv::drawKeypoints(imgSmall, keypointsImg, output);
imshow("sift_result.jpg", output);
waitKey(0);*/
cout<<" SIZE \n"<<roi.size() <<" \n";
siftPtr->compute(roi,
keypointsROI,
descriptorsROI);
/*siftExtrPtr->compute(imgSmall,
keypointsImg,
descriptorsImg);*/
cv::BFMatcher matcher(cv::NORM_L2,true);
std::vector<cv::DMatch> matches;
matcher.match(descriptorsROI,descriptorsImg,matches);
cv::Mat imageMatches;
drawMatches(roi,keypointsROI,imgSmall,keypointsImg,matches,imageMatches);
cv::namedWindow("matches");
cv::imshow("matches",imageMatches);
cv::waitKey(0);
//cout<<CV_VERSION;
}
//if(qIdx==2) break;
qIdx++;
}
logFile.close();
string resultName = "result" + to_string(imgIdx) +".png";