From 73224b10ec9283e4e07fc956cc7ce1959fa8ac6b Mon Sep 17 00:00:00 2001
From: Pavol Debnar <debnarpavol@gmail.com>
Date: Thu, 16 Feb 2023 23:09:33 +0100
Subject: [PATCH] WIP SIFT descriptors

---
 src/pointbase.cpp | 79 ++++++++++++++++++++++++++++++++++++++++++++---
 1 file changed, 74 insertions(+), 5 deletions(-)

diff --git a/src/pointbase.cpp b/src/pointbase.cpp
index c488e79..b9e90f9 100644
--- a/src/pointbase.cpp
+++ b/src/pointbase.cpp
@@ -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";