From d535d24082ddfdb2ca7c7fd6316f9122f5a678e3 Mon Sep 17 00:00:00 2001
From: Pavol Debnar <debnarpavol@gmail.com>
Date: Sat, 18 Mar 2023 21:41:37 +0100
Subject: [PATCH] matching now uses knnMatching for better accuracy

---
 src/pointbase.cpp | 67 +++++++++++++++++++++++++++++++++++++----------
 1 file changed, 53 insertions(+), 14 deletions(-)

diff --git a/src/pointbase.cpp b/src/pointbase.cpp
index a462a22..af3de4b 100644
--- a/src/pointbase.cpp
+++ b/src/pointbase.cpp
@@ -547,9 +547,15 @@ class PointBase {
 
                     //match the descriptors
                     cv::FlannBasedMatcher matcher;
-                    std::vector<cv::DMatch> matches;
+
+                     //matcher.match part1
+                    /*std::vector<cv::DMatch> matches;
                     
-                    matcher.match(descriptorsROI,descriptorsImg,matches);
+                    matcher.match(descriptorsROI,descriptorsImg,matches);*/
+
+                    //trying out knnmatch
+                    std::vector<std::vector<cv::DMatch>> matches;
+                    matcher.knnMatch(descriptorsROI, descriptorsImg, matches, 2);  // Find 2 nearest matches
                     cv::Mat imageMatches;
                     
                     drawMatches(roi,keypointsROI,imgSmall,keypointsImg,matches,imageMatches);
@@ -560,8 +566,8 @@ class PointBase {
 
 
 
-
-
+                    //matcher.match part2
+                    /*
                     double max_dist = 0; double min_dist = 100;
                     //cout<<"ROWS DESC:"<<descriptorsImg.rows<<"\n";
                     //cout<<"SIZE DESC:"<<descriptorsImg.size()<<"\n";
@@ -585,6 +591,32 @@ class PointBase {
                         if( matches[i].distance < 3*min_dist ) { good_matches.push_back( matches[i]);  }
 
                     }
+                    */
+                   //knnmatcher part2
+                   cout<<"TU BY MALI BYT MATCHE " <<'\n';
+                   std::vector< DMatch > good_matches;
+                   //float ratio = 0.4; // As in Lowe's paper; can be tuned
+                   for (float ratio = 0.4; good_matches.size()<2; ratio+=0.05)
+                   {
+                        good_matches.clear();
+                        cout << "RATIO: " <<ratio <<"\n";
+                        for (int i = 0; i < matches.size(); ++i)
+                        {
+                            
+                            if (matches[i][0].distance < ratio * matches[i][1].distance)
+                            {
+                                good_matches.push_back(matches[i][0]);
+                                cout<<"GOOD MATCH DISTANCE " << matches[i][0].distance <<'\n';
+                            }/*
+                            else{
+                                cout<< "BAD MATCH \n";
+                            }*/
+                        }
+                   }
+                   
+                    //if there are no good matches, try adaptive thresholding
+                    
+
 
 
                     std::vector< Point2d > obj;
@@ -597,11 +629,7 @@ class PointBase {
                     scene.push_back(  static_cast<cv::Point2i>(keypointsROI[ good_matches[i].queryIdx ].pt ));
                     }
 
-                    /*cv::Mat imageMatches2;
-                    drawMatches(roi,keypointsROI,imgSmall,keypointsImg,good_matches,imageMatches2);
-                    cv::namedWindow("good_matches");
-                    cv::imshow("good_matches",imageMatches2);
-                    cv::waitKey(0);*/
+
 
                     //find a transformation based on good matches
                     //we do not need a Homography, since we deal with affine transformations (no viewport transf. are expected)
@@ -649,8 +677,16 @@ class PointBase {
                     Mat roiOverlapAlpha, imgOverlapAlpha, resultRoi; 
 
                     //blended images of ROI and img, now we need to only add them together 
+                    /*
+                    cv::divide(roiMask,(roiMask+imgWarpedMask)/255.0,roiOverlapAlpha);  
+                    cv::divide(imgWarpedMask,(roiMask+imgWarpedMask)/255.0,imgOverlapAlpha);  
+                    */
                     cv::divide(roiDT,(roiDT+imgDT),roiOverlapAlpha);  
                     cv::divide(imgDT,(roiDT+imgDT),imgOverlapAlpha);  
+                    normalize(imgOverlapAlpha, imgOverlapAlpha, 0.0, 255.0, NORM_MINMAX);
+                    normalize(roiOverlapAlpha, roiOverlapAlpha, 0.0, 255.0, NORM_MINMAX);
+                    imshow("roiMask", roiMask);
+                    imshow("roiMask+imgWarpedMask", roiMask+imgWarpedMask);
                     
 
                     //imshow("roiMask", roiMask);
@@ -658,14 +694,17 @@ class PointBase {
                     
                     roi.convertTo(roi,CV_32FC1);
                     resultWarp.convertTo(resultWarp,CV_32FC1);
+                    roiOverlapAlpha.convertTo(roiOverlapAlpha,CV_32FC1);
+                    imgOverlapAlpha.convertTo(imgOverlapAlpha,CV_32FC1);
                     cout<<cv::typeToString(resultWarp.type())<< "resultWarp type \n";
-                    cout<<cv::typeToString(roi.type())<< "roi type \n";
+                    cout<<cv::typeToString(roiOverlapAlpha.type())<< "roiOverlapAlpha type \n";
                     
+                    cout<<"AAAAAAAAAAAAA \n";
                     multiply(roiOverlapAlpha,roi,roiOverlapAlpha);
                     multiply(imgOverlapAlpha,resultWarp,imgOverlapAlpha);
-                    normalize(imgOverlapAlpha, imgOverlapAlpha, 0.0, 1.0, NORM_MINMAX);
-                    normalize(roiOverlapAlpha, roiOverlapAlpha, 0.0, 1.0, NORM_MINMAX);
-                    imshow("imgOverlapAlpha", imgOverlapAlpha);
+                    
+                    
+                    
                      
                     cv::add(roiOverlapAlpha,imgOverlapAlpha, resultRoi);
                     
@@ -685,7 +724,7 @@ class PointBase {
                     cv::cvtColor(resultRoi,resultRoi,COLOR_GRAY2BGR);
                     resultRoi.copyTo(img(Rect(xLoc, yLoc, xWitdth, yHeight)));
                     imwrite("AAAAAAA.png", img);
-                    cout<<"AAAAAAAAAAAAA \n";
+                    
 
                     destroyAllWindows();