3dpcp/.svn/pristine/85/8558b059f349f14fc583f6af2ef10c56bd455dee.svn-base
2012-09-16 14:33:11 +02:00

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/*
* feature_mathcer implementation
*
* Copyright (C) HamidReza Houshiar
*
* Released under the GPL version 3.
*
*/
#include "slam6d/fbr/feature_matcher.h"
using namespace std;
namespace fbr{
void feature_matcher::init(matcher_method method, int k, double r){
mMethod = method;
knn = k;
radius = r;
nOfMatches = 0;
nOfFilteredMatches = 0;
}
feature_matcher::feature_matcher(){
init(RATIO, 0, 0);
}
feature_matcher::feature_matcher(matcher_method method){
if(method == KNN)
init(method, 3, 0);
else if(method == RADIUS)
init(method, 0, 1);
else
init(method, 0, 0);
}
feature_matcher::feature_matcher(matcher_method method, double p){
if(method == KNN)
init(method, p, 0);
else if(method == RADIUS)
init(method, 0, p);
else
init(method, 0, 0);
}
void feature_matcher::match(feature qFeature, feature tFeature){
vector< cv::DMatch > qtInitialMatches, tqInitialMatches, gMatches;
vector<vector<cv::DMatch> > qtInitialMatchesVector, tqInitialMatchesVector;
//Matching descriptors using one of the mMethods for SURF and SIFT feature descriptors
if(qFeature.getDescriptorMethod() != tFeature.getDescriptorMethod()){
cout<<"inputs features don't have the same descriptors!"<<endl;
cout<<"qFeature DescriptorMethod="<<qFeature.getDescriptorMethod()<<endl;
cout<<"tFeature DescriptorMethod="<<tFeature.getDescriptorMethod()<<endl;
} else if( qFeature.getDescriptorMethod() == SURF_DES || qFeature.getDescriptorMethod() == SIFT_DES){
if(mMethod == KNN){
cv::FlannBasedMatcher matcher;
matcher.knnMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, knn);
matcher.knnMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, knn);
}
if(mMethod == RADIUS){
cv::FlannBasedMatcher matcher;
matcher.radiusMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, radius);
matcher.radiusMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, radius);
}
if(mMethod == KNN || mMethod == RADIUS){
//find the matches that has been found in both way
for(unsigned int i = 0; i < qtInitialMatchesVector.size(); i++){
for(unsigned int j = 0; j < qtInitialMatchesVector[i].size(); j++){
cv::DMatch forward = qtInitialMatchesVector[i][j];
for(unsigned int k = 0; k < tqInitialMatchesVector[forward.trainIdx].size(); k++){
cv::DMatch backward = tqInitialMatchesVector[forward.trainIdx][k];
if(backward.trainIdx == forward.queryIdx)
matches.push_back(forward);
}
//matches.push_back(qtInitialMatchesVector[i][j]);
}
}
}
if(mMethod == RATIO){
cv::FlannBasedMatcher matcher;
matcher.knnMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, 2);
for(unsigned int i = 0; i < qtInitialMatchesVector.size(); i++){
float ratio = qtInitialMatchesVector[i][0].distance/qtInitialMatchesVector[i][1].distance;
if(ratio < 0.8)
matches.push_back(qtInitialMatchesVector[i][0]);
}
matcher.knnMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, 2);
for(unsigned int i = 0; i < tqInitialMatchesVector.size(); i++){
float ratio = tqInitialMatchesVector[i][0].distance/tqInitialMatchesVector[i][1].distance;
if(ratio < 0.8){
cv::DMatch tq_qt;
tq_qt.queryIdx = tqInitialMatchesVector[i][0].trainIdx;
tq_qt.trainIdx = tqInitialMatchesVector[i][0].queryIdx;
tq_qt.imgIdx = tqInitialMatchesVector[i][0].imgIdx;
tq_qt.distance = tqInitialMatchesVector[i][0].distance;
matches.push_back(tq_qt);
}
}
}
if(mMethod == BRUTEFORCE){
cv::BruteForceMatcher< cv::L2<float> > matcher;
matcher.match(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatches);
matcher.match(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatches);
}
if(mMethod == FLANN){
cv::FlannBasedMatcher matcher;
matcher.match(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatches);
matcher.match(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatches);
}
if(mMethod == FLANN || mMethod == BRUTEFORCE)
{
//add the intersection of both way matches
for(unsigned int i = 0; i < qtInitialMatches.size(); i++){
for(unsigned int j =0 ; j<tqInitialMatches.size(); j++){
if(qtInitialMatches[i].queryIdx == tqInitialMatches[j].trainIdx && qtInitialMatches[i].trainIdx == tqInitialMatches[j].queryIdx){
matches.push_back(qtInitialMatches[i]);
}
}
}
}
}
//Matching descriptors using BruteFore with Hamming distance for ORB descriptor
else if(qFeature.getDescriptorMethod() == ORB_DES){
if(mMethod == KNN){
cv::BruteForceMatcher< cv::Hamming > matcher;
matcher.knnMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, knn);
matcher.knnMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, knn);
}
if(mMethod == RADIUS){
cv::BruteForceMatcher< cv::Hamming > matcher;
matcher.radiusMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, radius);
matcher.radiusMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, radius);
}
if(mMethod == KNN || mMethod == RADIUS){
for(unsigned int i = 0; i < qtInitialMatchesVector.size(); i++){
for(unsigned int j = 0; j < qtInitialMatchesVector[i].size(); j++){
cv::DMatch forward = qtInitialMatchesVector[i][j];
for(unsigned int k = 0; k < tqInitialMatchesVector[forward.trainIdx].size(); k++){
cv::DMatch backward = tqInitialMatchesVector[forward.trainIdx][k];
if(backward.trainIdx == forward.queryIdx)
matches.push_back(forward);
}
//matches.push_back(qtInitialMatchesVector[i][j]);
}
}
}
if(mMethod == RATIO){
cv::BruteForceMatcher< cv::Hamming > matcher;
matcher.knnMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, 2);
for(unsigned int i = 0; i < qtInitialMatchesVector.size(); i++){
float ratio = qtInitialMatchesVector[i][0].distance/qtInitialMatchesVector[i][1].distance;
if(ratio < 0.8)
matches.push_back(qtInitialMatchesVector[i][0]);
}
matcher.knnMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, 2);
for(unsigned int i = 0; i < tqInitialMatchesVector.size(); i++){
float ratio = tqInitialMatchesVector[i][0].distance/tqInitialMatchesVector[i][1].distance;
if(ratio < 0.8){
cv::DMatch tq_qt;
tq_qt.queryIdx = tqInitialMatchesVector[i][0].trainIdx;
tq_qt.trainIdx = tqInitialMatchesVector[i][0].queryIdx;
tq_qt.imgIdx = tqInitialMatchesVector[i][0].imgIdx;
tq_qt.distance = tqInitialMatchesVector[i][0].distance;
matches.push_back(tq_qt);
}
}
}
if(mMethod == BRUTEFORCE){
cv::BruteForceMatcher< cv::Hamming > matcher;
matcher.match(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatches);
matcher.match(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatches);
for(unsigned int i = 0; i < qtInitialMatches.size(); i++){
for(unsigned int j =0 ; j<tqInitialMatches.size(); j++){
if(qtInitialMatches[i].queryIdx == tqInitialMatches[j].trainIdx && qtInitialMatches[i].trainIdx == tqInitialMatches[j].queryIdx){
matches.push_back(qtInitialMatches[i]);
}
}
}
}
}
//filter the matches with RANSAC and FundementalMatrix
vector<cv::Point2f> points_1, points_2;
for( unsigned int i = 0; i < matches.size(); i++ ){
//Get the keypoints from the intersection of both matches
points_1.push_back( qFeature.getFeatures()[ matches[i].queryIdx ].pt );
points_2.push_back( tFeature.getFeatures()[ matches[i].trainIdx ].pt );
}
//calculating the fundemental matrix
cv::Mat fStatus;
cv::Mat fundementalMatrix = findFundamentalMat( points_1, points_2, cv::FM_RANSAC, 3, 0.99, fStatus);
cv::MatIterator_<uchar> it, end;
int counter = 0;
//get the inliers from fundemental matrix
for( it = fStatus.begin<uchar>(), end = fStatus.end<uchar>(); it != end; ++it){
if(*it == 1)
gMatches.push_back(matches[counter]);
counter++;
}
nOfMatches = matches.size();
matches = gMatches;
nOfFilteredMatches = matches.size();
}
vector<cv::DMatch> feature_matcher::getMatches(){
return matches;
}
matcher_method feature_matcher::getMatcherMethod(){
return mMethod;
}
unsigned int feature_matcher::getKnn(){
return knn;
}
double feature_matcher::getRadius(){
return radius;
}
unsigned int feature_matcher::getNumberOfMatches(){
return nOfMatches;
}
unsigned int feature_matcher::getNumberOfFilteredMatches(){
return nOfFilteredMatches;
}
void feature_matcher::getDescription(){
cout<<"number of Matches: "<<nOfMatches<<", number of Matches after filteration: "<<nOfFilteredMatches<<", matching method: "<<matcherMethodToString(mMethod)<<", knn: "<<knn<<", radius: "<<radius<<"."<<endl;
cout<<endl;
}
}