1 /* 2 * RobustMatcher.h 3 * 4 * Created on: Jun 4, 2014 5 * Author: eriba 6 */ 7 8 #ifndef ROBUSTMATCHER_H_ 9 #define ROBUSTMATCHER_H_ 10 11 #include <iostream> 12 13 #include <opencv2/core/core.hpp> 14 #include <opencv2/highgui/highgui.hpp> 15 #include <opencv2/features2d/features2d.hpp> 16 17 class RobustMatcher { 18 public: 19 RobustMatcher() : ratio_(0.8f) 20 { 21 // ORB is the default feature 22 detector_ = cv::ORB::create(); 23 extractor_ = cv::ORB::create(); 24 25 // BruteFroce matcher with Norm Hamming is the default matcher 26 matcher_ = cv::makePtr<cv::BFMatcher>((int)cv::NORM_HAMMING, false); 27 28 } 29 virtual ~RobustMatcher(); 30 31 // Set the feature detector 32 void setFeatureDetector(const cv::Ptr<cv::FeatureDetector>& detect) { detector_ = detect; } 33 34 // Set the descriptor extractor 35 void setDescriptorExtractor(const cv::Ptr<cv::DescriptorExtractor>& desc) { extractor_ = desc; } 36 37 // Set the matcher 38 void setDescriptorMatcher(const cv::Ptr<cv::DescriptorMatcher>& match) { matcher_ = match; } 39 40 // Compute the keypoints of an image 41 void computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints); 42 43 // Compute the descriptors of an image given its keypoints 44 void computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors); 45 46 // Set ratio parameter for the ratio test 47 void setRatio( float rat) { ratio_ = rat; } 48 49 // Clear matches for which NN ratio is > than threshold 50 // return the number of removed points 51 // (corresponding entries being cleared, 52 // i.e. size will be 0) 53 int ratioTest(std::vector<std::vector<cv::DMatch> > &matches); 54 55 // Insert symmetrical matches in symMatches vector 56 void symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1, 57 const std::vector<std::vector<cv::DMatch> >& matches2, 58 std::vector<cv::DMatch>& symMatches ); 59 60 // Match feature points using ratio and symmetry test 61 void robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches, 62 std::vector<cv::KeyPoint>& keypoints_frame, 63 const cv::Mat& descriptors_model ); 64 65 // Match feature points using ratio test 66 void fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches, 67 std::vector<cv::KeyPoint>& keypoints_frame, 68 const cv::Mat& descriptors_model ); 69 70 private: 71 // pointer to the feature point detector object 72 cv::Ptr<cv::FeatureDetector> detector_; 73 // pointer to the feature descriptor extractor object 74 cv::Ptr<cv::DescriptorExtractor> extractor_; 75 // pointer to the matcher object 76 cv::Ptr<cv::DescriptorMatcher> matcher_; 77 // max ratio between 1st and 2nd NN 78 float ratio_; 79 }; 80 81 #endif /* ROBUSTMATCHER_H_ */ 82
