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Diffstat (limited to 'sci_gateway1/cpp/opencv_estimateGeometricTransform.cpp')
| -rw-r--r-- | sci_gateway1/cpp/opencv_estimateGeometricTransform.cpp | 164 |
1 files changed, 164 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_estimateGeometricTransform.cpp b/sci_gateway1/cpp/opencv_estimateGeometricTransform.cpp new file mode 100644 index 0000000..2a4ec4b --- /dev/null +++ b/sci_gateway1/cpp/opencv_estimateGeometricTransform.cpp @@ -0,0 +1,164 @@ +/********************************************************************************* +*Author : Kevin George +* +*-> To execute, estimateGeometricTransform(I1,I2) +* where I1 & I2 are images +* +*This program only gives an affine transformation matrix +*********************************************************************************/ +#include <numeric> +#include <string.h> +#include "opencv2/core/core.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/opencv.hpp" +#include "opencv2/imgproc/imgproc.hpp" +#include "opencv2/features2d/features2d.hpp" +#include "opencv2/nonfree/features2d.hpp" +#include "opencv2/nonfree/nonfree.hpp" +#include <iostream> +#include <math.h> +#include <vector> + +using namespace cv; +using namespace std; + +extern "C" +{ + #include "api_scilab.h" + #include "Scierror.h" + #include "BOOL.h" + #include <localization.h> + #include "sciprint.h" + #include "../common.h" + // # include "../common.cpp" + + int opencv_estimateGeometricTransform(char *fname, unsigned long fname_len) + { + + //-> Error Management variables + SciErr sciErr; + int intErr=0; + + //-> Mat containers for images + Mat image_1; + Mat image_2; + + //-> Address of Various Arguments + int *piAddr = NULL; + + //-> Local variables + int minHessian = 400; //-> For SURF algorithm + int num_InputArgs; + //-> KeyPoint is data structure to store a point feature + // detected by a keypoint detector(OpenCV) + vector<KeyPoint> keypoints_1; + vector<KeyPoint> keypoints_2; + Mat descriptors_1, descriptors_2; + Mat img_matches; + vector< DMatch > good_matches; + vector< DMatch > matches; + vector<Point2f> a,b; + double max_dist = 0; double min_dist = 100; + /*double *indexPairs = NULL; + double *matchMetric = NULL; + double size=1; + int iRows, iCols; */ + + //KeyPoint *X = new KeyPoint; //-> Remember to free this Kevin + + //-> Checks the number of arguments + //-> pvApiCtx is a Scilab environment pointer + CheckInputArgument(pvApiCtx, 1, 5); //Check on Number of Input Arguments + CheckOutputArgument(pvApiCtx, 1, 5); //Check on Number of Output Arguments + + //-> Read Image + retrieveImage( image_1, 1); + retrieveImage(image_2, 2); + + //-> Count number of input arguments + //num_InputArgs = *getNbInputArgument(pvApiCtx); + + //-> Based on number of input arguments + +//***************************************************** Actual Processing ************************************************************* + + //-- Step 1: Calculate keypoints + SurfFeatureDetector detector( minHessian ); + detector.detect( image_1, keypoints_1 ); + detector.detect( image_2, keypoints_2 ); + + //-- Step 2: Calculate descriptors (feature vectors) + SurfDescriptorExtractor extractor; + extractor.compute( image_1, keypoints_1, descriptors_1 ); + extractor.compute( image_2, keypoints_2, descriptors_2 ); + + //-- Step 3: Matching descriptor vectors using FLANN matcher + FlannBasedMatcher matcher; + matcher.match( descriptors_1, descriptors_2, matches ); + + //-- Quick calculation of max and min distances between keypoints + for( int i = 0; i < descriptors_1.rows; i++ ) + { + double dist = matches[i].distance; + if( dist < min_dist ) min_dist = dist; + if( dist > max_dist ) max_dist = dist; + } + + for( int i = 0; i < descriptors_1.rows; i++ ) + { + if( matches[i].distance <= max(2*min_dist, 0.02) ) + { good_matches.push_back( matches[i]); } + } + + //queryidx- keypoints1 + //traindidx- keypoints2 + + + for(int i=0;i<3;i++) + { + a.push_back( keypoints_1[good_matches[i].queryIdx].pt ); + b.push_back( keypoints_2[good_matches[i].trainIdx].pt ); + } + + + Mat M = getAffineTransform( Mat(a), Mat(b) ); + + /* double output[M.rows][M.cols]; + + for(int i=0; i<M.rows; ++i) + { + const double* Mi = M.ptr<double>(i); + for (int j = 0; j < M.cols; j++) + { + output[i][j] = Mi[j]; + } + } */ + double *output = NULL; + output = (double *)malloc(sizeof(double)*M.rows*M.cols); + + //-> Accessing elements of Mat object M + for(int i=0; i<M.rows; ++i) + { + const double* Mi = M.ptr<double>(i); + for (int j = 0; j < M.cols; j++) + { + output[i+j] = Mi[j]; + } + } + + + sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx)+1, M.rows, M.cols, output); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + //-> Returning Output + AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx)+1; + ReturnArguments(pvApiCtx); + + return 0; + } + +}
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