11 int main(int argc, char** argv)
13 const char* object_filename = argc > 1 ? argv[1] : "box.png";
14 const char* scene_filename = argc > 2 ? argv[2] : "box_in_scene.png";
17 cvNamedWindow("Object", 1);
18 cvNamedWindow("Image", 1);
19 cvNamedWindow("Object Correspondence", 1);
21 Mat object = imread( object_filename, CV_LOAD_IMAGE_GRAYSCALE );
26 Mat _image = imread( scene_filename, CV_LOAD_IMAGE_GRAYSCALE );
27 resize(_image, image, Size(), 1./imgscale, 1./imgscale, INTER_CUBIC);
29 image.create(cvRound(object.rows*2), cvRound(object.cols*2), CV_8U);
30 Mat M = getRotationMatrix2D(Point2f(object.cols*0.5f, object.rows*0.5f), -30, imgscale);
31 ((double*)M.data)[2] += (image.cols - object.cols)*0.5f;
32 ((double*)M.data)[5] += (image.rows - object.rows)*0.5f;
33 warpAffine(object, image, M, image.size(), INTER_LINEAR, BORDER_TRANSPARENT);
36 if( !object.data || !image.data )
38 fprintf( stderr, "Can not load %s and/or %s\n"
39 "Usage: find_obj [<object_filename> <scene_filename>]\n",
40 object_filename, scene_filename );
44 Size patchSize(32, 32);
45 LDetector ldetector(7, 20, 2, 2000, patchSize.width, 2);
46 ldetector.setVerbose(true);
47 PlanarObjectDetector detector;
49 vector<Mat> objpyr, imgpyr;
52 GaussianBlur(object, object, Size(blurKSize, blurKSize), sigma, sigma);
53 GaussianBlur(image, image, Size(blurKSize, blurKSize), sigma, sigma);
54 buildPyramid(object, objpyr, ldetector.nOctaves-1);
55 buildPyramid(image, imgpyr, ldetector.nOctaves-1);
57 vector<KeyPoint> objKeypoints, imgKeypoints;
58 // PatchGenerator gen(0,256,15,true,0.6,1.5,-CV_PI,CV_PI,-CV_PI,CV_PI);
59 PatchGenerator gen(0,256,5,true,0.8,1.2,-CV_PI/2,CV_PI/2,-CV_PI/2,CV_PI/2);
61 FileStorage fs("outlet_model.xml", FileStorage::READ);
64 detector.read(fs.getFirstTopLevelNode());
65 FileStorage fs2("outlet_model_copy.xml", FileStorage::WRITE);
66 detector.write(fs2, "outlet-detector");
70 ldetector.setVerbose(true);
71 ldetector.getMostStable2D(object, objKeypoints, 100, gen);
72 detector.setVerbose(true);
74 detector.train(objpyr, objKeypoints, patchSize.width, 100, 11, 10000, ldetector, gen);
75 if( fs.open("outlet_model.xml", FileStorage::WRITE) )
76 detector.write(fs, "outlet-detector");
80 vector<Point2f> dst_corners;
81 Mat correspond( object.rows + image.rows, std::max(object.cols, image.cols), CV_8UC3);
82 correspond = Scalar(0.);
83 Mat part(correspond, Rect(0, 0, object.cols, object.rows));
84 cvtColor(object, part, CV_GRAY2BGR);
85 part = Mat(correspond, Rect(0, object.rows, image.cols, image.rows));
86 cvtColor(image, part, CV_GRAY2BGR);
92 double t = (double)getTickCount();
93 objKeypoints = detector.getModelPoints();
94 // ldetector(imgpyr, imgKeypoints, 3000);
95 ldetector(imgpyr, imgKeypoints, 300);
97 std::cout << "Object keypoints: " << objKeypoints.size() << "\n";
98 std::cout << "Image keypoints: " << imgKeypoints.size() << "\n";
99 bool found = detector(imgpyr, imgKeypoints, H, dst_corners, &pairs);
100 t = (double)getTickCount() - t;
101 printf("%gms\n", t*1000/getTickFrequency());
105 for( i = 0; i < 4; i++ )
107 Point r1 = dst_corners[i%4];
108 Point r2 = dst_corners[(i+1)%4];
109 line( correspond, Point(r1.x, r1.y+object.rows),
110 Point(r2.x, r2.y+object.rows), Scalar(0,0,255) );
114 for( i = 0; i < (int)pairs.size(); i += 2 )
116 line( correspond, objKeypoints[pairs[i]].pt,
117 imgKeypoints[pairs[i+1]].pt + Point2f(0,object.rows),
122 imshow( "Object Correspondence", correspond );
124 cvtColor(object, objectColor, CV_GRAY2BGR);
125 for( i = 0; i < (int)objKeypoints.size(); i++ )
127 circle( objectColor, objKeypoints[i].pt, 2, Scalar(0,0,255), -1 );
128 circle( objectColor, objKeypoints[i].pt, (1 << objKeypoints[i].octave)*15, Scalar(0,255,0), 1 );
131 cvtColor(image, imageColor, CV_GRAY2BGR);
132 for( i = 0; i < (int)imgKeypoints.size(); i++ )
134 circle( imageColor, imgKeypoints[i].pt, 2, Scalar(0,0,255), -1 );
135 circle( imageColor, imgKeypoints[i].pt, (1 << imgKeypoints[i].octave)*15, Scalar(0,255,0), 1 );
137 imwrite("correspond.png", correspond );
138 imshow( "Object", objectColor );
139 imshow( "Image", imageColor );