| Es++ Sample: FeatureMatcher |
/******************************************************************************
*
* Copyright (c) 2017 Antillia.com TOSHIYUKI ARAI. ALL RIGHTS RESERVED.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions, and the following disclaimer.
*
* 2. The name of the author may not be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* FeatureMatcher.cpp
*
*****************************************************************************/
//
#include <es++/Pair.h>
#include <es++/gtkmm-3.0/Application.h>
#include <es++/gtkmm-3.0/FileOpenDialog.h>
#include <es++/gtkmm-3.0/Label.h>
#include <es++/gtkmm-3.0/PushButton.h>
#include <es++/opencv-4.0/OpenCVMainView.h>
#include <es++/opencv-4.0/OpenCVScaleComboBox.h>
#include <es++/opencv-4.0/OpenCVScrolledImageView.h>
using namespace Gtk;
namespace Es {
class MainView :public Es::OpenCVMainView {
private:
/////////////////////////////////////////////////////
//Inner classes start.
class SourceImageView :public Es::OpenCVScrolledImageView {
private:
public:
SourceImageView()
{
}
void rescale(int scaling_ratio)
{
OpenCVScrolledImageView::scaleImage(scaling_ratio);
}
};
class MatchedImageView :public Es::OpenCVScrolledImageView {
private:
cv::Mat matched_image;
public:
MatchedImageView()
{
}
void rescale(int scaling_ratio)
{
OpenCVScrolledImageView::scaleImage(matched_image, scaling_ratio);
}
void setMatched(cv::Mat& mat, int scaling_ratio)
{
matched_image = mat.clone();
scaleImage(matched_image, scaling_ratio);
}
};
//Inner classes end.
/////////////////////////////////////////////////////
//
private:
typedef enum {
/* AKAZEFeatureDetector */ DETECTOR_AKAZE=0,
/* BRISKFeatureDetector */ DETECTOR_BRISK,
/* ORBFeatureDetector */ DETECTOR_ORB,
} DETECTOR;
static const int IMAGES_COUNT = 2;
static const int FIRST = 0;
static const int SECOND = 1;
std::string filenames[IMAGES_COUNT];
Es::Label filepath;
Es::HorizontalLayout horiz_layout;
Es::VerticalLayout view_layout;
Es::HorizontalLayout source_view_layout;
SourceImageView source_images[IMAGES_COUNT];
MatchedImageView matched_image;
Es::VerticalLayout control_pane;
Es::OpenCVScaleComboBox combobox;
Es::LabeledComboBox detector_combobox;
Es::LabeledComboBox besttop_number_combobox;
Es::PushButton match_button;
Es::Label matched_number;
int detector_index;
int besttop_number;
static const int FILEPATH_HEIGHT = 30;
static const int CONTROLPANE_WIDTH = 200;
int scaling_ratio;
static const int loading_flag = IMREAD_COLOR;
Es::FileOpenDialog file_dialog;
public:
//////////////////////////////////////////////
//Constructor
//
MainView(Es::Application& applet,
std::string& title,
Es::Args& args)
:OpenCVMainView(applet, title,
//We don't use the defaultFilePulldown menu.
args.set(XmNuseDefaultFilePulldown, false) )
,scaling_ratio(100)
,source_view_layout(0) //SPACING
,file_dialog(*this, Es::FileOpenDialog::IMAGE_FILES)
{
//Define File pulldown menu with multiple [Open File] pulldown menu items.
Es::SigcMenuCallback file_menu_callbacks[] = {
{"New", sigc::mem_fun(*this, &MainView::file_new)},
{"Open File1", sigc::mem_fun(*this, &MainView::file_open1)},
{"Open File2", sigc::mem_fun(*this, &MainView::file_open2)},
{"Save", sigc::mem_fun(*this, &MainView::file_save)},
{"Save_As", sigc::mem_fun(*this, &MainView::file_save_as)},
{"Quit", sigc::mem_fun(*this, &MainView::file_quit)},
};
file_pulldown_append( file_menu_callbacks,
CountOf(file_menu_callbacks));
int w = (int)args.get(XmNwidth);
int h = (int)args.get(XmNheight);
int ww = (w - CONTROLPANE_WIDTH)/2;
int hh = h/2;
int ratio = (int)args.get(XmNscalingRatio);
scaling_ratio = OpenCVImageView::validateScale(ratio);
Es::MainLayout& main_layout = get_main_layout();
filepath.set_size_request(w, FILEPATH_HEIGHT);
filepath.set_alignment(Gtk::ALIGN_START);
main_layout.pack_start(filepath, FALSE,FALSE, 0);
main_layout.pack_start(horiz_layout, FALSE, FALSE, 0);
source_images[FIRST].set_size_request(ww, h/2);
source_images[SECOND].set_size_request(ww, h/2);
matched_image.set_size_request(w, h/2);
control_pane.set_spacing(10);
control_pane.set_size_request(CONTROLPANE_WIDTH, h);
main_layout.pack_start(filepath, FALSE, FALSE, 0);
main_layout.pack_start(horiz_layout);
horiz_layout.pack_start(view_layout);
view_layout.pack_start(source_view_layout);
source_view_layout.pack_start(source_images[FIRST]);
source_view_layout.pack_start(source_images[SECOND]);
view_layout.pack_start(matched_image);
horiz_layout.pack_start(control_pane);
control_pane.pack_start(combobox, Gtk::PACK_SHRINK );
match_button.set_label("Match");
control_pane.pack_start(match_button, Gtk::PACK_SHRINK);
control_pane.pack_start(detector_combobox, Gtk::PACK_SHRINK);
control_pane.pack_start(besttop_number_combobox, Gtk::PACK_SHRINK);
control_pane.pack_start(matched_number, Gtk::PACK_SHRINK);
combobox.set_selection(scaling_ratio);
combobox.set_changed_callback(sigc::mem_fun(*this, &MainView::scale_changed) );
match_button.set_label("Match");
match_button.set_clicked_callback(sigc::mem_fun(*this,
&MainView::match_button_clicked) );
const char* detectors[] = {
"AKAZEFeatureDetector",
"BRISKFeatureDetector",
"ORBFeatureDetector"
};
detector_combobox.set_label("Detector");
detector_combobox.append_items(detectors, CountOf(detectors));
detector_combobox.set_active_text(detectors[DETECTOR_ORB]); //ORB
detector_combobox.set_changed_callback(sigc::mem_fun(*this,
&MainView::detector_changed) );
detector_index = DETECTOR_ORB;
besttop_number_combobox.set_label("BestTopNumber");
for (int i = 1; i<10; i++) {
char number[20];
sprintf(number, "%d", i*10);
besttop_number_combobox.append_item(number);
if (i == 1) {
besttop_number_combobox.set_active_text(number);
}
}
besttop_number = 10;
besttop_number_combobox.set_changed_callback(sigc::mem_fun(*this,
&MainView::besttop_number_changed) );
filenames[FIRST] = "../../images/Tower1.png";
filenames[SECOND] = "../../images/Tower2.png";
source_images[FIRST].loadImage(filenames[FIRST], loading_flag, scaling_ratio);
source_images[SECOND].loadImage(filenames[SECOND], loading_flag, scaling_ratio);
update_filepath();
show_all();
}
void scale_changed()
{
scaling_ratio = combobox.get_selection();
printf("scale_changed %d\n", scaling_ratio);
source_images[FIRST].rescale(scaling_ratio);
source_images[SECOND].rescale(scaling_ratio);
matched_image.rescale(scaling_ratio);
}
void update_filepath()
{
std::string space = " ";
filepath.set_label(filenames[FIRST] + space + filenames[SECOND]);
}
void detector_changed()
{
std::string text = detector_combobox.get_active_text();
Es::Pair<int, std::string> pairs[] = {
{DETECTOR_AKAZE, std::string("AKAZEFeatureDetector")},
{DETECTOR_BRISK, std::string("BRISKFeatureDetector")},
{DETECTOR_ORB, std::string("ORBFeatureDetector")},
};
int prev_detector = detector_index;
for (size_t i = 0; i<CountOf(pairs); i++) {
if (pairs[i].second == text) {
detector_index = pairs[i].first;
break;
}
}
//printf("detetorIndex %d %s\n", detector_index, text.c_str());
if (detector_index != prev_detector) {
printf("Detector updated call match\n");
match_button_clicked();
}
}
void besttop_number_changed()
{
int prev_besttop =besttop_number;
besttop_number = besttop_number_combobox.get_active_number();
//printf("besttop_number %d\n", besttop_number);
if (besttop_number != prev_besttop) {
printf("besttop_number updated call match\n");
match_button_clicked();
}
}
void set_matched_number(int bestMatched, int totalMatchedNumber)
{
char number[128];
sprintf(number, //CountOf(number),
"Matched Number: %d / %d", bestMatched, totalMatchedNumber);
matched_number.set_label(number);
}
//Matching operation.
void match_button_clicked()
{
try {
cv::Ptr<cv::Feature2D> feature;
switch (detector_index) {
case DETECTOR_AKAZE:
feature = cv::AKAZE::create();
break;
case DETECTOR_BRISK:
feature = cv::BRISK::create();
break;
case DETECTOR_ORB:
feature = cv::ORB::create(); //use default argments
break;
default:
break;
}
std::vector<cv::KeyPoint> keypoints[IMAGES_COUNT];
cv::Mat descriptors[IMAGES_COUNT];
cv::Mat mats[IMAGES_COUNT];
//Detect features and compute descriptors.
for (int i = 0; i<IMAGES_COUNT; i++) {
mats[i] = source_images[i].getOriginalImage();
feature -> detect(mats[i], keypoints[i]);
feature -> compute(mats[i], keypoints[i], descriptors[i]);
}
//Brute force matcher
cv::BFMatcher matcher(NORM_HAMMING, true);
std::vector<cv::DMatch> matches;
matcher.match(descriptors[FIRST], descriptors[SECOND], matches);
int totalMatchedNumber = matches.size();
if (besttop_number <= totalMatchedNumber) {
std::nth_element(matches.begin(), matches.begin() + besttop_number - 1, matches.end());
matches.erase(matches.begin() + besttop_number, matches.end());
}
int bestMatchedNumber = matches.size();
Mat matchedImg;
drawMatches(mats[FIRST], keypoints[FIRST],
mats[SECOND], keypoints[SECOND], matches, matchedImg);
matched_image.setMatched(matchedImg, scaling_ratio);
set_matched_number(bestMatchedNumber, totalMatchedNumber);
} catch (cv::Exception& ex) {
//MessageBox(NULL, "Caught an excption", "Exception", MB_OK);
}
}
void file_open1()
{
int rc = file_dialog.popup();
if (rc == Gtk::RESPONSE_OK) {
filenames[FIRST] = file_dialog.get_filename();
update_filepath();
source_images[FIRST].loadImage(filenames[FIRST], loading_flag, scaling_ratio);
}
}
void file_open2()
{
int rc = file_dialog.popup();
if (rc == Gtk::RESPONSE_OK) {
filenames[SECOND] = file_dialog.get_filename();
update_filepath();
source_images[SECOND].loadImage(filenames[SECOND], loading_flag, scaling_ratio);
}
}
};
}
int main(int argc, char** argv)
{
Es::Environment env;
try {
Es::Application applet(argc, argv);
std::string title(argv[0]);
Es::Args args;
args.set(XmNx, 20);
args.set(XmNy, 20);
args.set(XmNwidth, 900);
args.set(XmNheight,460);
args.set(XmNscalingRatio,60);
Es::MainView mainv(applet, title, args);
mainv.show();
applet.run(mainv);
} catch (Es::Exception& ex) {
caught(ex);
} catch (...) {
printf("Get exception \n");
}
return 0;
}