/****************************************************************************** * * Copyright (c) 2019 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 * *****************************************************************************/ // This is an elementary feature matching sample program, based on OpenCV2.4.8 // //2017/05/30 //2019/01/03 #include <opencv2/stitching.hpp> #include <oz++/Pair.h> #include <oz++/motif/Label.h> #include <oz++/motif/RowColumn.h> #include <oz++/motif/LabeledTrackBar.h> #include <oz++/opencv/OpenCVScaleComboBox.h> #include <oz++/opencv/OpenCVMainView.h> #include <oz++/opencv/OpenCVImageView.h> #include <oz++/motif/FileOpenDialog.h> #include "PrivateFileMenu.h" namespace OZ { class MainView :public OpenCVMainView { private: /////////////////////////////////////////////// //Inner classes start. class SourceImageView: public OpenCVImageView { private: cv::Mat originalImage; cv::Mat scaledImage; virtual void display() { show(scaledImage); } public: SourceImageView(View* parent, const char* name, Args& args) :OpenCVImageView(parent, name, args) { try { const char* filename = (const char*)args.get(XmNimageFileName); int imageLoadingFlag = args.get(XmNimageLoadingFlag); int scalingRatio = (int)args.get(XmNimageScalingRatio); loadImage(filename, imageLoadingFlag, scalingRatio); } catch (OZ::Exception ex) { caught(ex); } } ~SourceImageView() { } cv::Mat& getMat() { return originalImage; } void loadImage(const char* filename, int imageLoadingFlag= CV_LOAD_IMAGE_COLOR, int scalingRatio=100) { originalImage = readImage(filename, imageLoadingFlag); scaleImage(originalImage, scaledImage, scalingRatio); } void rescale(int scalingRatio) { scaledImage.release(); scaleImage(originalImage, scaledImage, scalingRatio); } }; class MatchedImageView: public OpenCVImageView { private: cv::Mat matchedImage; cv::Mat scaledImage; //The scale image is displayed on this image view. virtual void display() { show(scaledImage); } public: MatchedImageView(View* parent, const char* name, Args& args) :OpenCVImageView(parent, name, args) { refresh(); } ~MatchedImageView() { } void rescale(int scalingRatio) { scaledImage.release(); scaleImage(matchedImage, scaledImage, scalingRatio); } void setMatched(cv::Mat& mat, int scalingRatio) { matchedImage.release(); matchedImage = mat; scaleImage(matchedImage, scaledImage, scalingRatio); } }; //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; StringT<char> imageFiles[IMAGES_COUNT]; int fileOpenIndex; SmartPtr<SourceImageView> sourceImage[IMAGES_COUNT]; int imageLoadingFlag; int imageScalingRatio; //percentage SmartPtr<Label> label; SmartPtr<MatchedImageView> matchedImage; SmartPtr<RowColumn> controlPane; SmartPtr<OpenCVScaleComboBox> scaleComboBox; int detectorIndex; SmartPtr<LabeledComboBox> detectorComboBox; SmartPtr<Label> matchedNumber; int bestTopNumberIndex; SmartPtr<LabeledComboBox> bestTopNumberComboBox; SmartPtr<PushButton> matchButton; SmartPtr<FileOpenDialog> fileDialog; //Callback for the matchButton void match(Action& action) { matchFeature(); } void setMatchedNumber(int bestMatched, int totalMatchedNumber) { char number[128]; sprintf(number, //CountOf(number), "Matched Number: %d / %d", bestMatched, totalMatchedNumber); matchedNumber->setText(number); } //Matching operation. void matchFeature() { try { cv::Ptr<cv::Feature2D> feature = cv::ORB::create(); switch (detectorIndex) { 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] = sourceImage[i] -> getMat(); 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(); int bestTop = (bestTopNumberIndex + 1) * 10; if (bestTop <= totalMatchedNumber) { std::nth_element(matches.begin(), matches.begin() + bestTop - 1, matches.end()); matches.erase(matches.begin() + bestTop, matches.end()); } int bestMatchedNumber = matches.size(); Mat matchedImg; drawMatches(mats[FIRST], keypoints[FIRST], mats[SECOND], keypoints[SECOND], matches, matchedImg); matchedImage ->setMatched(matchedImg, imageScalingRatio); setMatchedNumber(bestMatchedNumber, totalMatchedNumber); } catch (cv::Exception& ex) { //MessageBox(NULL, "Caught an excption", "Exception", MB_OK); } } //Callback for the detectorComboBox void detectorChanged(Action& action) { detectorIndex = (DETECTOR)detectorComboBox->getSelectedPosition(); printf("detectorChanged: %d\n", detectorIndex); matchFeature(); } public: //Callback for the bestTopNumberComboBox void bestTopNumberChanged(Action& action) { bestTopNumberIndex = bestTopNumberComboBox->getSelectedPosition(); printf("bestTopNumberChanged %d\n", bestTopNumberIndex); matchFeature(); } void scaleChanged(Action& action) { int val = scaleComboBox->getScale(); if (val > 0 && imageScalingRatio != val) { imageScalingRatio = val; sourceImage[FIRST] -> rescale(imageScalingRatio); sourceImage[SECOND] -> rescale(imageScalingRatio); matchedImage -> rescale(imageScalingRatio); } } void fileOpen(int index, Action& action) { fileOpenIndex = index; fileDialog->popup(); } void updateLabel() { char path[PATH_MAX]; sprintf(path, "%s, %s", (const char*)imageFiles[0], (const char*)imageFiles[1]); label -> setText(path); } //OK button callback for FileOpenDialog void ok(Action& action) { try { imageFiles[fileOpenIndex] = fileDialog->getFileName(); const char* filename = (const char*)imageFiles[fileOpenIndex]; printf("filename: %s\n", filename); fileDialog->popdown(); sourceImage[fileOpenIndex]->invalidate(); sourceImage[fileOpenIndex]->loadImage(filename, imageLoadingFlag, imageScalingRatio); updateLabel(); resize(width(), height()); flush(); } catch (OZ::Exception& ex) { caught(ex); } } void resize(Dimension w, Dimension h) { int CP_WIDTH = 220; int LB_HEIGHT = 30; int ww = w-CP_WIDTH; int hh = h - LB_HEIGHT; if (label && sourceImage[0] && matchedImage && controlPane ) { label -> reshape(0, 0, w, LB_HEIGHT); sourceImage[0]-> reshape(0, LB_HEIGHT, ww/2, hh/2-4 ); sourceImage[1] -> reshape(ww/2, LB_HEIGHT, ww/2-1, hh/2-4); matchedImage -> reshape(0, hh/2-2, ww, hh/2); controlPane -> reshape(ww-1, LB_HEIGHT, CP_WIDTH+1, hh); controlPane -> unmap(); controlPane -> map(); } flush(); } //Callback to handle file pulldown events. virtual void privateFileMenu(Action& action) { menuId = action.getClientIntData(); switch(menuId) { case NEW: fileNew(action); break; case OPEN_FILE1: fileOpen(FIRST, action); break; case OPEN_FILE2: fileOpen(SECOND, action); break; case SAVE: fileSave(action); break; case SAVE_AS: fileSaveAs(action); break; case EXIT: confirm(action); break; } } virtual void addFilePulldownMenu() { //1 Recreate pulldown menu for File. MenuBar* menubar = getMenuBar(); getFileMenuButton() -> recreatePulldownMenu(menubar, "file"); //2 Add PrivateFileItems to the FilePulldown. getFileMenuButton() -> addItems(PrivateFileItems, XtNumber(PrivateFileItems), this, (Callback)&MainView::privateFileMenu); } public: MainView(OpenCVApplication& applet, const char* name, Args& args) :OpenCVMainView(applet, name, args) { addFilePulldownMenu(); BulletinBoard* bboard = getBulletinBoard(); imageLoadingFlag = CV_LOAD_IMAGE_COLOR; imageScalingRatio = 60; //% try { imageFiles[FIRST] = "../images/Tower1.png"; imageFiles[SECOND] = "../images/Tower2.png"; //1 Create a label to display image file names. Args ar; ar.set(XmNalignment, XmALIGNMENT_BEGINNING); label = new Label(bboard, "", ar); updateLabel(); int imageLoadingFlag = CV_LOAD_IMAGE_COLOR; //2 Create two sourceImageViews. for (int i = 0; i< IMAGES_COUNT; i++) { ar.reset(); const StringT<char> fullpath = getFullpath(imageFiles[i]); ar.set(XmNimageFileName, fullpath); ar.set(XmNimageLoadingFlag, imageLoadingFlag); sourceImage[i] = new SourceImageView(bboard, "", ar); sourceImage[i]->rescale(imageScalingRatio); } //3 Create a feature matched imageView ar.reset(); matchedImage = new MatchedImageView(bboard, "", ar); //4 Create a rowColumn controlPane to manage controls. ar.reset(); controlPane = new RowColumn(bboard, "", ar); //5 Create a scaleComboBox in the controlPane const char* defaultScale = "60%"; ar.reset(); CompoundString scaler("Scale"); ar.set(XmNlabelString, scaler); ar.set(XmNdefaultScale, defaultScale); scaleComboBox = new OpenCVScaleComboBox(controlPane, "", ar); scaleComboBox->addCallback(XmNselectionCallback, this, (Callback)&MainView::scaleChanged, NULL); //6 Create a detectorComboBox. ar.reset(); const char* items[] = { "AKAZEFeatureDetector", "BRISKFeatureDetector", "ORBFeatureDetector"}; detectorIndex = DETECTOR_ORB; CompoundStringList csl(items, CountOf(items)); ar.set(XmNitems, csl); ar.set(XmNitemCount, CountOf(items)); ar.set(XmNselectedPosition, detectorIndex); detectorComboBox = new LabeledComboBox(controlPane, "FeatureDetector", ar); detectorComboBox -> addCallback(XmNselectionCallback, this, (Callback)&MainView::detectorChanged, NULL); //7 Create a bestTopNumbercombobox const char* numbers[] = { "10", "20", "30", "40", "50", "60", "70", "80", "90", "100", }; CompoundStringList numbersCsl(numbers, CountOf(numbers)); bestTopNumberIndex = 1; ar.reset(); ar.set(XmNitems, numbersCsl); ar.set(XmNitemCount, CountOf(numbers)); ar.set(XmNselectedPosition, bestTopNumberIndex); bestTopNumberComboBox = new LabeledComboBox(controlPane, "BestTopNumber", ar); bestTopNumberComboBox -> addCallback(XmNselectionCallback, this, (Callback)&MainView::bestTopNumberChanged, NULL); //8 Create a match push button. ar.reset(); matchButton = new PushButton(controlPane, "Match", ar); matchButton -> addCallback(XmNactivateCallback, this, (Callback)&MainView::match, NULL); //9 Create a label to display the number of matched features. ar.reset(); matchedNumber = new Label(controlPane, "", ar); //10 Call matchFeature method to detect features in sourceimages // and to compute the matched descriptors from the detected features. matchFeature(); ar.reset(); fileDialog = new FileOpenDialog(this, "FileOpenDialog", ar); fileDialog -> getOkButton() -> addCallback(XmNactivateCallback, this, (Callback)&MainView::ok, NULL); sendConfigureEvent(); } catch(OZ::Exception& ex) { caught(ex); } } ~MainView() { } }; } // int main(int argc, char** argv) { try { const char* appclass = argv[0]; OpenCVApplication applet(appclass, argc, argv); Args args; args.set(XmNwidth, 900); args.set(XmNheight, 500); MainView view(applet, argv[0], args); view.realize(); applet.run(); } catch (OZ::Exception& ex) { caught(ex); } return 0; }