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RobustMatcher.h
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RobustMatcher.h
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#ifndef ROBUSTMATCHER_H
#define ROBUSTMATCHER_H
#include <vector>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/legacy/legacy.hpp>
class RobustMatcher {
private:
// Pointer to the feature point detector object
cv::Ptr<cv::FeatureDetector> _detector;
// pointer to the feature descriptor extractor object
cv::Ptr<cv::DescriptorExtractor> _extractor;
float _ratio; // max ratio between 1st and 2nd NN
bool _refineF; // if true will refine the F matrix
double _confidence; // confidence level (probability)
double _distance; // min distance to epipolar
bool _reconized;
public:
RobustMatcher();
// Set the feature detector
void setFeatureDetector(cv::Ptr<cv::FeatureDetector>& detect) {
this->_detector = detect;
}
// Set descriptor extractor
void setDescriptorExtractor(cv::Ptr<cv::DescriptorExtractor>& desc) {
this->_extractor = desc;
}
// Set the minimum distance to epipolar in RANSAC
void setMinDistanceToEpipolar(double d) {
this->_distance = d;
}
// Set confidence level in RANSAC
void setConfidenceLevel(double c) {
this->_confidence = c;
}
// Set the NN ratio
void setRatio(float r) {
this->_ratio = r;
}
// if you want the F matrix to be recalculated
void refineFundamental(bool flag) {
this->_refineF = flag;
}
bool getRecognition() {
return this->_reconized;
}
int ratioTest(std::vector<std::vector<cv::DMatch> >& matches);
void symmetryTest(const std::vector<std::vector<cv::DMatch> >& matches1,
const std::vector<std::vector<cv::DMatch> >& matches2, std::vector<cv::DMatch>& symMatches);
cv::Mat ransacTest(const std::vector<cv::DMatch>& matches,
const std::vector<cv::KeyPoint>& keypoints1,
const std::vector<cv::KeyPoint>& keypoints2,std::vector<cv::DMatch>& outMatches);
cv::Mat match(cv::Mat& image1, cv::Mat& image2,
std::vector<cv::DMatch>& matches,
std::vector<cv::KeyPoint>& keypoints1, std::vector<cv::KeyPoint>& keypoints2);
};
#endif // ROBUSTMATCHER_H