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Merge remote-tracking branch 'upstream/3.4' into merge-3.4
This commit is contained in:
Alexander Alekhin
@@ -12,7 +12,7 @@ Tutorial was written for the following versions of corresponding software:
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- Download and install Android Studio from https://developer.android.com/studio.
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- Get the latest pre-built OpenCV for Android release from https://github.com/opencv/opencv/releases and unpack it (for example, `opencv-3.4.1-android-sdk.zip`).
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- Get the latest pre-built OpenCV for Android release from https://github.com/opencv/opencv/releases and unpack it (for example, `opencv-3.4.2-android-sdk.zip`).
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- Download MobileNet object detection model from https://github.com/chuanqi305/MobileNet-SSD. We need a configuration file `MobileNetSSD_deploy.prototxt` and weights `MobileNetSSD_deploy.caffemodel`.
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@@ -7,8 +7,7 @@ Introduction
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In this tutorial we will learn how to use AKAZE @cite ANB13 local features to detect and match keypoints on
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two images.
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We will find keypoints on a pair of images with given homography matrix, match them and count the
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number of inliers (i. e. matches that fit in the given homography).
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number of inliers (i.e. matches that fit in the given homography).
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You can find expanded version of this example here:
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<https://github.com/pablofdezalc/test_kaze_akaze_opencv>
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@@ -16,7 +15,7 @@ You can find expanded version of this example here:
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Data
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----
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We are going to use images 1 and 3 from *Graffity* sequence of Oxford dataset.
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We are going to use images 1 and 3 from *Graffiti* sequence of [Oxford dataset](http://www.robots.ox.ac.uk/~vgg/data/data-aff.html).
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@@ -27,107 +26,148 @@ Homography is given by a 3 by 3 matrix:
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3.4663091e-04 -1.4364524e-05 1.0000000e+00
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@endcode
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You can find the images (*graf1.png*, *graf3.png*) and homography (*H1to3p.xml*) in
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*opencv/samples/cpp*.
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*opencv/samples/data/*.
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### Source Code
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@include cpp/tutorial_code/features2D/AKAZE_match.cpp
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@add_toggle_cpp
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- **Downloadable code**: Click
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[here](https://raw.githubusercontent.com/opencv/opencv/master/samples/cpp/tutorial_code/features2D/AKAZE_match.cpp)
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- **Code at glance:**
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@include samples/cpp/tutorial_code/features2D/AKAZE_match.cpp
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@end_toggle
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@add_toggle_java
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- **Downloadable code**: Click
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[here](https://raw.githubusercontent.com/opencv/opencv/master/samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java)
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- **Code at glance:**
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@include samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java
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@end_toggle
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@add_toggle_python
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- **Downloadable code**: Click
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[here](https://raw.githubusercontent.com/opencv/opencv/master/samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py)
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- **Code at glance:**
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@include samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py
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@end_toggle
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### Explanation
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-# **Load images and homography**
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@code{.cpp}
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Mat img1 = imread("graf1.png", IMREAD_GRAYSCALE);
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Mat img2 = imread("graf3.png", IMREAD_GRAYSCALE);
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- **Load images and homography**
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Mat homography;
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FileStorage fs("H1to3p.xml", FileStorage::READ);
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fs.getFirstTopLevelNode() >> homography;
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@endcode
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We are loading grayscale images here. Homography is stored in the xml created with FileStorage.
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@add_toggle_cpp
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@snippet samples/cpp/tutorial_code/features2D/AKAZE_match.cpp load
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@end_toggle
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-# **Detect keypoints and compute descriptors using AKAZE**
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@code{.cpp}
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vector<KeyPoint> kpts1, kpts2;
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Mat desc1, desc2;
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@add_toggle_java
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@snippet samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java load
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@end_toggle
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AKAZE akaze;
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akaze(img1, noArray(), kpts1, desc1);
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akaze(img2, noArray(), kpts2, desc2);
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@endcode
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We create AKAZE object and use it's *operator()* functionality. Since we don't need the *mask*
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parameter, *noArray()* is used.
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@add_toggle_python
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@snippet samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py load
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@end_toggle
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-# **Use brute-force matcher to find 2-nn matches**
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@code{.cpp}
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BFMatcher matcher(NORM_HAMMING);
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vector< vector<DMatch> > nn_matches;
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matcher.knnMatch(desc1, desc2, nn_matches, 2);
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@endcode
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We use Hamming distance, because AKAZE uses binary descriptor by default.
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We are loading grayscale images here. Homography is stored in the xml created with FileStorage.
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-# **Use 2-nn matches to find correct keypoint matches**
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@code{.cpp}
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for(size_t i = 0; i < nn_matches.size(); i++) {
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DMatch first = nn_matches[i][0];
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float dist1 = nn_matches[i][0].distance;
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float dist2 = nn_matches[i][1].distance;
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- **Detect keypoints and compute descriptors using AKAZE**
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if(dist1 < nn_match_ratio * dist2) {
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matched1.push_back(kpts1[first.queryIdx]);
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matched2.push_back(kpts2[first.trainIdx]);
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}
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}
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@endcode
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If the closest match is *ratio* closer than the second closest one, then the match is correct.
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@add_toggle_cpp
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@snippet samples/cpp/tutorial_code/features2D/AKAZE_match.cpp AKAZE
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@end_toggle
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-# **Check if our matches fit in the homography model**
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@code{.cpp}
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for(int i = 0; i < matched1.size(); i++) {
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Mat col = Mat::ones(3, 1, CV_64F);
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col.at<double>(0) = matched1[i].pt.x;
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col.at<double>(1) = matched1[i].pt.y;
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@add_toggle_java
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@snippet samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java AKAZE
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@end_toggle
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col = homography * col;
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col /= col.at<double>(2);
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float dist = sqrt( pow(col.at<double>(0) - matched2[i].pt.x, 2) +
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pow(col.at<double>(1) - matched2[i].pt.y, 2));
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@add_toggle_python
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@snippet samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py AKAZE
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@end_toggle
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if(dist < inlier_threshold) {
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int new_i = inliers1.size();
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inliers1.push_back(matched1[i]);
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inliers2.push_back(matched2[i]);
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good_matches.push_back(DMatch(new_i, new_i, 0));
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}
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}
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@endcode
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If the distance from first keypoint's projection to the second keypoint is less than threshold,
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then it it fits in the homography.
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We create AKAZE and detect and compute AKAZE keypoints and descriptors. Since we don't need the *mask*
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parameter, *noArray()* is used.
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We create a new set of matches for the inliers, because it is required by the drawing function.
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- **Use brute-force matcher to find 2-nn matches**
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-# **Output results**
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@code{.cpp}
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Mat res;
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drawMatches(img1, inliers1, img2, inliers2, good_matches, res);
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imwrite("res.png", res);
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...
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@endcode
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Here we save the resulting image and print some statistics.
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@add_toggle_cpp
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@snippet samples/cpp/tutorial_code/features2D/AKAZE_match.cpp 2-nn matching
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@end_toggle
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### Results
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@add_toggle_java
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@snippet samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java 2-nn matching
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@end_toggle
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Found matches
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-------------
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@add_toggle_python
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@snippet samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py 2-nn matching
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@end_toggle
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We use Hamming distance, because AKAZE uses binary descriptor by default.
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- **Use 2-nn matches and ratio criterion to find correct keypoint matches**
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@add_toggle_cpp
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@snippet samples/cpp/tutorial_code/features2D/AKAZE_match.cpp ratio test filtering
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@end_toggle
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@add_toggle_java
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@snippet samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java ratio test filtering
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@end_toggle
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@add_toggle_python
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@snippet samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py ratio test filtering
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@end_toggle
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If the closest match distance is significantly lower than the second closest one, then the match is correct (match is not ambiguous).
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- **Check if our matches fit in the homography model**
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@add_toggle_cpp
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@snippet samples/cpp/tutorial_code/features2D/AKAZE_match.cpp homography check
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@end_toggle
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@add_toggle_java
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@snippet samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java homography check
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@end_toggle
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@add_toggle_python
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@snippet samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py homography check
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@end_toggle
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If the distance from first keypoint's projection to the second keypoint is less than threshold,
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then it fits the homography model.
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We create a new set of matches for the inliers, because it is required by the drawing function.
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- **Output results**
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@add_toggle_cpp
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@snippet samples/cpp/tutorial_code/features2D/AKAZE_match.cpp draw final matches
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@end_toggle
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@add_toggle_java
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@snippet samples/java/tutorial_code/features2D/akaze_matching/AKAZEMatchDemo.java draw final matches
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@end_toggle
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@add_toggle_python
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@snippet samples/python/tutorial_code/features2D/akaze_matching/AKAZE_match.py draw final matches
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@end_toggle
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Here we save the resulting image and print some statistics.
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Results
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-------
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### Found matches
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A-KAZE Matching Results
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-----------------------
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Depending on your OpenCV version, you should get results coherent with:
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@code{.none}
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Keypoints 1: 2943
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Keypoints 2: 3511
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Matches: 447
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Inliers: 308
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Inlier Ratio: 0.689038}
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Inlier Ratio: 0.689038
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@endcode
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@@ -98,6 +98,8 @@ OpenCV.
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- @subpage tutorial_akaze_matching
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*Languages:* C++, Java, Python
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*Compatibility:* \> OpenCV 3.0
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*Author:* Fedor Morozov
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@@ -36,14 +36,14 @@ Open your Doxyfile using your favorite text editor and search for the key
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`TAGFILES`. Change it as follows:
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@code
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TAGFILES = ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.1
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TAGFILES = ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.2
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@endcode
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If you had other definitions already, you can append the line using a `\`:
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@code
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TAGFILES = ./docs/doxygen-tags/libstdc++.tag=https://gcc.gnu.org/onlinedocs/libstdc++/latest-doxygen \
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./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.1
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./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.2
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@endcode
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Doxygen can now use the information from the tag file to link to the OpenCV
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