00001
00005 #ifndef _THERMALVIS_FEATURES_H_
00006 #define _THERMALVIS_FEATURES_H_
00007
00008 #include "general_resources.hpp"
00009 #include "opencv_resources.hpp"
00010
00011 #include "improc.hpp"
00012 #include "tools.hpp"
00013 #include "camera.hpp"
00014
00015
00016 #include <algorithm>
00017
00018 #define MAX_DETECTORS 10
00019
00020 void fadeImage(const Mat& src, Mat& dst);
00021
00022 void drawRichKeypoints(const cv::Mat& src, std::vector<cv::KeyPoint>& kpts, cv::Mat& dst);
00023 void filterKeypoints(std::vector<cv::KeyPoint>& kpts, int maxSize = 0, int maxFeatures = 0);
00024
00025 void crossCheckMatching( Ptr<DescriptorMatcher>& descriptorMatcher,
00026 const Mat& descriptors1, const Mat& descriptors2,
00027 vector<DMatch>& filteredMatches12, int knn );
00028
00029 void filterTrackingsByRadialProportion(vector<Point2f>& pts1, vector<Point2f>& pts2, Mat& K, Mat& newCamMat, Mat& distCoeffs, Size& imSize, double prop = 1.00);
00030
00032 void transformPoints(vector<Point2f>& pts1, Mat& H);
00033
00035 void trackPoints(const Mat& im1, const Mat& im2, vector<Point2f>& pts1, vector<Point2f>& pts2, int distanceConstraint, double thresh, vector<unsigned int>& lostIndices, Mat H12 = cv::Mat(), cameraParameters camData = cameraParameters());
00036
00038 void trackPoints2(const Mat& im1, const Mat& im2, vector<Point2f>& pts1, vector<Point2f>& pts2, int distanceConstraint, double thresh, vector<unsigned int>& lostIndices, const Size patternSize, double& errorThreshold);
00039
00041 void sortKeypoints(vector<KeyPoint>& keypoints, unsigned int maxKeypoints = -1);
00042
00044 void displayKeypoints(const Mat& image, const vector<KeyPoint>& keypoints, Mat& outImg, const Scalar& color, int thickness = 1);
00045
00046 void showMatches(const Mat& pim1, vector<Point2f>& pts1, const Mat& pim2, vector<Point2f>& pts2, Mat& drawImg);
00047
00049 void displayKeypoints(const Mat& image, const vector<Point2f>& pts, Mat& outImg, const Scalar& color, int thickness = 1);
00050
00052 void drawMatchPaths(Mat& src, Mat& dst, vector<KeyPoint>& kp1, vector<KeyPoint>& kp2, vector<vector<DMatch> >& matches1to2);
00053
00055 void drawMatchPaths(Mat& src, Mat& dst, vector<Point2f>& kp1, vector<Point2f>& kp2, const Scalar& color = CV_RGB(255, 0, 0));
00056
00058 void createMatchingMatrix(Mat& matchingMatrix, const Mat& desc1, const Mat& desc2);
00059
00061 void twoWayPriorityMatching(Mat& matchingMatrix, vector<vector<DMatch> >& bestMatches);
00062
00064 double reweightDistanceWithLinearSVM(double dist, double ratio, double gradient);
00065
00067 bool checkSufficientFeatureSpread(vector<Point2f>& pts, Size matSize, int minFeaturesInImage);
00068
00070 double calcDistance(double dist, double ratio, double *coeffs);
00071
00072 void sortMatches(vector<vector<DMatch> >& matches1to2);
00073 void filterMatches(vector<vector<DMatch> >& matches1to2, double threshold);
00074 void constrainMatchingMatrix(Mat& matchingMatrix, vector<KeyPoint>& kp1, vector<KeyPoint>& kp2, int distanceConstraint, double sizeConstraint);
00075
00076 void filterVectors(vector<Point2f>& pts1, vector<Point2f>& pts2, vector<uchar>& statusVec, double distanceConstraint = 10.0, bool epipolarCheck = false);
00077
00078 void assignMinimumRadii(vector<KeyPoint>& pts);
00079
00080 double estimateSalience(Mat& img, Point2f& center, double radius);
00081 double estimateStability(Mat& img, Point2f& center, double radius);
00082 bool constructPatch(Mat& img, Mat& patch, Point2f& center, double radius, int cells = 3);
00083 double getValueFromPatch(Mat& patch);
00084 double getPatchVariance(const Mat& patch) ;
00085 void assignEigenVectorResponses(const Mat& img, vector<KeyPoint>& pts);
00086 void assignStabilityResponses(const Mat& img, vector<KeyPoint>& pts);
00087 void extendKeypoints(Mat& img, vector<KeyPoint>& pts, bool updateStrength, bool updateLocation);
00088
00089 void filterBlandKeypoints(Mat& img, vector<KeyPoint>& pts, double thresh = 3.0);
00090
00091 double distanceBetweenPoints(const KeyPoint& pt1, const KeyPoint& pt2);
00092 double distanceBetweenPoints(const Point2f& pt1, const Point2f& pt2);
00093
00095 void filterTrackedPoints(vector<uchar>& statusVec, vector<float>& err, double maxError);
00096
00097
00098 void randomlyReducePoints(vector<Point2f>& pts, int maxFeatures);
00099
00100 void markStationaryPoints(vector<Point2f>&pts1, vector<Point2f>&pts2, vector<uchar>&statusVec);
00101
00102 void markAbsentPoints(vector<Point2f>&pts1, vector<Point2f>&pts2, vector<uchar>&statusVec, cv::Size imSize);
00103
00104 void initializeDrawingColors(Scalar* kColors, Scalar* tColors, int num);
00105
00106 void concatenateWithExistingPoints(vector<Point2f> &pts, vector<Point2f>& kps, int size, double min_sep = 3);
00107
00108 bool checkRoomForFeature(vector<Point2f>& pts, Point2f& candidate, double dist = 3.0);
00109
00110 void reduceProximalCandidates(vector<Point2f>& existing, vector<Point2f>& candidates);
00111
00112 void reduceEdgyCandidates(vector<Point2f>& candidates, cameraParameters& camData);
00113
00114 void reduceEdgyFeatures(vector<KeyPoint>& keypoints, cameraParameters& camData);
00115
00116 void markBlandTracks(Mat& img, vector<Point2f>& pts, vector<uchar>& statusVec, double thresh = 3.0);
00117
00118 void reduceUnrefinedCandidates(vector<Point2f>& candidates);
00119
00120 void markUnrefinedPoints(vector<Point2f>& pts, vector<uchar>&statusVec);
00121
00122 void markEdgyTracks(vector<Point2f>& pts, vector<uchar>& statusVec, cameraParameters& camData);
00123
00124 void reduceWeakFeatures(Mat& im, vector<KeyPoint>& feats, double minResponse);
00125
00126 #endif
