1 | /* |
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2 | * Speeded-Up Robust Features (SURF) |
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3 | * http://people.ee.ethz.ch/~surf |
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4 | * |
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5 | * Sample application for feature matching using nearest-neighbor |
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6 | * ratio method. |
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7 | * |
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8 | * BUILD USING "make match.ln". |
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9 | * |
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10 | * Author: Andreas Ess |
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11 | * |
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12 | * Copyright (2006): ETH Zurich, Switzerland |
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13 | * Katholieke Universiteit Leuven, Belgium |
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14 | * All rights reserved. |
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15 | * |
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16 | * For details, see the paper: |
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17 | * Herbert Bay, Tinne Tuytelaars, Luc Van Gool, |
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18 | * "SURF: Speeded Up Robust Features" |
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19 | * Proceedings of the ninth European Conference on Computer Vision, May 2006 |
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20 | * |
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21 | * Permission to use, copy, modify, and distribute this software and |
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22 | * its documentation for educational, research, and non-commercial |
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23 | * purposes, without fee and without a signed licensing agreement, is |
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24 | * hereby granted, provided that the above copyright notice and this |
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25 | * paragraph appear in all copies modifications, and distributions. |
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26 | * |
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27 | * Any commercial use or any redistribution of this software |
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28 | * requires a license from one of the above mentioned establishments. |
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29 | * |
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30 | * For further details, contact Andreas Ess (aess@vision.ee.ethz.ch). |
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31 | */ |
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32 | |
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33 | /** |
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34 | modified by Jeff Michels to add the requirement that matches |
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35 | are only output if the point in im2 is the best match for the |
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36 | point in im1 AND vice versa. |
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37 | |
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38 | modified by Ashutosh Saxena, to look for mactches only near the epipolar lines. |
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39 | |
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40 | **/ |
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41 | |
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42 | #include <vector> |
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43 | #include <string> |
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44 | #include <iostream> |
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45 | #include <fstream> |
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46 | #include <cmath> |
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47 | |
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48 | #include "ipoint.h" |
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49 | |
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50 | |
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51 | #include "image.h" |
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52 | #include "imload.h" |
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53 | |
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54 | |
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55 | using namespace std; |
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56 | using namespace surf; |
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57 | |
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58 | // Length of descriptor vector, ugly, global variable |
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59 | unsigned int vlen; |
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60 | const double epiThresh = 0.5; // MAGIC NUMBER: ASHUTOSH |
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61 | |
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62 | |
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63 | // Calculate square distance of two vectors |
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64 | double distSquare(double *v1, double *v2, int n) { |
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65 | double dsq = 0.; |
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66 | while (n--) { |
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67 | dsq += (*v1 - *v2) * (*v1 - *v2); |
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68 | v1++; |
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69 | v2++; |
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70 | } |
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71 | return dsq; |
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72 | } |
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73 | |
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74 | // Find closest interest point in a list, given one interest point |
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75 | int findMatch(const Ipoint& ip1, const vector< Ipoint >& ipts, double * l2) { |
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76 | double mind = 1e100, second = 1e100; |
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77 | |
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78 | int match = -1; |
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79 | |
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80 | for (unsigned i = 0; i < ipts.size(); i++) { |
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81 | // Take advantage of Laplacian to speed up matching |
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82 | if (ipts[i].laplace != ip1.laplace) |
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83 | continue; |
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84 | |
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85 | double residual = l2[0]*ipts[i].x + l2[1]*ipts[i].y + l2[2]; |
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86 | if ( residual > epiThresh || residual < -epiThresh ) // if the point is too far from epipolar line |
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87 | continue; |
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88 | |
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89 | double d = distSquare(ipts[i].ivec, ip1.ivec, vlen); |
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90 | |
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91 | if (d < mind) { |
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92 | second = mind; |
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93 | mind = d; |
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94 | match = i; |
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95 | } else if (d < second) { |
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96 | second = d; |
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97 | } |
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98 | } |
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99 | |
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100 | if (mind < 0.7 * second) //0.8 |
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101 | return match; |
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102 | |
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103 | return -1; |
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104 | } |
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105 | |
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106 | bool readFundamentalMatrix(string filename, double *fundMatrix) |
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107 | { |
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108 | ifstream ipfile(filename.c_str()); |
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109 | if( !ipfile ) { |
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110 | cerr << "ERROR in readingFundamentalMatrix:" |
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111 | << "Couldn't open file '" << filename.c_str() << "'!" << endl; |
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112 | return false; |
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113 | } |
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114 | ipfile >> fundMatrix[0] >> fundMatrix[1] >> fundMatrix[2] |
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115 | >> fundMatrix[3] >> fundMatrix[4] >> fundMatrix[5] |
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116 | >> fundMatrix[6] >> fundMatrix[7] >> fundMatrix[8]; |
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117 | |
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118 | /* cerr << "Fundamental Matrix:" << endl |
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119 | << fundMatrix[0] << " " << fundMatrix[1] << " " << fundMatrix[2] << endl |
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120 | << fundMatrix[3] << " " << fundMatrix[4] << " " << fundMatrix[5] << endl |
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121 | << fundMatrix[6] << " " << fundMatrix[7] << " " << fundMatrix[8] << endl;*/ |
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122 | return true; |
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123 | } |
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124 | |
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125 | |
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126 | void printAllDistances(const vector< Ipoint >& ipts1, const vector< Ipoint >& ipts2) { |
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127 | for (unsigned int i = 0; i < ipts1.size(); i++) { |
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128 | for (unsigned int j = 0; j < ipts2.size(); j++) { |
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129 | double dist = distSquare(ipts1[i].ivec, ipts2[j].ivec, vlen); |
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130 | cout << i << " " << j << " " << dist << endl; |
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131 | } |
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132 | } |
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133 | } |
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134 | |
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135 | // essentially the same as findMatches except that it deletes matches that |
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136 | // aren't symetric. |
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137 | vector <int> symMatches(const vector< Ipoint >& ipts1, const vector< Ipoint >& ipts2, |
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138 | bool isDense, double * fundMatrix) { |
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139 | vector< int > bestIndex1(ipts1.size()); |
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140 | vector< int > bestIndex2(ipts2.size()); |
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141 | vector< double > bestScore1(ipts1.size()); |
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142 | vector< double > bestScore2(ipts2.size()); |
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143 | vector< double > secondScore1(ipts1.size()); |
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144 | vector< double > secondScore2(ipts2.size()); |
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145 | |
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146 | // Initialize all of the vectors |
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147 | for (unsigned int i = 0; i < ipts1.size(); i++) { |
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148 | bestIndex1[i] = -1; |
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149 | bestScore1[i]= 1e100; |
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150 | secondScore1[i] = 1e100; |
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151 | } |
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152 | for (unsigned int j = 0; j < ipts2.size(); j++) { |
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153 | bestIndex2[j] = -1; |
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154 | bestScore2[j]= 1e100; |
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155 | secondScore2[j] = 1e100; |
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156 | } |
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157 | |
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158 | /* |
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159 | long filteredOut = 0; |
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160 | long collectedIn = 0; |
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161 | */ |
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162 | /*cerr << "Fundamental Matrix inside symmatch:" << endl |
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163 | << fundMatrix[0] << " " << fundMatrix[1] << " " << fundMatrix[2] << endl |
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164 | << fundMatrix[3] << " " << fundMatrix[4] << " " << fundMatrix[5] << endl |
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165 | << fundMatrix[6] << " " << fundMatrix[7] << " " << fundMatrix[8] << endl; |
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166 | */ |
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167 | |
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168 | // Main loop - per point in im1 do a linear scan of points in im2 |
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169 | cerr << "Computing Initial Matches......" << endl; |
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170 | int total = 0; |
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171 | for (unsigned int i = 0; i < ipts1.size(); i++) { |
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172 | double l2[3]; |
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173 | |
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174 | l2[0] = fundMatrix[0]*ipts1[i].x + fundMatrix[1]*ipts1[i].y + fundMatrix[2]; |
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175 | l2[1] = fundMatrix[3]*ipts1[i].x + fundMatrix[4]*ipts1[i].y + fundMatrix[5]; |
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176 | l2[2] = fundMatrix[6]*ipts1[i].x + fundMatrix[7]*ipts1[i].y + fundMatrix[8]; |
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177 | |
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178 | for (unsigned int j = 0; j < ipts2.size(); j++) { |
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179 | if (ipts1[i].laplace != ipts2[j].laplace) |
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180 | continue; |
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181 | |
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182 | double residual = l2[0]*ipts2[j].x + l2[1]*ipts2[j].y + l2[2]; |
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183 | if ( residual > epiThresh || residual < -epiThresh ) // if the point is too far from epipolar line |
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184 | continue; |
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185 | /* { //cerr << "residual = " << residual << endl; |
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186 | filteredOut++; |
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187 | continue; |
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188 | } |
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189 | else |
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190 | { |
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191 | collectedIn++; |
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192 | //cerr << "Residual was less than 1.0" << endl; |
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193 | } |
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194 | */ |
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195 | |
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196 | //record best and second best scores and best index for each |
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197 | //point in each image |
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198 | double dist = distSquare(ipts1[i].ivec, ipts2[j].ivec, vlen); |
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199 | if (dist < bestScore1[i]) { |
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200 | bestIndex1[i] = j; |
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201 | secondScore1[i] = bestScore1[i]; |
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202 | bestScore1[i] = dist; |
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203 | } |
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204 | else if (dist < secondScore1[i]) { |
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205 | secondScore1[i] = dist; |
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206 | } |
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207 | if (dist < bestScore2[j]) { |
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208 | bestIndex2[j] = i; |
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209 | secondScore2[j] = bestScore2[j]; |
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210 | bestScore2[j] = dist; |
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211 | } else if (dist < secondScore2[j]) { |
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212 | secondScore2[j] = dist; |
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213 | } |
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214 | } |
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215 | } |
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216 | //cout << "Matched " << total << " points." << endl; |
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217 | //return bestIndex1; //for threshold |
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218 | |
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219 | /******************************* |
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220 | //killed same img matches - should be covered by match symetry anyway |
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221 | |
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222 | //update second scores with best match from same image (for image 1) |
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223 | for (int i = 0; i < ipts1.size(); i++) { |
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224 | for (int j = i+1; j < ipts1.size(); j++) { |
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225 | double dist = distSquare(ipts1[i].ivec, ipts1[j].ivec, vlen); |
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226 | if (dist < secondScore1[i]){// && dist < 0.3) { |
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227 | //cout << "im1 point " << i << " best: " << bestScore1[i] << " second: " << secondScore1[i] << |
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228 | // "im1 point " << j << ": " << dist << endl; |
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229 | secondScore1[i] = dist; |
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230 | } |
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231 | } |
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232 | } |
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233 | |
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234 | //update second scores with best match from same image (for image 2) |
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235 | for (int i = 0; i < ipts2.size(); i++) { |
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236 | for (int j = i+1; j < ipts2.size(); j++) { |
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237 | double dist = distSquare(ipts2[i].ivec, ipts2[j].ivec, vlen); |
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238 | if (dist < secondScore2[j]){// && dist < 0.3){ |
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239 | //cout << "im2 point " << i << " best: " << bestScore2[i] << " second: " << secondScore2[i] << |
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240 | // "im2 point " << j << ": " << dist << endl; |
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241 | secondScore2[i] = dist; |
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242 | } |
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243 | } |
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244 | } |
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245 | ******************************/ |
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246 | |
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247 | //if the best score is no longer the best or isn't good enough relative |
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248 | // to the second, kill the index |
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249 | |
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250 | cerr << "Killing ambigouus matches......" << endl; |
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251 | //image 1 |
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252 | for (unsigned int i = 0; i < ipts1.size(); i++) { |
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253 | if (secondScore1[i] * 0.8 < bestScore1[i]) { |
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254 | bestIndex1[i] = -1; |
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255 | } |
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256 | } |
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257 | |
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258 | //image 2 |
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259 | for (unsigned int i = 0; i < ipts2.size(); i++) { |
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260 | if (secondScore2[i] * 0.8 < bestScore2[i]) { |
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261 | bestIndex2[i] = -1; |
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262 | } |
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263 | } |
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264 | |
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265 | cerr << "Pruning for symmetricity......" << endl; |
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266 | //if the best matches aren't mutual, kill the match |
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267 | for (unsigned int i = 0; i < ipts1.size(); i++) { |
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268 | int index = bestIndex1[i]; |
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269 | if (index != -1) { |
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270 | if (bestIndex2[index] != i) { |
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271 | //cout << "Non symetric match. im1(" << i << ")->" << index << " but im2(" << index << |
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272 | // ")->" << bestIndex2[index] << endl; |
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273 | bestIndex1[i] = -1; |
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274 | } else { |
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275 | cout << " Matched feature " << i << " in image 1 with feature " |
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276 | << index << " in image 2." << endl; |
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277 | total++; |
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278 | } |
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279 | } |
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280 | } |
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281 | |
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282 | cout << "Matched " << total << " points." << endl; |
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283 | // cerr << "Filtered Out = " << filteredOut << ", collected in = " << collectedIn << endl; |
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284 | return bestIndex1; |
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285 | } |
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286 | |
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287 | // Find all possible matches between two images |
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288 | vector< int > findMatches(const vector< Ipoint >& ipts1, const vector< Ipoint >& ipts2, |
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289 | bool isDense, double * fundMatrix) { |
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290 | vector< int > matches(ipts1.size()); |
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291 | int c = 0; |
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292 | for (unsigned int i = 0; i < ipts1.size(); i++) { |
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293 | double l2[3]; |
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294 | l2[0] = fundMatrix[0]*ipts1[i].x + fundMatrix[1]*ipts1[i].y + fundMatrix[2]; |
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295 | l2[1] = fundMatrix[3]*ipts1[i].x + fundMatrix[4]*ipts1[i].y + fundMatrix[5]; |
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296 | l2[2] = fundMatrix[6]*ipts1[i].x + fundMatrix[7]*ipts1[i].y + fundMatrix[8]; |
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297 | |
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298 | int match = findMatch(ipts1[i], ipts2, l2); |
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299 | matches[i] = match; |
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300 | if (match != -1) { |
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301 | cout << " Matched feature " << i << " in image 1 with feature " |
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302 | << match << " in image 2." << endl; |
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303 | c++; |
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304 | } |
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305 | } |
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306 | cout << " --> Matched " << c << " features of " << ipts1.size() << " in image 1." << endl; |
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307 | return matches; |
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308 | } |
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309 | |
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310 | // Load the interest points from a regular ASCII file |
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311 | void loadIpoints(string sFileName, vector< Ipoint >& ipts) { |
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312 | ifstream ipfile(sFileName.c_str()); |
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313 | if( !ipfile ) { |
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314 | cerr << "ERROR in loadIpoints(): " |
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315 | << "Couldn't open file '" << sFileName.c_str() << "'!" << endl; |
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316 | return; |
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317 | } |
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318 | |
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319 | // Load the file header |
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320 | unsigned count; |
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321 | ipfile >> vlen >> count; |
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322 | |
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323 | // create a new interest point vector |
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324 | ipts.clear(); |
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325 | ipts.resize(count); |
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326 | |
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327 | // Load the interest points in Mikolajczyk's format |
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328 | for (unsigned n = 0; n < count; n++) { |
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329 | // circular regions with diameter 5 x scale |
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330 | float x, y, a, b, c; |
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331 | |
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332 | // Read in region data, though not needed for actual matching |
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333 | ipfile >> x >> y >> a >> b >> c; |
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334 | |
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335 | float det = sqrt((a-c)*(a-c) + 4.0*b*b); |
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336 | float e1 = 0.5*(a+c + det); |
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337 | float e2 = 0.5*(a+c - det); |
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338 | float l1 = (1.0/sqrt(e1)); |
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339 | float l2 = (1.0/sqrt(e2)); |
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340 | float sc = sqrt( l1*l2 ); |
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341 | |
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342 | ipts[n].x = x; |
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343 | ipts[n].y = y; |
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344 | ipts[n].scale = sc/2.5; |
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345 | |
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346 | // Read in Laplacian |
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347 | ipfile >> ipts[n].laplace; |
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348 | |
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349 | // SURF makes Laplacian part of descriptor, so skip it.. |
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350 | ipts[n].ivec = new double[vlen - 1]; |
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351 | for (unsigned int j = 0; j < vlen - 1; j++) |
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352 | ipfile >> ipts[n].ivec[j]; |
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353 | } |
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354 | } |
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355 | |
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356 | void drawLine(Image *im, int x1, int y1, int x2, int y2) { |
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357 | if ((x1 < 0 && x2 < 0) || (y1 < 0 && y2 < 0) || |
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358 | (x1 >= im->getWidth() && x2 >= im->getWidth()) || |
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359 | (y1 >= im->getHeight() && y2 >= im->getHeight())) |
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360 | return; |
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361 | |
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362 | bool steep = std::abs(y2 - y1) > std::abs(x2 - x1); |
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363 | if (steep) { |
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364 | int t; |
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365 | t = x1; |
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366 | x1 = y1; |
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367 | y1 = t; |
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368 | t = y2; |
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369 | y2 = x2; |
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370 | x2 = t; |
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371 | } |
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372 | |
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373 | if (x1 > x2) { |
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374 | // Swap points |
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375 | int t; |
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376 | t = x1; |
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377 | x1 = x2; |
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378 | x2 = t; |
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379 | t = y1; |
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380 | y1 = y2; |
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381 | y2 = t; |
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382 | } |
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383 | |
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384 | int deltax = x2 - x1; |
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385 | int deltay = std::abs(y2 - y1); |
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386 | |
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387 | int error = 0; |
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388 | int y = y1; |
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389 | int ystep = y1 < y2 ? 1 : -1; |
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390 | |
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391 | for (int x = x1; x < x2; x++) { |
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392 | if (steep) { |
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393 | if (x >= 0 && y >= 0 && y < im->getWidth() && x < im->getHeight()) |
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394 | im->setPix(y, x, 1); |
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395 | } else { |
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396 | if (x >= 0 && y >= 0 && x < im->getWidth() && y < im->getHeight()) |
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397 | im->setPix(x, y, 1); |
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398 | |
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399 | } |
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400 | error += deltay; |
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401 | |
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402 | if (2 * error > deltax) { |
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403 | y += ystep; |
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404 | error -= deltax; |
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405 | } |
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406 | } |
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407 | } |
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408 | |
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409 | void drawCross(Image *im, int x, int y, int s = 5) { |
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410 | for (int x1 = x - s; x1 <= x + s; x1++) |
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411 | im->setPix(x1, y, 1); |
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412 | for (int y1 = y - s; y1 <= y + s; y1++) |
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413 | im->setPix(x, y1, 1); |
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414 | } |
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415 | |
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416 | int main(int argc, char **argv) { |
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417 | Image *im1, *im2; |
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418 | |
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419 | ImLoad ImageLoader; |
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420 | vector< Ipoint > ipts1, ipts2; |
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421 | bool drawc = false; |
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422 | bool usesym = false; |
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423 | bool printAllDist = false; |
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424 | |
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425 | double *fundMatrix; |
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426 | fundMatrix = new double[9]; |
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427 | bool isDense = false; |
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428 | |
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429 | char ofname[100]; |
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430 | |
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431 | im1 = im2 = NULL; |
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432 | ofname[0] = 0; |
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433 | |
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434 | // Read the arguments |
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435 | int arg = 0; |
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436 | while (++arg < argc) { |
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437 | if (! strcmp(argv[arg], "-k1")) |
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438 | loadIpoints(argv[++arg], ipts1); |
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439 | if (! strcmp(argv[arg], "-k2")) |
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440 | loadIpoints(argv[++arg], ipts2); |
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441 | |
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442 | if (! strcmp(argv[arg], "-F")) |
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443 | isDense = readFundamentalMatrix(argv[++arg], fundMatrix); |
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444 | |
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445 | if (! strcmp(argv[arg], "-im1")) |
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446 | im1 = ImageLoader.readImage(argv[++arg]); |
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447 | if (! strcmp(argv[arg], "-im2")) |
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448 | im2 = ImageLoader.readImage(argv[++arg]); |
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449 | if (! strcmp(argv[arg], "-o")) |
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450 | strcpy(ofname, argv[++arg]); |
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451 | if (! strcmp(argv[arg], "-c")) |
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452 | drawc = true; |
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453 | if (! strcmp(argv[arg], "-s")) |
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454 | usesym = true; |
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455 | if (! strcmp(argv[arg], "-d")) |
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456 | printAllDist = true; |
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457 | |
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458 | } |
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459 | |
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460 | if (ipts1.size() == 0 || ipts2.size() == 0) { |
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461 | cout << "Usage:" << endl; |
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462 | cout << " match [-s] -k1 out1.surf -k2 out2.surf -im1 img1.pgm -im2 img2.pgm -o out.pgm [-F fundamentalMatrixFilename]" << endl << endl; |
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463 | cout << "For each feature in first descriptor file, find best in second according to " |
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464 | << "nearest neighbor ratio strategy. Display matches in out.pgm, generated " |
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465 | << "from img1.pgm and img2.pgm. Use -c to draw crosses at interest points." << endl; |
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466 | |
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467 | cout << "use -s to require that the best match be symetric."<<endl; |
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468 | cout << "use -d to print out all of the n*m distances between points instead of matching."<<endl; |
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469 | return 1; |
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470 | } |
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471 | |
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472 | vector< int > matches; |
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473 | if (usesym) { |
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474 | cerr << "Using symmetric Dense matches, descriptor length " << vlen << endl; |
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475 | matches = symMatches(ipts1, ipts2, isDense, fundMatrix); |
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476 | } else if (printAllDist){ |
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477 | printAllDistances(ipts1, ipts2); |
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478 | } else { |
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479 | matches = findMatches(ipts1, ipts2, isDense, fundMatrix); |
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480 | } |
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481 | |
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482 | |
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483 | if (im1 != NULL && im2 != NULL && ofname[0] != 0) { |
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484 | Image res(max(im1->getWidth(), im2->getWidth()), im1->getHeight() + im2->getHeight()); |
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485 | for (int x = 0; x < im1->getWidth(); x++) |
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486 | for (int y = 0; y < im1->getHeight(); y++) |
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487 | res.setPix(x, y, im1->getPix(x, y)); |
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488 | for (int x = 0; x < im2->getWidth(); x++) |
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489 | for (int y = 0; y < im2->getHeight(); y++) |
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490 | res.setPix(x, y + im1->getHeight(), im2->getPix(x, y)); |
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491 | |
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492 | // Draw lines for matches |
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493 | for (unsigned i = 0; i < matches.size(); i++) { |
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494 | if (matches[i] != -1) { |
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495 | drawLine(&res, (int)ipts1[i].x, (int)ipts1[i].y, |
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496 | (int)ipts2[matches[i]].x, (int)(ipts2[matches[i]].y + im1->getHeight())); |
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497 | } |
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498 | } |
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499 | |
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500 | // Draw crosses at interest point locations |
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501 | if (drawc) { |
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502 | for (unsigned i = 0; i < ipts1.size(); i++) |
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503 | drawCross(&res, (int)ipts1[i].x, (int)ipts1[i].y); |
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504 | for (unsigned i = 0; i < ipts2.size(); i++) |
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505 | drawCross(&res, (int)ipts2[i].x, (int)ipts2[i].y + im1->getHeight()); |
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506 | } |
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507 | |
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508 | ImageLoader.saveImage(ofname, &res); |
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509 | } |
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510 | |
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511 | |
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512 | return 0; |
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513 | } |
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