BRISK与ORB对比

#include <opencv2/opencv.hpp>#include "brisk/brisk.h"#include <fstream>#include <iostream>#include <list>#include <opencv2/features2d/features2d.hpp>#include <opencv2/legacy/legacy.hpp>#include <opencv2/nonfree/features2d.hpp>#include <opencv2/nonfree/nonfree.hpp>//standard configuration for the case of no file givenconst int n=12;const float r=2.5; // found 8-9-11, r=3.6, exponent 1.5void help(char** argv){std::cout << "This command line tool lets you evaluate different keypoint "<< "detectors, descriptors and matchers." << std::endl<< "usage:" << std::endl<< argv[0] << " <dataset> <2nd> <detector> <descriptor> [descFile1 descFile1]" << std::endl<< "    " << "dataset:    Folder containing the images. The images must be of .ppm "<< std::endl<< "    " << "            format. They must be named img#.ppm, and there must be "<< std::endl<< "    " << "            corresponding homographies named H1to#." << std::endl<< "    " << "            You can also use the prefix rot-, then 2nd will be the" << std::endl<< "    " << "            rotation in degrees." << std::endl<< "    " << "2nd:        Number of the 2nd image (the 1st one is always img1.ppm)"<< std::endl<< "    " << "            or the rotation in degrees, if rot- used." << std::endl<< "    " << "detector:   Feature detector, e.g. AGAST, or BRISK. You can add the "<< std::endl<< "    " << "            threshold, e.g. BRISK80 or SURF2000"<< std::endl<< "    " << "descriptor: Feature descriptor, e.g. SURF, BRIEF, BRISK or U-BRISK."<< std::endl<< "    " << "[descFile]: Optional: files with descriptors to act as detected points."<< std::endl;}int main(int argc, char ** argv) {//std::cout<<sizeof(cv::Point2i)<<" "<<sizeof(CvPoint)<<std::endl;// process command line argsif(argc != 5 && argc != 7 && argc != 1){help(argv);return 1;}// names of the two image filesstd::string fname1;std::string fname2;cv::Mat imgRGB1;cv::Mat imgRGB2;cv::Mat imgRGB3;bool do_rot=false;// standard file extensionsstd::vector<std::string> fextensions;fextensions.push_back(".bmp");fextensions.push_back(".jpeg");fextensions.push_back(".jpg");fextensions.push_back(".jpe");fextensions.push_back(".jp2");fextensions.push_back(".png");fextensions.push_back(".pgm");fextensions.push_back(".ppm");fextensions.push_back(".sr");fextensions.push_back(".ras");fextensions.push_back(".tiff");fextensions.push_back(".tif");// if no arguments are passed:if(argc==1){int i=0;int fextensions_size=fextensions.size();while(imgRGB1.empty()||imgRGB2.empty()){fname1 = "input041_1"+fextensions[i];fname2 = "input041_2"+fextensions[i];imgRGB1 = cv::imread(fname1);imgRGB2 = cv::imread(fname2);i++;if(i>=fextensions_size) break;}if (imgRGB2.empty()||imgRGB2.empty()){std::cout<<"image(s) "<<fname1<<", "<<fname2<<" not found." << std::endl;return 2;}}else{if(strncmp("rot-", argv[1], 4)==0){do_rot=true;int i=0;int fextensions_size=fextensions.size();while(imgRGB1.empty()){fname1 = std::string(argv[1]+4)+"/img1"+fextensions[i];imgRGB1 = cv::imread(fname1);i++;if(i>=fextensions_size) break;}if (imgRGB2.empty()){std::cout<<"image not found." << std::endl;return 2;}}else{int i=0;int fextensions_size=fextensions.size();while(imgRGB1.empty()||imgRGB2.empty()){fname1 = std::string(argv[1])+"/img1"+fextensions[i];fname2 = std::string(argv[1])+"/img"+std::string(argv[2])+fextensions[i];imgRGB1 = cv::imread(fname1);imgRGB2 = cv::imread(fname2);i++;if(i>=fextensions_size) break;}if (imgRGB2.empty()||imgRGB2.empty()){std::cout<<"image(s)"<<fname1<<", "<<fname2<<" not found." << std::endl;return 2;}}//unsigned int N=atoi(argv[3]);if (imgRGB1.empty()){fname1 = std::string(argv[1]+4)+"/img1.pgm";imgRGB1 = cv::imread(fname1);if (imgRGB1.empty()){std::cout<<"image not found at " << fname1 << std::endl;return 2;}}}// convert to grayscalecv::Mat imgGray1;cv::cvtColor(imgRGB1, imgGray1, CV_BGR2GRAY);cv::Mat imgGray2;if(!do_rot){cv::cvtColor(imgRGB2, imgGray2, CV_BGR2GRAY);}// run FAST in first imagestd::vector<cv::KeyPoint> keypoints, keypoints2;int threshold;// create the detector:cv::Ptr<cv::FeatureDetector> detector;if(argc==1){detector = new cv::BriskFeatureDetector(30,4);}else{if(strncmp("FAST", argv[3], 4 )==0){threshold = atoi(argv[3]+4);if(threshold==0)threshold = 30;detector = new cv::FastFeatureDetector(threshold,true);}else if(strncmp("AGAST", argv[3], 5 )==0){threshold = atoi(argv[3]+5);if(threshold==0)threshold = 30;detector = new cv::BriskFeatureDetector(threshold,0);}else if(strncmp("BRISK", argv[3], 5 )==0){threshold = atoi(argv[3]+5);if(threshold==0)threshold = 30;detector = new cv::BriskFeatureDetector(threshold,4);}else if(strncmp("SURF", argv[3], 4 )==0){threshold = atoi(argv[3]+4);if(threshold==0)threshold = 400;detector = new cv::SurfFeatureDetector(threshold);}/*else if(strncmp("SIFT", argv[3], 4 )==0){float thresh = 0.04 / cv::SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS / 2.0;float edgeThreshold=atof(argv[3]+4);if(edgeThreshold==0)thresh = 10.0;detector = new cv::SiftFeatureDetector(thresh,edgeThreshold);}*/else{detector = cv::FeatureDetector::create( argv[3] );}if (detector.empty()){std::cout << "Detector " << argv[3] << " not recognized. Check spelling!" << std::endl;return 3;}}// run the detector:if(argc == 7){// try to read descriptor filesstd::string desc1 = std::string(argv[5]);std::string desc2 = std::string(argv[6]);std::ifstream descf1(desc1.c_str());if(!descf1.good()){std::cout<<"Descriptor file not found at " << desc1<<std::endl;return 3;}std::ifstream descf2(desc2.c_str());if(!descf2.good()){std::cout<<"Descriptor file not found at " << desc2<<std::endl;return 3;}// fill the keypointsstd::string str1;std::stringstream strstrm1;std::getline(descf1,str1);std::getline(descf1,str1);while(!descf1.eof()){std::getline(descf1,str1);float x,y,a;strstrm1.str(str1);strstrm1>>x;strstrm1>>y;strstrm1>>a;float r=sqrt(1.0/a);keypoints.push_back(cv::KeyPoint(x, y, 4.0*r));}std::string str2;std::stringstream strstrm2;std::getline(descf2,str2);std::getline(descf2,str2);while(!descf2.eof()){std::getline(descf2,str2);float x,y,a;strstrm2.str(str2);strstrm2>>x;strstrm2>>y;strstrm2>>a;float r=sqrt(1.0/a);keypoints2.push_back(cv::KeyPoint(x, y, 4.0*r));}// clean updescf1.close();descf2.close();}else{detector->detect(imgGray1,keypoints);detector->detect(imgGray2,keypoints2);}// now the extractor:bool hamming=true;cv::Ptr<cv::DescriptorExtractor> descriptorExtractor;// now the extractor:if(argc==1){descriptorExtractor = new cv::BriskDescriptorExtractor();}else{if(std::string(argv[4])=="BRISK"){descriptorExtractor = new cv::BriskDescriptorExtractor();}else if(std::string(argv[4])=="U-BRISK"){descriptorExtractor = new cv::BriskDescriptorExtractor(false);}else if(std::string(argv[4])=="SU-BRISK"){descriptorExtractor = new cv::BriskDescriptorExtractor(false,false);}else if(std::string(argv[4])=="S-BRISK"){descriptorExtractor = new cv::BriskDescriptorExtractor(true,false);}else if(std::string(argv[4])=="BRIEF"){descriptorExtractor = new cv::BriefDescriptorExtractor(64);}/*else if(std::string(argv[4])=="CALONDER"){descriptorExtractor = new cv::CalonderDescriptorExtractor<float>("current.rtc");hamming=false;}else if(std::string(argv[4])=="SURF"){descriptorExtractor = new cv::SurfDescriptorExtractor();hamming=false;}else if(std::string(argv[4])=="SIFT"){descriptorExtractor = new cv::SiftDescriptorExtractor();hamming=false;}*/else{descriptorExtractor = cv::DescriptorExtractor::create( argv[4] );}if (descriptorExtractor.empty()){hamming=false;std::cout << "Descriptor " << argv[4] << " not recognized. Check spelling!" << std::endl;return 4;}}// get the descriptorscv::Mat descriptors, descriptors2;std::vector<cv::DMatch> indices;// first imagedescriptorExtractor->compute(imgGray2,keypoints2,descriptors2);// and the second onedescriptorExtractor->compute(imgGray1,keypoints,descriptors);// matchingstd::vector<std::vector<cv::DMatch> > matches;cv::Ptr<cv::DescriptorMatcher> descriptorMatcher;//if(hamming)descriptorMatcher = new cv::BruteForceMatcher<cv::Hamming>();//else//descriptorMatcher = new cv::BruteForceMatcher<cv::L2<float> >();//if(hamming)descriptorMatcher->radiusMatch(descriptors2,descriptors,matches,90.0);//else//descriptorMatcher->radiusMatch(descriptors2,descriptors,matches,0.21);cv::Mat outimg;// drawing//	drawMatches(imgRGB2, keypoints2, imgRGB1, keypoints,matches,outimg,//		 cv::Scalar(0,255,0), cv::Scalar(0,0,255),//	std::vector<std::vector<char> >(), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS );cv::Mat imgMatch_Brisk;drawMatches(imgRGB2, keypoints2, imgRGB1, keypoints, matches, imgMatch_Brisk,cv::Scalar::all(-1), cv::Scalar::all(-1),std::vector<std::vector<char> >(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);//cv::namedWindow("Matches");//cv::imshow("Matches1", outimg);cv::imshow("MatchesBRISK", imgMatch_Brisk);cv::waitKey();return 0;}