added Image matching file

ImageMatching.py

@@ -0,0 +1,29 @@
+from os import walk
+import os
+DBDIR = "H:/Photocore/RoomWall"
+DBNAME = "RoomWall"
+CODEDIR = "H:/Photocore/fbow-windows/build/bin/Release"
+DESCRIPTOR = "orb"
+RESULTSDIR = "H:/Photocore/DBoWResults"
+OUTPUT = RESULTSDIR + "/" + DESCRIPTOR + DBNAME
+MKDIRCMD = "mkdir " + OUTPUT
+FeaturesExtractCmd = CODEDIR + "/" + "fbow_create_voc_step0.exe " + DESCRIPTOR + " " + OUTPUT + "/features"
+VocabCreateCmd = CODEDIR + "/" + "fbow_create_voc_step1.exe " + OUTPUT + "/features " + OUTPUT + "/out.fbow"
+ImageMatchingCmd = CODEDIR + "/" + "image_matching.exe " + OUTPUT + "/out.fbow " + OUTPUT + " "
+
+imagesFileName = ""
+i = 1
+for (dirpath, dirnames, filenames) in walk(DBDIR):
+    for filename in filenames:
+        imagesFileName += " " + DBDIR + "/" + filename
+    break
+FeaturesExtractCmd += imagesFileName
+ImageMatchingCmd += imagesFileName
+print("cd " + RESULTSDIR + " & " + "mkdir " + DESCRIPTOR + DBNAME)
+os.system("cd " + RESULTSDIR + " & " + "mkdir " + DESCRIPTOR + DBNAME)
+print(FeaturesExtractCmd)
+os.system(FeaturesExtractCmd)
+print(VocabCreateCmd)
+os.system(VocabCreateCmd)
+print(ImageMatchingCmd)
+os.system(ImageMatchingCmd)

utils/CMakeLists.txt

@@ -6,5 +6,6 @@ ADD_EXECUTABLE(fbow_create_voc_step0 fbow_create_voc_step0.cpp)
 ADD_EXECUTABLE(fbow_create_voc_step1 fbow_create_voc_step1.cpp)
 #ADD_EXECUTABLE(fbow_create_voc_step1_opencv fbow_create_voc_step1_opencv.cpp)
 ADD_EXECUTABLE(fbow_transform fbow_transform.cpp)
+ADD_EXECUTABLE(image_matching image_matching.cpp)
 
 #INSTALL(TARGETS  slammarker      RUNTIME DESTINATION bin)

utils/image_matching.cpp

@@ -0,0 +1,149 @@
+//loads a vocabulary, and a image. Extracts image feaures and then  compute the bow of the image
+#include "fbow.h"
+#include <iostream>
+#include <map>
+using namespace std;
+
+// OpenCV
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#ifdef USE_CONTRIB
+#include <opencv2/xfeatures2d/nonfree.hpp>
+#include <opencv2/xfeatures2d.hpp>
+#endif
+
+
+#include <chrono>
+class CmdLineParser { int argc; char **argv; public: CmdLineParser(int _argc, char **_argv) :argc(_argc), argv(_argv) {}  bool operator[] (string param) { int idx = -1;  for (int i = 0; i<argc && idx == -1; i++) if (string(argv[i]) == param) idx = i;    return (idx != -1); } string operator()(string param, string defvalue = "-1") { int idx = -1;    for (int i = 0; i<argc && idx == -1; i++) if (string(argv[i]) == param) idx = i; if (idx == -1) return defvalue;   else  return (argv[idx + 1]); } };
+
+vector< cv::Mat  >  loadFeatures(std::vector<string> path_to_images, string descriptor = "") throw (std::exception) {
+    //select detector
+    cv::Ptr<cv::Feature2D> fdetector;
+    if (descriptor == "orb")        fdetector = cv::ORB::create(2000);
+    else if (descriptor == "brisk") fdetector = cv::BRISK::create();
+#ifdef OPENCV_VERSION_3
+    else if (descriptor == "akaze") fdetector = cv::AKAZE::create(cv::AKAZE::DESCRIPTOR_MLDB, 0, 3, 1e-4);
+#endif
+#ifdef USE_CONTRIB
+    else if (descriptor == "surf")  fdetector = cv::xfeatures2d::SURF::create(15, 4, 2);
+#endif
+
+    else throw std::runtime_error("Invalid descriptor");
+    assert(!descriptor.empty());
+    vector<cv::Mat>    features;
+
+
+    cout << "Extracting   features..." << endl;
+    for (size_t i = 0; i < path_to_images.size(); ++i)
+    {
+        vector<cv::KeyPoint> keypoints;
+        cv::Mat descriptors;
+        cout << "reading image: " << path_to_images[i] << endl;
+        cv::Mat image = cv::imread(path_to_images[i], 0);
+        if (image.empty())throw std::runtime_error("Could not open image" + path_to_images[i]);
+        cout << "extracting features" << endl;
+        fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
+        features.push_back(descriptors);
+        cout << "done detecting features" << endl;
+    }
+    return features;
+}
+
+int main(int argc, char **argv) {
+    CmdLineParser cml(argc, argv);
+    try {
+        if (argc<3 || cml["-h"]) throw std::runtime_error("Usage: fbow   image [descriptor]");
+        fbow::Vocabulary voc;
+        voc.readFromFile(argv[1]);
+
+        string desc_name = voc.getDescName();
+        cout << "voc desc name=" << desc_name << endl;
+        vector<vector<cv::Mat> > features(argc - 3);
+        vector<map<double, int> > scores;
+        vector<string > filenames(argc - 3);
+        string outDir = argv[2];
+        for (int i = 3; i < argc; ++i)
+        {
+            filenames[i - 3] = { argv[i] };
+        }
+        for (int i = 0; i<filenames.size(); ++i)
+            features[i] = loadFeatures({ filenames[i] }, desc_name);
+
+        fbow::fBow vv, vv2;
+        int avgScore = 0;
+        int counter = 0;
+        auto t_start = std::chrono::high_resolution_clock::now();
+        for (int i = 0; i<features.size(); ++i)
+        {
+            vv = voc.transform(features[i][0]);
+            map<double, int> score;
+            for (int j = 0; j<features.size(); ++j)
+            {
+
+                vv2 = voc.transform(features[j][0]);
+                double score1 = vv.score(vv, vv2);
+                counter++;
+                //		if(score1 > 0.01f)
+                {
+                    score.insert(pair<double, int>(score1, j));
+                }
+                printf("%f, ", score1);
+            }
+            printf("\n");
+            scores.push_back(score);
+        }
+        auto t_end = std::chrono::high_resolution_clock::now();
+        avgScore += double(std::chrono::duration_cast<std::chrono::milliseconds>(t_end - t_start).count());
+
+        std::string command;
+        int j = 0;
+        for (int i = 0; i < scores.size(); i++)
+        {
+            std::stringstream str;
+
+            command = "mkdir ";
+            str << i;
+            command += str.str();
+            command += "/";
+            system(command.c_str());
+
+            command = "cp ";
+            command += filenames[i];
+            command += " ";
+            command += str.str();
+            command += "/source.JPG";
+
+        system((string("cd ") + outDir).c_str());
+            system(command.c_str());
+            j = 0;
+            for (auto it = scores[i].begin(); it != scores[i].end(); it++)
+            {
+                ++j;
+                std::stringstream str2;
+                command = "cp ";
+                command += filenames[it->second];
+                command += " ";
+                command += str.str();
+                command += "/";
+                str2 << j << "-";
+                str2 << it->first;
+                command += str2.str();
+                command += ".JPG";
+                system(command.c_str());
+            }
+
+        }
+        /*
+        {
+        cout<<vv.begin()->first<<" "<<vv.begin()->second<<endl;
+        cout<<vv.rbegin()->first<<" "<<vv.rbegin()->second<<endl;
+        }
+        */
+        std::cout << "avg score: " << avgScore << " # of features: " << features.size() << std::endl;
+    }
+    catch (std::exception &ex) {
+        cerr << ex.what() << endl;
+    }
+
+}