#include?“FeatureMatchTest.h“
#include?

using?namespace?std;
using?namespace?cv;

FeatureMatchTest::FeatureMatchTest（std::shared_ptr?left?std::shared_ptr?right?std::shared_ptrriptorMatcher>?matcher）?:
leftPattern（left）?rightPattern（right）?matcher（matcher）?{

	//step1:Create?detector
	int?minHessian?=?400;
	SurfFeatureDetector?detector（minHessian）;

	//step2:Detecte?keypoint
	detector.detect（leftPattern->image?leftPattern->keypoints）;
	detector.detect（rightPattern->image?rightPattern->keypoints）;

	//step3:Compute?descriptor
	detector.compute（leftPattern->image?leftPattern->keypoints?leftPattern->descriptors）;
	detector.compute（rightPattern->image?rightPattern->keypoints?rightPattern->descriptors）;
}

void?FeatureMatchTest::match（vector&?matches）?{

	matcher->match（leftPattern->descriptors?rightPattern->descriptors?matches）;
}

void?FeatureMatchTest::knnMatch（vector&?matches）?{

	const?float?minRatio?=?1.f?/?1.5f;
	const?int?k?=?2;

	vector>?knnMatches;
	matcher->knnMatch（leftPattern->descriptors?rightPattern->descriptors?knnMatches?k）;

	for?（size_t?i?=?0;?i?		const?DMatch&?bestMatch?=?knnMatches[i][0];
		const?DMatch&?betterMatch?=?knnMatches[i][1];

		float??distanceRatio?=?bestMatch.distance?/?betterMatch.distance;
		if?（distanceRatio?			matches.push_back（bestMatch）;
	}
}

void?FeatureMatchTest::refineMatcheswithHomography（vector&?matches?double?reprojectionThreshold?Mat&?homography）{
	const?int?minNumbermatchesAllowed?=?8;
	if?（matches.size（）?		return;

	//Prepare?data?for?findHomography
	vector?srcPoints（matches.size（））;
	vector?dstPoints（matches.size（））;

	for?（size_t?i?=?0;?i?		srcPoints[i]?=?rightPattern->keypoints[matches[i].trainIdx].pt;
		dstPoints[i]?=?leftPattern->keypoints[matches[i].queryIdx].pt;
	}

	//find?homography?matrix?and?get?inliers?mask
	vector?inliersMask（srcPoints.size（））;
	homography?=?findHomography（srcPoints?dstPoints?CV_FM_RANSAC?reprojectionThreshold?inliersMask）;

	vector?inliers;
	for?（size_t?i?=?0;?i?		if?（inliersMask[i]）
			inliers.push_back（matches[i]）;
	}
	matches.swap（inliers）;
}

void?FeatureMatchTest::refineMatchesWithFundmentalMatrix（vector&?matches?Mat&?F）?{
	//Align?all?points
	vector?alignedKps1?alignedKps2;
	for?（size_t?i?=?0;?i?		alignedKps1.push_back（leftPattern->keypoints[matches[i].queryIdx]）;
		alignedKps2.push_back（rightPattern->keypoints[matches[i].trainIdx]）;
	}

	//Keypoints?to?points
	vector?ps1?ps2;
	for?（unsigned?i?=?0;?i?		ps1.push_back（alignedKps1[i].pt）;

	for?（unsigned?i?=?0;?i?		ps2.push_back（alignedKps2[i].pt）;

	//Compute?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4365??2015-03-26?20:34??FeatureMatchDemo\FeatureMatchDemo\FeatureMatchDemo.vcxproj

?????文件???????1174??2015-03-11?22:16??FeatureMatchDemo\FeatureMatchDemo\FeatureMatchDemo.vcxproj.filters

?????文件???????4035??2015-03-11?22:40??FeatureMatchDemo\FeatureMatchDemo\FeatureMatchTest.cpp

?????文件???????1000??2015-03-11?22:45??FeatureMatchDemo\FeatureMatchDemo\FeatureMatchTest.h

?????文件???????1219??2015-03-26?14:58??FeatureMatchDemo\FeatureMatchDemo\main.cpp

?????文件???????3956??2015-03-26?21:25??FeatureMatchDemo\FeatureMatchDemo\Triangulation.cpp

?????文件????????862??2015-03-26?20:43??FeatureMatchDemo\FeatureMatchDemo\Triangulation.h

?????文件????????994??2015-03-08?22:58??FeatureMatchDemo\FeatureMatchDemo.sln

????..A..H.?????34816??2017-01-04?23:02??FeatureMatchDemo\FeatureMatchDemo.v12.suo

?????目錄??????????0??2017-01-04?23:01??FeatureMatchDemo\FeatureMatchDemo

?????目錄??????????0??2017-01-04?23:02??FeatureMatchDemo

-----------?---------??----------?-----??----

????????????????52421????????????????????11