vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
commit 12022378a3
3872 changed files with 2513409 additions and 0 deletions
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+#include <iostream>
+#include <opencv2/core.hpp>
+#include <opencv2/videoio.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/features.hpp>
+#include <opencv2/flann.hpp>
+#include <opencv2/xfeatures2d.hpp>
+
+using namespace cv;
+using namespace cv::xfeatures2d;
+
+////////////////////////////////////////////////////
+// This program demonstrates the GMS matching strategy.
+int main(int argc, char* argv[])
+{
+    const char* keys =
+        "{ h help        |                  | print help message  }"
+        "{ l left        |                  | specify left (reference) image  }"
+        "{ r right       |                  | specify right (query) image }"
+        "{ camera        | 0                | specify the camera device number }"
+        "{ nfeatures     | 10000            | specify the maximum number of ORB features }"
+        "{ fastThreshold | 20               | specify the FAST threshold }"
+        "{ drawSimple    | true             | do not draw not matched keypoints }"
+        "{ withRotation  | false            | take rotation into account }"
+        "{ withScale     | false            | take scale into account }";
+
+    CommandLineParser cmd(argc, argv, keys);
+    if (cmd.has("help"))
+    {
+        std::cout << "Usage: gms_matcher [options]" << std::endl;
+        std::cout << "Available options:" << std::endl;
+        cmd.printMessage();
+        return EXIT_SUCCESS;
+    }
+
+    Ptr<Feature2D> orb = ORB::create(cmd.get<int>("nfeatures"));
+    orb.dynamicCast<cv::ORB>()->setFastThreshold(cmd.get<int>("fastThreshold"));
+    Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");
+
+    if (!cmd.get<String>("left").empty() && !cmd.get<String>("right").empty())
+    {
+        Mat imgL = imread(cmd.get<String>("left"));
+        Mat imgR = imread(cmd.get<String>("right"));
+
+        std::vector<KeyPoint> kpRef, kpCur;
+        Mat descRef, descCur;
+        orb->detectAndCompute(imgL, noArray(), kpRef, descRef);
+        orb->detectAndCompute(imgR, noArray(), kpCur, descCur);
+
+        std::vector<DMatch> matchesAll, matchesGMS;
+        matcher->match(descCur, descRef, matchesAll);
+
+        matchGMS(imgR.size(), imgL.size(), kpCur, kpRef, matchesAll, matchesGMS, cmd.get<bool>("withRotation"), cmd.get<bool>("withScale"));
+        std::cout << "matchesGMS: " << matchesGMS.size() << std::endl;
+
+        Mat frameMatches;
+        if (cmd.get<bool>("drawSimple"))
+            drawMatches(imgR, kpCur, imgL, kpRef, matchesGMS, frameMatches, Scalar::all(-1), Scalar::all(-1),
+                        std::vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
+        else
+            drawMatches(imgR, kpCur, imgL, kpRef, matchesGMS, frameMatches);
+        imshow("Matches GMS", frameMatches);
+        waitKey();
+    }
+    else
+    {
+        std::vector<KeyPoint> kpRef;
+        Mat descRef;
+
+        VideoCapture capture(cmd.get<int>("camera"));
+        //Camera warm-up
+        for (int i = 0; i < 10; i++)
+        {
+            Mat frame;
+            capture >> frame;
+        }
+
+        Mat frameRef;
+        for (;;)
+        {
+            Mat frame;
+            capture >> frame;
+
+            if (frameRef.empty())
+            {
+                frame.copyTo(frameRef);
+                orb->detectAndCompute(frameRef, noArray(), kpRef, descRef);
+            }
+
+            TickMeter tm;
+            tm.start();
+            std::vector<KeyPoint> kp;
+            Mat desc;
+            orb->detectAndCompute(frame, noArray(), kp, desc);
+            tm.stop();
+            double t_orb = tm.getTimeMilli();
+
+            tm.reset();
+            tm.start();
+            std::vector<DMatch> matchesAll, matchesGMS;
+            matcher->match(desc, descRef, matchesAll);
+            tm.stop();
+            double t_match = tm.getTimeMilli();
+
+            matchGMS(frame.size(), frameRef.size(), kp, kpRef, matchesAll, matchesGMS, cmd.get<bool>("withRotation"), cmd.get<bool>("withScale"));
+            tm.stop();
+            Mat frameMatches;
+            if (cmd.get<bool>("drawSimple"))
+                 drawMatches(frame, kp, frameRef, kpRef, matchesGMS, frameMatches, Scalar::all(-1), Scalar::all(-1),
+                            std::vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
+            else
+                 drawMatches(frame, kp, frameRef, kpRef, matchesGMS, frameMatches);
+
+            String label = format("ORB: %.2f ms", t_orb);
+            putText(frameMatches, label, Point(20, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255));
+            label = format("Matching: %.2f ms", t_match);
+            putText(frameMatches, label, Point(20, 40), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255));
+            label = format("GMS matching: %.2f ms", tm.getTimeMilli());
+            putText(frameMatches, label, Point(20, 60), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255));
+            putText(frameMatches, "Press r to reinitialize the reference image.", Point(frameMatches.cols-380, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255));
+            putText(frameMatches, "Press esc to quit.", Point(frameMatches.cols-180, 40), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0,0,255));
+
+            imshow("Matches GMS", frameMatches);
+            int c = waitKey(30);
+            if (c == 27)
+                break;
+            else if (c == 'r')
+            {
+                frame.copyTo(frameRef);
+                orb->detectAndCompute(frameRef, noArray(), kpRef, descRef);
+            }
+        }
+
+    }
+
+    return EXIT_SUCCESS;
+}