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Ajout d'un filtre de distance par écart type

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Unknown 2018-07-25 16:29:51 +02:00
parent 075a79e60d
commit e17412e672
7 changed files with 152 additions and 26 deletions
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117
ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp
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@ -308,12 +308,12 @@ bool ASIFT_matcher::match(vector<float>& image, unsigned int w, unsigned int h,
return true;
}
void ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
{
if(getNbMatch()==0)
{
cerr<<"Error : cannot compute ROI without matchs"<<endl;
return;
return false;
}
pair<int,int> upLe, doRi; //UpLeft / DownRight
@ -348,12 +348,117 @@ void ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w)
h=doRi.second-y;
w=doRi.first-x;
// x=zoom*upLe.first; //Système de coordonée ? (devrait etre bon)
// y=zoom*upLe.second;
// h=zoom*(doRi.second-upLe.second);
// w=zoom*(doRi.first-upLe.first);
return true;
}
bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
{
if(getNbMatch()==0)
{
cerr<<"Error : cannot compute Center without matchs"<<endl;
return false;
}
unsigned int total_kp =0;
cx=0;cy=0;
for(unsigned int i=0;i<_matchings.size();i++)
{
for(unsigned int j=0;j<_matchings[i].size();j++)
{
keypoint kp = _matchings[i][j].first;
cx+=kp.x;
cy+=kp.y;
}
total_kp += _matchings[i].size();
}
cx/=total_kp;
cy/=total_kp;
return true;
}
//Filter keypoint which are far (Euclidian distance) from the center.
//Not optimized
//threshold : 1-68%/2-95%/3-99%
bool ASIFT_matcher::distFilter(int threshold=2)
{
cout<<"filtering keypoint..."<<endl;
if(getNbMatch()==0)
{
cerr<<"Error : cannot filter points without matchs"<<endl;
return false;
}
//Compute standard deviation
int cx, cy;
unsigned int total_kp =0;
unsigned int euc_dist, dist_avg =0, dist_var=0, std_dev;
vector< vector< int > > kp_euc_dist;
if(computeCenter(cx,cy))
{
// cout<<"Center : "<<cx<<" / "<<cy<<endl;
//Compute means/average distance to center + euclidian distances to center for each keypoint
for(unsigned int i=0;i<_matchings.size();i++)
{
vector<int> temp_euc_dist;
for(unsigned int j=0;j<_matchings[i].size();j++)
{
keypoint kp = _matchings[i][j].first;
euc_dist =sqrt((kp.x-cx)*(kp.x-cx)+(kp.y-cy)+(kp.y-cy));
dist_avg+=euc_dist;
temp_euc_dist.push_back(euc_dist);
}
total_kp += _matchings[i].size();
kp_euc_dist.push_back(temp_euc_dist);
}
dist_avg/=total_kp;
// cout<<"Dist avg: "<<dist_avg<<endl;
//Compute variance
for(unsigned int i=0;i<_matchings.size();i++)
{
for(unsigned int j=0;j<_matchings[i].size();j++)
{
euc_dist =kp_euc_dist[i][j];
dist_var+=(euc_dist-dist_avg)*(euc_dist-dist_avg);
}
}
dist_var/=total_kp;
//Compute standard deviation
std_dev=sqrt(dist_var);
// cout<<"Standard Deviation : "<<std_dev<<endl;
//Filter
vector< matchingslist > filtered_match;
for(unsigned int i=0;i<_matchings.size();i++)
{
matchingslist new_match;
for(unsigned int j=0;j<_matchings[i].size();j++)
{
euc_dist =kp_euc_dist[i][j];
if(euc_dist<dist_avg+threshold*std_dev)
{
new_match.push_back(_matchings[i][j]);
}
}
filtered_match.push_back(new_match);
_num_matchings[i]=new_match.size();
}
//Save filtered matchs
_matchings = filtered_match;
return true;
}
return false;
}
//Debugging function
void ASIFT_matcher::print() const
{
for(unsigned int i=0; i< _keys.size();i++)