-------------------------------------------------------------------------- */ Draw corner matches and return results as a new mat.
| 119 | /* -------------------------------------------------------------------------- */ |
| 120 | // Draw corner matches and return results as a new mat. |
| 121 | cv::Mat UtilsOpenCV::DrawCornersMatches(const cv::Mat& img1, |
| 122 | const KeypointsCV& corners_1, |
| 123 | const cv::Mat& img2, |
| 124 | const KeypointsCV& corners_2, |
| 125 | const DMatchVec& matches, |
| 126 | const bool& random_color) { |
| 127 | cv::Mat canvas = UtilsOpenCV::concatenateTwoImages(img1, img2); |
| 128 | KeypointCV pt_offset(img1.cols, 0); |
| 129 | cv::RNG rng(12345); |
| 130 | for (const cv::DMatch& match : matches) { |
| 131 | cv::Scalar color; |
| 132 | if (random_color) { |
| 133 | // Random color is useful to disambiguate between matches |
| 134 | color = cv::Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255)); |
| 135 | } else { |
| 136 | // Green color |
| 137 | color = cv::Scalar(0, 255, 0); |
| 138 | } |
| 139 | |
| 140 | // TODO TONI REUSE THE OTHER FUNCTIONS!!!! |
| 141 | const KeypointCV& corner_1 = corners_1[match.queryIdx]; |
| 142 | const KeypointCV& corner_2 = corners_2[match.trainIdx]; |
| 143 | |
| 144 | // Trace a line from the image on the left to the one image on the right |
| 145 | cv::line(canvas, corner_1, corner_2 + pt_offset, color); |
| 146 | cv::circle(canvas, corners_1[match.queryIdx], 3, color, 2); |
| 147 | cv::circle(canvas, corners_2[match.trainIdx] + pt_offset, 3, color, 2); |
| 148 | } |
| 149 | |
| 150 | return canvas; |
| 151 | } |
| 152 | |
| 153 | /* -------------------------------------------------------------------------- */ |
| 154 | cv::Mat UtilsOpenCV::DrawCircles(const cv::Mat img, |