#include <opencv2/opencv.hpp>

#include <opencv2/features2d.hpp>

#include <iostream>

using namespace cv;

using namespace cv::features2d;

using namespace std;

int Akaze feature detection(){

Mat src = imread("test.jpg", IMREAD_GRAYSCALE);

    if (src.empty()) {

        printf("could not load image...\n");

        return -1;

    }

    namedWindow("input image", CV_WINDOW_AUTOSIZE);

    imshow("input image", src);

    // AKAZE特征点检测

    Ptr<AKAZE> detector = AKAZE::create();//创建一个AKAZE类对象并初始化

    vector<KeyPoint> keypoints;

    detector->detect(src, keypoints, Mat());//找Mat src = imread("test.jpg", IMREAD_GRAYSCALE);

    if (src.empty()) {

        printf("could not load image...\n");

        return -1;

    }

    namedWindow("input image", CV_WINDOW_AUTOSIZE);

    imshow("input image", src);

    // AKAZE特征点检测

    Ptr<AKAZE> detector = AKAZE::create();//创建一个AKAZE类对象并初始化

    vector<KeyPoint> keypoints;

    detector->detect(src, keypoints, Mat());//找出关键点

    // 绘制关键点

    Mat keypoint_img;

    drawKeypoints(src, keypoints, keypoint_img, Scalar::all(-1), DrawMatchesFlags::DEFAULT);

    imshow("KeyPoints Image", keypoint_img);

    waitKey(0);

    return 0;

}

int featurematching{

Mat img1 = imread("/home/leoxae/KeekoRobot/TestPic/qrcodetest/13.png");

Mat img2 = imread("/home/leoxae/KeekoRobot/TestPic/qrcodetest/13.png");

imshow("box image", img1);

imshow("scene image", img2);

// extract akaze features

Ptr<AKAZE> detector = AKAZE::create();

vector<KeyPoint> keypoints_obj;

vector<KeyPoint> keypoints_scene;

Mat descriptor_obj, descriptor_scene;

detector->detectAndCompute(img1, Mat(), keypoints_obj, descriptor_obj);

detector->detectAndCompute(img2, Mat(), keypoints_scene, descriptor_scene);

// matching

FlannBasedMatcher matcher(new flann::LshIndexParams(20, 10, 2));

//FlannBasedMatcher matcher;

vector<DMatch> matches;

matcher.match(descriptor_obj, descriptor_scene, matches);

// draw matches(key points)

Mat akazeMatchesImg;

/*

drawMatches(img1, keypoints_obj, img2, keypoints_scene, matches, akazeMatchesImg);

imshow("akaze match result", akazeMatchesImg);*/

vector<DMatch> goodMatches;

double minDist = 100000, maxDist = 0;

for (int i = 0; i < descriptor_obj.rows; i++) {

    double dist = matches[i].distance;

    if (dist < minDist) {

        minDist = dist;

    }

    if (dist > maxDist) {

        maxDist = dist;

    }

}

printf("min distance : %f", minDist);

for (int i = 0; i < descriptor_obj.rows; i++) {

    double dist = matches[i].distance;

    if (dist < max( 1.5*minDist, 0.02)) {

        goodMatches.push_back(matches[i]);

    }

}

drawMatches(img1, keypoints_obj, img2, keypoints_scene, goodMatches, akazeMatchesImg, Scalar::all(-1),

Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);

imshow("good match result", akazeMatchesImg);

waitKey(0);

}