Cuby56

#include "sift.h"
#include "imgfeatures.h"
#include "kdtree.h"
#include "utils.h"
#include "xform.h"

/* the maximum number of keypoint NN candidates to check during BBF search */
#define KDTREE_BBF_MAX_NN_CHKS 200

/* threshold on squared ratio of distances between NN and 2nd NN */
#define NN_SQ_DIST_RATIO_THR 0.49

struct feature* feat1, * feat2, * feat;
struct feature** nbrs;
struct kd_node* kd_root;
//---------------------------------------------------------
CvPoint pt1, pt2;
double d0, d1;
int n1, n2, k, i, m = 0;
//---------------------------------------------------------
iplRst = stack_imgs( iplSrc1 , iplSrc2 );
//---------------------------------------------------------
n1 = sift_features( iplSrc1 , & feat1 );
n2 = sift_features( iplSrc2 , & feat2 );
kd_root = kdtree_build( feat2 , n2 );
//---------------------------------------------------------
for(i=0;i<n1;i++)
{
	feat = feat1 + i;
	k = kdtree_bbf_knn( kd_root , feat , 2 , & nbrs , KDTREE_BBF_MAX_NN_CHKS );
	if( k==2 )
	{
		d0 = descr_dist_sq( feat , nbrs[0] );
		d1 = descr_dist_sq( feat , nbrs[1] );
		if( d0 < d1 * NN_SQ_DIST_RATIO_THR )
		{
			pt1 = cvPoint( cvRound( feat->x ), cvRound( feat->y ) );
			pt2 = cvPoint( cvRound( nbrs[0]->x ), cvRound( nbrs[0]->y ) );
			pt2.x += iplSrc1->width;
			cvLine( iplRst, pt1, pt2, CV_RGB(255,0,0), 1, 8, 0 );
			cvCircle( iplRst, pt1, 4, CV_RGB(0,255,0), 1, 8, 0 );
			cvCircle( iplRst, pt2, 4, CV_RGB(255,255,0), 1, 8, 0 );
			m++;
			feat1[i].fwd_match = nbrs[0];
		}
	}
	free( nbrs );
}
//---------------------------------------------------------
kdtree_release( kd_root );
free( feat1 );
free( feat2 );