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function [cluster_GeoCenter]=point_matching(boxImage,matched_points_threshold,color_reference,object)
%boxImage = imread('control.png');
sceneImage = imread('scene.png');
sceneImage_original = imread('scene.png'); %for color reference
sceneImage = rgb2gray(sceneImage);
boxPoints = detectSURFFeatures(boxImage);
scenePoints = detectSURFFeatures(sceneImage);
[boxFeatures, boxPoints] = extractFeatures(boxImage, boxPoints);
[sceneFeatures, scenePoints] = extractFeatures(sceneImage, scenePoints);
boxPairs = matchFeatures(boxFeatures, sceneFeatures);
matchedBoxPoints = boxPoints(boxPairs(:, 1), :);
matchedScenePoints = scenePoints(boxPairs(:, 2), :);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% figure;
% showMatchedFeatures(boxImage, sceneImage, matchedBoxPoints, ...
% matchedScenePoints, 'montage');
% title('Putatively Matched Points (Including Outliers)');
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% we are going to divide into 30x30 grids and the pixel of each is 68 d ad
% therefore we have 29x29 center for 田 grid, (i,left to right) (j,down to up)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% figure;
% imshow(sceneImage);hold on;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[m,n] = size(matchedScenePoints.Location);
grid_size=68; %pixels
%draw grids
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% for i=1:29
% plot([i*grid_size,i*grid_size],[0,2045],'w.-');
% plot([0,2045],[i*grid_size,i*grid_size],'w.-');
% end
%
% %draw points
% for i=1:m
% plot(matchedScenePoints.Location(i,1),matchedScenePoints.Location(i,2),'y.','MarkerSize',4)
% end
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%count the point number of each center area
grid_center_sum=zeros(29,29);
Points_order=zeros(m,3); % 3 columns are:(order,x,y) order=(i-1)*29+j
for k=1:m
i=floor(matchedScenePoints.Location(k,1)/grid_size);
j=floor(matchedScenePoints.Location(k,2)/grid_size);
Points_order(k,:)=[(i-1)*29+j,matchedScenePoints.Location(k,1),matchedScenePoints.Location(k,2)];
grid_center_sum(i,j)=grid_center_sum(i,j)+1;
grid_center_sum(i+1,j)=grid_center_sum(i+1,j)+1;
grid_center_sum(i,j+1)=grid_center_sum(i,j+1)+1;
grid_center_sum(i+1,j+1)=grid_center_sum(i+1,j+1)+1;
end
Points_order=sortrows(Points_order,1); %sort all the matched Points in order
%choose the valid center and corresponeding weight center
center_counter=0; %number of chosen center
for i=1:29
for j=1:29
if (grid_center_sum(i,j) >= matched_points_threshold)
if center_counter==0
choosed_center=[i,j,grid_center_sum(i,j)];
else
choosed_center=[choosed_center;[i,j,grid_center_sum(i,j)]];
end
%plot(i*grid_size,j*grid_size,'r.','MarkerSize',12); %plot
%choosed centers % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
center_counter=center_counter+1;
end
end
end
cluster=zeros(10,50,3); %10 for the max number for same object, 50 for max mathed centers
i=1;
while 1
point_num_orgin=nnz(cluster(i,:,:))/3; %original number of centers in cluster
point_num=point_num_orgin;
if point_num==0 %empty
for k=1:center_counter
if choosed_center(k,1)~=0
point_num=point_num+1;
cluster(i,1,:)=choosed_center(k,:); %assign first center
choosed_center(k,:)=[0,0,0]; %clear
break;
end
end
else %not empty
for j=1:point_num
for k=1:center_counter
distance=abs(cluster(i,j,1)-choosed_center(k,1))+abs(cluster(i,j,2)-choosed_center(k,2));%x,y distance
if distance<=4 %diagnoal of two grids as the distance
point_num=point_num+1;
cluster(i,point_num,:)=choosed_center(k,:); %assign new center
choosed_center(k,:)=[0,0,0]; %clear
end
end
end
end
if nnz(choosed_center(:,:))==0 %no center left, then break
break;
end
if point_num==point_num_orgin
i=i+1; %new cluster
end
end
cluster_number=i;
color_sample=zeros(cluster_number,48,3); % 12 sample dots, 3RGB
[m2,n2]=size(boxPairs); %number of all matched points
for i=1:cluster_number
o=0;
for j=1:nnz(cluster(i,:,:))/3 %number of points in cluster
order=(cluster(i,j,1)-1)*29+cluster(i,j,2);
for k=1:m2
if (order==Points_order(k,1))||(order==(Points_order(k,1)+1))||(order==(Points_order(k,1)+29))||(order==(Points_order(k,1)+30)) %each point belongs to four corner centers
o=o+1;
areaPoints(i,o,:)=[Points_order(k,1) Points_order(k,2) Points_order(k,3)];
end
end
end
length=nnz(areaPoints(i,:,:))/3;
if length<40 %fail safe
fprintf('failed')
length
continue;
end
try
k = convhull(areaPoints(i,1:length,2)',areaPoints(i,1:length,3)');
catch
continue%假如上面的没法执行则执行continue,到下个循环
end
%plot(areaPoints(i,k,2)',areaPoints(i,k,3)','r-') %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[length_k,n]=size(k);
sort_xy=zeros(length_k,2);
sort_xy(:,1)=areaPoints(i,k,2)';
sort_xy(:,2)=areaPoints(i,k,3)';
x_pick=sortrows(sort_xy,1);
y_pick=sortrows(sort_xy,2);
cluster_GeoCenter(i,1)=(x_pick(1,1)+x_pick(length_k,1))/2; % x of the center
cluster_GeoCenter(i,2)=(y_pick(1,2)+y_pick(length_k,2))/2; % x of the center
cluster_GeoCenter(i,3)=length; %number of feature points in each cluster
cluster_GeoCenter(i,4)=object; %assign the object kind to center
%plot(cluster_GeoCenter(i,1),cluster_GeoCenter(i,2),'wx','MarkerSize',17,'linewidth',2)
color_sample(i,:,:)=[sceneImage_original(round(cluster_GeoCenter(i,2))+10,round(cluster_GeoCenter(i,1)),:); % color samples
sceneImage_original(round(cluster_GeoCenter(i,2))-10,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)+10;
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)-10;
sceneImage_original(round(cluster_GeoCenter(i,2))+40,round(cluster_GeoCenter(i,1)),:); % color samples
sceneImage_original(round(cluster_GeoCenter(i,2))-40,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)-40;
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)+40;
sceneImage_original(round(cluster_GeoCenter(i,2))+20,round(cluster_GeoCenter(i,1)),:); % color samples
sceneImage_original(round(cluster_GeoCenter(i,2))-20,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)+20;
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)-20;
sceneImage_original(round(cluster_GeoCenter(i,2))+10,round(cluster_GeoCenter(i,1)),:)+10; % color samples
sceneImage_original(round(cluster_GeoCenter(i,2))-10,round(cluster_GeoCenter(i,1)),:)+10;
sceneImage_original(round(cluster_GeoCenter(i,2))+10,round(cluster_GeoCenter(i,1)),:)-10;
sceneImage_original(round(cluster_GeoCenter(i,2))-10,round(cluster_GeoCenter(i,1)),:)-10;
sceneImage_original(round(cluster_GeoCenter(i,2))+60,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2))-60,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)+60;
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)-60;
sceneImage_original(round(cluster_GeoCenter(i,2))+30,round(cluster_GeoCenter(i,1)),:)+30;
sceneImage_original(round(cluster_GeoCenter(i,2))+50,round(cluster_GeoCenter(i,1)),:)+30;
sceneImage_original(round(cluster_GeoCenter(i,2))+30,round(cluster_GeoCenter(i,1)),:)-50;
sceneImage_original(round(cluster_GeoCenter(i,2))+50,round(cluster_GeoCenter(i,1)),:)-30;
sceneImage_original(round(cluster_GeoCenter(i,2))-50,round(cluster_GeoCenter(i,1)),:)+30;
sceneImage_original(round(cluster_GeoCenter(i,2))-30,round(cluster_GeoCenter(i,1)),:)+50;
sceneImage_original(round(cluster_GeoCenter(i,2))-30,round(cluster_GeoCenter(i,1)),:)-50;
sceneImage_original(round(cluster_GeoCenter(i,2))-50,round(cluster_GeoCenter(i,1)),:)-30;
sceneImage_original(round(cluster_GeoCenter(i,2))-100,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)+100;
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)-100;
sceneImage_original(round(cluster_GeoCenter(i,2))+100,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2))-70,round(cluster_GeoCenter(i,1)),:)+70;
sceneImage_original(round(cluster_GeoCenter(i,2))-70,round(cluster_GeoCenter(i,1)),:)-70;
sceneImage_original(round(cluster_GeoCenter(i,2))+70,round(cluster_GeoCenter(i,1)),:)+70;
sceneImage_original(round(cluster_GeoCenter(i,2))+70,round(cluster_GeoCenter(i,1)),:)-70;
sceneImage_original(round(cluster_GeoCenter(i,2))-5,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)+5;
sceneImage_original(round(cluster_GeoCenter(i,2))+5,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)-5;
sceneImage_original(round(cluster_GeoCenter(i,2))-120,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)+120;
sceneImage_original(round(cluster_GeoCenter(i,2)),round(cluster_GeoCenter(i,1)),:)-120;
sceneImage_original(round(cluster_GeoCenter(i,2))+120,round(cluster_GeoCenter(i,1)),:);
sceneImage_original(round(cluster_GeoCenter(i,2))-40,round(cluster_GeoCenter(i,1)),:)+40;
sceneImage_original(round(cluster_GeoCenter(i,2))-40,round(cluster_GeoCenter(i,1)),:)-40;
sceneImage_original(round(cluster_GeoCenter(i,2))+40,round(cluster_GeoCenter(i,1)),:)+40;
sceneImage_original(round(cluster_GeoCenter(i,2))+40,round(cluster_GeoCenter(i,1)),:)-40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
];
end
%ues color sample find true cluster center
for i=1:cluster_number
color_counter=0;
for j=1:12
distance=abs(color_reference(1,1)- color_sample(i,j,1))+abs(color_reference(2,1)- color_sample(i,j,2))+abs(color_reference(3,1)- color_sample(i,j,3));
if distance<=42 %reasonable color range
color_counter=color_counter+1;
continue;
end
end
if color_counter==0
cluster_GeoCenter(i,:)=[0 0 0 0]; %wrong center, clear
else
fprintf('color sample failed\n')
%plot(cluster_GeoCenter(i,1),cluster_GeoCenter(i,2),'rx','MarkerSize',17,'linewidth',2) % plot the true center
end
end
end
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