MatlabSimulation/findMatch.m at master · hmnaik/MatlabSimulation · GitHub

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function matchedPair = findMatch(worldFv, imageFv, gain , maxMatchingThreshold, maxVote,nbrPoints)

%% Unit Test Matrix Input:
% %%
%
% imageFv = [
%     33
%     47.076337
%     52.157628
%     90.257818
%     110.793726
%     191.726510
%     212.420945 ];
% imageFv = imageFv' ;
% worldFv = [
%     37
%     53.454327
%     56.519567
%     94.576676
%     105.734315
%     176.929878
%     187.075594 ] ;
% worldFv = worldFv' ;
% maxVote = size(worldFv,2)-2;
% gain = 100 ;
% maxMatchingThreshold = gain * 0.05;
% maxVote =


%% Input Check
%%
if nargin ~=6
    disp('findMatch: Function call error');
end

% To check if each feature vector has same elements
if( size(worldFv,2) ~= size(imageFv,2 ) )
    disp('Feature Vector Calculation has screwed up');
    matchedPair = zeros(1);
end
%%

%% The Real Job
%%
nWorldPoints = size(worldFv,1);
nFvSize = size(worldFv,2) - 1;
nImagePoints = size(imageFv,1);
pairStart = 1;
% Default no match found assignment
matchedPair(pairStart,:) = [ 666 666 666];

if(gain > 1)

    imageFv = [imageFv(:,1) imageFv(:,2:end) .* gain ];
    worldFv = [worldFv(:,1) worldFv(:,2:end) .* gain ];
end


for i = 1:nImagePoints

    % Image point i to consider
    imagePoint = imageFv(i,:);

    % Save id of the point
    imagePointID = imagePoint(1,1);
    % Save vectore from the point
    imagePointFv = imagePoint(1,2:end);
    for j = 1:nWorldPoints
        % World point j to consider for this iteration
        worldPoint = worldFv(j,:);
        % Save ID and Vector
        worldPointID = worldPoint(1,1);
        worldPointFv = worldPoint(1,2:end);

        %%Stopped sorting
        %imagePointFv = sort(imagePointFv);
        %worldPointFv = sort(worldPointFv);

        % Feature matching of point Image(i) vs World(j)
        if( imagePointID == worldPointID )
         test = 1;
        end
        voteCount = voting2(imagePointFv,worldPointFv,nFvSize,maxMatchingThreshold);
        % voteCount = voting2(imagePointFv,worldPointFv,nFvSize,maxMatchingThreshold,nbrPoints);

        %Test
        % voteCount = nFvSize-1;
        if(voteCount >= maxVote)
            matchedPair(pairStart,:) = [worldPointID imagePointID voteCount];
            pairStart = pairStart +1 ;
        end
    end


end


end