221 lines
7.3 KiB
C++
221 lines
7.3 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2014, Biagio Montesano, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include <iostream>
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#include <opencv2/opencv_modules.hpp>
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#ifdef HAVE_OPENCV_FEATURES2D
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#include <opencv2/line_descriptor.hpp>
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#include <opencv2/core/utility.hpp>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/features2d.hpp>
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#include <opencv2/highgui.hpp>
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#define MATCHES_DIST_THRESHOLD 25
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using namespace cv;
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using namespace cv::line_descriptor;
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static const char* keys =
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{ "{@image_path1 | | Image path 1 }"
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"{@image_path2 | | Image path 2 }" };
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static void help()
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{
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std::cout << "\nThis example shows the functionalities of lines extraction " << "and descriptors computation furnished by BinaryDescriptor class\n"
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<< "Please, run this sample using a command in the form\n" << "./example_line_descriptor_compute_descriptors <path_to_input_image 1>"
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<< "<path_to_input_image 2>" << std::endl;
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}
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int main( int argc, char** argv )
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{
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/* get parameters from command line */
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CommandLineParser parser( argc, argv, keys );
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String image_path1 = parser.get<String>( 0 );
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String image_path2 = parser.get<String>( 1 );
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if( image_path1.empty() || image_path2.empty() )
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{
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help();
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return -1;
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}
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/* load image */
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cv::Mat imageMat1 = imread( image_path1, 1 );
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cv::Mat imageMat2 = imread( image_path2, 1 );
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if( imageMat1.data == NULL || imageMat2.data == NULL )
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{
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std::cout << "Error, images could not be loaded. Please, check their path" << std::endl;
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}
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/* create binary masks */
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cv::Mat mask1 = Mat::ones( imageMat1.size(), CV_8UC1 );
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cv::Mat mask2 = Mat::ones( imageMat2.size(), CV_8UC1 );
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/* create a pointer to a BinaryDescriptor object with default parameters */
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Ptr<BinaryDescriptor> bd = BinaryDescriptor::createBinaryDescriptor( );
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/* compute lines and descriptors */
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std::vector<KeyLine> keylines1, keylines2;
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cv::Mat descr1, descr2;
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( *bd )( imageMat1, mask1, keylines1, descr1, false, false );
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( *bd )( imageMat2, mask2, keylines2, descr2, false, false );
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/* select keylines from first octave and their descriptors */
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std::vector<KeyLine> lbd_octave1, lbd_octave2;
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Mat left_lbd, right_lbd;
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for ( int i = 0; i < (int) keylines1.size(); i++ )
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{
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if( keylines1[i].octave == 0 )
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{
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lbd_octave1.push_back( keylines1[i] );
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left_lbd.push_back( descr1.row( i ) );
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}
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}
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for ( int j = 0; j < (int) keylines2.size(); j++ )
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{
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if( keylines2[j].octave == 0 )
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{
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lbd_octave2.push_back( keylines2[j] );
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right_lbd.push_back( descr2.row( j ) );
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}
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}
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/* create a BinaryDescriptorMatcher object */
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Ptr<BinaryDescriptorMatcher> bdm = BinaryDescriptorMatcher::createBinaryDescriptorMatcher();
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/* require match */
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std::vector<DMatch> matches;
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bdm->match( left_lbd, right_lbd, matches );
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/* select best matches */
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std::vector<DMatch> good_matches;
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for ( int i = 0; i < (int) matches.size(); i++ )
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{
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if( matches[i].distance < MATCHES_DIST_THRESHOLD )
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good_matches.push_back( matches[i] );
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}
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/* plot matches */
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cv::Mat outImg;
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cv::Mat scaled1, scaled2;
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std::vector<char> mask( matches.size(), 1 );
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drawLineMatches( imageMat1, lbd_octave1, imageMat2, lbd_octave2, good_matches, outImg, Scalar::all( -1 ), Scalar::all( -1 ), mask,
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DrawLinesMatchesFlags::DEFAULT );
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imshow( "Matches", outImg );
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waitKey();
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imwrite("/home/ubisum/Desktop/images/env_match/matches.jpg", outImg);
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/* create an LSD detector */
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Ptr<LSDDetector> lsd = LSDDetector::createLSDDetector();
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/* detect lines */
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std::vector<KeyLine> klsd1, klsd2;
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Mat lsd_descr1, lsd_descr2;
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lsd->detect( imageMat1, klsd1, 2, 2, mask1 );
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lsd->detect( imageMat2, klsd2, 2, 2, mask2 );
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/* compute descriptors for lines from first octave */
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bd->compute( imageMat1, klsd1, lsd_descr1 );
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bd->compute( imageMat2, klsd2, lsd_descr2 );
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/* select lines and descriptors from first octave */
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std::vector<KeyLine> octave0_1, octave0_2;
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Mat leftDEscr, rightDescr;
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for ( int i = 0; i < (int) klsd1.size(); i++ )
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{
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if( klsd1[i].octave == 1 )
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{
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octave0_1.push_back( klsd1[i] );
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leftDEscr.push_back( lsd_descr1.row( i ) );
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}
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}
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for ( int j = 0; j < (int) klsd2.size(); j++ )
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{
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if( klsd2[j].octave == 1 )
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{
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octave0_2.push_back( klsd2[j] );
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rightDescr.push_back( lsd_descr2.row( j ) );
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}
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}
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/* compute matches */
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std::vector<DMatch> lsd_matches;
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bdm->match( leftDEscr, rightDescr, lsd_matches );
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/* select best matches */
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good_matches.clear();
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for ( int i = 0; i < (int) lsd_matches.size(); i++ )
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{
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if( lsd_matches[i].distance < MATCHES_DIST_THRESHOLD )
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good_matches.push_back( lsd_matches[i] );
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}
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/* plot matches */
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cv::Mat lsd_outImg;
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resize( imageMat1, imageMat1, Size( imageMat1.cols / 2, imageMat1.rows / 2 ), 0, 0, INTER_LINEAR_EXACT );
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resize( imageMat2, imageMat2, Size( imageMat2.cols / 2, imageMat2.rows / 2 ), 0, 0, INTER_LINEAR_EXACT );
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std::vector<char> lsd_mask( matches.size(), 1 );
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drawLineMatches( imageMat1, octave0_1, imageMat2, octave0_2, good_matches, lsd_outImg, Scalar::all( -1 ), Scalar::all( -1 ), lsd_mask,
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DrawLinesMatchesFlags::DEFAULT );
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imshow( "LSD matches", lsd_outImg );
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waitKey();
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}
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#else
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int main()
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{
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std::cerr << "OpenCV was built without features2d module" << std::endl;
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return 0;
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}
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#endif // HAVE_OPENCV_FEATURES2D
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