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