diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index db3f3b84c199557454962c16e2ba77d57bd7eed8..404490767897b8189a3e9b91a96ec0d09eaf1d94 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,11 +2,12 @@
ADD_DEFINITIONS(-DPRINT_INFO_VU)
# library source files
-SET(sources
- vision_utils.cpp
+SET(sources_main vision_utils.cpp)
+SET(sources_sen
sensors/sensor_base.cpp
sensors/usb_cam/usb_cam.cpp
- sensors/usb_cam/usb_cam_load_yaml.cpp
+ sensors/usb_cam/usb_cam_load_yaml.cpp)
+SET(sources_det
detectors/detector_base.cpp
detectors/orb/detector_orb.cpp
detectors/orb/detector_orb_load_yaml.cpp
@@ -31,7 +32,8 @@ SET(sources
detectors/akaze/detector_akaze.cpp
detectors/akaze/detector_akaze_load_yaml.cpp
detectors/agast/detector_agast.cpp
- detectors/agast/detector_agast_load_yaml.cpp
+ detectors/agast/detector_agast_load_yaml.cpp)
+SET(sources_des
descriptors/descriptor_base.cpp
descriptors/orb/descriptor_orb.cpp
descriptors/orb/descriptor_orb_load_yaml.cpp
@@ -54,7 +56,8 @@ SET(sources
descriptors/daisy/descriptor_daisy.cpp
descriptors/daisy/descriptor_daisy_load_yaml.cpp
descriptors/lucid/descriptor_lucid.cpp
- descriptors/lucid/descriptor_lucid_load_yaml.cpp
+ descriptors/lucid/descriptor_lucid_load_yaml.cpp)
+SET(sources_mat
matchers/matcher_base.cpp
matchers/bruteforce/matcher_bruteforce.cpp
matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
@@ -65,7 +68,8 @@ SET(sources
matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
matchers/flannbased/matcher_flannbased.cpp
- matchers/flannbased/matcher_flannbased_load_yaml.cpp
+ matchers/flannbased/matcher_flannbased_load_yaml.cpp)
+SET(sources_alg
algorithms/algorithm_base.cpp
algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
algorithms/opticalflowpyrlk/alg_opticalflowpyrlk_load_yaml.cpp
@@ -75,15 +79,17 @@ SET(sources
algorithms/activesearch/alg_activesearch_load_yaml.cpp)
# application header files
-SET(headers
+SET(headers_main
vision_utils.h
- factory.h
+ factory.h)
+SET(headers_com
common_class/buffer.h
- common_class/feature.h
- common_class/frame.h
+ common_class/frame.h)
+SET(headers_sen
sensors/sensor_factory.h
sensors/sensor_base.h
- sensors/usb_cam/usb_cam.h
+ sensors/usb_cam/usb_cam.h)
+SET(headers_det
detectors/detector_factory.h
detectors/detector_base.h
detectors/orb/detector_orb.h
@@ -97,7 +103,8 @@ SET(headers
detectors/sbd/detector_sbd.h
detectors/kaze/detector_kaze.h
detectors/akaze/detector_akaze.h
- detectors/agast/detector_agast.h
+ detectors/agast/detector_agast.h)
+SET(headers_des
descriptors/descriptor_factory.h
descriptors/descriptor_base.h
descriptors/orb/descriptor_orb.h
@@ -110,14 +117,16 @@ SET(headers
descriptors/freak/descriptor_freak.h
descriptors/brief/descriptor_brief.h
descriptors/daisy/descriptor_daisy.h
- descriptors/lucid/descriptor_lucid.h
+ descriptors/lucid/descriptor_lucid.h)
+SET(headers_mat
matchers/matcher_factory.h
matchers/matcher_base.h
matchers/bruteforce/matcher_bruteforce.h
matchers/bruteforce_l1/matcher_bruteforce_l1.h
matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
- matchers/flannbased/matcher_flannbased.h
+ matchers/flannbased/matcher_flannbased.h)
+SET(headers_alg
algorithms/algorithm_factory.h
algorithms/algorithm_base.h
algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
@@ -179,7 +188,7 @@ MESSAGE(STATUS "Configuring ${PROJECT_NAME} (creating config.h from _internal di
include_directories("${PROJECT_BINARY_DIR}/conf")
# create the shared library
-ADD_LIBRARY(${PROJECT_NAME} SHARED ${sources})
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${sources_main} ${sources_sen} ${sources_det} ${sources_des} ${sources_mat} ${sources_alg})
# link necessary libraries
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS} ${Boost_LIBRARIES})
@@ -193,7 +202,13 @@ INSTALL(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/${PROJECT_NAME}
ARCHIVE DESTINATION lib/${PROJECT_NAME})
-INSTALL(FILES ${headers} DESTINATION include/${PROJECT_NAME})
+INSTALL(FILES ${headers_main} DESTINATION include/${PROJECT_NAME})
+INSTALL(FILES ${headers_com} DESTINATION include/${PROJECT_NAME}/common_class)
+INSTALL(FILES ${headers_sen} DESTINATION include/${PROJECT_NAME}/sensors)
+INSTALL(FILES ${headers_det} DESTINATION include/${PROJECT_NAME}/detectors)
+INSTALL(FILES ${headers_des} DESTINATION include/${PROJECT_NAME}/descriptors)
+INSTALL(FILES ${headers_mat} DESTINATION include/${PROJECT_NAME}/matchers)
+INSTALL(FILES ${headers_alg} DESTINATION include/${PROJECT_NAME}/algorithms)
INSTALL(FILES ../cmake_modules/Find${PROJECT_NAME}.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
INSTALL(FILES "${VU_CONFIG_DIR}/config.h" DESTINATION include/${PROJECT_NAME}/_internal)
diff --git a/src/algorithms/activesearch/alg_activesearch.cpp b/src/algorithms/activesearch/alg_activesearch.cpp
index 1a229fc0fdb072c5fe3ccdd459f0512a1bd0eb16..1305f091492ee7f876e7677a4928ce2e06b4fa5f 100644
--- a/src/algorithms/activesearch/alg_activesearch.cpp
+++ b/src/algorithms/activesearch/alg_activesearch.cpp
@@ -121,7 +121,7 @@ void AlgorithmACTIVESEARCH::run(Buffer<FramePtr>& _frame_buff, const DetectorBas
{
// Initialize vars if necessary
if (!initialized_)
- initAlg(_frame_buff.back()->image);
+ initAlg(_frame_buff.back()->getImage());
switch (_frame_buff.size())
{
@@ -144,7 +144,7 @@ void AlgorithmACTIVESEARCH::detectNewFeatures(FramePtr& _frame, const DetectorBa
cv::Rect roi;
if (params_ptr_->draw_results)
- image_draw_ = _frame->image.clone();
+ image_draw_ = _frame->getImage().clone();
for (unsigned int n_iterations = 0; max_new_features == 0 || n_iterations < max_new_features; n_iterations++)
{
@@ -156,8 +156,8 @@ void AlgorithmACTIVESEARCH::detectNewFeatures(FramePtr& _frame, const DetectorBa
// drawRoi(image_draw_, roi, getName(), cv::Scalar(255,255,255));
// Detect features in ROI
- kps = _det_ptr->detect(_frame->image, roi);
- desc = _des_ptr->getDescriptor(_frame->image, kps);
+ kps = _det_ptr->detect(_frame->getImage(), roi);
+ desc = _des_ptr->getDescriptor(_frame->getImage(), kps);
if (kps.size() > 0)
{
@@ -174,8 +174,8 @@ void AlgorithmACTIVESEARCH::detectNewFeatures(FramePtr& _frame, const DetectorBa
if(kps[0].response > params_ptr_->min_response_new_feature)
{
// Keep feature
- FeaturePtr feature_ptr = std::make_shared<Feature>(_frame->features.size(),kps[0],desc.row(index));
- _frame->features.push_back(feature_ptr);
+ _frame->addKeyPoint(kps[0]);
+ _frame->addDescriptor(desc.row(index));
// Hit cell
hitCell(kps[0]);
@@ -215,34 +215,37 @@ void AlgorithmACTIVESEARCH::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
clock_t tStart = clock();
if (params_ptr_->draw_results)
- image_draw_ = _tracked_frame->image.clone();
+ image_draw_ = _tracked_frame->getImage().clone();
// Renew active ROI
renew();
+ KeyPointVector target_feature = _frame_old->getKeyPoints();
+ cv::Mat target_desc = _frame_old->getDescriptors();
+
// Try to track all previous features
- for(auto target_feature : _frame_old->features)
+ for(int ii=0; ii<target_feature.size(); ++ii)
{
// Hit cell in the position of the targeted kp
- hitCell(target_feature->kp);
+ hitCell(target_feature[ii]);
// Set ROI
- cv::Rect roi = setRoi(target_feature->kp.pt.x,target_feature->kp.pt.y, cell_size_(0), cell_size_(1));
+ cv::Rect roi = setRoi(target_feature[ii].pt.x,target_feature[ii].pt.y, cell_size_(0), cell_size_(1));
// // draw ROI
// if (params_ptr_->draw_results)
// drawRoi(image_draw_, roi, getName(), cv::Scalar(0,255,255));
// Detect features in ROI
- KeyPointVector kps = _det_ptr->detect(_tracked_frame->image, roi);
- cv::Mat desc = _des_ptr->getDescriptor(_tracked_frame->image, kps);
+ KeyPointVector kps = _det_ptr->detect(_tracked_frame->getImage(), roi);
+ cv::Mat desc = _des_ptr->getDescriptor(_tracked_frame->getImage(), kps);
// If there are keypoints around the candidate ROI
if(kps.size() > 0)
{
// Match
cv::DMatch match_data;
- double normalized_score = _mat_ptr->match(target_feature->desc, desc, _des_ptr->getSize(), match_data);
+ double normalized_score = _mat_ptr->match(target_desc.row(ii), desc, _des_ptr->getSize(), match_data);
// If good match, keep feature
if (normalized_score > params_ptr_->matcher_min_norm_score)
@@ -250,22 +253,23 @@ void AlgorithmACTIVESEARCH::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
// introduce in list of tracked features
cv::KeyPoint tracked_kp = kps[match_data.trainIdx];
cv::Mat tracked_desc = desc(cv::Rect(0,match_data.trainIdx,desc.cols,1));
- _tracked_frame->features.push_back( std::make_shared<Feature>(_tracked_frame->features.size(), tracked_kp, tracked_desc) );
+ _tracked_frame->addKeyPoint(tracked_kp);
+ _tracked_frame->addDescriptor(tracked_desc);
// Draw
if (params_ptr_->draw_results)
{
- cv::line(image_draw_, tracked_kp.pt, target_feature->kp.pt, cv::Scalar(0, 0, 255), 3);
+ cv::line(image_draw_, tracked_kp.pt, target_feature[ii].pt, cv::Scalar(0, 0, 255), 3);
cv::circle(image_draw_, tracked_kp.pt, 5, cv::Scalar(255.0, 255.0, 0.0), -1, 8, 0);
- cv::putText(image_draw_, std::to_string(target_feature->id), tracked_kp.pt, cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
+ cv::putText(image_draw_, std::to_string(ii), tracked_kp.pt, cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
}
}
}
}
// If not enough tracked features, add new ones
- if (_tracked_frame->features.size() < params_ptr_->min_feat_track)
- detectNewFeatures(_tracked_frame, _det_ptr, _des_ptr, params_ptr_->max_new_features - _tracked_frame->features.size());
+ if (_tracked_frame->getNumFeatures() < params_ptr_->min_feat_track)
+ detectNewFeatures(_tracked_frame, _det_ptr, _des_ptr, params_ptr_->max_new_features - _tracked_frame->getNumFeatures());
else
{
if (params_ptr_->draw_results)
diff --git a/src/algorithms/activesearch/alg_activesearch.h b/src/algorithms/activesearch/alg_activesearch.h
index 08640a7ca6b8767eb84aea804a27f3ba654ea907..19a4d6acdd057ab2067d33fb133b30f344e4bc44 100644
--- a/src/algorithms/activesearch/alg_activesearch.h
+++ b/src/algorithms/activesearch/alg_activesearch.h
@@ -4,7 +4,6 @@
#include "../algorithm_base.h"
#include "../algorithm_factory.h"
#include "../../common_class/buffer.h"
-#include "../../common_class/feature.h"
#include "../../common_class/frame.h"
#include "../../detectors/detector_base.h"
#include "../../descriptors/descriptor_base.h"
diff --git a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
index 11d3f8793703ed5fece918db0ce01595818acd97..fcdc5e925b6b8ba3ed2cdb28fda61b8e822109fc 100644
--- a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
+++ b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
@@ -49,18 +49,19 @@ void AlgorithmOPTFLOWPYRLK::run(Buffer<FramePtr>& _frame_buff, const DetectorBas
void AlgorithmOPTFLOWPYRLK::detectNewFeatures(FramePtr& _frame, const DetectorBasePtr& _det_ptr)
{
if (params_ptr_->draw_results)
- image_draw_ = _frame->image.clone();
+ image_draw_ = _frame->getImage().clone();
// Convert to gray scale if necessary
cv::Mat img_gray;
- if (_frame->image.channels() == 3)
- cv::cvtColor(_frame->image, img_gray, CV_RGB2GRAY);
+ if (_frame->getImage().channels() == 3)
+ cv::cvtColor(_frame->getImage(), img_gray, CV_RGB2GRAY);
else
- img_gray = _frame->image.clone();
+ img_gray = _frame->getImage().clone();
KeyPointVector kps_new;
+ cv::Mat desc_new;
- if (_frame->features.size() > 0)
+ if (_frame->getNumFeatures() > 0)
{
// Get features again
KeyPointVector kps = _det_ptr->detect(img_gray);
@@ -69,18 +70,16 @@ void AlgorithmOPTFLOWPYRLK::detectNewFeatures(FramePtr& _frame, const DetectorBa
KeyPointVector tracked_kps = _frame->getKeyPoints();
std::vector<int> kps_idxs;
KeyPointVector kps_new = vecDifference(tracked_kps, kps, kps_idxs);
-
- cv::Mat desc_new = cv::Mat(kps_new.size(), 1, CV_32F); // Not used in this context.
- std::vector<FeaturePtr> new_feat_vec = setFeatures( kps_new, desc_new, _frame->features.back()->id);
- _frame->features.insert( _frame->features.end(), new_feat_vec.begin(), new_feat_vec.end() );
+ desc_new = cv::Mat(kps_new.size(), 1, CV_32F); // Not used in this context.
}
else
{
// Get full frame detections and descriptors
kps_new = _det_ptr->detect(img_gray);
- cv::Mat desc_new = cv::Mat(kps_new.size(), 1, CV_32F); // Not used in this context.
- _frame = setFrame(_frame->id, _frame->image, kps_new, desc_new);
+ desc_new = cv::Mat(kps_new.size(), 1, CV_32F); // Not used in this context.
}
+ _frame->setKeyPoints(kps_new);
+ _frame->setDescriptors(desc_new);
if (params_ptr_->draw_results)
{
@@ -97,12 +96,12 @@ void AlgorithmOPTFLOWPYRLK::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
clock_t tStart = clock();
if (params_ptr_->draw_results)
- image_draw_ = _tracked_frame->image.clone();
+ image_draw_ = _tracked_frame->getImage().clone();
// Convert to gray scale if necessary
cv::Mat img_gray;
- if (_tracked_frame->image.channels() == 3)
- cv::cvtColor(_tracked_frame->image, img_gray, CV_RGB2GRAY);
+ if (_tracked_frame->getImage().channels() == 3)
+ cv::cvtColor(_tracked_frame->getImage(), img_gray, CV_RGB2GRAY);
std::vector<uchar> kpt_is_found; // output status vector (of unsigned chars); each element of the vector is set to 1 if the flow for the corresponding features has been found, otherwise, it is set to 0.
std::vector<float> err; // output vector of errors
@@ -125,15 +124,16 @@ void AlgorithmOPTFLOWPYRLK::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
good_kpts.push_back(kp);
cv::circle(image_draw_, pts_matched_in_frame[ii], 5, cv::Scalar(255.0, 255.0, 0.0), -1);
cv::line(image_draw_, pts_prev[ii], pts_matched_in_frame[ii], cv::Scalar(0, 0, 255), 3);
- cv::putText(image_draw_, std::to_string(_tracked_frame->features.size() + ii), pts_matched_in_frame[ii], cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
+ cv::putText(image_draw_, std::to_string(ii), pts_matched_in_frame[ii], cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
}
}
// Update
cv::Mat desc_new = cv::Mat(good_kpts.size(), 1, CV_32F); // Not used in this context.
- _tracked_frame->features = setFeatures( good_kpts, desc_new );
+ _tracked_frame->setKeyPoints(good_kpts);
+ _tracked_frame->setDescriptors(desc_new);
// If not enough tracked features, add new ones
- if (_tracked_frame->features.size() < params_ptr_->min_feat_track)
+ if (_tracked_frame->getNumFeatures() < params_ptr_->min_feat_track)
detectNewFeatures(_tracked_frame, _det_ptr);
else
{
diff --git a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
index d8a9a99ba8ea5e854546ba9f85f0f12dacf6b719..da5b46881a8bac7bb57e9a18fdf6a11fffd1806f 100644
--- a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
+++ b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
@@ -5,7 +5,6 @@
#include "../algorithm_factory.h"
#include "../../common_class/buffer.h"
#include "../../common_class/frame.h"
-#include "../../common_class/feature.h"
#include "../../detectors/detector_base.h"
#include "../../descriptors/descriptor_base.h"
#include "../../matchers/matcher_base.h"
diff --git a/src/algorithms/trackfeatures/alg_trackfeatures.cpp b/src/algorithms/trackfeatures/alg_trackfeatures.cpp
index 7b1c887f0569496d9cfe6c96cceeb0e0ac16e32a..593ba629b9069e15948e150399c06984d4302752 100644
--- a/src/algorithms/trackfeatures/alg_trackfeatures.cpp
+++ b/src/algorithms/trackfeatures/alg_trackfeatures.cpp
@@ -47,33 +47,32 @@ void AlgorithmTRACKFEATURES::run(Buffer<FramePtr>& _frame_buff, const DetectorBa
void AlgorithmTRACKFEATURES::detectNewFeatures(FramePtr& _frame, const DetectorBasePtr& _det_ptr, const DescriptorBasePtr& _des_ptr)
{
if (params_ptr_->draw_results)
- image_draw_ = _frame->image.clone();
+ image_draw_ = _frame->getImage().clone();
KeyPointVector kps_new;
- cv::Mat desc;
- if (_frame->features.size() > 0)
+ cv::Mat desc_new;
+
+ if (_frame->getNumFeatures() > 0)
{
// Get features again
- KeyPointVector kps = _det_ptr->detect(_frame->image);
- desc = _des_ptr->getDescriptor( _frame->image, kps);
+ KeyPointVector kps = _det_ptr->detect(_frame->getImage());
+ cv::Mat desc = _des_ptr->getDescriptor( _frame->getImage(), kps);
// Keep only new features
std::vector<int> idxs_new;
KeyPointVector tracked_kps = _frame->getKeyPoints();
kps_new = vecDifference(tracked_kps, kps, idxs_new);
- cv::Mat desc_new(idxs_new.size(), desc.cols, desc.type());
for (int ii=0;ii<idxs_new.size();++ii)
- desc_new.row(ii) = desc.row(idxs_new[ii]);
- std::vector<FeaturePtr> new_feat_vec = setFeatures( kps_new, desc_new, _frame->features.back()->id);
- _frame->features.insert( _frame->features.end(), new_feat_vec.begin(), new_feat_vec.end() );
+ desc_new.push_back( desc.row(idxs_new[ii]) );
}
else
{
// Get full frame detections and descriptors
- kps_new = _det_ptr->detect(_frame->image);
- desc = _des_ptr->getDescriptor( _frame->image, kps_new);
- _frame = setFrame(_frame->id, _frame->image, kps_new, desc);
+ kps_new = _det_ptr->detect(_frame->getImage());
+ desc_new = _des_ptr->getDescriptor( _frame->getImage(), kps_new);
}
+ _frame->addKeyPoints(kps_new);
+ _frame->addDescriptors(desc_new);
if (params_ptr_->draw_results)
{
@@ -89,27 +88,30 @@ void AlgorithmTRACKFEATURES::trackFrame(const FramePtr& _frame_old, FramePtr& _t
clock_t tStart = clock();
if (params_ptr_->draw_results)
- image_draw_ = _tracked_frame->image.clone();
+ image_draw_ = _tracked_frame->getImage().clone();
+
+ KeyPointVector target_kps = _frame_old->getKeyPoints();
+ cv::Mat target_desc = _frame_old->getDescriptors();
- for(auto target_feature : _frame_old->features)
+ for(int ii = 1; ii < target_kps.size(); ++ii)
{
// Set a candidate ROI around the target feature
- cv::Rect roi = setRoi(target_feature->kp.pt.x,target_feature->kp.pt.y, params_ptr_->roi_width, params_ptr_->roi_height);
+ cv::Rect roi = setRoi(target_kps[ii].pt.x, target_kps[ii].pt.y, params_ptr_->roi_width, params_ptr_->roi_height);
// // draw ROI
// if (params_ptr_->draw_results)
// drawRoi(image_draw_, roi, getName(), cv::Scalar(0,255,255));
// Detect features in ROI
- KeyPointVector kps = _det_ptr->detect(_tracked_frame->image, roi);
- cv::Mat desc = _des_ptr->getDescriptor(_tracked_frame->image, kps);
+ KeyPointVector kps = _det_ptr->detect(_tracked_frame->getImage(), roi);
+ cv::Mat desc = _des_ptr->getDescriptor(_tracked_frame->getImage(), kps);
// If there are keypoints aroud the candidate ROI
if(kps.size() > 0)
{
// Match
cv::DMatch match_data;
- double normalized_score = _mat_ptr->match(target_feature->desc, desc, _des_ptr->getSize(), match_data);
+ double normalized_score = _mat_ptr->match(target_desc.row(ii), desc, _des_ptr->getSize(), match_data);
// If good match, keep feature
if (normalized_score > params_ptr_->matcher_min_norm_score)
@@ -117,21 +119,21 @@ void AlgorithmTRACKFEATURES::trackFrame(const FramePtr& _frame_old, FramePtr& _t
// introduce in list of tracked features
cv::KeyPoint tracked_kp = kps[match_data.trainIdx];
cv::Mat tracked_desc = desc(cv::Rect(0,match_data.trainIdx,desc.cols,1));
- _tracked_frame->features.push_back( std::make_shared<Feature>(_tracked_frame->features.size(), tracked_kp, tracked_desc) );
-
+ _tracked_frame->addKeyPoint(tracked_kp);
+ _tracked_frame->addDescriptor(tracked_desc);
// Draw
if (params_ptr_->draw_results)
{
- cv::line(image_draw_, tracked_kp.pt, target_feature->kp.pt, cv::Scalar(0, 0, 255), 3);
+ cv::line(image_draw_, tracked_kp.pt, target_kps[ii].pt, cv::Scalar(0, 0, 255), 3);
cv::circle(image_draw_, tracked_kp.pt, 5, cv::Scalar(255.0, 255.0, 0.0), -1, 8, 0);
- cv::putText(image_draw_, std::to_string(target_feature->id), tracked_kp.pt, cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
+ cv::putText(image_draw_, std::to_string(ii), tracked_kp.pt, cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
}
}
}
}
// If not enough tracked features, add new ones
- if (_tracked_frame->features.size() < params_ptr_->min_feat_track)
+ if (_tracked_frame->getNumFeatures() < params_ptr_->min_feat_track)
detectNewFeatures(_tracked_frame, _det_ptr, _des_ptr);
else
{
diff --git a/src/algorithms/trackfeatures/alg_trackfeatures.h b/src/algorithms/trackfeatures/alg_trackfeatures.h
index a5c95103d3412f91413aeb5f10d326375cdc5a47..0ad056b43970c1f102e3f68828021e963d95b041 100644
--- a/src/algorithms/trackfeatures/alg_trackfeatures.h
+++ b/src/algorithms/trackfeatures/alg_trackfeatures.h
@@ -5,7 +5,6 @@
#include "../algorithm_factory.h"
#include "../../common_class/buffer.h"
#include "../../common_class/frame.h"
-#include "../../common_class/feature.h"
#include "../../detectors/detector_base.h"
#include "../../descriptors/descriptor_base.h"
#include "../../matchers/matcher_base.h"
diff --git a/src/common_class/feature.h b/src/common_class/feature.h
deleted file mode 100644
index 70687965e64b5d62f5983ed91bcb28ac47dab1e9..0000000000000000000000000000000000000000
--- a/src/common_class/feature.h
+++ /dev/null
@@ -1,46 +0,0 @@
-#ifndef _FEATURE_H_
-#define _FEATURE_H_
-
-#include "../vision_utils.h"
-
-// OpenCV
-#include <opencv2/core/core.hpp>
-
-namespace vision_utils {
-
-VU_PTR_TYPEDEFS(Feature);
-
-/**
- * \brief Main class
- */
-class Feature {
-
-public:
-
- /**
- * \brief Constructor
- */
- Feature(const int& _id, const cv::KeyPoint& _kp, const cv::Mat& _desc) : id(_id), kp(_kp), desc(_desc){};
-
- /**
- * \brief Destructor
- */
- ~Feature(void){};
-
- int id; // Feature id
- cv::KeyPoint kp; // Feature Keypoint
- cv::Mat desc; // Feature descriptor
-
-};
-
-inline std::vector<FeaturePtr> setFeatures( const KeyPointVector& _kps, const cv::Mat& _desc, const int _idx_ini = 0)
-{
- std::vector<FeaturePtr> features_vec;
- for (int ii = 0; ii < _kps.size(); ++ii)
- features_vec.push_back( std::make_shared<Feature>( _idx_ini + ii, _kps[ii], _desc.row(ii) ) );
- return features_vec;
-}
-
-} /* namespace vision_utils */
-
-#endif /* _FEATURE_H_ */
diff --git a/src/common_class/frame.h b/src/common_class/frame.h
index b178638b22ab340fc5d74685fd3186fbc3d650da..7df5df5d382524cb4289b4baa29932802e27ff3a 100644
--- a/src/common_class/frame.h
+++ b/src/common_class/frame.h
@@ -2,7 +2,6 @@
#define _FRAME_H_
#include "../vision_utils.h"
-#include "feature.h"
// OpenCV
#include <opencv2/core/core.hpp>
@@ -16,23 +15,65 @@ VU_PTR_TYPEDEFS(Frame);
*/
class Frame {
+protected:
+
+ int id_; // id
+ cv::Mat img_; // Image
+ KeyPointVector kps_; // KeyPoints
+ cv::Mat desc_; // Descriptors
+
public:
/**
* \brief Constructor
*/
- Frame(const int& _id, const cv::Mat _img, const std::vector<FeaturePtr> _features) : id(_id), image(_img), features(_features){};
+ Frame(const int& _id, const cv::Mat _img, const KeyPointVector _kps, const cv::Mat _desc) :
+ id_(_id),
+ img_(_img),
+ kps_(_kps),
+ desc_(_desc){};
/**
* \brief Destructor
*/
~Frame(void){};
+ /**
+ * \brief Return the frame id
+ */
+ int getId(void);
+
+ /**
+ * \brief Set the frame id
+ */
+ void setId(const int& _id);
+
+ /**
+ * \brief Return the image
+ */
+ cv::Mat getImage(void);
+
+ /**
+ * \brief Set the image
+ */
+ void setImage(const cv::Mat& _img);
+
/**
* \brief Return the frame Keypoints
*/
KeyPointVector getKeyPoints(void);
+ /**
+ * \brief Set the frame Keypoints
+ */
+ void setKeyPoints(const KeyPointVector& _kps);
+
+ /**
+ * \brief Add a Keypoint
+ */
+ void addKeyPoint(const cv::KeyPoint& _kp);
+ void addKeyPoints(const KeyPointVector& _kps);
+
/**
* \brief Return the frame points from KeyPoints
*/
@@ -43,38 +84,101 @@ public:
*/
cv::Mat getDescriptors(void);
- int id; // id
- cv::Mat image; // image
- std::vector<FeaturePtr> features; // features found in frame
+ /**
+ * \brief Set the frame descriptors
+ */
+ void setDescriptors(const cv::Mat& _desc);
+
+ /**
+ * \brief Add a descriptor
+ */
+ void addDescriptor(const cv::Mat& _kp);
+ void addDescriptors(const cv::Mat& _kp);
+
+ /**
+ * \brief Get number of features
+ */
+ int getNumFeatures(void);
};
+inline int Frame::getId(void)
+{
+ return id_;
+}
+
+inline void Frame::setId(const int& _id)
+{
+ id_ = _id;
+}
+
+inline cv::Mat Frame::getImage(void)
+{
+ return img_;
+}
+
+inline void Frame::setImage(const cv::Mat& _img)
+{
+ img_ = _img;
+}
+
inline KeyPointVector Frame::getKeyPoints(void)
{
- KeyPointVector kps;
- for (auto feat : features)
- kps.push_back(feat->kp);
- return kps;
+ return kps_;
};
+inline void Frame::setKeyPoints(const KeyPointVector& _kps)
+{
+ kps_ = _kps;
+}
+
+inline void Frame::addKeyPoint(const cv::KeyPoint& _kp)
+{
+ kps_.push_back(_kp);
+}
+
+inline void Frame::addKeyPoints(const KeyPointVector& _kps)
+{
+ kps_.insert(kps_.end(), _kps.begin(), _kps.end() );
+}
+
inline PointVector Frame::getPoints(void)
{
- PointVector ps;
- for (auto feat : features)
- ps.push_back(feat->kp.pt);
- return ps;
+ PointVector pvec;
+ for (auto kp : kps_)
+ pvec.push_back(kp.pt);
+ return pvec;
};
inline cv::Mat Frame::getDescriptors(void)
{
- cv::Mat desc;
- for (auto feat : features)
- desc.push_back(feat->desc);
- return desc;
+ return desc_;
+};
+
+inline void Frame::setDescriptors(const cv::Mat& _desc)
+{
+ assert( kps_.size() == _desc.rows && "The Number of descriptors must be equal to number of keypoints");
+ desc_ = _desc;
};
+inline void Frame::addDescriptor(const cv::Mat& _desc)
+{
+ desc_.push_back(_desc);
+}
+
+inline void Frame::addDescriptors(const cv::Mat& _desc)
+{
+ desc_.push_back(_desc);
+}
+
+inline int Frame::getNumFeatures(void)
+{
+ assert( kps_.size() == desc_.rows && "The Number of descriptors must be equal to number of keypoints");
+ return kps_.size();
+}
+
inline FramePtr setFrame(const int& _id, const cv::Mat _img, const KeyPointVector& _kps = KeyPointVector(), const cv::Mat& _desc = cv::Mat())
{
- return std::make_shared<Frame>(_id, _img, setFeatures( _kps, _desc));
+ return std::make_shared<Frame>(_id, _img, _kps, _desc );
}
} /* namespace vision_utils */