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Commit 0b04de56 authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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FIX: fundamental_matrix example

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src/examples/fundamental_matrix.cpp
+ 80
− 23
View file @ 0b04de56
......@@ -33,7 +33,7 @@ int main(int argc, char** argv)
cv::VideoCapture capture;
if (argc < 2)
{
std::cout << "Please use\n\t./test_opencv <arg> "
std::cout << "Please use\n\t./fundamental_matrix <arg> "
"\nwith "
"\n\targ = <path/videoname.mp4> for video input "
"\n\targ = 0 for camera input." << std::endl;
......@@ -58,23 +58,81 @@ int main(int argc, char** argv)
else
std::cout << "succeded" << std::endl;
// set image detector
vision_utils::DetectorParamsORBPtr det_params = std::make_shared<vision_utils::DetectorParamsORB>();
vision_utils::DetectorBasePtr det_b_ptr = vision_utils::setupDetector("ORB", "ORB detector", det_params);
vision_utils::DetectorORBPtr det_ptr = std::static_pointer_cast<vision_utils::DetectorORB>(det_b_ptr);
// set image descriptor
vision_utils::DescriptorParamsORBPtr desc_params = std::make_shared<vision_utils::DescriptorParamsORB>();
vision_utils::DescriptorBasePtr des_b_ptr = vision_utils::setupDescriptor("ORB", "ORB detector", desc_params);
vision_utils::DescriptorORBPtr des_ptr = std::static_pointer_cast<vision_utils::DescriptorORB>(des_b_ptr);
// set matcher
std::string matcher_name = "BRUTEFORCE_HAMMING_2";
vision_utils::MatcherParamsBasePtr mat_params = std::make_shared<vision_utils::MatcherParamsBase>(matcher_name);
mat_params->match_type = vision_utils::MATCH;
vision_utils::MatcherBasePtr mat_b_ptr = vision_utils::setupMatcher(matcher_name, matcher_name, mat_params);
vision_utils::MatcherBRUTEFORCE_HAMMING_2Ptr mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_HAMMING_2>(mat_b_ptr);
// YAML file with parameters
std::string path_yaml_file = "/src/examples/yaml";
std::string vu_root = _VU_ROOT_DIR; // Root dir path
std::string yaml_file_params_vision_utils = vu_root + path_yaml_file + "/fundamental_matrix.yaml";
// Detector
std::string det_name = vision_utils::readYamlType(yaml_file_params_vision_utils, "detector");
vision_utils::DetectorBasePtr det_ptr = vision_utils::setupDetector(det_name, det_name + " detector", yaml_file_params_vision_utils);
if (det_name.compare("ORB") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorORB>(det_ptr);
else if (det_name.compare("FAST") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorFAST>(det_ptr);
else if (det_name.compare("SIFT") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorSIFT>(det_ptr);
else if (det_name.compare("SURF") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorSURF>(det_ptr);
else if (det_name.compare("BRISK") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorBRISK>(det_ptr);
else if (det_name.compare("MSER") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorMSER>(det_ptr);
else if (det_name.compare("GFTT") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorGFTT>(det_ptr);
else if (det_name.compare("HARRIS") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorHARRIS>(det_ptr);
else if (det_name.compare("SBD") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorSBD>(det_ptr);
else if (det_name.compare("KAZE") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorKAZE>(det_ptr);
else if (det_name.compare("AKAZE") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorAKAZE>(det_ptr);
else if (det_name.compare("AGAST") == 0)
det_ptr = std::static_pointer_cast<vision_utils::DetectorAGAST>(det_ptr);
// Descriptor
std::string des_name = vision_utils::readYamlType(yaml_file_params_vision_utils, "descriptor");
vision_utils::DescriptorBasePtr des_ptr = vision_utils::setupDescriptor(des_name, des_name + " descriptor", yaml_file_params_vision_utils);
if (des_name.compare("ORB") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorORB>(des_ptr);
else if (des_name.compare("SIFT") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorSIFT>(des_ptr);
else if (des_name.compare("SURF") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorSURF>(des_ptr);
else if (des_name.compare("BRISK") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorBRISK>(des_ptr);
else if (des_name.compare("KAZE") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorKAZE>(des_ptr);
else if (des_name.compare("AKAZE") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorAKAZE>(des_ptr);
else if (des_name.compare("LATCH") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorLATCH>(des_ptr);
else if (des_name.compare("FREAK") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorFREAK>(des_ptr);
else if (des_name.compare("BRIEF") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorBRIEF>(des_ptr);
else if (des_name.compare("DAISY") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorDAISY>(des_ptr);
else if (des_name.compare("LUCID") == 0)
des_ptr = std::static_pointer_cast<vision_utils::DescriptorLUCID>(des_ptr);
// Matcher
std::string mat_name = vision_utils::readYamlType(yaml_file_params_vision_utils, "matcher");
vision_utils::MatcherBasePtr mat_ptr = vision_utils::setupMatcher(mat_name, mat_name + " matcher", yaml_file_params_vision_utils);
if (mat_name.compare("FLANNBASED") == 0)
mat_ptr = std::static_pointer_cast<vision_utils::MatcherFLANNBASED>(mat_ptr);
if (mat_name.compare("BRUTEFORCE") == 0)
mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE>(mat_ptr);
if (mat_name.compare("BRUTEFORCE_L1") == 0)
mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_L1>(mat_ptr);
if (mat_name.compare("BRUTEFORCE_HAMMING") == 0)
mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_HAMMING>(mat_ptr);
if (mat_name.compare("BRUTEFORCE_HAMMING_2") == 0)
mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_HAMMING_2>(mat_ptr);
// set and print image properties
unsigned int img_width = (unsigned int)capture.get(CV_CAP_PROP_FRAME_WIDTH);
......@@ -91,7 +149,6 @@ int main(int argc, char** argv)
cv::namedWindow("Feature tracker"); // Creates a window for display.
cv::moveWindow("Feature tracker", 0, 0);
// First image
KeyPointVector keypoints_1 = det_ptr->detect(image_buffer.back());
cv::Mat descriptors_1 = des_ptr->getDescriptor( image_buffer.back(), keypoints_1);
......@@ -117,7 +174,7 @@ int main(int argc, char** argv)
{
image_buffer.add(img);
cv::Mat descriptors_2 = des_ptr->getDescriptor( image_buffer.back(), keypoints_1);
cv::Mat descriptors_2 = des_ptr->getDescriptor( image_buffer.back(), keypoints_2);
unsigned int max_dist = 0;
unsigned int min_dist = 512;
......@@ -175,13 +232,13 @@ int main(int argc, char** argv)
std::cout << "Matches: initial " << matches.size() << " | good " << good_matches.size() << " | inliers "
<< inlier_matches.size() << std::endl;
std::cout << "+++++++++++++++" << std::endl;
std::cout << keypoints_1.size() << " " << keypoints_2.size() << " " << inlier_matches.size() << " " << img_matches.size() << std::endl;
std::cout << "kp1: " << keypoints_1.size() << " kp2: " << keypoints_2.size() << " inliers:" << inlier_matches.size() << std::endl;
std::cout << "+++++++++++++++" << std::endl;
// Draw RANSAC inliers
cv::drawMatches(image_buffer[image_buffer.size()-2], keypoints_1, image_buffer.back(), keypoints_2, inlier_matches, img_matches,
cv::Scalar::all(-1), cv::Scalar::all(-1), std::vector<char>(), 0); //cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
cv::Scalar::all(-1), cv::Scalar::all(-1), std::vector<char>(), 0); //cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
// Show detected matches
imshow("Feature tracker", img_matches);
......
src/examples/yaml/fundamental_matrix.yaml 0 → 100644
+ 23
− 0
View file @ 0b04de56
detector:
type: "GFTT"
maxCorners: 1000
qualityLevel: 0.015
minDistance: 20.0
blockSize: 15
k: 0.04
descriptor:
type: "ORB"
nfeatures: 1000
scale factor: 1.2
nlevels: 8
edge threshold: 31 # 16
first level: 0
WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
patch size: 31 # 31
matcher:
type: "BRUTEFORCE" # BRUTEFORCE, BRUTEFORCE_HAMMING, BRUTEFORCE_HAMMING_2, BRUTEFORCE_L1, FLANNBASED
match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
min normalized score: 0.8
\ No newline at end of file
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