From 0b04de56488ced13dda6ffcfe9a4db79d99ec3f4 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 16 May 2018 13:43:28 +0200
Subject: [PATCH] FIX: fundamental_matrix example
---
src/examples/fundamental_matrix.cpp | 103 +++++++++++++++++-----
src/examples/yaml/fundamental_matrix.yaml | 23 +++++
2 files changed, 103 insertions(+), 23 deletions(-)
create mode 100644 src/examples/yaml/fundamental_matrix.yaml
diff --git a/src/examples/fundamental_matrix.cpp b/src/examples/fundamental_matrix.cpp
index f540897..8340939 100644
--- a/src/examples/fundamental_matrix.cpp
+++ b/src/examples/fundamental_matrix.cpp
@@ -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);
diff --git a/src/examples/yaml/fundamental_matrix.yaml b/src/examples/yaml/fundamental_matrix.yaml
new file mode 100644
index 0000000..96c8f59
--- /dev/null
+++ b/src/examples/yaml/fundamental_matrix.yaml
@@ -0,0 +1,23 @@
+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
--
GitLab