From 2255568173be550c10ed566b9e7fd06df2c3984d Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 9 Aug 2017 17:31:55 +0200
Subject: [PATCH] added lucid descriptor
---
src/CMakeLists.txt | 3 +
src/descriptors/lucid/descriptor_lucid.cpp | 17 +++++
src/descriptors/lucid/descriptor_lucid.h | 69 +++++++++++++++++++
.../lucid/descriptor_lucid_load_yaml.cpp | 46 +++++++++++++
src/examples/test_descriptor.cpp | 9 ++-
src/examples/yaml/LUCID.yaml | 6 ++
6 files changed, 147 insertions(+), 3 deletions(-)
create mode 100644 src/descriptors/lucid/descriptor_lucid.cpp
create mode 100644 src/descriptors/lucid/descriptor_lucid.h
create mode 100644 src/descriptors/lucid/descriptor_lucid_load_yaml.cpp
create mode 100644 src/examples/yaml/LUCID.yaml
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a03903d..a4a52dc 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -50,6 +50,8 @@ SET(sources
descriptors/brief/descriptor_brief_load_yaml.cpp
descriptors/daisy/descriptor_daisy.cpp
descriptors/daisy/descriptor_daisy_load_yaml.cpp
+ descriptors/lucid/descriptor_lucid.cpp
+ descriptors/lucid/descriptor_lucid_load_yaml.cpp
matchers/matcher_base.cpp )
# application header files
@@ -85,6 +87,7 @@ SET(headers
descriptors/freak/descriptor_freak.h
descriptors/brief/descriptor_brief.h
descriptors/daisy/descriptor_daisy.h
+ descriptors/lucid/descriptor_lucid.h
matchers/matcher_factory.h
matchers/matcher_base.h)
diff --git a/src/descriptors/lucid/descriptor_lucid.cpp b/src/descriptors/lucid/descriptor_lucid.cpp
new file mode 100644
index 0000000..42bbd7a
--- /dev/null
+++ b/src/descriptors/lucid/descriptor_lucid.cpp
@@ -0,0 +1,17 @@
+#include "descriptor_lucid.h"
+
+namespace vision_utils {
+
+DescriptorLUCID::DescriptorLUCID(void)
+{}
+
+DescriptorLUCID::~DescriptorLUCID(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the DescriptorsFactory
+namespace vision_utils
+{
+VU_REGISTER_DESCRIPTOR("LUCID", DescriptorLUCID);
+} /* namespace vision_utils */
diff --git a/src/descriptors/lucid/descriptor_lucid.h b/src/descriptors/lucid/descriptor_lucid.h
new file mode 100644
index 0000000..148021a
--- /dev/null
+++ b/src/descriptors/lucid/descriptor_lucid.h
@@ -0,0 +1,69 @@
+#ifndef _DESCRIPTOR_LUCID_H_
+#define _DESCRIPTOR_LUCID_H_
+
+#include "../descriptor_base.h"
+#include "../descriptor_factory.h"
+
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
+namespace vision_utils {
+
+// Create all pointers
+VU_PTR_TYPEDEFS(DescriptorLUCID);
+VU_PTR_TYPEDEFS(DescriptorParamsLUCID);
+
+/** \brief Class parameters
+ *
+ */
+struct DescriptorParamsLUCID: public ParamsBase
+{
+ int lucid_kernel = 1; // Kernel for descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth
+ int blur_kernel = 2; // Kernel for blurring image prior to descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth
+};
+
+/** \brief DETECTOR class
+ *
+ */
+class DescriptorLUCID : public DescriptorBase {
+
+ public:
+ DescriptorLUCID();
+ virtual ~DescriptorLUCID(void);
+
+ // Factory method
+ static DescriptorBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
+
+ private:
+
+ void defineDescriptor(const ParamsBasePtr _params);
+};
+
+/*
+ * brief Define detector
+ */
+inline void DescriptorLUCID::defineDescriptor(const ParamsBasePtr _params)
+{
+ DescriptorParamsLUCIDPtr params_ptr = std::static_pointer_cast<DescriptorParamsLUCID>(_params);
+
+ descriptor_ = cv::xfeatures2d::LUCID::create(params_ptr->lucid_kernel,
+ params_ptr->blur_kernel);
+}
+
+
+/*
+ * brief Create object in factory
+ */
+inline DescriptorBasePtr DescriptorLUCID::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ DescriptorLUCIDPtr det_ptr = std::make_shared<DescriptorLUCID>();
+ det_ptr->setName(_unique_name);
+ det_ptr->defineDescriptor(_params);
+ return det_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _DESCRIPTOR_LUCID_H_ */
diff --git a/src/descriptors/lucid/descriptor_lucid_load_yaml.cpp b/src/descriptors/lucid/descriptor_lucid_load_yaml.cpp
new file mode 100644
index 0000000..50de9f1
--- /dev/null
+++ b/src/descriptors/lucid/descriptor_lucid_load_yaml.cpp
@@ -0,0 +1,46 @@
+#include "descriptor_lucid.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsLUCIDDescriptor(const std::string & _filename_dot_yaml)
+{
+ DescriptorParamsLUCIDPtr params_ptr = std::make_shared<DescriptorParamsLUCID>();
+
+ using std::string;
+ using YAML::Node;
+ Node yaml_params = YAML::LoadFile(_filename_dot_yaml);
+ if (!yaml_params.IsNull())
+ {
+ Node d_yaml = yaml_params["descriptor"];
+ if(d_yaml["type"].as<string>() == "LUCID")
+ {
+ params_ptr->lucid_kernel = d_yaml["lucid_kernel"].as<int>();
+ params_ptr->blur_kernel = d_yaml["blur_kernel"].as<int>();
+ }else
+ {
+ std::cerr << "Bad configuration file. Wrong type " << d_yaml["type"].as<string>() << std::endl;
+ return nullptr;
+ }
+ }
+
+ return params_ptr;
+}
+
+// Register in the SensorFactory
+const bool registered_desLUCID_params = ParamsFactory::get().registerCreator("LUCID DES", createParamsLUCIDDescriptor);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+
diff --git a/src/examples/test_descriptor.cpp b/src/examples/test_descriptor.cpp
index e408c7a..0d451a8 100644
--- a/src/examples/test_descriptor.cpp
+++ b/src/examples/test_descriptor.cpp
@@ -32,7 +32,8 @@
#include "../descriptors/freak/descriptor_freak.h"
#include "../descriptors/brief/descriptor_brief.h"
#include "../descriptors/daisy/descriptor_daisy.h"
-//#include "../descriptors/lucid/descriptor_lucid.h"
+#include "../descriptors/lucid/descriptor_lucid.h"
+//#include "../descriptors/dense/descriptor_dense.h"
int main(void)
{
@@ -110,8 +111,10 @@ int main(void)
des_ptr = std::static_pointer_cast<DescriptorBRIEF>(des_ptr);
else if (des_name.compare("DAISY") == 0)
des_ptr = std::static_pointer_cast<DescriptorDAISY>(des_ptr);
-// else if (des_name.compare("LUCID") == 0)
-// des_ptr = std::static_pointer_cast<DescriptorLUCID>(des_ptr);
+ else if (des_name.compare("LUCID") == 0)
+ des_ptr = std::static_pointer_cast<DescriptorLUCID>(des_ptr);
+ // else if (des_name.compare("DENSE") == 0)
+ // des_ptr = std::static_pointer_cast<DescriptorDENSE>(des_ptr);
std::cout << std::endl << "... Testing " << det_ptr->getName() << " with " << des_ptr->getName() << " ..." << std::endl;
diff --git a/src/examples/yaml/LUCID.yaml b/src/examples/yaml/LUCID.yaml
new file mode 100644
index 0000000..6889d08
--- /dev/null
+++ b/src/examples/yaml/LUCID.yaml
@@ -0,0 +1,6 @@
+sensor:
+ type: "USB_CAM"
+descriptor:
+ type: "LUCID"
+ lucid_kernel: 1
+ blur_kernel: 2
\ No newline at end of file
--
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