diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f763e2af954a30d49b8d48b6d04719b296b31b59..77c67d33c663fb7c2b1867c5d8e237fcfb6b1c04 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -56,7 +56,9 @@ SET(sources
matchers/flannbased/matcher_flannbased.cpp
matchers/flannbased/matcher_flannbased_load_yaml.cpp
matchers/bruteforce/matcher_bruteforce.cpp
- matchers/bruteforce/matcher_bruteforce_load_yaml.cpp )
+ matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
+ matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
+ matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp)
# application header files
SET(headers
@@ -95,7 +97,8 @@ SET(headers
matchers/matcher_factory.h
matchers/matcher_base.h
matchers/flannbased/matcher_flannbased.h
- matchers/bruteforce/matcher_bruteforce.h)
+ matchers/bruteforce/matcher_bruteforce.h
+ matchers/bruteforce_l1/matcher_bruteforce_l1.h)
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index 3ac6eb6bba9ef2e7f89e66f0da80d60c615e179e..c5e440e852d9d903e0b20d33354c19b80fadb144 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -37,6 +37,7 @@
// Matchers
#include "../matchers/flannbased/matcher_flannbased.h"
#include "../matchers/bruteforce/matcher_bruteforce.h"
+#include "../matchers/bruteforce_l1/matcher_bruteforce_l1.h"
int main(void)
{
@@ -117,7 +118,7 @@ int main(void)
std::cout << "\n================ MATCHER TEST =================" << std::endl;
- std::string def_matcher = "BRUTEFORCE";
+ std::string def_matcher = "BRUTEFORCEL1";
std::cout << std::endl << "Which MATCHER do you want to test? Type one of the registered names [default: " << def_matcher << "]: ";
std::string mat_name = readFromUser(def_matcher);
@@ -127,6 +128,8 @@ int main(void)
mat_ptr = std::static_pointer_cast<MatcherFLANNBASED>(mat_ptr);
if (mat_name.compare("BRUTEFORCE") == 0)
mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCE>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCEL1") == 0)
+ mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCEL1>(mat_ptr);
std::cout << std::endl << "... Testing " << det_ptr->getName() << " with " << des_ptr->getName() << " and " << mat_ptr->getName() << " ..." << std::endl;
diff --git a/src/examples/yaml/BRUTEFORCEL1.yaml b/src/examples/yaml/BRUTEFORCEL1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1aa9b5dda9599326cfc939c64cdfc0fae09f929d
--- /dev/null
+++ b/src/examples/yaml/BRUTEFORCEL1.yaml
@@ -0,0 +1,5 @@
+sensor:
+ type: "USB_CAM"
+matcher:
+ type: "BRUTEFORCEL1"
+ match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
\ No newline at end of file
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7be9db687cba48bc88585311bf00154661ddf9de
--- /dev/null
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
@@ -0,0 +1,17 @@
+#include "matcher_bruteforce_l1.h"
+
+namespace vision_utils {
+
+MatcherBRUTEFORCEL1::MatcherBRUTEFORCEL1(void)
+{}
+
+MatcherBRUTEFORCEL1::~MatcherBRUTEFORCEL1(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the MatchersFactory
+namespace vision_utils
+{
+VU_REGISTER_MATCHER("BRUTEFORCEL1", MatcherBRUTEFORCEL1);
+} /* namespace vision_utils */
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
new file mode 100644
index 0000000000000000000000000000000000000000..99a1d4939f4cf0d3f3d943c5a71017a761546db5
--- /dev/null
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
@@ -0,0 +1,66 @@
+#ifndef _MATCHER_BRUTEFORCEL1_H_
+#define _MATCHER_BRUTEFORCEL1_H_
+
+#include "../matcher_base.h"
+#include "../matcher_factory.h"
+
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
+namespace vision_utils {
+
+// Create all pointers
+VU_PTR_TYPEDEFS(MatcherBRUTEFORCEL1);
+VU_PTR_TYPEDEFS(MatcherParamsBRUTEFORCEL1);
+
+/** \brief Class parameters
+ *
+ */
+struct MatcherParamsBRUTEFORCEL1: public MatcherParamsBase
+{
+ // TODO: Add possible parameters
+};
+
+/** \brief DETECTOR class
+ *
+ */
+class MatcherBRUTEFORCEL1 : public MatcherBase {
+
+ public:
+ MatcherBRUTEFORCEL1();
+ virtual ~MatcherBRUTEFORCEL1(void);
+
+ // Factory method
+ static MatcherBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
+
+ private:
+
+ void defineMatcher(const ParamsBasePtr _params);
+};
+
+/*
+ * brief Define detector
+ */
+inline void MatcherBRUTEFORCEL1::defineMatcher(const ParamsBasePtr _params)
+{
+ params_base_ptr_ = std::static_pointer_cast<MatcherParamsBase>(_params);
+ MatcherParamsBRUTEFORCEL1Ptr params_ptr = std::static_pointer_cast<MatcherParamsBRUTEFORCEL1>(_params);
+ matcher_ = cv::DescriptorMatcher::create("BruteForce-L1");
+}
+
+/*
+ * brief Create object in factory
+ */
+inline MatcherBasePtr MatcherBRUTEFORCEL1::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ MatcherBRUTEFORCEL1Ptr mat_ptr = std::make_shared<MatcherBRUTEFORCEL1>();
+ mat_ptr->setName(_unique_name);
+ mat_ptr->defineMatcher(_params);
+ return mat_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _MATCHER_BRUTEFORCEL1_H_ */
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp b/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..50bf6b5de0e9c847c12d5d442a09154a9690b690
--- /dev/null
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
@@ -0,0 +1,46 @@
+#include "matcher_bruteforce_l1.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsBRUTEFORCEL1Matcher(const std::string & _filename_dot_yaml)
+{
+ MatcherParamsBRUTEFORCEL1Ptr params_ptr = std::make_shared<MatcherParamsBRUTEFORCEL1>();
+
+ using std::string;
+ using YAML::Node;
+ Node yaml_params = YAML::LoadFile(_filename_dot_yaml);
+ if (!yaml_params.IsNull())
+ {
+ Node d_yaml = yaml_params["matcher"];
+ if(d_yaml["type"].as<string>() == "BRUTEFORCEL1")
+ {
+ params_ptr->match_type = d_yaml["match type"].as<int>();
+ // TODO: Add possible parameters
+ }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_matBRUTEFORCEL1_params = ParamsFactory::get().registerCreator("BRUTEFORCEL1 MAT", createParamsBRUTEFORCEL1Matcher);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+