From 4f77b5140c9240d1b80f46e0e2f6781140f5a3ee Mon Sep 17 00:00:00 2001
From: angelsantamaria <somriu@gmail.com>
Date: Sun, 30 Jul 2017 13:33:04 +0200
Subject: [PATCH] Added initial matcher structure. match not yet prepared
---
.settings/language.settings.xml | 4 +-
src/examples/feature_detectors.cpp | 6 +-
.../feature_detectors_and_descriptors.cpp | 14 +-
src/feature_descriptor/feature_descriptor.cpp | 14 +-
src/feature_descriptor/feature_descriptor.h | 16 +--
src/feature_detector/feature_detector.cpp | 8 +-
src/feature_detector/feature_detector.h | 8 +-
src/feature_matcher/feature_matcher.cpp | 133 +++++++++++++++++-
src/feature_matcher/feature_matcher.h | 101 ++++++++++++-
9 files changed, 261 insertions(+), 43 deletions(-)
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index ca971ab..c588c28 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -4,8 +4,8 @@
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
- <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuildCommandParser" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser" keep-relative-paths="false" name="CDT GCC Build Output Parser" parameter="(g?cc)|([gc]\+\+)|(clang)" prefer-non-shared="true"/>
- <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1504749124108071272" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
+ <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
+ <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1476617952823822664" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
diff --git a/src/examples/feature_detectors.cpp b/src/examples/feature_detectors.cpp
index 650dbcf..93e48e4 100644
--- a/src/examples/feature_detectors.cpp
+++ b/src/examples/feature_detectors.cpp
@@ -9,7 +9,7 @@ int main(int argc, char *argv[])
{
CFeature_Detector detector;
std::vector<detector::Type> detectors_list;
- detectors_list = detector.listDetectors();
+ detectors_list = detector.list();
std::cout << "----------------------------------------" << std::endl;
std::cout << "| Feature detector example |" << std::endl;
@@ -22,7 +22,7 @@ int main(int argc, char *argv[])
std::cout << std::endl << "Which DETECTOR do you want to test?: ";
int feat_type;
std::cin >> feat_type;
- detector.setDetectorType(feat_type);
+ detector.setType(feat_type);
std::cout << std::endl << "Testing: " << detectors_list[feat_type] << std::endl;
// Open camera
@@ -62,7 +62,7 @@ int main(int argc, char *argv[])
detector.drawKeyFeatures(frame, keypoints);
}
- std::cout << "\e[A" << "Detection time: " << detector.getDetectionTime() << std::endl;
+ std::cout << "\e[A" << "Detection time: " << detector.getTime() << std::endl;
// Show NEW frame
cv::imshow("Detections", frame);
diff --git a/src/examples/feature_detectors_and_descriptors.cpp b/src/examples/feature_detectors_and_descriptors.cpp
index ca11eb2..432aea8 100644
--- a/src/examples/feature_detectors_and_descriptors.cpp
+++ b/src/examples/feature_detectors_and_descriptors.cpp
@@ -9,7 +9,7 @@ int main(int argc, char *argv[])
{
CFeature_Detector detector;
std::vector<detector::Type> detectors_list;
- detectors_list = detector.listDetectors();
+ detectors_list = detector.list();
std::cout << "---------------------------------------------------------" << std::endl;
std::cout << "| Feature detectors and descriptors example |" << std::endl;
@@ -25,11 +25,11 @@ int main(int argc, char *argv[])
std::cout << std::endl << "Which DETECTOR do you want to test?: ";
int feat_type;
std::cin >> feat_type;
- detector.setDetectorType(feat_type);
+ detector.setType(feat_type);
CFeature_Descriptor descriptor;
std::vector<descriptor::Type> descriptor_list;
- descriptor_list = descriptor.listDescriptors();
+ descriptor_list = descriptor.list();
for (unsigned int ii=0; ii<descriptor_list.size(); ii++)
std::cout << "[" << ii << "]: " << descriptor_list[ii] << std::endl;
@@ -37,7 +37,7 @@ int main(int argc, char *argv[])
std::cout << std::endl << "Which DESCRIPTOR do you want to test?: ";
int desc_type;
std::cin >> desc_type;
- descriptor.setDescriptorType(desc_type);
+ descriptor.setType(desc_type);
std::cout << std::endl << "Testing: " << detectors_list[feat_type] << " + " << descriptor_list[feat_type] << " (DETECTOR + DESCRIPTOR)" << std::endl;
// Open camera
@@ -74,9 +74,9 @@ int main(int argc, char *argv[])
detector.drawKeyFeatures(frame, keypoints);
std::cout << "\e[A" <<
- "Detection time: " << detector.getDetectionTime() << " " <<
- "Description time: " << descriptor.getDescriptorTime() << " " <<
- "TOTAL time: " << detector.getDetectionTime() + descriptor.getDescriptorTime() << std::endl;
+ "Detection time: " << detector.getTime() << " " <<
+ "Description time: " << descriptor.getTime() << " " <<
+ "TOTAL time: " << detector.getTime() + descriptor.getTime() << std::endl;
// Show NEW frame
cv::imshow("Detections", frame);
diff --git a/src/feature_descriptor/feature_descriptor.cpp b/src/feature_descriptor/feature_descriptor.cpp
index 4ef6c37..3ab6871 100644
--- a/src/feature_descriptor/feature_descriptor.cpp
+++ b/src/feature_descriptor/feature_descriptor.cpp
@@ -15,7 +15,7 @@ CFeature_Descriptor::CFeature_Descriptor(const descriptor::Type& _type) :
CFeature_Descriptor::CFeature_Descriptor(const int&_type) :
type_(descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
- is_init_ = init(intToDescriptorType(_type));
+ is_init_ = init(intToType(_type));
if (!is_init_) {
std::cerr
@@ -31,7 +31,7 @@ CFeature_Descriptor::CFeature_Descriptor() :
CFeature_Descriptor::~CFeature_Descriptor() {
}
-std::vector<descriptor::Type> CFeature_Descriptor::listDescriptors(void)
+std::vector<descriptor::Type> CFeature_Descriptor::list(void)
{
std::vector<descriptor::Type> list;
@@ -43,19 +43,19 @@ std::vector<descriptor::Type> CFeature_Descriptor::listDescriptors(void)
return list;
}
-bool CFeature_Descriptor::setDescriptorType(const descriptor::Type& _type)
+bool CFeature_Descriptor::setType(const descriptor::Type& _type)
{
is_init_ = init(_type);
return is_init_;
}
-bool CFeature_Descriptor::setDescriptorType(const int& _type)
+bool CFeature_Descriptor::setType(const int& _type)
{
- is_init_ = init(intToDescriptorType(_type));
+ is_init_ = init(intToType(_type));
return is_init_;
}
-double CFeature_Descriptor::getDescriptorTime(void)
+double CFeature_Descriptor::getTime(void)
{
return descript_time_;
}
@@ -142,7 +142,7 @@ cv::Mat CFeature_Descriptor::getDescriptor(const cv::Mat& _image, CFeature_Descr
return descriptors;
}
-descriptor::Type CFeature_Descriptor::intToDescriptorType(
+descriptor::Type CFeature_Descriptor::intToType(
const unsigned int _i) {
descriptor::Type type;
diff --git a/src/feature_descriptor/feature_descriptor.h b/src/feature_descriptor/feature_descriptor.h
index 0a88c02..d895cac 100644
--- a/src/feature_descriptor/feature_descriptor.h
+++ b/src/feature_descriptor/feature_descriptor.h
@@ -18,7 +18,7 @@ typedef cv::Ptr<cv::DescriptorExtractor> FeatureDescriptorPtr;
namespace descriptor {
/**
- * \brief MACROS to generate all detector types and their corresponding strings
+ * \brief MACROS to generate all descriptor types and their corresponding strings
*/
#define FOREACH_DESCRIPTOR(DESCRIPTOR) \
DESCRIPTOR(ORB) \
@@ -66,20 +66,20 @@ public:
~CFeature_Descriptor(void);
/**
- * \brief List the defined detector types
+ * \brief List the defined types
*/
- std::vector<descriptor::Type> listDescriptors(void);
+ std::vector<descriptor::Type> list(void);
/**
- * \brief Set descriptor type
+ * \brief Set type
*/
- bool setDescriptorType(const descriptor::Type& _type);
- bool setDescriptorType(const int& _type);
+ bool setType(const descriptor::Type& _type);
+ bool setType(const int& _type);
/**
* \brief Get detection duration
*/
- double getDescriptorTime(void);
+ double getTime(void);
/**
* \brief Get descriptors
@@ -108,7 +108,7 @@ private:
*
* By default return ORB.
*/
- descriptor::Type intToDescriptorType(const unsigned int _i);
+ descriptor::Type intToType(const unsigned int _i);
};
diff --git a/src/feature_detector/feature_detector.cpp b/src/feature_detector/feature_detector.cpp
index 7535472..3e1b93e 100644
--- a/src/feature_detector/feature_detector.cpp
+++ b/src/feature_detector/feature_detector.cpp
@@ -34,7 +34,7 @@ CFeature_Detector::~CFeature_Detector()
{
}
-std::vector<detector::Type> CFeature_Detector::listDetectors(void)
+std::vector<detector::Type> CFeature_Detector::list(void)
{
std::vector<detector::Type> list;
@@ -46,13 +46,13 @@ std::vector<detector::Type> CFeature_Detector::listDetectors(void)
return list;
}
-bool CFeature_Detector::setDetectorType(const detector::Type& _type)
+bool CFeature_Detector::setType(const detector::Type& _type)
{
is_init_ = init(_type);
return is_init_;
}
-bool CFeature_Detector::setDetectorType(const int& _type)
+bool CFeature_Detector::setType(const int& _type)
{
detector::Type type;
intToType(_type, type);
@@ -60,7 +60,7 @@ bool CFeature_Detector::setDetectorType(const int& _type)
return is_init_;
}
-double CFeature_Detector::getDetectionTime(void)
+double CFeature_Detector::getTime(void)
{
return detect_time_;
}
diff --git a/src/feature_detector/feature_detector.h b/src/feature_detector/feature_detector.h
index fb283a1..6400c96 100644
--- a/src/feature_detector/feature_detector.h
+++ b/src/feature_detector/feature_detector.h
@@ -89,18 +89,18 @@ class CFeature_Detector
/**
* \brief List the defined detector types
*/
- std::vector<detector::Type> listDetectors(void);
+ std::vector<detector::Type> list(void);
/**
* \brief Set detector type
*/
- bool setDetectorType(const detector::Type& _type);
- bool setDetectorType(const int& _type);
+ bool setType(const detector::Type& _type);
+ bool setType(const int& _type);
/**
* \brief Get detection duration
*/
- double getDetectionTime(void);
+ double getTime(void);
/**
* \brief Inform if the detector searches points or lines
diff --git a/src/feature_matcher/feature_matcher.cpp b/src/feature_matcher/feature_matcher.cpp
index d4d34fb..205cb68 100644
--- a/src/feature_matcher/feature_matcher.cpp
+++ b/src/feature_matcher/feature_matcher.cpp
@@ -1,10 +1,139 @@
#include "feature_matcher.h"
-CFeature_Matcher::CFeature_Matcher()
+CFeature_Matcher::CFeature_Matcher(const matcher::Type& _type) :
+ type_(matcher::__DELIM__), is_init_(false), match_time_(0.0)
+{
+
+ is_init_ = init(_type);
+
+ if (!is_init_)
+ {
+ std::cerr << "[Feature Matcher]: Something went wrong during initialization! Feature Matcher not initialized."
+ << std::endl;
+ }
+}
+
+CFeature_Matcher::CFeature_Matcher(const int& _type) :
+ type_(matcher::__DELIM__), is_init_(false), match_time_(0.0)
+{
+
+ is_init_ = init(intToType(_type));
+
+ if (!is_init_)
+ {
+ std::cerr << "[Feature Matcher]: Something went wrong during initialization! Feature Matcher not initialized."
+ << std::endl;
+ }
+}
+
+CFeature_Matcher::CFeature_Matcher(void) :
+ type_(matcher::__DELIM__), is_init_(false), match_time_(0.0)
{
}
-CFeature_Matcher::~CFeature_Matcher()
+CFeature_Matcher::~CFeature_Matcher(void)
{
}
+std::vector<matcher::Type> CFeature_Matcher::list(void)
+{
+ std::vector<matcher::Type> list;
+
+ for (int ii = 0; ii < matcher::__DELIM__; ii++)
+ {
+ list.push_back(static_cast<matcher::Type>(ii));
+ }
+
+ return list;
+}
+
+bool CFeature_Matcher::setType(const matcher::Type& _type)
+{
+ is_init_ = init(_type);
+ return is_init_;
+}
+
+bool CFeature_Matcher::setType(const int& _type)
+{
+ is_init_ = init(intToType(_type));
+ return is_init_;
+}
+
+double CFeature_Matcher::getTime(void)
+{
+ return match_time_;
+}
+
+bool CFeature_Matcher::init(matcher::Type _type) {
+ if (is_init_)
+ std::cerr
+ << "[CFeature_Matcher::init]: Matcher already initialized."
+ << std::endl;
+
+ bool success = false;
+
+ // TODO: Set parameters for each matcher type
+ switch (_type) {
+ case matcher::BF_NORM_L1:
+ feature_matcher_ = cv::DescriptorMatcher::create("BF_NORM_L1");
+ success = true;
+ break;
+ case matcher::BF_NORM_L2:
+ feature_matcher_ = cv::DescriptorMatcher::create("BF_NORM_L2");
+ success = true;
+ break;
+ case matcher::BF_NORM_HAMMING:
+ feature_matcher_ = cv::DescriptorMatcher::create("BF_NORM_HAMMING");
+ success = true;
+ break;
+ case matcher::BF_NORM_HAMMING2:
+ feature_matcher_ = cv::DescriptorMatcher::create("BF_NORM_HAMMING2");
+ success = true;
+ break;
+ case matcher::FlannBased:
+ feature_matcher_ = cv::DescriptorMatcher::create("FlannBased");
+ success = true;
+ break;
+ case matcher::__DELIM__:
+ success = false;
+ break;
+ }
+
+ if (success)
+ type_ = _type;
+ else
+ std::cerr << "[Feature Matcher]: mathcer_type " << _type
+ << " doesn't exist !" << std::endl;
+
+ return success;
+}
+
+
+// TODO: Match features and process matches (e.g. https://github.com/kipr/opencv/blob/master/samples/cpp/detector_descriptor_matcher_evaluation.cpp)
+
+//cv::Mat CFeature_Matcher::match(const cv::Mat& _image, CFeature_Descriptor::KeyPointVector& _kpts)
+//{
+// if (!is_init_)
+// std::cerr << "[CFeature_Matcher::match]: Matcher non initialized." << std::endl;
+//
+// cv::Mat descriptors;
+//
+// clock_t tStart = clock();
+// feature_matcher_->compute(_image, _kpts, descriptors);
+// match_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
+//
+// return descriptors;
+//}
+
+matcher::Type CFeature_Matcher::intToType(
+ const unsigned int _i) {
+ matcher::Type type;
+
+ for (unsigned int ii = 0; ii < matcher::__DELIM__; ii++) {
+ if (ii == _i)
+ type = static_cast<matcher::Type>(ii);
+ }
+
+ return type;
+}
+
diff --git a/src/feature_matcher/feature_matcher.h b/src/feature_matcher/feature_matcher.h
index a8eecc2..ac956ea 100644
--- a/src/feature_matcher/feature_matcher.h
+++ b/src/feature_matcher/feature_matcher.h
@@ -1,17 +1,106 @@
#ifndef _FEATURE_MATCHER_H
#define _FEATURE_MATCHER_H
-// Matcher types
-enum MATCHER_TYPE
-{
- BF_NORM_L2, BF_NORM_HAMMING, BF_NORM_HAMMING2
+#include <time.h>
+
+// OpenCV stuff
+#include <opencv2/core/core.hpp>
+#include <opencv2/core/types.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/xfeatures2d/nonfree.hpp>
+#include <opencv2/xfeatures2d.hpp>
+#include <opencv2/line_descriptor/descriptor.hpp>
+
+typedef cv::Ptr<cv::DescriptorMatcher> FeatureMatcherPtr;
+
+namespace matcher {
+
+/**
+ * \brief MACROS to generate all matcher types and their corresponding strings
+ */
+#define FOREACH_MATCHER(MATCHER) \
+ MATCHER(BF_NORM_L1) \
+ MATCHER(BF_NORM_L2) \
+ MATCHER(BF_NORM_HAMMING) \
+ MATCHER(BF_NORM_HAMMING2) \
+ MATCHER(FlannBased) \
+ MATCHER(__DELIM__) \
+
+#define GENERATE_ENUM(ENUM) ENUM,
+#define GENERATE_STRING(STRING) #STRING,
+enum Type {
+ FOREACH_MATCHER(GENERATE_ENUM)
};
+static const char *MATCHER_TYPE_STRING[] = { FOREACH_MATCHER(
+ GENERATE_STRING) };
+
+/**
+ * \brief Stream operator for the matcher flags.
+ */
+inline std::ostream& operator<<(std::ostream& _os, Type _f) {
+ _os << MATCHER_TYPE_STRING[_f];
+ return _os;
+}
+
+} // end of namespace
class CFeature_Matcher
{
public:
- CFeature_Matcher();
- ~CFeature_Matcher();
+
+ CFeature_Matcher(const matcher::Type& _type);
+ CFeature_Matcher(const int& _type);
+ CFeature_Matcher(void);
+
+ ~CFeature_Matcher(void);
+
+ /**
+ * \brief List the defined types
+ */
+ std::vector<matcher::Type> list(void);
+
+ /**
+ * \brief Set type
+ */
+ bool setType(const matcher::Type& _type);
+ bool setType(const int& _type);
+
+ /**
+ * \brief Get match duration
+ */
+ double getTime(void);
+
+ /**
+ * \brief Match
+ */
+// cv::Mat match(const cv::Mat& _image,
+// CFeature_Descriptor::KeyPointVector& _kpts);
+
+ private:
+
+ matcher::Type type_;
+
+ // Flags
+ bool is_init_;
+
+ double match_time_; // Match time
+
+ FeatureMatcherPtr feature_matcher_; // Feature matcher
+
+ /**
+ * \brief Initialize matcher
+ */
+ bool init(matcher::Type _type);
+
+ /**
+ * \brief Convert an integer to its corresponding descriptor flag.
+ *
+ */
+ matcher::Type intToType(const unsigned int _i);
+
+
};
#endif
--
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