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Commit 59c9b65d authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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cleaned namespace names

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src/examples/feature_detectors.cpp
+ 1
− 1
View file @ 59c9b65d
......@@ -8,7 +8,7 @@
int main(int argc, char *argv[])
{
CFeature_Detector detector;
std::vector<Detector::Type> detectors_list;
std::vector<detector::Type> detectors_list;
detectors_list = detector.listDetectors();
std::cout << "----------------------------------------" << std::endl;
......
src/examples/feature_detectors_and_descriptors.cpp
+ 3
− 3
View file @ 59c9b65d
......@@ -8,7 +8,7 @@
int main(int argc, char *argv[])
{
CFeature_Detector detector;
std::vector<Detector::Type> detectors_list;
std::vector<detector::Type> detectors_list;
detectors_list = detector.listDetectors();
std::cout << "---------------------------------------------------------" << std::endl;
......@@ -18,7 +18,7 @@ int main(int argc, char *argv[])
for (unsigned int ii=0; ii<detectors_list.size(); ii++)
{
if ( (detectors_list[ii]!= Detector::LSD) && (detectors_list[ii] != Detector::ED) )
if ( (detectors_list[ii]!= detector::LSD) && (detectors_list[ii] != detector::ED) )
std::cout << "[" << ii << "]: " << detectors_list[ii] << std::endl;
}
......@@ -28,7 +28,7 @@ int main(int argc, char *argv[])
detector.setDetectorType(feat_type);
CFeature_Descriptor descriptor;
std::vector<Descriptor::Type> descriptor_list;
std::vector<descriptor::Type> descriptor_list;
descriptor_list = descriptor.listDescriptors();
for (unsigned int ii=0; ii<descriptor_list.size(); ii++)
......
src/feature_descriptor/feature_descriptor.cpp
+ 26
− 26
View file @ 59c9b65d
#include "feature_descriptor.h"
CFeature_Descriptor::CFeature_Descriptor(const Descriptor::Type& _type) :
type_(Descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
CFeature_Descriptor::CFeature_Descriptor(const descriptor::Type& _type) :
type_(descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
is_init_ = init(_type);
......@@ -13,7 +13,7 @@ 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) {
type_(descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
is_init_ = init(intToDescriptorType(_type));
......@@ -25,25 +25,25 @@ CFeature_Descriptor::CFeature_Descriptor(const int&_type) :
}
CFeature_Descriptor::CFeature_Descriptor() :
type_(Descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
type_(descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
}
CFeature_Descriptor::~CFeature_Descriptor() {
}
std::vector<Descriptor::Type> CFeature_Descriptor::listDescriptors(void)
std::vector<descriptor::Type> CFeature_Descriptor::listDescriptors(void)
{
std::vector<Descriptor::Type> list;
std::vector<descriptor::Type> list;
for (int ii = 0; ii < Descriptor::LUCID + 1; ii++)
for (int ii = 0; ii < descriptor::__DELIM__; ii++)
{
list.push_back(static_cast<Descriptor::Type>(ii));
list.push_back(static_cast<descriptor::Type>(ii));
}
return list;
}
bool CFeature_Descriptor::setDescriptorType(const Descriptor::Type& _type)
bool CFeature_Descriptor::setDescriptorType(const descriptor::Type& _type)
{
is_init_ = init(_type);
return is_init_;
......@@ -60,7 +60,7 @@ double CFeature_Descriptor::getDescriptorTime(void)
return descript_time_;
}
bool CFeature_Descriptor::init(Descriptor::Type _type) {
bool CFeature_Descriptor::init(descriptor::Type _type) {
if (is_init_)
std::cerr
<< "[CFeature_Descriptor::init]: Descriptor already initialized."
......@@ -70,51 +70,51 @@ bool CFeature_Descriptor::init(Descriptor::Type _type) {
// TODO: Set parameters for each descriptor type
switch (_type) {
case Descriptor::ORB:
case descriptor::ORB:
feature_descriptor_ = cv::ORB::create();
success = true;
break;
case Descriptor::SIFT:
case descriptor::SIFT:
feature_descriptor_ = cv::xfeatures2d::SIFT::create();
success = true;
break;
case Descriptor::SURF:
case descriptor::SURF:
feature_descriptor_ = cv::xfeatures2d::SURF::create();
success = true;
break;
case Descriptor::KAZE:
case descriptor::KAZE:
feature_descriptor_ = cv::KAZE::create();
success = true;
break;
case Descriptor::AKAZE:
case descriptor::AKAZE:
feature_descriptor_ = cv::AKAZE::create();
success = true;
break;
case Descriptor::BRISK:
case descriptor::BRISK:
feature_descriptor_ = cv::BRISK::create();
success = true;
break;
case Descriptor::LATCH:
case descriptor::LATCH:
feature_descriptor_ = cv::xfeatures2d::LATCH::create();
success = true;
break;
case Descriptor::FREAK:
case descriptor::FREAK:
feature_descriptor_ = cv::xfeatures2d::FREAK::create();
success = true;
break;
case Descriptor::BRIEF:
case descriptor::BRIEF:
feature_descriptor_ = cv::xfeatures2d::BriefDescriptorExtractor::create();
success = true;
break;
case Descriptor::DAISY:
case descriptor::DAISY:
feature_descriptor_ = cv::xfeatures2d::DAISY::create();
success = true;
break;
case Descriptor::LUCID:
case descriptor::LUCID:
feature_descriptor_ = cv::xfeatures2d::LUCID::create(1,2);
success = true;
break;
case Descriptor::__DELIM__:
case descriptor::__DELIM__:
success = false;
break;
}
......@@ -142,13 +142,13 @@ cv::Mat CFeature_Descriptor::getDescriptor(const cv::Mat& _image, CFeature_Descr
return descriptors;
}
Descriptor::Type CFeature_Descriptor::intToDescriptorType(
descriptor::Type CFeature_Descriptor::intToDescriptorType(
const unsigned int _i) {
Descriptor::Type type;
descriptor::Type type;
for (unsigned int ii = 0; ii < Descriptor::__DELIM__; ii++) {
for (unsigned int ii = 0; ii < descriptor::__DELIM__; ii++) {
if (ii == _i)
type = static_cast<Descriptor::Type>(ii);
type = static_cast<descriptor::Type>(ii);
}
return type;
......
src/feature_descriptor/feature_descriptor.h
+ 7
− 7
View file @ 59c9b65d
......@@ -15,7 +15,7 @@
typedef cv::Ptr<cv::DescriptorExtractor> FeatureDescriptorPtr;
namespace Descriptor {
namespace descriptor {
/**
* \brief MACROS to generate all detector types and their corresponding strings
......@@ -59,7 +59,7 @@ public:
typedef std::vector<cv::KeyPoint> KeyPointVector;
//CFeature_Descriptor(const DESCRIPTOR_TYPE& _type);
CFeature_Descriptor(const Descriptor::Type& _type);
CFeature_Descriptor(const descriptor::Type& _type);
CFeature_Descriptor(const int&_type);
CFeature_Descriptor(void);
......@@ -68,12 +68,12 @@ public:
/**
* \brief List the defined detector types
*/
std::vector<Descriptor::Type> listDescriptors(void);
std::vector<descriptor::Type> listDescriptors(void);
/**
* \brief Set descriptor type
*/
bool setDescriptorType(const Descriptor::Type& _type);
bool setDescriptorType(const descriptor::Type& _type);
bool setDescriptorType(const int& _type);
/**
......@@ -89,7 +89,7 @@ public:
private:
Descriptor::Type type_;
descriptor::Type type_;
// Flags
bool is_init_;
......@@ -101,14 +101,14 @@ private:
/**
* \brief Initialize descriptor
*/
bool init(Descriptor::Type _type);
bool init(descriptor::Type _type);
/**
* \brief Convert an integer to its corresponding descriptor flag.
*
* By default return ORB.
*/
Descriptor::Type intToDescriptorType(const unsigned int _i);
descriptor::Type intToDescriptorType(const unsigned int _i);
};
......
src/feature_detector/feature_detector.cpp
+ 98
− 99
View file @ 59c9b65d
#include "feature_detector.h"
CFeature_Detector::CFeature_Detector(const Detector::Type& _type) :
type_(Detector::__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
CFeature_Detector::CFeature_Detector(const detector::Type& _type) :
type_(detector::__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
is_init_ = init(_type);
......@@ -13,9 +13,10 @@ CFeature_Detector::CFeature_Detector(const Detector::Type& _type) :
}
CFeature_Detector::CFeature_Detector(const int&_type) :
type_(Detector::__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
type_(detector::__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
is_init_ = init(intToDetectorType(_type));
intToType(_type,type_);
is_init_ = init(type_);
if (!is_init_)
{
......@@ -25,7 +26,7 @@ CFeature_Detector::CFeature_Detector(const int&_type) :
}
CFeature_Detector::CFeature_Detector(void) :
type_(Detector::__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
type_(detector::__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
}
......@@ -33,19 +34,19 @@ CFeature_Detector::~CFeature_Detector()
{
}
std::vector<Detector::Type> CFeature_Detector::listDetectors(void)
std::vector<detector::Type> CFeature_Detector::listDetectors(void)
{
std::vector<Detector::Type> list;
std::vector<detector::Type> list;
for (int ii = 0; ii < Detector::ED + 1; ii++)
for (int ii = 0; ii < detector::__DELIM__; ii++)
{
list.push_back(static_cast<Detector::Type>(ii));
list.push_back(static_cast<detector::Type>(ii));
}
return list;
}
bool CFeature_Detector::setDetectorType(const Detector::Type& _type)
bool CFeature_Detector::setDetectorType(const detector::Type& _type)
{
is_init_ = init(_type);
return is_init_;
......@@ -53,7 +54,9 @@ bool CFeature_Detector::setDetectorType(const Detector::Type& _type)
bool CFeature_Detector::setDetectorType(const int& _type)
{
is_init_ = init(intToDetectorType(_type));
detector::Type type;
intToType(_type, type);
is_init_ = init(type);
return is_init_;
}
......@@ -77,87 +80,6 @@ int CFeature_Detector::getKeyPointsLimit(void)
return keypoints_limit_;
}
bool CFeature_Detector::init(Detector::Type _type)
{
if (is_init_)
std::cerr << "[CFeature_Detector::init]: Detector already initialized." << std::endl;
bool success = false;
// TODO: Set parameters for each detector type
switch (_type)
{
case Detector::FAST:
feature_detector_ = cv::FastFeatureDetector::create();
success = true;
break;
case Detector::SIFT:
feature_detector_ = cv::xfeatures2d::SIFT::create();
success = true;
break;
case Detector::SURF:
feature_detector_ = cv::xfeatures2d::SURF::create();
success = true;
break;
case Detector::ORB:
feature_detector_ = cv::ORB::create();
success = true;
break;
case Detector::BRISK:
feature_detector_ = cv::BRISK::create();
success = true;
break;
case Detector::MSER:
feature_detector_ = cv::MSER::create();
success = true;
break;
case Detector::GFTT:
feature_detector_ = cv::GFTTDetector::create(1000, 0.01, 1.0, 3, false, 0.04);
success = true;
break;
case Detector::HARRIS:
feature_detector_ = cv::GFTTDetector::create(1000, 0.01, 1.0, 3, true, 0.04);
success = true;
break;
case Detector::SBD:
feature_detector_ = cv::SimpleBlobDetector::create();
success = true;
break;
case Detector::KAZE:
feature_detector_ = cv::KAZE::create();
success = true;
break;
case Detector::AKAZE:
feature_detector_ = cv::AKAZE::create();
success = true;
break;
case Detector::AGAST:
feature_detector_ = cv::AgastFeatureDetector::create();
success = true;
break;
case Detector::LSD:
lsd_detector_ = cv::line_descriptor::LSDDetector::createLSDDetector();
is_line_ = true;
success = true;
break;
case Detector::ED:
ed_detector_ = cv::line_descriptor::BinaryDescriptor::createBinaryDescriptor();
is_line_ = true;
success = true;
break;
case Detector::__DELIM__:
success = false;
break;
}
if (success)
type_ = _type;
else
std::cerr << "[Feature Detector]: detector_type " << _type << " doesn't exist !" << std::endl;
return success;
}
CFeature_Detector::KeyPointVector CFeature_Detector::detectKeyPoints(const cv::Mat& _image)
{
if (!is_init_)
......@@ -195,7 +117,7 @@ CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat
mask_ = cv::Mat::ones(_image.size(), CV_8U);
clock_t tStart = clock();
if (type_ == Detector::LSD)
if (type_ == detector::LSD)
lsd_detector_->detect(_image, kls, SCALE_FACTOR_LINE_DETECTOR, NUM_OCTAVE_LINE_DETECTOR, mask_);
else
ed_detector_->detect(_image, kls2, mask_);
......@@ -236,15 +158,92 @@ cv::Mat CFeature_Detector::drawKeyFeatures(const cv::Mat& _image, const KeyLineV
return img_out;
}
Detector::Type CFeature_Detector::intToDetectorType(const unsigned int _i)
void CFeature_Detector::intToType(const unsigned int _i, detector::Type& _type)
{
Detector::Type type;
for (unsigned int ii = 0; ii < Detector::__DELIM__; ii++)
for (unsigned int ii = 0; ii < detector::__DELIM__; ii++)
{
if (ii == _i)
type = static_cast<Detector::Type>(ii);
_type = static_cast<detector::Type>(ii);
}
}
return type;
bool CFeature_Detector::init(detector::Type _type)
{
if (is_init_)
std::cerr << "[CFeature_Detector::init]: Detector already initialized." << std::endl;
bool success = false;
// TODO: Set parameters for each detector type
switch (_type)
{
case detector::FAST:
feature_detector_ = cv::FastFeatureDetector::create();
success = true;
break;
case detector::SIFT:
feature_detector_ = cv::xfeatures2d::SIFT::create();
success = true;
break;
case detector::SURF:
feature_detector_ = cv::xfeatures2d::SURF::create();
success = true;
break;
case detector::ORB:
feature_detector_ = cv::ORB::create();
success = true;
break;
case detector::BRISK:
feature_detector_ = cv::BRISK::create();
success = true;
break;
case detector::MSER:
feature_detector_ = cv::MSER::create();
success = true;
break;
case detector::GFTT:
feature_detector_ = cv::GFTTDetector::create(1000, 0.01, 1.0, 3, false, 0.04);
success = true;
break;
case detector::HARRIS:
feature_detector_ = cv::GFTTDetector::create(1000, 0.01, 1.0, 3, true, 0.04);
success = true;
break;
case detector::SBD:
feature_detector_ = cv::SimpleBlobDetector::create();
success = true;
break;
case detector::KAZE:
feature_detector_ = cv::KAZE::create();
success = true;
break;
case detector::AKAZE:
feature_detector_ = cv::AKAZE::create();
success = true;
break;
case detector::AGAST:
feature_detector_ = cv::AgastFeatureDetector::create();
success = true;
break;
case detector::LSD:
lsd_detector_ = cv::line_descriptor::LSDDetector::createLSDDetector();
is_line_ = true;
success = true;
break;
case detector::ED:
ed_detector_ = cv::line_descriptor::BinaryDescriptor::createBinaryDescriptor();
is_line_ = true;
success = true;
break;
case detector::__DELIM__:
success = false;
break;
}
if (success)
type_ = _type;
else
std::cerr << "[Feature Detector]: detector_type " << _type << " doesn't exist !" << std::endl;
return success;
}
src/feature_detector/feature_detector.h
+ 10
− 7
View file @ 59c9b65d
......@@ -3,6 +3,9 @@
#include <time.h>
// Own stuff
#include "vision_utils.h"
// OpenCV stuff
#include <opencv2/core/core.hpp>
#include <opencv2/core/types.hpp>
......@@ -19,7 +22,7 @@ typedef cv::Ptr<cv::FeatureDetector> FeatureDetectorPtr;
typedef cv::Ptr<cv::line_descriptor::LSDDetector> LSDDetector;
typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector;
namespace Detector
namespace detector
{
/**
......@@ -74,7 +77,7 @@ class CFeature_Detector
/**
* \brief Constructor
*/
CFeature_Detector(const Detector::Type& _type);
CFeature_Detector(const detector::Type& _type);
CFeature_Detector(const int& _type);
CFeature_Detector(void);
......@@ -86,12 +89,12 @@ class CFeature_Detector
/**
* \brief List the defined detector types
*/
std::vector<Detector::Type> listDetectors(void);
std::vector<detector::Type> listDetectors(void);
/**
* \brief Set detector type
*/
bool setDetectorType(const Detector::Type& _type);
bool setDetectorType(const detector::Type& _type);
bool setDetectorType(const int& _type);
/**
......@@ -133,7 +136,7 @@ class CFeature_Detector
private:
Detector::Type type_;
detector::Type type_;
// Flags
bool is_init_;
......@@ -153,14 +156,14 @@ class CFeature_Detector
/**
* \brief Initialize detector
*/
bool init(Detector::Type _type);
bool init(detector::Type _type);
/**
* \brief Convert an integer to its corresponding detector flag.
*
* By default return ORB.
*/
Detector::Type intToDetectorType(const unsigned int _i);
void intToType(const unsigned int _i, detector::Type& _type);
};
......
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