diff --git a/src/examples/feature_detection.cpp b/src/examples/feature_detection.cpp
index 63278867d21348c3ef8a020c5507d8297f72068b..24cfb716a9646b1eb9fbc82f2fb5b17881682796 100644
--- a/src/examples/feature_detection.cpp
+++ b/src/examples/feature_detection.cpp
@@ -6,32 +6,23 @@
int main(int argc, char *argv[])
{
+ CFeature_Detector detector;
+ std::vector<DETECTOR_TYPE> detectors_list;
+ detectors_list = detector.listDetectors();
+
std::cout << "----------------------------------------" << std::endl;
std::cout << "| Feature detector example |" << std::endl;
std::cout << "----------------------------------------" << std::endl;
std::cout << std::endl;
- std::vector<std::string> options;
- options.resize(11);
- options[0] = "ORB";
- options[1] = "SIFT";
- options[2] = "SURF";
- options[3] = "AKAZE";
- options[4] = "KAZE";
- options[5] = "BRISK";
- options[6] = "MSER";
- options[7] = "FAST";
- options[8] = "LSD";
- options[9] = "ED";
- options[10] = "AGAST";
-
- for (unsigned int ii=0; ii<options.size(); ii++)
- std::cout << "[" << ii << "]: " << options[ii] << std::endl;
+ for (unsigned int ii=0; ii<detectors_list.size(); ii++)
+ std::cout << "[" << ii << "]: " << detectors_list[ii] << std::endl;
std::cout << std::endl << "Which feature do you want to test?: ";
int feat_type;
std::cin >> feat_type;
- std::cout << std::endl << "Testing: " << options[feat_type] << std::endl;
+ detector.setDetectorType(feat_type);
+ std::cout << std::endl << "Testing: " << detectors_list[feat_type] << std::endl;
// Open camera
cv::VideoCapture cam;
@@ -55,10 +46,7 @@ int main(int argc, char *argv[])
// Show ORIGINAL frame
cv::imshow("Original image", frame);
- // Detect features (keypoints)
- CFeature_Detector detector(feat_type);
-
- if (feat_type!=8 && feat_type!=9)
+ if (!detector.isLine())
{
CFeature_Detector::KeyPointVector keypoints;
keypoints = detector.detectKeyPoints(frame);
diff --git a/src/feature_detector/feature_detector.cpp b/src/feature_detector/feature_detector.cpp
index baf805b4c9a518a700e4b011df8aa213d0bb850c..e427d9379c44d58fc835b6383eb0e1d60b0a85bd 100644
--- a/src/feature_detector/feature_detector.cpp
+++ b/src/feature_detector/feature_detector.cpp
@@ -15,7 +15,7 @@ CFeature_Detector::CFeature_Detector(const DETECTOR_TYPE& _type) :
CFeature_Detector::CFeature_Detector(const int&_type) :
is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
- is_init_ = init( intToDetectorType(_type) );
+ is_init_ = init(intToDetectorType(_type));
if (!is_init_)
{
@@ -24,19 +24,69 @@ CFeature_Detector::CFeature_Detector(const int&_type) :
}
}
+CFeature_Detector::CFeature_Detector(void) :
+ is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
+{
+}
CFeature_Detector::~CFeature_Detector()
{
}
+std::vector<DETECTOR_TYPE> CFeature_Detector::listDetectors(void)
+{
+ std::vector<DETECTOR_TYPE> list;
+
+ for(int ii = 0; ii < ED+1; ii++){
+ list.push_back(static_cast<DETECTOR_TYPE>(ii));
+ }
+
+ return list;
+}
+
+bool CFeature_Detector::setDetectorType(const DETECTOR_TYPE& _type)
+{
+ is_init_ = init( _type );
+ return is_init_;
+}
+
+bool CFeature_Detector::setDetectorType(const int& _type)
+{
+ is_init_ = init( intToDetectorType(_type) );
+ return is_init_;
+}
+
+double CFeature_Detector::getDetectionTime(void)
+{
+ return detect_time_;
+}
+
+bool CFeature_Detector::isLine(void)
+{
+ return is_line_;
+}
+
+bool CFeature_Detector::isLimited(void)
+{
+ return is_limited_;
+}
+
+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;
switch (_type)
{
- case ORB:
- feature_detector_ = cv::ORB::create();
+ case FAST:
+ feature_detector_ = cv::FastFeatureDetector::create();
success = true;
break;
case SIFT:
@@ -47,12 +97,8 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
feature_detector_ = cv::xfeatures2d::SURF::create();
success = true;
break;
- case AKAZE:
- feature_detector_ = cv::AKAZE::create();
- success = true;
- break;
- case KAZE:
- feature_detector_ = cv::KAZE::create();
+ case ORB:
+ feature_detector_ = cv::ORB::create();
success = true;
break;
case BRISK:
@@ -63,8 +109,24 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
feature_detector_ = cv::MSER::create();
success = true;
break;
- case FAST:
- feature_detector_ = cv::FastFeatureDetector::create();
+ case GFTT:
+ feature_detector_ = cv::GFTTDetector::create(1000,0.01,1.0,3,false,0.04);
+ success = true;
+ break;
+ case HARRIS:
+ feature_detector_ = cv::GFTTDetector::create(1000,0.01,1.0,3,true,0.04);
+ success = true;
+ break;
+ case SBD:
+ feature_detector_ = cv::SimpleBlobDetector::create();
+ success = true;
+ break;
+ case KAZE:
+ feature_detector_ = cv::KAZE::create();
+ success = true;
+ break;
+ case AKAZE:
+ feature_detector_ = cv::AKAZE::create();
success = true;
break;
case AGAST:
@@ -93,11 +155,14 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
CFeature_Detector::KeyPointVector CFeature_Detector::detectKeyPoints(const cv::Mat& _image)
{
+ if (!is_init_)
+ std::cerr << "[CFeature_Detector::detectKeyPoints]: Detector non initialized." << std::endl;
+
KeyPointVector kpts;
clock_t tStart = clock();
feature_detector_->detect(_image, kpts);
- detect_time_ = (double)(clock() - tStart)/CLOCKS_PER_SEC;
+ detect_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
if (this->isLimited())
{
@@ -110,6 +175,9 @@ CFeature_Detector::KeyPointVector CFeature_Detector::detectKeyPoints(const cv::M
CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat& _image)
{
+ if (!is_init_)
+ std::cerr << "[CFeature_Detector::detectKeyLines]: Detector non initialized." << std::endl;
+
KeyLineVector kls;
KeyLineVector kls2;
@@ -118,7 +186,7 @@ CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat
lsd_detector_->detect(_image, kls, SCALE_FACTOR_LINE_DETECTOR, NUM_OCTAVE_LINE_DETECTOR);
else
ed_detector_->detect(_image, kls2);
- detect_time_ = (double)(clock() - tStart)/CLOCKS_PER_SEC;
+ detect_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
kls.insert(kls.end(), kls2.begin(), kls2.end());
return kls;
@@ -126,9 +194,6 @@ CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat
bool CFeature_Detector::limitKeypts(unsigned int _nFeatures)
{
- if (!is_init_)
- return false;
-
if (_nFeatures > 0)
{
keypoints_limit_ = _nFeatures;
@@ -138,22 +203,23 @@ bool CFeature_Detector::limitKeypts(unsigned int _nFeatures)
return false;
}
-cv::Mat CFeature_Detector::drawKeyFeatures( const cv::Mat& _image, const std::vector<cv::KeyPoint>& _kp_vec )
+cv::Mat CFeature_Detector::drawKeyFeatures(const cv::Mat& _image, const std::vector<cv::KeyPoint>& _kp_vec)
{
cv::Mat img_out(_image);
for (unsigned int ii = 0; ii < _kp_vec.size(); ++ii)
- cv::circle(img_out, _kp_vec[ii].pt, 5, cv::Scalar(128,128,255), -1);
+ cv::circle(img_out, _kp_vec[ii].pt, 5, cv::Scalar(128, 128, 255), -1);
return img_out;
}
-cv::Mat CFeature_Detector::drawKeyFeatures( const cv::Mat& _image, const std::vector<cv::line_descriptor::KeyLine>& _kl_vec )
+cv::Mat CFeature_Detector::drawKeyFeatures(const cv::Mat& _image,
+ const std::vector<cv::line_descriptor::KeyLine>& _kl_vec)
{
cv::Mat img_out(_image);
for (unsigned int ii = 0; ii < _kl_vec.size(); ++ii)
- cv::line(img_out, _kl_vec[ii].getStartPoint(), _kl_vec[ii].getEndPoint(), cv::Scalar(128,128,255), 3);
+ cv::line(img_out, _kl_vec[ii].getStartPoint(), _kl_vec[ii].getEndPoint(), cv::Scalar(128, 128, 255), 3);
return img_out;
}
diff --git a/src/feature_detector/feature_detector.h b/src/feature_detector/feature_detector.h
index 761668311735e0a541fb4639c4e9f7ab916243a0..0d0325ba19ff563ea426d9528b863667fa495de7 100644
--- a/src/feature_detector/feature_detector.h
+++ b/src/feature_detector/feature_detector.h
@@ -24,7 +24,7 @@ typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector;
*/
enum DETECTOR_TYPE
{
- ORB, SIFT, SURF, AKAZE, KAZE, BRISK, MSER, FAST, LSD, ED, AGAST
+ FAST, SIFT, SURF, ORB, BRISK, MSER, GFTT, HARRIS, SBD, KAZE, AKAZE, AGAST, LSD, ED
};
/**
@@ -34,8 +34,8 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
{
switch (_f)
{
- case ORB:
- _os << "ORB";
+ case FAST:
+ _os << "FAST";
break;
case SIFT:
_os << "SIFT";
@@ -43,20 +43,32 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
case SURF:
_os << "SURF";
break;
- case AKAZE:
- _os << "AKAZE";
- break;
- case KAZE:
- _os << "KAZE";
+ case ORB:
+ _os << "ORB";
break;
case BRISK:
_os << "BRISK";
break;
case MSER:
- _os << "MSER";
+ _os << "MSER (Maximally Stable Extremal Region Extractor)";
break;
- case FAST:
- _os << "FAST";
+ case GFTT:
+ _os << "GFTT (Good Features To Track)";
+ break;
+ case HARRIS:
+ _os << "HARRIS (GFTT using Harris)";
+ break;
+ case SBD:
+ _os << "SBD (Simple Blob Detector)";
+ break;
+ case KAZE:
+ _os << "KAZE";
+ break;
+ case AKAZE:
+ _os << "AKAZE";
+ break;
+ case AGAST:
+ _os << "AGAST";
break;
case LSD:
_os << "LSD";
@@ -64,9 +76,6 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
case ED:
_os << "ED";
break;
- case AGAST:
- _os << "AGAST";
- break;
default:
_os.setstate(std::ios_base::failbit);
}
@@ -83,27 +92,33 @@ inline DETECTOR_TYPE intToDetectorType(const unsigned int _i)
switch (_i)
{
case 0:
- return ORB;
+ return FAST;
case 1:
return SIFT;
case 2:
return SURF;
case 3:
- return AKAZE;
+ return ORB;
case 4:
- return KAZE;
- case 5:
return BRISK;
- case 6:
+ case 5:
return MSER;
+ case 6:
+ return GFTT;
case 7:
- return FAST;
+ return HARRIS;
case 8:
- return LSD;
+ return SBD;
case 9:
- return ED;
+ return KAZE;
case 10:
+ return AKAZE;
+ case 11:
return AGAST;
+ case 12:
+ return LSD;
+ case 13:
+ return ED;
default:
return ORB;
}
@@ -118,29 +133,22 @@ class CFeature_Detector
CFeature_Detector(const DETECTOR_TYPE& _type);
CFeature_Detector(const int& _type);
+ CFeature_Detector(void);
~CFeature_Detector();
- double getDetectionTime()
- {
- return detect_time_;
- }
- ;
-
- bool isLine()
- {
- return is_line_;
- }
- ;
- bool isLimited()
- {
- return is_limited_;
- }
- ;
- int getKeyPointsLimit()
- {
- return keypoints_limit_;
- }
- ;
+ std::vector<DETECTOR_TYPE> listDetectors(void);
+
+ bool setDetectorType(const DETECTOR_TYPE& _type);
+ bool setDetectorType(const int& _type);
+
+ double getDetectionTime(void);
+
+ bool isLine(void);
+
+ bool isLimited(void);
+
+ int getKeyPointsLimit(void);
+
bool limitKeypts(unsigned int _nFeatures);
KeyPointVector detectKeyPoints(const cv::Mat&);