Skip to content
Snippets Groups Projects
Commit 623c9c8f authored by angelsantamaria's avatar angelsantamaria
Browse files

main feature detectors. Brute force and default parameters

parent 0b1471db
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
src/examples/feature_detection.cpp
+ 9
− 21
View file @ 623c9c8f
...@@ -6,32 +6,23 @@ ...@@ -6,32 +6,23 @@
int main(int argc, char *argv[]) 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 << "----------------------------------------" << std::endl;
std::cout << "| Feature detector example |" << std::endl; std::cout << "| Feature detector example |" << std::endl;
std::cout << "----------------------------------------" << std::endl; std::cout << "----------------------------------------" << std::endl;
std::cout << std::endl; std::cout << std::endl;
std::vector<std::string> options; for (unsigned int ii=0; ii<detectors_list.size(); ii++)
options.resize(11); std::cout << "[" << ii << "]: " << detectors_list[ii] << std::endl;
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;
std::cout << std::endl << "Which feature do you want to test?: "; std::cout << std::endl << "Which feature do you want to test?: ";
int feat_type; int feat_type;
std::cin >> 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 // Open camera
cv::VideoCapture cam; cv::VideoCapture cam;
...@@ -55,10 +46,7 @@ int main(int argc, char *argv[]) ...@@ -55,10 +46,7 @@ int main(int argc, char *argv[])
// Show ORIGINAL frame // Show ORIGINAL frame
cv::imshow("Original image", frame); cv::imshow("Original image", frame);
// Detect features (keypoints) if (!detector.isLine())
CFeature_Detector detector(feat_type);
if (feat_type!=8 && feat_type!=9)
{ {
CFeature_Detector::KeyPointVector keypoints; CFeature_Detector::KeyPointVector keypoints;
keypoints = detector.detectKeyPoints(frame); keypoints = detector.detectKeyPoints(frame);
......
src/feature_detector/feature_detector.cpp
+ 86
− 20
View file @ 623c9c8f
...@@ -15,7 +15,7 @@ CFeature_Detector::CFeature_Detector(const DETECTOR_TYPE& _type) : ...@@ -15,7 +15,7 @@ CFeature_Detector::CFeature_Detector(const DETECTOR_TYPE& _type) :
CFeature_Detector::CFeature_Detector(const int&_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_(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_) if (!is_init_)
{ {
...@@ -24,19 +24,69 @@ CFeature_Detector::CFeature_Detector(const int&_type) : ...@@ -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() 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) bool CFeature_Detector::init(DETECTOR_TYPE _type)
{ {
if (is_init_)
std::cerr << "[CFeature_Detector::init]: Detector already initialized." << std::endl;
bool success = false; bool success = false;
switch (_type) switch (_type)
{ {
case ORB: case FAST:
feature_detector_ = cv::ORB::create(); feature_detector_ = cv::FastFeatureDetector::create();
success = true; success = true;
break; break;
case SIFT: case SIFT:
...@@ -47,12 +97,8 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type) ...@@ -47,12 +97,8 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
feature_detector_ = cv::xfeatures2d::SURF::create(); feature_detector_ = cv::xfeatures2d::SURF::create();
success = true; success = true;
break; break;
case AKAZE: case ORB:
feature_detector_ = cv::AKAZE::create(); feature_detector_ = cv::ORB::create();
success = true;
break;
case KAZE:
feature_detector_ = cv::KAZE::create();
success = true; success = true;
break; break;
case BRISK: case BRISK:
...@@ -63,8 +109,24 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type) ...@@ -63,8 +109,24 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
feature_detector_ = cv::MSER::create(); feature_detector_ = cv::MSER::create();
success = true; success = true;
break; break;
case FAST: case GFTT:
feature_detector_ = cv::FastFeatureDetector::create(); 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; success = true;
break; break;
case AGAST: case AGAST:
...@@ -93,11 +155,14 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type) ...@@ -93,11 +155,14 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
CFeature_Detector::KeyPointVector CFeature_Detector::detectKeyPoints(const cv::Mat& _image) 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; KeyPointVector kpts;
clock_t tStart = clock(); clock_t tStart = clock();
feature_detector_->detect(_image, kpts); feature_detector_->detect(_image, kpts);
detect_time_ = (double)(clock() - tStart)/CLOCKS_PER_SEC; detect_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
if (this->isLimited()) if (this->isLimited())
{ {
...@@ -110,6 +175,9 @@ CFeature_Detector::KeyPointVector CFeature_Detector::detectKeyPoints(const cv::M ...@@ -110,6 +175,9 @@ CFeature_Detector::KeyPointVector CFeature_Detector::detectKeyPoints(const cv::M
CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat& _image) 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 kls;
KeyLineVector kls2; KeyLineVector kls2;
...@@ -118,7 +186,7 @@ CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat ...@@ -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); lsd_detector_->detect(_image, kls, SCALE_FACTOR_LINE_DETECTOR, NUM_OCTAVE_LINE_DETECTOR);
else else
ed_detector_->detect(_image, kls2); 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()); kls.insert(kls.end(), kls2.begin(), kls2.end());
return kls; return kls;
...@@ -126,9 +194,6 @@ CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat ...@@ -126,9 +194,6 @@ CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat
bool CFeature_Detector::limitKeypts(unsigned int _nFeatures) bool CFeature_Detector::limitKeypts(unsigned int _nFeatures)
{ {
if (!is_init_)
return false;
if (_nFeatures > 0) if (_nFeatures > 0)
{ {
keypoints_limit_ = _nFeatures; keypoints_limit_ = _nFeatures;
...@@ -138,22 +203,23 @@ bool CFeature_Detector::limitKeypts(unsigned int _nFeatures) ...@@ -138,22 +203,23 @@ bool CFeature_Detector::limitKeypts(unsigned int _nFeatures)
return false; 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); cv::Mat img_out(_image);
for (unsigned int ii = 0; ii < _kp_vec.size(); ++ii) 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; 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); cv::Mat img_out(_image);
for (unsigned int ii = 0; ii < _kl_vec.size(); ++ii) 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; return img_out;
} }
......
src/feature_detector/feature_detector.h
+ 51
− 43
View file @ 623c9c8f
...@@ -24,7 +24,7 @@ typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector; ...@@ -24,7 +24,7 @@ typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector;
*/ */
enum DETECTOR_TYPE 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) ...@@ -34,8 +34,8 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
{ {
switch (_f) switch (_f)
{ {
case ORB: case FAST:
_os << "ORB"; _os << "FAST";
break; break;
case SIFT: case SIFT:
_os << "SIFT"; _os << "SIFT";
...@@ -43,20 +43,32 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f) ...@@ -43,20 +43,32 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
case SURF: case SURF:
_os << "SURF"; _os << "SURF";
break; break;
case AKAZE: case ORB:
_os << "AKAZE"; _os << "ORB";
break;
case KAZE:
_os << "KAZE";
break; break;
case BRISK: case BRISK:
_os << "BRISK"; _os << "BRISK";
break; break;
case MSER: case MSER:
_os << "MSER"; _os << "MSER (Maximally Stable Extremal Region Extractor)";
break; break;
case FAST: case GFTT:
_os << "FAST"; _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; break;
case LSD: case LSD:
_os << "LSD"; _os << "LSD";
...@@ -64,9 +76,6 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f) ...@@ -64,9 +76,6 @@ inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
case ED: case ED:
_os << "ED"; _os << "ED";
break; break;
case AGAST:
_os << "AGAST";
break;
default: default:
_os.setstate(std::ios_base::failbit); _os.setstate(std::ios_base::failbit);
} }
...@@ -83,27 +92,33 @@ inline DETECTOR_TYPE intToDetectorType(const unsigned int _i) ...@@ -83,27 +92,33 @@ inline DETECTOR_TYPE intToDetectorType(const unsigned int _i)
switch (_i) switch (_i)
{ {
case 0: case 0:
return ORB; return FAST;
case 1: case 1:
return SIFT; return SIFT;
case 2: case 2:
return SURF; return SURF;
case 3: case 3:
return AKAZE; return ORB;
case 4: case 4:
return KAZE;
case 5:
return BRISK; return BRISK;
case 6: case 5:
return MSER; return MSER;
case 6:
return GFTT;
case 7: case 7:
return FAST; return HARRIS;
case 8: case 8:
return LSD; return SBD;
case 9: case 9:
return ED; return KAZE;
case 10: case 10:
return AKAZE;
case 11:
return AGAST; return AGAST;
case 12:
return LSD;
case 13:
return ED;
default: default:
return ORB; return ORB;
} }
...@@ -118,29 +133,22 @@ class CFeature_Detector ...@@ -118,29 +133,22 @@ class CFeature_Detector
CFeature_Detector(const DETECTOR_TYPE& _type); CFeature_Detector(const DETECTOR_TYPE& _type);
CFeature_Detector(const int& _type); CFeature_Detector(const int& _type);
CFeature_Detector(void);
~CFeature_Detector(); ~CFeature_Detector();
double getDetectionTime() std::vector<DETECTOR_TYPE> listDetectors(void);
{
return detect_time_; bool setDetectorType(const DETECTOR_TYPE& _type);
} bool setDetectorType(const int& _type);
;
double getDetectionTime(void);
bool isLine()
{ bool isLine(void);
return is_line_;
} bool isLimited(void);
;
bool isLimited() int getKeyPointsLimit(void);
{
return is_limited_;
}
;
int getKeyPointsLimit()
{
return keypoints_limit_;
}
;
bool limitKeypts(unsigned int _nFeatures); bool limitKeypts(unsigned int _nFeatures);
KeyPointVector detectKeyPoints(const cv::Mat&); KeyPointVector detectKeyPoints(const cv::Mat&);
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment