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Commit 652927ff authored by angelsantamaria's avatar angelsantamaria
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Reduced hardcoded ENUM. Added a macro to generate it also as string

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src/examples/feature_detection.cpp
+ 4
− 0
View file @ 652927ff
......@@ -4,6 +4,7 @@
// STD stuff
#include <string>
int main(int argc, char *argv[])
{
CFeature_Detector detector;
......@@ -71,3 +72,6 @@ int main(int argc, char *argv[])
cv::destroyAllWindows();
}
src/feature_detector/feature_detector.cpp
+ 43
− 19
View file @ 652927ff
#include "feature_detector.h"
CFeature_Detector::CFeature_Detector(const DETECTOR_TYPE& _type) :
is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
type_(__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
is_init_ = init(_type);
......@@ -13,7 +13,7 @@ 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)
type_(__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
is_init_ = init(intToDetectorType(_type));
......@@ -25,7 +25,7 @@ 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)
type_(__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
}
......@@ -37,7 +37,8 @@ std::vector<DETECTOR_TYPE> CFeature_Detector::listDetectors(void)
{
std::vector<DETECTOR_TYPE> list;
for(int ii = 0; ii < ED+1; ii++){
for (int ii = 0; ii < ED + 1; ii++)
{
list.push_back(static_cast<DETECTOR_TYPE>(ii));
}
......@@ -46,13 +47,13 @@ std::vector<DETECTOR_TYPE> CFeature_Detector::listDetectors(void)
bool CFeature_Detector::setDetectorType(const DETECTOR_TYPE& _type)
{
is_init_ = init( _type );
is_init_ = init(_type);
return is_init_;
}
bool CFeature_Detector::setDetectorType(const int& _type)
{
is_init_ = init( intToDetectorType(_type) );
is_init_ = init(intToDetectorType(_type));
return is_init_;
}
......@@ -79,10 +80,11 @@ int CFeature_Detector::getKeyPointsLimit(void)
bool CFeature_Detector::init(DETECTOR_TYPE _type)
{
if (is_init_)
std::cerr << "[CFeature_Detector::init]: Detector already initialized." << std::endl;
std::cerr << "[CFeature_Detector::init]: Detector already initialized." << std::endl;
bool success = false;
// TODO: Set parameters for each detector type
switch (_type)
{
case FAST:
......@@ -110,11 +112,11 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
success = true;
break;
case GFTT:
feature_detector_ = cv::GFTTDetector::create(1000,0.01,1.0,3,false,0.04);
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);
feature_detector_ = cv::GFTTDetector::create(1000, 0.01, 1.0, 3, true, 0.04);
success = true;
break;
case SBD:
......@@ -143,6 +145,9 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
is_line_ = true;
success = true;
break;
case __DELIM__:
success = false;
break;
}
if (success)
......@@ -156,15 +161,19 @@ 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;
std::cerr << "[CFeature_Detector::detectKeyPoints]: Detector non initialized." << std::endl;
// TODO: Set a clever mask to reduce image search
if (mask_.empty())
mask_ = cv::Mat::ones(_image.size(), CV_8U);
KeyPointVector kpts;
clock_t tStart = clock();
feature_detector_->detect(_image, kpts);
feature_detector_->detect(_image, kpts, mask_);
detect_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
if (this->isLimited())
if (isLimited())
{
cv::KeyPointsFilter filter;
filter.retainBest(kpts, this->getKeyPointsLimit());
......@@ -176,23 +185,27 @@ 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;
std::cerr << "[CFeature_Detector::detectKeyLines]: Detector non initialized." << std::endl;
KeyLineVector kls;
KeyLineVector kls2;
// TODO: Set a clever mask to reduce image search
if (mask_.empty())
mask_ = cv::Mat::ones(_image.size(), CV_8U);
clock_t tStart = clock();
if (type_ == LSD)
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, mask_);
else
ed_detector_->detect(_image, kls2);
ed_detector_->detect(_image, kls2, mask_);
detect_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
kls.insert(kls.end(), kls2.begin(), kls2.end());
return kls;
}
bool CFeature_Detector::limitKeypts(unsigned int _nFeatures)
bool CFeature_Detector::setLimitKeypts(unsigned int _nFeatures)
{
if (_nFeatures > 0)
{
......@@ -203,7 +216,7 @@ 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 KeyPointVector& _kp_vec)
{
cv::Mat img_out(_image);
......@@ -213,8 +226,7 @@ cv::Mat CFeature_Detector::drawKeyFeatures(const cv::Mat& _image, const std::vec
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 KeyLineVector& _kl_vec)
{
cv::Mat img_out(_image);
......@@ -224,3 +236,15 @@ cv::Mat CFeature_Detector::drawKeyFeatures(const cv::Mat& _image,
return img_out;
}
DETECTOR_TYPE CFeature_Detector::intToDetectorType(const unsigned int _i)
{
DETECTOR_TYPE type;
for (unsigned int ii = 0; ii < __DELIM__; ii++)
{
if (ii == _i)
type = static_cast<DETECTOR_TYPE>(ii);
}
return type;
}
src/feature_detector/feature_detector.h
+ 81
− 97
View file @ 652927ff
......@@ -20,110 +20,45 @@ typedef cv::Ptr<cv::line_descriptor::LSDDetector> LSDDetector;
typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector;
/**
* brief Descriptor types
* \brief MACROS to generate all detector types and their corresponding strings
*/
#define FOREACH_DETECTOR(DETECTOR) \
DETECTOR(FAST) \
DETECTOR(SIFT) \
DETECTOR(SURF) \
DETECTOR(ORB) \
DETECTOR(BRISK) \
DETECTOR(MSER) \
DETECTOR(GFTT) \
DETECTOR(HARRIS) \
DETECTOR(SBD) \
DETECTOR(KAZE) \
DETECTOR(AKAZE) \
DETECTOR(AGAST) \
DETECTOR(LSD) \
DETECTOR(ED) \
DETECTOR(__DELIM__) \
#define GENERATE_ENUM(ENUM) ENUM,
#define GENERATE_STRING(STRING) #STRING,
enum DETECTOR_TYPE
{
FAST, SIFT, SURF, ORB, BRISK, MSER, GFTT, HARRIS, SBD, KAZE, AKAZE, AGAST, LSD, ED
FOREACH_DETECTOR(GENERATE_ENUM)
};
static const char *DETECTOR_TYPE_STRING[] = {FOREACH_DETECTOR(GENERATE_STRING)};
/**
* \brief Stream operator for the detector flags.
*/
inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
{
switch (_f)
{
case FAST:
_os << "FAST";
break;
case SIFT:
_os << "SIFT";
break;
case SURF:
_os << "SURF";
break;
case ORB:
_os << "ORB";
break;
case BRISK:
_os << "BRISK";
break;
case MSER:
_os << "MSER (Maximally Stable Extremal Region Extractor)";
break;
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";
break;
case ED:
_os << "ED";
break;
default:
_os.setstate(std::ios_base::failbit);
}
_os << DETECTOR_TYPE_STRING[_f];
return _os;
}
/**
* \brief Convert an integer to its corresponding descriptor flag.
*
* By default return L2.
* \brief Main feature detector class
*/
inline DETECTOR_TYPE intToDetectorType(const unsigned int _i)
{
switch (_i)
{
case 0:
return FAST;
case 1:
return SIFT;
case 2:
return SURF;
case 3:
return ORB;
case 4:
return BRISK;
case 5:
return MSER;
case 6:
return GFTT;
case 7:
return HARRIS;
case 8:
return SBD;
case 9:
return KAZE;
case 10:
return AKAZE;
case 11:
return AGAST;
case 12:
return LSD;
case 13:
return ED;
default:
return ORB;
}
}
class CFeature_Detector
{
public:
......@@ -131,48 +66,97 @@ class CFeature_Detector
typedef std::vector<cv::KeyPoint> KeyPointVector;
typedef std::vector<cv::line_descriptor::KeyLine> KeyLineVector;
/**
* \brief Constructor
*/
CFeature_Detector(const DETECTOR_TYPE& _type);
CFeature_Detector(const int& _type);
CFeature_Detector(void);
/**
* \brief Destructor
*/
~CFeature_Detector();
/**
* \brief List the defined detector types
*/
std::vector<DETECTOR_TYPE> listDetectors(void);
/**
* \brief Set detector type
*/
bool setDetectorType(const DETECTOR_TYPE& _type);
bool setDetectorType(const int& _type);
/**
* \brief Get detection duration
*/
double getDetectionTime(void);
/**
* \brief Inform if the detector searches points or lines
*/
bool isLine(void);
/**
* \brief Inform if there is a maximum number of features to be detected
*/
bool isLimited(void);
/**
* \brief Get number of maximum keypoints allowed
*/
int getKeyPointsLimit(void);
bool limitKeypts(unsigned int _nFeatures);
/**
* \brief Set number of maximum keypoints allowed
*/
bool setLimitKeypts(unsigned int _nFeatures);
/**
* \brief Detect features (points or lines)
*/
KeyPointVector detectKeyPoints(const cv::Mat&);
KeyLineVector detectKeyLines(const cv::Mat&);
cv::Mat drawKeyFeatures(const cv::Mat& _image, const std::vector<cv::KeyPoint>& _kp_vec);
cv::Mat drawKeyFeatures(const cv::Mat& _image, const std::vector<cv::line_descriptor::KeyLine>& _kl_vec);
/**
* \brief Draw detected features
*/
cv::Mat drawKeyFeatures(const cv::Mat& _image, const KeyPointVector& _kp_vec);
cv::Mat drawKeyFeatures(const cv::Mat& _image, const KeyLineVector& _kl_vec);
private:
DETECTOR_TYPE type_;
// Flags
bool is_init_;
bool is_line_;
bool is_limited_;
unsigned int keypoints_limit_;
double detect_time_;
unsigned int keypoints_limit_; // Max. number of keypoints (saturation)
FeatureDetectorPtr feature_detector_;
LSDDetector lsd_detector_;
EDDetector ed_detector_;
double detect_time_; // Detection time
cv::Mat mask_; // Mask to reduce image search
FeatureDetectorPtr feature_detector_; // Feature point detectors
LSDDetector lsd_detector_; // Feature line detector
EDDetector ed_detector_; // Feature line detector
/**
* \brief Initialize detector
*/
bool init(DETECTOR_TYPE _type);
/**
* \brief Convert an integer to its corresponding descriptor flag.
*
* By default return ORB.
*/
DETECTOR_TYPE intToDetectorType(const unsigned int _i);
};
#endif
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