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Commit 6887c2dd authored by angelsantamaria's avatar angelsantamaria
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feature detector almost finished. initialization bug must be fixed

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.cproject
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......@@ -18,12 +18,30 @@
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......@@ -34,6 +52,13 @@
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......@@ -46,9 +71,6 @@
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src/CMakeLists.txt
+ 14
− 0
View file @ 6887c2dd
......@@ -8,6 +8,20 @@ SET(headers vision_utils.h cam_utils/cam_utils.h feature_detector/feature_detect
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
if (OpenCV_FOUND)
if (${OpenCV_VERSION_MAJOR} GREATER 2)
message("-- [INFO] Found OpenCV ${OpenCV_VERSION_MAJOR}.${OpenCV_VERSION_MINOR} support")
ADD_DEFINITIONS(-DHAVE_OPENCV_H)
SET(USE_CV true)
else(${OpenCV_VERSION_MAJOR} GREATER 2)
message("[WARN] OpenCV support not installed. Minimum 3.0 version required.")
message("[WARN] Current version ${OpenCV_VERSION_MAJOR}")
endif(${OpenCV_VERSION_MAJOR} GREATER 2)
else(OpenCV_FOUND)
message("[WARN] OpenCV support not installed. Minimum 3.0 version required.")
endif(OpenCV_FOUND)
# add the necessary include directories
INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS})
......
src/examples/capture.cpp
+ 0
− 1
View file @ 6887c2dd
// OWN stuff
#include "cam_utils/cam_utils.h"
#include "vision_utils.h"
// STD stuff
......
src/examples/feature_detection.cpp
+ 10
− 5
View file @ 6887c2dd
// OWN stuff
#include "cam_utils/cam_utils.h"
#include "vision_utils.h"
// STD stuff
......@@ -21,14 +20,20 @@ int main(int argc, char *argv[])
cam_fc.getFrame(cam, frame);
// Show ORIGINAL frame
cv::namedWindow("Cam Test");
cam_fc.showFrame("Cam Test", frame);
// Detect features
cv::namedWindow("Original image");
cam_fc.showFrame("Original image", frame);
// Detect features (keypoints)
CFeature_Detector detector(ORB);
CFeature_Detector::KeyPointVector keypoints;
keypoints = detector.detectKeyPoints(frame);
// Show frame with features
detector.drawKeyFeatures(frame, keypoints);
// Show NEW frame
cv::namedWindow("Detections");
cam_fc.showFrame("Detections", frame);
if (cv::waitKey(30) >= 0)
break;
......
src/feature_detector/feature_detector.cpp
+ 134
− 1
View file @ 6887c2dd
#include "feature_detector.h"
CFeature_Detector::CFeature_Detector()
CFeature_Detector::CFeature_Detector(DETECTOR_TYPE _type) :
is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
init(_type);
if (!is_init_)
{
std::cerr << "[Feature Detector]: Something went wrong during initialization! Feature Detector not initialized."
<< std::endl;
}
}
CFeature_Detector::~CFeature_Detector()
{
}
bool CFeature_Detector::init(DETECTOR_TYPE _type)
{
bool success = false;
switch (_type)
{
case ORB:
feature_detector_ = cv::ORB::create();
success = true;
break;
case SIFT:
feature_detector_ = cv::xfeatures2d::SIFT::create();
success = true;
break;
case SURF:
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();
success = true;
break;
case BRISK:
feature_detector_ = cv::BRISK::create();
success = true;
break;
case MSER:
feature_detector_ = cv::MSER::create();
success = true;
break;
case FAST:
feature_detector_ = cv::FastFeatureDetector::create();
success = true;
break;
case AGAST:
feature_detector_ = cv::AgastFeatureDetector::create();
success = true;
break;
case LSD:
lsd_detector_ = cv::line_descriptor::LSDDetector::createLSDDetector();
is_line_ = true;
success = true;
break;
case ED:
ed_detector_ = cv::line_descriptor::BinaryDescriptor::createBinaryDescriptor();
is_line_ = true;
success = true;
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)
{
KeyPointVector kpts;
feature_detector_->detect(_image, kpts);
if (this->isLimited())
{
cv::KeyPointsFilter filter;
filter.retainBest(kpts, this->getKeyPointsLimit());
}
return kpts;
}
CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat& _image)
{
KeyLineVector kls;
KeyLineVector kls2;
if (type_ == LSD)
lsd_detector_->detect(_image, kls, SCALE_FACTOR_LINE_DETECTOR, NUM_OCTAVE_LINE_DETECTOR);
else
ed_detector_->detect(_image, kls2);
kls.insert(kls.end(), kls2.begin(), kls2.end());
return kls;
}
bool CFeature_Detector::limitKeypts(unsigned int _nFeatures)
{
if (!is_init_)
return false;
if (_nFeatures > 0)
{
keypoints_limit_ = _nFeatures;
return is_limited_ = true;
}
return false;
}
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);
return img_out;
}
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);
return img_out;
}
src/feature_detector/feature_detector.h
+ 100
− 5
View file @ 6887c2dd
#ifndef _FEATURE_DETECTOR_H
#define _FEATURE_DETECTOR_H
// Descriptor types
enum DETECTOR_TYPE
// 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/line_descriptor/descriptor.hpp>
#define SCALE_FACTOR_LINE_DETECTOR 2
#define NUM_OCTAVE_LINE_DETECTOR 1
typedef cv::Ptr<cv::FeatureDetector> FeatureDetectorPtr;
typedef cv::Ptr<cv::line_descriptor::LSDDetector> LSDDetector;
typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector;
/**
* brief Descriptor types
*/
enum DETECTOR_TYPE { ORB, SIFT, SURF, AKAZE, KAZE, BRISK, MSER, FAST, LSD, ED, AGAST };
/**
* \brief Stream operator for the detector flags.
*/
inline std::ostream& operator<<(std::ostream& _os, DETECTOR_TYPE _f)
{
ORB, SIFT, SURF, AKAZE, KAZE, BRISK, MSER, FAST, LSD, ED, AGAST
};
switch (_f)
{
case ORB:
_os << "ORB";
break;
case SIFT:
_os << "SIFT";
break;
case SURF:
_os << "SURF";
break;
case AKAZE:
_os << "AKAZE";
break;
case KAZE:
_os << "KAZE";
break;
case BRISK:
_os << "BRISK";
break;
case MSER:
_os << "MSER";
break;
case FAST:
_os << "FAST";
break;
case LSD:
_os << "LSD";
break;
case ED:
_os << "ED";
break;
case AGAST:
_os << "AGAST";
break;
default:
_os.setstate(std::ios_base::failbit);
}
return _os;
}
class CFeature_Detector
{
public:
CFeature_Detector();
typedef std::vector<cv::KeyPoint> KeyPointVector;
typedef std::vector<cv::line_descriptor::KeyLine> KeyLineVector;
bool getDetectionTime() { return detect_time_; };
bool isLine() { return is_line_; };
bool isLimited() { return is_limited_; };
int getKeyPointsLimit() { return keypoints_limit_; };
bool limitKeypts(unsigned int _nFeatures);
CFeature_Detector(DETECTOR_TYPE _type);
~CFeature_Detector();
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 );
private:
DETECTOR_TYPE type_;
bool is_init_;
bool is_line_;
bool is_limited_;
unsigned int keypoints_limit_;
double detect_time_;
FeatureDetectorPtr feature_detector_;
LSDDetector lsd_detector_;
EDDetector ed_detector_;
bool init(DETECTOR_TYPE _type);
};
#endif
src/vision_utils.h
+ 3
− 0
View file @ 6887c2dd
#ifndef _VISION_UTILS_H
#define _VISION_UTILS_H
#include "cam_utils/cam_utils.h"
#include "feature_detector/feature_detector.h"
class CVision_Utils
{
public:
......
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