diff --git a/.cproject b/.cproject
index 5ec25d8bc311c049d90e1e8a4ef4e28e2192583f..60ad58191bad6e4a42c897ad0d1d68aa424f3c7e 100644
--- a/.cproject
+++ b/.cproject
@@ -18,12 +18,30 @@
<folderInfo id="cdt.managedbuild.toolchain.gnu.base.1819918851.1318867162" name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.base.1801134637" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF" id="cdt.managedbuild.target.gnu.platform.base.479045570" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
- <builder arguments="-j4" buildPath="${workspace_loc:/vision_utils/build}" command="make" id="cdt.managedbuild.target.gnu.builder.base.1436699615" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+ <builder arguments="-j4" buildPath="${workspace_loc:/vision_utils/build}" command="make" id="cdt.managedbuild.target.gnu.builder.base.1436699615" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base">
+ <outputEntries>
+ <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="outputPath" name="build"/>
+ </outputEntries>
+ </builder>
<tool id="cdt.managedbuild.tool.gnu.archiver.base.401435208" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1649772065" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
+ <option id="gnu.cpp.compiler.option.include.paths.408388440" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value="/usr/include/eigen3"/>
+ <listOptionValue builtIn="false" value="/usr/include/pcl-1.7"/>
+ <listOptionValue builtIn="false" value="/opt/ros/kinetic/include"/>
+ <listOptionValue builtIn="false" value="/home/asantamaria/git/asantamaria_cpp/vision_utils"/>
+ <listOptionValue builtIn="false" value="/opt/ros/kinetic/include/opencv-3.2.0"/>
+ </option>
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.146329834" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
</tool>
<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.593702953" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+ <option id="gnu.c.compiler.option.include.paths.516367413" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value="/usr/include/eigen3"/>
+ <listOptionValue builtIn="false" value="/usr/include/pcl-1.7"/>
+ <listOptionValue builtIn="false" value="/opt/ros/kinetic/include"/>
+ <listOptionValue builtIn="false" value="/home/asantamaria/git/asantamaria_cpp/vision_utils"/>
+ <listOptionValue builtIn="false" value="/opt/ros/kinetic/include/opencv-3.2.0"/>
+ </option>
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.392834553" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
</tool>
<tool id="cdt.managedbuild.tool.gnu.c.linker.base.1306470347" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
@@ -34,6 +52,13 @@
</inputType>
</tool>
<tool id="cdt.managedbuild.tool.gnu.assembler.base.1501387796" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+ <option id="gnu.both.asm.option.include.paths.849039713" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+ <listOptionValue builtIn="false" value="/usr/include/eigen3"/>
+ <listOptionValue builtIn="false" value="/usr/include/pcl-1.7"/>
+ <listOptionValue builtIn="false" value="/opt/ros/kinetic/include"/>
+ <listOptionValue builtIn="false" value="/home/asantamaria/git/asantamaria_cpp/vision_utils"/>
+ <listOptionValue builtIn="false" value="/opt/ros/kinetic/include/opencv-3.2.0"/>
+ </option>
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1737692358" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
</tool>
</toolChain>
@@ -46,9 +71,6 @@
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="vision_utils.null.883408120" name="vision_utils"/>
</storageModule>
- <storageModule moduleId="scannerConfiguration">
- <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
- </storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Default">
@@ -56,4 +78,13 @@
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+ <storageModule moduleId="scannerConfiguration">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1819918851;cdt.managedbuild.toolchain.gnu.base.1819918851.1318867162;cdt.managedbuild.tool.gnu.cpp.compiler.base.1649772065;cdt.managedbuild.tool.gnu.cpp.compiler.input.146329834">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1819918851;cdt.managedbuild.toolchain.gnu.base.1819918851.1318867162;cdt.managedbuild.tool.gnu.c.compiler.base.593702953;cdt.managedbuild.tool.gnu.c.compiler.input.392834553">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ </storageModule>
</cproject>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d5f028728a774687e87f479b4042c063a85603ff..e92ae5fb389b4aacb583525642f433153dd7e605 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -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})
diff --git a/src/examples/capture.cpp b/src/examples/capture.cpp
index a35f5d7d99d53600847870cad8f2551f5959c16d..a546369135bbe89d0556a451b6ea5df04bfbef96 100644
--- a/src/examples/capture.cpp
+++ b/src/examples/capture.cpp
@@ -1,5 +1,4 @@
// OWN stuff
-#include "cam_utils/cam_utils.h"
#include "vision_utils.h"
// STD stuff
diff --git a/src/examples/feature_detection.cpp b/src/examples/feature_detection.cpp
index 5d510ee82f3991a73212a96d52549cb07b74e4ce..72925c34c0045089711bc69a952f8ff3bb658e8a 100644
--- a/src/examples/feature_detection.cpp
+++ b/src/examples/feature_detection.cpp
@@ -1,5 +1,4 @@
// 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;
diff --git a/src/feature_detector/feature_detector.cpp b/src/feature_detector/feature_detector.cpp
index 4d8ed6621b8868085fc605f069cad10f97fe13d2..760b488d4d7fb471861d621f459878b9cba4259c 100644
--- a/src/feature_detector/feature_detector.cpp
+++ b/src/feature_detector/feature_detector.cpp
@@ -1,10 +1,143 @@
#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;
+}
+
diff --git a/src/feature_detector/feature_detector.h b/src/feature_detector/feature_detector.h
index 01c2c39ab3b948db7c833fcca3503b5520a6ca89..ec8847708f9afa1f433c79e97b7633bb91492daf 100644
--- a/src/feature_detector/feature_detector.h
+++ b/src/feature_detector/feature_detector.h
@@ -1,17 +1,112 @@
#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
diff --git a/src/vision_utils.h b/src/vision_utils.h
index de32e48a8a5de80db57472a2316f6640a948d68f..57df78821a3ac621f6a29c04a1de1ded83231ea9 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -1,6 +1,9 @@
#ifndef _VISION_UTILS_H
#define _VISION_UTILS_H
+#include "cam_utils/cam_utils.h"
+#include "feature_detector/feature_detector.h"
+
class CVision_Utils
{
public: