From 8b44cd445c7ccc856b6ecdca5939668d13719896 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Thu, 27 Jul 2017 19:57:09 +0200
Subject: [PATCH] Added descriptors
---
.cproject | 71 ++++-----
.settings/language.settings.xml | 6 +-
src/examples/CMakeLists.txt | 6 +-
...re_detection.cpp => feature_detectors.cpp} | 4 +-
.../feature_detectors_and_descriptors.cpp | 91 +++++++++++
src/feature_descriptor/feature_descriptor.cpp | 149 +++++++++++++++++-
src/feature_descriptor/feature_descriptor.h | 116 ++++++++++++--
src/feature_detector/feature_detector.cpp | 60 +++----
src/feature_detector/feature_detector.h | 23 +--
src/vision_utils.h | 1 +
10 files changed, 430 insertions(+), 97 deletions(-)
rename src/examples/{feature_detection.cpp => feature_detectors.cpp} (94%)
create mode 100644 src/examples/feature_detectors_and_descriptors.cpp
diff --git a/.cproject b/.cproject
index 60ad581..83fa9b6 100644
--- a/.cproject
+++ b/.cproject
@@ -1,8 +1,8 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
- <cconfiguration id="cdt.managedbuild.toolchain.gnu.base.1819918851">
- <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.1819918851" moduleId="org.eclipse.cdt.core.settings" name="Default">
+ <cconfiguration id="cdt.managedbuild.toolchain.gnu.base.1736073220">
+ <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.1736073220" moduleId="org.eclipse.cdt.core.settings" name="Default">
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
@@ -14,52 +14,36 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.base.1819918851" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
- <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="${workspace_loc:/vision_utils/build}" command="make" id="cdt.managedbuild.target.gnu.builder.base.1436699615" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base">
- <outputEntries>
- <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="outputPath" name="build"/>
- </outputEntries>
- </builder>
- <tool id="cdt.managedbuild.tool.gnu.archiver.base.401435208" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
- <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1649772065" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
- <option id="gnu.cpp.compiler.option.include.paths.408388440" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
- <listOptionValue builtIn="false" value="/usr/include/eigen3"/>
- <listOptionValue builtIn="false" value="/usr/include/pcl-1.7"/>
- <listOptionValue builtIn="false" value="/opt/ros/kinetic/include"/>
- <listOptionValue builtIn="false" value="/home/asantamaria/git/asantamaria_cpp/vision_utils"/>
- <listOptionValue builtIn="false" value="/opt/ros/kinetic/include/opencv-3.2.0"/>
+ <configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.base.1736073220" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+ <folderInfo id="cdt.managedbuild.toolchain.gnu.base.1736073220.1390770886" name="/" resourcePath="">
+ <toolChain id="cdt.managedbuild.toolchain.gnu.base.17239869" 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.298476915" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
+ <builder buildPath="${workspace_loc:/vision_utils/build}" id="cdt.managedbuild.target.gnu.builder.base.1164932087" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.archiver.base.1361884017" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1526891046" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
+ <option id="gnu.cpp.compiler.option.include.paths.2083804297" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value="/usr/include/opencv2"/>
</option>
- <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.146329834" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1116382079" 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"/>
+ <tool id="cdt.managedbuild.tool.gnu.c.compiler.base.1459107576" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+ <option id="gnu.c.compiler.option.include.paths.770636594" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+ <listOptionValue builtIn="false" value="/usr/include/opencv2"/>
</option>
- <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.392834553" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+ <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1695301683" 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"/>
- <tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.537733253" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
- <inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1810403800" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+ <tool id="cdt.managedbuild.tool.gnu.c.linker.base.343771141" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.439006778" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.258372498" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
</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"/>
+ <tool id="cdt.managedbuild.tool.gnu.assembler.base.1551405489" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+ <option id="gnu.both.asm.option.include.paths.458395641" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+ <listOptionValue builtIn="false" value="/usr/include/opencv2"/>
</option>
- <inputType id="cdt.managedbuild.tool.gnu.assembler.input.1737692358" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+ <inputType id="cdt.managedbuild.tool.gnu.assembler.input.1370134559" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
</tool>
</toolChain>
</folderInfo>
@@ -69,7 +53,7 @@
</cconfiguration>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
- <project id="vision_utils.null.883408120" name="vision_utils"/>
+ <project id="vision_utils.null.1875601072" name="vision_utils"/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
@@ -80,11 +64,18 @@
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1736073220;cdt.managedbuild.toolchain.gnu.base.1736073220.1390770886;cdt.managedbuild.tool.gnu.c.compiler.base.1459107576;cdt.managedbuild.tool.gnu.c.compiler.input.1695301683">
+ <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.cpp.compiler.base.1649772065;cdt.managedbuild.tool.gnu.cpp.compiler.input.146329834">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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<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>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1736073220;cdt.managedbuild.toolchain.gnu.base.1736073220.1390770886;cdt.managedbuild.tool.gnu.cpp.compiler.base.1526891046;cdt.managedbuild.tool.gnu.cpp.compiler.input.1116382079">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
</storageModule>
+ <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
</cproject>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 22477b0..ca971ab 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -1,11 +1,11 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
- <configuration id="cdt.managedbuild.toolchain.gnu.base.1819918851" name="Default">
+ <configuration id="cdt.managedbuild.toolchain.gnu.base.1736073220" name="Default">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
- <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
- <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1476617952823822664" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
+ <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuildCommandParser" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser" keep-relative-paths="false" name="CDT GCC Build Output Parser" parameter="(g?cc)|([gc]\+\+)|(clang)" prefer-non-shared="true"/>
+ <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1504749124108071272" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index c5993b2..35b3b32 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -1,7 +1,9 @@
# create an example application
ADD_EXECUTABLE(capture capture.cpp)
-ADD_EXECUTABLE(feature_detection feature_detection.cpp)
+ADD_EXECUTABLE(feature_detectors feature_detectors.cpp)
+ADD_EXECUTABLE(feature_detectors_and_descriptors feature_detectors_and_descriptors.cpp)
# link necessary libraries
TARGET_LINK_LIBRARIES(capture vision_utils)
-TARGET_LINK_LIBRARIES(feature_detection vision_utils)
\ No newline at end of file
+TARGET_LINK_LIBRARIES(feature_detectors vision_utils)
+TARGET_LINK_LIBRARIES(feature_detectors_and_descriptors vision_utils)
\ No newline at end of file
diff --git a/src/examples/feature_detection.cpp b/src/examples/feature_detectors.cpp
similarity index 94%
rename from src/examples/feature_detection.cpp
rename to src/examples/feature_detectors.cpp
index cdb43ef..de818e0 100644
--- a/src/examples/feature_detection.cpp
+++ b/src/examples/feature_detectors.cpp
@@ -8,7 +8,7 @@
int main(int argc, char *argv[])
{
CFeature_Detector detector;
- std::vector<DETECTOR_TYPE> detectors_list;
+ std::vector<Detector::Type> detectors_list;
detectors_list = detector.listDetectors();
std::cout << "----------------------------------------" << std::endl;
@@ -19,7 +19,7 @@ int main(int argc, char *argv[])
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?: ";
+ std::cout << std::endl << "Which DETECTOR do you want to test?: ";
int feat_type;
std::cin >> feat_type;
detector.setDetectorType(feat_type);
diff --git a/src/examples/feature_detectors_and_descriptors.cpp b/src/examples/feature_detectors_and_descriptors.cpp
new file mode 100644
index 0000000..3c93703
--- /dev/null
+++ b/src/examples/feature_detectors_and_descriptors.cpp
@@ -0,0 +1,91 @@
+// OWN stuff
+#include "vision_utils.h"
+
+// STD stuff
+#include <string>
+
+
+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 detectors and descriptors example |" << std::endl;
+ std::cout << "---------------------------------------------------------" << std::endl;
+ std::cout << std::endl;
+
+ for (unsigned int ii=0; ii<detectors_list.size(); ii++)
+ {
+ if ( (detectors_list[ii]!= Detector::LSD) && (detectors_list[ii] != Detector::ED) )
+ std::cout << "[" << ii << "]: " << detectors_list[ii] << std::endl;
+ }
+
+ std::cout << std::endl << "Which DETECTOR do you want to test?: ";
+ int feat_type;
+ std::cin >> feat_type;
+ detector.setDetectorType(feat_type);
+
+ CFeature_Descriptor descriptor;
+ std::vector<Descriptor::Type> descriptor_list;
+ descriptor_list = descriptor.listDescriptors();
+
+ for (unsigned int ii=0; ii<descriptor_list.size(); ii++)
+ std::cout << "[" << ii << "]: " << descriptor_list[ii] << std::endl;
+
+ std::cout << std::endl << "Which DESCRIPTOR do you want to test?: ";
+ int desc_type;
+ std::cin >> desc_type;
+ descriptor.setDescriptorType(desc_type);
+ std::cout << std::endl << "Testing: " << detectors_list[feat_type] << " + " << descriptor_list[feat_type] << " (DETECTOR + DESCRIPTOR)" << std::endl;
+
+ // Open camera
+ cv::VideoCapture cam;
+ CCamUtils cam_fc;
+ cam_fc.openCamera(0, cam);
+
+ // Create displays
+ cv::startWindowThread();
+ cv::namedWindow("Original image", cv::WINDOW_NORMAL);
+ cv::namedWindow("Detections", cv::WINDOW_NORMAL);
+
+ // The following line is used to remove the OpenCV "init done" from the terminal
+ std::cout << "\e[A" << " " << std::endl;
+
+ for (int nframe = 0; nframe < 1000; ++nframe)
+ {
+ // Get frame
+ cv::Mat frame;
+ cam_fc.getFrame(cam, frame);
+
+ // Show ORIGINAL frame
+ cv::imshow("Original image", frame);
+
+ // Detector
+ CFeature_Detector::KeyPointVector keypoints;
+ keypoints = detector.detectKeyPoints(frame);
+
+ // Descriptor
+ cv::Mat descriptors;
+ descriptors = descriptor.getDescriptor(frame,keypoints);
+
+ // Show frame with features
+ detector.drawKeyFeatures(frame, keypoints);
+
+ std::cout << "\e[A" <<
+ "Detection time: " << detector.getDetectionTime() << " " <<
+ "Description time: " << descriptor.getDescriptorTime() << " " <<
+ "TOTAL time: " << detector.getDetectionTime() + descriptor.getDescriptorTime() << std::endl;
+
+ // Show NEW frame
+ cv::imshow("Detections", frame);
+ cv::waitKey(1);
+ // if (cv::waitKey(30) >= 0) break;
+ }
+
+ cv::destroyAllWindows();
+}
+
+
+
diff --git a/src/feature_descriptor/feature_descriptor.cpp b/src/feature_descriptor/feature_descriptor.cpp
index 2b092f9..61855e6 100644
--- a/src/feature_descriptor/feature_descriptor.cpp
+++ b/src/feature_descriptor/feature_descriptor.cpp
@@ -1,10 +1,155 @@
#include "feature_descriptor.h"
-CFeature_Descriptor::CFeature_Descriptor()
+CFeature_Descriptor::CFeature_Descriptor(const Descriptor::Type& _type) :
+ type_(Descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
+
+ is_init_ = init(_type);
+
+ if (!is_init_) {
+ std::cerr
+ << "[Feature Descriptor]: Something went wrong during initialization! Feature Descriptor not initialized."
+ << std::endl;
+ }
+}
+
+CFeature_Descriptor::CFeature_Descriptor(const int&_type) :
+ type_(Descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
+
+ is_init_ = init(intToDescriptorType(_type));
+
+ if (!is_init_) {
+ std::cerr
+ << "[Feature Descriptor]: Something went wrong during initialization! Feature Descriptor not initialized."
+ << std::endl;
+ }
+}
+
+CFeature_Descriptor::CFeature_Descriptor() :
+ type_(Descriptor::__DELIM__), is_init_(false), descript_time_(0.0) {
+}
+
+CFeature_Descriptor::~CFeature_Descriptor() {
+}
+
+std::vector<Descriptor::Type> CFeature_Descriptor::listDescriptors(void)
{
+ std::vector<Descriptor::Type> list;
+
+ for (int ii = 0; ii < Descriptor::LUCID + 1; ii++)
+ {
+ list.push_back(static_cast<Descriptor::Type>(ii));
+ }
+
+ return list;
}
-CFeature_Descriptor::~CFeature_Descriptor()
+bool CFeature_Descriptor::setDescriptorType(const Descriptor::Type& _type)
{
+ is_init_ = init(_type);
+ return is_init_;
}
+bool CFeature_Descriptor::setDescriptorType(const int& _type)
+{
+ is_init_ = init(intToDescriptorType(_type));
+ return is_init_;
+}
+
+double CFeature_Descriptor::getDescriptorTime(void)
+{
+ return descript_time_;
+}
+
+bool CFeature_Descriptor::init(Descriptor::Type _type) {
+ if (is_init_)
+ std::cerr
+ << "[CFeature_Descriptor::init]: Descriptor already initialized."
+ << std::endl;
+
+ bool success = false;
+
+ // TODO: Set parameters for each descriptor type
+ switch (_type) {
+ case Descriptor::ORB:
+ feature_descriptor_ = cv::ORB::create();
+ success = true;
+ break;
+ case Descriptor::SIFT:
+ feature_descriptor_ = cv::xfeatures2d::SIFT::create();
+ success = true;
+ break;
+ case Descriptor::SURF:
+ feature_descriptor_ = cv::xfeatures2d::SURF::create();
+ success = true;
+ break;
+ case Descriptor::KAZE:
+ feature_descriptor_ = cv::KAZE::create();
+ success = true;
+ break;
+ case Descriptor::AKAZE:
+ feature_descriptor_ = cv::AKAZE::create();
+ success = true;
+ break;
+ case Descriptor::BRISK:
+ feature_descriptor_ = cv::BRISK::create();
+ success = true;
+ break;
+ case Descriptor::LATCH:
+ feature_descriptor_ = cv::xfeatures2d::LATCH::create();
+ success = true;
+ break;
+ case Descriptor::FREAK:
+ feature_descriptor_ = cv::xfeatures2d::FREAK::create();
+ success = true;
+ break;
+ case Descriptor::BRIEF:
+ feature_descriptor_ = cv::xfeatures2d::BriefDescriptorExtractor::create();
+ success = true;
+ break;
+ case Descriptor::DAISY:
+ feature_descriptor_ = cv::xfeatures2d::DAISY::create();
+ success = true;
+ break;
+ case Descriptor::LUCID:
+ feature_descriptor_ = cv::xfeatures2d::LUCID::create(1,2);
+ success = true;
+ break;
+ case Descriptor::__DELIM__:
+ success = false;
+ break;
+ }
+
+ if (success)
+ type_ = _type;
+ else
+ std::cerr << "[Feature Descriptor]: descriptor_type " << _type
+ << " doesn't exist !" << std::endl;
+
+ return success;
+}
+
+cv::Mat CFeature_Descriptor::getDescriptor(const cv::Mat& _image, CFeature_Descriptor::KeyPointVector& _kpts)
+{
+ if (!is_init_)
+ std::cerr << "[CFeature_Descriptor::getDescriptor]: Descriptor non initialized." << std::endl;
+
+ cv::Mat descriptors;
+
+ clock_t tStart = clock();
+ feature_descriptor_->compute(_image, _kpts, descriptors);
+ descript_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
+
+ return descriptors;
+}
+
+Descriptor::Type CFeature_Descriptor::intToDescriptorType(
+ const unsigned int _i) {
+ Descriptor::Type type;
+
+ for (unsigned int ii = 0; ii < Descriptor::__DELIM__; ii++) {
+ if (ii == _i)
+ type = static_cast<Descriptor::Type>(ii);
+ }
+
+ return type;
+}
diff --git a/src/feature_descriptor/feature_descriptor.h b/src/feature_descriptor/feature_descriptor.h
index ecfaea3..df5dbbe 100644
--- a/src/feature_descriptor/feature_descriptor.h
+++ b/src/feature_descriptor/feature_descriptor.h
@@ -1,17 +1,115 @@
#ifndef _FEATURE_DESCRIPTOR_H
#define _FEATURE_DESCRIPTOR_H
-// Descriptor types
-enum DESCRIPTOR_TYPE
-{
- ORB, SIFT, SURF, AKAZE, KAZE, BRISK, LATCH, FREAK, BRIEF, DAISY, LBD, ROOTSIFT
+#include <time.h>
+
+// 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/xfeatures2d.hpp>
+#include <opencv2/line_descriptor/descriptor.hpp>
+
+typedef cv::Ptr<cv::DescriptorExtractor> FeatureDescriptorPtr;
+
+namespace Descriptor {
+
+/**
+ * \brief MACROS to generate all detector types and their corresponding strings
+ */
+#define FOREACH_DESCRIPTOR(DESCRIPTOR) \
+ DESCRIPTOR(ORB) \
+ DESCRIPTOR(SIFT) \
+ DESCRIPTOR(SURF) \
+ DESCRIPTOR(KAZE) \
+ DESCRIPTOR(AKAZE) \
+ DESCRIPTOR(BRISK) \
+ DESCRIPTOR(LATCH) \
+ DESCRIPTOR(FREAK) \
+ DESCRIPTOR(BRIEF) \
+ DESCRIPTOR(DAISY) \
+ DESCRIPTOR(LUCID) \
+ DESCRIPTOR(__DELIM__) \
+
+#define GENERATE_ENUM(ENUM) ENUM,
+#define GENERATE_STRING(STRING) #STRING,
+enum Type {
+ FOREACH_DESCRIPTOR(GENERATE_ENUM)
};
+static const char *DESCRIPTOR_TYPE_STRING[] = { FOREACH_DESCRIPTOR(
+ GENERATE_STRING) };
+
+/**
+ * \brief Stream operator for the descriptor flags.
+ */
+inline std::ostream& operator<<(std::ostream& _os, Type _f) {
+ _os << DESCRIPTOR_TYPE_STRING[_f];
+ return _os;
+}
+
+} // end of namespace
+
+class CFeature_Descriptor {
+
+public:
+
+ typedef std::vector<cv::KeyPoint> KeyPointVector;
+
+ //CFeature_Descriptor(const DESCRIPTOR_TYPE& _type);
+ CFeature_Descriptor(const Descriptor::Type& _type);
+ CFeature_Descriptor(const int&_type);
+ CFeature_Descriptor(void);
+
+ ~CFeature_Descriptor(void);
+
+ /**
+ * \brief List the defined detector types
+ */
+ std::vector<Descriptor::Type> listDescriptors(void);
+
+ /**
+ * \brief Set descriptor type
+ */
+ bool setDescriptorType(const Descriptor::Type& _type);
+ bool setDescriptorType(const int& _type);
+
+ /**
+ * \brief Get detection duration
+ */
+ double getDescriptorTime(void);
+
+ /**
+ * \brief Get descriptors
+ */
+ cv::Mat getDescriptor(const cv::Mat& _image,
+ CFeature_Descriptor::KeyPointVector& _kpts);
+
+private:
+
+ Descriptor::Type type_;
+
+ // Flags
+ bool is_init_;
+
+ double descript_time_; // Detection time
+
+ FeatureDescriptorPtr feature_descriptor_; // Feature point descriptor
+
+ /**
+ * \brief Initialize descriptor
+ */
+ bool init(Descriptor::Type _type);
+
+ /**
+ * \brief Convert an integer to its corresponding descriptor flag.
+ *
+ * By default return ORB.
+ */
+ Descriptor::Type intToDescriptorType(const unsigned int _i);
-class CFeature_Descriptor
-{
- public:
- CFeature_Descriptor();
- ~CFeature_Descriptor();
};
#endif
diff --git a/src/feature_detector/feature_detector.cpp b/src/feature_detector/feature_detector.cpp
index 66b408b..695f6b5 100644
--- a/src/feature_detector/feature_detector.cpp
+++ b/src/feature_detector/feature_detector.cpp
@@ -1,7 +1,7 @@
#include "feature_detector.h"
-CFeature_Detector::CFeature_Detector(const DETECTOR_TYPE& _type) :
- type_(__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
+CFeature_Detector::CFeature_Detector(const Detector::Type& _type) :
+ type_(Detector::__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) :
- type_(__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
+ type_(Detector::__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) :
- type_(__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
+ type_(Detector::__DELIM__), is_init_(false), is_line_(false), is_limited_(false), keypoints_limit_(-1), detect_time_(0.0)
{
}
@@ -33,19 +33,19 @@ CFeature_Detector::~CFeature_Detector()
{
}
-std::vector<DETECTOR_TYPE> CFeature_Detector::listDetectors(void)
+std::vector<Detector::Type> CFeature_Detector::listDetectors(void)
{
- std::vector<DETECTOR_TYPE> list;
+ std::vector<Detector::Type> list;
- for (int ii = 0; ii < ED + 1; ii++)
+ for (int ii = 0; ii < Detector::ED + 1; ii++)
{
- list.push_back(static_cast<DETECTOR_TYPE>(ii));
+ list.push_back(static_cast<Detector::Type>(ii));
}
return list;
}
-bool CFeature_Detector::setDetectorType(const DETECTOR_TYPE& _type)
+bool CFeature_Detector::setDetectorType(const Detector::Type& _type)
{
is_init_ = init(_type);
return is_init_;
@@ -77,7 +77,7 @@ 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;
@@ -87,65 +87,65 @@ bool CFeature_Detector::init(DETECTOR_TYPE _type)
// TODO: Set parameters for each detector type
switch (_type)
{
- case FAST:
+ case Detector::FAST:
feature_detector_ = cv::FastFeatureDetector::create();
success = true;
break;
- case SIFT:
+ case Detector::SIFT:
feature_detector_ = cv::xfeatures2d::SIFT::create();
success = true;
break;
- case SURF:
+ case Detector::SURF:
feature_detector_ = cv::xfeatures2d::SURF::create();
success = true;
break;
- case ORB:
+ case Detector::ORB:
feature_detector_ = cv::ORB::create();
success = true;
break;
- case BRISK:
+ case Detector::BRISK:
feature_detector_ = cv::BRISK::create();
success = true;
break;
- case MSER:
+ case Detector::MSER:
feature_detector_ = cv::MSER::create();
success = true;
break;
- case GFTT:
+ case Detector::GFTT:
feature_detector_ = cv::GFTTDetector::create(1000, 0.01, 1.0, 3, false, 0.04);
success = true;
break;
- case HARRIS:
+ case Detector::HARRIS:
feature_detector_ = cv::GFTTDetector::create(1000, 0.01, 1.0, 3, true, 0.04);
success = true;
break;
- case SBD:
+ case Detector::SBD:
feature_detector_ = cv::SimpleBlobDetector::create();
success = true;
break;
- case KAZE:
+ case Detector::KAZE:
feature_detector_ = cv::KAZE::create();
success = true;
break;
- case AKAZE:
+ case Detector::AKAZE:
feature_detector_ = cv::AKAZE::create();
success = true;
break;
- case AGAST:
+ case Detector::AGAST:
feature_detector_ = cv::AgastFeatureDetector::create();
success = true;
break;
- case LSD:
+ case Detector::LSD:
lsd_detector_ = cv::line_descriptor::LSDDetector::createLSDDetector();
is_line_ = true;
success = true;
break;
- case ED:
+ case Detector::ED:
ed_detector_ = cv::line_descriptor::BinaryDescriptor::createBinaryDescriptor();
is_line_ = true;
success = true;
break;
- case __DELIM__:
+ case Detector::__DELIM__:
success = false;
break;
}
@@ -195,7 +195,7 @@ CFeature_Detector::KeyLineVector CFeature_Detector::detectKeyLines(const cv::Mat
mask_ = cv::Mat::ones(_image.size(), CV_8U);
clock_t tStart = clock();
- if (type_ == LSD)
+ if (type_ == Detector::LSD)
lsd_detector_->detect(_image, kls, SCALE_FACTOR_LINE_DETECTOR, NUM_OCTAVE_LINE_DETECTOR, mask_);
else
ed_detector_->detect(_image, kls2, mask_);
@@ -236,14 +236,14 @@ cv::Mat CFeature_Detector::drawKeyFeatures(const cv::Mat& _image, const KeyLineV
return img_out;
}
-DETECTOR_TYPE CFeature_Detector::intToDetectorType(const unsigned int _i)
+Detector::Type CFeature_Detector::intToDetectorType(const unsigned int _i)
{
- DETECTOR_TYPE type;
+ Detector::Type type;
- for (unsigned int ii = 0; ii < __DELIM__; ii++)
+ for (unsigned int ii = 0; ii < Detector::__DELIM__; ii++)
{
if (ii == _i)
- type = static_cast<DETECTOR_TYPE>(ii);
+ type = static_cast<Detector::Type>(ii);
}
return type;
diff --git a/src/feature_detector/feature_detector.h b/src/feature_detector/feature_detector.h
index 942d3d3..9fc148a 100644
--- a/src/feature_detector/feature_detector.h
+++ b/src/feature_detector/feature_detector.h
@@ -19,6 +19,9 @@ typedef cv::Ptr<cv::FeatureDetector> FeatureDetectorPtr;
typedef cv::Ptr<cv::line_descriptor::LSDDetector> LSDDetector;
typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector;
+namespace Detector
+{
+
/**
* \brief MACROS to generate all detector types and their corresponding strings
*/
@@ -41,7 +44,7 @@ typedef cv::Ptr<cv::line_descriptor::BinaryDescriptor> EDDetector;
#define GENERATE_ENUM(ENUM) ENUM,
#define GENERATE_STRING(STRING) #STRING,
-enum DETECTOR_TYPE
+enum Type
{
FOREACH_DETECTOR(GENERATE_ENUM)
};
@@ -50,12 +53,14 @@ 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)
+inline std::ostream& operator<<(std::ostream& _os, Type _f)
{
_os << DETECTOR_TYPE_STRING[_f];
return _os;
}
+} // End of namespace
+
/**
* \brief Main feature detector class
*/
@@ -69,7 +74,7 @@ class CFeature_Detector
/**
* \brief Constructor
*/
- CFeature_Detector(const DETECTOR_TYPE& _type);
+ CFeature_Detector(const Detector::Type& _type);
CFeature_Detector(const int& _type);
CFeature_Detector(void);
@@ -81,12 +86,12 @@ class CFeature_Detector
/**
* \brief List the defined detector types
*/
- std::vector<DETECTOR_TYPE> listDetectors(void);
+ std::vector<Detector::Type> listDetectors(void);
/**
* \brief Set detector type
*/
- bool setDetectorType(const DETECTOR_TYPE& _type);
+ bool setDetectorType(const Detector::Type& _type);
bool setDetectorType(const int& _type);
/**
@@ -128,7 +133,7 @@ class CFeature_Detector
private:
- DETECTOR_TYPE type_;
+ Detector::Type type_;
// Flags
bool is_init_;
@@ -148,14 +153,14 @@ class CFeature_Detector
/**
* \brief Initialize detector
*/
- bool init(DETECTOR_TYPE _type);
+ bool init(Detector::Type _type);
/**
- * \brief Convert an integer to its corresponding descriptor flag.
+ * \brief Convert an integer to its corresponding detector flag.
*
* By default return ORB.
*/
- DETECTOR_TYPE intToDetectorType(const unsigned int _i);
+ Detector::Type intToDetectorType(const unsigned int _i);
};
diff --git a/src/vision_utils.h b/src/vision_utils.h
index 57df788..ec7555f 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -3,6 +3,7 @@
#include "cam_utils/cam_utils.h"
#include "feature_detector/feature_detector.h"
+#include "feature_descriptor/feature_descriptor.h"
class CVision_Utils
{
--
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