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Commit 8b44cd44 authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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Added descriptors

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......@@ -69,7 +53,7 @@
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.settings/language.settings.xml
+ 3
− 3
View file @ 8b44cd44
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......
src/examples/CMakeLists.txt
+ 4
− 2
View file @ 8b44cd44
# 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
src/examples/feature_detection.cpp → src/examples/feature_detectors.cpp
+ 2
− 2
View file @ 8b44cd44
......@@ -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);
......
src/examples/feature_detectors_and_descriptors.cpp 0 → 100644
+ 91
− 0
View file @ 8b44cd44
// 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();
}
src/feature_descriptor/feature_descriptor.cpp
+ 147
− 2
View file @ 8b44cd44
#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;
}
src/feature_descriptor/feature_descriptor.h
+ 107
− 9
View file @ 8b44cd44
#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
src/feature_detector/feature_detector.cpp
+ 30
− 30
View file @ 8b44cd44
#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;
......
src/feature_detector/feature_detector.h
+ 14
− 9
View file @ 8b44cd44
......@@ -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);
};
......
src/vision_utils.h
+ 1
− 0
View file @ 8b44cd44
......@@ -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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