diff --git a/cmake_modules/FindOpenCV.cmake b/cmake_modules/FindOpenCV.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..b3342d155e18ca52800e57ce467bb5b49684204d
--- /dev/null
+++ b/cmake_modules/FindOpenCV.cmake
@@ -0,0 +1,6 @@
+#edit the following line to add the librarie's header files
+FIND_PATH(OpenCV_CONFIG OpenCVConfig.cmake /usr/local/share/OpenCV)
+
+IF (OpenCV_CONFIG)
+INCLUDE (/usr/local/share/OpenCV/OpenCVConfig.cmake)
+ENDIF (OpenCV_CONFIG)
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 962e4da39f551e974250c43bf32079b29201ce22..63a5d534f2271a441718123f59ff5b18c2a7ddc3 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -200,6 +200,7 @@ SET(headers_alg_anms
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
+#INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindOpenCV.cmake)
#FIND_PACKAGE(Boost REQUIRED)
if (OpenCV_FOUND)
diff --git a/src/examples/fundamental_matrix.cpp b/src/examples/fundamental_matrix.cpp
index 4aefecbc8404ed0b8c4937a2a6a57a31e374d9d5..179874a713fdb51387661b6e2ca4103ef0d56d34 100644
--- a/src/examples/fundamental_matrix.cpp
+++ b/src/examples/fundamental_matrix.cpp
@@ -33,7 +33,7 @@ int main(int argc, char** argv)
cv::VideoCapture capture;
if (argc < 2)
{
- std::cout << "Please use\n\t./test_opencv <arg> "
+ std::cout << "Please use\n\t./fundamental_matrix <arg> "
"\nwith "
"\n\targ = <path/videoname.mp4> for video input "
"\n\targ = 0 for camera input." << std::endl;
@@ -58,23 +58,81 @@ int main(int argc, char** argv)
else
std::cout << "succeded" << std::endl;
- // set image detector
- vision_utils::DetectorParamsORBPtr det_params = std::make_shared<vision_utils::DetectorParamsORB>();
- vision_utils::DetectorBasePtr det_b_ptr = vision_utils::setupDetector("ORB", "ORB detector", det_params);
- vision_utils::DetectorORBPtr det_ptr = std::static_pointer_cast<vision_utils::DetectorORB>(det_b_ptr);
-
- // set image descriptor
- vision_utils::DescriptorParamsORBPtr desc_params = std::make_shared<vision_utils::DescriptorParamsORB>();
- vision_utils::DescriptorBasePtr des_b_ptr = vision_utils::setupDescriptor("ORB", "ORB detector", desc_params);
- vision_utils::DescriptorORBPtr des_ptr = std::static_pointer_cast<vision_utils::DescriptorORB>(des_b_ptr);
-
- // set matcher
- std::string matcher_name = "BRUTEFORCE_HAMMING_2";
- vision_utils::MatcherParamsBasePtr mat_params = std::make_shared<vision_utils::MatcherParamsBase>(matcher_name);
- mat_params->match_type = vision_utils::MATCH;
- vision_utils::MatcherBasePtr mat_b_ptr = vision_utils::setupMatcher(matcher_name, matcher_name, mat_params);
- vision_utils::MatcherBRUTEFORCE_HAMMING_2Ptr mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_HAMMING_2>(mat_b_ptr);
-
+ // YAML file with parameters
+ std::string path_yaml_file = "/src/examples/yaml";
+ std::string vu_root = _VU_ROOT_DIR; // Root dir path
+ std::string yaml_file_params_vision_utils = vu_root + path_yaml_file + "/fundamental_matrix.yaml";
+
+ // Detector
+ std::string det_name = vision_utils::readYamlType(yaml_file_params_vision_utils, "detector");
+ vision_utils::DetectorBasePtr det_ptr = vision_utils::setupDetector(det_name, det_name + " detector", yaml_file_params_vision_utils);
+
+ if (det_name.compare("ORB") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorORB>(det_ptr);
+ else if (det_name.compare("FAST") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorFAST>(det_ptr);
+ else if (det_name.compare("SIFT") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorSIFT>(det_ptr);
+ else if (det_name.compare("SURF") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorSURF>(det_ptr);
+ else if (det_name.compare("BRISK") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorBRISK>(det_ptr);
+ else if (det_name.compare("MSER") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorMSER>(det_ptr);
+ else if (det_name.compare("GFTT") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorGFTT>(det_ptr);
+ else if (det_name.compare("HARRIS") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorHARRIS>(det_ptr);
+ else if (det_name.compare("SBD") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorSBD>(det_ptr);
+ else if (det_name.compare("KAZE") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorKAZE>(det_ptr);
+ else if (det_name.compare("AKAZE") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorAKAZE>(det_ptr);
+ else if (det_name.compare("AGAST") == 0)
+ det_ptr = std::static_pointer_cast<vision_utils::DetectorAGAST>(det_ptr);
+
+ // Descriptor
+ std::string des_name = vision_utils::readYamlType(yaml_file_params_vision_utils, "descriptor");
+ vision_utils::DescriptorBasePtr des_ptr = vision_utils::setupDescriptor(des_name, des_name + " descriptor", yaml_file_params_vision_utils);
+
+ if (des_name.compare("ORB") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorORB>(des_ptr);
+ else if (des_name.compare("SIFT") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorSIFT>(des_ptr);
+ else if (des_name.compare("SURF") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorSURF>(des_ptr);
+ else if (des_name.compare("BRISK") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorBRISK>(des_ptr);
+ else if (des_name.compare("KAZE") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorKAZE>(des_ptr);
+ else if (des_name.compare("AKAZE") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorAKAZE>(des_ptr);
+ else if (des_name.compare("LATCH") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorLATCH>(des_ptr);
+ else if (des_name.compare("FREAK") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorFREAK>(des_ptr);
+ else if (des_name.compare("BRIEF") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorBRIEF>(des_ptr);
+ else if (des_name.compare("DAISY") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorDAISY>(des_ptr);
+ else if (des_name.compare("LUCID") == 0)
+ des_ptr = std::static_pointer_cast<vision_utils::DescriptorLUCID>(des_ptr);
+
+ // Matcher
+ std::string mat_name = vision_utils::readYamlType(yaml_file_params_vision_utils, "matcher");
+ vision_utils::MatcherBasePtr mat_ptr = vision_utils::setupMatcher(mat_name, mat_name + " matcher", yaml_file_params_vision_utils);
+
+ if (mat_name.compare("FLANNBASED") == 0)
+ mat_ptr = std::static_pointer_cast<vision_utils::MatcherFLANNBASED>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCE") == 0)
+ mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCE_L1") == 0)
+ mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_L1>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCE_HAMMING") == 0)
+ mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_HAMMING>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCE_HAMMING_2") == 0)
+ mat_ptr = std::static_pointer_cast<vision_utils::MatcherBRUTEFORCE_HAMMING_2>(mat_ptr);
// set and print image properties
unsigned int img_width = (unsigned int)capture.get(CV_CAP_PROP_FRAME_WIDTH);
@@ -91,7 +149,6 @@ int main(int argc, char** argv)
cv::namedWindow("Feature tracker"); // Creates a window for display.
cv::moveWindow("Feature tracker", 0, 0);
-
// First image
KeyPointVector keypoints_1 = det_ptr->detect(image_buffer.back());
cv::Mat descriptors_1 = des_ptr->getDescriptor( image_buffer.back(), keypoints_1);
@@ -117,7 +174,7 @@ int main(int argc, char** argv)
{
image_buffer.add(img);
- cv::Mat descriptors_2 = des_ptr->getDescriptor( image_buffer.back(), keypoints_1);
+ cv::Mat descriptors_2 = des_ptr->getDescriptor( image_buffer.back(), keypoints_2);
unsigned int max_dist = 0;
unsigned int min_dist = 512;
@@ -175,9 +232,9 @@ int main(int argc, char** argv)
std::cout << "Matches: initial " << matches.size() << " | good " << good_matches.size() << " | inliers "
<< inlier_matches.size() << std::endl;
- std::cout << "+++++++++++++++" << std::endl;
- std::cout << keypoints_1.size() << " " << keypoints_2.size() << " " << inlier_matches.size() << " " << img_matches.size() << std::endl;
+ std::cout << "kp1: " << keypoints_1.size() << " kp2: " << keypoints_2.size() << " inliers:" << inlier_matches.size() << std::endl;
+ std::cout << "+++++++++++++++" << std::endl;
// Draw RANSAC inliers
cv::drawMatches(image_buffer[image_buffer.size()-2], // before the last img
diff --git a/src/examples/yaml/fundamental_matrix.yaml b/src/examples/yaml/fundamental_matrix.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..da5949a696f6071f752482cd19a2fed564aa9529
--- /dev/null
+++ b/src/examples/yaml/fundamental_matrix.yaml
@@ -0,0 +1,15 @@
+detector:
+ type: "AGAST"
+ threshold: 10
+ nonmaxSuppression: true
+ detection type: 3 # AGAST_5_8=0, AGAST_7_12d=1, AGAST_7_12s=2, OAST_9_16=3, THRESHOLD=10000, NONMAX_SUPPRESSION=10001
+
+descriptor:
+ type: "BRIEF"
+ bytes: 32
+ use_orientation: false
+
+matcher:
+ type: "FLANNBASED" # BRUTEFORCE, BRUTEFORCE_HAMMING, BRUTEFORCE_HAMMING_2, BRUTEFORCE_L1, FLANNBASED
+ match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
+ min normalized score: 0.8
\ No newline at end of file