Merge branch 'master' of ssh://gitlab.iri.upc.edu:2202/asantamaria/vision_utils

cmake_modules/FindOpenCV.cmake

+#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

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) 

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

src/examples/yaml/fundamental_matrix.yaml

+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