From a667a92e528642097bbe9d3715f990893e71ea29 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Thu, 10 Aug 2017 10:59:39 +0200
Subject: [PATCH] added matcher bruteforce hamming 2
---
src/CMakeLists.txt | 15 +++--
src/examples/test_matcher.cpp | 5 +-
src/examples/yaml/BRUTEFORCE_HAMMING_2.yaml | 5 ++
.../matcher_bruteforce_hamming_2.cpp | 17 +++++
.../matcher_bruteforce_hamming_2.h | 66 +++++++++++++++++++
...matcher_bruteforce_hamming_2_load_yaml.cpp | 46 +++++++++++++
6 files changed, 147 insertions(+), 7 deletions(-)
create mode 100644 src/examples/yaml/BRUTEFORCE_HAMMING_2.yaml
create mode 100644 src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
create mode 100644 src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
create mode 100644 src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 387a6db..46028f0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -53,15 +53,17 @@ SET(sources
descriptors/lucid/descriptor_lucid.cpp
descriptors/lucid/descriptor_lucid_load_yaml.cpp
matchers/matcher_base.cpp
- matchers/flannbased/matcher_flannbased.cpp
- matchers/flannbased/matcher_flannbased_load_yaml.cpp
matchers/bruteforce/matcher_bruteforce.cpp
matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp
- matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp )
-
+ matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp
+ matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
+ matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
+ matchers/flannbased/matcher_flannbased.cpp
+ matchers/flannbased/matcher_flannbased_load_yaml.cpp)
+
# application header files
SET(headers
vision_utils.h
@@ -98,10 +100,11 @@ SET(headers
descriptors/lucid/descriptor_lucid.h
matchers/matcher_factory.h
matchers/matcher_base.h
- matchers/flannbased/matcher_flannbased.h
matchers/bruteforce/matcher_bruteforce.h
matchers/bruteforce_l1/matcher_bruteforce_l1.h
- matchers/bruteforce_hamming/matcher_bruteforce_hamming.h)
+ matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
+ matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
+ matchers/flannbased/matcher_flannbased.h)
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index 592976c..18e09bf 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -39,6 +39,7 @@
#include "../matchers/bruteforce/matcher_bruteforce.h"
#include "../matchers/bruteforce_l1/matcher_bruteforce_l1.h"
#include "../matchers/bruteforce_hamming/matcher_bruteforce_hamming.h"
+#include "../matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h"
int main(void)
{
@@ -119,7 +120,7 @@ int main(void)
std::cout << "\n================ MATCHER TEST =================" << std::endl;
- std::string def_matcher = "BRUTEFORCE_HAMMING";
+ std::string def_matcher = "BRUTEFORCE";
std::cout << std::endl << "Which MATCHER do you want to test? Type one of the registered names [default: " << def_matcher << "]: ";
std::string mat_name = readFromUser(def_matcher);
@@ -133,6 +134,8 @@ int main(void)
mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCE_L1>(mat_ptr);
if (mat_name.compare("BRUTEFORCE_HAMMING") == 0)
mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCE_HAMMING>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCE_HAMMING_2") == 0)
+ mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCE_HAMMING_2>(mat_ptr);
std::cout << std::endl << "... Testing " << det_ptr->getName() << " with " << des_ptr->getName() << " and " << mat_ptr->getName() << " ..." << std::endl;
diff --git a/src/examples/yaml/BRUTEFORCE_HAMMING_2.yaml b/src/examples/yaml/BRUTEFORCE_HAMMING_2.yaml
new file mode 100644
index 0000000..86fe620
--- /dev/null
+++ b/src/examples/yaml/BRUTEFORCE_HAMMING_2.yaml
@@ -0,0 +1,5 @@
+sensor:
+ type: "USB_CAM"
+matcher:
+ type: "BRUTEFORCE_HAMMING_2"
+ match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
\ No newline at end of file
diff --git a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
new file mode 100644
index 0000000..493f7dc
--- /dev/null
+++ b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
@@ -0,0 +1,17 @@
+#include "matcher_bruteforce_hamming_2.h"
+
+namespace vision_utils {
+
+MatcherBRUTEFORCE_HAMMING_2::MatcherBRUTEFORCE_HAMMING_2(void)
+{}
+
+MatcherBRUTEFORCE_HAMMING_2::~MatcherBRUTEFORCE_HAMMING_2(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the MatchersFactory
+namespace vision_utils
+{
+VU_REGISTER_MATCHER("BRUTEFORCE_HAMMING_2", MatcherBRUTEFORCE_HAMMING_2);
+} /* namespace vision_utils */
diff --git a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
new file mode 100644
index 0000000..acec694
--- /dev/null
+++ b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
@@ -0,0 +1,66 @@
+#ifndef _MATCHER_BRUTEFORCE_HAMMING_2_H_
+#define _MATCHER_BRUTEFORCE_HAMMING_2_H_
+
+#include "../matcher_base.h"
+#include "../matcher_factory.h"
+
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
+namespace vision_utils {
+
+// Create all pointers
+VU_PTR_TYPEDEFS(MatcherBRUTEFORCE_HAMMING_2);
+VU_PTR_TYPEDEFS(MatcherParamsBRUTEFORCE_HAMMING_2);
+
+/** \brief Class parameters
+ *
+ */
+struct MatcherParamsBRUTEFORCE_HAMMING_2: public MatcherParamsBase
+{
+ // TODO: Add possible parameters
+};
+
+/** \brief DETECTOR class
+ *
+ */
+class MatcherBRUTEFORCE_HAMMING_2 : public MatcherBase {
+
+ public:
+ MatcherBRUTEFORCE_HAMMING_2();
+ virtual ~MatcherBRUTEFORCE_HAMMING_2(void);
+
+ // Factory method
+ static MatcherBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
+
+ private:
+
+ void defineMatcher(const ParamsBasePtr _params);
+};
+
+/*
+ * brief Define detector
+ */
+inline void MatcherBRUTEFORCE_HAMMING_2::defineMatcher(const ParamsBasePtr _params)
+{
+ params_base_ptr_ = std::static_pointer_cast<MatcherParamsBase>(_params);
+ MatcherParamsBRUTEFORCE_HAMMING_2Ptr params_ptr = std::static_pointer_cast<MatcherParamsBRUTEFORCE_HAMMING_2>(_params);
+ matcher_ = cv::DescriptorMatcher::create("BruteForce-Hamming(2)");
+}
+
+/*
+ * brief Create object in factory
+ */
+inline MatcherBasePtr MatcherBRUTEFORCE_HAMMING_2::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ MatcherBRUTEFORCE_HAMMING_2Ptr mat_ptr = std::make_shared<MatcherBRUTEFORCE_HAMMING_2>();
+ mat_ptr->setName(_unique_name);
+ mat_ptr->defineMatcher(_params);
+ return mat_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _MATCHER_BRUTEFORCE_HAMMING_2_H_ */
diff --git a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
new file mode 100644
index 0000000..41fd170
--- /dev/null
+++ b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
@@ -0,0 +1,46 @@
+#include "matcher_bruteforce_hamming_2.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsBRUTEFORCE_HAMMING_2Matcher(const std::string & _filename_dot_yaml)
+{
+ MatcherParamsBRUTEFORCE_HAMMING_2Ptr params_ptr = std::make_shared<MatcherParamsBRUTEFORCE_HAMMING_2>();
+
+ using std::string;
+ using YAML::Node;
+ Node yaml_params = YAML::LoadFile(_filename_dot_yaml);
+ if (!yaml_params.IsNull())
+ {
+ Node d_yaml = yaml_params["matcher"];
+ if(d_yaml["type"].as<string>() == "BRUTEFORCE_HAMMING_2")
+ {
+ params_ptr->match_type = d_yaml["match type"].as<int>();
+ // TODO: Add possible parameters
+ }else
+ {
+ std::cerr << "Bad configuration file. Wrong type " << d_yaml["type"].as<string>() << std::endl;
+ return nullptr;
+ }
+ }
+
+ return params_ptr;
+}
+
+// Register in the SensorFactory
+const bool registered_matBRUTEFORCE_HAMMING_2_params = ParamsFactory::get().registerCreator("BRUTEFORCE_HAMMING_2 MAT", createParamsBRUTEFORCE_HAMMING_2Matcher);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+
--
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