diff --git a/.cproject b/.cproject
index fb26a59fb395cb1692a20a67d7f9d8d029898dc6..9c0b0f80b66e6fd52b9ad948d7afd3f059c3a9fd 100644
--- a/.cproject
+++ b/.cproject
@@ -23,7 +23,7 @@
<builder buildPath="${workspace_loc:/vision_utils}/build" id="cdt.managedbuild.target.gnu.builder.base.1544635012" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
<tool id="cdt.managedbuild.tool.gnu.archiver.base.646136846" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.433122623" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
- <option id="gnu.cpp.compiler.option.include.paths.937784075" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+ <option id="gnu.cpp.compiler.option.include.paths.937784075" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="/usr/local/include"/>
<listOptionValue builtIn="false" value="/usr/include"/>
<listOptionValue builtIn="false" value="/opt/ros/indigo/include/opencv-3.1.0-dev"/>
@@ -31,7 +31,7 @@
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.341288586" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
</tool>
<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.61708613" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
- <option id="gnu.c.compiler.option.include.paths.829945653" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
+ <option id="gnu.c.compiler.option.include.paths.829945653" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="/usr/local/include"/>
<listOptionValue builtIn="false" value="/usr/include"/>
<listOptionValue builtIn="false" value="/opt/ros/indigo/include/opencv-3.1.0-dev"/>
@@ -40,7 +40,7 @@
</tool>
<tool id="cdt.managedbuild.tool.gnu.c.linker.base.2056051326" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.1724439765" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
- <option id="gnu.cpp.link.option.paths.619011598" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
+ <option id="gnu.cpp.link.option.paths.619011598" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
<listOptionValue builtIn="false" value="/usr/lib"/>
<listOptionValue builtIn="false" value="/usr/local/lib"/>
</option>
@@ -50,7 +50,7 @@
</inputType>
</tool>
<tool id="cdt.managedbuild.tool.gnu.assembler.base.507993336" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
- <option id="gnu.both.asm.option.include.paths.408889783" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+ <option id="gnu.both.asm.option.include.paths.408889783" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="/usr/local/include"/>
<listOptionValue builtIn="false" value="/usr/include"/>
<listOptionValue builtIn="false" value="/opt/ros/indigo/include/opencv-3.1.0-dev"/>
@@ -101,4 +101,5 @@
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
+ <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
</cproject>
diff --git a/cmake_modules/FindYamlCpp.cmake b/cmake_modules/FindYamlCpp.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..196c4754e2787a9fa4f47eb8716fd2525bc84fd4
--- /dev/null
+++ b/cmake_modules/FindYamlCpp.cmake
@@ -0,0 +1,99 @@
+# Locate yaml-cpp
+#
+# This module defines
+# YAMLCPP_FOUND, if false, do not try to link to yaml-cpp
+# YAMLCPP_LIBNAME, name of yaml library
+# YAMLCPP_LIBRARY, where to find yaml-cpp
+# YAMLCPP_LIBRARY_RELEASE, where to find Release or RelWithDebInfo yaml-cpp
+# YAMLCPP_LIBRARY_DEBUG, where to find Debug yaml-cpp
+# YAMLCPP_INCLUDE_DIR, where to find yaml.h
+# YAMLCPP_LIBRARY_DIR, the directories to find YAMLCPP_LIBRARY
+#
+# By default, the dynamic libraries of yaml-cpp will be found. To find the static ones instead,
+# you must set the YAMLCPP_USE_STATIC_LIBS variable to TRUE before calling find_package(YamlCpp ...)
+
+# attempt to find static library first if this is set
+if(YAMLCPP_USE_STATIC_LIBS)
+ set(YAMLCPP_STATIC libyaml-cpp.a)
+ set(YAMLCPP_STATIC_DEBUG libyaml-cpp-dbg.a)
+endif()
+
+if(${CMAKE_SYSTEM_NAME} MATCHES "Windows") ### Set Yaml libary name for Windows
+ set(YAMLCPP_LIBNAME "libyaml-cppmd" CACHE STRING "Name of YAML library")
+ set(YAMLCPP_LIBNAME optimized ${YAMLCPP_LIBNAME} debug ${YAMLCPP_LIBNAME}d)
+else() ### Set Yaml libary name for Unix, Linux, OS X, etc
+ set(YAMLCPP_LIBNAME "yaml-cpp" CACHE STRING "Name of YAML library")
+endif()
+
+# find the yaml-cpp include directory
+find_path(YAMLCPP_INCLUDE_DIR
+ NAMES yaml-cpp/yaml.h
+ PATH_SUFFIXES include
+ PATHS
+ ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/include
+ ~/Library/Frameworks/yaml-cpp/include/
+ /Library/Frameworks/yaml-cpp/include/
+ /usr/local/include/
+ /usr/include/
+ /sw/yaml-cpp/ # Fink
+ /opt/local/yaml-cpp/ # DarwinPorts
+ /opt/csw/yaml-cpp/ # Blastwave
+ /opt/yaml-cpp/)
+
+# find the release yaml-cpp library
+find_library(YAMLCPP_LIBRARY_RELEASE
+ NAMES ${YAMLCPP_STATIC} yaml-cpp libyaml-cppmd.lib
+ PATH_SUFFIXES lib64 lib Release RelWithDebInfo
+ PATHS
+ ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/
+ ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/build
+ ~/Library/Frameworks
+ /Library/Frameworks
+ /usr/local
+ /usr
+ /sw
+ /opt/local
+ /opt/csw
+ /opt)
+
+# find the debug yaml-cpp library
+find_library(YAMLCPP_LIBRARY_DEBUG
+ NAMES ${YAMLCPP_STATIC_DEBUG} yaml-cpp-dbg libyaml-cppmdd.lib
+ PATH_SUFFIXES lib64 lib Debug
+ PATHS
+ ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/
+ ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/build
+ ~/Library/Frameworks
+ /Library/Frameworks
+ /usr/local
+ /usr
+ /sw
+ /opt/local
+ /opt/csw
+ /opt)
+
+# set library vars
+set(YAMLCPP_LIBRARY ${YAMLCPP_LIBRARY_RELEASE})
+if(CMAKE_BUILD_TYPE MATCHES Debug AND EXISTS ${YAMLCPP_LIBRARY_DEBUG})
+ set(YAMLCPP_LIBRARY ${YAMLCPP_LIBRARY_DEBUG})
+endif()
+
+get_filename_component(YAMLCPP_LIBRARY_RELEASE_DIR ${YAMLCPP_LIBRARY_RELEASE} PATH)
+get_filename_component(YAMLCPP_LIBRARY_DEBUG_DIR ${YAMLCPP_LIBRARY_DEBUG} PATH)
+set(YAMLCPP_LIBRARY_DIR ${YAMLCPP_LIBRARY_RELEASE_DIR} ${YAMLCPP_LIBRARY_DEBUG_DIR})
+
+# handle the QUIETLY and REQUIRED arguments and set YAMLCPP_FOUND to TRUE if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(YamlCpp DEFAULT_MSG
+ YAMLCPP_INCLUDE_DIR
+ YAMLCPP_LIBRARY
+ YAMLCPP_LIBRARY_DIR)
+mark_as_advanced(
+ YAMLCPP_INCLUDE_DIR
+ YAMLCPP_LIBRARY_DIR
+ YAMLCPP_LIBRARY
+ YAMLCPP_LIBRARY_RELEASE
+ YAMLCPP_LIBRARY_RELEASE_DIR
+ YAMLCPP_LIBRARY_DEBUG
+ YAMLCPP_LIBRARY_DEBUG_DIR)
+
diff --git a/internal/config.h b/internal/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..6449c336a10ce2de3629678959b70208e2055486
--- /dev/null
+++ b/internal/config.h
@@ -0,0 +1,6 @@
+#ifndef VU_INTERNAL_CONFIG_H_
+#define VU_INTERNAL_CONFIG_H_
+
+#define _VU_ROOT_DIR "/home/asantamaria/git/asantamaria_cpp/vision_utils"
+
+#endif /* VU_INTERNAL_CONFIG_H_ */
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 471ed40a450f258cb329d610740ed5646ba3a304..caeb1d5afc126c3c5eb9c98b8919472d9b435a26 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,10 +1,23 @@
# library source files
-#SET(sources vision_utils.cpp cam_utils/cam_utils.cpp feature_detector/feature_detector.cpp feature_descriptor/feature_descriptor.cpp feature_matcher/feature_matcher.cpp)
-SET(sources vision_utils.cpp detectors/detector_base.cpp detectors/detector_orb.cpp)
+#SET(sources vision_utils.cpp feature_detector/feature_detector.cpp feature_descriptor/feature_descriptor.cpp feature_matcher/feature_matcher.cpp)
+SET(sources
+ vision_utils.cpp
+ sensors/sensor_base.cpp
+ sensors/camera/sensor_camera.cpp
+ detectors/detector_base.cpp
+ detectors/orb/detector_orb.cpp)
# application header files
-#SET(headers vision_utils.h common/common_base.h cam_utils/cam_utils.h feature_detector/feature_detector.h feature_descriptor/feature_descriptor.h feature_matcher/feature_matcher.h)
-SET(headers vision_utils.h factory.h detectors/detector_factory.h detectors/detector_base.h detectors/detector_orb.h)
+#SET(headers vision_utils.h feature_detector/feature_detector.h feature_descriptor/feature_descriptor.h feature_matcher/feature_matcher.h)
+SET(headers
+ vision_utils.h
+ factory.h
+ sensors/sensor_factory.h
+ sensors/sensor_base.h
+ sensors/camera/sensor_camera.h
+ detectors/detector_factory.h
+ detectors/detector_base.h
+ detectors/orb/detector_orb.h)
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
@@ -28,8 +41,7 @@ endif(OpenCV_FOUND)
INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake)
IF(YAMLCPP_FOUND)
MESSAGE(STATUS "Yaml-cpp related sources will be built.")
- #SET(ENV{USE_YAML} true)
- add_definitions( -DUSING_YAML )
+ ADD_DEFINITIONS( -DUSING_YAML )
ELSEIF(YAMLCPP_FOUND)
MESSAGE("[WARN] yaml-cpp Library NOT FOUND!")
ENDIF(YAMLCPP_FOUND)
@@ -41,15 +53,33 @@ IF(YAMLCPP_FOUND)
INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR})
ENDIF(YAMLCPP_FOUND)
+SET(_VU_ROOT_DIR ${CMAKE_SOURCE_DIR})
+
+# Define the directory where will be the configured config.h
+SET(VU_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/internal)
+
+# Create the specified output directory if it does not exist.
+IF(NOT EXISTS "${VU_CONFIG_DIR}")
+ MESSAGE(STATUS "Creating config output directory: ${VU_CONFIG_DIR}")
+ FILE(MAKE_DIRECTORY "${VU_CONFIG_DIR}")
+ENDIF()
+IF(EXISTS "${VU_CONFIG_DIR}" AND NOT IS_DIRECTORY "${VU_CONFIG_DIR}")
+ MESSAGE(FATAL_ERROR "Bug: Specified CONFIG_DIR: ${VU_CONFIG_DIR} exists, but is not a directory.")
+ENDIF()
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${VU_CONFIG_DIR}/config.h")
+
+# Include config.h directory at first.
+include_directories("${PROJECT_BINARY_DIR}/conf")
+
# create the shared library
ADD_LIBRARY(${PROJECT_NAME} SHARED ${sources})
# link necessary libraries
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS} ${Boost_LIBRARIES})
-IF(YAMLCPP_FOUND)
-INCLUDE_DIRECTORIES(${YAMLCPP_LIBRARY_DIR})
-ENDIF(YAMLCPP_FOUND)
+IF (YAMLCPP_FOUND)
+ TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${YAMLCPP_LIBRARY})
+ENDIF (YAMLCPP_FOUND)
# install
INSTALL(TARGETS ${PROJECT_NAME}
@@ -58,6 +88,9 @@ INSTALL(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib/${PROJECT_NAME})
INSTALL(FILES ${headers} DESTINATION include/${PROJECT_NAME})
INSTALL(FILES ../cmake_modules/Find${PROJECT_NAME}.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+INSTALL(FILES "${VU_CONFIG_DIR}/config.h" DESTINATION include/${PROJECT_NAME}/internal)
# examples of usage
ADD_SUBDIRECTORY(examples)
+
+
diff --git a/src/cam_utils/cam_utils.cpp b/src/cam_utils/cam_utils.cpp
deleted file mode 100644
index 41985eb7b8ba2989f36d92b2d9ac1514deb1583f..0000000000000000000000000000000000000000
--- a/src/cam_utils/cam_utils.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "cam_utils.h"
-
-CamUtils::CamUtils()
-{
-}
-
-CamUtils::~CamUtils()
-{
-}
-
-bool CamUtils::openCamera(const int& _cam_num, cv::VideoCapture& _cam)
-{
- cv::VideoCapture camera(_cam_num);
- if (!camera.isOpened()) // check if we succeeded
- {
- std::cerr << "ERROR: Could not open camera: " << _cam_num << std::endl;
- return false;
- }
- _cam = camera;
- return true;
-}
-
-bool CamUtils::getFrame(cv::VideoCapture& _cam, cv::Mat& _frame)
-{
- try
- {
- _cam >> _frame;
- }
- catch (cv::Exception& e)
- {
- std::cout << "An exception occurred. Ignoring frame. " << e.err << std::endl;
- return false;
- }
- return true;
-}
-
-bool CamUtils::showFrame(const std::string& _window_name, const cv::Mat& _frame)
-{
- try
- {
- cv::imshow(_window_name, _frame);
- }
- catch (cv::Exception& e)
- {
- std::cout << "An exception occurred. Ignoring frame. " << e.err << std::endl;
- return false;
- }
- return true;
-}
diff --git a/src/cam_utils/cam_utils.h b/src/cam_utils/cam_utils.h
deleted file mode 100644
index 567f212e2c225b43f3650e55d79af55e3689beba..0000000000000000000000000000000000000000
--- a/src/cam_utils/cam_utils.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef _CAMUTILS_H
-#define _CAMUTILS_H
-
-// std stuff
-#include <stdio.h>
-#include <iostream>
-
-// OpenCV stuff
-#include "opencv2/opencv.hpp"
-
-class CamUtils
-{
- public:
-
- /**
- * \brief Constructor
- *
- * Main class constructor.
- */
- CamUtils();
-
- /**
- * \brief Destructor
- *
- * Main class destructor.
- */
- ~CamUtils();
-
- /**
- * \brief Open Webcam
- *
- * This method opens the specified webcam using OpenCV
- * Inputs:
- * _cam_num: system camera number (int)
- * Ouptuts:
- * cam: camera handle (cv::VideoCapture)
- *
- * Returns true if the camera is correctly opened
- *
- */
- bool openCamera(const int& _cam_num, cv::VideoCapture& _cam);
-
- /**
- * \brief Get frame
- *
- * This method gets a frame from the specified webcam
- *
- * Inputs:
- * cam: camera handle (cv::VideoCapture)
- * Outputs:
- * frame: filled frame (cv::Mat)
- * Returns true if the frame is correctly obtained
- */
- bool getFrame(cv::VideoCapture& _cam, cv::Mat& _frame);
-
- /**
- *\brief Show Frame
- *
- * This method shows the specified frame using OpenCV
- *
- * Inputs:
- * window_name: Window name inwhich the frame will be displayed (string)
- * frame: Frame to be displayed (cv::Mat)
- * Returns true if the frame is correctly displayed
- */
- bool showFrame(const std::string& _window_name, const cv::Mat& _frame);
-};
-
-#endif
diff --git a/src/detectors/detector_base.cpp b/src/detectors/detector_base.cpp
index d7eb6e9952fe38ca973d38c00754fa580463a8da..dc39c16f84be24fd13aea8c2393e2dc53a07b782 100644
--- a/src/detectors/detector_base.cpp
+++ b/src/detectors/detector_base.cpp
@@ -10,4 +10,4 @@ DetectorBase::~DetectorBase(void)
{
}
-} // namespace wolf
+} // namespace vision_utils
diff --git a/src/detectors/detector_base.h b/src/detectors/detector_base.h
index c533b9681885c46cce611d0c46350299474e20a1..b88e9b8b7f6f4a537d9f41c8c1b9c5032d31dbf9 100644
--- a/src/detectors/detector_base.h
+++ b/src/detectors/detector_base.h
@@ -4,6 +4,8 @@
// vision_utils
#include "../vision_utils.h"
+typedef cv::Ptr<cv::FeatureDetector> FeatureDetectorPtr;
+
namespace vision_utils
{
@@ -38,9 +40,6 @@ class DetectorBase : public VUBase, public std::enable_shared_from_this<Detector
* \brief Virtual destructor
*/
virtual ~DetectorBase(void);
-
- virtual void detect(const cv::Mat& _image) = 0;
- virtual void detect(const cv::Mat& _image, const cv::Mat& _mask) = 0;
};
} /* namespace vision_utils */
diff --git a/src/detectors/detector_orb.cpp b/src/detectors/detector_orb.cpp
deleted file mode 100644
index 6ca7f46b82302d7ac3393b9c2462163a80eb0ef6..0000000000000000000000000000000000000000
--- a/src/detectors/detector_orb.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-#include "detector_orb.h"
-
-namespace vision_utils {
-
-DetectorORB::DetectorORB(void)
-{}
-
-DetectorORB::~DetectorORB(void)
-{}
-
-void DetectorORB::detect(const cv::Mat& _image)
-{
- std::cout << "[" << name_ << "] Detecting without mask" << std::endl;
-}
-void DetectorORB::detect(const cv::Mat& _image, const cv::Mat& _mask)
-{
- std::cout << "[" << name_ << "] Detecting with mask" << std::endl;
-}
-
-} /* namespace vision_utils */
-
-// Register in the DetectorsFactory
-#include "detector_factory.h"
-
-namespace vision_utils
-{
-// TODO: How can I pass parameters then?
-DetectorORBPtr setup(const std::string& _type, const std::string& _unique_name, const DetectorParamsBasePtr& _params)
-{
- DetectorBasePtr det_ptr = DetectorFactory::get().create(_type, _unique_name, _params);
- DetectorORBPtr DetORB_ptr = std::static_pointer_cast<DetectorORB>(det_ptr);
- return DetORB_ptr;
-};
-
-VU_REGISTER_DETECTOR("ORB", DetectorORB);
-
-} /* namespace vision_utils */
diff --git a/src/detectors/detector_orb.h b/src/detectors/detector_orb.h
deleted file mode 100644
index ed57f8858f59c9583cbcf8c0b85c37d6e16f31c0..0000000000000000000000000000000000000000
--- a/src/detectors/detector_orb.h
+++ /dev/null
@@ -1,60 +0,0 @@
-#ifndef _DETECTOR_ORB_H_
-#define _DETECTOR_ORB_H_
-
-#include "detector_base.h"
-
-namespace vision_utils {
-
-// Create all pointers
-VU_PTR_TYPEDEFS(DetectorORB);
-
-//class
-class DetectorORB : public DetectorBase {
-
- public:
- DetectorORB();
- virtual ~DetectorORB(void);
-
- void detect(const cv::Mat& _image);
- void detect(const cv::Mat& _image, const cv::Mat& _mask);
-
- std::string getName(void);
-
- // Factory method
- static DetectorBasePtr create(const std::string& _unique_name, const DetectorParamsBasePtr _params);
-
- private:
-
- std::string name_;
-
- void setName(const std::string& _name);
-};
-
-/*
- * brief Retrieve object name
- */
-inline std::string DetectorORB::getName(void) { return name_; }
-
-/*
- * brief Set object name
- */
-inline void DetectorORB::setName(const std::string& _name){ name_ = _name; }
-
-/*
- * brief Create object in factory
- */
-inline DetectorBasePtr DetectorORB::create(const std::string& _unique_name, const DetectorParamsBasePtr _params)
-{
- DetectorORBPtr det_ptr = std::make_shared<DetectorORB>();
- det_ptr->setName(_unique_name);
- return det_ptr;
-}
-
-/*
- * brief Setup and get the corresponding pointer
- */
-DetectorORBPtr setup(const std::string& _type, const std::string& _unique_name, const DetectorParamsBasePtr& _params);
-
-} /* namespace vision_utils */
-
-#endif
diff --git a/src/detectors/orb/detector_orb.cpp b/src/detectors/orb/detector_orb.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..918794cdaf82ebda6e284104d0fa01fffb0065ab
--- /dev/null
+++ b/src/detectors/orb/detector_orb.cpp
@@ -0,0 +1,83 @@
+#include "detector_orb.h"
+
+namespace vision_utils {
+
+DetectorORB::DetectorORB(void):
+ is_line_det_(false)
+{}
+
+DetectorORB::~DetectorORB(void)
+{}
+
+KeyPointVector DetectorORB::detect(const cv::Mat& _image)
+{
+ cv::Mat mask = cv::Mat::ones(_image.size(), CV_8U);
+ return detect(_image, mask);
+}
+KeyPointVector DetectorORB::detect(const cv::Mat& _image, const cv::Mat& _mask)
+{
+ KeyPointVector kpts;
+ clock_t tStart = clock();
+ detector_->detect(_image, kpts, _mask);
+ comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
+
+ return kpts;
+}
+
+} /* namespace vision_utils */
+
+// Register in the DetectorsFactory
+#include "../detector_factory.h"
+
+namespace vision_utils
+{
+
+DetectorBasePtr setupDetector(const std::string& _type, const std::string& _unique_name, const DetectorParamsBasePtr& _params)
+{
+ DetectorBasePtr det_ptr = DetectorFactory::get().create(_type, _unique_name, _params);
+ std::cout << "[" << _unique_name << "] setup done." << std::endl;
+ return det_ptr;
+};
+
+#ifdef USING_YAML
+
+DetectorBasePtr setupDetector(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml)
+{
+ DetectorParamsBasePtr params = loadYAMLDetectorParams(_filename_dot_yaml);
+ return setupDetector(_type, _unique_name, params);
+}
+
+DetectorParamsBasePtr loadYAMLDetectorParams(const std::string& _filename_dot_yaml)
+{
+ DetectorParamsORBPtr params_ptr = std::make_shared<DetectorParamsORB>();
+
+ using std::string;
+ using YAML::Node;
+ Node yaml_params = YAML::LoadFile(_filename_dot_yaml);
+ if (!yaml_params.IsNull())
+ {
+ Node d_yaml = yaml_params["detector"];
+ if(d_yaml["type"].as<string>() == "ORB")
+ {
+ params_ptr->nfeatures = d_yaml["nfeatures"].as<unsigned int>();
+ params_ptr->scaleFactor = d_yaml["scale factor"].as<float>();
+ params_ptr->nlevels = d_yaml["nlevels"].as<unsigned int>();
+ params_ptr->edgeThreshold = d_yaml["edge threshold"].as<unsigned int>();
+ params_ptr->firstLevel = d_yaml["first level"].as<unsigned int>();
+ params_ptr->WTA_K = d_yaml["WTA_K"].as<unsigned int>();
+ params_ptr->scoreType = d_yaml["score type"].as<int>(); // enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
+ params_ptr->patchSize = d_yaml["patch size"].as<unsigned int>();
+ }else
+ {
+ std::cerr << "Wrong type " << d_yaml["type"].as<string>() << std::endl;
+ }
+ }
+
+ return params_ptr;
+}
+
+#endif
+
+VU_REGISTER_DETECTOR("ORB", DetectorORB);
+
+} /* namespace vision_utils */
diff --git a/src/detectors/orb/detector_orb.h b/src/detectors/orb/detector_orb.h
new file mode 100644
index 0000000000000000000000000000000000000000..67c10306e718e8f6a5ccfd9a128f25ca9ddf81cf
--- /dev/null
+++ b/src/detectors/orb/detector_orb.h
@@ -0,0 +1,117 @@
+#ifndef _DETECTOR_ORB_H_
+#define _DETECTOR_ORB_H_
+
+#include "../detector_base.h"
+
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
+namespace vision_utils {
+
+// Create all pointers
+VU_PTR_TYPEDEFS(DetectorORB);
+VU_PTR_TYPEDEFS(DetectorParamsORB);
+
+/** \brief Class parameters
+ *
+ */
+struct DetectorParamsORB: public DetectorParamsBase
+{
+ int nfeatures = 500;
+ float scaleFactor = 1.2f;
+ int nlevels = 8;
+ int edgeThreshold = 31;
+ int firstLevel = 0;
+ int WTA_K = 2;
+ int scoreType = cv::ORB::HARRIS_SCORE;
+ int patchSize = 31;
+};
+
+/** \brief ORB DETECTOR class
+ *
+ */
+class DetectorORB : public DetectorBase {
+
+ public:
+ DetectorORB();
+ virtual ~DetectorORB(void);
+
+ std::string getName(void);
+
+ bool isLineDetector(void);
+
+ KeyPointVector detect(const cv::Mat& _image);
+ KeyPointVector detect(const cv::Mat& _image, const cv::Mat& _mask);
+
+ // Factory method
+ static DetectorBasePtr create(const std::string& _unique_name, const DetectorParamsBasePtr _params);
+
+ private:
+
+ std::string name_;
+
+ FeatureDetectorPtr detector_;
+
+ bool is_line_det_;
+
+ void setName(const std::string& _name);
+ void setParams(const DetectorParamsORBPtr _params);
+};
+
+/*
+ * brief Retrieve object name
+ */
+inline std::string DetectorORB::getName(void) { return name_; }
+
+/*
+ * brief Set object name
+ */
+inline void DetectorORB::setName(const std::string& _name){ name_ = _name; }
+
+/*
+ * brief Returns if this is a line detector
+ */
+inline bool DetectorORB::isLineDetector(void){ return is_line_det_; }
+
+/*
+ * brief Set object name
+ */
+inline void DetectorORB::setParams(const DetectorParamsORBPtr _params)
+{
+ detector_ = cv::ORB::create(_params->nfeatures,
+ _params->scaleFactor,
+ _params->nlevels,
+ _params->edgeThreshold,
+ _params->firstLevel,
+ _params->WTA_K,
+ _params->scoreType,
+ _params->patchSize);
+}
+
+
+/*
+ * brief Create object in factory
+ */
+inline DetectorBasePtr DetectorORB::create(const std::string& _unique_name, const DetectorParamsBasePtr _params)
+{
+ DetectorORBPtr det_ptr = std::make_shared<DetectorORB>();
+ DetectorParamsORBPtr det_params_ptr = std::static_pointer_cast<DetectorParamsORB>(_params);
+ det_ptr->setName(_unique_name);
+ det_ptr->setParams(det_params_ptr);
+ return det_ptr;
+}
+
+/*
+ * brief Setup and get the corresponding pointer
+ */
+DetectorBasePtr setupDetector(const std::string& _type, const std::string& _unique_name, const DetectorParamsBasePtr& _params);
+#ifdef USING_YAML
+DetectorBasePtr setupDetector(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);
+DetectorParamsBasePtr loadYAMLDetectorParams(const std::string& _filename_dot_yaml);
+#endif
+
+} /* namespace vision_utils */
+
+#endif /* _DETECTOR_ORB_H_ */
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 1d38d15a386af64d3d43237d779c3d125da8b3b7..5028d712de83a311e33b63144b39570c32cc3b51 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -1,15 +1,15 @@
# create an example application
-#ADD_EXECUTABLE(capture capture.cpp)
-#ADD_EXECUTABLE(feature_detectors feature_detect.cpp)
#ADD_EXECUTABLE(feature_detectors_and_descriptors feature_detect_descript.cpp)
#ADD_EXECUTABLE(feature_detectors_descriptors_and_matchers feature_detect_descript_match.cpp)
ADD_EXECUTABLE(test_factories test_factories.cpp )
+ADD_EXECUTABLE(test_sensor test_sensor.cpp)
+ADD_EXECUTABLE(test_detector test_detector.cpp)
# link necessary libraries
-#TARGET_LINK_LIBRARIES(capture vision_utils)
-#TARGET_LINK_LIBRARIES(feature_detectors vision_utils)
#TARGET_LINK_LIBRARIES(feature_detectors_and_descriptors vision_utils)
#TARGET_LINK_LIBRARIES(feature_detectors_descriptors_and_matchers vision_utils)
-TARGET_LINK_LIBRARIES(test_factories ${PROJECT_NAME})
\ No newline at end of file
+TARGET_LINK_LIBRARIES(test_factories ${PROJECT_NAME})
+TARGET_LINK_LIBRARIES(test_sensor vision_utils)
+TARGET_LINK_LIBRARIES(test_detector vision_utils)
\ No newline at end of file
diff --git a/src/examples/capture.cpp b/src/examples/capture.cpp
deleted file mode 100644
index 9d6d4c4c4ca0405f5e7f41d866d6d9c88dedf481..0000000000000000000000000000000000000000
--- a/src/examples/capture.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-// OWN stuff
-#include <string>
-
-#include "../vision_utils.h"
-
-int main(int argc, char *argv[])
-{
- // Open camera
- cv::VideoCapture cam;
- CamUtils cam_fc;
- cam_fc.openCamera(0, cam);
-
- cv::startWindowThread();
- cv::namedWindow("Cam Test", 1);
-
- for (;;)
- {
- // Get frame
- cv::Mat frame;
- cam_fc.getFrame(cam, frame);
-
- // Show frame
- cv::imshow("Cam Test", frame);
- cv::waitKey(1);
- //if (cv::waitKey(30) >= 0) break;
- }
-
- cv::destroyAllWindows();
-}
diff --git a/src/examples/test_detector.cpp b/src/examples/test_detector.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2cd0b998abbcdc3f437b9a8d2b8c1a40ad9ee0fd
--- /dev/null
+++ b/src/examples/test_detector.cpp
@@ -0,0 +1,77 @@
+#include <iostream>
+#include <iomanip>
+#include <cstdlib>
+
+#include "../vision_utils.h"
+
+// Sensors
+#include "../sensors/camera/sensor_camera.h"
+
+// Detectors
+#include "../detectors/orb/detector_orb.h"
+
+int main(void)
+{
+ using namespace vision_utils;
+ using std::shared_ptr;
+ using std::make_shared;
+ using std::static_pointer_cast;
+
+ // Root dir path
+ std::string vu_root = _VU_ROOT_DIR;
+
+ // Setup camera sensor by default
+
+ SensorBasePtr sen_b_ptr = setupSensor("CAMERA", "CAMERA_test", vu_root + "/src/examples/yaml/sensor_camera.yaml");
+ SensorCameraPtr sen_ptr = std::static_pointer_cast<SensorCamera>(sen_b_ptr);
+
+ std::cout << "\n================ DETECTOR TEST =================" << std::endl;
+
+ std::cout << std::endl << "Which DETECTOR do you want to test? Type one of the registered names [default: ORB]";
+
+ std::string def_detector = "ORB";
+ std::string det_name = readFromUser(def_detector);
+
+ DetectorBasePtr det_b_ptr = setupDetector(def_detector, def_detector + "_test", vu_root + "/src/examples/yaml/detector_orb.yaml");
+ DetectorORBPtr det_ptr = std::static_pointer_cast<DetectorORB>(det_b_ptr);
+
+
+ // Open camera
+ sen_ptr->open(0);
+
+ cv::startWindowThread();
+ cv::namedWindow(sen_ptr->getName(), 1);
+ cv::namedWindow(det_ptr->getName(), cv::WINDOW_NORMAL);
+
+ for (int nframe = 0; nframe < 1000; ++nframe)
+ {
+ // Get frame
+ cv::Mat frame;
+ sen_ptr->getFrame(frame);
+
+ // Show ORIGINAL frame
+ cv::imshow(sen_ptr->getName(), frame);
+
+ if (!det_ptr->isLineDetector())
+ {
+ KeyPointVector keypoints;
+ keypoints = det_ptr->detect(frame);
+ drawKeyPoints(frame, keypoints);
+ }
+// TODO: Draw lines with the same API as points
+// else
+// {
+// KeyLineVector keylines;
+// keylines = det_ptr->detect(frame);
+// drawKeyLines(frame, keylines);
+// }
+
+ std::cout << "\e[A" << "Detection time: " << det_ptr->getTime() << std::endl;
+
+ // Show frame
+ cv::imshow(det_ptr->getName(), frame);
+ cv::waitKey(1);
+ }
+
+ cv::destroyAllWindows();
+}
diff --git a/src/examples/test_factories.cpp b/src/examples/test_factories.cpp
index 50ed2bddae040dc6cc2754425b298c2d5510ee60..d58e5e2d5693434f3c76fc3dded380b4a65518d6 100644
--- a/src/examples/test_factories.cpp
+++ b/src/examples/test_factories.cpp
@@ -2,7 +2,11 @@
#include <iomanip>
#include <cstdlib>
-#include <detectors/detector_orb.h>
+// Sensors
+#include "../sensors/camera/sensor_camera.h"
+
+// Detectors
+#include "../detectors/orb/detector_orb.h"
int main(void)
{
@@ -11,25 +15,30 @@ int main(void)
using std::make_shared;
using std::static_pointer_cast;
+ // Root dir path
+ std::string vu_root = _VU_ROOT_DIR;
+
std::cout << "\n====== Registering creators in the Factories =======" << std::endl;
std::cout << "If you look above, you see the registered creators.\n"
"There is only one attempt per class, and it is successful!\n"
"We do this by registering in the class\'s .cpp file.\n";
- std::cout << "\n================ Detector Factory =================" << std::endl;
+ std::cout << "\n================= Sensor Factory ==================" << std::endl;
- // TODO: Parameters as YAML file
- DetectorParamsBasePtr orb_params;
- DetectorORBPtr DetORBptr = setup("ORB", "ORB detector", orb_params);
+ SensorBasePtr sen_b_ptr = setupSensor("CAMERA", "CAMERA sensor", vu_root + "/src/examples/yaml/sensor_camera.yaml");
+ SensorCameraPtr sen_cam_ptr = std::static_pointer_cast<SensorCamera>(sen_b_ptr);
+
+ std::cout << "\n================ Detector Factory =================" << std::endl;
- std::cout << "[" << DetORBptr->getName() << "] setup successfully." << std::endl;
+ DetectorBasePtr det_b_ptr = setupDetector("ORB", "ORB detector", vu_root + "/src/examples/yaml/detector_orb.yaml");
+ DetectorORBPtr det_orb_ptr = std::static_pointer_cast<DetectorORB>(det_b_ptr);
std::cout << "\n================= Running Example ================" << std::endl;
std::cout << std::endl;
- cv::Mat image = cv::Mat(640,480,CV_32F);
- DetORBptr->detect(image);
+ cv::Mat image = cv::Mat(640,480, CV_8UC3, cv::Scalar(0, 0, 0));
+ KeyPointVector kpts = det_orb_ptr->detect(image);
std::cout << std::endl;
return 0;
diff --git a/src/examples/test_sensor.cpp b/src/examples/test_sensor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6d2729f137fa3038cfe450d54af55dad4ff1d3f4
--- /dev/null
+++ b/src/examples/test_sensor.cpp
@@ -0,0 +1,46 @@
+#include <iostream>
+#include <iomanip>
+#include <cstdlib>
+
+// Sensors
+#include "../sensors/camera/sensor_camera.h"
+
+int main(void)
+{
+ using namespace vision_utils;
+ using std::shared_ptr;
+ using std::make_shared;
+ using std::static_pointer_cast;
+
+ // Root dir path
+ std::string vu_root = _VU_ROOT_DIR;
+
+ std::cout << "\n================ SENSOR TEST =================" << std::endl;
+
+ std::cout << std::endl << "Which SENSOR do you want to test? Type one of the registered names [default: CAMERA]";
+
+ std::string def_sensor = "CAMERA";
+ std::string sen_name = readFromUser(def_sensor);
+
+ SensorBasePtr sen_b_ptr = setupSensor(sen_name, sen_name + "_test", vu_root + "/src/examples/yaml/sensor_camera.yaml");
+ SensorCameraPtr sen_cam_ptr = std::static_pointer_cast<SensorCamera>(sen_b_ptr);
+
+ // Open camera
+ sen_cam_ptr->open(0);
+
+ cv::startWindowThread();
+ cv::namedWindow(sen_cam_ptr->getName(), 1);
+
+ for (int nframe = 0; nframe < 1000; ++nframe)
+ {
+ // Get frame
+ cv::Mat frame;
+ sen_cam_ptr->getFrame(frame);
+
+ // Show frame
+ cv::imshow(sen_cam_ptr->getName(), frame);
+ cv::waitKey(1);
+ }
+
+ cv::destroyAllWindows();
+}
diff --git a/src/examples/yaml/detector_orb.yaml b/src/examples/yaml/detector_orb.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a442d98534d6615c2f4d0e5a609b2bf7941ed0b2
--- /dev/null
+++ b/src/examples/yaml/detector_orb.yaml
@@ -0,0 +1,11 @@
+detector:
+ type: "ORB"
+ nfeatures: 100
+ scale factor: 1.2
+ nlevels: 8
+ edge threshold: 8 # 16
+ first level: 0
+ WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
+ score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
+ patch size: 15 # 31
+
diff --git a/src/examples/yaml/detector_orb.yaml~ b/src/examples/yaml/detector_orb.yaml~
new file mode 100644
index 0000000000000000000000000000000000000000..b87079480832711898bfa23535d9cef09344161d
--- /dev/null
+++ b/src/examples/yaml/detector_orb.yaml~
@@ -0,0 +1,11 @@
+detector:
+ type: "ORB"
+ nfeatures: 100
+ scale factor: 1.2
+ nlevels: 8
+ edge threshold: 8 # 16
+ first level: 0
+ WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
+ score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
+ patch size: 15 # 31
+
diff --git a/src/examples/yaml/sensor_camera.yaml b/src/examples/yaml/sensor_camera.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..628b27400f04d81781fce718dce5ff4a7673095e
--- /dev/null
+++ b/src/examples/yaml/sensor_camera.yaml
@@ -0,0 +1,2 @@
+sensor:
+ type: "CAMERA"
diff --git a/src/examples/yaml/sensor_camera.yaml~ b/src/examples/yaml/sensor_camera.yaml~
new file mode 100644
index 0000000000000000000000000000000000000000..a077628744dcfa5a6f77b00c95cd3faab05d4cce
--- /dev/null
+++ b/src/examples/yaml/sensor_camera.yaml~
@@ -0,0 +1 @@
+sensor type: "CAMERA"
diff --git a/src/factory.h b/src/factory.h
index 77195ac4203ec4ffaf2c573da563257be4d5539d..91ff917f63e31f469939c2957bd98a7165250575 100644
--- a/src/factory.h
+++ b/src/factory.h
@@ -7,11 +7,6 @@
#include <iostream>
#include <iomanip>
-// yaml
-#ifdef USING_YAML
-#include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils
{
diff --git a/src/internal/config.h.in b/src/internal/config.h.in
new file mode 100644
index 0000000000000000000000000000000000000000..1d5c2a8bbaeb5ee6e6dfe9f26b03013b8bbbeb41
--- /dev/null
+++ b/src/internal/config.h.in
@@ -0,0 +1,6 @@
+#ifndef VU_INTERNAL_CONFIG_H_
+#define VU_INTERNAL_CONFIG_H_
+
+#define _VU_ROOT_DIR "${_VU_ROOT_DIR}"
+
+#endif /* VU_INTERNAL_CONFIG_H_ */
diff --git a/src/sensors/camera/sensor_camera.cpp b/src/sensors/camera/sensor_camera.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7293c5b10d3a71ca613e515b0388063f54a5f729
--- /dev/null
+++ b/src/sensors/camera/sensor_camera.cpp
@@ -0,0 +1,67 @@
+#include "sensor_camera.h"
+
+namespace vision_utils {
+
+SensorCamera::SensorCamera(void)
+{}
+
+SensorCamera::~SensorCamera(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the DetectorsFactory
+#include "../sensor_factory.h"
+
+namespace vision_utils
+{
+
+SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_name, const IntrinsicsBasePtr& _intrinsics)
+{
+ SensorBasePtr set_ptr = SensorFactory::get().create(_type, _unique_name, _intrinsics);
+ std::cout << "[" << _unique_name << "] setup done." << std::endl;
+ return set_ptr;
+};
+
+#ifdef USING_YAML
+
+SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml)
+{
+ IntrinsicsBasePtr params = loadYAMLSensorParams(_filename_dot_yaml);
+ return setupSensor(_type, _unique_name, params);
+}
+
+IntrinsicsBasePtr loadYAMLSensorParams(const std::string& _filename_dot_yaml)
+{
+ IntrinsicsCameraPtr params_ptr = std::make_shared<IntrinsicsCamera>();
+
+ using std::string;
+ using YAML::Node;
+ Node yaml_params = YAML::LoadFile(_filename_dot_yaml);
+ if (!yaml_params.IsNull())
+ {
+ Node d_yaml = yaml_params["sensor"];
+ if(d_yaml["type"].as<string>() == "CAMERA")
+ {
+// params_ptr->nfeatures = d_yaml["nfeatures"].as<unsigned int>();
+// params_ptr->scaleFactor = d_yaml["scale factor"].as<float>();
+// params_ptr->nlevels = d_yaml["nlevels"].as<unsigned int>();
+// params_ptr->edgeThreshold = d_yaml["edge threshold"].as<unsigned int>();
+// params_ptr->firstLevel = d_yaml["first level"].as<unsigned int>();
+// params_ptr->WTA_K = d_yaml["WTA_K"].as<unsigned int>();
+// params_ptr->scoreType = d_yaml["score type"].as<int>(); // enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
+// params_ptr->patchSize = d_yaml["patch size"].as<unsigned int>();
+ }else
+ {
+ std::cerr << "Wrong type " << d_yaml["type"].as<string>() << std::endl;
+ }
+ }
+
+ return params_ptr;
+}
+
+#endif
+
+VU_REGISTER_SENSOR("CAMERA", SensorCamera);
+
+} /* namespace vision_utils */
diff --git a/src/sensors/camera/sensor_camera.h b/src/sensors/camera/sensor_camera.h
new file mode 100644
index 0000000000000000000000000000000000000000..c70122e61520ba7f884457e6f995f125c137bbe6
--- /dev/null
+++ b/src/sensors/camera/sensor_camera.h
@@ -0,0 +1,176 @@
+#ifndef _SENSOR_CAMERA_H_
+#define _SENSOR_CAMERA_H_
+
+#include "../sensor_base.h"
+
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
+namespace vision_utils {
+
+// Create all pointers
+VU_PTR_TYPEDEFS(SensorCamera);
+VU_PTR_TYPEDEFS(IntrinsicsCamera);
+
+/** \brief class parameters
+ *
+ */
+struct IntrinsicsCamera: public IntrinsicsBase
+{
+ // TODO: Set parameters with eigen?
+// int nfeatures = 500;
+// float scaleFactor = 1.2f;
+// int nlevels = 8;
+// int edgeThreshold = 31;
+// int firstLevel = 0;
+// int WTA_K = 2;
+// int scoreType = cv::ORB::HARRIS_SCORE;
+// int patchSize = 31;
+};
+
+/** \brief ORB DETECTOR class
+ *
+ */
+class SensorCamera : public SensorBase {
+
+ public:
+
+ SensorCamera();
+ virtual ~SensorCamera(void);
+
+ std::string getName(void);
+
+ /**
+ * \brief Open Webcam
+ *
+ * This method opens the specified webcam using OpenCV
+ * Inputs:
+ * _cam_num: system camera number (int)
+ * _ cam: camera handle (cv::VideoCapture)
+ * Returns true if the camera is correctly opened
+ *
+ */
+ bool open(const int& _cam_num);
+
+ /**
+ * \brief Get frame
+ *
+ * This method gets a frame from the specified webcam
+ * Inputs:
+ * _cam: camera handle (cv::VideoCapture)
+ * _frame: filled frame (cv::Mat)
+ * Returns true if the frame is correctly obtained
+ */
+ bool getFrame(cv::Mat& _frame);
+
+ /**
+ *\brief Show Frame
+ *
+ * This method shows the specified frame using OpenCV
+ * Inputs:
+ * _window_name: Window name inwhich the frame will be displayed (string)
+ * _frame: Frame to be displayed (cv::Mat)
+ * Returns true if the frame is correctly displayed
+ */
+ bool showFrame(const std::string& _window_name, const cv::Mat& _frame);
+
+ // Factory method
+ static SensorBasePtr create(const std::string& _unique_name, const IntrinsicsBasePtr _intrinsics);
+
+ private:
+
+ std::string name_;
+ cv::VideoCapture vidcapture_;
+
+ void setName(const std::string& _name);
+ void setParams(const IntrinsicsCameraPtr _params);
+};
+
+/*
+ * brief Retrieve object name
+ */
+inline std::string SensorCamera::getName(void) { return name_; }
+
+/*
+ * brief Set object name
+ */
+inline void SensorCamera::setName(const std::string& _name){ name_ = _name; }
+
+/*
+ * brief Set object name
+ */
+inline void SensorCamera::setParams(const IntrinsicsCameraPtr _params)
+{
+ // TODO: depending on intrinsics structure
+// detector_ = cv::ORB::create(_params->nfeatures,
+// _params->scaleFactor,
+// _params->nlevels,
+// _params->edgeThreshold,
+// _params->firstLevel,
+// _params->WTA_K,
+// _params->scoreType,
+// _params->patchSize);
+//
+// std::cout << "COMMON: " << _params->nfeatures << std::endl;
+}
+
+inline bool SensorCamera::open(const int& _cam_num)
+{
+ cv::VideoCapture camera(_cam_num);
+ if (!camera.isOpened()) // check if we succeeded
+ {
+ std::cerr << "[" << getName() << "]: ERROR opening camera " << _cam_num << std::endl;
+ return false;
+ }
+ vidcapture_ = camera;
+ return true;
+}
+
+inline bool SensorCamera::getFrame(cv::Mat& _frame)
+{
+ try { vidcapture_ >> _frame; }
+ catch (cv::Exception& e)
+ {
+ std::cout << "[" << getName() << "]: An exception occurred. Ignoring frame. " << e.err << std::endl;
+ return false;
+ }
+ return true;
+}
+
+inline bool SensorCamera::showFrame(const std::string& _window_name, const cv::Mat& _frame)
+{
+ try { cv::imshow(_window_name, _frame); }
+ catch (cv::Exception& e)
+ {
+ std::cout << "[" << getName() << "]: An exception occurred. Dropping frame. " << e.err << std::endl;
+ return false;
+ }
+ return true;
+}
+
+/*
+ * brief Create object in factory
+ */
+inline SensorBasePtr SensorCamera::create(const std::string& _unique_name, const IntrinsicsBasePtr _intrinsics)
+{
+ SensorCameraPtr sen_ptr = std::make_shared<SensorCamera>();
+ IntrinsicsCameraPtr sen_params_ptr = std::static_pointer_cast<IntrinsicsCamera>(_intrinsics);
+ sen_ptr->setName(_unique_name);
+ sen_ptr->setParams(sen_params_ptr);
+ return sen_ptr;
+}
+
+/*
+ * brief Setup and get the corresponding pointer
+ */
+SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_name, const IntrinsicsBasePtr& _intrinsics);
+#ifdef USING_YAML
+SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);
+IntrinsicsBasePtr loadYAMLSensorParams(const std::string& _filename_dot_yaml);
+#endif
+
+} /* namespace vision_utils */
+
+#endif /* _SENSOR_CAMERA_H_ */
diff --git a/src/sensors/sensor_base.cpp b/src/sensors/sensor_base.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ee22f814627d483a8eeabcaa1b6df6c5fae38add
--- /dev/null
+++ b/src/sensors/sensor_base.cpp
@@ -0,0 +1,13 @@
+#include "sensor_base.h"
+
+namespace vision_utils {
+
+SensorBase::SensorBase(void)
+{
+}
+
+SensorBase::~SensorBase(void)
+{
+}
+
+} // namespace vision_utils
diff --git a/src/sensors/sensor_base.h b/src/sensors/sensor_base.h
new file mode 100644
index 0000000000000000000000000000000000000000..39706ece4b2386651954e4364a560d90e926fb73
--- /dev/null
+++ b/src/sensors/sensor_base.h
@@ -0,0 +1,45 @@
+#ifndef _SENSOR_BASE_H_
+#define _SENSOR_BASE_H_
+
+// vision_utils
+#include "../vision_utils.h"
+
+namespace vision_utils
+{
+
+/////////////////////////////////////////////////////////////////////////
+// CLASS DEFINITIONS
+/////////////////////////////////////////////////////////////////////////
+
+// Create all pointers
+VU_PTR_TYPEDEFS(SensorBase);
+VU_PTR_TYPEDEFS(IntrinsicsBase);
+
+/** \brief base class for DETECTOR parameters
+ *
+ * Derive from this class to create DETECTOR class parameters.
+ */
+struct IntrinsicsBase: public ParamsBase {};
+
+/** \brief base class for DETECTOR base
+ *
+ * Derive from this class to create DETECTOR base class parameters.
+ */
+class SensorBase : public VUBase, public std::enable_shared_from_this<SensorBase>
+{
+ public:
+
+ /**
+ * \brief Constructor without parameters
+ */
+ SensorBase(void);
+
+ /**
+ * \brief Virtual destructor
+ */
+ virtual ~SensorBase(void);
+};
+
+} /* namespace vision_utils */
+
+#endif /* _SENSOR_BASE_H_ */
diff --git a/src/sensors/sensor_factory.h b/src/sensors/sensor_factory.h
new file mode 100644
index 0000000000000000000000000000000000000000..933f16e838111741872da03b77d67a4106e833e3
--- /dev/null
+++ b/src/sensors/sensor_factory.h
@@ -0,0 +1,32 @@
+#ifndef _SENSOR_FACTORY_H_
+#define _SENSOR_FACTORY_H_
+
+namespace vision_utils
+{
+class SensorBase;
+struct SensorParamsBase;
+}
+
+#include "../factory.h"
+
+namespace vision_utils
+{
+
+/* Sensor Factory */
+typedef Factory<SensorBase,
+ const std::string&,
+ const IntrinsicsBasePtr> SensorFactory;
+
+template<>
+inline std::string SensorFactory::getClass()
+{
+ return "SensorFactory";
+}
+
+#define VU_REGISTER_SENSOR(SensorType, SensorName) \
+ namespace{ const bool SensorName##Registered = \
+ SensorFactory::get().registerCreator(SensorType, SensorName::create); }\
+
+} /* namespace vision_utils */
+
+#endif /* SENSOR_FACTORY_H_ */
diff --git a/src/vision_utils.cpp b/src/vision_utils.cpp
index b710643faf1661cbee32da585c46539b7ef3c814..78ddd9fff2a236e87a9ed13ae29908062b8172b0 100644
--- a/src/vision_utils.cpp
+++ b/src/vision_utils.cpp
@@ -3,36 +3,4 @@
namespace vision_utils
{
-/////////////////////////////////////////////////////////////////////////
-// USEFUL FUNCTIONS
-/////////////////////////////////////////////////////////////////////////
-
-
-bool LessPoints(const cv::Point2f& lhs, const cv::Point2f& rhs)
-{
- return (lhs.x < rhs.x) || ((lhs.x == rhs.x) && (lhs.y < rhs.y));
-}
-
-std::vector<cv::Point2f> vecIntersec(std::vector<cv::Point2f> v1, std::vector<cv::Point2f> v2)
-{
- std::vector<cv::Point2f> v3;
- // Sort vectors
- std::sort(v1.begin(), v1.end(), LessPoints);
- std::sort(v2.begin(), v2.end(), LessPoints);
- // Intersect
- std::set_intersection(v1.begin(), v1.end(), v2.begin(), v2.end(), std::back_inserter(v3), LessPoints);
- return v3;
-}
-
-std::vector<cv::Point2f> vecUnion(std::vector<cv::Point2f> v1, std::vector<cv::Point2f> v2)
-{
- std::vector<cv::Point2f> v3;
- // Sort vectors
- std::sort(v1.begin(), v1.end(), LessPoints);
- std::sort(v2.begin(), v2.end(), LessPoints);
- // Intersect
- std::set_union(v1.begin(), v1.end(), v2.begin(), v2.end(), std::back_inserter(v3), LessPoints);
- return v3;
-}
-
} /* namespace vision_utils */
diff --git a/src/vision_utils.h b/src/vision_utils.h
index ea537d915e79773f46ecd257dd515622dcaaf59a..85dcdafae1a24c33cd6dc40c74522f97405e0da9 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -1,6 +1,8 @@
#ifndef _VU_UTILS_H
#define _VU_UTILS_H
+#include "internal/config.h"
+
// std
#include <functional>
#include <set>
@@ -26,7 +28,6 @@ using namespace boost::assign; // bring 'operator+=()' into scope
#include <opencv2/xfeatures2d.hpp>
#include <opencv2/line_descriptor/descriptor.hpp>
-typedef std::vector<cv::KeyPoint> KeyPointVector;
typedef std::vector<cv::KeyPoint> KeyPointVector;
typedef std::vector<cv::line_descriptor::KeyLine> KeyLineVector;
@@ -109,9 +110,9 @@ VU_PTR_TYPEDEFS(VUBase);
/////////////////////////////////////////////////////////////////////////
template <typename T>
-T readFromUser(const T& def_num)
+T readFromUser(const T& _default)
{
- T read = def_num;
+ T read = _default;
std::string input;
std::getline( std::cin, input );
if ( !input.empty() )
@@ -123,6 +124,49 @@ T readFromUser(const T& def_num)
return read;
}
+/////////////////////////////////////////////////////////////////////////
+// USEFUL FUNCTIONS
+/////////////////////////////////////////////////////////////////////////
+
+
+inline bool LessPoints(const cv::Point2f& lhs, const cv::Point2f& rhs)
+{
+ return (lhs.x < rhs.x) || ((lhs.x == rhs.x) && (lhs.y < rhs.y));
+}
+
+inline std::vector<cv::Point2f> vecIntersec(std::vector<cv::Point2f> v1, std::vector<cv::Point2f> v2)
+{
+ std::vector<cv::Point2f> v3;
+ // Sort vectors
+ std::sort(v1.begin(), v1.end(), LessPoints);
+ std::sort(v2.begin(), v2.end(), LessPoints);
+ // Intersect
+ std::set_intersection(v1.begin(), v1.end(), v2.begin(), v2.end(), std::back_inserter(v3), LessPoints);
+ return v3;
+}
+
+inline std::vector<cv::Point2f> vecUnion(std::vector<cv::Point2f> v1, std::vector<cv::Point2f> v2)
+{
+ // Sort vectors and intersect
+ std::vector<cv::Point2f> v3;
+ std::sort(v1.begin(), v1.end(), LessPoints);
+ std::sort(v2.begin(), v2.end(), LessPoints);
+ std::set_union(v1.begin(), v1.end(), v2.begin(), v2.end(), std::back_inserter(v3), LessPoints);
+ return v3;
+}
+
+inline void drawKeyPoints(cv::Mat& _image, const KeyPointVector& _kp_vec)
+{
+ for (unsigned int ii = 0; ii < _kp_vec.size(); ++ii)
+ cv::circle(_image, _kp_vec[ii].pt, 5, cv::Scalar(128, 128, 255), -1);
+}
+
+inline void drawKeyLines(cv::Mat& _image, const KeyLineVector& _kl_vec)
+{
+ for (unsigned int ii = 0; ii < _kl_vec.size(); ++ii)
+ cv::line(_image, _kl_vec[ii].getStartPoint(), _kl_vec[ii].getEndPoint(), cv::Scalar(128, 128, 255), 3);
+}
+
} /* namespace vision_utils */
#endif