From ac79257cfbaf35d954a9ba6a96cdc912d7c5b227 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Thu, 10 Aug 2017 10:41:22 +0200
Subject: [PATCH] added bruteforce matcher
---
src/CMakeLists.txt | 7 +-
src/examples/test_matcher.cpp | 5 +-
src/examples/yaml/BRUTEFORCE.yaml | 5 ++
.../bruteforce/matcher_bruteforce.cpp | 17 +++++
src/matchers/bruteforce/matcher_bruteforce.h | 66 +++++++++++++++++++
.../matcher_bruteforce_load_yaml.cpp | 46 +++++++++++++
6 files changed, 143 insertions(+), 3 deletions(-)
create mode 100644 src/examples/yaml/BRUTEFORCE.yaml
create mode 100644 src/matchers/bruteforce/matcher_bruteforce.cpp
create mode 100644 src/matchers/bruteforce/matcher_bruteforce.h
create mode 100644 src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 48f474b..f763e2a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -54,7 +54,9 @@ SET(sources
descriptors/lucid/descriptor_lucid_load_yaml.cpp
matchers/matcher_base.cpp
matchers/flannbased/matcher_flannbased.cpp
- matchers/flannbased/matcher_flannbased_load_yaml.cpp)
+ matchers/flannbased/matcher_flannbased_load_yaml.cpp
+ matchers/bruteforce/matcher_bruteforce.cpp
+ matchers/bruteforce/matcher_bruteforce_load_yaml.cpp )
# application header files
SET(headers
@@ -92,7 +94,8 @@ SET(headers
descriptors/lucid/descriptor_lucid.h
matchers/matcher_factory.h
matchers/matcher_base.h
- matchers/flannbased/matcher_flannbased.h)
+ matchers/flannbased/matcher_flannbased.h
+ matchers/bruteforce/matcher_bruteforce.h)
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index bcb56ac..3ac6eb6 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -36,6 +36,7 @@
// Matchers
#include "../matchers/flannbased/matcher_flannbased.h"
+#include "../matchers/bruteforce/matcher_bruteforce.h"
int main(void)
{
@@ -116,7 +117,7 @@ int main(void)
std::cout << "\n================ MATCHER TEST =================" << std::endl;
- std::string def_matcher = "FLANNBASED";
+ 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);
@@ -124,6 +125,8 @@ int main(void)
if (mat_name.compare("FLANNBASED") == 0)
mat_ptr = std::static_pointer_cast<MatcherFLANNBASED>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCE") == 0)
+ mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCE>(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.yaml b/src/examples/yaml/BRUTEFORCE.yaml
new file mode 100644
index 0000000..77ad4e1
--- /dev/null
+++ b/src/examples/yaml/BRUTEFORCE.yaml
@@ -0,0 +1,5 @@
+sensor:
+ type: "USB_CAM"
+matcher:
+ type: "BRUTEFORCE"
+ match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
\ No newline at end of file
diff --git a/src/matchers/bruteforce/matcher_bruteforce.cpp b/src/matchers/bruteforce/matcher_bruteforce.cpp
new file mode 100644
index 0000000..6acd1f5
--- /dev/null
+++ b/src/matchers/bruteforce/matcher_bruteforce.cpp
@@ -0,0 +1,17 @@
+#include "matcher_bruteforce.h"
+
+namespace vision_utils {
+
+MatcherBRUTEFORCE::MatcherBRUTEFORCE(void)
+{}
+
+MatcherBRUTEFORCE::~MatcherBRUTEFORCE(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the MatchersFactory
+namespace vision_utils
+{
+VU_REGISTER_MATCHER("BRUTEFORCE", MatcherBRUTEFORCE);
+} /* namespace vision_utils */
diff --git a/src/matchers/bruteforce/matcher_bruteforce.h b/src/matchers/bruteforce/matcher_bruteforce.h
new file mode 100644
index 0000000..2aee80f
--- /dev/null
+++ b/src/matchers/bruteforce/matcher_bruteforce.h
@@ -0,0 +1,66 @@
+#ifndef _MATCHER_BRUTEFORCE_H_
+#define _MATCHER_BRUTEFORCE_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);
+VU_PTR_TYPEDEFS(MatcherParamsBRUTEFORCE);
+
+/** \brief Class parameters
+ *
+ */
+struct MatcherParamsBRUTEFORCE: public MatcherParamsBase
+{
+ // TODO: Add possible parameters
+};
+
+/** \brief DETECTOR class
+ *
+ */
+class MatcherBRUTEFORCE : public MatcherBase {
+
+ public:
+ MatcherBRUTEFORCE();
+ virtual ~MatcherBRUTEFORCE(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::defineMatcher(const ParamsBasePtr _params)
+{
+ params_base_ptr_ = std::static_pointer_cast<MatcherParamsBase>(_params);
+ MatcherParamsBRUTEFORCEPtr params_ptr = std::static_pointer_cast<MatcherParamsBRUTEFORCE>(_params);
+ matcher_ = cv::DescriptorMatcher::create("BruteForce");
+}
+
+/*
+ * brief Create object in factory
+ */
+inline MatcherBasePtr MatcherBRUTEFORCE::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ MatcherBRUTEFORCEPtr mat_ptr = std::make_shared<MatcherBRUTEFORCE>();
+ mat_ptr->setName(_unique_name);
+ mat_ptr->defineMatcher(_params);
+ return mat_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _MATCHER_BRUTEFORCE_H_ */
diff --git a/src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp b/src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
new file mode 100644
index 0000000..1749c0f
--- /dev/null
+++ b/src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
@@ -0,0 +1,46 @@
+#include "matcher_bruteforce.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsBRUTEFORCEMatcher(const std::string & _filename_dot_yaml)
+{
+ MatcherParamsBRUTEFORCEPtr params_ptr = std::make_shared<MatcherParamsBRUTEFORCE>();
+
+ 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")
+ {
+ 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_params = ParamsFactory::get().registerCreator("BRUTEFORCE MAT", createParamsBRUTEFORCEMatcher);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+
--
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