From c06006be458c6b8cea357b05b58a0c8635ddbec5 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 9 Aug 2017 17:26:11 +0200
Subject: [PATCH] added daisy descriptor
---
src/CMakeLists.txt | 5 +-
src/descriptors/daisy/descriptor_daisy.cpp | 17 ++++
src/descriptors/daisy/descriptor_daisy.h | 81 +++++++++++++++++++
.../daisy/descriptor_daisy_load_yaml.cpp | 53 ++++++++++++
src/examples/test_descriptor.cpp | 6 +-
src/examples/yaml/DAISY.yaml | 11 +++
6 files changed, 169 insertions(+), 4 deletions(-)
create mode 100644 src/descriptors/daisy/descriptor_daisy.cpp
create mode 100644 src/descriptors/daisy/descriptor_daisy.h
create mode 100644 src/descriptors/daisy/descriptor_daisy_load_yaml.cpp
create mode 100644 src/examples/yaml/DAISY.yaml
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 76d33bb..a03903d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -48,6 +48,8 @@ SET(sources
descriptors/freak/descriptor_freak_load_yaml.cpp
descriptors/brief/descriptor_brief.cpp
descriptors/brief/descriptor_brief_load_yaml.cpp
+ descriptors/daisy/descriptor_daisy.cpp
+ descriptors/daisy/descriptor_daisy_load_yaml.cpp
matchers/matcher_base.cpp )
# application header files
@@ -81,7 +83,8 @@ SET(headers
descriptors/akaze/descriptor_akaze.h
descriptors/latch/descriptor_latch.h
descriptors/freak/descriptor_freak.h
- descriptors/brief/descriptor_brief.h
+ descriptors/brief/descriptor_brief.h
+ descriptors/daisy/descriptor_daisy.h
matchers/matcher_factory.h
matchers/matcher_base.h)
diff --git a/src/descriptors/daisy/descriptor_daisy.cpp b/src/descriptors/daisy/descriptor_daisy.cpp
new file mode 100644
index 0000000..788b0fe
--- /dev/null
+++ b/src/descriptors/daisy/descriptor_daisy.cpp
@@ -0,0 +1,17 @@
+#include "descriptor_daisy.h"
+
+namespace vision_utils {
+
+DescriptorDAISY::DescriptorDAISY(void)
+{}
+
+DescriptorDAISY::~DescriptorDAISY(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the DescriptorsFactory
+namespace vision_utils
+{
+VU_REGISTER_DESCRIPTOR("DAISY", DescriptorDAISY);
+} /* namespace vision_utils */
diff --git a/src/descriptors/daisy/descriptor_daisy.h b/src/descriptors/daisy/descriptor_daisy.h
new file mode 100644
index 0000000..9d949c2
--- /dev/null
+++ b/src/descriptors/daisy/descriptor_daisy.h
@@ -0,0 +1,81 @@
+#ifndef _DESCRIPTOR_DAISY_H_
+#define _DESCRIPTOR_DAISY_H_
+
+#include "../descriptor_base.h"
+#include "../descriptor_factory.h"
+
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
+namespace vision_utils {
+
+// Create all pointers
+VU_PTR_TYPEDEFS(DescriptorDAISY);
+VU_PTR_TYPEDEFS(DescriptorParamsDAISY);
+
+/** \DAISY Class parameters
+ *
+ */
+struct DescriptorParamsDAISY: public ParamsBase
+{
+ float radius = 15; // Radius of the descriptor at the initial scale
+ int q_radius = 3; // Amount of radial range division quantity
+ int q_theta = 8; // Amount of angular range division quantity
+ int q_hist = 8; // Amount of gradient orientations range division quantity
+ int norm = cv::xfeatures2d::DAISY::NRM_NONE; // Descriptors normalization type. DAISY::NRM_NONE=100 will not do any normalization (default), DAISY::NRM_PARTIAL=101 mean that histograms are normalized independently for L2 norm equal to 1.0, DAISY::NRM_FULL=102 mean that descriptors are normalized for L2 norm equal to 1.0, DAISY::NRM_SIFT=103 mean that descriptors are normalized for L2 norm equal to 1.0 but no individual one is bigger than 0.154 as in SIFT
+ cv::InputOutputArray H = cv::noArray(); // Optional 3x3 homography matrix used to warp the grid of daisy but sampling keypoints remains unwarped on image
+ bool interpolation = true; // Switch to disable interpolation for speed improvement at minor quality loss
+ bool use_orientation = false; // Sample patterns using keypoints orientation, disabled by default
+};
+
+/** \DAISY DETECTOR class
+ *
+ */
+class DescriptorDAISY : public DescriptorBase {
+
+ public:
+ DescriptorDAISY();
+ virtual ~DescriptorDAISY(void);
+
+ // Factory method
+ static DescriptorBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
+
+ private:
+
+ void defineDescriptor(const ParamsBasePtr _params);
+};
+
+/*
+ * DAISY Define detector
+ */
+inline void DescriptorDAISY::defineDescriptor(const ParamsBasePtr _params)
+{
+ DescriptorParamsDAISYPtr params_ptr = std::static_pointer_cast<DescriptorParamsDAISY>(_params);
+
+ descriptor_ = cv::xfeatures2d::DAISY::create(params_ptr->radius,
+ params_ptr->q_radius,
+ params_ptr->q_theta,
+ params_ptr->q_hist,
+ params_ptr->norm,
+ params_ptr->H,
+ params_ptr->interpolation,
+ params_ptr->use_orientation);
+}
+
+
+/*
+ * DAISY Create object in factory
+ */
+inline DescriptorBasePtr DescriptorDAISY::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ DescriptorDAISYPtr det_ptr = std::make_shared<DescriptorDAISY>();
+ det_ptr->setName(_unique_name);
+ det_ptr->defineDescriptor(_params);
+ return det_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _DESCRIPTOR_DAISY_H_ */
diff --git a/src/descriptors/daisy/descriptor_daisy_load_yaml.cpp b/src/descriptors/daisy/descriptor_daisy_load_yaml.cpp
new file mode 100644
index 0000000..b714a9e
--- /dev/null
+++ b/src/descriptors/daisy/descriptor_daisy_load_yaml.cpp
@@ -0,0 +1,53 @@
+#include "descriptor_daisy.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsDAISYDescriptor(const std::string & _filename_dot_yaml)
+{
+ DescriptorParamsDAISYPtr params_ptr = std::make_shared<DescriptorParamsDAISY>();
+
+ using std::string;
+ using YAML::Node;
+ Node yaml_params = YAML::LoadFile(_filename_dot_yaml);
+ if (!yaml_params.IsNull())
+ {
+ Node d_yaml = yaml_params["descriptor"];
+ if(d_yaml["type"].as<string>() == "DAISY")
+ {
+ params_ptr->radius = d_yaml["radius"].as<float>();
+ params_ptr->q_radius = d_yaml["q_radius"].as<int>();
+ params_ptr->q_theta = d_yaml["q_theta"].as<int>();
+ params_ptr->q_hist = d_yaml["q_hist"].as<int>();
+ params_ptr->norm = d_yaml["norm"].as<int>();
+ // Currently not implemented
+ // std::vector<std::vector<float> > Hread = d_yaml["H"].as<std::vector<std::vector<float> > >();
+ params_ptr->interpolation = d_yaml["interpolation"].as<bool>();
+ params_ptr->use_orientation = d_yaml["use_orientation"].as<bool>();
+ }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_desDAISY_params = ParamsFactory::get().registerCreator("DAISY DES", createParamsDAISYDescriptor);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+
diff --git a/src/examples/test_descriptor.cpp b/src/examples/test_descriptor.cpp
index 3b30462..e408c7a 100644
--- a/src/examples/test_descriptor.cpp
+++ b/src/examples/test_descriptor.cpp
@@ -31,7 +31,7 @@
#include "../descriptors/latch/descriptor_latch.h"
#include "../descriptors/freak/descriptor_freak.h"
#include "../descriptors/brief/descriptor_brief.h"
-//#include "../descriptors/daisy/descriptor_daisy.h"
+#include "../descriptors/daisy/descriptor_daisy.h"
//#include "../descriptors/lucid/descriptor_lucid.h"
int main(void)
@@ -108,8 +108,8 @@ int main(void)
des_ptr = std::static_pointer_cast<DescriptorFREAK>(des_ptr);
else if (des_name.compare("BRIEF") == 0)
des_ptr = std::static_pointer_cast<DescriptorBRIEF>(des_ptr);
-// else if (des_name.compare("DAISY") == 0)
-// des_ptr = std::static_pointer_cast<DescriptorDAISY>(des_ptr);
+ else if (des_name.compare("DAISY") == 0)
+ des_ptr = std::static_pointer_cast<DescriptorDAISY>(des_ptr);
// else if (des_name.compare("LUCID") == 0)
// des_ptr = std::static_pointer_cast<DescriptorLUCID>(des_ptr);
diff --git a/src/examples/yaml/DAISY.yaml b/src/examples/yaml/DAISY.yaml
new file mode 100644
index 0000000..06d6bbe
--- /dev/null
+++ b/src/examples/yaml/DAISY.yaml
@@ -0,0 +1,11 @@
+sensor:
+ type: "USB_CAM"
+descriptor:
+ type: "DAISY"
+ radius: 15
+ q_radius: 3
+ q_theta: 8
+ q_hist: 8
+ norm: 100 # Descriptors normalization type. DAISY::NRM_NONE=100 (default), DAISY::NRM_PARTIAL=101, DAISY::NRM_FULL=102, DAISY::NRM_SIFT=103
+ interpolation: true
+ use_orientation: false
\ No newline at end of file
--
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