From d59dfe634b87c2d5d75cbc6f342cfdda8c0a9ab4 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 9 Aug 2017 16:33:21 +0200
Subject: [PATCH] added brief descriptor
---
src/CMakeLists.txt | 5 +-
src/descriptors/brief/descriptor_brief.cpp | 17 +++++
src/descriptors/brief/descriptor_brief.h | 69 +++++++++++++++++++
.../brief/descriptor_brief_load_yaml.cpp | 46 +++++++++++++
src/examples/test_descriptor.cpp | 6 +-
src/examples/yaml/BRIEF.yaml | 6 ++
6 files changed, 145 insertions(+), 4 deletions(-)
create mode 100644 src/descriptors/brief/descriptor_brief.cpp
create mode 100644 src/descriptors/brief/descriptor_brief.h
create mode 100644 src/descriptors/brief/descriptor_brief_load_yaml.cpp
create mode 100644 src/examples/yaml/BRIEF.yaml
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 14b4414..76d33bb 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -46,6 +46,8 @@ SET(sources
descriptors/latch/descriptor_latch_load_yaml.cpp
descriptors/freak/descriptor_freak.cpp
descriptors/freak/descriptor_freak_load_yaml.cpp
+ descriptors/brief/descriptor_brief.cpp
+ descriptors/brief/descriptor_brief_load_yaml.cpp
matchers/matcher_base.cpp )
# application header files
@@ -78,7 +80,8 @@ SET(headers
descriptors/kaze/descriptor_kaze.h
descriptors/akaze/descriptor_akaze.h
descriptors/latch/descriptor_latch.h
- descriptors/freak/descriptor_freak.h
+ descriptors/freak/descriptor_freak.h
+ descriptors/brief/descriptor_brief.h
matchers/matcher_factory.h
matchers/matcher_base.h)
diff --git a/src/descriptors/brief/descriptor_brief.cpp b/src/descriptors/brief/descriptor_brief.cpp
new file mode 100644
index 0000000..d19b78f
--- /dev/null
+++ b/src/descriptors/brief/descriptor_brief.cpp
@@ -0,0 +1,17 @@
+#include "descriptor_brief.h"
+
+namespace vision_utils {
+
+DescriptorBRIEF::DescriptorBRIEF(void)
+{}
+
+DescriptorBRIEF::~DescriptorBRIEF(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the DescriptorsFactory
+namespace vision_utils
+{
+VU_REGISTER_DESCRIPTOR("BRIEF", DescriptorBRIEF);
+} /* namespace vision_utils */
diff --git a/src/descriptors/brief/descriptor_brief.h b/src/descriptors/brief/descriptor_brief.h
new file mode 100644
index 0000000..a128d4a
--- /dev/null
+++ b/src/descriptors/brief/descriptor_brief.h
@@ -0,0 +1,69 @@
+#ifndef _DESCRIPTOR_BRIEF_H_
+#define _DESCRIPTOR_BRIEF_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(DescriptorBRIEF);
+VU_PTR_TYPEDEFS(DescriptorParamsBRIEF);
+
+/** \brief Class parameters
+ *
+ */
+struct DescriptorParamsBRIEF: public ParamsBase
+{
+ int bytes = 32; // Legth of the descriptor in bytes, valid values are: 16, 32 (default) or 64 .
+ bool use_orientation = false; // Sample patterns using keypoints orientation, disabled by default.
+};
+
+/** \brief DETECTOR class
+ *
+ */
+class DescriptorBRIEF : public DescriptorBase {
+
+ public:
+ DescriptorBRIEF();
+ virtual ~DescriptorBRIEF(void);
+
+ // Factory method
+ static DescriptorBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
+
+ private:
+
+ void defineDescriptor(const ParamsBasePtr _params);
+};
+
+/*
+ * brief Define detector
+ */
+inline void DescriptorBRIEF::defineDescriptor(const ParamsBasePtr _params)
+{
+ DescriptorParamsBRIEFPtr params_ptr = std::static_pointer_cast<DescriptorParamsBRIEF>(_params);
+
+ descriptor_ = cv::xfeatures2d::BriefDescriptorExtractor::create(params_ptr->bytes,
+ params_ptr->use_orientation);
+}
+
+
+/*
+ * brief Create object in factory
+ */
+inline DescriptorBasePtr DescriptorBRIEF::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ DescriptorBRIEFPtr det_ptr = std::make_shared<DescriptorBRIEF>();
+ det_ptr->setName(_unique_name);
+ det_ptr->defineDescriptor(_params);
+ return det_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _DESCRIPTOR_BRIEF_H_ */
diff --git a/src/descriptors/brief/descriptor_brief_load_yaml.cpp b/src/descriptors/brief/descriptor_brief_load_yaml.cpp
new file mode 100644
index 0000000..6e79ed4
--- /dev/null
+++ b/src/descriptors/brief/descriptor_brief_load_yaml.cpp
@@ -0,0 +1,46 @@
+#include "descriptor_brief.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsBRIEFDescriptor(const std::string & _filename_dot_yaml)
+{
+ DescriptorParamsBRIEFPtr params_ptr = std::make_shared<DescriptorParamsBRIEF>();
+
+ 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>() == "BRIEF")
+ {
+ params_ptr->bytes = d_yaml["bytes"].as<int>();
+ 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_desBRIEF_params = ParamsFactory::get().registerCreator("BRIEF DES", createParamsBRIEFDescriptor);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+
diff --git a/src/examples/test_descriptor.cpp b/src/examples/test_descriptor.cpp
index 438073d..3b30462 100644
--- a/src/examples/test_descriptor.cpp
+++ b/src/examples/test_descriptor.cpp
@@ -30,7 +30,7 @@
#include "../descriptors/akaze/descriptor_akaze.h"
#include "../descriptors/latch/descriptor_latch.h"
#include "../descriptors/freak/descriptor_freak.h"
-//#include "../descriptors/brief/descriptor_brief.h"
+#include "../descriptors/brief/descriptor_brief.h"
//#include "../descriptors/daisy/descriptor_daisy.h"
//#include "../descriptors/lucid/descriptor_lucid.h"
@@ -106,8 +106,8 @@ int main(void)
des_ptr = std::static_pointer_cast<DescriptorLATCH>(des_ptr);
else if (des_name.compare("FREAK") == 0)
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("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("LUCID") == 0)
diff --git a/src/examples/yaml/BRIEF.yaml b/src/examples/yaml/BRIEF.yaml
new file mode 100644
index 0000000..63204a5
--- /dev/null
+++ b/src/examples/yaml/BRIEF.yaml
@@ -0,0 +1,6 @@
+sensor:
+ type: "USB_CAM"
+descriptor:
+ type: "BRIEF"
+ bytes: 32
+ use_orientation: false
\ No newline at end of file
--
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