diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 77c67d33c663fb7c2b1867c5d8e237fcfb6b1c04..387a6db6f21eed67f02b5ac56f7273d54cafdf3f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -58,7 +58,9 @@ SET(sources
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_l1/matcher_bruteforce_l1_load_yaml.cpp
+ matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp
+ matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp )
# application header files
SET(headers
@@ -98,7 +100,8 @@ SET(headers
matchers/matcher_base.h
matchers/flannbased/matcher_flannbased.h
matchers/bruteforce/matcher_bruteforce.h
- matchers/bruteforce_l1/matcher_bruteforce_l1.h)
+ matchers/bruteforce_l1/matcher_bruteforce_l1.h
+ matchers/bruteforce_hamming/matcher_bruteforce_hamming.h)
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index c5e440e852d9d903e0b20d33354c19b80fadb144..592976c48707459fd73948c32945d8b11c5d0724 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -38,6 +38,7 @@
#include "../matchers/flannbased/matcher_flannbased.h"
#include "../matchers/bruteforce/matcher_bruteforce.h"
#include "../matchers/bruteforce_l1/matcher_bruteforce_l1.h"
+#include "../matchers/bruteforce_hamming/matcher_bruteforce_hamming.h"
int main(void)
{
@@ -118,7 +119,7 @@ int main(void)
std::cout << "\n================ MATCHER TEST =================" << std::endl;
- std::string def_matcher = "BRUTEFORCEL1";
+ std::string def_matcher = "BRUTEFORCE_HAMMING";
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);
@@ -128,8 +129,10 @@ int main(void)
mat_ptr = std::static_pointer_cast<MatcherFLANNBASED>(mat_ptr);
if (mat_name.compare("BRUTEFORCE") == 0)
mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCE>(mat_ptr);
- if (mat_name.compare("BRUTEFORCEL1") == 0)
- mat_ptr = std::static_pointer_cast<MatcherBRUTEFORCEL1>(mat_ptr);
+ if (mat_name.compare("BRUTEFORCE_L1") == 0)
+ 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);
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.yaml b/src/examples/yaml/BRUTEFORCE_HAMMING.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4a4bcf574afbb05c0a41245a8f7fce9608b84668
--- /dev/null
+++ b/src/examples/yaml/BRUTEFORCE_HAMMING.yaml
@@ -0,0 +1,5 @@
+sensor:
+ type: "USB_CAM"
+matcher:
+ type: "BRUTEFORCE_HAMMING"
+ match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
\ No newline at end of file
diff --git a/src/examples/yaml/BRUTEFORCEL1.yaml b/src/examples/yaml/BRUTEFORCE_L1.yaml
similarity index 82%
rename from src/examples/yaml/BRUTEFORCEL1.yaml
rename to src/examples/yaml/BRUTEFORCE_L1.yaml
index 1aa9b5dda9599326cfc939c64cdfc0fae09f929d..b73c2cc24099b83017dd81dfcf28a22de42bf8dd 100644
--- a/src/examples/yaml/BRUTEFORCEL1.yaml
+++ b/src/examples/yaml/BRUTEFORCE_L1.yaml
@@ -1,5 +1,5 @@
sensor:
type: "USB_CAM"
matcher:
- type: "BRUTEFORCEL1"
+ type: "BRUTEFORCE_L1"
match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
\ No newline at end of file
diff --git a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0d1dbd3a174542952577c84e4e883cdfaa8a7b63
--- /dev/null
+++ b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp
@@ -0,0 +1,17 @@
+#include "matcher_bruteforce_hamming.h"
+
+namespace vision_utils {
+
+MatcherBRUTEFORCE_HAMMING::MatcherBRUTEFORCE_HAMMING(void)
+{}
+
+MatcherBRUTEFORCE_HAMMING::~MatcherBRUTEFORCE_HAMMING(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the MatchersFactory
+namespace vision_utils
+{
+VU_REGISTER_MATCHER("BRUTEFORCE_HAMMING", MatcherBRUTEFORCE_HAMMING);
+} /* namespace vision_utils */
diff --git a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
new file mode 100644
index 0000000000000000000000000000000000000000..bc2c1606ab38ae190fa79b5f699cfce82a03f260
--- /dev/null
+++ b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
@@ -0,0 +1,66 @@
+#ifndef _MATCHER_BRUTEFORCE_HAMMING_H_
+#define _MATCHER_BRUTEFORCE_HAMMING_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);
+VU_PTR_TYPEDEFS(MatcherParamsBRUTEFORCE_HAMMING);
+
+/** \brief Class parameters
+ *
+ */
+struct MatcherParamsBRUTEFORCE_HAMMING: public MatcherParamsBase
+{
+ // TODO: Add possible parameters
+};
+
+/** \brief DETECTOR class
+ *
+ */
+class MatcherBRUTEFORCE_HAMMING : public MatcherBase {
+
+ public:
+ MatcherBRUTEFORCE_HAMMING();
+ virtual ~MatcherBRUTEFORCE_HAMMING(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::defineMatcher(const ParamsBasePtr _params)
+{
+ params_base_ptr_ = std::static_pointer_cast<MatcherParamsBase>(_params);
+ MatcherParamsBRUTEFORCE_HAMMINGPtr params_ptr = std::static_pointer_cast<MatcherParamsBRUTEFORCE_HAMMING>(_params);
+ matcher_ = cv::DescriptorMatcher::create("BruteForce-Hamming");
+}
+
+/*
+ * brief Create object in factory
+ */
+inline MatcherBasePtr MatcherBRUTEFORCE_HAMMING::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ MatcherBRUTEFORCE_HAMMINGPtr mat_ptr = std::make_shared<MatcherBRUTEFORCE_HAMMING>();
+ mat_ptr->setName(_unique_name);
+ mat_ptr->defineMatcher(_params);
+ return mat_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _MATCHER_BRUTEFORCE_HAMMING_H_ */
diff --git a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cae5c2ec08361cb52dcd18fbc799c4cd28c60dc6
--- /dev/null
+++ b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp
@@ -0,0 +1,46 @@
+#include "matcher_bruteforce_hamming.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsBRUTEFORCE_HAMMINGMatcher(const std::string & _filename_dot_yaml)
+{
+ MatcherParamsBRUTEFORCE_HAMMINGPtr params_ptr = std::make_shared<MatcherParamsBRUTEFORCE_HAMMING>();
+
+ 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")
+ {
+ 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_params = ParamsFactory::get().registerCreator("BRUTEFORCE_HAMMING MAT", createParamsBRUTEFORCE_HAMMINGMatcher);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
index 7be9db687cba48bc88585311bf00154661ddf9de..0aab20a626919c9d844e17ce434d14ae65a49a87 100644
--- a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
@@ -2,10 +2,10 @@
namespace vision_utils {
-MatcherBRUTEFORCEL1::MatcherBRUTEFORCEL1(void)
+MatcherBRUTEFORCE_L1::MatcherBRUTEFORCE_L1(void)
{}
-MatcherBRUTEFORCEL1::~MatcherBRUTEFORCEL1(void)
+MatcherBRUTEFORCE_L1::~MatcherBRUTEFORCE_L1(void)
{}
} /* namespace vision_utils */
@@ -13,5 +13,5 @@ MatcherBRUTEFORCEL1::~MatcherBRUTEFORCEL1(void)
// Register in the MatchersFactory
namespace vision_utils
{
-VU_REGISTER_MATCHER("BRUTEFORCEL1", MatcherBRUTEFORCEL1);
+VU_REGISTER_MATCHER("BRUTEFORCE_L1", MatcherBRUTEFORCE_L1);
} /* namespace vision_utils */
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
index 99a1d4939f4cf0d3f3d943c5a71017a761546db5..22c6cccf12f9fee5685b134997dc9d6ef7113b68 100644
--- a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
@@ -1,5 +1,5 @@
-#ifndef _MATCHER_BRUTEFORCEL1_H_
-#define _MATCHER_BRUTEFORCEL1_H_
+#ifndef _MATCHER_BRUTEFORCE_L1_H_
+#define _MATCHER_BRUTEFORCE_L1_H_
#include "../matcher_base.h"
#include "../matcher_factory.h"
@@ -12,13 +12,13 @@
namespace vision_utils {
// Create all pointers
-VU_PTR_TYPEDEFS(MatcherBRUTEFORCEL1);
-VU_PTR_TYPEDEFS(MatcherParamsBRUTEFORCEL1);
+VU_PTR_TYPEDEFS(MatcherBRUTEFORCE_L1);
+VU_PTR_TYPEDEFS(MatcherParamsBRUTEFORCE_L1);
/** \brief Class parameters
*
*/
-struct MatcherParamsBRUTEFORCEL1: public MatcherParamsBase
+struct MatcherParamsBRUTEFORCE_L1: public MatcherParamsBase
{
// TODO: Add possible parameters
};
@@ -26,11 +26,11 @@ struct MatcherParamsBRUTEFORCEL1: public MatcherParamsBase
/** \brief DETECTOR class
*
*/
-class MatcherBRUTEFORCEL1 : public MatcherBase {
+class MatcherBRUTEFORCE_L1 : public MatcherBase {
public:
- MatcherBRUTEFORCEL1();
- virtual ~MatcherBRUTEFORCEL1(void);
+ MatcherBRUTEFORCE_L1();
+ virtual ~MatcherBRUTEFORCE_L1(void);
// Factory method
static MatcherBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
@@ -43,19 +43,19 @@ class MatcherBRUTEFORCEL1 : public MatcherBase {
/*
* brief Define detector
*/
-inline void MatcherBRUTEFORCEL1::defineMatcher(const ParamsBasePtr _params)
+inline void MatcherBRUTEFORCE_L1::defineMatcher(const ParamsBasePtr _params)
{
params_base_ptr_ = std::static_pointer_cast<MatcherParamsBase>(_params);
- MatcherParamsBRUTEFORCEL1Ptr params_ptr = std::static_pointer_cast<MatcherParamsBRUTEFORCEL1>(_params);
+ MatcherParamsBRUTEFORCE_L1Ptr params_ptr = std::static_pointer_cast<MatcherParamsBRUTEFORCE_L1>(_params);
matcher_ = cv::DescriptorMatcher::create("BruteForce-L1");
}
/*
* brief Create object in factory
*/
-inline MatcherBasePtr MatcherBRUTEFORCEL1::create(const std::string& _unique_name, const ParamsBasePtr _params)
+inline MatcherBasePtr MatcherBRUTEFORCE_L1::create(const std::string& _unique_name, const ParamsBasePtr _params)
{
- MatcherBRUTEFORCEL1Ptr mat_ptr = std::make_shared<MatcherBRUTEFORCEL1>();
+ MatcherBRUTEFORCE_L1Ptr mat_ptr = std::make_shared<MatcherBRUTEFORCE_L1>();
mat_ptr->setName(_unique_name);
mat_ptr->defineMatcher(_params);
return mat_ptr;
@@ -63,4 +63,4 @@ inline MatcherBasePtr MatcherBRUTEFORCEL1::create(const std::string& _unique_nam
} /* namespace vision_utils */
-#endif /* _MATCHER_BRUTEFORCEL1_H_ */
+#endif /* _MATCHER_BRUTEFORCE_L1_H_ */
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp b/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
index 50bf6b5de0e9c847c12d5d442a09154a9690b690..128ddc54ebb2d4b0e527a9b8c93b78e87d49b136 100644
--- a/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
@@ -11,9 +11,9 @@ namespace vision_utils
namespace
{
-static ParamsBasePtr createParamsBRUTEFORCEL1Matcher(const std::string & _filename_dot_yaml)
+static ParamsBasePtr createParamsBRUTEFORCE_L1Matcher(const std::string & _filename_dot_yaml)
{
- MatcherParamsBRUTEFORCEL1Ptr params_ptr = std::make_shared<MatcherParamsBRUTEFORCEL1>();
+ MatcherParamsBRUTEFORCE_L1Ptr params_ptr = std::make_shared<MatcherParamsBRUTEFORCE_L1>();
using std::string;
using YAML::Node;
@@ -21,7 +21,7 @@ static ParamsBasePtr createParamsBRUTEFORCEL1Matcher(const std::string & _filena
if (!yaml_params.IsNull())
{
Node d_yaml = yaml_params["matcher"];
- if(d_yaml["type"].as<string>() == "BRUTEFORCEL1")
+ if(d_yaml["type"].as<string>() == "BRUTEFORCE_L1")
{
params_ptr->match_type = d_yaml["match type"].as<int>();
// TODO: Add possible parameters
@@ -36,7 +36,7 @@ static ParamsBasePtr createParamsBRUTEFORCEL1Matcher(const std::string & _filena
}
// Register in the SensorFactory
-const bool registered_matBRUTEFORCEL1_params = ParamsFactory::get().registerCreator("BRUTEFORCEL1 MAT", createParamsBRUTEFORCEL1Matcher);
+const bool registered_matBRUTEFORCE_L1_params = ParamsFactory::get().registerCreator("BRUTEFORCE_L1 MAT", createParamsBRUTEFORCE_L1Matcher);
} /* namespace [unnamed] */