Add set and get match_type to matchers

.cproject

@@ -22,9 +22,15 @@
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@@ -45,47 +51,53 @@
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+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="vision_utils.null.1064155195" name="vision_utils"/>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Default">
+			<resource resourceType="PROJECT" workspacePath="/vision_utils"/>
+		</configuration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
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 </cproject>

src/matchers/bruteforce/matcher_bruteforce.h

@@ -54,6 +54,7 @@ inline void MatcherBRUTEFORCE::defineMatcher(const ParamsBasePtr _params)
 	MatcherParamsBasePtr params_base_ptr = std::static_pointer_cast<MatcherParamsBase>(_params);
 	params_ptr_ = std::static_pointer_cast<MatcherParamsBRUTEFORCE>(params_base_ptr);
     matcher_ = cv::DescriptorMatcher::create("BruteForce");
+    match_type_ = params_ptr_->match_type;
 }
 
 /*

src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h

@@ -54,6 +54,7 @@ inline void MatcherBRUTEFORCE_HAMMING::defineMatcher(const ParamsBasePtr _params
 	MatcherParamsBasePtr params_base_ptr = std::static_pointer_cast<MatcherParamsBase>(_params);
 	params_ptr_ = std::static_pointer_cast<MatcherParamsBRUTEFORCE_HAMMING>(params_base_ptr);
     matcher_ = cv::DescriptorMatcher::create("BruteForce-Hamming");
+    match_type_ = params_ptr_->match_type;
 }
 
 /*

src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h

@@ -54,6 +54,7 @@ inline void MatcherBRUTEFORCE_HAMMING_2::defineMatcher(const ParamsBasePtr _para
 	MatcherParamsBasePtr params_base_ptr = std::static_pointer_cast<MatcherParamsBase>(_params);
 	params_ptr_ = std::static_pointer_cast<MatcherParamsBRUTEFORCE_HAMMING_2>(params_base_ptr);
     matcher_ = cv::DescriptorMatcher::create("BruteForce-Hamming(2)");
+    match_type_ = params_ptr_->match_type;
 }
 
 /*

src/matchers/bruteforce_l1/matcher_bruteforce_l1.h

@@ -54,6 +54,7 @@ inline void MatcherBRUTEFORCE_L1::defineMatcher(const ParamsBasePtr _params)
 	MatcherParamsBasePtr params_base_ptr = std::static_pointer_cast<MatcherParamsBase>(_params);
 	params_ptr_ = std::static_pointer_cast<MatcherParamsBRUTEFORCE_L1>(params_base_ptr);
     matcher_ = cv::DescriptorMatcher::create("BruteForce-L1");
+    match_type_ = params_ptr_->match_type;
 }
 
 /*

src/matchers/flannbased/matcher_flannbased.h

@@ -54,6 +54,7 @@ inline void MatcherFLANNBASED::defineMatcher(const ParamsBasePtr _params)
 	MatcherParamsBasePtr params_base_ptr = std::static_pointer_cast<MatcherParamsBase>(_params);
 	params_ptr_ = std::static_pointer_cast<MatcherParamsFLANNBASED>(params_base_ptr);
     matcher_ = cv::DescriptorMatcher::create("FlannBased");
+    match_type_ = params_ptr_->match_type;
 }
 
 /*

src/matchers/matcher_base.h

@@ -66,6 +66,10 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
 
         MatcherParamsBasePtr getParams(void);
 
+        int getMatchType(void);
+
+        void setMatchType(const int& _match_type);
+
         void setParams(const MatcherParamsBasePtr _params);
 
         std::vector<Scalar> match(const cv::Mat& _desc1, const cv::Mat& _desc2, const int& desc_size_bytes, DMatchVector& matches, cv::InputArray _mask=cv::noArray());
@@ -88,6 +92,8 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
 
         std::string name_;
 
+        int match_type_;
+
         FeatureMatcherPtr matcher_;
 
         MatcherParamsBasePtr params_base_ptr_;
@@ -97,25 +103,35 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
         virtual void defineMatcher(const ParamsBasePtr _params) = 0;
 };
 
-/*
- * brief Retrieve object name
+/**
+ *\brief Retrieve object name
  */
 inline std::string MatcherBase::getName(void) { return name_; }
 
-/*
- * brief Set object name
+/**
+ *\brief Set object name
  */
 inline void MatcherBase::setName(const std::string& _name){ name_ = _name; }
 
-/*
- * brief Retrieve object parameters
+/**
+ *\brief Set matcher type
+ */
+inline void MatcherBase::setMatchType(const int& _match_type){ match_type_ = _match_type;}
+
+/**
+ *\brief Get matcher type
+ */
+inline int MatcherBase::getMatchType(void){ return match_type_;}
+
+/**
+ *\brief Retrieve object parameters
  */
 inline MatcherParamsBasePtr MatcherBase::getParams(void) { return params_base_ptr_; }
 
 inline void MatcherBase::setParams(const MatcherParamsBasePtr _params) { params_base_ptr_ = _params; }
 
-/*
- * brief Setup and get the corresponding pointer
+/**
+ *\brief Setup and get the corresponding pointer
  */
 MatcherBasePtr setupMatcher(const std::string& _type, const std::string& _unique_name, const ParamsBasePtr& _params);
 MatcherBasePtr setupMatcher(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);

src/vision_utils.cpp

@@ -449,6 +449,10 @@ cv::Mat buildImageProcessed(const cv::Mat& _img, const std::vector<KeyPointEnhan
         // Point
         cv::drawMarker (img, kp_e.kp.pt, kp_e.color, cv::MARKER_CROSS);
 
+        // Id
+        cv::putText(img, std::to_string(kp_e.track_id) + " (" + std::to_string(kp_e.track_length) + ")", cvPoint(kp_e.kp.pt.x+10,kp_e.kp.pt.y+5),
+            cv::FONT_HERSHEY_PLAIN, 1.0, kp_e.cov_color, 1, CV_AA);
+
         // Covariance
         Eigen::JacobiSVD<Eigen::MatrixXs> svd(kp_e.cov, Eigen::ComputeThinU | Eigen::ComputeThinV);
         Eigen::Matrix2s R = svd.matrixU();