diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 404490767897b8189a3e9b91a96ec0d09eaf1d94..480d47aaef918319f0882fccf493770937b87289 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,12 +2,11 @@
ADD_DEFINITIONS(-DPRINT_INFO_VU)
# library source files
-SET(sources_main vision_utils.cpp)
-SET(sources_sen
+SET(sources
+ vision_utils.cpp
sensors/sensor_base.cpp
sensors/usb_cam/usb_cam.cpp
- sensors/usb_cam/usb_cam_load_yaml.cpp)
-SET(sources_det
+ sensors/usb_cam/usb_cam_load_yaml.cpp
detectors/detector_base.cpp
detectors/orb/detector_orb.cpp
detectors/orb/detector_orb_load_yaml.cpp
@@ -32,8 +31,7 @@ SET(sources_det
detectors/akaze/detector_akaze.cpp
detectors/akaze/detector_akaze_load_yaml.cpp
detectors/agast/detector_agast.cpp
- detectors/agast/detector_agast_load_yaml.cpp)
-SET(sources_des
+ detectors/agast/detector_agast_load_yaml.cpp
descriptors/descriptor_base.cpp
descriptors/orb/descriptor_orb.cpp
descriptors/orb/descriptor_orb_load_yaml.cpp
@@ -56,8 +54,7 @@ SET(sources_des
descriptors/daisy/descriptor_daisy.cpp
descriptors/daisy/descriptor_daisy_load_yaml.cpp
descriptors/lucid/descriptor_lucid.cpp
- descriptors/lucid/descriptor_lucid_load_yaml.cpp)
-SET(sources_mat
+ descriptors/lucid/descriptor_lucid_load_yaml.cpp
matchers/matcher_base.cpp
matchers/bruteforce/matcher_bruteforce.cpp
matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
@@ -68,8 +65,7 @@ SET(sources_mat
matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
matchers/flannbased/matcher_flannbased.cpp
- matchers/flannbased/matcher_flannbased_load_yaml.cpp)
-SET(sources_alg
+ matchers/flannbased/matcher_flannbased_load_yaml.cpp
algorithms/algorithm_base.cpp
algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
algorithms/opticalflowpyrlk/alg_opticalflowpyrlk_load_yaml.cpp
@@ -81,59 +77,95 @@ SET(sources_alg
# application header files
SET(headers_main
vision_utils.h
- factory.h)
+ factory.h
+ sensors.h
+ detectors.h
+ descriptors.h
+ matchers.h
+ algorithms.h)
SET(headers_com
common_class/buffer.h
common_class/frame.h)
SET(headers_sen
sensors/sensor_factory.h
- sensors/sensor_base.h
+ sensors/sensor_base.h)
+SET(headers_sen_usb
sensors/usb_cam/usb_cam.h)
SET(headers_det
detectors/detector_factory.h
- detectors/detector_base.h
- detectors/orb/detector_orb.h
- detectors/fast/detector_fast.h
- detectors/sift/detector_sift.h
- detectors/surf/detector_surf.h
- detectors/brisk/detector_brisk.h
- detectors/mser/detector_mser.h
- detectors/gftt/detector_gftt.h
- detectors/harris/detector_harris.h
- detectors/sbd/detector_sbd.h
- detectors/kaze/detector_kaze.h
- detectors/akaze/detector_akaze.h
+ detectors/detector_base.h)
+SET(headers_det_orb
+ detectors/orb/detector_orb.h)
+SET(headers_det_fast
+ detectors/fast/detector_fast.h)
+SET(headers_det_sift
+ detectors/sift/detector_sift.h)
+SET(headers_det_surf
+ detectors/surf/detector_surf.h)
+SET(headers_det_brisk
+ detectors/brisk/detector_brisk.h)
+SET(headers_det_mser
+ detectors/mser/detector_mser.h)
+SET(headers_det_gftt
+ detectors/gftt/detector_gftt.h)
+SET(headers_det_harris
+ detectors/harris/detector_harris.h)
+SET(headers_det_sbd
+ detectors/sbd/detector_sbd.h)
+SET(headers_det_kaze
+ detectors/kaze/detector_kaze.h)
+SET(headers_det_akaze
+ detectors/akaze/detector_akaze.h)
+SET(headers_det_agast
detectors/agast/detector_agast.h)
SET(headers_des
descriptors/descriptor_factory.h
- descriptors/descriptor_base.h
- descriptors/orb/descriptor_orb.h
- descriptors/sift/descriptor_sift.h
- descriptors/surf/descriptor_surf.h
- descriptors/brisk/descriptor_brisk.h
- descriptors/kaze/descriptor_kaze.h
- descriptors/akaze/descriptor_akaze.h
- descriptors/latch/descriptor_latch.h
- descriptors/freak/descriptor_freak.h
- descriptors/brief/descriptor_brief.h
- descriptors/daisy/descriptor_daisy.h
+ descriptors/descriptor_base.h)
+SET(headers_des_orb
+ descriptors/orb/descriptor_orb.h)
+SET(headers_des_sift
+ descriptors/sift/descriptor_sift.h)
+SET(headers_des_surf
+ descriptors/surf/descriptor_surf.h)
+SET(headers_des_brisk
+ descriptors/brisk/descriptor_brisk.h)
+SET(headers_des_kaze
+ descriptors/kaze/descriptor_kaze.h)
+SET(headers_des_akaze
+ descriptors/akaze/descriptor_akaze.h)
+SET(headers_des_latch
+ descriptors/latch/descriptor_latch.h)
+SET(headers_des_freak
+ descriptors/freak/descriptor_freak.h)
+SET(headers_des_brief
+ descriptors/brief/descriptor_brief.h)
+SET(headers_des_daisy
+ descriptors/daisy/descriptor_daisy.h)
+SET(headers_des_lucid
descriptors/lucid/descriptor_lucid.h)
SET(headers_mat
matchers/matcher_factory.h
- matchers/matcher_base.h
- matchers/bruteforce/matcher_bruteforce.h
- matchers/bruteforce_l1/matcher_bruteforce_l1.h
- matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
- matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
+ matchers/matcher_base.h)
+SET(headers_mat_bruteforce
+ matchers/bruteforce/matcher_bruteforce.h)
+SET(headers_mat_bruteforce_l1
+ matchers/bruteforce_l1/matcher_bruteforce_l1.h)
+SET(headers_mat_bruteforce_hamming
+ matchers/bruteforce_hamming/matcher_bruteforce_hamming.h)
+SET(headers_mat_bruteforce_hamming_2
+ matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h)
+SET(headers_mat_flannbased
matchers/flannbased/matcher_flannbased.h)
SET(headers_alg
algorithms/algorithm_factory.h
- algorithms/algorithm_base.h
- algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
- algorithms/trackfeatures/alg_trackfeatures.h
+ algorithms/algorithm_base.h)
+SET(headers_alg_opticalflowpyrlk
+ algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h)
+SET(headers_alg_trackfeatures
+ algorithms/trackfeatures/alg_trackfeatures.h)
+SET(headers_alg_activesearch
algorithms/activesearch/alg_activesearch.h)
-
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
@@ -143,7 +175,6 @@ if (OpenCV_FOUND)
if (${OpenCV_VERSION_MAJOR} GREATER 2)
message("-- [INFO] Found OpenCV ${OpenCV_VERSION_MAJOR}.${OpenCV_VERSION_MINOR} support")
ADD_DEFINITIONS(-DHAVE_OPENCV_H)
- SET(USE_CV true)
else(${OpenCV_VERSION_MAJOR} GREATER 2)
message("[WARN] OpenCV support not installed. Minimum 3.0 version required.")
message("[WARN] Current version ${OpenCV_VERSION_MAJOR}")
@@ -188,7 +219,7 @@ MESSAGE(STATUS "Configuring ${PROJECT_NAME} (creating config.h from _internal di
include_directories("${PROJECT_BINARY_DIR}/conf")
# create the shared library
-ADD_LIBRARY(${PROJECT_NAME} SHARED ${sources_main} ${sources_sen} ${sources_det} ${sources_des} ${sources_mat} ${sources_alg})
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${sources})
# link necessary libraries
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS} ${Boost_LIBRARIES})
@@ -205,10 +236,42 @@ INSTALL(TARGETS ${PROJECT_NAME}
INSTALL(FILES ${headers_main} DESTINATION include/${PROJECT_NAME})
INSTALL(FILES ${headers_com} DESTINATION include/${PROJECT_NAME}/common_class)
INSTALL(FILES ${headers_sen} DESTINATION include/${PROJECT_NAME}/sensors)
+INSTALL(FILES ${headers_sen_usb} DESTINATION include/${PROJECT_NAME}/sensors/usb)
INSTALL(FILES ${headers_det} DESTINATION include/${PROJECT_NAME}/detectors)
+INSTALL(FILES ${headers_det_orb} DESTINATION include/${PROJECT_NAME}/detectors/orb)
+INSTALL(FILES ${headers_det_fast} DESTINATION include/${PROJECT_NAME}/detectors/fast)
+INSTALL(FILES ${headers_det_sift} DESTINATION include/${PROJECT_NAME}/detectors/sift)
+INSTALL(FILES ${headers_det_surf} DESTINATION include/${PROJECT_NAME}/detectors/surf)
+INSTALL(FILES ${headers_det_brisk} DESTINATION include/${PROJECT_NAME}/detectors/brisk)
+INSTALL(FILES ${headers_det_mser} DESTINATION include/${PROJECT_NAME}/detectors/mser)
+INSTALL(FILES ${headers_det_gftt} DESTINATION include/${PROJECT_NAME}/detectors/gftt)
+INSTALL(FILES ${headers_det_harris} DESTINATION include/${PROJECT_NAME}/detectors/harris)
+INSTALL(FILES ${headers_det_sbd} DESTINATION include/${PROJECT_NAME}/detectors/sbd)
+INSTALL(FILES ${headers_det_kaze} DESTINATION include/${PROJECT_NAME}/detectors/kaze)
+INSTALL(FILES ${headers_det_akaze} DESTINATION include/${PROJECT_NAME}/detectors/akaze)
+INSTALL(FILES ${headers_det_agast} DESTINATION include/${PROJECT_NAME}/detectors/agast)
INSTALL(FILES ${headers_des} DESTINATION include/${PROJECT_NAME}/descriptors)
+INSTALL(FILES ${headers_des_orb} DESTINATION include/${PROJECT_NAME}/descriptors/orb)
+INSTALL(FILES ${headers_des_sift} DESTINATION include/${PROJECT_NAME}/descriptors/sift)
+INSTALL(FILES ${headers_des_surf} DESTINATION include/${PROJECT_NAME}/descriptors/surf)
+INSTALL(FILES ${headers_des_brisk} DESTINATION include/${PROJECT_NAME}/descriptors/brisk)
+INSTALL(FILES ${headers_des_kaze} DESTINATION include/${PROJECT_NAME}/descriptors/kaze)
+INSTALL(FILES ${headers_des_akaze} DESTINATION include/${PROJECT_NAME}/descriptors/akaze)
+INSTALL(FILES ${headers_des_latch} DESTINATION include/${PROJECT_NAME}/descriptors/latch)
+INSTALL(FILES ${headers_des_freak} DESTINATION include/${PROJECT_NAME}/descriptors/freak)
+INSTALL(FILES ${headers_des_brief} DESTINATION include/${PROJECT_NAME}/descriptors/brief)
+INSTALL(FILES ${headers_des_daisy} DESTINATION include/${PROJECT_NAME}/descriptors/daisy)
+INSTALL(FILES ${headers_des_lucid} DESTINATION include/${PROJECT_NAME}/descriptors/lucid)
INSTALL(FILES ${headers_mat} DESTINATION include/${PROJECT_NAME}/matchers)
+INSTALL(FILES ${headers_mat_bruteforce} DESTINATION include/${PROJECT_NAME}/matchers/bruteforce)
+INSTALL(FILES ${headers_mat_bruteforce_l1} DESTINATION include/${PROJECT_NAME}/matchers/bruteforce_l1)
+INSTALL(FILES ${headers_mat_bruteforce_hamming} DESTINATION include/${PROJECT_NAME}/matchers/bruteforce_hamming)
+INSTALL(FILES ${headers_mat_bruteforce_hamming_2} DESTINATION include/${PROJECT_NAME}/matchers/bruteforce_hamming_2)
+INSTALL(FILES ${headers_mat_flannbased} DESTINATION include/${PROJECT_NAME}/matchers/flannbased)
INSTALL(FILES ${headers_alg} DESTINATION include/${PROJECT_NAME}/algorithms)
+INSTALL(FILES ${headers_alg_opticalflowpyrlk} DESTINATION include/${PROJECT_NAME}/algorithms/opticalflowpyrlk)
+INSTALL(FILES ${headers_alg_trackfeatures} DESTINATION include/${PROJECT_NAME}/algorithms/trackfeatures)
+INSTALL(FILES ${headers_alg_activesearch} DESTINATION include/${PROJECT_NAME}/algorithms/activesearch)
INSTALL(FILES ../cmake_modules/Find${PROJECT_NAME}.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
INSTALL(FILES "${VU_CONFIG_DIR}/config.h" DESTINATION include/${PROJECT_NAME}/_internal)
diff --git a/src/algorithms.h b/src/algorithms.h
new file mode 100644
index 0000000000000000000000000000000000000000..c913d841c7ec45fa4ea520a17c75b941f203f53a
--- /dev/null
+++ b/src/algorithms.h
@@ -0,0 +1,8 @@
+#ifndef _ALGORITHMS_H_
+#define _ALGORITHMS_H_
+
+#include "algorithms/activesearch/alg_activesearch.h"
+#include "algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h"
+#include "algorithms/trackfeatures/alg_trackfeatures.h"
+
+#endif /* _ALGORITHMS_H_ */
diff --git a/src/algorithms/activesearch/alg_activesearch.h b/src/algorithms/activesearch/alg_activesearch.h
index 19a4d6acdd057ab2067d33fb133b30f344e4bc44..7a4007fd7e9f44d6e299dbbfbd40e161a2a954b0 100644
--- a/src/algorithms/activesearch/alg_activesearch.h
+++ b/src/algorithms/activesearch/alg_activesearch.h
@@ -9,14 +9,9 @@
#include "../../descriptors/descriptor_base.h"
#include "../../matchers/matcher_base.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
//OpenCV
#include <opencv2/core.hpp>
-#include "opencv2/features2d.hpp"
+#include <opencv2/features2d.hpp>
// Eigen
#include <eigen3/Eigen/Dense>
diff --git a/src/algorithms/algorithm_base.cpp b/src/algorithms/algorithm_base.cpp
index 6bbb87fc2ccfbd781047c56309f67e7814a48939..df3a03f5354163bc3c68988d479f1d54d75b4283 100644
--- a/src/algorithms/algorithm_base.cpp
+++ b/src/algorithms/algorithm_base.cpp
@@ -1,5 +1,10 @@
#include "algorithm_base.h"
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
namespace vision_utils {
AlgorithmBase::AlgorithmBase(void)
@@ -29,6 +34,13 @@ AlgorithmBasePtr setupAlgorithm(const std::string& _type, const std::string& _un
ParamsBasePtr params_ptr = ParamsFactory::get().create(_type+" ALG", _filename_dot_yaml);
return setupAlgorithm(_type, _unique_name, params_ptr);
}
+#else
+AlgorithmBasePtr setupAlgorithm(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml)
+{
+ std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
+ << "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
+ << std::endl;
+}
#endif
} /* namespace vision_utils */
diff --git a/src/algorithms/algorithm_base.h b/src/algorithms/algorithm_base.h
index 47e224a002f4386546510673bb29827ef90600af..0c1721cdb763f2b891863106c6b600b9b86e8a4d 100644
--- a/src/algorithms/algorithm_base.h
+++ b/src/algorithms/algorithm_base.h
@@ -75,9 +75,7 @@ inline void AlgorithmBase::setName(const std::string& _name){ name_ = _name; }
* brief Setup and get the corresponding pointer
*/
AlgorithmBasePtr setupAlgorithm(const std::string& _type, const std::string& _unique_name, const ParamsBasePtr& _params);
-#ifdef USING_YAML
AlgorithmBasePtr setupAlgorithm(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);
-#endif
} /* namespace vision_utils */
diff --git a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
index da5b46881a8bac7bb57e9a18fdf6a11fffd1806f..f6831ce5043f7ef47fcd0d7abf1bc830bfca0094 100644
--- a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
+++ b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
@@ -9,11 +9,6 @@
#include "../../descriptors/descriptor_base.h"
#include "../../matchers/matcher_base.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/algorithms/trackfeatures/alg_trackfeatures.h b/src/algorithms/trackfeatures/alg_trackfeatures.h
index 0ad056b43970c1f102e3f68828021e963d95b041..32209cc5d8eb26d515e654782869b0822c8e6691 100644
--- a/src/algorithms/trackfeatures/alg_trackfeatures.h
+++ b/src/algorithms/trackfeatures/alg_trackfeatures.h
@@ -9,11 +9,6 @@
#include "../../descriptors/descriptor_base.h"
#include "../../matchers/matcher_base.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
//OpenCV
#include <opencv2/core.hpp>
#include "opencv2/features2d.hpp"
diff --git a/src/descriptors.h b/src/descriptors.h
new file mode 100644
index 0000000000000000000000000000000000000000..61904c2bcdd296a9747a8c9ded9ca8fea637bc97
--- /dev/null
+++ b/src/descriptors.h
@@ -0,0 +1,16 @@
+#ifndef _DESCRIPTORS_H_
+#define _DESCRIPTORS_H_
+
+#include "descriptors/orb/descriptor_orb.h"
+#include "descriptors/sift/descriptor_sift.h"
+#include "descriptors/surf/descriptor_surf.h"
+#include "descriptors/brisk/descriptor_brisk.h"
+#include "descriptors/kaze/descriptor_kaze.h"
+#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/daisy/descriptor_daisy.h"
+#include "descriptors/lucid/descriptor_lucid.h"
+
+#endif /* _DESCRIPTORS_H_ */
diff --git a/src/descriptors/akaze/descriptor_akaze.h b/src/descriptors/akaze/descriptor_akaze.h
index 11979d7ec0f9ba4199da372f09edbec8b3e4df60..3fbdee2647e4cd1a165ef8e1ac7f8c02698ae68b 100644
--- a/src/descriptors/akaze/descriptor_akaze.h
+++ b/src/descriptors/akaze/descriptor_akaze.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/brief/descriptor_brief.h b/src/descriptors/brief/descriptor_brief.h
index a128d4a553bf3cb334f4168256491e7f0025fd02..42f9cfd09412df89ae718437e7a18651812fecce 100644
--- a/src/descriptors/brief/descriptor_brief.h
+++ b/src/descriptors/brief/descriptor_brief.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/brisk/descriptor_brisk.h b/src/descriptors/brisk/descriptor_brisk.h
index 59421a660f3b9b218f31e416693842e626a753f2..ee3f88445685f041beb7296db19286481c5e0b1c 100644
--- a/src/descriptors/brisk/descriptor_brisk.h
+++ b/src/descriptors/brisk/descriptor_brisk.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/daisy/descriptor_daisy.h b/src/descriptors/daisy/descriptor_daisy.h
index 9d949c2591694143d421fb62c69144db53654165..e30f84da0d407ecc7f335a77ea74360101988f43 100644
--- a/src/descriptors/daisy/descriptor_daisy.h
+++ b/src/descriptors/daisy/descriptor_daisy.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/descriptor_base.cpp b/src/descriptors/descriptor_base.cpp
index af912459197525ab6a6b5ffaa698cce27107083f..5764bd3fd88f934005a1ec3913d8f02f84f59a53 100644
--- a/src/descriptors/descriptor_base.cpp
+++ b/src/descriptors/descriptor_base.cpp
@@ -41,6 +41,13 @@ DescriptorBasePtr setupDescriptor(const std::string& _type, const std::string& _
ParamsBasePtr params_ptr = ParamsFactory::get().create(_type+" DES", _filename_dot_yaml);
return setupDescriptor(_type, _unique_name, params_ptr);
}
+#else
+DescriptorBasePtr setupDescriptor(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml)
+{
+ std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
+ << "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
+ << std::endl;
+}
#endif
} /* namespace vision_utils */
diff --git a/src/descriptors/descriptor_base.h b/src/descriptors/descriptor_base.h
index 94aca1178c13ea5b43bd0029dfbcabb72a9b1fdf..6103c2d36bc70b371fb8f43e4693bf06476e15c9 100644
--- a/src/descriptors/descriptor_base.h
+++ b/src/descriptors/descriptor_base.h
@@ -73,9 +73,7 @@ inline void DescriptorBase::setName(const std::string& _name){ name_ = _name; }
* brief Setup and get the corresponding pointer
*/
DescriptorBasePtr setupDescriptor(const std::string& _type, const std::string& _unique_name, const ParamsBasePtr& _params);
-#ifdef USING_YAML
DescriptorBasePtr setupDescriptor(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);
-#endif
} /* namespace vision_utils */
diff --git a/src/descriptors/freak/descriptor_freak.h b/src/descriptors/freak/descriptor_freak.h
index 18cf5ca2f167e783646bbb974831890d29d9a4a6..96697fb12709046946e62e351666ad515356987c 100644
--- a/src/descriptors/freak/descriptor_freak.h
+++ b/src/descriptors/freak/descriptor_freak.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/kaze/descriptor_kaze.h b/src/descriptors/kaze/descriptor_kaze.h
index 4b0a8758ca16363f69f342920c28fc828471cd75..5b1b7a5a1be6ffacc2cbb036ee4065e0988d3409 100644
--- a/src/descriptors/kaze/descriptor_kaze.h
+++ b/src/descriptors/kaze/descriptor_kaze.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/latch/descriptor_latch.h b/src/descriptors/latch/descriptor_latch.h
index 56b0ae28beda43861934311a274b299a159a4409..db05b77fc0b7cf5c6079a83269429d8882ffdfe9 100644
--- a/src/descriptors/latch/descriptor_latch.h
+++ b/src/descriptors/latch/descriptor_latch.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/lucid/descriptor_lucid.h b/src/descriptors/lucid/descriptor_lucid.h
index 148021ac4a493bb3ea2d8cb28230dea898ec1fc6..6892f0111265a150e0bd1913443a994076f75305 100644
--- a/src/descriptors/lucid/descriptor_lucid.h
+++ b/src/descriptors/lucid/descriptor_lucid.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/orb/descriptor_orb.h b/src/descriptors/orb/descriptor_orb.h
index 5375c41cbddf862f5ab80f1cd39ab259f988f6ac..32d29677918c299e584a696662dbc80a6be557c4 100644
--- a/src/descriptors/orb/descriptor_orb.h
+++ b/src/descriptors/orb/descriptor_orb.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/sift/descriptor_sift.h b/src/descriptors/sift/descriptor_sift.h
index 25d2e0fc0975ed6e936671ae9934e85c1c773dbc..6bae1c655607db596defb85df890ccac9637f81a 100644
--- a/src/descriptors/sift/descriptor_sift.h
+++ b/src/descriptors/sift/descriptor_sift.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/descriptors/surf/descriptor_surf.h b/src/descriptors/surf/descriptor_surf.h
index 191787282a47182f11eca4dcbc4550e81d2a6fce..23f3a7f4854f91c7d05a71151fe4b9ce1c7ecb0f 100644
--- a/src/descriptors/surf/descriptor_surf.h
+++ b/src/descriptors/surf/descriptor_surf.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/detectors.h b/src/detectors.h
new file mode 100644
index 0000000000000000000000000000000000000000..80e1c08e99bfa7267bedf837ad65109ce733cfe9
--- /dev/null
+++ b/src/detectors.h
@@ -0,0 +1,18 @@
+#ifndef _DETECTORS_H_
+#define _DETECTORS_H_
+
+// Detector headers
+#include "detectors/orb/detector_orb.h"
+#include "detectors/fast/detector_fast.h"
+#include "detectors/sift/detector_sift.h"
+#include "detectors/surf/detector_surf.h"
+#include "detectors/brisk/detector_brisk.h"
+#include "detectors/mser/detector_mser.h"
+#include "detectors/gftt/detector_gftt.h"
+#include "detectors/harris/detector_harris.h"
+#include "detectors/sbd/detector_sbd.h"
+#include "detectors/kaze/detector_kaze.h"
+#include "detectors/akaze/detector_akaze.h"
+#include "detectors/agast/detector_agast.h"
+
+#endif /* DETECTORS_H_ */
diff --git a/src/detectors/agast/detector_agast.h b/src/detectors/agast/detector_agast.h
index 513dc9505f7200a17017b1e8f0388e79dc3df5f0..aa6c1beaadc03f1a6ef54b7478dce136a53b1425 100644
--- a/src/detectors/agast/detector_agast.h
+++ b/src/detectors/agast/detector_agast.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/akaze/detector_akaze.h b/src/detectors/akaze/detector_akaze.h
index 95a1b97cb76e4fe7fae6558a4e4da788d3b325ba..f10f09d8d56a216322a06db026eb5743d345f5c1 100644
--- a/src/detectors/akaze/detector_akaze.h
+++ b/src/detectors/akaze/detector_akaze.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/brisk/detector_brisk.h b/src/detectors/brisk/detector_brisk.h
index d9eb10d527d38e6aaa1b09a941bd3f64e9202460..82ac22bbb431382af637c428ffed56183a289a70 100644
--- a/src/detectors/brisk/detector_brisk.h
+++ b/src/detectors/brisk/detector_brisk.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/detector_base.cpp b/src/detectors/detector_base.cpp
index 33d24157793d0ff4f509eb4a63a56ed212e26732..9b4f930ed267a5ce311502632609e77c0116dc83 100644
--- a/src/detectors/detector_base.cpp
+++ b/src/detectors/detector_base.cpp
@@ -72,6 +72,13 @@ DetectorBasePtr setupDetector(const std::string& _type, const std::string& _uniq
ParamsBasePtr params_ptr = ParamsFactory::get().create(_type+" DET", _filename_dot_yaml);
return setupDetector(_type, _unique_name, params_ptr);
}
+#else
+DetectorBasePtr setupDetector(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml)
+{
+ std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
+ << "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
+ << std::endl;
+}
#endif
} /* namespace vision_utils */
diff --git a/src/detectors/detector_base.h b/src/detectors/detector_base.h
index b377039f1fb2363aea7e8b5479a3625b13f33ca3..b5ae64d5ea3a64a19ac9e50fd9959b1164b13380 100644
--- a/src/detectors/detector_base.h
+++ b/src/detectors/detector_base.h
@@ -2,7 +2,7 @@
#define _DETECTOR_BASE_H_
// vision_utils
-#include "../vision_utils.h"
+#include <vision_utils.h>
typedef cv::Ptr<cv::FeatureDetector> FeatureDetectorPtr;
@@ -80,9 +80,7 @@ inline int DetectorBase::getPatternRadius(void)
* brief Setup and get the corresponding pointer
*/
DetectorBasePtr setupDetector(const std::string& _type, const std::string& _unique_name, const ParamsBasePtr& _params);
-#ifdef USING_YAML
DetectorBasePtr setupDetector(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);
-#endif
} /* namespace vision_utils */
diff --git a/src/detectors/fast/detector_fast.h b/src/detectors/fast/detector_fast.h
index f22df6b3982c67f0f3eb10fed4d6031c3c3fdb54..4f97c58b3b3ef98944f6d4240090647d1894ecd9 100644
--- a/src/detectors/fast/detector_fast.h
+++ b/src/detectors/fast/detector_fast.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/gftt/detector_gftt.h b/src/detectors/gftt/detector_gftt.h
index fe788e25eb8c1c25a202811f0d7ab9bb906941b8..13ec7a899325e45bb48952a915a1f08802478f27 100644
--- a/src/detectors/gftt/detector_gftt.h
+++ b/src/detectors/gftt/detector_gftt.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/harris/detector_harris.h b/src/detectors/harris/detector_harris.h
index 941f52460ca072c2060adcbb511e7427f4fa079f..7963185f9581e0cd2f05e1e4b5f3e15e7dff4ea4 100644
--- a/src/detectors/harris/detector_harris.h
+++ b/src/detectors/harris/detector_harris.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/kaze/detector_kaze.h b/src/detectors/kaze/detector_kaze.h
index da0d749e00696081fedbdc13f37bd38d9856e3d8..00558f3707cefbb9bfedcb0d7d814bf7d1b49d98 100644
--- a/src/detectors/kaze/detector_kaze.h
+++ b/src/detectors/kaze/detector_kaze.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/mser/detector_mser.h b/src/detectors/mser/detector_mser.h
index 939feeb6feb364d272716fcebb7c55f0521aaaa0..b9c394d8ac27dcbe07b8f240dc11c3ad4a79b4a2 100644
--- a/src/detectors/mser/detector_mser.h
+++ b/src/detectors/mser/detector_mser.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/orb/detector_orb.h b/src/detectors/orb/detector_orb.h
index 062e1496caf2870503505a86471916450c151845..f7431a4b6931e2368878ff6631751baf7f574236 100644
--- a/src/detectors/orb/detector_orb.h
+++ b/src/detectors/orb/detector_orb.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/sbd/detector_sbd.h b/src/detectors/sbd/detector_sbd.h
index 7d104a31d17d022313ae3d700e149d085a34e96b..69574c6035ab5470cb77628ce0f14dd637408e35 100644
--- a/src/detectors/sbd/detector_sbd.h
+++ b/src/detectors/sbd/detector_sbd.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/sift/detector_sift.h b/src/detectors/sift/detector_sift.h
index 436321dae2b77148fcd19b49053719f623b66954..434cae21338ab79b8142c9f271e7c9cb466dd9d5 100644
--- a/src/detectors/sift/detector_sift.h
+++ b/src/detectors/sift/detector_sift.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/detectors/surf/detector_surf.h b/src/detectors/surf/detector_surf.h
index 304d89e357f013f7e470c88500d3f6b666bc72b3..0f7f7f45eb0c9bb0146192e20df46bad00da89dd 100644
--- a/src/detectors/surf/detector_surf.h
+++ b/src/detectors/surf/detector_surf.h
@@ -4,11 +4,6 @@
#include "../detector_base.h"
#include "../detector_factory.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/examples/test_algorithm_activesearch.cpp b/src/examples/test_algorithm_activesearch.cpp
index bd3c61b06c8fc7b7ffaaa5dba5bc5abe3a78fd8f..dcba80964362bb83ded535dd7339944f626c9441 100644
--- a/src/examples/test_algorithm_activesearch.cpp
+++ b/src/examples/test_algorithm_activesearch.cpp
@@ -2,47 +2,13 @@
#include <iomanip>
#include <cstdlib>
+#include "../algorithms.h"
+// Vision Utils
#include "../vision_utils.h"
-
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
-
-// Detectors
-#include "../detectors/orb/detector_orb.h"
-#include "../detectors/fast/detector_fast.h"
-#include "../detectors/sift/detector_sift.h"
-#include "../detectors/surf/detector_surf.h"
-#include "../detectors/brisk/detector_brisk.h"
-#include "../detectors/mser/detector_mser.h"
-#include "../detectors/gftt/detector_gftt.h"
-#include "../detectors/harris/detector_harris.h"
-#include "../detectors/sbd/detector_sbd.h"
-#include "../detectors/kaze/detector_kaze.h"
-#include "../detectors/akaze/detector_akaze.h"
-#include "../detectors/agast/detector_agast.h"
-
-// Descriptors
-#include "../descriptors/orb/descriptor_orb.h"
-#include "../descriptors/sift/descriptor_sift.h"
-#include "../descriptors/surf/descriptor_surf.h"
-#include "../descriptors/brisk/descriptor_brisk.h"
-#include "../descriptors/kaze/descriptor_kaze.h"
-#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/daisy/descriptor_daisy.h"
-#include "../descriptors/lucid/descriptor_lucid.h"
-
-// Matchers
-#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"
-#include "../matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h"
-
-// Algorithms
-#include "../algorithms/activesearch/alg_activesearch.h"
+#include "../descriptors.h"
+#include "../detectors.h"
+#include "../matchers.h"
+#include "../sensors.h"
using namespace vision_utils;
diff --git a/src/examples/test_algorithm_opticalflowpyrlk.cpp b/src/examples/test_algorithm_opticalflowpyrlk.cpp
index c8e465d92b31c7a308d6b49540cc6eca6881516c..7ccd57f7dbdbd58ddf7b23b780953be20ebee0c0 100644
--- a/src/examples/test_algorithm_opticalflowpyrlk.cpp
+++ b/src/examples/test_algorithm_opticalflowpyrlk.cpp
@@ -2,27 +2,11 @@
#include <iomanip>
#include <cstdlib>
+// Vision Utils
#include "../vision_utils.h"
-
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
-
-// Detectors
-#include "../detectors/orb/detector_orb.h"
-#include "../detectors/fast/detector_fast.h"
-#include "../detectors/sift/detector_sift.h"
-#include "../detectors/surf/detector_surf.h"
-#include "../detectors/brisk/detector_brisk.h"
-#include "../detectors/mser/detector_mser.h"
-#include "../detectors/gftt/detector_gftt.h"
-#include "../detectors/harris/detector_harris.h"
-#include "../detectors/sbd/detector_sbd.h"
-#include "../detectors/kaze/detector_kaze.h"
-#include "../detectors/akaze/detector_akaze.h"
-#include "../detectors/agast/detector_agast.h"
-
-// Algorithms
#include "../algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h"
+#include "../detectors.h"
+#include "../sensors.h"
#define MIN_GOOD_POINTS 20
diff --git a/src/examples/test_algorithm_trackfeatures.cpp b/src/examples/test_algorithm_trackfeatures.cpp
index e2c798cf0f592e3ff9e84a99bafe846d9000502f..ef0441b7c3d43be1448c047c4cddb1bc84759104 100644
--- a/src/examples/test_algorithm_trackfeatures.cpp
+++ b/src/examples/test_algorithm_trackfeatures.cpp
@@ -2,53 +2,13 @@
#include <iomanip>
#include <cstdlib>
+#include "../algorithms.h"
+// Vision Utils
#include "../vision_utils.h"
-
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
-
-// Detectors
-#include "../detectors/orb/detector_orb.h"
-#include "../detectors/fast/detector_fast.h"
-#include "../detectors/sift/detector_sift.h"
-#include "../detectors/surf/detector_surf.h"
-#include "../detectors/brisk/detector_brisk.h"
-#include "../detectors/mser/detector_mser.h"
-#include "../detectors/gftt/detector_gftt.h"
-#include "../detectors/harris/detector_harris.h"
-#include "../detectors/sbd/detector_sbd.h"
-#include "../detectors/kaze/detector_kaze.h"
-#include "../detectors/akaze/detector_akaze.h"
-#include "../detectors/agast/detector_agast.h"
-
-// Descriptors
-#include "../descriptors/orb/descriptor_orb.h"
-#include "../descriptors/sift/descriptor_sift.h"
-#include "../descriptors/surf/descriptor_surf.h"
-#include "../descriptors/brisk/descriptor_brisk.h"
-#include "../descriptors/kaze/descriptor_kaze.h"
-#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/daisy/descriptor_daisy.h"
-#include "../descriptors/lucid/descriptor_lucid.h"
-
-// Matchers
-#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"
-#include "../matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h"
-
-// Algorithms
-#include "../algorithms/trackfeatures/alg_trackfeatures.h"
-
-// TODO: set as user parameters
-//#define ROI_WIDTH 20
-//#define ROI_HEIGHT 20
-//#define MIN_FEATURES_TRACK 2
-//#define MATCHER_MIN_NORMALIZED_SCORE 0.85
+#include "../descriptors.h"
+#include "../detectors.h"
+#include "../matchers.h"
+#include "../sensors.h"
using namespace vision_utils;
diff --git a/src/examples/test_descriptor.cpp b/src/examples/test_descriptor.cpp
index 58b08256b6293beef5141841ed14043fd218083c..f43fb97e593198e865e046a02e50881553a8f14f 100644
--- a/src/examples/test_descriptor.cpp
+++ b/src/examples/test_descriptor.cpp
@@ -2,38 +2,11 @@
#include <iomanip>
#include <cstdlib>
+#include "../descriptors.h"
+// Vision Utils
#include "../vision_utils.h"
-
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
-
-// Detectors
-#include "../detectors/orb/detector_orb.h"
-#include "../detectors/fast/detector_fast.h"
-#include "../detectors/sift/detector_sift.h"
-#include "../detectors/surf/detector_surf.h"
-#include "../detectors/brisk/detector_brisk.h"
-#include "../detectors/mser/detector_mser.h"
-#include "../detectors/gftt/detector_gftt.h"
-#include "../detectors/harris/detector_harris.h"
-#include "../detectors/sbd/detector_sbd.h"
-#include "../detectors/kaze/detector_kaze.h"
-#include "../detectors/akaze/detector_akaze.h"
-#include "../detectors/agast/detector_agast.h"
-
-// Descriptors
-#include "../descriptors/orb/descriptor_orb.h"
-#include "../descriptors/sift/descriptor_sift.h"
-#include "../descriptors/surf/descriptor_surf.h"
-#include "../descriptors/brisk/descriptor_brisk.h"
-#include "../descriptors/kaze/descriptor_kaze.h"
-#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/daisy/descriptor_daisy.h"
-#include "../descriptors/lucid/descriptor_lucid.h"
-
+#include "../detectors.h"
+#include "../sensors.h"
int main(void)
{
diff --git a/src/examples/test_detector.cpp b/src/examples/test_detector.cpp
index df23f6c54558f93541e9dbdb93c917171656d0fd..14d634a4f5eaa8fbd8c33b646cd45549a158fb84 100644
--- a/src/examples/test_detector.cpp
+++ b/src/examples/test_detector.cpp
@@ -2,24 +2,10 @@
#include <iomanip>
#include <cstdlib>
+#include "../detectors.h"
+// Vision Utils
#include "../vision_utils.h"
-
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
-
-// Detectors
-#include "../detectors/orb/detector_orb.h"
-#include "../detectors/fast/detector_fast.h"
-#include "../detectors/sift/detector_sift.h"
-#include "../detectors/surf/detector_surf.h"
-#include "../detectors/brisk/detector_brisk.h"
-#include "../detectors/mser/detector_mser.h"
-#include "../detectors/gftt/detector_gftt.h"
-#include "../detectors/harris/detector_harris.h"
-#include "../detectors/sbd/detector_sbd.h"
-#include "../detectors/kaze/detector_kaze.h"
-#include "../detectors/akaze/detector_akaze.h"
-#include "../detectors/agast/detector_agast.h"
+#include "../sensors.h"
int main(void)
{
diff --git a/src/examples/test_factories.cpp b/src/examples/test_factories.cpp
index 2ad0f781b3e6af79a62f64eb18a01dcd2163785c..ba364f7eda735a98a26903cbcf756e434fb20ad3 100644
--- a/src/examples/test_factories.cpp
+++ b/src/examples/test_factories.cpp
@@ -2,12 +2,9 @@
#include <iomanip>
#include <cstdlib>
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
-
-// Detectors
-#include "../detectors/orb/detector_orb.h"
-#include "../detectors/fast/detector_fast.h"
+#include "../sensors.h"
+// Vision Utils
+#include "../vision_utils.h"
int main(void)
{
@@ -33,7 +30,6 @@ int main(void)
SensorBasePtr sen_b_ptr = setupSensor(sen_name, sen_name + "_test", vu_root + file_dot_yaml);
SensorCameraPtr usb_cam_ptr = std::static_pointer_cast<SensorCamera>(sen_b_ptr);
-
return 0;
}
diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index fb75d8d9c7e2447ae67d11f979fcfa761da265e5..079c9988ccef81af8b61ad8a16c35d6d8a7af74e 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -2,44 +2,12 @@
#include <iomanip>
#include <cstdlib>
+#include "../descriptors.h"
+// Vision Utils
#include "../vision_utils.h"
-
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
-
-// Detectors
-#include "../detectors/orb/detector_orb.h"
-#include "../detectors/fast/detector_fast.h"
-#include "../detectors/sift/detector_sift.h"
-#include "../detectors/surf/detector_surf.h"
-#include "../detectors/brisk/detector_brisk.h"
-#include "../detectors/mser/detector_mser.h"
-#include "../detectors/gftt/detector_gftt.h"
-#include "../detectors/harris/detector_harris.h"
-#include "../detectors/sbd/detector_sbd.h"
-#include "../detectors/kaze/detector_kaze.h"
-#include "../detectors/akaze/detector_akaze.h"
-#include "../detectors/agast/detector_agast.h"
-
-// Descriptors
-#include "../descriptors/orb/descriptor_orb.h"
-#include "../descriptors/sift/descriptor_sift.h"
-#include "../descriptors/surf/descriptor_surf.h"
-#include "../descriptors/brisk/descriptor_brisk.h"
-#include "../descriptors/kaze/descriptor_kaze.h"
-#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/daisy/descriptor_daisy.h"
-#include "../descriptors/lucid/descriptor_lucid.h"
-
-// Matchers
-#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"
-#include "../matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h"
+#include "../detectors.h"
+#include "../matchers.h"
+#include "../sensors.h"
int main(void)
{
diff --git a/src/examples/test_sensor.cpp b/src/examples/test_sensor.cpp
index f039953a24a97e790e3953e71bc8d4d1bd936208..3fa82af5388144cd88af4da67029365aa4fb0fb9 100644
--- a/src/examples/test_sensor.cpp
+++ b/src/examples/test_sensor.cpp
@@ -2,8 +2,9 @@
#include <iomanip>
#include <cstdlib>
-// Sensors
-#include "../sensors/usb_cam/usb_cam.h"
+#include "../sensors.h"
+// Vision Utils
+#include "../vision_utils.h"
int main(void)
{
diff --git a/src/matchers.h b/src/matchers.h
new file mode 100644
index 0000000000000000000000000000000000000000..268d950cd759a37be04152851122332d40baaf99
--- /dev/null
+++ b/src/matchers.h
@@ -0,0 +1,13 @@
+#ifndef _MATCHERS_H_
+#define _MATCHERS_H_
+
+#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"
+#include "matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h"
+
+#endif /* _MATCHERS_H_ */
+
+
+
diff --git a/src/matchers/bruteforce/matcher_bruteforce.h b/src/matchers/bruteforce/matcher_bruteforce.h
index 2aee80f80b022110b794ec66697c96eb1bb6b48b..92566a6508c1d86951febf6f3da1e28c74f80bf4 100644
--- a/src/matchers/bruteforce/matcher_bruteforce.h
+++ b/src/matchers/bruteforce/matcher_bruteforce.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
index bc2c1606ab38ae190fa79b5f699cfce82a03f260..637e1d2213b1459172ab85f708efe34a766b998a 100644
--- a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
+++ b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
index acec6949a938d0b743c551a6150326fcd88bb7c3..292807129c5ff18d5515286764c7ddd14c927664 100644
--- a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
+++ b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
index 22c6cccf12f9fee5685b134997dc9d6ef7113b68..d224e5caf41b3e5d9176bd52d26ce4b47020e0d6 100644
--- a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/matchers/flannbased/matcher_flannbased.h b/src/matchers/flannbased/matcher_flannbased.h
index 8638a40d217a04912f9f6408b2978b2fbd8fdd8b..40b7c6b16bed4ecafb56b1ed6c16e5f92543fb2d 100644
--- a/src/matchers/flannbased/matcher_flannbased.h
+++ b/src/matchers/flannbased/matcher_flannbased.h
@@ -4,11 +4,6 @@
#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
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 4d15999b2587ef765bf069fb8ed505d8137d1324..f2744b4a76c72aec5cf86df890e3182dc6545cff 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -1,5 +1,10 @@
#include "matcher_base.h"
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
namespace vision_utils {
MatcherBase::MatcherBase(void)
@@ -171,6 +176,13 @@ MatcherBasePtr setupMatcher(const std::string& _type, const std::string& _unique
ParamsBasePtr params_ptr = ParamsFactory::get().create(_type+" MAT", _filename_dot_yaml);
return setupMatcher(_type, _unique_name, params_ptr);
}
+#else
+MatcherBasePtr setupMatcher(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml)
+{
+ std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
+ << "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
+ << std::endl;
+}
#endif
} /* namespace vision_utils */
diff --git a/src/matchers/matcher_base.h b/src/matchers/matcher_base.h
index 43d79b34b10edb7252f0eeb78f47fc5d70aa7d89..ca33ef785838b7a17a534c009499f09677913183 100644
--- a/src/matchers/matcher_base.h
+++ b/src/matchers/matcher_base.h
@@ -102,9 +102,7 @@ inline MatcherParamsBasePtr MatcherBase::getParams(void) { return params_base_pt
* brief Setup and get the corresponding pointer
*/
MatcherBasePtr setupMatcher(const std::string& _type, const std::string& _unique_name, const ParamsBasePtr& _params);
-#ifdef USING_YAML
MatcherBasePtr setupMatcher(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);
-#endif
} /* namespace vision_utils */
diff --git a/src/sensors.h b/src/sensors.h
new file mode 100644
index 0000000000000000000000000000000000000000..ac068096d7988ed575f08424383da5fde902166c
--- /dev/null
+++ b/src/sensors.h
@@ -0,0 +1,6 @@
+#ifndef _SENSORS_H_
+#define _SENSORS_H_
+
+#include "sensors/usb_cam/usb_cam.h"
+
+#endif /* _SENSORS_H_ */
diff --git a/src/sensors/sensor_base.cpp b/src/sensors/sensor_base.cpp
index 8e698583743849cb8e4c25023afcbca62b4389f9..a36ef53afe6495d6ca1b9a941a7aab7fd8ba537e 100644
--- a/src/sensors/sensor_base.cpp
+++ b/src/sensors/sensor_base.cpp
@@ -29,6 +29,13 @@ SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_n
ParamsBasePtr params_ptr = ParamsFactory::get().create(_type, _filename_dot_yaml);
return setupSensor(_type, _unique_name, params_ptr);
}
+#else
+SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml)
+{
+ std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
+ << "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
+ << std::endl;
+}
#endif
} /* namespace vision_utils */
diff --git a/src/sensors/sensor_base.h b/src/sensors/sensor_base.h
index 9021410dd7e42a7de5dfdac9b22561fed6db6100..10e020e9086340b6b968c2775aadd4ecd7fb8175 100644
--- a/src/sensors/sensor_base.h
+++ b/src/sensors/sensor_base.h
@@ -55,9 +55,7 @@ inline void SensorBase::setName(const std::string& _name){ name_ = _name; }
* brief Setup and get the corresponding pointer
*/
SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_name, const ParamsBasePtr& _intrinsics);
-#ifdef USING_YAML
SensorBasePtr setupSensor(const std::string& _type, const std::string& _unique_name, const std::string& _filename_dot_yaml);
-#endif
} /* namespace vision_utils */
diff --git a/src/sensors/usb_cam/usb_cam.h b/src/sensors/usb_cam/usb_cam.h
index d3894596fc188c302f151bfb1cdd8bafb93d85d0..0046367ccb4e4790ac2566afdd9131f881e0f8f1 100644
--- a/src/sensors/usb_cam/usb_cam.h
+++ b/src/sensors/usb_cam/usb_cam.h
@@ -3,11 +3,6 @@
#include "../sensor_base.h"
-// yaml-cpp library
-#ifdef USING_YAML
- #include <yaml-cpp/yaml.h>
-#endif
-
namespace vision_utils {
// Create all pointers
diff --git a/src/vision_utils.cpp b/src/vision_utils.cpp
index a54a00f8fa5d046248b65c04c6f9a315fff4c646..877cd3d4939f3075249c3a253a21e8d7d85f31b7 100644
--- a/src/vision_utils.cpp
+++ b/src/vision_utils.cpp
@@ -1,7 +1,9 @@
#include "vision_utils.h"
// yaml-cpp library
-#include <yaml-cpp/yaml.h>
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
namespace vision_utils
{
@@ -212,6 +214,20 @@ void adaptRoi(const int& _inflation_rate, const cv::Mat& _image, cv::Rect& _roi,
_image_roi = _image(_roi);
};
+void retainBest(KeyPointVector& _kpts, int n)
+{
+ if (_kpts.size() > n) {
+ if (n == 0) {
+ _kpts.clear();
+ return;
+ }
+ std::nth_element(_kpts.begin(), _kpts.begin() + n, _kpts.end(),
+ [](cv::KeyPoint& a, cv::KeyPoint& b) { return a.response > b.response; });
+ _kpts.resize(n);
+ }
+}
+
+#ifdef USING_YAML
std::string readYamlType(const std::string& _filename_dot_yaml, const std::string& _type)
{
std::string type_read;
@@ -225,19 +241,14 @@ std::string readYamlType(const std::string& _filename_dot_yaml, const std::strin
return type_read;
};
-
-void retainBest(KeyPointVector& _kpts, int n)
+#else
+std::string readYamlType(const std::string& _filename_dot_yaml, const std::string& _type)
{
- if (_kpts.size() > n) {
- if (n == 0) {
- _kpts.clear();
- return;
- }
- std::nth_element(_kpts.begin(), _kpts.begin() + n, _kpts.end(),
- [](cv::KeyPoint& a, cv::KeyPoint& b) { return a.response > b.response; });
- _kpts.resize(n);
- }
+ std::cerr << "[Vision utils]: Current version of the library has no YAML support. "
+ << "Try installing YAML-related libraries and recompile and reinstall the Vision Utils library."
+ << std::endl;
}
+#endif
} /* namespace vision_utils */