From ff113b62bb894889925b6636e1a8d02d0d0916ca Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Thu, 10 Aug 2017 11:27:40 +0200
Subject: [PATCH] working with factories :)
---
src/CMakeLists.txt | 7 +-
src/{internal => _internal}/config.h.in | 0
src/examples/feature_detect_descript.cpp | 115 ----------
.../feature_detect_descript_match.cpp | 201 ------------------
src/examples/test_matcher.cpp | 12 +-
src/feature_matcher/feature_matcher.cpp | 195 -----------------
src/feature_matcher/feature_matcher.h | 81 -------
src/matchers/matcher_base.cpp | 4 +-
src/matchers/matcher_base.h | 2 +-
src/vision_utils.h | 2 +-
10 files changed, 19 insertions(+), 600 deletions(-)
rename src/{internal => _internal}/config.h.in (100%)
delete mode 100644 src/examples/feature_detect_descript.cpp
delete mode 100644 src/examples/feature_detect_descript_match.cpp
delete mode 100644 src/feature_matcher/feature_matcher.cpp
delete mode 100644 src/feature_matcher/feature_matcher.h
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 46028f0..395080f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -143,7 +143,7 @@ ENDIF(YAMLCPP_FOUND)
SET(_VU_ROOT_DIR ${CMAKE_SOURCE_DIR})
# Define the directory where will be the configured config.h
-SET(VU_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/internal)
+SET(VU_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/_internal)
# Create the specified output directory if it does not exist.
IF(NOT EXISTS "${VU_CONFIG_DIR}")
@@ -153,7 +153,8 @@ ENDIF()
IF(EXISTS "${VU_CONFIG_DIR}" AND NOT IS_DIRECTORY "${VU_CONFIG_DIR}")
MESSAGE(FATAL_ERROR "Bug: Specified CONFIG_DIR: ${VU_CONFIG_DIR} exists, but is not a directory.")
ENDIF()
-CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${VU_CONFIG_DIR}/config.h")
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/_internal/config.h.in "${VU_CONFIG_DIR}/config.h")
+MESSAGE(STATUS "Configuring ${PROJECT_NAME} (creating config.h from _internal dir)")
# Include config.h directory at first.
include_directories("${PROJECT_BINARY_DIR}/conf")
@@ -175,7 +176,7 @@ INSTALL(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib/${PROJECT_NAME})
INSTALL(FILES ${headers} DESTINATION include/${PROJECT_NAME})
INSTALL(FILES ../cmake_modules/Find${PROJECT_NAME}.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-INSTALL(FILES "${VU_CONFIG_DIR}/config.h" DESTINATION include/${PROJECT_NAME}/internal)
+INSTALL(FILES "${VU_CONFIG_DIR}/config.h" DESTINATION include/${PROJECT_NAME}/_internal)
# examples of usage
ADD_SUBDIRECTORY(examples)
diff --git a/src/internal/config.h.in b/src/_internal/config.h.in
similarity index 100%
rename from src/internal/config.h.in
rename to src/_internal/config.h.in
diff --git a/src/examples/feature_detect_descript.cpp b/src/examples/feature_detect_descript.cpp
deleted file mode 100644
index 5bbf065..0000000
--- a/src/examples/feature_detect_descript.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-// OWN stuff
-#include <string>
-
-#include "../vision_utils.h"
-
-
-int main(int argc, char *argv[])
-{
- std::cout << "---------------------------------------------------------" << std::endl;
- std::cout << "| Feature detectors and descriptors example |" << std::endl;
- std::cout << "---------------------------------------------------------" << std::endl;
- std::cout << std::endl;
-
- //***********
- // Detector |
- //***********
-
- FeatureDetector detector;
- DetectorParams detector_params; // TODO: Fill parameters
-
- std::vector<std::string> detectors_list;
- detectors_list = detector.list();
-
- for (unsigned int ii=0; ii<detectors_list.size(); ii++)
- {
- if ( (detectors_list[ii].compare("LSD")!=0) && (detectors_list[ii].compare("ED")!=0) )
- std::cout << "[" << ii << "]: " << detectors_list[ii] << std::endl;
- }
-
- // Get default value
- int feat_type;
- detector.get(feat_type);
-
- std::cout << std::endl << "Which DETECTOR do you want to test?[default: " << detectors_list[feat_type] << "]";
-
- feat_type = readFromUser(feat_type);
-
- detector.set(detectors_list[feat_type],detector_params);
-
- //*************
- // Descriptor |
- //*************
-
- FeatureDescriptor descriptor;
- DescriptorParams descriptor_params; // TODO: Fill parameters
-
- std::vector<std::string> descriptor_list;
- descriptor_list = descriptor.list();
-
- for (unsigned int ii=0; ii<descriptor_list.size(); ii++)
- std::cout << "[" << ii << "]: " << descriptor_list[ii] << std::endl;
-
- // Get default value
- int desc_type;
- descriptor.get(desc_type);
-
- std::cout << std::endl << "Which DESCRIPTOR do you want to test?[default: " << descriptor_list[desc_type] << "]";
-
- desc_type = readFromUser(desc_type);
-
- descriptor.set(descriptor_list[desc_type],descriptor_params);
-
- std::cout << std::endl << "Testing: " << detectors_list[feat_type] << " + " << descriptor_list[desc_type] << " (DETECTOR + DESCRIPTOR)" << std::endl;
-
- // *****************************
-
- // Open camera
- cv::VideoCapture cam;
- CamUtils cam_fc;
- cam_fc.openCamera(0, cam);
-
- // Create displays
- cv::startWindowThread();
- cv::namedWindow("Original image", cv::WINDOW_NORMAL);
- cv::namedWindow("Detections", cv::WINDOW_NORMAL);
-
- // The following line is used to remove the OpenCV "init done" from the terminal
- std::cout << "\e[A" << " " << std::endl;
-
- for (int nframe = 0; nframe < 1000; ++nframe)
- {
- // Get frame
- cv::Mat frame;
- cam_fc.getFrame(cam, frame);
-
- // Show ORIGINAL frame
- cv::imshow("Original image", frame);
-
- // Detector
- KeyPointVector keypoints;
- keypoints = detector.detectKeyPoints(frame);
-
- // Descriptor
- cv::Mat descriptors;
- descriptors = descriptor.getDescriptor(frame,keypoints);
-
- // Show frame with features
- detector.drawKeyFeatures(frame, keypoints);
-
- std::cout << "\e[A" <<
- "Detection time: " << detector.getTime() << " " <<
- "Description time: " << descriptor.getTime() << " " <<
- "TOTAL time: " << detector.getTime() + descriptor.getTime() << std::endl;
-
- // Show NEW frame
- cv::imshow("Detections", frame);
- cv::waitKey(1);
- // if (cv::waitKey(30) >= 0) break;
- }
-
- cv::destroyAllWindows();
-}
-
-
-
diff --git a/src/examples/feature_detect_descript_match.cpp b/src/examples/feature_detect_descript_match.cpp
deleted file mode 100644
index b027293..0000000
--- a/src/examples/feature_detect_descript_match.cpp
+++ /dev/null
@@ -1,201 +0,0 @@
-// OWN stuff
-#include <string>
-
-#include <sstream>
-#include "../vision_utils.h"
-
-int main(int argc, char *argv[])
-{
- std::cout << "-------------------------------------------------------------------" << std::endl;
- std::cout << "| Feature detectors, descriptors and matchers example |" << std::endl;
- std::cout << "-------------------------------------------------------------------" << std::endl;
- std::cout << std::endl;
-
- //***********
- // Detector |
- //***********
-
- FeatureDetector detector;
- DetectorParams detector_params; // TODO: Fill parameters
-
- std::vector<std::string> detectors_list;
- detectors_list = detector.list();
-
- for (unsigned int ii=0; ii<detectors_list.size(); ii++)
- {
- if ( (detectors_list[ii].compare("LSD")!=0) && (detectors_list[ii].compare("ED")!=0) )
- std::cout << "[" << ii << "]: " << detectors_list[ii] << std::endl;
- }
-
- // Get default value
- int feat_type;
- detector.get(feat_type);
-
- std::cout << std::endl << "Which DETECTOR do you want to test?[default: " << detectors_list[feat_type] << "]";
-
-// feat_type = readFromUser(feat_type);
-
- detector.set(detectors_list[feat_type],detector_params);
-
- //*************
- // Descriptor |
- //*************
-
- FeatureDescriptor descriptor;
- DescriptorParams descriptor_params; // TODO: Fill parameters
-
- std::vector<std::string> descriptor_list;
- descriptor_list = descriptor.list();
-
- for (unsigned int ii=0; ii<descriptor_list.size(); ii++)
- std::cout << "[" << ii << "]: " << descriptor_list[ii] << std::endl;
-
- // Get default value
- int desc_type;
- descriptor.get(desc_type);
-
- std::cout << std::endl << "Which DESCRIPTOR do you want to test?[default: " << descriptor_list[desc_type] << "]" << std::endl;
-
-// desc_type = readFromUser(desc_type);
-
- descriptor.set(descriptor_list[desc_type],descriptor_params);
-
- //**********
- // Matcher |
- //**********
-
- FeatureMatcher matcher;
- MatcherParams matcher_params; // TODO: Fill parameters
- MatcherParams matcher_search_params; // TODO: Fill parameters
-
- std::vector<std::string> matchers_list;
- matchers_list = matcher.list();
-
- for (unsigned int ii=0; ii<matchers_list.size(); ii++)
- std::cout << "[" << ii << "]: " << matchers_list[ii] << std::endl;
-
- // Get default value
- int match_type;
- matcher.get(match_type);
-
- std::cout << std::endl << "Which MATCHER do you want to test?[default: " << matchers_list[match_type] << "]" << std::endl;
-
-// match_type = readFromUser(match_type);
-
- matcher.set(matchers_list[match_type],matcher_params);
-
- std::vector<std::string> matchers_search_list;
- matchers_search_list = matcher.listSearchTypes();
-
- for (unsigned int ii=0; ii<matchers_search_list.size(); ii++)
- std::cout << "[" << ii << "]: " << matchers_search_list[ii] << std::endl;
-
- // Get default value
- int match_search_type;
- matcher.getSearchType(match_search_type);
-
- std::cout << std::endl << "Which MATCHER SEARCH do you want to test?[default: " << matchers_search_list[match_search_type] << "]" << std::endl;
-
-// match_search_type = readFromUser(match_search_type);
-
- matcher.setSearchType(matchers_search_list[match_search_type],matcher_search_params);
-
- std::cout << std::endl << "Testing: " << detectors_list[feat_type] << " + " << descriptor_list[desc_type] << " + " << matchers_list[match_type] << " + " << matchers_search_list[match_search_type] << " (DETECTOR + DESCRIPTOR + MATCHER + MATCHER SEARCH)" << std::endl;
-
- // *****************************
-
- // Open camera
- cv::VideoCapture cam;
- CamUtils cam_fc;
- cam_fc.openCamera(0, cam);
-
- // Create displays
- cv::startWindowThread();
- cv::namedWindow("Original image", cv::WINDOW_NORMAL);
- cv::namedWindow("Detections", cv::WINDOW_NORMAL);
- cv::namedWindow("Matches", cv::WINDOW_NORMAL);
-
- cv::Mat frame_old;
- KeyPointVector keypoints_old;
- KeyPointVector good_keypoints;
- cv::Mat descriptors_old;
- std::vector<cv::DMatch> good_matches;
-
- // The following line is used to remove the OpenCV "init done" from the terminal
- std::cout << "\e[A" << " " << std::endl;
-
- for (int nframe = 0; nframe < 1000; ++nframe)
- {
- // Get frame
- cv::Mat frame;
- cam_fc.getFrame(cam, frame);
- cv::Mat frame_matches = frame.clone();
-
- // Show ORIGINAL frame
- cv::imshow("Original image", frame);
-
- // Detector
- KeyPointVector keypoints;
- keypoints = detector.detectKeyPoints(frame);
-
- // Descriptor
- cv::Mat descriptors;
- descriptors = descriptor.getDescriptor(frame,keypoints);
-
- // Matcher
- if (nframe > 1)
- {
- // TODO: Implement this object creation depending on user preferences
- // if (matchers_search_list[match_search_type].compare("Match") == 0)
- // std::vector<cv::DMatch> matches;
- // else
- std::vector< std::vector<cv::DMatch> > matches;
- matcher.match(descriptors,descriptors_old,matches);
-
- // Filter matches
- good_matches.clear();
- good_keypoints.clear();
- matcher.filterMatches(keypoints_old, keypoints, matches, frame.rows, frame.cols, good_matches, good_keypoints);
- }
-
- // Update objects
- keypoints_old.clear();
- keypoints_old.resize(keypoints.size());
- for (unsigned int ii = 0; ii < keypoints.size(); ++ii)
- keypoints_old.push_back(keypoints[ii]);
- descriptors_old = cv::Mat(descriptors.size(),descriptors.type());
- descriptors_old = descriptors.clone();
- frame_old = frame;
-
- // Show frame with features
- detector.drawKeyFeatures(frame, keypoints);
-
- // Draw matches
- if (nframe > 1 && !keypoints_old.empty() && !keypoints.empty())
- {
- matcher.drawKeyFeatures(frame_matches, good_keypoints);
-// cv::drawMatches( frame_old, keypoints_old, frame, keypoints,
-// good_matches, frame_matches, cv::Scalar::all(-1), cv::Scalar::all(-1),
-// std::vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
- for (unsigned int ii = 0; ii < good_keypoints.size(); ++ii)
- cv::line(frame_matches,good_keypoints[ii].pt,good_keypoints[ii].pt,cv::Scalar(0,255,0),3);
- cv::imshow("Matches", frame_matches);
- }
-
- // Show NEW frame
- cv::imshow("Detections", frame);
- cv::waitKey(1);
- // if (cv::waitKey(30) >= 0) break;
-
- std::cout << "\e[A" <<
- "Detection time: " << detector.getTime() << " " <<
- "Description time: " << descriptor.getTime() << " " <<
- "Match time: " << matcher.getTime() << " " <<
- "TOTAL time: " << detector.getTime() + descriptor.getTime() << std::endl;
- }
-
- cv::destroyAllWindows();
-}
-
-
-
diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index 18e09bf..172f4e5 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -176,7 +176,17 @@ int main(void)
if (mat_params_ptr->match_type == MATCH)
{
+ good_matches.clear();
+ good_keypoints.clear();
+
mat_ptr->match(descriptors,descriptors_old,good_matches);
+
+ for (size_t ii = 0; ii < good_matches.size(); ++ii)
+ {
+ cv::Point2f point = keypoints[good_matches[ii].trainIdx].pt;
+ cv::KeyPoint kpt = cv::KeyPoint(point,1);
+ good_keypoints.push_back(kpt);
+ }
}
else
{
@@ -185,7 +195,7 @@ int main(void)
good_matches.clear();
good_keypoints.clear();
- mat_ptr->filterByDistance(0.25,keypoints_old, keypoints, matches, frame.rows, frame.cols, good_matches, good_keypoints);
+ mat_ptr->filterByDistance(1.0,keypoints_old, keypoints, matches, frame.rows, frame.cols, good_matches, good_keypoints);
}
// Draw matches
diff --git a/src/feature_matcher/feature_matcher.cpp b/src/feature_matcher/feature_matcher.cpp
deleted file mode 100644
index a8251e3..0000000
--- a/src/feature_matcher/feature_matcher.cpp
+++ /dev/null
@@ -1,195 +0,0 @@
-#include "feature_matcher.h"
-
-FeatureMatcher::FeatureMatcher(const std::string& _type, const std::string& _match_out_type, const MatcherParams& _params)
-{
- setAllTypes();
-
- //is_init_ = init(_type, _params);
-
- if (!is_init_)
- {
- std::cerr << "[Feature Matcher]: Something went wrong during initialization! Feature Matcher not initialized."
- << std::endl;
- }
-}
-
-FeatureMatcher::FeatureMatcher(void)
-{
- setAllTypes();
-}
-
-FeatureMatcher::~FeatureMatcher(void)
-{
-}
-
-void FeatureMatcher::setAllTypes(void)
-{
- // Define all types
- std::vector<std::string> types;
- types += "FlannBased", "BruteForce", "BruteForce-L1", "BruteForce-Hamming", "BruteForce-Hamming(2)";
- types_.set(types);
- type_ = "BruteForce"; // Default value
-
- // Define all match output variants
- std::vector<std::string> out_types;
- out_types += "Match", "knnMatch", "radiusMatch";
- match_search_types_.set(out_types);
- match_search_type_ = "knnMatch"; // Default value
-}
-
-std::vector<std::string> FeatureMatcher::listSearchTypes(void)
-{
- return match_search_types_.list();
-}
-
-void FeatureMatcher::getSearchType(int& _type)
-{
- _type = match_search_types_(match_search_type_);
-}
-
-void FeatureMatcher::getSearchType(std::string& _type)
-{
- _type = match_search_type_;
-}
-
-bool FeatureMatcher::setSearchType(const std::string& _type, const MatcherParams& _params)
-{
- // TODO: Set parameters for each matcher type
- for (unsigned int ii = 0; ii < match_search_types_.size(); ++ii)
- {
- if (_type.compare(match_search_types_(ii))==0)
- {
- match_search_type_ = _type;
- match_search_params_ = _params;
- return true;
- }
- }
-
- std::cerr << "[Feature Matcher]: matcher output type " << _type << " doesn't exist !" << std::endl;
- return false;
-}
-
-
-bool FeatureMatcher::init(const std::string& _type, const MatcherParams& _params)
-{
- if (is_init_)
- {
- std::cerr
- << "[FeatureMatcher::init]: Matcher already initialized."
- << std::endl;
- return false;
- }
-
- std::cout << _type << std::endl;
-
-
- // TODO: Set parameters for each matcher type
- if (_type.compare(types_(0))==0)
- {
- feature_matcher_ = cv::DescriptorMatcher::create(_type);
- type_ = types_(0);
- }
- else if (_type.compare(types_(1))==0)
- {
- feature_matcher_ = cv::DescriptorMatcher::create(_type);
- type_ = types_(1);
- }
- else if (_type.compare(types_(2))==0)
- {
- feature_matcher_ = cv::DescriptorMatcher::create(_type);
- type_ = types_(2);
- }
- else if (_type.compare(types_(3))==0)
- {
- feature_matcher_ = cv::DescriptorMatcher::create(_type);
- type_ = types_(3);
- }
- else if (_type.compare(types_(4))==0)
- {
- feature_matcher_ = cv::DescriptorMatcher::create(_type);
- type_ = types_(4);
- }
- else
- {
- std::cerr << "[Feature Matcher]: mathcer_type " << _type << " doesn't exist !" << std::endl;
- return false;
- }
-
- is_init_ = true;
- return true;
-}
-
-// TODO: Match features and process matches (e.g. https://github.com/kipr/opencv/blob/master/samples/cpp/detector_descriptor_matcher_evaluation.cpp)
-void FeatureMatcher::match(const cv::Mat& _desc1, const cv::Mat& _desc2, std::vector<cv::DMatch>& matches)
-{
- std::cout << __LINE__ << std::endl;
- if (!is_init_)
- std::cerr << "[FeatureMatcher::match]: Matcher non initialized." << std::endl;
-
- if (match_search_type_.compare(match_search_types_(0))==0)
- {
- clock_t tStart = clock();
- // TODO: use parameters related with the search type (match_search_params_)
- std::cout << __LINE__ << " " << _desc1.size() << " " << _desc2.size() << std::endl;
- if (!_desc1.empty() && !_desc2.empty())
- feature_matcher_->match( _desc1, _desc2, matches);
- comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
- }
- else
- std::cerr << "[FeatureMatcher::match]: The selected matcher output is different than your object." << std::endl;
-}
-
-// TODO: Match features and process matches (e.g. https://github.com/kipr/opencv/blob/master/samples/cpp/detector_descriptor_matcher_evaluation.cpp)
-void FeatureMatcher::match(const cv::Mat& _desc1, const cv::Mat& _desc2, std::vector< std::vector<cv::DMatch> >& matches)
-{
- if (!is_init_)
- std::cerr << "[FeatureMatcher::match]: Matcher non initialized." << std::endl;
-
- if (match_search_type_.compare(match_search_types_(1))==0)// knn match
- {
- clock_t tStart = clock();
- // TODO: use parameters related with the search type (match_search_params_)
- if (!_desc1.empty() && !_desc2.empty())
- feature_matcher_->knnMatch(_desc1, _desc2, matches, 2);
- comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
- }
- else if (match_search_type_.compare(match_search_types_(2))==0) // radius match
- {
- clock_t tStart = clock();
- // TODO: use parameters related with the search type (match_search_params_)
- if (!_desc1.empty() && !_desc2.empty())
- feature_matcher_->radiusMatch(_desc1, _desc2, matches, 2);
- comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
- }
- else
- std::cerr << "[FeatureMatcher::match]: The selected matcher output is different than your object." << std::endl;
-}
-
-void FeatureMatcher::filterMatches(const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const std::vector< std::vector<cv::DMatch> >& _dirty, const int& _img_width, const int& _img_height, std::vector<cv::DMatch>& _filtered_matches, KeyPointVector& _filtered_kpts)
-{
- //only 25% of maximum of possible distance
- double tresholdDist = 0.25 * sqrt(double(_img_height*_img_height + _img_width*_img_width));
-
- std::vector< cv::DMatch > good_matches2;
- _filtered_matches.reserve(_dirty.size());
- for (size_t ii = 0; ii < _dirty.size(); ++ii)
- {
- for (unsigned int jj = 0; jj < _dirty[ii].size(); jj++)
- {
- cv::Point2f from = _kpts1[_dirty[ii][jj].queryIdx].pt;
- cv::Point2f to = _kpts2[_dirty[ii][jj].trainIdx].pt;
-
- //calculate local distance for each possible match
- double dist = std::sqrt((from.x - to.x) * (from.x - to.x) + (from.y - to.y) * (from.y - to.y));
-
- //save as best match if local distance is in specified area and on same height
- if (dist < tresholdDist && std::abs(from.y-to.y)<5)
- {
- _filtered_matches.push_back(_dirty[ii][jj]);
- cv::KeyPoint kpt = cv::KeyPoint(to,1);
- _filtered_kpts.push_back(kpt);
- jj = _dirty[ii].size();
- }
- }
- }
-}
diff --git a/src/feature_matcher/feature_matcher.h b/src/feature_matcher/feature_matcher.h
deleted file mode 100644
index 96493c7..0000000
--- a/src/feature_matcher/feature_matcher.h
+++ /dev/null
@@ -1,81 +0,0 @@
-#ifndef _FEATURE_MATCHER_H
-#define _FEATURE_MATCHER_H
-
-#include "../vision_utils.h"
-
-typedef cv::Ptr<cv::DescriptorMatcher> FeatureMatcherPtr;
-
-/**
- * \brief Feature descriptor parameters class
- */
-class MatcherParams: public ParamsBase {
-public:
- MatcherParams(void) {
- }
- ;
- ~MatcherParams(void) {
- }
- ;
-};
-
-class FeatureMatcher: public VUBase
-{
- public:
-
- FeatureMatcher(const std::string& _type, const std::string& _match_out_type, const MatcherParams& _params);
- FeatureMatcher(void);
-
- ~FeatureMatcher(void);
-
- /**
- * \brief list all possible match output types (All, K nearest, in a radius search, ...)
- */
- std::vector<std::string> listSearchTypes(void);
-
- /**
- * \brief Set matcher search method
- */
- bool setSearchType(const std::string& _type, const MatcherParams& _params);
-
- /**
- * \brief Get matcher search method
- */
- void getSearchType(int& _type);
- void getSearchType(std::string& _type);
- /**
- * \brief Find Matches
- */
- void match(const cv::Mat& _desc1, const cv::Mat& _desc2, std::vector<cv::DMatch>& matches);
-
- /**
- * \brief Find K best matches or matches in a radius (depending on selected match_search_type_)
- */
- void match(const cv::Mat& _desc1, const cv::Mat& _desc2, std::vector< std::vector<cv::DMatch> >& matches);
-
- /**
- * \brief Look whether the match is inside a defined area of the image
- *
- * From https://stackoverflow.com/questions/17967950/improve-matching-of-feature-points-with-opencv
- */
- void filterMatches(const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const std::vector< std::vector<cv::DMatch> >& _dirty, const int& _img_width, const int& _img_height, std::vector<cv::DMatch>& _filtered_matches, KeyPointVector& _filtered_kpts);
-
- private:
-
- FeatureMatcherPtr feature_matcher_; // Feature matcher
-
- TypesList match_search_types_; // Match type (match with all, knn and radius search).
- MatcherParams match_search_params_; // Search type parameters.
- std::string match_search_type_; // Match type (match with all, knn and radius search).
-
- /**
- * \brief Set all types
- */
- void setAllTypes(void);
-
- /**
- * \brief Initialize matcher
- */
- bool init(const std::string &_type, const MatcherParams &_params);
-};
-
-#endif
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 4e40a6b..e7a29e1 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -67,11 +67,11 @@ void MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _desc2, std::vecto
std::cerr << "[" << name_ << "]:Wrong match type or output object." << std::endl;
}
-void MatcherBase::filterByDistance(const int& _percentage, const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const std::vector< std::vector<cv::DMatch> >& _dirty, const int& _img_width, const int& _img_height, std::vector<cv::DMatch>& _filtered_matches, KeyPointVector& _filtered_kpts)
+void MatcherBase::filterByDistance(const float& _percentage, const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const std::vector< std::vector<cv::DMatch> >& _dirty, const int& _img_width, const int& _img_height, std::vector<cv::DMatch>& _filtered_matches, KeyPointVector& _filtered_kpts)
{
if (params_base_ptr_->match_type == KNNMATCH || params_base_ptr_->match_type == RADIUSMATCH)
{
- double tresholdDist = (_percentage/100) * sqrt(double(_img_height*_img_height + _img_width*_img_width));
+ double tresholdDist = _percentage * sqrt(double(_img_height*_img_height + _img_width*_img_width));
std::vector< cv::DMatch > good_matches2;
_filtered_matches.reserve(_dirty.size());
diff --git a/src/matchers/matcher_base.h b/src/matchers/matcher_base.h
index c41acbd..3b9678b 100644
--- a/src/matchers/matcher_base.h
+++ b/src/matchers/matcher_base.h
@@ -63,7 +63,7 @@ class MatcherBase : public VUBase, public std::enable_shared_from_this<MatcherBa
MatcherParamsBasePtr getParams(void);
- void filterByDistance(const int& _percentage, const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const std::vector< std::vector<cv::DMatch> >& _dirty, const int& _img_width, const int& _img_height, std::vector<cv::DMatch>& _filtered_matches, KeyPointVector& _filtered_kpts);
+ void filterByDistance(const float& _percentage, const KeyPointVector& _kpts1,const KeyPointVector& _kpts2, const std::vector< std::vector<cv::DMatch> >& _dirty, const int& _img_width, const int& _img_height, std::vector<cv::DMatch>& _filtered_matches, KeyPointVector& _filtered_kpts);
// Factory method
static MatcherBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
diff --git a/src/vision_utils.h b/src/vision_utils.h
index 435415e..8b962d6 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -1,7 +1,7 @@
#ifndef _VU_UTILS_H
#define _VU_UTILS_H
-#include "internal/config.h"
+#include "_internal/config.h"
// std
#include <functional>
--
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