diff --git a/src/processor_image_feature.cpp b/src/processor_image_feature.cpp
index e7387ccdcf9b5d205f9b2830128908d71d4c77e0..0c6155214f2fd4922452da5932d4851207385582 100644
--- a/src/processor_image_feature.cpp
+++ b/src/processor_image_feature.cpp
@@ -10,6 +10,58 @@
namespace wolf
{
+#if defined (HAVE_OPENCV3)
+
+ProcessorImageFeature::ProcessorImageFeature(ProcessorParamsImage _params) :
+ ProcessorTrackerFeature("IMAGE", _params.algorithm.max_new_features),
+ params_(_params),
+ active_search_grid_()
+{
+ // 1. detector-descriptor params
+ DetectorDescriptorParamsBasePtr _dd_params = _params.detector_descriptor_params_ptr;
+ switch (_dd_params->type){
+ case DD_BRISK:
+ {
+ std::shared_ptr<DetectorDescriptorParamsBrisk> params_brisk = std::static_pointer_cast<DetectorDescriptorParamsBrisk>(_dd_params);
+
+ detector_descriptor_ptr_ = cv::BRISK::create(params_brisk->threshold, //
+ params_brisk->octaves, //
+ params_brisk->pattern_scale);
+
+ detector_descriptor_params_.pattern_radius_ = std::max((unsigned int)((params_brisk->nominal_pattern_radius)*pow(2,params_brisk->octaves)),
+ (unsigned int)((params_brisk->nominal_pattern_radius)*params_brisk->pattern_scale));
+ detector_descriptor_params_.size_bits_ = detector_descriptor_ptr_->descriptorSize() * 8;
+
+ break;
+ }
+ case DD_ORB:
+ {
+ std::shared_ptr<DetectorDescriptorParamsOrb> params_orb = std::static_pointer_cast<DetectorDescriptorParamsOrb>(_dd_params);
+ detector_descriptor_ptr_ = cv::ORB::create(params_orb->nfeatures, //
+ params_orb->scaleFactor, //
+ params_orb->nlevels, //
+ params_orb->edgeThreshold, //
+ params_orb->firstLevel, //
+ params_orb->WTA_K, //
+ params_orb->scoreType, //
+ params_orb->patchSize);
+
+ detector_descriptor_params_.pattern_radius_ = params_orb->edgeThreshold;
+ detector_descriptor_params_.size_bits_ = detector_descriptor_ptr_->descriptorSize() * 8;
+
+ break;
+ }
+ default:
+ throw std::runtime_error("Unknown detector-descriptor type");
+ }
+
+ // 2. matcher params
+// TODO: FIX this
+ matcher_ptr_ = cv::DescriptorMatcher::create("BruteForce");
+// matcher_ptr_ = cv::DescriptorMatcher::create(_params.matcher.similarity_norm);
+}
+#else
+
ProcessorImageFeature::ProcessorImageFeature(ProcessorParamsImage _params) :
ProcessorTrackerFeature("IMAGE", _params.algorithm.max_new_features),
matcher_ptr_(nullptr),
@@ -59,6 +111,8 @@ ProcessorImageFeature::ProcessorImageFeature(ProcessorParamsImage _params) :
}
+#endif
+
//Destructor
ProcessorImageFeature::~ProcessorImageFeature()
{
diff --git a/src/processor_image_feature.h b/src/processor_image_feature.h
index 69f1444f365aa0f9cab8a015bec044c1b290b0ff..de47e205853131a9037890754b06aa1ee35170b5 100644
--- a/src/processor_image_feature.h
+++ b/src/processor_image_feature.h
@@ -13,30 +13,36 @@
// OpenCV includes
#if defined (HAVE_OPENCV3)
- #include <opencv2/features2d.hpp>
- #include <opencv2/highgui.hpp>
- #include <opencv2/core.hpp>
- #include <opencv2/imgproc.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
#else
- #include <opencv2/features2d/features2d.hpp>
- #include <opencv2/highgui/highgui.hpp>
- #include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/core/core.hpp>
#endif
// General includes
#include <cmath>
#include <complex> // std::complex, std::norm
-namespace wolf {
-
+namespace wolf
+{
+
WOLF_PTR_TYPEDEFS(ProcessorImageFeature);
-
+
//class
class ProcessorImageFeature : public ProcessorTrackerFeature
{
protected:
+#if defined (HAVE_OPENCV3)
+ cv::Ptr<cv::DescriptorMatcher> matcher_ptr_;
+ cv::Ptr<cv::FeatureDetector> detector_descriptor_ptr_;
+#else
std::shared_ptr<cv::DescriptorMatcher> matcher_ptr_;
std::shared_ptr<cv::Feature2D> detector_descriptor_ptr_;
+#endif
protected:
ProcessorParamsImage params_; // Struct with parameters of the processors
@@ -46,12 +52,12 @@ class ProcessorImageFeature : public ProcessorTrackerFeature
{
unsigned int pattern_radius_; ///< radius of the pattern used to detect a key-point at pattern_scale = 1.0 and octaves = 0
unsigned int size_bits_; ///< length of the descriptor vector in bits
- }detector_descriptor_params_;
+ } detector_descriptor_params_;
struct
{
unsigned int width_; ///< width of the image
unsigned int height_; ///< height of the image
- }image_;
+ } image_;
// Lists to store values to debug
std::list<cv::Rect> tracker_roi_;
@@ -101,7 +107,8 @@ class ProcessorImageFeature : public ProcessorTrackerFeature
* \param _incoming_feature input/output feature in incoming capture to be corrected
* \return false if the the process discards the correspondence with origin's feature
*/
- virtual bool correctFeatureDrift(const FeatureBasePtr _origin_feature, const FeatureBasePtr _last_feature, FeatureBasePtr _incoming_feature);
+ virtual bool correctFeatureDrift(const FeatureBasePtr _origin_feature, const FeatureBasePtr _last_feature,
+ FeatureBasePtr _incoming_feature);
/** \brief Vote for KeyFrame generation
*
@@ -135,7 +142,7 @@ class ProcessorImageFeature : public ProcessorTrackerFeature
* \return the number of detected features
*/
virtual unsigned int detect(cv::Mat _image, cv::Rect& _roi, std::vector<cv::KeyPoint>& _new_keypoints,
- cv::Mat& new_descriptors);
+ cv::Mat& new_descriptors);
private:
/**
@@ -165,8 +172,8 @@ class ProcessorImageFeature : public ProcessorTrackerFeature
* \param _cv_matches output variable in which the best result will be stored (in the position [0])
* \return normalized score of similarity (1 - exact match; 0 - complete mismatch)
*/
- virtual Scalar match(cv::Mat _target_descriptor, cv::Mat _candidate_descriptors, std::vector<cv::DMatch>& _cv_matches);
-
+ virtual Scalar match(cv::Mat _target_descriptor, cv::Mat _candidate_descriptors,
+ std::vector<cv::DMatch>& _cv_matches);
// These only to debug, will disappear one day
public:
@@ -176,8 +183,8 @@ class ProcessorImageFeature : public ProcessorTrackerFeature
virtual void resetVisualizationFlag(FeatureBaseList& _feature_list_last);
public:
- static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr = nullptr);
-
+ static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params,
+ const SensorBasePtr sensor_ptr = nullptr);
};
@@ -186,9 +193,11 @@ inline bool ProcessorImageFeature::voteForKeyFrame()
return (incoming_ptr_->getFeatureList().size() < params_.algorithm.min_features_for_keyframe);
}
-inline ConstraintBasePtr ProcessorImageFeature::createConstraint(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr)
+inline ConstraintBasePtr ProcessorImageFeature::createConstraint(FeatureBasePtr _feature_ptr,
+ FeatureBasePtr _feature_other_ptr)
{
- ConstraintEpipolarPtr const_epipolar_ptr = std::make_shared<ConstraintEpipolar>(_feature_ptr, _feature_other_ptr, shared_from_this());
+ ConstraintEpipolarPtr const_epipolar_ptr = std::make_shared < ConstraintEpipolar
+ > (_feature_ptr, _feature_other_ptr, shared_from_this());
// _feature_ptr->addConstraint(const_epipolar_ptr);
// _feature_other_ptr->addConstrainedBy(const_epipolar_ptr);
return const_epipolar_ptr;
@@ -196,5 +205,4 @@ inline ConstraintBasePtr ProcessorImageFeature::createConstraint(FeatureBasePtr
} // namespace wolf
-
#endif // PROCESSOR_IMAGE_FEATURE_H
diff --git a/src/processor_image_landmark.cpp b/src/processor_image_landmark.cpp
index ff9136c351250ba4e6ef72957adb9f5d82adc045..7e45c81880352e6cbbfa670eae97132abb348ffc 100644
--- a/src/processor_image_landmark.cpp
+++ b/src/processor_image_landmark.cpp
@@ -14,6 +14,60 @@
namespace wolf
{
+#if defined (HAVE_OPENCV3)
+
+ProcessorImageLandmark::ProcessorImageLandmark(const ProcessorParamsImage& _params) :
+ ProcessorTrackerLandmark("IMAGE LANDMARK", _params.algorithm.max_new_features, _params.algorithm.time_tolerance),
+ params_(_params),
+ active_search_grid_(),
+ n_feature_(0),
+ landmark_idx_non_visible_(0)
+{
+ // 1. detector-descriptor params
+ std::shared_ptr<DetectorDescriptorParamsBase> _dd_params = _params.detector_descriptor_params_ptr;
+ switch (_dd_params->type){
+ case DD_BRISK:
+ {
+ std::shared_ptr<DetectorDescriptorParamsBrisk> params_brisk = std::static_pointer_cast<DetectorDescriptorParamsBrisk>(_dd_params);
+ detector_descriptor_ptr_ = cv::BRISK::create(params_brisk->threshold, //
+ params_brisk->octaves, //
+ params_brisk->pattern_scale);
+
+ detector_descriptor_params_.pattern_radius_ = std::max((unsigned int)((params_brisk->nominal_pattern_radius)*pow(2,params_brisk->octaves)),
+ (unsigned int)((params_brisk->nominal_pattern_radius)*params_brisk->pattern_scale));
+
+ detector_descriptor_params_.size_bits_ = detector_descriptor_ptr_->descriptorSize() * 8;
+
+ break;
+ }
+ case DD_ORB:
+ {
+ std::shared_ptr<DetectorDescriptorParamsOrb> params_orb = std::static_pointer_cast<DetectorDescriptorParamsOrb>(_dd_params);
+ detector_descriptor_ptr_ = cv::ORB::create(params_orb->nfeatures, //
+ params_orb->scaleFactor, //
+ params_orb->nlevels, //
+ params_orb->edgeThreshold, //
+ params_orb->firstLevel, //
+ params_orb->WTA_K, //
+ params_orb->scoreType, //
+ params_orb->patchSize);
+
+ detector_descriptor_params_.pattern_radius_ = params_orb->edgeThreshold;
+ detector_descriptor_params_.size_bits_ = detector_descriptor_ptr_->descriptorSize() * 8;
+
+ break;
+ }
+ default:
+ throw std::runtime_error("Unknown detector-descriptor type");
+ }
+
+ // 2. matcher params
+ // TODO: FIX this
+ matcher_ptr_ = cv::DescriptorMatcher::create("BruteForce");
+ // matcher_ptr_ = cv::DescriptorMatcher::create(_params.matcher.similarity_norm);
+}
+
+#else
ProcessorImageLandmark::ProcessorImageLandmark(const ProcessorParamsImage& _params) :
ProcessorTrackerLandmark("IMAGE LANDMARK", _params.algorithm.max_new_features, _params.algorithm.time_tolerance),
@@ -67,6 +121,8 @@ ProcessorImageLandmark::ProcessorImageLandmark(const ProcessorParamsImage& _para
}
+#endif
+
ProcessorImageLandmark::~ProcessorImageLandmark()
{
//
diff --git a/src/processor_image_landmark.h b/src/processor_image_landmark.h
index 91c1e88516112d43bc0df3cfce21e9e6eee8c1e7..a3732ba631b1b1ec3b28bbacf5fe324395c52832 100644
--- a/src/processor_image_landmark.h
+++ b/src/processor_image_landmark.h
@@ -39,8 +39,15 @@ WOLF_PTR_TYPEDEFS(ProcessorImageLandmark);
class ProcessorImageLandmark : public ProcessorTrackerLandmark
{
protected:
+
+#if defined (HAVE_OPENCV3)
+ cv::Ptr<cv::DescriptorMatcher> matcher_ptr_;
+ cv::Ptr<cv::FeatureDetector> detector_descriptor_ptr_;
+#else
std::shared_ptr<cv::DescriptorMatcher> matcher_ptr_;
std::shared_ptr<cv::Feature2D> detector_descriptor_ptr_;
+#endif
+
protected:
ProcessorParamsImage params_; // Struct with parameters of the processors
ActiveSearchGrid active_search_grid_; // Active Search
diff --git a/src/test/gtest_roi_ORB.cpp b/src/test/gtest_roi_ORB.cpp
index aaa568d1161cd32b39686bf78094a252ae424b2e..ea4d4098ad94afdb8c51899d0d291001321668b0 100644
--- a/src/test/gtest_roi_ORB.cpp
+++ b/src/test/gtest_roi_ORB.cpp
@@ -12,9 +12,16 @@
#include "logging.h"
//opencv includes
-#include "opencv2/features2d/features2d.hpp"
+#if defined (HAVE_OPENCV3)
+#include <opencv2/features2d.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#else
+#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>
+#endif
// std include
#include <vector>
@@ -117,14 +124,25 @@ TEST(RoiORB, RoiBounds)
unsigned int scoreType = 0; //#enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
unsigned int patchSize = 31;
- cv::ORB detector(nfeatures, //
- scaleFactor, //
- nlevels, //
- edgeThreshold, //
- firstLevel, //
- WTA_K, //
- scoreType, //
- patchSize);
+#if defined (HAVE_OPENCV3)
+ cv::Ptr<cv::FeatureDetector> detector = cv::ORB::create(nfeatures, //
+ scaleFactor, //
+ nlevels, //
+ edgeThreshold, //
+ firstLevel, //
+ WTA_K, //
+ scoreType, //
+ patchSize);
+#else
+ std::shared_ptr<cv::ORB> detector = std::make_shared<cv::ORB>(nfeatures, //
+ scaleFactor, //
+ nlevels, //
+ edgeThreshold, //
+ firstLevel, //
+ WTA_K, //
+ scoreType, //
+ patchSize);
+#endif
std::vector<cv::KeyPoint> target_keypoints;
cv::KeyPointsFilter keypoint_filter;
@@ -177,7 +195,7 @@ TEST(RoiORB, RoiBounds)
cv::Mat image_roi = image(roi_inflated);
target_keypoints.clear();
- detector.detect(image_roi, target_keypoints);
+ detector->detect(image_roi, target_keypoints);
if (!target_keypoints.empty())
{