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Added FREAK detector/descriptor option with OpenCV3

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This commit is contained in:
matlabbe
2017-01-30 22:24:51 -05:00
parent f61569622a
commit 0f96bf7709
4 changed files with 199 additions and 13 deletions
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26
corelib/include/rtabmap/core/Features2d.h
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@@ -104,7 +104,8 @@ public:
kFeatureGfttFreak=5,
kFeatureGfttBrief=6,
kFeatureBrisk=7,
kFeatureGfttOrb=8}; //new 0.10.11
kFeatureGfttOrb=8, //new 0.10.11
kFeatureFreak=9}; //new 0.11.14
static Feature2D * create(const ParametersMap & parameters = ParametersMap());
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -431,6 +432,29 @@ private:
cv::Ptr<CV_BRISK> brisk_;
};
//FREAK
class RTABMAP_EXP FREAK : public Feature2D
{
public:
FREAK(const ParametersMap & parameters = ParametersMap());
virtual ~FREAK();
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const { return kFeatureFreak; }
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
bool orientationNormalized_;
bool scaleNormalized_;
float patternScale_;
int nOctaves_;
cv::Ptr<CV_FREAK> _freak;
};
}

69
corelib/src/Features2d.cpp
View File

@@ -1418,4 +1418,73 @@ cv::Mat BRISK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Ke
return descriptors;
}
//////////////////////////
//FREAK
//////////////////////////
FREAK::FREAK(const ParametersMap & parameters) :
orientationNormalized_(Parameters::defaultFREAKOrientationNormalized()),
scaleNormalized_(Parameters::defaultFREAKScaleNormalized()),
patternScale_(Parameters::defaultFREAKPatternScale()),
nOctaves_(Parameters::defaultFREAKNOctaves())
{
parseParameters(parameters);
}
FREAK::~FREAK()
{
}
void FREAK::parseParameters(const ParametersMap & parameters)
{
Parameters::parse(parameters, Parameters::kFREAKOrientationNormalized(), orientationNormalized_);
Parameters::parse(parameters, Parameters::kFREAKScaleNormalized(), scaleNormalized_);
Parameters::parse(parameters, Parameters::kFREAKPatternScale(), patternScale_);
Parameters::parse(parameters, Parameters::kFREAKNOctaves(), nOctaves_);
#if CV_MAJOR_VERSION < 3
_freak = cv::Ptr<CV_FREAK>(new CV_FREAK(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_));
#else
#ifdef HAVE_OPENCV_XFEATURES2D
_freak = CV_FREAK::create(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_);
#else
UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
#endif
#endif
}
std::vector<cv::KeyPoint> FREAK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
#ifdef HAVE_OPENCV_XFEATURES2D
cv::Mat imgRoi(image, roi);
cv::Mat maskRoi;
if (!mask.empty())
{
maskRoi = cv::Mat(mask, roi);
}
_freak->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
#else
UWARN("RTAB-Map is not built with OpenCV3 xfeatures2d module so Freak (for keypoint detection) cannot be used!");
#endif
return keypoints;
}
cv::Mat FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat descriptors;
#if CV_MAJOR_VERSION < 3
_freak->compute(image, keypoints, descriptors);
#else
#ifdef HAVE_OPENCV_XFEATURES2D
_freak->compute(image, keypoints, descriptors);
#else
UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
#endif
#endif
return descriptors;
}
}