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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
View File

@@ -104,7 +104,8 @@ public:
kFeatureGfttFreak=5, kFeatureGfttFreak=5,
kFeatureGfttBrief=6, kFeatureGfttBrief=6,
kFeatureBrisk=7, 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(const ParametersMap & parameters = ParametersMap());
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -431,6 +432,29 @@ private:
cv::Ptr<CV_BRISK> brisk_; 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; 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;
}
} }

22
guilib/src/PreferencesDialog.cpp
View File

@@ -176,8 +176,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#endif #endif
#endif #endif
#if CV_MAJOR_VERSION == 3 #if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false); _ui->groupBox_fast_opencv2->setEnabled(false);
#else
_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
#endif #endif
_ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1); _ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1);
@@ -2253,6 +2256,23 @@ bool PreferencesDialog::validateForm()
} }
#endif #endif
#if CV_MAJOR_VERSION < 3
if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureFreak)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
"for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureFreak)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
}
#endif
// optimization strategy // optimization strategy
if(_ui->graphOptimization_type->currentIndex() == 0 && !Optimizer::isAvailable(Optimizer::kTypeTORO)) if(_ui->graphOptimization_type->currentIndex() == 0 && !Optimizer::isAvailable(Optimizer::kTypeTORO))
{ {

95
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,16 +63,25 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-274</y>
<width>673</width> <width>677</width>
<height>2649</height> <height>2512</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -86,7 +95,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>1</number> <number>19</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4322,7 +4331,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string> <string>Directory of images (optional settings)</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_93"> <layout class="QVBoxLayout" name="verticalLayout_93">
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -6467,6 +6485,11 @@ generate the number of words requested.</string>
<string>GFTT+ORB</string> <string>GFTT+ORB</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>FREAK</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
@@ -10592,7 +10615,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
<widget class="QWidget" name="page_54"> <widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85"> <layout class="QVBoxLayout" name="verticalLayout_85">
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -10732,7 +10764,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget> </widget>
<widget class="QWidget" name="page_55"> <widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86"> <layout class="QVBoxLayout" name="verticalLayout_86">
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -10890,7 +10931,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -10970,7 +11020,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -11082,7 +11141,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -11299,6 +11367,11 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<string>GFTT+ORB</string> <string>GFTT+ORB</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>FREAK</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="3" column="0">