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Added KAZE feature detector (OpenCV3)

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This commit is contained in:
matlabbe
2017-07-25 16:20:05 -04:00
parent 5855198b5f
commit f3e491f15b
6 changed files with 271 additions and 62 deletions
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76
corelib/src/Features2d.cpp
View File

@@ -414,8 +414,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
if(type == Feature2D::kFeatureFastBrief ||
type == Feature2D::kFeatureFastFreak ||
type == Feature2D::kFeatureGfttBrief ||
type == Feature2D::kFeatureGfttFreak ||
type == Feature2D::kFeatureFreak)
type == Feature2D::kFeatureGfttFreak)
{
UWARN("BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. ORB is used instead.");
type = Feature2D::kFeatureOrb;
@@ -424,10 +423,15 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
#endif
#if CV_MAJOR_VERSION < 3
if(type == Feature2D::kFeatureFreak)
if(type == Feature2D::kFeatureKaze)
{
UWARN("FREAK detector/descriptor can be used only with OpenCV3. GFTT/FREAK is used instead.");
type = Feature2D::kFeatureGfttFreak;
#ifdef RTABMAP_NONFREE
UWARN("KAZE detector/descriptor can be used only with OpenCV3. SURF is used instead.");
type = Feature2D::kFeatureSurf;
#else
UWARN("KAZE detector/descriptor can be used only with OpenCV3. ORB is used instead.");
type = Feature2D::kFeatureOrb;
#endif
}
#endif
@@ -461,6 +465,9 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
case Feature2D::kFeatureBrisk:
feature2D = new BRISK(parameters);
break;
case Feature2D::kFeatureKaze:
feature2D = new KAZE(parameters);
break;
#ifdef RTABMAP_NONFREE
default:
feature2D = new SURF(parameters);
@@ -1469,71 +1476,66 @@ cv::Mat BRISK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Ke
return descriptors;
}
//////////////////////////
//FREAK
//KAZE
//////////////////////////
FREAK::FREAK(const ParametersMap & parameters) :
orientationNormalized_(Parameters::defaultFREAKOrientationNormalized()),
scaleNormalized_(Parameters::defaultFREAKScaleNormalized()),
patternScale_(Parameters::defaultFREAKPatternScale()),
nOctaves_(Parameters::defaultFREAKNOctaves())
KAZE::KAZE(const ParametersMap & parameters) :
extended_(Parameters::defaultKAZEExtended()),
upright_(Parameters::defaultKAZEUpright()),
threshold_(Parameters::defaultKAZEThreshold()),
nOctaves_(Parameters::defaultKAZENOctaves()),
nOctaveLayers_(Parameters::defaultKAZENOctaveLayers()),
diffusivity_(Parameters::defaultKAZEDiffusivity())
{
parseParameters(parameters);
}
FREAK::~FREAK()
KAZE::~KAZE()
{
}
void FREAK::parseParameters(const ParametersMap & parameters)
void KAZE::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_);
Parameters::parse(parameters, Parameters::kKAZEExtended(), extended_);
Parameters::parse(parameters, Parameters::kKAZEUpright(), upright_);
Parameters::parse(parameters, Parameters::kKAZEThreshold(), threshold_);
Parameters::parse(parameters, Parameters::kKAZENOctaves(), nOctaves_);
Parameters::parse(parameters, Parameters::kKAZENOctaveLayers(), nOctaveLayers_);
Parameters::parse(parameters, Parameters::kKAZEDiffusivity(), diffusivity_);
#if CV_MAJOR_VERSION < 3
_freak = cv::Ptr<CV_FREAK>(new CV_FREAK(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_));
#if CV_MAJOR_VERSION > 2
kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_);
#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
UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
#endif
}
std::vector<cv::KeyPoint> FREAK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> KAZE::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
#if CV_MAJOR_VERSION > 2
cv::Mat imgRoi(image, roi);
cv::Mat maskRoi;
if (!mask.empty())
{
maskRoi = cv::Mat(mask, roi);
}
_freak->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
kaze_->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!");
UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
#endif
return keypoints;
}
cv::Mat FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
cv::Mat KAZE::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);
#if CV_MAJOR_VERSION > 2
kaze_->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
UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
#endif
return descriptors;
}

3
corelib/src/Parameters.cpp
View File

@@ -156,7 +156,8 @@ bool Parameters::isFeatureParameter(const std::string & parameter)
group.compare("FREAK") == 0 ||
group.compare("BRIEF") == 0 ||
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0;
group.compare("BRISK") == 0 ||
group.compare("KAZE") == 0;
}
rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, bool vis, bool icp)