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Added KAZE feature detector (OpenCV3)

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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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corelib/include/rtabmap/core/Features2d.h
+14 -10
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@@ -105,7 +105,7 @@ public:
kFeatureGfttBrief=6,
kFeatureBrisk=7,
kFeatureGfttOrb=8, //new 0.10.11
kFeatureFreak=9}; //new 0.11.14
kFeatureKaze=9}; //new 0.13.2
static Feature2D * create(const ParametersMap & parameters = ParametersMap());
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -433,27 +433,31 @@ private:
cv::Ptr<CV_BRISK> brisk_;
};
//FREAK
class RTABMAP_EXP FREAK : public Feature2D
//KAZE
class RTABMAP_EXP KAZE : public Feature2D
{
public:
FREAK(const ParametersMap & parameters = ParametersMap());
virtual ~FREAK();
KAZE(const ParametersMap & parameters = ParametersMap());
virtual ~KAZE();
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const { return kFeatureFreak; }
virtual Feature2D::Type getType() const { return kFeatureKaze; }
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_;
bool extended_;
bool upright_;
float threshold_;
int nOctaves_;
int nOctaveLayers_;
int diffusivity_;
cv::Ptr<CV_FREAK> _freak;
#if CV_MAJOR_VERSION > 2
cv::Ptr<cv::KAZE> kaze_;
#endif
};
corelib/include/rtabmap/core/Parameters.h
+12 -5
View File
@@ -224,9 +224,9 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
#ifdef RTABMAP_NONFREE
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
#else
RTABMAP_PARAM(Kp, DetectorStrategy, int, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
#endif
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
@@ -294,6 +294,13 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(BRISK, Octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
RTABMAP_PARAM(BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
RTABMAP_PARAM(KAZE, Extended, bool, false, "Set to enable extraction of extended (128-byte) descriptor.");
RTABMAP_PARAM(KAZE, Upright, bool, false, "Set to enable use of upright descriptors (non rotation-invariant).");
RTABMAP_PARAM(KAZE, Threshold, float, 0.001, "Detector response threshold to accept point.");
RTABMAP_PARAM(KAZE, NOctaves, int, 4, "Maximum octave evolution of the image.");
RTABMAP_PARAM(KAZE, NOctaveLayers, int, 4, "Default number of sublevels per scale level.");
RTABMAP_PARAM(KAZE, Diffusivity, int, 1, "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
// BayesFilter
RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior");
RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}.");
@@ -469,12 +476,12 @@ class RTABMAP_EXP Parameters
#ifndef RTABMAP_NONFREE
#ifdef RTABMAP_OPENCV3
// OpenCV 3 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
#endif
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
#endif
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
corelib/src/Features2d.cpp
+39 -37
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@@ -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;
}
corelib/src/Parameters.cpp
+2 -1
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@@ -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)