CVFeatureManager.cpp

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/**
 * \file      CVFeatureManager.cpp
 * \brief   OpenCV Detector Describer Wrapper
 * \date      Spring 2017
 * \authors   Marcus Hudritsch
 * \copyright http://opensource.org/licenses/GPL-3.0
 * \remarks   Please use clangformat to format the code. See more code style on
 *            https://github.com/cpvrlab/SLProject4/wiki/SLProject-Coding-Style
*/
 
/*
The OpenCV library version 3.4 or above with extra module must be present.
If the application captures the live video stream with OpenCV you have
to define in addition the constant APP_USES_CVCAPTURE.
All classes that use OpenCV begin with CV.
See also the class docs for CVCapture, CVCalibration and CVTracked
for a good top down information.
*/
 
#include <CVFeatureManager.h>
#include <CVRaulMurOrb.h>
#include <Utils.h>
#include <algorithm> // std::max
 
//-----------------------------------------------------------------------------
CVFeatureManager::CVFeatureManager()
{
    createDetectorDescriptor(DDT_RAUL_RAUL);
}
//-----------------------------------------------------------------------------
CVFeatureManager::~CVFeatureManager()
{
}
//-----------------------------------------------------------------------------
//! Creates a detector and decriptor to the passed type
void CVFeatureManager::createDetectorDescriptor(CVDetectDescribeType type)
{
    switch (type)
    {
#ifndef __EMSCRIPTEN__
        case DDT_FAST_BRIEF:
            _detector   = cv::FastFeatureDetector::create(30,
                                                        true,
                                                        cv::FastFeatureDetector::TYPE_9_16);
            _descriptor = cv::xfeatures2d::BriefDescriptorExtractor::create(32, true);
            break;
#endif
        case DDT_ORB_ORB:
            _detector   = cv::ORB::create(200,
                                        1.44f,
                                        3,
                                        31,
                                        0,
                                        2,
                                        cv::ORB::HARRIS_SCORE,
                                        31,
                                        30);
            _descriptor = _detector;
            break;
        case DDT_RAUL_RAUL:
            _detector   = new CVRaulMurOrb(1500,
                                         1.44f,
                                         4,
                                         30,
                                         20);
            _descriptor = _detector;
            break;
#ifndef __EMSCRIPTEN__
        case DDT_SURF_SURF:
            _detector   = cv::xfeatures2d::SURF::create(100,
                                                      2,
                                                      2,
                                                      false,
                                                      false);
            _descriptor = _detector;
            break;
        case DDT_SIFT_SIFT:
#    if CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 5
            _detector = cv::SIFT::create(300,
                                         2,
                                         0.04,
                                         10,
                                         1.6);
#    else
            _detector = cv::xfeatures2d::SIFT::create(300,
                                                      2,
                                                      0.04,
                                                      10,
                                                      1.6);
#    endif
            _descriptor = _detector;
            break;
#endif
        default:
            Utils::exitMsg("SLProject",
                           "Unknown detector-descriptor type.",
                           __LINE__,
                           __FILE__);
    }
 
    _type = type;
}
//-----------------------------------------------------------------------------
//! Sets the detector and decriptor to the passed ones
void CVFeatureManager::setDetectorDescriptor(CVDetectDescribeType type,
                                             cv::Ptr<CVFeature2D> detector,
                                             cv::Ptr<CVFeature2D> descriptor)
{
    _type       = type;
    _detector   = detector;
    _descriptor = descriptor;
}
//-----------------------------------------------------------------------------
void CVFeatureManager::detectAndDescribe(CVInputArray  image,
                                         CVVKeyPoint&  keypoints,
                                         CVOutputArray descriptors,
                                         CVInputArray  mask)
{
    assert(_detector && "CVFeatureManager::detectAndDescribe: No detector!");
    assert(_descriptor && "CVFeatureManager::detectAndDescribe: No descriptor!");
 
    if (_detector == _descriptor)
        _detector->detectAndCompute(image, mask, keypoints, descriptors);
    else
    {
        _detector->detect(image, keypoints, mask);
        _descriptor->compute(image, keypoints, descriptors);
    }
}
//-----------------------------------------------------------------------------