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118 lines
3.3 KiB
C++
118 lines
3.3 KiB
C++
/*
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* feature implementation
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*
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* Copyright (C) HamidReza Houshiar
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*
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* Released under the GPL version 3.
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*
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*/
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#include "slam6d/fbr/feature.h"
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using namespace std;
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namespace fbr{
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feature::feature(){
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fDetectorMethod = SIFT_DET;
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fDescriptorMethod = SIFT_DES;
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}
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void feature::featureDetection(cv::Mat pImage, feature_detector_method method){
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//Detect the keypoints using SURF Detector
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if(fDetectorMethod == SURF_DET){
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double minHessian = 400;
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cv::SurfFeatureDetector detector(minHessian);
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detector.detect(pImage, keypoints);
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}
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//Detect the keypoints using SIFT Detector
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if(fDetectorMethod == SIFT_DET){
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cv::SiftFeatureDetector detector;
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detector.detect(pImage, keypoints);
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}
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//Detect the keypoints using ORB Detector
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if(fDetectorMethod == ORB_DET){
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cv::OrbFeatureDetector detector;
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detector.detect(pImage, keypoints);
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}
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//Detect the keypoints using FAST Detector
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if(fDetectorMethod == FAST_DET){
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cv::FastFeatureDetector detector;
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detector.detect(pImage, keypoints);
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}
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//Detect the keypoints using STAR Detector
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if(fDetectorMethod == STAR_DET){
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cv::StarFeatureDetector detector;
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detector.detect(pImage, keypoints);
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}
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}
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void feature::featureDetection(cv::Mat pImage){
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featureDetection(pImage, fDetectorMethod);
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}
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void feature::featureDescription(cv::Mat pImage, feature_descriptor_method method){
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if(keypoints.size() == 0)
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featureDetection(pImage);
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//Create descriptor using SURF
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if(fDescriptorMethod == SURF_DES){
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cv::SurfDescriptorExtractor extractor;
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extractor.compute(pImage, keypoints, descriptors);
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}
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//Create descriptor using SIFT
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if(fDescriptorMethod == SIFT_DES){
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cv::SiftDescriptorExtractor extractor;
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extractor.compute(pImage, keypoints, descriptors);
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}
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//Create descriptor using ORB
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if(fDescriptorMethod == ORB_DES){
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cv::OrbDescriptorExtractor extractor;
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extractor.compute(pImage, keypoints, descriptors);
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}
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}
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void feature::featureDescription(cv::Mat pImage){
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featureDescription(pImage, fDescriptorMethod);
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}
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feature_detector_method feature::getDetectorMethod(){
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return fDetectorMethod;
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}
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feature_descriptor_method feature::getDescriptorMethod(){
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return fDescriptorMethod;
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}
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//check for the keypoints vector not to be empty
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vector<cv::KeyPoint> feature::getFeatures(){
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return keypoints;
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}
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//check for the descriptor Mat not to be empty
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cv::Mat feature::getDescriptors(){
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return descriptors;
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}
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void feature::getDescription(description_method method){
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if(method == FEATURE_DESCRIPTION)
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cout<<"fDetectorMethod: "<<featureDetectorMethodToString(fDetectorMethod)<<", number of detected features: "<<keypoints.size()<<"."<<endl;
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else if(method == DESCRIPTOR_DESCRIPTION)
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cout<<"fDescriptorMethod: "<<featureDescriptorMethodToString(fDescriptorMethod)<<"."<<endl;
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else
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cout<<"fDetectorMethod: "<<featureDetectorMethodToString(fDetectorMethod)<<", number of detected features: "<<keypoints.size()<<", fDescriptorMethod: "<<featureDescriptorMethodToString(fDescriptorMethod)<<"."<<endl;
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cout<<endl;
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}
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unsigned int feature::getNumberOfFeatures(){
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return keypoints.size();
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}
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}
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