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applied standard comment style and standard cpp bracket layout #23

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a07227b
applied standard comment style and standard cpp bracket layout
jiteshpabla Sep 27, 2017
577bc63
applied standard curly bracket layout. Removed unnecessary commented …
jiteshpabla Sep 27, 2017
9b2cd63
Replaced if else staements with switch case. Applied standard curly b…
jiteshpabla Sep 27, 2017
3e8f8d9
Update installation_instruction.rst
jiteshpabla Sep 27, 2017
9c3588d
Updated heading formatting
jiteshpabla Sep 27, 2017
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131 changes: 77 additions & 54 deletions common/utils/ODFeatureDetector2D.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,44 +6,52 @@
#include "ODFeatureDetector2D.h"

using namespace std;

namespace od
{

ODFeatureDetector2D::ODFeatureDetector2D(string type, bool use_gpu)
{
mode_ = SIFT; //by default it is SIFT

if(use_gpu) {
mode_ = SIFT; //by default we set the mode to SIFT

if(use_gpu)
{

//##########GPU VERSION


if(type == "ORB") {
if(type == "ORB")
{
mode_ = ORB_GPU;
feature_detector_ = cv::cuda::ORB::create();
} else if(type == "SIFT") {
}
else if(type == "SIFT")
{
mode_ = SIFT_GPU;
sift_gpu_ = new SiftGPU;
//char * argv[] = {(char *)"-fo", (char *)"-1", (char *)"-v", (char *)"1", (char *)"-cuda", (char *)"0"};
char *argv[] = {(char *) "-fo", (char *) "-1", (char *) "-v", (char *) "1"};
int argc = sizeof(argv) / sizeof(char *);
sift_gpu_->ParseParam(argc, argv);
if(sift_gpu_->CreateContextGL() != SiftGPU::SIFTGPU_FULL_SUPPORTED)
cout << "FATAL ERROR cannot create SIFTGPU context";
}
} else {
}
else
{

//########CPU VERSIONS


if(type == "SIFT") {
if(type == "SIFT")
{
mode_ = SIFT;
feature_detector_ = cv::xfeatures2d::SIFT::create();
} else if(type == "ORB") {
}
else if(type == "ORB")
{
mode_ = ORB;
feature_detector_ = cv::ORB::create();
} else if(type == "SURF") {
}
else if(type == "SURF")
{
mode_ = SURF;
feature_detector_ = cv::xfeatures2d::SURF::create();
}
Expand All @@ -58,7 +66,6 @@ namespace od
feature_detector_->detect(image, keypoints);
feature_detector_->compute(image, keypoints, descriptors);
}
//viewImage(image, keypoints);
}

void CVMatToSiftGPU(const cv::Mat &image, unsigned char *siftImage, cv::Mat &grey)
Expand All @@ -69,79 +76,86 @@ namespace od

memcpy(siftImage, grey.data, image.rows * image.cols);


// tmp2.convertTo(tmp, CV_8U);
// //viewImage(tmp);
//
// for (int y = 0; y < tmp.rows; ++y) {
// for (int x = 0; x < tmp.cols; ++x) {
// siftImage[y * tmp.cols + x] = tmp.at<unsigned char> (y, x);
// }
// }
return;
}

void ODFeatureDetector2D::findSiftGPUDescriptors1(cv::Mat const &image, cv::Mat &descriptors, vector<cv::KeyPoint> &keypoints)
{
unsigned char *data = image.data;
cv::Mat greyimage;
if(image.type() != CV_8U) {
if(image.type() != CV_8U)
{
cv::cvtColor(image, greyimage, cv::COLOR_BGR2GRAY);
data = greyimage.data;
}
sift_gpu_->RunSIFT(image.cols, image.rows, data, GL_LUMINANCE, GL_UNSIGNED_BYTE);

int nFeat = sift_gpu_->GetFeatureNum();//get feature count
//allocate memory for readback
/** get feature count
*/
int nFeat = sift_gpu_->GetFeatureNum();

/** allocate memory for readback
*/
vector<SiftGPU::SiftKeypoint> keys(nFeat);
//read back keypoints and normalized descritpros
//specify NULL if you don’t need keypoints or descriptors

/** read back keypoints and normalized descritpros
* specify NULL if you don’t need keypoints or descriptors
*/
vector<float> imageDescriptors(128 * nFeat);

sift_gpu_->GetFeatureVector(&keys[0], &imageDescriptors[0]);

sift_gpu_->SaveSIFT("2.sift");

//to opencv format
/** to opencv format
*/
keypoints.clear();
descriptors.create(0, 128, CV_32FC1);
for(int i = 0; i < nFeat; ++i) {

for(int i = 0; i < nFeat; ++i)
{
cv::KeyPoint key(keys[i].x, keys[i].y, keys[i].s, keys[i].o);
keypoints.push_back(key);
cv::Mat descriptor(1, 128, CV_32FC1);

for(int x = 0; x < 128; x++)
descriptor.at<float>(x) = floor(0.5 + (512.0f * imageDescriptors[(i * 128) + x]));
for(int j = 0; j < 128; j++)
descriptor.at<float>(j) = floor(0.5 + (512.0f * imageDescriptors[(i * 128) + j]));

descriptors.push_back(descriptor);
}


//viewImage(image, keypoints);

}

void ODFeatureDetector2D::findSiftGPUDescriptors(cv::Mat const &image, cv::Mat &descriptors, vector<cv::KeyPoint> &keypoints)
{
unsigned char *data = image.data;
cv::Mat greyimage;
if(image.type() != CV_8U) {
cv::Mat tmp;
cv::cvtColor(image, tmp, cv::COLOR_BGR2GRAY);
data = tmp.data;
if(image.type() != CV_8U)
{
cv::cvtColor(image, greyimage, cv::COLOR_BGR2GRAY);
data = greyimage.data;
}
sift_gpu_->RunSIFT(image.cols, image.rows, data, GL_LUMINANCE, GL_UNSIGNED_BYTE);

int nFeat = sift_gpu_->GetFeatureNum();//get feature count
//allocate memory for readback
/** get feature count
*/
int nFeat = sift_gpu_->GetFeatureNum();

/** allocate memory for readback
*/
vector<SiftGPU::SiftKeypoint> keys(nFeat);
//read back keypoints and normalized descritpros
//specify NULL if you don’t need keypoints or descriptors

/** read back keypoints and normalized descritpros
* specify NULL if you don’t need keypoints or descriptors
*/
vector<float> imageDescriptors(128 * nFeat);

sift_gpu_->GetFeatureVector(&keys[0], &imageDescriptors[0]);

sift_gpu_->SaveSIFT("2.sift");

//to opencv format
/** to opencv format
*/
keypoints.clear();
cv::Mat descriptormat = cv::Mat(1, nFeat, CV_32F, &imageDescriptors[0]);
descriptormat.copyTo(descriptors);
Expand All @@ -151,29 +165,35 @@ namespace od
keypoints.push_back(key);
}


//viewImage(image, keypoints);

}

void ODFeatureDetector2D::findSiftGPUDescriptors(char const *image_name, cv::Mat &descriptors, vector<cv::KeyPoint> &keypoints)
{
sift_gpu_->RunSIFT(image_name);

int nFeat = sift_gpu_->GetFeatureNum();//get feature count
//allocate memory for readback
/** get feature count
*/
int nFeat = sift_gpu_->GetFeatureNum();

/** allocate memory for readback
*/
vector<SiftGPU::SiftKeypoint> keys(nFeat);
//read back keypoints and normalized descritpros
//specify NULL if you don’t need keypoints or descriptors

/** read back keypoints and normalized descritpros
* specify NULL if you don’t need keypoints or descriptors
*/
vector<float> imageDescriptors(128 * nFeat);

sift_gpu_->GetFeatureVector(&keys[0], &imageDescriptors[0]);

sift_gpu_->SaveSIFT("1.sift");

//to opencv format
/** to opencv format
*/
keypoints.clear();
descriptors.create(0, 128, CV_32FC1);
for(int i = 0; i < nFeat; ++i) {
for(int i = 0; i < nFeat; ++i)
{
cv::KeyPoint key(keys[i].x, keys[i].y, keys[i].s, keys[i].o);
keypoints.push_back(key);
cv::Mat descriptor(1, 128, CV_32FC1);
Expand All @@ -187,10 +207,13 @@ namespace od
{
cv::Mat descriptors;
vector<cv::KeyPoint> keypoints;
if(mode_ == SIFT_GPU) {
if(mode_ == SIFT_GPU)
{
findSiftGPUDescriptors1(image, descriptors, keypoints);
sift_gpu_->SaveSIFT(path.c_str());
} else {
}
else
{
//DO NOTHING! IMPLEMENT LATER

}
Expand Down
42 changes: 35 additions & 7 deletions common/utils/ODFeatureDetector2D.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,23 +36,51 @@ namespace od

mode_ = type;

if(type == SIFT) {
switch(type)
{
case SIFT:
feature_detector_ = cv::xfeatures2d::SIFT::create();
case ORB:
feature_detector_ = cv::ORB::create();
case SURF:
feature_detector_ = cv::xfeatures2d::SURF::create();
case ORB_GPU:
feature_detector_ = cv::cuda::ORB::create();
case SIFT_GPU:
sift_gpu_ = new SiftGPU;
char *argv[] = {(char *) "-fo", (char *) "-1", (char *) "-v", (char *) "3", (char *) "-cuda"};
int argc = sizeof(argv) / sizeof(char *);
sift_gpu_->ParseParam(argc, argv);
if(sift_gpu_->CreateContextGL() != SiftGPU::SIFTGPU_FULL_SUPPORTED)
std::cout << "FATAL ERROR cannot create SIFTGPU context";
}

/*
if(type == SIFT)
{
feature_detector_ = cv::xfeatures2d::SIFT::create();
} else if(type == ORB) {
}
else if(type == ORB)
{
feature_detector_ = cv::ORB::create();
} else if(type == SURF) {
}
else if(type == SURF)
{
feature_detector_ = cv::xfeatures2d::SURF::create();
} else if(type == ORB_GPU) {
}
else if(type == ORB_GPU)
{
feature_detector_ = cv::cuda::ORB::create();
} else if(type == SIFT_GPU) {
}
else if(type == SIFT_GPU)
{
sift_gpu_ = new SiftGPU;
//char * argv[] = {(char *)"-fo", (char *)"-1", (char *)"-v", (char *)"1"};
char *argv[] = {(char *) "-fo", (char *) "-1", (char *) "-v", (char *) "3", (char *) "-cuda"};
int argc = sizeof(argv) / sizeof(char *);
sift_gpu_->ParseParam(argc, argv);
if(sift_gpu_->CreateContextGL() != SiftGPU::SIFTGPU_FULL_SUPPORTED)
std::cout << "FATAL ERROR cannot create SIFTGPU context";
}
}*/
}

//always return Opencv type keypoints
Expand Down
20 changes: 11 additions & 9 deletions common/utils/ODFrameGenerator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,18 +18,18 @@ namespace od
GENERATOR_TYPE_FILE_LIST, GENERATOR_TYPE_DEVICE
};



/** \brief The FrameGenerator class for capturing and reading Scenes conveniently.
* Templated with two parameters - SceneType identifying a Scene class, and TYPE identifying the type of input. After the instantiation with a correct TYPE, use the function
* getNextFrame() to get an instance of next scene of SceneType. getNextFrame() returns valid scenes until all scenes matched are exhausted - the time when 'isValid()' is false.
*
* \tparam SceneT One of the Scene classes - ODSceneImage or ODScenePointCloud
* \tparam TYPE TYPE can be GENERATOR_TYPE_FILE_LIST which means you provide the list of scene files to be returned by the FrameGenerator in the constructor (for eg. \/home/username/pics/*.jpg)
* Or it can be GENERATOR_TYPE_DEVICE which picks up the webcam or the kinect based on the SceneType.
* \author Kripasindhu Sarkar
*
*/
*
* \author Kripasindhu Sarkar
*
*/

template<typename SceneT, GeneratorType TYPE>
class ODFrameGenerator
{
Expand Down Expand Up @@ -146,7 +146,6 @@ namespace od
};
*/


template<>
class ODFrameGenerator<ODScenePointCloud<pcl::PointXYZRGBA> , GENERATOR_TYPE_DEVICE>
{
Expand All @@ -156,7 +155,8 @@ namespace od
typedef pcl::PointCloud<PointT>::Ptr PointCloudPtr;
typedef pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;

/* A simple class for capturing data from an OpenNI camera */
/** A simple class for capturing data from an OpenNI camera
*/
ODFrameGenerator(std::string input = "") : grabber_(input), most_recent_frame_(), frame_counter_(0), active_(true)
{
boost::function<void(const PointCloudConstPtr&)> frame_cb = boost::bind (&ODFrameGenerator<ODScenePointCloud<pcl::PointXYZRGBA> , GENERATOR_TYPE_DEVICE>::onNewFrame, this, _1);
Expand All @@ -167,7 +167,8 @@ namespace od

~ODFrameGenerator()
{
// Stop the grabber when shutting down
/**Stop the grabber when shutting down
*/
grabber_.stop ();
}

Expand All @@ -191,7 +192,8 @@ namespace od
}
void onKeyboardEvent (const pcl::visualization::KeyboardEvent & event)
{
// When the spacebar is pressed, trigger a frame capture
/**When the spacebar is pressed, trigger a frame capture
*/
mutex_.lock ();
if (event.keyDown () && event.getKeySym () == "e")
{
Expand Down
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