use of boofcv.abst.feature.associate.ScoreAssociateHamming_B in project BoofCV by lessthanoptimal.
the class VisualizeStereoVisualOdometryApp method createStereoDepth.
private StereoVisualOdometry<I> createStereoDepth(int whichAlg) {
Class derivType = GImageDerivativeOps.getDerivativeType(imageType);
StereoDisparitySparse<I> disparity = FactoryStereoDisparity.regionSparseWta(2, 150, 3, 3, 30, -1, true, imageType);
PkltConfig kltConfig = new PkltConfig();
kltConfig.templateRadius = 3;
kltConfig.pyramidScaling = new int[] { 1, 2, 4, 8 };
if (whichAlg == 0) {
ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
PointTrackerTwoPass<I> tracker = FactoryPointTrackerTwoPass.klt(kltConfig, configDetector, imageType, derivType);
return FactoryVisualOdometry.stereoDepth(1.5, 120, 2, 200, 50, false, disparity, tracker, imageType);
} else if (whichAlg == 1) {
ConfigGeneralDetector configExtract = new ConfigGeneralDetector(600, 3, 1);
GeneralFeatureDetector detector = FactoryPointTracker.createShiTomasi(configExtract, derivType);
DescribeRegionPoint describe = FactoryDescribeRegionPoint.brief(null, imageType);
ScoreAssociateHamming_B score = new ScoreAssociateHamming_B();
AssociateDescription2D<TupleDesc_B> associate = new AssociateDescTo2D<>(FactoryAssociation.greedy(score, 150, true));
PointTrackerTwoPass tracker = FactoryPointTrackerTwoPass.dda(detector, describe, associate, null, 1, imageType);
return FactoryVisualOdometry.stereoDepth(1.5, 80, 3, 200, 50, false, disparity, tracker, imageType);
} else if (whichAlg == 2) {
PointTracker<I> tracker = FactoryPointTracker.combined_ST_SURF_KLT(new ConfigGeneralDetector(600, 3, 0), kltConfig, 50, null, null, imageType, derivType);
PointTrackerTwoPass<I> twopass = new PointTrackerToTwoPass<>(tracker);
return FactoryVisualOdometry.stereoDepth(1.5, 80, 3, 200, 50, false, disparity, twopass, imageType);
} else if (whichAlg == 3) {
ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
PointTracker<I> trackerLeft = FactoryPointTracker.klt(kltConfig, configDetector, imageType, derivType);
PointTracker<I> trackerRight = FactoryPointTracker.klt(kltConfig, configDetector, imageType, derivType);
DescribeRegionPoint describe = FactoryDescribeRegionPoint.surfFast(null, imageType);
return FactoryVisualOdometry.stereoDualTrackerPnP(90, 2, 1.5, 1.5, 200, 50, trackerLeft, trackerRight, describe, imageType);
} else if (whichAlg == 4) {
// GeneralFeatureIntensity intensity =
// FactoryIntensityPoint.hessian(HessianBlobIntensity.Type.TRACE,defaultType);
GeneralFeatureIntensity intensity = FactoryIntensityPoint.shiTomasi(1, false, imageType);
NonMaxSuppression nonmax = FactoryFeatureExtractor.nonmax(new ConfigExtract(2, 50, 0, true, false, true));
GeneralFeatureDetector general = new GeneralFeatureDetector(intensity, nonmax);
general.setMaxFeatures(600);
DetectorInterestPointMulti detector = new GeneralToInterestMulti(general, 2, imageType, derivType);
// DescribeRegionPoint describe = FactoryDescribeRegionPoint.brief(new ConfigBrief(true),defaultType);
// DescribeRegionPoint describe = FactoryDescribeRegionPoint.pixelNCC(5,5,defaultType);
DescribeRegionPoint describe = FactoryDescribeRegionPoint.surfFast(null, imageType);
DetectDescribeMulti detDescMulti = new DetectDescribeMultiFusion(detector, null, describe);
return FactoryVisualOdometry.stereoQuadPnP(1.5, 0.5, 75, Double.MAX_VALUE, 300, 50, detDescMulti, imageType);
} else {
throw new RuntimeException("Unknown selection");
}
}
use of boofcv.abst.feature.associate.ScoreAssociateHamming_B in project BoofCV by lessthanoptimal.
the class TestDdaManagerGeneralPoint method createTracker.
@Override
public PointTracker<GrayF32> createTracker() {
DescribePointBrief<GrayF32> brief = FactoryDescribePointAlgs.brief(FactoryBriefDefinition.gaussian2(new Random(123), 16, 512), FactoryBlurFilter.gaussian(ImageType.single(GrayF32.class), 0, 4));
GeneralFeatureDetector<GrayF32, GrayF32> corner = FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(-1, 2, 0), false, GrayF32.class);
ScoreAssociateHamming_B score = new ScoreAssociateHamming_B();
AssociateDescription2D<TupleDesc_B> association = new AssociateDescTo2D<>(FactoryAssociation.greedy(score, 400, true));
DescribeRegionPoint<GrayF32, TupleDesc_B> describe = new WrapDescribeBrief<>(brief, GrayF32.class);
EasyGeneralFeatureDetector<GrayF32, GrayF32> easy = new EasyGeneralFeatureDetector<>(corner, GrayF32.class, GrayF32.class);
DdaManagerGeneralPoint<GrayF32, GrayF32, TupleDesc_B> manager;
manager = new DdaManagerGeneralPoint<>(easy, describe, 2);
DetectDescribeAssociate<GrayF32, TupleDesc_B> tracker = new DetectDescribeAssociate<>(manager, association, false);
return tracker;
}
use of boofcv.abst.feature.associate.ScoreAssociateHamming_B in project BoofCV by lessthanoptimal.
the class TestDdaManagerDetectDescribePoint method createTracker.
@Override
public PointTracker<GrayF32> createTracker() {
DescribePointBrief<GrayF32> brief = FactoryDescribePointAlgs.brief(FactoryBriefDefinition.gaussian2(new Random(123), 16, 512), FactoryBlurFilter.gaussian(ImageType.single(GrayF32.class), 0, 4));
GeneralFeatureDetector<GrayF32, GrayF32> corner = FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(100, 2, 0, 0, true), false, GrayF32.class);
InterestPointDetector<GrayF32> detector = FactoryInterestPoint.wrapPoint(corner, 1, GrayF32.class, GrayF32.class);
ScoreAssociateHamming_B score = new ScoreAssociateHamming_B();
AssociateDescription2D<TupleDesc_B> association = new AssociateDescTo2D<>(FactoryAssociation.greedy(score, 400, true));
DetectDescribeFusion<GrayF32, TupleDesc_B> fused = new DetectDescribeFusion<>(detector, null, new WrapDescribeBrief<>(brief, GrayF32.class));
DdaManagerDetectDescribePoint<GrayF32, TupleDesc_B> manager;
manager = new DdaManagerDetectDescribePoint<>(fused);
DetectDescribeAssociate<GrayF32, TupleDesc_B> tracker = new DetectDescribeAssociate<>(manager, association, false);
return tracker;
}
use of boofcv.abst.feature.associate.ScoreAssociateHamming_B in project BoofCV by lessthanoptimal.
the class TestDetectDescribeAssociateTwoPass method createTracker.
@Override
public PointTrackerTwoPass<GrayF32> createTracker() {
DescribePointBrief<GrayF32> brief = FactoryDescribePointAlgs.brief(FactoryBriefDefinition.gaussian2(new Random(123), 16, 512), FactoryBlurFilter.gaussian(ImageType.single(GrayF32.class), 0, 4));
GeneralFeatureDetector<GrayF32, GrayF32> corner = FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(-1, 2, 0), false, GrayF32.class);
ScoreAssociateHamming_B score = new ScoreAssociateHamming_B();
// use an association algorithm which uses the track's pose information
AssociateDescription2D<TupleDesc_B> association = new AssociateMaxDistanceNaive<>(score, true, 400, 20);
DescribeRegionPoint<GrayF32, TupleDesc_B> describe = new WrapDescribeBrief<>(brief, GrayF32.class);
EasyGeneralFeatureDetector<GrayF32, GrayF32> easy = new EasyGeneralFeatureDetector<>(corner, GrayF32.class, GrayF32.class);
DdaManagerGeneralPoint<GrayF32, GrayF32, TupleDesc_B> manager;
manager = new DdaManagerGeneralPoint<>(easy, describe, 2);
DetectDescribeAssociateTwoPass<GrayF32, TupleDesc_B> tracker = new DetectDescribeAssociateTwoPass<>(manager, association, association, false);
return tracker;
}
use of boofcv.abst.feature.associate.ScoreAssociateHamming_B in project BoofCV by lessthanoptimal.
the class TestPointTrackerCombined method createTracker.
@Override
public PointTracker<GrayF32> createTracker() {
DescribePointBrief<GrayF32> brief = FactoryDescribePointAlgs.brief(FactoryBriefDefinition.gaussian2(new Random(123), 16, 512), FactoryBlurFilter.gaussian(ImageType.single(GrayF32.class), 0, 4));
GeneralFeatureDetector<GrayF32, GrayF32> corner = FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(100, 2, 0), false, GrayF32.class);
InterestPointDetector<GrayF32> detector = FactoryInterestPoint.wrapPoint(corner, 1, GrayF32.class, GrayF32.class);
ScoreAssociateHamming_B score = new ScoreAssociateHamming_B();
AssociateDescription<TupleDesc_B> association = FactoryAssociation.greedy(score, 400, true);
PointTracker<GrayF32> pointTracker = FactoryPointTracker.combined(detector, null, new WrapDescribeBrief<>(brief, GrayF32.class), association, null, 20, GrayF32.class);
return pointTracker;
}
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