Examples with DescribeRegionPoint boofcv.abst.feature.describe.DescribeRegionPoint used on opensource projects

Example 6 with DescribeRegionPoint

use of boofcv.abst.feature.describe.DescribeRegionPoint in project BoofCV by lessthanoptimal.

the class CompareConvertedDescriptionsApp method describeImage.

public static <TD extends TupleDesc> FastQueue<TD> describeImage(GrayF32 input, InterestPointDetector<GrayF32> detector, DescribeRegionPoint<GrayF32, TD> describe, List<Point2D_F64> location) {
    FastQueue<TD> list = new FastQueue<>(100, describe.getDescriptionType(), false);
    System.out.println("Detecting");
    detector.detect(input);
    System.out.println("Describing");
    describe.setImage(input);
    for (int i = 0; i < detector.getNumberOfFeatures(); i++) {
        Point2D_F64 p = detector.getLocation(i);
        double radius = detector.getRadius(i);
        double ori = detector.getOrientation(i);
        TD d = describe.createDescription();
        if (describe.process(p.x, p.y, ori, radius, d)) {
            list.add(d);
            location.add(p.copy());
        }
    }
    return list;
}

Example 7 with DescribeRegionPoint

use of boofcv.abst.feature.describe.DescribeRegionPoint in project BoofCV by lessthanoptimal.

the class TestDetectDescribeFusion method checkFeatureNotInBounds.

/**
 * If a feature is not in bounds make sure everything is handled correctly
 */
@Test
public void checkFeatureNotInBounds() {
    InterestPointDetector detector = new DummyDetector();
    DescribeRegionPoint describe = new DummyRegionPoint();
    DetectDescribeFusion alg = new DetectDescribeFusion(detector, null, describe);
    alg.detect(new GrayF32(2, 2));
    // one feature should not be inside the image
    assertEquals(9, alg.getNumberOfFeatures());
    for (int i = 0; i < 9; i++) {
        assertEquals(2, alg.getRadius(i), 1e-8);
        assertEquals(1, alg.getOrientation(i), 1e-8);
        assertTrue(alg.getDescription(i) != null);
        assertTrue(alg.getLocation(i) != null);
    }
}

Example 8 with DescribeRegionPoint

use of boofcv.abst.feature.describe.DescribeRegionPoint in project BoofCV by lessthanoptimal.

the class TestWrapVisOdomQuadPnP method createAlgorithm.

@Override
public StereoVisualOdometry<GrayF32> createAlgorithm() {
    GeneralFeatureIntensity intensity = FactoryIntensityPoint.shiTomasi(1, false, GrayF32.class);
    NonMaxSuppression nonmax = FactoryFeatureExtractor.nonmax(new ConfigExtract(2, 1, 0, true, false, true));
    GeneralFeatureDetector<GrayF32, GrayF32> general = new GeneralFeatureDetector<>(intensity, nonmax);
    general.setMaxFeatures(600);
    DetectorInterestPointMulti detector = new GeneralToInterestMulti(general, 2, GrayF32.class, GrayF32.class);
    DescribeRegionPoint describe = FactoryDescribeRegionPoint.surfFast(null, GrayF32.class);
    DetectDescribeMulti detDescMulti = new DetectDescribeMultiFusion(detector, null, describe);
    return FactoryVisualOdometry.stereoQuadPnP(1.5, 0.5, 200, Double.MAX_VALUE, 300, 50, detDescMulti, GrayF32.class);
}

Example 9 with DescribeRegionPoint

use of boofcv.abst.feature.describe.DescribeRegionPoint in project BoofCV by lessthanoptimal.

the class ExampleDetectDescribe method createFromComponents.

/**
 * Any arbitrary implementation of InterestPointDetector, OrientationImage, DescribeRegionPoint
 * can be combined into DetectDescribePoint.  The syntax is more complex, but the end result is more flexible.
 * This should only be done if there isn't a pre-made DetectDescribePoint.
 */
public static <T extends ImageGray<T>, TD extends TupleDesc> DetectDescribePoint<T, TD> createFromComponents(Class<T> imageType) {
    // create a corner detector
    Class derivType = GImageDerivativeOps.getDerivativeType(imageType);
    GeneralFeatureDetector corner = FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(1000, 5, 1), false, derivType);
    InterestPointDetector detector = FactoryInterestPoint.wrapPoint(corner, 1, imageType, derivType);
    // describe points using BRIEF
    DescribeRegionPoint describe = FactoryDescribeRegionPoint.brief(new ConfigBrief(true), imageType);
    // NOTE: orientation will not be estimated
    return FactoryDetectDescribe.fuseTogether(detector, null, describe);
}

Example 10 with DescribeRegionPoint

use of boofcv.abst.feature.describe.DescribeRegionPoint in project BoofCV by lessthanoptimal.

the class VisualizeDepthVisualOdometryApp method changeSelectedAlgortihm.

private void changeSelectedAlgortihm(int whichAlg) {
    this.whichAlg = whichAlg;
    AlgType prevAlgType = this.algType;
    Class imageType = GrayU8.class;
    Class derivType = GImageDerivativeOps.getDerivativeType(imageType);
    DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(1e-3);
    PkltConfig pkltConfig = new PkltConfig();
    pkltConfig.templateRadius = 3;
    pkltConfig.pyramidScaling = new int[] { 1, 2, 4, 8 };
    algType = AlgType.UNKNOWN;
    if (whichAlg == 0) {
        algType = AlgType.FEATURE;
        ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
        PointTrackerTwoPass tracker = FactoryPointTrackerTwoPass.klt(pkltConfig, configDetector, imageType, derivType);
        alg = FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, false, sparseDepth, tracker, imageType, GrayU16.class);
    } else if (whichAlg == 1) {
        algType = AlgType.FEATURE;
        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);
        alg = FactoryVisualOdometry.depthDepthPnP(1.5, 80, 3, 200, 50, false, sparseDepth, tracker, imageType, GrayU16.class);
    } else if (whichAlg == 2) {
        algType = AlgType.FEATURE;
        PointTracker tracker = FactoryPointTracker.combined_ST_SURF_KLT(new ConfigGeneralDetector(600, 3, 1), pkltConfig, 50, null, null, imageType, derivType);
        PointTrackerTwoPass twopass = new PointTrackerToTwoPass<>(tracker);
        alg = FactoryVisualOdometry.depthDepthPnP(1.5, 120, 3, 200, 50, false, sparseDepth, twopass, imageType, GrayU16.class);
    } else if (whichAlg == 3) {
        algType = AlgType.DIRECT;
        alg = FactoryVisualOdometry.depthDirect(sparseDepth, ImageType.pl(3, GrayF32.class), GrayU16.class);
    } else {
        throw new RuntimeException("Unknown selection");
    }
    if (algType != prevAlgType) {
        switch(prevAlgType) {
            case FEATURE:
                mainPanel.remove(featurePanel);
                break;
            case DIRECT:
                mainPanel.remove(directPanel);
                break;
            default:
                mainPanel.remove(algorithmPanel);
                break;
        }
        switch(algType) {
            case FEATURE:
                mainPanel.add(featurePanel, BorderLayout.NORTH);
                break;
            case DIRECT:
                mainPanel.add(directPanel, BorderLayout.NORTH);
                break;
            default:
                mainPanel.add(algorithmPanel, BorderLayout.NORTH);
                break;
        }
        mainPanel.invalidate();
    }
    setImageTypes(alg.getVisualType(), ImageType.single(alg.getDepthType()));
}