Examples with DetectDescribeMultiFusion boofcv.abst.feature.detdesc.DetectDescribeMultiFusion used on opensource projects

Example 1 with DetectDescribeMultiFusion

use of boofcv.abst.feature.detdesc.DetectDescribeMultiFusion 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");
    }
}

Example 2 with DetectDescribeMultiFusion

use of boofcv.abst.feature.detdesc.DetectDescribeMultiFusion 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);
}