Examples with ConfigGeneralDetector boofcv.abst.feature.detect.interest.ConfigGeneralDetector used on opensource projects

Example 21 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project BoofCV by lessthanoptimal.

the class FactoryDetectPoint method createFast.

/**
 * Creates a Fast corner detector.
 *
 * @param configFast Configuration for FAST feature detector
 * @param configDetector Configuration for feature extractor.
 * @param imageType       Type of input image.
 * @see FastCornerIntensity
 */
@SuppressWarnings("UnnecessaryLocalVariable")
public static <T extends ImageGray<T>, D extends ImageGray<D>> GeneralFeatureDetector<T, D> createFast(@Nullable ConfigFast configFast, ConfigGeneralDetector configDetector, Class<T> imageType) {
    if (configFast == null)
        configFast = new ConfigFast();
    configFast.checkValidity();
    ConfigGeneralDetector d = configDetector;
    FastCornerIntensity<T> alg = FactoryIntensityPointAlg.fast(configFast.pixelTol, configFast.minContinuous, imageType);
    GeneralFeatureIntensity<T, D> intensity = new WrapperFastCornerIntensity<>(alg);
    ConfigGeneralDetector configExtract = new ConfigGeneralDetector(d.maxFeatures, d.radius, d.threshold, 0, true, false, true);
    return createGeneral(intensity, configExtract);
}

Example 22 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project BoofCV by lessthanoptimal.

the class FactoryDetectPoint method createGeneral.

public static <T extends ImageGray<T>, D extends ImageGray<D>> GeneralFeatureDetector<T, D> createGeneral(GeneralFeatureIntensity<T, D> intensity, ConfigGeneralDetector config) {
    // create a copy since it's going to modify the detector config
    ConfigGeneralDetector foo = new ConfigGeneralDetector();
    foo.setTo(config);
    config = foo;
    config.ignoreBorder += config.radius;
    NonMaxSuppression extractor = FactoryFeatureExtractor.nonmax(config);
    GeneralFeatureDetector<T, D> det = new GeneralFeatureDetector<>(intensity, extractor);
    det.setMaxFeatures(config.maxFeatures);
    return det;
}

Example 23 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector 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 24 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector 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()));
}

Example 25 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project BoofCV by lessthanoptimal.

the class VisualizeMonocularPlaneVisualOdometryApp method createVisualOdometry.

private MonocularPlaneVisualOdometry<I> createVisualOdometry(int whichAlg) {
    Class derivType = GImageDerivativeOps.getDerivativeType(imageClass);
    if (whichAlg == 0) {
        PkltConfig config = new PkltConfig();
        config.pyramidScaling = new int[] { 1, 2, 4, 8 };
        config.templateRadius = 3;
        ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
        PointTracker<I> tracker = FactoryPointTracker.klt(config, configDetector, imageClass, derivType);
        return FactoryVisualOdometry.monoPlaneInfinity(75, 2, 1.5, 200, tracker, imageType);
    } else if (whichAlg == 1) {
        PkltConfig config = new PkltConfig();
        config.pyramidScaling = new int[] { 1, 2, 4, 8 };
        config.templateRadius = 3;
        ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
        PointTracker<I> tracker = FactoryPointTracker.klt(config, configDetector, imageClass, derivType);
        double cellSize = 0.06;
        double inlierGroundTol = 1.5;
        return FactoryVisualOdometry.monoPlaneOverhead(cellSize, 25, 0.7, inlierGroundTol, 300, 2, 100, 0.5, 0.6, tracker, imageType);
    } else {
        throw new RuntimeException("Unknown selection");
    }
}