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Example 1 with PointTrackerTwoPass

use of boofcv.abst.feature.tracker.PointTrackerTwoPass 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");
    }
}
Also used : NonMaxSuppression(boofcv.abst.feature.detect.extract.NonMaxSuppression) GeneralToInterestMulti(boofcv.abst.feature.detect.interest.GeneralToInterestMulti) PkltConfig(boofcv.alg.tracker.klt.PkltConfig) FactoryDescribeRegionPoint(boofcv.factory.feature.describe.FactoryDescribeRegionPoint) DescribeRegionPoint(boofcv.abst.feature.describe.DescribeRegionPoint) ConfigGeneralDetector(boofcv.abst.feature.detect.interest.ConfigGeneralDetector) DetectDescribeMultiFusion(boofcv.abst.feature.detdesc.DetectDescribeMultiFusion) DetectorInterestPointMulti(boofcv.abst.feature.detect.interest.DetectorInterestPointMulti) ScoreAssociateHamming_B(boofcv.abst.feature.associate.ScoreAssociateHamming_B) FactoryPointTrackerTwoPass(boofcv.factory.feature.tracker.FactoryPointTrackerTwoPass) PointTrackerTwoPass(boofcv.abst.feature.tracker.PointTrackerTwoPass) ConfigExtract(boofcv.abst.feature.detect.extract.ConfigExtract) DetectDescribeMulti(boofcv.abst.feature.detdesc.DetectDescribeMulti) GeneralFeatureDetector(boofcv.alg.feature.detect.interest.GeneralFeatureDetector) PointTrackerToTwoPass(boofcv.abst.feature.tracker.PointTrackerToTwoPass) AssociateDescription2D(boofcv.abst.feature.associate.AssociateDescription2D) PointTracker(boofcv.abst.feature.tracker.PointTracker) FactoryPointTracker(boofcv.factory.feature.tracker.FactoryPointTracker) GeneralFeatureIntensity(boofcv.abst.feature.detect.intensity.GeneralFeatureIntensity)

Example 2 with PointTrackerTwoPass

use of boofcv.abst.feature.tracker.PointTrackerTwoPass 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()));
}
Also used : PkltConfig(boofcv.alg.tracker.klt.PkltConfig) FactoryDescribeRegionPoint(boofcv.factory.feature.describe.FactoryDescribeRegionPoint) DescribeRegionPoint(boofcv.abst.feature.describe.DescribeRegionPoint) ConfigGeneralDetector(boofcv.abst.feature.detect.interest.ConfigGeneralDetector) ScoreAssociateHamming_B(boofcv.abst.feature.associate.ScoreAssociateHamming_B) FactoryPointTrackerTwoPass(boofcv.factory.feature.tracker.FactoryPointTrackerTwoPass) PointTrackerTwoPass(boofcv.abst.feature.tracker.PointTrackerTwoPass) GeneralFeatureDetector(boofcv.alg.feature.detect.interest.GeneralFeatureDetector) PointTrackerToTwoPass(boofcv.abst.feature.tracker.PointTrackerToTwoPass) AssociateDescription2D(boofcv.abst.feature.associate.AssociateDescription2D) PointTracker(boofcv.abst.feature.tracker.PointTracker) FactoryPointTracker(boofcv.factory.feature.tracker.FactoryPointTracker)

Aggregations

AssociateDescription2D (boofcv.abst.feature.associate.AssociateDescription2D)2 ScoreAssociateHamming_B (boofcv.abst.feature.associate.ScoreAssociateHamming_B)2 DescribeRegionPoint (boofcv.abst.feature.describe.DescribeRegionPoint)2 ConfigGeneralDetector (boofcv.abst.feature.detect.interest.ConfigGeneralDetector)2 PointTracker (boofcv.abst.feature.tracker.PointTracker)2 PointTrackerToTwoPass (boofcv.abst.feature.tracker.PointTrackerToTwoPass)2 PointTrackerTwoPass (boofcv.abst.feature.tracker.PointTrackerTwoPass)2 GeneralFeatureDetector (boofcv.alg.feature.detect.interest.GeneralFeatureDetector)2 PkltConfig (boofcv.alg.tracker.klt.PkltConfig)2 FactoryDescribeRegionPoint (boofcv.factory.feature.describe.FactoryDescribeRegionPoint)2 FactoryPointTracker (boofcv.factory.feature.tracker.FactoryPointTracker)2 FactoryPointTrackerTwoPass (boofcv.factory.feature.tracker.FactoryPointTrackerTwoPass)2 DetectDescribeMulti (boofcv.abst.feature.detdesc.DetectDescribeMulti)1 DetectDescribeMultiFusion (boofcv.abst.feature.detdesc.DetectDescribeMultiFusion)1 ConfigExtract (boofcv.abst.feature.detect.extract.ConfigExtract)1 NonMaxSuppression (boofcv.abst.feature.detect.extract.NonMaxSuppression)1 GeneralFeatureIntensity (boofcv.abst.feature.detect.intensity.GeneralFeatureIntensity)1 DetectorInterestPointMulti (boofcv.abst.feature.detect.interest.DetectorInterestPointMulti)1 GeneralToInterestMulti (boofcv.abst.feature.detect.interest.GeneralToInterestMulti)1