/* +---------------------------------------------------------------------------+ | The Mobile Robot Programming Toolkit (MRPT) C++ library | | | | http://www.mrpt.org/ | | | | Copyright (C) 2005-2011 University of Malaga | | | | This software was written by the Machine Perception and Intelligent | | Robotics Lab, University of Malaga (Spain). | | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | | | | This file is part of the MRPT project. | | | | MRPT is free software: you can redistribute it and/or modify | | it under the terms of the GNU General Public License as published by | | the Free Software Foundation, either version 3 of the License, or | | (at your option) any later version. | | | | MRPT is distributed in the hope that it will be useful, | | but WITHOUT ANY WARRANTY; without even the implied warranty of | | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | | GNU General Public License for more details. | | | | You should have received a copy of the GNU General Public License | | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | | | +---------------------------------------------------------------------------+ */ #include <mrpt/base.h> #include <mrpt/vision.h> #include <mrpt/gui.h> using namespace mrpt::utils; using namespace mrpt::gui; using namespace mrpt::vision; using namespace std; #include <mrpt/examples_config.h> string myDataDir( MRPT_EXAMPLES_BASE_DIRECTORY + string("imageConvolutionFFT/") ); //string myDataDir = "D:/Trabajo/MRPT-trunk/samples/imageConvolutionFFT/"; const string the_img_for_extract_feats = myDataDir+string("test_image.jpg"); //const string the_img_for_extract_feats = "/imgs_temp/o.jpg"; void TestTrackFeatures() { CImage im1, im2; im1.loadFromFile("/Trabajo/Experimentos/[2009] vOdometry Characterization/right1.jpg"); im2.loadFromFile("/Trabajo/Experimentos/[2009] vOdometry Characterization/right2.jpg"); CFeatureExtraction fExt; CFeatureList feats; fExt.options.featsType = featKLT; fExt.detectFeatures( im1, feats ); feats.saveToTextFile("J:/Trabajo/Experimentos/[2009] vOdometry Characterization/before.txt"); CFeatureTracker_KL tracker; // tracker.extra_params["add_new_features"] = 1; // track, AND ALSO, add new features // ... // Do tracking: tracker.trackFeatures(im1, im2, feats); feats.saveToTextFile("/Trabajo/Experimentos/[2009] vOdometry Characterization/after.txt"); } void TestRectifyImages() { CImage im; CMatrixDouble33 cam_matrix; vector_double dist_coeff(4); im.loadFromFile("/home/paco/Documents/Images/calib/L01.bmp"); cam_matrix(0,0) = 938.8868; cam_matrix(0,1) = 0; cam_matrix(0,2) = 367.8682; cam_matrix(1,0) = 0; cam_matrix(1,1) = 938.8868; cam_matrix(1,2) = 303.2578; cam_matrix(2,0) = 0; cam_matrix(2,1) = 0; cam_matrix(2,2) = 1; dist_coeff[0] = -0.3202480; dist_coeff[1] = -0.3470451; dist_coeff[2] = 0; dist_coeff[4] = 0; im.rectifyImageInPlace( cam_matrix, dist_coeff ); im.saveToFile("/home/paco/Documents/Images/calib/L01_REC.bmp"); } // end TestRectifyImages // ------------------------------------------------------ // TestCapture // ------------------------------------------------------ void TestExtractMatchProjectAndPaint() { CDisplayWindow3D wind; CFeatureExtraction fExt; CFeatureList featsHarris_L, featsHarris_R; CMatchedFeatureList mHarris, mSIFT, mSURF; CImage imL, imR; string imgL = MRPT_EXAMPLES_BASE_DIRECTORY + string("feature_extraction/") + string("imgs/imL_p01.jpg"); // Left image string imgR = MRPT_EXAMPLES_BASE_DIRECTORY + string("feature_extraction/") + string("imgs/imR_p01.jpg"); // Right image // Load and check images if (!imL.loadFromFile( imgL )) { cerr << "Cannot load " << imgL << endl; return; } cout << "Loaded test image: " << imgL << endl; if (!imR.loadFromFile( imgR )) { cerr << "Cannot load " << imgR << endl; return; } cout << "Loaded test image: " << imgR << endl; cout << "***************************************************" << endl; cout << "***************************************************" << endl; // Extract features: // HARRIS cout << "Detecting HARRIS features in LEFT image" << endl; fExt.options.featsType = featKLT; fExt.detectFeatures( imL, featsHarris_L ); cout << "Detected " << featsHarris_L.size() << endl; cout << "Detecting HARRIS features in RIGHT image" << endl; fExt.detectFeatures( imR, featsHarris_R ); cout << "Detected " << featsHarris_R.size() << endl; cout << "***************************************************" << endl; cout << "***************************************************" << endl; // Match features: size_t nMatches; TMatchingOptions opt; // HARRIS cout << "Matching HARRIS features by CORRELATION" << endl; nMatches = matchFeatures( featsHarris_L, featsHarris_R, mHarris ); cout << "Matches found: " << mHarris.size() << endl; cout << "***************************************************" << endl; } // end TestExtractMatchProjectAndPaint // ------------------------------------------------------ // TestCapture // ------------------------------------------------------ void TestMatchFeatures() { CDisplayWindow wind, wind2; CFeatureExtraction fExt; CFeatureList featsHarris_L, featsHarris_R, featsSIFT_L, featsSIFT_R, featsSURF_L, featsSURF_R, featsFAST_L, featsFAST_R; CMatchedFeatureList mHarris, mSIFT, mSURF, mHarris_SAD, mFAST_CC, mFAST_SAD; CImage imL, imR; string imgL = MRPT_EXAMPLES_BASE_DIRECTORY + string("feature_extraction/") + string("imgs/imL_p01.jpg"); // Left image string imgR = MRPT_EXAMPLES_BASE_DIRECTORY + string("feature_extraction/") + string("imgs/imR_p01.jpg"); // Right image // string imgL = "../../bin/imgs/640x480_left_rect.jpg"; // Left image // string imgR = "../../bin/imgs/640x480_right_rect.jpg"; // Right image // Load and check images if (!imL.loadFromFile( imgL )) { cerr << "Cannot load " << imgL << endl; return; } cout << "Loaded test image: " << imgL << endl; if (!imR.loadFromFile( imgR )) { cerr << "Cannot load " << imgR << endl; return; } cout << "Loaded test image: " << imgR << endl; cout << "***************************************************" << endl; cout << "***************************************************" << endl; // Extract features: // HARRIS cout << "Detecting HARRIS features in LEFT image" << endl; fExt.options.featsType = featHarris; fExt.detectFeatures( imL, featsHarris_L ); cout << "Detected " << featsHarris_L.size() << endl; cout << "Detecting HARRIS features in RIGHT image" << endl; fExt.detectFeatures( imR, featsHarris_R ); cout << "Detected " << featsHarris_R.size() << endl; cout << "***************************************************" << endl; // SIFT cout << "Detecting SIFT features in LEFT image" << endl; fExt.options.featsType = featSIFT; //fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess; fExt.options.SIFTOptions.implementation = CFeatureExtraction::OpenCV; fExt.detectFeatures( imL, featsSIFT_L ); cout << "Detected " << featsSIFT_L.size() << endl; cout << "Detecting SIFT features in RIGHT image" << endl; fExt.options.featsType = featSIFT; //fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess; fExt.options.SIFTOptions.implementation = CFeatureExtraction::OpenCV; fExt.detectFeatures( imR, featsSIFT_R ); cout << "Detected " << featsSIFT_R.size() << endl; cout << "***************************************************" << endl; // SURF cout << "Detecting SURF features in LEFT image" << endl; fExt.options.featsType = featSURF; fExt.detectFeatures( imL, featsSURF_L ); cout << "Detected " << featsSURF_L.size() << endl; cout << "Detecting SURF features in RIGHT image" << endl; fExt.detectFeatures( imR, featsSURF_R ); cout << "Detected " << featsSURF_R.size() << endl; cout << "***************************************************" << endl; // FAST cout << "Detecting FAST features in LEFT image" << endl; fExt.options.featsType = featFAST; fExt.detectFeatures( imL, featsFAST_L, 0, 400 ); cout << "Detected " << featsFAST_L.size() << endl; CDisplayWindow fast1("LEFT"); fast1.showImageAndPoints( imL, featsFAST_L ); cout << "Detecting FAST features in RIGHT image" << endl; fExt.detectFeatures( imR, featsFAST_R, 0, 400 ); cout << "Detected " << featsFAST_R.size() << endl; cout << "***************************************************" << endl; cout << "***************************************************" << endl; CDisplayWindow fast2("RIGHT"); fast2.showImageAndPoints( imR, featsFAST_R ); // Match features: size_t nMatches; TMatchingOptions opt; // HARRIS CTicTac tictac; cout << "Matching HARRIS features by CORRELATION" << endl; tictac.Tic(); nMatches = matchFeatures( featsHarris_L, featsHarris_R, mHarris ); double T = tictac.Tac(); cout << "[CC] Matches found: " << mHarris.size() << " in " << T*1000.0f << " ms " << endl; opt.matching_method = TMatchingOptions::mmSAD; tictac.Tic(); nMatches = matchFeatures( featsHarris_L, featsHarris_R, mHarris_SAD, opt ); T = tictac.Tac(); cout << "[SAD] Matches found: " << mHarris_SAD.size() << " in " << T*1000.0f << " ms " << endl; cout << "***************************************************" << endl; wind.showImagesAndMatchedPoints( imL, imR, mHarris_SAD, TColor(0,0,255) ); // SIFT cout << "Matching SIFT features by DESCRIPTOR" << endl; opt.matching_method = TMatchingOptions::mmDescriptorSIFT; nMatches = matchFeatures( featsSIFT_L, featsSIFT_R, mSIFT, opt ); cout << "Matches found: " << mSIFT.size() << endl; cout << "***************************************************" << endl; // SURF cout << "Matching SURF features by DESCRIPTOR" << endl; opt.matching_method = TMatchingOptions::mmDescriptorSURF; nMatches = matchFeatures( featsSURF_L, featsSURF_R, mSURF, opt ); cout << "Matches found: " << mSURF.size() << endl; cout << "***************************************************" << endl; // FAST cout << "Matching FAST features by CC" << endl; tictac.Tic(); nMatches = matchFeatures( featsFAST_L, featsFAST_R, mFAST_CC ); T = tictac.Tac(); cout << "[CC] Matches found: " << mFAST_CC.size() << " in " << T*1000.0f << " ms " << endl; opt.matching_method = TMatchingOptions::mmSAD; tictac.Tic(); nMatches = matchFeatures( featsFAST_L, featsFAST_R, mFAST_SAD, opt ); T = tictac.Tac(); cout << "[SAD] Matches found: " << mFAST_SAD.size() << " in " << T*1000.0f << " ms " << endl; cout << "***************************************************" << endl; wind2.showImagesAndMatchedPoints( imL, imR, mFAST_SAD, TColor(0,255,0) ); mrpt::system::pause(); } // end TestMatchFeatures void TestMatchingComparative() { // Take two images string imgL = MRPT_EXAMPLES_BASE_DIRECTORY + string("feature_extraction/") + string("imgs/imL_p01.jpg"); // Left image string imgR = MRPT_EXAMPLES_BASE_DIRECTORY + string("feature_extraction/") + string("imgs/imR_p01.jpg"); // Right image CImage im1, im2; im1.loadFromFile( imgL ); im2.loadFromFile( imgR ); size_t imW = im1.getWidth(); size_t imH = im1.getHeight(); CFeatureExtraction fExt; fExt.options.featsType = featFAST; fExt.options.patchSize = 21; fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess; // Find FAST features CFeatureList list1, list2; fExt.detectFeatures( im1, list1, 150 ); // Compute SIFT & SURF descriptors fExt.computeDescriptors( im1, list1, descSIFT ); fExt.computeDescriptors( im1, list1, descSURF ); fExt.detectFeatures( im2, list2, 150 ); // Compute SIFT & SURF descriptors fExt.computeDescriptors( im2, list2, descSIFT ); fExt.computeDescriptors( im2, list2, descSURF ); CFeatureList::iterator it1, it2; for( it1 = list1.begin(); it1 != list1.end(); ++it1 ) im1.cross( (*it1)->x, (*it1)->y, TColor::red, '+'); for( it2 = list2.begin(); it2 != list2.end(); ++it2 ) im2.cross( (*it2)->x, (*it2)->y, TColor::red, '+'); CDisplayWindow win, win2; win.setPos(0,0); win2.setPos(0,imH*1.5); CImage joinimage, copyjoinimage, copyInfoImage; size_t imW2 = 1280; size_t imH2 = 150; CImage infoimage( imW2, imH2, CH_RGB ); joinimage.joinImagesHorz( im1, im2 ); infoimage.filledRectangle( 0, 0, imW2, imH2, TColor(150,150,150) ); infoimage.textOut( 20, imH2-53, "SAD", TColor::blue ); infoimage.textOut( 20, imH2-41, "NCC", TColor::blue ); infoimage.textOut( 20, imH2-29, "SIFT", TColor::blue ); infoimage.textOut( 20, imH2-17, "SURF", TColor::blue ); for( it1 = list1.begin(); it1 != list1.end(); ++it1 ) { copyInfoImage = infoimage; copyjoinimage = joinimage; copyjoinimage.line( (*it1)->x, 0, (*it1)->x, imH, TColor::green ); // Horiz copyjoinimage.line( (*it1)->x+imW, 0, (*it1)->x+imW, imH, TColor::green ); // Horiz copyjoinimage.line( 0, (*it1)->y, imW+imW, (*it1)->y, TColor::green ); // Epipolar copyjoinimage.drawCircle( (*it1)->x, (*it1)->y, 4, TColor::green, 2 ); // Keypoint copyInfoImage.update_patch( (*it1)->patch, 0, 0 ); bool firstMatch = true; int cnt = 0; int px = 80; double minsad = 1.0, maxncc = 0.0; float minsiftd = 1.0f, minsurfd = 1.0f; int idxsad = 0, idxncc = 0, idxsiftd = 0, idxsurfd = 0; for( it2 = list2.begin(); it2 != list2.end(); ++it2 ) { if( fabs((*it1)->y-(*it2)->y) <= 1.0 && (*it1)->x > (*it2)->x ) { // Compute matching with SAD and Correlation and SIFT/SURF? // Use epipolar constraints // Compute SAD double sad = mrpt::vision::computeSAD( (*it1)->patch, (*it2)->patch ); if( sad < minsad ) { minsad = sad; idxsad = cnt; } // Compute Correlation double ncc; size_t u, v; mrpt::vision::openCV_cross_correlation( (*it1)->patch, (*it2)->patch, u, v, ncc ); if( ncc > maxncc ) { maxncc = ncc; idxncc = cnt; } // Compute distance between descriptors SIFT float siftd = (*it1)->descriptorSIFTDistanceTo( *(*it2) ); if( siftd < minsiftd ) { minsiftd = siftd; idxsiftd = cnt; } // Compute distance between descriptors SIFT float surfd = (*it1)->descriptorSURFDistanceTo( *(*it2) ); if( surfd < minsurfd ) { minsurfd = surfd; idxsurfd = cnt; } // Plot images + features + each candidate + difference score if( firstMatch ) { copyjoinimage.line( (*it1)->x+imW, 0, (*it1)->x+imW, imH, TColor::green ); // Limit line (only the first time) firstMatch = false; } // end-if copyjoinimage.drawCircle( (*it2)->x+imW, (*it2)->y, 4, TColor::blue, 2 ); // Keypoint double rx0, rx1, ry0, ry1, tx, ty; rx0 = (*it2)->x+imW-15; rx1 = (*it2)->x+imW; tx = (*it2)->x+imW-13; if( cnt % 2 ) { ry0 = (*it2)->y-20; ry1 = (*it2)->y-10; ty = (*it2)->y-22; } else { ry0 = (*it2)->y+10; ry1 = (*it2)->y+20; ty = (*it2)->y+8; } copyjoinimage.filledRectangle( rx0, ry0, rx1, ry1, TColor(150,150,150) ); copyjoinimage.textOut( tx, ty, format("%d", cnt), TColor::blue ); px = 80+cnt*50; if( px + fExt.options.patchSize > imW2 ) continue; copyInfoImage.update_patch( (*it2)->patch, px, 30 ); copyInfoImage.textOut( px, imH2-70, format("%d", cnt), TColor::blue ); copyInfoImage.textOut( px, imH2-53, format("%.2f", sad), TColor::blue ); copyInfoImage.textOut( px, imH2-41, format("%.2f", ncc), TColor::blue ); copyInfoImage.textOut( px, imH2-29, format("%.2f", siftd), TColor::blue ); copyInfoImage.textOut( px, imH2-17, format("%.2f", surfd), TColor::blue ); cnt++; } // end if } // end for it2 copyInfoImage.textOut( 80+idxsad*50, imH2-53, format("%.2f", minsad), TColor::green ); copyInfoImage.textOut( 80+idxncc*50, imH2-41, format("%.2f", maxncc), TColor::green ); copyInfoImage.textOut( 80+idxsiftd*50, imH2-29, format("%.2f", minsiftd), TColor::green ); copyInfoImage.textOut( 80+idxsurfd*50, imH2-17, format("%.2f", minsurfd), TColor::green ); win.showImage( copyjoinimage ); win2.showImage( copyInfoImage ); mrpt::system::pause(); } // end for it1 // Save to file // Check number of good features } // end TestMatchingComparative // ------------------------------------------------------ // TestExtractFeatures // ------------------------------------------------------ void TestExtractFeatures() { CDisplayWindow wind1,wind2,wind3,wind4,wind5; CFeatureExtraction fExt; CFeatureList featsHarris, featsKLT, featsSIFT_Hess, featsSIFT_Lowe, featsSIFT_Vedaldi, featsSURF, featsFAST; CImage img; if (!img.loadFromFile(the_img_for_extract_feats )) { cerr << "Cannot load " << the_img_for_extract_feats << endl; return; } cout << "Loaded test image: " << endl << the_img_for_extract_feats << endl; cout << "--------------------------------------------------------------------------" << endl << endl; CTicTac tictac; fExt.options.patchSize = 0; cout << "Detect Harris features... [f_harris.txt]" << endl; tictac.Tic(); fExt.options.featsType = featHarris; fExt.detectFeatures( img, featsHarris ); cout << "Detected " << featsHarris.size() << " features in "; cout << format(" %.03fms",tictac.Tac()*1000) << endl << endl; featsHarris.saveToTextFile("f_harris.txt"); wind1.setWindowTitle("Harris detected features"); wind1.showImageAndPoints(img, featsHarris); cout << "Detect FAST features... [f_fast.txt]" << endl; tictac.Tic(); fExt.options.featsType = featFAST; fExt.options.FASTOptions.threshold = 15; //150; fExt.options.FASTOptions.min_distance = 4; fExt.options.FASTOptions.use_KLT_response = true; fExt.detectFeatures( img, featsFAST, 0, 500 /* max num feats */ ); cout << "Detected " << featsFAST.size() << " features in "; cout << format(" %.03fms",tictac.Tac()*1000) << endl << endl; featsFAST.saveToTextFile("f_fast.txt"); wind5.setWindowTitle("FAST detected features"); wind5.showImageAndPoints( img, featsFAST ); cout << "Computing SIFT descriptors only ... [f_harris+sift.txt]" << endl; tictac.Tic(); fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess; fExt.computeDescriptors( img, featsHarris, descSIFT ); cout << format(" %.03fms",tictac.Tac()*1000) << endl << endl; featsHarris.saveToTextFile("f_harris+sift.txt"); cout << "Extracting KLT features... [f_klt.txt]" << endl; tictac.Tic(); fExt.options.featsType = featKLT; fExt.options.KLTOptions.threshold = 0.05f; fExt.options.KLTOptions.radius = 5; fExt.detectFeatures( img, featsKLT, 0, 10 ); cout << "Detected " << featsKLT.size() << " features in "; cout << format(" %.03fms",tictac.Tac()*1000) << endl << endl; featsKLT.saveToTextFile("f_klt.txt"); wind2.setWindowTitle("KLT detected features"); wind2.showImageAndPoints( img, featsKLT ); cout << "Extracting SIFT features... [f_sift_hess.txt]" << endl; tictac.Tic(); fExt.options.featsType = featSIFT; fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess; fExt.detectFeatures( img, featsSIFT_Hess ); cout << "Detected " << featsSIFT_Hess.size() << " features in "; cout << format(" %.03fms",tictac.Tac()*1000) << endl << endl; featsSIFT_Hess.saveToTextFile("f_sift_hess.txt"); wind3.setWindowTitle("SIFT Hess detected features"); wind3.showImageAndPoints( img, featsSIFT_Hess ); cout << "Extracting SURF features... [f_surf.txt]" << endl; tictac.Tic(); fExt.options.featsType = featSURF; fExt.detectFeatures( img, featsSURF ); cout << "Detected " << featsSURF.size() << " features in "; cout << format(" %.03fms",tictac.Tac()*1000) << endl << endl; featsSURF.saveToTextFile("f_surf.txt"); wind4.setWindowTitle("SURF detected features"); wind4.showImageAndPoints( img, featsSURF ); cout << "Computing spin images descriptors only ... [f_harris+spinimgs.txt]" << endl; tictac.Tic(); fExt.options.SpinImagesOptions.radius = 13; fExt.options.SpinImagesOptions.hist_size_distance = 10; fExt.options.SpinImagesOptions.hist_size_intensity = 10; fExt.computeDescriptors( img, featsHarris, descSpinImages ); cout << format(" %.03fms",tictac.Tac()*1000) << endl << endl; featsHarris.saveToTextFile("f_harris+spinimgs.txt"); mrpt::system::pause(); return; } // ------------------------------------------------------ // TestCapture // ------------------------------------------------------ //void TestExtractFeatures() //{ // CDisplayWindow wind1; // CFeatureExtraction fExt; // CFeatureList fHarris1, fHarris2; // CMatchedFeatureList fMatched; // CImage lImg, rImg; // // string left_img = myDataDir+string("left.jpg"); // string right_img = myDataDir+string("right.jpg"); // // if( !lImg.loadFromFile( left_img ) || !rImg.loadFromFile( right_img ) ) // { // cerr << "Cannot load " << left_img << " or " << right_img << endl; // return; // } // cout << "Loaded test images" << endl; // // CTicTac tictac; // // cout << "Extracting Harris features in left image ..."; // fExt.options.featsType = featHarris; // fExt.detectFeatures( lImg, fHarris1 ); // cout << "Detected " << featsHarris.size() << " features in " << endl; // // cout << "Extracting Harris features in right image ..."; // fExt.detectFeatures( rImg, fHarris2 ); // cout << "Detected " << featsHarris.size() << " features in " << endl; // // cout << "Matching features ..." << endl; // cout << "Method #1" << endl; // // tictac.Tic(); // unsigned int nMatches = mrpt::vision::matchFeatures( fHarris1, fHarris2, fMatched ); // cout << format(" %.03fms",tictac.Tac()*1000) << endl; // cout << "Matched " << featsHarris.size() << " features in " << endl; // // // featsHarris.saveToTextFile("f_harris.txt"); // wind1.setWindowTitle("Harris detected features"); // wind1.showImageAndPoints( img, featsHarris ); // // cout << "Computing SIFT descriptors only ... [f_harris+sift.txt]"; // tictac.Tic(); // fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess; // fExt.computeDescriptors( img, featsHarris, descSIFT ); // cout << format(" %.03fms",tictac.Tac()*1000) << endl; // featsHarris.saveToTextFile("f_harris+sift.txt"); // // cout << "Extracting KLT features... [f_klt.txt]"; // tictac.Tic(); // fExt.options.featsType = featKLT; // fExt.detectFeatures( img, featsKLT ); // cout << "Detected " << featsKLT.size() << " features in " << endl; // cout << format(" %.03fms",tictac.Tac()*1000) << endl; // featsKLT.saveToTextFile("f_klt.txt"); // wind2.setWindowTitle("KLT detected features"); // wind2.showImageAndPoints( img, featsKLT ); // // cout << "Extracting SIFT features... [f_sift_hess.txt]"; // tictac.Tic(); // fExt.options.featsType = featSIFT; // fExt.options.SIFTOptions.implementation = CFeatureExtraction::Hess; // fExt.detectFeatures( img, featsSIFT_Hess ); // cout << "Detected " << featsSIFT_Hess.size() << " features in " << endl; // cout << format(" %.03fms",tictac.Tac()*1000) << endl; // featsSIFT_Hess.saveToTextFile("f_sift_hess.txt"); // wind3.setWindowTitle("SIFT Hess detected features"); // wind3.showImageAndPoints( img, featsSIFT_Hess ); // // cout << "Extracting SURF features... [f_surf.txt]"; // tictac.Tic(); // fExt.options.featsType = featSURF; // fExt.detectFeatures( img, featsSURF ); // cout << "Detected " << featsSURF.size() << " features in " << endl; // cout << format(" %.03fms",tictac.Tac()*1000) << endl; // featsSURF.saveToTextFile("f_surf.txt"); // wind4.setWindowTitle("SURF detected features"); // wind4.showImageAndPoints( img, featsSURF ); // // cout << "Computing spin images descriptors only ... [f_harris+spinimgs.txt]"; // tictac.Tic(); // fExt.options.SpinImagesOptions.radius = 13; // fExt.options.SpinImagesOptions.hist_size_distance = 10; // fExt.options.SpinImagesOptions.hist_size_intensity = 10; // // fExt.computeDescriptors( img, featsHarris, descSpinImages ); // // cout << format(" %.03fms",tictac.Tac()*1000) << endl; // featsHarris.saveToTextFile("f_harris+spinimgs.txt"); // // mrpt::system::pause(); // // return; //} // ------------------------------------------------------ // TestCapture // ------------------------------------------------------ void TestExtractFeaturesTile() { CDisplayWindow wind1,wind2; CFeatureExtraction fExt; CFeatureList featsHarris; CImage img; string the_img = myDataDir+string("test_image.jpg"); if (!img.loadFromFile(the_img )) { cerr << "Cannot load " << the_img << endl; return; } cout << "Loaded test image: " << the_img << endl; CTicTac tictac; cout << "Extracting Harris features (tiled)... [f_harris_tiled.txt]"; fExt.options.featsType = featHarris; fExt.options.harrisOptions.tile_image = true; tictac.Tic(); fExt.detectFeatures( img, featsHarris ); cout << format(" %.03fms",tictac.Tac()*1000) << endl; cout << "Detected " << featsHarris.size() << " features in " << endl; featsHarris.saveToTextFile("f_harris_tiled.txt"); wind1.setWindowTitle("Harris detected features (Tiled image)"); wind1.showTiledImageAndPoints( img, featsHarris ); cout << "Extracting Harris features... [f_harris.txt]"; fExt.options.harrisOptions.tile_image = false; tictac.Tic(); fExt.detectFeatures( img, featsHarris ); cout << format(" %.03fms",tictac.Tac()*1000) << endl; featsHarris.saveToTextFile("f_harris.txt"); wind2.setWindowTitle("Harris detected features"); wind2.showTiledImageAndPoints( img, featsHarris ); mrpt::system::pause(); return; } int main(int argc, char **argv) { try { //TestMatchFeatures(); //TestExtractFeatures(); //TestExtractFeaturesTile(); //TestRectifyImages(); //TestTrackFeatures(); TestMatchingComparative(); // CFeatureList fs; // fs.loadFromTextFile("f_harris+sift.txt"); // fs.saveToTextFile("f_harris+sift2.txt"); return 0; } catch (std::exception &e) { std::cout << "MRPT exception caught: " << e.what() << std::endl; return -1; } catch (...) { printf("Another exception!!"); return -1; } }