DescriptorsMatcher::DescriptorsMatcher(const cv::FileStorage& fs)
{
generateDetector(fs);
if(!feature_detector_)
{
std::cerr << "Feature Detector error" << std::endl;
exit(-1002);
}
generateExtractor(fs);
if(!descriptor_extractor_)
{
std::cerr << "Feature Extractor error" << std::endl;
exit(-1003);
}
std::string
extractorType;
fs["FeatureOptions"]["ExtractorType"] >> extractorType;
if (extractorType == "ORB" || extractorType == "BRISK" || extractorType == "FREAK")
{
matcher_ = new cv::FlannBasedMatcher(new cv::flann::LshIndexParams(5, 24, 2));
}
else
{
matcher_ = cv::DescriptorMatcher::create("FlannBased");
}
}
/*
The openFabMapcli accepts a YML settings file, an example of which is provided.
Modify options in the settings file for desired operation
*/
int main(int argc, char * argv[])
{
//load the settings file
std::string settfilename;
if (argc == 1) {
//assume settings in working directory
settfilename = "settings.yml";
} else if (argc == 3) {
if(std::string(argv[1]) != "-s") {
//incorrect option
return help();
} else {
//settings provided as argument
settfilename = std::string(argv[2]);
}
} else {
//incorrect arguments
return help();
}
cv::FileStorage fs;
fs.open(settfilename, cv::FileStorage::READ);
if (!fs.isOpened()) {
std::cerr << "Could not open settings file: " << settfilename <<
std::endl;
return -1;
}
cv::Ptr<cv::FeatureDetector> detector = generateDetector(fs);
if(!detector) {
std::cerr << "Feature Detector error" << std::endl;
return -1;
}
cv::Ptr<cv::DescriptorExtractor> extractor = generateExtractor(fs);
if(!extractor) {
std::cerr << "Feature Extractor error" << std::endl;
return -1;
}
//std::string extractorType = fs["FeatureOptions"]["ExtractorType"];
//cv::Ptr<cv::DescriptorExtractor> extractor;
//if(extractorType == "SIFT") {
// extractor = new cv::SiftDescriptorExtractor();
//} else if(extractorType == "SURF") {
// extractor = new cv::SurfDescriptorExtractor(
// fs["FeatureOptions"]["SurfDetector"]["NumOctaves"],
// fs["FeatureOptions"]["SurfDetector"]["NumOctaveLayers"],
// (int)fs["FeatureOptions"]["SurfDetector"]["Extended"] > 0,
// (int)fs["FeatureOptions"]["SurfDetector"]["Upright"] > 0);
//} else {
// std::cerr << "Could not create Descriptor Extractor. Please specify "
// "extractor type in settings file" << std::endl;
// return -1;
//}
//run desired function
int result = 0;
std::string function = fs["Function"];
if (function == "ShowFeatures") {
result = showFeatures(
fs["FilePaths"]["TrainPath"],
detector);
} else if (function == "GenerateVocabTrainData") {
result = generateVocabTrainData(fs["FilePaths"]["TrainPath"],
fs["FilePaths"]["TrainFeatDesc"],
detector, extractor);
} else if (function == "TrainVocabulary") {
result = trainVocabulary(fs["FilePaths"]["Vocabulary"],
fs["FilePaths"]["TrainFeatDesc"],
fs["VocabTrainOptions"]["ClusterSize"]);
} else if (function == "GenerateFABMAPTrainData") {
result = generateBOWImageDescs(fs["FilePaths"]["TrainPath"],
fs["FilePaths"]["TrainImagDesc"],
fs["FilePaths"]["Vocabulary"], detector, extractor,
fs["BOWOptions"]["MinWords"]);
} else if (function == "TrainChowLiuTree") {
result = trainChowLiuTree(fs["FilePaths"]["ChowLiuTree"],
fs["FilePaths"]["TrainImagDesc"],
fs["ChowLiuOptions"]["LowerInfoBound"]);
} else if (function == "GenerateFABMAPTestData") {
result = generateBOWImageDescs(fs["FilePaths"]["TestPath"],
fs["FilePaths"]["TestImageDesc"],
fs["FilePaths"]["Vocabulary"], detector, extractor,
fs["BOWOptions"]["MinWords"]);
} else if (function == "RunOpenFABMAP") {
std::string placeAddOption = fs["FabMapPlaceAddition"];
bool addNewOnly = (placeAddOption == "NewMaximumOnly");
of2::FabMap *fabmap = generateFABMAPInstance(fs);
if(fabmap) {
result = openFABMAP(fs["FilePaths"]["TestImageDesc"], fabmap,
fs["FilePaths"]["Vocabulary"],
fs["FilePaths"]["FabMapResults"], addNewOnly);
}
} else {
std::cerr << "Incorrect Function Type" << std::endl;
result = -1;
}
std::cout << "openFABMAP done" << std::endl;
std::cin.sync(); std::cin.ignore();
fs.release();
return result;
}
OpenFABMap::OpenFABMap(cv::FileStorage &settings) :
BoWMatcher< cv::of2::IMatch >()
{
// Create detector and extractor
generateDetector(settings);
if(!feature_detector_)
{
std::cerr << "Feature Detector error" << std::endl;
exit(-1002);
}
generateExtractor(settings);
if(!descriptor_extractor_)
{
std::cerr << "Feature Extractor error" << std::endl;
exit(-1003);
}
cv::FileStorage
fs;
//load FabMap training data
std::string
fabmapTrainDataPath = settings["FilePaths"]["TrainImagDesc"],
chowliutreePath = settings["FilePaths"]["ChowLiuTree"],
vocabPath = settings["FilePaths"]["Vocabulary"];
std::cout << "Loading FabMap Training Data" << std::endl;
fs.open(fabmapTrainDataPath, cv::FileStorage::READ);
cv::Mat
fabmapTrainData;
fs["BOWImageDescs"] >> fabmapTrainData;
if (fabmapTrainData.empty())
{
std::cerr << fabmapTrainDataPath << ": FabMap Training Data not found" << std::endl;
exit(-1004);
}
fs.release();
//load a chow-liu tree
std::cout << "Loading Chow-Liu Tree" << std::endl;
fs.open(chowliutreePath, cv::FileStorage::READ);
fs["ChowLiuTree"] >> cl_tree_;
if (cl_tree_.empty())
{
std::cerr << chowliutreePath << ": Chow-Liu tree not found" << std::endl;
exit(-1005);
}
fs.release();
//load the vocabulary
std::cout << "Loading Vocabulary" << std::endl;
fs.open(vocabPath, cv::FileStorage::READ);
fs["Vocabulary"] >> vocabulary_;
if (vocabulary_.empty())
{
std::cerr << vocabPath << ": Vocabulary not found" << std::endl;
exit(-1006);
}
fs.release();
//create options flags
std::string
newPlaceMethod = settings["openFabMapOptions"]["NewPlaceMethod"],
bayesMethod = settings["openFabMapOptions"]["BayesMethod"];
int
simpleMotionModel = settings["openFabMapOptions"]["SimpleMotion"],
options = 0;
if(newPlaceMethod == "Sampled")
{
options |= cv::of2::FabMap::SAMPLED;
}
else
{
options |= cv::of2::FabMap::MEAN_FIELD;
}
if(bayesMethod == "ChowLiu")
{
options |= cv::of2::FabMap::CHOW_LIU;
}
else
{
options |= cv::of2::FabMap::NAIVE_BAYES;
}
if(simpleMotionModel)
{
options |= cv::of2::FabMap::MOTION_MODEL;
}
//create an instance of the desired type of FabMap
std::string
fabMapVersion = settings["openFabMapOptions"]["FabMapVersion"];
if(fabMapVersion == "FABMAP1")
{
open_fab_map_ = new cv::of2::FabMap1(cl_tree_,
settings["openFabMapOptions"]["PzGe"],
settings["openFabMapOptions"]["PzGne"],
options,
settings["openFabMapOptions"]["NumSamples"]);
}
else if(fabMapVersion == "FABMAPLUT")
{
open_fab_map_ = new cv::of2::FabMapLUT(cl_tree_,
settings["openFabMapOptions"]["PzGe"],
settings["openFabMapOptions"]["PzGne"],
options,
settings["openFabMapOptions"]["NumSamples"],
settings["openFabMapOptions"]["FabMapLUT"]["Precision"]);
}
else if(fabMapVersion == "FABMAPFBO")
{
open_fab_map_ = new cv::of2::FabMapFBO(cl_tree_,
settings["openFabMapOptions"]["PzGe"],
settings["openFabMapOptions"]["PzGne"],
options,
settings["openFabMapOptions"]["NumSamples"],
settings["openFabMapOptions"]["FabMapFBO"]["RejectionThreshold"],
settings["openFabMapOptions"]["FabMapFBO"]["PsGd"],
settings["openFabMapOptions"]["FabMapFBO"]["BisectionStart"],
settings["openFabMapOptions"]["FabMapFBO"]["BisectionIts"]);
}
else if(fabMapVersion == "FABMAP2")
{
open_fab_map_ = new cv::of2::FabMap2(cl_tree_,
settings["openFabMapOptions"]["PzGe"],
settings["openFabMapOptions"]["PzGne"],
options);
}
else
{
std::cerr << "Could not identify openFABMAPVersion from settings file" << std::endl;
exit(-1001);
}
//add the training data for use with the sampling method
open_fab_map_->addTraining(fabmapTrainData);
}
