void createPipeline( MopedPipeline &pipeline ) {
pipeline.addAlg( "UNDISTORTED_IMAGE", new UTIL_UNDISTORT );
//FEAT_SURF_GPU( Float Threshold )
//pipeline.addAlg( "SURF", new FEAT_SURF_GPU(64) );
// FEAT_SIFT_GPU( string ScaleOrigin, string Verbosity, string GPUDisplay )
//pipeline.addAlg( "SIFT", new FEAT_SIFT_GPU("-1", "0", ":0.0") );
#ifdef PERFORMANCE_TESTING_GPU
pipeline.addAlg( "SIFT", new FEAT_SIFT_GPU("-1", "0", ":0.0") );
#else
#ifdef PERFORMANCE_TESTING_CPU
pipeline.addAlg( "SIFT", new FEAT_SIFT_CPU("-1") );
#else
pipeline.addAlg( "SIFT", new FEAT_SIFT_GPU("-1", "0", ":0.0") );
#endif
#endif
// FEAT_SIFT_CPU( string ScaleOrigin )
//pipeline.addAlg( "FEAT_DISPLAY", new FEAT_DISPLAY( 2 ) );
//MATCH_ANN_CPU( int DescriptorSize, string DescriptorType, float Quality, float Ratio )
pipeline.addAlg( "MATCH_SIFT", new MATCH_ANN_CPU( 128, "SIFT", 5., 0.8) );
//pipeline.addAlg( "MATCH_SURF", new MATCH_ANN_CPU( 64, "SURF", 5., 0.85) );
//MATCH_FLANN_CPU( int DescriptorSize, string DescriptorType, float Precision, float Ratio )
//pipeline.addAlg( "MATCH_SIFT", new MATCH_FLANN_CPU( 128, "SIFT", 0.01, 0.85) );
//pipeline.addAlg( "MATCH_SURF", new MATCH_FLANN_CPU( 64, "SURF", 0.01, 0.85) );
//pipeline.addAlg( "MATCH_SURF", new MATCH_FLANN_CPU( 64, "SURF", 0.8, 0.85) );
//MATCH_HASH_CPU( int DescriptorSize, string DescriptorType, int NHashTables, int NDims, float Ratio, char Threshold, float SizeLimit )
//pipeline.addAlg( "MATCH_SIFT", new MATCH_HASH_CPU( 128, "SIFT128", 64, 22, 0.8, 3, 16) );
//MATCH_HASH_CPU( int DescriptorSize, string DescriptorType, int NHashTables, int NDims, float Ratio, char Threshold, float SizeLimit )
//pipeline.addAlg( "MATCH_SURF", new MATCH_HASH_CPU( 64, "SURF", 64, 22, 0.8, 3, 16) );
//MATCH_BRUTE_CPU( int DescriptorSize, string DescriptorType, float Ratio )
//pipeline.addAlg( "CHECK_MATCH_SIFT128", new MATCH_BRUTE_CPU( 128, "SIFT128", 0.9) );
//NO-DISP pipeline.addAlg( "MATCH_DISPLAY", new MATCH_DISPLAY( DEFAULT_DISPLAY_LEVEL ) );
//CLUSTER_MEAN_SHIFT_CPU( float Radius, float Merge, unsigned int MinPts, unsigned int MaxIterations )
pipeline.addAlg( "CLUSTER", new CLUSTER_MEAN_SHIFT_CPU( 200, 20, 7, 100) );
//NO-DISP pipeline.addAlg( "CLUSTER_DISPLAY", new CLUSTER_DISPLAY( DEFAULT_DISPLAY_LEVEL ) );
//POSE_RANSAC_LM_DIFF_CPU( int MaxRANSACTests, int MaxLMTests, int NPtsAlign, int MinNPtsObject, float ErrorThreshold )
//pipeline.addAlg( "POSE", new POSE_RANSAC_LM_DIFF_REPROJECTION_CPU( 24, 200, 5, 6, 100) );
//POSE_RANSAC_LBFGS_REPROJECTION_CPU( int MaxRANSACTests, int MaxOptTests, int NObjectsCluster, int NPtsAlign, int MinNPtsObject, float ErrorThreshold )
//pipeline.addAlg( "POSE", new POSE_RANSAC_LBFGS_REPROJECTION_CPU( 250, 200, 4, 5, 6, 10) );
pipeline.addAlg( "POSE", new POSE_RANSAC_LM_DIFF_REPROJECTION_CPU( 600, 200, 4, 5, 6, 10) );
//NO-DISP pipeline.addAlg( "POSE_DISPLAY", new POSE_DISPLAY( DEFAULT_DISPLAY_LEVEL ) );
//FILTER_PROJECTION_CPU( int MinPoints, float FeatureDistance )
pipeline.addAlg( "FILTER", new FILTER_PROJECTION_CPU( 5, 4096., 2) );
//pipeline.addAlg( "POSE2", new POSE_RANSAC_LBFGS_REPROJECTION_CPU( 24, 500, 4, 6, 8, 2) );
pipeline.addAlg( "POSE2", new POSE_RANSAC_LM_DIFF_REPROJECTION_CPU( 100, 500, 4, 6, 8, 5) );
pipeline.addAlg( "FILTER2", new FILTER_PROJECTION_CPU( 7, 4096., 3) );
#ifndef PERFORMANCE_TESTING
//
//pipeline.addAlg( "POSE2_DISPLAY", new POSE_DISPLAY( DEFAULT_DISPLAY_LEVEL ) );
#endif
//
pipeline.addAlg( "STATUS_DISPLAY", new STATUS_DISPLAY( DEFAULT_DISPLAY_LEVEL ) );
#ifndef PERFORMANCE_TESTING
//
//pipeline.addAlg( "GLOBAL_DISPLAY", new GLOBAL_DISPLAY( 2 ) );
#endif
}
void createPipeline( MopedPipeline &pipeline ) {
pipeline.addAlg( "UNDISTORTED_IMAGE", new UTIL_UNDISTORT );
pipeline.addAlg("DEPTHFILL", new DEPTH_FILL_EXACT_CPU(8, false));
pipeline.addAlg( "SIFT", new FEAT_SIFT_GPU("-1", "0", ":0.0") );
pipeline.addAlg( "DEPTHFILTER", new DEPTHFILTER_CPU(64, 0.050000, 1));
pipeline.addAlg( "MATCH_SIFT", new MATCH_ADAPTIVE_FLANN_CPU( 128, "SIFT", 8, 0.600000, 0.750000, 0.650000, 0.800000, 150, 50));
pipeline.addAlg( "DEPTHFILTER2", new DEPTHFILTER_CPU(64, 0.010000, 2));
pipeline.addAlg("DEPTHPROP", new DEPTHMAP_PROP_CPU());
pipeline.addAlg( "CLUSTER", new CLUSTER_LINKAGE_CPU( 0.100000, 7, 2, 1, 0.0, 1, -1, -1));
pipeline.addAlg( "POSE", new POSE_RANSAC_LM_DIFF_BACKPROJECTION_DEPTH_CPU( 192, 100, 4, 5, 6, 8, 0.5));
pipeline.addAlg( "FILTER", new FILTER_PROJECTION_CPU( 6, 4096., 2) );
pipeline.addAlg( "POSE2", new POSE_RANSAC_LM_DIFF_BACKPROJECTION_DEPTH_CPU( 64, 250, 4, 6, 8, 5, 0.5));
pipeline.addAlg( "FILTER2", new FILTER_PROJECTION_CPU( 8, 8192., 1e-4) );
}
void createPipeline(MopedPipeline &pipeline)
{
pipeline.addAlg("UNDISTORTED_IMAGE", new UTIL_UNDISTORT);
// Feature Detector:
// SURF_GPU, SIFT_GPU, or SIFT_CPU
//FEAT_SURF_GPU(Float Threshold)
//pipeline.addAlg("SURF", new FEAT_SURF_GPU(64));
// FEAT_SIFT_GPU(string ScaleOrigin, string Verbosity, string GPUDisplay)
//pipeline.addAlg("SIFT", new FEAT_SIFT_GPU("-1", "0", ":0.0"));
#ifdef USE_GPU
pipeline.addAlg("SIFT", new FEAT_SIFT_GPU("-1", "0", ":0.0"));
#else
#ifdef USE_CPU
pipeline.addAlg("SIFT", new FEAT_SIFT_CPU("-1"));
#else
// Use SIFT_CPU by default:
pipeline.addAlg("SIFT", new FEAT_SIFT_CPU("-1"));
#endif
#endif
// FEAT_SIFT_CPU(string ScaleOrigin)
// FEAT_DISPLAY:
// 1 = print number of detected features to the terminal
// 2 = display the camera image in a window, overlayed with feature points
//pipeline.addAlg("FEAT_DISPLAY", new FEAT_DISPLAY(2));
//MATCH_ANN_CPU(int DescriptorSize, string DescriptorType, float Quality, float Ratio)
pipeline.addAlg("MATCH_SIFT", new MATCH_ANN_CPU(128, "SIFT", 5., 0.8));
//pipeline.addAlg("MATCH_SURF", new MATCH_ANN_CPU(64, "SURF", 5., 0.85));
//MATCH_FLANN_CPU(int DescriptorSize, string DescriptorType, float Precision, float Ratio)
//pipeline.addAlg("MATCH_SIFT", new MATCH_FLANN_CPU(128, "SIFT", 0.01, 0.85));
//pipeline.addAlg("MATCH_SURF", new MATCH_FLANN_CPU( 64, "SURF", 0.01, 0.85));
//pipeline.addAlg("MATCH_SURF", new MATCH_FLANN_CPU( 64, "SURF", 0.8, 0.85));
//MATCH_HASH_CPU(int DescriptorSize, string DescriptorType, int NHashTables, int NDims, float Ratio, char Threshold, float SizeLimit)
//pipeline.addAlg("MATCH_SIFT", new MATCH_HASH_CPU(128, "SIFT128", 64, 22, 0.8, 3, 16));
//MATCH_HASH_CPU(int DescriptorSize, string DescriptorType, int NHashTables, int NDims, float Ratio, char Threshold, float SizeLimit)
//pipeline.addAlg("MATCH_SURF", new MATCH_HASH_CPU(64, "SURF", 64, 22, 0.8, 3, 16));
//MATCH_BRUTE_CPU(int DescriptorSize, string DescriptorType, float Ratio)
//pipeline.addAlg("CHECK_MATCH_SIFT128", new MATCH_BRUTE_CPU(128, "SIFT128", 0.9));
// MATCH_DISPLAY:
// 1 = print number of feature matches to the terminal
// 2 = display the camera image in a window, overlayed with matched points
//pipeline.addAlg("MATCH_DISPLAY", new MATCH_DISPLAY(2));
//CLUSTER_MEAN_SHIFT_CPU(float Radius, float Merge, unsigned int MinPts, unsigned int MaxIterations)
pipeline.addAlg("CLUSTER", new CLUSTER_MEAN_SHIFT_CPU(200, 20, 7, 100));
// CLUSTER_DISPLAY:
// 1 = print number of found clusters to the terminal
// 2 = display the camera image in a window, overlayed with cluster boundaries
//pipeline.addAlg("CLUSTER_DISPLAY", new CLUSTER_DISPLAY(2));
//POSE_RANSAC_LM_DIFF_CPU(int MaxRANSACTests, int MaxLMTests, int NPtsAlign, int MinNPtsObject, float ErrorThreshold)
//pipeline.addAlg("POSE", new POSE_RANSAC_LM_DIFF_REPROJECTION_CPU(24, 200, 5, 6, 100));
//POSE_RANSAC_LBFGS_REPROJECTION_CPU(int MaxRANSACTests, int MaxOptTests, int NObjectsCluster, int NPtsAlign, int MinNPtsObject, float ErrorThreshold)
//pipeline.addAlg("POSE", new POSE_RANSAC_LBFGS_REPROJECTION_CPU(250, 200, 4, 5, 6, 10));
pipeline.addAlg("POSE", new POSE_RANSAC_LM_DIFF_REPROJECTION_CPU(600, 200, 4, 5, 6, 10));
// POSE_DISPLAY:
// 1 = print number of object pose hypotheses to the terminal
// 2 = display the camera image in a window, overlayed with multiple pose hypotheses
//pipeline.addAlg("POSE_DISPLAY", new POSE_DISPLAY(2));
//FILTER_PROJECTION_CPU(int MinPoints, float FeatureDistance)
pipeline.addAlg("FILTER", new FILTER_PROJECTION_CPU(5, 4096., 2));
//pipeline.addAlg("POSE2", new POSE_RANSAC_LBFGS_REPROJECTION_CPU(24, 500, 4, 6, 8, 2));
pipeline.addAlg("POSE2", new POSE_RANSAC_LM_DIFF_REPROJECTION_CPU(100, 500, 4, 6, 8, 5));
pipeline.addAlg("FILTER2", new FILTER_PROJECTION_CPU(7, 4096., 3));
// POSE_DISPLAY 2:
// 1 = print number of detected objects to the terminal
// 2 = display the camera image in a window, overlayed with object wireframes
//pipeline.addAlg("POSE2_DISPLAY", new POSE_DISPLAY(2));
// STATUS_DISPLAY:
// 1 = print frameData times to the terminal
pipeline.addAlg("STATUS_DISPLAY", new STATUS_DISPLAY(1));
// GLOBAL_DISPLAY:
// <int> argument does not do anything.
// Display a window containing views of various steps of the pipeline
// and a graph of the processing load at each step.
//pipeline.addAlg("GLOBAL_DISPLAY", new GLOBAL_DISPLAY(0));
}
