//--------------------------------------------------
// As of writing this, you can use:
// SIFT, SURF
Mat MatchableImage::findDescriptors(string alg_name)
{
if(descriptorsCurrent && descriptorAlgUsed.compare(alg_name)==0) return descriptors;
if(!featuresCurrent) findFeatures();
if(empty() || features.size()==0)
{
log(LOG_LEVEL_ERROR, "in findDescriptors(), image is empty or there are no features in image");
}
Mat cvImageGray;
cvtColor(cvImage, cvImageGray, CV_RGB2GRAY);
Ptr<DescriptorExtractor> descriptorExtractor = createDescriptorExtractor(alg_name);
if(descriptorExtractor==0)
{
log(LOG_LEVEL_ERROR, "Detector not found!");
}
descriptorExtractor->compute( cvImageGray, features, descriptors );
log(LOG_LEVEL_DEBUG, "in findDescriptors(), %d x %d descriptors", descriptors.rows, descriptors.cols);
descriptorAlgUsed = alg_name;
descriptorsCurrent=true;
matcherTrained=false;
return descriptors;
}
OpenNIListener::OpenNIListener(GraphManager* graph_mgr)
: graph_mgr_(graph_mgr),
stereo_sync_(NULL), kinect_sync_(NULL), no_cloud_sync_(NULL),
visua_sub_(NULL), depth_sub_(NULL), cloud_sub_(NULL),
depth_mono8_img_(cv::Mat()),
pause_(ParameterServer::instance()->get<bool>("start_paused")),
getOneFrame_(false),
first_frame_(true),
data_id_(0),
num_processed_(0),
image_encoding_("rgb8")
{
ParameterServer* ps = ParameterServer::instance();
if(ps->get<bool>("encoding_bgr")){
image_encoding_ = "bgr8";//used in conversion to qimage. exact value does not matter, just not rgb8
}
detector_ = createDetector(ps->get<std::string>("feature_detector_type"));
extractor_ = createDescriptorExtractor(ps->get<std::string>("feature_extractor_type"));
setupSubscribers();
}
OpenNIListener::OpenNIListener(GraphManager* graph_mgr)
: graph_mgr_(graph_mgr),
stereo_sync_(NULL), kinect_sync_(NULL), no_cloud_sync_(NULL),
visua_sub_(NULL), depth_sub_(NULL), cloud_sub_(NULL),
depth_mono8_img_(cv::Mat()),
save_bag_file(false),
pause_(ParameterServer::instance()->get<bool>("start_paused")),
getOneFrame_(false),
first_frame_(true),
data_id_(0),
num_processed_(0),
image_encoding_("rgb8")
{
ParameterServer* ps = ParameterServer::instance();
int q = ps->get<int>("subscriber_queue_size");
if(ps->get<bool>("encoding_bgr")){
image_encoding_ = "bgr8";//used in conversion to qimage. exact value does not matter, just not rgb8
}
std::string bagfile_name = ps->get<std::string>("bagfile_name");
std::string visua_tpc = ps->get<std::string>("topic_image_mono");
std::string depth_tpc = ps->get<std::string>("topic_image_depth");
std::string cinfo_tpc = ps->get<std::string>("camera_info_topic");
ros::NodeHandle nh;
tflistener_ = new tf::TransformListener(nh);
if(bagfile_name.empty()){
std::string cloud_tpc = ps->get<std::string>("topic_points");
std::string widev_tpc = ps->get<std::string>("wide_topic");
std::string widec_tpc = ps->get<std::string>("wide_cloud_topic");
//All information from Kinect
if(!visua_tpc.empty() && !depth_tpc.empty() && !cloud_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, visua_tpc, q);
depth_sub_ = new image_sub_type (nh, depth_tpc, q);
cloud_sub_ = new pc_sub_type (nh, cloud_tpc, q);
kinect_sync_ = new message_filters::Synchronizer<KinectSyncPolicy>(KinectSyncPolicy(q), *visua_sub_, *depth_sub_, *cloud_sub_),
kinect_sync_->registerCallback(boost::bind(&OpenNIListener::kinectCallback, this, _1, _2, _3));
ROS_INFO_STREAM("Listening to " << visua_tpc << ", " << depth_tpc << " and " << cloud_tpc);
}
//No cloud, but visual image and depth
else if(!visua_tpc.empty() && !depth_tpc.empty() && !cinfo_tpc.empty() && cloud_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, visua_tpc, q);
depth_sub_ = new image_sub_type(nh, depth_tpc, q);
cinfo_sub_ = new cinfo_sub_type(nh, cinfo_tpc, q);
no_cloud_sync_ = new message_filters::Synchronizer<NoCloudSyncPolicy>(NoCloudSyncPolicy(q), *visua_sub_, *depth_sub_, *cinfo_sub_);
no_cloud_sync_->registerCallback(boost::bind(&OpenNIListener::noCloudCallback, this, _1, _2, _3));
ROS_INFO_STREAM("Listening to " << visua_tpc << " and " << depth_tpc);
}
//All information from stereo
if(!widec_tpc.empty() && !widev_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, widev_tpc, q);
cloud_sub_ = new pc_sub_type(nh, widec_tpc, q);
stereo_sync_ = new message_filters::Synchronizer<StereoSyncPolicy>(StereoSyncPolicy(q), *visua_sub_, *cloud_sub_);
stereo_sync_->registerCallback(boost::bind(&OpenNIListener::stereoCallback, this, _1, _2));
ROS_INFO_STREAM("Listening to " << widev_tpc << " and " << widec_tpc );
}
}
detector_ = cv::Ptr<cv::FeatureDetector>( createDetector(ps->get<std::string>("feature_detector_type")) );
extractor_ = cv::Ptr<cv::DescriptorExtractor>( createDescriptorExtractor(ps->get<std::string>("feature_extractor_type")) );
}
