void Builder::showWnds(VisualHolder const& vs_holder){
VideoLib::FrameBufferPtr const& framebuf = vs_holder.getStabilizer()->getFrameBuf();
for(VisualFlags::const_iterator it = vs_holder.getFlags().begin(); it != vs_holder.getFlags().end(); it++){
if(it->second != ShowFlags::NONE){
cv::Mat img;
if(it->second & ShowFlags::FRAME) showFrame(it->first,vs_holder.getStabilizer(),img);
if(it->second & ShowFlags::PREV_FEATURES) showFeatures(framebuf->getDelayed(DEFAULT_DELAY)->features(),CV_RGB(255,0,0),img,1);//img.cols/320);
if(it->second & ShowFlags::CURR_FEATURES) showFeatures(framebuf->getCurrent()->features(),CV_RGB(0,300,0),img,1);//img.cols/320);
if(it->second & ShowFlags::OPTICAL_FLOW) showOpticalFlow(framebuf->getCurrent(),CV_RGB(0,300,0),img);
//if(it->second & ShowFlags::PROJ_TRANSFORM) showTransform(it->first,vs_holder,img);
//if(it->second & ShowFlags::BUFFER_MAP) showBufferMap(it->first,vs_holder,img);
if(created_wnds.find(it->first) == created_wnds.end()){
createWnd(it->first);
}
//cv::imshow(getWndName(it->first),framebuf->getCurrent()->matGray());
cv::imshow(getWndName(it->first),img);
}
}
}
/*
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;
}