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Fixed NN strategy on loading ini file if falling on ORB when descriptor is not available. If nonfree is not detected, falling back on SIFT (OpenCV>=4.4 >=3.4.111) or KAZE (OpenCV>=3) or ORB(OpenCV<3)

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matlabbe 2020-11-06 15:35:20 -05:00
parent a1601f7a24
commit 4bb6f58c6b
2 changed files with 44 additions and 9 deletions
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15
include/find_object/Settings.h
View File

@ -112,9 +112,18 @@ class FINDOBJECT_EXP Settings
PARAMETER(Camera, 9queueSize, int, 1, "Maximum images buffered from TCP. If 0, all images are buffered.");
//List format : [Index:item0;item1;item3;...]
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if CV_MAJOR_VERSION >= 3 // NONFREE=SURF, DEFAULT=KAZE
PARAMETER_COND(Feature2D, 1Detector, QString, FINDOBJECT_NONFREE, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch" , "10:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch", "Keypoint detector.");
PARAMETER_COND(Feature2D, 2Descriptor, QString, FINDOBJECT_NONFREE, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "6:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "Keypoint descriptor.");
#else // NONFREE=SURF, DEFAULT=ORB
PARAMETER_COND(Feature2D, 1Detector, QString, FINDOBJECT_NONFREE, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch" , "4:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch", "Keypoint detector.");
PARAMETER_COND(Feature2D, 2Descriptor, QString, FINDOBJECT_NONFREE, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "1:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "Keypoint descriptor.");
#endif
#else // >=4.4 >=3.4.11: NONFREE=SURF, DEFAULT=SIFT
PARAMETER_COND(Feature2D, 1Detector, QString, FINDOBJECT_NONFREE, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch" , "5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch", "Keypoint detector.");
PARAMETER_COND(Feature2D, 2Descriptor, QString, FINDOBJECT_NONFREE, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "Keypoint descriptor.");
#endif
PARAMETER(Feature2D, 3MaxFeatures, int, 0, "Maximum features per image. If the number of features extracted is over this threshold, only X features with the highest response are kept. 0 means all features are kept.");
PARAMETER(Feature2D, 4Affine, bool, false, "(ASIFT) Extract features on multiple affine transformations of the image.");
PARAMETER(Feature2D, 5AffineCount, int, 6, "(ASIFT) Higher the value, more affine transformations will be done.");
@ -234,8 +243,8 @@ class FINDOBJECT_EXP Settings
PARAMETER(Feature2D, SuperPointTorch_NMS_radius, int, 4, "[%s=true] Minimum distance (pixels) between keypoints");
PARAMETER(Feature2D, SuperPointTorch_cuda, bool, false, "Use Cuda device for Torch, otherwise CPU device is used by default.");
PARAMETER_COND(NearestNeighbor, 1Strategy, QString, FINDOBJECT_NONFREE, "1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "6:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "Nearest neighbor strategy.");
PARAMETER_COND(NearestNeighbor, 2Distance_type, QString, FINDOBJECT_NONFREE, "0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "1:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "Distance type.");
PARAMETER_COND(NearestNeighbor, 1Strategy, QString, FINDOBJECT_NONFREE || CV_MAJOR_VERSION >= 3, "1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "6:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "Nearest neighbor strategy.");
PARAMETER_COND(NearestNeighbor, 2Distance_type, QString, FINDOBJECT_NONFREE || CV_MAJOR_VERSION >= 3, "0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "1:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "Distance type.");
PARAMETER(NearestNeighbor, 3nndrRatioUsed, bool, true, "Nearest neighbor distance ratio approach to accept the best match.");
PARAMETER(NearestNeighbor, 4nndrRatio, float, 0.8f, "Nearest neighbor distance ratio.");
PARAMETER(NearestNeighbor, 5minDistanceUsed, bool, false, "Minimum distance with the nearest descriptor to accept a match.");

38
src/Settings.cpp
View File

@ -137,7 +137,7 @@ ParametersMap Settings::loadSettings(const QString & fileName)
int index = str.split(':').first().toInt();
if(key.compare(Settings::kFeature2D_1Detector()) == 0)
{
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if FINDOBJECT_NONFREE == 0
if(index == 5 || index == 7)
{
@ -171,7 +171,7 @@ ParametersMap Settings::loadSettings(const QString & fileName)
}
else if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
{
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if FINDOBJECT_NONFREE == 0
if(index == 2 || index == 3)
{
@ -211,6 +211,32 @@ ParametersMap Settings::loadSettings(const QString & fileName)
setParameter(key, value);
}
}
//validate descriptors and nearest neighbor compatibilities
bool isBinaryDescriptor = currentDescriptorType().compare("ORB") == 0 ||
currentDescriptorType().compare("Brief") == 0 ||
currentDescriptorType().compare("BRISK") == 0 ||
currentDescriptorType().compare("FREAK") == 0 ||
currentDescriptorType().compare("AKAZE") == 0 ||
currentDescriptorType().compare("LATCH") == 0 ||
currentDescriptorType().compare("LUCID") == 0;
bool binToFloat = getNearestNeighbor_7ConvertBinToFloat();
if(isBinaryDescriptor && !binToFloat && currentNearestNeighborType().compare("Lsh") != 0 && currentNearestNeighborType().compare("BruteForce") != 0)
{
UWARN("Current selected descriptor type (\"%s\") is binary while nearest neighbor strategy is not (\"%s\").\n"
"Falling back to \"BruteForce\" nearest neighbor strategy with Hamming distance (by default).",
currentDescriptorType().toStdString().c_str(),
currentNearestNeighborType().toStdString().c_str());
QString tmp = Settings::getNearestNeighbor_1Strategy();
*tmp.begin() = '6'; // set BruteForce
setNearestNeighbor_1Strategy(tmp);
loadedParameters.insert(Settings::kNearestNeighbor_1Strategy(), tmp);
tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '8'; // set HAMMING
setNearestNeighbor_2Distance_type(tmp);
loadedParameters.insert(Settings::kNearestNeighbor_2Distance_type(), tmp);
}
UINFO("Settings loaded from %s.", path.toStdString().c_str());
}
else
@ -711,7 +737,7 @@ Feature2D * Settings::createKeypointDetector()
{
//check for nonfree stuff
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if FINDOBJECT_NONFREE == 0
if(strategies.at(index).compare("SIFT") == 0 ||
strategies.at(index).compare("SURF") == 0)
@ -997,7 +1023,7 @@ Feature2D * Settings::createKeypointDetector()
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SIFT") == 0)
{
@ -1126,7 +1152,7 @@ Feature2D * Settings::createDescriptorExtractor()
{
//check for nonfree stuff
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if FINDOBJECT_NONFREE == 0
if(strategies.at(index).compare("SIFT") == 0 ||
strategies.at(index).compare("SURF") == 0)
@ -1352,7 +1378,7 @@ Feature2D * Settings::createDescriptorExtractor()
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#endif
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SIFT") == 0)
{