From 996ad26b2c1edbe3e8f21dd8988ce8d05faf400e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 3 Apr 2019 08:30:42 +0300
Subject: [PATCH] Remove experiments
---
.../feature_match/CMakeLists.txt | 30 ---
opencv-experiments/feature_match/src/main.cpp | 98 ---------
opencv-experiments/sfm/CMakeLists.txt | 31 ---
opencv-experiments/sfm/src/main.cpp | 195 ------------------
4 files changed, 354 deletions(-)
delete mode 100644 opencv-experiments/feature_match/CMakeLists.txt
delete mode 100644 opencv-experiments/feature_match/src/main.cpp
delete mode 100644 opencv-experiments/sfm/CMakeLists.txt
delete mode 100644 opencv-experiments/sfm/src/main.cpp
diff --git a/opencv-experiments/feature_match/CMakeLists.txt b/opencv-experiments/feature_match/CMakeLists.txt
deleted file mode 100644
index 236cd0b90..000000000
--- a/opencv-experiments/feature_match/CMakeLists.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-cmake_minimum_required (VERSION 2.8.11)
-project (ftl-exp)
-
-find_package( OpenCV REQUIRED )
-#find_package(PkgConfig)
-#pkg_check_modules(GTKMM gtkmm-3.0)
-
-# Need to include staged files and libs
-include_directories(${PROJECT_SOURCE_DIR}/includes)
-include_directories(${PROJECT_BINARY_DIR})
-
-set(ftl_VERSION_MAJOR "1")
-set(ftl_VERSION_MINOR "0")
-set(ftl_VERSION_PATCH "0")
-
-set(CMAKE_CXX_FLAGS "-pthread -std=c++14 -Wall -Wno-deprecated -Werror -Wno-psabi")
-set(CMAKE_CXX_FLAGS_DEBUG "-D_DEBUG -pg -Wall -Werror")
-set(CMAKE_CXX_FLAGS_RELEASE "-O3")
-
-SET(CMAKE_USE_RELATIVE_PATHS ON)
-
-set(FTLSOURCE
- src/main.cpp
-)
-
-add_executable(ftl-exp ${FTLSOURCE})
-target_include_directories(ftl-exp PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-exp pthread ${OpenCV_LIBS})
-
-
diff --git a/opencv-experiments/feature_match/src/main.cpp b/opencv-experiments/feature_match/src/main.cpp
deleted file mode 100644
index 75a5dd900..000000000
--- a/opencv-experiments/feature_match/src/main.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-//Uncomment the following line if you are compiling this code in Visual Studio
-//#include "stdafx.h"
-
-#include <opencv2/opencv.hpp>
-#include <opencv2/features2d.hpp>
-#include <opencv2/xfeatures2d.hpp>
-#include <opencv2/highgui.hpp>
-#include <iostream>
-#include <vector>
-
-using namespace cv;
-using namespace cv::xfeatures2d;
-using namespace std;
-
-int main(int argc, char* argv[])
-{
- bool cam = argc <= 1;
- Mat frame, gray, img;
-
- //vector<vector<Point> > cnts;
- VideoCapture *camA = NULL;
- VideoCapture *camB = NULL;
-
- if (!cam) camA = new VideoCapture(argv[1]);
- else {
- camA = new VideoCapture(0); //open camera
- camB = new VideoCapture(1);
- }
-
- auto sift = xfeatures2d::SiftFeatureDetector::create();
- vector<KeyPoint> kp;
-
- Mat left, right;
- int minHessian = 400;
- Ptr<SURF> detector = SURF::create();
- detector->setHessianThreshold(minHessian);
-
- while(camA->read(frame)) {
- if (!cam) {
- // Stereo
- left = Mat(frame, Rect(0,0,frame.cols/2,frame.rows));
- right = Mat(frame, Rect(0,0,frame.cols/2,frame.rows));
- } else {
- left = frame;
- camB->read(right);
- }
-
- //convert to grayscale
- cvtColor(left, left, COLOR_BGR2GRAY);
- cvtColor(right, right, COLOR_BGR2GRAY);
-
- //-- Step 1: Detect the keypoints using SURF Detector, compute the descriptors
- std::vector<KeyPoint> keypoints_1, keypoints_2;
- Mat descriptors_1, descriptors_2;
- detector->detectAndCompute( left, Mat(), keypoints_1, descriptors_1 );
- detector->detectAndCompute( right, Mat(), keypoints_2, descriptors_2 );
- //-- Step 2: Matching descriptor vectors using FLANN matcher
- FlannBasedMatcher matcher;
- std::vector< DMatch > matches;
- matcher.match( descriptors_1, descriptors_2, matches );
- double max_dist = 0; double min_dist = 100;
- //-- Quick calculation of max and min distances between keypoints
- for( int i = 0; i < descriptors_1.rows; i++ )
- {
- double dist = matches[i].distance;
- if( dist < min_dist ) min_dist = dist;
- if( dist > max_dist ) max_dist = dist;
- }
-
- std::vector< DMatch > good_matches;
- for( int i = 0; i < descriptors_1.rows; i++ )
- { if( matches[i].distance <= max(2*min_dist, 0.02) )
- { good_matches.push_back( matches[i]); }
- }
- //-- Draw only "good" matches
- Mat img_matches;
- drawMatches( left, keypoints_1, right, keypoints_2,
- good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
- vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
- //-- Show detected matches
- imshow( "Good Matches", img_matches );
-
- if(waitKey(1) == 27){
- //exit if ESC is pressed
- break;
- }
-
- //firstFrame = gray.clone();
- //GaussianBlur(gray, firstFrame, Size(21, 21), 0);
-
- }
-
- if (camA) delete camA;
- if (camB) delete camB;
- return 0;
-
-}
-
diff --git a/opencv-experiments/sfm/CMakeLists.txt b/opencv-experiments/sfm/CMakeLists.txt
deleted file mode 100644
index 0641531e7..000000000
--- a/opencv-experiments/sfm/CMakeLists.txt
+++ /dev/null
@@ -1,31 +0,0 @@
-cmake_minimum_required (VERSION 2.8.11)
-project (ftl-exp)
-
-find_package( OpenCV REQUIRED )
-find_package(gflags REQUIRED)
-#find_package(PkgConfig)
-#pkg_check_modules(GTKMM gtkmm-3.0)
-
-# Need to include staged files and libs
-include_directories(${PROJECT_SOURCE_DIR}/includes)
-include_directories(${PROJECT_BINARY_DIR})
-
-set(ftl_VERSION_MAJOR "1")
-set(ftl_VERSION_MINOR "0")
-set(ftl_VERSION_PATCH "0")
-
-set(CMAKE_CXX_FLAGS "-pthread -std=c++14 -Wall -Wno-deprecated -Werror -Wno-psabi")
-set(CMAKE_CXX_FLAGS_DEBUG "-D_DEBUG -pg -Wall -Werror")
-set(CMAKE_CXX_FLAGS_RELEASE "-O3")
-
-SET(CMAKE_USE_RELATIVE_PATHS ON)
-
-set(FTLSOURCE
- src/main.cpp
-)
-
-add_executable(ftl-exp ${FTLSOURCE})
-target_include_directories(ftl-exp PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-exp pthread ${OpenCV_LIBS} gflags::gflags)
-
-
diff --git a/opencv-experiments/sfm/src/main.cpp b/opencv-experiments/sfm/src/main.cpp
deleted file mode 100644
index 010e65e2e..000000000
--- a/opencv-experiments/sfm/src/main.cpp
+++ /dev/null
@@ -1,195 +0,0 @@
-//Uncomment the following line if you are compiling this code in Visual Studio
-//#include "stdafx.h"
-
-#include <gflags/gflags.h>
-
-DEFINE_int32(grid_x, 1, "Horizontal video grid size");
-DEFINE_int32(grid_y, 1, "Vertical video grid size");
-DEFINE_int32(count, 1, "Number of video feeds");
-
-#include <opencv2/sfm.hpp>
-#include <opencv2/viz.hpp>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/core.hpp>
-#include <opencv2/opencv.hpp>
-#include <opencv2/features2d.hpp>
-#include <opencv2/xfeatures2d.hpp>
-#include <iostream>
-#include <vector>
-
-using namespace cv;
-using namespace cv::sfm;
-using namespace cv::xfeatures2d;
-using namespace std;
-
-void get_tracks(const vector<DMatch> &matches, const vector<KeyPoint> &kp1,
- const vector<KeyPoint> &kp2, vector<vector<Vec2d>> &tracks) {
-
- for (size_t i=0; i<matches.size(); i++) {
- // TODO Generalise to any number of keypoint frames
- Point2f point1 = kp1[matches[i].queryIdx].pt;
- Point2f point2 = kp2[matches[i].trainIdx].pt;
-
- vector<Vec2d> track;
- track.push_back(Vec2d(point1.x,point1.y));
- track.push_back(Vec2d(point2.x,point2.y));
- tracks.push_back(track);
- }
-}
-
-void convert_tracks(const vector<vector<Vec2d>> &tracks, vector<Mat> &points2d) {
- int n_frames = 2;
- int n_tracks = tracks.size();
-
- for (int i = 0; i < n_frames; ++i)
- {
- Mat_<double> frame(2, n_tracks);
- for (int j = 0; j < n_tracks; ++j)
- {
- frame(0,j) = tracks[j][i][0];
- frame(1,j) = tracks[j][i][1];
- }
- points2d.push_back(Mat(frame));
- }
-}
-
-int main(int argc, char* argv[])
-{
- gflags::ParseCommandLineFlags(&argc, &argv, true);
-
- auto gridX = FLAGS_grid_x;
- auto gridY = FLAGS_grid_y;
- auto count = FLAGS_count;
-
- bool cam = argc <= 1;
- Mat frame, gray, img;
-
- //vector<vector<Point> > cnts;
- VideoCapture *camA = NULL;
- VideoCapture *camB = NULL;
- Mat left,right;
-
- int minHessian = 400;
- Ptr<SURF> detector = SURF::create();
- detector->setHessianThreshold(minHessian);
-
- if (!cam) camA = new VideoCapture(argv[1]);
- else {
- //camA = new VideoCapture(0); //open camera
- //camB = new VideoCapture(1);
- }
-
- viz::Viz3d window("Coordinate Frame");
- window.setWindowSize(Size(500,500));
- window.setWindowPosition(Point(150,150));
- window.setBackgroundColor(); // black by default
-
- while(camA->read(frame)) {
- vector<Mat> frames;
- int resX = frame.cols / gridX;
- int resY = frame.rows / gridY;
-
- // Split the video grid into individual feeds
- if (!cam) {
- int tcount = 0;
- for (int x=0; x<gridX; x++) {
- for (int y=0; y<gridY; y++) {
- tcount++;
- Mat f(frame, Rect(x*resX,y*resY,(x+1)*resX,(y+1)*resY));
- cvtColor(f, f, COLOR_BGR2GRAY);
- frames.push_back(f);
- if (tcount == count) break;
- }
- if (tcount == count) break;
- }
- } else {
- //left = frame;
- //camB->read(right);
- }
-
- // --- Features ---
-
- //-- Step 1: Detect the keypoints using SURF Detector, compute the descriptors
- vector<vector<KeyPoint>> keypoints;
- vector<Mat> descriptors;
-
- for (auto x : frames) {
- vector<KeyPoint> kps;
- Mat desc;
- detector->detectAndCompute(x, Mat(), kps, desc);
- keypoints.push_back(kps);
- descriptors.push_back(desc);
- }
-
- // TODO This can be done on node machines...
-
- //-- Step 2: Matching descriptor vectors using FLANN matcher
- // Match between each sequential pair of images in the feed.
- FlannBasedMatcher matcher;
- std::vector< DMatch > matches;
- matcher.match( descriptors_1, descriptors_2, matches );
- double max_dist = 0; double min_dist = 100;
- //-- Quick calculation of max and min distances between keypoints
- for( int i = 0; i < descriptors_1.rows; i++ )
- {
- double dist = matches[i].distance;
- if( dist < min_dist ) min_dist = dist;
- if( dist > max_dist ) max_dist = dist;
- }
-
- std::vector< DMatch > good_matches;
- for( int i = 0; i < descriptors_1.rows; i++ )
- { if( matches[i].distance <= max(2*min_dist, 0.02) )
- { good_matches.push_back( matches[i]); }
- }
-
- // --- SFM ---
-
- std::vector<Mat> points2d;
- vector<vector<Vec2d>> tracks;
- get_tracks(good_matches, keypoints_1, keypoints_2, tracks);
- convert_tracks(tracks, points2d);
-
- cout << "Tracks: " << tracks.size() << endl;
-
- // Build instrinsics
- float f = 5,
- cx = 200, cy = 200;
- Matx33d K = Matx33d( f, 0, cx,
- 0, f, cy,
- 0, 0, 1);
-
- bool is_projective = true;
- vector<Mat> Rs_est, ts_est, points3d_estimated;
- cv::sfm::reconstruct(points2d, Rs_est, ts_est, K, points3d_estimated, is_projective);
-
- vector<Vec3f> point_cloud_est;
- for (unsigned int i = 0; i < points3d_estimated.size(); ++i)
- point_cloud_est.push_back(Vec3f(points3d_estimated[i]));
-
- if ( point_cloud_est.size() > 0 )
- {
- viz::WCloud cloud_widget(point_cloud_est, viz::Color::green());
- window.showWidget("point_cloud", cloud_widget);
- } else {
- cout << "No points" << std::endl;
- }
-
- if(waitKey(1) == 27){
- //exit if ESC is pressed
- break;
- }
-
- //firstFrame = gray.clone();
- //GaussianBlur(gray, firstFrame, Size(21, 21), 0);
- break;
- }
-
- window.spin();
-
- if (camA) delete camA;
- if (camB) delete camB;
- return 0;
-
-}
-
--
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