Finish Descriptor Matching

Author: StringsVR

CMakeLists.txt

@@ -1,7 +1,7 @@
 set(PROJECT_NAME StringSLAM)
 cmake_minimum_required(VERSION 3.16)
 
-project(${PROJECT_NAME} LANGUAGES CXX)
+project(${PROJECT_NAME})
 
 if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt)
     if (NOT CMAKE_BUILD_TYPE)
@@ -26,7 +26,6 @@ IF (NOT ENABLE_COMPILE_FLAGS_FOR_TARGET)
     execute_process(COMMAND dpkg-architecture -qDEB_HOST_ARCH
         OUTPUT_VARIABLE ENABLE_COMPILE_FLAGS_FOR_TARGET OUTPUT_STRIP_TRAILING_WHITESPACE)
 endif()
-
 message(STATUS "Platform: ${ENABLE_COMPILE_FLAGS_FOR_TARGET}")
 if ("${ENABLE_COMPILE_FLAGS_FOR_TARGET}" STREQUAL "arm64")
     add_definitions(-ftree-vectorize)
@@ -90,4 +89,4 @@ install(TARGETS lib${PROJECT_NAME}
 )
 install(
     FILES ${HEADERS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
-)
+)

examples/CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.16)
+project(StringSLAM_Examples)
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_CXX_STANDARD 17)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+elseif(MSVC)
+  add_compile_options(/W4)
+endif()
+
+# -------- Dependencies --------
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(OPENCV REQUIRED opencv4)
+pkg_check_modules(EIGEN3 REQUIRED eigen3)
+find_package(OpenEXR QUIET)
+
+include(GNUInstallDirs)
+
+# -------- Sources --------
+file(GLOB_RECURSE EXAMPLE_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
+
+# -------- Include dirs --------
+include_directories(
+    ${CMAKE_SOURCE_DIR}/../include   # assuming examples/ is sibling to main project
+    ${OPENCV_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+)
+
+# -------- Create executables --------
+foreach(example_file ${EXAMPLE_SOURCES})
+    get_filename_component(example_name ${example_file} NAME_WE)
+    add_executable(${example_name} ${example_file})
+
+    target_link_libraries(${example_name} 
+        PRIVATE 
+            "${CMAKE_SOURCE_DIR}/../build/libStringSLAM.so"
+            ${OPENCV_LIBRARIES}   # OpenCV
+            ${EIGEN3_LIBRARIES}   # Eigen
+            pthread
+    )
+endforeach()

examples/DescriptorMatching.cpp

@@ -0,0 +1,58 @@
+#include <opencv2/core/types.hpp>
+#include <StringSLAM/Tracker/MonoTracker.hpp>
+#include <StringSLAM/Features/KeypointExtractor.hpp>
+#include <StringSLAM/Features/DescriptorMatcher.hpp>
+#include <StringSLAM/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv4/opencv2/features2d.hpp>
+#include <deque>
+
+using namespace StringSLAM;
+
+int main() {
+    std::shared_ptr<Tracker::MonoTracker> mt1 = Tracker::MonoTracker::create(0, CameraModel());
+
+    std::shared_ptr<Accelerator> accelerator = Accelerator::create();
+    accelerator->createGPU(true, 10);
+
+    std::shared_ptr<OrbWrapper> orb = OrbWrapper::create(800, 1.2f, 4, 30, 0, 2, cv::ORB::HARRIS_SCORE, 32, 30);
+    std::shared_ptr<Features::KeypointExtractor> kpExtractor = Features::KeypointExtractor::create(orb);
+    std::shared_ptr<Features::DescriptorMatcher> descMatcher = Features::DescriptorMatcher::create(orb);
+
+    mt1->open();
+
+    std::vector<cv::DMatch> matches;
+    std::deque<Frame> frames;
+    Frame tempFrame, prevFrame;
+    cv::Mat out;
+
+    for (;;) {
+        // If the frame list isn't empty then get prev frame.
+        if (!frames.empty()) prevFrame = frames.back();
+        
+        // Read frame from camera
+        mt1->read(tempFrame);
+        out = tempFrame.frame;
+
+        // Get keypoints
+        kpExtractor->getKeypoints(tempFrame);
+        if (!prevFrame.kp.empty()) {
+            // Get matches for keypoints and generator descriptor
+            matches = descMatcher->matchFramesLK(tempFrame, prevFrame);
+
+            // Draw matches
+            if (!matches.empty()) descMatcher->drawMatches(tempFrame, prevFrame, matches, out);
+        }
+
+        cv::imshow("Viewer", out);
+        cv::waitKey(mt1->getFPS());
+
+        // Only add frame if it has keypoints
+        if (!tempFrame.kp.empty())
+            frames.push_back(tempFrame);
+
+        // If more than 45 frame remove the first one
+        if (frames.size() > 45) 
+            frames.pop_front();
+    }
+}

examples/build/.cmake/api/v1/query/client-vscode/query.json

@@ -0,0 +1 @@
+{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]}