thermalvis: thermalvis: initialization.cpp Source File

00001 
00005 #include "initialization.hpp"
00006 
00007 bool initializationData::obtainStartingData(ros::NodeHandle& nh) {
00008         
00009         numDetectors = 0;
00010         
00011         nh.param<std::string>("video_stream", video_stream, "video_stream");
00012         
00013         if (video_stream != "video_stream") {
00014                 printf("%s << Video stream (%s) selected.\n", __FUNCTION__, video_stream.c_str());
00015         } else {
00016                 printf("%s << ERROR! No video stream specified.\n", __FUNCTION__);
00017                 return false;
00018         }
00019         
00020         nh.param<bool>("debug_mode", debugMode, false);
00021         
00022         if (debugMode) {
00023                 printf("%s << Running in DEBUG mode.\n", __FUNCTION__);
00024         } else {
00025                 printf("%s << Running in OPTIMIZED mode.\n", __FUNCTION__);
00026         }
00027         
00028         nh.param<int>("max_frame_count", max_frame_count, DEFAULT_MAX_FRAMES);
00029         
00030         if (max_frame_count > MAXIMUM_FRAMES_TO_STORE) {
00031                 printf("%s << ERROR! Maximum frames specified (%d) is too high.\n", __FUNCTION__, max_frame_count);
00032         } else {
00033                 printf("%s << Maximum frames specified: %d\n", __FUNCTION__, max_frame_count);
00034         }
00035         
00036         for (int iii = 0; iii < MAX_DETECTORS; iii++) {
00037                 
00038                 char detector_tag[256], sensitivity_tag[256], method_tag[256], descriptor_tag[256];
00039                 
00040                 sprintf(detector_tag, "detector_%d", iii + 1);
00041                 sprintf(sensitivity_tag, "sensitivity_%d", iii + 1);
00042                 sprintf(method_tag, "method_%d", iii + 1);
00043                 sprintf(descriptor_tag, "descriptor_%d", iii + 1);
00044                 
00045                 //printf("%s << detector_tag = %s\n", __FUNCTION__, detector_tag);
00046                 
00047                 if (iii == 0) {
00048                         nh.param<std::string>(detector_tag, detector[iii], "SURF");
00049                 } else {
00050                         nh.param<std::string>(detector_tag, detector[iii], "NONE");
00051                 }
00052                 
00053                 //printf("%s << detector[%d] = %s\n", __FUNCTION__, iii, detector[iii].c_str());
00054                 
00055                 if ((detector[iii] == "SURF") || (detector[iii] == "FAST") || (detector[iii] == "GFTT") || (detector[iii] == "HARRIS") || (detector[iii] == "ORB") || (detector[iii] == "STAR")) {
00056                         printf("%s << detector [%d]: %s\n", __FUNCTION__, iii, detector[iii].c_str());
00057                 } else if (detector[iii] == "NONE"){
00058                         // printf("%s << No [%d] detector requested.\n", __FUNCTION__, iii);
00059                         break;
00060                 } else {
00061                         printf("%s << ERROR! Detector (%s) not recognized.\n", __FUNCTION__, detector[iii].c_str());
00062                         return false;
00063                 }
00064                 
00065                 nh.param<double>(sensitivity_tag, sensitivity[iii], 30.0);
00066                 
00067                 printf("%s << detector [%d] sensitivity: %f\n", __FUNCTION__, iii, sensitivity[iii]);
00068                 
00069                 nh.param<std::string>(method_tag, method[iii], "match");
00070                 
00071                 if ((method[iii] == "match") || (method[iii] == "track")) {
00072                         printf("%s << detector [%d] matching method: %s\n", __FUNCTION__, iii, method[iii].c_str());
00073                         if (method[iii] == "match") {
00074                                 method_match[iii] = true;
00075                         } else {
00076                                 method_match[iii] = false;
00077                         }
00078                 } else {
00079                         printf("%s << ERROR! detector [%d] matching method (%s) not recognized.\n", __FUNCTION__, iii, method[iii].c_str());
00080                         return false;
00081                 }
00082                 
00083                 nh.param<std::string>(descriptor_tag, descriptor[iii], "SURF");
00084                 
00085                 if (method_match[iii]) {
00086                         if ((descriptor[iii] == "SURF") || (descriptor[iii] == "ORB") || (descriptor[iii] == "BRIEF") || (descriptor[iii] == "SIFT")) {
00087                                 printf("%s << descriptor [%d]: %s\n", __FUNCTION__, iii, descriptor[iii].c_str());
00088                         } else {
00089                                 printf("%s << ERROR! descriptor [%d] (%s) not recognized.\n", __FUNCTION__, iii, descriptor[iii].c_str());
00090                                 return false;
00091                         }
00092                 }
00093                 
00094                 numDetectors++;
00095         }
00096         
00097         printf("%s << [%d] detectors to be implemented.\n", __FUNCTION__, numDetectors);
00098         
00099         nh.param<std::string>("intrinsics", intrinsics, "intrinsics");
00100         
00101         if (intrinsics != "intrinsics") {
00102                 printf("%s << Intrinsics at %s selected.\n", __FUNCTION__, intrinsics.c_str());
00103         } else {
00104                 printf("%s << ERROR! No valid intrinsics file (%s) specified.\n", __FUNCTION__, intrinsics.c_str());
00105         }
00106         
00107         return true;
00108 }
00109 
00110 void initializationData::initializeDescriptors(Ptr<DescriptorExtractor> *desc) {
00111         
00112         for (int iii = 0; iii < numDetectors; iii++) {
00113                 if (descriptor[iii] == "SURF") {
00114                         ROS_ERROR("SURF has been deactivated due to copyright protection!");
00115                         //desc[iii] = new SurfDescriptorExtractor( );
00116                 } else if (descriptor[iii] == "SIFT") {
00117                         ROS_ERROR("SIFT has been deactivated due to copyright protection!");
00118                         //desc[iii] = new SiftDescriptorExtractor( );
00119                 } else if (descriptor[iii] == "BRIEF") {
00120                         desc[iii] = new BriefDescriptorExtractor( );
00121                 } else if (descriptor[iii] == "ORB") {
00122                         desc[iii] = new OrbDescriptorExtractor( );
00123                 }
00124         }
00125         
00126 }
00127 
00128 void initializationData::initializeDetectors(Ptr<FeatureDetector> *det) {
00129         
00130         for (int iii = 0; iii < numDetectors; iii++) {
00131                 if (detector[iii] == "SURF") {
00132                         ROS_ERROR("SURF has been deactivated due to copyright protection!");
00133                         // det[iii] = new SurfFeatureDetector( sensitivity[iii] );
00134                 } else if (detector[iii] == "FAST") {
00135                         det[iii] = new FastFeatureDetector( sensitivity[iii] );
00136                 } else if (detector[iii] == "GFTT") {
00137                         det[iii] = new GoodFeaturesToTrackDetector( MAXIMUM_FEATURES_PER_DETECTOR, sensitivity[iii], 1.0, 3, false );
00138                 } else if (detector[iii] == "STAR") {
00139                         det[iii] = new StarFeatureDetector( 16, sensitivity[iii] );
00140                 } else if (detector[iii] == "ORB") {
00141                         det[iii] = new OrbFeatureDetector( MAXIMUM_FEATURES_PER_DETECTOR );
00142                 } else if (detector[iii] == "HARRIS") {
00143                         det[iii] = new GoodFeaturesToTrackDetector( MAXIMUM_FEATURES_PER_DETECTOR, sensitivity[iii], 1.0, 3, true );
00144                 }
00145         }
00146         
00147 }