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jakemclaughlin6jakemclaughlin6
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Feature/add image database (#241)
* Initial implementation * add database file and main test file * Update json object
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‎beam_cv/CMakeLists.txt‎

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@@ -6,10 +6,12 @@ BEAM_ADD_MODULE(${PROJECT_NAME}
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beam::containers
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beam::utils
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beam::optimization
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DBoW3
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SOURCES
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src/Utils.cpp
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src/Raycast.cpp
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src/OpenCVConversions.cpp
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src/ImageDatabase.cpp
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src/geometry/Triangulation.cpp
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src/geometry/RelativePoseEstimator.cpp
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src/geometry/AbsolutePoseEstimator.cpp

‎beam_cv/data/orbvoc.dbow3‎

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‎beam_cv/include/beam_cv/ImageDatabase.h‎

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#pragma once
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#include <DBoW3/DBoW3.h>
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#include <nlohmann/json.hpp>
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#include <opencv2/opencv.hpp>
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#include <beam_cv/descriptors/ORBDescriptor.h>
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#include <beam_cv/detectors/GFTTDetector.h>
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#include <beam_utils/filesystem.h>
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#include <beam_utils/optional.h>
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using json = nlohmann::json;
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const std::string DEFAULT_VOCAB_PATH =
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beam::LibbeamRoot() + "/beam_cv/data/orbvoc.dbow3";
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namespace beam_cv {
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/**
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* @brief class for image database
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*/
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class ImageDatabase {
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public:
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/**
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* @brief Constructor to initialize with empty database and default params
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*/
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ImageDatabase();
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/**
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* @brief Constructor to initialize with empty database
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*/
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ImageDatabase(const beam_cv::GFTTDetector::Params& detector_params,
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const beam_cv::ORBDescriptor::Params& descriptor_params);
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/**
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* @brief Constructor to initialize with already created dbow db
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* @param database_path path to database folder
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*/
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ImageDatabase(const beam_cv::GFTTDetector::Params& detector_params,
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const beam_cv::ORBDescriptor::Params& descriptor_params,
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const std::string& dbow_file_path,
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const std::string& timestamps_file_path);
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/**
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* @brief Default destructor
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*/
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~ImageDatabase() = default;
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/**
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* @brief Save current database to default folder
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*/
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void SaveDatabase(const std::string& dbow_file_path,
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const std::string& timestamps_file_path);
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/**
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* @brief Gets the word for a given descriptor
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*/
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cv::Mat GetWord(const cv::Mat& descriptor);
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/**
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* @brief Return list of N image id's best matching query image
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* @param query_image to query database with
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*/
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std::vector<unsigned int> QueryDatabase(const cv::Mat& query_image,
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int N = 2);
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/**
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* @brief Add an image to the database
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*/
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unsigned int AddImage(const cv::Mat& image, const ros::Time& timestamp);
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/**
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* @brief Gets the timestamp associated to image with index in the database
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*/
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beam::opt<ros::Time> GetImageTimestamp(unsigned int index);
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private:
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json index_to_timestamp_map_;
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std::shared_ptr<DBoW3::Database> dbow_db_;
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beam_cv::ORBDescriptor descriptor_;
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beam_cv::GFTTDetector detector_;
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};
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} // namespace beam_cv

‎beam_cv/src/ImageDatabase.cpp‎

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#include <beam_cv/ImageDatabase.h>
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namespace beam_cv {
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ImageDatabase::ImageDatabase() {
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// construct default detector and descriptor
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beam_cv::GFTTDetector::Params detector_params;
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beam_cv::ORBDescriptor::Params descriptor_params;
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detector_ = beam_cv::GFTTDetector(detector_params);
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descriptor_ = beam_cv::ORBDescriptor(descriptor_params);
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// construct database
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DBoW3::Vocabulary default_vocab(DEFAULT_VOCAB_PATH);
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dbow_db_ = std::make_shared<DBoW3::Database>(default_vocab);
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index_to_timestamp_map_ = json::object();
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}
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ImageDatabase::ImageDatabase(
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const beam_cv::GFTTDetector::Params& detector_params,
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const beam_cv::ORBDescriptor::Params& descriptor_params) {
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// construct detector and descriptor
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detector_ = beam_cv::GFTTDetector(detector_params);
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descriptor_ = beam_cv::ORBDescriptor(descriptor_params);
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// construct database
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DBoW3::Vocabulary default_vocab(DEFAULT_VOCAB_PATH);
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dbow_db_ = std::make_shared<DBoW3::Database>(default_vocab);
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index_to_timestamp_map_ = json::object();
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}
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ImageDatabase::ImageDatabase(
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const beam_cv::GFTTDetector::Params& detector_params,
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const beam_cv::ORBDescriptor::Params& descriptor_params,
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const std::string& dbow_file_path,
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const std::string& timestamps_file_path) {
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// construct detector and descriptor
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detector_ = beam_cv::GFTTDetector(detector_params);
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descriptor_ = beam_cv::ORBDescriptor(descriptor_params);
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// construct database
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dbow_db_ = std::make_shared<DBoW3::Database>(dbow_file_path);
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std::ifstream timestamps_file(timestamps_file_path);
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index_to_timestamp_map_ = json::object();
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timestamps_file >> index_to_timestamp_map_;
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}
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void ImageDatabase::SaveDatabase(const std::string& dbow_file_path,
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const std::string& timestamps_file_path) {
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dbow_db_->save(dbow_file_path);
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std::ofstream timestamps_file(timestamps_file_path);
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timestamps_file << std::setw(4) << index_to_timestamp_map_ << std::endl;
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}
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cv::Mat ImageDatabase::GetWord(const cv::Mat& descriptor) {
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auto vocab = dbow_db_->getVocabulary();
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auto word_id = vocab->transform(descriptor);
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return vocab->getWord(word_id);
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}
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std::vector<unsigned int>
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ImageDatabase::QueryDatabase(const cv::Mat& query_image, int N) {
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std::vector<cv::KeyPoint> kps = detector_.DetectFeatures(query_image);
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cv::Mat features = descriptor_.ExtractDescriptors(query_image, kps);
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DBoW3::QueryResults results;
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dbow_db_->query(features, results, N);
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std::vector<unsigned int> indices;
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for (size_t i = 0; i < results.size(); i++) {
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DBoW3::Result res = results[i];
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indices.push_back(res.Id);
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}
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return indices;
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}
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unsigned int ImageDatabase::AddImage(const cv::Mat& image,
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const ros::Time& timestamp) {
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std::vector<cv::KeyPoint> kps = detector_.DetectFeatures(image);
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cv::Mat features = descriptor_.ExtractDescriptors(image, kps);
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unsigned int idx = dbow_db_->add(features);
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index_to_timestamp_map_[std::to_string(idx)] = timestamp.toSec();
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return idx;
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}
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beam::opt<ros::Time> ImageDatabase::GetImageTimestamp(unsigned int index) {
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std::string index_str = std::to_string(index);
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if (!index_to_timestamp_map_.contains(index_str)) { return {}; }
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double time = index_to_timestamp_map_[std::to_string(index)];
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return ros::Time(time);
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}
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} // namespace beam_cv

‎cmake/GetBeamDependencies.cmake‎

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FIND_PACKAGE(PCL 1.11.1 REQUIRED COMPONENTS
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common filters registration kdtree search io visualization
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surface segmentation features)
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FIND_PACKAGE(DBoW3 REQUIRED)
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FIND_PACKAGE(Catch2 REQUIRED)
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FIND_PACKAGE(nlohmann_json 3.2.0 REQUIRED)
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FIND_PACKAGE(roscpp REQUIRED)

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