added openfabmap code, contributed by Arren Glover. fixed several warnings in the new versions of retina filters

samples/cpp/fabmap_sample.cpp

@@ -0,0 +1,197 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+// This file originates from the openFABMAP project:
+// [http://code.google.com/p/openfabmap/]
+//
+// For published work which uses all or part of OpenFABMAP, please cite:
+// [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6224843]
+//
+// Original Algorithm by Mark Cummins and Paul Newman:
+// [http://ijr.sagepub.com/content/27/6/647.short]
+// [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5613942]
+// [http://ijr.sagepub.com/content/30/9/1100.abstract]
+//
+//                           License Agreement
+//
+// Copyright (C) 2012 Arren Glover [aj.glover@qut.edu.au] and
+//                    Will Maddern [w.maddern@qut.edu.au], all rights reserved.
+//
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+
+#include "opencv2/opencv.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
+
+using namespace cv;
+using namespace std;
+
+int main(int argc, char * argv[]) {
+
+    cout << "This sample program demonstrates the FAB-MAP image matching "
+        "algorithm" << endl << endl;
+
+    string dataDir;
+    if (argc == 1) {
+        dataDir = "fabmap/";
+    } else if (argc == 2) {
+        dataDir = string(argv[1]);
+        dataDir += "/";
+    } else {
+        //incorrect arguments
+        cout << "Usage: fabmap_sample <sample data directory>" <<
+            endl;
+        return -1;
+    }
+
+    FileStorage fs;
+
+    //load/generate vocab
+    cout << "Loading Vocabulary: " <<
+        dataDir + string("vocab_small.yml") << endl << endl;
+    fs.open(dataDir + string("vocab_small.yml"), FileStorage::READ);
+    Mat vocab;
+    fs["Vocabulary"] >> vocab;
+    if (vocab.empty()) {
+        cerr << "Vocabulary not found" << endl;
+        return -1;
+    }
+    fs.release();
+
+    //load/generate training data
+
+    cout << "Loading Training Data: " <<
+        dataDir + string("train_data_small.yml") << endl << endl;
+    fs.open(dataDir + string("train_data_small.yml"), FileStorage::READ);
+    Mat trainData;
+    fs["BOWImageDescs"] >> trainData;
+    if (trainData.empty()) {
+        cerr << "Training Data not found" << endl;
+        return -1;
+    }
+    fs.release();
+
+    //create Chow-liu tree
+    cout << "Making Chow-Liu Tree from training data" << endl <<
+        endl;
+    of2::ChowLiuTree treeBuilder;
+    treeBuilder.add(trainData);
+    Mat tree = treeBuilder.make();
+
+    //generate test data
+    cout << "Extracting Test Data from images" << endl <<
+        endl;
+    Ptr<FeatureDetector> detector =
+        new DynamicAdaptedFeatureDetector(
+        AdjusterAdapter::create("STAR"), 130, 150, 5);
+    Ptr<DescriptorExtractor> extractor =
+        new SurfDescriptorExtractor(1000, 4, 2, false, true);
+    Ptr<DescriptorMatcher> matcher =
+        DescriptorMatcher::create("FlannBased");
+
+    BOWImgDescriptorExtractor bide(extractor, matcher);
+    bide.setVocabulary(vocab);
+
+    vector<string> imageNames;
+    imageNames.push_back(string("stlucia_test_small0000.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0001.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0002.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0003.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0004.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0005.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0006.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0007.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0008.jpeg"));
+    imageNames.push_back(string("stlucia_test_small0009.jpeg"));
+
+    Mat testData;
+    Mat frame;
+    Mat bow;
+    vector<KeyPoint> kpts;
+
+    for(size_t i = 0; i < imageNames.size(); i++) {
+        cout << dataDir + imageNames[i] << endl;
+        frame = imread(dataDir + imageNames[i]);
+        if(frame.empty()) {
+            cerr << "Test images not found" << endl;
+            return -1;
+        }
+
+        detector->detect(frame, kpts);
+
+        bide.compute(frame, kpts, bow);
+
+        testData.push_back(bow);
+
+        drawKeypoints(frame, kpts, frame);
+        imshow(imageNames[i], frame);
+        waitKey(10);
+    }
+
+    //run fabmap
+    cout << "Running FAB-MAP algorithm" << endl <<
+        endl;
+    Ptr<of2::FabMap> fabmap;
+
+    fabmap = new of2::FabMap2(tree, 0.39, 0, of2::FabMap::SAMPLED |
+        of2::FabMap::CHOW_LIU);
+    fabmap->addTraining(trainData);
+
+    vector<of2::IMatch> matches;
+    fabmap->compare(testData, matches, true);
+
+    //display output
+    Mat result_small = Mat::zeros(10, 10, CV_8UC1);
+    vector<of2::IMatch>::iterator l;
+
+    for(l = matches.begin(); l != matches.end(); l++) {
+            if(l->imgIdx < 0) {
+                result_small.at<char>(l->queryIdx, l->queryIdx) =
+                    (char)(l->match*255);
+
+            } else {
+                result_small.at<char>(l->queryIdx, l->imgIdx) =
+                    (char)(l->match*255);
+            }
+    }
+
+    Mat result_large(100, 100, CV_8UC1);
+    resize(result_small, result_large, Size(500, 500), 0, 0, CV_INTER_NN);
+
+    imshow("Confusion Matrix", result_large);
+    waitKey();
+
+    cout << endl << "Press any key to exit" << endl;
+
+    return 0;
+}