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Fixes and code clean ups towards OpenCV 5 #1303

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merged 3 commits into from
Feb 16, 2024
Merged

Fixes and code clean ups towards OpenCV 5 #1303

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031d1f0
progress update to cv5 API
jlblancoc Jan 16, 2024
acd3f9f
Simplify and fixes for opencv5
jlblancoc Feb 16, 2024
c7e43fb
more cv changes fixes
jlblancoc Feb 16, 2024
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139 changes: 71 additions & 68 deletions apps/benchmarking-image-features/src/mainwindow.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -205,7 +205,7 @@ void MainWindow::on_button_generate_clicked()
plot->setPlotGridColor(Scalar(255, 255, 0));

cv::Mat temp1(display.cols, display.rows, display.type());
cvtColor(display, temp1, CV_RGB2BGR);
cvtColor(display, temp1, cv::COLOR_RGB2BGR);

QImage dest1 = QImage(
(uchar*)temp1.data, temp1.cols, temp1.rows, temp1.step,
Expand Down Expand Up @@ -301,9 +301,9 @@ void MainWindow::on_button_generate_clicked()
auxImg2.getHeight() * 2, IMG_INTERP_NN);
}

cv::Mat cvImg1 = auxImg1.asCvMatRef();
cv::Mat temp1(cvImg1.cols, cvImg1.rows, cvImg1.type());
cvtColor(cvImg1, temp1, CV_GRAY2RGB);
cv::Mat cvImg_1 = auxImg1.asCvMatRef();
cv::Mat temp1(cvImg_1.cols, cvImg_1.rows, cvImg_1.type());
cvtColor(cvImg_1, temp1, cv::COLOR_GRAY2RGB);
QImage dest1 = QImage(
(uchar*)temp1.data, temp1.cols, temp1.rows, temp1.step,
QImage::Format_RGB888);
Expand All @@ -318,7 +318,7 @@ void MainWindow::on_button_generate_clicked()
{
cv::Mat& cvImg2 = auxImg2.asCvMatRef();
cv::Mat temp2(cvImg2.cols, cvImg2.rows, cvImg2.type());
cvtColor(cvImg2, temp2, CV_GRAY2RGB);
cvtColor(cvImg2, temp2, cv::COLOR_GRAY2RGB);
QImage dest2 = QImage(
(uchar*)temp2.data, temp2.cols, temp2.rows, temp2.step,
QImage::Format_RGB888);
Expand Down Expand Up @@ -352,23 +352,23 @@ void MainWindow::on_button_generate_clicked()
v1 = *ft1.descriptors.LATCH;

#ifdef HAVE_OPENCV_PLOT
Mat xData, yData, display;
Ptr<plot::Plot2d> plot;
int len;
if (descriptor_selected != 1) len = v1.size();
Mat xdata, ydata, Display;
Ptr<plot::Plot2d> Plot;
int Len;
if (descriptor_selected != 1) Len = v1.size();
else
len = v1_surf.size();
Len = v1_surf.size();

xData.create(1, len, CV_64F); // 1 Row, len columns, Double
yData.create(1, len, CV_64F);
xdata.create(1, Len, CV_64F); // 1 Row, len columns, Double
ydata.create(1, Len, CV_64F);

for (int i = 0; i < len; ++i)
for (int i = 0; i < Len; ++i)
{
xData.at<double>(i) = i;
xdata.at<double>(i) = i;
if (descriptor_selected != 1)
yData.at<double>(i) = v1.at(i);
ydata.at<double>(i) = v1.at(i);
else
yData.at<double>(i) = v1_surf.at(i);
ydata.at<double>(i) = v1_surf.at(i);
}
int max_y, min_y;
/// assigned values of the lower and upper limits in the graph
Expand All @@ -385,18 +385,18 @@ void MainWindow::on_button_generate_clicked()
}

#if MRPT_OPENCV_VERSION_NUM >= 0x030300
plot = plot::Plot2d::create(xData, yData);
Plot = plot::Plot2d::create(xdata, ydata);
#else
plot = plot::createPlot2d(xData, yData);
#endif
plot->setPlotSize(len, 1);
plot->setMaxX(len);
plot->setMinX(0);
plot->setMaxY(max_y);
plot->setMinY(min_y);
plot->render(display);
cv::Mat temp1(display.cols, display.rows, display.type());
cvtColor(display, temp1, CV_RGB2BGR);
Plot->setPlotSize(Len, 1);
Plot->setMaxX(Len);
Plot->setMinX(0);
Plot->setMaxY(max_y);
Plot->setMinY(min_y);
Plot->render(Display);
cv::Mat temp1(Display.cols, Display.rows, Display.type());
cvtColor(Display, temp1, cv::COLOR_RGB2BGR);

QImage dest1 = QImage(
(uchar*)temp1.data, temp1.cols, temp1.rows, temp1.step,
Expand All @@ -423,15 +423,16 @@ void MainWindow::on_button_generate_clicked()

Mat xData, yData, display;
Ptr<plot::Plot2d> plot;
int len;
if (descriptor_selected != 1) len = v2.size();
int len2;
if (descriptor_selected != 1) len2 = v2.size();
else
len = v2_surf.size();
len2 = v2_surf.size();

xData.create(1, len, CV_64F); // 1 Row, len columns, Double
yData.create(1, len, CV_64F);
xData.create(
1, len2, CV_64F); // 1 Row, len columns, Double
yData.create(1, len2, CV_64F);

for (int i = 0; i < len; ++i)
for (int i = 0; i < len2; ++i)
{
xData.at<double>(i) = i;
if (descriptor_selected != 1)
Expand All @@ -444,14 +445,14 @@ void MainWindow::on_button_generate_clicked()
#else
plot = plot::createPlot2d(xData, yData);
#endif
plot->setPlotSize(len, 1);
plot->setMaxX(len);
plot->setPlotSize(len2, 1);
plot->setMaxX(len2);
plot->setMinX(0);
plot->setMaxY(max_y);
plot->setMinY(min_y);
plot->render(display);
cv::Mat temp2(display.cols, display.rows, display.type());
cvtColor(display, temp2, CV_RGB2BGR);
cvtColor(display, temp2, cv::COLOR_RGB2BGR);

QImage dest2 = QImage(
(uchar*)temp2.data, temp2.cols, temp2.rows, temp2.step,
Expand Down Expand Up @@ -1491,9 +1492,9 @@ void MainWindow::on_detector_button_clicked()

/// converting to color images to draw markers in correct color
cv::Mat temp1(cvImg1.cols, cvImg1.rows, cvImg1.type());
if (temp1.channels() == 3) cvtColor(cvImg1, temp1, CV_BGR2RGB);
if (temp1.channels() == 3) cvtColor(cvImg1, temp1, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg1, temp1, CV_GRAY2RGB);
cvtColor(cvImg1, temp1, cv::COLOR_GRAY2RGB);

/// Drawing a marker around key-points for image 1
for (unsigned int i = 0; i < featsImage1.size(); i++)
Expand Down Expand Up @@ -1529,9 +1530,9 @@ void MainWindow::on_detector_button_clicked()
/// converting to color to draw coloured markers
cv::Mat temp2(cvImg2.cols, cvImg2.rows, cvImg2.type());

if (temp2.channels() == 3) cvtColor(cvImg2, temp2, CV_BGR2RGB);
if (temp2.channels() == 3) cvtColor(cvImg2, temp2, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg2, temp2, CV_GRAY2RGB);
cvtColor(cvImg2, temp2, cv::COLOR_GRAY2RGB);

/// Drawing a marker around key-points for image 2
for (unsigned int i = 0; i < featsImage2.size(); i++)
Expand Down Expand Up @@ -2051,7 +2052,7 @@ void MainWindow::displayImagesWithoutDetector()
resolution_x = img1.getWidth();
resolution_y = img1.getHeight();

cv::Mat cvImg1 = img1.asCvMatRef();
cv::Mat cvImg_1 = img1.asCvMatRef();

// fillDetectorInfo(); no need to call
/// clearing this is important
Expand All @@ -2060,11 +2061,11 @@ void MainWindow::displayImagesWithoutDetector()

/// converting to color to draw markers in color for both color and
/// grayscale images
cv::Mat temp1(cvImg1.cols, cvImg1.rows, cvImg1.type());
cv::Mat temp1(cvImg_1.cols, cvImg_1.rows, cvImg_1.type());
// cout << "dimensions " << temp1.dims << endl;
if (temp1.channels() == 3) cvtColor(cvImg1, temp1, CV_BGR2RGB);
if (temp1.channels() == 3) cvtColor(cvImg_1, temp1, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg1, temp1, CV_GRAY2RGB);
cvtColor(cvImg_1, temp1, cv::COLOR_GRAY2RGB);

/// draw a marker for key-points in image 1
for (unsigned int i = 0; i < featsImage1.size(); i++)
Expand Down Expand Up @@ -2100,9 +2101,9 @@ void MainWindow::displayImagesWithoutDetector()
/// grayscale images
cv::Mat temp2(cvImg2.cols, cvImg2.rows, cvImg2.type());

if (temp2.channels() == 3) cvtColor(cvImg2, temp2, CV_BGR2RGB);
if (temp2.channels() == 3) cvtColor(cvImg2, temp2, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg2, temp2, CV_GRAY2RGB);
cvtColor(cvImg2, temp2, cv::COLOR_GRAY2RGB);

/// draw a marker for key-points in image 2
for (unsigned int i = 0; i < featsImage2.size(); i++)
Expand Down Expand Up @@ -2159,12 +2160,12 @@ void MainWindow::on_sample_clicked()
ReadInputFormat();

img1.loadFromFile(file_path1);
cv::Mat cvImg1 = img1.asCvMatRef();
cv::Mat cvImg_1 = img1.asCvMatRef();

cv::Mat temp1(cvImg1.cols, cvImg1.rows, cvImg1.type());
if (temp1.channels() == 3) cvtColor(cvImg1, temp1, CV_BGR2RGB);
cv::Mat temp1(cvImg_1.cols, cvImg_1.rows, cvImg_1.type());
if (temp1.channels() == 3) cvtColor(cvImg_1, temp1, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg1, temp1, CV_GRAY2RGB);
cvtColor(cvImg_1, temp1, cv::COLOR_GRAY2RGB);

QImage disp1 = QImage(
(uchar*)temp1.data, temp1.cols, temp1.rows, temp1.step,
Expand All @@ -2181,9 +2182,9 @@ void MainWindow::on_sample_clicked()
cv::Mat cvImg2 = img2.asCvMatRef();
cv::Mat temp2(cvImg2.cols, cvImg2.rows, cvImg2.type());

if (temp2.channels() == 3) cvtColor(cvImg2, temp2, CV_BGR2RGB);
if (temp2.channels() == 3) cvtColor(cvImg2, temp2, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg2, temp2, CV_GRAY2RGB);
cvtColor(cvImg2, temp2, cv::COLOR_GRAY2RGB);
QImage disp2 = QImage(
(uchar*)temp2.data, temp2.cols, temp2.rows, temp2.step,
QImage::Format_RGB888);
Expand Down Expand Up @@ -2364,7 +2365,7 @@ void MainWindow::on_generateVisualOdometry_clicked()
// waitKey(0);

cv::Mat temp2(display_VO.cols, display_VO.rows, display_VO.type());
cvtColor(display_VO, temp2, CV_BGR2RGB);
cvtColor(display_VO, temp2, cv::COLOR_BGR2RGB);
QImage dest2 = QImage(
(uchar*)temp2.data, temp2.cols, temp2.rows, temp2.step,
QImage::Format_RGB888);
Expand Down Expand Up @@ -2509,11 +2510,11 @@ Point MainWindow::trackKeyPoint(
cv::Mat cvImg_test = img_test.asCvMatRef();

Mat cvImg_org_gray, cvImg_test_gray;
cvtColor(cvImg_org, cvImg_org_gray, CV_RGB2GRAY);
cvtColor(cvImg_test, cvImg_test_gray, CV_RGB2GRAY);
cvtColor(cvImg_org, cvImg_org_gray, cv::COLOR_RGB2GRAY);
cvtColor(cvImg_test, cvImg_test_gray, cv::COLOR_RGB2GRAY);

int resolution_x = cvImg_org.rows;
int resolution_y = cvImg_org.cols;
int resolutionX = cvImg_org.rows;
int resolutionY = cvImg_org.cols;

/// org_x,org_y belong to the key-point in image_org and the corresponding
/// key-point in img_test needs to be computed
Expand All @@ -2537,8 +2538,8 @@ Point MainWindow::trackKeyPoint(
int temp_test_x = temp_x + j;
int temp_test_y = temp_y + k;

if (temp_org_x > resolution_x || temp_org_y > resolution_y ||
temp_test_x > resolution_x || temp_test_y > resolution_y)
if (temp_org_x > resolutionX || temp_org_y > resolutionY ||
temp_test_x > resolutionX || temp_test_y > resolutionY)
break;

response = response +
Expand Down Expand Up @@ -2574,14 +2575,14 @@ void MainWindow::on_trackIt_clicked()
window_width = tracker_param5_edit->text().toInt();
window_height = tracker_param6_edit->text().toInt();

cv::Mat cvImg1 = tracker_obj.trackThemAll(
cv::Mat cvImg_1 = tracker_obj.trackThemAll(
files_fullpath_tracking, tracking_image_counter, remove_lost_feats,
add_new_feats, max_feats, patch_size, window_width, window_height);

/// temp1 is always in color due to tracker marks so no need to convert to
/// grayscale
cv::Mat temp1(cvImg1.cols, cvImg1.rows, cvImg1.type());
cvtColor(cvImg1, temp1, CV_BGR2RGB);
cv::Mat temp1(cvImg_1.cols, cvImg_1.rows, cvImg_1.type());
cvtColor(cvImg_1, temp1, cv::COLOR_BGR2RGB);

QImage dest1 = QImage(
(uchar*)temp1.data, temp1.cols, temp1.rows, temp1.step,
Expand Down Expand Up @@ -2799,7 +2800,7 @@ void MainWindow::store_Training_TestingSets()
dir = opendir(file_path_temp.c_str());
while ((pdir = readdir(dir)))
files.emplace_back(pdir->d_name);
for (unsigned int i = 0, j = 0; i < files.size(); i++)
for (unsigned int i = 0 /*, j = 0*/; i < files.size(); i++)
{
if (files.at(i).size() > 4) // this removes the . and .. in
// linux as all files will have
Expand All @@ -2809,7 +2810,7 @@ void MainWindow::store_Training_TestingSets()
training_files_paths.push_back(
file_path_temp + "/" + files.at(i));
// cout << files_fullpath_tracking.at(j) << endl;
j++;
// j++;
}
} // end of for
}
Expand Down Expand Up @@ -4021,9 +4022,9 @@ void MainWindow::Mouse_Pressed()
cv::Mat temp_desc_ref(
desc_Ref_img.cols, desc_Ref_img.rows, desc_Ref_img.type());
if (temp_desc_ref.channels() == 3)
cvtColor(desc_Ref_img, temp_desc_ref, CV_BGR2RGB);
cvtColor(desc_Ref_img, temp_desc_ref, cv::COLOR_BGR2RGB);
else
cvtColor(desc_Ref_img, temp_desc_ref, CV_GRAY2RGB);
cvtColor(desc_Ref_img, temp_desc_ref, cv::COLOR_GRAY2RGB);

/// images1 have all the descriptors
if (images_static_sift_surf != nullptr)
Expand Down Expand Up @@ -4114,9 +4115,10 @@ void MainWindow::Mouse_Pressed()
// featsImage2.saveToTextFile("./KeyPoints2.txt");
cv::Mat cvImg2 = img2.asCvMatRef();
cv::Mat temp2(cvImg2.cols, cvImg2.rows, cvImg2.type());
if (temp2.channels() == 3) cvtColor(cvImg2, temp2, CV_BGR2RGB);
if (temp2.channels() == 3)
cvtColor(cvImg2, temp2, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg2, temp2, CV_GRAY2RGB);
cvtColor(cvImg2, temp2, cv::COLOR_GRAY2RGB);

/// draw a marker around image 1 keypoints
for (unsigned int i = 0; i < featsImage2.size(); i++)
Expand Down Expand Up @@ -4226,9 +4228,10 @@ void MainWindow::Mouse_Pressed()
/// converting to colour image to show markers in color for
/// grayscale images too
cv::Mat temp2(cvImg2.cols, cvImg2.rows, cvImg2.type());
if (temp2.channels() == 3) cvtColor(cvImg2, temp2, CV_BGR2RGB);
if (temp2.channels() == 3)
cvtColor(cvImg2, temp2, cv::COLOR_BGR2RGB);
else
cvtColor(cvImg2, temp2, CV_GRAY2RGB);
cvtColor(cvImg2, temp2, cv::COLOR_GRAY2RGB);

/// draw a marker around image 2 keypoints
for (unsigned int i = 0; i < featsImage2.size(); i++)
Expand Down
23 changes: 11 additions & 12 deletions apps/benchmarking-image-features/src/visual_odometry.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -240,16 +240,16 @@ VisualOdometry::VisualOdometry()
* Generate VO main funciton *
************************************************************************************************/
Mat VisualOdometry::generateVO(
CFeatureExtraction fext, int numFeats,
CFeatureExtraction fExt, int NumFeats,
std::array<std::string, 3> file_paths, int feat_type)
{
string dataset = file_paths[0];
string groundtruth = file_paths[1];
string calibration_file = file_paths[2];
cnt.setValue(0);
// this->detector_selected = detector_selected;
this->fext = fext;
this->numFeats = numFeats;
this->fext = fExt;
this->numFeats = NumFeats;
Mat img_1, img_2;
Mat R_f, t_f; // the final rotation and tranlation vectors containing the
// transform
Expand Down Expand Up @@ -318,9 +318,9 @@ Mat VisualOdometry::generateVO(
// double focal = 718.8560;
// cv::Point2d pp(607.1928, 185.2157);
// recovering the pose and the essential matrix
Mat E, R, t, mask;
E = findEssentialMat(points2, points1, focal, pp, RANSAC, 0.999, 1.0, mask);
recoverPose(E, points2, points1, R, t, focal, pp, mask);
Mat E, R, t;
E = findEssentialMat(points2, points1, focal, pp);
cv::recoverPose(E, points2, points1, R, t, focal, pp);

Mat prevImage = img_2;
Mat currImage;
Expand Down Expand Up @@ -354,13 +354,12 @@ Mat VisualOdometry::generateVO(
img3.loadFromFile(filename);

cvtColor(currImage_c, currImage, COLOR_BGR2GRAY);
vector<uchar> status;
vector<uchar> Status;
featureTracking(
prevImage, currImage, prevFeatures, currFeatures, status);
prevImage, currImage, prevFeatures, currFeatures, Status);

E = findEssentialMat(
currFeatures, prevFeatures, focal, pp, RANSAC, 0.999, 1.0, mask);
recoverPose(E, currFeatures, prevFeatures, R, t, focal, pp, mask);
E = findEssentialMat(currFeatures, prevFeatures, focal, pp, RANSAC);
recoverPose(E, currFeatures, prevFeatures, R, t, focal, pp);

Mat prevPts(2, prevFeatures.size(), CV_64F),
currPts(2, currFeatures.size(), CV_64F);
Expand Down Expand Up @@ -394,7 +393,7 @@ Mat VisualOdometry::generateVO(
{
featureDetection(img3, prevFeatures, feat_type);
featureTracking(
prevImage, currImage, prevFeatures, currFeatures, status);
prevImage, currImage, prevFeatures, currFeatures, Status);
}

prevImage = currImage.clone();
Expand Down
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