Feature/UpdateFbowCreator

tools/README.md

@@ -3,14 +3,23 @@
 [![License](https://img.shields.io/github/license/SolARFramework/Sample-Slam?style=flat-square&label=License)](https://www.apache.org/licenses/LICENSE-2.0)
 
 
-This project is a tool that allows to create a fbow vocabulary from a set of images
+This project is a tool that allows to create a fbow vocabulary from a set of images.
 
 ## How to run
 
+### Data installation
+
+You can run installData.bat (under windows) or installData.sh (under linux) to download a small example dataset of about 1000 images, as well as two camera calibration files necessary to run the code. The file camera_calibration_1344x756.json corresponds to the original image resolution. If you use the other file camera_calibration_640x480.json, the input images will be resized to 640x480 before the FBOW generation. Note that in both cases, only the width and height are used. In fact, without such a calibration file, **SolARImagesAsCameraOpencv** will not work. That is why we need these two calibration files. 
+
 ### Configuration
 
-Open the configuration file and set the **imagesDirectoryPath** value of the **SolARImagesAsCameraOpencv** to your path to images.
-You can also configure the type of feature (e.g. AKAZE2, ORB, SIFT,...) that you want to use to create your fbow vocabulary.
+Go to the binary directory and open the configuration file SolARTool_FBOWCreator_conf.xml. You can set the **imagesDirectoryPath** value of the **SolARImagesAsCameraOpencv** to your path to images. By default, it has already been set to the downloaded dataset folder (after running installData.bat or installData.sh). 
+You can also configure the type of feature (e.g. AKAZE2, ORB, SIFT, PopSift, ...) that you want to use to create your fbow vocabulary.
+
+### More Datasets
+
+It is recommanded to use a larger database in order to generate better vocabularies. You can download public image databases or use your own datasets. For example, you can download the 7-Scenes dataset (https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/). Please remember to modify **imagesDirectoryPath** in SolARTool_FBOWCreator_conf.xml beforing running the code. 
+
 
 ### Run samples
 
@@ -20,6 +29,9 @@ You can also configure the type of feature (e.g. AKAZE2, ORB, SIFT,...) that you
 * To see more details run:
 <pre><code>SolARTool_FBOWCreator.exe -h</code></pre>
 
+* For example, if you want to generate fbow dictionary for PopSift:
+<pre><code>.\SolARTool_FBOWCreator.exe --config=.\SolARTool_FBOWCreator_PopSift_conf.xml --out=popsift_uint8.fbow --v=1</code></pre>
+
 ## Contact 
 Website https://solarframework.github.io/
 

tools/SolARTool_FBOWCreator/SolARTool_FBOWCreator.pro

@@ -2,9 +2,12 @@
 QT       -= core gui
 CONFIG -= qt
 
+QMAKE_PROJECT_DEPTH = 0
+
 ## global defintions : target lib name, version
 TARGET = SolARTool_FBOWCreator
 VERSION=1.0.0
+PROJECTDEPLOYDIR = $${PWD}/../deploy
 
 DEFINES += MYVERSION=$${VERSION}
 CONFIG += c++1z
@@ -13,18 +16,16 @@ CONFIG += console
 include(findremakenrules.pri)
 
 CONFIG(debug,debug|release) {
-	TARGETDEPLOYDIR = $${PWD}/../bin/Debug
     DEFINES += _DEBUG=1
     DEFINES += DEBUG=1
 }
 
 CONFIG(release,debug|release) {
-    TARGETDEPLOYDIR = $${PWD}/../bin/Release
     DEFINES += _NDEBUG=1
     DEFINES += NDEBUG=1
 }
 
-DEPENDENCIESCONFIG = sharedlib install_recurse
+DEPENDENCIESCONFIG = shared install_recurse
 
 win32:CONFIG -= static
 win32:CONFIG += shared
@@ -35,17 +36,17 @@ PROJECTCONFIG = QTVS
 #NOTE : CONFIG as staticlib or sharedlib, DEPENDENCIESCONFIG as staticlib or sharedlib, QMAKE_TARGET.arch and PROJECTDEPLOYDIR MUST BE DEFINED BEFORE templatelibconfig.pri inclusion
 include ($$shell_quote($$shell_path($${QMAKE_REMAKEN_RULES_ROOT}/templateappconfig.pri)))  # Shell_quote & shell_path required for visual on windows
 
-#DEFINES += BOOST_ALL_NO_LIB
-DEFINES += BOOST_ALL_DYN_LINK
-DEFINES += BOOST_AUTO_LINK_NOMANGLE
-DEFINES += BOOST_LOG_DYN_LINK
+HEADERS += \
 
 SOURCES += \
     main.cpp
 
 unix {
     LIBS += -ldl
     QMAKE_CXXFLAGS += -DBOOST_LOG_DYN_LINK
+
+    # Avoids adding install steps manually. To be commented to have a better control over them.
+    QMAKE_POST_LINK += "make install install_deps"
 }
 
 linux {
@@ -69,7 +70,7 @@ win32 {
     INCLUDEPATH += $$(WINDOWSSDKDIR)lib/winv6.3/um/x64
 }
 
-unix {
+linux {
   run_install.path = $${TARGETDEPLOYDIR}
   run_install.files = $${PWD}/../run.sh
   CONFIG(release,debug|release) {
@@ -83,12 +84,13 @@ unix {
 
 configfile.path = $${TARGETDEPLOYDIR}/
 configfile.files = $$files($${PWD}/SolARTool_FBOWCreator_conf.xml)\
-                   $$files($${PWD}/camera_calibration.json)
+                   $$files($${PWD}/SolARTool_FBOWCreator_PopSift_conf.xml)
 INSTALLS += configfile
 
-OTHER_FILES += \
+DISTFILES += \
     packagedependencies.txt \
-    SolARTool_FBOWCreator_conf.xml
+    SolARTool_FBOWCreator_conf.xml \
+    SolARTool_FBOWCreator_PopSift_conf.xml
 
 #NOTE : Must be placed at the end of the .pro
 include ($$shell_quote($$shell_path($${QMAKE_REMAKEN_RULES_ROOT}/remaken_install_target.pri)))) # Shell_quote & shell_path required for visual on windows

tools/SolARTool_FBOWCreator/SolARTool_FBOWCreator_PopSift_conf.xml

@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<xpcf-registry autoAlias="true">
+    <module uuid="15e1990b-86b2-445c-8194-0cbe80ede970" name="SolARModuleOpenCV" description="SolARModuleOpenCV" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleOpenCV/1.0.0/lib/x86_64/shared">
+        <component uuid="5B7396F4-A804-4F3C-A0EB-FB1D56042BB4" name="SolARCameraOpencv" description="SolARCameraOpencv">
+            <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
+            <interface uuid="5DDC7DF0-8377-437F-9C81-3643F7676A5B" name="ICamera" description="ICamera"/>
+        </component>
+        <component uuid="b8a8b963-ba55-4ea4-b045-d9e7e8f6db02" name="SolARImagesAsCameraOpencv" description="SolARImagesAsCameraOpencv">
+            <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
+            <interface uuid="5DDC7DF0-8377-437F-9C81-3643F7676A5B" name="ICamera" description="ICamera"/>
+        </component>
+        <component uuid="fa4a780a-9720-11e8-9eb6-529269fb1459" name="SolARVideoAsCameraOpencv" description="SolARVideoAsCameraOpencv">
+            <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
+            <interface uuid="5DDC7DF0-8377-437F-9C81-3643F7676A5B" name="ICamera" description="ICamera"/>
+        </component>
+        <component uuid="cc51d685-9797-4ffd-a9dd-cec4f367fa6a" name="SolAR2DOverlayOpencv" description="SolAR2DOverlayOpencv">
+            <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
+            <interface uuid="62b8b0b5-9344-40e6-a288-e609eb3ff0f1" name="I2DOverlay" description="I2DOverlay"/>
+        </component>
+        <component uuid="19ea4e13-7085-4e3f-92ca-93f200ffb01b" name="SolARImageViewerOpencv" description="SolARImageViewerOpencv">
+            <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
+            <interface uuid="b05f3dbb-f93d-465c-aee1-fb58e1480c42" name="IImageViewer" description="IImageViewer"/>
+        </component>
+		<component uuid="fd7fb607-144f-418c-bcf2-f7cf71532c22" name="SolARImageConvertorOpencv" description="SolARImageConvertorOpencv">
+			<interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
+			<interface uuid="9c982719-6cb4-4831-aa88-9e01afacbd16" name="IImageConvertor" description="IImageLoader"/>
+        </component>
+    </module>
+    <module uuid="4a43732c-a1b2-11eb-bcbc-0242ac130002" name="SolARModulePopSift" description="SolARModulePopSift" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModulePopSift/1.0.0/lib/x86_64/shared">
+        <component uuid="7fb2aace-a1b1-11eb-bcbc-0242ac130002" name="SolARDescritorsExtractorFromImagePopSift" description="SolARDescritorsExtractorFromImagePopSift">
+            <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
+            <interface uuid="1cd4f5f1-6b74-413b-9725-69653aee48ef" name="IDescriptorsExtractorFromImage" description="IDescriptorsExtractorFromImage"/>
+        </component>
+    </module>
+
+    <factory>
+        <bindings>
+            <!--bind interface="ICamera" to="SolARCameraOpencv"/-->
+            <bind interface="ICamera" to="SolARImagesAsCameraOpencv"/>
+            <!--bind interface="ICamera" to="SolARVideoAsCameraOpencv"/-->
+            <bind interface="IDescriptorsExtractorFromImage" to="SolARDescritorsExtractorFromImagePopSift" />
+        </bindings>
+		<injects>
+			<inject to="SolARDescritorsExtractorFromImagePopSift">
+				<bind interface="IImageConvertor" to="SolARImageConvertorOpencv"/>
+			</inject>
+		</injects>
+    </factory>
+
+    <properties>
+        <configure component="SolARCameraOpencv">
+            <property name="calibrationFile" type="string" value="../../../../../data/camera_calibration_640x480.json"/>
+            <property name="deviceID" type="uint" value="1"/>
+        </configure>
+        <configure component="SolARImagesAsCameraOpencv">
+            <property name="calibrationFile" type="string" value="../../../../../data/camera_calibration_640x480.json"/>	
+            <property name="imagesDirectoryPath" type="string" value="../../../../../data/datafbow/%08d.jpg"/>
+            <property name="delayTime" type="int" value="30"/>
+        </configure>
+        <configure component="SolARVideoAsCameraOpencv">
+            <property name="calibrationFile" type="string" value="../../../../../data/camera_calibration_640x480.json"/>
+            <property name="videoPath" type="string" value="path to video"/>
+            <property name="delayTime" type="int" value="30"/>
+        </configure>
+        <configure component="SolARDescritorsExtractorFromImagePopSift">
+            <property name="mode" type="string" value="PopSift"/>
+            <property name="imageMode" type="string" value="Unsigned Char"/>
+            <property name="nbOctaves" type="int" value="3"/>
+            <property name="nbLevelPerOctave" type="int" value="3"/>
+            <property name="sigma" type="float" value="1.6"/>
+            <property name="threshold" type="float" value="0.001"/>
+            <property name="edgeLimit" type="float" value="10.0"/>
+            <property name="downsampling" type="float" value="-1.0"/>
+            <property name="initialBlur" type="float" value="-1.0"/>
+            <property name="maxTotalKeypoints" type="uint" value="1000"/>
+        </configure>
+        <configure component="SolAR2DOverlayOpencv">
+            <property name="thickness" type="uint" value="1"/>
+            <property name="radius" type="uint" value="2"/>
+            <property name="color"  type="uint">
+                <value>0</value>
+                <value>255</value>
+                <value>0</value>
+            </property>
+        </configure>
+        <configure component="SolARImageViewerOpencv">
+            <property name="title" type="string" value="AR device mapping. Green = inliers, Red = outliers"/>
+            <property name="exitKey" type="int" value="27"/>
+            <property name="width" type="int" value="640"/>
+            <property name="height" type="int" value="480"/>
+        </configure>
+    </properties>
+</xpcf-registry>

tools/SolARTool_FBOWCreator/SolARTool_FBOWCreator_conf.xml

@@ -50,12 +50,6 @@
 			<interface uuid="9c982719-6cb4-4831-aa88-9e01afacbd16" name="IImageConvertor" description="IImageLoader"/>
         </component>
     </module>
-    <module uuid="4a43732c-a1b2-11eb-bcbc-0242ac130002" name="SolARModulePopSift" description="SolARModulePopSift" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModulePopSift/1.0.0/lib/x86_64/shared">
-        <component uuid="7fb2aace-a1b1-11eb-bcbc-0242ac130002" name="SolARDescritorsExtractorFromImagePopSift" description="SolARDescritorsExtractorFromImagePopSift">
-            <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect"/>
-            <interface uuid="1cd4f5f1-6b74-413b-9725-69653aee48ef" name="IDescriptorsExtractorFromImage" description="IDescriptorsExtractorFromImage"/>
-        </component>
-    </module>
 
     <factory>
         <bindings>
@@ -74,16 +68,16 @@
 
     <properties>
         <configure component="SolARCameraOpencv">
-            <property name="calibrationFile" type="string" value="camera_calibration.json"/>
+            <property name="calibrationFile" type="string" value="../../../../../data/camera_calibration_640x480.json"/>
             <property name="deviceID" type="uint" value="1"/>
         </configure>
         <configure component="SolARImagesAsCameraOpencv">
-            <property name="calibrationFile" type="string" value="camera_calibration.json"/>		<!--path to calibration file"/-->
-            <property name="imagesDirectoryPath" type="string" value="../../../datafbow/%06d.png"/>		<!--path to images"/-->
+            <property name="calibrationFile" type="string" value="../../../../../data/camera_calibration_640x480.json"/>	
+            <property name="imagesDirectoryPath" type="string" value="../../../../../data/datafbow/%08d.jpg"/>
             <property name="delayTime" type="int" value="30"/>
         </configure>
         <configure component="SolARVideoAsCameraOpencv">
-            <property name="calibrationFile" type="string" value="camera_calibration.json"/>
+            <property name="calibrationFile" type="string" value="../../../../../data/camera_calibration_640x480.json"/>
             <property name="videoPath" type="string" value="path to video"/>
             <property name="delayTime" type="int" value="30"/>
         </configure>
@@ -107,18 +101,6 @@
             <property name="nbFeatures" type="int" value="3000"/>
             <property name="nbOctaveLayers" type="int" value="3"/>
         </configure>
-        <configure component="SolARDescritorsExtractorFromImagePopSift">
-            <property name="mode" type="string" value="PopSift"/>
-            <property name="imageMode" type="string" value="Unsigned Char"/>
-            <property name="nbOctaves" type="int" value="3"/>
-            <property name="nbLevelPerOctave" type="int" value="3"/>
-            <property name="sigma" type="float" value="1.0"/>
-            <property name="threshold" type="float" value="0.005"/>
-            <property name="edgeLimit" type="float" value="10.0"/>
-            <property name="downsampling" type="float" value="1.0"/>
-            <property name="initialBlur" type="float" value="-1.0"/>
-            <property name="maxTotalKeypoints" type="uint" value="10000"/>
-        </configure>
         <configure component="SolAR2DOverlayOpencv">
             <property name="thickness" type="uint" value="1"/>
             <property name="radius" type="uint" value="2"/>

tools/SolARTool_FBOWCreator/main.cpp

@@ -43,7 +43,7 @@ const cv::String keys =
 "{k|10| number of cluster at each node}"
 "{l|6| number of levels}"
 "{t|8| number of threads to accelerate}"
-"{maxIters|5000| number of maximal iterations at each node}"
+"{maxIters|2000| number of maximal iterations at each node}"
 "{v|0| verbose}"
 ;
 
@@ -102,14 +102,6 @@ int main(int argc, char *argv[])
 		return -1;
 	}
 
-	// Start camera capture
-	if (camera->start() == FrameworkReturnCode::_ERROR_)
-	{
-		LOG_ERROR("Cannot start loader");
-		return -1;
-	}
-	LOG_INFO("Data loader started!");
-
 	// Get and set camera intrinsics parameters
 	CameraParameters camParams;
 	camParams = camera->getParameters();
@@ -118,6 +110,15 @@ int main(int argc, char *argv[])
 	LOG_INFO("Resolution of image: {} x {}", width, height);
 	std::string descName = descriptorExtractorFromImage->getTypeString();
 	LOG_INFO("Feature type: {}", descName);
+	camera->setResolution({width, height});
+
+	// Start camera capture
+	if (camera->start() == FrameworkReturnCode::_ERROR_)
+	{
+		LOG_ERROR("Cannot start loader");
+		return -1;
+	}
+	LOG_INFO("Data loader started!");
 
 	// Feature extraction
 	std::vector<SRef<DescriptorBuffer>> imageDescriptors;
@@ -143,8 +144,8 @@ int main(int argc, char *argv[])
 		if (descriptorExtractorFromImage->extract(greyImage, keypoints, descriptors) != FrameworkReturnCode::_SUCCESS)
 			continue;        
 		imageDescriptors.push_back(descriptors);
-		//LOG_INFO("Image {} - Number of features: {}\r", count, keypoints.size());
-		std::cout << "Process frame " << count << "\r";
+		if (bVerbose)
+			LOG_INFO("Image {} - Size {}x{} - Number of features: {}\r", count, greyImage->getWidth(), greyImage->getHeight(), keypoints.size());
 		count++;
 		// display image
 		overlay2D->drawCircles(keypoints, image);

tools/SolARTool_FBOWCreator/packagedependencies-android.txt

@@ -1 +1 @@
-opencv|4.5.5|opencv|conan-solar@conan|conan-solar|default|dnn=False#world=True
+opencv|4.5.5|opencv|conan-solar@conan|conan-solar#https://repository.solarframework.org/conan#0|default|dnn=False#world=True

tools/SolARTool_FBOWCreator/packagedependencies-linux.txt

@@ -1,4 +1 @@
-libgtk2.0-dev||libgtk2.0-dev|apt-get@system|apt-get
-libva-dev||libva-dev|apt-get@system|apt-get
-libvdpau-dev||libvdpau-dev|apt-get@system|apt-get
-opencv|4.5.5|opencv|conan-solar@conan|conan-solar|default|with_gtk=True#gtk_version=system#with_ffmpeg=True
+opencv|4.5.5|opencv|conan-solar@conan|conan-solar|default|

tools/SolARTool_FBOWCreator/packagedependencies-mac.txt

@@ -1,2 +1,2 @@
-opencv|4.5.5|opencv|conan-solar@conan|conan-solar
+opencv|4.5.5|opencv|conan-solar@conan|conan-solar#https://repository.solarframework.org/conan#0
 

tools/SolARTool_FBOWCreator/packagedependencies-win.txt

@@ -1 +1 @@
-opencv|4.5.5|opencv|conan-solar@conan|conan-solar
+opencv|4.5.5|opencv|conan-solar@conan|conan-solar|default|with_ffmpeg=False

tools/SolARTool_FBOWCreator/packagedependencies.txt

@@ -1,3 +1,4 @@
 SolARFramework|1.0.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
 SolARModuleOpenCV|1.0.0|SolARModuleOpenCV|SolARBuild@github|https://github.com/SolarFramework/SolarModuleOpenCV/releases/download
+SolARModulePopSift|1.0.0|SolARModulePopSift|SolARBuild@github|https://github.com/SolarFramework/SolARModulePopSift/releases/download
 fbowSolAR|1.0.0|fbowSolAR|thirdParties@github|https://github.com/SolarFramework/fbow/releases/download

tools/installData.bat

@@ -0,0 +1,7 @@
+@echo off
+:: Download fbow data 
+echo Download fbow database for vocabulary generation 
+curl https://repository.solarframework.org/generic/data-solar/datafbowLoopDesktopA.zip -L -o datafbowLoopDesktopA.zip
+echo Unzip fbow data 
+powershell Expand-Archive datafbowLoopDesktopA.zip -DestinationPath .\data -F
+del datafbowLoopDesktopA.zip

tools/installData.sh

@@ -1,6 +1,6 @@
 # Download image dataset
-curl https://repository.solarframework.org/generic/data-solar/datafbow.zip -L -o datafbow.zip
-unzip -o datafbow.zip -d ./
-rm datafbow.zip
+curl https://repository.solarframework.org/generic/data-solar/datafbowLoopDesktopA.zip -L -o datafbowLoopDesktopA.zip
+unzip -o datafbowLoopDesktopA.zip -d ./data
+rm datafbowLoopDesktopA.zip