Use libalx cv features2d

5 files changed, 3 insertions, 223 deletions

diff --git a/bin/Makefile b/bin/Makefile
index eccf924..9b09e7f 100644
--- a/bin/Makefile
+++ b/bin/Makefile
@@ -8,7 +8,6 @@ OBJS		=							\
 		$(TMP_DIR)/image/calib3d.o				\
 		$(TMP_DIR)/image/cv.o					\
 		$(TMP_DIR)/image/iface.o				\
-		$(TMP_DIR)/image/orb.o					\
 		$(TMP_DIR)/menu/iface.o					\
 		$(TMP_DIR)/menu/parse.o					\
 		$(TMP_DIR)/menu/tui.o					\
diff --git a/inc/vision-artificial/image/orb.hpp b/inc/vision-artificial/image/orb.hpp
deleted file mode 100644
index 932c1ab..0000000
--- a/inc/vision-artificial/image/orb.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/******************************************************************************
- *	Copyright (C) 2018	Alejandro Colomar Andrés		      *
- *	SPDX-License-Identifier:	GPL-2.0-only			      *
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* include guard ********************************************************
- ******************************************************************************/
-#ifndef VA_IMAGE_ORB_HPP
-#define VA_IMAGE_ORB_HPP
-
-
-/******************************************************************************
- ******* headers **************************************************************
- ******************************************************************************/
-#include <opencv2/core/core.hpp>
-
-
-/******************************************************************************
- ******* macros ***************************************************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* enums ****************************************************************
- ******************************************************************************/
-enum	Img_ORB_Action {
-	IMG_ORB_ACT_FOO = 0x000000u,
-
-	IMG_ORB_ACT_ORB = 0x000200u,
-	IMG_ORB_ACT_ALIGN
-};
-
-
-/******************************************************************************
- ******* structs / unions *****************************************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* variables ************************************************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* extern functions *****************************************************
- ******************************************************************************/
-void	img_orb_act	(const class cv::Mat  *img_ref,
-			class cv::Mat  *imgptr,  int  action);
-
-
-/******************************************************************************
- ******* static inline functions (prototypes) *********************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* static inline functions (definitions) ********************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* include guard ********************************************************
- ******************************************************************************/
-#endif		/* vision-artificial/image/orb.hpp */
-
-
-/******************************************************************************
- ******* end of file **********************************************************
- ******************************************************************************/
diff --git a/src/image/iface.cpp b/src/image/iface.cpp
index 1ddbb35..10cae4d 100644
--- a/src/image/iface.cpp
+++ b/src/image/iface.cpp
@@ -25,6 +25,7 @@
 #include "libalx/base/stdio/printf/sbprintf.hpp"
 #include "libalx/extra/cv/alx.hpp"
 #include "libalx/extra/cv/core.hpp"
+#include "libalx/extra/cv/features2d.hpp"
 #include "libalx/extra/cv/imgproc.hpp"
 #include "libalx/extra/cv/ximgproc.hpp"
 #include "libalx/extra/ocr/ocr.hpp"
@@ -32,7 +33,6 @@
 
 #include "vision-artificial/image/calib3d.hpp"
 #include "vision-artificial/image/cv.hpp"
-#include "vision-artificial/image/orb.hpp"
 #include "vision-artificial/save/save.hpp"
 #include "vision-artificial/user/iface.hpp"
 
@@ -1086,7 +1086,7 @@ static	void	img_iface_align			(void)
 	if (image_ref.empty())
 		goto err;
 
-	img_orb_act(&image_ref, &image_copy_tmp, IMG_ORB_ACT_ALIGN);
+	alx::CV::orb_align(&image_ref, &image_copy_tmp, NULL);
 
 	user_iface_log_write(1, "Align to reference");
 	return;
diff --git a/src/image/orb.cpp b/src/image/orb.cpp
deleted file mode 100644
index 905cd62..0000000
--- a/src/image/orb.cpp
+++ /dev/null
@@ -1,139 +0,0 @@
-/******************************************************************************
- *	Copyright (C) 2018	Alejandro Colomar Andrés		      *
- *	SPDX-License-Identifier:	GPL-2.0-only			      *
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* headers **************************************************************
- ******************************************************************************/
-#include "vision-artificial/image/orb.hpp"
-
-#include <cstddef>
-#include <cstdio>
-
-#include <vector>
-
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/core/core.hpp>
-#include <opencv2/features2d/features2d.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-
-
-/******************************************************************************
- ******* macros ***************************************************************
- ******************************************************************************/
-#define MAX_FEATURES	(50000)
-#define GOOD_MATCH_P	(0.25)
-
-
-/******************************************************************************
- ******* enums ****************************************************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* structs / unions *****************************************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* variables ************************************************************
- ******************************************************************************/
-
-
-/******************************************************************************
- ******* static functions (prototypes) ****************************************
- ******************************************************************************/
-static	void	img_orb_align	(const class cv::Mat  *img_0,
-				class cv::Mat  *img_1);
-
-
-/******************************************************************************
- ******* global functions *****************************************************
- ******************************************************************************/
-void	img_orb_act	(const class cv::Mat  *img_ref,
-			class cv::Mat  *imgptr, int action)
-{
-	switch (action) {
-	case IMG_ORB_ACT_ALIGN:
-		img_orb_align(img_ref, imgptr);
-		break;
-	}
-}
-
-
-/******************************************************************************
- ******* static functions (definitions) ***************************************
- ******************************************************************************/
-static	void	img_orb_align	(const class cv::Mat  *img_0,
-				class cv::Mat  *img_1)
-{
-	class std::vector <class cv::KeyPoint>		keypoints_0;
-	class std::vector <class cv::KeyPoint>		keypoints_1;
-	class cv::Mat					descriptors_0;
-	class cv::Mat					descriptors_1;
-#if (CV_VERSION_EPOCH == 2)
-	class cv::ORB					orb;
-#elif (CV_VERSION_EPOCH == 3)
-	class cv::Ptr <class cv::Feature2D>		orb;
-#endif
-	class std::vector <struct cv::DMatch>		matches;
-	class cv::Ptr <class cv::DescriptorMatcher>	matcher;
-	ptrdiff_t					good_matches;
-	class cv::Mat					img_matches;
-	class std::vector <class cv::Point_ <float>>	points_0;
-	class std::vector <class cv::Point_ <float>>	points_1;
-	ptrdiff_t					size;
-	class cv::Mat					img_hg;
-	class cv::Mat					img_align;
-
-	/* Detect ORB features & compute descriptors */
-#if (CV_VERSION_EPOCH == 2)
-	orb(*img_0, cv::Mat(), keypoints_0, descriptors_0);
-	orb(*img_1, cv::Mat(), keypoints_1, descriptors_1);
-#elif (CV_VERSION_EPOCH == 3)
-	orb	= cv::ORB::create(MAX_FEATURES);
-	orb->detectAndCompute(*img_0, cv::Mat(), keypoints_0, descriptors_0);
-	orb->detectAndCompute(*img_1, cv::Mat(), keypoints_1, descriptors_1);
-#endif
-
-	/* Match structures */
-	matcher	= cv::DescriptorMatcher::create("BruteForce-Hamming");
-	matcher->match(descriptors_1, descriptors_0, matches, cv::Mat());
-
-	/* Sort matches by score */
-	std::sort(matches.begin(), matches.end());
-
-	/* Remove not so good matches */
-	good_matches	= GOOD_MATCH_P * matches.size();
-	matches.erase(matches.begin() + good_matches, matches.end());
-
-	/* Draw top matches */
-	cv::drawMatches(*img_1, keypoints_1, *img_0, keypoints_0, matches,
-								img_matches);
-	cv::imwrite("matches.jpg", img_matches);
-
-	/* Extract location of good matches */
-	size	= matches.size();
-	for (ptrdiff_t i = 0; i < size; i++) {
-		points_1.push_back(keypoints_1[matches[i].queryIdx].pt);
-		points_0.push_back(keypoints_0[matches[i].trainIdx].pt);
-	}
-
-	/* Find homography */
-	img_hg	= cv::findHomography(points_1, points_0, CV_RANSAC);
-
-	/* Use homography to warp image */
-	cv::warpPerspective(*img_1, img_align, img_hg, img_0->size());
-
-	/* Write img_align into img_1 */
-	*img_1	= img_align;
-	img_align.release();
-}
-
-
-/******************************************************************************
- ******* end of file **********************************************************
- ******************************************************************************/
diff --git a/tmp/image/Makefile b/tmp/image/Makefile
index 364d95c..00cf3cb 100644
--- a/tmp/image/Makefile
+++ b/tmp/image/Makefile
@@ -15,8 +15,7 @@
 OBJ		=							\
 		calib3d.o						\
 		cv.o							\
-		iface.o							\
-		orb.o
+		iface.o
 
 CALIB3D_INC	=							\
 		$(INC_DIR)/vision-artificial/image/calib3d.hpp		\
@@ -34,7 +33,6 @@ IFACE_INC	=							\
 		$(INC_DIR)/vision-artificial/image/iface.hpp		\
 		$(INC_DIR)/vision-artificial/image/calib3d.hpp		\
 		$(INC_DIR)/vision-artificial/image/cv.hpp		\
-		$(INC_DIR)/vision-artificial/image/orb.hpp		\
 		$(INC_DIR)/vision-artificial/save/save.hpp		\
 		$(INC_DIR)/vision-artificial/user/iface.hpp
 IFACE_SRC	=							\
@@ -74,13 +72,6 @@ iface.o: iface.s
 	@echo	"	AS	vision-artificial/image/$@"
 	$(Q)$(AS) $< -o $@
 
-orb.s: $(ORB_SRC) $(ORB_INC)
-	@echo	"	CXX	vision-artificial/image/$@"
-	$(Q)$(CXX) $(CXXFLAGS) -I $(INC_DIR) -S $< -o $@
-orb.o: orb.s
-	@echo	"	AS	vision-artificial/image/$@"
-	$(Q)$(AS) $< -o $@
-
 
 PHONY += clean
 clean: