add distribute orb feature

feat/CMakeLists.txt

@@ -2,6 +2,8 @@
 add_library(feature_extraction
         orb/orb_feature.cc
         harris/harris.cc
+        orb_slam/orbpattern.cpp
+        orb_slam/orbextractor.cpp
 )
 add_library(feature_tracking
         optical_flow/lkpyramid.cc
@@ -11,6 +13,8 @@ add_executable(harris_test example/harris_test.cc)
 target_link_libraries(harris_test feature_extraction ${THIRD_PARTY_LIBS} ${OpenCV_LIBS})
 add_executable(orb_test example/orb_test.cc)
 target_link_libraries(orb_test feature_extraction ${THIRD_PARTY_LIBS} ${OpenCV_LIBS})
+add_executable(orb_slam_feat_test example/orbslam_feat_test.cc)
+target_link_libraries(orb_slam_feat_test feature_extraction feature_tracking ${THIRD_PARTY_LIBS} ${OpenCV_LIBS})
 
 add_executable(lk_optical_flow_test example/lk_optical_flow_test.cc)
 target_link_libraries(lk_optical_flow_test feature_extraction feature_tracking ${THIRD_PARTY_LIBS} ${OpenCV_LIBS})

feat/example/orbslam_feat_test.cc

@@ -0,0 +1,70 @@
+// Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+// Everyone is permitted to copy and distribute verbatim copies
+// of this license document, but changing it is not allowed.
+// This file is part of vio-hello-world Copyright (C) 2023 ZJU
+// You should have received a copy of the GNU General Public License
+// along with vio-hello-world. If not, see <https://www.gnu.org/licenses/>.
+// Author: weihao([email protected]), M.S at Zhejiang University
+
+#include "common/draw_utils.h"
+#include "common/wall_time.h"
+#include "feat/orb/orb_feature.h"
+#include "feat/orb_slam/orbextractor.hpp"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+DEFINE_string( image_path, "../feat/data/euroc01.png", "image file path" );
+DEFINE_int32( max_kps, 500, "max kps" );
+
+cv::Mat ORBImpl( const cv::Mat& image ) {
+  auto orb = feat::ORB::create( FLAGS_max_kps );
+  std::vector<cv::KeyPoint> keypoints;
+  cv::Mat descriptors;
+  cv::Mat roi( image.size(), CV_8UC1, cv::Scalar( 255 ) );
+
+  com::EvaluateAndCall( [&]() { orb->detectAndCompute( image, roi, keypoints, descriptors ); },
+                        "ORBImpl", 20 );
+
+  return com::DrawKeyPoints( image, keypoints, "" );
+}
+
+cv::Mat OpenCVORB( const cv::Mat& image ) {
+  auto orb = cv::ORB::create( FLAGS_max_kps );
+  std::vector<cv::KeyPoint> keypoints;
+  cv::Mat descriptors;
+  cv::Mat roi( image.size(), CV_8UC1, cv::Scalar( 255 ) );
+
+  com::EvaluateAndCall( [&]() { orb->detectAndCompute( image, roi, keypoints, descriptors ); },
+                        "OpenCVORB", 20 );
+
+  return com::DrawKeyPoints( image, keypoints, "" );
+}
+
+cv::Mat ORB_SLAM_Feat( const cv::Mat& image ) {
+  std::shared_ptr<feat::ORBextractor> orb_extractor_ = nullptr;
+  orb_extractor_.reset( new feat::ORBextractor( FLAGS_max_kps, 1.2, 8, 20, 7 ) );
+  std::vector<cv::KeyPoint> kps;
+  cv::Mat mask( image.size(), CV_8UC1, cv::Scalar::all( 255 ) );
+  com::EvaluateAndCall( [&]() { orb_extractor_->Detect( image, mask, kps ); }, "ORB-SLAM Feat",
+                        20 );
+  return com::DrawKeyPoints( image, kps, "" );
+}
+
+int main( int argc, char** argv ) {
+  ::google::InitGoogleLogging( "test_orb_feature" );
+  FLAGS_stderrthreshold = google::INFO;
+  ::google::ParseCommandLineFlags( &argc, &argv, true );
+
+  cv::Mat gray_image = cv::imread( FLAGS_image_path, cv::IMREAD_GRAYSCALE );
+  LOG_ASSERT( gray_image.empty() == false ) << " Image is empty, please check you image path.";
+
+  cv::Mat orb_impl_result = ORBImpl( gray_image );
+  cv::Mat cv_impl_result = OpenCVORB( gray_image );
+  cv::Mat orbslam_feat_result = ORB_SLAM_Feat( gray_image );
+
+  cv::imshow( "ORB Impl", orb_impl_result );
+  cv::imshow( "ORBSLAM Feat Impl", orbslam_feat_result );
+  cv::imshow( "OpenCV Impl", cv_impl_result );
+  cv::waitKey( 0 );
+  return 0;
+}