Removing SURF

Author: idryanov

ccny_rgbd/cfg/SurfDetector.cfg

@@ -38,7 +38,6 @@
 #include "ccny_rgbd/FeatureDetectorConfig.h"
 #include "ccny_rgbd/GftDetectorConfig.h"
 #include "ccny_rgbd/StarDetectorConfig.h"
-#include "ccny_rgbd/SurfDetectorConfig.h"
 #include "ccny_rgbd/OrbDetectorConfig.h"
 
 namespace ccny_rgbd {
@@ -75,7 +74,6 @@ class FeatureViewer
 
     GftDetectorConfigServerPtr gft_config_server_;    ///< ROS dynamic reconfigure server for GFT params
     StarDetectorConfigServerPtr star_config_server_;  ///< ROS dynamic reconfigure server for STAR params
-    SurfDetectorConfigServerPtr surf_config_server_;    ///< ROS dynamic reconfigure server for SURF params
     OrbDetectorConfigServerPtr orb_config_server_;  ///< ROS dynamic reconfigure server for ORB params
 
     /** @brief Image transport for RGB message subscription */
@@ -102,7 +100,6 @@ class FeatureViewer
      * 
      * Possible values:
      *  - GFT (default)
-     *  - SURF
      *  - STAR
      *  - ORB
      */
@@ -185,10 +182,6 @@ class FeatureViewer
      */
     void starReconfigCallback(StarDetectorConfig& config, uint32_t level);
 
-    /** @brief ROS dynamic reconfigure callback function for SURF
-     */
-    void surfReconfigCallback(SurfDetectorConfig& config, uint32_t level);
-    
     /** @brief ROS dynamic reconfigure callback function for ORB
      */
     void orbReconfigCallback(OrbDetectorConfig& config, uint32_t level);

ccny_rgbd/include/ccny_rgbd/apps/feature_viewer.h

@@ -38,15 +38,14 @@
 #include "ccny_rgbd/FeatureDetectorConfig.h"
 #include "ccny_rgbd/GftDetectorConfig.h"
 #include "ccny_rgbd/StarDetectorConfig.h"
-#include "ccny_rgbd/SurfDetectorConfig.h"
 #include "ccny_rgbd/OrbDetectorConfig.h"
 
 namespace ccny_rgbd {
 
 /** @brief Subscribes to incoming RGBD images and outputs 
  * the position of the moving (base) frame wrt some fixed frame.
  * 
- * The class offers a selection of sparse feature detectors (GFT, ORB, SURF, STAR),
+ * The class offers a selection of sparse feature detectors (GFT, ORB, STAR),
  * as well as a selection of registration algorithms. The default registration 
  * method (ICPProbModel) aligns the incoming 3D sparse features against a persistent
  * 3D feature model, which is continuously updated using a Kalman Filer.
@@ -90,7 +89,6 @@ class VisualOdometry
 
     GftDetectorConfigServerPtr gft_config_server_;    ///< ROS dynamic reconfigure server for GFT params
     StarDetectorConfigServerPtr star_config_server_;  ///< ROS dynamic reconfigure server for STAR params
-    SurfDetectorConfigServerPtr surf_config_server_;  ///< ROS dynamic reconfigure server for SURF params
     OrbDetectorConfigServerPtr orb_config_server_;    ///< ROS dynamic reconfigure server for ORB params
 
     /** @brief Image transport for RGB message subscription */
@@ -130,7 +128,6 @@ class VisualOdometry
      * 
      * Possible values:
      *  - GFT (default)
-     *  - SURF
      *  - STAR
      *  - ORB
      */
@@ -233,10 +230,6 @@ class VisualOdometry
      */
     void starReconfigCallback(StarDetectorConfig& config, uint32_t level);
 
-    /** @brief ROS dynamic reconfigure callback function for SURF
-     */
-    void surfReconfigCallback(SurfDetectorConfig& config, uint32_t level);
-    
     /** @brief ROS dynamic reconfigure callback function for ORB
      */
     void orbReconfigCallback(OrbDetectorConfig& config, uint32_t level);

ccny_rgbd/include/ccny_rgbd/apps/visual_odometry.h

@@ -96,7 +96,6 @@ void FeatureViewer::resetDetector()
   gft_config_server_.reset();
   star_config_server_.reset();
   orb_config_server_.reset();
-  surf_config_server_.reset();
 
   if (detector_type_ == "ORB")
   { 
@@ -110,18 +109,6 @@ void FeatureViewer::resetDetector()
       &FeatureViewer::orbReconfigCallback, this, _1, _2);
     orb_config_server_->setCallback(f);
   }
-  else if (detector_type_ == "SURF")
-  {
-    ROS_INFO("Creating SURF detector");
-    feature_detector_.reset(new rgbdtools::SurfDetector());
-    surf_config_server_.reset(new 
-      SurfDetectorConfigServer(ros::NodeHandle(nh_private_, "feature/SURF")));
-    
-    // dynamic reconfigure
-    SurfDetectorConfigServer::CallbackType f = boost::bind(
-      &FeatureViewer::surfReconfigCallback, this, _1, _2);
-    surf_config_server_->setCallback(f);
-  }
   else if (detector_type_ == "GFT")
   {
     ROS_INFO("Creating GFT detector");
@@ -326,14 +313,6 @@ void FeatureViewer::starReconfigCallback(StarDetectorConfig& config, uint32_t le
   star_detector->setThreshold(config.threshold);
   star_detector->setMinDistance(config.min_distance); 
 }
-
-void FeatureViewer::surfReconfigCallback(SurfDetectorConfig& config, uint32_t level)
-{
-  rgbdtools::SurfDetectorPtr surf_detector = 
-    boost::static_pointer_cast<rgbdtools::SurfDetector>(feature_detector_);
-    
-  surf_detector->setThreshold(config.threshold);
-}
 
 void FeatureViewer::orbReconfigCallback(OrbDetectorConfig& config, uint32_t level)
 {

ccny_rgbd/src/apps/feature_viewer.cpp

@@ -215,7 +215,6 @@ void VisualOdometry::resetDetector()
   gft_config_server_.reset();
   star_config_server_.reset();
   orb_config_server_.reset();
-  surf_config_server_.reset();
 
   if (detector_type_ == "ORB")
   { 
@@ -229,18 +228,6 @@ void VisualOdometry::resetDetector()
       &VisualOdometry::orbReconfigCallback, this, _1, _2);
     orb_config_server_->setCallback(f);
   }
-  else if (detector_type_ == "SURF")
-  {
-    ROS_INFO("Creating SURF detector");
-    feature_detector_.reset(new rgbdtools::SurfDetector());
-    surf_config_server_.reset(new 
-      SurfDetectorConfigServer(ros::NodeHandle(nh_private_, "feature/SURF")));
-    
-    // dynamic reconfigure
-    SurfDetectorConfigServer::CallbackType f = boost::bind(
-      &VisualOdometry::surfReconfigCallback, this, _1, _2);
-    surf_config_server_->setCallback(f);
-  }
   else if (detector_type_ == "GFT")
   {
     ROS_INFO("Creating GFT detector");
@@ -430,14 +417,6 @@ void VisualOdometry::starReconfigCallback(StarDetectorConfig& config, uint32_t l
   star_detector->setThreshold(config.threshold);
   star_detector->setMinDistance(config.min_distance); 
 }
-
-void VisualOdometry::surfReconfigCallback(SurfDetectorConfig& config, uint32_t level)
-{
-  rgbdtools::SurfDetectorPtr surf_detector = 
-    boost::static_pointer_cast<rgbdtools::SurfDetector>(feature_detector_);
-    
-  surf_detector->setThreshold(config.threshold);
-}
 
 void VisualOdometry::orbReconfigCallback(OrbDetectorConfig& config, uint32_t level)
 {