diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..17d370f --- /dev/null +++ b/.clang-format @@ -0,0 +1,90 @@ +--- +Language: Cpp +# BasedOnStyle: Google +AccessModifierOffset: -1 +AlignAfterOpenBracket: Align +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlinesLeft: true +AlignOperands: true +AlignTrailingComments: true +AllowAllParametersOfDeclarationOnNextLine: true +AllowShortBlocksOnASingleLine: false +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: All +AllowShortIfStatementsOnASingleLine: true +AllowShortLoopsOnASingleLine: true +AlwaysBreakAfterDefinitionReturnType: None +AlwaysBreakAfterReturnType: None +AlwaysBreakBeforeMultilineStrings: true +AlwaysBreakTemplateDeclarations: true +BinPackArguments: true +BinPackParameters: true +BraceWrapping: + AfterClass: false + AfterControlStatement: false + AfterEnum: false + AfterFunction: false + AfterNamespace: false + AfterObjCDeclaration: false + AfterStruct: false + AfterUnion: false + BeforeCatch: false + BeforeElse: false + IndentBraces: false +BreakBeforeBinaryOperators: None +BreakBeforeBraces: Attach +BreakBeforeTernaryOperators: true +BreakConstructorInitializersBeforeComma: false +ColumnLimit: 80 +CommentPragmas: '^ IWYU pragma:' +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: true +DerivePointerAlignment: true +DisableFormat: false +ExperimentalAutoDetectBinPacking: false +ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ] +IncludeCategories: + - Regex: '^<.*\.h>' + Priority: 1 + - Regex: '^<.*' + Priority: 2 + - Regex: '.*' + Priority: 3 +IndentCaseLabels: true +IndentWidth: 2 +IndentWrappedFunctionNames: false +KeepEmptyLinesAtTheStartOfBlocks: false +MacroBlockBegin: '' +MacroBlockEnd: '' +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +ObjCBlockIndentWidth: 2 +ObjCSpaceAfterProperty: false +ObjCSpaceBeforeProtocolList: false +PenaltyBreakBeforeFirstCallParameter: 1 +PenaltyBreakComment: 300 +PenaltyBreakFirstLessLess: 120 +PenaltyBreakString: 1000 +PenaltyExcessCharacter: 1000000 +PenaltyReturnTypeOnItsOwnLine: 200 +PointerAlignment: Left +ReflowComments: true +SortIncludes: true +SpaceAfterCStyleCast: false +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: ControlStatements +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 2 +SpacesInAngles: false +SpacesInContainerLiterals: true +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +Standard: Auto +TabWidth: 8 +UseTab: Never +... + diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a068860 --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +bin/ +build/ +doc/html/ +doc/latex/ \ No newline at end of file diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml new file mode 100644 index 0000000..20628e0 --- /dev/null +++ b/.gitlab-ci.yml @@ -0,0 +1,54 @@ +# pick a docker image +# image: ubuntu:14.04 +# image: ros:kinetic-perception +image: ubuntu:16.04 + +stages: + - build + - test + +# just build don't run the tests +build: + stage: build + before_script: + - apt-get update + - apt-get install -y git build-essential cmake qt5-default libopencv-dev libyaml-cpp-dev libboost-all-dev + + - git submodule update --init + - mkdir build + - cd build + script: + - cmake .. + - make -j4 + tags: + - docker + except: + - tags + artifacts: + paths: + - ./ + +test: + stage: test + before_script: + - apt-get update + - apt-get install -y cmake libopencv-dev libyaml-cpp-dev libboost-all-dev + script: + - cd build + - ctest -VV + tags: + - docker + except: + - tags + +# documentation: +# stage: build +# before_script: +# - apt-get update +# - apt-get install -y doxygen graphviz +# script: +# - cd doc +# - doxygen *.conf +# artifacts: +# paths: +# - doc/html \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..6884829 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8) +project(online_place_recognition) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wpedantic") +# ubuntu 16.04 +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pthread") + +# Enable Release mode +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_RELEASE} -std=c++11 -O3") +# Enable Debug mode +# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -g -O0") +# set(CMAKE_BUILD_TYPE Debug) + +find_package( OpenCV REQUIRED ) + +## libyaml-cpp +find_package (yaml-cpp REQUIRED) + +include_directories(src) +add_subdirectory(src) + +add_subdirectory(apps) + +# GOOGLE TESTING PART +add_subdirectory(gtest) + +enable_testing() +set(PROJECT_TEST_NAME ${PROJECT_NAME}_test) +file(GLOB TEST_SRC_FILES ${CMAKE_SOURCE_DIR}/test/*.cpp) + +add_executable(${PROJECT_TEST_NAME} ${TEST_SRC_FILES}) +target_link_libraries(${PROJECT_TEST_NAME} + online_database + cost_matrix_database + successor_manager + online_localizer + dimensions_hashing + pthread + gtest + gtest_main + ${OpenCV_LIBS} +) +add_test(NAME ${PROJECT_NAME} + COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${PROJECT_TEST_NAME}) diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 0000000..0518ff0 --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,22 @@ +MIT License +vpr_relocalization: a library for visual place recognition in changing +environments with efficient relocalization step. +Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. \ No newline at end of file diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt new file mode 100644 index 0000000..3394d67 --- /dev/null +++ b/apps/CMakeLists.txt @@ -0,0 +1,6 @@ +add_subdirectory(create_cost_matrix) +add_subdirectory(estimate_non_match_cost) +add_subdirectory(feature_based_matching) +add_subdirectory(cost_matrix_based_matching) +add_subdirectory(estimate_similar_places) +add_subdirectory(hash_features) diff --git a/apps/cost_matrix_based_matching/CMakeLists.txt b/apps/cost_matrix_based_matching/CMakeLists.txt new file mode 100644 index 0000000..485a00e --- /dev/null +++ b/apps/cost_matrix_based_matching/CMakeLists.txt @@ -0,0 +1,29 @@ +find_package(OpenCV REQUIRED) +find_package(Qt5Widgets REQUIRED) +find_package(Qt5Core REQUIRED) + + +add_executable(cost_matrix_based_matching_dh cost_matrix_based_matching_dh.cpp) +target_link_libraries( cost_matrix_based_matching_dh + online_localizer + cost_matrix_database + successor_manager + full_matrix_visualizer + config_parser + dimensions_hashing + cnn_feature + ${OpenCV_LIBS} +) + + +add_executable(cost_matrix_based_matching_lsh cost_matrix_based_matching_lsh.cpp) +target_link_libraries( cost_matrix_based_matching_lsh + online_localizer + cost_matrix_database + successor_manager + full_matrix_visualizer + config_parser + lsh_cv_hashing + cnn_feature + ${OpenCV_LIBS} +) diff --git a/apps/cost_matrix_based_matching/cost_matrix_based_matching_dh.cpp b/apps/cost_matrix_based_matching/cost_matrix_based_matching_dh.cpp new file mode 100644 index 0000000..6544a5f --- /dev/null +++ b/apps/cost_matrix_based_matching/cost_matrix_based_matching_dh.cpp @@ -0,0 +1,95 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include +#include + +#include "database/cost_matrix_database.h" +#include "database/idatabase.h" +#include "online_localizer/ilocvisualizer.h" +#include "online_localizer/online_localizer.h" +#include "successor_manager/successor_manager.h" +#include "tools/config_parser/config_parser.h" +#include "visualizer/full_matrix_visualizer.h" +#include "relocalizers/dimensions_hashing.h" +#include "features/cnn_feature.h" + +using std::make_shared; + + +int main(int argc, char *argv[]) { + printf("===== Online place recognition cost matrix based ====\n"); + if (argc < 2) { + printf("[ERROR] Not enough input parameters.\n"); + printf("Proper usage: ./cost_matrix_based_matching_dh config_file.yaml\n"); + exit(0); + } + + std::string config_file = argv[1]; + ConfigParser parser; + parser.parseYaml(config_file); + parser.print(); + + + auto databasePtr = CostMatrixDatabase::Ptr(new CostMatrixDatabase); + databasePtr->loadFromTxt(parser.costMatrix); + // to obtain the features, when needed + databasePtr->setQuFeaturesFolder(parser.path2qu); + databasePtr->setBufferSize(parser.bufferSize); + databasePtr->setFeatureType(FeatureFactory::FeatureType::Cnn_Feature); + // databasePtr->setFeatureType(FeatureFactory::FeatureType::Vgg_Feature); + + + // initialize Relocalizer + auto relocalizerPtr = DimensionsHashing::Ptr(new DimensionsHashing); + relocalizerPtr->loadIndex(parser.hashTable); + relocalizerPtr->weightIndex(databasePtr->refSize()); + relocalizerPtr->setDatabase(databasePtr); + + // initialize SuccessorManager + auto successorManagerPtr = SuccessorManager::Ptr(new SuccessorManager); + successorManagerPtr->setFanOut(parser.fanOut); + successorManagerPtr->setDatabase(databasePtr); + successorManagerPtr->setSimilarPlaces(parser.simPlaces); + successorManagerPtr->setRelocalizer(relocalizerPtr); + + // set the visualizer + auto visPtr = FullMatrixVisualizer::Ptr(new FullMatrixVisualizer); + visPtr->setOutImageName(parser.costOutputName); + visPtr->setDatabase(databasePtr); + + // create localizer and run it + OnlineLocalizer localizer; + localizer.setQuerySize(parser.querySize); + localizer.setSuccessorManager(successorManagerPtr); + localizer.setExpansionRate(parser.expansionRate); + localizer.setNonMatchingCost(parser.nonMatchCost); + localizer.setVisualizer(visPtr); + localizer.run(); + + std::string pathFile = "matched_path.txt"; + localizer.printPath(pathFile); + printf("Done.\n"); + return 0; +} diff --git a/apps/cost_matrix_based_matching/cost_matrix_based_matching_lsh.cpp b/apps/cost_matrix_based_matching/cost_matrix_based_matching_lsh.cpp new file mode 100644 index 0000000..dc5eb93 --- /dev/null +++ b/apps/cost_matrix_based_matching/cost_matrix_based_matching_lsh.cpp @@ -0,0 +1,121 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include +#include + +#include "database/cost_matrix_database.h" +#include "database/idatabase.h" +#include "features/ibinarizable_feature.h" +#include "online_localizer/ilocvisualizer.h" +#include "online_localizer/online_localizer.h" +#include "successor_manager/successor_manager.h" +#include "tools/config_parser/config_parser.h" +#include "visualizer/full_matrix_visualizer.h" +#include "features/cnn_feature.h" + +#include "relocalizers/lsh_cv_hashing.h" +#include "database/list_dir.h" + +using std::make_shared; + + +std::vector loadFeatures( + const std::string &path2folder) { + printf("Loading the features to hash with LSH\n"); + std::vector featureNames = listDir(path2folder); + std::vector featurePtrs; + + for (size_t i = 0; i < featureNames.size(); ++i) { + iBinarizableFeature::Ptr featurePtr = + iBinarizableFeature::Ptr(new CnnFeature); + // [VGG] Uncomment this to use vgg features + // iBinarizableFeature::Ptr(new VggFeature); + featurePtr->loadFromFile(path2folder + featureNames[i]); + featurePtrs.push_back(featurePtr); + fprintf(stderr, "."); + } + fprintf(stderr, "\n"); + printf("Features were loaded and binarized\n"); + return featurePtrs; +} + + +int main(int argc, char *argv[]) { + printf("===== Online place recognition cost matrix based LSH ====\n"); + if (argc < 2) { + printf("[ERROR] Not enough input parameters.\n"); + printf("Proper usage: ./cost_matrix_based_matching_lsh config_file.yaml\n"); + exit(0); + } + + std::string config_file = argv[1]; + ConfigParser parser; + parser.parseYaml(config_file); + parser.print(); + + + auto databasePtr = CostMatrixDatabase::Ptr(new CostMatrixDatabase); + databasePtr->loadFromTxt(parser.costMatrix); + // to obtain the features, when needed + databasePtr->setQuFeaturesFolder(parser.path2qu); + databasePtr->setBufferSize(parser.bufferSize); + databasePtr->setFeatureType(FeatureFactory::FeatureType::Cnn_Feature); + // databasePtr->setFeatureType(FeatureFactory::FeatureType::Vgg_Feature); + + + // initialize Relocalizer + auto relocalizerPtr = LshCvHashing::Ptr(new LshCvHashing); + relocalizerPtr->setParams(1, 12, 2); + relocalizerPtr->setDatabase(databasePtr); + std::vector featurePtrs = + loadFeatures(parser.path2ref); + relocalizerPtr->train(featurePtrs); + + // initialize SuccessorManager + auto successorManagerPtr = SuccessorManager::Ptr(new SuccessorManager); + successorManagerPtr->setFanOut(parser.fanOut); + successorManagerPtr->setDatabase(databasePtr); + successorManagerPtr->setSimilarPlaces(parser.simPlaces); + successorManagerPtr->setRelocalizer(relocalizerPtr); + + // set the visualizer + auto visPtr = FullMatrixVisualizer::Ptr(new FullMatrixVisualizer); + visPtr->setOutImageName(parser.costOutputName); + visPtr->setDatabase(databasePtr); + + // create localizer and run it + OnlineLocalizer localizer; + localizer.setQuerySize(parser.querySize); + localizer.setSuccessorManager(successorManagerPtr); + localizer.setExpansionRate(parser.expansionRate); + localizer.setNonMatchingCost(parser.nonMatchCost); + localizer.setVisualizer(visPtr); + localizer.run(); + + std::string pathFile = "matched_path.txt"; + localizer.printPath(pathFile); + printf("Done.\n"); + return 0; +} diff --git a/apps/create_cost_matrix/CMakeLists.txt b/apps/create_cost_matrix/CMakeLists.txt new file mode 100644 index 0000000..f85c123 --- /dev/null +++ b/apps/create_cost_matrix/CMakeLists.txt @@ -0,0 +1,15 @@ + + +find_package( OpenCV REQUIRED ) +if( OpenCV_FOUND) + include_directories( ${OpenCV_INCLUDE_DIRS} ) + + add_executable(create_cost_matrix create_cost_matrix.cpp) + target_link_libraries(create_cost_matrix + list_dir + feature_buffer + feature_factory + config_parser + ${OpenCV_LIBS} + ) +endif() \ No newline at end of file diff --git a/apps/create_cost_matrix/create_cost_matrix.cpp b/apps/create_cost_matrix/create_cost_matrix.cpp new file mode 100644 index 0000000..3248cc1 --- /dev/null +++ b/apps/create_cost_matrix/create_cost_matrix.cpp @@ -0,0 +1,126 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include +#include +#include + +#include +#include +#include + +#include "database/list_dir.h" +#include "features/feature_buffer.h" +#include "features/feature_factory.h" +#include "features/ifeature.h" +#include "tools/config_parser/config_parser.h" + +FeatureBuffer loadFeatures(const std::string &path2folder, + const FeatureFactory &factory) { + std::vector featureNames = listDir(path2folder); + FeatureBuffer buffer; + buffer.setBufferSize(featureNames.size()); + printf("Loading features\n"); + for (size_t i = 0; i < featureNames.size(); ++i) { + iFeature::Ptr featurePtr = factory.createFeature(); + featurePtr->loadFromFile(path2folder + featureNames[i]); + buffer.addFeature(i, featurePtr); + fprintf(stderr, "."); + } + printf("\nFeatures were loaded\n"); + return buffer; +} + +int main(int argc, char const *argv[]) { + printf("====== Computing full similarity matrix =====\n"); + + if (argc < 2) { + printf("[ERROR] Not enough input parameters.\n"); + printf( + "Proper usage: ./create_cost_matrix create_cost_matrix_config.yaml\n"); + exit(0); + } + ConfigParser config; + // config.parse(argv[1]); + config.parseYaml(argv[1]); + config.print(); + + std::string outputCostName = config.costOutputName; + if (outputCostName.empty()) { + printf( + "ERROR: You haven't specified the output cost name. It may be very " + "painfull to realize that after 3 hours you write your matrix to an " + "empty file! Set it\n"); + return 0; + } + FeatureFactory factory; + factory.setFeatureType(FeatureFactory::FeatureType::Cnn_Feature); + // [VGG] to use other type of feature. Change here for desired type + // factory.setFeatureType(FeatureFactory::FeatureType::Vgg_Feature); + FeatureBuffer quFeatures = loadFeatures(config.path2qu, factory); + FeatureBuffer refFeatures = loadFeatures(config.path2ref, factory); + + int querySize = quFeatures.bufferSize; + int refSize = refFeatures.bufferSize; + + cv::Mat scores(querySize, refSize, CV_32FC1); + printf("Computing similarity matrix..\n"); + for (int r = 0; r < querySize; ++r) { + auto rowFeaturePtr = quFeatures.getFeature(r); + for (int c = 0; c < refSize; ++c) { + const auto colFeaturePtr = refFeatures.getFeature(c); + double score = rowFeaturePtr->computeSimilarityScore(colFeaturePtr); + scores.at(r, c) = score; + } + printf("Computed row %d\n", r); + } + + double minVal; + double maxVal; + cv::Point minLoc; + cv::Point maxLoc; + + minMaxLoc(scores, &minVal, &maxVal, &minLoc, &maxLoc); + printf("[INFO] min value: %f max value: %f\n", minVal, maxVal); + + std::string cost_png = "cost_matrix" + std::to_string(querySize) + "_" + + std::to_string(refSize) + ".png"; + std::ofstream out(outputCostName); + out << scores.rows << " " << scores.cols << "\n"; + for (int r = 0; r < scores.rows; ++r) { + for (int c = 0; c < scores.cols; ++c) { + out << scores.at(r, c) << " "; + } + out << "\n"; + } + printf("The matrix was saved to the file %s\n", outputCostName.c_str()); + + cv::Mat img; + scores.copyTo(img); + cv::normalize(img, img, 0, 255, cv::NORM_MINMAX, CV_32FC1); + imwrite(cost_png, img); + printf("[INFO] Image was saved to a file %s\n", cost_png.c_str()); + + return 0; +} diff --git a/apps/create_cost_matrix/create_cost_matrix_config.yaml b/apps/create_cost_matrix/create_cost_matrix_config.yaml new file mode 100644 index 0000000..9667ac7 --- /dev/null +++ b/apps/create_cost_matrix/create_cost_matrix_config.yaml @@ -0,0 +1,4 @@ +--- +path2ref: < your path to reference features > +path2qu: < your path to query features> +costOutputName: \ No newline at end of file diff --git a/apps/estimate_non_match_cost/CMakeLists.txt b/apps/estimate_non_match_cost/CMakeLists.txt new file mode 100644 index 0000000..e85995d --- /dev/null +++ b/apps/estimate_non_match_cost/CMakeLists.txt @@ -0,0 +1,8 @@ + +add_executable(estimate_non_match_cost + estimate_non_match_cost.cpp + non_match_cost_estimator.cpp +) +target_link_libraries(estimate_non_match_cost + feature_factory +) \ No newline at end of file diff --git a/apps/estimate_non_match_cost/estimate_non_match_cost.cpp b/apps/estimate_non_match_cost/estimate_non_match_cost.cpp new file mode 100644 index 0000000..5065eaa --- /dev/null +++ b/apps/estimate_non_match_cost/estimate_non_match_cost.cpp @@ -0,0 +1,51 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include "non_match_cost_estimator.h" +#include "features/feature_factory.h" + +int main(int argc, char const *argv[]) { + printf("=== Estimating the non-matching cost ====\n"); + if (argc < 3) { + printf("[ERROR] Not enough input parameters.\n"); + printf( + "======= Proper usage: ./estimate_non_match_cost matchFile(.txt) " + "nonMatchFile(.txt)\n"); + return 0; + } + + // file with corresponding features + // file with features that should not match + std::string matchFile, nonMatchFile; + matchFile = argv[1]; + nonMatchFile = argv[2]; + + NonMatchCostEstimator estimator; + estimator.setFeatureType(FeatureFactory::FeatureType::Cnn_Feature); + + estimator.process(matchFile, nonMatchFile); + printf("Done.\n"); + + return 0; +} diff --git a/apps/estimate_non_match_cost/match_example.txt b/apps/estimate_non_match_cost/match_example.txt new file mode 100644 index 0000000..bacc4a7 --- /dev/null +++ b/apps/estimate_non_match_cost/match_example.txt @@ -0,0 +1,3 @@ +/home/olga/Data/test_online_place_recogntion/nordland_network/summer_features/image-000054-feature.txt /home/olga/Data/test_online_place_recogntion/nordland_network/winter_features/image-000054-feature.txt +/home/olga/Data/test_online_place_recogntion/nordland_network/summer_features/image-000465-feature.txt /home/olga/Data/test_online_place_recogntion/nordland_network/winter_features/image-000465-feature.txt +/home/olga/Data/test_online_place_recogntion/nordland_network/summer_features/image-000300-feature.txt /home/olga/Data/test_online_place_recogntion/nordland_network/winter_features/image-000300-feature.txt \ No newline at end of file diff --git a/apps/estimate_non_match_cost/nonMatch_example.txt b/apps/estimate_non_match_cost/nonMatch_example.txt new file mode 100644 index 0000000..aab66d7 --- /dev/null +++ b/apps/estimate_non_match_cost/nonMatch_example.txt @@ -0,0 +1,3 @@ +/home/olga/Data/test_online_place_recogntion/nordland_network/summer_features/image-000004-feature.txt /home/olga/Data/test_online_place_recogntion/nordland_network/winter_features/image-000054-feature.txt +/home/olga/Data/test_online_place_recogntion/nordland_network/summer_features/image-000100-feature.txt /home/olga/Data/test_online_place_recogntion/nordland_network/winter_features/image-000500-feature.txt +/home/olga/Data/test_online_place_recogntion/nordland_network/summer_features/image-000450-feature.txt /home/olga/Data/test_online_place_recogntion/nordland_network/winter_features/image-000300-feature.txt \ No newline at end of file diff --git a/apps/estimate_non_match_cost/non_match_cost_estimator.cpp b/apps/estimate_non_match_cost/non_match_cost_estimator.cpp new file mode 100644 index 0000000..c2c3fab --- /dev/null +++ b/apps/estimate_non_match_cost/non_match_cost_estimator.cpp @@ -0,0 +1,93 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include +#include "non_match_cost_estimator.h" + +void NonMatchCostEstimator::setFeatureType(FeatureFactory::FeatureType type) { + _factory.setFeatureType(type); +} + +/** + * @brief reads feature pairs from file and computes respective similarity + * scores + * + * @param[in] filename The filename + * + * @return vector of similarity scores. + */ +std::vector NonMatchCostEstimator::readFromFile( + const std::string &filename) { + std::ifstream in(filename.c_str()); + if (!in) { + printf("[ERROR] File %s can not be opened.\n", filename.c_str()); + exit(EXIT_FAILURE); + } + std::vector scores; + while (!in.eof()) { + std::string firstMatch, secondMatch; + in >> firstMatch >> secondMatch; + iFeature::Ptr firstFeaturePtr = _factory.createFeature(); + iFeature::Ptr secondFeaturePtr = _factory.createFeature(); + + firstFeaturePtr->loadFromFile(firstMatch); + secondFeaturePtr->loadFromFile(secondMatch); + + double simScore = firstFeaturePtr->computeSimilarityScore(secondFeaturePtr); + scores.push_back(simScore); + } + in.close(); + return scores; +} + +void NonMatchCostEstimator::process(const std::string &matchFile, + const std::string &nonMatchFile) { + std::vector mScores = readFromFile(matchFile); + std::vector nmScores = readFromFile(nonMatchFile); + printf("Match cost\n"); + for (const auto &cost : mScores) { + printf("%f ", cost); + } + printf("\n"); + + printf("Non match cost\n"); + for (const auto &cost : nmScores) { + printf("%f ", cost); + } + printf("\n"); + double max = *(std::max_element(mScores.begin(), mScores.end())); + double min = *(std::min_element(nmScores.begin(), nmScores.end())); + double suggValue_low = min + 0.5 * (max - min); + double suggValue_high = min + 0.9 * (max - min); + + printf("=== The maximum similarity value is: %f\n", max); + printf("=== The minimum similarity value is: %f\n", min); + printf("=== Suggest similarity value from %f to %f\n", suggValue_low, + suggValue_high); + + iFeature::Ptr feature = _factory.createFeature(); + printf("=== Suggest non-matching cost from %f to %f\n", + feature->score2cost(suggValue_high), + feature->score2cost(suggValue_low)); +} diff --git a/apps/estimate_non_match_cost/non_match_cost_estimator.h b/apps/estimate_non_match_cost/non_match_cost_estimator.h new file mode 100644 index 0000000..7b3af28 --- /dev/null +++ b/apps/estimate_non_match_cost/non_match_cost_estimator.h @@ -0,0 +1,45 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#ifndef APPS_ESTIMATE_NON_MATCH_COST_NON_MATCH_COST_ESTIMATOR_H_ +#define APPS_ESTIMATE_NON_MATCH_COST_NON_MATCH_COST_ESTIMATOR_H_ + +#include +#include +#include +#include "features/feature_factory.h" +#include "features/ifeature.h" + +class NonMatchCostEstimator { + public: + using FeaturePairs = std::vector >; + void setFeatureType(FeatureFactory::FeatureType type); + + void process(const std::string &matchFile, const std::string &nonMatchFile); + + private: + std::vector readFromFile(const std::string &filename); + FeatureFactory _factory; +}; + +#endif // APPS_ESTIMATE_NON_MATCH_COST_NON_MATCH_COST_ESTIMATOR_H_ diff --git a/apps/estimate_similar_places/CMakeLists.txt b/apps/estimate_similar_places/CMakeLists.txt new file mode 100644 index 0000000..70f54b5 --- /dev/null +++ b/apps/estimate_similar_places/CMakeLists.txt @@ -0,0 +1,6 @@ +add_executable(estimate_similar_places estimate_similar_places.cpp) +target_link_libraries(estimate_similar_places + cnn_feature_mean + vgg_feature_mean + list_dir +) \ No newline at end of file diff --git a/apps/estimate_similar_places/check_sim_places.py b/apps/estimate_similar_places/check_sim_places.py new file mode 100644 index 0000000..f899d2c --- /dev/null +++ b/apps/estimate_similar_places/check_sim_places.py @@ -0,0 +1,46 @@ +# Script to check if the selected similar places within one trajectory make +# sense. They make sense if brighter pattern were detected, marked with red +# pixels in the showed image. Use this script for checks only. + +import numpy as np +import cv2 + +# path_to_folder, path where the estimated similar places binary has outputted +# the simPlaces and computed scores +path2folder = "" +# path2folder = "/home/olga/projects/online_place_recognition/build/" +simPlaces = path2folder + "vggSim.txt" +costs = path2folder + "scores.txt" +traj_size = 1078 + +costMatrix = np.zeros((traj_size, traj_size)) + +inputfile = open(costs) +minEl = 1000000 +with inputfile as f: + for line in f: + arr = line.split() + row = arr[0] + col = arr[1] + simValue = float(arr[2]) + + costMatrix[row, col] = simValue + # print minEl, simValue + if simValue < minEl: + minEl = simValue + +costMatrix = cv2.normalize(costMatrix, costMatrix, alpha=0, + beta=255, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8UC1) + +# // convert to color +costMatrix = cv2.cvtColor(costMatrix, cv2.COLOR_GRAY2RGB) +# overlay selected image pairs +with open(simPlaces) as f: + for line in f: + arr = line.split() + costMatrix[arr[0], arr[1]] = [0, 0, 255] + +cv2.namedWindow('costs', cv2.WINDOW_NORMAL) +cv2.imshow('costs', costMatrix) +cv2.waitKey(0) +cv2.destroyAllWindows() diff --git a/apps/estimate_similar_places/estimate_similar_places.cpp b/apps/estimate_similar_places/estimate_similar_places.cpp new file mode 100644 index 0000000..f68063d --- /dev/null +++ b/apps/estimate_similar_places/estimate_similar_places.cpp @@ -0,0 +1,119 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include +#include +#include +#include +#include +#include + +#include "database/list_dir.h" +#include "features/ibinarizable_feature.h" +#include "features/ifeature.h" +#include "features/cnn_feature_mean.h" +#include "features/vgg_feature_mean.h" +// #include "relocalizers/lsh_cv_hashing.h" + +std::vector readFeatures( + const std::string &path2folder) { + printf("Reading features\n"); + std::vector v; + std::vector featureNames = listDir(path2folder); + for (std::size_t i = 0; i < featureNames.size(); ++i) { + iBinarizableFeature::Ptr featurePtr = + // iBinarizableFeature::Ptr(new CnnFeatureMean); + iBinarizableFeature::Ptr(new VggFeatureMean); + featurePtr->loadFromFile(path2folder + featureNames[i]); + v.push_back(featurePtr); + std::cerr << "."; + } + printf("\n"); + return v; +} + +/** + * @brief Determines if j is the neighbour of i based on the neighbourhood + * size s. + * + * @param[in] i center index + * @param[in] j query index + * @param[in] s neighbourhood size + * + * @return True if neighbour, False otherwise. + */ +bool isNeighbour(int i, int j, int s) { + if (abs(i - j) <= s) { + return true; + } + return false; +} + +int main(int argc, char const *argv[]) { + printf("\n=== Estimating similar places within one trajectory ===\n"); + if (argc < 4) { + printf("[ERROR] Not enough input parameters\n"); + printf( + "Proper usage: ./estimate_similar_places path2ref outputFile(.txt) " + "nonMatchCost\n"); + return 1; + } + std::string path2ref = argv[1]; + std::string outputFile = argv[2]; + float nonMatchCost = atof(argv[3]); + std::vector featurePtrs = readFeatures(path2ref); + + std::ofstream out(outputFile); + if (!out) { + printf("[ERROR} File %s cannot be opened\n", outputFile.c_str()); + return 1; + } + + // outputting scores for thr debugging + std::ofstream outScore("scores.txt"); + if(!outScore) { + std::cerr << "[EstimatingSimilarPlaces] Costs file cannot be opened\n"; + } + + int neighSize = 10; + + std::cout << "Matching features\n"; + for (int i = 0; i < featurePtrs.size(); ++i) { + std::cerr << "."; + for (int j = i; j >= 0; --j) { + double score = featurePtrs[i]->computeSimilarityScore(featurePtrs[j]); + double cost = featurePtrs[i]->score2cost(score); + outScore << i << " " << " " << j << " " << score << std::endl; + if ((cost < nonMatchCost) && !isNeighbour(i, j, neighSize)) { + // accept match + std::cout<< "\n" << i << " " << j << " " << cost < +#include +#include + +#include "database/idatabase.h" +#include "database/online_database.h" +#include "online_localizer/ilocvisualizer.h" +#include "online_localizer/online_localizer.h" +#include "successor_manager/successor_manager.h" +#include "relocalizers/dimensions_hashing.h" + +#include "tools/config_parser/config_parser.h" + +#include "visualizer/match_viewer.h" +#include "visualizer/visualizer.h" + +using std::make_shared; + +void localize(OnlineLocalizer *loc) { loc->run(); } + +int main(int argc, char *argv[]) { + printf("===== Online place recognition using DH ====\n"); + if (argc < 2) { + printf("[ERROR] Not enough input parameters.\n"); + printf("Proper usage: ./feature_based_matching_dh config_file.yaml\n"); + exit(0); + } + std::string config_file = argv[1]; + ConfigParser parser; + parser.parseYaml(config_file); + parser.print(); + + OnlineDatabase online_database; + online_database.setRefFeaturesFolder(parser.path2ref); + online_database.setQuFeaturesFolder(parser.path2qu); + online_database.setBufferSize(parser.bufferSize); + online_database.setFeatureType( + FeatureFactory::FeatureType::Cnn_Feature); + //[VGG] uncomment this to use Vgg_features + // FeatureFactory::FeatureType::Vgg_Feature); + + if (!online_database.isSet()) { + printf("[ERROR] database is not set completely\n"); + return false; + } + auto onlineDatabasePtr = make_shared(online_database); + + // initialize Relocalizer + auto relocalizerPtr = DimensionsHashing::Ptr(new DimensionsHashing); + relocalizerPtr->loadIndex(parser.hashTable); + relocalizerPtr->weightIndex(onlineDatabasePtr->refSize()); + relocalizerPtr->setDatabase(onlineDatabasePtr); + + // initialize SuccessorManager + auto successorManagerPtr = make_shared(SuccessorManager()); + successorManagerPtr->setFanOut(parser.fanOut); + successorManagerPtr->setDatabase(onlineDatabasePtr); + successorManagerPtr->setSimilarPlaces(parser.simPlaces); + successorManagerPtr->setRelocalizer(relocalizerPtr); + + QApplication app(argc, argv); + + Visualizer *visualizer = new Visualizer(); + visualizer->setWindowTitle( + QApplication::translate("toplevel", "Olga's awesome viewer")); + + MatchViewer *matchViewer = new MatchViewer(); + matchViewer->setQuImageDirectory(parser.path2quImg); + matchViewer->setRefImageDirectory(parser.path2refImg); + matchViewer->setImageExtension(parser.imgExt); + matchViewer->setDatabase(onlineDatabasePtr); + + LocalizationViewer *locViewer = new LocalizationViewer(); + locViewer->setDatabase(onlineDatabasePtr); + + if (!visualizer->setMatchViewer(matchViewer)) { + printf("[ERROR] MatchViewer was not set\n"); + } + + if (!visualizer->setLocalizationViewer(locViewer)) { + printf("[ERROR] LocalizationViewer was not set\n"); + } + printf("[INFO] Visualizer was initialized\n"); + + auto visPtr = iLocVisualizer::Ptr(visualizer); + + OnlineLocalizer localizer; + localizer.setQuerySize(parser.querySize); + localizer.setSuccessorManager(successorManagerPtr); + localizer.setExpansionRate(parser.expansionRate); // expand everything + localizer.setNonMatchingCost(parser.nonMatchCost); + if (visualizer->isReady()) { + localizer.setVisualizer(visPtr); + } + + std::thread process(localize, &localizer); + app.exec(); + printf("%s\n", "Visualizer closed."); + std::string pathFile = "matched_path.txt"; + localizer.printPath(pathFile); + process.join(); + + return 0; +} diff --git a/apps/feature_based_matching/feature_based_matching_dh_no_vis.cpp b/apps/feature_based_matching/feature_based_matching_dh_no_vis.cpp new file mode 100644 index 0000000..e0f884f --- /dev/null +++ b/apps/feature_based_matching/feature_based_matching_dh_no_vis.cpp @@ -0,0 +1,87 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include + +#include "database/idatabase.h" +#include "database/online_database.h" +#include "online_localizer/ilocvisualizer.h" +#include "online_localizer/online_localizer.h" +#include "successor_manager/successor_manager.h" +#include "tools/config_parser/config_parser.h" + +#include "relocalizers/dimensions_hashing.h" + +using std::make_shared; + +int main(int argc, char *argv[]) { + printf("===== Online place recognition using DH ====\n"); + if (argc < 2) { + printf("[ERROR] Not enough input parameters.\n"); + printf("Proper usage: ./feature_based_matching_dh_no_vis config_file.yaml\n"); + exit(0); + } + std::string config_file = argv[1]; + ConfigParser parser; + parser.parseYaml(config_file); + parser.print(); + + OnlineDatabase online_database; + online_database.setRefFeaturesFolder(parser.path2ref); + online_database.setQuFeaturesFolder(parser.path2qu); + online_database.setBufferSize(parser.bufferSize); + online_database.setFeatureType( + FeatureFactory::FeatureType::Cnn_Feature); + //[VGG] uncomment this to use vgg features + // FeatureFactory::FeatureType::Vgg_Feature); + + if (!online_database.isSet()) { + printf("[ERROR] database is not set completely\n"); + return false; + } + auto onlineDatabasePtr = make_shared(online_database); + + // initialize Relocalizer + auto relocalizerPtr = DimensionsHashing::Ptr(new DimensionsHashing); + relocalizerPtr->loadIndex(parser.hashTable); + relocalizerPtr->weightIndex(onlineDatabasePtr->refSize()); + relocalizerPtr->setDatabase(onlineDatabasePtr); + + // initialize SuccessorManager + auto successorManagerPtr = make_shared(SuccessorManager()); + successorManagerPtr->setFanOut(parser.fanOut); + successorManagerPtr->setDatabase(onlineDatabasePtr); + successorManagerPtr->setSimilarPlaces(parser.simPlaces); + successorManagerPtr->setRelocalizer(relocalizerPtr); + + OnlineLocalizer localizer; + localizer.setQuerySize(parser.querySize); + localizer.setSuccessorManager(successorManagerPtr); + localizer.setExpansionRate(parser.expansionRate); // expand everything + localizer.setNonMatchingCost(parser.nonMatchCost); + + localizer.run(); + localizer.printPath(parser.pathFile); + + return 0; +} diff --git a/apps/feature_based_matching/feature_based_matching_lsh.cpp b/apps/feature_based_matching/feature_based_matching_lsh.cpp new file mode 100644 index 0000000..33a7458 --- /dev/null +++ b/apps/feature_based_matching/feature_based_matching_lsh.cpp @@ -0,0 +1,154 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include +#include +#include +#include "database/list_dir.h" + +#include "database/idatabase.h" +#include "database/online_database.h" +#include "online_localizer/ilocvisualizer.h" +#include "online_localizer/online_localizer.h" +#include "relocalizers/lsh_cv_hashing.h" +#include "successor_manager/successor_manager.h" + +#include "features/cnn_feature_mean.h" +#include "features/vgg_feature_mean.h" + +#include "tools/config_parser/config_parser.h" + +#include "visualizer/match_viewer.h" +#include "visualizer/visualizer.h" + +using std::make_shared; + +void localize(OnlineLocalizer *loc) { loc->run(); } + +std::vector loadFeatures( + const std::string &path2folder) { + printf("Loading the features to hash with LSH\n"); + std::vector featureNames = listDir(path2folder); + std::vector featurePtrs; + + for (size_t i = 0; i < featureNames.size(); ++i) { + iBinarizableFeature::Ptr featurePtr = + iBinarizableFeature::Ptr(new CnnFeatureMean); + // [VGG] Uncomment this to use vgg features + // iBinarizableFeature::Ptr(new VggFeatureMean); + featurePtr->loadFromFile(path2folder + featureNames[i]); + featurePtrs.push_back(featurePtr); + fprintf(stderr, "."); + } + fprintf(stderr, "\n"); + printf("Features were loaded and binarized\n"); + return featurePtrs; +} + +int main(int argc, char *argv[]) { + printf("===== Online place recognition using LSH ====\n"); + if (argc < 2) { + printf("[ERROR] Not enough input parameters.\n"); + printf("Proper usage: ./feature_based_matching_lsh config_file.yaml\n"); + exit(0); + } + std::string config_file = argv[1]; + ConfigParser parser; + parser.parseYaml(config_file); + parser.print(); + + OnlineDatabase online_database; + online_database.setRefFeaturesFolder(parser.path2ref); + online_database.setQuFeaturesFolder(parser.path2qu); + online_database.setBufferSize(parser.bufferSize); + // online_database.setFeatureType(FeatureFactory::FeatureType::Cnn_Feature_Mean); + online_database.setFeatureType(FeatureFactory::FeatureType::Cnn_Feature_Mean); + // [VGG] Uncomment this to use vgg features + // FeatureFactory::FeatureType::Vgg_Feature_Mean); + + if (!online_database.isSet()) { + printf("[ERROR] database is not set completely\n"); + return false; + } + auto onlineDatabasePtr = make_shared(online_database); + + // initialize Relocalizer + auto relocalizerPtr = LshCvHashing::Ptr(new LshCvHashing); + relocalizerPtr->setParams(1, 12, 2); + relocalizerPtr->setDatabase(onlineDatabasePtr); + std::vector featurePtrs = + loadFeatures(parser.path2ref); + relocalizerPtr->train(featurePtrs); + + // initialize SuccessorManager + auto successorManagerPtr = make_shared(SuccessorManager()); + successorManagerPtr->setFanOut(parser.fanOut); + successorManagerPtr->setDatabase(onlineDatabasePtr); + successorManagerPtr->setSimilarPlaces(parser.simPlaces); + successorManagerPtr->setRelocalizer(relocalizerPtr); + + QApplication app(argc, argv); + + Visualizer *visualizer = new Visualizer(); + visualizer->setWindowTitle( + QApplication::translate("toplevel", "Olga's awesome viewer")); + + MatchViewer *matchViewer = new MatchViewer(); + matchViewer->setQuImageDirectory(parser.path2quImg); + matchViewer->setRefImageDirectory(parser.path2refImg); + matchViewer->setImageExtension(parser.imgExt); + matchViewer->setDatabase(onlineDatabasePtr); + + LocalizationViewer *locViewer = new LocalizationViewer(); + locViewer->setDatabase(onlineDatabasePtr); + + if (!visualizer->setMatchViewer(matchViewer)) { + printf("[ERROR] MatchViewer was not set\n"); + } + + if (!visualizer->setLocalizationViewer(locViewer)) { + printf("[ERROR] LocalizationViewer was not set\n"); + } + printf("[INFO] Visualizer was initialized\n"); + + auto visPtr = iLocVisualizer::Ptr(visualizer); + + OnlineLocalizer localizer; + localizer.setQuerySize(parser.querySize); + localizer.setSuccessorManager(successorManagerPtr); + localizer.setExpansionRate(parser.expansionRate); // expand everything + localizer.setNonMatchingCost(parser.nonMatchCost); + if (visualizer->isReady()) { + localizer.setVisualizer(visPtr); + } + + std::thread process(localize, &localizer); + app.exec(); + printf("%s\n", "Visualizer closed."); + std::string pathFile = "matched_path.txt"; + localizer.printPath(pathFile); + process.join(); + + return 0; +} diff --git a/apps/hash_features/CMakeLists.txt b/apps/hash_features/CMakeLists.txt new file mode 100644 index 0000000..92ad4c0 --- /dev/null +++ b/apps/hash_features/CMakeLists.txt @@ -0,0 +1,6 @@ +add_executable(hash_features hash_features.cpp) +target_link_libraries(hash_features + list_dir + vgg_feature + dimensions_hashing +) diff --git a/apps/hash_features/hash_features.cpp b/apps/hash_features/hash_features.cpp new file mode 100644 index 0000000..f6600f7 --- /dev/null +++ b/apps/hash_features/hash_features.cpp @@ -0,0 +1,75 @@ +/** vpr_relocalization: a library for visual place recognition in changing +** environments with efficient relocalization step. +** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is +** furnished to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in +** all copies or substantial portions of the Software. +** +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +** SOFTWARE. +**/ + +#include +#include +#include "database/list_dir.h" +#include "features/cnn_feature.h" +// #include "features/vgg_feature.h" + +#include "relocalizers/dimensions_hashing.h" + +void hashDimensions(const std::string &path2folder, + const std::vector &featureNames, + const std::string &outputName) { + printf("Performing Dimensions Hashing\n"); + std::vector featurePtrs; + fprintf(stderr, "[INFO] Reading %lu features \n", featureNames.size()); + + for (size_t i = 0; i < featureNames.size(); ++i) { + iBinarizableFeature::Ptr featurePtr = + iBinarizableFeature::Ptr(new CnnFeature); + // iBinarizableFeature::Ptr(new VggFeature); + featurePtr->loadFromFile(path2folder + featureNames[i]); + featurePtrs.push_back(featurePtr); + fprintf(stderr, "."); + } + fprintf(stderr, "\n"); + + printf("Features were loaded and binarized\n"); + + DimensionsHashing hasher; + + hasher.hashFeatures(featurePtrs); + hasher.saveIndex(outputName); +} + +int main(int argc, char const *argv[]) { + printf("====== Hashing features ========\n"); + if (argc < 3) { + printf( + "Not enough input parameters. Proper usage: path2folder " + "outputName(txt)\n"); + return 0; + } + std::string path2folder = argv[1]; + std::string outputName = argv[2]; + + // read In features + std::vector featureNames = listDir(path2folder); + hashDimensions(path2folder, featureNames, outputName); + + printf("Done.\n"); + + return 0; +} diff --git a/doc/online_place_recognition.conf b/doc/online_place_recognition.conf new file mode 100644 index 0000000..3034fa5 --- /dev/null +++ b/doc/online_place_recognition.conf @@ -0,0 +1,2428 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "Online Place Recognition with Relocalization" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ../src +INPUT += ../readme.md + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = ../readme.md + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /