aFeatureDetector.h

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#ifndef AFEATUREDETECTOR_H
#define AFEATUREDETECTOR_H
 
#include <opencv2/core.hpp>
#include <opencv2/features2d.hpp>
 
#include "isaeslam/data/features/Line2D.h"
#include "isaeslam/data/features/Point2D.h"
#include "isaeslam/data/sensors/ASensor.h"
#include "isaeslam/typedefs.h"
#include "utilities/geometry.h"
 
namespace isae {
 
class Point2D;
 
class AFeatureDetector {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    AFeatureDetector() {}
    AFeatureDetector(int n, int n_per_cell) : _n_total(n), _n_per_cell(n_per_cell) {}
    ~AFeatureDetector() {}
 
    virtual void init() = 0;
 
    virtual void detectAndCompute(const cv::Mat &img,
                                  const cv::Mat &mask,
                                  std::vector<cv::KeyPoint> &keypoints,
                                  cv::Mat &descriptors,
                                  int n_points = 0) = 0;
 
    virtual void computeDescriptor(const cv::Mat &img, std::vector<std::shared_ptr<AFeature>> &features) = 0;
 
    virtual std::vector<std::shared_ptr<AFeature>> detectAndComputeGrid(
        const cv::Mat &img,
        const cv::Mat &mask,
        std::vector<std::shared_ptr<AFeature>> existing_features = std::vector<std::shared_ptr<AFeature>>()) = 0;
 
    virtual double computeDist(const cv::Mat &desc1, const cv::Mat &desc2) const = 0;
 
    size_t getNbDesiredFeatures() { return _n_total; }
    double getMaxMatchingDist() const { return _max_matching_dist; }
 
    bool getFeaturesInBox(int x,
                          int y,
                          int w,
                          int h,
                          const std::vector<std::shared_ptr<AFeature>> &features,
                          std::vector<std::shared_ptr<AFeature>> &features_in_box) const;
 
    void deleteUndescribedFeatures(std::vector<std::shared_ptr<AFeature>> &features);
 
    static void KeypointToFeature(std::vector<cv::KeyPoint> keypoints,
                                  cv::Mat descriptors,
                                  std::vector<std::shared_ptr<AFeature>> &features,
                                  const std::string &featurelabel = "pointxd");
 
    static void FeatureToKeypoint(std::vector<std::shared_ptr<AFeature>> features,
                                  std::vector<cv::KeyPoint> &keypoints,
                                  cv::Mat &descriptors);
 
    static void FeatureToP2f(std::vector<std::shared_ptr<AFeature>> features, std::vector<cv::Point2f> &p2fs);
 
  protected:
    int _n_total;              
    int _n_per_cell;           
    double _max_matching_dist; 
};
 
} // namespace isae
 
#endif // AFEATUREDETECTOR_H