CVRaulMurOrb.h

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/**
 * \file      CVRaulMurOrb.h
 * \brief     Declares the Raul Mur ORB feature detector and descriptor
 * \details   This File is based on the ORB Implementation of ORB_SLAM
 *            https://github.com/raulmur/ORB_SLAM2
 * \date      Spring 2017
 * \remarks   Please use clangformat to format the code. See more code style on
 *            https://github.com/cpvrlab/SLProject4/wiki/SLProject-Coding-Style
 * \authors   Pascal Zingg, Timon Tschanz, Michael Goettlicher, Marcus Hudritsch
 * \copyright http://opensource.org/licenses/GPL-3.0
*/
 
#ifndef CVRAULMURORB_H
#define CVRAULMURORB_H
 
#include <CVTypedefs.h>
 
//-----------------------------------------------------------------------------
//! Orb detector and descriptor with distribution
class CVRaulMurOrb : public CVFeature2D
{
public:
    enum
    {
        HARRIS_SCORE = 0,
        FAST_SCORE   = 1
    };
 
    CVRaulMurOrb(int   nfeatures,
                 float scaleFactor,
                 int   nlevels,
                 int   iniThFAST,
                 int   minThFAST);
 
    // Compute the ORB features and descriptors on an image.
    // ORB are dispersed on the image using an octree.
    // Mask is ignored in the current implementation.
    void detectAndCompute(CVInputArray  image,
                          CVInputArray  mask,
                          CVVKeyPoint&  keypoints,
                          CVOutputArray descriptors,
                          bool          useProvidedKeypoints);
 
    uint          GetLevels() { return nlevels; }
    float         GetScaleFactor() { return (float)scaleFactor; }
    vector<float> GetScaleFactors() { return mvScaleFactor; }
    vector<float> GetInverseScaleFactors() { return mvInvScaleFactor; }
    vector<float> GetScaleSigmaSquares() { return mvLevelSigma2; }
    vector<float> GetInverseScaleSigmaSquares() { return mvInvLevelSigma2; }
 
    CVVMat mvImagePyramid;
 
protected:
    void          ComputePyramid(CVMat image);
    void          ComputeKeyPointsOctTree(CVVVKeyPoint& allKeypoints);
    CVVKeyPoint   DistributeOctTree(const CVVKeyPoint& vToDistributeKeys,
                                    const int&         minX,
                                    const int&         maxX,
                                    const int&         minY,
                                    const int&         maxY,
                                    const int&         nFeatures,
                                    const int&         level);
    CVVPoint      pattern;
    int           nfeatures;
    double        scaleFactor;
    uint          nlevels;
    int           iniThFAST;
    int           minThFAST;
    vector<int>   mnFeaturesPerLevel;
    vector<int>   umax;
    vector<float> mvScaleFactor;
    vector<float> mvInvScaleFactor;
    vector<float> mvLevelSigma2;
    vector<float> mvInvLevelSigma2;
};
//----------------------------------------------------------------------------
#endif // CVRAULMURORB_H