vpKeyPointSurf.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Key point Surf.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/


#ifndef vpKeyPointSurf_H
#define vpKeyPointSurf_H

#include <visp3/vision/vpBasicKeyPoint.h>

#include <list>
#include <vector>

#if defined (VISP_HAVE_OPENCV_NONFREE) && (VISP_HAVE_OPENCV_VERSION < 0x030000)

#if (VISP_HAVE_OPENCV_VERSION >= 0x020400)  // Require opencv >= 1.1.0 < 3.0.0
#  include <opencv2/core/core.hpp>
#  include <opencv2/features2d/features2d.hpp>
#  include <opencv2/legacy/compat.hpp>
#  include <opencv2/nonfree/nonfree.hpp>
#elif (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
#  include <opencv2/features2d/features2d.hpp>
#elif (VISP_HAVE_OPENCV_VERSION >= 0x010100) // Require opencv >= 1.1.0
#  include <cxcore.h>
#  include <cv.h>
#endif

class VISP_EXPORT vpKeyPointSurf : public vpBasicKeyPoint
{
  public:
    typedef enum
    {
      basicDescriptor,   /*<! basicDescriptor means that the descriptors are
               composed by 64 elements floating-point vector. */
      extendedDescriptor /*<! Means that the descriptors are composed by
               128 elements floating-point vector. */
    } vpDescriptorType;

  public:
    vpKeyPointSurf();

    virtual ~vpKeyPointSurf(); 

    unsigned int buildReference(const vpImage<unsigned char> &I);
    unsigned int buildReference(const vpImage<unsigned char> &I,
                       const vpImagePoint &iP,
               const unsigned int height, const unsigned int width);
    unsigned int buildReference(const vpImage<unsigned char> &I,
               const vpRect& rectangle);
    unsigned int matchPoint(const vpImage<unsigned char> &I);
    unsigned int matchPoint(const vpImage<unsigned char> &I,
                   const vpImagePoint &iP, const unsigned int height, const unsigned int width);
    unsigned int matchPoint(const vpImage<unsigned char> &I, const vpRect& rectangle);
    void display(const vpImage<unsigned char> &Iref,
                 const vpImage<unsigned char> &Icurrent, unsigned int size=3);
    void display(const vpImage<unsigned char> &Icurrent, unsigned int size=3,
                 const vpColor &color=vpColor::green);
    std::list<int*>* matchPoint(std::list<float*> descriptorList, std::list<int> laplacianList);
    float* getDescriptorReferencePoint (const int index);
    int getLaplacianReferencePoint (const int index);
    void getDescriptorParamReferencePoint (const int index, int& size, float& dir);
    void setHessianThreshold (double hessian_threshold) {
      this->hessianThreshold = hessian_threshold;
            params = cvSURFParams(this->hessianThreshold, this->descriptorType);
    } ;

    void setDescriptorType (vpDescriptorType descriptor_type) {
      this->descriptorType = descriptor_type;
            params = cvSURFParams(this->hessianThreshold, this->descriptorType);
    } ;

    double getHessianThreshold () {return hessianThreshold;}

    vpDescriptorType getDescriptorType () {return descriptorType;}

  private:
    void init();

  private:
    //OpenCV Parameters
    CvMemStorage* storage;
    CvSURFParams params;
    CvMemStorage* storage_cur;

    CvSeq* image_keypoints;
    CvSeq* image_descriptors;

    CvSeq* ref_keypoints;
    CvSeq* ref_descriptors;

    double hessianThreshold;
    vpDescriptorType descriptorType;

};


#endif

#endif