vpKeyPointSurf.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 <cv.h>
#include <cxcore.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