sliding_window.h

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#ifndef sliding_window_h_DEFINED
#define sliding_window_h_DEFINED

#include <ros/common.h> // include ROS_ASSERT
#include <opencv2/core/core.hpp>
#include <vector>
#include <utility>

namespace cpl_visual_features
{
template<class FeatureType, class DescriptorType> class SlidingWindowDetector
{
 public:
  SlidingWindowDetector() : feature_()
  {
    windows_.clear();
  }

  void scanImage(cv::Mat& img, bool save_desc = false, int step_size = 1)
  {
    for (unsigned int i = 0; i < windows_.size(); ++i)
    {
      scanImage(img, windows_[i].first, windows_[i].second, save_desc,
                step_size);
    }
  }

  void scanImage(cv::Mat& img, std::vector<std::pair<int, int> >& windows,
                 bool save_desc = false, int step_size = 1)
  {
    for (unsigned int i = 0; i < windows.size(); ++i)
    {
      scanImage(img, windows[i].first, windows[i].second, save_desc, step_size);
    }
  }

  void scanImage(cv::Mat& img, std::pair<int,int> window_size,
                 bool save_desc = false, int step_size = 1)
  {
    scanImage(img, window_size.first, window_size.second, save_desc, step_size);
  }

  void scanImage(cv::Mat& img, int window_width, int window_height,
                 bool save_desc = false, int step_size = 1)
  {
    // Scan the window horizontally first
    for (int r = 0; r + window_height < img.rows; r += step_size)
    {
      for (int c = 0; c + window_width < img.cols; c += step_size)
      {
        cv::Rect roi(c, r, window_width, window_height);
        cv::Mat window = img(roi);
        feature_(window, roi);
        if (save_desc)
        {
          DescriptorType d;
          d = feature_.getDescriptor();
          descriptors_.push_back(d);
        }
      }
    }
  }

  void setWindowSizes(std::vector<std::pair<int, int> > windows)
  {
    windows_ = windows;
  }

 protected:
  std::vector<std::pair<int, int> > windows_;

 public:
  FeatureType feature_;
  std::vector<DescriptorType> descriptors_;
};
}
#endif // sliding_window_h_DEFINED