sift_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _sift_alg_h_
#define _sift_alg_h_

#include <iri_sift/SiftConfig.h>
#include "mutex.h"

//include sift_alg main library

// opencv
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
// #include <opencv2/highgui/highgui.hpp>

#if ROS_VERSION_MINIMUM(1, 8, 0)
#include <opencv2/nonfree/nonfree.hpp>
#endif

// msgs
#include <iri_perception_msgs/GeoVwSet.h>
#include <iri_perception_msgs/Descriptor.h>
#include <iri_perception_msgs/DescriptorSet.h>

class SiftAlgorithm
{
  protected:
        CMutex alg_mutex_;
        
        
        // private attributes and methods
    
  private:
        std::string descriptors_file_;
        
        cv::Mat read_trained_descriptors();

  public:
        typedef iri_sift::SiftConfig Config;

        Config config_;

        SiftAlgorithm(void);

        void lock(void) { alg_mutex_.enter(); };

        void unlock(void) { alg_mutex_.exit(); };

        bool try_enter(void) { return alg_mutex_.try_enter(); };

        void config_update(Config& new_cfg, uint32_t level=0);

        // here define all sift_alg interface methods to retrieve and set
        // the driver parameters

        ~SiftAlgorithm(void);
        
        
        // Descriptors
        iri_perception_msgs::DescriptorSet get_descriptors_from_image(cv::Mat &image);
        void get_sift_descriptors(cv::Mat const& image, cv::Mat& descriptors, std::vector<cv::KeyPoint>& keypoints);
        bool save_descriptors(cv::Mat descriptors);
        
        // vws
        iri_perception_msgs::GeoVwSet get_geovw_from_image(cv::Mat& image);
        iri_perception_msgs::GeoVwSet get_geo_vw_from_descriptors(cv::Mat descriptors, std::vector<cv::KeyPoint> keypoints);
        
        
        
        cv::Mat sift_centroids_;
        bool centroids_ready_;
};

#endif