rgb_feature_detection.h

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/*
 * RGBFeatureDetection.h
 *
 *  Created on: Sep 25, 2012
 *      Author: kidson
 */

#ifndef RGBFEATUREDETECTION_H_
#define RGBFEATUREDETECTION_H_

#include "opencv2/core/core.hpp"
#include "opencv2/nonfree/features2d.hpp"

#include "rgbd_registration/typedefs.h"

class RGBFeatureDetection
{
  public:
    RGBFeatureDetection ();
    virtual ~RGBFeatureDetection ();

    cv::Mat restoreCVMatFromPointCloud (PointCloudConstPtr cloud_in);

    void projectFeaturesTo3D (std::vector<cv::KeyPoint>& feature_locations_2d, std::vector<
        Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > & feature_locations_3d,
        const PointCloudConstPtr point_cloud);

    void detectFeatures (const cv::Mat& input_image, std::vector<cv::KeyPoint>& keypoints);

    void extractFeatures (const cv::Mat& input_image, std::vector<cv::KeyPoint>& keypoints,
        cv::Mat& descriptors);

    void findMatches (const cv::Mat& source_descriptors, const cv::Mat& target_descriptors,
        std::vector<cv::DMatch>& good_matches);

    void OutlierRemoval (const std::vector<cv::DMatch>& matches,
        std::vector<cv::DMatch>& good_matches);

  private:
    int image_counter_;
};

#endif /* RGBFEATUREDETECTION_H_ */