target.h

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#ifndef UCL_DRONE_TARGET_H
#define UCL_DRONE_TARGET_H

// #define DEBUG_TARGET // if defined a window with target matches is displayed

// #define DEBUG_PROJECTION  // if defined print relative errors of projection for the target

#include <ucl_drone/computer_vision/computer_vision.h>

static const std::string TARGET_RELPATH = "/target/target_bottom.png";

#ifdef DEBUG_TARGET
static const std::string OPENCV_WINDOW = "Object matches";
#endif

class Target
{
private:
  cv::Mat image;                          
  std::vector< cv::KeyPoint > keypoints;  
  cv::Mat descriptors;                    
  std::vector< cv::Point2f > centerAndCorners;  

  cv::FlannBasedMatcher matcher;  


public:
  Target();

  ~Target();

  bool init(const std::string relative_path);

  bool detect(cv::Mat cam_descriptors, std::vector< cv::KeyPoint >& cam_keypoints,
              std::vector< cv::DMatch >& good_matches, std::vector< int >& idxs_to_remove,
              std::vector< cv::Point2f >& target_coord
#ifdef DEBUG_PROJECTION
              ,
              ucl_drone::Pose3D pose
#endif
#ifdef DEBUG_TARGET
              ,
              cv::Mat& image_cam
#endif
              );

  void draw(cv::Mat cam_img, std::vector< cv::KeyPoint > cam_keypoints,
            std::vector< cv::DMatch > good_matches, cv::Mat& img_matches);

  void position(std::vector< cv::KeyPoint > cam_keypoints, std::vector< cv::DMatch > good_matches,
                std::vector< cv::Point2f >& coord);
};

bool customLess(cv::DMatch a, cv::DMatch b);

#endif /* UCL_DRONE_TARGET_DETECTION_H */