image_warp_util.h

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#ifndef IMAGE_UTIL_IMAGE_WARP_UTIL_H_
#define IMAGE_UTIL_IMAGE_WARP_UTIL_H_

#include <vector>

// Boost Libraries
#include <boost/circular_buffer.hpp>

// ROS Libraries
#include <ros/ros.h>

// OpenCV Libraries
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/stitching/detail/warpers.hpp>

// RANGER Libraries
#include <swri_image_util/image_matching.h>

namespace swri_image_util
{
  cv::Mat WarpImage(const cv::Mat& image, double roll, double pitch);

  void WarpPoints(
      double pitch,
      double roll,
      const cv::Size& image_size,
      const cv::Mat& pts_in,
      cv::Mat& pts_out);

  void WarpPoints(
      double pitch,
      double roll,
      const cv::Size& image_size,
      const std::vector<cv::KeyPoint>& pts_in,
      std::vector<cv::KeyPoint>& pts_out);

  cv::Mat GetR(double pitch, double roll, double yaw = 0.0);


  class PitchAndRollEstimator
  {
  public:
    PitchAndRollEstimator() {}


    cv::Mat EstimateNominalAngle(double& nominal_pitch,
                                 double& nominal_roll,
                                 bool show_image_diff = false);


    static cv::Mat EstimateNominalAngle(const cv::Mat& points1,
                                        const cv::Mat& points2,
                                        const cv::Size& image_size,
                                        double& nominal_pitch,
                                        double& nominal_roll);

  private:
    cv::Mat im1_;
    cv::Mat im2_;

    cv::Mat K_;
    cv::Mat T_;

    std::vector<cv::KeyPoint> kp1_;
    std::vector<cv::KeyPoint> kp2_;
    cv::Mat descriptors1_;
    cv::Mat descriptors2_;

    cv::Mat kp1_matched_;
    cv::Mat kp2_matched_;

    cv::detail::PlaneWarper warper_;

    bool ComputeGeometricMatches();


    static bool EstimateTransforms(cv::Mat& pts1,
                                   cv::Mat& pts2,
                                   cv::Mat& T_affine,
                                   cv::Mat& T_rigid,
                                   double& rms_error);

    void WarpPoints(double pitch,
                    double roll,
                    const cv::Mat& pts_in,
                    cv::Mat& pts_out);

    void WarpAffinePoints(const cv::Mat& T,
                          const cv::Mat& pts_in,
                          cv::Mat& pts_out);
  };

  class PitchAndRollEstimatorQueue
  {
  public:
    PitchAndRollEstimatorQueue();

    ~PitchAndRollEstimatorQueue() {}

    void SetBufferSize(int32_t buff_size = 50);

    void Clear();

    void WarpPoints(const cv::Mat& points_in,
                    cv::Mat& points_out,
                    const cv::Size& image_size,
                    bool use_median = true);

    void GenerateNewEstimate(const cv::Mat& points1,
                             const cv::Mat& points2,
                             const cv::Size& image_size);

    void LoadNewData(double new_pitch,
                     double new_roll);

    bool GetMeanPitchAndRoll(double& pitch,
                             double& roll);


    bool GetMedianPitchAndRoll(double& pitch,
                               double& roll);

  private:
    boost::circular_buffer<double> pitches_;
    boost::circular_buffer<double> rolls_;

    double mean_pitch_;
    double mean_roll_;
    double median_pitch_;
    double median_roll_;

    void ComputeStats();
  };
}

#endif  // IMAGE_UTIL_IMAGE_WARP_UTIL_H_