ORBextractor.h

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#ifndef RTABMAP_ORBEXTRACTOR_H
#define RTABMAP_ORBEXTRACTOR_H
 
#include <vector>
#include <list>
#include <opencv2/core/core_c.h>
 
 
namespace rtabmap
{
 
class ExtractorNode
{
public:
    ExtractorNode():bNoMore(false){}
 
    void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4);
 
    std::vector<cv::KeyPoint> vKeys;
    cv::Point2i UL, UR, BL, BR;
    std::list<ExtractorNode>::iterator lit;
    bool bNoMore;
};
 
class ORBextractor
{
public:
    
    enum {HARRIS_SCORE=0, FAST_SCORE=1 };
 
    ORBextractor(int nfeatures, float scaleFactor, int nlevels,
                 int iniThFAST, int minThFAST, int patchSize, int edgeThreshold);
 
    ~ORBextractor(){}
 
    // Compute the ORB features and descriptors on an image.
    // ORB are dispersed on the image using an octree.
    // Mask is ignored in the current implementation.
    void operator()( cv::InputArray image, cv::InputArray mask,
      std::vector<cv::KeyPoint>& keypoints,
      cv::OutputArray descriptors);
 
    int inline GetLevels(){
        return nlevels;}
 
    float inline GetScaleFactor(){
        return scaleFactor;}
 
    std::vector<float> inline GetScaleFactors(){
        return mvScaleFactor;
    }
 
    std::vector<float> inline GetInverseScaleFactors(){
        return mvInvScaleFactor;
    }
 
    std::vector<float> inline GetScaleSigmaSquares(){
        return mvLevelSigma2;
    }
 
    std::vector<float> inline GetInverseScaleSigmaSquares(){
        return mvInvLevelSigma2;
    }
 
    std::vector<cv::Mat> mvImagePyramid;
 
protected:
 
    void ComputePyramid(cv::Mat image);
    void ComputeKeyPointsOctTree(std::vector<std::vector<cv::KeyPoint> >& allKeypoints);    
    std::vector<cv::KeyPoint> DistributeOctTree(const std::vector<cv::KeyPoint>& vToDistributeKeys, const int &minX,
                                           const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level);
 
    void ComputeKeyPointsOld(std::vector<std::vector<cv::KeyPoint> >& allKeypoints);
    std::vector<cv::Point> pattern;
 
    int nfeatures;
    double scaleFactor;
    int nlevels;
    int iniThFAST;
    int minThFAST;
    int patchSize;
    int edgeThreshold;
    int halfPatchSize;
 
 
    std::vector<int> mnFeaturesPerLevel;
 
    std::vector<int> umax;
 
    std::vector<float> mvScaleFactor;
    std::vector<float> mvInvScaleFactor;    
    std::vector<float> mvLevelSigma2;
    std::vector<float> mvInvLevelSigma2;
};
 
} //namespace rtabmap
 
#endif