rgb_feature_detection.h
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00001 /*
00002  * RGBFeatureDetection.h
00003  *
00004  *  Created on: Sep 25, 2012
00005  *      Author: kidson
00006  */
00007 
00008 #ifndef RGBFEATUREDETECTION_H_
00009 #define RGBFEATUREDETECTION_H_
00010 
00011 #include "opencv2/core/core.hpp"
00012 #include "opencv2/nonfree/features2d.hpp"
00013 
00014 #include "rgbd_registration/typedefs.h"
00015 
00016 class RGBFeatureDetection
00017 {
00018   public:
00019     RGBFeatureDetection ();
00020     virtual ~RGBFeatureDetection ();
00021 
00022     cv::Mat restoreCVMatFromPointCloud (PointCloudConstPtr cloud_in);
00023 
00024     void projectFeaturesTo3D (std::vector<cv::KeyPoint>& feature_locations_2d, std::vector<
00025         Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > & feature_locations_3d,
00026         const PointCloudConstPtr point_cloud);
00027 
00028     void detectFeatures (const cv::Mat& input_image, std::vector<cv::KeyPoint>& keypoints);
00029 
00030     void extractFeatures (const cv::Mat& input_image, std::vector<cv::KeyPoint>& keypoints,
00031         cv::Mat& descriptors);
00032 
00033     void findMatches (const cv::Mat& source_descriptors, const cv::Mat& target_descriptors,
00034         std::vector<cv::DMatch>& good_matches);
00035 
00036     void OutlierRemoval (const std::vector<cv::DMatch>& matches,
00037         std::vector<cv::DMatch>& good_matches);
00038 
00039   private:
00040     int image_counter_;
00041 };
00042 
00043 #endif /* RGBFEATUREDETECTION_H_ */
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rgbd_registration
Author(s): Ross Kidson
autogenerated on Thu May 23 2013 15:36:53