keyframes.hpp

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#ifndef _THERMALVIS_KEYFRAMES_H_
#define _THERMALVIS_KEYFRAMES_H_

#include "general_resources.hpp"
#include "opencv_resources.hpp"

#include "features.hpp"

#define         KF_CONNECTION_WEAK                      0
#define         KF_CONNECTION_GEOMETRIC         1
#define         KF_CONNECTION_HOMOGRAPHIC       2

#define         KF_TYPE_FIRST                           0
#define         KF_TYPE_LAST                            1
#define         KF_TYPE_GEOMETRIC                       2
#define         KF_TYPE_HOMOGRAPHIC                     3
#define         KF_TYPE_EXHAUSTED                       4
#define         KF_TYPE_WEAK                            5

#define         MAXIMUM_FEATURES_PER_FRAME      200

#define         MATCHING_SIZE_CONSTRAINT        0.2
#define         MATCHING_DIST_CONSTRAINT        100

struct keyframe {
        
        unsigned int idx;
        cv::Mat im;
        vector<cv::KeyPoint> keypoints;
        cv::Mat descriptors;
        //Mat pose;
        bool poseDetermined;
        
        void detectKeypoints(cv::Ptr<cv::FeatureDetector>& detector);
        
        void extractDescriptors(cv::Ptr<cv::DescriptorExtractor>& extractor);
        
};

struct connection {
        
        unsigned int idx1, idx2;
        cv::Mat matchingMatrix;
        int type;
        double confidence;
        cv::Mat relation;
        bool processed;
        vector<vector<cv::DMatch> > matches1to2;
        
};

struct keyframeStore {
        
        vector<keyframe> keyframes;
        vector<connection> connections;
        unsigned int count;
        
        // Should also store matches
        
        keyframeStore();
        
        bool getBestPair(int& idx1, int& idx2);
        
        void addKeyframe(int idx, cv::Mat& image);
        
        void addConnection(int idx1, int idx2, int type = KF_CONNECTION_WEAK, cv::Mat rel = cv::Mat());
        
        void findStrongConnections(int idx, vector<unsigned int>& cIndices);
        
        void findMatches();
        
};

bool getValidLocalMaxima(cv::Mat& scores, unsigned int last_iii, unsigned int last_jjj, unsigned int& opt_iii, unsigned int& opt_jjj);

#endif