lm_filter_bank.h

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#ifndef lm_filter_bank_h_DEFINED
#define lm_filter_bank_h_DEFINED

#include <ros/common.h> // include ROS_ASSERT
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <vector>
#include <iostream>
#include <string>

namespace cpl_visual_features
{
  // Define the texton feature structure
  typedef std::vector<float> TextonFeature;

class LMFilterBank
{
 public:
  LMFilterBank(int orientations = 6, int elongated_scales = 1,
               int gaussian_scales = 1, int num_extract_scales = 2,
               int support = 7);


  std::vector<TextonFeature> extractRawFeature(cv::Mat& frame,
                                               bool use_all_pixels = false);

  std::vector<int> extractDescriptor(cv::Mat& frame);

  float featureDist(TextonFeature f1, TextonFeature f2);

  void visualizeKernels(void);

  std::vector<TextonFeature> clusterTextons(
      std::vector<std::vector<TextonFeature> > samples, int k, int attempts=3);

  void saveTextonCenters(std::vector<TextonFeature> centers,
                         std::string file_name);

  bool readTextonCenters(std::string file_name);

  int quantizeFeature(TextonFeature feat);

  cv::Mat textonQuantizeImage(cv::Mat& frame);

  //
  // Getters and Setters
  //
  std::vector<TextonFeature> getCenters() const
  {
    return centers_;
  }

  int getNumCenters() const
  {
    return centers_.size();
  }

 protected:
  void generateFilters(void);
  cv::Mat getGaussianDeriv(float sigma, float mu, cv::Mat x, int ord);
  cv::Mat createElongatedFilter(float scale, int phase_x, int phase_y,
                                cv::Mat pts_1, cv::Mat pts_2, int sup);
  cv::Mat upSampleResponse(cv::Mat& down_convolved, int s, cv::Size size0);
  cv::Mat normalize(cv::Mat& f);
  cv::Mat getDOGFilter(int ksize, float sigma, float alpha=3.0);

  //
  // Class Members
  //
  int n_orientations_;
  int n_e_scales_;
  int n_g_scales_;
  int n_extract_scales_;
  int support_;
  int n_filters_;
  std::vector<cv::Mat> bars_;
  std::vector<cv::Mat> edges_;
  std::vector<cv::Mat> gaussians_;
  std::vector<cv::Mat> dogs_;
  std::vector<TextonFeature> centers_;
};
}

#endif // filter_bank_h_DEFINED