include/svo/feature_detection.h

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// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef SVO_FEATURE_DETECTION_H_
#define SVO_FEATURE_DETECTION_H_

#include <svo/global.h>
#include <svo/frame.h>

namespace svo {

namespace feature_detection {

struct Corner
{
  int x;        
  int y;        
  int level;    
  float score;  
  float angle;  
  Corner(int x, int y, float score, int level, float angle) :
    x(x), y(y), level(level), score(score), angle(angle)
  {}
};
typedef vector<Corner> Corners;

class AbstractDetector
{
public:
  AbstractDetector(
      const int img_width,
      const int img_height,
      const int cell_size,
      const int n_pyr_levels);

  virtual ~AbstractDetector() {};

  virtual void detect(
      Frame* frame,
      const ImgPyr& img_pyr,
      const double detection_threshold,
      Features& fts) = 0;

  void setGridOccpuancy(const Vector2d& px);

  void setExistingFeatures(const Features& fts);

protected:

  static const int border_ = 8; 
  const int cell_size_;
  const int n_pyr_levels_;
  const int grid_n_cols_;
  const int grid_n_rows_;
  vector<bool> grid_occupancy_;

  void resetGrid();

  inline int getCellIndex(int x, int y, int level)
  {
    const int scale = (1<<level);
    return (scale*y)/cell_size_*grid_n_cols_ + (scale*x)/cell_size_;
  }
};
typedef boost::shared_ptr<AbstractDetector> DetectorPtr;

class FastDetector : public AbstractDetector
{
public:
  FastDetector(
      const int img_width,
      const int img_height,
      const int cell_size,
      const int n_pyr_levels);

  virtual ~FastDetector() {}

  virtual void detect(
      Frame* frame,
      const ImgPyr& img_pyr,
      const double detection_threshold,
      Features& fts);
};

} // namespace feature_detection
} // namespace svo

#endif // SVO_FEATURE_DETECTION_H_