FeatureCalculation.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
#include "ObjectHypothesis.h"
#include <Math/Math2d.h>
 
 
// forward declarations
class CSIFTFeatureCalculator;
class CStereoCalibration;
class CCalibration;
class CByteImage;
class CStereoMatcher;
 
class CFeatureCalculation
{
public:
    CFeatureCalculation();
    ~CFeatureCalculation();
 
    void GetAllFeaturePoints(const CByteImage* pImageLeftColor,
                             const CByteImage* pImageRightColor,
                             const CByteImage* pImageLeftGrey,
                             const CByteImage* pImageRightGrey,
                             const int nDisparityPointDistance,
                             CStereoCalibration* pStereoCalibration,
                             CSIFTFeatureArray& aAllSIFTPoints,
                             std::vector<CMSERDescriptor3D*>& aAllMSERs,
                             std::vector<CHypothesisPoint*>& aPointsFromDepthImage,
                             CByteImage* pDisparityImage,
                             std::vector<Vec3d>* pAll3DPoints = NULL);
 
#ifdef OLP_USE_DEPTH_MAP
 
    void GetAllFeaturePoints(const CByteImage* pImageLeftColor,
                             const CByteImage* pImageLeftGrey,
                             const pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pointcloud,
                             const int nDisparityPointDistance,
                             CSIFTFeatureArray& aAllSIFTPoints,
                             std::vector<CMSERDescriptor3D*>& aAllMSERs,
                             std::vector<CHypothesisPoint*>& aPointsFromDepthImage,
                             const CCalibration* calibration);
#endif
 
private:
    void FilterForegroundPoints(const std::vector<CHypothesisPoint*>& aAllPoints,
                                const CByteImage* pForegroundImage,
                                std::vector<CHypothesisPoint*>& aForegroundPoints);
 
    void CalculateForegroundRatioOfHypothesis(const CObjectHypothesis* pHypothesis,
                                              const CByteImage* pForegroundImage,
                                              float& fForegroundRatio,
                                              int& nNumForegroundPixels);
    static inline void GetEnclosingRectangle(const Vec2d* pPoints,
                                             const int nNumPoints,
                                             Vec2d& p1,
                                             Vec2d& p2,
                                             Vec2d& p3,
                                             Vec2d& p4,
                                             bool& bRotated);
    static inline int CountForegroundPixelsInRectangle(const Vec2d vMiddleMin,
                                                       const Vec2d vMinMiddle,
                                                       const Vec2d vMaxMiddle,
                                                       const Vec2d vMiddleMax,
                                                       const CByteImage* pForegroundImage);
 
    void GetPointsFromDisparity(const CByteImage* pImageLeftColor,
                                const CByteImage* pImageRightColor,
                                const CByteImage* pImageLeftGrey,
                                const CByteImage* pImageRightGrey,
                                CStereoCalibration* pStereoCalibration,
                                const int nDisparityPointDistance,
                                std::vector<CHypothesisPoint*>& aPointsFromDisparity,
                                CByteImage* pDisparityImage,
                                std::vector<Vec3d>* pAll3DPoints);
 
    void CalculateSmoothedDisparityImage(float* pInputDisparity,
                                         float* pSmoothedDisparity,
                                         const int nRadius = 1);
 
#ifdef OLP_USE_DEPTH_MAP
    static Vec3d GetCorresponding3DPoint(const Vec2d point2D,
                                         const pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pointcloud);
#endif
 
    static const int m_nMaxNumInterestPoints = 4000;
    Vec2d* m_pInterestPoints;
 
    CSIFTFeatureCalculator* m_pSIFTFeatureCalculator;
};