112 lines
3.1 KiB
C++
112 lines
3.1 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef SVO_FEATURE_DETECTION_H_
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#define SVO_FEATURE_DETECTION_H_
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#include <gpu_svo/global.h>
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#include <gpu_svo/frame.h>
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#include <gpu_svo/cl_class.h>
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namespace svo {
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/// Implementation of various feature detectors.
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namespace feature_detection {
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/// Temporary container used for corner detection. Features are initialized from these.
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struct Corner
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{
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int x; //!< x-coordinate of corner in the image.
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int y; //!< y-coordinate of corner in the image.
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int level; //!< pyramid level of the corner.
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float score; //!< shi-tomasi score of the corner.
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float angle; //!< for gradient-features: dominant gradient angle.
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Corner(int x, int y, float score, int level, float angle) :
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x(x), y(y), level(level), score(score), angle(angle)
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{}
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};
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typedef vector<Corner> Corners;
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/// All detectors should derive from this abstract class.
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class AbstractDetector
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{
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public:
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AbstractDetector(
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const int img_width,
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const int img_height,
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const int cell_size,
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const int n_pyr_levels);
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virtual ~AbstractDetector() {
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};
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virtual void detect(
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Frame* frame,
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const ImgPyr& img_pyr,
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const double detection_threshold,
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Features& fts) = 0;
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/// Flag the grid cell as occupied
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void setGridOccpuancy(const Vector2d& px);
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/// Set grid cells of existing features as occupied
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void setExistingFeatures(const Features& fts);
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protected:
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static const int border_ = 8; //!< no feature should be within 8px of border.
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const int cell_size_;
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const int n_pyr_levels_;
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const int grid_n_cols_;
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const int grid_n_rows_;
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vector<bool> grid_occupancy_;
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void resetGrid();
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inline int getCellIndex(int x, int y, int level)
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{
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const int scale = (1<<level);
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return (scale*y)/cell_size_*grid_n_cols_ + (scale*x)/cell_size_;
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}
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};
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typedef boost::shared_ptr<AbstractDetector> DetectorPtr;
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/// FAST detector by Edward Rosten.
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class FastDetector : public AbstractDetector
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{
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public:
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FastDetector(
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const int img_width,
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const int img_height,
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const int cell_size,
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opencl* gpu_fast_,
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const int n_pyr_levels);
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virtual ~FastDetector() {}
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virtual void detect(
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Frame* frame,
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const ImgPyr& img_pyr,
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const double detection_threshold,
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Features& fts);
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opencl* gpu_fast_;
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};
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} // namespace feature_detection
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} // namespace svo
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#endif // SVO_FEATURE_DETECTION_H_
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