ORBextractor.h

#ifndef ORBEXTRACTOR_H
#define ORBEXTRACTOR_H
#include "Base/Headers/Vector.hpp"
#include "Base/Headers/Buffer.hpp"
#include "Base/Headers/Buffer.hpp"
#include <list>
#include <opencv2/opencv.hpp>
 
 
namespace NDEVR
{

class ExtractorNode
{
public:
    ExtractorNode()
        :bNoMore(false)
    {}

    void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4);
 
    PrimitiveAlignedBuffer<cv::KeyPoint, 32> vKeys; 
    cv::Point2i UL, UR, BL, BR;                     
    bool bNoMore;                                       
};

class ORBextractor
{
public:
 
    enum {HARRIS_SCORE=0, FAST_SCORE=1 };   

    ORBextractor(uint04 nfeatures, float scaleFactor
        , uint04 nlevels, uint04 iniThFAST, uint04 minThFAST);

    uint04 extract( cv::InputArray _image,
        PrimitiveAlignedBuffer<cv::KeyPoint, 32>& _keypoints,
                    cv::OutputArray _descriptors, const Vector<2, uint04> vLappingArea);

    uint04 levelCount() { return nlevels;}

    fltp04 GetScaleFactor(){ return scaleFactor; }

    const Buffer<float>& scaleFactors(){ return mvScaleFactor; }

    const Buffer<float>& inverseScaleFactors() { return mvInvScaleFactor; }

    const Buffer<float>& scaleSigmaSquares(){ return mvLevelSigma2; }

    const Buffer<float>& inverseScaleSigmaSquares(){ return mvInvLevelSigma2; }
 
    Buffer<cv::Mat> mvImagePyramid; 
 
protected:
    void ComputePyramid(cv::Mat image);
    void ComputeKeyPointsOctTree(Buffer<PrimitiveAlignedBuffer<cv::KeyPoint, 32>>& allKeypoints);
    void DistributeOctTree(const PrimitiveAlignedBuffer<cv::KeyPoint, 32>& vToDistributeKeys, uint04 minX,
        uint04 maxX, uint04 minY, uint04 maxY, uint04 nFeatures, PrimitiveAlignedBuffer<cv::KeyPoint, 32>& keypoint_buffer);
 
    void ComputeKeyPointsOld(Buffer<PrimitiveAlignedBuffer<cv::KeyPoint, 32>>& allKeypoints);
    //used for caching
    Buffer<PrimitiveAlignedBuffer<cv::KeyPoint, 32>> m_all_keypoints;
    PrimitiveAlignedBuffer<cv::KeyPoint, 32> m_vto_distribute_keys;
    //must be std::vector for comms to opencv
    std::vector<cv::KeyPoint> m_cell_keys;
    //Data
    Buffer<cv::Point> pattern;
 
    uint04 nfeatures = 0;
    fltp04 scaleFactor = 0.0f;
    uint04 nlevels = 0;
    uint04 iniThFAST = 0;
    uint04 minThFAST = 0;
 
    Buffer<uint04> mnFeaturesPerLevel;
 
    Buffer<uint04> umax;
 
    Buffer<float> mvScaleFactor;
    Buffer<float> mvInvScaleFactor; 
    Buffer<float> mvLevelSigma2;
    Buffer<float> mvInvLevelSigma2;
};
 
} //namespace ORB_SLAM
 
#endif