Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM 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

 * (at your option) any later version.

 * 

 * RGBDSLAM 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 RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

#ifndef SIFT_GPU_FEATURE_DETECTOR_H

#define SIFT_GPU_FEATURE_DETECTOR_H

//#ifdef USE_SIFT_GPU

#include <opencv2/features2d/features2d.hpp>

#include <opencv/cv.h>

#include <SiftGPU/SiftGPU.h>

/*!

 * \brief Interface for SiftGPU

 * The class is used as an interface to SiftGPU.

 * It's a singleton class

 */

class SiftGPUFeatureDetector {

public:

    /*!

     * Destructor

     */

        virtual ~SiftGPUFeatureDetector();

        /*!

         * Main method, which is used for calculating the features and descriptors.

         * The first parameter is the image, the second one a reference to a keypoint vector

         * and the third parameter can be used for defining a mask

         *

         * \param  image        the image

         * \param  keypoints    a cv::vector of cv::Keypoints, which is used for storing the keypoints

         * \param  mask         a mask (see OpenCV)

         * \return a pointer to the descriptor values

         */

        float* detect( const cv::Mat& image, cv::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask = cv::Mat()) const;

        /*!

         * Return instance of the singleton class

         */

        static SiftGPUFeatureDetector* GetInstance();

        static void DestroyInstance();

private:

        /*!

         * private constructor, because of singleton

         */

        SiftGPUFeatureDetector();

        /*!

         * Building a siftgpu compatible unsigned char pointer out of the image cv::Mat

         * (converts a cv matrix into an OpenGL texture array)

         *

         * \param  image        the image

         * \param  siftImage    the transformed image (output)

         */

        void CVMatToSiftGPU(const cv::Mat& image, unsigned char* siftImage) const;

        /*!

         * For testing purposes: write a .pgm file of the SiftGPU image

         *

         * \param   fp      a filepointer

         * \param   data    the imagedata (e.g. OpenGL texture)

         * \param   width   width

         * \param   height  height

         */

        void WritePGM(FILE *fp, unsigned char* data, int width, int height);

        static const int imageWidth = 640;          ///<width of the image constant for Kinect

        static const int imageHeight = 480;         ///<height of the image constant for Kinect

        static SiftGPUFeatureDetector* instance;    ///<singleton instance

        SiftGPU* siftgpu;                           ///<siftgpu instance

        bool error;                                 ///<error happened?

        unsigned char* data;                        ///<image as texture

};

#endif

//#endif