Code tutorial

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/RobustMatcher.h

+/*
+ * RobustMatcher.h
+ *
+ *  Created on: Jun 4, 2014
+ *      Author: eriba
+ */
+
+#ifndef ROBUSTMATCHER_H_
+#define ROBUSTMATCHER_H_
+
+#include <iostream>
+#include <boost/shared_ptr.hpp>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/nonfree/nonfree.hpp>
+
+class RobustMatcher {
+public:
+  RobustMatcher() : ratio_(0.8f)
+  {
+    // ORB is the default feature
+    detector_ = new cv::OrbFeatureDetector();
+    extractor_ = new cv::OrbDescriptorExtractor();
+
+    // BruteFroce matcher with Norm Hamming is the default matcher
+    matcher_ = new cv::BFMatcher(cv::NORM_HAMMING, false);
+
+  }
+  virtual ~RobustMatcher();
+
+  // Set the feature detector
+  void setFeatureDetector(cv::FeatureDetector * detect) {  detector_ = detect; }
+
+  // Set the descriptor extractor
+  void setDescriptorExtractor(cv::DescriptorExtractor * desc) { extractor_ = desc; }
+
+  // Set the matcher
+  void setDescriptorMatcher(cv::DescriptorMatcher * match) {  matcher_ = match; }
+
+  // Compute the keypoints of an image
+  void computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints);
+
+  // Compute the descriptors of an image given its keypoints
+  void computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors);
+
+  // Set ratio parameter for the ratio test
+  void setRatio( float rat) { ratio_ = rat; }
+
+  // Clear matches for which NN ratio is > than threshold
+  // return the number of removed points
+  // (corresponding entries being cleared,
+  // i.e. size will be 0)
+  int ratioTest(std::vector<std::vector<cv::DMatch> > &matches);
+
+  // Insert symmetrical matches in symMatches vector
+  void symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1,
+                     const std::vector<std::vector<cv::DMatch> >& matches2,
+                     std::vector<cv::DMatch>& symMatches );
+
+  // Match feature points using ratio and symmetry test
+  void robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                      std::vector<cv::KeyPoint>& keypoints_frame,
+                      const cv::Mat& descriptors_model );
+
+ // Match feature points using ratio test
+ void fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                       std::vector<cv::KeyPoint>& keypoints_frame,
+                       const cv::Mat& descriptors_model );
+
+private:
+  // pointer to the feature point detector object
+  cv::FeatureDetector * detector_;
+  // pointer to the feature descriptor extractor object
+  cv::DescriptorExtractor * extractor_;
+  // pointer to the matcher object
+  cv::DescriptorMatcher * matcher_;
+  // max ratio between 1st and 2nd NN
+  float ratio_;
+};
+
+#endif /* ROBUSTMATCHER_H_ */