utils.h

/*
 * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Authors: Vadim Tikhanoff
 * email:   vadim.tikhanoff@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txtd
 *
 * This program 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
 */
 
#ifndef __ICUB_UTILS_H__
#define __ICUB_UTILS_H__
 
#include <iostream>
#include <string>
#include <fstream>
#include <yarp/sig/Image.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Network.h>
#include <yarp/os/Time.h>
#include <yarp/os/Stamp.h>
#include <cv.h>
#include <highgui.h>
 
#include "GL/gl.h"
#if !defined(SIFTGPU_STATIC) && !defined(SIFTGPU_DLL_RUNTIME)
// SIFTGPU_STATIC comes from compiler
#define SIFTGPU_DLL_RUNTIME
// Load at runtime if the above macro defined
// comment the macro above to use static linking
#endif
 
#ifdef SIFTGPU_DLL_RUNTIME
   #include <dlfcn.h>
   #define FREE_MYLIB dlclose
   #define GET_MYPROC dlsym
#endif
 
#include "SiftGPU.h"
 
/**********************************************************/
class Utilities
{
public:
    SiftMatchGPU                            *matcher;
    SiftMatchGPU                            *matcherCheck;
    SiftGPU                                 *sift;
    std::vector<float >                     descriptors1, descriptors2;
    std::vector<SiftGPU::SiftKeypoint>      keys1, keys2;
    std::vector<cv::Point2f>                pointsL, pointsR;
    int num1, num2;
    bool writeS;
    void                                    *hsiftgpu;
    
    Utilities();
    ~Utilities();
 
    void initSIFT_GPU();
    void extractMatch_GPU(cv::Mat &leftMat, cv::Mat &rightMat, double displacement=20.0);
    void extractMatch_GPU(cv::Mat &leftMat, cv::Mat &rightMat, cv::Mat &matMatches, double displacement=20.0);
    void getMatches(std::vector<cv::Point2f> & points1, std::vector<cv::Point2f>  &points2);
    void writeSIFTs(std::string filePath, std::vector<float> &des, std::vector<SiftGPU::SiftKeypoint>&points); 
    void writeMatch(std::string filePath,std::vector<cv::Point2f>  &pointsL, std::vector<cv::Point2f>  &pointsR);
};
 
#endif
 
//empty line to make gcc happy