FASTFeature.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_CV_DETECTOR_FAST_FEATURE_H
#define META_OCEAN_CV_DETECTOR_FAST_FEATURE_H
 
#include "ocean/cv/detector/Detector.h"
#include "ocean/cv/detector/PointFeature.h"
 
namespace Ocean
{
 
namespace CV
{
 
namespace Detector
{
 
// Forward declaration.
class FASTFeature;
 
/**
 * Definition of a vector holding FAST features.
 * @ingroup cvdetector
 */
typedef std::vector<FASTFeature> FASTFeatures;
 
/**
 * This class implements a FAST feature.
 * @ingroup cvdetector
 */
class OCEAN_CV_DETECTOR_EXPORT FASTFeature : public PointFeature
{
    public:
 
        /**
         * Creates a new empty FAST feature object.
         */
        inline FASTFeature();
 
        /**
         * Creates a new feature object by a given 2D observation position in e.g. an image.
         * @param observation 2D feature observation
         * @param distortionState Distortion state of the 2D feature position
         * @param strength Feature strength
         */
        inline FASTFeature(const Vector2& observation, const DistortionState distortionState, const Scalar strength);
 
        /**
         * Converts FAST features to simple 2D image positions.
         * Thus, the 2D positions are preserved only.
         * @param features FAST features to convert
         * @return Resulting image points
         */
        static inline Geometry::ImagePoints features2imagePoints(const FASTFeatures& features);
 
        /**
         * Converts FAST features to simple 2D image positions.
         * Thus, the 2D positions are preserved only.
         * @param features FAST feature to convert
         * @param number Number of features to be converted
         * @return Resulting image points
         */
        static inline Geometry::ImagePoints features2imagePoints(const FASTFeatures& features, const unsigned int number);
 
        /**
         * Converts FAST features to point features.
         * @param features FAST features to convert
         * @return Resulting point features
         */
        static inline PointFeatures features2pointFeatures(const FASTFeatures& features);
 
        /**
         * Converts FAST features to point features.
         * @param features FAST features to convert
         * @param number Number of features to be converted
         * @return Resulting point features
         */
        static inline PointFeatures features2pointFeatures(const FASTFeatures& features, const unsigned int number);
};
 
inline FASTFeature::FASTFeature() :
    PointFeature()
{
    // nothing to do here
}
 
inline FASTFeature::FASTFeature(const Vector2& observation, const DistortionState distortionState, const Scalar strength) :
    PointFeature(observation, distortionState, strength)
{
    // nothing to do here
}
 
inline Geometry::ImagePoints FASTFeature::features2imagePoints(const FASTFeatures& features)
{
    Geometry::ImagePoints result;
    result.reserve(features.size());
 
    for (FASTFeatures::const_iterator i = features.begin(); i != features.end(); ++i)
        result.push_back(i->observation());
 
    return result;
}
 
inline Geometry::ImagePoints FASTFeature::features2imagePoints(const FASTFeatures& features, const unsigned int number)
{
    const unsigned int realNumber = min(number, (unsigned int)features.size());
 
    Geometry::ImagePoints result;
    result.reserve(realNumber);
 
    for (unsigned int n = 0; n < realNumber; ++n)
        result.push_back(features[n].observation());
 
    return result;
}
 
inline PointFeatures FASTFeature::features2pointFeatures(const FASTFeatures& features)
{
    PointFeatures result;
    result.reserve(features.size());
 
    for (FASTFeatures::const_iterator i = features.begin(); i != features.end(); ++i)
        result.push_back(*i);
 
    return result;
}
 
inline PointFeatures FASTFeature::features2pointFeatures(const FASTFeatures& features, const unsigned int number)
{
    const unsigned int realNumber = min(number, (unsigned int)features.size());
 
    PointFeatures result;
    result.reserve(realNumber);
 
    for (unsigned int n = 0; n < realNumber; ++n)
        result.push_back(features[n]);
 
    return result;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_CV_DETECTOR_FAST_FEATURE_H