OrientedPointFeature.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_ORIENTED_POINT_FEATURE_H
#define META_OCEAN_CV_DETECTOR_ORIENTED_POINT_FEATURE_H
 
#include "ocean/cv/detector/Detector.h"
#include "ocean/cv/detector/PointFeature.h"
 
namespace Ocean
{
 
namespace CV
{
 
namespace Detector
{
 
// Forward declaration.
class OrientedPointFeature;
 
/**
 * Definition of a vector holding oriented point features.
 * @ingroup cvdetector
 */
typedef std::vector<OrientedPointFeature> OrientedPointFeatures;
 
/**
 * This class implements the base class for all computer vision features mainly basing on points width an orientation.
 * The feature observation is the 2D position the feature can observed e.g. on an image plane.<br>
 * In contrast the feature position is the real 3D position of the feature.
 * @ingroup cvdetector
 */
class OCEAN_CV_DETECTOR_EXPORT OrientedPointFeature : public PointFeature
{
    public:
 
        /**
         * Creates a new feature object
         */
        inline OrientedPointFeature();
 
        /**
         * Creates a new feature object by a given 2D observation point.
         * @param observation Feature 2D observation position
         * @param distortionState Distortion state of the 2D feature position
         * @param strength Feature strength
         * @param orientation Feature orientation in radian, range [0, 2*PI)
         */
        inline explicit OrientedPointFeature(const Vector2& observation, const DistortionState distortionState = DS_UNKNOWN, const Scalar strength = 0, const Scalar orientation = 0);
 
        /**
         * Creates a new feature object by a given position.
         * @param position Feature 3D position
         * @param strength Feature strength
         * @param orientation Feature orientation in radian, range [0, 2*PI)
         */
        inline explicit OrientedPointFeature(const Vector3& position, const Scalar strength = 0, const Scalar orientation = 0);
 
        /**
         * Returns the orientation of this feature in radian.
         * @return Feature orientation
         */
        inline Scalar orientation() const;
 
        /**
         * Sets the orientation of this features in radian.
         * @param orientation Feature orientation to set
         */
        inline void setOrientation(const Scalar orientation);
 
    protected:
 
        // Feature orientation in radian, range [0, 2*PI)
        Scalar featureOrientation;
 
};
 
inline OrientedPointFeature::OrientedPointFeature() :
    PointFeature(),
    featureOrientation(0)
{
    // nothing to do here
}
 
inline OrientedPointFeature::OrientedPointFeature(const Vector2& observation, const DistortionState distortionState, const Scalar strength, const Scalar orientation) :
    PointFeature(observation, distortionState, strength)
{
    ocean_assert_accuracy(orientation >= 0 && orientation < Numeric::pi2());
    featureOrientation = orientation;
}
 
inline OrientedPointFeature::OrientedPointFeature(const Vector3& position, const Scalar strength, const Scalar orientation) :
    PointFeature(position, strength)
{
    ocean_assert_accuracy(orientation >= 0 && orientation < Numeric::pi2());
    featureOrientation = orientation;
 
    featureDistortionState = DS_INVALID;
}
 
inline Scalar OrientedPointFeature::orientation() const
{
    return featureOrientation;
}
 
inline void OrientedPointFeature::setOrientation(const Scalar orientation)
{
    ocean_assert_accuracy(orientation >= 0 && orientation < Numeric::pi2());
    featureOrientation = orientation;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_CV_DETECTOR_ORIENTED_POINT_FEATURE_H