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feature.h
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feature.h
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/*ckwg +29
* Copyright 2013-2015 by Kitware, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither name of Kitware, Inc. nor the names of any contributors may be used
* to endorse or promote products derived from this software without specific
* prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \file
* \brief core feature interface
*/
#ifndef VITAL_FEATURE_H_
#define VITAL_FEATURE_H_
#include "color.h"
#include "covariance.h"
#include "vector.h"
#include <vital/vital_export.h>
#include <vital/vital_config.h>
#include <vital/io/eigen_io.h>
#include <iostream>
#include <typeinfo>
#include <memory>
namespace kwiver {
namespace vital {
/// A representation of a 2D image feature point.
/**
* The base class of features is abstract and provides a
* double precision interface. The templated derived class
* can store values in either single or double precision.
*/
class feature
{
public:
/// Destructor
virtual ~feature() = default;
/// Access the type info of the underlying data (double or float)
virtual std::type_info const& data_type() const = 0;
/// Accessor for the image coordinates
virtual vector_2d loc() const = 0;
/// Accessor for the feature magnitude
virtual double magnitude() const = 0;
/// Accessor for the feature scale
virtual double scale() const = 0;
/// Accessor for the feature angle
virtual double angle() const = 0;
/// Accessor for the covariance
virtual covariance_2d covar() const = 0;
/// Accessor for the RGB color
virtual rgb_color color() const = 0;
/// Equality operator
bool operator==( feature const& other ) const
{
return this->data_type() == other.data_type() &&
this->loc() == other.loc() &&
this->scale() == other.scale() &&
this->magnitude() == other.magnitude() &&
this->angle() == other.angle() &&
this->color() == other.color() &&
this->covar() == other.covar();
}
/// Inequality operator
bool operator!=( feature const& other ) const
{
return ! operator==(other);
}
};
/// Shared pointer for base feature type
typedef std::shared_ptr< feature > feature_sptr;
/// output stream operator for base class feature
/**
* \param s output stream
* \param f feature to stream
*/
VITAL_EXPORT std::ostream& operator<<( std::ostream& s, feature const& f );
// ------------------------------------------------------------------
/// A concrete 2D image feature point.
/**
* Templated over real number type (double or float).
*/
template < typename T >
class VITAL_EXPORT feature_ :
public feature
{
public:
/// Default Constructor
feature_< T > ( );
/// Constructor for a feature
feature_< T > ( Eigen::Matrix< T, 2, 1 > const& loc, T mag = 0.0,
T scale = 1.0, T angle = 0.0,
rgb_color const& color = rgb_color());
/// Constructor for a feature_ from a base class feature
explicit feature_< T > ( feature const& f );
/// Access statically available type of underlying data (double or float)
static std::type_info const& static_data_type() { return typeid( T ); }
/// Access the type info of the underlying data (double or float)
virtual std::type_info const& data_type() const { return typeid( T ); }
/// Accessor for the image coordinates using underlying data type
Eigen::Matrix< T, 2, 1 > const& get_loc() const { return loc_; }
/// Accessor for the image coordinates
virtual vector_2d loc() const { return loc_.template cast< double > (); }
/// Accessor for the feature magnitude using underlying data type
T get_magnitude() const { return magnitude_; }
/// Accessor for the feature magnitude
virtual double magnitude() const { return static_cast< double > ( magnitude_ ); }
/// Accessor for the feature scale using underlying data type
T get_scale() const { return scale_; }
/// Accessor for the feature scale
virtual double scale() const { return static_cast< double > ( scale_ ); }
/// Accessor for the feature angle using underlying data type
T get_angle() const { return angle_; }
/// Accessor for the feature angle
virtual double angle() const { return static_cast< double > ( angle_ ); }
/// Accessor for the covariance using underlying data type
covariance_< 2, T > const& get_covar() const { return covar_; }
/// Accessor for the covariance
virtual covariance_2d covar() const { return static_cast< covariance_2d > ( covar_ ); }
/// Accessor for a const reference to the RGB color
virtual rgb_color const& get_color() const { return color_; }
/// Accessor for the RGB color
virtual rgb_color color() const { return color_; }
/// Set the feature position in image space
void set_loc( Eigen::Matrix< T, 2, 1 > const& loc ) { loc_ = loc; }
/// Set the magnitude of the feature response
void set_magnitude( T magnitude ) { magnitude_ = magnitude; }
/// Set the scale of the feature
void set_scale( T scale ) { scale_ = scale; }
/// Set the angle of the feature
void set_angle( T angle ) { angle_ = angle; }
/// Set the covariance matrix of the feature
void set_covar( covariance_< 2, T > const& covar ) { covar_ = covar; }
/// Set the RGB color of the landmark
void set_color( rgb_color const& color ) { color_ = color; }
/// Serialization of the class data
template<class Archive>
void serialize(Archive & archive)
{
archive( loc_, magnitude_, scale_, angle_, covar_, color_ );
}
protected:
/// location of feature
Eigen::Matrix< T, 2, 1 > loc_;
/// magnitude of feature
T magnitude_;
/// scale of feature
T scale_;
/// angle of feature
T angle_;
/// covariance matrix of feature
covariance_< 2, T > covar_;
/// RGB color of feature
rgb_color color_;
};
// ------------------------------------------------------------------
/// Double-precision feature_ type
typedef feature_< double > feature_d;
/// Single-precision feature_ type
typedef feature_< float > feature_f;
/// output stream operator for a feature
template < typename T >
VITAL_EXPORT std::ostream& operator<<( std::ostream& s, feature_< T > const& f );
/// input stream operator for a feature
template < typename T >
VITAL_EXPORT std::istream& operator>>( std::istream& s, feature_< T >& f );
} } // end namespace vital
#endif // VITAL_FEATURE_H_