pcb_inspect_client/3rdparty/ImgProcessAlg/include/FeatureMatching.h

/*****************************************************************************
*                                                                            *
*  @file     FeatureMatching.h                                               *
*  @brief    »ùÓÚorbµÄÌØÕ÷µãÆ¥Åä												 *
*  Details.                                                                  *
*                                                                            *
*  @author   X P                                                             *
*  @version  1.0.0.0                                                         *
*  @date     2023-03-28                                                      *
*  @license  GNU General Public License (GPL)                                *
*                                                                            *
*****************************************************************************/

#ifndef _FEATURE_MATCHING_H_
#define _FEATURE_MATCHING_H_

#include <opencv2/opencv.hpp>
#include <xfeatures2d.hpp>
#include <qpoint.h>
#include "ImgProcessGlobal.h"

using namespace std;

class CVX_PROCESS_EXPORT FeatureMatching
{

public:
	FeatureMatching();
	~FeatureMatching();
	void ExtractDescriptors(const cv::Mat spread, int id);
	void Matching(cv::Mat& homMat2d, float thresh = 30.f);
	void AffineImage(cv::Mat &out);
	void AffinePoint(const QPoint& pointOri, QPoint& pointDst);
	static void AffinePoint(const cv::Mat& homMat2d,const QPoint& pointOri, QPoint& pointDst);
private:
	
	int features_;
	float scale_factory_;
	int pyramid_levels_;
	cv::Ptr<cv::ORB> orb_;
	//cv::Ptr<cv::xfeatures2d::SURF> orb_;
	typedef vector<cv::KeyPoint> KeyPoints;
	cv::Mat spreads_[2];

	cv::Mat homMat2d;
	KeyPoints keypoints_[2];
	cv::Mat descriptors_[2];
};

#endif