From 3e0a65bec9c670188fea3f75fe6b257def808e9f Mon Sep 17 00:00:00 2001
From: Kun <kun.lin.596@gmail.com>
Date: Sun, 31 Jul 2022 11:29:01 +0900
Subject: [PATCH] feat: Add features and keypoints

---
 src/mvgkit/CMakeLists.txt          |  1 +
 src/mvgkit/features/CMakeLists.txt |  7 +++++++
 src/mvgkit/features/features.cc    |  7 +++++++
 src/mvgkit/features/features.h     | 22 ++++++++++++++++++++++
 src/mvgkit/features/keypoint.cc    |  1 +
 src/mvgkit/features/keypoint.h     | 26 ++++++++++++++++++++++++++
 src/mvgkit/features/matcher.cc     |  0
 src/mvgkit/features/matcher.h      |  0
 src/mvgkit/features/orb.cc         |  7 +++++++
 src/mvgkit/features/orb.h          | 16 ++++++++++++++++
 10 files changed, 87 insertions(+)
 create mode 100644 src/mvgkit/features/CMakeLists.txt
 create mode 100644 src/mvgkit/features/features.cc
 create mode 100644 src/mvgkit/features/features.h
 create mode 100644 src/mvgkit/features/keypoint.cc
 create mode 100644 src/mvgkit/features/keypoint.h
 create mode 100644 src/mvgkit/features/matcher.cc
 create mode 100644 src/mvgkit/features/matcher.h
 create mode 100644 src/mvgkit/features/orb.cc
 create mode 100644 src/mvgkit/features/orb.h

diff --git a/src/mvgkit/CMakeLists.txt b/src/mvgkit/CMakeLists.txt
index abe0bfa..4a14daa 100644
--- a/src/mvgkit/CMakeLists.txt
+++ b/src/mvgkit/CMakeLists.txt
@@ -1,2 +1,3 @@
 add_subdirectory(common)
 add_subdirectory(estimation)
+add_subdirectory(features)
diff --git a/src/mvgkit/features/CMakeLists.txt b/src/mvgkit/features/CMakeLists.txt
new file mode 100644
index 0000000..94db76c
--- /dev/null
+++ b/src/mvgkit/features/CMakeLists.txt
@@ -0,0 +1,7 @@
+file(GLOB MVGKIT_FEATURES_HEADER_FILES *.h)
+file(GLOB MVGKIT_FEATURES_SOURCE_FILES *.cc)
+
+add_library(mvgkit_features SHARED ${MVGKIT_FEATURES_HEADER_FILES}
+                                   ${MVGKIT_FEATURES_SOURCE_FILES})
+
+target_link_libraries(mvgkit_features ${OPENCV2_LIBRARIES} Eigen3::Eigen)
diff --git a/src/mvgkit/features/features.cc b/src/mvgkit/features/features.cc
new file mode 100644
index 0000000..daa08b4
--- /dev/null
+++ b/src/mvgkit/features/features.cc
@@ -0,0 +1,7 @@
+#include "features.h"
+
+namespace mvgkit {
+namespace features {
+
+}
+}
diff --git a/src/mvgkit/features/features.h b/src/mvgkit/features/features.h
new file mode 100644
index 0000000..68920f5
--- /dev/null
+++ b/src/mvgkit/features/features.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <Eigen/Dense>
+#include <memory>
+#include <opencv2/features2d.hpp>
+
+namespace mvgkit {
+namespace features {
+
+class KeyPoint;
+
+class ImageFeature
+{
+private:
+  uint32_t _id;
+  cv::KeyPoint _cvKp;
+  cv::Mat _cvDescriptor;
+  std::weak_ptr<KeyPoint> _pKeyPoint;
+};
+
+} // namespace features
+} // namespace mvgkit
diff --git a/src/mvgkit/features/keypoint.cc b/src/mvgkit/features/keypoint.cc
new file mode 100644
index 0000000..8fa8f58
--- /dev/null
+++ b/src/mvgkit/features/keypoint.cc
@@ -0,0 +1 @@
+#include "keypoint.h"
diff --git a/src/mvgkit/features/keypoint.h b/src/mvgkit/features/keypoint.h
new file mode 100644
index 0000000..ba7b3a7
--- /dev/null
+++ b/src/mvgkit/features/keypoint.h
@@ -0,0 +1,26 @@
+#include "../common/eigen.h"
+#include "features.h"
+#include <Eigen/Dense>
+
+namespace mvgkit {
+namespace features {
+
+class KeyPoint
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  const std::vector<ImageFeature>& GetImageFeatures() const { return _imageFeatures; }
+  const Eigen::Vector3d& GetPosition() const { return _position; }
+  const Eigen::Vector3i& GetColor() const { return _color; }
+  const uint32_t GetId() const { return _id; }
+
+private:
+  uint32_t _id;                             ///< Unique ID of this point.
+  Eigen::Vector3d _position;                ///< Estimated 3D position of this point.
+  Eigen::Vector3i _color;                   ///< RGB color of the this point.
+  std::vector<ImageFeature> _imageFeatures; ///< sequence of observation of this 3D point.
+};
+
+} // namespace features
+} // namespace mvgkit
diff --git a/src/mvgkit/features/matcher.cc b/src/mvgkit/features/matcher.cc
new file mode 100644
index 0000000..e69de29
diff --git a/src/mvgkit/features/matcher.h b/src/mvgkit/features/matcher.h
new file mode 100644
index 0000000..e69de29
diff --git a/src/mvgkit/features/orb.cc b/src/mvgkit/features/orb.cc
new file mode 100644
index 0000000..4392faa
--- /dev/null
+++ b/src/mvgkit/features/orb.cc
@@ -0,0 +1,7 @@
+#include "orb.h"
+
+namespace mvgkit {
+namespace features {
+
+} // namespace features
+} // namespace mvgkit
diff --git a/src/mvgkit/features/orb.h b/src/mvgkit/features/orb.h
new file mode 100644
index 0000000..469545d
--- /dev/null
+++ b/src/mvgkit/features/orb.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#include <opencv2/features2d.hpp>
+
+namespace mvgkit {
+namespace features {
+
+class ORB
+{
+public:
+  ORB();
+  virtual ~ORB();
+};
+
+} // namespace features
+} // namespace mvgkit