ORB_.cpp

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#include "mexopencv.hpp"
#include "mexopencv_features2d.hpp"
#include "opencv2/features2d.hpp"
#include <typeinfo>
using namespace std;
using namespace cv;

// Persistent objects
namespace {
int last_id = 0;
map<int,Ptr<ORB> > obj_;
}

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs>=2 && nlhs<=2);

    // Argument vector
    vector<MxArray> rhs(prhs, prhs+nrhs);
    int id = rhs[0].toInt();
    string method(rhs[1].toString());

    // Constructor is called. Create a new object from argument
    if (method == "new") {
        nargchk(nrhs>=2 && nlhs<=1);
        obj_[++last_id] = createORB(rhs.begin() + 2, rhs.end());
        plhs[0] = MxArray(last_id);
        mexLock();
        return;
    }

    // Big operation switch
    Ptr<ORB> obj = obj_[id];
    if (obj.empty())
        mexErrMsgIdAndTxt("mexopencv:error", "Object not found id=%d", id);
    if (method == "delete") {
        nargchk(nrhs==2 && nlhs==0);
        obj_.erase(id);
        mexUnlock();
    }
    else if (method == "typeid") {
        nargchk(nrhs==2 && nlhs<=1);
        plhs[0] = MxArray(string(typeid(*obj).name()));
    }
    else if (method == "clear") {
        nargchk(nrhs==2 && nlhs==0);
        obj->clear();
    }
    else if (method == "load") {
        nargchk(nrhs>=3 && (nrhs%2)==1 && nlhs==0);
        string objname;
        bool loadFromString = false;
        for (int i=3; i<nrhs; i+=2) {
            string key(rhs[i].toString());
            if (key == "ObjName")
                objname = rhs[i+1].toString();
            else if (key == "FromString")
                loadFromString = rhs[i+1].toBool();
            else
                mexErrMsgIdAndTxt("mexopencv:error",
                    "Unrecognized option %s", key.c_str());
        }
        obj_[id] = (loadFromString ?
            Algorithm::loadFromString<ORB>(rhs[2].toString(), objname) :
            Algorithm::load<ORB>(rhs[2].toString(), objname));
    }
    else if (method == "save") {
        nargchk(nrhs==3 && nlhs==0);
        obj->save(rhs[2].toString());
    }
    else if (method == "empty") {
        nargchk(nrhs==2 && nlhs<=1);
        plhs[0] = MxArray(obj->empty());
    }
    else if (method == "getDefaultName") {
        nargchk(nrhs==2 && nlhs<=1);
        plhs[0] = MxArray(obj->getDefaultName());
    }
    else if (method == "defaultNorm") {
        nargchk(nrhs==2 && nlhs<=1);
        plhs[0] = MxArray(NormTypeInv[obj->defaultNorm()]);
    }
    else if (method == "descriptorSize") {
        nargchk(nrhs==2 && nlhs<=1);
        plhs[0] = MxArray(obj->descriptorSize());
    }
    else if (method == "descriptorType") {
        nargchk(nrhs==2 && nlhs<=1);
        plhs[0] = MxArray(ClassNameInvMap[obj->descriptorType()]);
    }
    else if (method == "detect") {
        nargchk(nrhs>=3 && (nrhs%2)==1 && nlhs<=1);
        if (rhs[2].isNumeric()) {  // first variant that accepts an image
            Mat mask;
            for (int i=3; i<nrhs; i+=2) {
                string key(rhs[i].toString());
                if (key == "Mask")
                    mask = rhs[i+1].toMat(CV_8U);
                else
                    mexErrMsgIdAndTxt("mexopencv:error",
                        "Unrecognized option %s", key.c_str());
            }
            Mat image(rhs[2].toMat(CV_8U));
            vector<KeyPoint> keypoints;
            obj->detect(image, keypoints, mask);
            plhs[0] = MxArray(keypoints);
        }
        else if (rhs[2].isCell()) {  // second variant that accepts an image set
            vector<Mat> masks;
            for (int i=3; i<nrhs; i+=2) {
                string key(rhs[i].toString());
                if (key == "Mask") {
                    //masks = rhs[i+1].toVector<Mat>();
                    vector<MxArray> arr(rhs[i+1].toVector<MxArray>());
                    masks.clear();
                    masks.reserve(arr.size());
                    for (vector<MxArray>::const_iterator it = arr.begin(); it != arr.end(); ++it)
                        masks.push_back(it->toMat(CV_8U));
                }
                else
                    mexErrMsgIdAndTxt("mexopencv:error",
                        "Unrecognized option %s", key.c_str());
            }
            //vector<Mat> images(rhs[2].toVector<Mat>());
            vector<Mat> images;
            {
                vector<MxArray> arr(rhs[2].toVector<MxArray>());
                images.reserve(arr.size());
                for (vector<MxArray>::const_iterator it = arr.begin(); it != arr.end(); ++it)
                    images.push_back(it->toMat(CV_8U));
            }
            vector<vector<KeyPoint> > keypoints;
            obj->detect(images, keypoints, masks);
            plhs[0] = MxArray(keypoints);
        }
        else
            mexErrMsgIdAndTxt("mexopencv:error", "Invalid arguments");
    }
    else if (method == "compute") {
        nargchk(nrhs==4 && nlhs<=2);
        if (rhs[2].isNumeric()) {  // first variant that accepts an image
            Mat image(rhs[2].toMat(CV_8U)), descriptors;
            vector<KeyPoint> keypoints(rhs[3].toVector<KeyPoint>());
            obj->compute(image, keypoints, descriptors);
            plhs[0] = MxArray(descriptors);
            if (nlhs > 1)
                plhs[1] = MxArray(keypoints);
        }
        else if (rhs[2].isCell()) { // second variant that accepts an image set
            //vector<Mat> images(rhs[2].toVector<Mat>());
            vector<Mat> images, descriptors;
            {
                vector<MxArray> arr(rhs[2].toVector<MxArray>());
                images.reserve(arr.size());
                for (vector<MxArray>::const_iterator it = arr.begin(); it != arr.end(); ++it)
                    images.push_back(it->toMat(CV_8U));
            }
            vector<vector<KeyPoint> > keypoints(rhs[3].toVector(
                const_mem_fun_ref_t<vector<KeyPoint>, MxArray>(
                &MxArray::toVector<KeyPoint>)));
            obj->compute(images, keypoints, descriptors);
            plhs[0] = MxArray(descriptors);
            if (nlhs > 1)
                plhs[1] = MxArray(keypoints);
        }
        else
            mexErrMsgIdAndTxt("mexopencv:error", "Invalid arguments");
    }
    else if (method == "detectAndCompute") {
        nargchk(nrhs>=3 && (nrhs%2)==1 && nlhs<=2);
        Mat mask;
        vector<KeyPoint> keypoints;
        bool useProvidedKeypoints = false;
        for (int i=3; i<nrhs; i+=2) {
            string key(rhs[i].toString());
            if (key == "Mask")
                mask = rhs[i+1].toMat(CV_8U);
            else if (key == "Keypoints") {
                keypoints = rhs[i+1].toVector<KeyPoint>();
                useProvidedKeypoints = true;
            }
            else
                mexErrMsgIdAndTxt("mexopencv:error",
                    "Unrecognized option %s", key.c_str());
        }
        Mat image(rhs[2].toMat(CV_8U)), descriptors;
        obj->detectAndCompute(image, mask, keypoints, descriptors,
            useProvidedKeypoints);
        plhs[0] = MxArray(keypoints);
        if (nlhs > 1)
            plhs[1] = MxArray(descriptors);
    }
    else if (method == "get") {
        nargchk(nrhs==3 && nlhs<=1);
        string prop(rhs[2].toString());
        if (prop == "EdgeThreshold")
            plhs[0] = MxArray(obj->getEdgeThreshold());
        else if (prop == "FastThreshold")
            plhs[0] = MxArray(obj->getFastThreshold());
        else if (prop == "FirstLevel")
            plhs[0] = MxArray(obj->getFirstLevel());
        else if (prop == "MaxFeatures")
            plhs[0] = MxArray(obj->getMaxFeatures());
        else if (prop == "NLevels")
            plhs[0] = MxArray(obj->getNLevels());
        else if (prop == "PatchSize")
            plhs[0] = MxArray(obj->getPatchSize());
        else if (prop == "ScaleFactor")
            plhs[0] = MxArray(obj->getScaleFactor());
        else if (prop == "ScoreType")
            plhs[0] = MxArray(ORBScoreTypeInv[obj->getScoreType()]);
        else if (prop == "WTA_K")
            plhs[0] = MxArray(obj->getWTA_K());
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized property %s", prop.c_str());
    }
    else if (method == "set") {
        nargchk(nrhs==4 && nlhs==0);
        string prop(rhs[2].toString());
        if (prop == "EdgeThreshold")
            obj->setEdgeThreshold(rhs[3].toInt());
        else if (prop == "FastThreshold")
            obj->setFastThreshold(rhs[3].toInt());
        else if (prop == "FirstLevel")
            obj->setFirstLevel(rhs[3].toInt());
        else if (prop == "MaxFeatures")
            obj->setMaxFeatures(rhs[3].toInt());
        else if (prop == "NLevels")
            obj->setNLevels(rhs[3].toInt());
        else if (prop == "PatchSize")
            obj->setPatchSize(rhs[3].toInt());
        else if (prop == "ScaleFactor")
            obj->setScaleFactor(rhs[3].toDouble());
        else if (prop == "ScoreType")
            obj->setScoreType(ORBScoreType[rhs[3].toString()]);
        else if (prop == "WTA_K")
            obj->setWTA_K(rhs[3].toInt());
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized property %s", prop.c_str());
    }
    else
        mexErrMsgIdAndTxt("mexopencv:error",
            "Unrecognized operation %s",method.c_str());
}