diff --git a/.cproject b/.cproject
new file mode 100644
index 0000000000000000000000000000000000000000..5ec25d8bc311c049d90e1e8a4ef4e28e2192583f
--- /dev/null
+++ b/.cproject
@@ -0,0 +1,59 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+ <storageModule moduleId="org.eclipse.cdt.core.settings">
+ <cconfiguration id="cdt.managedbuild.toolchain.gnu.base.1819918851">
+ <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.1819918851" moduleId="org.eclipse.cdt.core.settings" name="Default">
+ <externalSettings/>
+ <extensions>
+ <extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+ <extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ </extensions>
+ </storageModule>
+ <storageModule moduleId="cdtBuildSystem" version="4.0.0">
+ <configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.base.1819918851" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+ <folderInfo id="cdt.managedbuild.toolchain.gnu.base.1819918851.1318867162" name="/" resourcePath="">
+ <toolChain id="cdt.managedbuild.toolchain.gnu.base.1801134637" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
+ <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF" id="cdt.managedbuild.target.gnu.platform.base.479045570" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
+ <builder arguments="-j4" buildPath="${workspace_loc:/vision_utils/build}" command="make" id="cdt.managedbuild.target.gnu.builder.base.1436699615" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.archiver.base.401435208" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1649772065" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.146329834" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+ </tool>
+ <tool id="cdt.managedbuild.tool.gnu.c.compiler.base.593702953" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+ <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.392834553" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+ </tool>
+ <tool id="cdt.managedbuild.tool.gnu.c.linker.base.1306470347" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
+ <tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.537733253" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1810403800" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+ <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+ <additionalInput kind="additionalinput" paths="$(LIBS)"/>
+ </inputType>
+ </tool>
+ <tool id="cdt.managedbuild.tool.gnu.assembler.base.1501387796" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+ <inputType id="cdt.managedbuild.tool.gnu.assembler.input.1737692358" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+ </tool>
+ </toolChain>
+ </folderInfo>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+ </cconfiguration>
+ </storageModule>
+ <storageModule moduleId="cdtBuildSystem" version="4.0.0">
+ <project id="vision_utils.null.883408120" name="vision_utils"/>
+ </storageModule>
+ <storageModule moduleId="scannerConfiguration">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+ <storageModule moduleId="refreshScope" versionNumber="2">
+ <configuration configurationName="Default">
+ <resource resourceType="PROJECT" workspacePath="/vision_utils"/>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+</cproject>
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..e63ddd8b5e0c43622cec18e9a0a0aa61e00f9103
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+/Default/
diff --git a/.project b/.project
new file mode 100644
index 0000000000000000000000000000000000000000..d2e303f562ae41cc00c7ee21eb34a5b41e9a1e85
--- /dev/null
+++ b/.project
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>vision_utils</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.core.ccnature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ </natures>
+</projectDescription>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
new file mode 100644
index 0000000000000000000000000000000000000000..22477b0570de94265dee1bf4b941633b7c0b7fd1
--- /dev/null
+++ b/.settings/language.settings.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<project>
+ <configuration id="cdt.managedbuild.toolchain.gnu.base.1819918851" name="Default">
+ <extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+ <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+ <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
+ <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1476617952823822664" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
+ <language-scope id="org.eclipse.cdt.core.gcc"/>
+ <language-scope id="org.eclipse.cdt.core.g++"/>
+ </provider>
+ <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+ </extension>
+ </configuration>
+</project>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f85a141f0decbe02674212f912ecadad8f3419e2..d5f028728a774687e87f479b4042c063a85603ff 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,17 +1,29 @@
# library source files
-SET(sources vision_utils.cpp)
+SET(sources vision_utils.cpp cam_utils/cam_utils.cpp feature_detector/feature_detector.cpp feature_descriptor/feature_descriptor.cpp feature_matcher/feature_matcher.cpp)
+
# application header files
-SET(headers vision_utils.h)
+SET(headers vision_utils.h cam_utils/cam_utils.h feature_detector/feature_detector.h feature_descriptor/feature_descriptor.h feature_matcher/feature_matcher.h)
+
# locate the necessary dependencies
+FIND_PACKAGE(Eigen3 REQUIRED)
+FIND_PACKAGE(OpenCV REQUIRED)
+
# add the necessary include directories
-INCLUDE_DIRECTORIES(.)
+INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS})
+
# create the shared library
ADD_LIBRARY(vision_utils SHARED ${sources})
+
# link necessary libraries
+TARGET_LINK_LIBRARIES(vision_utils ${OpenCV_LIBS})
+
+# install
INSTALL(TARGETS vision_utils
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/vision_utils
ARCHIVE DESTINATION lib/vision_utils)
INSTALL(FILES ${headers} DESTINATION include/vision_utils)
INSTALL(FILES ../Findvision_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+
+# examples of usage
ADD_SUBDIRECTORY(examples)
diff --git a/src/cam_utils/cam_utils.cpp b/src/cam_utils/cam_utils.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d57f926b54c23a59767d5f6de404f76e1dd140d2
--- /dev/null
+++ b/src/cam_utils/cam_utils.cpp
@@ -0,0 +1,49 @@
+#include "cam_utils.h"
+
+CCamUtils::CCamUtils()
+{
+}
+
+CCamUtils::~CCamUtils()
+{
+}
+
+bool CCamUtils::openCamera(const int& _cam_num, cv::VideoCapture& _cam)
+{
+ cv::VideoCapture camera(_cam_num);
+ if (!camera.isOpened()) // check if we succeeded
+ {
+ std::cerr << "ERROR: Could not open camera: " << _cam_num << std::endl;
+ return false;
+ }
+ _cam = camera;
+ return true;
+}
+
+bool CCamUtils::getFrame(cv::VideoCapture& _cam, cv::Mat& _frame)
+{
+ try
+ {
+ _cam >> _frame;
+ }
+ catch (cv::Exception& e)
+ {
+ std::cout << "An exception occurred. Ignoring frame. " << e.err << std::endl;
+ return false;
+ }
+ return true;
+}
+
+bool CCamUtils::showFrame(const std::string& _window_name, const cv::Mat& _frame)
+{
+ try
+ {
+ cv::imshow(_window_name, _frame);
+ }
+ catch (cv::Exception& e)
+ {
+ std::cout << "An exception occurred. Ignoring frame. " << e.err << std::endl;
+ return false;
+ }
+ return true;
+}
diff --git a/src/cam_utils/cam_utils.h b/src/cam_utils/cam_utils.h
new file mode 100644
index 0000000000000000000000000000000000000000..5c06fd44e520e57f654c981f2842519f7be71eb1
--- /dev/null
+++ b/src/cam_utils/cam_utils.h
@@ -0,0 +1,69 @@
+#ifndef _CAMUTILS_H
+#define _CAMUTILS_H
+
+// std stuff
+#include <stdio.h>
+#include <iostream>
+
+// OpenCV stuff
+#include "opencv2/opencv.hpp"
+
+class CCamUtils
+{
+ public:
+
+ /**
+ * \brief Constructor
+ *
+ * Main class constructor.
+ */
+ CCamUtils();
+
+ /**
+ * \brief Destructor
+ *
+ * Main class destructor.
+ */
+ ~CCamUtils();
+
+ /**
+ * \brief Open Webcam
+ *
+ * This method opens the specified webcam using OpenCV
+ * Inputs:
+ * _cam_num: system camera number (int)
+ * Ouptuts:
+ * cam: camera handle (cv::VideoCapture)
+ *
+ * Returns true if the camera is correctly opened
+ *
+ */
+ bool openCamera(const int& _cam_num, cv::VideoCapture& _cam);
+
+ /**
+ * \brief Get frame
+ *
+ * This method gets a frame from the specified webcam
+ *
+ * Inputs:
+ * cam: camera handle (cv::VideoCapture)
+ * Outputs:
+ * frame: filled frame (cv::Mat)
+ * Returns true if the frame is correctly obtained
+ */
+ bool getFrame(cv::VideoCapture& _cam, cv::Mat& _frame);
+
+ /**
+ *\brief Show Frame
+ *
+ * This method shows the specified frame using OpenCV
+ *
+ * Inputs:
+ * window_name: Window name inwhich the frame will be displayed (string)
+ * frame: Frame to be displayed (cv::Mat)
+ * Returns true if the frame is correctly displayed
+ */
+ bool showFrame(const std::string& _window_name, const cv::Mat& _frame);
+};
+
+#endif
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 86150704d6a4ef92edf8dacba1b8d14db36f3967..c5993b29545150e58c7691cbb2f50fcf87a70241 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -1,4 +1,7 @@
# create an example application
-ADD_EXECUTABLE(vision_utils_test vision_utils_test.cpp)
+ADD_EXECUTABLE(capture capture.cpp)
+ADD_EXECUTABLE(feature_detection feature_detection.cpp)
+
# link necessary libraries
-TARGET_LINK_LIBRARIES(vision_utils_test vision_utils)
+TARGET_LINK_LIBRARIES(capture vision_utils)
+TARGET_LINK_LIBRARIES(feature_detection vision_utils)
\ No newline at end of file
diff --git a/src/examples/capture.cpp b/src/examples/capture.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a35f5d7d99d53600847870cad8f2551f5959c16d
--- /dev/null
+++ b/src/examples/capture.cpp
@@ -0,0 +1,30 @@
+// OWN stuff
+#include "cam_utils/cam_utils.h"
+#include "vision_utils.h"
+
+// STD stuff
+#include <string>
+
+int main(int argc, char *argv[])
+{
+ // Camera object definition
+ cv::VideoCapture cam;
+ CCamUtils cam_fc;
+
+ // Open camera
+ cam_fc.openCamera(0, cam);
+
+ for (int nframe = 0; nframe < 1000; ++nframe)
+ {
+ // Get frame
+ cv::Mat frame;
+ cam_fc.getFrame(cam, frame);
+
+ // Show frame
+ cv::namedWindow("Cam Test");
+ cam_fc.showFrame("Cam Test", frame);
+
+ if (cv::waitKey(30) >= 0)
+ break;
+ }
+}
diff --git a/src/examples/feature_detection.cpp b/src/examples/feature_detection.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5d510ee82f3991a73212a96d52549cb07b74e4ce
--- /dev/null
+++ b/src/examples/feature_detection.cpp
@@ -0,0 +1,36 @@
+// OWN stuff
+#include "cam_utils/cam_utils.h"
+#include "vision_utils.h"
+
+// STD stuff
+#include <string>
+
+int main(int argc, char *argv[])
+{
+ // Camera object definition
+ cv::VideoCapture cam;
+ CCamUtils cam_fc;
+
+ // Open camera
+ cam_fc.openCamera(0, cam);
+
+ for (int nframe = 0; nframe < 1000; ++nframe)
+ {
+ // Get frame
+ cv::Mat frame;
+ cam_fc.getFrame(cam, frame);
+
+ // Show ORIGINAL frame
+ cv::namedWindow("Cam Test");
+ cam_fc.showFrame("Cam Test", frame);
+
+ // Detect features
+
+
+ // Show frame with features
+
+
+ if (cv::waitKey(30) >= 0)
+ break;
+ }
+}
diff --git a/src/examples/vision_utils_test.cpp b/src/examples/vision_utils_test.cpp
deleted file mode 100644
index 5fd6972e0d61584c06f9e676d6fa404d932c3cb0..0000000000000000000000000000000000000000
--- a/src/examples/vision_utils_test.cpp
+++ /dev/null
@@ -1,5 +0,0 @@
-#include "vision_utils.h"
-
-int main(int argc, char *argv[])
-{
-}
diff --git a/src/feature_descriptor/feature_descriptor.cpp b/src/feature_descriptor/feature_descriptor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2b092f99ee4417ec5c8a271c78d78f5621ecaae6
--- /dev/null
+++ b/src/feature_descriptor/feature_descriptor.cpp
@@ -0,0 +1,10 @@
+#include "feature_descriptor.h"
+
+CFeature_Descriptor::CFeature_Descriptor()
+{
+}
+
+CFeature_Descriptor::~CFeature_Descriptor()
+{
+}
+
diff --git a/src/feature_descriptor/feature_descriptor.h b/src/feature_descriptor/feature_descriptor.h
new file mode 100644
index 0000000000000000000000000000000000000000..ecfaea35eb5e3770ce65d00f0361d6c6eb7b9f89
--- /dev/null
+++ b/src/feature_descriptor/feature_descriptor.h
@@ -0,0 +1,17 @@
+#ifndef _FEATURE_DESCRIPTOR_H
+#define _FEATURE_DESCRIPTOR_H
+
+// Descriptor types
+enum DESCRIPTOR_TYPE
+{
+ ORB, SIFT, SURF, AKAZE, KAZE, BRISK, LATCH, FREAK, BRIEF, DAISY, LBD, ROOTSIFT
+};
+
+class CFeature_Descriptor
+{
+ public:
+ CFeature_Descriptor();
+ ~CFeature_Descriptor();
+};
+
+#endif
diff --git a/src/feature_detector/feature_detector.cpp b/src/feature_detector/feature_detector.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4d8ed6621b8868085fc605f069cad10f97fe13d2
--- /dev/null
+++ b/src/feature_detector/feature_detector.cpp
@@ -0,0 +1,10 @@
+#include "feature_detector.h"
+
+CFeature_Detector::CFeature_Detector()
+{
+}
+
+CFeature_Detector::~CFeature_Detector()
+{
+}
+
diff --git a/src/feature_detector/feature_detector.h b/src/feature_detector/feature_detector.h
new file mode 100644
index 0000000000000000000000000000000000000000..01c2c39ab3b948db7c833fcca3503b5520a6ca89
--- /dev/null
+++ b/src/feature_detector/feature_detector.h
@@ -0,0 +1,17 @@
+#ifndef _FEATURE_DETECTOR_H
+#define _FEATURE_DETECTOR_H
+
+// Descriptor types
+enum DETECTOR_TYPE
+{
+ ORB, SIFT, SURF, AKAZE, KAZE, BRISK, MSER, FAST, LSD, ED, AGAST
+};
+
+class CFeature_Detector
+{
+ public:
+ CFeature_Detector();
+ ~CFeature_Detector();
+};
+
+#endif
diff --git a/src/feature_matcher/feature_matcher.cpp b/src/feature_matcher/feature_matcher.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d4d34fb9ad018a60863c2cfb7b82753ca8143146
--- /dev/null
+++ b/src/feature_matcher/feature_matcher.cpp
@@ -0,0 +1,10 @@
+#include "feature_matcher.h"
+
+CFeature_Matcher::CFeature_Matcher()
+{
+}
+
+CFeature_Matcher::~CFeature_Matcher()
+{
+}
+
diff --git a/src/feature_matcher/feature_matcher.h b/src/feature_matcher/feature_matcher.h
new file mode 100644
index 0000000000000000000000000000000000000000..a8eecc27465c944f6bd890d6545b90042b7d0582
--- /dev/null
+++ b/src/feature_matcher/feature_matcher.h
@@ -0,0 +1,17 @@
+#ifndef _FEATURE_MATCHER_H
+#define _FEATURE_MATCHER_H
+
+// Matcher types
+enum MATCHER_TYPE
+{
+ BF_NORM_L2, BF_NORM_HAMMING, BF_NORM_HAMMING2
+};
+
+class CFeature_Matcher
+{
+ public:
+ CFeature_Matcher();
+ ~CFeature_Matcher();
+};
+
+#endif