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Viewing changes to sw/ext/opencv_bebop/opencv/modules/features2d/src/kaze/KAZEFeatures.h

  • Committer: Paparazzi buildbot
  • Date: 2016-05-18 15:00:29 UTC
  • Revision ID: felix.ruess+docbot@gmail.com-20160518150029-e8lgzi5kvb4p7un9
Manual import commit 4b8bbb730080dac23cf816b98908dacfabe2a8ec from v5.0 branch.

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sw/ext/opencv_bebop/opencv/modules/features2d/src/kaze/KAZEFeatures.h
 
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/**
 
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 * @file KAZE.h
 
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 * @brief Main program for detecting and computing descriptors in a nonlinear
 
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 * scale space
 
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 * @date Jan 21, 2012
 
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 * @author Pablo F. Alcantarilla
 
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 */
 
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#ifndef __OPENCV_FEATURES_2D_KAZE_FEATURES_H__
 
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#define __OPENCV_FEATURES_2D_KAZE_FEATURES_H__
 
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/* ************************************************************************* */
 
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// Includes
 
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#include "KAZEConfig.h"
 
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#include "nldiffusion_functions.h"
 
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#include "fed.h"
 
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#include "TEvolution.h"
 
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namespace cv
 
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{
 
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/* ************************************************************************* */
 
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// KAZE Class Declaration
 
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class KAZEFeatures
 
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{
 
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private:
 
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    /// Parameters of the Nonlinear diffusion class
 
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    KAZEOptions options_;               ///< Configuration options for KAZE
 
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    std::vector<TEvolution> evolution_;    ///< Vector of nonlinear diffusion evolution
 
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    /// Vector of keypoint vectors for finding extrema in multiple threads
 
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    std::vector<std::vector<cv::KeyPoint> > kpts_par_;
 
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    /// FED parameters
 
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    int ncycles_;                  ///< Number of cycles
 
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    bool reordering_;              ///< Flag for reordering time steps
 
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    std::vector<std::vector<float > > tsteps_;  ///< Vector of FED dynamic time steps
 
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    std::vector<int> nsteps_;      ///< Vector of number of steps per cycle
 
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public:
 
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    /// Constructor
 
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    KAZEFeatures(KAZEOptions& options);
 
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    /// Public methods for KAZE interface
 
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    void Allocate_Memory_Evolution(void);
 
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    int Create_Nonlinear_Scale_Space(const cv::Mat& img);
 
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    void Feature_Detection(std::vector<cv::KeyPoint>& kpts);
 
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    void Feature_Description(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc);
 
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    static void Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vector<TEvolution>& evolution_, const KAZEOptions& options);
 
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    /// Feature Detection Methods
 
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    void Compute_KContrast(const cv::Mat& img, const float& kper);
 
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    void Compute_Multiscale_Derivatives(void);
 
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    void Compute_Detector_Response(void);
 
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    void Determinant_Hessian(std::vector<cv::KeyPoint>& kpts);
 
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    void Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts);
 
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};
 
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}
 
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#endif