Added fast_akaze to third party
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I7ea2bc5cd3126271f5b04bb8215259044219a675
diff --git a/third_party/akaze/utils.h b/third_party/akaze/utils.h
new file mode 100644
index 0000000..fe17305
--- /dev/null
+++ b/third_party/akaze/utils.h
@@ -0,0 +1,67 @@
+#ifndef __OPENCV_FEATURES_2D_KAZE_UTILS_H__
+#define __OPENCV_FEATURES_2D_KAZE_UTILS_H__
+
+#include <opencv2/core/cvdef.h>
+
+#include <cmath>
+
+/* ************************************************************************* */
+/**
+ * @brief This function computes the angle from the vector given by (X Y). From
+ * 0 to 2*Pi
+ */
+inline float getAngleV2(float x, float y) {
+ float theta = atan2f(y, x);
+
+ if (theta >= 0)
+ return theta;
+ else
+ return theta + static_cast<float>(2.0f * CV_PI);
+}
+
+/* ************************************************************************* */
+/**
+ * @brief This function computes the value of a 2D Gaussian function
+ * @param x X Position
+ * @param y Y Position
+ * @param sig Standard Deviation
+ */
+inline float gaussianV2(float x, float y, float sigma) {
+ return expf(-(x * x + y * y) / (2.0f * sigma * sigma));
+}
+
+/* ************************************************************************* */
+/**
+ * @brief This function checks descriptor limits
+ * @param x X Position
+ * @param y Y Position
+ * @param width Image width
+ * @param height Image height
+ */
+inline void checkDescriptorLimitsV2(int &x, int &y, int width, int height) {
+ if (x < 0) {
+ x = 0;
+ }
+
+ if (y < 0) {
+ y = 0;
+ }
+
+ if (x > width - 1) {
+ x = width - 1;
+ }
+
+ if (y > height - 1) {
+ y = height - 1;
+ }
+}
+
+/* ************************************************************************* */
+/**
+ * @brief This function rounds float to nearest integer
+ * @param flt Input float
+ * @return dst Nearest integer
+ */
+inline int fRoundV2(float flt) { return (int)(flt + 0.5f); }
+
+#endif
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