third_party/akaze/akaze.cpp

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/*
OpenCV wrapper of reference implementation of
[1] Fast Explicit Diffusion for Accelerated Features in Nonlinear Scale Spaces.
Pablo F. Alcantarilla, J. Nuevo and Adrien Bartoli.
In British Machine Vision Conference (BMVC), Bristol, UK, September 2013
http://www.robesafe.com/personal/pablo.alcantarilla/papers/Alcantarilla13bmvc.pdf
@author Eugene Khvedchenya <ekhvedchenya@gmail.com>
*/

#include "akaze.h"  // Define AKAZE2; included in place of <opencv2/features2d.hpp>

#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>

#include "AKAZEFeatures.h"

namespace cv {
using namespace std;

class AKAZE_Impl2 : public AKAZE2 {
 public:
  AKAZE_Impl2(int _descriptor_type, int _descriptor_size,
              int _descriptor_channels, float _threshold, int _octaves,
              int _sublevels, int _diffusivity)
      : descriptor(_descriptor_type),
        descriptor_channels(_descriptor_channels),
        descriptor_size(_descriptor_size),
        threshold(_threshold),
        octaves(_octaves),
        sublevels(_sublevels),
        diffusivity(_diffusivity),
        img_width(-1),
        img_height(-1) {
    cout << "AKAZE_Impl2 constructor called" << endl;
  }

  virtual ~AKAZE_Impl2() {}

  void setDescriptorType(int dtype_) {
    descriptor = dtype_;
    impl.release();
  }
  int getDescriptorType() const { return descriptor; }

  void setDescriptorSize(int dsize_) {
    descriptor_size = dsize_;
    impl.release();
  }
  int getDescriptorSize() const { return descriptor_size; }

  void setDescriptorChannels(int dch_) {
    descriptor_channels = dch_;
    impl.release();
  }
  int getDescriptorChannels() const { return descriptor_channels; }

  void setThreshold(double th_) {
    threshold = (float)th_;
    if (!impl.empty()) impl->setThreshold(th_);
  }
  double getThreshold() const { return threshold; }

  void setNOctaves(int octaves_) {
    octaves = octaves_;
    impl.release();
  }
  int getNOctaves() const { return octaves; }

  void setNOctaveLayers(int octaveLayers_) {
    sublevels = octaveLayers_;
    impl.release();
  }
  int getNOctaveLayers() const { return sublevels; }

  void setDiffusivity(int diff_) {
    diffusivity = diff_;
    if (!impl.empty()) impl->setDiffusivity(diff_);
  }
  int getDiffusivity() const { return diffusivity; }

  // returns the descriptor size in bytes
  int descriptorSize() const {
    switch (descriptor) {
      case DESCRIPTOR_KAZE:
      case DESCRIPTOR_KAZE_UPRIGHT:
        return 64;

      case DESCRIPTOR_MLDB:
      case DESCRIPTOR_MLDB_UPRIGHT:
        // We use the full length binary descriptor -> 486 bits
        if (descriptor_size == 0) {
          int t = (6 + 36 + 120) * descriptor_channels;
          return (int)ceil(t / 8.);
        } else {
          // We use the random bit selection length binary descriptor
          return (int)ceil(descriptor_size / 8.);
        }

      default:
        return -1;
    }
  }

  // returns the descriptor type
  int descriptorType() const {
    switch (descriptor) {
      case DESCRIPTOR_KAZE:
      case DESCRIPTOR_KAZE_UPRIGHT:
        return CV_32F;

      case DESCRIPTOR_MLDB:
      case DESCRIPTOR_MLDB_UPRIGHT:
        return CV_8U;

      default:
        return -1;
    }
  }

  // returns the default norm type
  int defaultNorm() const {
    switch (descriptor) {
      case DESCRIPTOR_KAZE:
      case DESCRIPTOR_KAZE_UPRIGHT:
        return NORM_L2;

      case DESCRIPTOR_MLDB:
      case DESCRIPTOR_MLDB_UPRIGHT:
        return NORM_HAMMING;

      default:
        return -1;
    }
  }

  void detectAndCompute(InputArray image, InputArray mask,
                        std::vector<KeyPoint>& keypoints,
                        OutputArray descriptors, bool useProvidedKeypoints) {
    Mat img = image.getMat();

    if (img_width != img.cols) {
      img_width = img.cols;
      impl.release();
    }

    if (img_height != img.rows) {
      img_height = img.rows;
      impl.release();
    }

    if (impl.empty()) {
      AKAZEOptionsV2 options;
      options.descriptor = descriptor;
      options.descriptor_channels = descriptor_channels;
      options.descriptor_size = descriptor_size;
      options.img_width = img_width;
      options.img_height = img_height;
      options.dthreshold = threshold;
      options.omax = octaves;
      options.nsublevels = sublevels;
      options.diffusivity = diffusivity;

      impl = makePtr<AKAZEFeaturesV2>(options);
    }

    impl->Create_Nonlinear_Scale_Space(img);

    if (!useProvidedKeypoints) {
      impl->Feature_Detection(keypoints);
    }

    if (!mask.empty()) {
      KeyPointsFilter::runByPixelsMask(keypoints, mask.getMat());
    }

    if (descriptors.needed()) {
      Mat& desc = descriptors.getMatRef();
      impl->Compute_Descriptors(keypoints, desc);

      CV_Assert((!desc.rows || desc.cols == descriptorSize()));
      CV_Assert((!desc.rows || (desc.type() == descriptorType())));
    }
  }

  void write(FileStorage& fs) const {
    fs << "descriptor" << descriptor;
    fs << "descriptor_channels" << descriptor_channels;
    fs << "descriptor_size" << descriptor_size;
    fs << "threshold" << threshold;
    fs << "octaves" << octaves;
    fs << "sublevels" << sublevels;
    fs << "diffusivity" << diffusivity;
  }

  void read(const FileNode& fn) {
    descriptor = (int)fn["descriptor"];
    descriptor_channels = (int)fn["descriptor_channels"];
    descriptor_size = (int)fn["descriptor_size"];
    threshold = (float)fn["threshold"];
    octaves = (int)fn["octaves"];
    sublevels = (int)fn["sublevels"];
    diffusivity = (int)fn["diffusivity"];
  }

  Ptr<AKAZEFeaturesV2> impl;
  int descriptor;
  int descriptor_channels;
  int descriptor_size;
  float threshold;
  int octaves;
  int sublevels;
  int diffusivity;
  int img_width;
  int img_height;
};

Ptr<AKAZE2> AKAZE2::create(int descriptor_type, int descriptor_size,
                           int descriptor_channels, float threshold,
                           int octaves, int sublevels, int diffusivity) {
  return makePtr<AKAZE_Impl2>(descriptor_type, descriptor_size,
                              descriptor_channels, threshold, octaves,
                              sublevels, diffusivity);
}
}  // namespace cv