1 /** 2 * @file AKAZE.h 3 * @brief Main class for detecting and computing binary descriptors in an 4 * accelerated nonlinear scale space 5 * @date Mar 27, 2013 6 * @author Pablo F. Alcantarilla, Jesus Nuevo 7 */ 8 9 #ifndef __OPENCV_FEATURES_2D_AKAZE_FEATURES_H__ 10 #define __OPENCV_FEATURES_2D_AKAZE_FEATURES_H__ 11 12 /* ************************************************************************* */ 13 // Includes 14 #include "AKAZEConfig.h" 15 #include "TEvolution.h" 16 17 namespace cv 18 { 19 20 /* ************************************************************************* */ 21 // AKAZE Class Declaration 22 class AKAZEFeatures { 23 24 private: 25 26 AKAZEOptions options_; ///< Configuration options for AKAZE 27 std::vector<TEvolution> evolution_; ///< Vector of nonlinear diffusion evolution 28 29 /// FED parameters 30 int ncycles_; ///< Number of cycles 31 bool reordering_; ///< Flag for reordering time steps 32 std::vector<std::vector<float > > tsteps_; ///< Vector of FED dynamic time steps 33 std::vector<int> nsteps_; ///< Vector of number of steps per cycle 34 35 /// Matrices for the M-LDB descriptor computation 36 cv::Mat descriptorSamples_; // List of positions in the grids to sample LDB bits from. 37 cv::Mat descriptorBits_; 38 cv::Mat bitMask_; 39 40 public: 41 42 /// Constructor with input arguments 43 AKAZEFeatures(const AKAZEOptions& options); 44 45 /// Scale Space methods 46 void Allocate_Memory_Evolution(); 47 int Create_Nonlinear_Scale_Space(const cv::Mat& img); 48 void Feature_Detection(std::vector<cv::KeyPoint>& kpts); 49 void Compute_Determinant_Hessian_Response(void); 50 void Compute_Multiscale_Derivatives(void); 51 void Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts); 52 void Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts); 53 54 /// Feature description methods 55 void Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc); 56 static void Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vector<TEvolution>& evolution_); 57 }; 58 59 /* ************************************************************************* */ 60 /// Inline functions 61 void generateDescriptorSubsample(cv::Mat& sampleList, cv::Mat& comparisons, 62 int nbits, int pattern_size, int nchannels); 63 64 } 65 66 #endif 67
