1 2 /** 3 * @file KAZE.h 4 * @brief Main program for detecting and computing descriptors in a nonlinear 5 * scale space 6 * @date Jan 21, 2012 7 * @author Pablo F. Alcantarilla 8 */ 9 10 #ifndef __OPENCV_FEATURES_2D_KAZE_FEATURES_H__ 11 #define __OPENCV_FEATURES_2D_KAZE_FEATURES_H__ 12 13 /* ************************************************************************* */ 14 // Includes 15 #include "KAZEConfig.h" 16 #include "nldiffusion_functions.h" 17 #include "fed.h" 18 #include "TEvolution.h" 19 20 namespace cv 21 { 22 23 /* ************************************************************************* */ 24 // KAZE Class Declaration 25 class KAZEFeatures 26 { 27 private: 28 29 /// Parameters of the Nonlinear diffusion class 30 KAZEOptions options_; ///< Configuration options for KAZE 31 std::vector<TEvolution> evolution_; ///< Vector of nonlinear diffusion evolution 32 33 /// Vector of keypoint vectors for finding extrema in multiple threads 34 std::vector<std::vector<cv::KeyPoint> > kpts_par_; 35 36 /// FED parameters 37 int ncycles_; ///< Number of cycles 38 bool reordering_; ///< Flag for reordering time steps 39 std::vector<std::vector<float > > tsteps_; ///< Vector of FED dynamic time steps 40 std::vector<int> nsteps_; ///< Vector of number of steps per cycle 41 42 public: 43 44 /// Constructor 45 KAZEFeatures(KAZEOptions& options); 46 47 /// Public methods for KAZE interface 48 void Allocate_Memory_Evolution(void); 49 int Create_Nonlinear_Scale_Space(const cv::Mat& img); 50 void Feature_Detection(std::vector<cv::KeyPoint>& kpts); 51 void Feature_Description(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc); 52 static void Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vector<TEvolution>& evolution_, const KAZEOptions& options); 53 54 /// Feature Detection Methods 55 void Compute_KContrast(const cv::Mat& img, const float& kper); 56 void Compute_Multiscale_Derivatives(void); 57 void Compute_Detector_Response(void); 58 void Determinant_Hessian(std::vector<cv::KeyPoint>& kpts); 59 void Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts); 60 }; 61 62 } 63 64 #endif 65
