AKAZE.hpp

// This file is part of the AliceVision project.
// Copyright (c) 2016 AliceVision contributors.
// Copyright (c) 2012 openMVG contributors.
// This Source Code Form is subject to the terms of the Mozilla Public License,
// v. 2.0. If a copy of the MPL was not distributed with this file,
// You can obtain one at https://mozilla.org/MPL/2.0/.
 
#pragma once
 
#ifdef _MSC_VER
    #pragma warning(once : 4244)
#endif
 
#include <aliceVision/image/Image.hpp>
#include <aliceVision/numeric/numeric.hpp>
#include <aliceVision/numeric/MathTrait.hpp>
#include <aliceVision/feature/PointFeature.hpp>
#include <aliceVision/feature/Descriptor.hpp>
 
namespace aliceVision {
namespace feature {
 
struct AKAZEOptions
{
    int nbOctaves = 4;
    int nbSlicePerOctave = 4;
    float sigma0 = 1.6f;
    float threshold = 0.0008f;
    float descFactor = 1.0f;
    std::size_t gridSize = 4;
    std::size_t maxTotalKeypoints = 1000;
};
 
struct AKAZEKeypoint
{
    float x = 0.f;
    float y = 0.f;
    float size = 0.f;
    float angle = 0.f;
    float response = 0.f;
    unsigned char octave = 0;
    unsigned char class_id = 0;
};
 
class AKAZE
{
  public:
    struct TEvolution
    {
        image::Image<float> cur;
        image::Image<float> Lx;
        image::Image<float> Ly;
        image::Image<float> Lhess;
    };
 
    AKAZE(const image::Image<float>& image, const AKAZEOptions& options);
 
    void computeScaleSpace();
 
    void featureDetection(std::vector<AKAZEKeypoint>& keypoints) const;
 
    void gridFiltering(std::vector<AKAZEKeypoint>& keypoints) const;
 
    void subpixelRefinement(std::vector<AKAZEKeypoint>& keypoints) const;
 
    bool subpixelRefinement(AKAZEKeypoint& keypoint, const image::Image<float>& Ldet) const;
 
    void computeMainOrientation(AKAZEKeypoint& keypoint, const image::Image<float>& Lx, const image::Image<float>& Ly) const;
 
    inline const std::vector<TEvolution>& getSlices() const { return _evolution; }
 
  private:
    image::Image<float> _input;
    AKAZEOptions _options;
    std::vector<TEvolution> _evolution;
};
 
}  // namespace feature
}  // namespace aliceVision