/**
@brief Detect regions on the image and compute their attributes (description)
@param image Image.
@param regions The detected regions and attributes (the caller must delete the allocated data)
@param mask 8-bit gray image for keypoint filtering (optional).
Non-zero values depict the region of interest.
*/
bool Describe(const Image<unsigned char>& image,
std::unique_ptr<Regions> ®ions,
const Image<unsigned char> * mask = nullptr)
{
cv::Mat img;
cv::eigen2cv(image.GetMat(), img);
cv::Mat m_mask;
if(mask != nullptr) {
cv::eigen2cv(mask->GetMat(), m_mask);
}
std::vector< cv::KeyPoint > vec_keypoints;
cv::Mat m_desc;
cv::Ptr<cv::Feature2D> extractor = cv::AKAZE::create(cv::AKAZE::DESCRIPTOR_KAZE);
extractor->detectAndCompute(img, m_mask, vec_keypoints, m_desc);
if (!vec_keypoints.empty())
{
Allocate(regions);
// Build alias to cached data
AKAZE_OpenCV_Regions * regionsCasted = dynamic_cast<AKAZE_OpenCV_Regions*>(regions.get());
// reserve some memory for faster keypoint saving
regionsCasted->Features().reserve(vec_keypoints.size());
regionsCasted->Descriptors().reserve(vec_keypoints.size());
typedef Descriptor<float, 64> DescriptorT;
DescriptorT descriptor;
int cpt = 0;
for(std::vector< cv::KeyPoint >::const_iterator i_keypoint = vec_keypoints.begin();
i_keypoint != vec_keypoints.end(); ++i_keypoint, ++cpt){
SIOPointFeature feat((*i_keypoint).pt.x, (*i_keypoint).pt.y, (*i_keypoint).size, (*i_keypoint).angle);
regionsCasted->Features().push_back(feat);
memcpy(descriptor.data(),
m_desc.ptr<typename DescriptorT::bin_type>(cpt),
DescriptorT::static_size*sizeof(DescriptorT::bin_type));
regionsCasted->Descriptors().push_back(descriptor);
}
}
return true;
};
static bool ComputeCVFeatAndDesc(const Image<unsigned char>& I,
std::vector<SIOPointFeature>& feats,
std::vector<DescriptorT >& descs)
{
//Convert image to OpenCV data
cv::Mat img;
cv::eigen2cv(I.GetMat(), img);
cvFeature2DInterfaceT detectAndDescribeClass;
std::vector< cv::KeyPoint > vec_keypoints;
cv::Mat m_desc;
detectAndDescribeClass(img, cv::Mat(), vec_keypoints, m_desc);
if (!vec_keypoints.empty())
{
feats.reserve(vec_keypoints.size());
descs.reserve(vec_keypoints.size());
DescriptorT descriptor;
int cpt = 0;
for(std::vector< cv::KeyPoint >::const_iterator i_keypoint = vec_keypoints.begin();
i_keypoint != vec_keypoints.end(); ++i_keypoint, ++cpt){
SIOPointFeature feat((*i_keypoint).pt.x, (*i_keypoint).pt.y, (*i_keypoint).size, (*i_keypoint).angle);
feats.push_back(feat);
memcpy(descriptor.getData(),
m_desc.ptr<typename DescriptorT::bin_type>(cpt),
DescriptorT::static_size*sizeof(typename DescriptorT::bin_type));
descs.push_back(descriptor);
}
return true;
}
return false;
}
