FeatureDetector.h

#pragma once
#include <vector>
#include <opencv2/opencv.hpp>
#include "Features.h"

#define TOLLERATE_RATIO 0.1

cv::Mat DetectFeature(cv::Mat src, std::vector<FeaturePoint>& features, int level = 5, int scale = 2, float feature_threshold = 60.0, int max_feature = 750, int non_max_r = 8, int non_max_step = 1, int suppression_mode = 1);
void getPyramid(std::vector<cv::Mat>& pyramid, int _scale, int _level, float _sigma);
void computeGradient(cv::Mat src, cv::Mat& dst, int xOrder, int yOrder);
void HarrisResponse(std::vector<cv::Mat> pyramid, std::vector<cv::Mat>& response, int _level, float _sigma_d, float _sigma_i);
void featureOrientation(const std::vector<cv::Mat>& pyramid, std::vector<cv::Mat>& orientation, int _level, float _sigma_o);
void findFeatures(const std::vector<cv::Mat>& response, bool** isFeature, int level, float threshold);
void subPixelAccuracy(const std::vector<cv::Mat>& res, bool** isFeature, int level);
void projectFeatures(std::vector<FeaturePoint>& features, FeaturePoint** featureMap, const std::vector<cv::Mat>& response, const std::vector<cv::Mat>& orientation, bool** isFeature, int _level, int _scale);
void deleteCloseToBounds(std::vector<FeaturePoint>& features, const std::vector<cv::Mat>& pyramid, int _level, int _scale);
void nonMaximalSuppression(std::vector<FeaturePoint>& features, int desiredNum, int initRadius, int step);
void strongest(std::vector<FeaturePoint>& features, int desiredNum);
void featureDescriptor(std::vector<FeaturePoint>& features, const std::vector<cv::Mat>& pyramid, int _level, int _scale);