/*

FRIF: Fast Robust Invariant Feature

Reference:

[1] Zhenhua Wang, Bin Fan and Fuchao Wu, FRIF: Fast Robust Invariant Feature, in

British Machine Vision Conference, 2013

FRIF is a free software.

Current implementation is based on the source code of BRISK provided

by Stefan Leutenegger et al.

You can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

You should have received a copy of the GNU General Public License

along with FRIF. If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef _FRIF_DESCRIPTOR_H_

#define _FRIF_DESCRIPTOR_H_

#include <opencv2/opencv.hpp>

#include <emmintrin.h>

#include "Common.h"

#include <vector>

#ifndef CV_PI

#define CV_PI 3.141592653589793

#endif

using namespace std;

namespace cv{

#define __inline__ inline

class CV_EXPORTS FrifDescriptorExtractor : public cv::DescriptorExtractor {

public:

// create a descriptor with standard pattern

FrifDescriptorExtractor();

// custom setup

FrifDescriptorExtractor(Params& params);

virtual ~FrifDescriptorExtractor();

// call this to generate the kernel:

// circle of radius r (pixels), with n points;

// short pairings with dMax, long pairings with dMin

void generateKernel();

// TODO: implement read and write functions

//virtual void read( const cv::FileNode& );

//virtual void write( cv::FileStorage& ) const;

int descriptorSize() const;

int descriptorType() const;

virtual void computeImpl(const Mat& image, std::vector<KeyPoint>& keypoints,

Mat& descriptors) const;

virtual void compute(const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors) const{

computeImpl(image,keypoints,descriptors);

}

//}

void computeDomiOrien(const Mat& image, const Mat& integral, std::vector<KeyPoint>& keypoints, std::vector<int>& kscales) const;

void computeFrif(const Mat& image, const Mat& integral,std::vector<KeyPoint>& keypoints, std::vector<int>& kscales, Mat& descriptors) const;

protected:

__inline__ int smoothedIntensity(const cv::Mat& image,

const cv::Mat& integral,const float key_x,

const float key_y, const unsigned int scale,

const unsigned int rot, const unsigned int point) const;

__inline__ int smoothedIntensity(const cv::Mat& image,

const cv::Mat& integral,const float key_x,

const float key_y, const unsigned int scale,

const unsigned int rot, const unsigned int point, const float delta_x, const float delta_y) const;

__inline__ int smoothedIntensity_fast(const cv::Mat& image,

const cv::Mat& integral,const float key_x,

const float key_y, const unsigned int scale,

const unsigned int rot, const unsigned int point) const;

__inline__ int smoothedIntensity_fast(const cv::Mat& image,

const cv::Mat& integral,const float key_x,

const float key_y, const unsigned int scale,

const unsigned int rot, const unsigned int point, const float delta_x, const float delta_y) const;

// pattern properties

FrifPatternPoint* patternPoints_; //[i][rotation][scale]

float* scaleList_; // lists the scaling per scale index [scale]

unsigned int* sizeList_; // lists the total pattern size per scale index [scale]

static const unsigned int noPatternPoints_; // total number of collocation points

static const unsigned int scales_; // scales discretization

static const float scalerange_; // span of sizes 40->4 Octaves - else, this needs to be adjusted...

static const unsigned int noRot_; // discretization of the rotation look-up

static const unsigned int strings_; // number of byes the descriptor consists of

static const unsigned int noShortPairs_; // number of shortParis

static const unsigned int noLongPairs_; // number of longParis

static const unsigned int noTotalPairs_;

vector<FrifPair> frifPairs_; // pairs

float* samplePos_; //position of local samping points around each pattern location

//parameters

Params params_;

};

}

#endif