BAD.h

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#ifndef INTEREST_POINT_BAD_H_
#define INTEREST_POINT_BAD_H_
 
#include <opencv2/opencv.hpp>
 
#include <vector>
#include <string>
 
namespace upm {
 
class BAD : public cv::Feature2D {
 public:
  enum BadSize {
    SIZE_512_BITS = 100, SIZE_256_BITS = 101,
  };
 
  explicit BAD(float scale_factor = 1.0f, BadSize n_bits = SIZE_512_BITS);
 
  static cv::Ptr<BAD> create(float scale_factor = 1.0f, BadSize n_bits = SIZE_512_BITS) {
    return cv::makePtr<upm::BAD>(scale_factor, n_bits);
  }
 
  void compute(cv::InputArray image,
               CV_OUT CV_IN_OUT std::vector<cv::KeyPoint> &keypoints,
               cv::OutputArray descriptors) override;
 
  int descriptorSize() const override { return box_params_.size() / 8; }
  int descriptorType() const override { return CV_8UC1; }
  int defaultNorm() const override { return cv::NORM_HAMMING; }
  bool empty() const override { return false; }
 
  cv::String getDefaultName() const override { return std::string("BAD") + std::to_string(box_params_.size()); }
 
  // Struct representing a pair of boxes in the patch
  struct BoxPairParams {
    int x1, x2, y1, y2, boxRadius;
  };
 
 protected:
  // Computes the BADdescriptor
  void computeBAD(const cv::Mat &integral_img,
                  const std::vector<cv::KeyPoint> &keypoints,
                  cv::Mat &descriptors);
 
  std::vector<float> thresholds_;
  std::vector<BoxPairParams> box_params_;
  float scale_factor_ = 1;
  cv::Size patch_size_ = {32, 32};
};
 
}  // namespace upm
#endif  // INTEREST_POINT_BAD_H_