LBSP.h

#pragma once

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include "DistanceUtils.h"

class LBSP : public cv::Feature2D {
public:
    LBSP(size_t nThreshold);
    LBSP(float fRelThreshold, size_t nThresholdOffset=0);
    virtual ~LBSP();
    virtual void read(const cv::FileNode&);
    virtual void write(cv::FileStorage&) const;
    virtual void setReference(const cv::Mat&);
    virtual int descriptorSize() const;
    virtual int descriptorType() const;
    virtual bool isUsingRelThreshold() const;
    virtual float getRelThreshold() const;
    virtual size_t getAbsThreshold() const;

    void compute2(const cv::Mat& oImage, std::vector<cv::KeyPoint>& voKeypoints, cv::Mat& oDescriptors) const;
    void compute2(const std::vector<cv::Mat>& voImageCollection, std::vector<std::vector<cv::KeyPoint> >& vvoPointCollection, std::vector<cv::Mat>& voDescCollection) const;

    inline static void computeGrayscaleDescriptor(const cv::Mat& oInputImg, const uchar _ref, const int _x, const int _y, const size_t _t, ushort& _res) {
        CV_DbgAssert(!oInputImg.empty());
        CV_DbgAssert(oInputImg.type()==CV_8UC1);
        CV_DbgAssert(LBSP::DESC_SIZE==2); // @@@ also relies on a constant desc size
        CV_DbgAssert(_x>=(int)LBSP::PATCH_SIZE/2 && _y>=(int)LBSP::PATCH_SIZE/2);
        CV_DbgAssert(_x<oInputImg.cols-(int)LBSP::PATCH_SIZE/2 && _y<oInputImg.rows-(int)LBSP::PATCH_SIZE/2);
        const size_t _step_row = oInputImg.step.p[0];
        const uchar* const _data = oInputImg.data;
        #include "LBSP_16bits_dbcross_1ch.i"
    }

    inline static void computeRGBDescriptor(const cv::Mat& oInputImg, const uchar* const _ref,  const int _x, const int _y, const size_t* const _t, ushort* _res) {
        CV_DbgAssert(!oInputImg.empty());
        CV_DbgAssert(oInputImg.type()==CV_8UC3);
        CV_DbgAssert(LBSP::DESC_SIZE==2); // @@@ also relies on a constant desc size
        CV_DbgAssert(_x>=(int)LBSP::PATCH_SIZE/2 && _y>=(int)LBSP::PATCH_SIZE/2);
        CV_DbgAssert(_x<oInputImg.cols-(int)LBSP::PATCH_SIZE/2 && _y<oInputImg.rows-(int)LBSP::PATCH_SIZE/2);
        const size_t _step_row = oInputImg.step.p[0];
        const uchar* const _data = oInputImg.data;
        #include "LBSP_16bits_dbcross_3ch3t.i"
    }

    inline static void computeRGBDescriptor(const cv::Mat& oInputImg, const uchar* const _ref,  const int _x, const int _y, const size_t _t, ushort* _res) {
        CV_DbgAssert(!oInputImg.empty());
        CV_DbgAssert(oInputImg.type()==CV_8UC3);
        CV_DbgAssert(LBSP::DESC_SIZE==2); // @@@ also relies on a constant desc size
        CV_DbgAssert(_x>=(int)LBSP::PATCH_SIZE/2 && _y>=(int)LBSP::PATCH_SIZE/2);
        CV_DbgAssert(_x<oInputImg.cols-(int)LBSP::PATCH_SIZE/2 && _y<oInputImg.rows-(int)LBSP::PATCH_SIZE/2);
        const size_t _step_row = oInputImg.step.p[0];
        const uchar* const _data = oInputImg.data;
        #include "LBSP_16bits_dbcross_3ch1t.i"
    }

    inline static void computeSingleRGBDescriptor(const cv::Mat& oInputImg, const uchar _ref, const int _x, const int _y, const size_t _c, const size_t _t, ushort& _res) {
        CV_DbgAssert(!oInputImg.empty());
        CV_DbgAssert(oInputImg.type()==CV_8UC3 && _c<3);
        CV_DbgAssert(LBSP::DESC_SIZE==2); // @@@ also relies on a constant desc size
        CV_DbgAssert(_x>=(int)LBSP::PATCH_SIZE/2 && _y>=(int)LBSP::PATCH_SIZE/2);
        CV_DbgAssert(_x<oInputImg.cols-(int)LBSP::PATCH_SIZE/2 && _y<oInputImg.rows-(int)LBSP::PATCH_SIZE/2);
        const size_t _step_row = oInputImg.step.p[0];
        const uchar* const _data = oInputImg.data;
        #include "LBSP_16bits_dbcross_s3ch.i"
    }

    static void reshapeDesc(cv::Size oSize, const std::vector<cv::KeyPoint>& voKeypoints, const cv::Mat& oDescriptors, cv::Mat& oOutput);
    static void calcDescImgDiff(const cv::Mat& oDesc1, const cv::Mat& oDesc2, cv::Mat& oOutput, bool bForceMergeChannels=false);
    static void validateKeyPoints(std::vector<cv::KeyPoint>& voKeypoints, cv::Size oImgSize);
    static void validateROI(cv::Mat& oROI);
    static const size_t PATCH_SIZE = 5;
    static const size_t DESC_SIZE = 2;

protected:
    virtual void computeImpl(const cv::Mat& oImage, std::vector<cv::KeyPoint>& voKeypoints, cv::Mat& oDescriptors) const;

    const bool m_bOnlyUsingAbsThreshold;
    const float m_fRelThreshold;
    const size_t m_nThreshold;
    cv::Mat m_oRefImage;
};