CLSurfLib.h

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**                Image Component Library (ICL)                    **
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** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
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** File   : ICLCV/src/ICLCV/CLSurfLib.h                            **
** Module : ICLCV                                                  **
** Authors: Christof Elbrechter                                    **
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** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
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** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
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#pragma once

#include <ICLCore/Img.h>
#include <ICLCV/SurfFeature.h>
#include <vector>

namespace icl{
  namespace cv{
    namespace clsurf{

      typedef SurfFeature Ipoint;

      typedef std::vector<Ipoint> IpVec;

      

      class Surf {
        struct Data;  
        Data *m_data; 

        public:
    
        Surf(int initialPoints, int i_height, int i_width,  int octaves, 
             int intervals, int sample_step, float threshold); 

        ~Surf();
    
        const IpVec &detect(const core::ImgBase *image);
        
        private:
        void computeIntegralImage(const icl::core::Img32f &source);
    
        void createDescriptors(int i_width, int i_height);

        void getOrientations(int i_width, int i_height);

        void reallocateIptBuffers();

        void reset();

        const IpVec &retrieveDescriptors();

        void run(const icl::core::Img32f &image, bool upright);

      };

    }
  }
}