CLSurfLib.h

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/********************************************************************
**                Image Component Library (ICL)                    **
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** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
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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.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
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#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLCore/Img.h>
#include <ICLCV/SurfFeature.h>
#include <vector>
#ifdef ICL_HAVE_OPENCL
#include <ICLUtils/CLProgram.h>
#include <ICLUtils/CLKernel.h>
#include <ICLUtils/CLBuffer.h>
#endif
using namespace icl::utils;

namespace icl{

  namespace cv{
    namespace clsurf{

      typedef SurfFeature Ipoint;

      typedef std::vector<Ipoint> IpVec;

      

      class Surf {
        struct Data;  
        Data *m_data; 
        void createKernels();

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

        ICLCV_API ~Surf();
    
        ICLCV_API const IpVec &detect(const core::ImgBase *image);
        
        private:

        CLProgram program;
        CLKernel createDescrtptorsKernel;
        CLKernel getOrientationStep1Kernel;
        CLKernel getOrientationStep2Kernel;
        CLKernel hessian_detKernel;
        CLKernel scanKernel;
        CLKernel scan4Kernel;
        CLKernel scanImageKernel;
        CLKernel transposeKernel;
        CLKernel transposeImageKernel;
        CLKernel nearestNeighborKernel;
        CLKernel non_max_supressionKernel;
        CLKernel normalizeDescriptorsKernel;
        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);

      };

    }
  }
}