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  /*
  OpenCV wrapper of reference implementation of
  [1] KAZE Features. Pablo F. Alcantarilla, Adrien Bartoli and Andrew J. Davison.
  In European Conference on Computer Vision (ECCV), Fiorenze, Italy, October 2012
  http://www.robesafe.com/personal/pablo.alcantarilla/papers/Alcantarilla12eccv.pdf
  @author Eugene Khvedchenya <ekhvedchenya@gmail.com>
  */
  
  #include "precomp.hpp"
  #include "kaze/KAZEFeatures.h"
  
  namespace cv
  {
  
      class KAZE_Impl : public KAZE
      {
      public:
          KAZE_Impl(bool _extended, bool _upright, float _threshold, int _octaves,
                     int _sublevels, int _diffusivity)
          : extended(_extended)
          , upright(_upright)
          , threshold(_threshold)
          , octaves(_octaves)
          , sublevels(_sublevels)
          , diffusivity(_diffusivity)
          {
          }
  
          virtual ~KAZE_Impl() {}
  
          void setExtended(bool extended_) { extended = extended_; }
          bool getExtended() const { return extended; }
  
          void setUpright(bool upright_) { upright = upright_; }
          bool getUpright() const { return upright; }
  
          void setThreshold(double threshold_) { threshold = (float)threshold_; }
          double getThreshold() const { return threshold; }
  
          void setNOctaves(int octaves_) { octaves = octaves_; }
          int getNOctaves() const { return octaves; }
  
          void setNOctaveLayers(int octaveLayers_) { sublevels = octaveLayers_; }
          int getNOctaveLayers() const { return sublevels; }
  
          void setDiffusivity(int diff_) { diffusivity = diff_; }
          int getDiffusivity() const { return diffusivity; }
  
          // returns the descriptor size in bytes
          int descriptorSize() const
          {
              return extended ? 128 : 64;
          }
  
          // returns the descriptor type
          int descriptorType() const
          {
              return CV_32F;
          }
  
          // returns the default norm type
          int defaultNorm() const
          {
              return NORM_L2;
          }
  
          void detectAndCompute(InputArray image, InputArray mask,
                                std::vector<KeyPoint>& keypoints,
                                OutputArray descriptors,
                                bool useProvidedKeypoints)
          {
              CV_INSTRUMENT_REGION()
  
              cv::Mat img = image.getMat();
              if (img.channels() > 1)
                  cvtColor(image, img, COLOR_BGR2GRAY);
  
              Mat img1_32;
              if ( img.depth() == CV_32F )
                  img1_32 = img;
              else if ( img.depth() == CV_8U )
                  img.convertTo(img1_32, CV_32F, 1.0 / 255.0, 0);
              else if ( img.depth() == CV_16U )
                  img.convertTo(img1_32, CV_32F, 1.0 / 65535.0, 0);
  
              CV_Assert( ! img1_32.empty() );
  
              KAZEOptions options;
              options.img_width = img.cols;
              options.img_height = img.rows;
              options.extended = extended;
              options.upright = upright;
              options.dthreshold = threshold;
              options.omax = octaves;
              options.nsublevels = sublevels;
              options.diffusivity = diffusivity;
  
              KAZEFeatures impl(options);
              impl.Create_Nonlinear_Scale_Space(img1_32);
  
              if (!useProvidedKeypoints)
              {
                  impl.Feature_Detection(keypoints);
              }
  
              if (!mask.empty())
              {
                  cv::KeyPointsFilter::runByPixelsMask(keypoints, mask.getMat());
              }
  
              if( descriptors.needed() )
              {
                  Mat& desc = descriptors.getMatRef();
                  impl.Feature_Description(keypoints, desc);
  
                  CV_Assert((!desc.rows || desc.cols == descriptorSize()));
                  CV_Assert((!desc.rows || (desc.type() == descriptorType())));
              }
          }
  
          void write(FileStorage& fs) const
          {
              writeFormat(fs);
              fs << "extended" << (int)extended;
              fs << "upright" << (int)upright;
              fs << "threshold" << threshold;
              fs << "octaves" << octaves;
              fs << "sublevels" << sublevels;
              fs << "diffusivity" << diffusivity;
          }
  
          void read(const FileNode& fn)
          {
              extended = (int)fn["extended"] != 0;
              upright = (int)fn["upright"] != 0;
              threshold = (float)fn["threshold"];
              octaves = (int)fn["octaves"];
              sublevels = (int)fn["sublevels"];
              diffusivity = (int)fn["diffusivity"];
          }
  
          bool extended;
          bool upright;
          float threshold;
          int octaves;
          int sublevels;
          int diffusivity;
      };
  
      Ptr<KAZE> KAZE::create(bool extended, bool upright,
                              float threshold,
                              int octaves, int sublevels,
                              int diffusivity)
      {
          return makePtr<KAZE_Impl>(extended, upright, threshold, octaves, sublevels, diffusivity);
      }
  }
  