Merge pull request #162 from cbalint13/agast

Add AGAST detector

Author: vpisarev

modules/xfeatures2d/doc/xfeatures2d.bib

@@ -45,6 +45,15 @@ @inproceedings{AOV12
   organization={Ieee}
 }
 
+@inproceedings{mair2010_agast,
+   title={Adaptive and Generic Corner Detection Based on the Accelerated Segment Test"},
+   author={"Elmar Mair and Gregory D. Hager and Darius Burschka and Michael Suppa and Gerhard Hirzinger"},
+   year={"2010"},
+   month={"September"},
+   booktitle={"European Conference on Computer Vision (ECCV'10)"},
+   url={"http://www6.in.tum.de/Main/ResearchAgast"
+}
+
 @incollection{LUCID,
   title={Locally uniform comparison image descriptor},
   author={Ziegler, Andrew, Eric Christiansen, David Kriegman, and Serge J. Belongie}

modules/xfeatures2d/include/opencv2/xfeatures2d.hpp

@@ -129,6 +129,52 @@ class CV_EXPORTS BriefDescriptorExtractor : public DescriptorExtractor
     static Ptr<BriefDescriptorExtractor> create( int bytes = 32 );
 };
 
+/** @overload */
+CV_EXPORTS void AGAST( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints,
+                      int threshold, bool nonmaxSuppression=true );
+
+/** @brief Detects corners using the AGAST algorithm
+
+@param image grayscale image where keypoints (corners) are detected.
+@param keypoints keypoints detected on the image.
+@param threshold threshold on difference between intensity of the central pixel and pixels of a
+circle around this pixel.
+@param nonmaxSuppression if true, non-maximum suppression is applied to detected corners
+(keypoints).
+@param type one of the four neighborhoods as defined in the paper:
+AgastFeatureDetector::AGAST_5_8, AgastFeatureDetector::AGAST_7_12d,
+AgastFeatureDetector::AGAST_7_12s, AgastFeatureDetector::OAST_9_16
+
+Detects corners using the AGAST algorithm by @cite mair2010_agast .
+
+ */
+CV_EXPORTS void AGAST( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints,
+                      int threshold, bool nonmaxSuppression, int type );
+
+/** @brief Wrapping class for feature detection using the AGAST method. :
+ */
+class CV_EXPORTS_W AgastFeatureDetector : public Feature2D
+{
+public:
+    enum
+    {
+        AGAST_5_8 = 0, AGAST_7_12d = 1, AGAST_7_12s = 2, OAST_9_16 = 3,
+        THRESHOLD = 10000, NONMAX_SUPPRESSION = 10001,
+    };
+
+    CV_WRAP static Ptr<AgastFeatureDetector> create( int threshold=10,
+                                                     bool nonmaxSuppression=true,
+                                                     int type=AgastFeatureDetector::OAST_9_16 );
+
+    CV_WRAP virtual void setThreshold(int threshold) = 0;
+    CV_WRAP virtual int getThreshold() const = 0;
+
+    CV_WRAP virtual void setNonmaxSuppression(bool f) = 0;
+    CV_WRAP virtual bool getNonmaxSuppression() const = 0;
+
+    CV_WRAP virtual void setType(int type) = 0;
+    CV_WRAP virtual int getType() const = 0;
+};
 
 /** @brief Class implementing the locally uniform comparison image descriptor, described in @cite LUCID
 

modules/xfeatures2d/perf/perf_agast.cpp

@@ -0,0 +1,41 @@
+#include "perf_precomp.hpp"
+
+using namespace std;
+using namespace cv;
+using namespace cv::xfeatures2d;
+using namespace perf;
+using std::tr1::make_tuple;
+using std::tr1::get;
+
+CV_ENUM(AgastType, AgastFeatureDetector::AGAST_5_8, AgastFeatureDetector::AGAST_7_12d,
+                   AgastFeatureDetector::AGAST_7_12s, AgastFeatureDetector::OAST_9_16)
+
+typedef std::tr1::tuple<string, AgastType> File_Type_t;
+typedef perf::TestBaseWithParam<File_Type_t> agast;
+
+#define AGAST_IMAGES \
+    "cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png",\
+    "stitching/a3.png"
+
+PERF_TEST_P(agast, detect, testing::Combine(
+                            testing::Values(AGAST_IMAGES),
+                            AgastType::all()
+                          ))
+{
+    string filename = getDataPath(get<0>(GetParam()));
+    int type = get<1>(GetParam());
+    Mat frame = imread(filename, IMREAD_GRAYSCALE);
+
+    if (frame.empty())
+        FAIL() << "Unable to load source image " << filename;
+
+    declare.in(frame);
+
+    Ptr<FeatureDetector> fd = AgastFeatureDetector::create(20, true, type);
+    ASSERT_FALSE( fd.empty() );
+    vector<KeyPoint> points;
+
+    TEST_CYCLE() fd->detect(frame, points);
+
+    SANITY_CHECK_KEYPOINTS(points);
+}