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42 
43 #include <stdlib.h>
44 #include <math.h>
45 #include <vector>
46 
47 namespace cv
48 {
49 /*
50  * ShapeContextDescriptor class
51  */
52 class SCD
53 {
54 public:
55     //! the full constructor taking all the necessary parameters
SCD(int _nAngularBins=12,int _nRadialBins=5,double _innerRadius=0.1,double _outerRadius=1,bool _rotationInvariant=false)56     explicit SCD(int _nAngularBins=12, int _nRadialBins=5,
57                  double _innerRadius=0.1, double _outerRadius=1, bool _rotationInvariant=false)
58     {
59         setAngularBins(_nAngularBins);
60         setRadialBins(_nRadialBins);
61         setInnerRadius(_innerRadius);
62         setOuterRadius(_outerRadius);
63         setRotationInvariant(_rotationInvariant);
64     }
65 
66     void extractSCD(cv::Mat& contour, cv::Mat& descriptors,
67                     const std::vector<int>& queryInliers=std::vector<int>(),
68                     const float _meanDistance=-1);
69 
descriptorSize()70     int descriptorSize() {return nAngularBins*nRadialBins;}
setAngularBins(int angularBins)71     void setAngularBins(int angularBins) { nAngularBins=angularBins; }
setRadialBins(int radialBins)72     void setRadialBins(int radialBins) { nRadialBins=radialBins; }
setInnerRadius(double _innerRadius)73     void setInnerRadius(double _innerRadius) { innerRadius=_innerRadius; }
setOuterRadius(double _outerRadius)74     void setOuterRadius(double _outerRadius) { outerRadius=_outerRadius; }
setRotationInvariant(bool _rotationInvariant)75     void setRotationInvariant(bool _rotationInvariant) { rotationInvariant=_rotationInvariant; }
getAngularBins() const76     int getAngularBins() const { return nAngularBins; }
getRadialBins() const77     int getRadialBins() const { return nRadialBins; }
getInnerRadius() const78     double getInnerRadius() const { return innerRadius; }
getOuterRadius() const79     double getOuterRadius() const { return outerRadius; }
getRotationInvariant() const80     bool getRotationInvariant() const { return rotationInvariant; }
getMeanDistance() const81     float getMeanDistance() const { return meanDistance; }
82 
83 private:
84     int nAngularBins;
85     int nRadialBins;
86     double innerRadius;
87     double outerRadius;
88     bool rotationInvariant;
89     float meanDistance;
90 
91 protected:
92     void logarithmicSpaces(std::vector<double>& vecSpaces) const;
93     void angularSpaces(std::vector<double>& vecSpaces) const;
94 
95     void buildNormalizedDistanceMatrix(cv::Mat& contour,
96                           cv::Mat& disMatrix, const std::vector<int> &queryInliers,
97                           const float _meanDistance=-1);
98 
99     void buildAngleMatrix(cv::Mat& contour,
100                               cv::Mat& angleMatrix) const;
101 };
102 
103 /*
104  * Matcher
105  */
106 class SCDMatcher
107 {
108 public:
109     // the full constructor
SCDMatcher()110     SCDMatcher()
111     {
112     }
113 
114     // the matcher function using Hungarian method
115     void matchDescriptors(cv::Mat& descriptors1,  cv::Mat& descriptors2, std::vector<cv::DMatch>& matches, cv::Ptr<cv::HistogramCostExtractor>& comparer,
116                                       std::vector<int>& inliers1, std::vector<int> &inliers2);
117 
118     // matching cost
getMatchingCost() const119     float getMatchingCost() const {return minMatchCost;}
120 
121 private:
122     float minMatchCost;
123 protected:
124     void buildCostMatrix(const cv::Mat& descriptors1, const cv::Mat& descriptors2,
125                                      cv::Mat& costMatrix, cv::Ptr<cv::HistogramCostExtractor>& comparer) const;
126     void hungarian(cv::Mat& costMatrix, std::vector<cv::DMatch>& outMatches, std::vector<int> &inliers1,
127                    std::vector<int> &inliers2, int sizeScd1=0, int sizeScd2=0);
128 
129 };
130 
131 }
132