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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         meanDistance = 0;
65     }
66 
67     void extractSCD(cv::Mat& contour, cv::Mat& descriptors,
68                     const std::vector<int>& queryInliers=std::vector<int>(),
69                     const float _meanDistance=-1);
70 
descriptorSize()71     int descriptorSize() {return nAngularBins*nRadialBins;}
setAngularBins(int angularBins)72     void setAngularBins(int angularBins) { nAngularBins=angularBins; }
setRadialBins(int radialBins)73     void setRadialBins(int radialBins) { nRadialBins=radialBins; }
setInnerRadius(double _innerRadius)74     void setInnerRadius(double _innerRadius) { innerRadius=_innerRadius; }
setOuterRadius(double _outerRadius)75     void setOuterRadius(double _outerRadius) { outerRadius=_outerRadius; }
setRotationInvariant(bool _rotationInvariant)76     void setRotationInvariant(bool _rotationInvariant) { rotationInvariant=_rotationInvariant; }
getAngularBins() const77     int getAngularBins() const { return nAngularBins; }
getRadialBins() const78     int getRadialBins() const { return nRadialBins; }
getInnerRadius() const79     double getInnerRadius() const { return innerRadius; }
getOuterRadius() const80     double getOuterRadius() const { return outerRadius; }
getRotationInvariant() const81     bool getRotationInvariant() const { return rotationInvariant; }
getMeanDistance() const82     float getMeanDistance() const { return meanDistance; }
83 
84 private:
85     int nAngularBins;
86     int nRadialBins;
87     double innerRadius;
88     double outerRadius;
89     bool rotationInvariant;
90     float meanDistance;
91 
92 protected:
93     void logarithmicSpaces(std::vector<double>& vecSpaces) const;
94     void angularSpaces(std::vector<double>& vecSpaces) const;
95 
96     void buildNormalizedDistanceMatrix(cv::Mat& contour,
97                           cv::Mat& disMatrix, const std::vector<int> &queryInliers,
98                           const float _meanDistance=-1);
99 
100     void buildAngleMatrix(cv::Mat& contour,
101                               cv::Mat& angleMatrix) const;
102 };
103 
104 /*
105  * Matcher
106  */
107 class SCDMatcher
108 {
109 public:
110     // the full constructor
SCDMatcher()111     SCDMatcher() : minMatchCost(0)
112     {
113     }
114 
115     // the matcher function using Hungarian method
116     void matchDescriptors(cv::Mat& descriptors1,  cv::Mat& descriptors2, std::vector<cv::DMatch>& matches, cv::Ptr<cv::HistogramCostExtractor>& comparer,
117                                       std::vector<int>& inliers1, std::vector<int> &inliers2);
118 
119     // matching cost
getMatchingCost() const120     float getMatchingCost() const {return minMatchCost;}
121 
122 private:
123     float minMatchCost;
124 protected:
125     void buildCostMatrix(const cv::Mat& descriptors1, const cv::Mat& descriptors2,
126                                      cv::Mat& costMatrix, cv::Ptr<cv::HistogramCostExtractor>& comparer) const;
127     void hungarian(cv::Mat& costMatrix, std::vector<cv::DMatch>& outMatches, std::vector<int> &inliers1,
128                    std::vector<int> &inliers2, int sizeScd1=0, int sizeScd2=0);
129 
130 };
131 
132 }
133