aorb.h

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#ifndef RGBDSLAM_AORB
#define RGBDSLAM_AORB
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#include "opencv2/core/core.hpp"
namespace cv {
class AORB : public Feature2D
{
public:
    // the size of the signature in bytes
    enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };

    explicit AORB(int nfeatures = 500, float scaleFactor = 1.2f, int nlevels = 8, int edgeThreshold = 31,
                 int firstLevel = 0, int WTA_K=2, int scoreType=0, int patchSize=31, int fastThreshold = 20 );

    // returns the descriptor size in bytes
    int descriptorSize() const;
    // returns the descriptor type
    int descriptorType() const;

    // Compute the AORB features and descriptors on an image
    void operator()(InputArray image, InputArray mask, vector<KeyPoint>& keypoints) const;

    // Compute the AORB features and descriptors on an image
    void operator()( InputArray image, InputArray mask, vector<KeyPoint>& keypoints,
                     OutputArray descriptors, bool useProvidedKeypoints=false ) const;
  
    AlgorithmInfo* info() const;
    
protected:

    void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
    void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
    
    CV_PROP_RW int nfeatures;
    CV_PROP_RW double scaleFactor;
    CV_PROP_RW int nlevels;
    CV_PROP_RW int edgeThreshold;
    CV_PROP_RW int fastThreshold;
    CV_PROP_RW int firstLevel;
    CV_PROP_RW int WTA_K;
    CV_PROP_RW int scoreType;
    CV_PROP_RW int patchSize;
};
    
typedef AORB AorbFeatureDetector;
typedef AORB AorbDescriptorExtractor;


}
#endif