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Enable multithreaded extraction of features using cv::parallel_for_

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This commit is contained in:
Ievgen Khvedchenia 2014-04-27 22:28:18 +03:00
parent d37220e8ff
commit 503bd38963
2 changed files with 359 additions and 69 deletions
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401
modules/features2d/src/akaze/AKAZE.cpp
View File

@ -194,6 +194,43 @@ void AKAZEFeatures::Feature_Detection(std::vector<cv::KeyPoint>& kpts) {
}
/* ************************************************************************* */
class MultiscaleDerivativesInvoker : public cv::ParallelLoopBody
{
public:
explicit MultiscaleDerivativesInvoker(std::vector<TEvolution>& ev, const AKAZEOptions& opt)
: evolution_(ev)
, options_(opt)
{
}
void operator()(const cv::Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
float ratio = pow(2.f, (float)evolution_[i].octave);
int sigma_size_ = fRound(evolution_[i].esigma * options_.derivative_factor / ratio);
compute_scharr_derivatives(evolution_[i].Lsmooth, evolution_[i].Lx, 1, 0, sigma_size_);
compute_scharr_derivatives(evolution_[i].Lsmooth, evolution_[i].Ly, 0, 1, sigma_size_);
compute_scharr_derivatives(evolution_[i].Lx, evolution_[i].Lxx, 1, 0, sigma_size_);
compute_scharr_derivatives(evolution_[i].Ly, evolution_[i].Lyy, 0, 1, sigma_size_);
compute_scharr_derivatives(evolution_[i].Lx, evolution_[i].Lxy, 0, 1, sigma_size_);
evolution_[i].Lx = evolution_[i].Lx*((sigma_size_));
evolution_[i].Ly = evolution_[i].Ly*((sigma_size_));
evolution_[i].Lxx = evolution_[i].Lxx*((sigma_size_)*(sigma_size_));
evolution_[i].Lxy = evolution_[i].Lxy*((sigma_size_)*(sigma_size_));
evolution_[i].Lyy = evolution_[i].Lyy*((sigma_size_)*(sigma_size_));
}
}
private:
mutable std::vector<TEvolution> & evolution_;
AKAZEOptions options_;
};
/**
* @brief This method computes the multiscale derivatives for the nonlinear scale space
*/
@ -203,9 +240,8 @@ void AKAZEFeatures::Compute_Multiscale_Derivatives(void) {
t1 = cv::getTickCount();
#ifdef _OPENMP
#pragma omp parallel for
#endif
cv::parallel_for_(cv::Range(0, evolution_.size()), MultiscaleDerivativesInvoker(evolution_, options_));
/*
for (int i = 0; i < (int)(evolution_.size()); i++) {
float ratio = pow(2.f, (float)evolution_[i].octave);
@ -223,7 +259,7 @@ void AKAZEFeatures::Compute_Multiscale_Derivatives(void) {
evolution_[i].Lxy = evolution_[i].Lxy*((sigma_size_)*(sigma_size_));
evolution_[i].Lyy = evolution_[i].Lyy*((sigma_size_)*(sigma_size_));
}
*/
t2 = cv::getTickCount();
timing_.derivatives = 1000.0*(t2 - t1) / cv::getTickFrequency();
}
@ -512,6 +548,259 @@ void AKAZEFeatures::Feature_Suppression_Distance(std::vector<cv::KeyPoint>& kpts
}
/* ************************************************************************* */
class SURF_Descriptor_Upright_64_Invoker : public cv::ParallelLoopBody
{
public:
SURF_Descriptor_Upright_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, const std::vector<TEvolution>& evolution, const AKAZEOptions& options)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
{
}
void operator() (const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
Get_SURF_Descriptor_Upright_64(keypoints_[i], descriptors_.ptr<float>(i));
}
}
void Get_SURF_Descriptor_Upright_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
};
class SURF_Descriptor_64_Invoker : public cv::ParallelLoopBody
{
public:
SURF_Descriptor_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, const std::vector<TEvolution>& evolution, const AKAZEOptions& options)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
{
}
void operator()(const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_SURF_Descriptor_64(keypoints_[i], descriptors_.ptr<float>(i));
}
}
void Get_SURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
};
class MSURF_Upright_Descriptor_64_Invoker : public cv::ParallelLoopBody
{
public:
MSURF_Upright_Descriptor_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, const std::vector<TEvolution>& evolution, const AKAZEOptions& options)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
{
}
void operator()(const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
Get_MSURF_Upright_Descriptor_64(keypoints_[i], descriptors_.ptr<float>(i));
}
}
void Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
};
class MSURF_Descriptor_64_Invoker : public cv::ParallelLoopBody
{
public:
MSURF_Descriptor_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, const std::vector<TEvolution>& evolution, const AKAZEOptions& options)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
{
}
void operator() (const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_MSURF_Descriptor_64(keypoints_[i], descriptors_.ptr<float>(i));
}
}
void Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
};
class Upright_MLDB_Full_Descriptor_Invoker : public cv::ParallelLoopBody
{
public:
Upright_MLDB_Full_Descriptor_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, const std::vector<TEvolution>& evolution, const AKAZEOptions& options)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
{
}
void operator() (const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
Get_Upright_MLDB_Full_Descriptor(keypoints_[i], descriptors_.ptr<unsigned char>(i));
}
}
void Get_Upright_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
};
class Upright_MLDB_Descriptor_Subset_Invoker : public cv::ParallelLoopBody
{
public:
Upright_MLDB_Descriptor_Subset_Invoker(std::vector<cv::KeyPoint>& kpts,
cv::Mat& desc,
const std::vector<TEvolution>& evolution,
const AKAZEOptions& options,
cv::Mat descriptorSamples,
cv::Mat descriptorBits)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
, descriptorSamples_(descriptorSamples)
, descriptorBits_(descriptorBits)
{
}
void operator() (const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
Get_Upright_MLDB_Descriptor_Subset(keypoints_[i], descriptors_.ptr<unsigned char>(i));
}
}
void Get_Upright_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
cv::Mat descriptorSamples_; // List of positions in the grids to sample LDB bits from.
cv::Mat descriptorBits_;
};
class MLDB_Full_Descriptor_Invoker : public cv::ParallelLoopBody
{
public:
MLDB_Full_Descriptor_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, const std::vector<TEvolution>& evolution, const AKAZEOptions& options)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
{
}
void operator() (const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_MLDB_Full_Descriptor(keypoints_[i], descriptors_.ptr<unsigned char>(i));
}
}
void Get_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
};
class MLDB_Descriptor_Subset_Invoker : public cv::ParallelLoopBody
{
public:
MLDB_Descriptor_Subset_Invoker(std::vector<cv::KeyPoint>& kpts,
cv::Mat& desc,
const std::vector<TEvolution>& evolution,
const AKAZEOptions& options,
cv::Mat descriptorSamples,
cv::Mat descriptorBits)
: evolution_(evolution)
, options_(options)
, keypoints_(kpts)
, descriptors_(desc)
, descriptorSamples_(descriptorSamples)
, descriptorBits_(descriptorBits)
{
}
void operator() (const Range& range) const
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_MLDB_Descriptor_Subset(keypoints_[i], descriptors_.ptr<unsigned char>(i));
}
}
void Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
const std::vector<TEvolution>& evolution_;
const AKAZEOptions& options_;
cv::Mat descriptorSamples_; // List of positions in the grids to sample LDB bits from.
cv::Mat descriptorBits_;
};
/**
* @brief This method computes the set of descriptors through the nonlinear scale space
* @param kpts Vector of detected keypoints
@ -543,71 +832,71 @@ void AKAZEFeatures::Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat
case SURF_UPRIGHT: // Upright descriptors, not invariant to rotation
{
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < (int)(kpts.size()); i++) {
Get_SURF_Descriptor_Upright_64(kpts[i], desc.ptr<float>(i));
}
cv::parallel_for_(cv::Range(0, kpts.size()), SURF_Descriptor_Upright_64_Invoker(kpts, desc, evolution_, options_));
//for (int i = 0; i < (int)(kpts.size()); i++) {
// Get_SURF_Descriptor_Upright_64(kpts[i], desc.ptr<float>(i));
//}
}
break;
case SURF:
{
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < (int)(kpts.size()); i++) {
Compute_Main_Orientation(kpts[i]);
Get_SURF_Descriptor_64(kpts[i], desc.ptr<float>(i));
}
cv::parallel_for_(cv::Range(0, kpts.size()), SURF_Descriptor_64_Invoker(kpts, desc, evolution_, options_));
//for (int i = 0; i < (int)(kpts.size()); i++) {
// Compute_Main_Orientation(kpts[i]);
// Get_SURF_Descriptor_64(kpts[i], desc.ptr<float>(i));
//}
}
break;
case MSURF_UPRIGHT: // Upright descriptors, not invariant to rotation
{
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < (int)(kpts.size()); i++) {
Get_MSURF_Upright_Descriptor_64(kpts[i], desc.ptr<float>(i));
}
cv::parallel_for_(cv::Range(0, kpts.size()), MSURF_Upright_Descriptor_64_Invoker(kpts, desc, evolution_, options_));
//for (int i = 0; i < (int)(kpts.size()); i++) {
// Get_MSURF_Upright_Descriptor_64(kpts[i], desc.ptr<float>(i));
//}
}
break;
case MSURF:
{
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < (int)(kpts.size()); i++) {
Compute_Main_Orientation(kpts[i]);
Get_MSURF_Descriptor_64(kpts[i], desc.ptr<float>(i));
}
cv::parallel_for_(cv::Range(0, kpts.size()), MSURF_Descriptor_64_Invoker(kpts, desc, evolution_, options_));
//for (int i = 0; i < (int)(kpts.size()); i++) {
// Compute_Main_Orientation(kpts[i]);
// Get_MSURF_Descriptor_64(kpts[i], desc.ptr<float>(i));
//}
}
break;
case MLDB_UPRIGHT: // Upright descriptors, not invariant to rotation
{
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < (int)(kpts.size()); i++) {
if (options_.descriptor_size == 0)
Get_Upright_MLDB_Full_Descriptor(kpts[i], desc.ptr<unsigned char>(i));
cv::parallel_for_(cv::Range(0, kpts.size()), Upright_MLDB_Full_Descriptor_Invoker(kpts, desc, evolution_, options_));
else
Get_Upright_MLDB_Descriptor_Subset(kpts[i], desc.ptr<unsigned char>(i));
}
cv::parallel_for_(cv::Range(0, kpts.size()), Upright_MLDB_Descriptor_Subset_Invoker(kpts, desc, evolution_, options_, descriptorSamples_, descriptorBits_));
//for (int i = 0; i < (int)(kpts.size()); i++) {
// if (options_.descriptor_size == 0)
// Get_Upright_MLDB_Full_Descriptor(kpts[i], desc.ptr<unsigned char>(i));
// else
// Get_Upright_MLDB_Descriptor_Subset(kpts[i], desc.ptr<unsigned char>(i));
//}
}
break;
case MLDB:
{
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < (int)(kpts.size()); i++) {
Compute_Main_Orientation(kpts[i]);
if (options_.descriptor_size == 0)
Get_MLDB_Full_Descriptor(kpts[i], desc.ptr<unsigned char>(i));
cv::parallel_for_(cv::Range(0, kpts.size()), MLDB_Full_Descriptor_Invoker(kpts, desc, evolution_, options_));
else
Get_MLDB_Descriptor_Subset(kpts[i], desc.ptr<unsigned char>(i));
}
cv::parallel_for_(cv::Range(0, kpts.size()), MLDB_Descriptor_Subset_Invoker(kpts, desc, evolution_, options_, descriptorSamples_, descriptorBits_));
//for (int i = 0; i < (int)(kpts.size()); i++) {
// Compute_Main_Orientation(kpts[i]);
// if (options_.descriptor_size == 0)
// Get_MLDB_Full_Descriptor(kpts[i], desc.ptr<unsigned char>(i));
// else
// Get_MLDB_Descriptor_Subset(kpts[i], desc.ptr<unsigned char>(i));
//}
}
break;
}
@ -623,7 +912,7 @@ void AKAZEFeatures::Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat
* @note The orientation is computed using a similar approach as described in the
* original SURF method. See Bay et al., Speeded Up Robust Features, ECCV 2006
*/
void AKAZEFeatures::Compute_Main_Orientation(cv::KeyPoint& kpt) const {
void AKAZEFeatures::Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vector<TEvolution>& evolution_) {
int ix = 0, iy = 0, idx = 0, s = 0, level = 0;
float xf = 0.0, yf = 0.0, gweight = 0.0, ratio = 0.0;
@ -696,7 +985,7 @@ void AKAZEFeatures::Compute_Main_Orientation(cv::KeyPoint& kpt) const {
* Gaussian weighting is performed. The descriptor is inspired from Bay et al.,
* Speeded Up Robust Features, ECCV, 2006
*/
void AKAZEFeatures::Get_SURF_Descriptor_Upright_64(const cv::KeyPoint& kpt, float *desc) const {
void SURF_Descriptor_Upright_64_Invoker::Get_SURF_Descriptor_Upright_64(const cv::KeyPoint& kpt, float *desc) const {
float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0;
float rx = 0.0, ry = 0.0, len = 0.0, xf = 0.0, yf = 0.0;
@ -786,7 +1075,7 @@ void AKAZEFeatures::Get_SURF_Descriptor_Upright_64(const cv::KeyPoint& kpt, floa
* Gaussian weighting is performed. The descriptor is inspired from Bay et al.,
* Speeded Up Robust Features, ECCV, 2006
*/
void AKAZEFeatures::Get_SURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const {
void SURF_Descriptor_64_Invoker::Get_SURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const {
float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0;
float rx = 0.0, ry = 0.0, rrx = 0.0, rry = 0.0, len = 0.0, xf = 0.0, yf = 0.0;
@ -883,7 +1172,7 @@ void AKAZEFeatures::Get_SURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc)
* from Agrawal et al., CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching,
* ECCV 2008
*/
void AKAZEFeatures::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const {
void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const {
float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0, gauss_s1 = 0.0, gauss_s2 = 0.0;
float rx = 0.0, ry = 0.0, len = 0.0, xf = 0.0, yf = 0.0, ys = 0.0, xs = 0.0;
@ -1004,7 +1293,7 @@ void AKAZEFeatures::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, flo
* from Agrawal et al., CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching,
* ECCV 2008
*/
void AKAZEFeatures::Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const {
void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const {
float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0, gauss_s1 = 0.0, gauss_s2 = 0.0;
float rx = 0.0, ry = 0.0, rrx = 0.0, rry = 0.0, len = 0.0, xf = 0.0, yf = 0.0, ys = 0.0, xs = 0.0;
@ -1126,7 +1415,7 @@ void AKAZEFeatures::Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc
* @param kpt Input keypoint
* @param desc Descriptor vector
*/
void AKAZEFeatures::Get_Upright_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char *desc) const {
void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char *desc) const {
float di = 0.0, dx = 0.0, dy = 0.0;
float ri = 0.0, rx = 0.0, ry = 0.0, xf = 0.0, yf = 0.0;
@ -1340,7 +1629,7 @@ void AKAZEFeatures::Get_Upright_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, un
* @param kpt Input keypoint
* @param desc Descriptor vector
*/
void AKAZEFeatures::Get_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char *desc) const {
void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char *desc) const {
float di = 0.0, dx = 0.0, dy = 0.0, ratio = 0.0;
float ri = 0.0, rx = 0.0, ry = 0.0, rrx = 0.0, rry = 0.0, xf = 0.0, yf = 0.0;
@ -1639,7 +1928,7 @@ void AKAZEFeatures::Get_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned c
* @param kpt Input keypoint
* @param desc Descriptor vector
*/
void AKAZEFeatures::Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char *desc) {
void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char *desc) const {
float di = 0.f, dx = 0.f, dy = 0.f;
float rx = 0.f, ry = 0.f;
@ -1666,7 +1955,7 @@ void AKAZEFeatures::Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned
steps.at(2) = options_.descriptor_pattern_size / 2;
for (int i = 0; i < descriptorSamples_.rows; i++) {
int *coords = descriptorSamples_.ptr<int>(i);
const int *coords = descriptorSamples_.ptr<int>(i);
int sample_step = steps.at(coords[0]);
di = 0.0f;
dx = 0.0f;
@ -1730,7 +2019,7 @@ void AKAZEFeatures::Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned
* @param kpt Input keypoint
* @param desc Descriptor vector
*/
void AKAZEFeatures::Get_Upright_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char *desc) {
void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char *desc) const {
float di = 0.0f, dx = 0.0f, dy = 0.0f;
float rx = 0.0f, ry = 0.0f;
@ -1753,7 +2042,7 @@ void AKAZEFeatures::Get_Upright_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt,
steps.at(2) = options_.descriptor_pattern_size / 2;
for (int i = 0; i < descriptorSamples_.rows; i++) {
int *coords = descriptorSamples_.ptr<int>(i);
const int *coords = descriptorSamples_.ptr<int>(i);
int sample_step = steps.at(coords[0]);
di = 0.0f, dx = 0.0f, dy = 0.0f;

19
modules/features2d/src/akaze/AKAZE.h
View File

@ -56,21 +56,22 @@ public:
// Feature description methods
void Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc);
void Compute_Main_Orientation(cv::KeyPoint& kpt) const;
static void Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vector<TEvolution>& evolution_);
// SURF Pattern Descriptor
void Get_SURF_Descriptor_Upright_64(const cv::KeyPoint& kpt, float* desc) const;
void Get_SURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
//void Get_SURF_Descriptor_Upright_64(const cv::KeyPoint& kpt, float* desc) const;
//void Get_SURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
// M-SURF Pattern Descriptor
void Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
void Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
//void Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
//void Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
// M-LDB Pattern Descriptor
void Get_Upright_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
void Get_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
void Get_Upright_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc);
void Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc);
//void Get_Upright_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
//void Get_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
//void Get_Upright_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc);
//void Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc);
// Methods for saving some results and showing computation times
void Save_Scale_Space();