/*******************************************************

* Copyright (c) 2014, ArrayFire

* All rights reserved.

*

* This file is distributed under 3-clause BSD license.

* The complete license agreement can be obtained at:

* http://arrayfire.com/licenses/BSD-3-Clause

********************************************************/

#include <af/dim4.hpp>

#include <af/defines.h>

#include <af/features.h>

#include <af/image.h>

#include <handle.hpp>

#include <err_common.hpp>

#include <backend.hpp>

#include <orb.hpp>

using af::dim4;

using namespace detail;

template<typename T, typename convAccT>

static void orb(af_features& feat, af_array& desc, const af_array& in, const float fast_thr, const unsigned max_feat, const float scl_fctr, const unsigned levels)

{

af::features temp_feat;

Array<unsigned>* temp_desc = NULL;

orb<T, convAccT>(temp_feat, &temp_desc, getArray<T>(in), fast_thr, max_feat, scl_fctr, levels);

feat = temp_feat.get();

desc = getHandle<unsigned>(*temp_desc);

}

af_err af_orb(af_features* feat, af_array* desc, const af_array in, const float fast_thr, const unsigned max_feat, const float scl_fctr, const unsigned levels)

{

try {

ArrayInfo info = getInfo(in);

af::dim4 dims = info.dims();

ARG_ASSERT(2, (dims[0] >= 7 && dims[1] >= 7 && dims[2] == 1 && dims[3] == 1));

ARG_ASSERT(3, fast_thr > 0.0f);

ARG_ASSERT(4, max_feat > 0);

ARG_ASSERT(5, scl_fctr > 1.0f);

ARG_ASSERT(6, levels > 0);

dim_type in_ndims = dims.ndims();

DIM_ASSERT(1, (in_ndims <= 3 && in_ndims >= 2));

af_array tmp_desc;

af_dtype type = info.getType();

switch(type) {

case f32: orb<float , float >(*feat, tmp_desc, in, fast_thr, max_feat, scl_fctr, levels); break;

case f64: orb<double, double>(*feat, tmp_desc, in, fast_thr, max_feat, scl_fctr, levels); break;

default : TYPE_ERROR(1, type);

}

std::swap(*desc, tmp_desc);

}

CATCHALL;

return AF_SUCCESS;

}