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

* Copyright (c) 2015, 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/vision.h>

#include <handle.hpp>

#include <err_common.hpp>

#include <backend.hpp>

#include <features.hpp>

#include <susan.hpp>

using af::dim4;

using namespace detail;

template<typename T>

static af_features susan(af_array const &in,

const unsigned radius, const float diff_thr, const float geom_thr,

const float feature_ratio, const unsigned edge)

{

Array<float> x = createEmptyArray<float>(dim4());

Array<float> y = createEmptyArray<float>(dim4());

Array<float> score = createEmptyArray<float>(dim4());

af_features_t feat;

feat.n = susan<T>(x, y, score,

getArray<T>(in), radius, diff_thr, geom_thr,

feature_ratio, edge);

feat.x = getHandle(x);

feat.y = getHandle(y);

feat.score = getHandle(score);

feat.orientation = getHandle(feat.n > 0 ? createValueArray<float>(feat.n, 0.0) : createEmptyArray<float>(dim4()));

feat.size = getHandle(feat.n > 0 ? createValueArray<float>(feat.n, 1.0) : createEmptyArray<float>(dim4()));

return getFeaturesHandle(feat);

}

af_err af_susan(af_features* out, const af_array in,

const unsigned radius, const float diff_thr, const float geom_thr,

const float feature_ratio, const unsigned edge)

{

try {

ArrayInfo info = getInfo(in);

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

ARG_ASSERT(1, dims.ndims()==2);

ARG_ASSERT(2, radius < 10);

ARG_ASSERT(2, radius<=edge);

ARG_ASSERT(3, diff_thr > 0.0f);

ARG_ASSERT(4, geom_thr > 0.0f);

ARG_ASSERT(5, (feature_ratio > 0.0f && feature_ratio <= 1.0f));

ARG_ASSERT(6, (dims[0] >= (dim_t)(2*edge+1) || dims[1] >= (dim_t)(2*edge+1)));

af_dtype type = info.getType();

switch(type) {

case f32: *out = susan<float >(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

case f64: *out = susan<double>(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

case b8 : *out = susan<char >(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

case s32: *out = susan<int >(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

case u32: *out = susan<uint >(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

case s16: *out = susan<short >(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

case u16: *out = susan<ushort>(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

case u8 : *out = susan<uchar >(in, radius, diff_thr, geom_thr, feature_ratio, edge); break;

default : TYPE_ERROR(1, type);

}

}

CATCHALL;

return AF_SUCCESS;

}