/**
File: features.h
Author: Peter Barnum
Created: 2014-09-30
Utilities for detecting sparse features, and tracking them. Based off OpenCV

Copyright Anki, Inc. 2014
For internal use only. No part of this code may be used without a signed non-disclosure agreement with Anki, inc.
**/

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#ifndef _ANKICORETECHEMBEDDED_VISION_FEATURES_H_
#define _ANKICORETECHEMBEDDED_VISION_FEATURES_H_

#include "coretech/common/robot/config.h"
#include "coretech/common/robot/array2d.h"
#include "coretech/common/robot/geometry.h"
#include "coretech/common/robot/fixedLengthList.h"

#include "coretech/vision/robot/integralImage.h"

namespace Anki
{
  namespace Embedded
  {
    namespace Features
    {
      // Compute the Harris corner metric, per-pixel
      // Similar to OpenCV cv::cornerHarris(), except not scaled (divide the outputs by the max, and they are similar)
      Result CornerHarris(
        const Array<u8> &src,
        Array<f32> &dst,
        const s32 blockSize,
        const f32 k,
        MemoryStack scratch);

      // Compute the best corner points (currently only Harris is supported)
      // Similar to OpenCV cv::goodFeaturesToTrack, with minDistance == 0
      // WARNING: corners must be big enough to hold all candidate corners, not just maxCorners
      Result GoodFeaturesToTrack(
        const Array<u8> &image,
        FixedLengthList<Point<s16> > &corners,
        const s32 maxCorners,
        const f32 qualityLevel,
        const s32 blockSize,
        const bool useHarrisDetector,
        const f32 harrisK,
        MemoryStack fastScratch,
        MemoryStack slowScratch);
    }
  } // namespace Embedded
} //namespace Anki

#endif // _ANKICORETECHEMBEDDED_VISION_FEATURES_H_