Added DAISY, LUCID, LATCH to XFeatures2D.

Emgu.CV.Contrib/XFeatures2D/BriefDescriptorExtractor.cs

@@ -20,18 +20,13 @@ namespace Emgu.CV.XFeatures2D
    /// </summary>
    public class BriefDescriptorExtractor : Feature2D
    {
-      static BriefDescriptorExtractor()
-      {
-         CvInvoke.CheckLibraryLoaded();
-      }
-
       /// <summary>
       /// Create a BRIEF descriptor extractor.
       /// </summary>
       /// <param name="descriptorSize">The size of descriptor. It can be equal 16, 32 or 64 bytes.</param>
       public BriefDescriptorExtractor(int descriptorSize = 32)
       {
-         _ptr = CvBriefDescriptorExtractorCreate(descriptorSize, ref _feature2D);
+         _ptr = ContribInvoke.cveBriefDescriptorExtractorCreate(descriptorSize, ref _feature2D);
       }
 
       /// <summary>
@@ -40,14 +35,18 @@ namespace Emgu.CV.XFeatures2D
       protected override void DisposeObject()
       {
          if (_ptr != IntPtr.Zero)
-            CvBriefDescriptorExtractorRelease(ref _ptr);
+            ContribInvoke.cveBriefDescriptorExtractorRelease(ref _ptr);
          base.DisposeObject();
       }
+   }
+
+   public static partial class ContribInvoke
+   {
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static IntPtr CvBriefDescriptorExtractorCreate(int descriptorSize, ref IntPtr feature2D);
+      internal extern static IntPtr cveBriefDescriptorExtractorCreate(int descriptorSize, ref IntPtr feature2D);
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static void CvBriefDescriptorExtractorRelease(ref IntPtr extractor);
+      internal extern static void cveBriefDescriptorExtractorRelease(ref IntPtr extractor);
    }
 }

Emgu.CV.Contrib/XFeatures2D/CudaSURFDetector.cs → Emgu.CV.Contrib/XFeatures2D/CudaSURF.cs

@@ -18,19 +18,8 @@ namespace Emgu.CV.XFeatures2D
    /// <summary>
    /// A SURF detector using Cuda
    /// </summary>
-   public class CudaSURFDetector : UnmanagedObject
+   public class CudaSURF : UnmanagedObject
    {
-      /*
-      /// <summary>
-      /// Create a Cuda SURF detector using the specific parameters
-      /// </summary>
-      /// <param name="detector">The surf detector where the parameters will be borrow from</param>
-      /// <param name="featuresRatio">Max features = featuresRatio * img.size().srea().</param>
-      public CudaSURFDetector(MCvSURFParams detector, float featuresRatio = 0.01f)
-         : this((float)detector.HessianThreshold, detector.NOctaves, detector.NOctaveLayers, (detector.Extended != 0), featuresRatio, (detector.Upright != 0))
-      {
-      }*/
-
       /// <summary>
       /// Create a Cuda SURF detector
       /// </summary>
@@ -40,7 +29,7 @@ namespace Emgu.CV.XFeatures2D
       /// <param name="extended">True, if generate 128-len descriptors, false - 64-len descriptors.</param>
       /// <param name="featuresRatio">Max features = featuresRatio * img.size().srea().</param>
       /// <param name="upright">If set to true, the orientation is not computed for the keypoints</param>
-      public CudaSURFDetector(
+      public CudaSURF(
          float hessianThreshold = 100.0f,
          int nOctaves = 4,
          int nOctaveLayers = 2, 
@@ -113,7 +102,6 @@ namespace Emgu.CV.XFeatures2D
       /// <returns>The image features founded on the keypoint location</returns>
       public GpuMat ComputeDescriptorsRaw(GpuMat image, GpuMat mask, GpuMat keyPoints)
       {
-         //GpuMat descriptors = new GpuMat(keyPoints.Size.Height, DescriptorSize, 1);
          GpuMat descriptors = new GpuMat();
          ContribInvoke.cudaSURFDetectorCompute(_ptr, image, mask, keyPoints, descriptors, true);
          return descriptors;

Emgu.CV.Contrib/XFeatures2D/DAISY.cs

@@ -0,0 +1,93 @@
+//----------------------------------------------------------------------------
+//  Copyright (C) 2004-2015 by EMGU Corporation. All rights reserved.       
+//----------------------------------------------------------------------------
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Runtime.InteropServices;
+using System.Text;
+using Emgu.CV;
+using Emgu.CV.CvEnum;
+using Emgu.CV.Structure;
+using Emgu.CV.Util;
+using Emgu.Util;
+using Emgu.CV.Features2D;
+
+namespace Emgu.CV.XFeatures2D
+{
+   /// <summary>
+   /// Daisy descriptor.
+   /// </summary>
+   public class DAISY : Feature2D
+   {
+      /// <summary>
+      /// Create DAISY descriptor extractor
+      /// </summary>
+      /// <param name="radius">Radius of the descriptor at the initial scale.</param>
+      /// <param name="qRadius">Amount of radial range division quantity.</param>
+      /// <param name="qTheta">Amount of angular range division quantity.</param>
+      /// <param name="qHist">Amount of gradient orientations range division quantity.</param>
+      /// <param name="norm">Descriptors normalization type.</param>
+      /// <param name="H">optional 3x3 homography matrix used to warp the grid of daisy but sampling keypoints remains unwarped on image</param>
+      /// <param name="interpolation">Switch to disable interpolation for speed improvement at minor quality loss</param>
+      /// <param name="useOrientation">Sample patterns using keypoints orientation, disabled by default.</param>
+      public DAISY(float radius = 15, int qRadius = 3, int qTheta = 8,
+         int qHist = 8, NormalizationType norm = NormalizationType.None, IInputArray H = null,
+         bool interpolation = true, bool useOrientation = false)
+      {
+         using (InputArray iaH = H == null ? InputArray.GetEmpty() : H.GetInputArray())
+            _ptr = ContribInvoke.cveDAISYCreate(radius, qRadius, qTheta, qHist, norm, iaH, interpolation, useOrientation,
+               ref _feature2D);
+      }
+
+      /// <summary>
+      /// Normalization type
+      /// </summary>
+      public enum NormalizationType
+      {
+         /// <summary>
+         /// Will not do any normalization (default)
+         /// </summary>
+         None = 100,
+         /// <summary>
+         /// Histograms are normalized independently for L2 norm equal to 1.0
+         /// </summary>
+         Partial = 101,
+         /// <summary>
+         /// Descriptors are normalized for L2 norm equal to 1.0
+         /// </summary>
+         Full = 102,
+         /// <summary>
+         /// Descriptors are normalized for L2 norm equal to 1.0 but no individual one is bigger than 0.154 as in SIFT
+         /// </summary>
+         SIFT = 103
+      }
+
+      /// <summary>
+      /// Release all the unmanaged resource associated with BRIEF
+      /// </summary>
+      protected override void DisposeObject()
+      {
+         if (_ptr != IntPtr.Zero)
+         {
+            ContribInvoke.cveDAISYRelease(ref _ptr);
+         }
+         base.DisposeObject();
+      }
+   }
+
+   public static partial class ContribInvoke
+   {
+
+      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+      internal extern static IntPtr cveDAISYCreate(
+         float radius, int qRadius, int qTheta,
+         int qHist, DAISY.NormalizationType norm, IntPtr H,
+         bool interpolation, bool useOrientation, 
+         ref IntPtr daisy);
+
+      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+      internal extern static void cveDAISYRelease(ref IntPtr daisy);
+   }
+}

Emgu.CV.Contrib/XFeatures2D/Freak.cs

@@ -28,11 +28,6 @@ namespace Emgu.CV.XFeatures2D
    /// </summary>
    public class Freak : Feature2D
    {
-      static Freak()
-      {
-         CvInvoke.CheckLibraryLoaded();
-      }
-
       /// <summary>
       /// Create a Freak descriptor extractor.
       /// </summary>
@@ -42,7 +37,7 @@ namespace Emgu.CV.XFeatures2D
       /// <param name="nOctaves">Number of octaves covered by the detected keypoints.</param>
       public Freak(bool orientationNormalized = true, bool scaleNormalized = true, float patternScale = 22.0f, int nOctaves = 4)
       {
-         _ptr = CvFreakCreate(orientationNormalized, scaleNormalized, patternScale, nOctaves, ref _feature2D);
+         _ptr = ContribInvoke.cveFreakCreate(orientationNormalized, scaleNormalized, patternScale, nOctaves, ref _feature2D);
       }
 
       /// <summary>
@@ -51,13 +46,16 @@ namespace Emgu.CV.XFeatures2D
       protected override void DisposeObject()
       {
          if (_ptr != IntPtr.Zero)
-            CvFreakRelease(ref _ptr);
+            ContribInvoke.cveFreakRelease(ref _ptr);
          base.DisposeObject();
       }
+   }
 
+   public static partial class ContribInvoke
+   {
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static IntPtr CvFreakCreate(
+      internal extern static IntPtr cveFreakCreate(
          [MarshalAs(CvInvoke.BoolMarshalType)]
          bool orientationNormalized,
          [MarshalAs(CvInvoke.BoolMarshalType)]
@@ -67,7 +65,7 @@ namespace Emgu.CV.XFeatures2D
          ref IntPtr feature2D);
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static void CvFreakRelease(ref IntPtr extractor);
+      internal extern static void cveFreakRelease(ref IntPtr extractor);
    }
 }
 

Emgu.CV.Contrib/XFeatures2D/LATCH.cs

@@ -0,0 +1,66 @@
+//----------------------------------------------------------------------------
+//  Copyright (C) 2004-2015 by EMGU Corporation. All rights reserved.       
+//----------------------------------------------------------------------------
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Runtime.InteropServices;
+using System.Text;
+using Emgu.CV;
+using Emgu.CV.CvEnum;
+using Emgu.CV.Structure;
+using Emgu.CV.Util;
+using Emgu.Util;
+using Emgu.CV.Features2D;
+
+namespace Emgu.CV.XFeatures2D
+{
+   /// <summary>
+   /// latch Class for computing the LATCH descriptor.
+   /// If you find this code useful, please add a reference to the following paper in your work:
+   /// Gil Levi and Tal Hassner, "LATCH: Learned Arrangements of Three Patch Codes", arXiv preprint arXiv:1501.03719, 15 Jan. 2015
+   /// LATCH is a binary descriptor based on learned comparisons of triplets of image patches.
+   /// </summary>
+   public class LATCH : Feature2D
+   {
+      /// <summary>
+      /// Create LATCH descriptor extractor
+      /// </summary>
+      /// <param name="bytes">The size of the descriptor - can be 64, 32, 16, 8, 4, 2 or 1</param>
+      /// <param name="rotationInvariance">Whether or not the descriptor should compensate for orientation changes.</param>
+      /// <param name="halfSsdSize">the size of half of the mini-patches size. For example, if we would like to compare triplets of patches of size 7x7x
+      /// then the half_ssd_size should be (7-1)/2 = 3.</param>
+      public LATCH(int bytes = 32, bool rotationInvariance = true, int halfSsdSize = 3)
+      {
+         _ptr = ContribInvoke.cveLATCHCreate(bytes, rotationInvariance, halfSsdSize, ref _feature2D);
+      }
+
+      /// <summary>
+      /// Release all the unmanaged resource associated with BRIEF
+      /// </summary>
+      protected override void DisposeObject()
+      {
+         if (_ptr != IntPtr.Zero)
+         {
+            ContribInvoke.cveLATCHRelease(ref _ptr);
+         }
+         base.DisposeObject();
+      }
+   }
+
+   public static partial class ContribInvoke
+   {
+
+      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+      internal extern static IntPtr cveLATCHCreate(
+         int bytes, 
+         [MarshalAs(CvInvoke.BoolMarshalType)]
+         bool rotationInvariance, 
+         int halfSsdSize, 
+         ref IntPtr extractor);
+
+      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+      internal extern static void cveLATCHRelease(ref IntPtr extractor);
+   }
+}

Emgu.CV.Contrib/XFeatures2D/LUCID.cs

@@ -0,0 +1,58 @@
+//----------------------------------------------------------------------------
+//  Copyright (C) 2004-2015 by EMGU Corporation. All rights reserved.       
+//----------------------------------------------------------------------------
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Runtime.InteropServices;
+using System.Text;
+using Emgu.CV;
+using Emgu.CV.CvEnum;
+using Emgu.CV.Structure;
+using Emgu.CV.Util;
+using Emgu.Util;
+using Emgu.CV.Features2D;
+
+namespace Emgu.CV.XFeatures2D
+{
+   /// <summary>
+   /// The locally uniform comparison image descriptor:
+   /// An image descriptor that can be computed very fast, while being
+   /// about as robust as, for example, SURF or BRIEF.
+   /// </summary>
+   public class LUCID : Feature2D
+   {
+      /// <summary>
+      /// Create a locally uniform comparison image descriptor.
+      /// </summary>
+      /// <param name="lucidKernel">Kernel for descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth</param>
+      /// <param name="blurKernel">kernel for blurring image prior to descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth</param>
+      public LUCID(int lucidKernel = 1, int blurKernel = 2)
+      {
+         _ptr = ContribInvoke.cveLUCIDCreate(lucidKernel, blurKernel, ref _feature2D);
+      }
+
+      /// <summary>
+      /// Release all the unmanaged resource associated with BRIEF
+      /// </summary>
+      protected override void DisposeObject()
+      {
+         if (_ptr != IntPtr.Zero)
+         {
+            ContribInvoke.cveLUCIDRelease(ref _ptr);
+         }
+         base.DisposeObject();
+      }
+   }
+
+   public static partial class ContribInvoke
+   {
+
+      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+      internal extern static IntPtr cveLUCIDCreate(int lucidKernel, int blurKernel, ref IntPtr feature2D);
+
+      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+      internal extern static void cveLUCIDRelease(ref IntPtr extractor);
+   }
+}

Emgu.CV.Contrib/XFeatures2D/SIFTDetector.cs → Emgu.CV.Contrib/XFeatures2D/SIFT.cs

@@ -17,22 +17,22 @@ namespace Emgu.CV.XFeatures2D
    /// <summary>
    /// Wrapped SIFT detector
    /// </summary>
-   public class SIFTDetector : Feature2D
+   public class SIFT : Feature2D
    {
       /// <summary>
-      /// Create a SIFTDetector using the specific values
+      /// Create a SIFT using the specific values
       /// </summary>
       /// <param name="nFeatures">The desired number of features. Use 0 for un-restricted number of features</param>
       /// <param name="nOctaveLayers">The number of octave layers. Use 3 for default</param>
       /// <param name="contrastThreshold">Contrast threshold. Use 0.04 as default</param>
       /// <param name="edgeThreshold">Detector parameter. Use 10.0 as default</param>
       /// <param name="sigma">Use 1.6 as default</param>
-      public SIFTDetector(
+      public SIFT(
          int nFeatures = 0, int nOctaveLayers = 3,
          double contrastThreshold = 0.04, double edgeThreshold = 10.0,
          double sigma = 1.6)
       {
-         _ptr = ContribInvoke.CvSIFTDetectorCreate(nFeatures, nOctaveLayers, contrastThreshold, edgeThreshold, sigma, ref _feature2D);
+         _ptr = ContribInvoke.cveSIFTCreate(nFeatures, nOctaveLayers, contrastThreshold, edgeThreshold, sigma, ref _feature2D);
       }
 
       /// <summary>
@@ -41,7 +41,7 @@ namespace Emgu.CV.XFeatures2D
       protected override void DisposeObject()
       {
          if (_ptr != IntPtr.Zero)
-            ContribInvoke.CvSIFTDetectorRelease(ref _ptr);
+            ContribInvoke.cveSIFTRelease(ref _ptr);
          base.DisposeObject();
       }
    }
@@ -49,12 +49,12 @@ namespace Emgu.CV.XFeatures2D
    public static partial class ContribInvoke
    {
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static IntPtr CvSIFTDetectorCreate(
+      internal extern static IntPtr cveSIFTCreate(
          int nFeatures, int nOctaveLayers,
          double contrastThreshold, double edgeThreshold,
          double sigma, ref IntPtr feature2D);
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static void CvSIFTDetectorRelease(ref IntPtr detector);
+      internal extern static void cveSIFTRelease(ref IntPtr detector);
    }
 }

Emgu.CV.Contrib/XFeatures2D/SURFDetector.cs → Emgu.CV.Contrib/XFeatures2D/SURF.cs

@@ -14,7 +14,7 @@ namespace Emgu.CV.XFeatures2D
    /// <summary>
    /// Class for extracting Speeded Up Robust Features from an image
    /// </summary>
-   public class SURFDetector : Feature2D
+   public class SURF : Feature2D
    {
 
       /// <summary>
@@ -40,9 +40,9 @@ namespace Emgu.CV.XFeatures2D
       /// False means that detector computes orientation of each feature. 
       /// True means that the orientation is not computed (which is much, much faster). 
       /// For example, if you match images from a stereo pair, or do image stitching, the matched features likely have very similar angles, and you can speed up feature extraction by setting upright=true.</param>
-      public SURFDetector(double hessianThresh, int nOctaves = 4, int nOctaveLayers = 2, bool extended = true, bool upright = false)
+      public SURF(double hessianThresh, int nOctaves = 4, int nOctaveLayers = 2, bool extended = true, bool upright = false)
       {
-         _ptr = ContribInvoke.CvSURFDetectorCreate(hessianThresh, nOctaves, nOctaveLayers, extended, upright, ref _feature2D);
+         _ptr = ContribInvoke.cveSURFCreate(hessianThresh, nOctaves, nOctaveLayers, extended, upright, ref _feature2D);
       }
 
       /// <summary>
@@ -51,13 +51,13 @@ namespace Emgu.CV.XFeatures2D
       protected override void DisposeObject()
       {
          if (_ptr != IntPtr.Zero)
-            ContribInvoke.CvSURFDetectorRelease(ref _ptr);
+            ContribInvoke.cveSURFRelease(ref _ptr);
          base.DisposeObject();
       }
    }
 
    /// <summary>
-   /// This class wraps the functional calls to the opencv_nonfree module
+   /// This class wraps the functional calls to the opencv contrib modules
    /// </summary>
    public static partial class ContribInvoke
    {
@@ -67,7 +67,7 @@ namespace Emgu.CV.XFeatures2D
       }
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static IntPtr CvSURFDetectorCreate(
+      internal extern static IntPtr cveSURFCreate(
          double hessianThresh, int nOctaves, int nOctaveLayers, 
          [MarshalAs(CvInvoke.BoolMarshalType)]
          bool extended, 
@@ -76,6 +76,6 @@ namespace Emgu.CV.XFeatures2D
          ref IntPtr feature2D);
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static void CvSURFDetectorRelease(ref IntPtr detector);
+      internal extern static void cveSURFRelease(ref IntPtr detector);
    }
 }

Emgu.CV.Contrib/XFeatures2D/StarDetector.cs

@@ -16,11 +16,6 @@ namespace Emgu.CV.XFeatures2D
    /// </summary>
    public class StarDetector : Feature2D
    {
-      static StarDetector()
-      {
-         CvInvoke.CheckLibraryLoaded();
-      }
-
       /// <summary>
       /// Create a star detector with the specific parameters
       /// </summary>
@@ -45,7 +40,7 @@ namespace Emgu.CV.XFeatures2D
       /// </param>
       public StarDetector(int maxSize = 45, int responseThreshold = 30, int lineThresholdProjected = 10, int lineThresholdBinarized = 8, int suppressNonmaxSize = 5)
       {
-         _ptr = CvStarDetectorCreate(maxSize, responseThreshold, lineThresholdProjected, lineThresholdBinarized, suppressNonmaxSize, ref _feature2D);
+         _ptr = ContribInvoke.cveStarDetectorCreate(maxSize, responseThreshold, lineThresholdProjected, lineThresholdBinarized, suppressNonmaxSize, ref _feature2D);
       }
 
       /// <summary>
@@ -54,15 +49,20 @@ namespace Emgu.CV.XFeatures2D
       protected override void DisposeObject()
       {
          if (_ptr != IntPtr.Zero)
-            CvStarDetectorRelease(ref _ptr);
+            ContribInvoke.cveStarDetectorRelease(ref _ptr);
          base.DisposeObject();
       }
 
-      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static IntPtr CvStarDetectorCreate(int maxSize, int responseThreshold, int lineThresholdProjected, int lineThresholdBinarized, int suppressNonmaxSize, ref IntPtr feature2D);
+
+   }
+
+   public static partial class ContribInvoke
+   {
 
       [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
-      internal extern static void CvStarDetectorRelease(ref IntPtr detector);
+      internal extern static IntPtr cveStarDetectorCreate(int maxSize, int responseThreshold, int lineThresholdProjected, int lineThresholdBinarized, int suppressNonmaxSize, ref IntPtr feature2D);
 
+      [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+      internal extern static void cveStarDetectorRelease(ref IntPtr detector);
    }
 }

Emgu.CV.Example/SURFFeature/DrawMatches.cs

@@ -35,7 +35,7 @@ namespace SURFFeatureExample
          #if !IOS
          if ( CudaInvoke.HasCuda)
          {
-            CudaSURFDetector surfCuda = new CudaSURFDetector((float) hessianThresh);
+            CudaSURF surfCuda = new CudaSURF((float) hessianThresh);
             using (GpuMat gpuModelImage = new GpuMat(modelImage))
             //extract features from the object image
             using (GpuMat gpuModelKeyPoints = surfCuda.DetectKeyPointsRaw(gpuModelImage, null))
@@ -79,7 +79,7 @@ namespace SURFFeatureExample
             using (UMat uModelImage = modelImage.ToUMat(AccessType.Read))
             using (UMat uObservedImage = observedImage.ToUMat(AccessType.Read))
             {
-               SURFDetector surfCPU = new SURFDetector(hessianThresh);
+               SURF surfCPU = new SURF(hessianThresh);
                //extract features from the object image
                UMat modelDescriptors = new UMat();
                surfCPU.DetectAndCompute(uModelImage, null, modelKeyPoints, modelDescriptors, false);

Emgu.CV.Example/TrafficSignRecognition/StopSignDetector.cs

@@ -24,13 +24,13 @@ namespace TrafficSignRecognition
       private Mat _modelDescriptors;
       private BFMatcher _modelDescriptorMatcher;
       //private Features2DTracker<float> _tracker;
-      private SURFDetector _detector;
+      private SURF _detector;
 
       private VectorOfPoint _octagon;
 
       public StopSignDetector(IInputArray stopSignModel)
       {
-         _detector = new SURFDetector(500);
+         _detector = new SURF(500);
          using (Mat redMask = new Mat())
          {
             GetRedPixelMask(stopSignModel, redMask);

Emgu.CV.Extern/xfeatures2d/nonfree_c.cpp

@@ -7,7 +7,7 @@
 #include "nonfree_c.h"
 
 //SIFTDetector
-cv::xfeatures2d::SIFT* CvSIFTDetectorCreate(
+cv::xfeatures2d::SIFT* cveSIFTCreate(
    int nFeatures, int nOctaveLayers, 
    double contrastThreshold, double edgeThreshold, 
    double sigma, cv::Feature2D** feature2D)
@@ -19,7 +19,7 @@ cv::xfeatures2d::SIFT* CvSIFTDetectorCreate(
    return siftPtr.get();
 }
 
-void CvSIFTDetectorRelease(cv::xfeatures2d::SIFT** detector)
+void cveSIFTRelease(cv::xfeatures2d::SIFT** detector)
 {
    delete *detector;
    *detector = 0;
@@ -65,7 +65,7 @@ void CvSIFTDetectorComputeDescriptors(cv::SIFT* detector, IplImage* image, std::
 }*/
 
 //SURFDetector
-cv::xfeatures2d::SURF* CvSURFDetectorCreate(double hessianThresh, int nOctaves, int nOctaveLayers, bool extended, bool upright, cv::Feature2D** feature2D)
+cv::xfeatures2d::SURF* cveSURFCreate(double hessianThresh, int nOctaves, int nOctaveLayers, bool extended, bool upright, cv::Feature2D** feature2D)
 {
    cv::Ptr<cv::xfeatures2d::SURF> surfPtr = cv::xfeatures2d::SURF::create(hessianThresh, nOctaves, nOctaveLayers, extended, upright);
    surfPtr.addref();
@@ -74,7 +74,7 @@ cv::xfeatures2d::SURF* CvSURFDetectorCreate(double hessianThresh, int nOctaves,
    return surfPtr.get();
 }
 
-void CvSURFDetectorRelease(cv::xfeatures2d::SURF** detector)
+void cveSURFRelease(cv::xfeatures2d::SURF** detector)
 {
    delete *detector;
    *detector = 0;

Emgu.CV.Extern/xfeatures2d/nonfree_c.h

@@ -13,15 +13,15 @@
 #include "opencv2/xfeatures2d.hpp"
 
 //SIFTDetector
-CVAPI(cv::xfeatures2d::SIFT*) CvSIFTDetectorCreate(
+CVAPI(cv::xfeatures2d::SIFT*) cveSIFTCreate(
    int nFeatures, int nOctaveLayers, 
    double contrastThreshold, double edgeThreshold, 
    double sigma, cv::Feature2D** feature2D);
-CVAPI(void) CvSIFTDetectorRelease(cv::xfeatures2d::SIFT** detector);
+CVAPI(void) cveSIFTRelease(cv::xfeatures2d::SIFT** detector);
 
 //SURFDetector
-CVAPI(cv::xfeatures2d::SURF*) CvSURFDetectorCreate(double hessianThresh, int nOctaves, int nOctaveLayers, bool extended, bool upright, cv::Feature2D** feature2D);
-CVAPI(void) CvSURFDetectorRelease(cv::xfeatures2d::SURF** detector);
+CVAPI(cv::xfeatures2d::SURF*) cveSURFCreate(double hessianThresh, int nOctaves, int nOctaveLayers, bool extended, bool upright, cv::Feature2D** feature2D);
+CVAPI(void) cveSURFRelease(cv::xfeatures2d::SURF** detector);
 
 /*
 //----------------------------------------------------------------------------

Emgu.CV.Extern/xfeatures2d/xfeatures2d_c.cpp

@@ -7,7 +7,7 @@
 #include "xfeatures2d_c.h"
 
 //StarDetector
-cv::xfeatures2d::StarDetector* CvStarDetectorCreate(int maxSize, int responseThreshold, int lineThresholdProjected, int lineThresholdBinarized, int suppressNonmaxSize, cv::Feature2D** feature2D)
+cv::xfeatures2d::StarDetector* cveStarDetectorCreate(int maxSize, int responseThreshold, int lineThresholdProjected, int lineThresholdBinarized, int suppressNonmaxSize, cv::Feature2D** feature2D)
 {
    cv::Ptr<cv::xfeatures2d::StarDetector> detectorPtr = cv::xfeatures2d::StarDetector::create(maxSize, responseThreshold, lineThresholdProjected, lineThresholdBinarized, suppressNonmaxSize);
    detectorPtr.addref();
@@ -15,7 +15,7 @@ cv::xfeatures2d::StarDetector* CvStarDetectorCreate(int maxSize, int responseThr
    return detectorPtr.get();
 }
 
-void CvStarDetectorRelease(cv::xfeatures2d::StarDetector** detector)
+void cveStarDetectorRelease(cv::xfeatures2d::StarDetector** detector)
 {
    delete *detector;
    *detector = 0;
@@ -118,11 +118,11 @@ void cveLUCIDRelease(cv::xfeatures2d::LUCID** lucid)
 }
 
 //LATCH
-cv::xfeatures2d::LATCH* cveLATCHCreate(int bytes, bool rotationInvariance, int halfSsdSize, cv::DescriptorExtractor** extractor)
+cv::xfeatures2d::LATCH* cveLATCHCreate(int bytes, bool rotationInvariance, int halfSsdSize, cv::Feature2D** extractor)
 {
    cv::Ptr<cv::xfeatures2d::LATCH> latchPtr = cv::xfeatures2d::LATCH::create(bytes, rotationInvariance, halfSsdSize);
    latchPtr.addref();
-   *extractor = dynamic_cast<cv::DescriptorExtractor*>(latchPtr.get());
+   *extractor = dynamic_cast<cv::Feature2D*>(latchPtr.get());
    return latchPtr.get();
 }
 void cveLATCHRelease(cv::xfeatures2d::LATCH** latch)
@@ -130,3 +130,19 @@ void cveLATCHRelease(cv::xfeatures2d::LATCH** latch)
    delete *latch;
    *latch = 0;
 }
+
+//DAISY
+cv::xfeatures2d::DAISY* cveDAISYCreate(float radius, int qRadius, int qTheta,
+   int qHist, int norm, cv::_InputArray* H,
+   bool interpolation, bool useOrientation, cv::Feature2D** extractor)
+{
+   cv::Ptr<cv::xfeatures2d::DAISY> daisyPtr = cv::xfeatures2d::DAISY::create(radius, qRadius, qTheta, qHist, norm, H ? *H : (cv::_InputArray) cv::noArray(), interpolation, useOrientation);
+   daisyPtr.addref();
+   *extractor = dynamic_cast<cv::Feature2D*>(daisyPtr.get());
+   return daisyPtr.get();
+}
+void cveDAISYRelease(cv::xfeatures2d::DAISY** daisy)
+{
+   delete* daisy;
+   *daisy = 0;
+}

Emgu.CV.Extern/xfeatures2d/xfeatures2d_c.h

@@ -13,8 +13,8 @@
 #include "vectors_c.h"
 
 //StarDetector
-CVAPI(cv::xfeatures2d::StarDetector*) CvStarDetectorCreate(int maxSize, int responseThreshold, int lineThresholdProjected, int lineThresholdBinarized, int suppressNonmaxSize, cv::Feature2D** feature2D);
-CVAPI(void) CvStarDetectorRelease(cv::xfeatures2d::StarDetector** detector);
+CVAPI(cv::xfeatures2d::StarDetector*) cveStarDetectorCreate(int maxSize, int responseThreshold, int lineThresholdProjected, int lineThresholdBinarized, int suppressNonmaxSize, cv::Feature2D** feature2D);
+CVAPI(void) cveStarDetectorRelease(cv::xfeatures2d::StarDetector** detector);
 
 /*
 //GridAdaptedFeatureDetector
@@ -45,13 +45,13 @@ CVAPI(void) cveLUCIDRelease(cv::xfeatures2d::LUCID** lucid);
 
 
 //LATCH
-CVAPI(cv::xfeatures2d::LATCH*) cveLATCHCreate(int bytes, bool rotationInvariance, int halfSsdSize, cv::DescriptorExtractor** extractor);
+CVAPI(cv::xfeatures2d::LATCH*) cveLATCHCreate(int bytes, bool rotationInvariance, int halfSsdSize, cv::Feature2D** extractor);
 CVAPI(void) cveLATCHRelease(cv::xfeatures2d::LATCH** lucid);
 
 //DAISY
-CVAPI(cv::xfeatures2d::DAISY*) cveDAISYCreate(float radius = 15, int q_radius = 3, int q_theta = 8,
-   int q_hist = 8, int norm, cv::_InputArray* H,
-   bool interpolation, bool use_orientation = false, cv::DescriptorExtractor** extractor);
+CVAPI(cv::xfeatures2d::DAISY*) cveDAISYCreate(float radius, int qRadius, int qTheta,
+   int qHist, int norm, cv::_InputArray* H,
+   bool interpolation, bool useOrientation, cv::Feature2D** extractor);
 CVAPI(void) cveDAISYRelease(cv::xfeatures2d::DAISY** daisy);
 
 #endif

Emgu.CV.Test/AutoTestCuda.cs

@@ -1,8 +1,8 @@
-//----------------------------------------------------------------------------
+//----------------------------------------------------------------------------
 //  Copyright (C) 2004-2015 by EMGU Corporation. All rights reserved.       
 //----------------------------------------------------------------------------
 
-using System;
+ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Drawing;
@@ -524,7 +524,7 @@ namespace Emgu.CV.Test
 
             EmguAssert.IsTrue(gpuMat.ToMat().Equals(image.Mat));
 
-            CudaSURFDetector cudaSurf = new CudaSURFDetector(100.0f, 2, 4, false, 0.01f, false);
+            CudaSURF cudaSurf = new CudaSURF(100.0f, 2, 4, false, 0.01f, false);
             GpuMat cudaKpts = cudaSurf.DetectKeyPointsRaw(gpuMat, null);
             VectorOfKeyPoint kpts = new VectorOfKeyPoint();
             cudaSurf.DownloadKeypoints(cudaKpts, kpts);

Emgu.CV.Test/AutoTestFeatures2d.cs

@@ -37,14 +37,40 @@ namespace Emgu.CV.Test
       [Test]
       public void TestBrisk()
       {
-         Brisk detector = new Brisk(30, 3, 1.0f);
+         Brisk detector = new Brisk();
          EmguAssert.IsTrue(TestFeature2DTracker(detector, detector), "Unable to find homography matrix");
       }
 #endif
+
+      [Test]
+      public void TestDAISY()
+      {
+         SURF surf = new SURF(300);
+         DAISY  daisy = new DAISY();
+         EmguAssert.IsTrue(TestFeature2DTracker(surf, daisy), "Unable to find homography matrix");
+      }
+
+      [Test]
+      public void TestLATCH()
+      {
+         SURF surf = new SURF(300);
+         LATCH latch = new LATCH();
+         EmguAssert.IsTrue(TestFeature2DTracker(surf, latch), "Unable to find homography matrix");
+      }
+
+      /*
+      [Test]
+      public void TestLUCID()
+      {
+         SURF surf = new SURF(300);
+         LUCID lucid = new LUCID();
+         EmguAssert.IsTrue(TestFeature2DTracker(surf, lucid ), "Unable to find homography matrix");
+      }*/
+
       [Test]
       public void TestSIFT()
       {
-         SIFTDetector detector = new SIFTDetector();
+         SIFT detector = new SIFT();
          EmguAssert.IsTrue(TestFeature2DTracker(detector, detector), "Unable to find homography matrix");
       }
 
@@ -53,7 +79,7 @@ namespace Emgu.CV.Test
       public void TestDense()
       {
          DenseFeatureDetector detector = new DenseFeatureDetector(1.0f, 1, 0.1f, 6, 0, true, false); 
-         SIFTDetector extractor = new SIFTDetector();
+         SIFT extractor = new SIFT();
          EmguAssert.IsTrue(TestFeature2DTracker(detector, extractor), "Unable to find homography matrix");
       
       }*/
@@ -61,7 +87,7 @@ namespace Emgu.CV.Test
       [Test]
       public void TestSURF()
       {
-         SURFDetector detector = new SURFDetector(500);
+         SURF detector = new SURF(500);
          //ParamDef[] parameters = detector.GetParams();
          EmguAssert.IsTrue(TestFeature2DTracker(detector, detector), "Unable to find homography matrix");
       }
@@ -69,7 +95,7 @@ namespace Emgu.CV.Test
       [Test]
       public void TestSURFBlankImage()
       {
-         SURFDetector detector = new SURFDetector(500);
+         SURF detector = new SURF(500);
          Image<Gray, Byte> img = new Image<Gray, byte>(1024, 900);
          VectorOfKeyPoint vp = new VectorOfKeyPoint();
          Mat descriptors = new Mat();
@@ -81,8 +107,8 @@ namespace Emgu.CV.Test
       {
          StarDetector keyPointDetector = new StarDetector();
 
-         //SURFDetector descriptorGenerator = new SURFDetector(500, false);
-         SIFTDetector descriptorGenerator = new SIFTDetector();
+         //SURF descriptorGenerator = new SURF(500, false);
+         SIFT descriptorGenerator = new SIFT();
          //ParamDef[] parameters = keyPointDetector.GetParams();
          TestFeature2DTracker(keyPointDetector, descriptorGenerator);
       }
@@ -91,7 +117,7 @@ namespace Emgu.CV.Test
       public void TestGFTTDetector()
       {
          GFTTDetector keyPointDetector = new GFTTDetector(1000, 0.01, 1, 3, false, 0.04);
-         SIFTDetector descriptorGenerator = new SIFTDetector();
+         SIFT descriptorGenerator = new SIFT();
          //ParamDef[] parameters = keyPointDetector.GetParams();
          TestFeature2DTracker(keyPointDetector, descriptorGenerator);
       }
@@ -101,7 +127,7 @@ namespace Emgu.CV.Test
       public void TestDenseFeatureDetector()
       {
          DenseFeatureDetector keyPointDetector = new DenseFeatureDetector(1, 1, 0.1f, 6, 0, true, false);
-         SIFTDetector descriptorGenerator = new SIFTDetector();
+         SIFT descriptorGenerator = new SIFT();
          TestFeature2DTracker(keyPointDetector, descriptorGenerator);
       }*/
 
@@ -112,8 +138,8 @@ namespace Emgu.CV.Test
          LDetector keyPointDetector = new LDetector();
          keyPointDetector.Init();
          
-         //SURFDetector descriptorGenerator = new SURFDetector(500, false);
-         SIFTDetector descriptorGenerator = new SIFTDetector(4, 3, -1, SIFTDetector.AngleMode.AVERAGE_ANGLE, 0.04 / 3 / 2.0, 10.0, 3.0, true, true);
+         //SURF descriptorGenerator = new SURF(500, false);
+         SIFT descriptorGenerator = new SIFT(4, 3, -1, SIFT.AngleMode.AVERAGE_ANGLE, 0.04 / 3 / 2.0, 10.0, 3.0, true, true);
 
          TestFeature2DTracker(keyPointDetector, descriptorGenerator);
       }*/
@@ -123,7 +149,7 @@ namespace Emgu.CV.Test
       public void TestMSER()
       {
          MSERDetector keyPointDetector = new MSERDetector();
-         SIFTDetector descriptorGenerator = new SIFTDetector();
+         SIFT descriptorGenerator = new SIFT();
          //ParamDef[] parameters = keyPointDetector.GetParams();
          TestFeature2DTracker(keyPointDetector, descriptorGenerator);
       }
@@ -183,7 +209,7 @@ namespace Emgu.CV.Test
                feature2D = keyPointDetector as Feature2D;
             }
 
-            Image<Gray, Byte> modelImage = EmguAssert.LoadImage<Gray, byte>("box.png");
+            Mat modelImage = EmguAssert.LoadMat("box.png");
             //Image<Gray, Byte> modelImage = new Image<Gray, byte>("stop.jpg");
             //modelImage = modelImage.Resize(400, 400, true);
 
@@ -234,9 +260,9 @@ namespace Emgu.CV.Test
             #endregion
 
                //Merge the object image and the observed image into one big image for display
-               Image<Gray, Byte> res = modelImage.ConcateVertical(observedImage);
+               Image<Gray, Byte> res = modelImage.ToImage<Gray, Byte>().ConcateVertical(observedImage);
 
-               Rectangle rect = modelImage.ROI;
+               Rectangle rect = new Rectangle(Point.Empty, modelImage.Size);
                PointF[] pts = new PointF[] { 
                new PointF(rect.Left, rect.Bottom),
                new PointF(rect.Right, rect.Bottom),
@@ -339,9 +365,9 @@ namespace Emgu.CV.Test
          Image<Bgr, byte> box = EmguAssert.LoadImage<Bgr, byte>("box.png");
          Image<Gray, byte> gray = box.Convert<Gray, Byte>();
 
-         SURFDetector surf = new SURFDetector(400);
+         SURF surf = new SURF(400);
          OpponentColorDescriptorExtractor opponentSurf = new OpponentColorDescriptorExtractor(surf);
-         SIFTDetector sift = new SIFTDetector();
+         SIFT sift = new SIFT();
          OpponentColorDescriptorExtractor opponentSift = new OpponentColorDescriptorExtractor(sift);
          //using (Util.VectorOfKeyPoint kpts = surf.DetectKeyPointsRaw(gray, null))
          using (Util.VectorOfKeyPoint kpts = new VectorOfKeyPoint() )
@@ -377,7 +403,7 @@ namespace Emgu.CV.Test
       {
          //Trace.WriteLine("Size of MCvSURFParams: " + Marshal.SizeOf(typeof(MCvSURFParams)));
          Image<Gray, byte> box = EmguAssert.LoadImage<Gray, byte>("box.png");
-         SURFDetector detector = new SURFDetector(400);
+         SURF detector = new SURF(400);
 
          Stopwatch watch = Stopwatch.StartNew();
          VectorOfKeyPoint vp1 = new VectorOfKeyPoint();
@@ -439,7 +465,7 @@ namespace Emgu.CV.Test
       public void TestGridAdaptedFeatureDetectorRepeatedRun()
       {
          Image<Gray, byte> box = EmguAssert.LoadImage<Gray, byte>("box.png");
-         SURFDetector surfdetector = new SURFDetector(400);
+         SURF surfdetector = new SURF(400);
 
          GridAdaptedFeatureDetector detector = new GridAdaptedFeatureDetector(surfdetector, 1000, 2, 2);
          VectorOfKeyPoint kpts1 = new VectorOfKeyPoint();
@@ -454,7 +480,7 @@ namespace Emgu.CV.Test
       public void TestSURFDetectorRepeatedRun()
       {
          Image<Gray, byte> box = EmguAssert.LoadImage<Gray, byte>("box.png");
-         SURFDetector detector = new SURFDetector(400);
+         SURF detector = new SURF(400);
          Image<Gray, Byte> boxInScene = EmguAssert.LoadImage<Gray, byte>("box_in_scene.png");
          ImageFeature<float>[] features1 = detector.DetectAndCompute(box, null);
          Features2DTracker<float> tracker = new Features2DTracker<float>(features1);
@@ -492,7 +518,7 @@ namespace Emgu.CV.Test
       public void TestSelfMatch()
       {
          Image<Gray, byte> box = EmguAssert.LoadImage<Gray, byte>("box.png");
-         SURFDetector surfDetector = new SURFDetector(300);
+         SURF surfDetector = new SURF(300);
          ImageFeature<float>[] features1 = surfDetector.DetectAndCompute(box, null);
          Features2DTracker<float> tracker = new Features2DTracker<float>(features1);
          HomographyMatrix m = tracker.Detect(features1, 0.8);
@@ -535,7 +561,7 @@ namespace Emgu.CV.Test
       public void TestBOWKmeansTrainer()
       {
          Image<Gray, byte> box = EmguAssert.LoadImage<Gray, byte>("box.png");
-         SURFDetector detector = new SURFDetector(500);
+         SURF detector = new SURF(500);
          VectorOfKeyPoint kpts = new VectorOfKeyPoint();
          Mat descriptors = new Mat();
          detector.DetectAndCompute(box, null, kpts, descriptors, false);

Emgu.CV.Test/AutoTestVarious.cs

@@ -2129,7 +2129,7 @@ namespace Emgu.CV.Test
          using (Image<Gray, Byte> gray = image.Convert<Gray, byte>())
          using (RTreeClassifier<Bgr> classifier = new RTreeClassifier<Bgr>())
          {
-            SURFDetector surf = new SURFDetector(300);
+            SURF surf = new SURF(300);
             MKeyPoint[] keypoints = surf.Detect(gray, null);
             Point[] points = Array.ConvertAll<MKeyPoint, Point>(keypoints, delegate(MKeyPoint kp) {
                return Point.Round(kp.Point); });

Emgu.CV.Test/Class1.cs

@@ -598,7 +598,7 @@ namespace Emgu.CV.Test
          using (Capture capture = new Capture())
          using (GaussianMotionFilter motionFilter = new GaussianMotionFilter())
          //using (Features2D.FastDetector detector = new Features2D.FastDetector(10, true))
-         using (Features2D.SURFDetector detector = new Features2D.SURFDetector(500, false))
+         using (Features2D.SURF detector = new Features2D.SURF(500, false))
          //using (Features2D.ORBDetector detector = new Features2D.ORBDetector(500))
          using (OnePassStabilizer stabilizer = new OnePassStabilizer(capture))
          {
@@ -648,7 +648,7 @@ namespace Emgu.CV.Test
          using (Capture capture = new Capture("tree.avi"))
          using (GaussianMotionFilter motionFilter = new GaussianMotionFilter(15, -1.0f))
          //using (Features2D.FastDetector detector = new Features2D.FastDetector(10, true))
-         //using (Features2D.SURFDetector detector = new Features2D.SURFDetector(500, false))
+         //using (Features2D.SURF detector = new Features2D.SURF(500, false))
          //using (Features2D.ORBDetector detector = new Features2D.ORBDetector(500))
          using (CaptureFrameSource frameSource = new CaptureFrameSource(capture))
          using (TwoPassStabilizer stabilizer = new TwoPassStabilizer(frameSource))

Emgu.CV/Features2D/Feature2D.cs

@@ -151,8 +151,6 @@ namespace Emgu.CV.Features2D
             return Feature2DInvoke.CvFeature2DGetDescriptorSize(_feature2D);
          }
       }
-
-     
    }
 
    internal partial class Feature2DInvoke