added upright mode to SURF (#825)

modules/features2d/include/opencv2/features2d/features2d.hpp

@@ -81,6 +81,7 @@ CV_INLINE CvSURFPoint cvSURFPoint( CvPoint2D32f pt, int laplacian,
 typedef struct CvSURFParams
 {
     int    extended;
+    int    upright;
     double hessianThreshold;
 
     int    nOctaves;
@@ -395,7 +396,7 @@ public:
     CV_WRAP SURF();
     //! the full constructor taking all the necessary parameters
     CV_WRAP SURF(double _hessianThreshold, int _nOctaves=4,
-         int _nOctaveLayers=2, bool _extended=false);
+         int _nOctaveLayers=2, bool _extended=false, bool _upright=false);
 
     //! returns the descriptor size in float's (64 or 128)
     CV_WRAP int descriptorSize() const;
@@ -1519,7 +1520,7 @@ protected:
 class CV_EXPORTS SurfFeatureDetector : public FeatureDetector
 {
 public:
-    SurfFeatureDetector( double hessianThreshold=400., int octaves=3, int octaveLayers=4 );
+    SurfFeatureDetector( double hessianThreshold=400., int octaves=3, int octaveLayers=4, bool upright=false );
     virtual void read( const FileNode& fn );
     virtual void write( FileStorage& fs ) const;
 
@@ -1897,7 +1898,7 @@ protected:
 class CV_EXPORTS SurfDescriptorExtractor : public DescriptorExtractor
 {
 public:
-    SurfDescriptorExtractor( int nOctaves=4, int nOctaveLayers=2, bool extended=false );
+    SurfDescriptorExtractor( int nOctaves=4, int nOctaveLayers=2, bool extended=false, bool upright=false );
 
     virtual void read( const FileNode &fn );
     virtual void write( FileStorage &fs ) const;
@@ -1906,7 +1907,7 @@ public:
     virtual int descriptorType() const;
 
 protected:
-	virtual void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
+    virtual void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
 
     SURF surf;
 };

modules/features2d/src/descriptors.cpp

@@ -191,8 +191,8 @@ int SiftDescriptorExtractor::descriptorType() const
 *                                SurfDescriptorExtractor                                 *
 \****************************************************************************************/
 SurfDescriptorExtractor::SurfDescriptorExtractor( int nOctaves,
-                                                  int nOctaveLayers, bool extended )
-    : surf( 0.0, nOctaves, nOctaveLayers, extended )
+                                                  int nOctaveLayers, bool extended, bool upright )
+    : surf( 0.0, nOctaves, nOctaveLayers, extended, upright )
 {}
 
 void SurfDescriptorExtractor::computeImpl( const Mat& image,
@@ -218,8 +218,9 @@ void SurfDescriptorExtractor::read( const FileNode &fn )
     int nOctaves = fn["nOctaves"];
     int nOctaveLayers = fn["nOctaveLayers"];
     bool extended = (int)fn["extended"] != 0;
+    bool upright = (int)fn["upright"] != 0;
 
-    surf = SURF( 0.0, nOctaves, nOctaveLayers, extended );
+    surf = SURF( 0.0, nOctaves, nOctaveLayers, extended, upright );
 }
 
 void SurfDescriptorExtractor::write( FileStorage &fs ) const
@@ -229,6 +230,7 @@ void SurfDescriptorExtractor::write( FileStorage &fs ) const
     fs << "nOctaves" << surf.nOctaves;
     fs << "nOctaveLayers" << surf.nOctaveLayers;
     fs << "extended" << surf.extended;
+    fs << "upright" << surf.upright;
 }
 
 int SurfDescriptorExtractor::descriptorSize() const

modules/features2d/src/detectors.cpp

@@ -407,8 +407,8 @@ void SiftFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoi
 /*
  *  SurfFeatureDetector
  */
-SurfFeatureDetector::SurfFeatureDetector( double hessianThreshold, int octaves, int octaveLayers)
-    : surf(hessianThreshold, octaves, octaveLayers)
+SurfFeatureDetector::SurfFeatureDetector( double hessianThreshold, int octaves, int octaveLayers, bool upright )
+    : surf(hessianThreshold, octaves, octaveLayers, false, upright)
 {}
 
 void SurfFeatureDetector::read (const FileNode& fn)
@@ -416,8 +416,9 @@ void SurfFeatureDetector::read (const FileNode& fn)
     double hessianThreshold = fn["hessianThreshold"];
     int octaves = fn["octaves"];
     int octaveLayers = fn["octaveLayers"];
+    bool upright = (int)fn["upright"] != 0;
 
-    surf = SURF( hessianThreshold, octaves, octaveLayers );
+    surf = SURF( hessianThreshold, octaves, octaveLayers, false, upright );
 }
 
 void SurfFeatureDetector::write (FileStorage& fs) const
@@ -427,6 +428,7 @@ void SurfFeatureDetector::write (FileStorage& fs) const
     fs << "hessianThreshold" << surf.hessianThreshold;
     fs << "octaves" << surf.nOctaves;
     fs << "octaveLayers" << surf.nOctaveLayers;
+    fs << "upright" << surf.upright;
 }
 
 void SurfFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const