Avoid multi-inheritance in the cuda::features2d classes

modules/cudafeatures2d/include/opencv2/cudafeatures2d.hpp

@@ -374,7 +374,7 @@ public:
 
 /** @brief Abstract base class for CUDA asynchronous 2D image feature detectors and descriptor extractors.
  */
-class CV_EXPORTS Feature2DAsync
+class CV_EXPORTS Feature2DAsync : public cv::Feature2D
 {
 public:
     virtual ~Feature2DAsync();
@@ -423,7 +423,7 @@ public:
 
 /** @brief Wrapping class for feature detection using the FAST method.
  */
-class CV_EXPORTS FastFeatureDetector : public cv::FastFeatureDetector, public Feature2DAsync
+class CV_EXPORTS FastFeatureDetector : public Feature2DAsync
 {
 public:
     enum
@@ -437,8 +437,9 @@ public:
 
     static Ptr<FastFeatureDetector> create(int threshold=10,
                                            bool nonmaxSuppression=true,
-                                           int type=FastFeatureDetector::TYPE_9_16,
+                                           int type=cv::FastFeatureDetector::TYPE_9_16,
                                            int max_npoints = 5000);
+    virtual void setThreshold(int threshold) = 0;
 
     virtual void setMaxNumPoints(int max_npoints) = 0;
     virtual int getMaxNumPoints() const = 0;
@@ -452,7 +453,7 @@ public:
  *
  * @sa cv::ORB
  */
-class CV_EXPORTS ORB : public cv::ORB, public Feature2DAsync
+class CV_EXPORTS ORB : public Feature2DAsync
 {
 public:
     enum
@@ -472,7 +473,7 @@ public:
                            int edgeThreshold=31,
                            int firstLevel=0,
                            int WTA_K=2,
-                           int scoreType=ORB::HARRIS_SCORE,
+                           int scoreType=cv::ORB::HARRIS_SCORE,
                            int patchSize=31,
                            int fastThreshold=20,
                            bool blurForDescriptor=false);

modules/cudafeatures2d/src/fast.cpp

@@ -81,8 +81,8 @@ namespace
         virtual void setMaxNumPoints(int max_npoints) { max_npoints_ = max_npoints; }
         virtual int getMaxNumPoints() const { return max_npoints_; }
 
-        virtual void setType(int type) { CV_Assert( type == TYPE_9_16 ); }
-        virtual int getType() const { return TYPE_9_16; }
+        virtual void setType(int type) { CV_Assert( type == cv::FastFeatureDetector::TYPE_9_16 ); }
+        virtual int getType() const { return cv::FastFeatureDetector::TYPE_9_16; }
 
     private:
         int threshold_;
@@ -207,7 +207,7 @@ namespace
 
 Ptr<cv::cuda::FastFeatureDetector> cv::cuda::FastFeatureDetector::create(int threshold, bool nonmaxSuppression, int type, int max_npoints)
 {
-    CV_Assert( type == TYPE_9_16 );
+    CV_Assert( type == cv::FastFeatureDetector::TYPE_9_16 );
     return makePtr<FAST_Impl>(threshold, nonmaxSuppression, max_npoints);
 }
 

modules/cudafeatures2d/src/orb.cpp

@@ -354,7 +354,7 @@ namespace
 
         virtual void convert(InputArray _gpu_keypoints, std::vector<KeyPoint>& keypoints);
 
-        virtual int descriptorSize() const { return kBytes; }
+        virtual int descriptorSize() const { return cv::ORB::kBytes; }
         virtual int descriptorType() const { return CV_8U; }
         virtual int defaultNorm() const { return NORM_HAMMING; }
 
@@ -764,7 +764,7 @@ namespace
 
             const int n_features = static_cast<int>(n_features_per_level_[level]);
 
-            if (scoreType_ == ORB::HARRIS_SCORE)
+            if (scoreType_ == cv::ORB::HARRIS_SCORE)
             {
                 // Keep more points than necessary as FAST does not give amazing corners
                 cull(keyPointsPyr_[level], keyPointsCount_[level], 2 * n_features, stream);