#include <opencv2/opencv.hpp>

#include <opencv2/features2d/features2d.hpp>

#include <iostream>

#include <vector>

using namespace cv;

using namespace std;

int main()

{

        string test_im_file = "test_front_im.png";

        Mat im = imread(test_im_file);

        Mat im2;

        vector<KeyPoint> keypoints;

        cout << "Doing  SIFT " <<endl;

        SIFT sift;

        cv::Mat descriptors;

        cv::cvtColor(im,im2,CV_RGB2GRAY);

                im2.convertTo(im2,CV_8UC1);

        sift(im2,Mat(),keypoints,descriptors,false);

        sift(im2,Mat(),keypoints,descriptors,true);

        Size s =descriptors.size() ;

        cout << "Number of keypoints found: " << keypoints.size() << endl;

        cout << "Descriptor size: " << s.width << endl;

        cout << "Doing  SURF" <<endl;

        SURF surf(1.2,4,2,false,true);

        vector<float> descriptors2;

        surf(im2,Mat(),keypoints,descriptors2,true);

        int s2 =descriptors2.size() ;

        cout << "Number of keypoints found: " << keypoints.size() << endl;

        cout << "Descriptor size: " << s2/keypoints.size() << endl;

        cout << "Doing ORB" << endl;

        Mat descriptors3;

        vector<KeyPoint> keypoints3;

        ORB orb;

        cout << endl;

        orb(im2,Mat(),keypoints3,descriptors3,false);

        cout << "Number of keypoints found when orb detects keypoints: " << keypoints3.size() << endl;

        orb(im2,Mat(),keypoints3,descriptors3,true);

        s = descriptors3.size();

        cout << "Number of keypoints found when the same keypoints are provided: " << keypoints3.size() << endl;

        cout << "Descriptor size: " << s.width << endl;

        cout << "Done!"<< endl;

}