From 4a3da1c4ed67af8c2037cac548e2b351be080de6 Mon Sep 17 00:00:00 2001
From: Vladislav Sovrasov <sovrasov.vlad@gmail.com>
Date: Mon, 12 Dec 2016 12:25:57 +0300
Subject: [PATCH] Fix missing angles in AKAZE keypoints

---
 modules/features2d/src/akaze.cpp              |  2 ++
 modules/features2d/src/kaze/AKAZEFeatures.cpp | 11 ++++++++++
 modules/features2d/src/kaze/AKAZEFeatures.h   |  1 +
 .../test/test_detectors_regression.cpp        | 20 +++++++++++++++++++
 4 files changed, 34 insertions(+)

diff --git a/modules/features2d/src/akaze.cpp b/modules/features2d/src/akaze.cpp
index d598155275..2297194b2c 100644
--- a/modules/features2d/src/akaze.cpp
+++ b/modules/features2d/src/akaze.cpp
@@ -200,6 +200,8 @@ namespace cv
             if (!useProvidedKeypoints)
             {
                 impl.Feature_Detection(keypoints);
+                if( !descriptors.needed() )
+                    impl.Compute_Keypoints_Orientation(keypoints);
             }
 
             if (!mask.empty())
diff --git a/modules/features2d/src/kaze/AKAZEFeatures.cpp b/modules/features2d/src/kaze/AKAZEFeatures.cpp
index 9c30ca928a..77a68a554c 100644
--- a/modules/features2d/src/kaze/AKAZEFeatures.cpp
+++ b/modules/features2d/src/kaze/AKAZEFeatures.cpp
@@ -844,6 +844,17 @@ void AKAZEFeatures::Compute_Main_Orientation(KeyPoint& kpt, const std::vector<TE
   }
 }
 
+/* ************************************************************************* */
+/**
+ * @brief This method computes the main orientation for a given keypoints
+ * @param kpts Input keypoints
+ */
+void AKAZEFeatures::Compute_Keypoints_Orientation(std::vector<KeyPoint>& kpts) const
+{
+     for(size_t i = 0; i < kpts.size(); i++)
+         Compute_Main_Orientation(kpts[i], evolution_);
+}
+
 /* ************************************************************************* */
 /**
  * @brief This method computes the upright descriptor (not rotation invariant) of
diff --git a/modules/features2d/src/kaze/AKAZEFeatures.h b/modules/features2d/src/kaze/AKAZEFeatures.h
index 14800bc372..16a858fd6d 100644
--- a/modules/features2d/src/kaze/AKAZEFeatures.h
+++ b/modules/features2d/src/kaze/AKAZEFeatures.h
@@ -54,6 +54,7 @@ public:
   /// Feature description methods
   void Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc);
   static void Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vector<TEvolution>& evolution_);
+  void Compute_Keypoints_Orientation(std::vector<cv::KeyPoint>& kpts) const;
 };
 
 /* ************************************************************************* */
diff --git a/modules/features2d/test/test_detectors_regression.cpp b/modules/features2d/test/test_detectors_regression.cpp
index a235065172..9b6d489535 100644
--- a/modules/features2d/test/test_detectors_regression.cpp
+++ b/modules/features2d/test/test_detectors_regression.cpp
@@ -301,3 +301,23 @@ TEST( Features2d_Detector_AKAZE, regression )
     CV_FeatureDetectorTest test( "detector-akaze", AKAZE::create() );
     test.safe_run();
 }
+
+TEST( Features2d_Detector_AKAZE, detect_and_compute_split )
+{
+    Mat testImg(100, 100, CV_8U);
+    RNG rng(101);
+    rng.fill(testImg, RNG::UNIFORM, Scalar(0), Scalar(255), true);
+
+    Ptr<Feature2D> ext = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.001f, 1, 1, KAZE::DIFF_PM_G2);
+    vector<KeyPoint> detAndCompKps;
+    Mat desc;
+    ext->detectAndCompute(testImg, noArray(), detAndCompKps, desc);
+
+    vector<KeyPoint> detKps;
+    ext->detect(testImg, detKps);
+
+    ASSERT_EQ(detKps.size(), detAndCompKps.size());
+
+    for(size_t i = 0; i < detKps.size(); i++)
+        ASSERT_EQ(detKps[i].hash(), detAndCompKps[i].hash());
+}