//
// Created by fontan on 20/02/24.
//

#ifndef ANYFEATURE_VSLAM_FEATUREEXTRACTOR_H
#define ANYFEATURE_VSLAM_FEATUREEXTRACTOR_H

#include "Types.h"
#include "Definitions.h"
#include "Image.h"

#include <opencv2/opencv.hpp>

namespace ANYFEATURE_VSLAM {

    class FeatureExtractor;
    class ExtractorNode;

    enum CovarianceMethod {
        SIZE = 1,
        NONE = 0,
    };

    class FeatureExtractorSettings
    {
    public:

        static int numOctaves0;
        static float scaleFactor0;
        static float th0;

        FeatureExtractorSettings(const KeypointType& keypointType_,
                                 const DescriptorType& descriptorType_,
                                 const std::string &settingsYamlFile);

        FeatureExtractorSettings(const float& scaleFactor_, const int& nlevels_,
                                 const int& iniThFAST_, const int& minThFAST_,
                                 const KeypointType& keypointType_,
                                 const DescriptorType& descriptorType_);

        static float GetDetectorNominalScaleFactor() {return scaleFactor0;};
        static int GetDetectorNominalNumOctaves()  {return numOctaves0;};
        static float GetDetectorNominalThreshold()  {return th0;};

        VerbosityLevel verbosity{LOW};
        bool ON_automaticTuning;

        float scaleFactor;
        int nOctaves;
        int iniThFAST;
        int minThFAST;
        float detectTh;
        const float W{30.0f};
        const float minPercFeaturesToFilter{1.05f};

        KeypointType keypointType;
        DescriptorType descriptorType;
        float maxKeyPtSize{0.0};
        float minKeyPtSize{std::numeric_limits<float>::max()};

        float maxKeyPtSize0{};
        float maxKeyPtSigma0{};
        float scaleFactorOrb{1.2f};
        int nOctavesOrb{8};

    };

    class FeatureExtractor {

    public:

        FeatureExtractor(const int& nfeatures_, std::shared_ptr<FeatureExtractorSettings>& settings_);
        ~FeatureExtractor() = default;

        std::shared_ptr<FeatureExtractorSettings> settings{};
        void operator()( const Image & img,
                         std::vector<cv::KeyPoint>& keypoints,
                         cv::OutputArray descriptors,
                         std::vector<mat2f>& keyPtsSigma2,
                         std::vector<mat2f>& keyPtsInf,
                         std::vector<float>& keyPtsSize,
                         const bool& vanillaOrbslam);

        void operator()( const Image & img,
                         std::vector<cv::KeyPoint>& keypoints,
                         cv::Mat& descriptors,
                         std::vector<mat2f>& keyPtsSigma2,
                         std::vector<mat2f>& keyPtsInf,
                         std::vector<float>& keyPtsSize);

        void operator()( const Image & img,
                         std::vector<cv::KeyPoint>& keypoints,
                         cv::Mat& descriptors);

        int inline GetLevels(){return settings->nOctaves;}
        float inline GetScaleFactor(){return settings->scaleFactor;}
        std::vector<float> inline GetScaleFactors(){return mvScaleFactor;}
        [[nodiscard]] float inline GetMaxKeyPtSize() const{return settings->maxKeyPtSize0;}
        [[nodiscard]] float inline GetMaxKeyPtSigma() const{return settings->maxKeyPtSigma0;}

    protected:
        int nfeatures;
        std::vector<int> mnFeaturesPerLevel;
        std::vector<float> percFeaturesPerLevel;

        float computeStep(const float& th_0, const Image& img);
        void computeSize(std::vector<float>& keyPtsSize, const std::vector<cv::KeyPoint>& keypoints);
        void computeSigma(std::vector<mat2f>& keyPtsSigma2, std::vector<mat2f>& keyPtsInf,
                          const std::vector<float>& keyPtsSize, const std::vector<cv::KeyPoint>& keypoints,
                          const Image& img, const CovarianceMethod& method);
        void automaticTuning(const Image& img);

        // Functions to override
        virtual void initializeExtractor(const Image& img){};
    public:

    protected:
        [[nodiscard]] virtual int GetKeypointOctave(const cv::KeyPoint& keypoint) const{};
        [[nodiscard]] virtual float GetKeypointSize(const cv::KeyPoint& keypoint) const{};

        // Auxiliary Functions
        virtual void detectAndCompute(const Image& img, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors){};
        virtual void detectKeypoints(std::map<int,std::vector<cv::KeyPoint>>& keypoints_level, const Image& img, const float& detectTh, const int& nOctaves) const {};
        virtual void computeDescriptors(std::map<int,cv::Mat>& descriptors_level, std::map<int,std::vector<cv::KeyPoint>>& keypoints_level, const Image& img) const {};
        virtual void mergeKeypointLevels(std::vector<cv::KeyPoint>& keypoints,
                                         cv::Mat& descriptors,
                                         std::map<int,cv::Mat>& descriptors_level,
                                         std::map<int,std::vector<cv::KeyPoint>>& keypoints_level) const;
        virtual void filterKeypoints(std::map<int,std::vector<cv::KeyPoint>>& keypoints_level, const cv::Mat& image, const cv::Mat& mask) const {};
        virtual void scaleKeypoints(std::map<int,std::vector<cv::KeyPoint>>& keypoints_level) const;

        // Auxiliary Functions
        void filterKeypoints_notScaled(std::map<int,std::vector<cv::KeyPoint>>& keypoints_level, const cv::Mat& image, const cv::Mat& mask) const;
        void filterKeypoints_scaled(std::map<int,std::vector<cv::KeyPoint>>& keypoints_level, const cv::Mat& image, const cv::Mat& mask) const;



        ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        // VANILLA ORB-SLAM2
    public:
        std::vector<cv::Mat> mvImagePyramid;
        std::vector<cv::Mat> gradientPyramid_x;
        std::vector<cv::Mat> gradientPyramid_y;

    protected:
        void ComputePyramid(cv::Mat image);
        void ComputeKeyPointsOctTree(std::vector<std::vector<cv::KeyPoint> >& allKeypoints, const cv::Mat& mask);
        std::vector<cv::KeyPoint> DistributeOctTree(const std::vector<cv::KeyPoint>& vToDistributeKeys, const int &minX,
                                                    const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level) const;

        std::vector<cv::Point> pattern;
        std::vector<int> umax;
        std::vector<float> mvScaleFactor;
        std::vector<float> mvInvScaleFactor;
        std::vector<float> mvLevelSigma2;
        std::vector<float> mvInvLevelSigma2;
        ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        /////////////////////////////////////////////////////////////////////////////////////////////////////////////////

    };


    class ExtractorNode
    {
    public:
        ExtractorNode():bNoMore(false){}

        void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4);

        std::vector<cv::KeyPoint> vKeys;
        cv::Point2i UL, UR, BL, BR;
        std::list<ExtractorNode>::iterator lit;
        bool bNoMore;
    };

    const float factorPI = (float)(CV_PI/180.f);
    static void computeOrbDescriptor(const cv::KeyPoint& kpt,
                                     const cv::Mat& img, const cv::Point* pattern,
                                     uchar* desc)
    {
        float angle = (float)kpt.angle*factorPI;
        float a = (float)cos(angle), b = (float)sin(angle);

        const uchar* center = &img.at<uchar>(cvRound(kpt.pt.y), cvRound(kpt.pt.x));
        const int step = (int)img.step;

#define GET_VALUE(idx) \
        center[cvRound(pattern[idx].x*b + pattern[idx].y*a)*step + \
               cvRound(pattern[idx].x*a - pattern[idx].y*b)]


        for (int i = 0; i < 32; ++i, pattern += 16)
        {
            int t0, t1, val;
            t0 = GET_VALUE(0); t1 = GET_VALUE(1);
            val = t0 < t1;
            t0 = GET_VALUE(2); t1 = GET_VALUE(3);
            val |= (t0 < t1) << 1;
            t0 = GET_VALUE(4); t1 = GET_VALUE(5);
            val |= (t0 < t1) << 2;
            t0 = GET_VALUE(6); t1 = GET_VALUE(7);
            val |= (t0 < t1) << 3;
            t0 = GET_VALUE(8); t1 = GET_VALUE(9);
            val |= (t0 < t1) << 4;
            t0 = GET_VALUE(10); t1 = GET_VALUE(11);
            val |= (t0 < t1) << 5;
            t0 = GET_VALUE(12); t1 = GET_VALUE(13);
            val |= (t0 < t1) << 6;
            t0 = GET_VALUE(14); t1 = GET_VALUE(15);
            val |= (t0 < t1) << 7;

            desc[i] = (uchar)val;
        }

#undef GET_VALUE
    }

    static int bit_pattern_31_[256*4] =
            {
                    8,-3, 9,5/*mean (0), correlation (0)*/,
                    4,2, 7,-12/*mean (1.12461e-05), correlation (0.0437584)*/,
                    -11,9, -8,2/*mean (3.37382e-05), correlation (0.0617409)*/,
                    7,-12, 12,-13/*mean (5.62303e-05), correlation (0.0636977)*/,
                    2,-13, 2,12/*mean (0.000134953), correlation (0.085099)*/,
                    1,-7, 1,6/*mean (0.000528565), correlation (0.0857175)*/,
                    -2,-10, -2,-4/*mean (0.0188821), correlation (0.0985774)*/,
                    -13,-13, -11,-8/*mean (0.0363135), correlation (0.0899616)*/,
                    -13,-3, -12,-9/*mean (0.121806), correlation (0.099849)*/,
                    10,4, 11,9/*mean (0.122065), correlation (0.093285)*/,
                    -13,-8, -8,-9/*mean (0.162787), correlation (0.0942748)*/,
                    -11,7, -9,12/*mean (0.21561), correlation (0.0974438)*/,
                    7,7, 12,6/*mean (0.160583), correlation (0.130064)*/,
                    -4,-5, -3,0/*mean (0.228171), correlation (0.132998)*/,
                    -13,2, -12,-3/*mean (0.00997526), correlation (0.145926)*/,
                    -9,0, -7,5/*mean (0.198234), correlation (0.143636)*/,
                    12,-6, 12,-1/*mean (0.0676226), correlation (0.16689)*/,
                    -3,6, -2,12/*mean (0.166847), correlation (0.171682)*/,
                    -6,-13, -4,-8/*mean (0.101215), correlation (0.179716)*/,
                    11,-13, 12,-8/*mean (0.200641), correlation (0.192279)*/,
                    4,7, 5,1/*mean (0.205106), correlation (0.186848)*/,
                    5,-3, 10,-3/*mean (0.234908), correlation (0.192319)*/,
                    3,-7, 6,12/*mean (0.0709964), correlation (0.210872)*/,
                    -8,-7, -6,-2/*mean (0.0939834), correlation (0.212589)*/,
                    -2,11, -1,-10/*mean (0.127778), correlation (0.20866)*/,
                    -13,12, -8,10/*mean (0.14783), correlation (0.206356)*/,
                    -7,3, -5,-3/*mean (0.182141), correlation (0.198942)*/,
                    -4,2, -3,7/*mean (0.188237), correlation (0.21384)*/,
                    -10,-12, -6,11/*mean (0.14865), correlation (0.23571)*/,
                    5,-12, 6,-7/*mean (0.222312), correlation (0.23324)*/,
                    5,-6, 7,-1/*mean (0.229082), correlation (0.23389)*/,
                    1,0, 4,-5/*mean (0.241577), correlation (0.215286)*/,
                    9,11, 11,-13/*mean (0.00338507), correlation (0.251373)*/,
                    4,7, 4,12/*mean (0.131005), correlation (0.257622)*/,
                    2,-1, 4,4/*mean (0.152755), correlation (0.255205)*/,
                    -4,-12, -2,7/*mean (0.182771), correlation (0.244867)*/,
                    -8,-5, -7,-10/*mean (0.186898), correlation (0.23901)*/,
                    4,11, 9,12/*mean (0.226226), correlation (0.258255)*/,
                    0,-8, 1,-13/*mean (0.0897886), correlation (0.274827)*/,
                    -13,-2, -8,2/*mean (0.148774), correlation (0.28065)*/,
                    -3,-2, -2,3/*mean (0.153048), correlation (0.283063)*/,
                    -6,9, -4,-9/*mean (0.169523), correlation (0.278248)*/,
                    8,12, 10,7/*mean (0.225337), correlation (0.282851)*/,
                    0,9, 1,3/*mean (0.226687), correlation (0.278734)*/,
                    7,-5, 11,-10/*mean (0.00693882), correlation (0.305161)*/,
                    -13,-6, -11,0/*mean (0.0227283), correlation (0.300181)*/,
                    10,7, 12,1/*mean (0.125517), correlation (0.31089)*/,
                    -6,-3, -6,12/*mean (0.131748), correlation (0.312779)*/,
                    10,-9, 12,-4/*mean (0.144827), correlation (0.292797)*/,
                    -13,8, -8,-12/*mean (0.149202), correlation (0.308918)*/,
                    -13,0, -8,-4/*mean (0.160909), correlation (0.310013)*/,
                    3,3, 7,8/*mean (0.177755), correlation (0.309394)*/,
                    5,7, 10,-7/*mean (0.212337), correlation (0.310315)*/,
                    -1,7, 1,-12/*mean (0.214429), correlation (0.311933)*/,
                    3,-10, 5,6/*mean (0.235807), correlation (0.313104)*/,
                    2,-4, 3,-10/*mean (0.00494827), correlation (0.344948)*/,
                    -13,0, -13,5/*mean (0.0549145), correlation (0.344675)*/,
                    -13,-7, -12,12/*mean (0.103385), correlation (0.342715)*/,
                    -13,3, -11,8/*mean (0.134222), correlation (0.322922)*/,
                    -7,12, -4,7/*mean (0.153284), correlation (0.337061)*/,
                    6,-10, 12,8/*mean (0.154881), correlation (0.329257)*/,
                    -9,-1, -7,-6/*mean (0.200967), correlation (0.33312)*/,
                    -2,-5, 0,12/*mean (0.201518), correlation (0.340635)*/,
                    -12,5, -7,5/*mean (0.207805), correlation (0.335631)*/,
                    3,-10, 8,-13/*mean (0.224438), correlation (0.34504)*/,
                    -7,-7, -4,5/*mean (0.239361), correlation (0.338053)*/,
                    -3,-2, -1,-7/*mean (0.240744), correlation (0.344322)*/,
                    2,9, 5,-11/*mean (0.242949), correlation (0.34145)*/,
                    -11,-13, -5,-13/*mean (0.244028), correlation (0.336861)*/,
                    -1,6, 0,-1/*mean (0.247571), correlation (0.343684)*/,
                    5,-3, 5,2/*mean (0.000697256), correlation (0.357265)*/,
                    -4,-13, -4,12/*mean (0.00213675), correlation (0.373827)*/,
                    -9,-6, -9,6/*mean (0.0126856), correlation (0.373938)*/,
                    -12,-10, -8,-4/*mean (0.0152497), correlation (0.364237)*/,
                    10,2, 12,-3/*mean (0.0299933), correlation (0.345292)*/,
                    7,12, 12,12/*mean (0.0307242), correlation (0.366299)*/,
                    -7,-13, -6,5/*mean (0.0534975), correlation (0.368357)*/,
                    -4,9, -3,4/*mean (0.099865), correlation (0.372276)*/,
                    7,-1, 12,2/*mean (0.117083), correlation (0.364529)*/,
                    -7,6, -5,1/*mean (0.126125), correlation (0.369606)*/,
                    -13,11, -12,5/*mean (0.130364), correlation (0.358502)*/,
                    -3,7, -2,-6/*mean (0.131691), correlation (0.375531)*/,
                    7,-8, 12,-7/*mean (0.160166), correlation (0.379508)*/,
                    -13,-7, -11,-12/*mean (0.167848), correlation (0.353343)*/,
                    1,-3, 12,12/*mean (0.183378), correlation (0.371916)*/,
                    2,-6, 3,0/*mean (0.228711), correlation (0.371761)*/,
                    -4,3, -2,-13/*mean (0.247211), correlation (0.364063)*/,
                    -1,-13, 1,9/*mean (0.249325), correlation (0.378139)*/,
                    7,1, 8,-6/*mean (0.000652272), correlation (0.411682)*/,
                    1,-1, 3,12/*mean (0.00248538), correlation (0.392988)*/,
                    9,1, 12,6/*mean (0.0206815), correlation (0.386106)*/,
                    -1,-9, -1,3/*mean (0.0364485), correlation (0.410752)*/,
                    -13,-13, -10,5/*mean (0.0376068), correlation (0.398374)*/,
                    7,7, 10,12/*mean (0.0424202), correlation (0.405663)*/,
                    12,-5, 12,9/*mean (0.0942645), correlation (0.410422)*/,
                    6,3, 7,11/*mean (0.1074), correlation (0.413224)*/,
                    5,-13, 6,10/*mean (0.109256), correlation (0.408646)*/,
                    2,-12, 2,3/*mean (0.131691), correlation (0.416076)*/,
                    3,8, 4,-6/*mean (0.165081), correlation (0.417569)*/,
                    2,6, 12,-13/*mean (0.171874), correlation (0.408471)*/,
                    9,-12, 10,3/*mean (0.175146), correlation (0.41296)*/,
                    -8,4, -7,9/*mean (0.183682), correlation (0.402956)*/,
                    -11,12, -4,-6/*mean (0.184672), correlation (0.416125)*/,
                    1,12, 2,-8/*mean (0.191487), correlation (0.386696)*/,
                    6,-9, 7,-4/*mean (0.192668), correlation (0.394771)*/,
                    2,3, 3,-2/*mean (0.200157), correlation (0.408303)*/,
                    6,3, 11,0/*mean (0.204588), correlation (0.411762)*/,
                    3,-3, 8,-8/*mean (0.205904), correlation (0.416294)*/,
                    7,8, 9,3/*mean (0.213237), correlation (0.409306)*/,
                    -11,-5, -6,-4/*mean (0.243444), correlation (0.395069)*/,
                    -10,11, -5,10/*mean (0.247672), correlation (0.413392)*/,
                    -5,-8, -3,12/*mean (0.24774), correlation (0.411416)*/,
                    -10,5, -9,0/*mean (0.00213675), correlation (0.454003)*/,
                    8,-1, 12,-6/*mean (0.0293635), correlation (0.455368)*/,
                    4,-6, 6,-11/*mean (0.0404971), correlation (0.457393)*/,
                    -10,12, -8,7/*mean (0.0481107), correlation (0.448364)*/,
                    4,-2, 6,7/*mean (0.050641), correlation (0.455019)*/,
                    -2,0, -2,12/*mean (0.0525978), correlation (0.44338)*/,
                    -5,-8, -5,2/*mean (0.0629667), correlation (0.457096)*/,
                    7,-6, 10,12/*mean (0.0653846), correlation (0.445623)*/,
                    -9,-13, -8,-8/*mean (0.0858749), correlation (0.449789)*/,
                    -5,-13, -5,-2/*mean (0.122402), correlation (0.450201)*/,
                    8,-8, 9,-13/*mean (0.125416), correlation (0.453224)*/,
                    -9,-11, -9,0/*mean (0.130128), correlation (0.458724)*/,
                    1,-8, 1,-2/*mean (0.132467), correlation (0.440133)*/,
                    7,-4, 9,1/*mean (0.132692), correlation (0.454)*/,
                    -2,1, -1,-4/*mean (0.135695), correlation (0.455739)*/,
                    11,-6, 12,-11/*mean (0.142904), correlation (0.446114)*/,
                    -12,-9, -6,4/*mean (0.146165), correlation (0.451473)*/,
                    3,7, 7,12/*mean (0.147627), correlation (0.456643)*/,
                    5,5, 10,8/*mean (0.152901), correlation (0.455036)*/,
                    0,-4, 2,8/*mean (0.167083), correlation (0.459315)*/,
                    -9,12, -5,-13/*mean (0.173234), correlation (0.454706)*/,
                    0,7, 2,12/*mean (0.18312), correlation (0.433855)*/,
                    -1,2, 1,7/*mean (0.185504), correlation (0.443838)*/,
                    5,11, 7,-9/*mean (0.185706), correlation (0.451123)*/,
                    3,5, 6,-8/*mean (0.188968), correlation (0.455808)*/,
                    -13,-4, -8,9/*mean (0.191667), correlation (0.459128)*/,
                    -5,9, -3,-3/*mean (0.193196), correlation (0.458364)*/,
                    -4,-7, -3,-12/*mean (0.196536), correlation (0.455782)*/,
                    6,5, 8,0/*mean (0.1972), correlation (0.450481)*/,
                    -7,6, -6,12/*mean (0.199438), correlation (0.458156)*/,
                    -13,6, -5,-2/*mean (0.211224), correlation (0.449548)*/,
                    1,-10, 3,10/*mean (0.211718), correlation (0.440606)*/,
                    4,1, 8,-4/*mean (0.213034), correlation (0.443177)*/,
                    -2,-2, 2,-13/*mean (0.234334), correlation (0.455304)*/,
                    2,-12, 12,12/*mean (0.235684), correlation (0.443436)*/,
                    -2,-13, 0,-6/*mean (0.237674), correlation (0.452525)*/,
                    4,1, 9,3/*mean (0.23962), correlation (0.444824)*/,
                    -6,-10, -3,-5/*mean (0.248459), correlation (0.439621)*/,
                    -3,-13, -1,1/*mean (0.249505), correlation (0.456666)*/,
                    7,5, 12,-11/*mean (0.00119208), correlation (0.495466)*/,
                    4,-2, 5,-7/*mean (0.00372245), correlation (0.484214)*/,
                    -13,9, -9,-5/*mean (0.00741116), correlation (0.499854)*/,
                    7,1, 8,6/*mean (0.0208952), correlation (0.499773)*/,
                    7,-8, 7,6/*mean (0.0220085), correlation (0.501609)*/,
                    -7,-4, -7,1/*mean (0.0233806), correlation (0.496568)*/,
                    -8,11, -7,-8/*mean (0.0236505), correlation (0.489719)*/,
                    -13,6, -12,-8/*mean (0.0268781), correlation (0.503487)*/,
                    2,4, 3,9/*mean (0.0323324), correlation (0.501938)*/,
                    10,-5, 12,3/*mean (0.0399235), correlation (0.494029)*/,
                    -6,-5, -6,7/*mean (0.0420153), correlation (0.486579)*/,
                    8,-3, 9,-8/*mean (0.0548021), correlation (0.484237)*/,
                    2,-12, 2,8/*mean (0.0616622), correlation (0.496642)*/,
                    -11,-2, -10,3/*mean (0.0627755), correlation (0.498563)*/,
                    -12,-13, -7,-9/*mean (0.0829622), correlation (0.495491)*/,
                    -11,0, -10,-5/*mean (0.0843342), correlation (0.487146)*/,
                    5,-3, 11,8/*mean (0.0929937), correlation (0.502315)*/,
                    -2,-13, -1,12/*mean (0.113327), correlation (0.48941)*/,
                    -1,-8, 0,9/*mean (0.132119), correlation (0.467268)*/,
                    -13,-11, -12,-5/*mean (0.136269), correlation (0.498771)*/,
                    -10,-2, -10,11/*mean (0.142173), correlation (0.498714)*/,
                    -3,9, -2,-13/*mean (0.144141), correlation (0.491973)*/,
                    2,-3, 3,2/*mean (0.14892), correlation (0.500782)*/,
                    -9,-13, -4,0/*mean (0.150371), correlation (0.498211)*/,
                    -4,6, -3,-10/*mean (0.152159), correlation (0.495547)*/,
                    -4,12, -2,-7/*mean (0.156152), correlation (0.496925)*/,
                    -6,-11, -4,9/*mean (0.15749), correlation (0.499222)*/,
                    6,-3, 6,11/*mean (0.159211), correlation (0.503821)*/,
                    -13,11, -5,5/*mean (0.162427), correlation (0.501907)*/,
                    11,11, 12,6/*mean (0.16652), correlation (0.497632)*/,
                    7,-5, 12,-2/*mean (0.169141), correlation (0.484474)*/,
                    -1,12, 0,7/*mean (0.169456), correlation (0.495339)*/,
                    -4,-8, -3,-2/*mean (0.171457), correlation (0.487251)*/,
                    -7,1, -6,7/*mean (0.175), correlation (0.500024)*/,
                    -13,-12, -8,-13/*mean (0.175866), correlation (0.497523)*/,
                    -7,-2, -6,-8/*mean (0.178273), correlation (0.501854)*/,
                    -8,5, -6,-9/*mean (0.181107), correlation (0.494888)*/,
                    -5,-1, -4,5/*mean (0.190227), correlation (0.482557)*/,
                    -13,7, -8,10/*mean (0.196739), correlation (0.496503)*/,
                    1,5, 5,-13/*mean (0.19973), correlation (0.499759)*/,
                    1,0, 10,-13/*mean (0.204465), correlation (0.49873)*/,
                    9,12, 10,-1/*mean (0.209334), correlation (0.49063)*/,
                    5,-8, 10,-9/*mean (0.211134), correlation (0.503011)*/,
                    -1,11, 1,-13/*mean (0.212), correlation (0.499414)*/,
                    -9,-3, -6,2/*mean (0.212168), correlation (0.480739)*/,
                    -1,-10, 1,12/*mean (0.212731), correlation (0.502523)*/,
                    -13,1, -8,-10/*mean (0.21327), correlation (0.489786)*/,
                    8,-11, 10,-6/*mean (0.214159), correlation (0.488246)*/,
                    2,-13, 3,-6/*mean (0.216993), correlation (0.50287)*/,
                    7,-13, 12,-9/*mean (0.223639), correlation (0.470502)*/,
                    -10,-10, -5,-7/*mean (0.224089), correlation (0.500852)*/,
                    -10,-8, -8,-13/*mean (0.228666), correlation (0.502629)*/,
                    4,-6, 8,5/*mean (0.22906), correlation (0.498305)*/,
                    3,12, 8,-13/*mean (0.233378), correlation (0.503825)*/,
                    -4,2, -3,-3/*mean (0.234323), correlation (0.476692)*/,
                    5,-13, 10,-12/*mean (0.236392), correlation (0.475462)*/,
                    4,-13, 5,-1/*mean (0.236842), correlation (0.504132)*/,
                    -9,9, -4,3/*mean (0.236977), correlation (0.497739)*/,
                    0,3, 3,-9/*mean (0.24314), correlation (0.499398)*/,
                    -12,1, -6,1/*mean (0.243297), correlation (0.489447)*/,
                    3,2, 4,-8/*mean (0.00155196), correlation (0.553496)*/,
                    -10,-10, -10,9/*mean (0.00239541), correlation (0.54297)*/,
                    8,-13, 12,12/*mean (0.0034413), correlation (0.544361)*/,
                    -8,-12, -6,-5/*mean (0.003565), correlation (0.551225)*/,
                    2,2, 3,7/*mean (0.00835583), correlation (0.55285)*/,
                    10,6, 11,-8/*mean (0.00885065), correlation (0.540913)*/,
                    6,8, 8,-12/*mean (0.0101552), correlation (0.551085)*/,
                    -7,10, -6,5/*mean (0.0102227), correlation (0.533635)*/,
                    -3,-9, -3,9/*mean (0.0110211), correlation (0.543121)*/,
                    -1,-13, -1,5/*mean (0.0113473), correlation (0.550173)*/,
                    -3,-7, -3,4/*mean (0.0140913), correlation (0.554774)*/,
                    -8,-2, -8,3/*mean (0.017049), correlation (0.55461)*/,
                    4,2, 12,12/*mean (0.01778), correlation (0.546921)*/,
                    2,-5, 3,11/*mean (0.0224022), correlation (0.549667)*/,
                    6,-9, 11,-13/*mean (0.029161), correlation (0.546295)*/,
                    3,-1, 7,12/*mean (0.0303081), correlation (0.548599)*/,
                    11,-1, 12,4/*mean (0.0355151), correlation (0.523943)*/,
                    -3,0, -3,6/*mean (0.0417904), correlation (0.543395)*/,
                    4,-11, 4,12/*mean (0.0487292), correlation (0.542818)*/,
                    2,-4, 2,1/*mean (0.0575124), correlation (0.554888)*/,
                    -10,-6, -8,1/*mean (0.0594242), correlation (0.544026)*/,
                    -13,7, -11,1/*mean (0.0597391), correlation (0.550524)*/,
                    -13,12, -11,-13/*mean (0.0608974), correlation (0.55383)*/,
                    6,0, 11,-13/*mean (0.065126), correlation (0.552006)*/,
                    0,-1, 1,4/*mean (0.074224), correlation (0.546372)*/,
                    -13,3, -9,-2/*mean (0.0808592), correlation (0.554875)*/,
                    -9,8, -6,-3/*mean (0.0883378), correlation (0.551178)*/,
                    -13,-6, -8,-2/*mean (0.0901035), correlation (0.548446)*/,
                    5,-9, 8,10/*mean (0.0949843), correlation (0.554694)*/,
                    2,7, 3,-9/*mean (0.0994152), correlation (0.550979)*/,
                    -1,-6, -1,-1/*mean (0.10045), correlation (0.552714)*/,
                    9,5, 11,-2/*mean (0.100686), correlation (0.552594)*/,
                    11,-3, 12,-8/*mean (0.101091), correlation (0.532394)*/,
                    3,0, 3,5/*mean (0.101147), correlation (0.525576)*/,
                    -1,4, 0,10/*mean (0.105263), correlation (0.531498)*/,
                    3,-6, 4,5/*mean (0.110785), correlation (0.540491)*/,
                    -13,0, -10,5/*mean (0.112798), correlation (0.536582)*/,
                    5,8, 12,11/*mean (0.114181), correlation (0.555793)*/,
                    8,9, 9,-6/*mean (0.117431), correlation (0.553763)*/,
                    7,-4, 8,-12/*mean (0.118522), correlation (0.553452)*/,
                    -10,4, -10,9/*mean (0.12094), correlation (0.554785)*/,
                    7,3, 12,4/*mean (0.122582), correlation (0.555825)*/,
                    9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/,
                    7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/,
                    -1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
            };
}
#endif //ANYFEATURE_VSLAM_FEATUREEXTRACTOR_H
