scirs2_vision/feature/

neural_features.rs

//! Neural network-based feature detection and description
//!
//! This module provides advanced feature detection and description using neural networks,
//! including SuperPoint-like architectures, learned descriptors, and GPU-accelerated inference.
//!
//! # Performance
//!
//! - GPU acceleration for real-time inference
//! - Batched processing for multiple images
//! - SIMD optimization for post-processing
//! - Memory-efficient sparse feature representation
//!
//! # Algorithms
//!
//! - SuperPoint: Self-supervised deep learning for feature detection and description
//! - Learned SIFT: Neural network enhanced SIFT descriptors
//! - Deep Local Features: Advanced CNN-based local feature extraction
//! - Attention-based Feature Matching: Transformer-based feature matching

use crate::error::{Result, VisionError};
use crate::feature::KeyPoint;
use crate::gpu_ops::GpuVisionContext;
use scirs2_core::ndarray::ArrayStatCompat;
use scirs2_core::ndarray::{s, Array1, Array2, Array3, ArrayView2};
use statrs::statistics::Statistics;

/// Neural network model for feature detection and description
pub struct NeuralFeatureNetwork {
    /// Model weights for feature detection backbone
    #[allow(dead_code)]
    detection_weights: ModelWeights,
    /// Model weights for descriptor head
    #[allow(dead_code)]
    descriptor_weights: ModelWeights,
    /// GPU context for inference
    gpu_context: Option<GpuVisionContext>,
    /// Model configuration
    config: NeuralFeatureConfig,
}

/// Model weights container
#[derive(Clone)]
pub struct ModelWeights {
    /// Convolutional layer weights
    #[allow(dead_code)]
    conv_weights: Vec<Array3<f32>>,
    /// Convolutional layer biases
    #[allow(dead_code)]
    conv_biases: Vec<Array1<f32>>,
    /// Batch normalization weights
    #[allow(dead_code)]
    bn_weights: Vec<Array1<f32>>,
    /// Batch normalization biases
    #[allow(dead_code)]
    bn_biases: Vec<Array1<f32>>,
    /// Fully connected weights (for heads)
    #[allow(dead_code)]
    fc_weights: Vec<Array2<f32>>,
    /// Fully connected biases
    #[allow(dead_code)]
    fc_biases: Vec<Array1<f32>>,
}

/// Configuration for neural feature detection
#[derive(Clone)]
pub struct NeuralFeatureConfig {
    /// Input image size (must be multiple of 8)
    pub input_size: (usize, usize),
    /// Number of keypoints to detect
    pub max_keypoints: usize,
    /// Detection threshold for keypoints
    pub detection_threshold: f32,
    /// Non-maximum suppression radius
    pub nms_radius: usize,
    /// Descriptor dimension
    pub descriptor_dim: usize,
    /// Border removal distance
    pub border_remove: usize,
    /// Use GPU acceleration
    pub use_gpu: bool,
}

impl Default for NeuralFeatureConfig {
    fn default() -> Self {
        Self {
            input_size: (480, 640),
            max_keypoints: 1024,
            detection_threshold: 0.015,
            nms_radius: 4,
            descriptor_dim: 256,
            border_remove: 4,
            use_gpu: true,
        }
    }
}

/// SuperPoint-like neural feature detector
pub struct SuperPointNet {
    network: NeuralFeatureNetwork,
}

impl SuperPointNet {
    /// Create a new SuperPoint network with default weights
    pub fn new(config: Option<NeuralFeatureConfig>) -> Result<Self> {
        let config = config.unwrap_or_default();

        // Initialize with synthetic weights for demonstration
        // In a real implementation, these would be loaded from a trained model
        let detection_weights = Self::create_detection_weights(&config)?;
        let descriptor_weights = Self::create_descriptor_weights(&config)?;

        let gpu_context = if config.use_gpu {
            GpuVisionContext::new().ok()
        } else {
            None
        };

        let network = NeuralFeatureNetwork {
            detection_weights,
            descriptor_weights,
            gpu_context,
            config,
        };

        Ok(Self { network })
    }

    /// Load SuperPoint network from file
    #[allow(dead_code)]
    pub fn from_file(_modelpath: &str, config: Option<NeuralFeatureConfig>) -> Result<Self> {
        let config = config.unwrap_or_default();

        // In a real implementation, this would load weights from a file
        // For now, create synthetic weights
        Self::new(Some(config))
    }

    /// Detect features and compute descriptors
    pub fn detect_and_describe(
        &self,
        image: &ArrayView2<f32>,
    ) -> Result<(Vec<KeyPoint>, Array2<f32>)> {
        // Validate input size
        let (height, width) = image.dim();
        if height % 8 != 0 || width % 8 != 0 {
            return Err(VisionError::InvalidInput(
                "Input image dimensions must be multiples of 8 for neural feature detection"
                    .to_string(),
            ));
        }

        // Resize if necessary
        let processed_image = if (height, width) != self.network.config.input_size {
            self.resize_image(image, self.network.config.input_size)?
        } else {
            image.to_owned()
        };

        // Run inference
        if let Some(ref gpu_ctx) = self.network.gpu_context {
            self.gpu_inference(gpu_ctx, &processed_image.view())
        } else {
            self.cpu_inference(&processed_image.view())
        }
    }

    /// GPU-accelerated inference
    fn gpu_inference(
        &self,
        gpu_ctx: &GpuVisionContext,
        image: &ArrayView2<f32>,
    ) -> Result<(Vec<KeyPoint>, Array2<f32>)> {
        // Forward pass through neural network on GPU
        let featuremap = self.gpu_forward_detection(gpu_ctx, image)?;
        let descriptor_map = self.gpu_forward_descriptors(gpu_ctx, image)?;

        // Post-process to extract keypoints and descriptors
        self.post_process_features(&featuremap, &descriptor_map)
    }

    /// CPU inference fallback
    fn cpu_inference(&self, image: &ArrayView2<f32>) -> Result<(Vec<KeyPoint>, Array2<f32>)> {
        // Forward pass through neural network on CPU
        let featuremap = self.cpu_forward_detection(image)?;
        let descriptor_map = self.cpu_forward_descriptors(image)?;

        // Post-process to extract keypoints and descriptors
        self.post_process_features(&featuremap, &descriptor_map)
    }

    /// GPU forward pass for feature detection
    fn gpu_forward_detection(
        &self,
        gpu_ctx: &GpuVisionContext,
        image: &ArrayView2<f32>,
    ) -> Result<Array2<f32>> {
        // Simplified neural network forward pass on GPU
        // In practice, this would be a full CNN implementation

        // Apply initial convolution
        let conv1_kernel =
            Array2::from_shape_vec((3, 3), vec![-1.0, 0.0, 1.0, -2.0, 0.0, 2.0, -1.0, 0.0, 1.0])?;

        let conv1_result = crate::gpu_ops::gpu_convolve_2d(gpu_ctx, image, &conv1_kernel.view())?;

        // Apply ReLU activation
        let activated = conv1_result.mapv(|x| x.max(0.0));

        // Apply Gaussian blur as simplified pooling
        let pooled = crate::gpu_ops::gpu_gaussian_blur(gpu_ctx, &activated.view(), 2.0)?;

        // Simulate detection head output (8x8 downsampling)
        let (height, width) = pooled.dim();
        let out_height = height / 8;
        let out_width = width / 8;

        let mut detection_map = Array2::zeros((out_height, out_width));
        for y in 0..out_height {
            for x in 0..out_width {
                let src_y = (y * 8).min(height - 1);
                let src_x = (x * 8).min(width - 1);
                detection_map[[y, x]] = pooled[[src_y, src_x]].abs();
            }
        }

        Ok(detection_map)
    }

    /// CPU forward pass for feature detection
    fn cpu_forward_detection(&self, image: &ArrayView2<f32>) -> Result<Array2<f32>> {
        // Simplified CPU implementation using basic operations (avoid SIMD for tests)
        let (_, _, magnitude) = self.compute_simple_gradients(image)?;

        // Use gradient magnitude as simple feature detector
        let (height, width) = magnitude.dim();
        let out_height = height / 8;
        let out_width = width / 8;

        let mut detection_map = Array2::zeros((out_height, out_width));
        for y in 0..out_height {
            for x in 0..out_width {
                let mut max_val = 0.0f32;
                for dy in 0..8 {
                    for dx in 0..8 {
                        let src_y = (y * 8 + dy).min(height - 1);
                        let src_x = (x * 8 + dx).min(width - 1);
                        max_val = max_val.max(magnitude[[src_y, src_x]]);
                    }
                }
                detection_map[[y, x]] = max_val;
            }
        }

        Ok(detection_map)
    }

    /// GPU forward pass for descriptors
    fn gpu_forward_descriptors(
        &self,
        gpu_ctx: &GpuVisionContext,
        image: &ArrayView2<f32>,
    ) -> Result<Array3<f32>> {
        // Simplified descriptor computation on GPU
        let blurred = crate::gpu_ops::gpu_gaussian_blur(gpu_ctx, image, 1.0)?;
        let (height, width) = blurred.dim();

        // Create dense descriptor map (every 8th pixel)
        let desc_height = height / 8;
        let desc_width = width / 8;
        let desc_dim = self.network.config.descriptor_dim;

        let mut descriptor_map = Array3::zeros((desc_height, desc_width, desc_dim));

        // Simplified descriptor computation using local statistics
        for y in 0..desc_height {
            for x in 0..desc_width {
                let patch_y = y * 8;
                let patch_x = x * 8;

                let mut descriptor = Array1::zeros(desc_dim);

                // Extract local patch statistics as descriptor
                for i in 0..desc_dim {
                    let dy = i % 16;
                    let dx = i / 16;
                    let sample_y = (patch_y + dy).min(height - 1);
                    let sample_x = (patch_x + dx).min(width - 1);
                    descriptor[i] = blurred[[sample_y, sample_x]];
                }

                // Normalize descriptor
                let norm = descriptor.dot(&descriptor).sqrt();
                if norm > 1e-6 {
                    descriptor.mapv_inplace(|x| x / norm);
                }

                descriptor_map.slice_mut(s![y, x, ..]).assign(&descriptor);
            }
        }

        Ok(descriptor_map)
    }

    /// Compute simple gradients without SIMD
    fn compute_simple_gradients(
        &self,
        image: &ArrayView2<f32>,
    ) -> Result<(Array2<f32>, Array2<f32>, Array2<f32>)> {
        let (height, width) = image.dim();
        let mut gx = Array2::zeros((height, width));
        let mut gy = Array2::zeros((height, width));
        let mut magnitude = Array2::zeros((height, width));

        for y in 1..height - 1 {
            for x in 1..width - 1 {
                let dx = image[[y, x + 1]] - image[[y, x - 1]];
                let dy = image[[y + 1, x]] - image[[y - 1, x]];
                gx[[y, x]] = dx;
                gy[[y, x]] = dy;
                magnitude[[y, x]] = (dx * dx + dy * dy).sqrt();
            }
        }

        Ok((gx, gy, magnitude))
    }

    /// Simple Gaussian blur without SIMD
    fn simple_gaussian_blur(&self, image: &ArrayView2<f32>, sigma: f32) -> Result<Array2<f32>> {
        // Very simplified blur - just average with neighbors
        let (height, width) = image.dim();
        let mut blurred = Array2::zeros((height, width));

        for y in 1..height - 1 {
            for x in 1..width - 1 {
                let avg = (image[[y - 1, x - 1]]
                    + image[[y - 1, x]]
                    + image[[y - 1, x + 1]]
                    + image[[y, x - 1]]
                    + image[[y, x]]
                    + image[[y, x + 1]]
                    + image[[y + 1, x - 1]]
                    + image[[y + 1, x]]
                    + image[[y + 1, x + 1]])
                    / 9.0;
                blurred[[y, x]] = avg;
            }
        }

        // Copy borders
        for y in 0..height {
            blurred[[y, 0]] = image[[y, 0]];
            if width > 1 {
                blurred[[y, width - 1]] = image[[y, width - 1]];
            }
        }
        for x in 0..width {
            blurred[[0, x]] = image[[0, x]];
            if height > 1 {
                blurred[[height - 1, x]] = image[[height - 1, x]];
            }
        }

        Ok(blurred)
    }

    /// CPU forward pass for descriptors
    fn cpu_forward_descriptors(&self, image: &ArrayView2<f32>) -> Result<Array3<f32>> {
        let blurred = self.simple_gaussian_blur(image, 1.0)?;
        let (height, width) = blurred.dim();

        let desc_height = height / 8;
        let desc_width = width / 8;
        let desc_dim = self.network.config.descriptor_dim;

        let mut descriptor_map = Array3::zeros((desc_height, desc_width, desc_dim));

        // Use SIMD-accelerated operations where possible
        for y in 0..desc_height {
            for x in 0..desc_width {
                let patch_y = y * 8;
                let patch_x = x * 8;

                let mut descriptor = Array1::zeros(desc_dim);

                // Extract HOG-like features as simplified descriptors
                for i in 0..desc_dim.min(64) {
                    let angle = i as f32 * std::f32::consts::PI / 32.0;
                    let cos_a = angle.cos();
                    let sin_a = angle.sin();

                    let mut sum = 0.0f32;
                    for dy in 0..8 {
                        for dx in 0..8 {
                            let sample_y = (patch_y + dy).min(height - 1);
                            let sample_x = (patch_x + dx).min(width - 1);
                            let value = blurred[[sample_y, sample_x]];
                            let weight = (cos_a * dx as f32 + sin_a * dy as f32).cos();
                            sum += value * weight;
                        }
                    }
                    descriptor[i] = sum;
                }

                // Normalize
                let norm = descriptor.dot(&descriptor).sqrt();
                if norm > 1e-6 {
                    descriptor.mapv_inplace(|x| x / norm);
                }

                descriptor_map.slice_mut(s![y, x, ..]).assign(&descriptor);
            }
        }

        Ok(descriptor_map)
    }

    /// Post-process feature maps to extract keypoints and descriptors
    fn post_process_features(
        &self,
        featuremap: &Array2<f32>,
        descriptor_map: &Array3<f32>,
    ) -> Result<(Vec<KeyPoint>, Array2<f32>)> {
        // Apply non-maximum suppression
        let nms_result = self.non_maximum_suppression(featuremap)?;

        // Extract top keypoints
        let mut candidates: Vec<(f32, usize, usize)> = Vec::new();
        let (height, width) = nms_result.dim();

        for y in self.network.config.border_remove..height - self.network.config.border_remove {
            for x in self.network.config.border_remove..width - self.network.config.border_remove {
                let score = nms_result[[y, x]];
                if score > self.network.config.detection_threshold {
                    candidates.push((score, y, x));
                }
            }
        }

        // Sort by score and take top candidates
        candidates.sort_by(|a, b| b.0.partial_cmp(&a.0).expect("Operation failed"));
        candidates.truncate(self.network.config.max_keypoints);

        // Create keypoints and extract descriptors
        let mut keypoints = Vec::new();
        let mut descriptors = Array2::zeros((candidates.len(), self.network.config.descriptor_dim));

        for (i, &(score, y, x)) in candidates.iter().enumerate() {
            // Convert to original image coordinates (8x upsampling)
            let orig_x = (x * 8) as f32;
            let orig_y = (y * 8) as f32;

            keypoints.push(KeyPoint {
                x: orig_x,
                y: orig_y,
                response: score,
                scale: 1.0,
                orientation: 0.0, // SuperPoint doesn't estimate orientation
            });

            // Extract descriptor
            if y < descriptor_map.shape()[0] && x < descriptor_map.shape()[1] {
                let desc = descriptor_map.slice(s![y, x, ..]);
                descriptors.slice_mut(s![i, ..]).assign(&desc);
            }
        }

        Ok((keypoints, descriptors))
    }

    /// Apply non-maximum suppression to feature map
    fn non_maximum_suppression(&self, featuremap: &Array2<f32>) -> Result<Array2<f32>> {
        let (height, width) = featuremap.dim();
        let mut nms_result = Array2::zeros((height, width));
        let radius = self.network.config.nms_radius;

        for y in radius..height - radius {
            for x in radius..width - radius {
                let center_val = featuremap[[y, x]];
                let mut is_maximum = true;

                // Check if current pixel is local maximum
                for dy in -(radius as isize)..=(radius as isize) {
                    for dx in -(radius as isize)..=(radius as isize) {
                        if dy == 0 && dx == 0 {
                            continue;
                        }

                        let ny = (y as isize + dy) as usize;
                        let nx = (x as isize + dx) as usize;

                        if featuremap[[ny, nx]] >= center_val {
                            is_maximum = false;
                            break;
                        }
                    }
                    if !is_maximum {
                        break;
                    }
                }

                if is_maximum {
                    nms_result[[y, x]] = center_val;
                }
            }
        }

        Ok(nms_result)
    }

    /// Resize image to target size
    fn resize_image(
        &self,
        image: &ArrayView2<f32>,
        target_size: (usize, usize),
    ) -> Result<Array2<f32>> {
        let (src_height, src_width) = image.dim();
        let (dst_height, dst_width) = target_size;

        let mut resized = Array2::zeros((dst_height, dst_width));

        let scale_y = src_height as f32 / dst_height as f32;
        let scale_x = src_width as f32 / dst_width as f32;

        for y in 0..dst_height {
            for x in 0..dst_width {
                let src_y = (y as f32 * scale_y) as usize;
                let src_x = (x as f32 * scale_x) as usize;

                let src_y = src_y.min(src_height - 1);
                let src_x = src_x.min(src_width - 1);

                resized[[y, x]] = image[[src_y, src_x]];
            }
        }

        Ok(resized)
    }

    /// Create synthetic detection weights for demonstration
    fn create_detection_weights(config: &NeuralFeatureConfig) -> Result<ModelWeights> {
        // This would normally load pre-trained weights
        // For demonstration, create synthetic weights

        let conv_weights = vec![
            Array3::from_shape_fn((64, 1, 3), |___| scirs2_core::random::random::<f32>() * 0.1),
            Array3::from_shape_fn((64, 64, 3), |___| {
                scirs2_core::random::random::<f32>() * 0.1
            }),
            Array3::from_shape_fn((128, 64, 3), |___| {
                scirs2_core::random::random::<f32>() * 0.1
            }),
            Array3::from_shape_fn((128, 128, 3), |___| {
                scirs2_core::random::random::<f32>() * 0.1
            }),
        ];

        let conv_biases = vec![
            Array1::zeros(64),
            Array1::zeros(64),
            Array1::zeros(128),
            Array1::zeros(128),
        ];

        let bn_weights = vec![
            Array1::ones(64),
            Array1::ones(64),
            Array1::ones(128),
            Array1::ones(128),
        ];

        let bn_biases = vec![
            Array1::zeros(64),
            Array1::zeros(64),
            Array1::zeros(128),
            Array1::zeros(128),
        ];

        // Detection head
        let fc_weights = vec![Array2::from_shape_fn((65, 128), |_| {
            scirs2_core::random::random::<f32>() * 0.1
        })];

        let fc_biases = vec![
            Array1::zeros(65), // 64 detection cells + 1 dustbin
        ];

        Ok(ModelWeights {
            conv_weights,
            conv_biases,
            bn_weights,
            bn_biases,
            fc_weights,
            fc_biases,
        })
    }

    /// Create synthetic descriptor weights for demonstration
    fn create_descriptor_weights(config: &NeuralFeatureConfig) -> Result<ModelWeights> {
        // Descriptor head weights
        let fc_weights = vec![Array2::from_shape_fn((config.descriptor_dim, 128), |_| {
            scirs2_core::random::random::<f32>() * 0.1
        })];

        let fc_biases = vec![Array1::zeros(config.descriptor_dim)];

        Ok(ModelWeights {
            conv_weights: Vec::new(),
            conv_biases: Vec::new(),
            bn_weights: Vec::new(),
            bn_biases: Vec::new(),
            fc_weights,
            fc_biases,
        })
    }
}

/// Advanced feature matcher using learned descriptors
pub struct NeuralFeatureMatcher {
    /// Distance threshold for matching
    distance_threshold: f32,
    /// Ratio test threshold
    ratio_threshold: f32,
    /// Use GPU acceleration
    #[allow(dead_code)]
    use_gpu: bool,
}

impl Default for NeuralFeatureMatcher {
    fn default() -> Self {
        Self::new()
    }
}

impl NeuralFeatureMatcher {
    /// Create a new neural feature matcher
    pub fn new() -> Self {
        Self {
            distance_threshold: 0.7,
            ratio_threshold: 0.8,
            use_gpu: true,
        }
    }

    /// Configure matcher parameters
    pub fn with_params(mut self, distance_threshold: f32, ratiothreshold: f32) -> Self {
        self.distance_threshold = distance_threshold;
        self.ratio_threshold = ratiothreshold;
        self
    }

    /// Match descriptors using learned similarity
    pub fn match_descriptors(
        &self,
        desc1: &ArrayView2<f32>,
        desc2: &ArrayView2<f32>,
    ) -> Result<Vec<(usize, usize)>> {
        let n1 = desc1.shape()[0];
        let n2 = desc2.shape()[0];

        if n1 == 0 || n2 == 0 {
            return Ok(Vec::new());
        }

        // Compute pairwise distances
        let distances = self.compute_pairwise_distances(desc1, desc2)?;

        // Apply ratio test and distance threshold
        let mut matches = Vec::new();

        for i in 0..n1 {
            let mut best_dist = f32::INFINITY;
            let mut second_best_dist = f32::INFINITY;
            let mut best_idx = 0;

            for j in 0..n2 {
                let dist = distances[[i, j]];
                if dist < best_dist {
                    second_best_dist = best_dist;
                    best_dist = dist;
                    best_idx = j;
                } else if dist < second_best_dist {
                    second_best_dist = dist;
                }
            }

            // Apply ratio test and distance threshold
            if best_dist < self.distance_threshold
                && best_dist / second_best_dist < self.ratio_threshold
            {
                matches.push((i, best_idx));
            }
        }

        Ok(matches)
    }

    /// Compute pairwise distances between descriptor sets
    fn compute_pairwise_distances(
        &self,
        desc1: &ArrayView2<f32>,
        desc2: &ArrayView2<f32>,
    ) -> Result<Array2<f32>> {
        let n1 = desc1.shape()[0];
        let n2 = desc2.shape()[0];
        let mut distances = Array2::zeros((n1, n2));

        // Use SIMD-optimized dot product for cosine similarity
        for i in 0..n1 {
            for j in 0..n2 {
                let desc1_row = desc1.slice(s![i, ..]);
                let desc2_row = desc2.slice(s![j, ..]);

                // Cosine distance = 1 - cosine_similarity
                let dot_product = desc1_row.dot(&desc2_row);
                let norm1 = desc1_row.dot(&desc1_row).sqrt();
                let norm2 = desc2_row.dot(&desc2_row).sqrt();

                let cosine_sim = if norm1 > 1e-6 && norm2 > 1e-6 {
                    dot_product / (norm1 * norm2)
                } else {
                    0.0
                };

                distances[[i, j]] = 1.0 - cosine_sim;
            }
        }

        Ok(distances)
    }
}

/// Attention-based feature matcher using transformer-like architecture
pub struct AttentionFeatureMatcher {
    /// Attention dimension
    #[allow(dead_code)]
    attention_dim: usize,
    /// Number of attention heads
    #[allow(dead_code)]
    numheads: usize,
    /// Use GPU acceleration
    #[allow(dead_code)]
    use_gpu: bool,
}

impl AttentionFeatureMatcher {
    /// Create a new attention-based feature matcher
    pub fn new(_attention_dim: usize, numheads: usize) -> Self {
        Self {
            attention_dim: _attention_dim,
            numheads,
            use_gpu: true,
        }
    }

    /// Match features using cross-attention mechanism
    pub fn match_with_attention(
        &self,
        keypoints1: &[KeyPoint],
        descriptors1: &ArrayView2<f32>,
        keypoints2: &[KeyPoint],
        descriptors2: &ArrayView2<f32>,
    ) -> Result<Vec<(usize, usize)>> {
        // Simplified attention-based matching
        // In practice, this would use a full transformer architecture

        let n1 = descriptors1.shape()[0];
        let n2 = descriptors2.shape()[0];

        if n1 == 0 || n2 == 0 {
            return Ok(Vec::new());
        }

        // Compute positional encodings
        let pos_enc1 = self.compute_positional_encoding(keypoints1)?;
        let pos_enc2 = self.compute_positional_encoding(keypoints2)?;

        // Enhanced descriptors with positional information
        let enhanced_desc1 = self.enhance_descriptors(descriptors1, &pos_enc1)?;
        let enhanced_desc2 = self.enhance_descriptors(descriptors2, &pos_enc2)?;

        // Compute attention scores
        let attention_scores = self.compute_attention_scores(&enhanced_desc1, &enhanced_desc2)?;

        // Extract matches from attention scores
        self.extract_matches_from_attention(&attention_scores)
    }

    /// Compute positional encoding for keypoints
    fn compute_positional_encoding(&self, keypoints: &[KeyPoint]) -> Result<Array2<f32>> {
        let n = keypoints.len();
        let mut pos_encoding = Array2::zeros((n, 4)); // x, y, cos(x), sin(y)

        for (i, kp) in keypoints.iter().enumerate() {
            pos_encoding[[i, 0]] = kp.x / 1000.0; // Normalized position
            pos_encoding[[i, 1]] = kp.y / 1000.0;
            pos_encoding[[i, 2]] = (kp.x * 0.01).cos();
            pos_encoding[[i, 3]] = (kp.y * 0.01).sin();
        }

        Ok(pos_encoding)
    }

    /// Enhance descriptors with positional information
    fn enhance_descriptors(
        &self,
        descriptors: &ArrayView2<f32>,
        pos_encoding: &Array2<f32>,
    ) -> Result<Array2<f32>> {
        let n = descriptors.shape()[0];
        let desc_dim = descriptors.shape()[1];
        let pos_dim = pos_encoding.shape()[1];

        let mut enhanced = Array2::zeros((n, desc_dim + pos_dim));

        // Concatenate descriptors and positional _encoding
        for i in 0..n {
            enhanced
                .slice_mut(s![i, ..desc_dim])
                .assign(&descriptors.slice(s![i, ..]));
            enhanced
                .slice_mut(s![i, desc_dim..])
                .assign(&pos_encoding.slice(s![i, ..]));
        }

        Ok(enhanced)
    }

    /// Compute attention scores between enhanced descriptors
    fn compute_attention_scores(
        &self,
        desc1: &Array2<f32>,
        desc2: &Array2<f32>,
    ) -> Result<Array2<f32>> {
        let n1 = desc1.shape()[0];
        let n2 = desc2.shape()[0];
        let dim = desc1.shape()[1];

        // Simplified single-head attention
        let mut attention_scores = Array2::zeros((n1, n2));
        let scale = 1.0 / (dim as f32).sqrt();

        for i in 0..n1 {
            for j in 0..n2 {
                let query = desc1.slice(s![i, ..]);
                let key = desc2.slice(s![j, ..]);

                // Attention score = scaled dot product
                let score = query.dot(&key) * scale;
                attention_scores[[i, j]] = score;
            }
        }

        // Apply softmax normalization across keys for each query
        for i in 0..n1 {
            let mut row = attention_scores.slice_mut(s![i, ..]);
            let max_val = row.iter().cloned().fold(f32::NEG_INFINITY, f32::max);

            row.mapv_inplace(|x| (x - max_val).exp());
            let sum = row.sum();
            if sum > 1e-8 {
                row.mapv_inplace(|x| x / sum);
            }
        }

        Ok(attention_scores)
    }

    /// Extract matches from attention scores
    fn extract_matches_from_attention(
        &self,
        attention_scores: &Array2<f32>,
    ) -> Result<Vec<(usize, usize)>> {
        let n1 = attention_scores.shape()[0];
        let n2 = attention_scores.shape()[1];
        let mut matches = Vec::new();

        // Use Hungarian algorithm approximation or greedy matching
        // For simplicity, use greedy bidirectional matching
        let mut used_j = vec![false; n2];

        for i in 0..n1 {
            let mut best_score = 0.0;
            let mut best_j = None;

            for j in 0..n2 {
                if !used_j[j] && attention_scores[[i, j]] > best_score {
                    best_score = attention_scores[[i, j]];
                    best_j = Some(j);
                }
            }

            // Threshold for accepting matches
            if let Some(j) = best_j {
                if best_score > 0.1 {
                    // Attention threshold
                    matches.push((i, j));
                    used_j[j] = true;
                }
            }
        }

        Ok(matches)
    }
}

/// Learned SIFT: Enhanced SIFT descriptors using neural networks
pub struct LearnedSIFT {
    /// Traditional SIFT parameters
    siftconfig: SIFTConfig,
    /// Neural enhancement network
    enhancement_network: Option<NeuralFeatureNetwork>,
}

/// Configuration for SIFT feature detection
#[derive(Clone)]
pub struct SIFTConfig {
    /// Number of octaves in the scale space
    pub num_octaves: usize,
    /// Number of scales per octave
    pub num_scales: usize,
    /// Initial sigma for Gaussian smoothing
    pub sigma: f32,
    /// Threshold for edge response suppression
    pub edge_threshold: f32,
    /// Threshold for peak detection
    pub peak_threshold: f32,
}

impl Default for SIFTConfig {
    fn default() -> Self {
        Self {
            num_octaves: 4,
            num_scales: 3,
            sigma: 1.6,
            edge_threshold: 10.0,
            peak_threshold: 0.03,
        }
    }
}

impl LearnedSIFT {
    /// Create a new Learned SIFT detector
    pub fn new(config: Option<SIFTConfig>) -> Self {
        Self {
            siftconfig: config.unwrap_or_default(),
            enhancement_network: None,
        }
    }

    /// Simple Gaussian blur without SIMD
    fn simple_gaussian_blur(&self, image: &ArrayView2<f32>, sigma: f32) -> Result<Array2<f32>> {
        // Very simplified blur - just average with neighbors
        let (height, width) = image.dim();
        let mut blurred = Array2::zeros((height, width));

        for y in 1..height - 1 {
            for x in 1..width - 1 {
                let avg = (image[[y - 1, x - 1]]
                    + image[[y - 1, x]]
                    + image[[y - 1, x + 1]]
                    + image[[y, x - 1]]
                    + image[[y, x]]
                    + image[[y, x + 1]]
                    + image[[y + 1, x - 1]]
                    + image[[y + 1, x]]
                    + image[[y + 1, x + 1]])
                    / 9.0;
                blurred[[y, x]] = avg;
            }
        }

        // Copy borders
        for y in 0..height {
            blurred[[y, 0]] = image[[y, 0]];
            if width > 1 {
                blurred[[y, width - 1]] = image[[y, width - 1]];
            }
        }
        for x in 0..width {
            blurred[[0, x]] = image[[0, x]];
            if height > 1 {
                blurred[[height - 1, x]] = image[[height - 1, x]];
            }
        }

        Ok(blurred)
    }

    /// Detect SIFT keypoints with neural enhancement
    pub fn detect_keypoints(&self, image: &ArrayView2<f32>) -> Result<Vec<KeyPoint>> {
        // Build scale space
        let scalespace = self.build_scale_space(image)?;

        // Detect extrema in difference-of-Gaussians
        let dogspace = self.compute_dog_space(&scalespace)?;
        let extrema = self.detect_extrema(&dogspace)?;

        // Refine keypoints with subpixel accuracy
        let refined_keypoints = self.refine_keypoints(&extrema, &dogspace)?;

        // Filter edge responses and low contrast points
        let filtered_keypoints = self.filter_keypoints(&refined_keypoints, &dogspace)?;

        Ok(filtered_keypoints)
    }

    /// Compute enhanced SIFT descriptors
    pub fn compute_descriptors(
        &self,
        image: &ArrayView2<f32>,
        keypoints: &[KeyPoint],
    ) -> Result<Array2<f32>> {
        let mut descriptors = Array2::zeros((keypoints.len(), 128));

        for (i, kp) in keypoints.iter().enumerate() {
            let descriptor = self.compute_sift_descriptor(image, kp)?;
            descriptors.slice_mut(s![i, ..]).assign(&descriptor);
        }

        // Apply neural enhancement if available
        if let Some(ref network) = self.enhancement_network {
            self.enhance_descriptors_neural(&mut descriptors, network)?;
        }

        Ok(descriptors)
    }

    /// Build Gaussian scale space
    fn build_scale_space(&self, image: &ArrayView2<f32>) -> Result<Vec<Vec<Array2<f32>>>> {
        let mut scalespace = Vec::new();
        let mut current_image = image.to_owned();

        for octave in 0..self.siftconfig.num_octaves {
            let mut octave_images = Vec::new();

            for scale in 0..self.siftconfig.num_scales + 3 {
                let sigma = self.siftconfig.sigma
                    * 2.0_f32.powf(scale as f32 / self.siftconfig.num_scales as f32);
                let blurred = self.simple_gaussian_blur(&current_image.view(), sigma)?;
                octave_images.push(blurred);
            }

            scalespace.push(octave_images);

            // Downsample for next octave
            if octave < self.siftconfig.num_octaves - 1 {
                current_image = self.downsample(&current_image)?;
            }
        }

        Ok(scalespace)
    }

    /// Compute Difference of Gaussians
    fn compute_dog_space(&self, scalespace: &[Vec<Array2<f32>>]) -> Result<Vec<Vec<Array2<f32>>>> {
        let mut dogspace = Vec::new();

        for octave_images in scalespace {
            let mut dog_octave = Vec::new();

            for i in 0..octave_images.len() - 1 {
                let dog = &octave_images[i + 1] - &octave_images[i];
                dog_octave.push(dog);
            }

            dogspace.push(dog_octave);
        }

        Ok(dogspace)
    }

    /// Detect extrema in DoG space
    fn detect_extrema(&self, dogspace: &[Vec<Array2<f32>>]) -> Result<Vec<KeyPoint>> {
        let mut extrema = Vec::new();

        for (octave, dog_octave) in dogspace.iter().enumerate() {
            for (scale, dog_image) in dog_octave
                .iter()
                .enumerate()
                .skip(1)
                .take(dog_octave.len() - 2)
            {
                let (height, width) = dog_image.dim();

                for y in 1..height - 1 {
                    for x in 1..width - 1 {
                        let center_val = dog_image[[y, x]];

                        if center_val.abs() < self.siftconfig.peak_threshold {
                            continue;
                        }

                        // Check if extremum in 3x3x3 neighborhood
                        if self.is_extremum(dog_octave, scale, y, x, center_val) {
                            extrema.push(KeyPoint {
                                x: x as f32 * 2.0_f32.powi(octave as i32),
                                y: y as f32 * 2.0_f32.powi(octave as i32),
                                response: center_val.abs(),
                                scale: 2.0_f32.powi(octave as i32),
                                orientation: 0.0,
                            });
                        }
                    }
                }
            }
        }

        Ok(extrema)
    }

    /// Check if point is local extremum
    fn is_extremum(
        &self,
        dog_octave: &[Array2<f32>],
        scale: usize,
        y: usize,
        x: usize,
        center_val: f32,
    ) -> bool {
        let is_max = center_val > 0.0;

        // Check 3x3x3 neighborhood
        for s_offset in -1_isize..=1_isize {
            let s = (scale as isize + s_offset) as usize;
            for dy in -1_isize..=1_isize {
                for dx in -1_isize..=1_isize {
                    if s_offset == 0 && dy == 0 && dx == 0 {
                        continue;
                    }

                    let ny = (y as isize + dy) as usize;
                    let nx = (x as isize + dx) as usize;

                    let neighbor_val = dog_octave[s][[ny, nx]];

                    if is_max && neighbor_val >= center_val {
                        return false;
                    }
                    if !is_max && neighbor_val <= center_val {
                        return false;
                    }
                }
            }
        }

        true
    }

    /// Refine keypoint locations with subpixel accuracy
    fn refine_keypoints(
        &self,
        keypoints: &[KeyPoint],
        _dog_space: &[Vec<Array2<f32>>],
    ) -> Result<Vec<KeyPoint>> {
        // Simplified subpixel refinement
        // In practice, this would use Taylor expansion and Hessian matrix
        Ok(keypoints.to_vec())
    }

    /// Filter out edge responses and low contrast points
    fn filter_keypoints(
        &self,
        keypoints: &[KeyPoint],
        _dog_space: &[Vec<Array2<f32>>],
    ) -> Result<Vec<KeyPoint>> {
        let mut filtered = Vec::new();

        for kp in keypoints {
            // Simple contrast threshold (already applied during detection)
            if kp.response > self.siftconfig.peak_threshold {
                filtered.push(kp.clone());
            }
        }

        Ok(filtered)
    }

    /// Compute SIFT descriptor for a keypoint
    fn compute_sift_descriptor(
        &self,
        image: &ArrayView2<f32>,
        keypoint: &KeyPoint,
    ) -> Result<Array1<f32>> {
        // Simplified SIFT descriptor computation
        // In practice, this would compute gradient histograms in a 16x16 window

        let mut descriptor = Array1::zeros(128);
        let (height, width) = image.dim();

        let x = keypoint.x as usize;
        let y = keypoint.y as usize;

        // Sample around keypoint
        for i in 0..128 {
            let angle = i as f32 * 2.0 * std::f32::consts::PI / 128.0;
            let radius = 8.0 + (i % 16) as f32;

            let sample_x = x as f32 + radius * angle.cos();
            let sample_y = y as f32 + radius * angle.sin();

            if sample_x >= 0.0
                && sample_x < width as f32
                && sample_y >= 0.0
                && sample_y < height as f32
            {
                let sx = sample_x as usize;
                let sy = sample_y as usize;
                descriptor[i] = image[[sy.min(height - 1), sx.min(width - 1)]];
            }
        }

        // Normalize descriptor
        let norm = descriptor.dot(&descriptor).sqrt();
        if norm > 1e-6 {
            descriptor.mapv_inplace(|x| x / norm);
        }

        Ok(descriptor)
    }

    /// Enhance descriptors using neural network
    fn enhance_descriptors_neural(
        &self,
        descriptors: &mut Array2<f32>,
        _network: &NeuralFeatureNetwork,
    ) -> Result<()> {
        // Placeholder for neural enhancement
        // In practice, this would apply a small neural _network to enhance SIFT descriptors

        // Apply learned normalization
        for mut row in descriptors.rows_mut() {
            let mean = row.mean_or(0.0);
            let std = ((row.mapv(|x| (x - mean).powi(2)).mean_or(0.0)).sqrt()).max(1e-6);
            row.mapv_inplace(|x| (x - mean) / std);
        }

        Ok(())
    }

    /// Downsample image by factor of 2
    fn downsample(&self, image: &Array2<f32>) -> Result<Array2<f32>> {
        let (height, width) = image.dim();
        let new_height = height / 2;
        let new_width = width / 2;

        let mut downsampled = Array2::zeros((new_height, new_width));

        for y in 0..new_height {
            for x in 0..new_width {
                downsampled[[y, x]] = image[[y * 2, x * 2]];
            }
        }

        Ok(downsampled)
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use scirs2_core::ndarray::arr2;

    #[test]
    fn test_superpoint_creation() {
        let config = NeuralFeatureConfig {
            input_size: (480, 640),
            max_keypoints: 512,
            use_gpu: false, // Use CPU for tests
            ..Default::default()
        };

        let result = SuperPointNet::new(Some(config));
        assert!(result.is_ok());
    }

    #[test]
    fn test_superpoint_detection() {
        let config = NeuralFeatureConfig {
            input_size: (480, 640),
            max_keypoints: 100,
            use_gpu: false,
            ..Default::default()
        };

        if let Ok(superpoint) = SuperPointNet::new(Some(config)) {
            let image = Array2::from_shape_fn((480, 640), |(y, x)| {
                ((x as f32 / 10.0).sin() + (y as f32 / 10.0).cos()) * 0.5 + 0.5
            });

            let result = superpoint.detect_and_describe(&image.view());
            assert!(result.is_ok());

            let (keypoints, descriptors) = result.expect("Operation failed");
            assert!(!keypoints.is_empty());
            assert_eq!(descriptors.shape()[0], keypoints.len());
        }
    }

    #[test]
    fn test_neural_feature_matcher() {
        let matcher = NeuralFeatureMatcher::new();

        let desc1 = arr2(&[
            [1.0, 0.0, 0.0, 0.0],
            [0.0, 1.0, 0.0, 0.0],
            [0.0, 0.0, 1.0, 0.0],
        ]);

        let desc2 = arr2(&[
            [0.9, 0.1, 0.0, 0.0],
            [0.0, 0.0, 0.9, 0.1],
            [0.1, 0.9, 0.0, 0.0],
        ]);

        let matches = matcher
            .match_descriptors(&desc1.view(), &desc2.view())
            .expect("Operation failed");
        assert!(!matches.is_empty());
    }

    #[test]
    fn test_learned_sift() {
        let sift = LearnedSIFT::new(None);
        let image = Array2::from_shape_fn((100, 100), |(y, x)| {
            if (x as i32 - 50).abs() < 5 && (y as i32 - 50).abs() < 5 {
                1.0
            } else {
                0.0
            }
        });

        let keypoints = sift
            .detect_keypoints(&image.view())
            .expect("Operation failed");
        if !keypoints.is_empty() {
            let descriptors = sift
                .compute_descriptors(&image.view(), &keypoints)
                .expect("Operation failed");
            assert_eq!(descriptors.shape()[0], keypoints.len());
            assert_eq!(descriptors.shape()[1], 128);
        }
    }

    #[test]
    fn test_attention_matcher() {
        let matcher = AttentionFeatureMatcher::new(64, 4);

        let keypoints1 = vec![
            KeyPoint {
                x: 10.0,
                y: 10.0,
                response: 1.0,
                scale: 1.0,
                orientation: 0.0,
            },
            KeyPoint {
                x: 20.0,
                y: 20.0,
                response: 1.0,
                scale: 1.0,
                orientation: 0.0,
            },
        ];

        let keypoints2 = vec![
            KeyPoint {
                x: 12.0,
                y: 11.0,
                response: 1.0,
                scale: 1.0,
                orientation: 0.0,
            },
            KeyPoint {
                x: 50.0,
                y: 50.0,
                response: 1.0,
                scale: 1.0,
                orientation: 0.0,
            },
        ];

        let desc1 = Array2::from_shape_fn((2, 64), |__| scirs2_core::random::random::<f32>());
        let desc2 = Array2::from_shape_fn((2, 64), |__| scirs2_core::random::random::<f32>());

        let result =
            matcher.match_with_attention(&keypoints1, &desc1.view(), &keypoints2, &desc2.view());
        assert!(result.is_ok());
    }
}