Fix missing angles in AKAZE keypoints

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())

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

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;
 };
 
 /* ************************************************************************* */