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3rdparty/opencv/inc/opencv2/xfeatures2d/cuda.hpp
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3rdparty/opencv/inc/opencv2/xfeatures2d/cuda.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_XFEATURES2D_CUDA_HPP__
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#define __OPENCV_XFEATURES2D_CUDA_HPP__
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#include "opencv2/core/cuda.hpp"
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namespace cv { namespace cuda {
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//! @addtogroup xfeatures2d_nonfree
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//! @{
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/** @brief Class used for extracting Speeded Up Robust Features (SURF) from an image. :
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The class SURF_CUDA implements Speeded Up Robust Features descriptor. There is a fast multi-scale
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Hessian keypoint detector that can be used to find the keypoints (which is the default option). But
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the descriptors can also be computed for the user-specified keypoints. Only 8-bit grayscale images
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are supported.
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The class SURF_CUDA can store results in the GPU and CPU memory. It provides functions to convert
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results between CPU and GPU version ( uploadKeypoints, downloadKeypoints, downloadDescriptors ). The
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format of CPU results is the same as SURF results. GPU results are stored in GpuMat. The keypoints
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matrix is \f$\texttt{nFeatures} \times 7\f$ matrix with the CV_32FC1 type.
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- keypoints.ptr\<float\>(X_ROW)[i] contains x coordinate of the i-th feature.
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- keypoints.ptr\<float\>(Y_ROW)[i] contains y coordinate of the i-th feature.
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- keypoints.ptr\<float\>(LAPLACIAN_ROW)[i] contains the laplacian sign of the i-th feature.
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- keypoints.ptr\<float\>(OCTAVE_ROW)[i] contains the octave of the i-th feature.
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- keypoints.ptr\<float\>(SIZE_ROW)[i] contains the size of the i-th feature.
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- keypoints.ptr\<float\>(ANGLE_ROW)[i] contain orientation of the i-th feature.
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- keypoints.ptr\<float\>(HESSIAN_ROW)[i] contains the response of the i-th feature.
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The descriptors matrix is \f$\texttt{nFeatures} \times \texttt{descriptorSize}\f$ matrix with the
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CV_32FC1 type.
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The class SURF_CUDA uses some buffers and provides access to it. All buffers can be safely released
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between function calls.
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@sa SURF
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@note
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- An example for using the SURF keypoint matcher on GPU can be found at
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opencv_source_code/samples/gpu/surf_keypoint_matcher.cpp
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*/
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class CV_EXPORTS_W SURF_CUDA
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{
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public:
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enum KeypointLayout
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{
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X_ROW = 0,
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Y_ROW,
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LAPLACIAN_ROW,
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OCTAVE_ROW,
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SIZE_ROW,
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ANGLE_ROW,
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HESSIAN_ROW,
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ROWS_COUNT
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};
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//! the default constructor
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SURF_CUDA();
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//! the full constructor taking all the necessary parameters
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explicit SURF_CUDA(double _hessianThreshold, int _nOctaves=4,
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int _nOctaveLayers=2, bool _extended=false, float _keypointsRatio=0.01f, bool _upright = false);
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/**
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@param _hessianThreshold Threshold for hessian keypoint detector used in SURF.
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@param _nOctaves Number of pyramid octaves the keypoint detector will use.
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@param _nOctaveLayers Number of octave layers within each octave.
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@param _extended Extended descriptor flag (true - use extended 128-element descriptors; false - use
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64-element descriptors).
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@param _keypointsRatio
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@param _upright Up-right or rotated features flag (true - do not compute orientation of features;
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false - compute orientation).
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*/
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CV_WRAP static Ptr<SURF_CUDA> create(double _hessianThreshold, int _nOctaves = 4,
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int _nOctaveLayers = 2, bool _extended = false, float _keypointsRatio = 0.01f, bool _upright = false);
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//! returns the descriptor size in float's (64 or 128)
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CV_WRAP int descriptorSize() const;
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//! returns the default norm type
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CV_WRAP int defaultNorm() const;
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//! upload host keypoints to device memory
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void uploadKeypoints(const std::vector<KeyPoint>& keypoints, GpuMat& keypointsGPU);
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//! download keypoints from device to host memory
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CV_WRAP void downloadKeypoints(const GpuMat& keypointsGPU, CV_OUT std::vector<KeyPoint>& keypoints);
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//! download descriptors from device to host memory
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void downloadDescriptors(const GpuMat& descriptorsGPU, std::vector<float>& descriptors);
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//! finds the keypoints using fast hessian detector used in SURF
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//! supports CV_8UC1 images
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//! keypoints will have nFeature cols and 6 rows
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//! keypoints.ptr<float>(X_ROW)[i] will contain x coordinate of i'th feature
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//! keypoints.ptr<float>(Y_ROW)[i] will contain y coordinate of i'th feature
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//! keypoints.ptr<float>(LAPLACIAN_ROW)[i] will contain laplacian sign of i'th feature
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//! keypoints.ptr<float>(OCTAVE_ROW)[i] will contain octave of i'th feature
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//! keypoints.ptr<float>(SIZE_ROW)[i] will contain size of i'th feature
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//! keypoints.ptr<float>(ANGLE_ROW)[i] will contain orientation of i'th feature
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//! keypoints.ptr<float>(HESSIAN_ROW)[i] will contain response of i'th feature
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void operator()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints);
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//! finds the keypoints and computes their descriptors.
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//! Optionally it can compute descriptors for the user-provided keypoints and recompute keypoints direction
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void operator()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints, GpuMat& descriptors,
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bool useProvidedKeypoints = false);
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/** @brief Finds the keypoints using fast hessian detector used in SURF
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@param img Source image, currently supports only CV_8UC1 images.
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@param mask A mask image same size as src and of type CV_8UC1.
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@param keypoints Detected keypoints.
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*/
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CV_WRAP inline void detect(const GpuMat& img, const GpuMat& mask, CV_OUT GpuMat& keypoints) {
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(*this)(img, mask, keypoints);
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}
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void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints);
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void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints, GpuMat& descriptors,
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bool useProvidedKeypoints = false);
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/** @brief Finds the keypoints and computes their descriptors using fast hessian detector used in SURF
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@param img Source image, currently supports only CV_8UC1 images.
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@param mask A mask image same size as src and of type CV_8UC1.
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@param keypoints Detected keypoints.
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@param descriptors Keypoint descriptors.
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@param useProvidedKeypoints Compute descriptors for the user-provided keypoints and recompute keypoints direction.
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*/
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CV_WRAP inline void detectWithDescriptors(const GpuMat& img, const GpuMat& mask, CV_OUT GpuMat& keypoints, CV_OUT GpuMat& descriptors,
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bool useProvidedKeypoints = false) {
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(*this)(img, mask, keypoints, descriptors, useProvidedKeypoints);
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}
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void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints, std::vector<float>& descriptors,
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bool useProvidedKeypoints = false);
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void releaseMemory();
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// SURF parameters
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CV_PROP double hessianThreshold;
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CV_PROP int nOctaves;
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CV_PROP int nOctaveLayers;
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CV_PROP bool extended;
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CV_PROP bool upright;
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//! max keypoints = min(keypointsRatio * img.size().area(), 65535)
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CV_PROP float keypointsRatio;
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GpuMat sum, mask1, maskSum;
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GpuMat det, trace;
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GpuMat maxPosBuffer;
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};
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//! @}
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}} // namespace cv { namespace cuda {
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#endif // __OPENCV_XFEATURES2D_CUDA_HPP__
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122
3rdparty/opencv/inc/opencv2/xfeatures2d/nonfree.hpp
vendored
Normal file
122
3rdparty/opencv/inc/opencv2/xfeatures2d/nonfree.hpp
vendored
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@@ -0,0 +1,122 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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||||
//
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// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
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// For Open Source Computer Vision Library
|
||||
//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
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// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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||||
//
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// * The name of the copyright holders may not be used to endorse or promote products
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||||
// derived from this software without specific prior written permission.
|
||||
//
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// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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||||
//
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//M*/
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#ifndef __OPENCV_XFEATURES2D_FEATURES_2D_HPP__
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#define __OPENCV_XFEATURES2D_FEATURES_2D_HPP__
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#include "opencv2/features2d.hpp"
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namespace cv
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{
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namespace xfeatures2d
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{
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/** @brief Class for extracting Speeded Up Robust Features from an image @cite Bay06 .
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The algorithm parameters:
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- member int extended
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- 0 means that the basic descriptors (64 elements each) shall be computed
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- 1 means that the extended descriptors (128 elements each) shall be computed
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- member int upright
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- 0 means that detector computes orientation of each feature.
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- 1 means that the orientation is not computed (which is much, much faster). For example,
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if you match images from a stereo pair, or do image stitching, the matched features
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likely have very similar angles, and you can speed up feature extraction by setting
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upright=1.
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- member double hessianThreshold
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Threshold for the keypoint detector. Only features, whose hessian is larger than
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hessianThreshold are retained by the detector. Therefore, the larger the value, the less
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keypoints you will get. A good default value could be from 300 to 500, depending from the
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image contrast.
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- member int nOctaves
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The number of a gaussian pyramid octaves that the detector uses. It is set to 4 by default.
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If you want to get very large features, use the larger value. If you want just small
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features, decrease it.
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- member int nOctaveLayers
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The number of images within each octave of a gaussian pyramid. It is set to 2 by default.
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@note
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- An example using the SURF feature detector can be found at
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opencv_source_code/samples/cpp/generic_descriptor_match.cpp
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- Another example using the SURF feature detector, extractor and matcher can be found at
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opencv_source_code/samples/cpp/matcher_simple.cpp
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*/
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class CV_EXPORTS_W SURF : public Feature2D
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{
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public:
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/**
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@param hessianThreshold Threshold for hessian keypoint detector used in SURF.
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@param nOctaves Number of pyramid octaves the keypoint detector will use.
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@param nOctaveLayers Number of octave layers within each octave.
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@param extended Extended descriptor flag (true - use extended 128-element descriptors; false - use
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64-element descriptors).
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@param upright Up-right or rotated features flag (true - do not compute orientation of features;
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false - compute orientation).
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*/
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CV_WRAP static Ptr<SURF> create(double hessianThreshold=100,
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int nOctaves = 4, int nOctaveLayers = 3,
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bool extended = false, bool upright = false);
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CV_WRAP virtual void setHessianThreshold(double hessianThreshold) = 0;
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CV_WRAP virtual double getHessianThreshold() const = 0;
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CV_WRAP virtual void setNOctaves(int nOctaves) = 0;
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CV_WRAP virtual int getNOctaves() const = 0;
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CV_WRAP virtual void setNOctaveLayers(int nOctaveLayers) = 0;
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CV_WRAP virtual int getNOctaveLayers() const = 0;
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CV_WRAP virtual void setExtended(bool extended) = 0;
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CV_WRAP virtual bool getExtended() const = 0;
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CV_WRAP virtual void setUpright(bool upright) = 0;
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CV_WRAP virtual bool getUpright() const = 0;
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};
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typedef SURF SurfFeatureDetector;
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typedef SURF SurfDescriptorExtractor;
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//! @}
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}
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} /* namespace cv */
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#endif
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