..[Lowe04] Lowe, D. G., “Distinctive Image Features from Scale-Invariant Keypoints”, International Journal of Computer Vision, 60, 2, pp. 91-110, 2004.
:param nOctaveLayers:The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution.
:param contrastThreshold:The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.
:param edgeThreshold:The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the ``edgeThreshold``, the less features are filtered out (more features are retained).
:param sigma:The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.
SIFT::operator ()
-----------------
Extract features and computes their descriptors using SIFT algorithm
:param mask:Optional input mask that marks the regions where we should detect features.
:param keypoints:The input/output vector of keypoints
:param descriptors:The output matrix of descriptors. Pass ``cv::noArray()`` if you do not need them.
:param useProvidedKeypoints:Boolean flag. If it is true, the keypoint detector is not run. Instead, the provided vector of keypoints is used and the algorithm just computes their descriptors.
Class for extracting Speeded Up Robust Features from an image [Bay06]_. The class is derived from ``CvSURFParams`` structure, which specifies the algorithm parameters:
..ocv:member:: int extended
* 0 means that the basic descriptors (64 elements each) shall be computed
* 1 means that the extended descriptors (128 elements each) shall be computed
..ocv:member:: int upright
* 0 means that detector computes orientation of each feature.
* 1 means that the orientation is not computed (which is much, much faster). For example, if you match images from a stereo pair, or do image stitching, the matched features likely have very similar angles, and you can speed up feature extraction by setting ``upright=1``.
..ocv:member:: double hessianThreshold
Threshold for the keypoint detector. Only features, whose hessian is larger than ``hessianThreshold`` are retained by the detector. Therefore, the larger the value, the less keypoints you will get. A good default value could be from 300 to 500, depending from the image contrast.
..ocv:member:: int nOctaves
The number of a gaussian pyramid octaves that the detector uses. It is set to 4 by default. If you want to get very large features, use the larger value. If you want just small features, decrease it.
..ocv:member:: int nOctaveLayers
The number of images within each octave of a gaussian pyramid. It is set to 2 by default.
:param useProvidedKeypoints:Boolean flag. If it is true, the keypoint detector is not run. Instead, the provided vector of keypoints is used and the algorithm just computes their descriptors.
//! max keypoints = keypointsRatio * img.size().area()
float keypointsRatio;
GpuMat sum, mask1, maskSum, intBuffer;
GpuMat det, trace;
GpuMat maxPosBuffer;
};
The class ``SURF_GPU`` implements Speeded Up Robust Features descriptor. There is a fast multi-scale Hessian keypoint detector that can be used to find the keypoints (which is the default option). But the descriptors can also be computed for the user-specified keypoints. Only 8-bit grayscale images are supported.
The class ``SURF_GPU`` can store results in the GPU and CPU memory. It provides functions to convert results between CPU and GPU version ( ``uploadKeypoints``, ``downloadKeypoints``, ``downloadDescriptors`` ). The format of CPU results is the same as ``SURF`` results. GPU results are stored in ``GpuMat``. The ``keypoints`` matrix is :math:`\texttt{nFeatures} \times 7` matrix with the ``CV_32FC1`` type.
*``keypoints.ptr<float>(X_ROW)[i]`` contains x coordinate of the i-th feature.
*``keypoints.ptr<float>(Y_ROW)[i]`` contains y coordinate of the i-th feature.
*``keypoints.ptr<float>(LAPLACIAN_ROW)[i]`` contains the laplacian sign of the i-th feature.
*``keypoints.ptr<float>(OCTAVE_ROW)[i]`` contains the octave of the i-th feature.
*``keypoints.ptr<float>(SIZE_ROW)[i]`` contains the size of the i-th feature.
*``keypoints.ptr<float>(ANGLE_ROW)[i]`` contain orientation of the i-th feature.
*``keypoints.ptr<float>(HESSIAN_ROW)[i]`` contains the response of the i-th feature.
The ``descriptors`` matrix is :math:`\texttt{nFeatures} \times \texttt{descriptorSize}` matrix with the ``CV_32FC1`` type.
The class ``SURF_GPU`` uses some buffers and provides access to it. All buffers can be safely released between function calls.
//! max keypoints = min(keypointsRatio * img.size().area(), 65535)
float keypointsRatio;
oclMat sum, mask1, maskSum, intBuffer;
oclMat det, trace;
oclMat maxPosBuffer;
};
The class ``SURF_OCL`` implements Speeded Up Robust Features descriptor. There is a fast multi-scale Hessian keypoint detector that can be used to find the keypoints (which is the default option). But the descriptors can also be computed for the user-specified keypoints. Only 8-bit grayscale images are supported.
The class ``SURF_OCL`` can store results in the GPU and CPU memory. It provides functions to convert results between CPU and GPU version ( ``uploadKeypoints``, ``downloadKeypoints``, ``downloadDescriptors`` ). The format of CPU results is the same as ``SURF`` results. GPU results are stored in ``oclMat``. The ``keypoints`` matrix is :math:`\texttt{nFeatures} \times 7` matrix with the ``CV_32FC1`` type.
*``keypoints.ptr<float>(X_ROW)[i]`` contains x coordinate of the i-th feature.
*``keypoints.ptr<float>(Y_ROW)[i]`` contains y coordinate of the i-th feature.
*``keypoints.ptr<float>(LAPLACIAN_ROW)[i]`` contains the laplacian sign of the i-th feature.
*``keypoints.ptr<float>(OCTAVE_ROW)[i]`` contains the octave of the i-th feature.
*``keypoints.ptr<float>(SIZE_ROW)[i]`` contains the size of the i-th feature.
*``keypoints.ptr<float>(ANGLE_ROW)[i]`` contain orientation of the i-th feature.
*``keypoints.ptr<float>(HESSIAN_ROW)[i]`` contains the response of the i-th feature.
The ``descriptors`` matrix is :math:`\texttt{nFeatures} \times \texttt{descriptorSize}` matrix with the ``CV_32FC1`` type.
The class ``SURF_OCL`` uses some buffers and provides access to it. All buffers can be safely released between function calls.
