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added docs for FAST_GPU and ORB_GPU
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Vladislav Vinogradov
parent
5860477605
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4f44d9ea7d
@ -99,6 +99,252 @@ The class ``SURF_GPU`` uses some buffers and provides access to it. All buffers
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gpu::FAST_GPU
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-------------
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.. ocv:class:: gpu::FAST_GPU
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Class used for corner detection using the FAST algorithm. ::
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class FAST_GPU
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{
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public:
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enum
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{
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LOCATION_ROW = 0,
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RESPONSE_ROW,
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ROWS_COUNT
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};
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// all features have same size
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static const int FEATURE_SIZE = 7;
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explicit FAST_GPU(int threshold, bool nonmaxSupression = true,
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double keypointsRatio = 0.05);
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void operator ()(const GpuMat& image, const GpuMat& mask, GpuMat& keypoints);
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void operator ()(const GpuMat& image, const GpuMat& mask,
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std::vector<KeyPoint>& keypoints);
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void downloadKeypoints(const GpuMat& d_keypoints,
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std::vector<KeyPoint>& keypoints);
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void convertKeypoints(const Mat& h_keypoints,
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std::vector<KeyPoint>& keypoints);
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void release();
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bool nonmaxSupression;
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int threshold;
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double keypointsRatio;
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int calcKeyPointsLocation(const GpuMat& image, const GpuMat& mask);
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int getKeyPoints(GpuMat& keypoints);
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};
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The class ``FAST_GPU`` implements FAST corner detection algorithm.
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.. seealso:: :ocv:func:`FAST`
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gpu::FAST_GPU::FAST_GPU
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-------------------------------------
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Constructor.
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.. ocv:function:: gpu::FAST_GPU::FAST_GPU(int threshold, bool nonmaxSupression = true, double keypointsRatio = 0.05)
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:param threshold: Threshold on difference between intensity of the central pixel and pixels on a circle around this pixel.
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:param nonmaxSupression: If it is true, non-maximum supression is applied to detected corners (keypoints).
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:param keypointsRatio: Inner buffer size for keypoints store is determined as (keypointsRatio * image_width * image_height).
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gpu::FAST_GPU::operator ()
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-------------------------------------
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Finds the keypoints using FAST detector.
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.. ocv:function:: void gpu::FAST_GPU::operator ()(const GpuMat& image, const GpuMat& mask, GpuMat& keypoints)
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.. ocv:function:: void gpu::FAST_GPU::operator ()(const GpuMat& image, const GpuMat& mask, std::vector<KeyPoint>& keypoints)
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:param image: Image where keypoints (corners) are detected. Only 8-bit grayscale images are supported.
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:param mask: Optional input mask that marks the regions where we should detect features.
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:param keypoints: The output vector of keypoints. Can be stored both in CPU and GPU memory. For GPU memory keypoints.ptr<Vec2s>(LOCATION_ROW)[i] will contain location of i'th point and keypoints.ptr<float>(RESPONSE_ROW)[i] will contaion response of i'th point (if non-maximum supression is applied).
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gpu::FAST_GPU::downloadKeypoints
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-------------------------------------
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Download keypoints from GPU to CPU memory.
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.. ocv:function:: void gpu::FAST_GPU::downloadKeypoints(const GpuMat& d_keypoints, std::vector<KeyPoint>& keypoints)
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gpu::FAST_GPU::convertKeypoints
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-------------------------------------
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Converts keypoints from GPU representation to vector of ``KeyPoint``.
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.. ocv:function:: void gpu::FAST_GPU::convertKeypoints(const Mat& h_keypoints, std::vector<KeyPoint>& keypoints)
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gpu::FAST_GPU::release
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-------------------------------------
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Releases inner buffer memory.
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.. ocv:function:: void gpu::FAST_GPU::release()
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gpu::FAST_GPU::calcKeyPointsLocation
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-------------------------------------
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Find keypoints and compute it's response if ``nonmaxSupression`` is true.
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.. int gpu::FAST_GPU::calcKeyPointsLocation(const GpuMat& image, const GpuMat& mask)
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:param image: Image where keypoints (corners) are detected. Only 8-bit grayscale images are supported.
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:param mask: Optional input mask that marks the regions where we should detect features.
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The function returns count of detected keypoints.
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gpu::FAST_GPU::getKeyPoints
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-------------------------------------
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Gets final array of keypoints.
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.. ocv:function:: int gpu::FAST_GPU::getKeyPoints(GpuMat& keypoints)
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:param keypoints: The output vector of keypoints.
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The function performs nonmax supression if needed and returns final count of keypoints.
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gpu::ORB_GPU
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-------------
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.. ocv:class:: gpu::ORB_GPU
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Class for extracting ORB features and descriptors from an image. ::
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class ORB_GPU
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{
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public:
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enum
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{
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X_ROW = 0,
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Y_ROW,
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RESPONSE_ROW,
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ANGLE_ROW,
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OCTAVE_ROW,
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SIZE_ROW,
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ROWS_COUNT
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};
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enum
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{
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DEFAULT_FAST_THRESHOLD = 20
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};
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explicit ORB_GPU(size_t n_features = 500,
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const ORB::CommonParams& detector_params = ORB::CommonParams());
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void operator()(const GpuMat& image, const GpuMat& mask,
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std::vector<KeyPoint>& keypoints);
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void operator()(const GpuMat& image, const GpuMat& mask, GpuMat& keypoints);
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void operator()(const GpuMat& image, const GpuMat& mask,
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std::vector<KeyPoint>& keypoints, GpuMat& descriptors);
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void operator()(const GpuMat& image, const GpuMat& mask,
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GpuMat& keypoints, GpuMat& descriptors);
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void downloadKeyPoints(GpuMat& d_keypoints, std::vector<KeyPoint>& keypoints);
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void convertKeyPoints(Mat& d_keypoints, std::vector<KeyPoint>& keypoints);
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int descriptorSize() const;
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void setParams(size_t n_features, const ORB::CommonParams& detector_params);
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void setFastParams(int threshold, bool nonmaxSupression = true);
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void release();
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bool blurForDescriptor;
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};
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The class implements ORB feature detection and description algorithm.
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gpu::ORB_GPU::ORB_GPU
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-------------------------------------
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Constructor.
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.. ocv:function:: gpu::ORB_GPU::ORB_GPU(size_t n_features = 500, const ORB::CommonParams& detector_params = ORB::CommonParams())
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gpu::ORB_GPU::operator()
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-------------------------------------
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Detects keypoints and computes descriptors for them.
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.. ocv:function:: void gpu::ORB_GPU::operator()(const GpuMat& image, const GpuMat& mask, std::vector<KeyPoint>& keypoints)
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.. ocv:function:: void gpu::ORB_GPU::operator()(const GpuMat& image, const GpuMat& mask, GpuMat& keypoints)
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.. ocv:function:: void gpu::ORB_GPU::operator()(const GpuMat& image, const GpuMat& mask, std::vector<KeyPoint>& keypoints, GpuMat& descriptors)
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.. ocv:function:: void gpu::ORB_GPU::operator()(const GpuMat& image, const GpuMat& mask, GpuMat& keypoints, GpuMat& descriptors)
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:param image: Input 8-bit grayscale image.
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:param mask: Optional input mask that marks the regions where we should detect features.
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:param keypoints: The input/output vector of keypoints. Can be stored both in CPU and GPU memory. For GPU memory
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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>(RESPONSE_ROW)[i]`` contains the response of the i'th feature.
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* ``keypoints.ptr<float>(ANGLE_ROW)[i]`` contains orientation 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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:param descriptors: Computed descriptors. if ``blurForDescriptor`` is true, image will be blurred before descriptors calculation.
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gpu::ORB_GPU::downloadKeypoints
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-------------------------------------
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Download keypoints from GPU to CPU memory.
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.. ocv:function:: void gpu::ORB_GPU::downloadKeypoints(const GpuMat& d_keypoints, std::vector<KeyPoint>& keypoints)
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gpu::ORB_GPU::convertKeypoints
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-------------------------------------
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Converts keypoints from GPU representation to vector of ``KeyPoint``.
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.. ocv:function:: void gpu::ORB_GPU::convertKeypoints(const Mat& h_keypoints, std::vector<KeyPoint>& keypoints)
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gpu::ORB_GPU::release
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-------------------------------------
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Releases inner buffer memory.
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.. ocv:function:: void gpu::ORB_GPU::release()
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gpu::BruteForceMatcher_GPU
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--------------------------
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.. ocv:class:: gpu::BruteForceMatcher_GPU
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