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131 lines
4.7 KiB
C++
131 lines
4.7 KiB
C++
/*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_MATCHERS_HPP__
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#define __OPENCV_MATCHERS_HPP__
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#include "precomp.hpp"
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struct ImageFeatures
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{
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int img_idx;
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cv::Size img_size;
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std::vector<cv::KeyPoint> keypoints;
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cv::Mat descriptors;
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};
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class FeaturesFinder
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{
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public:
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virtual ~FeaturesFinder() {}
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void operator ()(const cv::Mat &image, ImageFeatures &features);
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protected:
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virtual void find(const cv::Mat &image, ImageFeatures &features) = 0;
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};
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class SurfFeaturesFinder : public FeaturesFinder
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{
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public:
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SurfFeaturesFinder(bool try_use_gpu = true, double hess_thresh = 300.0,
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int num_octaves = 3, int num_layers = 4,
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int num_octaves_descr = 4, int num_layers_descr = 2);
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protected:
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void find(const cv::Mat &image, ImageFeatures &features);
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cv::Ptr<FeaturesFinder> impl_;
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};
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struct MatchesInfo
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{
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MatchesInfo();
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MatchesInfo(const MatchesInfo &other);
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const MatchesInfo& operator =(const MatchesInfo &other);
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int src_img_idx, dst_img_idx; // Images indices (optional)
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std::vector<cv::DMatch> matches;
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std::vector<uchar> inliers_mask; // Geometrically consistent matches mask
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int num_inliers; // Number of geometrically consistent matches
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cv::Mat H; // Estimated homography
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double confidence; // Confidence two images are from the same panorama
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};
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class FeaturesMatcher
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{
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public:
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virtual ~FeaturesMatcher() {}
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void operator ()(const ImageFeatures &features1, const ImageFeatures &features2,
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MatchesInfo& matches_info) { match(features1, features2, matches_info); }
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void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches);
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bool isThreadSafe() const { return is_thread_safe_; }
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protected:
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FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {}
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virtual void match(const ImageFeatures &features1, const ImageFeatures &features2,
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MatchesInfo& matches_info) = 0;
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bool is_thread_safe_;
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};
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class BestOf2NearestMatcher : public FeaturesMatcher
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{
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public:
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BestOf2NearestMatcher(bool try_use_gpu = true, float match_conf = 0.55f, int num_matches_thresh1 = 6,
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int num_matches_thresh2 = 6);
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protected:
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void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info);
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int num_matches_thresh1_;
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int num_matches_thresh2_;
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cv::Ptr<FeaturesMatcher> impl_;
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};
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#endif // __OPENCV_MATCHERS_HPP__
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