{}
void DescriptorExtractor::compute( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const
-{
+{
if( image.empty() || keypoints.empty() )
{
descriptors.release();
return;
}
-
KeyPointsFilter::runByImageBorder( keypoints, image.size(), 0 );
KeyPointsFilter::runByKeypointSize( keypoints, std::numeric_limits<float>::epsilon() );
compute( imageCollection[i], pointCollection[i], descCollection[i] );
}
-void DescriptorExtractor::read( const FileNode& )
+/*void DescriptorExtractor::read( const FileNode& )
{}
void DescriptorExtractor::write( FileStorage& ) const
-{}
+{}*/
bool DescriptorExtractor::empty() const
{
Ptr<DescriptorExtractor> DescriptorExtractor::create(const string& descriptorExtractorType)
{
- DescriptorExtractor* de = 0;
-
- size_t pos = 0;
- if (!descriptorExtractorType.compare("SIFT"))
- {
- de = new SiftDescriptorExtractor();
- }
- else if (!descriptorExtractorType.compare("SURF"))
- {
- de = new SurfDescriptorExtractor();
- }
- else if (!descriptorExtractorType.compare("ORB"))
- {
- de = new OrbDescriptorExtractor();
- }
- else if (!descriptorExtractorType.compare("BRIEF"))
- {
- de = new BriefDescriptorExtractor();
- }
- else if ( (pos=descriptorExtractorType.find("Opponent")) == 0)
+ if( descriptorExtractorType.find("Opponent") == 0 )
{
- pos += string("Opponent").size();
- de = new OpponentColorDescriptorExtractor( DescriptorExtractor::create(descriptorExtractorType.substr(pos)) );
+ size_t pos = string("Opponent").size();
+ string type = descriptorExtractorType.substr(pos);
+ return new OpponentColorDescriptorExtractor(DescriptorExtractor::create(type));
}
- return de;
-}
-
-/****************************************************************************************\
-* SiftDescriptorExtractor *
-\****************************************************************************************/
-SiftDescriptorExtractor::SiftDescriptorExtractor(const SIFT::DescriptorParams& descriptorParams,
- const SIFT::CommonParams& commonParams)
- : sift( descriptorParams.magnification, descriptorParams.isNormalize, descriptorParams.recalculateAngles,
- commonParams.nOctaves, commonParams.nOctaveLayers, commonParams.firstOctave, commonParams.angleMode )
-{}
-
-SiftDescriptorExtractor::SiftDescriptorExtractor( double magnification, bool isNormalize, bool recalculateAngles,
- int nOctaves, int nOctaveLayers, int firstOctave, int angleMode )
- : sift( magnification, isNormalize, recalculateAngles, nOctaves, nOctaveLayers, firstOctave, angleMode )
-{}
-
-void SiftDescriptorExtractor::computeImpl( const Mat& image,
- vector<KeyPoint>& keypoints,
- Mat& descriptors) const
-{
- bool useProvidedKeypoints = true;
- Mat grayImage = image;
- if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-
- sift(grayImage, Mat(), keypoints, descriptors, useProvidedKeypoints);
-}
-
-void SiftDescriptorExtractor::read (const FileNode &fn)
-{
- double magnification = fn["magnification"];
- bool isNormalize = (int)fn["isNormalize"] != 0;
- bool recalculateAngles = (int)fn["recalculateAngles"] != 0;
- int nOctaves = fn["nOctaves"];
- int nOctaveLayers = fn["nOctaveLayers"];
- int firstOctave = fn["firstOctave"];
- int angleMode = fn["angleMode"];
-
- sift = SIFT( magnification, isNormalize, recalculateAngles, nOctaves, nOctaveLayers, firstOctave, angleMode );
-}
-
-void SiftDescriptorExtractor::write (FileStorage &fs) const
-{
-// fs << "algorithm" << getAlgorithmName ();
-
- SIFT::CommonParams commParams = sift.getCommonParams ();
- SIFT::DescriptorParams descriptorParams = sift.getDescriptorParams ();
- fs << "magnification" << descriptorParams.magnification;
- fs << "isNormalize" << descriptorParams.isNormalize;
- fs << "recalculateAngles" << descriptorParams.recalculateAngles;
- fs << "nOctaves" << commParams.nOctaves;
- fs << "nOctaveLayers" << commParams.nOctaveLayers;
- fs << "firstOctave" << commParams.firstOctave;
- fs << "angleMode" << commParams.angleMode;
-}
-
-int SiftDescriptorExtractor::descriptorSize() const
-{
- return sift.descriptorSize();
-}
-
-int SiftDescriptorExtractor::descriptorType() const
-{
- return CV_32FC1;
-}
-/****************************************************************************************\
-* SurfDescriptorExtractor *
-\****************************************************************************************/
-SurfDescriptorExtractor::SurfDescriptorExtractor( int nOctaves,
- int nOctaveLayers, bool extended, bool upright )
- : surf( 0.0, nOctaves, nOctaveLayers, extended, upright )
-{}
-
-void SurfDescriptorExtractor::computeImpl( const Mat& image,
- vector<KeyPoint>& keypoints,
- Mat& descriptors) const
-{
- // Compute descriptors for given keypoints
- vector<float> _descriptors;
- Mat mask;
- bool useProvidedKeypoints = true;
- Mat grayImage = image;
- if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-
- surf(grayImage, mask, keypoints, _descriptors, useProvidedKeypoints);
-
- descriptors.create((int)keypoints.size(), (int)surf.descriptorSize(), CV_32FC1);
- assert( (int)_descriptors.size() == descriptors.rows * descriptors.cols );
- std::copy(_descriptors.begin(), _descriptors.end(), descriptors.begin<float>());
-}
-
-void SurfDescriptorExtractor::read( const FileNode &fn )
-{
- int nOctaves = fn["nOctaves"];
- int nOctaveLayers = fn["nOctaveLayers"];
- bool extended = (int)fn["extended"] != 0;
- bool upright = (int)fn["upright"] != 0;
-
- surf = SURF( 0.0, nOctaves, nOctaveLayers, extended, upright );
-}
-
-void SurfDescriptorExtractor::write( FileStorage &fs ) const
-{
-// fs << "algorithm" << getAlgorithmName ();
-
- fs << "nOctaves" << surf.nOctaves;
- fs << "nOctaveLayers" << surf.nOctaveLayers;
- fs << "extended" << surf.extended;
- fs << "upright" << surf.upright;
-}
-
-int SurfDescriptorExtractor::descriptorSize() const
-{
- return surf.descriptorSize();
-}
-
-int SurfDescriptorExtractor::descriptorType() const
-{
- return CV_32FC1;
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-/** Default constructor */
-OrbDescriptorExtractor::OrbDescriptorExtractor(ORB::CommonParams params) :
- params_(params)
-{
- orb_ = ORB(0, params);
-}
-void OrbDescriptorExtractor::computeImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints,
- cv::Mat& descriptors) const
-{
- cv::Mat empty_mask;
- orb_(image, empty_mask, keypoints, descriptors, true);
-}
-void OrbDescriptorExtractor::read(const cv::FileNode& fn)
-{
- params_.read(fn);
-}
-void OrbDescriptorExtractor::write(cv::FileStorage& fs) const
-{
- params_.write(fs);
-}
-int OrbDescriptorExtractor::descriptorSize() const
-{
- return ORB::kBytes;
-}
-int OrbDescriptorExtractor::descriptorType() const
-{
- return CV_8UC1;
+ return Algorithm::create<DescriptorExtractor>("Feature2D." + descriptorExtractorType);
}
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/****************************************************************************************\
* OpponentColorDescriptorExtractor *
CV_Assert( !descriptorExtractor.empty() );
}
-void convertBGRImageToOpponentColorSpace( const Mat& bgrImage, vector<Mat>& opponentChannels )
+static void convertBGRImageToOpponentColorSpace( const Mat& bgrImage, vector<Mat>& opponentChannels )
{
if( bgrImage.type() != CV_8UC3 )
CV_Error( CV_StsBadArg, "input image must be an BGR image of type CV_8UC3" );
vector<int> idxs[N];
// Compute descriptors three times, once for each Opponent channel to concatenate into a single color descriptor
+ int maxKeypointsCount = 0;
for( int ci = 0; ci < N; ci++ )
{
channelKeypoints[ci].insert( channelKeypoints[ci].begin(), keypoints.begin(), keypoints.end() );
// Use class_id member to get indices into initial keypoints vector
for( size_t ki = 0; ki < channelKeypoints[ci].size(); ki++ )
- channelKeypoints[ci][ki].class_id = ki;
+ channelKeypoints[ci][ki].class_id = (int)ki;
descriptorExtractor->compute( opponentChannels[ci], channelKeypoints[ci], channelDescriptors[ci] );
idxs[ci].resize( channelKeypoints[ci].size() );
for( size_t ki = 0; ki < channelKeypoints[ci].size(); ki++ )
{
- idxs[ci][ki] = ki;
+ idxs[ci][ki] = (int)ki;
}
std::sort( idxs[ci].begin(), idxs[ci].end(), KP_LessThan(channelKeypoints[ci]) );
+ maxKeypointsCount = std::max( maxKeypointsCount, (int)channelKeypoints[ci].size());
}
vector<KeyPoint> outKeypoints;
outKeypoints.reserve( keypoints.size() );
- int descriptorSize = descriptorExtractor->descriptorSize();
- Mat mergedDescriptors( (int)keypoints.size(), 3*descriptorSize, descriptorExtractor->descriptorType() );
+ int dSize = descriptorExtractor->descriptorSize();
+ Mat mergedDescriptors( maxKeypointsCount, 3*dSize, descriptorExtractor->descriptorType() );
int mergedCount = 0;
// cp - current channel position
- size_t cp[] = {0, 0, 0};
+ size_t cp[] = {0, 0, 0};
while( cp[0] < channelKeypoints[0].size() &&
cp[1] < channelKeypoints[1].size() &&
cp[2] < channelKeypoints[2].size() )
{
- const int maxInitIdx = std::max( channelKeypoints[0][idxs[0][cp[0]]].class_id,
- std::max( channelKeypoints[1][idxs[1][cp[1]]].class_id,
- channelKeypoints[2][idxs[2][cp[2]]].class_id ) );
+ const int maxInitIdx = std::max( 0, std::max( channelKeypoints[0][idxs[0][cp[0]]].class_id,
+ std::max( channelKeypoints[1][idxs[1][cp[1]]].class_id,
+ channelKeypoints[2][idxs[2][cp[2]]].class_id ) ) );
while( channelKeypoints[0][idxs[0][cp[0]]].class_id < maxInitIdx && cp[0] < channelKeypoints[0].size() ) { cp[0]++; }
while( channelKeypoints[1][idxs[1][cp[1]]].class_id < maxInitIdx && cp[1] < channelKeypoints[1].size() ) { cp[1]++; }
// merge descriptors
for( int ci = 0; ci < N; ci++ )
{
- Mat dst = mergedDescriptors(Range(mergedCount, mergedCount+1), Range(ci*descriptorSize, (ci+1)*descriptorSize));
+ Mat dst = mergedDescriptors(Range(mergedCount, mergedCount+1), Range(ci*dSize, (ci+1)*dSize));
channelDescriptors[ci].row( idxs[ci][cp[ci]] ).copyTo( dst );
cp[ci]++;
}
projects / platform / upstream / opencv.git / blobdiff