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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// 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
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// 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,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_MATCHERS_HPP__
#define __OPENCV_MATCHERS_HPP__
#include "precomp.hpp"
struct ImageFeatures
{
int img_idx;
cv::Size img_size;
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
};
class FeaturesFinder
{
public:
virtual ~FeaturesFinder() {}
void operator ()(const cv::Mat &image, ImageFeatures &features);
virtual void releaseMemory() {}
protected:
virtual void find(const cv::Mat &image, ImageFeatures &features) = 0;
};
class SurfFeaturesFinder : public FeaturesFinder
{
public:
SurfFeaturesFinder(bool try_use_gpu = true, double hess_thresh = 300.0,
int num_octaves = 3, int num_layers = 4,
int num_octaves_descr = 4, int num_layers_descr = 2);
void releaseMemory();
protected:
void find(const cv::Mat &image, ImageFeatures &features);
cv::Ptr<FeaturesFinder> impl_;
};
struct MatchesInfo
{
MatchesInfo();
MatchesInfo(const MatchesInfo &other);
const MatchesInfo& operator =(const MatchesInfo &other);
int src_img_idx, dst_img_idx; // Images indices (optional)
std::vector<cv::DMatch> matches;
std::vector<uchar> inliers_mask; // Geometrically consistent matches mask
int num_inliers; // Number of geometrically consistent matches
cv::Mat H; // Estimated homography
double confidence; // Confidence two images are from the same panorama
};
class FeaturesMatcher
{
public:
virtual ~FeaturesMatcher() {}
void operator ()(const ImageFeatures &features1, const ImageFeatures &features2,
MatchesInfo& matches_info) { match(features1, features2, matches_info); }
void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches);
bool isThreadSafe() const { return is_thread_safe_; }
virtual void releaseMemory() {}
protected:
FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {}
virtual void match(const ImageFeatures &features1, const ImageFeatures &features2,
MatchesInfo& matches_info) = 0;
bool is_thread_safe_;
};
class BestOf2NearestMatcher : public FeaturesMatcher
{
public:
BestOf2NearestMatcher(bool try_use_gpu = true, float match_conf = 0.55f, int num_matches_thresh1 = 6,
int num_matches_thresh2 = 6);
void releaseMemory();
protected:
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info);
int num_matches_thresh1_;
int num_matches_thresh2_;
cv::Ptr<FeaturesMatcher> impl_;
};
#endif // __OPENCV_MATCHERS_HPP__
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