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Joachim
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modules/features2d/src/kaze.cpp
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modules/features2d/src/kaze.cpp
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/*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) 2008, 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 Intel Corporation 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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// 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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/*
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OpenCV wrapper of reference implementation of
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[1] KAZE Features. Pablo F. Alcantarilla, Adrien Bartoli and Andrew J. Davison.
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In European Conference on Computer Vision (ECCV), Fiorenze, Italy, October 2012
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http://www.robesafe.com/personal/pablo.alcantarilla/papers/Alcantarilla12eccv.pdf
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@author Eugene Khvedchenya <ekhvedchenya@gmail.com>
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*/
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#include "precomp.hpp"
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#include "kaze/KAZEFeatures.h"
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namespace cv
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{
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class KAZE_Impl CV_FINAL : public KAZE
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{
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public:
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KAZE_Impl(bool _extended, bool _upright, float _threshold, int _octaves,
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int _sublevels, KAZE::DiffusivityType _diffusivity)
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: extended(_extended)
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, upright(_upright)
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, threshold(_threshold)
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, octaves(_octaves)
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, sublevels(_sublevels)
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, diffusivity(_diffusivity)
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{
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}
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virtual ~KAZE_Impl() CV_OVERRIDE {}
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void setExtended(bool extended_) CV_OVERRIDE { extended = extended_; }
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bool getExtended() const CV_OVERRIDE { return extended; }
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void setUpright(bool upright_) CV_OVERRIDE { upright = upright_; }
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bool getUpright() const CV_OVERRIDE { return upright; }
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void setThreshold(double threshold_) CV_OVERRIDE { threshold = (float)threshold_; }
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double getThreshold() const CV_OVERRIDE { return threshold; }
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void setNOctaves(int octaves_) CV_OVERRIDE { octaves = octaves_; }
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int getNOctaves() const CV_OVERRIDE { return octaves; }
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void setNOctaveLayers(int octaveLayers_) CV_OVERRIDE { sublevels = octaveLayers_; }
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int getNOctaveLayers() const CV_OVERRIDE { return sublevels; }
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void setDiffusivity(KAZE::DiffusivityType diff_) CV_OVERRIDE{ diffusivity = diff_; }
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KAZE::DiffusivityType getDiffusivity() const CV_OVERRIDE{ return diffusivity; }
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// returns the descriptor size in bytes
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int descriptorSize() const CV_OVERRIDE
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{
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return extended ? 128 : 64;
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}
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// returns the descriptor type
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int descriptorType() const CV_OVERRIDE
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{
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return CV_32F;
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}
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// returns the default norm type
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int defaultNorm() const CV_OVERRIDE
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{
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return NORM_L2;
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}
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void detectAndCompute(InputArray image, InputArray mask,
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std::vector<KeyPoint>& keypoints,
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OutputArray descriptors,
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bool useProvidedKeypoints) CV_OVERRIDE
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{
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CV_INSTRUMENT_REGION();
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cv::Mat img = image.getMat();
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if (img.channels() > 1)
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cvtColor(image, img, COLOR_BGR2GRAY);
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Mat img1_32;
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if ( img.depth() == CV_32F )
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img1_32 = img;
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else if ( img.depth() == CV_8U )
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img.convertTo(img1_32, CV_32F, 1.0 / 255.0, 0);
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else if ( img.depth() == CV_16U )
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img.convertTo(img1_32, CV_32F, 1.0 / 65535.0, 0);
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CV_Assert( ! img1_32.empty() );
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KAZEOptions options;
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options.img_width = img.cols;
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options.img_height = img.rows;
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options.extended = extended;
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options.upright = upright;
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options.dthreshold = threshold;
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options.omax = octaves;
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options.nsublevels = sublevels;
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options.diffusivity = diffusivity;
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KAZEFeatures impl(options);
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impl.Create_Nonlinear_Scale_Space(img1_32);
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if (!useProvidedKeypoints)
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{
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impl.Feature_Detection(keypoints);
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}
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if (!mask.empty())
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{
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cv::KeyPointsFilter::runByPixelsMask(keypoints, mask.getMat());
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}
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if( descriptors.needed() )
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{
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Mat desc;
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impl.Feature_Description(keypoints, desc);
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desc.copyTo(descriptors);
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CV_Assert((!desc.rows || desc.cols == descriptorSize()));
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CV_Assert((!desc.rows || (desc.type() == descriptorType())));
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}
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}
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void write(FileStorage& fs) const CV_OVERRIDE
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{
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writeFormat(fs);
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fs << "extended" << (int)extended;
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fs << "upright" << (int)upright;
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fs << "threshold" << threshold;
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fs << "octaves" << octaves;
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fs << "sublevels" << sublevels;
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fs << "diffusivity" << diffusivity;
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}
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void read(const FileNode& fn) CV_OVERRIDE
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{
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extended = (int)fn["extended"] != 0;
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upright = (int)fn["upright"] != 0;
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threshold = (float)fn["threshold"];
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octaves = (int)fn["octaves"];
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sublevels = (int)fn["sublevels"];
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diffusivity = static_cast<KAZE::DiffusivityType>((int)fn["diffusivity"]);
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}
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bool extended;
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bool upright;
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float threshold;
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int octaves;
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int sublevels;
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KAZE::DiffusivityType diffusivity;
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};
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Ptr<KAZE> KAZE::create(bool extended, bool upright,
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float threshold,
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int octaves, int sublevels,
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KAZE::DiffusivityType diffusivity)
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{
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return makePtr<KAZE_Impl>(extended, upright, threshold, octaves, sublevels, diffusivity);
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}
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String KAZE::getDefaultName() const
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{
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return (Feature2D::getDefaultName() + ".KAZE");
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}
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}
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