mirror of
https://github.com/storytold/LiveScan3D.git
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Initial commit
This commit is contained in:
marek
@@ -0,0 +1,155 @@
|
||||
/*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_NONFREE_FEATURES_2D_HPP__
|
||||
#define __OPENCV_NONFREE_FEATURES_2D_HPP__
|
||||
|
||||
#include "opencv2/features2d/features2d.hpp"
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
/*!
|
||||
SIFT implementation.
|
||||
|
||||
The class implements SIFT algorithm by D. Lowe.
|
||||
*/
|
||||
class CV_EXPORTS_W SIFT : public Feature2D
|
||||
{
|
||||
public:
|
||||
CV_WRAP explicit SIFT( int nfeatures=0, int nOctaveLayers=3,
|
||||
double contrastThreshold=0.04, double edgeThreshold=10,
|
||||
double sigma=1.6);
|
||||
|
||||
//! returns the descriptor size in floats (128)
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||||
CV_WRAP int descriptorSize() const;
|
||||
|
||||
//! returns the descriptor type
|
||||
CV_WRAP int descriptorType() const;
|
||||
|
||||
//! finds the keypoints using SIFT algorithm
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||||
void operator()(InputArray img, InputArray mask,
|
||||
vector<KeyPoint>& keypoints) const;
|
||||
//! finds the keypoints and computes descriptors for them using SIFT algorithm.
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||||
//! Optionally it can compute descriptors for the user-provided keypoints
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||||
void operator()(InputArray img, InputArray mask,
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||||
vector<KeyPoint>& keypoints,
|
||||
OutputArray descriptors,
|
||||
bool useProvidedKeypoints=false) const;
|
||||
|
||||
AlgorithmInfo* info() const;
|
||||
|
||||
void buildGaussianPyramid( const Mat& base, vector<Mat>& pyr, int nOctaves ) const;
|
||||
void buildDoGPyramid( const vector<Mat>& pyr, vector<Mat>& dogpyr ) const;
|
||||
void findScaleSpaceExtrema( const vector<Mat>& gauss_pyr, const vector<Mat>& dog_pyr,
|
||||
vector<KeyPoint>& keypoints ) const;
|
||||
|
||||
protected:
|
||||
void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
|
||||
void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
|
||||
|
||||
CV_PROP_RW int nfeatures;
|
||||
CV_PROP_RW int nOctaveLayers;
|
||||
CV_PROP_RW double contrastThreshold;
|
||||
CV_PROP_RW double edgeThreshold;
|
||||
CV_PROP_RW double sigma;
|
||||
};
|
||||
|
||||
typedef SIFT SiftFeatureDetector;
|
||||
typedef SIFT SiftDescriptorExtractor;
|
||||
|
||||
/*!
|
||||
SURF implementation.
|
||||
|
||||
The class implements SURF algorithm by H. Bay et al.
|
||||
*/
|
||||
class CV_EXPORTS_W SURF : public Feature2D
|
||||
{
|
||||
public:
|
||||
//! the default constructor
|
||||
CV_WRAP SURF();
|
||||
//! the full constructor taking all the necessary parameters
|
||||
explicit CV_WRAP SURF(double hessianThreshold,
|
||||
int nOctaves=4, int nOctaveLayers=2,
|
||||
bool extended=true, bool upright=false);
|
||||
|
||||
//! returns the descriptor size in float's (64 or 128)
|
||||
CV_WRAP int descriptorSize() const;
|
||||
|
||||
//! returns the descriptor type
|
||||
CV_WRAP int descriptorType() const;
|
||||
|
||||
//! finds the keypoints using fast hessian detector used in SURF
|
||||
void operator()(InputArray img, InputArray mask,
|
||||
CV_OUT vector<KeyPoint>& keypoints) const;
|
||||
//! finds the keypoints and computes their descriptors. Optionally it can compute descriptors for the user-provided keypoints
|
||||
void operator()(InputArray img, InputArray mask,
|
||||
CV_OUT vector<KeyPoint>& keypoints,
|
||||
OutputArray descriptors,
|
||||
bool useProvidedKeypoints=false) const;
|
||||
|
||||
AlgorithmInfo* info() const;
|
||||
|
||||
CV_PROP_RW double hessianThreshold;
|
||||
CV_PROP_RW int nOctaves;
|
||||
CV_PROP_RW int nOctaveLayers;
|
||||
CV_PROP_RW bool extended;
|
||||
CV_PROP_RW bool upright;
|
||||
|
||||
protected:
|
||||
|
||||
void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
|
||||
void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
|
||||
};
|
||||
|
||||
typedef SURF SurfFeatureDetector;
|
||||
typedef SURF SurfDescriptorExtractor;
|
||||
|
||||
} /* namespace cv */
|
||||
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif
|
||||
|
||||
/* End of file. */
|
||||
@@ -0,0 +1,134 @@
|
||||
/*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_NONFREE_GPU_HPP__
|
||||
#define __OPENCV_NONFREE_GPU_HPP__
|
||||
|
||||
#include "opencv2/opencv_modules.hpp"
|
||||
|
||||
#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
|
||||
|
||||
#include "opencv2/gpu/gpu.hpp"
|
||||
|
||||
namespace cv { namespace gpu {
|
||||
|
||||
class CV_EXPORTS SURF_GPU
|
||||
{
|
||||
public:
|
||||
enum KeypointLayout
|
||||
{
|
||||
X_ROW = 0,
|
||||
Y_ROW,
|
||||
LAPLACIAN_ROW,
|
||||
OCTAVE_ROW,
|
||||
SIZE_ROW,
|
||||
ANGLE_ROW,
|
||||
HESSIAN_ROW,
|
||||
ROWS_COUNT
|
||||
};
|
||||
|
||||
//! the default constructor
|
||||
SURF_GPU();
|
||||
//! the full constructor taking all the necessary parameters
|
||||
explicit SURF_GPU(double _hessianThreshold, int _nOctaves=4,
|
||||
int _nOctaveLayers=2, bool _extended=false, float _keypointsRatio=0.01f, bool _upright = false);
|
||||
|
||||
//! returns the descriptor size in float's (64 or 128)
|
||||
int descriptorSize() const;
|
||||
|
||||
//! upload host keypoints to device memory
|
||||
void uploadKeypoints(const std::vector<KeyPoint>& keypoints, GpuMat& keypointsGPU);
|
||||
//! download keypoints from device to host memory
|
||||
void downloadKeypoints(const GpuMat& keypointsGPU, std::vector<KeyPoint>& keypoints);
|
||||
|
||||
//! download descriptors from device to host memory
|
||||
void downloadDescriptors(const GpuMat& descriptorsGPU, std::vector<float>& descriptors);
|
||||
|
||||
//! finds the keypoints using fast hessian detector used in SURF
|
||||
//! supports CV_8UC1 images
|
||||
//! keypoints will have nFeature cols and 6 rows
|
||||
//! keypoints.ptr<float>(X_ROW)[i] will contain x coordinate of i'th feature
|
||||
//! keypoints.ptr<float>(Y_ROW)[i] will contain y coordinate of i'th feature
|
||||
//! keypoints.ptr<float>(LAPLACIAN_ROW)[i] will contain laplacian sign of i'th feature
|
||||
//! keypoints.ptr<float>(OCTAVE_ROW)[i] will contain octave of i'th feature
|
||||
//! keypoints.ptr<float>(SIZE_ROW)[i] will contain size of i'th feature
|
||||
//! keypoints.ptr<float>(ANGLE_ROW)[i] will contain orientation of i'th feature
|
||||
//! keypoints.ptr<float>(HESSIAN_ROW)[i] will contain response of i'th feature
|
||||
void operator()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints);
|
||||
//! finds the keypoints and computes their descriptors.
|
||||
//! Optionally it can compute descriptors for the user-provided keypoints and recompute keypoints direction
|
||||
void operator()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints, GpuMat& descriptors,
|
||||
bool useProvidedKeypoints = false);
|
||||
|
||||
void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints);
|
||||
void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints, GpuMat& descriptors,
|
||||
bool useProvidedKeypoints = false);
|
||||
|
||||
void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints, std::vector<float>& descriptors,
|
||||
bool useProvidedKeypoints = false);
|
||||
|
||||
void releaseMemory();
|
||||
|
||||
// SURF parameters
|
||||
double hessianThreshold;
|
||||
int nOctaves;
|
||||
int nOctaveLayers;
|
||||
bool extended;
|
||||
bool upright;
|
||||
|
||||
//! max keypoints = min(keypointsRatio * img.size().area(), 65535)
|
||||
float keypointsRatio;
|
||||
|
||||
GpuMat sum, mask1, maskSum, intBuffer;
|
||||
|
||||
GpuMat det, trace;
|
||||
|
||||
GpuMat maxPosBuffer;
|
||||
};
|
||||
|
||||
} // namespace gpu
|
||||
|
||||
} // namespace cv
|
||||
|
||||
#endif // defined(HAVE_OPENCV_GPU)
|
||||
|
||||
#endif // __OPENCV_NONFREE_GPU_HPP__
|
||||
@@ -0,0 +1,57 @@
|
||||
/*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) 2009-2012, 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_NONFREE_HPP__
|
||||
#define __OPENCV_NONFREE_HPP__
|
||||
|
||||
#include "opencv2/nonfree/features2d.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
CV_EXPORTS_W bool initModule_nonfree();
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* End of file. */
|
||||
@@ -0,0 +1,124 @@
|
||||
/*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.
|
||||
// Copyright (C) 2013, OpenCV Foundation, 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_NONFREE_OCL_HPP__
|
||||
#define __OPENCV_NONFREE_OCL_HPP__
|
||||
|
||||
#include "opencv2/ocl/ocl.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
namespace ocl
|
||||
{
|
||||
//! Speeded up robust features, port from GPU module.
|
||||
////////////////////////////////// SURF //////////////////////////////////////////
|
||||
|
||||
class CV_EXPORTS SURF_OCL
|
||||
{
|
||||
public:
|
||||
enum KeypointLayout
|
||||
{
|
||||
X_ROW = 0,
|
||||
Y_ROW,
|
||||
LAPLACIAN_ROW,
|
||||
OCTAVE_ROW,
|
||||
SIZE_ROW,
|
||||
ANGLE_ROW,
|
||||
HESSIAN_ROW,
|
||||
ROWS_COUNT
|
||||
};
|
||||
|
||||
//! the default constructor
|
||||
SURF_OCL();
|
||||
//! the full constructor taking all the necessary parameters
|
||||
explicit SURF_OCL(double _hessianThreshold, int _nOctaves = 4,
|
||||
int _nOctaveLayers = 2, bool _extended = false, float _keypointsRatio = 0.01f, bool _upright = false);
|
||||
|
||||
//! returns the descriptor size in float's (64 or 128)
|
||||
int descriptorSize() const;
|
||||
//! upload host keypoints to device memory
|
||||
void uploadKeypoints(const vector<cv::KeyPoint> &keypoints, oclMat &keypointsocl);
|
||||
//! download keypoints from device to host memory
|
||||
void downloadKeypoints(const oclMat &keypointsocl, vector<KeyPoint> &keypoints);
|
||||
//! download descriptors from device to host memory
|
||||
void downloadDescriptors(const oclMat &descriptorsocl, vector<float> &descriptors);
|
||||
//! finds the keypoints using fast hessian detector used in SURF
|
||||
//! supports CV_8UC1 images
|
||||
//! keypoints will have nFeature cols and 6 rows
|
||||
//! keypoints.ptr<float>(X_ROW)[i] will contain x coordinate of i'th feature
|
||||
//! keypoints.ptr<float>(Y_ROW)[i] will contain y coordinate of i'th feature
|
||||
//! keypoints.ptr<float>(LAPLACIAN_ROW)[i] will contain laplacian sign of i'th feature
|
||||
//! keypoints.ptr<float>(OCTAVE_ROW)[i] will contain octave of i'th feature
|
||||
//! keypoints.ptr<float>(SIZE_ROW)[i] will contain size of i'th feature
|
||||
//! keypoints.ptr<float>(ANGLE_ROW)[i] will contain orientation of i'th feature
|
||||
//! keypoints.ptr<float>(HESSIAN_ROW)[i] will contain response of i'th feature
|
||||
void operator()(const oclMat &img, const oclMat &mask, oclMat &keypoints);
|
||||
//! finds the keypoints and computes their descriptors.
|
||||
//! Optionally it can compute descriptors for the user-provided keypoints and recompute keypoints direction
|
||||
void operator()(const oclMat &img, const oclMat &mask, oclMat &keypoints, oclMat &descriptors,
|
||||
bool useProvidedKeypoints = false);
|
||||
void operator()(const oclMat &img, const oclMat &mask, std::vector<KeyPoint> &keypoints);
|
||||
void operator()(const oclMat &img, const oclMat &mask, std::vector<KeyPoint> &keypoints, oclMat &descriptors,
|
||||
bool useProvidedKeypoints = false);
|
||||
void operator()(const oclMat &img, const oclMat &mask, std::vector<KeyPoint> &keypoints, std::vector<float> &descriptors,
|
||||
bool useProvidedKeypoints = false);
|
||||
|
||||
void releaseMemory();
|
||||
|
||||
// SURF parameters
|
||||
float hessianThreshold;
|
||||
int nOctaves;
|
||||
int nOctaveLayers;
|
||||
bool extended;
|
||||
bool upright;
|
||||
//! max keypoints = min(keypointsRatio * img.size().area(), 65535)
|
||||
float keypointsRatio;
|
||||
oclMat sum, mask1, maskSum, intBuffer;
|
||||
oclMat det, trace;
|
||||
oclMat maxPosBuffer;
|
||||
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif //__OPENCV_NONFREE_OCL_HPP__
|
||||
Reference in New Issue
Block a user