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diff --git a/thirdparty/linux/include/opencv2/xfeatures2d/cuda.hpp b/thirdparty/linux/include/opencv2/xfeatures2d/cuda.hpp new file mode 100644 index 0000000..16039a5 --- /dev/null +++ b/thirdparty/linux/include/opencv2/xfeatures2d/cuda.hpp @@ -0,0 +1,166 @@ +/*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_XFEATURES2D_CUDA_HPP__ +#define __OPENCV_XFEATURES2D_CUDA_HPP__ + +#include "opencv2/core/cuda.hpp" + +namespace cv { namespace cuda { + +//! @addtogroup xfeatures2d_nonfree +//! @{ + +/** @brief Class used for extracting Speeded Up Robust Features (SURF) from an image. : + +The class SURF_CUDA implements Speeded Up Robust Features descriptor. There is a fast multi-scale +Hessian keypoint detector that can be used to find the keypoints (which is the default option). But +the descriptors can also be computed for the user-specified keypoints. Only 8-bit grayscale images +are supported. + +The class SURF_CUDA can store results in the GPU and CPU memory. It provides functions to convert +results between CPU and GPU version ( uploadKeypoints, downloadKeypoints, downloadDescriptors ). The +format of CPU results is the same as SURF results. GPU results are stored in GpuMat. The keypoints +matrix is \f$\texttt{nFeatures} \times 7\f$ matrix with the CV_32FC1 type. + +- keypoints.ptr\<float\>(X_ROW)[i] contains x coordinate of the i-th feature. +- keypoints.ptr\<float\>(Y_ROW)[i] contains y coordinate of the i-th feature. +- keypoints.ptr\<float\>(LAPLACIAN_ROW)[i] contains the laplacian sign of the i-th feature. +- keypoints.ptr\<float\>(OCTAVE_ROW)[i] contains the octave of the i-th feature. +- keypoints.ptr\<float\>(SIZE_ROW)[i] contains the size of the i-th feature. +- keypoints.ptr\<float\>(ANGLE_ROW)[i] contain orientation of the i-th feature. +- keypoints.ptr\<float\>(HESSIAN_ROW)[i] contains the response of the i-th feature. + +The descriptors matrix is \f$\texttt{nFeatures} \times \texttt{descriptorSize}\f$ matrix with the +CV_32FC1 type. + +The class SURF_CUDA uses some buffers and provides access to it. All buffers can be safely released +between function calls. + +@sa SURF + +@note + - An example for using the SURF keypoint matcher on GPU can be found at + opencv_source_code/samples/gpu/surf_keypoint_matcher.cpp + + */ +class CV_EXPORTS SURF_CUDA +{ +public: + enum KeypointLayout + { + X_ROW = 0, + Y_ROW, + LAPLACIAN_ROW, + OCTAVE_ROW, + SIZE_ROW, + ANGLE_ROW, + HESSIAN_ROW, + ROWS_COUNT + }; + + //! the default constructor + SURF_CUDA(); + //! the full constructor taking all the necessary parameters + explicit SURF_CUDA(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; + //! returns the default norm type + int defaultNorm() 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; + + GpuMat det, trace; + + GpuMat maxPosBuffer; +}; + +//! @} + +}} // namespace cv { namespace cuda { + +#endif // __OPENCV_XFEATURES2D_CUDA_HPP__ |