| /* |
| * Copyright (C) 2011 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| /*$Id: db_feature_matching.h,v 1.3 2011/06/17 14:03:30 mbansal Exp $*/ |
| |
| #ifndef DB_FEATURE_MATCHING_H |
| #define DB_FEATURE_MATCHING_H |
| |
| /***************************************************************** |
| * Lean and mean begins here * |
| *****************************************************************/ |
| /*! |
| * \defgroup FeatureMatching Feature Matching |
| */ |
| #include "db_utilities.h" |
| #include "db_utilities_constants.h" |
| |
| DB_API void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip); |
| DB_API void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip); |
| float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip); |
| float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip); |
| |
| class db_PointInfo_f |
| { |
| public: |
| /*Coordinates of point*/ |
| int x; |
| int y; |
| /*Id nr of point*/ |
| int id; |
| /*Best match score*/ |
| double s; |
| /*Best match candidate*/ |
| db_PointInfo_f *pir; |
| /*Precomputed coefficients |
| of image patch*/ |
| float sum; |
| float recip; |
| /*Pointer to patch layout*/ |
| const float *patch; |
| }; |
| |
| class db_Bucket_f |
| { |
| public: |
| db_PointInfo_f *ptr; |
| int nr; |
| }; |
| |
| class db_PointInfo_u |
| { |
| public: |
| /*Coordinates of point*/ |
| int x; |
| int y; |
| /*Id nr of point*/ |
| int id; |
| /*Best match score*/ |
| double s; |
| /*Best match candidate*/ |
| db_PointInfo_u *pir; |
| /*Precomputed coefficients |
| of image patch*/ |
| float sum; |
| float recip; |
| /*Pointer to patch layout*/ |
| const short *patch; |
| }; |
| |
| class db_Bucket_u |
| { |
| public: |
| db_PointInfo_u *ptr; |
| int nr; |
| }; |
| /*! |
| * \class db_Matcher_f |
| * \ingroup FeatureMatching |
| * \brief Feature matcher for float images. |
| * |
| * Normalized correlation feature matcher for <b>float</b> images. |
| * Correlation window size is constant and set to 11x11. |
| * See \ref FeatureDetection to detect Harris corners. |
| * Images are managed with functions in \ref LMImageBasicUtilities. |
| */ |
| class DB_API db_Matcher_f |
| { |
| public: |
| db_Matcher_f(); |
| ~db_Matcher_f(); |
| |
| /*! |
| * Set parameters and pre-allocate memory. Return an upper bound |
| * on the number of matches. |
| * \param im_width width |
| * \param im_height height |
| * \param max_disparity maximum distance (as fraction of image size) between matches |
| * \param target_nr_corners maximum number of matches |
| * \return maximum number of matches |
| */ |
| unsigned long Init(int im_width,int im_height, |
| double max_disparity=DB_DEFAULT_MAX_DISPARITY, |
| int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS); |
| |
| /*! |
| * Match two sets of features. |
| * If the prewarp H is not NULL it will be applied to the features |
| * in the right image before matching. |
| * Parameters id_l and id_r must point to arrays of size target_nr_corners |
| * (returned by Init()). |
| * The results of matching are in id_l and id_r. |
| * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n, |
| * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]). |
| * \param l_img left image |
| * \param r_img right image |
| * \param x_l left x coordinates of features |
| * \param y_l left y coordinates of features |
| * \param nr_l number of features in left image |
| * \param x_r right x coordinates of features |
| * \param y_r right y coordinates of features |
| * \param nr_r number of features in right image |
| * \param id_l indices of left features that matched |
| * \param id_r indices of right features that matched |
| * \param nr_matches number of features actually matched |
| * \param H image homography (prewarp) to be applied to right image features |
| */ |
| void Match(const float * const *l_img,const float * const *r_img, |
| const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, |
| int *id_l,int *id_r,int *nr_matches,const double H[9]=0); |
| |
| protected: |
| void Clean(); |
| |
| int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target; |
| unsigned long m_kA,m_kB; |
| db_Bucket_f **m_bp_l; |
| db_Bucket_f **m_bp_r; |
| float *m_patch_space,*m_aligned_patch_space; |
| }; |
| /*! |
| * \class db_Matcher_u |
| * \ingroup FeatureMatching |
| * \brief Feature matcher for byte images. |
| * |
| * Normalized correlation feature matcher for <b>byte</b> images. |
| * Correlation window size is constant and set to 11x11. |
| * See \ref FeatureDetection to detect Harris corners. |
| * Images are managed with functions in \ref LMImageBasicUtilities. |
| * |
| * If the prewarp matrix H is supplied, the feature coordinates are warped by H before being placed in |
| * appropriate buckets. If H is an affine transform and the "affine" parameter is set to 1 or 2, |
| * then the correlation patches themselves are warped before being placed in the patch space. |
| */ |
| class DB_API db_Matcher_u |
| { |
| public: |
| db_Matcher_u(); |
| |
| int GetPatchSize(){return 11;}; |
| |
| virtual ~db_Matcher_u(); |
| |
| /*! |
| Copy ctor duplicates settings. |
| Memory not copied. |
| */ |
| db_Matcher_u(const db_Matcher_u& cm); |
| |
| /*! |
| Assignment optor duplicates settings |
| Memory not copied. |
| */ |
| db_Matcher_u& operator= (const db_Matcher_u& cm); |
| |
| /*! |
| * Set parameters and pre-allocate memory. Return an upper bound |
| * on the number of matches. |
| * If max_disparity_v is DB_DEFAULT_NO_DISPARITY, look for matches |
| * in a ellipse around a feature of radius max_disparity*im_width by max_disparity*im_height. |
| * If max_disparity_v is specified, use a rectangle max_disparity*im_width by max_disparity_v*im_height. |
| * \param im_width width |
| * \param im_height height |
| * \param max_disparity maximum distance (as fraction of image size) between matches |
| * \param target_nr_corners maximum number of matches |
| * \param max_disparity_v maximum vertical disparity (distance between matches) |
| * \param use_smaller_matching_window if set to true, uses a correlation window of 5x5 instead of the default 11x11 |
| * \return maximum number of matches |
| */ |
| virtual unsigned long Init(int im_width,int im_height, |
| double max_disparity=DB_DEFAULT_MAX_DISPARITY, |
| int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS, |
| double max_disparity_v=DB_DEFAULT_NO_DISPARITY, |
| bool use_smaller_matching_window=false, int use_21=0); |
| |
| /*! |
| * Match two sets of features. |
| * If the prewarp H is not NULL it will be applied to the features |
| * in the right image before matching. |
| * Parameters id_l and id_r must point to arrays of size target_nr_corners |
| * (returned by Init()). |
| * The results of matching are in id_l and id_r. |
| * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n, |
| * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]). |
| * \param l_img left image |
| * \param r_img right image |
| * \param x_l left x coordinates of features |
| * \param y_l left y coordinates of features |
| * \param nr_l number of features in left image |
| * \param x_r right x coordinates of features |
| * \param y_r right y coordinates of features |
| * \param nr_r number of features in right image |
| * \param id_l indices of left features that matched |
| * \param id_r indices of right features that matched |
| * \param nr_matches number of features actually matched |
| * \param H image homography (prewarp) to be applied to right image features |
| * \param affine prewarp the 11x11 patches by given affine transform. 0 means no warping, |
| 1 means nearest neighbor, 2 means bilinear warping. |
| */ |
| virtual void Match(const unsigned char * const *l_img,const unsigned char * const *r_img, |
| const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, |
| int *id_l,int *id_r,int *nr_matches,const double H[9]=0,int affine=0); |
| |
| /*! |
| * Checks if Init() was called. |
| * \return 1 if Init() was called, 0 otherwise. |
| */ |
| int IsAllocated(); |
| |
| protected: |
| virtual void Clean(); |
| |
| |
| int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target; |
| unsigned long m_kA,m_kB; |
| db_Bucket_u **m_bp_l; |
| db_Bucket_u **m_bp_r; |
| short *m_patch_space,*m_aligned_patch_space; |
| |
| double m_max_disparity, m_max_disparity_v; |
| int m_rect_window; |
| bool m_use_smaller_matching_window; |
| int m_use_21; |
| }; |
| |
| |
| |
| #endif /*DB_FEATURE_MATCHING_H*/ |
