Move cv::KeyPoint and cv::DMatch to core

modules/core/src/persistence.cpp

@@ -5522,6 +5522,37 @@ void read( const FileNode& node, SparseMat& mat, const SparseMat& default_mat )
     SparseMat(m).copyTo(mat);
 }
 
+void write(FileStorage& fs, const String& objname, const std::vector<KeyPoint>& keypoints)
+{
+    WriteStructContext ws(fs, objname, CV_NODE_SEQ + CV_NODE_FLOW);
+
+    int i, npoints = (int)keypoints.size();
+    for( i = 0; i < npoints; i++ )
+    {
+        const KeyPoint& kpt = keypoints[i];
+        cv::write(fs, kpt.pt.x);
+        cv::write(fs, kpt.pt.y);
+        cv::write(fs, kpt.size);
+        cv::write(fs, kpt.angle);
+        cv::write(fs, kpt.response);
+        cv::write(fs, kpt.octave);
+        cv::write(fs, kpt.class_id);
+    }
+}
+
+
+void read(const FileNode& node, std::vector<KeyPoint>& keypoints)
+{
+    keypoints.resize(0);
+    FileNodeIterator it = node.begin(), it_end = node.end();
+    for( ; it != it_end; )
+    {
+        KeyPoint kpt;
+        it >> kpt.pt.x >> kpt.pt.y >> kpt.size >> kpt.angle >> kpt.response >> kpt.octave >> kpt.class_id;
+        keypoints.push_back(kpt);
+    }
+}
+
 }
 
 /* End of file. */

modules/core/src/types.cpp

@@ -0,0 +1,139 @@
+/*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*/
+
+#include "precomp.hpp"
+
+namespace cv
+{
+
+size_t KeyPoint::hash() const
+{
+    size_t _Val = 2166136261U, scale = 16777619U;
+    Cv32suf u;
+    u.f = pt.x; _Val = (scale * _Val) ^ u.u;
+    u.f = pt.y; _Val = (scale * _Val) ^ u.u;
+    u.f = size; _Val = (scale * _Val) ^ u.u;
+    u.f = angle; _Val = (scale * _Val) ^ u.u;
+    u.f = response; _Val = (scale * _Val) ^ u.u;
+    _Val = (scale * _Val) ^ ((size_t) octave);
+    _Val = (scale * _Val) ^ ((size_t) class_id);
+    return _Val;
+}
+
+void KeyPoint::convert(const std::vector<KeyPoint>& keypoints, std::vector<Point2f>& points2f,
+                       const std::vector<int>& keypointIndexes)
+{
+    if( keypointIndexes.empty() )
+    {
+        points2f.resize( keypoints.size() );
+        for( size_t i = 0; i < keypoints.size(); i++ )
+            points2f[i] = keypoints[i].pt;
+    }
+    else
+    {
+        points2f.resize( keypointIndexes.size() );
+        for( size_t i = 0; i < keypointIndexes.size(); i++ )
+        {
+            int idx = keypointIndexes[i];
+            if( idx >= 0 )
+                points2f[i] = keypoints[idx].pt;
+            else
+            {
+                CV_Error( CV_StsBadArg, "keypointIndexes has element < 0. TODO: process this case" );
+                //points2f[i] = Point2f(-1, -1);
+            }
+        }
+    }
+}
+
+void KeyPoint::convert( const std::vector<Point2f>& points2f, std::vector<KeyPoint>& keypoints,
+                        float size, float response, int octave, int class_id )
+{
+    keypoints.resize(points2f.size());
+    for( size_t i = 0; i < points2f.size(); i++ )
+        keypoints[i] = KeyPoint(points2f[i], size, -1, response, octave, class_id);
+}
+
+float KeyPoint::overlap( const KeyPoint& kp1, const KeyPoint& kp2 )
+{
+    float a = kp1.size * 0.5f;
+    float b = kp2.size * 0.5f;
+    float a_2 = a * a;
+    float b_2 = b * b;
+
+    Point2f p1 = kp1.pt;
+    Point2f p2 = kp2.pt;
+    float c = (float)norm( p1 - p2 );
+
+    float ovrl = 0.f;
+
+    // one circle is completely encovered by the other => no intersection points!
+    if( std::min( a, b ) + c <= std::max( a, b ) )
+        return std::min( a_2, b_2 ) / std::max( a_2, b_2 );
+
+    if( c < a + b ) // circles intersect
+    {
+        float c_2 = c * c;
+        float cosAlpha = ( b_2 + c_2 - a_2 ) / ( kp2.size * c );
+        float cosBeta  = ( a_2 + c_2 - b_2 ) / ( kp1.size * c );
+        float alpha = acos( cosAlpha );
+        float beta = acos( cosBeta );
+        float sinAlpha = sin(alpha);
+        float sinBeta  = sin(beta);
+
+        float segmentAreaA = a_2 * beta;
+        float segmentAreaB = b_2 * alpha;
+
+        float triangleAreaA = a_2 * sinBeta * cosBeta;
+        float triangleAreaB = b_2 * sinAlpha * cosAlpha;
+
+        float intersectionArea = segmentAreaA + segmentAreaB - triangleAreaA - triangleAreaB;
+        float unionArea = (a_2 + b_2) * (float)CV_PI - intersectionArea;
+
+        ovrl = intersectionArea / unionArea;
+    }
+
+    return ovrl;
+}
+
+} // cv