Purpose: 2nd review cycle.
This commit is contained in:
Elena Fedotova
@@ -9,7 +9,7 @@ gpu::SURF_GPU
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-------------
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.. ocv:class:: gpu::SURF_GPU
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This class is used for extracting Speeded Up Robust Features (SURF) from an image.
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Class used for extracting Speeded Up Robust Features (SURF) from an image.
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::
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class SURF_GPU : public CvSURFParams
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@@ -81,13 +81,23 @@ This class is used for extracting Speeded Up Robust Features (SURF) from an imag
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};
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The class ``SURF_GPU`` 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.
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The class ``SURF_GPU`` 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.
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The class ``SURF_GPU`` 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 :math:`\texttt{nFeatures} \times 6` matrix with the ``CV_32FC1`` type. keypoints.ptr<float>(SF_X)[i] will contain x coordinate of i'th feature. keypoints.ptr<float>(SF_Y)[i] will contain y coordinate of i'th feature. keypoints.ptr<float>(SF_LAPLACIAN)[i] will contain laplacian sign of i'th feature. keypoints.ptr<float>(SF_SIZE)[i] will contain size of i'th feature. keypoints.ptr<float>(SF_DIR)[i] will contain orientation of i'th feature. keypoints.ptr<float>(SF_HESSIAN)[i] will contain response of i'th feature. The ``descriptors`` matrix is :math:`\texttt{nFeatures} \times \texttt{descriptorSize}` matrix with the ``CV_32FC1`` type.
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The class ``SURF_GPU`` 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 :math:`\texttt{nFeatures} \times 6` matrix with the ``CV_32FC1`` type.
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* ``keypoints.ptr<float>(SF_X)[i]`` contains x coordinate of the i-th feature.
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* ``keypoints.ptr<float>(SF_Y)[i]`` contains y coordinate of the i-th feature.
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* ``keypoints.ptr<float>(SF_LAPLACIAN)[i]`` contains the laplacian sign of the i-th feature.
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* ``keypoints.ptr<float>(SF_SIZE)[i]`` contains the size of the i-th feature.
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* ``keypoints.ptr<float>(SF_DIR)[i]`` contain orientation of the i-th feature.
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* ``keypoints.ptr<float>(SF_HESSIAN)[i]`` contains the response of the i-th feature.
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The ``descriptors`` matrix is :math:`\texttt{nFeatures} \times \texttt{descriptorSize}` matrix with the ``CV_32FC1`` type.
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The class ``SURF_GPU`` uses some buffers and provides access to it. All buffers can be safely released between function calls.
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See Also: :c:type:`SURF`
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.. seealso::
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:ocv:class:`SURF`
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.. index:: gpu::BruteForceMatcher_GPU
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@@ -95,7 +105,7 @@ gpu::BruteForceMatcher_GPU
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--------------------------
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.. ocv:class:: gpu::BruteForceMatcher_GPU
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This is a brute-force descriptor matcher. For each descriptor in the first set, this matcher finds the closest descriptor in the second set by trying each one. This descriptor matcher supports masking permissible matches between descriptor sets. ::
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Brute-force descriptor matcher. For each descriptor in the first set, this matcher finds the closest descriptor in the second set by trying each one. This descriptor matcher supports masking permissible matches between descriptor sets. ::
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template<class Distance>
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class BruteForceMatcher_GPU
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@@ -180,9 +190,11 @@ This is a brute-force descriptor matcher. For each descriptor in the first set,
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};
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The class ``BruteForceMatcher_GPU`` has an interface similar to the class :c:type:`DescriptorMatcher`. It has two groups of ``match`` methods: for matching descriptors of one image with another image or with an image set. Also, all functions have an alternative: save results to the GPU memory or to the CPU memory. ``Distance`` template parameter is kept for CPU/GPU interfaces similarity. ``BruteForceMatcher_GPU`` supports only the ``L1<float>``, ``L2<float>`` and ``Hamming`` distance types.
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The class ``BruteForceMatcher_GPU`` has an interface similar to the class :ocv:class:`DescriptorMatcher`. It has two groups of ``match`` methods: for matching descriptors of one image with another image or with an image set. Also, all functions have an alternative to save results either to the GPU memory or to the CPU memory. The ``Distance`` template parameter is kept for CPU/GPU interfaces similarity. ``BruteForceMatcher_GPU`` supports only the ``L1<float>``, ``L2<float>``, and ``Hamming`` distance types.
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See Also: :c:type:`DescriptorMatcher`, :c:type:`BruteForceMatcher`
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.. seealso::
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:ocv:class:`DescriptorMatcher`,
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:ocv:class:`BruteForceMatcher`
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.. index:: gpu::BruteForceMatcher_GPU::match
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@@ -194,7 +206,7 @@ gpu::BruteForceMatcher_GPU::match
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Finds the best match for each descriptor from a query set with train descriptors.
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See Also:
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.. seealso::
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:ocv:func:`DescriptorMatcher::match`
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.. index:: gpu::BruteForceMatcher_GPU::matchSingle
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@@ -209,9 +221,9 @@ gpu::BruteForceMatcher_GPU::matchSingle
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:param trainDescs: Training set of descriptors. It is not added to train descriptors collection stored in the class object.
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:param trainIdx: The output single-row ``CV_32SC1`` matrix that contains the best train index for each query. If some query descriptors are masked out in ``mask`` , it contains -1.
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:param trainIdx: Output single-row ``CV_32SC1`` matrix that contains the best train index for each query. If some query descriptors are masked out in ``mask`` , it contains -1.
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:param distance: The output single-row ``CV_32FC1`` matrix that contains the best distance for each query. If some query descriptors are masked out in ``mask``, it contains ``FLT_MAX``.
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:param distance: Output single-row ``CV_32FC1`` matrix that contains the best distance for each query. If some query descriptors are masked out in ``mask``, it contains ``FLT_MAX``.
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:param mask: Mask specifying permissible matches between the input query and train matrices of descriptors.
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@@ -221,19 +233,19 @@ gpu::BruteForceMatcher_GPU::matchCollection
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-----------------------------------------------
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.. ocv:function:: void gpu::BruteForceMatcher_GPU::matchCollection(const GpuMat& queryDescs, const GpuMat& trainCollection, GpuMat& trainIdx, GpuMat& imgIdx, GpuMat& distance, const GpuMat& maskCollection)
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Finds the best match for each query descriptor from train collection. Results are stored in the GPU memory.
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Finds the best match for each query descriptor from train collection. Results are stored in the GPU memory.
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:param queryDescs: Query set of descriptors.
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:param queryDescs: Query set of descriptors.
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:param trainCollection: :ocv:class:`gpu::GpuMat` containing train collection. It can be obtained from the collection of train descriptors that was set using the ``add`` method by :ocv:func:`gpu::BruteForceMatcher_GPU::makeGpuCollection`. Or it may contain a user-defined collection. This is a one-row matrix where each element is ``DevMem2D`` pointing out to a matrix of train descriptors.
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:param trainCollection: :ocv:class:`gpu::GpuMat` containing train collection. It can be obtained from the collection of train descriptors that was set using the ``add`` method by :ocv:func:`gpu::BruteForceMatcher_GPU::makeGpuCollection`. Or it may contain a user-defined collection. This is a one-row matrix where each element is ``DevMem2D`` pointing out to a matrix of train descriptors.
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:param trainIdx: The output single-row ``CV_32SC1`` matrix that contains the best train index for each query. If some query descriptors are masked out in ``maskCollection`` , it contains -1.
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:param trainIdx: Output single-row ``CV_32SC1`` matrix that contains the best train index for each query. If some query descriptors are masked out in ``maskCollection`` , it contains -1.
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:param imgIdx: The output single-row ``CV_32SC1`` matrix that contains image train index for each query. If some query descriptors are masked out in ``maskCollection`` , it contains -1.
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:param imgIdx: Output single-row ``CV_32SC1`` matrix that contains image train index for each query. If some query descriptors are masked out in ``maskCollection`` , it contains -1.
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:param distance: The output single-row ``CV_32FC1`` matrix that contains the best distance for each query. If some query descriptors are masked out in ``maskCollection`` , it contains ``FLT_MAX``.
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:param distance: Output single-row ``CV_32FC1`` matrix that contains the best distance for each query. If some query descriptors are masked out in ``maskCollection`` , it contains ``FLT_MAX``.
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:param maskCollection: ``GpuMat`` containing a set of masks. It can be obtained from ``std::vector<GpuMat>`` by :ocv:func:`gpu::BruteForceMatcher_GPU::makeGpuCollection` or it may contain a user-defined mask set. This is an empty matrix or one-row matrix where each element is a ``PtrStep`` that points to one mask.
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:param maskCollection: ``GpuMat`` containing a set of masks. It can be obtained from ``std::vector<GpuMat>`` by :ocv:func:`gpu::BruteForceMatcher_GPU::makeGpuCollection` or it may contain a user-defined mask set. This is an empty matrix or one-row matrix where each element is a ``PtrStep`` that points to one mask.
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.. index:: gpu::BruteForceMatcher_GPU::makeGpuCollection
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@@ -254,7 +266,7 @@ gpu::BruteForceMatcher_GPU::matchDownload
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Downloads ``trainIdx``, ``imgIdx``, and ``distance`` matrices obtained via
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:ocv:func:`gpu::BruteForceMatcher_GPU::matchSingle` or
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:ocv:func:`gpu::BruteForceMatcher_GPU::matchCollection` to CPU vector with :c:type:`DMatch`.
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:ocv:func:`gpu::BruteForceMatcher_GPU::matchCollection` to CPU vector with :ocv:class:`DMatch`.
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.. index:: gpu::BruteForceMatcher_GPU::knnMatch
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@@ -266,7 +278,7 @@ gpu::BruteForceMatcher_GPU::knnMatch
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.. ocv:function:: void knnMatch(const GpuMat& queryDescs, std::vector< std::vector<DMatch> >&matches, int k, const std::vector<GpuMat>&masks = std::vector<GpuMat>(), bool compactResult = false )
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See Also:
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.. seealso::
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:ocv:func:`DescriptorMatcher::knnMatch`
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.. index:: gpu::BruteForceMatcher_GPU::knnMatch
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@@ -275,13 +287,13 @@ gpu::BruteForceMatcher_GPU::knnMatch
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----------------------------------------
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.. ocv:function:: void gpu::BruteForceMatcher_GPU::knnMatch(const GpuMat& queryDescs, const GpuMat& trainDescs, GpuMat& trainIdx, GpuMat& distance, GpuMat& allDist, int k, const GpuMat& mask = GpuMat())
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Finds the k best matches for each descriptor from a query set with train descriptors. The function returns detected k (or less if not possible) matches in the increasing order by distance. Results will be stored in the GPU memory.
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Finds the k best matches for each descriptor from a query set with train descriptors. The function returns detected k (or less if not possible) matches in the increasing order by distance. Results are stored in the GPU memory.
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:param queryDescs: Query set of descriptors.
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:param trainDescs: Training set of descriptors. It is not be added to train descriptors collection stored in the class object.
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:param trainIdx: The output matrix of ``queryDescs.rows x k`` size and ``CV_32SC1`` type. ``trainIdx.at<int>(i, j)`` contains an index of the j-th best match for the i-th query descriptor. If some query descriptors are masked out in ``mask``, it contains -1.
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:param distance: The output matrix of ``queryDescs.rows x k`` size and ``CV_32FC1`` type. ``distance.at<float>(i, j)`` contains a distance from the j-th best match for the i-th query descriptor to the query descriptor. If some query descriptors are masked out in ``mask``, it contains ``FLT_MAX``.
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:param allDist: The floating-point matrix of the size ``queryDescs.rows x trainDescs.rows``. This is a buffer to store all distances between each query descriptors and each train descriptor. On output, ``allDist.at<float>(queryIdx, trainIdx)`` contains ``FLT_MAX`` if ``trainIdx`` is one from k best.
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:param trainIdx: Output matrix of ``queryDescs.rows x k`` size and ``CV_32SC1`` type. ``trainIdx.at<int>(i, j)`` contains an index of the j-th best match for the i-th query descriptor. If some query descriptors are masked out in ``mask``, it contains -1.
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:param distance: Output matrix of ``queryDescs.rows x k`` size and ``CV_32FC1`` type. ``distance.at<float>(i, j)`` contains a distance from the j-th best match for the i-th query descriptor to the query descriptor. If some query descriptors are masked out in ``mask``, it contains ``FLT_MAX``.
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:param allDist: Floating-point matrix of the size ``queryDescs.rows x trainDescs.rows``. This is a buffer to store all distances between each query descriptors and each train descriptor. On output, ``allDist.at<float>(queryIdx, trainIdx)`` contains ``FLT_MAX`` if ``trainIdx`` is one from k best.
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:param k: Number of the best matches per each query descriptor (or less if it is not possible).
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@@ -293,7 +305,7 @@ gpu::BruteForceMatcher_GPU::knnMatchDownload
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------------------------------------------------
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.. ocv:function:: void gpu::BruteForceMatcher_GPU::knnMatchDownload(const GpuMat& trainIdx, const GpuMat& distance, std::vector< std::vector<DMatch> >&matches, bool compactResult = false)
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Downloads ``trainIdx`` and ``distance`` matrices obtained via :ocv:func:`gpu::BruteForceMatcher_GPU::knnMatch` to CPU vector with :c:type:`DMatch`. If ``compactResult`` is true, the ``matches`` vector does not contain matches for fully masked-out query descriptors.
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Downloads ``trainIdx`` and ``distance`` matrices obtained via :ocv:func:`gpu::BruteForceMatcher_GPU::knnMatch` to CPU vector with :ocv:class:`DMatch`. If ``compactResult`` is true, the ``matches`` vector does not contain matches for fully masked-out query descriptors.
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.. index:: gpu::BruteForceMatcher_GPU::radiusMatch
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@@ -305,9 +317,9 @@ gpu::BruteForceMatcher_GPU::radiusMatch
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.. ocv:function:: void gpu::BruteForceMatcher_GPU::radiusMatch(const GpuMat& queryDescs, std::vector< std::vector<DMatch> >&matches, float maxDistance, const std::vector<GpuMat>&masks = std::vector<GpuMat>(), bool compactResult = false)
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This function works only on devices with the compute capability :math:`>=` 1.1.
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This function works only on devices with the compute capability :math:`>=` 1.1.
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See Also:
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.. seealso::
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:ocv:func:`DescriptorMatcher::radiusMatch`
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.. index:: gpu::BruteForceMatcher_GPU::radiusMatch
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@@ -322,11 +334,11 @@ gpu::BruteForceMatcher_GPU::radiusMatch
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:param trainDescs: Training set of descriptors. It is not added to train descriptors collection stored in the class object.
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:param trainIdx: ``trainIdx.at<int>(i, j)`` , the index of j-th training descriptor which is close enough to i-th query descriptor. If ``trainIdx`` is empty, it is created with the size ``queryDescs.rows x trainDescs.rows``. When the matrix is pre-allocated, it can have less than ``trainDescs.rows`` columns. Then, the function returns as many matches for each query descriptor as fit into the matrix.
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:param trainIdx: ``trainIdx.at<int>(i, j)`` , the index of j-th training descriptor, which is close enough to i-th query descriptor. If ``trainIdx`` is empty, it is created with the size ``queryDescs.rows x trainDescs.rows``. When the matrix is pre-allocated, it can have less than ``trainDescs.rows`` columns. Then, the function returns as many matches for each query descriptor as fit into the matrix.
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:param nMatches: ``nMatches.at<unsigned int>(0, i)`` containing the number of matching descriptors for the i-th query descriptor. The value can be larger than ``trainIdx.cols`` , which means that the function could not store all the matches since it does not have enough memory.
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:param distance: ``distance.at<int>(i, j)`` Distance between the j-th match for the j-th query descriptor and this very query descriptor. The matrix has the ``CV_32FC1`` type and the same size as ``trainIdx``.
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:param distance: Distance ``distance.at<int>(i, j)`` between the j-th match for the j-th query descriptor and this very query descriptor. The matrix has the ``CV_32FC1`` type and the same size as ``trainIdx``.
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:param maxDistance: Distance threshold.
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@@ -340,5 +352,5 @@ gpu::BruteForceMatcher_GPU::radiusMatchDownload
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---------------------------------------------------
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.. ocv:function:: void gpu::BruteForceMatcher_GPU::radiusMatchDownload(const GpuMat& trainIdx, const GpuMat& nMatches, const GpuMat& distance, std::vector< std::vector<DMatch> >&matches, bool compactResult = false)
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Downloads ``trainIdx``, ``nMatches`` and ``distance`` matrices obtained via :ocv:func:`gpu::BruteForceMatcher_GPU::radiusMatch` to CPU vector with :c:type:`DMatch`. If ``compactResult`` is true, the ``matches`` vector does not contain matches for fully masked-out query descriptors.
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Downloads ``trainIdx``, ``nMatches`` and ``distance`` matrices obtained via :ocv:func:`gpu::BruteForceMatcher_GPU::radiusMatch` to CPU vector with :ocv:class:`DMatch`. If ``compactResult`` is true, the ``matches`` vector does not contain matches for fully masked-out query descriptors.
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