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merge with upstream

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This commit is contained in:
Matthias Bady
2014-01-05 19:00:25 +01:00
parent 928924d248 1c3bfae212
commit e17da9a843
144 changed files with 11391 additions and 1974 deletions
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112
modules/ocl/include/opencv2/ocl.hpp
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@@ -695,17 +695,17 @@ namespace cv
//! returns the separable linear filter engine
CV_EXPORTS Ptr<FilterEngine_GPU> createSeparableLinearFilter_GPU(int srcType, int dstType, const Mat &rowKernel,
const Mat &columnKernel, const Point &anchor = Point(-1, -1), double delta = 0.0, int bordertype = BORDER_DEFAULT);
const Mat &columnKernel, const Point &anchor = Point(-1, -1), double delta = 0.0, int bordertype = BORDER_DEFAULT, Size imgSize = Size(-1,-1));
//! returns the separable filter engine with the specified filters
CV_EXPORTS Ptr<FilterEngine_GPU> createSeparableFilter_GPU(const Ptr<BaseRowFilter_GPU> &rowFilter,
const Ptr<BaseColumnFilter_GPU> &columnFilter);
//! returns the Gaussian filter engine
CV_EXPORTS Ptr<FilterEngine_GPU> createGaussianFilter_GPU(int type, Size ksize, double sigma1, double sigma2 = 0, int bordertype = BORDER_DEFAULT);
CV_EXPORTS Ptr<FilterEngine_GPU> createGaussianFilter_GPU(int type, Size ksize, double sigma1, double sigma2 = 0, int bordertype = BORDER_DEFAULT, Size imgSize = Size(-1,-1));
//! returns filter engine for the generalized Sobel operator
CV_EXPORTS Ptr<FilterEngine_GPU> createDerivFilter_GPU( int srcType, int dstType, int dx, int dy, int ksize, int borderType = BORDER_DEFAULT );
CV_EXPORTS Ptr<FilterEngine_GPU> createDerivFilter_GPU( int srcType, int dstType, int dx, int dy, int ksize, int borderType = BORDER_DEFAULT, Size imgSize = Size(-1,-1) );
//! applies Laplacian operator to the image
// supports only ksize = 1 and ksize = 3
@@ -1439,8 +1439,10 @@ namespace cv
oclMat Dx_;
oclMat Dy_;
oclMat eig_;
oclMat eig_minmax_;
oclMat minMaxbuf_;
oclMat tmpCorners_;
oclMat counter_;
};
inline GoodFeaturesToTrackDetector_OCL::GoodFeaturesToTrackDetector_OCL(int maxCorners_, double qualityLevel_, double minDistance_,
@@ -1533,6 +1535,110 @@ namespace cv
int bytes;
};
////////////////////////////////// ORB Descriptor Extractor //////////////////////////////////
class CV_EXPORTS ORB_OCL
{
public:
enum
{
X_ROW = 0,
Y_ROW,
RESPONSE_ROW,
ANGLE_ROW,
OCTAVE_ROW,
SIZE_ROW,
ROWS_COUNT
};
enum
{
DEFAULT_FAST_THRESHOLD = 20
};
//! Constructor
explicit ORB_OCL(int nFeatures = 500, float scaleFactor = 1.2f, int nLevels = 8, int edgeThreshold = 31,
int firstLevel = 0, int WTA_K = 2, int scoreType = 0, int patchSize = 31);
//! Compute the ORB features on an image
//! image - the image to compute the features (supports only CV_8UC1 images)
//! mask - the mask to apply
//! keypoints - the resulting keypoints
void operator ()(const oclMat& image, const oclMat& mask, std::vector<KeyPoint>& keypoints);
void operator ()(const oclMat& image, const oclMat& mask, oclMat& keypoints);
//! Compute the ORB features and descriptors on an image
//! image - the image to compute the features (supports only CV_8UC1 images)
//! mask - the mask to apply
//! keypoints - the resulting keypoints
//! descriptors - descriptors array
void operator ()(const oclMat& image, const oclMat& mask, std::vector<KeyPoint>& keypoints, oclMat& descriptors);
void operator ()(const oclMat& image, const oclMat& mask, oclMat& keypoints, oclMat& descriptors);
//! download keypoints from device to host memory
static void downloadKeyPoints(const oclMat& d_keypoints, std::vector<KeyPoint>& keypoints);
//! convert keypoints to KeyPoint vector
static void convertKeyPoints(const Mat& d_keypoints, std::vector<KeyPoint>& keypoints);
//! returns the descriptor size in bytes
inline int descriptorSize() const { return kBytes; }
inline int descriptorType() const { return CV_8U; }
inline int defaultNorm() const { return NORM_HAMMING; }
inline void setFastParams(int threshold, bool nonmaxSupression = true)
{
fastDetector_.threshold = threshold;
fastDetector_.nonmaxSupression = nonmaxSupression;
}
//! release temporary buffer's memory
void release();
//! if true, image will be blurred before descriptors calculation
bool blurForDescriptor;
private:
enum { kBytes = 32 };
void buildScalePyramids(const oclMat& image, const oclMat& mask);
void computeKeyPointsPyramid();
void computeDescriptors(oclMat& descriptors);
void mergeKeyPoints(oclMat& keypoints);
int nFeatures_;
float scaleFactor_;
int nLevels_;
int edgeThreshold_;
int firstLevel_;
int WTA_K_;
int scoreType_;
int patchSize_;
// The number of desired features per scale
std::vector<size_t> n_features_per_level_;
// Points to compute BRIEF descriptors from
oclMat pattern_;
std::vector<oclMat> imagePyr_;
std::vector<oclMat> maskPyr_;
oclMat buf_;
std::vector<oclMat> keyPointsPyr_;
std::vector<int> keyPointsCount_;
FAST_OCL fastDetector_;
Ptr<ocl::FilterEngine_GPU> blurFilter;
oclMat d_keypoints_;
oclMat uMax_;
};
/////////////////////////////// PyrLKOpticalFlow /////////////////////////////////////
class CV_EXPORTS PyrLKOpticalFlow