From f44334285b6b745bc04d9c320359b5ac35593fc4 Mon Sep 17 00:00:00 2001 From: Konstantin Matskevich Date: Tue, 4 Feb 2014 16:34:18 +0400 Subject: [PATCH] features2d --- .../features2d/include/opencv2/features2d.hpp | 78 +++++++++---------- modules/features2d/src/bagofwords.cpp | 11 ++- modules/features2d/src/blobdetector.cpp | 3 +- modules/features2d/src/brief.cpp | 15 ++-- modules/features2d/src/brisk.cpp | 2 +- modules/features2d/src/descriptors.cpp | 12 ++- modules/features2d/src/draw.cpp | 48 ++++++------ modules/features2d/src/freak.cpp | 13 ++-- modules/features2d/src/matchers.cpp | 40 ++++++---- modules/features2d/src/orb.cpp | 2 +- modules/legacy/include/opencv2/legacy.hpp | 18 +++-- modules/legacy/src/oneway.cpp | 7 +- modules/legacy/src/planardetect.cpp | 7 +- .../include/opencv2/nonfree/features2d.hpp | 4 +- modules/nonfree/src/sift.cpp | 2 +- modules/nonfree/src/surf.cpp | 2 +- 16 files changed, 148 insertions(+), 116 deletions(-) diff --git a/modules/features2d/include/opencv2/features2d.hpp b/modules/features2d/include/opencv2/features2d.hpp index 8f2d05691..b67834448 100644 --- a/modules/features2d/include/opencv2/features2d.hpp +++ b/modules/features2d/include/opencv2/features2d.hpp @@ -156,7 +156,7 @@ public: * keypoints The input keypoints. Keypoints for which a descriptor cannot be computed are removed. * descriptors Copmputed descriptors. Row i is the descriptor for keypoint i. */ - CV_WRAP void compute( const Mat& image, CV_OUT CV_IN_OUT std::vector& keypoints, CV_OUT Mat& descriptors ) const; + CV_WRAP void compute( InputArray image, CV_OUT CV_IN_OUT std::vector& keypoints, CV_OUT OutputArray descriptors ) const; /* * Compute the descriptors for a keypoints collection detected in image collection. @@ -165,7 +165,7 @@ public: * Keypoints for which a descriptor cannot be computed are removed. * descriptors Descriptor collection. descriptors[i] are descriptors computed for set keypoints[i]. */ - void compute( const std::vector& images, std::vector >& keypoints, std::vector& descriptors ) const; + void compute( InputArrayOfArrays images, std::vector >& keypoints, OutputArrayOfArrays descriptors ) const; CV_WRAP virtual int descriptorSize() const = 0; CV_WRAP virtual int descriptorType() const = 0; @@ -176,7 +176,7 @@ public: CV_WRAP static Ptr create( const String& descriptorExtractorType ); protected: - virtual void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const = 0; + virtual void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const = 0; /* * Remove keypoints within borderPixels of an image edge. @@ -207,7 +207,7 @@ public: OutputArray descriptors, bool useProvidedKeypoints=false ) const = 0; - CV_WRAP void compute( const Mat& image, CV_OUT CV_IN_OUT std::vector& keypoints, CV_OUT Mat& descriptors ) const; + CV_WRAP void compute( InputArray image, CV_OUT CV_IN_OUT std::vector& keypoints, CV_OUT OutputArray descriptors ) const; // Create feature detector and descriptor extractor by name. CV_WRAP static Ptr create( const String& name ); @@ -252,7 +252,7 @@ public: protected: - void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const; void detectImpl( InputArray image, std::vector& keypoints, InputArray mask=noArray() ) const; void computeKeypointsNoOrientation(InputArray image, InputArray mask, std::vector& keypoints) const; @@ -337,7 +337,7 @@ public: protected: - void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const; void detectImpl( InputArray image, std::vector& keypoints, InputArray mask=noArray() ) const; CV_PROP_RW int nfeatures; @@ -403,9 +403,9 @@ public: }; protected: - virtual void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + virtual void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const; void buildPattern(); - uchar meanIntensity( const Mat& image, const Mat& integral, const float kp_x, const float kp_y, + uchar meanIntensity( InputArray image, InputArray integral, const float kp_x, const float kp_y, const unsigned int scale, const unsigned int rot, const unsigned int point ) const; bool orientationNormalized; //true if the orientation is normalized, false otherwise @@ -609,7 +609,7 @@ protected: }; virtual void detectImpl( InputArray image, std::vector& keypoints, InputArray mask=noArray() ) const; - virtual void findBlobs(const Mat &image, const Mat &binaryImage, std::vector
¢ers) const; + virtual void findBlobs(InputArray image, InputArray binaryImage, std::vector
¢ers) const; Params params; AlgorithmInfo* info() const; @@ -850,7 +850,7 @@ public: virtual bool empty() const; protected: - virtual void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + virtual void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const; Ptr descriptorExtractor; }; @@ -879,9 +879,9 @@ public: AlgorithmInfo* info() const; protected: - virtual void computeImpl(const Mat& image, std::vector& keypoints, Mat& descriptors) const; + virtual void computeImpl(InputArray image, std::vector& keypoints, OutputArray descriptors) const; - typedef void(*PixelTestFn)(const Mat&, const std::vector&, Mat&); + typedef void(*PixelTestFn)(InputArray, const std::vector&, OutputArray); int bytes_; PixelTestFn test_fn_; @@ -1214,7 +1214,7 @@ public: * If inheritor class need perform such prefiltering the method add() must be overloaded. * In the other class methods programmer has access to the train keypoints by a constant link. */ - virtual void add( const std::vector& images, + virtual void add( InputArrayOfArrays images, std::vector >& keypoints ); const std::vector& getTrainImages() const; @@ -1243,10 +1243,10 @@ public: * trainKeypoints Keypoints from the train image */ // Classify keypoints from query image under one train image. - void classify( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints ) const; + void classify( InputArray queryImage, std::vector& queryKeypoints, + InputArray trainImage, std::vector& trainKeypoints ) const; // Classify keypoints from query image under train image collection. - void classify( const Mat& queryImage, std::vector& queryKeypoints ); + void classify( InputArray queryImage, std::vector& queryKeypoints ); /* * Group of methods to match keypoints from image pair. @@ -1254,32 +1254,32 @@ public: * train() method is called here. */ // Find one best match for each query descriptor (if mask is empty). - void match( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints, + void match( InputArray queryImage, std::vector& queryKeypoints, + InputArray trainImage, std::vector& trainKeypoints, std::vector& matches, const Mat& mask=Mat() ) const; // Find k best matches for each query keypoint (in increasing order of distances). // compactResult is used when mask is not empty. If compactResult is false matches // vector will have the same size as queryDescriptors rows. // If compactResult is true matches vector will not contain matches for fully masked out query descriptors. - void knnMatch( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints, + void knnMatch( InputArray queryImage, std::vector& queryKeypoints, + InputArray trainImage, std::vector& trainKeypoints, std::vector >& matches, int k, const Mat& mask=Mat(), bool compactResult=false ) const; // Find best matches for each query descriptor which have distance less than maxDistance (in increasing order of distances). - void radiusMatch( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints, + void radiusMatch( InputArray queryImage, std::vector& queryKeypoints, + InputArray trainImage, std::vector& trainKeypoints, std::vector >& matches, float maxDistance, const Mat& mask=Mat(), bool compactResult=false ) const; /* * Group of methods to match keypoints from one image to image set. * See description of similar methods for matching image pair above. */ - void match( const Mat& queryImage, std::vector& queryKeypoints, + void match( InputArray queryImage, std::vector& queryKeypoints, std::vector& matches, const std::vector& masks=std::vector() ); - void knnMatch( const Mat& queryImage, std::vector& queryKeypoints, + void knnMatch( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, int k, const std::vector& masks=std::vector(), bool compactResult=false ); - void radiusMatch( const Mat& queryImage, std::vector& queryKeypoints, + void radiusMatch(InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& masks=std::vector(), bool compactResult=false ); @@ -1303,10 +1303,10 @@ protected: // In fact the matching is implemented only by the following two methods. These methods suppose // that the class object has been trained already. Public match methods call these methods // after calling train(). - virtual void knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void knnMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, int k, const std::vector& masks, bool compactResult ) = 0; - virtual void radiusMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void radiusMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& masks, bool compactResult ) = 0; /* @@ -1365,7 +1365,7 @@ public: VectorDescriptorMatcher( const Ptr& extractor, const Ptr& matcher ); virtual ~VectorDescriptorMatcher(); - virtual void add( const std::vector& imgCollection, + virtual void add( InputArrayOfArrays imgCollection, std::vector >& pointCollection ); virtual void clear(); @@ -1381,10 +1381,10 @@ public: virtual Ptr clone( bool emptyTrainData=false ) const; protected: - virtual void knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void knnMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, int k, const std::vector& masks, bool compactResult ); - virtual void radiusMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void radiusMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& masks, bool compactResult ); @@ -1411,19 +1411,19 @@ struct CV_EXPORTS DrawMatchesFlags }; // Draw keypoints. -CV_EXPORTS_W void drawKeypoints( const Mat& image, const std::vector& keypoints, CV_OUT Mat& outImage, +CV_EXPORTS_W void drawKeypoints( InputArray image, const std::vector& keypoints, CV_OUT InputOutputArray outImage, const Scalar& color=Scalar::all(-1), int flags=DrawMatchesFlags::DEFAULT ); // Draws matches of keypints from two images on output image. -CV_EXPORTS_W void drawMatches( const Mat& img1, const std::vector& keypoints1, - const Mat& img2, const std::vector& keypoints2, - const std::vector& matches1to2, CV_OUT Mat& outImg, +CV_EXPORTS_W void drawMatches( InputArray img1, const std::vector& keypoints1, + InputArray img2, const std::vector& keypoints2, + const std::vector& matches1to2, CV_OUT InputOutputArray outImg, const Scalar& matchColor=Scalar::all(-1), const Scalar& singlePointColor=Scalar::all(-1), const std::vector& matchesMask=std::vector(), int flags=DrawMatchesFlags::DEFAULT ); -CV_EXPORTS_AS(drawMatchesKnn) void drawMatches( const Mat& img1, const std::vector& keypoints1, - const Mat& img2, const std::vector& keypoints2, - const std::vector >& matches1to2, CV_OUT Mat& outImg, +CV_EXPORTS_AS(drawMatchesKnn) void drawMatches( InputArray img1, const std::vector& keypoints1, + InputArray img2, const std::vector& keypoints2, + const std::vector >& matches1to2, CV_OUT InputOutputArray outImg, const Scalar& matchColor=Scalar::all(-1), const Scalar& singlePointColor=Scalar::all(-1), const std::vector >& matchesMask=std::vector >(), int flags=DrawMatchesFlags::DEFAULT ); @@ -1518,9 +1518,9 @@ public: void setVocabulary( const Mat& vocabulary ); const Mat& getVocabulary() const; - void compute( const Mat& image, std::vector& keypoints, Mat& imgDescriptor, + void compute( InputArray image, std::vector& keypoints, InputOutputArray imgDescriptor, std::vector >* pointIdxsOfClusters=0, Mat* descriptors=0 ); - void compute( const Mat& keypointDescriptors, Mat& imgDescriptor, + void compute( InputArray keypointDescriptors, InputOutputArray imgDescriptor, std::vector >* pointIdxsOfClusters=0 ); // compute() is not constant because DescriptorMatcher::match is not constant diff --git a/modules/features2d/src/bagofwords.cpp b/modules/features2d/src/bagofwords.cpp index 2836f5272..c57510a11 100644 --- a/modules/features2d/src/bagofwords.cpp +++ b/modules/features2d/src/bagofwords.cpp @@ -140,7 +140,7 @@ const Mat& BOWImgDescriptorExtractor::getVocabulary() const return vocabulary; } -void BOWImgDescriptorExtractor::compute( const Mat& image, std::vector& keypoints, Mat& imgDescriptor, +void BOWImgDescriptorExtractor::compute( InputArray image, std::vector& keypoints, InputOutputArray imgDescriptor, std::vector >* pointIdxsOfClusters, Mat* descriptors ) { imgDescriptor.release(); @@ -170,7 +170,7 @@ int BOWImgDescriptorExtractor::descriptorType() const return CV_32FC1; } -void BOWImgDescriptorExtractor::compute( const Mat& keypointDescriptors, Mat& imgDescriptor, std::vector >* pointIdxsOfClusters ) +void BOWImgDescriptorExtractor::compute( InputArray keypointDescriptors, InputOutputArray _imgDescriptor, std::vector >* pointIdxsOfClusters ) { CV_Assert( vocabulary.empty() != false ); @@ -187,7 +187,10 @@ void BOWImgDescriptorExtractor::compute( const Mat& keypointDescriptors, Mat& im pointIdxsOfClusters->resize(clusterCount); } - imgDescriptor = Mat( 1, clusterCount, descriptorType(), Scalar::all(0.0) ); + Mat( 1, clusterCount, descriptorType(), Scalar::all(0.0) ).copyTo(_imgDescriptor); + + Mat imgDescriptor = _imgDescriptor.getMat(); + float *dptr = (float*)imgDescriptor.data; for( size_t i = 0; i < matches.size(); i++ ) { @@ -201,7 +204,7 @@ void BOWImgDescriptorExtractor::compute( const Mat& keypointDescriptors, Mat& im } // Normalize image descriptor. - imgDescriptor /= keypointDescriptors.rows; + imgDescriptor /= keypointDescriptors.size().height; } } diff --git a/modules/features2d/src/blobdetector.cpp b/modules/features2d/src/blobdetector.cpp index fb7e30fef..2368591d9 100644 --- a/modules/features2d/src/blobdetector.cpp +++ b/modules/features2d/src/blobdetector.cpp @@ -163,8 +163,9 @@ void SimpleBlobDetector::write( cv::FileStorage& fs ) const params.write(fs); } -void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryImage, std::vector
¢ers) const +void SimpleBlobDetector::findBlobs(InputArray _image, InputArray _binaryImage, std::vector
¢ers) const { + Mat image = _image.getMat(), binaryImage = _binaryImage.getMat(); (void)image; centers.clear(); diff --git a/modules/features2d/src/brief.cpp b/modules/features2d/src/brief.cpp index 252191988..ebd730b7e 100644 --- a/modules/features2d/src/brief.cpp +++ b/modules/features2d/src/brief.cpp @@ -61,8 +61,9 @@ inline int smoothedSum(const Mat& sum, const KeyPoint& pt, int y, int x) + sum.at(img_y - HALF_KERNEL, img_x - HALF_KERNEL); } -static void pixelTests16(const Mat& sum, const std::vector& keypoints, Mat& descriptors) +static void pixelTests16(InputArray _sum, const std::vector& keypoints, OutputArray _descriptors) { + Mat sum = _sum.getMat(), descriptors = _descriptors.getMat(); for (int i = 0; i < (int)keypoints.size(); ++i) { uchar* desc = descriptors.ptr(i); @@ -71,8 +72,9 @@ static void pixelTests16(const Mat& sum, const std::vector& keypoints, } } -static void pixelTests32(const Mat& sum, const std::vector& keypoints, Mat& descriptors) +static void pixelTests32(InputArray _sum, const std::vector& keypoints, OutputArray _descriptors) { + Mat sum = _sum.getMat(), descriptors = _descriptors.getMat(); for (int i = 0; i < (int)keypoints.size(); ++i) { uchar* desc = descriptors.ptr(i); @@ -82,8 +84,9 @@ static void pixelTests32(const Mat& sum, const std::vector& keypoints, } } -static void pixelTests64(const Mat& sum, const std::vector& keypoints, Mat& descriptors) +static void pixelTests64(InputArray _sum, const std::vector& keypoints, OutputArray _descriptors) { + Mat sum = _sum.getMat(), descriptors = _descriptors.getMat(); for (int i = 0; i < (int)keypoints.size(); ++i) { uchar* desc = descriptors.ptr(i); @@ -155,12 +158,12 @@ void BriefDescriptorExtractor::write( FileStorage& fs) const fs << "descriptorSize" << bytes_; } -void BriefDescriptorExtractor::computeImpl(const Mat& image, std::vector& keypoints, Mat& descriptors) const +void BriefDescriptorExtractor::computeImpl(InputArray image, std::vector& keypoints, OutputArray descriptors) const { // Construct integral image for fast smoothing (box filter) Mat sum; - Mat grayImage = image; + Mat grayImage = image.getMat(); if( image.type() != CV_8U ) cvtColor( image, grayImage, COLOR_BGR2GRAY ); ///TODO allow the user to pass in a precomputed integral image @@ -173,7 +176,7 @@ void BriefDescriptorExtractor::computeImpl(const Mat& image, std::vector& keypoints, InputArra } void -BRISK::computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors) const + BRISK::computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors) const { (*this)(image, Mat(), keypoints, descriptors, true); } diff --git a/modules/features2d/src/descriptors.cpp b/modules/features2d/src/descriptors.cpp index 9e0ac5c55..964c38e94 100644 --- a/modules/features2d/src/descriptors.cpp +++ b/modules/features2d/src/descriptors.cpp @@ -54,7 +54,7 @@ namespace cv DescriptorExtractor::~DescriptorExtractor() {} -void DescriptorExtractor::compute( const Mat& image, std::vector& keypoints, Mat& descriptors ) const +void DescriptorExtractor::compute( InputArray image, std::vector& keypoints, OutputArray descriptors ) const { if( image.empty() || keypoints.empty() ) { @@ -68,8 +68,11 @@ void DescriptorExtractor::compute( const Mat& image, std::vector& keyp computeImpl( image, keypoints, descriptors ); } -void DescriptorExtractor::compute( const std::vector& imageCollection, std::vector >& pointCollection, std::vector& descCollection ) const +void DescriptorExtractor::compute( InputArrayOfArrays _imageCollection, std::vector >& pointCollection, OutputArrayOfArrays _descCollection ) const { + std::vector imageCollection, descCollection; + _imageCollection.getMatVector(imageCollection); + _descCollection.getMatVector(descCollection); CV_Assert( imageCollection.size() == pointCollection.size() ); descCollection.resize( imageCollection.size() ); for( size_t i = 0; i < imageCollection.size(); i++ ) @@ -106,7 +109,7 @@ Ptr DescriptorExtractor::create(const String& descriptorExt } -CV_WRAP void Feature2D::compute( const Mat& image, CV_OUT CV_IN_OUT std::vector& keypoints, CV_OUT Mat& descriptors ) const +CV_WRAP void Feature2D::compute( InputArray image, CV_OUT CV_IN_OUT std::vector& keypoints, CV_OUT OutputArray descriptors ) const { DescriptorExtractor::compute(image, keypoints, descriptors); } @@ -157,8 +160,9 @@ struct KP_LessThan const std::vector* kp; }; -void OpponentColorDescriptorExtractor::computeImpl( const Mat& bgrImage, std::vector& keypoints, Mat& descriptors ) const +void OpponentColorDescriptorExtractor::computeImpl( InputArray _bgrImage, std::vector& keypoints, OutputArray descriptors ) const { + Mat bgrImage = _bgrImage.getMat(); std::vector opponentChannels; convertBGRImageToOpponentColorSpace( bgrImage, opponentChannels ); diff --git a/modules/features2d/src/draw.cpp b/modules/features2d/src/draw.cpp index 61c2f817a..7fea99835 100644 --- a/modules/features2d/src/draw.cpp +++ b/modules/features2d/src/draw.cpp @@ -50,7 +50,7 @@ namespace cv /* * Functions to draw keypoints and matches. */ -static inline void _drawKeypoint( Mat& img, const KeyPoint& p, const Scalar& color, int flags ) +static inline void _drawKeypoint( InputOutputArray img, const KeyPoint& p, const Scalar& color, int flags ) { CV_Assert( !img.empty() ); Point center( cvRound(p.pt.x * draw_multiplier), cvRound(p.pt.y * draw_multiplier) ); @@ -88,7 +88,7 @@ static inline void _drawKeypoint( Mat& img, const KeyPoint& p, const Scalar& col } } -void drawKeypoints( const Mat& image, const std::vector& keypoints, Mat& outImage, +void drawKeypoints( InputArray image, const std::vector& keypoints, InputOutputArray& outImage, const Scalar& _color, int flags ) { if( !(flags & DrawMatchesFlags::DRAW_OVER_OUTIMG) ) @@ -120,26 +120,30 @@ void drawKeypoints( const Mat& image, const std::vector& keypoints, Ma } } -static void _prepareImgAndDrawKeypoints( const Mat& img1, const std::vector& keypoints1, - const Mat& img2, const std::vector& keypoints2, - Mat& outImg, Mat& outImg1, Mat& outImg2, +static void _prepareImgAndDrawKeypoints( InputArray img1, const std::vector& keypoints1, + InputArray img2, const std::vector& keypoints2, + InputOutputArray _outImg, Mat& outImg1, Mat& outImg2, const Scalar& singlePointColor, int flags ) { - Size size( img1.cols + img2.cols, MAX(img1.rows, img2.rows) ); + Mat outImg; + Size img1size = img1.size(), img2size = img2.size(); + Size size( img1size.width + img2size.width, MAX(img1size.height, img2size.height) ); if( flags & DrawMatchesFlags::DRAW_OVER_OUTIMG ) { + outImg = _outImg.getMat(); if( size.width > outImg.cols || size.height > outImg.rows ) CV_Error( Error::StsBadSize, "outImg has size less than need to draw img1 and img2 together" ); - outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) ); - outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) ); + outImg1 = outImg( Rect(0, 0, img1size.width, img1size.height) ); + outImg2 = outImg( Rect(img1size.width, 0, img2size.width, img2size.height) ); } else { - outImg.create( size, CV_MAKETYPE(img1.depth(), 3) ); + _outImg.create( size, CV_MAKETYPE(img1.depth(), 3) ); + outImg = _outImg.getMat(); outImg = Scalar::all(0); - outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) ); - outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) ); - + outImg1 = outImg( Rect(0, 0, img1size.width, img1size.height) ); + outImg2 = outImg( Rect(img1size.width, 0, img2size.width, img2size.height) ); + printf("%d %d\n", _outImg.size().width, _outImg.size().height); if( img1.type() == CV_8U ) cvtColor( img1, outImg1, COLOR_GRAY2BGR ); else @@ -154,15 +158,15 @@ static void _prepareImgAndDrawKeypoints( const Mat& img1, const std::vector& keypoints1, - const Mat& img2, const std::vector& keypoints2, - const std::vector& matches1to2, Mat& outImg, +void drawMatches( InputArray img1, const std::vector& keypoints1, + InputArray img2, const std::vector& keypoints2, + const std::vector& matches1to2, InputOutputArray outImg, const Scalar& matchColor, const Scalar& singlePointColor, const std::vector& matchesMask, int flags ) { @@ -211,9 +215,9 @@ void drawMatches( const Mat& img1, const std::vector& keypoints1, } } -void drawMatches( const Mat& img1, const std::vector& keypoints1, - const Mat& img2, const std::vector& keypoints2, - const std::vector >& matches1to2, Mat& outImg, +void drawMatches( InputArray img1, const std::vector& keypoints1, + InputArray img2, const std::vector& keypoints2, + const std::vector >& matches1to2, InputOutputArray outImg, const Scalar& matchColor, const Scalar& singlePointColor, const std::vector >& matchesMask, int flags ) { diff --git a/modules/features2d/src/freak.cpp b/modules/features2d/src/freak.cpp index 35ff97f58..a372695d4 100644 --- a/modules/features2d/src/freak.cpp +++ b/modules/features2d/src/freak.cpp @@ -229,9 +229,9 @@ void FREAK::buildPattern() } } -void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const +void FREAK::computeImpl( InputArray _image, std::vector& keypoints, OutputArray _descriptors ) const { - + Mat image = _image.getMat(); if( image.empty() ) return; if( keypoints.empty() ) @@ -297,7 +297,8 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat if( !extAll ) { // extract the best comparisons only - descriptors = cv::Mat::zeros((int)keypoints.size(), FREAK_NB_PAIRS/8, CV_8U); + Mat(cv::Mat::zeros((int)keypoints.size(), FREAK_NB_PAIRS/8, CV_8U)).copyTo(_descriptors); + Mat descriptors = _descriptors.getMat(); #if CV_SSE2 __m128i* ptr= (__m128i*) (descriptors.data+(keypoints.size()-1)*descriptors.step[0]); #else @@ -415,7 +416,8 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat } else // extract all possible comparisons for selection { - descriptors = cv::Mat::zeros((int)keypoints.size(), 128, CV_8U); + Mat(cv::Mat::zeros((int)keypoints.size(), 128, CV_8U)).copyTo(_descriptors); + Mat descriptors = _descriptors.getMat(); std::bitset<1024>* ptr = (std::bitset<1024>*) (descriptors.data+(keypoints.size()-1)*descriptors.step[0]); for( size_t k = keypoints.size(); k--; ) @@ -474,13 +476,14 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat } // simply take average on a square patch, not even gaussian approx -uchar FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral, +uchar FREAK::meanIntensity( InputArray _image, InputArray _integral, const float kp_x, const float kp_y, const unsigned int scale, const unsigned int rot, const unsigned int point) const { + Mat image = _image.getMat(), integral = _integral.getMat(); // get point position in image const PatternPoint& FreakPoint = patternLookup[scale*FREAK_NB_ORIENTATION*FREAK_NB_POINTS + rot*FREAK_NB_POINTS + point]; const float xf = FreakPoint.x+kp_x; diff --git a/modules/features2d/src/matchers.cpp b/modules/features2d/src/matchers.cpp index f8b98d4d6..4f97e011d 100644 --- a/modules/features2d/src/matchers.cpp +++ b/modules/features2d/src/matchers.cpp @@ -1617,9 +1617,11 @@ GenericDescriptorMatcher::GenericDescriptorMatcher() GenericDescriptorMatcher::~GenericDescriptorMatcher() {} -void GenericDescriptorMatcher::add( const std::vector& images, +void GenericDescriptorMatcher::add( InputArrayOfArrays _images, std::vector >& keypoints ) { + std::vector images; + _images.getMatVector(images); CV_Assert( !images.empty() ); CV_Assert( images.size() == keypoints.size() ); @@ -1651,8 +1653,8 @@ void GenericDescriptorMatcher::clear() void GenericDescriptorMatcher::train() {} -void GenericDescriptorMatcher::classify( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints ) const +void GenericDescriptorMatcher::classify( InputArray queryImage, std::vector& queryKeypoints, + InputArray trainImage, std::vector& trainKeypoints ) const { std::vector matches; match( queryImage, queryKeypoints, trainImage, trainKeypoints, matches ); @@ -1662,7 +1664,7 @@ void GenericDescriptorMatcher::classify( const Mat& queryImage, std::vector& queryKeypoints ) +void GenericDescriptorMatcher::classify( InputArray queryImage, std::vector& queryKeypoints ) { std::vector matches; match( queryImage, queryKeypoints, matches ); @@ -1672,10 +1674,11 @@ void GenericDescriptorMatcher::classify( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints, +void GenericDescriptorMatcher::match( InputArray queryImage, std::vector& queryKeypoints, + InputArray _trainImage, std::vector& trainKeypoints, std::vector& matches, const Mat& mask ) const { + Mat trainImage = _trainImage.getMat(); Ptr tempMatcher = clone( true ); std::vector > vecTrainPoints(1, trainKeypoints); tempMatcher->add( std::vector(1, trainImage), vecTrainPoints ); @@ -1683,10 +1686,11 @@ void GenericDescriptorMatcher::match( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints, +void GenericDescriptorMatcher::knnMatch( InputArray queryImage, std::vector& queryKeypoints, + InputArray _trainImage, std::vector& trainKeypoints, std::vector >& matches, int knn, const Mat& mask, bool compactResult ) const { + Mat trainImage = _trainImage.getMat(); Ptr tempMatcher = clone( true ); std::vector > vecTrainPoints(1, trainKeypoints); tempMatcher->add( std::vector(1, trainImage), vecTrainPoints ); @@ -1694,11 +1698,12 @@ void GenericDescriptorMatcher::knnMatch( const Mat& queryImage, std::vector& queryKeypoints, - const Mat& trainImage, std::vector& trainKeypoints, +void GenericDescriptorMatcher::radiusMatch( InputArray queryImage, std::vector& queryKeypoints, + InputArray _trainImage, std::vector& trainKeypoints, std::vector >& matches, float maxDistance, const Mat& mask, bool compactResult ) const { + Mat trainImage = _trainImage.getMat(); Ptr tempMatcher = clone( true ); std::vector > vecTrainPoints(1, trainKeypoints); tempMatcher->add( std::vector(1, trainImage), vecTrainPoints ); @@ -1706,7 +1711,7 @@ void GenericDescriptorMatcher::radiusMatch( const Mat& queryImage, std::vector& queryKeypoints, +void GenericDescriptorMatcher::match( InputArray queryImage, std::vector& queryKeypoints, std::vector& matches, const std::vector& masks ) { std::vector > knnMatches; @@ -1714,7 +1719,7 @@ void GenericDescriptorMatcher::match( const Mat& queryImage, std::vector& queryKeypoints, +void GenericDescriptorMatcher::knnMatch( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, int knn, const std::vector& masks, bool compactResult ) { @@ -1730,7 +1735,7 @@ void GenericDescriptorMatcher::knnMatch( const Mat& queryImage, std::vector& queryKeypoints, +void GenericDescriptorMatcher::radiusMatch( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& masks, bool compactResult ) { @@ -1792,10 +1797,11 @@ VectorDescriptorMatcher::VectorDescriptorMatcher( const Ptr VectorDescriptorMatcher::~VectorDescriptorMatcher() {} -void VectorDescriptorMatcher::add( const std::vector& imgCollection, +void VectorDescriptorMatcher::add( InputArrayOfArrays _imgCollection, std::vector >& pointCollection ) { - std::vector descriptors; + std::vector imgCollection, descriptors; + _imgCollection.getMatVector(imgCollection); extractor->compute( imgCollection, pointCollection, descriptors ); matcher->add( descriptors ); @@ -1820,7 +1826,7 @@ bool VectorDescriptorMatcher::isMaskSupported() return matcher->isMaskSupported(); } -void VectorDescriptorMatcher::knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, +void VectorDescriptorMatcher::knnMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, int knn, const std::vector& masks, bool compactResult ) { @@ -1829,7 +1835,7 @@ void VectorDescriptorMatcher::knnMatchImpl( const Mat& queryImage, std::vectorknnMatch( queryDescriptors, matches, knn, masks, compactResult ); } -void VectorDescriptorMatcher::radiusMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, +void VectorDescriptorMatcher::radiusMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& masks, bool compactResult ) { diff --git a/modules/features2d/src/orb.cpp b/modules/features2d/src/orb.cpp index da5dd5671..b72a6dbce 100644 --- a/modules/features2d/src/orb.cpp +++ b/modules/features2d/src/orb.cpp @@ -948,7 +948,7 @@ void ORB::detectImpl( InputArray image, std::vector& keypoints, InputA (*this)(image.getMat(), mask.getMat(), keypoints, noArray(), false); } -void ORB::computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors) const +void ORB::computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors) const { (*this)(image, Mat(), keypoints, descriptors, true); } diff --git a/modules/legacy/include/opencv2/legacy.hpp b/modules/legacy/include/opencv2/legacy.hpp index 01f726bc0..e622c27c4 100644 --- a/modules/legacy/include/opencv2/legacy.hpp +++ b/modules/legacy/include/opencv2/legacy.hpp @@ -2672,10 +2672,10 @@ protected: // The minimum distance to each training patch with all its affine poses is found over all scales. // The class ID of a match is returned for each keypoint. The distance is calculated over PCA components // loaded with DescriptorOneWay::Initialize, kd tree is used for finding minimum distances. - virtual void knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void knnMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, int k, const std::vector& masks, bool compactResult ); - virtual void radiusMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void radiusMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& masks, bool compactResult ); @@ -2735,10 +2735,10 @@ public: virtual Ptr clone( bool emptyTrainData=false ) const; protected: - virtual void knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void knnMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, int k, const std::vector& masks, bool compactResult ); - virtual void radiusMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + virtual void radiusMatchImpl( InputArray queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& masks, bool compactResult ); @@ -2770,7 +2770,7 @@ public: virtual bool empty() const; protected: - virtual void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + virtual void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const; RTreeClassifier classifier_; static const int BORDER_SIZE = 16; @@ -2783,15 +2783,17 @@ CalonderDescriptorExtractor::CalonderDescriptorExtractor(const String& classi } template -void CalonderDescriptorExtractor::computeImpl( const Mat& image, +void CalonderDescriptorExtractor::computeImpl( InputArray _image, std::vector& keypoints, - Mat& descriptors) const + OutputArray _descriptors) const { + Mat image = _image.getMat(), descriptors; // Cannot compute descriptors for keypoints on the image border. KeyPointsFilter::runByImageBorder(keypoints, image.size(), BORDER_SIZE); /// @todo Check 16-byte aligned - descriptors.create((int)keypoints.size(), classifier_.classes(), cv::DataType::type); + _descriptors.create((int)keypoints.size(), classifier_.classes(), cv::DataType::type); + descriptors = _descriptors.getMat(); int patchSize = RandomizedTree::PATCH_SIZE; int offset = patchSize / 2; diff --git a/modules/legacy/src/oneway.cpp b/modules/legacy/src/oneway.cpp index 5eac273f4..c5a9f4c2c 100644 --- a/modules/legacy/src/oneway.cpp +++ b/modules/legacy/src/oneway.cpp @@ -2232,10 +2232,11 @@ namespace cv{ return false; } - void OneWayDescriptorMatcher::knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + void OneWayDescriptorMatcher::knnMatchImpl( InputArray _queryImage, std::vector& queryKeypoints, std::vector >& matches, int knn, const std::vector& /*masks*/, bool /*compactResult*/ ) { + Mat queryImage = _queryImage.getMat(); train(); CV_Assert( knn == 1 ); // knn > 1 unsupported because of bug in OneWayDescriptorBase for this case @@ -2251,10 +2252,12 @@ namespace cv{ } } - void OneWayDescriptorMatcher::radiusMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, + void OneWayDescriptorMatcher::radiusMatchImpl( InputArray _queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& /*masks*/, bool /*compactResult*/ ) { + Mat queryImage = _queryImage.getMat(); + train(); matches.resize( queryKeypoints.size() ); diff --git a/modules/legacy/src/planardetect.cpp b/modules/legacy/src/planardetect.cpp index fa9152d47..8971fc4d3 100644 --- a/modules/legacy/src/planardetect.cpp +++ b/modules/legacy/src/planardetect.cpp @@ -1297,10 +1297,12 @@ void FernDescriptorMatcher::calcBestProbAndMatchIdx( const Mat& image, const Poi } } -void FernDescriptorMatcher::knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, +void FernDescriptorMatcher::knnMatchImpl( InputArray _queryImage, std::vector& queryKeypoints, std::vector >& matches, int knn, const std::vector& /*masks*/, bool /*compactResult*/ ) { + Mat queryImage = _queryImage.getMat(); + train(); matches.resize( queryKeypoints.size() ); @@ -1333,10 +1335,11 @@ void FernDescriptorMatcher::knnMatchImpl( const Mat& queryImage, std::vector& queryKeypoints, +void FernDescriptorMatcher::radiusMatchImpl( InputArray _queryImage, std::vector& queryKeypoints, std::vector >& matches, float maxDistance, const std::vector& /*masks*/, bool /*compactResult*/ ) { + Mat queryImage = _queryImage.getMat(); train(); matches.resize( queryKeypoints.size() ); std::vector signature( (size_t)classifier->getClassCount() ); diff --git a/modules/nonfree/include/opencv2/nonfree/features2d.hpp b/modules/nonfree/include/opencv2/nonfree/features2d.hpp index 353d1bf79..4cce6abdf 100644 --- a/modules/nonfree/include/opencv2/nonfree/features2d.hpp +++ b/modules/nonfree/include/opencv2/nonfree/features2d.hpp @@ -88,7 +88,7 @@ public: protected: void detectImpl( InputArray image, std::vector& keypoints, InputArray mask = noArray() ) const; - void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const; CV_PROP_RW int nfeatures; CV_PROP_RW int nOctaveLayers; @@ -144,7 +144,7 @@ public: protected: void detectImpl( InputArray image, std::vector& keypoints, InputArray mask = noArray() ) const; - void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + void computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors ) const; }; typedef SURF SurfFeatureDetector; diff --git a/modules/nonfree/src/sift.cpp b/modules/nonfree/src/sift.cpp index 903221472..259e934ed 100644 --- a/modules/nonfree/src/sift.cpp +++ b/modules/nonfree/src/sift.cpp @@ -823,7 +823,7 @@ void SIFT::detectImpl( InputArray image, std::vector& keypoints, Input (*this)(image.getMat(), mask.getMat(), keypoints, noArray()); } -void SIFT::computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors) const +void SIFT::computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors) const { (*this)(image, Mat(), keypoints, descriptors, true); } diff --git a/modules/nonfree/src/surf.cpp b/modules/nonfree/src/surf.cpp index db846bb46..8e386f62b 100644 --- a/modules/nonfree/src/surf.cpp +++ b/modules/nonfree/src/surf.cpp @@ -984,7 +984,7 @@ void SURF::detectImpl( InputArray image, std::vector& keypoints, Input (*this)(image.getMat(), mask.getMat(), keypoints, noArray(), false); } -void SURF::computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors) const +void SURF::computeImpl( InputArray image, std::vector& keypoints, OutputArray descriptors) const { (*this)(image, Mat(), keypoints, descriptors, true); }