corrected grammar (done by Elena)
This commit is contained in:
Vadim Pisarevsky
@@ -3,15 +3,14 @@ Feature Detection and Description
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.. highlight:: cpp
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.. index:: gpu::SURF_GPU
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gpu::SURF_GPU
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-------------
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.. cpp:class:: gpu::SURF_GPU
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Class for extracting Speeded Up Robust Features 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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{
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@@ -20,8 +19,7 @@ Class for extracting Speeded Up Robust Features from an image. ::
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SURF_GPU();
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//! the full constructor taking all the necessary parameters
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explicit SURF_GPU(double _hessianThreshold, int _nOctaves=4,
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int _nOctaveLayers=2, bool _extended=false, float _keypointsRatio=0.01f,
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bool _upright = false);
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int _nOctaveLayers=2, bool _extended=false, float _keypointsRatio=0.01f);
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//! returns the descriptor size in float's (64 or 128)
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int descriptorSize() const;
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@@ -61,8 +59,6 @@ Class for extracting Speeded Up Robust Features from an image. ::
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//! max keypoints = keypointsRatio * img.size().area()
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float keypointsRatio;
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bool upright;
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GpuMat sum, mask1, maskSum, intBuffer;
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@@ -73,15 +69,15 @@ Class for extracting Speeded Up Robust Features from an image. ::
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GpuMat keypointsBuffer;
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};
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The class ``SURF_GPU`` implements Speeded Up Robust Features descriptor. There is fast multi-scale Hessian keypoint detector that can be used to find the keypoints (which is the default option), but the descriptors can be also computed for the user-specified keypoints. Supports only 8 bit grayscale images.
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The class ``SURF_GPU`` can store results to GPU and CPU memory and provides functions to convert results between CPU and GPU version (``uploadKeypoints``, ``downloadKeypoints``, ``downloadDescriptors``). CPU results has the same format as :c:type:`SURF` results. GPU results are stored to :cpp:class:`gpu::GpuMat`. ``keypoints`` matrix is one row matrix with ``CV_32FC6`` type. It contains 6 float values per feature: ``x, y, laplacian, size, dir, hessian``. ``descriptors`` matrix is ``nFeatures`` :math:`\times` ``descriptorSize`` matrix with ``CV_32FC1`` type.
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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 one-row matrix of the ``CV_32FC6`` type. It contains 6 float values per feature: ``x, y, laplacian, size, dir, hessian`` . The ``descriptors`` matrix is
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:math:`\texttt{nFeatures} \times \texttt{descriptorSize}` matrix with ``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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See Also: :c:type:`SURF`.
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.. index:: gpu::BruteForceMatcher_GPU
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@@ -104,7 +100,7 @@ Brute-force descriptor matcher. For each descriptor in the first set, this match
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// Clear train descriptors collection.
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void clear();
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// Return true if there are not train descriptors in collection.
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// Return true if there are no train descriptors in collection.
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bool empty() const;
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// Return true if the matcher supports mask in match methods.
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@@ -173,27 +169,23 @@ Brute-force descriptor matcher. For each descriptor in the first set, this match
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std::vector<GpuMat> trainDescCollection;
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};
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The class ``BruteForceMatcher_GPU`` has the similar interface to class :c:type:`DescriptorMatcher`. It has two groups of match methods: for matching descriptors of one image with other image or with image set. Also all functions have alternative: save results to GPU memory or to CPU memory.
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``Distance`` template parameter is kept for CPU/GPU interfaces similarity. ``BruteForceMatcher_GPU`` supports only ``L1<float>`` and ``L2<float>`` distance types.
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The class ``BruteForceMatcher_GPU`` has the interface similar to 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 ``L1<float>`` and ``L2<float>`` distance types.
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See also: :c:type:`DescriptorMatcher`, :c:type:`BruteForceMatcher`.
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.. index:: gpu::BruteForceMatcher_GPU::match
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gpu::BruteForceMatcher_GPU::match
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-------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::match(const GpuMat& queryDescs, const GpuMat& trainDescs, vector<DMatch>& matches, const GpuMat& mask = GpuMat())
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::match(const GpuMat& queryDescs, const GpuMat& trainDescs, std::vector<DMatch>& matches, const GpuMat& mask = GpuMat())
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::match(const GpuMat& queryDescs, vector<DMatch>& matches, const vector<GpuMat>& masks = vector<GpuMat>())
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::match(const GpuMat& queryDescs, std::vector<DMatch>& matches, const std::vector<GpuMat>& masks = std::vector<GpuMat>())
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Finds the best match for each descriptor from a query set with train descriptors.
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See also: :c:func:`DescriptorMatcher::match`.
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See Also:
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:c:func:`DescriptorMatcher::match` .
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.. index:: gpu::BruteForceMatcher_GPU::matchSingle
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@@ -201,19 +193,17 @@ gpu::BruteForceMatcher_GPU::matchSingle
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-------------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::matchSingle(const GpuMat& queryDescs, const GpuMat& trainDescs, GpuMat& trainIdx, GpuMat& distance, const GpuMat& mask = GpuMat())
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Finds the best match for each query descriptor. Results will be stored to GPU memory.
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Finds the best match for each query descriptor. 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 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 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 will contains ``FLT_MAX``.
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:param trainDescs: Train set of descriptors. This will not be added to train descriptors collection stored in class object.
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:param trainIdx: One row ``CV_32SC1`` matrix. Will contain the best train index for each query. If some query descriptors are masked out in ``mask`` it will contain -1.
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:param distance: One row ``CV_32FC1`` matrix. Will contain the best distance for each query. If some query descriptors are masked out in ``mask`` it will contain ``FLT_MAX``.
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:param mask: Mask specifying permissible matches between input query and train matrices of descriptors.
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:param mask: Mask specifying permissible matches between the input query and train matrices of descriptors.
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.. index:: gpu::BruteForceMatcher_GPU::matchCollection
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@@ -221,123 +211,122 @@ gpu::BruteForceMatcher_GPU::matchCollection
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-----------------------------------------------
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.. cpp: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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Find the best match for each query descriptor from train collection. Results will be stored to 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 trainCollection: :cpp:class:`gpu::GpuMat` containing train collection. It can be obtained from the collection of train descriptors that was set using the ``add`` method by :cpp: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 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 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 trainCollection: :cpp:class:`gpu::GpuMat` containing train collection. It can be obtained from train descriptors collection that was set using ``add`` method by :cpp:func:`gpu::BruteForceMatcher_GPU::makeGpuCollection`. Or it can contain user defined collection. It must be one row matrix, each element is a :cpp:class:`gpu::DevMem2D_` that points to one train descriptors matrix.
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:param trainIdx: One row ``CV_32SC1`` matrix. Will contain the best train index for each query. If some query descriptors are masked out in ``maskCollection`` it will contain -1.
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:param imgIdx: One row ``CV_32SC1`` matrix. Will contain image train index for each query. If some query descriptors are masked out in ``maskCollection`` it will contain -1.
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:param distance: One row ``CV_32FC1`` matrix. Will contain the best distance for each query. If some query descriptors are masked out in ``maskCollection`` it will contain ``FLT_MAX``.
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:param maskCollection: :cpp:class:`gpu::GpuMat` containing set of masks. It can be obtained from ``vector<GpuMat>`` by :cpp:func:`gpu::BruteForceMatcher_GPU::makeGpuCollection`. Or it can contain user defined mask set. It must be empty matrix or one row matrix, each element is a :cpp:class:`gpu::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 ?? 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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gpu::BruteForceMatcher_GPU::makeGpuCollection
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-------------------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::makeGpuCollection(GpuMat& trainCollection, GpuMat& maskCollection, const vector<GpuMat>& masks = vector<GpuMat>())
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::makeGpuCollection(GpuMat& trainCollection, GpuMat& maskCollection, const vector<GpuMat>&masks = std::vector<GpuMat>())
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Makes gpu collection of train descriptors and masks in suitable format for :cpp:func:`gpu::BruteForceMatcher_GPU::matchCollection` function.
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.. index:: gpu::BruteForceMatcher_GPU::matchDownload
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gpu::BruteForceMatcher_GPU::matchDownload
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---------------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::matchDownload(const GpuMat& trainIdx, const GpuMat& distance, vector<DMatch>& matches)
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::matchDownload(const GpuMat& trainIdx, const GpuMat& distance, std::vector<DMatch>&matches)
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::matchDownload(const GpuMat& trainIdx, GpuMat&imgIdx, const GpuMat& distance, vector<DMatch>& matches)
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::matchDownload(const GpuMat& trainIdx, GpuMat& imgIdx, const GpuMat& distance, std::vector<DMatch>&matches)
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Downloads ``trainIdx``, ``imgIdx`` and ``distance`` matrices obtained via :cpp:func:`gpu::BruteForceMatcher_GPU::matchSingle` or :cpp:func:`gpu::BruteForceMatcher_GPU::matchCollection` to CPU vector with :c:type:`DMatch`.
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.. index:: gpu::BruteForceMatcher_GPU::knnMatch
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gpu::BruteForceMatcher_GPU::knnMatch
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----------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::knnMatch(const GpuMat& queryDescs, const GpuMat& trainDescs, vector< vector<DMatch> >& matches, int k, const GpuMat& mask = GpuMat(), bool compactResult = false)
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::knnMatch(const GpuMat& queryDescs, const GpuMat& trainDescs, std::vector< std::vector<DMatch> >&matches, int k, const GpuMat& mask = GpuMat(), bool compactResult = false)
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::knnMatch(const GpuMat& queryDescs, vector< vector<DMatch> >& matches, int k, const vector<GpuMat>& masks = vector<GpuMat>(), bool compactResult = false)
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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.
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Finds the k best matches for each descriptor from a query set with train descriptors. Found k (or less if not possible) matches are returned in distance increasing order.
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.. c: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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:func:`DescriptorMatcher::knnMatch` .
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.. index:: gpu::BruteForceMatcher_GPU::knnMatch
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gpu::BruteForceMatcher_GPU::knnMatch
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----------------------------------------
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.. cpp: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. Found k (or less if not possible) matches are returned in distance increasing order. Results will be stored to 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 will be 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 will 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 will contain ``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)`` will contain ``FLT_MAX`` if ``trainIdx`` is one from k best.
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:param trainDescs; Train set of descriptors. This will not be added to train descriptors collection stored in class object.
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:param trainIdx: Matrix with ``nQueries`` :math:`\times` ``k`` size and ``CV_32SC1`` type. ``trainIdx.at<int>(queryIdx, i)`` will contain index of the i'th best trains. If some query descriptors are masked out in ``mask`` it will contain -1.
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:param distance: Matrix with ``nQuery`` :math:`\times` ``k`` and ``CV_32FC1`` type. Will contain distance for each query and the i'th best trains. If some query descriptors are masked out in ``mask`` it will contain ``FLT_MAX``.
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:param allDist: Buffer to store all distances between query descriptors and train descriptors. It will have ``nQuery`` :math:`\times` ``nTrain`` size and ``CV_32FC1`` type. ``allDist.at<float>(queryIdx, trainIdx)`` will contain ``FLT_MAX``, if ``trainIdx`` is one from k best, otherwise it will contain distance between ``queryIdx`` and ``trainIdx`` descriptors.
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:param k: Number of the best matches will be found per each query descriptor (or less if it's not possible).
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:param mask: Mask specifying permissible matches between input query and train matrices of descriptors.
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See also: :c:func:`DescriptorMatcher::knnMatch`.
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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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:param mask: Mask specifying permissible matches between the input query and train matrices of descriptors.
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.. index:: gpu::BruteForceMatcher_GPU::knnMatchDownload
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gpu::BruteForceMatcher_GPU::knnMatchDownload
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------------------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::knnMatchDownload(const GpuMat& trainIdx, const GpuMat& distance, vector< vector<DMatch> >& matches, bool compactResult = false)
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.. cpp: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 :cpp:func:`gpu::BruteForceMatcher_GPU::knnMatch` to CPU vector with :c:type:`DMatch`. If ``compactResult`` is true ``matches`` vector will not contain matches for fully masked out query descriptors.
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.. index:: gpu::BruteForceMatcher_GPU::radiusMatch
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gpu::BruteForceMatcher_GPU::radiusMatch
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-------------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::radiusMatch(const GpuMat& queryDescs, const GpuMat& trainDescs, vector< vector<DMatch> >& matches, float maxDistance, const GpuMat& mask = GpuMat(), bool compactResult = false)
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::radiusMatch(const GpuMat& queryDescs, const GpuMat& trainDescs, std::vector< std::vector<DMatch> >&matches, float maxDistance, const GpuMat& mask = GpuMat(), bool compactResult = false)
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::radiusMatch(const GpuMat& queryDescs, vector< vector<DMatch> >& matches, float maxDistance, const vector<GpuMat>& masks = vector<GpuMat>(), bool compactResult = false)
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For each query descriptor, finds the best matches with a distance less than a given threshold. The function returns detected matches in the increasing order by distance.
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Finds the best matches for each query descriptor which have distance less than given threshold. Found matches are returned in distance increasing order.
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.. cpp: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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.. cpp:function:: void gpu::BruteForceMatcher_GPU::radiusMatch(const GpuMat&queryDescs, const GpuMat&trainDescs, GpuMat&trainIdx, GpuMat&nMatches, GpuMat&distance, float maxDistance, const GpuMat&mask = GpuMat())
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This function works only on devices with the compute capability
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:math:`>=` 1.1.
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See Also:
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:func:`DescriptorMatcher::radiusMatch` .
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.. index:: gpu::BruteForceMatcher_GPU::radiusMatch
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gpu::BruteForceMatcher_GPU::radiusMatch
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-------------------------------------------
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.. cpp:function:: void gpu::BruteForceMatcher_GPU::radiusMatch(const GpuMat& queryDescs, const GpuMat& trainDescs, GpuMat& trainIdx, GpuMat& nMatches, GpuMat& distance, float maxDistance, const GpuMat& mask = GpuMat())
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For each query descriptor, finds the best matches with a distance less than a given threshold (``maxDistance``). The results are stored in the GPU memory.
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Finds the best matches for each query descriptor which have distance less than given threshold. Results will be stored to GPU memory. Results are not sorted by distance increasing order.
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:param queryDescs: Query set of descriptors.
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:param trainDescs: Train set of descriptors. This will not be added to train descriptors collection stored in class object.
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:param trainIdx: ``trainIdx.at<int>(queryIdx, i)`` will contain i'th train index ``(i < min(nMatches.at<unsigned int>(0, queryIdx), trainIdx.cols)``. If ``trainIdx`` is empty, it will be created with size ``nQuery`` :math:`\times` ``nTrain``. Or it can be allocated by user (it must have ``nQuery`` rows and ``CV_32SC1`` type). Cols can be less than ``nTrain``, but it can be that matcher won't find all matches, because it haven't enough memory to store results.
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:param nMatches: ``nMatches.at<unsigned int>(0, queryIdx)`` will contain matches count for ``queryIdx``. Carefully, ``nMatches`` can be greater than ``trainIdx.cols`` - it means that matcher didn't find all matches, because it didn't have enough memory.
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:param distance: ``distance.at<int>(queryIdx, i)`` will contain i'th distance ``(i < min(nMatches.at<unsigned int>(0, queryIdx), trainIdx.cols)``. If ``trainIdx`` is empty, it will be created with size ``nQuery`` :math:`\times` ``nTrain``. Otherwise it must be also allocated by user (it must have the same size as ``trainIdx`` and ``CV_32FC1`` type).
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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)`` is 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 will return as many matches for each query descriptors as fit into the matrix.
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:param nMatches: ``nMatches.at<unsigned int>(0, i)`` contains the number of matching descriptors for the i-th query descriptor. The value can be larger than ``trainIdx.cols`` - it means that the function could not store all the matches since it did not have enough memory.
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:param distance: ``distance.at<int>(i, j)`` is the distance between the j-th match for the j-th query descriptor and the this very query descriptor. The matrix will have ``CV_32FC1`` type and the same size as ``trainIdx``.
|
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|
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:param maxDistance: Distance threshold.
|
||||
|
||||
:param mask: Mask specifying permissible matches between input query and train matrices of descriptors.
|
||||
|
||||
**Please note:** This function works only on devices with Compute Capability :math:`>=` 1.1.
|
||||
|
||||
See also: :c:func:`DescriptorMatcher::radiusMatch`.
|
||||
|
||||
:param mask: Mask specifying permissible matches between the input query and train matrices of descriptors.
|
||||
|
||||
In contrast to :cpp:func:`gpu::BruteForceMatcher_GPU::knnMatch`, here the results are not sorted by the distance. This function works only on devices with the compute capability >= 1.1.
|
||||
|
||||
.. index:: gpu::BruteForceMatcher_GPU::radiusMatchDownload
|
||||
|
||||
gpu::BruteForceMatcher_GPU::radiusMatchDownload
|
||||
---------------------------------------------------
|
||||
.. cpp:function:: void gpu::BruteForceMatcher_GPU::radiusMatchDownload(const GpuMat& trainIdx, const GpuMat& nMatches, const GpuMat& distance, vector< vector<DMatch> >& matches, bool compactResult = false)
|
||||
.. cpp:function:: void gpu::BruteForceMatcher_GPU::radiusMatchDownload(const GpuMat& trainIdx, const GpuMat& nMatches, const GpuMat& distance, std::vector< std::vector<DMatch> >&matches, bool compactResult = false)
|
||||
|
||||
Downloads ``trainIdx``, ``nMatches`` and ``distance`` matrices obtained via :cpp:func:`gpu::BruteForceMatcher_GPU::radiusMatch` to CPU vector with :c:type:`DMatch`. If ``compactResult`` is true ``matches`` vector will not contain matches for fully masked out query descriptors.
|
||||
|
||||
|
||||
Reference in New Issue
Block a user