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refactored stitching module

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This commit is contained in:
Alexey Spizhevoy
2011-09-05 11:52:30 +00:00
parent 9be4701f24
commit fbe2e6fb01
9 changed files with 207 additions and 235 deletions
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129
modules/stitching/src/matchers.cpp
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@@ -42,25 +42,19 @@
#include "precomp.hpp"
using namespace std;
using namespace cv;
using namespace cv::gpu;
namespace cv
{
void FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features)
void cv::FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features)
{
find(image, features);
features.img_size = image.size();
//features.img = image.clone();
}
} // namespace cv
namespace
{
using namespace cv;
class CpuSurfFeaturesFinder : public FeaturesFinder
{
public:
@@ -155,10 +149,7 @@ namespace
} // namespace
namespace cv
{
SurfFeaturesFinder::SurfFeaturesFinder(bool try_use_gpu, double hess_thresh, int num_octaves, int num_layers,
cv::SurfFeaturesFinder::SurfFeaturesFinder(bool try_use_gpu, double hess_thresh, int num_octaves, int num_layers,
int num_octaves_descr, int num_layers_descr)
{
if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
@@ -168,12 +159,12 @@ SurfFeaturesFinder::SurfFeaturesFinder(bool try_use_gpu, double hess_thresh, int
}
void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
void cv::SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
(*impl_)(image, features);
}
void SurfFeaturesFinder::releaseMemory()
void cv::SurfFeaturesFinder::releaseMemory()
{
impl_->releaseMemory();
}
@@ -181,11 +172,11 @@ void SurfFeaturesFinder::releaseMemory()
//////////////////////////////////////////////////////////////////////////////
MatchesInfo::MatchesInfo() : src_img_idx(-1), dst_img_idx(-1), num_inliers(0), confidence(0) {}
cv::MatchesInfo::MatchesInfo() : src_img_idx(-1), dst_img_idx(-1), num_inliers(0), confidence(0) {}
MatchesInfo::MatchesInfo(const MatchesInfo &other) { *this = other; }
cv::MatchesInfo::MatchesInfo(const MatchesInfo &other) { *this = other; }
const MatchesInfo& MatchesInfo::operator =(const MatchesInfo &other)
const cv::MatchesInfo& MatchesInfo::operator =(const MatchesInfo &other)
{
src_img_idx = other.src_img_idx;
dst_img_idx = other.dst_img_idx;
@@ -200,65 +191,69 @@ const MatchesInfo& MatchesInfo::operator =(const MatchesInfo &other)
//////////////////////////////////////////////////////////////////////////////
struct DistIdxPair
namespace
{
bool operator<(const DistIdxPair &other) const { return dist < other.dist; }
double dist;
int idx;
};
struct MatchPairsBody
{
MatchPairsBody(const MatchPairsBody& other)
: matcher(other.matcher), features(other.features),
pairwise_matches(other.pairwise_matches), near_pairs(other.near_pairs) {}
MatchPairsBody(FeaturesMatcher &matcher, const vector<ImageFeatures> &features,
vector<MatchesInfo> &pairwise_matches, vector<pair<int,int> > &near_pairs)
: matcher(matcher), features(features),
pairwise_matches(pairwise_matches), near_pairs(near_pairs) {}
void operator ()(const BlockedRange &r) const
struct DistIdxPair
{
const int num_images = static_cast<int>(features.size());
for (int i = r.begin(); i < r.end(); ++i)
bool operator<(const DistIdxPair &other) const { return dist < other.dist; }
double dist;
int idx;
};
struct MatchPairsBody
{
MatchPairsBody(const MatchPairsBody& other)
: matcher(other.matcher), features(other.features),
pairwise_matches(other.pairwise_matches), near_pairs(other.near_pairs) {}
MatchPairsBody(FeaturesMatcher &matcher, const vector<ImageFeatures> &features,
vector<MatchesInfo> &pairwise_matches, vector<pair<int,int> > &near_pairs)
: matcher(matcher), features(features),
pairwise_matches(pairwise_matches), near_pairs(near_pairs) {}
void operator ()(const BlockedRange &r) const
{
int from = near_pairs[i].first;
int to = near_pairs[i].second;
int pair_idx = from*num_images + to;
const int num_images = static_cast<int>(features.size());
for (int i = r.begin(); i < r.end(); ++i)
{
int from = near_pairs[i].first;
int to = near_pairs[i].second;
int pair_idx = from*num_images + to;
matcher(features[from], features[to], pairwise_matches[pair_idx]);
pairwise_matches[pair_idx].src_img_idx = from;
pairwise_matches[pair_idx].dst_img_idx = to;
matcher(features[from], features[to], pairwise_matches[pair_idx]);
pairwise_matches[pair_idx].src_img_idx = from;
pairwise_matches[pair_idx].dst_img_idx = to;
size_t dual_pair_idx = to*num_images + from;
size_t dual_pair_idx = to*num_images + from;
pairwise_matches[dual_pair_idx] = pairwise_matches[pair_idx];
pairwise_matches[dual_pair_idx].src_img_idx = to;
pairwise_matches[dual_pair_idx].dst_img_idx = from;
pairwise_matches[dual_pair_idx] = pairwise_matches[pair_idx];
pairwise_matches[dual_pair_idx].src_img_idx = to;
pairwise_matches[dual_pair_idx].dst_img_idx = from;
if (!pairwise_matches[pair_idx].H.empty())
pairwise_matches[dual_pair_idx].H = pairwise_matches[pair_idx].H.inv();
if (!pairwise_matches[pair_idx].H.empty())
pairwise_matches[dual_pair_idx].H = pairwise_matches[pair_idx].H.inv();
for (size_t j = 0; j < pairwise_matches[dual_pair_idx].matches.size(); ++j)
std::swap(pairwise_matches[dual_pair_idx].matches[j].queryIdx,
pairwise_matches[dual_pair_idx].matches[j].trainIdx);
LOG(".");
for (size_t j = 0; j < pairwise_matches[dual_pair_idx].matches.size(); ++j)
std::swap(pairwise_matches[dual_pair_idx].matches[j].queryIdx,
pairwise_matches[dual_pair_idx].matches[j].trainIdx);
LOG(".");
}
}
}
FeaturesMatcher &matcher;
const vector<ImageFeatures> &features;
vector<MatchesInfo> &pairwise_matches;
vector<pair<int,int> > &near_pairs;
FeaturesMatcher &matcher;
const vector<ImageFeatures> &features;
vector<MatchesInfo> &pairwise_matches;
vector<pair<int,int> > &near_pairs;
private:
void operator =(const MatchPairsBody&);
};
private:
void operator =(const MatchPairsBody&);
};
} // namespace
void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches)
void cv::FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches)
{
const int num_images = static_cast<int>(features.size());
@@ -408,10 +403,10 @@ namespace
vector< vector<DMatch> >().swap(pair_matches);
}
} // anonymous namespace
} // namespace
BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
cv::BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
{
if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
impl_ = new GpuMatcher(match_conf);
@@ -424,7 +419,7 @@ BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf,
}
void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2,
void cv::BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2,
MatchesInfo &matches_info)
{
(*impl_)(features1, features2, matches_info);
@@ -502,9 +497,7 @@ void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFea
matches_info.H = findHomography(src_points, dst_points, CV_RANSAC);
}
void BestOf2NearestMatcher::releaseMemory()
void cv::BestOf2NearestMatcher::releaseMemory()
{
impl_->releaseMemory();
}
} // namespace cv