342 lines
15 KiB
ReStructuredText
342 lines
15 KiB
ReStructuredText
Feature Detection and Description
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=================================
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SIFT
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----
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.. ocv:class:: SIFT : public Feature2D
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Class for extracting keypoints and computing descriptors using the Scale Invariant Feature Transform (SIFT) algorithm by D. Lowe [Lowe04]_.
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.. [Lowe04] Lowe, D. G., “Distinctive Image Features from Scale-Invariant Keypoints”, International Journal of Computer Vision, 60, 2, pp. 91-110, 2004.
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SIFT::SIFT
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----------
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The SIFT constructors.
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.. ocv:function:: SIFT::SIFT( int nfeatures=0, int nOctaveLayers=3, double contrastThreshold=0.04, double edgeThreshold=10, double sigma=1.6)
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:param nfeatures: The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast)
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:param nOctaveLayers: The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution.
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:param contrastThreshold: The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.
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:param edgeThreshold: The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the ``edgeThreshold``, the less features are filtered out (more features are retained).
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:param sigma: The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.
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SIFT::operator ()
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-----------------
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Extract features and computes their descriptors using SIFT algorithm
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.. ocv:function:: void SIFT::operator()(InputArray img, InputArray mask, vector<KeyPoint>& keypoints, OutputArray descriptors, bool useProvidedKeypoints=false)
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:param img: Input 8-bit grayscale image
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:param mask: Optional input mask that marks the regions where we should detect features.
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:param keypoints: The input/output vector of keypoints
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:param descriptors: The output matrix of descriptors. Pass ``cv::noArray()`` if you do not need them.
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:param useProvidedKeypoints: Boolean flag. If it is true, the keypoint detector is not run. Instead, the provided vector of keypoints is used and the algorithm just computes their descriptors.
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SURF
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----
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.. ocv:class:: SURF : public Feature2D
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Class for extracting Speeded Up Robust Features from an image [Bay06]_. The class is derived from ``CvSURFParams`` structure, which specifies the algorithm parameters:
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.. ocv:member:: int extended
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* 0 means that the basic descriptors (64 elements each) shall be computed
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* 1 means that the extended descriptors (128 elements each) shall be computed
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.. ocv:member:: int upright
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* 0 means that detector computes orientation of each feature.
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* 1 means that the orientation is not computed (which is much, much faster). For example, if you match images from a stereo pair, or do image stitching, the matched features likely have very similar angles, and you can speed up feature extraction by setting ``upright=1``.
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.. ocv:member:: double hessianThreshold
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Threshold for the keypoint detector. Only features, whose hessian is larger than ``hessianThreshold`` are retained by the detector. Therefore, the larger the value, the less keypoints you will get. A good default value could be from 300 to 500, depending from the image contrast.
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.. ocv:member:: int nOctaves
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The number of a gaussian pyramid octaves that the detector uses. It is set to 4 by default. If you want to get very large features, use the larger value. If you want just small features, decrease it.
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.. ocv:member:: int nOctaveLayers
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The number of images within each octave of a gaussian pyramid. It is set to 2 by default.
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.. [Bay06] Bay, H. and Tuytelaars, T. and Van Gool, L. "SURF: Speeded Up Robust Features", 9th European Conference on Computer Vision, 2006
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.. note::
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* An example using the SURF feature detector can be found at opencv_source_code/samples/cpp/generic_descriptor_match.cpp
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* Another example using the SURF feature detector, extractor and matcher can be found at opencv_source_code/samples/cpp/matcher_simple.cpp
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SURF::SURF
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----------
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The SURF extractor constructors.
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.. ocv:function:: SURF::SURF()
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.. ocv:function:: SURF::SURF( double hessianThreshold, int nOctaves=4, int nOctaveLayers=2, bool extended=true, bool upright=false )
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.. ocv:pyfunction:: cv2.SURF([hessianThreshold[, nOctaves[, nOctaveLayers[, extended[, upright]]]]]) -> <SURF object>
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:param hessianThreshold: Threshold for hessian keypoint detector used in SURF.
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:param nOctaves: Number of pyramid octaves the keypoint detector will use.
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:param nOctaveLayers: Number of octave layers within each octave.
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:param extended: Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).
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:param upright: Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).
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SURF::operator()
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----------------
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Detects keypoints and computes SURF descriptors for them.
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.. ocv:function:: void SURF::operator()(InputArray img, InputArray mask, vector<KeyPoint>& keypoints) const
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.. ocv:function:: void SURF::operator()(InputArray img, InputArray mask, vector<KeyPoint>& keypoints, OutputArray descriptors, bool useProvidedKeypoints=false)
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.. ocv:pyfunction:: cv2.SURF.detect(image[, mask]) -> keypoints
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.. ocv:cfunction:: void cvExtractSURF( const CvArr* image, const CvArr* mask, CvSeq** keypoints, CvSeq** descriptors, CvMemStorage* storage, CvSURFParams params )
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.. ocv:pyoldfunction:: cv.ExtractSURF(image, mask, storage, params)-> (keypoints, descriptors)
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:param image: Input 8-bit grayscale image
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:param mask: Optional input mask that marks the regions where we should detect features.
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:param keypoints: The input/output vector of keypoints
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:param descriptors: The output matrix of descriptors. Pass ``cv::noArray()`` if you do not need them.
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:param useProvidedKeypoints: Boolean flag. If it is true, the keypoint detector is not run. Instead, the provided vector of keypoints is used and the algorithm just computes their descriptors.
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:param storage: Memory storage for the output keypoints and descriptors in OpenCV 1.x API.
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:param params: SURF algorithm parameters in OpenCV 1.x API.
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The function is parallelized with the TBB library.
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If you are using the C version, make sure you call ``cv::initModule_nonfree()`` from ``nonfree/nonfree.hpp``.
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gpu::SURF_GPU
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-------------
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.. ocv:class:: gpu::SURF_GPU
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Class used for extracting Speeded Up Robust Features (SURF) from an image. ::
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class SURF_GPU
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{
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public:
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enum KeypointLayout
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{
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X_ROW = 0,
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Y_ROW,
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LAPLACIAN_ROW,
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OCTAVE_ROW,
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SIZE_ROW,
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ANGLE_ROW,
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HESSIAN_ROW,
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ROWS_COUNT
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};
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//! the default constructor
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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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//! returns the descriptor size in float's (64 or 128)
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int descriptorSize() const;
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//! upload host keypoints to device memory
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void uploadKeypoints(const vector<KeyPoint>& keypoints,
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GpuMat& keypointsGPU);
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//! download keypoints from device to host memory
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void downloadKeypoints(const GpuMat& keypointsGPU,
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vector<KeyPoint>& keypoints);
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//! download descriptors from device to host memory
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void downloadDescriptors(const GpuMat& descriptorsGPU,
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vector<float>& descriptors);
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void operator()(const GpuMat& img, const GpuMat& mask,
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GpuMat& keypoints);
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void operator()(const GpuMat& img, const GpuMat& mask,
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GpuMat& keypoints, GpuMat& descriptors,
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bool useProvidedKeypoints = false,
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bool calcOrientation = true);
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void operator()(const GpuMat& img, const GpuMat& mask,
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std::vector<KeyPoint>& keypoints);
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void operator()(const GpuMat& img, const GpuMat& mask,
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std::vector<KeyPoint>& keypoints, GpuMat& descriptors,
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bool useProvidedKeypoints = false,
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bool calcOrientation = true);
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void operator()(const GpuMat& img, const GpuMat& mask,
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std::vector<KeyPoint>& keypoints,
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std::vector<float>& descriptors,
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bool useProvidedKeypoints = false,
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bool calcOrientation = true);
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void releaseMemory();
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// SURF parameters
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double hessianThreshold;
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int nOctaves;
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int nOctaveLayers;
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bool extended;
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bool upright;
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//! max keypoints = keypointsRatio * img.size().area()
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float keypointsRatio;
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GpuMat sum, mask1, maskSum, intBuffer;
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GpuMat det, trace;
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GpuMat maxPosBuffer;
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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`` 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 7` matrix with the ``CV_32FC1`` type.
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* ``keypoints.ptr<float>(X_ROW)[i]`` contains x coordinate of the i-th feature.
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* ``keypoints.ptr<float>(Y_ROW)[i]`` contains y coordinate of the i-th feature.
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* ``keypoints.ptr<float>(LAPLACIAN_ROW)[i]`` contains the laplacian sign of the i-th feature.
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* ``keypoints.ptr<float>(OCTAVE_ROW)[i]`` contains the octave of the i-th feature.
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* ``keypoints.ptr<float>(SIZE_ROW)[i]`` contains the size of the i-th feature.
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* ``keypoints.ptr<float>(ANGLE_ROW)[i]`` contain orientation of the i-th feature.
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* ``keypoints.ptr<float>(HESSIAN_ROW)[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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.. seealso:: :ocv:class:`SURF`
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.. note::
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* An example for using the SURF keypoint matcher on GPU can be found at opencv_source_code/samples/gpu/surf_keypoint_matcher.cpp
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ocl::SURF_OCL
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-------------
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.. ocv:class:: ocl::SURF_OCL
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Class used for extracting Speeded Up Robust Features (SURF) from an image. ::
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class SURF_OCL
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{
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public:
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enum KeypointLayout
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{
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X_ROW = 0,
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Y_ROW,
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LAPLACIAN_ROW,
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OCTAVE_ROW,
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SIZE_ROW,
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ANGLE_ROW,
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HESSIAN_ROW,
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ROWS_COUNT
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};
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//! the default constructor
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SURF_OCL();
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//! the full constructor taking all the necessary parameters
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explicit SURF_OCL(double _hessianThreshold, int _nOctaves=4,
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int _nOctaveLayers=2, bool _extended=false, float _keypointsRatio=0.01f, bool _upright = false);
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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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//! upload host keypoints to device memory
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void uploadKeypoints(const vector<KeyPoint>& keypoints,
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oclMat& keypointsocl);
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//! download keypoints from device to host memory
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void downloadKeypoints(const oclMat& keypointsocl,
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vector<KeyPoint>& keypoints);
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//! download descriptors from device to host memory
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void downloadDescriptors(const oclMat& descriptorsocl,
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vector<float>& descriptors);
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void operator()(const oclMat& img, const oclMat& mask,
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oclMat& keypoints);
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void operator()(const oclMat& img, const oclMat& mask,
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oclMat& keypoints, oclMat& descriptors,
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bool useProvidedKeypoints = false);
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void operator()(const oclMat& img, const oclMat& mask,
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std::vector<KeyPoint>& keypoints);
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void operator()(const oclMat& img, const oclMat& mask,
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std::vector<KeyPoint>& keypoints, oclMat& descriptors,
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bool useProvidedKeypoints = false);
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void operator()(const oclMat& img, const oclMat& mask,
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std::vector<KeyPoint>& keypoints,
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std::vector<float>& descriptors,
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bool useProvidedKeypoints = false);
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void releaseMemory();
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// SURF parameters
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double hessianThreshold;
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int nOctaves;
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int nOctaveLayers;
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bool extended;
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bool upright;
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//! max keypoints = min(keypointsRatio * img.size().area(), 65535)
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float keypointsRatio;
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oclMat sum, mask1, maskSum, intBuffer;
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oclMat det, trace;
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oclMat maxPosBuffer;
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};
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The class ``SURF_OCL`` 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_OCL`` 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 ``oclMat``. The ``keypoints`` matrix is :math:`\texttt{nFeatures} \times 7` matrix with the ``CV_32FC1`` type.
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* ``keypoints.ptr<float>(X_ROW)[i]`` contains x coordinate of the i-th feature.
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* ``keypoints.ptr<float>(Y_ROW)[i]`` contains y coordinate of the i-th feature.
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* ``keypoints.ptr<float>(LAPLACIAN_ROW)[i]`` contains the laplacian sign of the i-th feature.
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* ``keypoints.ptr<float>(OCTAVE_ROW)[i]`` contains the octave of the i-th feature.
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* ``keypoints.ptr<float>(SIZE_ROW)[i]`` contains the size of the i-th feature.
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* ``keypoints.ptr<float>(ANGLE_ROW)[i]`` contain orientation of the i-th feature.
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* ``keypoints.ptr<float>(HESSIAN_ROW)[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_OCL`` uses some buffers and provides access to it. All buffers can be safely released between function calls.
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.. seealso:: :ocv:class:`SURF`
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.. note::
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* OCL : An example of the SURF detector can be found at opencv_source_code/samples/ocl/surf_matcher.cpp
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