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11 // For Open Source Computer Vision Library
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41 //M*/
42
43 #include "precomp.hpp"
44
45 namespace cv
46 {
47
48 using std::vector;
49
~Feature2D()50 Feature2D::~Feature2D() {}
51
52 /*
53 * Detect keypoints in an image.
54 * image The image.
55 * keypoints The detected keypoints.
56 * mask Mask specifying where to look for keypoints (optional). Must be a char
57 * matrix with non-zero values in the region of interest.
58 */
detect(InputArray image,std::vector<KeyPoint> & keypoints,InputArray mask)59 void Feature2D::detect( InputArray image,
60 std::vector<KeyPoint>& keypoints,
61 InputArray mask )
62 {
63 CV_INSTRUMENT_REGION();
64
65 if( image.empty() )
66 {
67 keypoints.clear();
68 return;
69 }
70 detectAndCompute(image, mask, keypoints, noArray(), false);
71 }
72
73
detect(InputArrayOfArrays images,std::vector<std::vector<KeyPoint>> & keypoints,InputArrayOfArrays masks)74 void Feature2D::detect( InputArrayOfArrays images,
75 std::vector<std::vector<KeyPoint> >& keypoints,
76 InputArrayOfArrays masks )
77 {
78 CV_INSTRUMENT_REGION();
79
80 int nimages = (int)images.total();
81
82 if (!masks.empty())
83 {
84 CV_Assert(masks.total() == (size_t)nimages);
85 }
86
87 keypoints.resize(nimages);
88
89 if (images.isMatVector())
90 {
91 for (int i = 0; i < nimages; i++)
92 {
93 detect(images.getMat(i), keypoints[i], masks.empty() ? noArray() : masks.getMat(i));
94 }
95 }
96 else
97 {
98 // assume UMats
99 for (int i = 0; i < nimages; i++)
100 {
101 detect(images.getUMat(i), keypoints[i], masks.empty() ? noArray() : masks.getUMat(i));
102 }
103 }
104
105
106 }
107
108 /*
109 * Compute the descriptors for a set of keypoints in an image.
110 * image The image.
111 * keypoints The input keypoints. Keypoints for which a descriptor cannot be computed are removed.
112 * descriptors Copmputed descriptors. Row i is the descriptor for keypoint i.
113 */
compute(InputArray image,std::vector<KeyPoint> & keypoints,OutputArray descriptors)114 void Feature2D::compute( InputArray image,
115 std::vector<KeyPoint>& keypoints,
116 OutputArray descriptors )
117 {
118 CV_INSTRUMENT_REGION();
119
120 if( image.empty() )
121 {
122 descriptors.release();
123 return;
124 }
125 detectAndCompute(image, noArray(), keypoints, descriptors, true);
126 }
127
compute(InputArrayOfArrays images,std::vector<std::vector<KeyPoint>> & keypoints,OutputArrayOfArrays descriptors)128 void Feature2D::compute( InputArrayOfArrays images,
129 std::vector<std::vector<KeyPoint> >& keypoints,
130 OutputArrayOfArrays descriptors )
131 {
132 CV_INSTRUMENT_REGION();
133
134 if( !descriptors.needed() )
135 return;
136
137 int nimages = (int)images.total();
138
139 CV_Assert( keypoints.size() == (size_t)nimages );
140 // resize descriptors to appropriate size and compute
141 if (descriptors.isMatVector())
142 {
143 vector<Mat>& vec = *(vector<Mat>*)descriptors.getObj();
144 vec.resize(nimages);
145 for (int i = 0; i < nimages; i++)
146 {
147 compute(images.getMat(i), keypoints[i], vec[i]);
148 }
149 }
150 else if (descriptors.isUMatVector())
151 {
152 vector<UMat>& vec = *(vector<UMat>*)descriptors.getObj();
153 vec.resize(nimages);
154 for (int i = 0; i < nimages; i++)
155 {
156 compute(images.getUMat(i), keypoints[i], vec[i]);
157 }
158 }
159 else
160 {
161 CV_Error(Error::StsBadArg, "descriptors must be vector<Mat> or vector<UMat>");
162 }
163 }
164
165
166 /* Detects keypoints and computes the descriptors */
detectAndCompute(InputArray,InputArray,std::vector<KeyPoint> &,OutputArray,bool)167 void Feature2D::detectAndCompute( InputArray, InputArray,
168 std::vector<KeyPoint>&,
169 OutputArray,
170 bool )
171 {
172 CV_INSTRUMENT_REGION();
173
174 CV_Error(Error::StsNotImplemented, "");
175 }
176
write(const String & fileName) const177 void Feature2D::write( const String& fileName ) const
178 {
179 FileStorage fs(fileName, FileStorage::WRITE);
180 write(fs);
181 }
182
read(const String & fileName)183 void Feature2D::read( const String& fileName )
184 {
185 FileStorage fs(fileName, FileStorage::READ);
186 read(fs.root());
187 }
188
write(FileStorage &) const189 void Feature2D::write( FileStorage&) const
190 {
191 }
192
read(const FileNode &)193 void Feature2D::read( const FileNode&)
194 {
195 }
196
descriptorSize() const197 int Feature2D::descriptorSize() const
198 {
199 return 0;
200 }
201
descriptorType() const202 int Feature2D::descriptorType() const
203 {
204 return CV_32F;
205 }
206
defaultNorm() const207 int Feature2D::defaultNorm() const
208 {
209 int tp = descriptorType();
210 return tp == CV_8U ? NORM_HAMMING : NORM_L2;
211 }
212
213 // Return true if detector object is empty
empty() const214 bool Feature2D::empty() const
215 {
216 return true;
217 }
218
getDefaultName() const219 String Feature2D::getDefaultName() const
220 {
221 return "Feature2D";
222 }
223
224 }
225