lot's of changes; nonfree & photo modules added; SIFT & SURF -> nonfree module; Inpainting -> photo; refactored features2d (ORB is still failing tests), optimized brute-force matcher and made it non-template.

include/opencv2/opencv.hpp

@@ -48,6 +48,7 @@
 #include "opencv2/flann/miniflann.hpp"
 #include "opencv2/imgproc/imgproc_c.h"
 #include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/photo/photo.hpp"
 #include "opencv2/video/video.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/objdetect/objdetect.hpp"

modules/contrib/doc/contrib.rst

@@ -0,0 +1,5 @@
+***************************************
+contrib. Contributed/Experimental Stuff
+***************************************
+
+The module contains some recently added functionality that has not been stabilized, or functionality that is considered optional.

modules/contrib/include/opencv2/contrib/hybridtracker.hpp

@@ -145,9 +145,8 @@ public:
 class CV_EXPORTS CvFeatureTracker
 {
 private:
-	FeatureDetector* detector;
-	DescriptorExtractor* descriptor;
-	DescriptorMatcher* matcher;
+	Ptr<Feature2D> dd;
+	Ptr<DescriptorMatcher> matcher;
 	vector<DMatch> matches;
 
 	Mat prev_image;

modules/contrib/src/featuretracker.cpp

@@ -53,22 +53,24 @@ CvFeatureTracker::CvFeatureTracker(CvFeatureTrackerParams _params) :
 	switch (params.feature_type)
 	{
 	case CvFeatureTrackerParams::SIFT:
-		detector = new SiftFeatureDetector(
-				SIFT::DetectorParams::GET_DEFAULT_THRESHOLD(),
-				SIFT::DetectorParams::GET_DEFAULT_EDGE_THRESHOLD() + 0.7,
-				SIFT::CommonParams::DEFAULT_NOCTAVES + 4,
-				SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS + 2,
-				SIFT::CommonParams::DEFAULT_FIRST_OCTAVE,
-				SIFT::CommonParams::FIRST_ANGLE);
+        dd = Algorithm::create<Feature2D>("Feature2D.SIFT");
+        if( dd.empty() )
+            CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without SIFT support");
+        dd->set("nOctaveLayers", 5);
+        dd->set("contrastThreshold", 0.04);
+        dd->set("edgeThreshold", 10.7);
 	case CvFeatureTrackerParams::SURF:
-		detector = new SurfFeatureDetector(400, 3, 4);
-	default:
-		detector = new GoodFeaturesToTrackDetector();
+        dd = Algorithm::create<Feature2D>("Feature2D.SURF");
+        if( dd.empty() )
+            CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without SURF support");
+        dd->set("hessianThreshold", 400);
+        dd->set("nOctaves", 3);
+        dd->set("nOctaveLayers", 4);
+    default:
+        CV_Error(CV_StsBadArg, "Unknown feature type");    
 	}
 
-	descriptor = new SurfDescriptorExtractor(3, 4, false);
-
-	matcher = new BruteForceMatcher<L2<float> > ();
+	matcher = new BFMatcher(NORM_L2);
 }
 
 CvFeatureTracker::~CvFeatureTracker()
@@ -105,7 +107,7 @@ Rect CvFeatureTracker::updateTrackingWindowWithSIFT(Mat image)
 	rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
 			window.y + window.height), Scalar(255), CV_FILLED);
 
-	detector->detect(prev_image, prev_keypoints, mask);
+	dd->operator()(prev_image, mask, prev_keypoints, prev_desc);
 
 	window.x -= params.window_size;
 	window.y -= params.window_size;
@@ -114,12 +116,12 @@ Rect CvFeatureTracker::updateTrackingWindowWithSIFT(Mat image)
 	rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
 			window.y + window.height), Scalar(255), CV_FILLED);
 
-	detector->detect(image, curr_keypoints, mask);
+	dd->operator()(image, mask, curr_keypoints, curr_desc);
 
 	if (prev_keypoints.size() > 4 && curr_keypoints.size() > 4)
 	{
-		descriptor->compute(prev_image, prev_keypoints, prev_desc);
-		descriptor->compute(image, curr_keypoints, curr_desc);
+		//descriptor->compute(prev_image, prev_keypoints, prev_desc);
+		//descriptor->compute(image, curr_keypoints, curr_desc);
 
 		matcher->match(prev_desc, curr_desc, matches);
 

modules/contrib/test/test_main.cpp

@@ -0,0 +1,3 @@
+#include "test_precomp.hpp"
+
+CV_TEST_MAIN("cv")

modules/contrib/test/test_precomp.cpp

@@ -0,0 +1 @@
+#include "test_precomp.hpp"

modules/contrib/test/test_precomp.hpp

@@ -0,0 +1,9 @@
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include "opencv2/ts/ts.hpp"
+#include "opencv2/contrib/contrib.hpp"
+#include <iostream>
+
+#endif
+

modules/core/include/opencv2/core/core.hpp

@@ -118,7 +118,7 @@ CV_EXPORTS string tempfile( const char* suffix CV_DEFAULT(0));
     
 // matrix decomposition types
 enum { DECOMP_LU=0, DECOMP_SVD=1, DECOMP_EIG=2, DECOMP_CHOLESKY=3, DECOMP_QR=4, DECOMP_NORMAL=16 };
-enum { NORM_INF=1, NORM_L1=2, NORM_L2=4, NORM_TYPE_MASK=7, NORM_RELATIVE=8, NORM_MINMAX=32};
+enum { NORM_INF=1, NORM_L1=2, NORM_L2=4, NORM_L2SQR=5, NORM_HAMMING=6, NORM_HAMMING2=7, NORM_TYPE_MASK=7, NORM_RELATIVE=8, NORM_MINMAX=32 };
 enum { CMP_EQ=0, CMP_GT=1, CMP_GE=2, CMP_LT=3, CMP_LE=4, CMP_NE=5 };
 enum { GEMM_1_T=1, GEMM_2_T=2, GEMM_3_T=4 };
 enum { DFT_INVERSE=1, DFT_SCALE=2, DFT_ROWS=4, DFT_COMPLEX_OUTPUT=16, DFT_REAL_OUTPUT=32,
@@ -2057,6 +2057,14 @@ CV_EXPORTS_W double norm(InputArray src1, int normType=NORM_L2, InputArray mask=
 //! computes norm of selected part of the difference between two arrays
 CV_EXPORTS_W double norm(InputArray src1, InputArray src2,
                          int normType=NORM_L2, InputArray mask=noArray());
+
+//! naive nearest neighbor finder
+CV_EXPORTS_W void batchDistance(InputArray src1, InputArray src2,
+                                OutputArray dist, int dtype, OutputArray nidx,
+                                int normType=NORM_L2, int K=0,
+                                InputArray mask=noArray(), int update=0,
+                                bool crosscheck=false);
+
 //! scales and shifts array elements so that either the specified norm (alpha) or the minimum (alpha) and maximum (beta) array values get the specified values 
 CV_EXPORTS_W void normalize( InputArray src, OutputArray dst, double alpha=1, double beta=0,
                              int norm_type=NORM_L2, int dtype=-1, InputArray mask=noArray());
@@ -4244,10 +4252,20 @@ public:
     
     template<typename _Tp> typename ParamType<_Tp>::member_type get(const string& name) const;
     template<typename _Tp> typename ParamType<_Tp>::member_type get(const char* name) const;
-    template<typename _Tp> void set(const string& name,
-                                    typename ParamType<_Tp>::const_param_type value);
-    template<typename _Tp> void set(const char* name,
-                                    typename ParamType<_Tp>::const_param_type value);
+    void set(const string& name, int value);
+    void set(const string& name, double value);
+    void set(const string& name, bool value);
+    void set(const string& name, const string& value);
+    void set(const string& name, const Mat& value);
+    void set(const string& name, const Ptr<Algorithm>& value);
+    
+    void set(const char* name, int value);
+    void set(const char* name, double value);
+    void set(const char* name, bool value);
+    void set(const char* name, const string& value);
+    void set(const char* name, const Mat& value);
+    void set(const char* name, const Ptr<Algorithm>& value);
+    
     string paramHelp(const string& name) const;
     int paramType(const char* name) const;
     int paramType(const string& name) const;
@@ -4293,6 +4311,11 @@ public:
                   int (Algorithm::*getter)()=0,
                   void (Algorithm::*setter)(int)=0,
                   const string& help=string());
+    void addParam(const Algorithm* algo, const char* name,
+                  const bool& value, bool readOnly=false, 
+                  int (Algorithm::*getter)()=0,
+                  void (Algorithm::*setter)(int)=0,
+                  const string& help=string());
     void addParam(const Algorithm* algo, const char* name,
                   const double& value, bool readOnly=false, 
                   double (Algorithm::*getter)()=0,

modules/core/include/opencv2/core/operations.hpp

@@ -3823,18 +3823,6 @@ template<typename _Tp> inline typename ParamType<_Tp>::member_type Algorithm::ge
     return value;
 }    
     
-template<typename _Tp> inline void Algorithm::set(const string& name,
-                                                  typename ParamType<_Tp>::const_param_type value)
-{
-    info()->set(this, name.c_str(), ParamType<_Tp>::type, &value);
-}
-
-template<typename _Tp> inline void Algorithm::set(const char* name,
-                                                  typename ParamType<_Tp>::const_param_type value)
-{
-    info()->set(this, name, ParamType<_Tp>::type, &value);
-}
-
 }
 
 #endif // __cplusplus

modules/core/src/algorithm.cpp

@@ -77,7 +77,7 @@ template<typename _KeyTp, typename _ValueTp> struct sorted_vector
                 b = c;
         }
         
-        if( vec[a].first == key )
+        if( a < vec.size() && vec[a].first == key )
         {
             value = vec[a].second;
             return true;
@@ -176,6 +176,66 @@ string Algorithm::name() const
 {
     return info()->name();
 }
+  
+void Algorithm::set(const string& name, int value)
+{
+    info()->set(this, name.c_str(), ParamType<int>::type, &value);
+}
+
+void Algorithm::set(const string& name, double value)
+{
+    info()->set(this, name.c_str(), ParamType<double>::type, &value);
+}
+
+void Algorithm::set(const string& name, bool value)
+{
+    info()->set(this, name.c_str(), ParamType<bool>::type, &value);
+}
+
+void Algorithm::set(const string& name, const string& value)
+{
+    info()->set(this, name.c_str(), ParamType<string>::type, &value);
+}
+
+void Algorithm::set(const string& name, const Mat& value)
+{
+    info()->set(this, name.c_str(), ParamType<Mat>::type, &value);
+}
+
+void Algorithm::set(const string& name, const Ptr<Algorithm>& value)
+{
+    info()->set(this, name.c_str(), ParamType<Algorithm>::type, &value);
+}
+
+void Algorithm::set(const char* name, int value)
+{
+    info()->set(this, name, ParamType<int>::type, &value);
+}
+
+void Algorithm::set(const char* name, double value)
+{
+    info()->set(this, name, ParamType<double>::type, &value);
+}
+
+void Algorithm::set(const char* name, bool value)
+{
+    info()->set(this, name, ParamType<bool>::type, &value);
+}
+
+void Algorithm::set(const char* name, const string& value)
+{
+    info()->set(this, name, ParamType<string>::type, &value);
+}
+
+void Algorithm::set(const char* name, const Mat& value)
+{
+    info()->set(this, name, ParamType<Mat>::type, &value);
+}
+
+void Algorithm::set(const char* name, const Ptr<Algorithm>& value)
+{
+    info()->set(this, name, ParamType<Algorithm>::type, &value);
+}
     
 string Algorithm::paramHelp(const string& name) const
 {
@@ -261,25 +321,25 @@ void AlgorithmInfo::read(Algorithm* algo, const FileNode& fn) const
         if( n.empty() )
             continue;
         if( p.type == Param::INT )
-            algo->set<int>(pname, (int)n);
+            algo->set(pname, (int)n);
         else if( p.type == Param::BOOLEAN )
-            algo->set<bool>(pname, (int)n != 0);
+            algo->set(pname, (int)n != 0);
         else if( p.type == Param::REAL )
-            algo->set<double>(pname, (double)n);
+            algo->set(pname, (double)n);
         else if( p.type == Param::STRING )
-            algo->set<string>(pname, (string)n);
+            algo->set(pname, (string)n);
         else if( p.type == Param::MAT )
         {
             Mat m;
             cv::read(fn, m);
-            algo->set<Mat>(pname, m);
+            algo->set(pname, m);
         }
         else if( p.type == Param::ALGORITHM )
         {
             Ptr<Algorithm> nestedAlgo = Algorithm::_create((string)n["name"]);
             CV_Assert( !nestedAlgo.empty() );
             nestedAlgo->read(n);
-            algo->set<Algorithm>(pname, nestedAlgo);
+            algo->set(pname, nestedAlgo);
         }
         else
             CV_Error( CV_StsUnsupportedFormat, "unknown/unsupported parameter type");
@@ -505,6 +565,16 @@ void AlgorithmInfo::addParam(const Algorithm* algo, const char* name,
               (Algorithm::Getter)getter, (Algorithm::Setter)setter, help);
 }
 
+void AlgorithmInfo::addParam(const Algorithm* algo, const char* name,
+                             const bool& value, bool readOnly, 
+                             int (Algorithm::*getter)(),
+                             void (Algorithm::*setter)(int),
+                             const string& help)
+{
+    addParam_(algo, name, ParamType<bool>::type, &value, readOnly,
+              (Algorithm::Getter)getter, (Algorithm::Setter)setter, help);
+}
+    
 void AlgorithmInfo::addParam(const Algorithm* algo, const char* name,
                              const double& value, bool readOnly, 
                              double (Algorithm::*getter)(),

modules/core/src/opengl_interop.cpp

@@ -113,11 +113,13 @@ namespace
 
     const CvOpenGlFuncTab* g_glFuncTab = 0;
 
+#ifdef HAVE_CUDA
     const CvOpenGlFuncTab* glFuncTab()
     {
         static EmptyGlFuncTab empty;
         return g_glFuncTab ? g_glFuncTab : ∅
     }
+#endif
 }
 
 CvOpenGlFuncTab::~CvOpenGlFuncTab()

modules/core/src/stat.cpp

@@ -41,6 +41,7 @@
 //M*/
 
 #include "precomp.hpp"
+#include <climits>
 
 namespace cv
 {
@@ -1425,6 +1426,339 @@ double cv::norm( InputArray _src1, InputArray _src2, int normType, InputArray _m
 }
 
 
+///////////////////////////////////// batch distance ///////////////////////////////////////
+
+namespace cv
+{
+
+template<typename _Tp, typename _Rt>
+void batchDistL1_(const _Tp* src1, const _Tp* src2, size_t step2,
+                  int nvecs, int len, _Rt* dist, const uchar* mask)
+{
+    step2 /= sizeof(src2[0]);
+    if( !mask )
+    {
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = normL1<_Tp, _Rt>(src1, src2 + step2*i, len);
+    }
+    else
+    {
+        _Rt val0 = std::numeric_limits<_Rt>::max();
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = mask[i] ? normL1<_Tp, _Rt>(src1, src2 + step2*i, len) : val0;
+    }
+}
+
+template<typename _Tp, typename _Rt>
+void batchDistL2Sqr_(const _Tp* src1, const _Tp* src2, size_t step2,
+                     int nvecs, int len, _Rt* dist, const uchar* mask)
+{
+    step2 /= sizeof(src2[0]);
+    if( !mask )
+    {
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = normL2Sqr<_Tp, _Rt>(src1, src2 + step2*i, len);
+    }
+    else
+    {
+        _Rt val0 = std::numeric_limits<_Rt>::max();
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = mask[i] ? normL2Sqr<_Tp, _Rt>(src1, src2 + step2*i, len) : val0;
+    }
+}
+
+template<typename _Tp, typename _Rt>
+void batchDistL2_(const _Tp* src1, const _Tp* src2, size_t step2,
+                  int nvecs, int len, _Rt* dist, const uchar* mask)
+{
+    step2 /= sizeof(src2[0]);
+    if( !mask )
+    {
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = std::sqrt(normL2Sqr<_Tp, _Rt>(src1, src2 + step2*i, len));
+    }
+    else
+    {
+        _Rt val0 = std::numeric_limits<_Rt>::max();
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = mask[i] ? std::sqrt(normL2Sqr<_Tp, _Rt>(src1, src2 + step2*i, len)) : val0;
+    }
+}
+
+static void batchDistHamming(const uchar* src1, const uchar* src2, size_t step2,
+                             int nvecs, int len, int* dist, const uchar* mask)
+{
+    step2 /= sizeof(src2[0]);
+    if( !mask )
+    {
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = normHamming(src1, src2 + step2*i, len);
+    }
+    else
+    {
+        int val0 = INT_MAX;
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = mask[i] ? normHamming(src1, src2 + step2*i, len) : val0;
+    }
+}
+
+static void batchDistHamming2(const uchar* src1, const uchar* src2, size_t step2,
+                              int nvecs, int len, int* dist, const uchar* mask)
+{
+    step2 /= sizeof(src2[0]);
+    if( !mask )
+    {
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = normHamming(src1, src2 + step2*i, len, 2);
+    }
+    else
+    {
+        int val0 = INT_MAX;
+        for( int i = 0; i < nvecs; i++ )
+            dist[i] = mask[i] ? normHamming(src1, src2 + step2*i, len, 2) : val0;
+    }
+}
+
+static void batchDistL1_8u32s(const uchar* src1, const uchar* src2, size_t step2,
+                               int nvecs, int len, int* dist, const uchar* mask)
+{
+    batchDistL1_<uchar, int>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+static void batchDistL1_8u32f(const uchar* src1, const uchar* src2, size_t step2,
+                               int nvecs, int len, float* dist, const uchar* mask)
+{
+    batchDistL1_<uchar, float>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+static void batchDistL2Sqr_8u32s(const uchar* src1, const uchar* src2, size_t step2,
+                                  int nvecs, int len, int* dist, const uchar* mask)
+{
+    batchDistL2Sqr_<uchar, int>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+static void batchDistL2Sqr_8u32f(const uchar* src1, const uchar* src2, size_t step2,
+                                  int nvecs, int len, float* dist, const uchar* mask)
+{
+    batchDistL2Sqr_<uchar, float>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+static void batchDistL2_8u32f(const uchar* src1, const uchar* src2, size_t step2,
+                               int nvecs, int len, float* dist, const uchar* mask)
+{
+    batchDistL2_<uchar, float>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+static void batchDistL1_32f(const float* src1, const float* src2, size_t step2,
+                             int nvecs, int len, float* dist, const uchar* mask)
+{
+    batchDistL1_<float, float>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+static void batchDistL2Sqr_32f(const float* src1, const float* src2, size_t step2,
+                                int nvecs, int len, float* dist, const uchar* mask)
+{
+    batchDistL2Sqr_<float, float>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+static void batchDistL2_32f(const float* src1, const float* src2, size_t step2,
+                             int nvecs, int len, float* dist, const uchar* mask)
+{
+    batchDistL2_<float, float>(src1, src2, step2, nvecs, len, dist, mask);
+}
+
+typedef void (*BatchDistFunc)(const uchar* src1, const uchar* src2, size_t step2,
+                              int nvecs, int len, uchar* dist, const uchar* mask);
+
+    
+struct BatchDistInvoker
+{
+    BatchDistInvoker( const Mat& _src1, const Mat& _src2,
+                      Mat& _dist, Mat& _nidx, int _K,
+                      const Mat& _mask, int _update,
+                      BatchDistFunc _func)
+    {
+        src1 = &_src1;
+        src2 = &_src2;
+        dist = &_dist;
+        nidx = &_nidx;
+        K = _K;
+        mask = &_mask;
+        update = _update;
+        func = _func;
+    }
+    
+    void operator()(const BlockedRange& range) const
+    {
+        AutoBuffer<int> buf(src2->rows);
+        int* bufptr = buf;
+        Cv32suf val0;
+        if( dist->type() == CV_32S )
+            val0.i = INT_MAX;
+        else
+            val0.f = FLT_MAX;
+        
+        for( int i = range.begin(); i < range.end(); i++ )
+        {
+            func(src1->ptr(i), src2->ptr(), src2->step, src2->rows, src2->cols,
+                 K > 0 ? (uchar*)bufptr : dist->ptr(i), mask->data ? mask->ptr(i) : 0);
+            
+            if( K > 0 )
+            {
+                int* nidxptr = nidx->ptr<int>(i);
+                // since positive float's can be compared just like int's,
+                // we handle both CV_32S and CV_32F cases with a single branch
+                int* distptr = (int*)dist->ptr(i);
+                
+                int k, k0, k0_, j;
+                for( k0 = 0; k0 < K; k0++ )
+                    if( nidxptr[k0] < 0 )
+                        break;
+                k0_ = std::max(k0, 1);
+                
+                for( j = 0; j < src2->rows; j++ )
+                {
+                    int d = bufptr[j];
+                    if( d < distptr[k0_-1] )
+                    {
+                        for( k = std::min(k0-1, K-2); k >= 0 && distptr[k] > d; k-- )
+                        {
+                            nidxptr[k+1] = nidxptr[k];
+                            distptr[k+1] = distptr[k];
+                        }
+                        nidxptr[k+1] = j + update;
+                        distptr[k+1] = d;
+                        k0_ = k0 = std::min(k0 + 1, K);
+                    }
+                }
+            }
+        }
+    }
+    
+    const Mat *src1;
+    const Mat *src2;
+    Mat *dist;
+    Mat *nidx;
+    const Mat *mask;
+    int K;
+    int update;
+    BatchDistFunc func;
+};
+    
+}
+    
+void cv::batchDistance( InputArray _src1, InputArray _src2,
+                        OutputArray _dist, int dtype, OutputArray _nidx,
+                        int normType, int K, InputArray _mask,
+                        int update, bool crosscheck )
+{
+    Mat src1 = _src1.getMat(), src2 = _src2.getMat(), mask = _mask.getMat();
+    int type = src1.type();
+    CV_Assert( type == src2.type() && src1.cols == src2.cols &&
+               (type == CV_32F || type == CV_8U));
+    CV_Assert( _nidx.needed() == (K > 0) );
+    
+    if( dtype == -1 )
+    {
+        dtype = normType == NORM_HAMMING || normType == NORM_HAMMING2 ? CV_32S : CV_32F;
+    }
+    CV_Assert( (type == CV_8U && dtype == CV_32S) || dtype == CV_32F);
+
+    K = std::min(K, src2.rows);
+    
+    _dist.create(src1.rows, (K > 0 ? K : src2.rows), dtype);
+    Mat dist = _dist.getMat(), nidx;
+    if( _nidx.needed() )
+    {
+        _nidx.create(dist.size(), CV_32S);
+        nidx = _nidx.getMat();
+    }
+    
+    if( update == 0 && K > 0 )
+    {
+        dist = Scalar::all(dtype == CV_32S ? (double)INT_MAX : (double)FLT_MAX);
+        nidx = Scalar::all(-1);
+    }
+    
+    if( crosscheck )
+    {
+        CV_Assert( K == 1 && update == 0 && mask.empty() );
+        Mat tdist, tidx;
+        batchDistance(src2, src1, tdist, dtype, tidx, normType, K, mask, 0, false);
+        
+        // if an idx-th element from src1 appeared to be the nearest to i-th element of src2,
+        // we update the minimum mutual distance between idx-th element of src1 and the whole src2 set.
+        // As a result, if nidx[idx] = i*, it means that idx-th element of src1 is the nearest
+        // to i*-th element of src2 and i*-th element of src2 is the closest to idx-th element of src1.
+        // If nidx[idx] = -1, it means that there is no such ideal couple for it in src2.
+        // This O(N) procedure is called cross-check and it helps to eliminate some false matches.
+        if( dtype == CV_32S )
+        {
+            for( int i = 0; i < tdist.rows; i++ )
+            {
+                int idx = tidx.at<int>(i);
+                int d = tdist.at<int>(i), d0 = dist.at<int>(idx);
+                if( d < d0 )
+                {
+                    dist.at<int>(idx) = d0;
+                    nidx.at<int>(idx) = i + update;
+                }
+            }
+        }
+        else
+        {
+            for( int i = 0; i < tdist.rows; i++ )
+            {
+                int idx = tidx.at<int>(i);
+                float d = tdist.at<float>(i), d0 = dist.at<float>(idx);
+                if( d < d0 )
+                {
+                    dist.at<float>(idx) = d0;
+                    nidx.at<int>(idx) = i + update;
+                }
+            }
+        }
+        return;
+    }
+    
+    BatchDistFunc func = 0;
+    if( type == CV_8U )
+    {
+        if( normType == NORM_L1 && dtype == CV_32S )
+            func = (BatchDistFunc)batchDistL1_8u32s;
+        else if( normType == NORM_L1 && dtype == CV_32F )
+            func = (BatchDistFunc)batchDistL1_8u32f;
+        else if( normType == NORM_L2SQR && dtype == CV_32S )
+            func = (BatchDistFunc)batchDistL2Sqr_8u32s;
+        else if( normType == NORM_L2SQR && dtype == CV_32F )
+            func = (BatchDistFunc)batchDistL2Sqr_8u32f;
+        else if( normType == NORM_L2 && dtype == CV_32F )
+            func = (BatchDistFunc)batchDistL2_8u32f;
+        else if( normType == NORM_HAMMING && dtype == CV_32S )
+            func = (BatchDistFunc)batchDistHamming;
+        else if( normType == NORM_HAMMING2 && dtype == CV_32S )
+            func = (BatchDistFunc)batchDistHamming2;
+    }
+    else if( type == CV_32F && dtype == CV_32F )
+    {
+        if( normType == NORM_L1 )
+            func = (BatchDistFunc)batchDistL1_32f;
+        else if( normType == NORM_L2SQR )
+            func = (BatchDistFunc)batchDistL2Sqr_32f;
+        else if( normType == NORM_L2 )
+            func = (BatchDistFunc)batchDistL2_32f;
+    }
+    
+    if( func == 0 )
+        CV_Error_(CV_StsUnsupportedFormat,
+                  ("The combination of type=%d, dtype=%d and normType=%d is not supported",
+                   type, dtype, normType));
+    
+    parallel_for(BlockedRange(0, src1.rows),
+                 BatchDistInvoker(src1, src2, dist, nidx, K, mask, update, func));
+}
+
+
 CV_IMPL CvScalar cvSum( const CvArr* srcarr )
 {
     cv::Scalar sum = cv::sum(cv::cvarrToMat(srcarr, false, true, 1));

modules/features2d/doc/feature_detection_and_description.rst

@@ -92,177 +92,6 @@ Finds keypoints in an image
     
     :param params: The algorithm parameters stored in ``CvStarDetectorParams`` (OpenCV 1.x API only)
 
-
-SIFT
-----
-.. ocv:class:: SIFT
-
-Class for extracting keypoints and computing descriptors using the Scale Invariant Feature Transform (SIFT) approach. ::
-
-    class CV_EXPORTS SIFT
-    {
-    public:
-        struct CommonParams
-        {
-            static const int DEFAULT_NOCTAVES = 4;
-            static const int DEFAULT_NOCTAVE_LAYERS = 3;
-            static const int DEFAULT_FIRST_OCTAVE = -1;
-            enum{ FIRST_ANGLE = 0, AVERAGE_ANGLE = 1 };
-
-            CommonParams();
-            CommonParams( int _nOctaves, int _nOctaveLayers, int _firstOctave,
-                                              int _angleMode );
-            int nOctaves, nOctaveLayers, firstOctave;
-            int angleMode;
-        };
-
-        struct DetectorParams
-        {
-            static double GET_DEFAULT_THRESHOLD()
-              { return 0.04 / SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS / 2.0; }
-            static double GET_DEFAULT_EDGE_THRESHOLD() { return 10.0; }
-
-            DetectorParams();
-            DetectorParams( double _threshold, double _edgeThreshold );
-            double threshold, edgeThreshold;
-        };
-
-        struct DescriptorParams
-        {
-            static double GET_DEFAULT_MAGNIFICATION() { return 3.0; }
-            static const bool DEFAULT_IS_NORMALIZE = true;
-            static const int DESCRIPTOR_SIZE = 128;
-
-            DescriptorParams();
-            DescriptorParams( double _magnification, bool _isNormalize,
-                                                      bool _recalculateAngles );
-            double magnification;
-            bool isNormalize;
-            bool recalculateAngles;
-        };
-
-        SIFT();
-        //! sift-detector constructor
-        SIFT( double _threshold, double _edgeThreshold,
-              int _nOctaves=CommonParams::DEFAULT_NOCTAVES,
-              int _nOctaveLayers=CommonParams::DEFAULT_NOCTAVE_LAYERS,
-              int _firstOctave=CommonParams::DEFAULT_FIRST_OCTAVE,
-              int _angleMode=CommonParams::FIRST_ANGLE );
-        //! sift-descriptor constructor
-        SIFT( double _magnification, bool _isNormalize=true,
-              bool _recalculateAngles = true,
-              int _nOctaves=CommonParams::DEFAULT_NOCTAVES,
-              int _nOctaveLayers=CommonParams::DEFAULT_NOCTAVE_LAYERS,
-              int _firstOctave=CommonParams::DEFAULT_FIRST_OCTAVE,
-              int _angleMode=CommonParams::FIRST_ANGLE );
-        SIFT( const CommonParams& _commParams,
-              const DetectorParams& _detectorParams = DetectorParams(),
-              const DescriptorParams& _descriptorParams = DescriptorParams() );
-
-        //! returns the descriptor size in floats (128)
-        int descriptorSize() const { return DescriptorParams::DESCRIPTOR_SIZE; }
-        //! finds the keypoints using the SIFT algorithm
-        void operator()(const Mat& img, const Mat& mask,
-                        vector<KeyPoint>& keypoints) const;
-        //! finds the keypoints and computes descriptors for them using SIFT algorithm.
-        //! Optionally it can compute descriptors for the user-provided keypoints
-        void operator()(const Mat& img, const Mat& mask,
-                        vector<KeyPoint>& keypoints,
-                        Mat& descriptors,
-                        bool useProvidedKeypoints=false) const;
-
-        CommonParams getCommonParams () const { return commParams; }
-        DetectorParams getDetectorParams () const { return detectorParams; }
-        DescriptorParams getDescriptorParams () const { return descriptorParams; }
-    protected:
-        ...
-    };
-
-
-
-
-SURF
-----
-.. ocv:class:: SURF
-
-Class for extracting Speeded Up Robust Features from an image [Bay06]_. The class is derived from ``CvSURFParams`` structure, which specifies the algorithm parameters:
-
-    .. ocv:member:: int extended
-    
-        * 0 means that the basic descriptors (64 elements each) shall be computed
-        * 1 means that the extended descriptors (128 elements each) shall be computed
-       
-    .. ocv:member:: int upright
-    
-        * 0 means that detector computes orientation of each feature.
-        * 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``.
-        
-    .. ocv:member:: double hessianThreshold
-    
-        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.
-        
-    .. ocv:member:: int nOctaves
-    
-        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.
-        
-    .. ocv:member:: int nOctaveLayers
-    
-        The number of images within each octave of a gaussian pyramid. It is set to 2 by default.
-
-
-.. [Bay06] Bay, H. and Tuytelaars, T. and Van Gool, L. "SURF: Speeded Up Robust Features", 9th European Conference on Computer Vision, 2006
-
-
-SURF::SURF
-----------
-The SURF extractor constructors.
-
-.. ocv:function:: SURF::SURF()
-
-.. ocv:function:: SURF::SURF(double hessianThreshold, int nOctaves=4, int nOctaveLayers=2, bool extended=false, bool upright=false)
-
-.. ocv:pyfunction:: cv2.SURF(_hessianThreshold[, _nOctaves[, _nOctaveLayers[, _extended[, _upright]]]]) -> <SURF object>
-
-    :param hessianThreshold: Threshold for hessian keypoint detector used in SURF.
-    
-    :param nOctaves: Number of pyramid octaves the keypoint detector will use.
-    
-    :param nOctaveLayers: Number of octave layers within each octave.
-    
-    :param extended: Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).
-    
-    :param upright: Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).
-
-
-SURF::operator()
-----------------
-Detects keypoints and computes SURF descriptors for them.
-
-.. ocv:function:: void SURF::operator()(const Mat& image, const Mat& mask, vector<KeyPoint>& keypoints)
-.. ocv:function:: void SURF::operator()(const Mat& image, const Mat& mask, vector<KeyPoint>& keypoints, vector<float>& descriptors, bool useProvidedKeypoints=false)
-
-.. ocv:pyfunction:: cv2.SURF.detect(img, mask) -> keypoints
-.. ocv:pyfunction:: cv2.SURF.detect(img, mask[, useProvidedKeypoints]) -> keypoints, descriptors
-
-.. ocv:cfunction:: void cvExtractSURF( const CvArr* image, const CvArr* mask, CvSeq** keypoints, CvSeq** descriptors, CvMemStorage* storage, CvSURFParams params )
-
-.. ocv:pyoldfunction:: cv.ExtractSURF(image, mask, storage, params)-> (keypoints, descriptors)
-
-    :param image: Input 8-bit grayscale image
-    
-    :param mask: Optional input mask that marks the regions where we should detect features.
-    
-    :param keypoints: The input/output vector of keypoints
-    
-    :param descriptors: The output concatenated vectors of descriptors. Each descriptor is 64- or 128-element vector, as returned by ``SURF::descriptorSize()``. So the total size of ``descriptors`` will be ``keypoints.size()*descriptorSize()``.
-    
-    :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.
-    
-    :param storage: Memory storage for the output keypoints and descriptors in OpenCV 1.x API.
-    
-    :param params: SURF algorithm parameters in OpenCV 1.x API.
-
-
 ORB
 ----
 .. ocv:class:: ORB

modules/features2d/perf/perf_orb.cpp

@@ -22,7 +22,7 @@ PERF_TEST_P(orb, detect, testing::Values(ORB_IMAGES))
 
     Mat mask;
     declare.in(frame);
-    ORB detector(1500, ORB::CommonParams(1.3f, 5));
+    ORB detector(1500, 1.3f, 5);
     vector<KeyPoint> points;
 
     TEST_CYCLE() detector(frame, mask, points);
@@ -39,7 +39,7 @@ PERF_TEST_P(orb, extract, testing::Values(ORB_IMAGES))
     Mat mask;
     declare.in(frame);
 
-    ORB detector(1500, ORB::CommonParams(1.3f, 5));
+    ORB detector(1500, 1.3f, 5);
     vector<KeyPoint> points;
     detector(frame, mask, points);
 
@@ -58,7 +58,7 @@ PERF_TEST_P(orb, full, testing::Values(ORB_IMAGES))
 
     Mat mask;
     declare.in(frame);
-    ORB detector(1500, ORB::CommonParams(1.3f, 5));
+    ORB detector(1500, 1.3f, 5);
 
     vector<KeyPoint> points;
     Mat descriptors;

modules/features2d/src/descriptors.cpp

@@ -77,11 +77,11 @@ void DescriptorExtractor::compute( const vector<Mat>& imageCollection, vector<ve
         compute( imageCollection[i], pointCollection[i], descCollection[i] );
 }
 
-void DescriptorExtractor::read( const FileNode& )
+/*void DescriptorExtractor::read( const FileNode& )
 {}
 
 void DescriptorExtractor::write( FileStorage& ) const
-{}
+{}*/
 
 bool DescriptorExtractor::empty() const
 {
@@ -96,184 +96,16 @@ void DescriptorExtractor::removeBorderKeypoints( vector<KeyPoint>& keypoints,
 
 Ptr<DescriptorExtractor> DescriptorExtractor::create(const string& descriptorExtractorType)
 {
-    DescriptorExtractor* de = 0;
-
-    size_t pos = 0;
-    if (!descriptorExtractorType.compare("SIFT"))
+    if( descriptorExtractorType.find("Opponent") == 0)
     {
-        de = new SiftDescriptorExtractor();
+        size_t pos = string("Opponent").size();
+        return DescriptorExtractor::create(descriptorExtractorType.substr(pos));
     }
-    else if (!descriptorExtractorType.compare("SURF"))
-    {
-        de = new SurfDescriptorExtractor();
-    }
-    else if (!descriptorExtractorType.compare("ORB"))
-    {
-        de = new OrbDescriptorExtractor();
-    }
-    else if (!descriptorExtractorType.compare("BRIEF"))
-    {
-        de = new BriefDescriptorExtractor();
-    }
-    else if ( (pos=descriptorExtractorType.find("Opponent")) == 0)
-    {
-        pos += string("Opponent").size();
-        de = new OpponentColorDescriptorExtractor( DescriptorExtractor::create(descriptorExtractorType.substr(pos)) );
-    }
-    return de;
-}
-
-/****************************************************************************************\
-*                                SiftDescriptorExtractor                                 *
-\****************************************************************************************/
-SiftDescriptorExtractor::SiftDescriptorExtractor(const SIFT::DescriptorParams& descriptorParams,
-                                                 const SIFT::CommonParams& commonParams)
-    : sift( descriptorParams.magnification, descriptorParams.isNormalize, descriptorParams.recalculateAngles,
-            commonParams.nOctaves, commonParams.nOctaveLayers, commonParams.firstOctave, commonParams.angleMode )
-{}
-
-SiftDescriptorExtractor::SiftDescriptorExtractor( double magnification, bool isNormalize, bool recalculateAngles,
-                                                  int nOctaves, int nOctaveLayers, int firstOctave, int angleMode )
-    : sift( magnification, isNormalize, recalculateAngles, nOctaves, nOctaveLayers, firstOctave, angleMode )
-{}
-
-void SiftDescriptorExtractor::computeImpl( const Mat& image,
-										   vector<KeyPoint>& keypoints,
-										   Mat& descriptors) const
-{
-    bool useProvidedKeypoints = true;
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-
-    sift(grayImage, Mat(), keypoints, descriptors, useProvidedKeypoints);
-}
-
-void SiftDescriptorExtractor::read (const FileNode &fn)
-{
-    double magnification = fn["magnification"];
-    bool isNormalize = (int)fn["isNormalize"] != 0;
-    bool recalculateAngles = (int)fn["recalculateAngles"] != 0;
-    int nOctaves = fn["nOctaves"];
-    int nOctaveLayers = fn["nOctaveLayers"];
-    int firstOctave = fn["firstOctave"];
-    int angleMode = fn["angleMode"];
-
-    sift = SIFT( magnification, isNormalize, recalculateAngles, nOctaves, nOctaveLayers, firstOctave, angleMode );
-}
-
-void SiftDescriptorExtractor::write (FileStorage &fs) const
-{
-//    fs << "algorithm" << getAlgorithmName ();
-
-    SIFT::CommonParams commParams = sift.getCommonParams ();
-    SIFT::DescriptorParams descriptorParams = sift.getDescriptorParams ();
-    fs << "magnification" << descriptorParams.magnification;
-    fs << "isNormalize" << descriptorParams.isNormalize;
-    fs << "recalculateAngles" << descriptorParams.recalculateAngles;
-    fs << "nOctaves" << commParams.nOctaves;
-    fs << "nOctaveLayers" << commParams.nOctaveLayers;
-    fs << "firstOctave" << commParams.firstOctave;
-    fs << "angleMode" << commParams.angleMode;
-}
-
-int SiftDescriptorExtractor::descriptorSize() const
-{
-    return sift.descriptorSize();
-}
-
-int SiftDescriptorExtractor::descriptorType() const
-{
-    return CV_32FC1;
-}
-
-/****************************************************************************************\
-*                                SurfDescriptorExtractor                                 *
-\****************************************************************************************/
-SurfDescriptorExtractor::SurfDescriptorExtractor( int nOctaves,
-                                                  int nOctaveLayers, bool extended, bool upright )
-    : surf( 0.0, nOctaves, nOctaveLayers, extended, upright )
-{}
-
-void SurfDescriptorExtractor::computeImpl( const Mat& image,
-                                           vector<KeyPoint>& keypoints,
-                                           Mat& descriptors) const
-{
-    // Compute descriptors for given keypoints
-    vector<float> _descriptors;
-    Mat mask;
-    bool useProvidedKeypoints = true;
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-
-    surf(grayImage, mask, keypoints, _descriptors, useProvidedKeypoints);
-
-    descriptors.create((int)keypoints.size(), (int)surf.descriptorSize(), CV_32FC1);
-    assert( (int)_descriptors.size() == descriptors.rows * descriptors.cols );
-    std::copy(_descriptors.begin(), _descriptors.end(), descriptors.begin<float>());
-}
-
-void SurfDescriptorExtractor::read( const FileNode &fn )
-{
-    int nOctaves = fn["nOctaves"];
-    int nOctaveLayers = fn["nOctaveLayers"];
-    bool extended = (int)fn["extended"] != 0;
-    bool upright = (int)fn["upright"] != 0;
-
-    surf = SURF( 0.0, nOctaves, nOctaveLayers, extended, upright );
-}
-
-void SurfDescriptorExtractor::write( FileStorage &fs ) const
-{
-//    fs << "algorithm" << getAlgorithmName ();
-
-    fs << "nOctaves" << surf.nOctaves;
-    fs << "nOctaveLayers" << surf.nOctaveLayers;
-    fs << "extended" << surf.extended;
-    fs << "upright" << surf.upright;
-}
-
-int SurfDescriptorExtractor::descriptorSize() const
-{
-    return surf.descriptorSize();
-}
-
-int SurfDescriptorExtractor::descriptorType() const
-{
-    return CV_32FC1;
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-/** Default constructor */
-OrbDescriptorExtractor::OrbDescriptorExtractor(ORB::CommonParams params)
-{
-  orb_ = ORB(0, params);
-}
-void OrbDescriptorExtractor::computeImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints,
-                                         cv::Mat& descriptors) const
-{
-  cv::Mat empty_mask;
-  orb_(image, empty_mask, keypoints, descriptors, true);
-}
-void OrbDescriptorExtractor::read(const cv::FileNode& fn)
-{
-  orb_.read(fn);
-}
-void OrbDescriptorExtractor::write(cv::FileStorage& fs) const
-{
-  orb_.write(fs);
-}
-int OrbDescriptorExtractor::descriptorSize() const
-{
-  return orb_.descriptorSize();
-}
-int OrbDescriptorExtractor::descriptorType() const
-{
-  return CV_8UC1;
+    
+    return Algorithm::create<DescriptorExtractor>("Feature2D." + descriptorExtractorType);
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 /****************************************************************************************\
 *                             OpponentColorDescriptorExtractor                           *

modules/features2d/src/detectors.cpp

@@ -45,6 +45,7 @@ using namespace std;
 
 namespace cv
 {
+    
 /*
  *  FeatureDetector
  */
@@ -71,11 +72,11 @@ void FeatureDetector::detect(const vector<Mat>& imageCollection, vector<vector<K
         detect( imageCollection[i], pointCollection[i], masks.empty() ? Mat() : masks[i] );
 }
 
-void FeatureDetector::read( const FileNode& )
+/*void FeatureDetector::read( const FileNode& )
 {}
 
 void FeatureDetector::write( FileStorage& ) const
-{}
+{}*/
 
 bool FeatureDetector::empty() const
 {
@@ -89,387 +90,91 @@ void FeatureDetector::removeInvalidPoints( const Mat& mask, vector<KeyPoint>& ke
 
 Ptr<FeatureDetector> FeatureDetector::create( const string& detectorType )
 {
-    FeatureDetector* fd = 0;
-    size_t pos = 0;
-
-    if( !detectorType.compare( "FAST" ) )
-    {
-        fd = new FastFeatureDetector();
-    }
-    else if( !detectorType.compare( "STAR" ) )
-    {
-        fd = new StarFeatureDetector();
-    }
-    else if( !detectorType.compare( "SIFT" ) )
+    if( detectorType.find("Grid") == 0 )
     {
-        fd = new SiftFeatureDetector();
+        return new GridAdaptedFeatureDetector(FeatureDetector::create(
+                                detectorType.substr(strlen("Grid"))));
     }
-    else if( !detectorType.compare( "SURF" ) )
+    
+    if( detectorType.find("Pyramid") == 0 )
     {
-        fd = new SurfFeatureDetector();
+        return new PyramidAdaptedFeatureDetector(FeatureDetector::create(
+                                detectorType.substr(strlen("Pyramid"))));
     }
-    else if( !detectorType.compare( "ORB" ) )
+    
+    if( detectorType.find("Dynamic") == 0 )
     {
-        fd = new OrbFeatureDetector();
+        return new DynamicAdaptedFeatureDetector(AdjusterAdapter::create(
+                                detectorType.substr(strlen("Dynamic"))));
     }
-    else if( !detectorType.compare( "MSER" ) )
+    
+    if( detectorType.compare( "HARRIS" ) == 0 )
     {
-        fd = new MserFeatureDetector();
-    }
-    else if( !detectorType.compare( "GFTT" ) )
-    {
-        fd = new GoodFeaturesToTrackDetector();
-    }
-    else if( !detectorType.compare( "HARRIS" ) )
-    {
-        GoodFeaturesToTrackDetector::Params params;
-        params.useHarrisDetector = true;
-        fd = new GoodFeaturesToTrackDetector(params);
-    }
-    else if( !detectorType.compare( "Dense" ) )
-    {
-        fd = new DenseFeatureDetector();
-    }
-    else if( !detectorType.compare( "SimpleBlob" ) )
-    {
-        fd = new SimpleBlobDetector();
-    }
-    else if( (pos=detectorType.find("Grid")) == 0 )
-    {
-        pos += string("Grid").size();
-        fd = new GridAdaptedFeatureDetector( FeatureDetector::create(detectorType.substr(pos)) );
-    }
-    else if( (pos=detectorType.find("Pyramid")) == 0 )
-    {
-        pos += string("Pyramid").size();
-        fd = new PyramidAdaptedFeatureDetector( FeatureDetector::create(detectorType.substr(pos)) );
-    }
-    else if( (pos=detectorType.find("Dynamic")) == 0 )
-    {
-        pos += string("Dynamic").size();
-        fd = new DynamicAdaptedFeatureDetector( AdjusterAdapter::create(detectorType.substr(pos)) );
+        Ptr<FeatureDetector> fd = FeatureDetector::create("GFTT");
+        fd->set("useHarrisDetector", true);
+        return fd;
     }
 
-    return fd;
+    return Algorithm::create<FeatureDetector>("Feature2D." + detectorType);
 }
 
-/*
- *   FastFeatureDetector
- */
-FastFeatureDetector::FastFeatureDetector( int _threshold, bool _nonmaxSuppression )
-  : threshold(_threshold), nonmaxSuppression(_nonmaxSuppression)
-{}
-
-void FastFeatureDetector::read (const FileNode& fn)
-{
-    threshold = fn["threshold"];
-    nonmaxSuppression = (int)fn["nonmaxSuppression"] ? true : false;
-}
-
-void FastFeatureDetector::write (FileStorage& fs) const
-{
-    fs << "threshold" << threshold;
-    fs << "nonmaxSuppression" << nonmaxSuppression;
-}
-
-void FastFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
-{
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-    FAST( grayImage, keypoints, threshold, nonmaxSuppression );
-    KeyPointsFilter::runByPixelsMask( keypoints, mask );
-}
 
-/*
- *  GoodFeaturesToTrackDetector
- */
-GoodFeaturesToTrackDetector::Params::Params( int _maxCorners, double _qualityLevel, double _minDistance,
-                                             int _blockSize, bool _useHarrisDetector, double _k ) :
-    maxCorners(_maxCorners), qualityLevel(_qualityLevel), minDistance(_minDistance),
+GFTTDetector::GFTTDetector( int _nfeatures, double _qualityLevel,
+                            double _minDistance, int _blockSize,
+                            bool _useHarrisDetector, double _k )
+    : nfeatures(_nfeatures), qualityLevel(_qualityLevel), minDistance(_minDistance),
     blockSize(_blockSize), useHarrisDetector(_useHarrisDetector), k(_k)
-{}
-
-void GoodFeaturesToTrackDetector::Params::read (const FileNode& fn)
-{
-    maxCorners = fn["maxCorners"];
-    qualityLevel = fn["qualityLevel"];
-    minDistance = fn["minDistance"];
-    blockSize = fn["blockSize"];
-    useHarrisDetector = (int)fn["useHarrisDetector"] != 0;
-    k = fn["k"];
-}
-
-void GoodFeaturesToTrackDetector::Params::write (FileStorage& fs) const
-{
-    fs << "maxCorners" << maxCorners;
-    fs << "qualityLevel" << qualityLevel;
-    fs << "minDistance" << minDistance;
-    fs << "blockSize" << blockSize;
-    fs << "useHarrisDetector" << useHarrisDetector;
-    fs << "k" << k;
-}
-
-GoodFeaturesToTrackDetector::GoodFeaturesToTrackDetector( const Params& _params ) : params(_params)
-{}
-
-GoodFeaturesToTrackDetector::GoodFeaturesToTrackDetector( int maxCorners, double qualityLevel,
-                                                          double minDistance, int blockSize,
-                                                          bool useHarrisDetector, double k )
 {
-    params = Params( maxCorners, qualityLevel, minDistance, blockSize, useHarrisDetector, k );
 }
 
-void GoodFeaturesToTrackDetector::read (const FileNode& fn)
-{
-    params.read(fn);
-}
-
-void GoodFeaturesToTrackDetector::write (FileStorage& fs) const
-{
-    params.write(fs);
-}
-
-void GoodFeaturesToTrackDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask) const
+void GFTTDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask) const
 {
     Mat grayImage = image;
     if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
 
     vector<Point2f> corners;
-    goodFeaturesToTrack( grayImage, corners, params.maxCorners, params.qualityLevel, params.minDistance, mask,
-                         params.blockSize, params.useHarrisDetector, params.k );
+    goodFeaturesToTrack( grayImage, corners, nfeatures, qualityLevel, minDistance, mask,
+                         blockSize, useHarrisDetector, k );
     keypoints.resize(corners.size());
     vector<Point2f>::const_iterator corner_it = corners.begin();
     vector<KeyPoint>::iterator keypoint_it = keypoints.begin();
     for( ; corner_it != corners.end(); ++corner_it, ++keypoint_it )
     {
-        *keypoint_it = KeyPoint( *corner_it, (float)params.blockSize );
+        *keypoint_it = KeyPoint( *corner_it, (float)blockSize );
     }
 }
 
-/*
- *  MserFeatureDetector
- */
-MserFeatureDetector::MserFeatureDetector( int delta, int minArea, int maxArea,
-                                          double maxVariation, double minDiversity,
-                                          int maxEvolution, double areaThreshold,
-                                          double minMargin, int edgeBlurSize )
-  : mser( delta, minArea, maxArea, maxVariation, minDiversity,
-          maxEvolution, areaThreshold, minMargin, edgeBlurSize )
-{}
-
-MserFeatureDetector::MserFeatureDetector( CvMSERParams params )
-  : mser( params.delta, params.minArea, params.maxArea, params.maxVariation, params.minDiversity,
-          params.maxEvolution, params.areaThreshold, params.minMargin, params.edgeBlurSize )
-{}
-
-void MserFeatureDetector::read (const FileNode& fn)
+static Algorithm* createGFTT() { return new GFTTDetector; }
+static Algorithm* createHarris()
 {
-    int delta = fn["delta"];
-    int minArea = fn["minArea"];
-    int maxArea = fn["maxArea"];
-    float maxVariation = fn["maxVariation"];
-    float minDiversity = fn["minDiversity"];
-    int maxEvolution = fn["maxEvolution"];
-    double areaThreshold = fn["areaThreshold"];
-    double minMargin = fn["minMargin"];
-    int edgeBlurSize = fn["edgeBlurSize"];
-
-    mser = MSER( delta, minArea, maxArea, maxVariation, minDiversity,
-              maxEvolution, areaThreshold, minMargin, edgeBlurSize );
+    GFTTDetector* d = new GFTTDetector;
+    d->set("useHarris", true);
+    return d;
 }
 
-void MserFeatureDetector::write (FileStorage& fs) const
+static AlgorithmInfo gftt_info("Feature2D.GFTT", createGFTT);
+static AlgorithmInfo harris_info("Feature2D.HARRIS", createHarris);
+    
+AlgorithmInfo* GFTTDetector::info() const
 {
-    //fs << "algorithm" << getAlgorithmName ();
-
-    fs << "delta" << mser.delta;
-    fs << "minArea" << mser.minArea;
-    fs << "maxArea" << mser.maxArea;
-    fs << "maxVariation" << mser.maxVariation;
-    fs << "minDiversity" << mser.minDiversity;
-    fs << "maxEvolution" << mser.maxEvolution;
-    fs << "areaThreshold" << mser.areaThreshold;
-    fs << "minMargin" << mser.minMargin;
-    fs << "edgeBlurSize" << mser.edgeBlurSize;
-}
-
-
-void MserFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
-{
-    vector<vector<Point> > msers;
-
-    mser(image, msers, mask);
-
-    vector<vector<Point> >::const_iterator contour_it = msers.begin();
-    for( ; contour_it != msers.end(); ++contour_it )
+    static volatile bool initialized = false;
+    if( !initialized )
     {
-        // TODO check transformation from MSER region to KeyPoint
-        RotatedRect rect = fitEllipse(Mat(*contour_it));
-        float diam = sqrt(rect.size.height*rect.size.width);
-
-        if( diam > std::numeric_limits<float>::epsilon() )
-            keypoints.push_back( KeyPoint( rect.center, diam, rect.angle) );
+        gftt_info.addParam(this, "nfeatures", nfeatures);
+        gftt_info.addParam(this, "qualityLevel", qualityLevel);
+        gftt_info.addParam(this, "minDistance", minDistance);
+        gftt_info.addParam(this, "useHarrisDetector", useHarrisDetector);
+        gftt_info.addParam(this, "k", k);
+        
+        harris_info.addParam(this, "nfeatures", nfeatures);
+        harris_info.addParam(this, "qualityLevel", qualityLevel);
+        harris_info.addParam(this, "minDistance", minDistance);
+        harris_info.addParam(this, "useHarrisDetector", useHarrisDetector);
+        harris_info.addParam(this, "k", k);
+        
+        initialized = true;
     }
-}
-
-/*
- *  StarFeatureDetector
- */
-
-StarFeatureDetector::StarFeatureDetector( const CvStarDetectorParams& params )
-    : star( params.maxSize, params.responseThreshold, params.lineThresholdProjected,
-            params.lineThresholdBinarized, params.suppressNonmaxSize)
-{}
-
-StarFeatureDetector::StarFeatureDetector(int maxSize, int responseThreshold,
-                                         int lineThresholdProjected,
-                                         int lineThresholdBinarized,
-                                         int suppressNonmaxSize)
-  : star( maxSize, responseThreshold, lineThresholdProjected,
-          lineThresholdBinarized, suppressNonmaxSize)
-{}
-
-void StarFeatureDetector::read (const FileNode& fn)
-{
-    int maxSize = fn["maxSize"];
-    int responseThreshold = fn["responseThreshold"];
-    int lineThresholdProjected = fn["lineThresholdProjected"];
-    int lineThresholdBinarized = fn["lineThresholdBinarized"];
-    int suppressNonmaxSize = fn["suppressNonmaxSize"];
-
-    star = StarDetector( maxSize, responseThreshold, lineThresholdProjected,
-              lineThresholdBinarized, suppressNonmaxSize);
-}
-
-void StarFeatureDetector::write (FileStorage& fs) const
-{
-    //fs << "algorithm" << getAlgorithmName ();
-
-    fs << "maxSize" << star.maxSize;
-    fs << "responseThreshold" << star.responseThreshold;
-    fs << "lineThresholdProjected" << star.lineThresholdProjected;
-    fs << "lineThresholdBinarized" << star.lineThresholdBinarized;
-    fs << "suppressNonmaxSize" << star.suppressNonmaxSize;
-}
-
-void StarFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
-{
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-
-    star(grayImage, keypoints);
-    KeyPointsFilter::runByPixelsMask( keypoints, mask );
-}
-
-/*
- *   SiftFeatureDetector
- */
-SiftFeatureDetector::SiftFeatureDetector( const SIFT::DetectorParams &detectorParams,
-                                          const SIFT::CommonParams &commonParams )
-    : sift(detectorParams.threshold, detectorParams.edgeThreshold,
-           commonParams.nOctaves, commonParams.nOctaveLayers, commonParams.firstOctave, commonParams.angleMode)
-{
-}
-
-SiftFeatureDetector::SiftFeatureDetector( double threshold, double edgeThreshold,
-                                          int nOctaves, int nOctaveLayers, int firstOctave, int angleMode ) :
-    sift(threshold, edgeThreshold, nOctaves, nOctaveLayers, firstOctave, angleMode)
-{
-}
-
-void SiftFeatureDetector::read( const FileNode& fn )
-{
-    double threshold = fn["threshold"];
-    double edgeThreshold = fn["edgeThreshold"];
-    int nOctaves = fn["nOctaves"];
-    int nOctaveLayers = fn["nOctaveLayers"];
-    int firstOctave = fn["firstOctave"];
-    int angleMode = fn["angleMode"];
-
-    sift = SIFT(threshold, edgeThreshold, nOctaves, nOctaveLayers, firstOctave, angleMode);
-}
-
-void SiftFeatureDetector::write (FileStorage& fs) const
-{
-    //fs << "algorithm" << getAlgorithmName ();
-
-    SIFT::CommonParams commParams = sift.getCommonParams ();
-    SIFT::DetectorParams detectorParams = sift.getDetectorParams ();
-    fs << "threshold" << detectorParams.threshold;
-    fs << "edgeThreshold" << detectorParams.edgeThreshold;
-    fs << "nOctaves" << commParams.nOctaves;
-    fs << "nOctaveLayers" << commParams.nOctaveLayers;
-    fs << "firstOctave" << commParams.firstOctave;
-    fs << "angleMode" << commParams.angleMode;
-}
-
-
-void SiftFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
-{
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-
-    sift(grayImage, mask, keypoints);
-}
-
-/*
- *  SurfFeatureDetector
- */
-SurfFeatureDetector::SurfFeatureDetector( double hessianThreshold, int octaves, int octaveLayers, bool upright )
-    : surf(hessianThreshold, octaves, octaveLayers, false, upright)
-{}
-
-void SurfFeatureDetector::read (const FileNode& fn)
-{
-    double hessianThreshold = fn["hessianThreshold"];
-    int octaves = fn["octaves"];
-    int octaveLayers = fn["octaveLayers"];
-    bool upright = (int)fn["upright"] != 0;
-
-    surf = SURF( hessianThreshold, octaves, octaveLayers, false, upright );
-}
-
-void SurfFeatureDetector::write (FileStorage& fs) const
-{
-    //fs << "algorithm" << getAlgorithmName ();
-
-    fs << "hessianThreshold" << surf.hessianThreshold;
-    fs << "octaves" << surf.nOctaves;
-    fs << "octaveLayers" << surf.nOctaveLayers;
-    fs << "upright" << surf.upright;
-}
-
-void SurfFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
-{
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
-
-    surf(grayImage, mask, keypoints);
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-/** Default constructor
- * @param n_features the number of desired features
- */
-OrbFeatureDetector::OrbFeatureDetector(size_t n_features, ORB::CommonParams params)
-{
-  orb_ = ORB(n_features, params);
-}
-
-void OrbFeatureDetector::read(const FileNode& fn)
-{
-  orb_.read(fn);
-}
-
-void OrbFeatureDetector::write(FileStorage& fs) const
-{
-  orb_.write(fs);
-}
-
-void OrbFeatureDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask) const
-{
-  orb_(image, mask, keypoints);
+    return &gftt_info;
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -477,7 +182,7 @@ void OrbFeatureDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
 /*
  *  DenseFeatureDetector
  */
-DenseFeatureDetector::Params::Params( float _initFeatureScale, int _featureScaleLevels, 
+DenseFeatureDetector::DenseFeatureDetector( float _initFeatureScale, int _featureScaleLevels, 
 									  float _featureScaleMul, int _initXyStep, 
 									  int _initImgBound, bool _varyXyStepWithScale, 
 									  bool _varyImgBoundWithScale ) :
@@ -486,51 +191,13 @@ DenseFeatureDetector::Params::Params( float _initFeatureScale, int _featureScale
 	varyXyStepWithScale(_varyXyStepWithScale), varyImgBoundWithScale(_varyImgBoundWithScale)
 {}
 
-void DenseFeatureDetector::Params::read( const FileNode& fn )
-{
-    initFeatureScale = fn["initFeatureScale"];
-    featureScaleLevels = fn["featureScaleLevels"];
-    featureScaleMul = fn["featureScaleMul"];
-
-    initXyStep = fn["initXyStep"];
-    initImgBound = fn["initImgBound"];
-
-    varyXyStepWithScale = (int)fn["varyXyStepWithScale"] != 0 ? true : false;
-    varyImgBoundWithScale = (int)fn["varyImgBoundWithScale"] != 0 ? true : false;
-}
-
-void DenseFeatureDetector::Params::write( FileStorage& fs ) const
-{
-    fs << "initFeatureScale" << initFeatureScale;
-    fs << "featureScaleLevels" << featureScaleLevels;
-    fs << "featureScaleMul" << featureScaleMul;
-
-    fs << "initXyStep" << initXyStep;
-    fs << "initImgBound" << initImgBound;
-
-    fs << "varyXyStepWithScale" << (int)varyXyStepWithScale;
-    fs << "varyImgBoundWithScale" << (int)varyImgBoundWithScale;
-}
-
-DenseFeatureDetector::DenseFeatureDetector(const DenseFeatureDetector::Params &_params) : params(_params)
-{}
-
-void DenseFeatureDetector::read( const FileNode &fn )
-{
-    params.read(fn);
-}
-
-void DenseFeatureDetector::write( FileStorage &fs ) const
-{
-    params.write(fs);
-}
 
 void DenseFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
 {
-    float curScale = params.initFeatureScale;
-    int curStep = params.initXyStep;
-    int curBound = params.initImgBound;
-    for( int curLevel = 0; curLevel < params.featureScaleLevels; curLevel++ )
+    float curScale = initFeatureScale;
+    int curStep = initXyStep;
+    int curBound = initImgBound;
+    for( int curLevel = 0; curLevel < featureScaleLevels; curLevel++ )
     {
         for( int x = curBound; x < image.cols - curBound; x += curStep )
         {
@@ -540,13 +207,35 @@ void DenseFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypo
             }
         }
 
-        curScale = curScale * params.featureScaleMul;
-        if( params.varyXyStepWithScale ) curStep = static_cast<int>( curStep * params.featureScaleMul + 0.5f );
-        if( params.varyImgBoundWithScale ) curBound = static_cast<int>( curBound * params.featureScaleMul + 0.5f );
+        curScale = curScale * featureScaleMul;
+        if( varyXyStepWithScale ) curStep = static_cast<int>( curStep * featureScaleMul + 0.5f );
+        if( varyImgBoundWithScale ) curBound = static_cast<int>( curBound * featureScaleMul + 0.5f );
     }
 
     KeyPointsFilter::runByPixelsMask( keypoints, mask );
 }
+    
+
+static Algorithm* createDense() { return new DenseFeatureDetector; }
+
+AlgorithmInfo* DenseFeatureDetector::info() const
+{
+    static AlgorithmInfo info_("Feature2D.Dense", createDense);
+    static volatile bool initialized = false;
+    if( !initialized )
+    {
+        info_.addParam(this, "initFeatureScale", initFeatureScale);
+        info_.addParam(this, "featureScaleLevels", featureScaleLevels);
+        info_.addParam(this, "featureScaleMul", featureScaleMul);
+        info_.addParam(this, "initXyStep", initXyStep);
+        info_.addParam(this, "initImgBound", initImgBound);
+        info_.addParam(this, "varyXyStepWithScale", varyXyStepWithScale);
+        info_.addParam(this, "varyImgBoundWithScale", varyImgBoundWithScale);
+        
+        initialized = true;
+    }
+    return &info_;
+}    
 
 /*
  *  GridAdaptedFeatureDetector

modules/features2d/src/dynamic.cpp

@@ -169,8 +169,9 @@ SurfAdjuster::SurfAdjuster( double initial_thresh, double min_thresh, double max
 
 void SurfAdjuster::detectImpl(const Mat& image, vector<KeyPoint>& keypoints, const cv::Mat& mask) const
 {
-    SurfFeatureDetector detector_tmp(thresh_);
-    detector_tmp.detect(image, keypoints, mask);
+    Ptr<FeatureDetector> surf = FeatureDetector::create("SURF");
+    surf->set("hessianThreshold", thresh_);
+    surf->detect(image, keypoints, mask);
 }
 
 void SurfAdjuster::tooFew(int, int)

modules/features2d/src/fast.cpp

@@ -185,11 +185,10 @@ static int cornerScore(const uchar* ptr, const int pixel[], int threshold)
     return threshold;
 }
     
-}
 
-        
-void cv::FAST(const Mat& img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
+void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
 {
+    Mat img = _img.getMat();
     const int K = 8, N = 16 + K + 1;
     int i, j, k, pixel[N];
     makeOffsets(pixel, img.step);
@@ -280,7 +279,7 @@ void cv::FAST(const Mat& img, std::vector<KeyPoint>& keypoints, int threshold, b
                     {
                         cornerpos[ncorners++] = j+k;
                         if(nonmax_suppression)
-                            curr[j+k] = (uchar)cornerScore(ptr+k, pixel, threshold);
+                            curr[j+k] = cornerScore(ptr+k, pixel, threshold);
                     }
             }
     #endif
@@ -318,7 +317,7 @@ void cv::FAST(const Mat& img, std::vector<KeyPoint>& keypoints, int threshold, b
                             {
                                 cornerpos[ncorners++] = j;
                                 if(nonmax_suppression)
-                                    curr[j] = (uchar)cornerScore(ptr, pixel, threshold);
+                                    curr[j] = cornerScore(ptr, pixel, threshold);
                                 break;
                             }
                         }
@@ -340,7 +339,7 @@ void cv::FAST(const Mat& img, std::vector<KeyPoint>& keypoints, int threshold, b
                             {
                                 cornerpos[ncorners++] = j;
                                 if(nonmax_suppression)
-                                    curr[j] = (uchar)cornerScore(ptr, pixel, threshold);
+                                    curr[j] = cornerScore(ptr, pixel, threshold);
                                 break;
                             }
                         }
@@ -375,3 +374,38 @@ void cv::FAST(const Mat& img, std::vector<KeyPoint>& keypoints, int threshold, b
         }
     }
 }
+
+    
+/*
+ *   FastFeatureDetector
+ */
+FastFeatureDetector::FastFeatureDetector( int _threshold, bool _nonmaxSuppression )
+: threshold(_threshold), nonmaxSuppression(_nonmaxSuppression)
+{}
+
+void FastFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
+{
+    Mat grayImage = image;
+    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
+    FAST( grayImage, keypoints, threshold, nonmaxSuppression );
+    KeyPointsFilter::runByPixelsMask( keypoints, mask );
+}
+
+    
+static Algorithm* createFAST() { return new FastFeatureDetector; }
+static AlgorithmInfo fast_info("Feature2D.FAST", createFAST);
+    
+AlgorithmInfo* FastFeatureDetector::info() const
+{
+    static volatile bool initialized = false;
+    if( !initialized )
+    {
+        fast_info.addParam(this, "threshold", threshold);
+        fast_info.addParam(this, "nonmaxSuppression", nonmaxSuppression);
+        
+        initialized = true;
+    }
+    return &fast_info;
+}
+    
+}

modules/features2d/src/keypoint.cpp

@@ -165,6 +165,52 @@ float KeyPoint::overlap( const KeyPoint& kp1, const KeyPoint& kp2 )
 
     return ovrl;
 }
+    
+    
+struct KeypointResponseGreaterThanThreshold
+{
+    KeypointResponseGreaterThanThreshold(float _value) :
+    value(_value)
+    {
+    }
+    inline bool operator()(const KeyPoint& kpt) const
+    {
+        return kpt.response >= value;
+    }
+    float value;
+};
+
+struct KeypointResponseGreater
+{
+    inline bool operator()(const KeyPoint& kp1, const KeyPoint& kp2) const
+    {
+        return kp1.response > kp2.response;
+    }
+};
+
+// takes keypoints and culls them by the response
+void KeyPointsFilter::retainBest(vector<KeyPoint>& keypoints, int n_points)
+{
+    //this is only necessary if the keypoints size is greater than the number of desired points.
+    if( n_points > 0 && keypoints.size() > (size_t)n_points )
+    {
+        if (n_points==0)
+        {
+            keypoints.clear();
+            return;
+        }
+        //first use nth element to partition the keypoints into the best and worst.
+        std::nth_element(keypoints.begin(), keypoints.begin() + n_points, keypoints.end(), KeypointResponseGreater());
+        //this is the boundary response, and in the case of FAST may be ambigous
+        float ambiguous_response = keypoints[n_points - 1].response;
+        //use std::partition to grab all of the keypoints with the boundary response.
+        vector<KeyPoint>::const_iterator new_end =
+        std::partition(keypoints.begin() + n_points, keypoints.end(),
+                       KeypointResponseGreaterThanThreshold(ambiguous_response));
+        //resize the keypoints, given this new end point. nth_element and partition reordered the points inplace
+        keypoints.resize(new_end - keypoints.begin());
+    }
+}
 
 struct RoiPredicate
 {

modules/features2d/src/matchers.cpp

@@ -314,243 +314,181 @@ bool DescriptorMatcher::isMaskedOut( const vector<Mat>& masks, int queryIdx )
     return !masks.empty() && outCount == masks.size() ;
 }
 
-/*
- * Factory function for DescriptorMatcher creating
- */
-Ptr<DescriptorMatcher> DescriptorMatcher::create( const string& descriptorMatcherType )
+    
+///////////////////////////////////////////////////////////////////////////////////////////////////////
+    
+BFMatcher::BFMatcher( int _normType, bool _crossCheck )
 {
-    DescriptorMatcher* dm = 0;
-    if( !descriptorMatcherType.compare( "FlannBased" ) )
-    {
-        dm = new FlannBasedMatcher();
-    }
-    else if( !descriptorMatcherType.compare( "BruteForce" ) ) // L2
-    {
-        dm = new BruteForceMatcher<L2<float> >();
-    }
-    else if( !descriptorMatcherType.compare( "BruteForce-SL2" ) ) // Squared L2
-    {
-        dm = new BruteForceMatcher<SL2<float> >();
-    }
-    else if( !descriptorMatcherType.compare( "BruteForce-L1" ) )
+    normType = _normType;
+    crossCheck = _crossCheck;
+}
+
+Ptr<DescriptorMatcher> BFMatcher::clone( bool emptyTrainData ) const
+{
+    BFMatcher* matcher = new BFMatcher(normType, crossCheck);
+    if( !emptyTrainData )
     {
-        dm = new BruteForceMatcher<L1<float> >();
+        matcher->trainDescCollection.resize(trainDescCollection.size());
+        std::transform( trainDescCollection.begin(), trainDescCollection.end(),
+                        matcher->trainDescCollection.begin(), clone_op );
     }
-    else if( !descriptorMatcherType.compare("BruteForce-Hamming") )
+    return matcher;
+}
+
+
+void BFMatcher::knnMatchImpl( const Mat& queryDescriptors, vector<vector<DMatch> >& matches, int knn,
+                              const vector<Mat>& masks, bool compactResult )
+{
+    const int IMGIDX_SHIFT = 18;
+    const int IMGIDX_ONE = (1 << IMGIDX_SHIFT);
+    
+    if( queryDescriptors.empty() || trainDescCollection.empty() )
     {
-        dm = new BruteForceMatcher<Hamming>();
+        matches.clear();
+        return;
     }
-    else if( !descriptorMatcherType.compare("BruteForce-HammingLUT") )
+    CV_Assert( queryDescriptors.type() == trainDescCollection[0].type() );
+    
+    matches.reserve(queryDescriptors.rows);
+    
+    Mat dist, nidx;
+    
+    int iIdx, imgCount = (int)trainDescCollection.size(), update = 0;
+    int dtype = normType == NORM_HAMMING || normType == NORM_HAMMING2 ||
+        (normType == NORM_L1 && queryDescriptors.type() == CV_8U) ? CV_32S : CV_32F;
+    
+    CV_Assert( (int64)imgCount*IMGIDX_ONE < INT_MAX );
+    
+    for( iIdx = 0; iIdx < imgCount; iIdx++ )
     {
-        dm = new BruteForceMatcher<Hamming>();
+        CV_Assert( trainDescCollection[iIdx].rows < IMGIDX_ONE );
+        batchDistance(queryDescriptors, trainDescCollection[iIdx], dist, dtype, nidx,
+                      normType, knn, masks.empty() ? Mat() : masks[iIdx], update, crossCheck);
+        update += IMGIDX_ONE;
     }
-    else if( !descriptorMatcherType.compare("BruteForce-Hamming(2)") )
+    
+    if( dtype == CV_32S )
     {
-        dm = new BruteForceMatcher<HammingMultilevel<2> >();
+        Mat temp;
+        dist.convertTo(temp, CV_32F);
+        dist = temp;
     }
-    else if( !descriptorMatcherType.compare("BruteForce-Hamming(4)") )
+    
+    for( int qIdx = 0; qIdx < queryDescriptors.rows; qIdx++ )
     {
-        dm = new BruteForceMatcher<HammingMultilevel<4> >();
+        const float* distptr = dist.ptr<float>(qIdx);
+        const int* nidxptr = nidx.ptr<int>(qIdx);
+        
+        matches.push_back( vector<DMatch>() );
+        vector<DMatch>& mq = matches.back();
+        mq.reserve(knn);
+        
+        for( int k = 0; k < knn; k++ )
+        {
+            if( nidxptr[k] < 0 )
+                break;
+            mq.push_back( DMatch(qIdx, nidxptr[k] & (IMGIDX_ONE - 1),
+                          nidxptr[k] >> IMGIDX_SHIFT, distptr[k]) );
+        }
+        
+        if( mq.empty() && compactResult )
+            matches.pop_back();
     }
-    else
-        CV_Error( CV_StsBadArg, "Unknown matcher name" );
-
-    return dm;
 }
 
-/*
- * BruteForce SL2 and L2 specialization
- */
-template<>
-void BruteForceMatcher<SL2<float> >::knnMatchImpl( const Mat& queryDescriptors, vector<vector<DMatch> >& matches, int knn,
-                                              const vector<Mat>& masks, bool compactResult )
+    
+void BFMatcher::radiusMatchImpl( const Mat& queryDescriptors, vector<vector<DMatch> >& matches,
+                                 float maxDistance, const vector<Mat>& masks, bool compactResult )
 {
-#ifndef HAVE_EIGEN
-    commonKnnMatchImpl( *this, queryDescriptors, matches, knn, masks, compactResult );
-#else
-    CV_Assert( queryDescriptors.type() == CV_32FC1 ||  queryDescriptors.empty() );
-    CV_Assert( masks.empty() || masks.size() == trainDescCollection.size() );
-
-    matches.reserve(queryDescriptors.rows);
-    size_t imgCount = trainDescCollection.size();
-
-    Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> e_query_t;
-    vector<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> > e_trainCollection(trainDescCollection.size());
-    vector<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> > e_trainNorms2(trainDescCollection.size());
-    cv2eigen( queryDescriptors.t(), e_query_t);
-    for( size_t i = 0; i < trainDescCollection.size(); i++ )
+    if( queryDescriptors.empty() || trainDescCollection.empty() )
     {
-        cv2eigen( trainDescCollection[i], e_trainCollection[i] );
-        e_trainNorms2[i] = e_trainCollection[i].rowwise().squaredNorm() / 2;
+        matches.clear();
+        return;
     }
-
-    vector<Eigen::Matrix<float, Eigen::Dynamic, 1> > e_allDists( imgCount ); // distances between one query descriptor and all train descriptors
-
-    for( int qIdx = 0; qIdx < queryDescriptors.rows; qIdx++ )
+    CV_Assert( queryDescriptors.type() == trainDescCollection[0].type() );
+    
+    matches.resize(queryDescriptors.rows);
+    Mat dist, distf;
+    
+    int iIdx, imgCount = (int)trainDescCollection.size();
+    int dtype = normType == NORM_HAMMING ||
+        (normType == NORM_L1 && queryDescriptors.type() == CV_8U) ? CV_32S : CV_32F;
+    
+    for( iIdx = 0; iIdx < imgCount; iIdx++ )
     {
-        if( isMaskedOut( masks, qIdx ) )
-        {
-            if( !compactResult ) // push empty vector
-                matches.push_back( vector<DMatch>() );
-        }
+        batchDistance(queryDescriptors, trainDescCollection[iIdx], dist, dtype, noArray(),
+                      normType, 0, masks.empty() ? Mat() : masks[iIdx], 0, false);
+        if( dtype == CV_32S )
+            dist.convertTo(distf, CV_32F);
         else
+            distf = dist;
+        
+        for( int qIdx = 0; qIdx < queryDescriptors.rows; qIdx++ )
         {
-            float queryNorm2 = e_query_t.col(qIdx).squaredNorm();
-            // 1. compute distances between i-th query descriptor and all train descriptors
-            for( size_t iIdx = 0; iIdx < imgCount; iIdx++ )
+            const float* distptr = dist.ptr<float>(qIdx);
+            
+            vector<DMatch>& mq = matches[qIdx];
+            for( int k = 0; k < dist.cols; k++ )
             {
-                CV_Assert( masks.empty() || masks[iIdx].empty() ||
-                           ( masks[iIdx].rows == queryDescriptors.rows && masks[iIdx].cols == trainDescCollection[iIdx].rows &&
-                             masks[iIdx].type() == CV_8UC1 ) );
-                CV_Assert( trainDescCollection[iIdx].type() == CV_32FC1 ||  trainDescCollection[iIdx].empty() );
-                CV_Assert( queryDescriptors.cols == trainDescCollection[iIdx].cols );
-
-                e_allDists[iIdx] = e_trainCollection[iIdx] *e_query_t.col(qIdx);
-                e_allDists[iIdx] -= e_trainNorms2[iIdx];
-
-                if( !masks.empty() && !masks[iIdx].empty() )
-                {
-                    const uchar* maskPtr = (uchar*)masks[iIdx].ptr(qIdx);
-                    for( int c = 0; c < masks[iIdx].cols; c++ )
-                    {
-                        if( maskPtr[c] == 0 )
-                            e_allDists[iIdx](c) = -std::numeric_limits<float>::max();
-                    }
-                }
+                if( distptr[k] <= maxDistance )
+                    mq.push_back( DMatch(qIdx, k, iIdx, distptr[k]) );
             }
-
-            // 2. choose knn nearest matches for query[i]
-            matches.push_back( vector<DMatch>() );
-            vector<vector<DMatch> >::reverse_iterator curMatches = matches.rbegin();
-            for( int k = 0; k < knn; k++ )
-            {
-                float totalMaxCoeff = -std::numeric_limits<float>::max();
-                int bestTrainIdx = -1, bestImgIdx = -1;
-                for( size_t iIdx = 0; iIdx < imgCount; iIdx++ )
-                {
-                    int loc;
-                    float curMaxCoeff = e_allDists[iIdx].maxCoeff( &loc );
-                    if( curMaxCoeff > totalMaxCoeff )
-                    {
-                        totalMaxCoeff = curMaxCoeff;
-                        bestTrainIdx = loc;
-                        bestImgIdx = iIdx;
-                    }
-                }
-                if( bestTrainIdx == -1 )
-                    break;
-
-                e_allDists[bestImgIdx](bestTrainIdx) = -std::numeric_limits<float>::max();
-                curMatches->push_back( DMatch(qIdx, bestTrainIdx, bestImgIdx, (-2)*totalMaxCoeff + queryNorm2) );
-            }
-            std::sort( curMatches->begin(), curMatches->end() );
         }
     }
-#endif
+    
+    int qIdx0 = 0;
+    for( int qIdx = 0; qIdx < queryDescriptors.rows; qIdx++ )
+    {
+        if( matches[qIdx].empty() && compactResult )
+            continue;
+        
+        if( qIdx0 < qIdx )
+            std::swap(matches[qIdx], matches[qIdx0]);
+        
+        std::sort( matches[qIdx0].begin(), matches[qIdx0].end() );
+        qIdx0++;
+    }
 }
-
-template<>
-void BruteForceMatcher<SL2<float> >::radiusMatchImpl( const Mat& queryDescriptors, vector<vector<DMatch> >& matches, float maxDistance,
-                                                     const vector<Mat>& masks, bool compactResult )
+    
+///////////////////////////////////////////////////////////////////////////////////////////////////////
+    
+/*
+ * Factory function for DescriptorMatcher creating
+ */
+Ptr<DescriptorMatcher> DescriptorMatcher::create( const string& descriptorMatcherType )
 {
-#ifndef HAVE_EIGEN
-    commonRadiusMatchImpl( *this, queryDescriptors, matches, maxDistance, masks, compactResult );
-#else
-    CV_Assert( queryDescriptors.type() == CV_32FC1 ||  queryDescriptors.empty() );
-    CV_Assert( masks.empty() || masks.size() == trainDescCollection.size() );
-
-    matches.reserve(queryDescriptors.rows);
-    size_t imgCount = trainDescCollection.size();
-
-    Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> e_query_t;
-    vector<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> > e_trainCollection(trainDescCollection.size());
-    vector<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> > e_trainNorms2(trainDescCollection.size());
-    cv2eigen( queryDescriptors.t(), e_query_t);
-    for( size_t i = 0; i < trainDescCollection.size(); i++ )
+    DescriptorMatcher* dm = 0;
+    if( !descriptorMatcherType.compare( "FlannBased" ) )
     {
-        cv2eigen( trainDescCollection[i], e_trainCollection[i] );
-        e_trainNorms2[i] = e_trainCollection[i].rowwise().squaredNorm() / 2;
+        dm = new FlannBasedMatcher();
     }
-
-    vector<Eigen::Matrix<float, Eigen::Dynamic, 1> > e_allDists( imgCount ); // distances between one query descriptor and all train descriptors
-
-    for( int qIdx = 0; qIdx < queryDescriptors.rows; qIdx++ )
+    else if( !descriptorMatcherType.compare( "BruteForce" ) ) // L2
     {
-        if( isMaskedOut( masks, qIdx ) )
-        {
-            if( !compactResult ) // push empty vector
-                matches.push_back( vector<DMatch>() );
-        }
-        else
-        {
-            float queryNorm2 = e_query_t.col(qIdx).squaredNorm();
-            // 1. compute distances between i-th query descriptor and all train descriptors
-            for( size_t iIdx = 0; iIdx < imgCount; iIdx++ )
-            {
-                CV_Assert( masks.empty() || masks[iIdx].empty() ||
-                           ( masks[iIdx].rows == queryDescriptors.rows && masks[iIdx].cols == trainDescCollection[iIdx].rows &&
-                             masks[iIdx].type() == CV_8UC1 ) );
-                CV_Assert( trainDescCollection[iIdx].type() == CV_32FC1 ||  trainDescCollection[iIdx].empty() );
-                CV_Assert( queryDescriptors.cols == trainDescCollection[iIdx].cols );
-
-                e_allDists[iIdx] = e_trainCollection[iIdx] *e_query_t.col(qIdx);
-                e_allDists[iIdx] -= e_trainNorms2[iIdx];
-            }
-
-            matches.push_back( vector<DMatch>() );
-            vector<vector<DMatch> >::reverse_iterator curMatches = matches.rbegin();
-            for( size_t iIdx = 0; iIdx < imgCount; iIdx++ )
-            {
-                assert( e_allDists[iIdx].rows() == trainDescCollection[iIdx].rows );
-                for( int tIdx = 0; tIdx < e_allDists[iIdx].rows(); tIdx++ )
-                {
-                    if( masks.empty() || isPossibleMatch(masks[iIdx], qIdx, tIdx) )
-                    {
-                        float d =  (-2)*e_allDists[iIdx](tIdx) + queryNorm2;
-                        if( d < maxDistance )
-                            curMatches->push_back( DMatch( qIdx, tIdx, iIdx, d ) );
-                    }
-                }
-            }
-            std::sort( curMatches->begin(), curMatches->end() );
-        }
+        dm = new BFMatcher(NORM_L2);
     }
-#endif
-}
-
-inline void sqrtDistance( vector<vector<DMatch> >& matches )
-{
-    for( size_t imgIdx = 0; imgIdx < matches.size(); imgIdx++ )
+    else if( !descriptorMatcherType.compare( "BruteForce-SL2" ) ) // Squared L2
     {
-        for( size_t matchIdx = 0; matchIdx < matches[imgIdx].size(); matchIdx++ )
-        {
-            matches[imgIdx][matchIdx].distance = std::sqrt( matches[imgIdx][matchIdx].distance );
-        }
+        dm = new BFMatcher(NORM_L2SQR);
     }
-}
-
-template<>
-void BruteForceMatcher<L2<float> >::knnMatchImpl( const Mat& queryDescriptors, vector<vector<DMatch> >& matches, int knn,
-                                              const vector<Mat>& masks, bool compactResult )
-{
-    BruteForceMatcher<SL2<float> > matcherSL2;
-    matcherSL2.add( getTrainDescriptors() );
-    matcherSL2.knnMatch( queryDescriptors, matches, knn, masks, compactResult );
+    else if( !descriptorMatcherType.compare( "BruteForce-L1" ) )
+    {
+        dm = new BFMatcher(NORM_L1);
+    }
+    else if( !descriptorMatcherType.compare("BruteForce-Hamming") ||
+             !descriptorMatcherType.compare("BruteForce-HammingLUT") )
+    {
+        dm = new BFMatcher(NORM_HAMMING);
+    }
+    else if( !descriptorMatcherType.compare("BruteForce-Hamming(2)") )
+    {
+        dm = new BFMatcher(NORM_HAMMING2);
+    }
+    else
+        CV_Error( CV_StsBadArg, "Unknown matcher name" );
 
-    sqrtDistance( matches );
+    return dm;
 }
 
-template<>
-void BruteForceMatcher<L2<float> >::radiusMatchImpl( const Mat& queryDescriptors, vector<vector<DMatch> >& matches, float maxDistance,
-                                                     const vector<Mat>& masks, bool compactResult )
-{
-    const float maxDistance2 = maxDistance * maxDistance;
-    BruteForceMatcher<SL2<float> > matcherSL2;
-    matcherSL2.add( getTrainDescriptors() );
-    matcherSL2.radiusMatch( queryDescriptors, matches, maxDistance2, masks, compactResult );
-
-    sqrtDistance( matches );
-}
 
 /*
  * Flann based matcher
@@ -1124,16 +1062,9 @@ bool GenericDescriptorMatcher::empty() const
 Ptr<GenericDescriptorMatcher> GenericDescriptorMatcher::create( const string& genericDescritptorMatcherType,
                                                                 const string &paramsFilename )
 {
-    Ptr<GenericDescriptorMatcher> descriptorMatcher;
-    if( ! genericDescritptorMatcherType.compare("ONEWAY") )
-    {
-        descriptorMatcher = new OneWayDescriptorMatcher();
-    }
-    else if( ! genericDescritptorMatcherType.compare("FERN") )
-    {
-        descriptorMatcher = new FernDescriptorMatcher();
-    }
-
+    Ptr<GenericDescriptorMatcher> descriptorMatcher =
+        Algorithm::create<GenericDescriptorMatcher>("DescriptorMatcher." + genericDescritptorMatcherType);
+    
     if( !paramsFilename.empty() && !descriptorMatcher.empty() )
     {
         FileStorage fs = FileStorage( paramsFilename, FileStorage::READ );
@@ -1146,331 +1077,6 @@ Ptr<GenericDescriptorMatcher> GenericDescriptorMatcher::create( const string& ge
     return descriptorMatcher;
 }
 
-/****************************************************************************************\
-*                                OneWayDescriptorMatcher                                  *
-\****************************************************************************************/
-
-OneWayDescriptorMatcher::Params::Params( int _poseCount, Size _patchSize, string _pcaFilename,
-                                         string _trainPath, string _trainImagesList,
-                                         float _minScale, float _maxScale, float _stepScale ) :
-                poseCount(_poseCount), patchSize(_patchSize), pcaFilename(_pcaFilename),
-                trainPath(_trainPath), trainImagesList(_trainImagesList),
-                minScale(_minScale), maxScale(_maxScale), stepScale(_stepScale)
-{}
-
-
-OneWayDescriptorMatcher::OneWayDescriptorMatcher( const Params& _params)
-{
-    initialize(_params);
-}
-
-OneWayDescriptorMatcher::~OneWayDescriptorMatcher()
-{}
-
-void OneWayDescriptorMatcher::initialize( const Params& _params, const Ptr<OneWayDescriptorBase>& _base )
-{
-    clear();
-
-    if( _base.empty() )
-        base = _base;
-
-    params = _params;
-}
-
-void OneWayDescriptorMatcher::clear()
-{
-    GenericDescriptorMatcher::clear();
-
-    prevTrainCount = 0;
-    if( !base.empty() )
-        base->clear();
-}
-
-void OneWayDescriptorMatcher::train()
-{
-    if( base.empty() || prevTrainCount < (int)trainPointCollection.keypointCount() )
-    {
-        base = new OneWayDescriptorObject( params.patchSize, params.poseCount, params.pcaFilename,
-                                           params.trainPath, params.trainImagesList, params.minScale, params.maxScale, params.stepScale );
-
-        base->Allocate( (int)trainPointCollection.keypointCount() );
-        prevTrainCount = (int)trainPointCollection.keypointCount();
-
-        const vector<vector<KeyPoint> >& points = trainPointCollection.getKeypoints();
-        int count = 0;
-        for( size_t i = 0; i < points.size(); i++ )
-        {
-            IplImage _image = trainPointCollection.getImage((int)i);
-            for( size_t j = 0; j < points[i].size(); j++ )
-                base->InitializeDescriptor( count++, &_image, points[i][j], "" );
-        }
-
-#if defined(_KDTREE)
-        base->ConvertDescriptorsArrayToTree();
-#endif
-    }
-}
-
-bool OneWayDescriptorMatcher::isMaskSupported()
-{
-    return false;
-}
-
-void OneWayDescriptorMatcher::knnMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
-                                            vector<vector<DMatch> >& matches, int knn,
-                                            const vector<Mat>& /*masks*/, bool /*compactResult*/ )
-{
-    train();
-
-    CV_Assert( knn == 1 ); // knn > 1 unsupported because of bug in OneWayDescriptorBase for this case
-
-    matches.resize( queryKeypoints.size() );
-    IplImage _qimage = queryImage;
-    for( size_t i = 0; i < queryKeypoints.size(); i++ )
-    {
-        int descIdx = -1, poseIdx = -1;
-        float distance;
-        base->FindDescriptor( &_qimage, queryKeypoints[i].pt, descIdx, poseIdx, distance );
-        matches[i].push_back( DMatch((int)i, descIdx, distance) );
-    }
-}
-
-void OneWayDescriptorMatcher::radiusMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
-                                               vector<vector<DMatch> >& matches, float maxDistance,
-                                               const vector<Mat>& /*masks*/, bool /*compactResult*/ )
-{
-    train();
-
-    matches.resize( queryKeypoints.size() );
-    IplImage _qimage = queryImage;
-    for( size_t i = 0; i < queryKeypoints.size(); i++ )
-    {
-        int descIdx = -1, poseIdx = -1;
-        float distance;
-        base->FindDescriptor( &_qimage, queryKeypoints[i].pt, descIdx, poseIdx, distance );
-        if( distance < maxDistance )
-            matches[i].push_back( DMatch((int)i, descIdx, distance) );
-    }
-}
-
-void OneWayDescriptorMatcher::read( const FileNode &fn )
-{
-    base = new OneWayDescriptorObject( params.patchSize, params.poseCount, string (), string (), string (),
-                                       params.minScale, params.maxScale, params.stepScale );
-    base->Read (fn);
-}
-
-void OneWayDescriptorMatcher::write( FileStorage& fs ) const
-{
-    base->Write (fs);
-}
-
-bool OneWayDescriptorMatcher::empty() const
-{
-    return base.empty() || base->empty();
-}
-
-Ptr<GenericDescriptorMatcher> OneWayDescriptorMatcher::clone( bool emptyTrainData ) const
-{
-    OneWayDescriptorMatcher* matcher = new OneWayDescriptorMatcher( params );
-
-    if( !emptyTrainData )
-    {
-        CV_Error( CV_StsNotImplemented, "deep clone functionality is not implemented, because "
-              "OneWayDescriptorBase has not copy constructor or clone method ");
-
-        //matcher->base;
-        matcher->params = params;
-        matcher->prevTrainCount = prevTrainCount;
-        matcher->trainPointCollection = trainPointCollection;
-    }
-    return matcher;
-}
-
-/****************************************************************************************\
-*                                  FernDescriptorMatcher                                 *
-\****************************************************************************************/
-FernDescriptorMatcher::Params::Params( int _nclasses, int _patchSize, int _signatureSize,
-                                     int _nstructs, int _structSize, int _nviews, int _compressionMethod,
-                                     const PatchGenerator& _patchGenerator ) :
-    nclasses(_nclasses), patchSize(_patchSize), signatureSize(_signatureSize),
-    nstructs(_nstructs), structSize(_structSize), nviews(_nviews),
-    compressionMethod(_compressionMethod), patchGenerator(_patchGenerator)
-{}
-
-FernDescriptorMatcher::Params::Params( const string& _filename )
-{
-    filename = _filename;
-}
-
-FernDescriptorMatcher::FernDescriptorMatcher( const Params& _params )
-{
-    prevTrainCount = 0;
-    params = _params;
-    if( !params.filename.empty() )
-    {
-        classifier = new FernClassifier;
-        FileStorage fs(params.filename, FileStorage::READ);
-        if( fs.isOpened() )
-            classifier->read( fs.getFirstTopLevelNode() );
-    }
-}
-
-FernDescriptorMatcher::~FernDescriptorMatcher()
-{}
-
-void FernDescriptorMatcher::clear()
-{
-    GenericDescriptorMatcher::clear();
-
-    classifier.release();
-    prevTrainCount = 0;
-}
-
-void FernDescriptorMatcher::train()
-{
-    if( classifier.empty() || prevTrainCount < (int)trainPointCollection.keypointCount() )
-    {
-        assert( params.filename.empty() );
-
-        vector<vector<Point2f> > points( trainPointCollection.imageCount() );
-        for( size_t imgIdx = 0; imgIdx < trainPointCollection.imageCount(); imgIdx++ )
-            KeyPoint::convert( trainPointCollection.getKeypoints((int)imgIdx), points[imgIdx] );
-
-        classifier = new FernClassifier( points, trainPointCollection.getImages(), vector<vector<int> >(), 0, // each points is a class
-                                         params.patchSize, params.signatureSize, params.nstructs, params.structSize,
-                                         params.nviews, params.compressionMethod, params.patchGenerator );
-    }
-}
-
-bool FernDescriptorMatcher::isMaskSupported()
-{
-    return false;
-}
-
-void FernDescriptorMatcher::calcBestProbAndMatchIdx( const Mat& image, const Point2f& pt,
-                                                     float& bestProb, int& bestMatchIdx, vector<float>& signature )
-{
-    (*classifier)( image, pt, signature);
-
-    bestProb = -FLT_MAX;
-    bestMatchIdx = -1;
-    for( int ci = 0; ci < classifier->getClassCount(); ci++ )
-    {
-        if( signature[ci] > bestProb )
-        {
-            bestProb = signature[ci];
-            bestMatchIdx = ci;
-        }
-    }
-}
-
-void FernDescriptorMatcher::knnMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
-                                          vector<vector<DMatch> >& matches, int knn,
-                                          const vector<Mat>& /*masks*/, bool /*compactResult*/ )
-{
-    train();
-
-    matches.resize( queryKeypoints.size() );
-    vector<float> signature( (size_t)classifier->getClassCount() );
-
-    for( size_t queryIdx = 0; queryIdx < queryKeypoints.size(); queryIdx++ )
-    {
-        (*classifier)( queryImage, queryKeypoints[queryIdx].pt, signature);
-
-        for( int k = 0; k < knn; k++ )
-        {
-            DMatch bestMatch;
-            size_t best_ci = 0;
-            for( size_t ci = 0; ci < signature.size(); ci++ )
-            {
-                if( -signature[ci] < bestMatch.distance )
-                {
-                    int imgIdx = -1, trainIdx = -1;
-                    trainPointCollection.getLocalIdx( (int)ci , imgIdx, trainIdx );
-                    bestMatch = DMatch( (int)queryIdx, trainIdx, imgIdx, -signature[ci] );
-                    best_ci = ci;
-                }
-            }
-
-            if( bestMatch.trainIdx == -1 )
-                break;
-            signature[best_ci] = -std::numeric_limits<float>::max();
-            matches[queryIdx].push_back( bestMatch );
-        }
-    }
-}
-
-void FernDescriptorMatcher::radiusMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
-                                             vector<vector<DMatch> >& matches, float maxDistance,
-                                             const vector<Mat>& /*masks*/, bool /*compactResult*/ )
-{
-    train();
-    matches.resize( queryKeypoints.size() );
-    vector<float> signature( (size_t)classifier->getClassCount() );
-
-    for( size_t i = 0; i < queryKeypoints.size(); i++ )
-    {
-        (*classifier)( queryImage, queryKeypoints[i].pt, signature);
-
-        for( int ci = 0; ci < classifier->getClassCount(); ci++ )
-        {
-            if( -signature[ci] < maxDistance )
-            {
-                int imgIdx = -1, trainIdx = -1;
-                trainPointCollection.getLocalIdx( ci , imgIdx, trainIdx );
-                matches[i].push_back( DMatch( (int)i, trainIdx, imgIdx, -signature[ci] ) );
-            }
-        }
-    }
-}
-
-void FernDescriptorMatcher::read( const FileNode &fn )
-{
-    params.nclasses = fn["nclasses"];
-    params.patchSize = fn["patchSize"];
-    params.signatureSize = fn["signatureSize"];
-    params.nstructs = fn["nstructs"];
-    params.structSize = fn["structSize"];
-    params.nviews = fn["nviews"];
-    params.compressionMethod = fn["compressionMethod"];
-
-    //classifier->read(fn);
-}
-
-void FernDescriptorMatcher::write( FileStorage& fs ) const
-{
-    fs << "nclasses" << params.nclasses;
-    fs << "patchSize" << params.patchSize;
-    fs << "signatureSize" << params.signatureSize;
-    fs << "nstructs" << params.nstructs;
-    fs << "structSize" << params.structSize;
-    fs << "nviews" << params.nviews;
-    fs << "compressionMethod" << params.compressionMethod;
-
-//    classifier->write(fs);
-}
-
-bool FernDescriptorMatcher::empty() const
-{
-    return classifier.empty() || classifier->empty();
-}
-
-Ptr<GenericDescriptorMatcher> FernDescriptorMatcher::clone( bool emptyTrainData ) const
-{
-    FernDescriptorMatcher* matcher = new FernDescriptorMatcher( params );
-    if( !emptyTrainData )
-    {
-        CV_Error( CV_StsNotImplemented, "deep clone dunctionality is not implemented, because "
-              "FernClassifier has not copy constructor or clone method ");
-
-        //matcher->classifier;
-        matcher->params = params;
-        matcher->prevTrainCount = prevTrainCount;
-        matcher->trainPointCollection = trainPointCollection;
-    }
-    return matcher;
-}
 
 /****************************************************************************************\
 *                                  VectorDescriptorMatcher                               *

modules/features2d/src/mser.cpp

@@ -41,7 +41,10 @@
 
 #include "precomp.hpp"
 
-#define TABLE_SIZE 400
+namespace cv
+{
+
+const int TABLE_SIZE = 400;
 
 static double chitab3[]={0,  0.0150057,  0.0239478,  0.0315227,
                   0.0383427,  0.0446605,  0.0506115,  0.0562786,
@@ -144,36 +147,36 @@ static double chitab3[]={0,  0.0150057,  0.0239478,  0.0315227,
                   3.37455,  3.48653,  3.61862,  3.77982,
                   3.98692,  4.2776,  4.77167,  133.333 };
 
-typedef struct CvLinkedPoint
+typedef struct LinkedPoint
 {
-	struct CvLinkedPoint* prev;
-	struct CvLinkedPoint* next;
-	CvPoint pt;
+	struct LinkedPoint* prev;
+	struct LinkedPoint* next;
+	Point pt;
 }
-CvLinkedPoint;
+LinkedPoint;
 
 // the history of region grown
-typedef struct CvMSERGrowHistory
+typedef struct MSERGrowHistory
 {
-	struct CvMSERGrowHistory* shortcut;
-	struct CvMSERGrowHistory* child;
+	struct MSERGrowHistory* shortcut;
+	struct MSERGrowHistory* child;
 	int stable; // when it ever stabled before, record the size
 	int val;
 	int size;
 }
-CvMSERGrowHistory;
+MSERGrowHistory;
 
-typedef struct CvMSERConnectedComp
+typedef struct MSERConnectedComp
 {
-	CvLinkedPoint* head;
-	CvLinkedPoint* tail;
-	CvMSERGrowHistory* history;
+	LinkedPoint* head;
+	LinkedPoint* tail;
+	MSERGrowHistory* history;
 	unsigned long grey_level;
 	int size;
 	int dvar; // the derivative of last var
 	float var; // the current variation (most time is the variation of one-step back)
 }
-CvMSERConnectedComp;
+MSERConnectedComp;
 
 // Linear Time MSER claims by using bsf can get performance gain, here is the implementation
 // however it seems that will not do any good in real world test
@@ -186,24 +189,29 @@ inline void _bitreset(unsigned long * a, unsigned long b)
 	*a &= ~(1<<b);
 }
 
-CvMSERParams cvMSERParams( int delta, int minArea, int maxArea, float maxVariation, float minDiversity, int maxEvolution, double areaThreshold, double minMargin, int edgeBlurSize )
+struct MSERParams
 {
-	CvMSERParams params;
-	params.delta = delta;
-	params.minArea = minArea;
-	params.maxArea = maxArea;
-	params.maxVariation = maxVariation;
-	params.minDiversity = minDiversity;
-	params.maxEvolution = maxEvolution;
-	params.areaThreshold = areaThreshold;
-	params.minMargin = minMargin;
-	params.edgeBlurSize = edgeBlurSize;
-	return params;
-}
+    MSERParams( int _delta, int _minArea, int _maxArea, float _maxVariation,
+                float _minDiversity, int _maxEvolution, double _areaThreshold,
+                double _minMargin, int _edgeBlurSize )
+        : delta(_delta), minArea(_minArea), maxArea(_maxArea), maxVariation(_maxVariation),
+        minDiversity(_minDiversity), maxEvolution(_maxEvolution), areaThreshold(_areaThreshold),
+        minMargin(_minMargin), edgeBlurSize(_edgeBlurSize)
+    {}
+    int delta;
+    int minArea;
+    int maxArea;
+    float maxVariation;
+    float minDiversity;
+    int maxEvolution;
+    double areaThreshold;
+    double minMargin;
+    int edgeBlurSize;
+};
 
 // clear the connected component in stack
-CV_INLINE static void
-icvInitMSERComp( CvMSERConnectedComp* comp )
+static void
+initMSERComp( MSERConnectedComp* comp )
 {
 	comp->size = 0;
 	comp->var = 0;
@@ -212,9 +220,8 @@ icvInitMSERComp( CvMSERConnectedComp* comp )
 }
 
 // add history of size to a connected component
-CV_INLINE static void
-icvMSERNewHistory( CvMSERConnectedComp* comp,
-		   CvMSERGrowHistory* history )
+static void
+MSERNewHistory( MSERConnectedComp* comp, MSERGrowHistory* history )
 {
 	history->child = history;
 	if ( NULL == comp->history )
@@ -232,14 +239,14 @@ icvMSERNewHistory( CvMSERConnectedComp* comp,
 }
 
 // merging two connected component
-CV_INLINE static void
-icvMSERMergeComp( CvMSERConnectedComp* comp1,
-		  CvMSERConnectedComp* comp2,
-		  CvMSERConnectedComp* comp,
-		  CvMSERGrowHistory* history )
+static void
+MSERMergeComp( MSERConnectedComp* comp1,
+		  MSERConnectedComp* comp2,
+		  MSERConnectedComp* comp,
+		  MSERGrowHistory* history )
 {
-	CvLinkedPoint* head;
-	CvLinkedPoint* tail;
+	LinkedPoint* head;
+	LinkedPoint* tail;
 	comp->grey_level = comp2->grey_level;
 	history->child = history;
 	// select the winner by size
@@ -301,18 +308,17 @@ icvMSERMergeComp( CvMSERConnectedComp* comp1,
 	comp->size = comp1->size + comp2->size;
 }
 
-CV_INLINE static float
-icvMSERVariationCalc( CvMSERConnectedComp* comp,
-		      int delta )
+static float
+MSERVariationCalc( MSERConnectedComp* comp, int delta )
 {
-	CvMSERGrowHistory* history = comp->history;
+	MSERGrowHistory* history = comp->history;
 	int val = comp->grey_level;
 	if ( NULL != history )
 	{
-		CvMSERGrowHistory* shortcut = history->shortcut;
+		MSERGrowHistory* shortcut = history->shortcut;
 		while ( shortcut != shortcut->shortcut && shortcut->val + delta > val )
 			shortcut = shortcut->shortcut;
-		CvMSERGrowHistory* child = shortcut->child;
+		MSERGrowHistory* child = shortcut->child;
 		while ( child != child->child && child->val + delta <= val )
 		{
 			shortcut = child;
@@ -328,15 +334,13 @@ icvMSERVariationCalc( CvMSERConnectedComp* comp,
 	return 1.;
 }
 
-CV_INLINE static bool
-icvMSERStableCheck( CvMSERConnectedComp* comp,
-		    CvMSERParams params )
+static bool MSERStableCheck( MSERConnectedComp* comp, MSERParams params )
 {
 	// tricky part: it actually check the stablity of one-step back
 	if ( comp->history == NULL || comp->history->size <= params.minArea || comp->history->size >= params.maxArea )
 		return 0;
 	float div = (float)(comp->history->size-comp->history->stable)/(float)comp->history->size;
-	float var = icvMSERVariationCalc( comp, params.delta );
+	float var = MSERVariationCalc( comp, params.delta );
 	int dvar = ( comp->var < var || (unsigned long)(comp->history->val + 1) < comp->grey_level );
 	int stable = ( dvar && !comp->dvar && comp->var < params.maxVariation && div > params.minDiversity );
 	comp->var = var;
@@ -347,9 +351,7 @@ icvMSERStableCheck( CvMSERConnectedComp* comp,
 }
 
 // add a pixel to the pixel list
-CV_INLINE static void
-icvAccumulateMSERComp( CvMSERConnectedComp* comp,
-		       CvLinkedPoint* point )
+static void accumulateMSERComp( MSERConnectedComp* comp, LinkedPoint* point )
 {
 	if ( comp->size > 0 )
 	{
@@ -366,14 +368,12 @@ icvAccumulateMSERComp( CvMSERConnectedComp* comp,
 }
 
 // convert the point set to CvSeq
-CV_INLINE static CvContour*
-icvMSERToContour( CvMSERConnectedComp* comp,
-		  CvMemStorage* storage )
+static CvContour* MSERToContour( MSERConnectedComp* comp, CvMemStorage* storage )
 {
 	CvSeq* _contour = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvContour), sizeof(CvPoint), storage );
 	CvContour* contour = (CvContour*)_contour;
 	cvSeqPushMulti( _contour, 0, comp->history->size );
-	CvLinkedPoint* lpt = comp->head;
+	LinkedPoint* lpt = comp->head;
 	for ( int i = 0; i < comp->history->size; i++ )
 	{
 		CvPoint* pt = CV_GET_SEQ_ELEM( CvPoint, _contour, i );
@@ -391,8 +391,7 @@ icvMSERToContour( CvMSERConnectedComp* comp,
 // 17~19 bits is the direction
 // 8~11 bits is the bucket it falls to (for BitScanForward)
 // 0~8 bits is the color
-static int*
-icvPreprocessMSER_8UC1( CvMat* img,
+static int* preprocessMSER_8UC1( CvMat* img,
 			int*** heap_cur,
 			CvMat* src,
 			CvMat* mask )
@@ -476,17 +475,16 @@ icvPreprocessMSER_8UC1( CvMat* img,
 	return startptr;
 }
 
-static void
-icvExtractMSER_8UC1_Pass( int* ioptr,
+static void extractMSER_8UC1_Pass( int* ioptr,
 			  int* imgptr,
 			  int*** heap_cur,
-			  CvLinkedPoint* ptsptr,
-			  CvMSERGrowHistory* histptr,
-			  CvMSERConnectedComp* comptr,
+			  LinkedPoint* ptsptr,
+			  MSERGrowHistory* histptr,
+			  MSERConnectedComp* comptr,
 			  int step,
 			  int stepmask,
 			  int stepgap,
-			  CvMSERParams params,
+			  MSERParams params,
 			  int color,
 			  CvSeq* contours,
 			  CvMemStorage* storage )
@@ -494,7 +492,7 @@ icvExtractMSER_8UC1_Pass( int* ioptr,
 	comptr->grey_level = 256;
 	comptr++;
 	comptr->grey_level = (*imgptr)&0xff;
-	icvInitMSERComp( comptr );
+	initMSERComp( comptr );
 	*imgptr |= 0x80000000;
 	heap_cur += (*imgptr)&0xff;
 	int dir[] = { 1, step, -1, -step };
@@ -527,7 +525,7 @@ icvExtractMSER_8UC1_Pass( int* ioptr,
 #endif
 					imgptr = imgptr_nbr;
 					comptr++;
-					icvInitMSERComp( comptr );
+					initMSERComp( comptr );
 					comptr->grey_level = (*imgptr)&0xff;
 					continue;
 				} else {
@@ -544,7 +542,7 @@ icvExtractMSER_8UC1_Pass( int* ioptr,
 		int i = (int)(imgptr-ioptr);
 		ptsptr->pt = cvPoint( i&stepmask, i>>stepgap );
 		// get the current location
-		icvAccumulateMSERComp( comptr, ptsptr );
+		accumulateMSERComp( comptr, ptsptr );
 		ptsptr++;
 		// get the next pixel from boundary heap
 		if ( **heap_cur )
@@ -595,13 +593,13 @@ icvExtractMSER_8UC1_Pass( int* ioptr,
 				if ( pixel_val < comptr[-1].grey_level )
 				{
 					// check the stablity and push a new history, increase the grey level
-					if ( icvMSERStableCheck( comptr, params ) )
+					if ( MSERStableCheck( comptr, params ) )
 					{
-						CvContour* contour = icvMSERToContour( comptr, storage );
+						CvContour* contour = MSERToContour( comptr, storage );
 						contour->color = color;
 						cvSeqPush( contours, &contour );
 					}
-					icvMSERNewHistory( comptr, histptr );
+					MSERNewHistory( comptr, histptr );
 					comptr[0].grey_level = pixel_val;
 					histptr++;
 				} else {
@@ -609,20 +607,20 @@ icvExtractMSER_8UC1_Pass( int* ioptr,
 					for ( ; ; )
 					{
 						comptr--;
-						icvMSERMergeComp( comptr+1, comptr, comptr, histptr );
+						MSERMergeComp( comptr+1, comptr, comptr, histptr );
 						histptr++;
 						if ( pixel_val <= comptr[0].grey_level )
 							break;
 						if ( pixel_val < comptr[-1].grey_level )
 						{
 							// check the stablity here otherwise it wouldn't be an ER
-							if ( icvMSERStableCheck( comptr, params ) )
+							if ( MSERStableCheck( comptr, params ) )
 							{
-								CvContour* contour = icvMSERToContour( comptr, storage );
+								CvContour* contour = MSERToContour( comptr, storage );
 								contour->color = color;
 								cvSeqPush( contours, &contour );
 							}
-							icvMSERNewHistory( comptr, histptr );
+							MSERNewHistory( comptr, histptr );
 							comptr[0].grey_level = pixel_val;
 							histptr++;
 							break;
@@ -635,12 +633,11 @@ icvExtractMSER_8UC1_Pass( int* ioptr,
 	}
 }
 
-static void
-icvExtractMSER_8UC1( CvMat* src,
+static void extractMSER_8UC1( CvMat* src,
 		     CvMat* mask,
 		     CvSeq* contours,
 		     CvMemStorage* storage,
-		     CvMSERParams params )
+		     MSERParams params )
 {
 	int step = 8;
 	int stepgap = 3;
@@ -662,16 +659,16 @@ icvExtractMSER_8UC1( CvMat* src,
 	heap_start[0] = heap;
 
 	// pre-allocate linked point and grow history
-	CvLinkedPoint* pts = (CvLinkedPoint*)cvAlloc( src->rows*src->cols*sizeof(pts[0]) );
-	CvMSERGrowHistory* history = (CvMSERGrowHistory*)cvAlloc( src->rows*src->cols*sizeof(history[0]) );
-	CvMSERConnectedComp comp[257];
+	LinkedPoint* pts = (LinkedPoint*)cvAlloc( src->rows*src->cols*sizeof(pts[0]) );
+	MSERGrowHistory* history = (MSERGrowHistory*)cvAlloc( src->rows*src->cols*sizeof(history[0]) );
+	MSERConnectedComp comp[257];
 
 	// darker to brighter (MSER-)
-	imgptr = icvPreprocessMSER_8UC1( img, heap_start, src, mask );
-	icvExtractMSER_8UC1_Pass( ioptr, imgptr, heap_start, pts, history, comp, step, stepmask, stepgap, params, -1, contours, storage );
+	imgptr = preprocessMSER_8UC1( img, heap_start, src, mask );
+	extractMSER_8UC1_Pass( ioptr, imgptr, heap_start, pts, history, comp, step, stepmask, stepgap, params, -1, contours, storage );
 	// brighter to darker (MSER+)
-	imgptr = icvPreprocessMSER_8UC1( img, heap_start, src, mask );
-	icvExtractMSER_8UC1_Pass( ioptr, imgptr, heap_start, pts, history, comp, step, stepmask, stepgap, params, 1, contours, storage );
+	imgptr = preprocessMSER_8UC1( img, heap_start, src, mask );
+	extractMSER_8UC1_Pass( ioptr, imgptr, heap_start, pts, history, comp, step, stepmask, stepgap, params, 1, contours, storage );
 
 	// clean up
 	cvFree( &history );
@@ -680,26 +677,26 @@ icvExtractMSER_8UC1( CvMat* src,
 	cvReleaseMat( &img );
 }
 
-struct CvMSCRNode;
+struct MSCRNode;
 
-typedef struct CvTempMSCR
+struct TempMSCR
 {
-	CvMSCRNode* head;
-	CvMSCRNode* tail;
+	MSCRNode* head;
+	MSCRNode* tail;
 	double m; // the margin used to prune area later
 	int size;
-} CvTempMSCR;
+};
 
-typedef struct CvMSCRNode
+struct MSCRNode
 {
-	CvMSCRNode* shortcut;
+	MSCRNode* shortcut;
 	// to make the finding of root less painful
-	CvMSCRNode* prev;
-	CvMSCRNode* next;
+	MSCRNode* prev;
+	MSCRNode* next;
 	// a point double-linked list
-	CvTempMSCR* tmsr;
+	TempMSCR* tmsr;
 	// the temporary msr (set to NULL at every re-initialise)
-	CvTempMSCR* gmsr;
+	TempMSCR* gmsr;
 	// the global msr (once set, never to NULL)
 	int index;
 	// the index of the node, at this point, it should be x at the first 16-bits, and y at the last 16-bits.
@@ -708,25 +705,23 @@ typedef struct CvMSCRNode
 	int size, sizei;
 	double dt, di;
 	double s;
-} CvMSCRNode;
+};
 
-typedef struct CvMSCREdge
+struct MSCREdge
 {
 	double chi;
-	CvMSCRNode* left;
-	CvMSCRNode* right;
-} CvMSCREdge;
+	MSCRNode* left;
+	MSCRNode* right;
+};
 
-CV_INLINE static double
-icvChisquaredDistance( uchar* x, uchar* y )
+static double ChiSquaredDistance( uchar* x, uchar* y )
 {
 	return (double)((x[0]-y[0])*(x[0]-y[0]))/(double)(x[0]+y[0]+1e-10)+
 	       (double)((x[1]-y[1])*(x[1]-y[1]))/(double)(x[1]+y[1]+1e-10)+
 	       (double)((x[2]-y[2])*(x[2]-y[2]))/(double)(x[2]+y[2]+1e-10);
 }
 
-CV_INLINE static void
-icvInitMSCRNode( CvMSCRNode* node )
+static void initMSCRNode( MSCRNode* node )
 {
 	node->gmsr = node->tmsr = NULL;
 	node->reinit = 0xffff;
@@ -736,9 +731,8 @@ icvInitMSCRNode( CvMSCRNode* node )
 }
 
 // the preprocess to get the edge list with proper gaussian blur
-static int
-icvPreprocessMSER_8UC3( CvMSCRNode* node,
-			CvMSCREdge* edge,
+static int preprocessMSER_8UC3( MSCRNode* node,
+			MSCREdge* edge,
 			double* total,
 			CvMat* src,
 			CvMat* mask,
@@ -755,7 +749,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 	{
 		for ( int j = 0; j < src->cols-1; j++ )
 		{
-			*dxptr = icvChisquaredDistance( srcptr, lastptr );
+			*dxptr = ChiSquaredDistance( srcptr, lastptr );
 			dxptr++;
 			srcptr += 3;
 			lastptr += 3;
@@ -770,7 +764,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 	{
 		for ( int j = 0; j < src->cols; j++ )
 		{
-			*dyptr = icvChisquaredDistance( srcptr, lastptr );
+			*dyptr = ChiSquaredDistance( srcptr, lastptr );
 			dyptr++;
 			srcptr += 3;
 			lastptr += 3;
@@ -793,8 +787,8 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 		Ne = 0;
 		int maskcpt = mask->step-mask->cols+1;
 		uchar* maskptr = mask->data.ptr;
-		CvMSCRNode* nodeptr = node;
-		icvInitMSCRNode( nodeptr );
+		MSCRNode* nodeptr = node;
+		initMSCRNode( nodeptr );
 		nodeptr->index = 0;
 		*total += edge->chi = *dxptr;
 		if ( maskptr[0] && maskptr[1] )
@@ -809,7 +803,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 		maskptr++;
 		for ( int i = 1; i < src->cols-1; i++ )
 		{
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = i;
 			if ( maskptr[0] && maskptr[1] )
 			{
@@ -823,13 +817,13 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			nodeptr++;
 			maskptr++;
 		}
-		icvInitMSCRNode( nodeptr );
+		initMSCRNode( nodeptr );
 		nodeptr->index = src->cols-1;
 		nodeptr++;
 		maskptr += maskcpt;
 		for ( int i = 1; i < src->rows-1; i++ )
 		{
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = i<<16;
 			if ( maskptr[0] )
 			{
@@ -856,7 +850,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			maskptr++;
 			for ( int j = 1; j < src->cols-1; j++ )
 			{
-				icvInitMSCRNode( nodeptr );
+				initMSCRNode( nodeptr );
 				nodeptr->index = (i<<16)|j;
 				if ( maskptr[0] )
 				{
@@ -882,7 +876,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 				nodeptr++;
 				maskptr++;
 			}
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = (i<<16)|(src->cols-1);
 			if ( maskptr[0] && maskptr[-mask->step] )
 			{
@@ -896,7 +890,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			nodeptr++;
 			maskptr += maskcpt;
 		}
-		icvInitMSCRNode( nodeptr );
+		initMSCRNode( nodeptr );
 		nodeptr->index = (src->rows-1)<<16;
 		if ( maskptr[0] )
 		{
@@ -923,7 +917,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 		maskptr++;
 		for ( int i = 1; i < src->cols-1; i++ )
 		{
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = ((src->rows-1)<<16)|i;
 			if ( maskptr[0] )
 			{
@@ -949,7 +943,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			nodeptr++;
 			maskptr++;
 		}
-		icvInitMSCRNode( nodeptr );
+		initMSCRNode( nodeptr );
 		nodeptr->index = ((src->rows-1)<<16)|(src->cols-1);
 		if ( maskptr[0] && maskptr[-mask->step] )
 		{
@@ -959,8 +953,8 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			Ne++;
 		}
 	} else {
-		CvMSCRNode* nodeptr = node;
-		icvInitMSCRNode( nodeptr );
+		MSCRNode* nodeptr = node;
+		initMSCRNode( nodeptr );
 		nodeptr->index = 0;
 		*total += edge->chi = *dxptr;
 		dxptr++;
@@ -970,7 +964,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 		nodeptr++;
 		for ( int i = 1; i < src->cols-1; i++ )
 		{
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = i;
 			*total += edge->chi = *dxptr;
 			dxptr++;
@@ -979,12 +973,12 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			edge++;
 			nodeptr++;
 		}
-		icvInitMSCRNode( nodeptr );
+		initMSCRNode( nodeptr );
 		nodeptr->index = src->cols-1;
 		nodeptr++;
 		for ( int i = 1; i < src->rows-1; i++ )
 		{
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = i<<16;
 			*total += edge->chi = *dyptr;
 			dyptr++;
@@ -999,7 +993,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			nodeptr++;
 			for ( int j = 1; j < src->cols-1; j++ )
 			{
-				icvInitMSCRNode( nodeptr );
+				initMSCRNode( nodeptr );
 				nodeptr->index = (i<<16)|j;
 				*total += edge->chi = *dyptr;
 				dyptr++;
@@ -1013,7 +1007,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 				edge++;
 				nodeptr++;
 			}
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = (i<<16)|(src->cols-1);
 			*total += edge->chi = *dyptr;
 			dyptr++;
@@ -1022,7 +1016,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			edge++;
 			nodeptr++;
 		}
-		icvInitMSCRNode( nodeptr );
+		initMSCRNode( nodeptr );
 		nodeptr->index = (src->rows-1)<<16;
 		*total += edge->chi = *dxptr;
 		dxptr++;
@@ -1037,7 +1031,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 		nodeptr++;
 		for ( int i = 1; i < src->cols-1; i++ )
 		{
-			icvInitMSCRNode( nodeptr );
+			initMSCRNode( nodeptr );
 			nodeptr->index = ((src->rows-1)<<16)|i;
 			*total += edge->chi = *dxptr;
 			dxptr++;
@@ -1051,7 +1045,7 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 			edge++;
 			nodeptr++;
 		}
-		icvInitMSCRNode( nodeptr );
+		initMSCRNode( nodeptr );
 		nodeptr->index = ((src->rows-1)<<16)|(src->cols-1);
 		*total += edge->chi = *dyptr;
 		edge->left = nodeptr-src->cols;
@@ -1063,14 +1057,13 @@ icvPreprocessMSER_8UC3( CvMSCRNode* node,
 #define cmp_mscr_edge(edge1, edge2) \
 	((edge1).chi < (edge2).chi)
 
-static CV_IMPLEMENT_QSORT( icvQuickSortMSCREdge, CvMSCREdge, cmp_mscr_edge )
+static CV_IMPLEMENT_QSORT( QuickSortMSCREdge, MSCREdge, cmp_mscr_edge )
 
 // to find the root of one region
-CV_INLINE static CvMSCRNode*
-icvFindMSCR( CvMSCRNode* x )
+static MSCRNode* findMSCR( MSCRNode* x )
 {
-	CvMSCRNode* prev = x;
-	CvMSCRNode* next;
+	MSCRNode* prev = x;
+	MSCRNode* next;
 	for ( ; ; )
 	{
 		next = x->shortcut;
@@ -1079,7 +1072,7 @@ icvFindMSCR( CvMSCRNode* x )
 		prev= x;
 		x = next;
 	}
-	CvMSCRNode* root = x;
+	MSCRNode* root = x;
 	for ( ; ; )
 	{
 		prev = x->shortcut;
@@ -1093,9 +1086,7 @@ icvFindMSCR( CvMSCRNode* x )
 // the stable mscr should be:
 // bigger than minArea and smaller than maxArea
 // differ from its ancestor more than minDiversity
-CV_INLINE static bool
-icvMSCRStableCheck( CvMSCRNode* x,
-		    CvMSERParams params )
+static bool MSCRStableCheck( MSCRNode* x, MSERParams params )
 {
 	if ( x->size <= params.minArea || x->size >= params.maxArea )
 		return 0;
@@ -1106,25 +1097,25 @@ icvMSCRStableCheck( CvMSCRNode* x,
 }
 
 static void
-icvExtractMSER_8UC3( CvMat* src,
+extractMSER_8UC3( CvMat* src,
 		     CvMat* mask,
 		     CvSeq* contours,
 		     CvMemStorage* storage,
-		     CvMSERParams params )
+		     MSERParams params )
 {
-	CvMSCRNode* map = (CvMSCRNode*)cvAlloc( src->cols*src->rows*sizeof(map[0]) );
+	MSCRNode* map = (MSCRNode*)cvAlloc( src->cols*src->rows*sizeof(map[0]) );
 	int Ne = src->cols*src->rows*2-src->cols-src->rows;
-	CvMSCREdge* edge = (CvMSCREdge*)cvAlloc( Ne*sizeof(edge[0]) );
-	CvTempMSCR* mscr = (CvTempMSCR*)cvAlloc( src->cols*src->rows*sizeof(mscr[0]) );
+	MSCREdge* edge = (MSCREdge*)cvAlloc( Ne*sizeof(edge[0]) );
+	TempMSCR* mscr = (TempMSCR*)cvAlloc( src->cols*src->rows*sizeof(mscr[0]) );
 	double emean = 0;
 	CvMat* dx = cvCreateMat( src->rows, src->cols-1, CV_64FC1 );
 	CvMat* dy = cvCreateMat( src->rows-1, src->cols, CV_64FC1 );
-	Ne = icvPreprocessMSER_8UC3( map, edge, &emean, src, mask, dx, dy, Ne, params.edgeBlurSize );
+	Ne = preprocessMSER_8UC3( map, edge, &emean, src, mask, dx, dy, Ne, params.edgeBlurSize );
 	emean = emean / (double)Ne;
-	icvQuickSortMSCREdge( edge, Ne, 0 );
-	CvMSCREdge* edge_ub = edge+Ne;
-	CvMSCREdge* edgeptr = edge;
-	CvTempMSCR* mscrptr = mscr;
+	QuickSortMSCREdge( edge, Ne, 0 );
+	MSCREdge* edge_ub = edge+Ne;
+	MSCREdge* edgeptr = edge;
+	TempMSCR* mscrptr = mscr;
 	// the evolution process
 	for ( int i = 0; i < params.maxEvolution; i++ )
 	{
@@ -1135,21 +1126,21 @@ icvExtractMSER_8UC3( CvMat* src,
 		// to process all the edges in the list that chi < thres
 		while ( edgeptr < edge_ub && edgeptr->chi < thres )
 		{
-			CvMSCRNode* lr = icvFindMSCR( edgeptr->left );
-			CvMSCRNode* rr = icvFindMSCR( edgeptr->right );
+			MSCRNode* lr = findMSCR( edgeptr->left );
+			MSCRNode* rr = findMSCR( edgeptr->right );
 			// get the region root (who is responsible)
 			if ( lr != rr )
 			{
 				// rank idea take from: N-tree Disjoint-Set Forests for Maximally Stable Extremal Regions
 				if ( rr->rank > lr->rank )
 				{
-					CvMSCRNode* tmp;
+					MSCRNode* tmp;
 					CV_SWAP( lr, rr, tmp );
 				} else if ( lr->rank == rr->rank ) {
 					// at the same rank, we will compare the size
 					if ( lr->size > rr->size )
 					{
-						CvMSCRNode* tmp;
+						MSCRNode* tmp;
 						CV_SWAP( lr, rr, tmp );
 					}
 					lr->rank++;
@@ -1181,7 +1172,7 @@ icvExtractMSER_8UC3( CvMat* src,
 					if ( s < lr->s )
 					{
 						// skip the first one and check stablity
-						if ( i > lr->reinit+1 && icvMSCRStableCheck( lr, params ) )
+						if ( i > lr->reinit+1 && MSCRStableCheck( lr, params ) )
 						{
 							if ( lr->tmsr == NULL )
 							{
@@ -1202,13 +1193,13 @@ icvExtractMSER_8UC3( CvMat* src,
 		if ( edgeptr >= edge_ub )
 			break;
 	}
-	for ( CvTempMSCR* ptr = mscr; ptr < mscrptr; ptr++ )
+	for ( TempMSCR* ptr = mscr; ptr < mscrptr; ptr++ )
 		// to prune area with margin less than minMargin
 		if ( ptr->m > params.minMargin )
 		{
 			CvSeq* _contour = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvContour), sizeof(CvPoint), storage );
 			cvSeqPushMulti( _contour, 0, ptr->size );
-			CvMSCRNode* lpt = ptr->head;
+			MSCRNode* lpt = ptr->head;
 			for ( int i = 0; i < ptr->size; i++ )
 			{
 				CvPoint* pt = CV_GET_SEQ_ELEM( CvPoint, _contour, i );
@@ -1228,12 +1219,12 @@ icvExtractMSER_8UC3( CvMat* src,
 	cvFree( &map );
 }
 
-void
-cvExtractMSER( CvArr* _img,
+static void
+extractMSER( CvArr* _img,
 	       CvArr* _mask,
 	       CvSeq** _contours,
 	       CvMemStorage* storage,
-	       CvMSERParams params )
+	       MSERParams params )
 {
 	CvMat srchdr, *src = cvGetMat( _img, &srchdr );
 	CvMat maskhdr, *mask = _mask ? cvGetMat( _mask, &maskhdr ) : 0;
@@ -1252,30 +1243,24 @@ cvExtractMSER( CvArr* _img,
 	switch ( CV_MAT_TYPE(src->type) )
 	{
 		case CV_8UC1:
-			icvExtractMSER_8UC1( src, mask, contours, storage, params );
+			extractMSER_8UC1( src, mask, contours, storage, params );
 			break;
 		case CV_8UC3:
-			icvExtractMSER_8UC3( src, mask, contours, storage, params );
+			extractMSER_8UC3( src, mask, contours, storage, params );
 			break;
 	}
 }
 
 
-namespace cv
-{
-
-MSER::MSER()
-{
-    *(CvMSERParams*)this = cvMSERParams();
-}
-
 MSER::MSER( int _delta, int _min_area, int _max_area,
       double _max_variation, double _min_diversity,
       int _max_evolution, double _area_threshold,
       double _min_margin, int _edge_blur_size )
+    : delta(_delta), minArea(_min_area), maxArea(_max_area),
+    maxVariation(_max_variation), minDiversity(_min_diversity),
+    maxEvolution(_max_evolution), areaThreshold(_area_threshold),
+    minMargin(_min_margin), edgeBlurSize(_edge_blur_size)
 {
-    *(CvMSERParams*)this = cvMSERParams(_delta, _min_area, _max_area, (float)_max_variation,
-        (float)_min_diversity, _max_evolution, _area_threshold, _min_margin, _edge_blur_size);
 }
 
 void MSER::operator()( const Mat& image, vector<vector<Point> >& dstcontours, const Mat& mask ) const
@@ -1285,12 +1270,56 @@ void MSER::operator()( const Mat& image, vector<vector<Point> >& dstcontours, co
         pmask = &(_mask = mask);
     MemStorage storage(cvCreateMemStorage(0));
     Seq<CvSeq*> contours;
-    cvExtractMSER( &_image, pmask, &contours.seq, storage, *(const CvMSERParams*)this );
+    extractMSER( &_image, pmask, &contours.seq, storage,
+                 MSERParams(delta, minArea, maxArea, maxVariation, minDiversity,
+                            maxEvolution, areaThreshold, minMargin, edgeBlurSize));
     SeqIterator<CvSeq*> it = contours.begin();
     size_t i, ncontours = contours.size();
     dstcontours.resize(ncontours);
     for( i = 0; i < ncontours; i++, ++it )
         Seq<Point>(*it).copyTo(dstcontours[i]);
 }
+    
+
+void MserFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
+{
+    vector<vector<Point> > msers;
+    
+    (*this)(image, msers, mask);
+    
+    vector<vector<Point> >::const_iterator contour_it = msers.begin();
+    for( ; contour_it != msers.end(); ++contour_it )
+    {
+        // TODO check transformation from MSER region to KeyPoint
+        RotatedRect rect = fitEllipse(Mat(*contour_it));
+        float diam = sqrt(rect.size.height*rect.size.width);
+        
+        if( diam > std::numeric_limits<float>::epsilon() )
+            keypoints.push_back( KeyPoint( rect.center, diam, rect.angle) );
+    }
+}
+    
+static Algorithm* createMSER() { return new MSER; }
+static AlgorithmInfo mser_info("Feature2D.MSER", createMSER);
+    
+AlgorithmInfo* MSER::info() const
+{
+    static volatile bool initialized = false;
+    if( !initialized )
+    {
+        mser_info.addParam(this, "delta", delta);
+        mser_info.addParam(this, "minArea", minArea);
+        mser_info.addParam(this, "maxArea", maxArea);
+        mser_info.addParam(this, "maxVariation", maxVariation);
+        mser_info.addParam(this, "minDiversity", minDiversity);
+        mser_info.addParam(this, "maxEvolution", maxEvolution);
+        mser_info.addParam(this, "areaThreshold", areaThreshold);
+        mser_info.addParam(this, "minMargin", minMargin);
+        mser_info.addParam(this, "edgeBlurSize", edgeBlurSize);
+        
+        initialized = true;
+    }
+    return &mser_info;
+}    
 
 }

modules/features2d/src/orb.cpp

@@ -94,27 +94,6 @@ HarrisResponses(const Mat& img, vector<KeyPoint>& pts, int blockSize, float harr
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-struct KeypointResponseGreaterThanThreshold
-{
-    KeypointResponseGreaterThanThreshold(float _value) :
-    value(_value)
-    {
-    }
-    inline bool operator()(const KeyPoint& kpt) const
-    {
-        return kpt.response >= value;
-    }
-    float value;
-};
-    
-struct KeypointResponseGreater
-{
-    inline bool operator()(const KeyPoint& kp1, const KeyPoint& kp2) const
-    {
-        return kp1.response > kp2.response;
-    }
-};
-
 static float IC_Angle(const Mat& image, const int half_k, Point2f pt,
                       const vector<int> & u_max)
 {
@@ -224,37 +203,37 @@ static void computeOrbDescriptor(const KeyPoint& kpt,
     {
         for (int i = 0; i < dsize; ++i, pattern += 16)
         {
-            int t0, t1, t2, t3, a, b, k, val;
+            int t0, t1, t2, t3, u, v, k, val;
             t0 = GET_VALUE(0); t1 = GET_VALUE(1);
             t2 = GET_VALUE(2); t3 = GET_VALUE(3);
-            a = 0, b = 2;
-            if( t1 > t0 ) t0 = t1, a = 1;
-            if( t3 > t2 ) t2 = t3, b = 3;
-            k = t0 > t2 ? a : b;
+            u = 0, v = 2;
+            if( t1 > t0 ) t0 = t1, u = 1;
+            if( t3 > t2 ) t2 = t3, v = 3;
+            k = t0 > t2 ? u : v;
             val = k;
             
             t0 = GET_VALUE(4); t1 = GET_VALUE(5);
             t2 = GET_VALUE(6); t3 = GET_VALUE(7);
-            a = 0, b = 2;
-            if( t1 > t0 ) t0 = t1, a = 1;
-            if( t3 > t2 ) t2 = t3, b = 3;
-            k = t0 > t2 ? a : b;
+            u = 0, v = 2;
+            if( t1 > t0 ) t0 = t1, u = 1;
+            if( t3 > t2 ) t2 = t3, v = 3;
+            k = t0 > t2 ? u : v;
             val |= k << 2;
             
             t0 = GET_VALUE(8); t1 = GET_VALUE(9);
             t2 = GET_VALUE(10); t3 = GET_VALUE(11);
-            a = 0, b = 2;
-            if( t1 > t0 ) t0 = t1, a = 1;
-            if( t3 > t2 ) t2 = t3, b = 3;
-            k = t0 > t2 ? a : b;
+            u = 0, v = 2;
+            if( t1 > t0 ) t0 = t1, u = 1;
+            if( t3 > t2 ) t2 = t3, v = 3;
+            k = t0 > t2 ? u : v;
             val |= k << 4;
             
             t0 = GET_VALUE(12); t1 = GET_VALUE(13);
             t2 = GET_VALUE(14); t3 = GET_VALUE(15);
-            a = 0, b = 2;
-            if( t1 > t0 ) t0 = t1, a = 1;
-            if( t3 > t2 ) t2 = t3, b = 3;
-            k = t0 > t2 ? a : b;
+            u = 0, v = 2;
+            if( t1 > t0 ) t0 = t1, u = 1;
+            if( t3 > t2 ) t2 = t3, v = 3;
+            k = t0 > t2 ? u : v;
             val |= k << 6;
             
             desc[i] = (uchar)val;
@@ -567,166 +546,193 @@ static void makeRandomPattern(int patchSize, Point* pattern, int npoints)
 }
 
     
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-void ORB::CommonParams::read(const FileNode& fn)
+static Algorithm* createORB() { return new ORB; }
+static AlgorithmInfo orb_info("Feature2D.ORB", createORB);
+    
+AlgorithmInfo* ORB::info() const
 {
-    scale_factor_ = fn["scaleFactor"];
-    n_levels_ = int(fn["nLevels"]);
-    first_level_ = int(fn["firstLevel"]);
-    edge_threshold_ = fn["edgeThreshold"];
-    patch_size_ = fn["patchSize"];
-    WTA_K_ = fn["WTA_K"];
-    if( WTA_K_ == 0 ) WTA_K_ = 2;
-    score_type_ = fn["scoreType"];
+    static volatile bool initialized = false;
+    if( !initialized )
+    {
+        orb_info.addParam(this, "nFeatures", nfeatures);
+        orb_info.addParam(this, "scaleFactor", scaleFactor);
+        orb_info.addParam(this, "nLevels", nlevels);
+        orb_info.addParam(this, "firstLevel", firstLevel);
+        orb_info.addParam(this, "edgeThreshold", edgeThreshold);
+        orb_info.addParam(this, "patchSize", patchSize);
+        orb_info.addParam(this, "WTA_K", WTA_K);
+        orb_info.addParam(this, "scoreType", scoreType);
+        
+        initialized = true;
+    }
+    return &orb_info;
 }
-
-void ORB::CommonParams::write(FileStorage& fs) const
+    
+static inline float getScale(int level, int firstLevel, double scaleFactor)
 {
-    fs << "scaleFactor" << scale_factor_;
-    fs << "nLevels" << int(n_levels_);
-    fs << "firstLevel" << int(first_level_);
-    fs << "edgeThreshold" << int(edge_threshold_);
-    fs << "patchSize" << int(patch_size_);
-    fs << "WTA_K" << WTA_K_;
-    fs << "scoreType" << score_type_;
+    return (float)std::pow(scaleFactor, (double)(level - firstLevel));
 }
 
-void ORB::read(const FileNode& fn)
+/** Constructor
+ * @param detector_params parameters to use
+ */
+ORB::ORB(int _nfeatures, float _scaleFactor, int _nlevels, int _edgeThreshold,
+         int _firstLevel, int WTA_K, int _scoreType, int _patchSize) :
+    nfeatures(_nfeatures), scaleFactor(_scaleFactor), nlevels(_nlevels),
+    edgeThreshold(_edgeThreshold), firstLevel(_firstLevel), WTA_K(WTA_K),
+    scoreType(_scoreType), patchSize(_patchSize)
+{}
+
+
+int ORB::descriptorSize() const
 {
-    CommonParams params;
-    params.read(fn);
-    int n_features = int(fn["nFeatures"]);
-    *this = ORB(n_features, params);
+    return kBytes;
 }
 
-void ORB::write(FileStorage& fs) const
+int ORB::descriptorType() const
 {
-    params_.write(fs);
-    fs << "nFeatures" << int(n_features_);
+    return CV_8U;
+}    
+    
+/** Compute the ORB features and descriptors on an image
+ * @param img the image to compute the features and descriptors on
+ * @param mask the mask to apply
+ * @param keypoints the resulting keypoints
+ */
+void ORB::operator()(InputArray image, InputArray mask, vector<KeyPoint>& keypoints) const
+{
+    (*this)(image, mask, keypoints, noArray(), false);
 }
 
-static inline float get_scale(const ORB::CommonParams& params, int level)
+
+/** Compute the ORB keypoint orientations
+ * @param image the image to compute the features and descriptors on
+ * @param integral_image the integral image of the iamge (can be empty, but the computation will be slower)
+ * @param scale the scale at which we compute the orientation
+ * @param keypoints the resulting keypoints
+ */
+static void computeOrientation(const Mat& image, vector<KeyPoint>& keypoints,
+                               int halfPatchSize, const vector<int>& umax)
 {
-    return std::pow(params.scale_factor_, float(level) - float(params.first_level_));
+    // Process each keypoint
+    for (vector<KeyPoint>::iterator keypoint = keypoints.begin(),
+         keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint)
+    {
+        keypoint->angle = IC_Angle(image, halfPatchSize, keypoint->pt, umax);
+    }
 }
+    
 
-/** Constructor
- * @param detector_params parameters to use
+/** Compute the ORB keypoints on an image
+ * @param image_pyramid the image pyramid to compute the features and descriptors on
+ * @param mask_pyramid the masks to apply at every level
+ * @param keypoints the resulting keypoints, clustered per level
  */
-ORB::ORB(size_t n_features, const CommonParams & detector_params) :
-    params_(detector_params), n_features_(n_features)
+static void computeKeyPoints(const vector<Mat>& imagePyramid,
+                             const vector<Mat>& maskPyramid,
+                             vector<vector<KeyPoint> >& allKeypoints,
+                             int nfeatures, int firstLevel, double scaleFactor,
+                             int edgeThreshold, int patchSize, int scoreType )
 {
+    int nlevels = (int)imagePyramid.size();
+    vector<int> nfeaturesPerLevel(nlevels);
+    
     // fill the extractors and descriptors for the corresponding scales
-    int n_levels = (int)params_.n_levels_;
-    float factor = (float)(1.0 / params_.scale_factor_);
-    float n_desired_features_per_scale = n_features_*(1 - factor)/(1 - (float)pow((double)factor, (double)n_levels));
+    float factor = (float)(1.0 / scaleFactor);
+    float ndesiredFeaturesPerScale = nfeatures*(1 - factor)/(1 - (float)pow((double)factor, (double)nlevels));
     
-    n_features_per_level_.resize(n_levels);
-    int sum_n_features = 0;
-    for( int level = 0; level < n_levels-1; level++ )
+    int sumFeatures = 0;
+    for( int level = 0; level < nlevels-1; level++ )
     {
-        n_features_per_level_[level] = cvRound(n_desired_features_per_scale);
-        sum_n_features += n_features_per_level_[level];
-        n_desired_features_per_scale *= factor;
+        nfeaturesPerLevel[level] = cvRound(ndesiredFeaturesPerScale);
+        sumFeatures += nfeaturesPerLevel[level];
+        ndesiredFeaturesPerScale *= factor;
     }
-    n_features_per_level_[n_levels-1] = n_features - sum_n_features;
+    nfeaturesPerLevel[nlevels-1] = std::max(nfeatures - sumFeatures, 0);
     
     // Make sure we forget about what is too close to the boundary
-    //params_.edge_threshold_ = std::max(params_.edge_threshold_, params_.patch_size_/2 + kKernelWidth / 2 + 2);
+    //edge_threshold_ = std::max(edge_threshold_, patch_size_/2 + kKernelWidth / 2 + 2);
     
     // pre-compute the end of a row in a circular patch
-    int half_patch_size = params_.patch_size_ / 2;
-    u_max_.resize(half_patch_size + 1);
-    for (int v = 0; v <= half_patch_size * sqrt(2.f) / 2 + 1; ++v)
-        u_max_[v] = cvRound(sqrt(float(half_patch_size * half_patch_size - v * v)));
+    int halfPatchSize = patchSize / 2;
+    vector<int> umax(halfPatchSize + 1);
     
-    // Make sure we are symmetric
-    for (int v = half_patch_size, v_0 = 0; v >= half_patch_size * sqrt(2.f) / 2; --v)
-    {
-        while (u_max_[v_0] == u_max_[v_0 + 1])
-            ++v_0;
-        u_max_[v] = v_0;
-        ++v_0;
-    }
+    int v, v0, vmax = cvFloor(halfPatchSize * sqrt(2.f) / 2 + 1);
+    int vmin = cvCeil(halfPatchSize * sqrt(2.f) / 2);
+    for (v = 0; v <= vmax; ++v)
+        umax[v] = cvRound(sqrt(halfPatchSize * halfPatchSize - v * v));
     
-    const int npoints = 512;
-    Point pattern_buf[npoints];
-    const Point* pattern0 = (const Point*)bit_pattern_31_;
-    if( params_.patch_size_ != 31 )
+    // Make sure we are symmetric
+    for (v = halfPatchSize, v0 = 0; v >= vmin; --v)
     {
-        pattern0 = pattern_buf;
-        makeRandomPattern(params_.patch_size_, pattern_buf, npoints);
+       while (umax[v0] == umax[v0 + 1])
+            ++v0;
+        umax[v] = v0;
+        ++v0;
     }
     
-    CV_Assert( params_.WTA_K_ == 2 || params_.WTA_K_ == 3 || params_.WTA_K_ == 4 );
+    allKeypoints.resize(nlevels);
     
-    if( params_.WTA_K_ == 2 )
-        std::copy(pattern0, pattern0 + npoints, back_inserter(pattern));
-    else
+    for (int level = 0; level < nlevels; ++level)
     {
-        int ntuples = descriptorSize()*4;
-        initializeOrbPattern(pattern0, pattern, ntuples, params_.WTA_K_, npoints);
+        int nfeatures = nfeaturesPerLevel[level];
+        allKeypoints[level].reserve(nfeatures*2);
+        
+        vector<KeyPoint> & keypoints = allKeypoints[level];
+        
+        // Detect FAST features, 20 is a good threshold
+        FastFeatureDetector fd(20, true);
+        fd.detect(imagePyramid[level], keypoints, maskPyramid[level]);
+        
+        // Remove keypoints very close to the border
+        KeyPointsFilter::runByImageBorder(keypoints, imagePyramid[level].size(), edgeThreshold);
+        
+        if( scoreType == ORB::HARRIS_SCORE )
+        {
+            // Keep more points than necessary as FAST does not give amazing corners
+            KeyPointsFilter::retainBest(keypoints, 2 * nfeatures);
+            
+            // Compute the Harris cornerness (better scoring than FAST)
+            HarrisResponses(imagePyramid[level], keypoints, 7, HARRIS_K);
+        }
+        
+        //cull to the final desired level, using the new Harris scores or the original FAST scores.
+        KeyPointsFilter::retainBest(keypoints, nfeatures);  
+        
+        float sf = getScale(level, firstLevel, scaleFactor);
+        
+        // Set the level of the coordinates
+        for (vector<KeyPoint>::iterator keypoint = keypoints.begin(),
+             keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint)
+        {
+            keypoint->octave = level;
+            keypoint->size = patchSize*sf;
+        }
+        
+        computeOrientation(imagePyramid[level], keypoints, halfPatchSize, umax);
     }
-}
-
-
-/** destructor to empty the patterns */
-ORB::~ORB()
-{
-}
-
-/** returns the descriptor size in bytes */
-int ORB::descriptorSize() const
-{
-    return kBytes;
-}
+}    
 
-/** Compute the ORB features and descriptors on an image
- * @param img the image to compute the features and descriptors on
- * @param mask the mask to apply
- * @param keypoints the resulting keypoints
- */
-void ORB::operator()(const Mat &image, const Mat &mask, vector<KeyPoint> & keypoints)
-{
-    Mat empty_descriptors;
-    this->operator ()(image, mask, keypoints, empty_descriptors, true, false);
-}
-
-/** Compute the ORB features and descriptors on an image
- * @param img the image to compute the features and descriptors on
- * @param mask the mask to apply
- * @param keypoints the resulting keypoints
+    
+/** Compute the ORB decriptors
+ * @param image the image to compute the features and descriptors on
+ * @param integral_image the integral image of the image (can be empty, but the computation will be slower)
+ * @param level the scale at which we compute the orientation
+ * @param keypoints the keypoints to use
  * @param descriptors the resulting descriptors
- * @param useProvidedKeypoints if true, the keypoints are used as an input
  */
-void ORB::operator()(const Mat &image, const Mat &mask, vector<KeyPoint> & keypoints,
-                     Mat & descriptors, bool useProvidedKeypoints)
+static void computeDescriptors(const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors,
+                               const vector<Point>& pattern, int dsize, int WTA_K)
 {
-    this->operator ()(image, mask, keypoints, descriptors, !useProvidedKeypoints, true);
-}
-
-//takes keypoints and culls them by the response
-static void cull(vector<KeyPoint>& keypoints, size_t n_points)
-{
-    //this is only necessary if the keypoints size is greater than the number of desired points.
-    if (keypoints.size() > n_points)
-    {
-        if (n_points==0) {
-            keypoints.clear();
-            return;
-        }
-        //first use nth element to partition the keypoints into the best and worst.
-        std::nth_element(keypoints.begin(), keypoints.begin() + n_points, keypoints.end(), KeypointResponseGreater());
-        //this is the boundary response, and in the case of FAST may be ambigous
-        float ambiguous_response = keypoints[n_points - 1].response;
-        //use std::partition to grab all of the keypoints with the boundary response.
-        vector<KeyPoint>::const_iterator new_end =
-        std::partition(keypoints.begin() + n_points, keypoints.end(),
-                       KeypointResponseGreaterThanThreshold(ambiguous_response));
-        //resize the keypoints, given this new end point. nth_element and partition reordered the points inplace
-        keypoints.resize(new_end - keypoints.begin());
-    }
+    //convert to grayscale if more than one color
+    CV_Assert(image.type() == CV_8UC1);
+    //create the descriptor mat, keypoints.size() rows, BYTES cols
+    descriptors = Mat::zeros((int)keypoints.size(), dsize, CV_8UC1);
+    
+    for (size_t i = 0; i < keypoints.size(); i++)
+        computeOrbDescriptor(keypoints[i], image, &pattern[0], descriptors.ptr((int)i), dsize, WTA_K);
 }
     
     
@@ -738,24 +744,25 @@ static void cull(vector<KeyPoint>& keypoints, size_t n_points)
  * @param do_keypoints if true, the keypoints are computed, otherwise used as an input
  * @param do_descriptors if true, also computes the descriptors
  */
-void ORB::operator()(const Mat &image_in, const Mat &mask, vector<KeyPoint> & keypoints_in_out,
-                     Mat& descriptors, bool do_keypoints, bool do_descriptors)
+void ORB::operator()( InputArray _image, InputArray _mask, vector<KeyPoint>& _keypoints,
+                      OutputArray _descriptors, bool useProvidedKeypoints) const
 {
-    if (((!do_keypoints) && (!do_descriptors)) || (image_in.empty()))
+    bool do_keypoints = !useProvidedKeypoints;
+    bool do_descriptors = _descriptors.needed();
+    
+    if( (!do_keypoints && !do_descriptors) || _image.empty() )
         return;
     
     //ROI handling
     const int HARRIS_BLOCK_SIZE = 9;
-    int half_patch_size = params_.patch_size_ / 2;
-    int border = std::max(params_.edge_threshold_, std::max(half_patch_size, HARRIS_BLOCK_SIZE/2))+1;
+    int halfPatchSize = patchSize / 2;
+    int border = std::max(edgeThreshold, std::max(halfPatchSize, HARRIS_BLOCK_SIZE/2))+1;
     
-    Mat image;
-    if (image_in.type() != CV_8UC1)
-        cvtColor(image_in, image, CV_BGR2GRAY);
-    else
-        image = image_in;
+    Mat image = _image.getMat(), mask = _mask.getMat();
+    if( image.type() != CV_8UC1 )
+        cvtColor(_image, image, CV_BGR2GRAY);
     
-    int n_levels = (int)params_.n_levels_;  
+    int nlevels = this->nlevels;
     
     if( !do_keypoints )
     {
@@ -768,46 +775,46 @@ void ORB::operator()(const Mat &image_in, const Mat &mask, vector<KeyPoint> & ke
         //
         // In short, ultimately the descriptor should
         // ignore octave parameter and deal only with the keypoint size.
-        n_levels = 0;
-        for( size_t i = 0; i < keypoints_in_out.size(); i++ )
-            n_levels = std::max(n_levels, std::max(keypoints_in_out[i].octave, 0));
-        n_levels++;
+        nlevels = 0;
+        for( size_t i = 0; i < _keypoints.size(); i++ )
+            nlevels = std::max(nlevels, std::max(_keypoints[i].octave, 0));
+        nlevels++;
     }
     
     // Pre-compute the scale pyramids
-    vector<Mat> image_pyramid(n_levels), mask_pyramid(n_levels);
-    for (int level = 0; level < n_levels; ++level)
+    vector<Mat> imagePyramid(nlevels), maskPyramid(nlevels);
+    for (int level = 0; level < nlevels; ++level)
     {
-        float scale = 1/get_scale(params_, level);
+        float scale = 1/getScale(level, firstLevel, scale);
         Size sz(cvRound(image.cols*scale), cvRound(image.rows*scale));
         Size wholeSize(sz.width + border*2, sz.height + border*2);
         Mat temp(wholeSize, image.type()), masktemp;
-        image_pyramid[level] = temp(Rect(border, border, sz.width, sz.height));
+        imagePyramid[level] = temp(Rect(border, border, sz.width, sz.height));
         
         if( !mask.empty() )
         {
             masktemp = Mat(wholeSize, mask.type());
-            mask_pyramid[level] = masktemp(Rect(border, border, sz.width, sz.height));
+            maskPyramid[level] = masktemp(Rect(border, border, sz.width, sz.height));
         }
         
         // Compute the resized image
-        if (level != (int)params_.first_level_)
+        if( level != firstLevel )
         {
-            if( level < (int)params_.first_level_ )
+            if( level < firstLevel )
             {
-                resize(image, image_pyramid[level], sz, scale, scale, INTER_LINEAR);
+                resize(image, imagePyramid[level], sz, scale, scale, INTER_LINEAR);
                 if (!mask.empty())
-                    resize(mask, mask_pyramid[level], sz, scale, scale, INTER_LINEAR);
-                copyMakeBorder(image_pyramid[level], temp, border, border, border, border,
+                    resize(mask, maskPyramid[level], sz, scale, scale, INTER_LINEAR);
+                copyMakeBorder(imagePyramid[level], temp, border, border, border, border,
                                BORDER_REFLECT_101+BORDER_ISOLATED);
             }
             else
             {
-                float sf = params_.scale_factor_;
-                resize(image_pyramid[level-1], image_pyramid[level], sz, 1./sf, 1./sf, INTER_LINEAR);
+                float sf = scaleFactor;
+                resize(imagePyramid[level-1], imagePyramid[level], sz, 1./sf, 1./sf, INTER_LINEAR);
                 if (!mask.empty())
-                    resize(mask_pyramid[level-1], mask_pyramid[level], sz, 1./sf, 1./sf, INTER_LINEAR);
-                copyMakeBorder(image_pyramid[level], temp, border, border, border, border,
+                    resize(maskPyramid[level-1], maskPyramid[level], sz, 1./sf, 1./sf, INTER_LINEAR);
+                copyMakeBorder(imagePyramid[level], temp, border, border, border, border,
                                BORDER_REFLECT_101+BORDER_ISOLATED);
             }
         }
@@ -815,22 +822,24 @@ void ORB::operator()(const Mat &image_in, const Mat &mask, vector<KeyPoint> & ke
         {
             copyMakeBorder(image, temp, border, border, border, border,
                            BORDER_REFLECT_101);
-            image.copyTo(image_pyramid[level]);
+            image.copyTo(imagePyramid[level]);
             if( !mask.empty() )
-                mask.copyTo(mask_pyramid[level]);
+                mask.copyTo(maskPyramid[level]);
         }
         
         if( !mask.empty() )
-            copyMakeBorder(mask_pyramid[level], masktemp, border, border, border, border,
+            copyMakeBorder(maskPyramid[level], masktemp, border, border, border, border,
                            BORDER_CONSTANT+BORDER_ISOLATED);
     }
     
     // Pre-compute the keypoints (we keep the best over all scales, so this has to be done beforehand
-    vector < vector<KeyPoint> > all_keypoints;
-    if (do_keypoints)
+    vector < vector<KeyPoint> > allKeypoints;
+    if( do_keypoints )
     {
         // Get keypoints, those will be far enough from the border that no check will be required for the descriptor
-        computeKeyPoints(image_pyramid, mask_pyramid, all_keypoints);
+        computeKeyPoints(imagePyramid, maskPyramid, allKeypoints,
+                         nfeatures, firstLevel, scaleFactor,
+                         edgeThreshold, patchSize, scoreType);
         
         // make sure we have the right number of keypoints keypoints
         /*vector<KeyPoint> temp;
@@ -842,7 +851,7 @@ void ORB::operator()(const Mat &image_in, const Mat &mask, vector<KeyPoint> & ke
             keypoints.clear();
         }
         
-        cull(temp, n_features_);
+        KeyPoint::retainBest(temp, n_features_);
         
         for (vector<KeyPoint>::iterator keypoint = temp.begin(),
              keypoint_end = temp.end(); keypoint != keypoint_end; ++keypoint)
@@ -851,48 +860,72 @@ void ORB::operator()(const Mat &image_in, const Mat &mask, vector<KeyPoint> & ke
     else
     {
         // Remove keypoints very close to the border
-        KeyPointsFilter::runByImageBorder(keypoints_in_out, image.size(), params_.edge_threshold_);
+        KeyPointsFilter::runByImageBorder(_keypoints, image.size(), edgeThreshold);
         
         // Cluster the input keypoints depending on the level they were computed at
-        all_keypoints.resize(n_levels);
-        for (vector<KeyPoint>::iterator keypoint = keypoints_in_out.begin(),
-             keypoint_end = keypoints_in_out.end(); keypoint != keypoint_end; ++keypoint)
-            all_keypoints[keypoint->octave].push_back(*keypoint);
+        allKeypoints.resize(nlevels);
+        for (vector<KeyPoint>::iterator keypoint = _keypoints.begin(),
+             keypointEnd = _keypoints.end(); keypoint != keypointEnd; ++keypoint)
+            allKeypoints[keypoint->octave].push_back(*keypoint);
         
         // Make sure we rescale the coordinates
-        for (int level = 0; level < n_levels; ++level)
+        for (int level = 0; level < nlevels; ++level)
         {
-            if (level == (int)params_.first_level_)
+            if (level == firstLevel)
                 continue;
             
-            vector<KeyPoint> & keypoints = all_keypoints[level];
-            float scale = 1/get_scale(params_, level);
+            vector<KeyPoint> & keypoints = allKeypoints[level];
+            float scale = 1/getScale(level, firstLevel, scaleFactor);
             for (vector<KeyPoint>::iterator keypoint = keypoints.begin(),
-                 keypoint_end = keypoints.end(); keypoint != keypoint_end; ++keypoint)
+                 keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint)
                 keypoint->pt *= scale;
         }
     }
     
-    if (do_descriptors)
+    Mat descriptors;
+    vector<Point> pattern;
+    
+    if( do_descriptors )
     {
         int nkeypoints = 0;
-        for (int level = 0; level < n_levels; ++level)
-            nkeypoints += (int)all_keypoints[level].size();
+        for (int level = 0; level < nlevels; ++level)
+            nkeypoints += (int)allKeypoints[level].size();
         if( nkeypoints == 0 )
-            descriptors.release();
+            _descriptors.release();
+        else
+        {
+            _descriptors.create(nkeypoints, descriptorSize(), CV_8U);
+            descriptors = _descriptors.getMat();
+        }
+        
+        const int npoints = 512;
+        Point patternbuf[npoints];
+        const Point* pattern0 = (const Point*)bit_pattern_31_;
+        
+        if( patchSize != 31 )
+        {
+            pattern0 = patternbuf;
+            makeRandomPattern(patchSize, patternbuf, npoints);
+        }
+        
+        CV_Assert( WTA_K == 2 || WTA_K == 3 || WTA_K == 4 );
+        
+        if( WTA_K == 2 )
+            std::copy(pattern0, pattern0 + npoints, std::back_inserter(pattern));
         else
-            descriptors.create(nkeypoints, descriptorSize(), CV_8U);
+        {
+            int ntuples = descriptorSize()*4;
+            initializeOrbPattern(pattern0, pattern, ntuples, WTA_K, npoints);
+        }
     }
     
-    keypoints_in_out.clear();
+    _keypoints.clear();
     int offset = 0;
-    for (int level = 0; level < n_levels; ++level)
+    for (int level = 0; level < nlevels; ++level)
     {
         // Get the features and compute their orientation
-        vector<KeyPoint>& keypoints = all_keypoints[level];
+        vector<KeyPoint>& keypoints = allKeypoints[level];
         int nkeypoints = (int)keypoints.size();
-        if (nkeypoints==0)
-            continue;
         
         // Compute the descriptors
         if (do_descriptors)
@@ -900,122 +933,33 @@ void ORB::operator()(const Mat &image_in, const Mat &mask, vector<KeyPoint> & ke
             Mat desc = descriptors.rowRange(offset, offset + nkeypoints);
             offset += nkeypoints;
             // preprocess the resized image
-            Mat& working_mat = image_pyramid[level];
+            Mat& workingMat = imagePyramid[level];
             //boxFilter(working_mat, working_mat, working_mat.depth(), Size(5,5), Point(-1,-1), true, BORDER_REFLECT_101);
-            GaussianBlur(working_mat, working_mat, Size(7, 7), 2, 2, BORDER_REFLECT_101);
-            computeDescriptors(working_mat, Mat(), level, keypoints, desc);
+            GaussianBlur(workingMat, workingMat, Size(7, 7), 2, 2, BORDER_REFLECT_101);
+            computeDescriptors(workingMat, keypoints, desc, pattern, descriptorSize(), WTA_K);
         }
         
         // Copy to the output data
-        if (level != (int)params_.first_level_)
+        if (level != firstLevel)
         {
-            float scale = get_scale(params_, level);
+            float scale = getScale(level, firstLevel, scaleFactor);
             for (vector<KeyPoint>::iterator keypoint = keypoints.begin(),
-                 keypoint_end = keypoints.end(); keypoint != keypoint_end; ++keypoint)
+                 keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint)
                 keypoint->pt *= scale;
         }
         // And add the keypoints to the output
-        keypoints_in_out.insert(keypoints_in_out.end(), keypoints.begin(), keypoints.end());
-    }
-}
-
-/** Compute the ORB keypoints on an image
- * @param image_pyramid the image pyramid to compute the features and descriptors on
- * @param mask_pyramid the masks to apply at every level
- * @param keypoints the resulting keypoints, clustered per level
- */
-void ORB::computeKeyPoints(const vector<Mat>& image_pyramid,
-                           const vector<Mat>& mask_pyramid,
-                           vector<vector<KeyPoint> >& all_keypoints_out) const
-{
-    all_keypoints_out.resize(params_.n_levels_);
-    
-    for (int level = 0; level < (int)params_.n_levels_; ++level)
-    {
-        int n_features = n_features_per_level_[level];
-        all_keypoints_out[level].reserve(n_features*2);
-        
-        vector<KeyPoint> & keypoints = all_keypoints_out[level];
-        
-        // Detect FAST features, 20 is a good threshold
-        FastFeatureDetector fd(20, true);
-        fd.detect(image_pyramid[level], keypoints, mask_pyramid[level]);
-        
-        // Remove keypoints very close to the border
-        KeyPointsFilter::runByImageBorder(keypoints, image_pyramid[level].size(), params_.edge_threshold_);
-        
-        if( params_.score_type_ == CommonParams::HARRIS_SCORE )
-        {
-            // Keep more points than necessary as FAST does not give amazing corners
-            cull(keypoints, 2 * n_features);
-            
-            // Compute the Harris cornerness (better scoring than FAST)
-            HarrisResponses(image_pyramid[level], keypoints, 7, HARRIS_K);
-        }
-        
-        //cull to the final desired level, using the new Harris scores or the original FAST scores.
-        cull(keypoints, n_features);  
-        
-        float sf = get_scale(params_, level);
-        
-        // Set the level of the coordinates
-        for (vector<KeyPoint>::iterator keypoint = keypoints.begin(),
-             keypoint_end = keypoints.end(); keypoint != keypoint_end; ++keypoint)
-        {
-            keypoint->octave = level;
-            keypoint->size = params_.patch_size_*sf;
-        }
-        
-        computeOrientation(image_pyramid[level], Mat(), level, keypoints);
+        _keypoints.insert(_keypoints.end(), keypoints.begin(), keypoints.end());
     }
 }
-
-/** Compute the ORB keypoint orientations
- * @param image the image to compute the features and descriptors on
- * @param integral_image the integral image of the iamge (can be empty, but the computation will be slower)
- * @param scale the scale at which we compute the orientation
- * @param keypoints the resulting keypoints
- */
-void ORB::computeOrientation(const Mat& image, const Mat&, unsigned int /*scale*/,
-                             vector<KeyPoint>& keypoints) const
-{
-    int half_patch_size = params_.patch_size_/2;
     
-    // Process each keypoint
-    for (vector<KeyPoint>::iterator keypoint = keypoints.begin(),
-         keypoint_end = keypoints.end(); keypoint != keypoint_end; ++keypoint)
-    {
-        keypoint->angle = IC_Angle(image, half_patch_size, keypoint->pt, u_max_);
-    }
-}
-
-/** Compute the integral image and upadte the cached values
- * @param image the image to compute the features and descriptors on
- * @param level the scale at which we compute the orientation
- * @param descriptors the resulting descriptors
- */
-void ORB::computeIntegralImage(const Mat&, unsigned int, Mat&)
+void ORB::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask) const
 {
-}
+    (*this)(image, mask, keypoints, noArray(), false);
+}    
 
-/** Compute the ORB decriptors
- * @param image the image to compute the features and descriptors on
- * @param integral_image the integral image of the image (can be empty, but the computation will be slower)
- * @param level the scale at which we compute the orientation
- * @param keypoints the keypoints to use
- * @param descriptors the resulting descriptors
- */
-void ORB::computeDescriptors(const Mat& image, const Mat& /*integral_image*/, unsigned int,
-                             vector<KeyPoint>& keypoints, Mat& descriptors) const
+void ORB::computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors) const
 {
-    //convert to grayscale if more than one color
-    CV_Assert(image.type() == CV_8UC1);
-    //create the descriptor mat, keypoints.size() rows, BYTES cols
-    int dsize = descriptorSize();
-    descriptors = Mat::zeros((int)keypoints.size(), dsize, CV_8UC1);
-    
-    for (size_t i = 0; i < keypoints.size(); i++)
-        computeOrbDescriptor(keypoints[i], image, &pattern[0], descriptors.ptr((int)i), dsize, params_.WTA_K_);
+    (*this)(image, Mat(), keypoints, descriptors, true);
 }
 
 }

modules/features2d/src/stardetector.cpp

@@ -10,7 +10,7 @@
 //                           License Agreement
 //                For Open Source Computer Vision Library
 //
-// Copyright (C) 2008, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2008-2012, Willow Garage Inc., all rights reserved.
 // Third party copyrights are property of their respective owners.
 //
 // Redistribution and use in source and binary forms, with or without modification,
@@ -41,20 +41,23 @@
 
 #include "precomp.hpp"
 
+namespace cv
+{
+
 static void
-icvComputeIntegralImages( const CvMat* matI, CvMat* matS, CvMat* matT, CvMat* _FT )
+computeIntegralImages( const Mat& matI, Mat& matS, Mat& matT, Mat& _FT )
 {
-    int x, y, rows = matI->rows, cols = matI->cols;
-    const uchar* I = matI->data.ptr;
-    int *S = matS->data.i, *T = matT->data.i, *FT = _FT->data.i;
-    int istep = matI->step, step = matS->step/sizeof(S[0]);
+    CV_Assert( matI.type() == CV_8U );
+    
+    int x, y, rows = matI.rows, cols = matI.cols;
+    
+    matS.create(rows + 1, cols + 1, CV_32S);
+    matT.create(rows + 1, cols + 1, CV_32S);
+    _FT.create(rows + 1, cols + 1, CV_32S);
     
-    assert( CV_MAT_TYPE(matI->type) == CV_8UC1 &&
-        CV_MAT_TYPE(matS->type) == CV_32SC1 &&
-        CV_ARE_TYPES_EQ(matS, matT) && CV_ARE_TYPES_EQ(matS, _FT) &&
-        CV_ARE_SIZES_EQ(matS, matT) && CV_ARE_SIZES_EQ(matS, _FT) &&
-        matS->step == matT->step && matS->step == _FT->step &&
-        matI->rows+1 == matS->rows && matI->cols+1 == matS->cols );
+    const uchar* I = matI.ptr<uchar>();
+    int *S = matS.ptr<int>(), *T = matT.ptr<int>(), *FT = _FT.ptr<int>();
+    int istep = matI.step, step = matS.step/sizeof(S[0]);
 
     for( x = 0; x <= cols; x++ )
         S[x] = T[x] = FT[x] = 0;
@@ -92,16 +95,14 @@ icvComputeIntegralImages( const CvMat* matI, CvMat* matS, CvMat* matT, CvMat* _F
     }
 }
 
-typedef struct CvStarFeature
+struct StarFeature
 {
     int area;
     int* p[8];
-}
-CvStarFeature;
+};
 
 static int
-icvStarDetectorComputeResponses( const CvMat* img, CvMat* responses, CvMat* sizes,
-                                 const CvStarDetectorParams* params )
+StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, int maxSize )
 {
     const int MAX_PATTERN = 17;
     static const int sizes0[] = {1, 2, 3, 4, 6, 8, 11, 12, 16, 22, 23, 32, 45, 46, 64, 90, 128, -1};
@@ -117,22 +118,19 @@ icvStarDetectorComputeResponses( const CvMat* img, CvMat* responses, CvMat* size
     absmask.i = 0x7fffffff;
     volatile bool useSIMD = cv::checkHardwareSupport(CV_CPU_SSE2);
 #endif
-    CvStarFeature f[MAX_PATTERN];
+    StarFeature f[MAX_PATTERN];
 
-    CvMat *sum = 0, *tilted = 0, *flatTilted = 0;
-    int y, i=0, rows = img->rows, cols = img->cols, step;
+    Mat sum, tilted, flatTilted;
+    int y, i=0, rows = img.rows, cols = img.cols;
     int border, npatterns=0, maxIdx=0;
-#ifdef _OPENMP
-    int nthreads = cvGetNumThreads();
-#endif
 
-    assert( CV_MAT_TYPE(img->type) == CV_8UC1 &&
-        CV_MAT_TYPE(responses->type) == CV_32FC1 &&
-        CV_MAT_TYPE(sizes->type) == CV_16SC1 &&
-        CV_ARE_SIZES_EQ(responses, sizes) );
+    CV_Assert( img.type() == CV_8UC1 );
+    
+    responses.create( img.size(), CV_32F );
+    sizes.create( img.size(), CV_16S );
 
     while( pairs[i][0] >= 0 && !
-          ( sizes0[pairs[i][0]] >= params->maxSize 
+          ( sizes0[pairs[i][0]] >= maxSize 
            || sizes0[pairs[i+1][0]] + sizes0[pairs[i+1][0]]/2 >= std::min(rows, cols) ) )
     {
         ++i;
@@ -141,13 +139,9 @@ icvStarDetectorComputeResponses( const CvMat* img, CvMat* responses, CvMat* size
     npatterns = i;
     npatterns += (pairs[npatterns-1][0] >= 0);
     maxIdx = pairs[npatterns-1][0];
-
-    sum = cvCreateMat( rows + 1, cols + 1, CV_32SC1 );
-    tilted = cvCreateMat( rows + 1, cols + 1, CV_32SC1 );
-    flatTilted = cvCreateMat( rows + 1, cols + 1, CV_32SC1 );
-    step = sum->step/CV_ELEM_SIZE(sum->type);
-
-    icvComputeIntegralImages( img, sum, tilted, flatTilted );
+    
+    computeIntegralImages( img, sum, tilted, flatTilted );
+    int step = (int)(sum.step/sum.elemSize());
 
     for( i = 0; i <= maxIdx; i++ )
     {
@@ -155,15 +149,15 @@ icvStarDetectorComputeResponses( const CvMat* img, CvMat* responses, CvMat* size
         int ur_area = (2*ur_size + 1)*(2*ur_size + 1);
         int t_area = t_size*t_size + (t_size + 1)*(t_size + 1);
 
-        f[i].p[0] = sum->data.i + (ur_size + 1)*step + ur_size + 1;
-        f[i].p[1] = sum->data.i - ur_size*step + ur_size + 1;
-        f[i].p[2] = sum->data.i + (ur_size + 1)*step - ur_size;
-        f[i].p[3] = sum->data.i - ur_size*step - ur_size;
+        f[i].p[0] = sum.ptr<int>() + (ur_size + 1)*step + ur_size + 1;
+        f[i].p[1] = sum.ptr<int>() - ur_size*step + ur_size + 1;
+        f[i].p[2] = sum.ptr<int>() + (ur_size + 1)*step - ur_size;
+        f[i].p[3] = sum.ptr<int>() - ur_size*step - ur_size;
 
-        f[i].p[4] = tilted->data.i + (t_size + 1)*step + 1;
-        f[i].p[5] = flatTilted->data.i - t_size;
-        f[i].p[6] = flatTilted->data.i + t_size + 1;
-        f[i].p[7] = tilted->data.i - t_size*step + 1;
+        f[i].p[4] = tilted.ptr<int>() + (t_size + 1)*step + 1;
+        f[i].p[5] = flatTilted.ptr<int>() - t_size;
+        f[i].p[6] = flatTilted.ptr<int>() + t_size + 1;
+        f[i].p[7] = tilted.ptr<int>() - t_size*step + 1;
 
         f[i].area = ur_area + t_area;
         sizes1[i] = sizes0[i];
@@ -199,10 +193,10 @@ icvStarDetectorComputeResponses( const CvMat* img, CvMat* responses, CvMat* size
 
     for( y = 0; y < border; y++ )
     {
-        float* r_ptr = (float*)(responses->data.ptr + responses->step*y);
-        float* r_ptr2 = (float*)(responses->data.ptr + responses->step*(rows - 1 - y));
-        short* s_ptr = (short*)(sizes->data.ptr + sizes->step*y);
-        short* s_ptr2 = (short*)(sizes->data.ptr + sizes->step*(rows - 1 - y));
+        float* r_ptr = responses.ptr<float>(y);
+        float* r_ptr2 = responses.ptr<float>(rows - 1 - y);
+        short* s_ptr = sizes.ptr<short>(y);
+        short* s_ptr2 = sizes.ptr<short>(rows - 1 - y);
         
         memset( r_ptr, 0, cols*sizeof(r_ptr[0]));
         memset( r_ptr2, 0, cols*sizeof(r_ptr2[0]));
@@ -210,14 +204,11 @@ icvStarDetectorComputeResponses( const CvMat* img, CvMat* responses, CvMat* size
         memset( s_ptr2, 0, cols*sizeof(s_ptr2[0]));
     }
 
-#ifdef _OPENMP
-    #pragma omp parallel for num_threads(nthreads) schedule(static)
-#endif
     for( y = border; y < rows - border; y++ )
     {
         int x = border, i;
-        float* r_ptr = (float*)(responses->data.ptr + responses->step*y);
-        short* s_ptr = (short*)(sizes->data.ptr + sizes->step*y);
+        float* r_ptr = responses.ptr<float>(y);
+        short* s_ptr = sizes.ptr<short>(y);
         
         memset( r_ptr, 0, border*sizeof(r_ptr[0]));
         memset( s_ptr, 0, border*sizeof(s_ptr[0]));
@@ -300,22 +291,17 @@ icvStarDetectorComputeResponses( const CvMat* img, CvMat* responses, CvMat* size
         }
     }
 
-    cvReleaseMat(&sum);
-    cvReleaseMat(&tilted);
-    cvReleaseMat(&flatTilted);
-
     return border;
 }
 
 
-static bool
-icvStarDetectorSuppressLines( const CvMat* responses, const CvMat* sizes, CvPoint pt,
-                              const CvStarDetectorParams* params )
+static bool StarDetectorSuppressLines( const Mat& responses, const Mat& sizes, Point pt,
+                                       int lineThresholdProjected, int lineThresholdBinarized )
 {
-    const float* r_ptr = responses->data.fl;
-    int rstep = responses->step/sizeof(r_ptr[0]);
-    const short* s_ptr = sizes->data.s;
-    int sstep = sizes->step/sizeof(s_ptr[0]);
+    const float* r_ptr = responses.ptr<float>();
+    int rstep = (int)(responses.step/sizeof(r_ptr[0]));
+    const short* s_ptr = sizes.ptr<short>();
+    int sstep = (int)(sizes.step/sizeof(s_ptr[0]));
     int sz = s_ptr[pt.y*sstep + pt.x];
     int x, y, delta = sz/4, radius = delta*4;
     float Lxx = 0, Lyy = 0, Lxy = 0;
@@ -329,7 +315,7 @@ icvStarDetectorSuppressLines( const CvMat* responses, const CvMat* sizes, CvPoin
             Lxx += Lx*Lx; Lyy += Ly*Ly; Lxy += Lx*Ly;
         }
     
-    if( (Lxx + Lyy)*(Lxx + Lyy) >= params->lineThresholdProjected*(Lxx*Lyy - Lxy*Lxy) )
+    if( (Lxx + Lyy)*(Lxx + Lyy) >= lineThresholdProjected*(Lxx*Lyy - Lxy*Lxy) )
         return true;
 
     for( y = pt.y - radius; y <= pt.y + radius; y += delta )
@@ -340,7 +326,7 @@ icvStarDetectorSuppressLines( const CvMat* responses, const CvMat* sizes, CvPoin
             Lxxb += Lxb * Lxb; Lyyb += Lyb * Lyb; Lxyb += Lxb * Lyb;
         }
 
-    if( (Lxxb + Lyyb)*(Lxxb + Lyyb) >= params->lineThresholdBinarized*(Lxxb*Lyyb - Lxyb*Lxyb) )
+    if( (Lxxb + Lyyb)*(Lxxb + Lyyb) >= lineThresholdBinarized*(Lxxb*Lyyb - Lxyb*Lxyb) )
         return true;
 
     return false;
@@ -348,24 +334,27 @@ icvStarDetectorSuppressLines( const CvMat* responses, const CvMat* sizes, CvPoin
 
 
 static void
-icvStarDetectorSuppressNonmax( const CvMat* responses, const CvMat* sizes,
-                               CvSeq* keypoints, int border,
-                               const CvStarDetectorParams* params )
+StarDetectorSuppressNonmax( const Mat& responses, const Mat& sizes,
+                            vector<KeyPoint>& keypoints, int border,
+                            int responseThreshold,
+                            int lineThresholdProjected,
+                            int lineThresholdBinarized,
+                            int suppressNonmaxSize )
 {
-    int x, y, x1, y1, delta = params->suppressNonmaxSize/2;
-    int rows = responses->rows, cols = responses->cols;
-    const float* r_ptr = responses->data.fl;
-    int rstep = responses->step/sizeof(r_ptr[0]);
-    const short* s_ptr = sizes->data.s;
-    int sstep = sizes->step/sizeof(s_ptr[0]);
+    int x, y, x1, y1, delta = suppressNonmaxSize/2;
+    int rows = responses.rows, cols = responses.cols;
+    const float* r_ptr = responses.ptr<float>();
+    int rstep = (int)(responses.step/sizeof(r_ptr[0]));
+    const short* s_ptr = sizes.ptr<short>();
+    int sstep = (int)(sizes.step/sizeof(s_ptr[0]));
     short featureSize = 0;
 
     for( y = border; y < rows - border; y += delta+1 )
         for( x = border; x < cols - border; x += delta+1 )
         {
-            float maxResponse = (float)params->responseThreshold;
-            float minResponse = (float)-params->responseThreshold;
-            CvPoint maxPt = {-1,-1}, minPt = {-1,-1};
+            float maxResponse = (float)responseThreshold;
+            float minResponse = (float)-responseThreshold;
+            Point maxPt(-1, -1), minPt(-1, -1);
             int tileEndY = MIN(y + delta, rows - border - 1);
             int tileEndX = MIN(x + delta, cols - border - 1);
 
@@ -376,12 +365,12 @@ icvStarDetectorSuppressNonmax( const CvMat* responses, const CvMat* sizes,
                     if( maxResponse < val )
                     {
                         maxResponse = val;
-                        maxPt = cvPoint(x1, y1);
+                        maxPt = Point(x1, y1);
                     }
                     else if( minResponse > val )
                     {
                         minResponse = val;
-                        minPt = cvPoint(x1, y1);
+                        minPt = Point(x1, y1);
                     }
                 }
 
@@ -396,10 +385,11 @@ icvStarDetectorSuppressNonmax( const CvMat* responses, const CvMat* sizes,
                     }
 
                 if( (featureSize = s_ptr[maxPt.y*sstep + maxPt.x]) >= 4 &&
-                    !icvStarDetectorSuppressLines( responses, sizes, maxPt, params ))
+                    !StarDetectorSuppressLines( responses, sizes, maxPt, lineThresholdProjected,
+                                                lineThresholdBinarized ))
                 {
-                    CvStarKeypoint kpt = cvStarKeypoint( maxPt, featureSize, maxResponse );
-                    cvSeqPush( keypoints, &kpt );
+                    KeyPoint kpt((float)maxPt.x, (float)maxPt.y, featureSize, -1, maxResponse);
+                    keypoints.push_back(kpt);
                 }
             }
         skip_max:
@@ -414,66 +404,67 @@ icvStarDetectorSuppressNonmax( const CvMat* responses, const CvMat* sizes,
                     }
 
                 if( (featureSize = s_ptr[minPt.y*sstep + minPt.x]) >= 4 &&
-                    !icvStarDetectorSuppressLines( responses, sizes, minPt, params ))
+                    !StarDetectorSuppressLines( responses, sizes, minPt,
+                                               lineThresholdProjected, lineThresholdBinarized))
                 {
-                    CvStarKeypoint kpt = cvStarKeypoint( minPt, featureSize, minResponse );
-                    cvSeqPush( keypoints, &kpt );
+                    KeyPoint kpt((float)minPt.x, (float)minPt.y, featureSize, -1, maxResponse);
+                    keypoints.push_back(kpt);
                 }
             }
         skip_min:
             ;
         }
 }
-
-CV_IMPL CvSeq*
-cvGetStarKeypoints( const CvArr* _img, CvMemStorage* storage,
-                    CvStarDetectorParams params )
-{
-    CvMat stub, *img = cvGetMat(_img, &stub);
-    CvSeq* keypoints = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvStarKeypoint), storage );
-    CvMat* responses = cvCreateMat( img->rows, img->cols, CV_32FC1 );
-    CvMat* sizes = cvCreateMat( img->rows, img->cols, CV_16SC1 );
-
-    int border = icvStarDetectorComputeResponses( img, responses, sizes, &params );
-    if( border >= 0 )
-        icvStarDetectorSuppressNonmax( responses, sizes, keypoints, border, &params );
-
-    cvReleaseMat( &responses );
-    cvReleaseMat( &sizes );
-
-    return border >= 0 ? keypoints : 0;
-}
-
-namespace cv
-{
-
-StarDetector::StarDetector()
-{
-    *(CvStarDetectorParams*)this = cvStarDetectorParams();
-}
-
+    
 StarDetector::StarDetector(int _maxSize, int _responseThreshold,
                            int _lineThresholdProjected,
                            int _lineThresholdBinarized,
                            int _suppressNonmaxSize)
+: maxSize(_maxSize), responseThreshold(_responseThreshold),
+    lineThresholdProjected(_lineThresholdProjected),
+    lineThresholdBinarized(_lineThresholdBinarized),
+    suppressNonmaxSize(_suppressNonmaxSize)
+{}
+
+
+void StarDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
 {
-    *(CvStarDetectorParams*)this = cvStarDetectorParams(_maxSize, _responseThreshold,
-            _lineThresholdProjected, _lineThresholdBinarized, _suppressNonmaxSize);
-}
+    Mat grayImage = image;
+    if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
+    
+    (*this)(grayImage, keypoints);
+    KeyPointsFilter::runByPixelsMask( keypoints, mask );
+}    
 
-void StarDetector::operator()(const Mat& image, vector<KeyPoint>& keypoints) const
+void StarDetector::operator()(const Mat& img, vector<KeyPoint>& keypoints) const
+{
+    Mat responses, sizes;
+    int border = StarDetectorComputeResponses( img, responses, sizes, maxSize );
+    keypoints.clear();
+    if( border >= 0 )
+        StarDetectorSuppressNonmax( responses, sizes, keypoints, border,
+                                    responseThreshold, lineThresholdProjected,
+                                    lineThresholdBinarized, suppressNonmaxSize );
+}
+    
+    
+static Algorithm* createStarDetector() { return new StarDetector; }
+static AlgorithmInfo star_info("Feature2D.STAR", createStarDetector);
+    
+AlgorithmInfo* StarDetector::info() const
 {
-    CvMat _image = image;
-    MemStorage storage(cvCreateMemStorage(0));
-    Seq<CvStarKeypoint> kp = cvGetStarKeypoints( &_image, storage, *(const CvStarDetectorParams*)this);
-    Seq<CvStarKeypoint>::iterator it = kp.begin();
-    keypoints.resize(kp.size());
-    size_t i, n = kp.size();
-    for( i = 0; i < n; i++, ++it )
+    static volatile bool initialized = false;
+    if( !initialized )
     {
-        const CvStarKeypoint& kpt = *it;
-        keypoints[i] = KeyPoint(kpt.pt, (float)kpt.size, -1.f, kpt.response, 0);
+        star_info.addParam(this, "maxSize", maxSize);
+        star_info.addParam(this, "responseThreshold", responseThreshold);
+        star_info.addParam(this, "lineThresholdProjected", lineThresholdProjected);
+        star_info.addParam(this, "lineThresholdBinarized", lineThresholdBinarized);
+        star_info.addParam(this, "suppressNonmaxSize", suppressNonmaxSize);
+        
+        initialized = true;
     }
-}
+    return &star_info;
+}    
 
 }

modules/features2d/src/test_pairs.txt

@@ -1,513 +0,0 @@
-# x1 y1 x2 y2
--1 -2 -1 7
--1 -14 3 -3
--2 1 2 11
-6 1 -7 -10
-2 13 0 -1
-5 -14 -3 5
-8 -2 4 2
-8 -11 5 -15
--23 -6 -9 8
-6 -12 8 -10
--1 -3 1 8
-6 3 6 5
--6 -7 -5 5
--2 22 -8 -11
-7 14 5 8
-14 -1 -14 -5
-9 -14 0 2
--3 7 6 22
-6 -6 -5 -8
-9 -5 -1 7
--7 -3 -18 -10
--5 4 11 0
-3 2 10 9
-3 -10 9 4
-12 0 19 -3
-15 1 -5 -11
--1 14 8 7
--23 7 5 -5
--6 0 17 -10
--4 13 -4 -3
-1 -12 2 -12
-8 0 22 3
-13 -13 -1 3
-17 -16 10 6
-15 7 0 -5
--12 2 -2 19
--6 3 -15 -4
-3 8 14 0
--11 4 5 5
--7 11 1 7
-12 6 3 21
-2 -3 1 14
-1 5 11 -5
--17 3 2 -6
-8 6 -10 5
--2 -14 4 0
--7 5 5 -6
-4 10 -7 4
-0 22 -18 7
--3 -1 18 0
-22 -4 3 -5
--7 1 -3 2
--20 19 -2 17
--10 3 24 -8
--14 -5 5 7
-12 -2 -15 -4
-12 4 -19 0
-13 20 5 3
--12 -8 0 5
-6 -5 -11 -7
--11 6 -22 -3
-4 15 1 10
--4 -7 -6 15
-10 5 24 0
-6 3 -2 22
-14 -13 -4 4
-8 -13 -22 -18
--1 -1 3 -7
--12 -19 3 4
-10 8 -2 13
--1 -6 -5 -6
--21 2 2 -3
--7 4 16 0
--5 -6 -1 -12
--1 1 18 9
-10 -7 6 -11
-3 4 -7 19
-5 -18 5 -4
-0 4 4 -20
--11 7 12 18
-17 -20 7 -18
-15 2 -11 19
-6 -18 3 -7
-1 -4 13 -14
-3 17 -8 2
-2 -7 6 1
--9 17 8 -2
--6 -8 12 -1
-4 -2 6 -1
-7 -2 8 6
--1 -8 -9 -7
--9 8 0 15
-22 0 -15 -4
--1 -14 -2 3
--4 -7 -7 17
--2 -8 -4 9
--7 5 7 7
-13 -5 11 -8
--4 11 8 0
--11 5 -6 -9
--6 2 -20 3
-2 -6 10 6
--6 -6 7 -15
--3 -6 1 2
-0 11 2 -3
--12 7 5 14
--7 0 -1 -1
-0 -16 8 6
-11 22 -3 0
-0 19 -17 5
--14 -23 -19 -13
-10 -8 -2 -11
-6 -11 13 -10
--7 1 0 14
-1 -12 -5 -5
-7 4 -1 8
--5 -1 2 15
--1 -3 -10 7
--6 3 -18 10
--13 -7 10 -13
--1 1 -10 13
-14 -19 -14 8
--13 -4 1 7
--2 1 -7 12
--5 3 -5 1
--2 -2 -10 8
-14 2 7 8
-9 3 2 8
-1 -9 0 -18
-0 4 12 1
-9 0 -10 -14
--9 -13 6 -2
-5 1 10 10
--6 -3 -5 -16
-6 11 0 -5
-10 -23 2 1
--5 13 9 -3
--1 -4 -5 -13
-13 10 8 -11
-20 19 2 -9
--8 4 -9 0
-10 -14 19 15
--12 -14 -3 -10
--3 -23 -2 17
--11 -3 -14 6
--2 19 2 -4
-5 -5 -13 3
--2 2 4 -5
-4 17 -11 17
--2 -7 23 1
-13 8 -16 1
--5 -13 -17 1
-6 4 -3 -8
--9 -5 -10 -2
-0 -9 -2 -7
-0 5 2 5
--16 -4 3 6
--15 2 12 -2
--1 4 2 6
-1 1 -8 -2
-12 -2 -2 -5
-8 -8 9 -9
--10 2 1 3
-10 -4 4 -9
-12 6 5 2
--8 -3 5 0
-1 -13 2 -7
--10 -1 -18 7
-8 -1 -10 -9
--1 -23 2 6
--3 -5 2 3
-11 0 -7 -4
-2 15 -3 -10
--8 -20 3 -13
--12 -19 -11 5
--13 -17 2 -3
-4 7 0 -12
--1 5 -6 -14
-11 -4 -4 0
-10 3 -3 7
-21 13 6 -11
-24 -12 -4 -7
-16 4 -14 3
-5 -3 -12 -7
--4 0 -5 7
--9 -17 -7 13
--6 22 5 -11
--8 2 -11 23
--10 7 14 -1
--10 -3 3 8
-1 -13 0 -6
--21 -7 -14 6
-19 18 -6 -4
-7 10 -4 -1
-21 -1 -5 1
-6 -10 -2 -11
--3 18 7 -1
--9 -3 10 -5
-14 -13 -3 17
--19 11 -18 -1
--2 8 -23 -18
--5 0 -9 -2
--11 -4 -8 2
-6 14 -6 -3
-0 -3 0 -15
-4 -9 -9 -15
-11 -1 11 3
--16 -10 7 -7
--10 -2 -2 -10
--3 -5 -23 5
--8 13 -11 -15
-11 -15 -6 6
--3 -16 2 -2
-12 6 24 -16
-0 -10 11 8
-7 -7 -7 -19
-16 5 -3 9
-7 9 -16 -7
-2 3 9 -10
-1 21 7 8
-0 7 17 1
-12 -8 6 9
--7 11 -6 -8
-0 19 3 9
--7 1 -11 -5
-8 0 14 -2
--2 12 -6 -15
-12 4 -21 0
--4 17 -7 -6
--9 -10 -7 -14
--10 -15 -14 -15
--5 -7 -12 5
-0 -4 -4 15
-2 5 -23 -6
--21 -4 4 -6
-5 -10 6 -15
--3 4 5 -1
-19 -4 -4 -23
-17 -4 -11 13
-12 1 -14 4
--6 -11 10 -20
-5 4 20 3
--20 -8 1 3
-9 -19 -3 9
-15 18 -4 11
-16 12 7 8
--8 -14 9 -3
-0 -6 -4 2
--10 1 2 -1
--7 8 18 -6
-12 9 -23 -7
--6 8 2 5
-6 -9 -7 -12
--2 -1 2 -7
-9 9 15 7
-2 6 6 -6
-12 16 19 0
-3 4 0 6
--1 -2 17 2
-1 8 1 3
--1 -12 0 -11
-2 -11 9 7
-3 -1 4 -19
--11 -1 3 -1
--10 1 -4 -10
-3 -2 11 6
-7 3 -8 -9
--14 24 -10 -2
--3 -3 -6 -18
--10 -13 -1 -7
--7 2 -6 9
--4 2 -13 6
--4 4 3 -2
-2 -4 13 9
-5 -11 -11 -6
--2 4 -9 11
-0 -19 -5 -23
--7 -5 -6 -3
--4 -6 14 12
--11 12 -16 -8
-15 -21 6 -12
--1 -2 16 -8
--1 6 -2 -8
--1 1 8 -9
--4 3 -2 -2
-0 -7 -8 4
--11 11 2 -12
-3 2 7 11
--4 -7 -6 -9
--7 3 0 -5
--7 3 -5 -10
--1 -3 -10 8
-8 0 1 5
-0 9 16 1
-4 8 -3 -11
-9 -15 17 8
-2 0 17 -9
--11 -6 -3 -10
-1 1 -8 15
--13 -12 4 -2
-4 -6 -10 -6
--7 5 -5 7
-6 10 9 8
-7 -5 -3 -18
-3 -6 4 5
--13 -10 -3 -5
-2 -11 0 -16
--21 7 -13 -5
--14 -14 -4 -4
-9 4 -3 7
-11 4 -4 10
-17 6 17 9
-8 -10 -11 0
--16 -6 8 -6
-5 -13 -5 10
-2 3 16 12
--8 13 -6 0
-0 10 -11 4
-5 8 -2 10
--7 11 3 -13
-4 2 -3 -7
--2 -14 16 -11
--6 11 6 7
-15 -3 -10 8
-8 -3 -12 12
-6 -13 7 -14
--5 -11 -6 -8
--6 7 3 6
-10 -4 1 5
-16 9 13 10
-10 -17 8 2
-1 -5 -4 4
-8 -14 2 -5
--9 4 -3 -6
--7 3 0 -10
--8 -2 4 -10
-5 -8 24 -9
--8 2 -9 8
-17 -4 2 -5
-0 14 9 -9
-15 11 5 -6
-1 -8 4 -3
--21 9 2 10
--1 2 11 4
-3 24 -2 2
-17 -8 -10 -14
-5 6 7 -13
-10 11 -1 0
-6 4 6 -10
--2 -12 6 5
--1 3 -15 8
--4 1 11 -7
-11 1 0 5
--12 6 1 10
--2 -3 4 -1
--11 -2 12 -1
--8 7 -18 -20
-0 2 2 -9
--1 -13 2 -16
--1 3 -17 -5
-8 15 -14 3
--12 -13 15 6
--8 2 6 2
-22 6 -23 -3
--7 -2 0 -6
--10 13 6 -6
-7 6 12 -10
-7 -6 11 -2
--22 0 -17 -2
--1 -4 -14 -11
--8 -2 12 7
--5 12 -13 7
--2 2 6 -7
-8 0 23 -3
-12 6 -11 13
--10 -21 8 10
-0 -3 15 7
--6 7 -12 -5
--10 -21 -11 12
--11 -5 -11 8
-0 5 -1 -11
--9 8 -1 7
--23 11 -5 21
--5 0 6 -8
-8 -6 12 8
-5 -7 -2 3
--20 -5 9 -12
-12 -6 3 -11
-5 4 11 13
-12 2 -12 13
--13 -4 7 4
-15 0 -16 -3
-2 -3 14 -2
--14 4 -11 16
-3 -13 10 23
--19 9 5 2
-3 5 -7 14
--13 19 15 -11
-0 14 -5 -2
--4 11 -6 0
-5 -2 -8 -13
--15 -11 -17 -7
-3 1 -8 -10
--10 -13 -12 7
--13 0 -6 23
--17 2 -3 -7
-3 1 -10 4
-4 13 -6 14
--2 -19 5 -1
--8 9 -5 10
--1 7 7 5
--10 9 0 19
-5 7 -7 -4
-1 -11 -11 -1
--1 2 11 -4
-7 -1 -2 2
--20 1 -6 -9
--18 -4 -18 8
--2 -16 -6 7
--6 -3 -4 -1
--16 0 -5 24
--2 -4 9 -1
-2 -8 15 -6
-4 11 -3 0
-6 7 -10 2
--9 -7 -6 12
-15 24 -1 -8
--9 15 -15 -3
--5 17 -10 11
-13 -2 4 -15
--1 -2 -23 4
-3 -16 -14 -7
--5 -3 -9 -10
-3 -5 -1 -2
-4 -1 8 1
-9 12 -14 9
-17 -9 0 -3
-4 5 -6 13
--8 -1 10 19
--5 8 2 -15
--9 -12 -5 -4
-0 12 4 24
--2 8 4 14
--4 8 16 -7
--1 5 -4 -8
-18 -2 17 -5
--2 8 -2 -9
--7 3 -6 1
--22 -5 -2 -5
--10 -8 1 14
--13 -3 9 3
--1 -4 0 -1
--21 -7 -19 12
-8 -8 8 24
--6 12 3 -2
--11 -5 -4 -22
-5 -3 4 -4
-24 -16 -9 7
-23 -10 18 -9
-12 1 21 17
--6 24 -11 -3
-17 -7 -6 1
-4 4 -7 2
-6 14 3 -12
-0 -6 13 -16
-5 -10 12 7
-2 5 -3 6
-0 7 1 -23
--5 15 14 1
--1 -3 6 6
--9 6 12 -9
--2 4 7 -4
--5 -4 4 4
-0 -13 -10 6
--12 2 -3 -6
-0 16 3 -3
--14 5 11 6
-11 5 -13 0
-5 7 -5 -1
-4 12 10 6
-4 -10 -11 -1
-10 4 5 -14
--14 11 0 -13
-8 2 24 12
-3 -1 2 -1
--14 9 3 -23
--6 -8 9 0
-14 -15 -10 10
--6 -10 -5 -7
-5 11 -15 -3
-0 1 8 1
--6 -11 -18 -4
-0 9 -4 22
--1 -5 4 -9
-2 -20 6 1
-2 1 -12 -9
-15 5 -6 4
-4 19 11 4
--4 17 -1 -8
--12 -8 -3 7
-9 11 1 8
-22 9 15 -15
--7 -7 -23 1
-13 -5 2 -8
--5 3 -11 11
--18 3 -5 14
-7 -20 -23 -10
--5 -2 0 6
--13 -17 2 -3
--1 -6 -2 14
--16 -12 6 15
--2 -12 -19 3

modules/features2d/test/test_features2d.cpp

@@ -440,7 +440,7 @@ protected:
             fs.open( string(ts->get_data_path()) + FEATURES2D_DIR + "/keypoints.xml.gz", FileStorage::WRITE );
             if( fs.isOpened() )
             {
-                SurfFeatureDetector fd;
+                ORB fd;
                 fd.detect(img, keypoints);
                 write( fs, "keypoints", keypoints );
             }
@@ -491,7 +491,7 @@ private:
     CV_DescriptorExtractorTest& operator=(const CV_DescriptorExtractorTest&) { return *this; }
 };
 
-template<typename T, typename Distance>
+/*template<typename T, typename Distance>
 class CV_CalonderDescriptorExtractorTest : public CV_DescriptorExtractorTest<Distance>
 {
 public:
@@ -506,7 +506,7 @@ protected:
                 new CalonderDescriptorExtractor<T>( string(CV_DescriptorExtractorTest<Distance>::ts->get_data_path()) +
                                                     FEATURES2D_DIR + "/calonder_classifier.rtc");
     }
-};
+};*/
 
 /****************************************************************************************\
 *                       Algorithmic tests for descriptor matchers                        *
@@ -991,24 +991,12 @@ TEST( Features2d_Detector_MSER, regression )
     test.safe_run();
 }
 
-TEST( Features2d_Detector_SIFT, regression )
-{
-    CV_FeatureDetectorTest test( "detector-sift", FeatureDetector::create("SIFT") );
-    test.safe_run();
-}
-
 TEST( Features2d_Detector_STAR, regression )
 {
     CV_FeatureDetectorTest test( "detector-star", FeatureDetector::create("STAR") );
     test.safe_run();
 }
 
-TEST( Features2d_Detector_SURF, regression )
-{
-    CV_FeatureDetectorTest test( "detector-surf", FeatureDetector::create("SURF") );
-    test.safe_run();
-}
-
 TEST( Features2d_Detector_ORB, regression )
 {
     CV_FeatureDetectorTest test( "detector-orb", FeatureDetector::create("ORB") );
@@ -1027,23 +1015,6 @@ TEST( Features2d_Detector_PyramidFAST, regression )
     test.safe_run();
 }
 
-/*
- * Descriptors
- */
-TEST( Features2d_DescriptorExtractor_SIFT, regression )
-{
-    CV_DescriptorExtractorTest<L2<float> > test( "descriptor-sift", 0.03f,
-                                                  DescriptorExtractor::create("SIFT"), 8.06652f  );
-    test.safe_run();
-}
-
-TEST( Features2d_DescriptorExtractor_SURF, regression )
-{
-    CV_DescriptorExtractorTest<L2<float> > test( "descriptor-surf",  0.035f,
-                                                 DescriptorExtractor::create("SURF"), 0.147372f );
-    test.safe_run();
-}
-
 TEST( Features2d_DescriptorExtractor_ORB, regression )
 {
     // TODO adjust the parameters below
@@ -1066,13 +1037,6 @@ TEST( Features2d_DescriptorExtractor_BRIEF, regression )
     test.safe_run();
 }*/
 
-TEST( Features2d_DescriptorExtractor_OpponentSURF, regression )
-{
-    CV_DescriptorExtractorTest<L2<float> > test( "descriptor-opponent-surf",  0.18f,
-                                                 DescriptorExtractor::create("OpponentSURF"), 0.147372f );
-    test.safe_run();
-}
-
 #if CV_SSE2
 TEST( Features2d_DescriptorExtractor_Calonder_uchar, regression )
 {
@@ -1096,7 +1060,7 @@ TEST( Features2d_DescriptorExtractor_Calonder_float, regression )
  */
 TEST( Features2d_DescriptorMatcher_BruteForce, regression )
 {
-    CV_DescriptorMatcherTest test( "descriptor-matcher-brute-force", new BruteForceMatcher<L2<float> >, 0.01f );
+    CV_DescriptorMatcherTest test( "descriptor-matcher-brute-force", new BFMatcher(NORM_L2), 0.01f );
     test.safe_run();
 }
 

modules/features2d/test/test_mser.cpp

@@ -155,27 +155,24 @@ void CV_MserTest::run(int)
 {
     string image_path = string(ts->get_data_path()) + "mser/puzzle.png";
 
-    IplImage* img = cvLoadImage( image_path.c_str());
-    if (!img)
+    Mat img = imread( image_path );
+    if (img.empty())
     {
         ts->printf( cvtest::TS::LOG, "Unable to open image mser/puzzle.png\n");
         ts->set_failed_test_info(cvtest::TS::FAIL_MISSING_TEST_DATA);
         return;
     }
 
-    CvSeq* contours;
-    CvMemStorage* storage= cvCreateMemStorage();
-    IplImage* hsv = cvCreateImage( cvGetSize( img ), IPL_DEPTH_8U, 3 );
-    cvCvtColor( img, hsv, CV_BGR2YCrCb );
-    CvMSERParams params = cvMSERParams();//cvMSERParams( 5, 60, cvRound(.2*img->width*img->height), .25, .2 );
-    cvExtractMSER( hsv, NULL, &contours, storage, params );
+    Mat yuv;
+    cvtColor(img, yuv, COLOR_BGR2YCrCb);
+    vector<vector<Point> > msers;
+    MSER()(yuv, msers);
 
     vector<CvBox2D> boxes;
     vector<CvBox2D> boxes_orig;
-    for ( int i = 0; i < contours->total; i++ )
+    for ( size_t i = 0; i < msers.size(); i++ )
     {
-        CvContour* r = *(CvContour**)cvGetSeqElem( contours, i );
-        CvBox2D box = cvFitEllipse2( r );
+        RotatedRect box = fitEllipse(msers[i]);
         box.angle=(float)CV_PI/2-box.angle;
         boxes.push_back(box);           
     }
@@ -203,10 +200,6 @@ void CV_MserTest::run(int)
         ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
         ts->printf( cvtest::TS::LOG, "Incorrect correspondence in box %d\n",n_box);
     }
-
-    cvReleaseMemStorage(&storage);
-    cvReleaseImage(&hsv);
-    cvReleaseImage(&img);
 }
 
 TEST(Features2d_MSER, regression) { CV_MserTest test; test.safe_run(); }

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -1511,7 +1511,7 @@ private:
 
 ////////////////////////////////// SURF //////////////////////////////////////////
 
-class CV_EXPORTS SURF_GPU : public CvSURFParams
+class CV_EXPORTS SURF_GPU
 {
 public:
     enum KeypointLayout
@@ -1566,6 +1566,14 @@ public:
 
     void releaseMemory();
 
+    // SURF parameters;
+    int    extended;
+    int    upright;
+    double hessianThreshold;
+    
+    int    nOctaves;
+    int    nOctaveLayers;
+    
     //! max keypoints = min(keypointsRatio * img.size().area(), 65535)
     float keypointsRatio;
 
@@ -1656,7 +1664,7 @@ public:
     //! Constructor
     //! n_features - the number of desired features
     //! detector_params - parameters to use
-    explicit ORB_GPU(size_t n_features = 500, const ORB::CommonParams& detector_params = ORB::CommonParams());
+    explicit ORB_GPU(size_t n_features = 500, float scaleFactor = 1.2f, int nlevels = 3);
 
     //! Compute the ORB features on an image
     //! image - the image to compute the features (supports only CV_8UC1 images)
@@ -1682,7 +1690,7 @@ public:
     //! returns the descriptor size in bytes
     inline int descriptorSize() const { return kBytes; }
 
-    void setParams(size_t n_features, const ORB::CommonParams& detector_params);
+    void setParams(size_t n_features, float scaleFactor, int nlevels);
     inline void setFastParams(int threshold, bool nonmaxSupression = true)
     {
         fastDetector_.threshold = threshold;
@@ -1706,7 +1714,7 @@ private:
 
     void mergeKeyPoints(GpuMat& keypoints);
 
-    ORB::CommonParams params_;
+    ORB params_;
 
     // The number of desired features per scale
     std::vector<size_t> n_features_per_level_;

modules/gpu/src/orb.cpp

@@ -48,14 +48,14 @@ using namespace cv::gpu;
 
 #if !defined (HAVE_CUDA)
 
-cv::gpu::ORB_GPU::ORB_GPU(size_t, const ORB::CommonParams&) : fastDetector_(0) { throw_nogpu(); }
+cv::gpu::ORB_GPU::ORB_GPU(size_t, float, int) : fastDetector_(0) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&, GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::downloadKeyPoints(GpuMat&, std::vector<KeyPoint>&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::convertKeyPoints(Mat&, std::vector<KeyPoint>&) { throw_nogpu(); }
-void cv::gpu::ORB_GPU::setParams(size_t, const ORB::CommonParams&) { throw_nogpu(); }
+void cv::gpu::ORB_GPU::setParams(size_t, float, int) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::release() { throw_nogpu(); }
 void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat&, const GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::computeKeyPointsPyramid() { throw_nogpu(); }
@@ -83,10 +83,10 @@ namespace cv { namespace gpu { namespace device
     }
 }}}
 
-cv::gpu::ORB_GPU::ORB_GPU(size_t n_features, const ORB::CommonParams& detector_params) :
+cv::gpu::ORB_GPU::ORB_GPU(size_t n_features, float scaleFactor, int nlevels) :
     fastDetector_(DEFAULT_FAST_THRESHOLD)
 {
-    setParams(n_features, detector_params);
+    setParams(n_features, scaleFactor, nlevels);
     
     blurFilter = createGaussianFilter_GPU(CV_8UC1, Size(7, 7), 2, 2, BORDER_REFLECT_101);
 
@@ -407,9 +407,9 @@ namespace
     }
 }
 
-void cv::gpu::ORB_GPU::setParams(size_t n_features, const ORB::CommonParams& detector_params)
+void cv::gpu::ORB_GPU::setParams(size_t n_features, float scaleFactor, int nlevels)
 {
-    params_ = detector_params;
+    params_ = ORB((int)n_features, scaleFactor, nlevels);
     
     // fill the extractors and descriptors for the corresponding scales
     int n_levels = static_cast<int>(params_.n_levels_);

modules/imgproc/doc/miscellaneous_transformations.rst

@@ -586,37 +586,6 @@ Use these functions to either mark a connected component with the specified colo
 
 
 
-inpaint
------------
-Restores the selected region in an image using the region neighborhood.
-
-.. ocv:function:: void inpaint( InputArray src, InputArray inpaintMask, OutputArray dst, double inpaintRadius, int flags )
-
-.. ocv:pyfunction:: cv2.inpaint(src, inpaintMask, inpaintRange, flags[, dst]) -> dst
-
-.. ocv:cfunction:: void cvInpaint( const CvArr* src, const CvArr* mask, CvArr* dst, double inpaintRadius, int flags)
-.. ocv:pyoldfunction:: cv.Inpaint(src, mask, dst, inpaintRadius, flags) -> None
-
-    :param src: Input 8-bit 1-channel or 3-channel image.
-
-    :param inpaintMask: Inpainting mask, 8-bit 1-channel image. Non-zero pixels indicate the area that needs to be inpainted.
-
-    :param dst: Output image with the same size and type as  ``src`` .
-    
-    :param inpaintRadius: Radius of a circlular neighborhood of each point inpainted that is considered by the algorithm.
-
-    :param flags: Inpainting method that could be one of the following:
-
-            * **INPAINT_NS**     Navier-Stokes based method.
-
-            * **INPAINT_TELEA**     Method by Alexandru Telea  [Telea04]_.
-
-The function reconstructs the selected image area from the pixel near the area boundary. The function may be used to remove dust and scratches from a scanned photo, or to remove undesirable objects from still images or video. See
-http://en.wikipedia.org/wiki/Inpainting
-for more details.
-
-
-
 integral
 ------------
 Calculates the integral of an image.

modules/imgproc/include/opencv2/imgproc/imgproc.hpp

@@ -751,17 +751,6 @@ CV_EXPORTS_W void grabCut( InputArray img, InputOutputArray mask, Rect rect,
                            InputOutputArray bgdModel, InputOutputArray fgdModel,
                            int iterCount, int mode = GC_EVAL );
 
-//! the inpainting algorithm
-enum
-{
-    INPAINT_NS=CV_INPAINT_NS, // Navier-Stokes algorithm
-    INPAINT_TELEA=CV_INPAINT_TELEA // A. Telea algorithm
-};
-
-//! restores the damaged image areas using one of the available intpainting algorithms
-CV_EXPORTS_W void inpaint( InputArray src, InputArray inpaintMask,
-                           OutputArray dst, double inpaintRange, int flags );
-
 //! builds the discrete Voronoi diagram
 CV_EXPORTS_AS(distanceTransformWithLabels) void distanceTransform( InputArray src, OutputArray dst,
                                      OutputArray labels, int distanceType, int maskSize );

modules/imgproc/src/_list.h

@@ -345,7 +345,7 @@ void prefix##remove_at_##type(_CVLIST* l, CVPOS pos)\
 void prefix##set_##type(CVPOS pos, type* data)\
 {\
     ELEMENT_##type* element = ((ELEMENT_##type*)(pos.m_pos));\
-    memcpy(&(element->m_data), data, sizeof(data));\
+    memcpy(&(element->m_data), data, sizeof(*data));\
 }\
 type* prefix##get_##type(CVPOS pos)\
 {\

modules/legacy/doc/legacy.rst

@@ -0,0 +1,10 @@
+********************************
+photo. Computational Photography
+********************************
+
+.. highlight:: cpp
+
+.. toctree::
+    :maxdepth: 2
+
+    inpainting 

modules/legacy/include/opencv2/legacy/compat.hpp

@@ -600,6 +600,138 @@ CV_EXPORTS void  cvProjectPointsSimple( int point_count, CvPoint3D64f* _object_p
 
 #define cvConvertPointsHomogenious cvConvertPointsHomogeneous
 
+    
+//////////////////////////////////// feature extractors: obsolete API //////////////////////////////////
+
+typedef struct CvSURFPoint
+{
+    CvPoint2D32f pt;
+    
+    int          laplacian;
+    int          size;
+    float        dir;
+    float        hessian;
+    
+} CvSURFPoint;
+
+CV_INLINE CvSURFPoint cvSURFPoint( CvPoint2D32f pt, int laplacian,
+                                  int size, float dir CV_DEFAULT(0),
+                                  float hessian CV_DEFAULT(0))
+{
+    CvSURFPoint kp;
+    
+    kp.pt        = pt;
+    kp.laplacian = laplacian;
+    kp.size      = size;
+    kp.dir       = dir;
+    kp.hessian   = hessian;
+    
+    return kp;
+}
+
+typedef struct CvSURFParams
+{
+    int    extended;
+    int    upright;
+    double hessianThreshold;
+    
+    int    nOctaves;
+    int    nOctaveLayers;
+    
+} CvSURFParams;
+
+CVAPI(CvSURFParams) cvSURFParams( double hessianThreshold, int extended CV_DEFAULT(0) );
+
+// If useProvidedKeyPts!=0, keypoints are not detected, but descriptors are computed
+//  at the locations provided in keypoints (a CvSeq of CvSURFPoint).
+CVAPI(void) cvExtractSURF( const CvArr* img, const CvArr* mask,
+                          CvSeq** keypoints, CvSeq** descriptors,
+                          CvMemStorage* storage, CvSURFParams params,
+                             int useProvidedKeyPts CV_DEFAULT(0)  );
+
+/*!
+ Maximal Stable Regions Parameters
+ */
+typedef struct CvMSERParams
+{
+    //! delta, in the code, it compares (size_{i}-size_{i-delta})/size_{i-delta}
+    int delta;
+    //! prune the area which bigger than maxArea
+    int maxArea;
+    //! prune the area which smaller than minArea
+    int minArea;
+    //! prune the area have simliar size to its children
+    float maxVariation;
+    //! trace back to cut off mser with diversity < min_diversity
+    float minDiversity;
+    
+    /////// the next few params for MSER of color image
+    
+    //! for color image, the evolution steps
+    int maxEvolution;
+    //! the area threshold to cause re-initialize
+    double areaThreshold;
+    //! ignore too small margin
+    double minMargin;
+    //! the aperture size for edge blur
+    int edgeBlurSize;
+} CvMSERParams;
+
+CVAPI(CvMSERParams) cvMSERParams( int delta CV_DEFAULT(5), int min_area CV_DEFAULT(60),
+                                 int max_area CV_DEFAULT(14400), float max_variation CV_DEFAULT(.25f),
+                                 float min_diversity CV_DEFAULT(.2f), int max_evolution CV_DEFAULT(200),
+                                 double area_threshold CV_DEFAULT(1.01),
+                                 double min_margin CV_DEFAULT(.003),
+                                 int edge_blur_size CV_DEFAULT(5) );
+
+// Extracts the contours of Maximally Stable Extremal Regions
+CVAPI(void) cvExtractMSER( CvArr* _img, CvArr* _mask, CvSeq** contours, CvMemStorage* storage, CvMSERParams params );
+
+
+typedef struct CvStarKeypoint
+{
+    CvPoint pt;
+    int size;
+    float response;
+} CvStarKeypoint;
+
+CV_INLINE CvStarKeypoint cvStarKeypoint(CvPoint pt, int size, float response)
+{
+    CvStarKeypoint kpt;
+    kpt.pt = pt;
+    kpt.size = size;
+    kpt.response = response;
+    return kpt;
+}
+
+typedef struct CvStarDetectorParams
+{
+    int maxSize;
+    int responseThreshold;
+    int lineThresholdProjected;
+    int lineThresholdBinarized;
+    int suppressNonmaxSize;
+} CvStarDetectorParams;
+
+CV_INLINE CvStarDetectorParams cvStarDetectorParams(
+                                                    int maxSize CV_DEFAULT(45),
+                                                    int responseThreshold CV_DEFAULT(30),
+                                                    int lineThresholdProjected CV_DEFAULT(10),
+                                                    int lineThresholdBinarized CV_DEFAULT(8),
+                                                    int suppressNonmaxSize CV_DEFAULT(5))
+{
+    CvStarDetectorParams params;
+    params.maxSize = maxSize;
+    params.responseThreshold = responseThreshold;
+    params.lineThresholdProjected = lineThresholdProjected;
+    params.lineThresholdBinarized = lineThresholdBinarized;
+    params.suppressNonmaxSize = suppressNonmaxSize;
+    
+    return params;
+}
+
+CVAPI(CvSeq*) cvGetStarKeypoints( const CvArr* img, CvMemStorage* storage,
+                                 CvStarDetectorParams params CV_DEFAULT(cvStarDetectorParams()));
 
 #ifdef __cplusplus
 }

modules/legacy/src/features2d.cpp

@@ -0,0 +1,126 @@
+/* Original code has been submitted by Liu Liu. Here is the copyright.
+----------------------------------------------------------------------------------
+ * An OpenCV Implementation of SURF
+ * Further Information Refer to "SURF: Speed-Up Robust Feature"
+ * Author: Liu Liu
+ * liuliu.1987+opencv@gmail.com
+ *
+ * There are still serveral lacks for this experimental implementation:
+ * 1.The interpolation of sub-pixel mentioned in article was not implemented yet;
+ * 2.A comparision with original libSurf.so shows that the hessian detector is not a 100% match to their implementation;
+ * 3.Due to above reasons, I recommanded the original one for study and reuse;
+ *
+ * However, the speed of this implementation is something comparable to original one.
+ *
+ * Copyright© 2008, Liu Liu All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or
+ * without modification, are permitted provided that the following
+ * conditions are met:
+ * 	Redistributions of source code must retain the above
+ * 	copyright notice, this list of conditions and the following
+ * 	disclaimer.
+ * 	Redistributions in binary form must reproduce the above
+ * 	copyright notice, this list of conditions and the following
+ * 	disclaimer in the documentation and/or other materials
+ * 	provided with the distribution.
+ * 	The name of Contributor may not be used to endorse or
+ * 	promote products derived from this software without
+ * 	specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
+ * TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ */
+
+#include "precomp.hpp"
+
+using namespace cv;
+
+
+
+CV_IMPL CvSURFParams cvSURFParams(double threshold, int extended)
+{
+    CvSURFParams params;
+    params.hessianThreshold = threshold;
+    params.extended = extended;
+    params.upright = 0;
+    params.nOctaves = 4;
+    params.nOctaveLayers = 2;
+    return params;
+}
+
+CV_IMPL void
+cvExtractSURF( const CvArr* _img, const CvArr* _mask,
+               CvSeq** _keypoints, CvSeq** _descriptors,
+               CvMemStorage* storage, CvSURFParams params,
+               int useProvidedKeyPts)
+{
+    Mat img = cvarrToMat(_img), mask;
+    if(_mask)
+        mask = cvarrToMat(_mask);
+    vector<KeyPoint> kpt;
+    Mat descr;
+    
+    Ptr<Feature2D> surf = Algorithm::create<Feature2D>("Feature2D.SURF");
+    if( surf.empty() )
+        CV_Error(CV_StsNotImplemented, "OpenCV was built without SURF support");
+    
+    surf->set("hessianThreshold", params.hessianThreshold);
+    surf->set("nOctaves", params.nOctaves);
+    surf->set("nOctaveLayers", params.nOctaveLayers);
+    surf->set("upright", params.upright != 0);
+    surf->set("extended", params.extended != 0);
+    
+    surf->operator()(img, mask, kpt, _descriptors ? _OutputArray(descr) : noArray(),
+                     useProvidedKeyPts != 0);
+    
+    if( _keypoints )
+        *_keypoints = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvSURFPoint), storage);
+    
+    if( _descriptors )
+        *_descriptors = cvCreateSeq( 0, sizeof(CvSeq), descr.cols*descr.elemSize(), storage );
+    
+    for( size_t i = 0; i < kpt.size(); i++ )
+    {
+        if( _keypoints )
+        {
+            CvSURFPoint pt = cvSURFPoint(kpt[i].pt, kpt[i].class_id, cvRound(kpt[i].size));
+            cvSeqPush(*_keypoints, &pt);
+        }
+        if( _descriptors )
+            cvSeqPush(*_descriptors, descr.ptr(i));
+    }
+}
+
+CV_IMPL CvSeq*
+cvGetStarKeypoints( const CvArr* _img, CvMemStorage* storage,
+                    CvStarDetectorParams params )
+{
+    Ptr<StarDetector> star = new StarDetector(params.maxSize, params.responseThreshold,
+                                              params.lineThresholdProjected,
+                                              params.lineThresholdBinarized,
+                                              params.suppressNonmaxSize);
+    vector<KeyPoint> kpts;
+    star->detect(cvarrToMat(_img), kpts, Mat());
+    
+    CvSeq* seq = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvStarKeypoint), storage);
+    for( size_t i = 0; i < kpts.size(); i++ )
+    {
+        CvStarKeypoint kpt = cvStarKeypoint(kpts[i].pt, cvRound(kpts[i].size), kpts[i].response);
+        cvSeqPush(seq, &kpt);
+    }
+    return seq;
+}
+
+

modules/legacy/src/oneway.cpp

@@ -8,13 +8,9 @@
  */
 
 #include "precomp.hpp"
-#include "opencv2/opencv_modules.hpp"
+#include "opencv2/highgui/highgui.hpp"
 #include <stdio.h>
 
-#ifdef HAVE_OPENCV_HIGHGUI
-#  include "opencv2/highgui/highgui.hpp"
-#endif
-
 namespace cv{
     
     inline int round(float value)
@@ -659,7 +655,6 @@ namespace cv{
     
     void OneWayDescriptor::Save(const char* path)
     {
-#ifdef HAVE_OPENCV_HIGHGUI
         for(int i = 0; i < m_pose_count; i++)
         {
             char buf[1024];
@@ -674,9 +669,6 @@ namespace cv{
             
             cvReleaseImage(&patch);
         }
-#else
-        CV_Error( CV_StsNotImplemented, "This method required opencv_highgui disabled in current build" );
-#endif
     }
     
     void OneWayDescriptor::Write(CvFileStorage* fs, const char* name)
@@ -1737,9 +1729,12 @@ namespace cv{
     void extractPatches (IplImage *img, vector<IplImage*>& patches, CvSize patch_size)
     {
         vector<KeyPoint> features;
-        SURF surf_extractor(1.0f);
+        Ptr<FeatureDetector> surf_extractor = FeatureDetector::create("SURF");
+        if( surf_extractor.empty() )
+            CV_Error(CV_StsNotImplemented, "OpenCV was built without SURF support");
+        surf_extractor->set("hessianThreshold", 1.0);
         //printf("Extracting SURF features...");
-        surf_extractor(img, Mat(), features);
+        surf_extractor->detect(Mat(img), features);
         //printf("done\n");
 
         for (int j = 0; j < (int)features.size(); j++)
@@ -1780,7 +1775,6 @@ namespace cv{
 
     void loadPCAFeatures(const char* path, const char* images_list, vector<IplImage*>& patches, CvSize patch_size)
     {
-#ifdef HAVE_OPENCV_HIGHGUI
         char images_filename[1024];
         sprintf(images_filename, "%s/%s", path, images_list);
         FILE *pFile = fopen(images_filename, "r");
@@ -1809,9 +1803,6 @@ namespace cv{
             cvReleaseImage(&img);
         }
         fclose(pFile);
-#else
-        CV_Error( CV_StsNotImplemented, "This method required opencv_highgui disabled in current build" );
-#endif
     }
 
     void generatePCAFeatures(const char* path, const char* img_filename, FileStorage& fs, const char* postfix,
@@ -2159,4 +2150,145 @@ namespace cv{
             cvReleaseMat(&_eigenvectors);
         }
     }
+    
+    /****************************************************************************************\
+     *                                OneWayDescriptorMatcher                                  *
+     \****************************************************************************************/
+    
+    OneWayDescriptorMatcher::Params::Params( int _poseCount, Size _patchSize, string _pcaFilename,
+                                            string _trainPath, string _trainImagesList,
+                                            float _minScale, float _maxScale, float _stepScale ) :
+    poseCount(_poseCount), patchSize(_patchSize), pcaFilename(_pcaFilename),
+    trainPath(_trainPath), trainImagesList(_trainImagesList),
+    minScale(_minScale), maxScale(_maxScale), stepScale(_stepScale)
+    {}
+    
+    
+    OneWayDescriptorMatcher::OneWayDescriptorMatcher( const Params& _params)
+    {
+        initialize(_params);
+    }
+    
+    OneWayDescriptorMatcher::~OneWayDescriptorMatcher()
+    {}
+    
+    void OneWayDescriptorMatcher::initialize( const Params& _params, const Ptr<OneWayDescriptorBase>& _base )
+    {
+        clear();
+        
+        if( _base.empty() )
+            base = _base;
+        
+        params = _params;
+    }
+    
+    void OneWayDescriptorMatcher::clear()
+    {
+        GenericDescriptorMatcher::clear();
+        
+        prevTrainCount = 0;
+        if( !base.empty() )
+            base->clear();
+    }
+    
+    void OneWayDescriptorMatcher::train()
+    {
+        if( base.empty() || prevTrainCount < (int)trainPointCollection.keypointCount() )
+        {
+            base = new OneWayDescriptorObject( params.patchSize, params.poseCount, params.pcaFilename,
+                                              params.trainPath, params.trainImagesList, params.minScale, params.maxScale, params.stepScale );
+            
+            base->Allocate( (int)trainPointCollection.keypointCount() );
+            prevTrainCount = (int)trainPointCollection.keypointCount();
+            
+            const vector<vector<KeyPoint> >& points = trainPointCollection.getKeypoints();
+            int count = 0;
+            for( size_t i = 0; i < points.size(); i++ )
+            {
+                IplImage _image = trainPointCollection.getImage((int)i);
+                for( size_t j = 0; j < points[i].size(); j++ )
+                    base->InitializeDescriptor( count++, &_image, points[i][j], "" );
+            }
+            
+#if defined(_KDTREE)
+            base->ConvertDescriptorsArrayToTree();
+#endif
+        }
+    }
+    
+    bool OneWayDescriptorMatcher::isMaskSupported()
+    {
+        return false;
+    }
+    
+    void OneWayDescriptorMatcher::knnMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
+                                               vector<vector<DMatch> >& matches, int knn,
+                                               const vector<Mat>& /*masks*/, bool /*compactResult*/ )
+    {
+        train();
+        
+        CV_Assert( knn == 1 ); // knn > 1 unsupported because of bug in OneWayDescriptorBase for this case
+        
+        matches.resize( queryKeypoints.size() );
+        IplImage _qimage = queryImage;
+        for( size_t i = 0; i < queryKeypoints.size(); i++ )
+        {
+            int descIdx = -1, poseIdx = -1;
+            float distance;
+            base->FindDescriptor( &_qimage, queryKeypoints[i].pt, descIdx, poseIdx, distance );
+            matches[i].push_back( DMatch((int)i, descIdx, distance) );
+        }
+    }
+    
+    void OneWayDescriptorMatcher::radiusMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
+                                                  vector<vector<DMatch> >& matches, float maxDistance,
+                                                  const vector<Mat>& /*masks*/, bool /*compactResult*/ )
+    {
+        train();
+        
+        matches.resize( queryKeypoints.size() );
+        IplImage _qimage = queryImage;
+        for( size_t i = 0; i < queryKeypoints.size(); i++ )
+        {
+            int descIdx = -1, poseIdx = -1;
+            float distance;
+            base->FindDescriptor( &_qimage, queryKeypoints[i].pt, descIdx, poseIdx, distance );
+            if( distance < maxDistance )
+                matches[i].push_back( DMatch((int)i, descIdx, distance) );
+        }
+    }
+    
+    void OneWayDescriptorMatcher::read( const FileNode &fn )
+    {
+        base = new OneWayDescriptorObject( params.patchSize, params.poseCount, string (), string (), string (),
+                                          params.minScale, params.maxScale, params.stepScale );
+        base->Read (fn);
+    }
+    
+    void OneWayDescriptorMatcher::write( FileStorage& fs ) const
+    {
+        base->Write (fs);
+    }
+    
+    bool OneWayDescriptorMatcher::empty() const
+    {
+        return base.empty() || base->empty();
+    }
+    
+    Ptr<GenericDescriptorMatcher> OneWayDescriptorMatcher::clone( bool emptyTrainData ) const
+    {
+        OneWayDescriptorMatcher* matcher = new OneWayDescriptorMatcher( params );
+        
+        if( !emptyTrainData )
+        {
+            CV_Error( CV_StsNotImplemented, "deep clone functionality is not implemented, because "
+                     "OneWayDescriptorBase has not copy constructor or clone method ");
+            
+            //matcher->base;
+            matcher->params = params;
+            matcher->prevTrainCount = prevTrainCount;
+            matcher->trainPointCollection = trainPointCollection;
+        }
+        return matcher;
+    }
 }

modules/legacy/src/planardetect.cpp

@@ -1215,5 +1215,363 @@ void FernClassifier::setVerbose(bool _verbose)
 {
     verbose = _verbose;
 }
+    
+    
+/****************************************************************************************\
+*                                  FernDescriptorMatcher                                 *
+\****************************************************************************************/
+FernDescriptorMatcher::Params::Params( int _nclasses, int _patchSize, int _signatureSize,
+                                      int _nstructs, int _structSize, int _nviews, int _compressionMethod,
+                                      const PatchGenerator& _patchGenerator ) :
+nclasses(_nclasses), patchSize(_patchSize), signatureSize(_signatureSize),
+nstructs(_nstructs), structSize(_structSize), nviews(_nviews),
+compressionMethod(_compressionMethod), patchGenerator(_patchGenerator)
+{}
+
+FernDescriptorMatcher::Params::Params( const string& _filename )
+{
+    filename = _filename;
+}
+
+FernDescriptorMatcher::FernDescriptorMatcher( const Params& _params )
+{
+    prevTrainCount = 0;
+    params = _params;
+    if( !params.filename.empty() )
+    {
+        classifier = new FernClassifier;
+        FileStorage fs(params.filename, FileStorage::READ);
+        if( fs.isOpened() )
+            classifier->read( fs.getFirstTopLevelNode() );
+    }
+}
+
+FernDescriptorMatcher::~FernDescriptorMatcher()
+{}
+
+void FernDescriptorMatcher::clear()
+{
+    GenericDescriptorMatcher::clear();
+    
+    classifier.release();
+    prevTrainCount = 0;
+}
+
+void FernDescriptorMatcher::train()
+{
+    if( classifier.empty() || prevTrainCount < (int)trainPointCollection.keypointCount() )
+    {
+        assert( params.filename.empty() );
+        
+        vector<vector<Point2f> > points( trainPointCollection.imageCount() );
+        for( size_t imgIdx = 0; imgIdx < trainPointCollection.imageCount(); imgIdx++ )
+            KeyPoint::convert( trainPointCollection.getKeypoints((int)imgIdx), points[imgIdx] );
+        
+        classifier = new FernClassifier( points, trainPointCollection.getImages(), vector<vector<int> >(), 0, // each points is a class
+                                        params.patchSize, params.signatureSize, params.nstructs, params.structSize,
+                                        params.nviews, params.compressionMethod, params.patchGenerator );
+    }
+}
+
+bool FernDescriptorMatcher::isMaskSupported()
+{
+    return false;
+}
+
+void FernDescriptorMatcher::calcBestProbAndMatchIdx( const Mat& image, const Point2f& pt,
+                                                    float& bestProb, int& bestMatchIdx, vector<float>& signature )
+{
+    (*classifier)( image, pt, signature);
+    
+    bestProb = -FLT_MAX;
+    bestMatchIdx = -1;
+    for( int ci = 0; ci < classifier->getClassCount(); ci++ )
+    {
+        if( signature[ci] > bestProb )
+        {
+            bestProb = signature[ci];
+            bestMatchIdx = ci;
+        }
+    }
+}
+
+void FernDescriptorMatcher::knnMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
+                                         vector<vector<DMatch> >& matches, int knn,
+                                         const vector<Mat>& /*masks*/, bool /*compactResult*/ )
+{
+    train();
+    
+    matches.resize( queryKeypoints.size() );
+    vector<float> signature( (size_t)classifier->getClassCount() );
+    
+    for( size_t queryIdx = 0; queryIdx < queryKeypoints.size(); queryIdx++ )
+    {
+        (*classifier)( queryImage, queryKeypoints[queryIdx].pt, signature);
+        
+        for( int k = 0; k < knn; k++ )
+        {
+            DMatch bestMatch;
+            size_t best_ci = 0;
+            for( size_t ci = 0; ci < signature.size(); ci++ )
+            {
+                if( -signature[ci] < bestMatch.distance )
+                {
+                    int imgIdx = -1, trainIdx = -1;
+                    trainPointCollection.getLocalIdx( (int)ci , imgIdx, trainIdx );
+                    bestMatch = DMatch( (int)queryIdx, trainIdx, imgIdx, -signature[ci] );
+                    best_ci = ci;
+                }
+            }
+            
+            if( bestMatch.trainIdx == -1 )
+                break;
+            signature[best_ci] = -std::numeric_limits<float>::max();
+            matches[queryIdx].push_back( bestMatch );
+        }
+    }
+}
+
+void FernDescriptorMatcher::radiusMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
+                                            vector<vector<DMatch> >& matches, float maxDistance,
+                                            const vector<Mat>& /*masks*/, bool /*compactResult*/ )
+{
+    train();
+    matches.resize( queryKeypoints.size() );
+    vector<float> signature( (size_t)classifier->getClassCount() );
+    
+    for( size_t i = 0; i < queryKeypoints.size(); i++ )
+    {
+        (*classifier)( queryImage, queryKeypoints[i].pt, signature);
+        
+        for( int ci = 0; ci < classifier->getClassCount(); ci++ )
+        {
+            if( -signature[ci] < maxDistance )
+            {
+                int imgIdx = -1, trainIdx = -1;
+                trainPointCollection.getLocalIdx( ci , imgIdx, trainIdx );
+                matches[i].push_back( DMatch( (int)i, trainIdx, imgIdx, -signature[ci] ) );
+            }
+        }
+    }
+}
+
+void FernDescriptorMatcher::read( const FileNode &fn )
+{
+    params.nclasses = fn["nclasses"];
+    params.patchSize = fn["patchSize"];
+    params.signatureSize = fn["signatureSize"];
+    params.nstructs = fn["nstructs"];
+    params.structSize = fn["structSize"];
+    params.nviews = fn["nviews"];
+    params.compressionMethod = fn["compressionMethod"];
+    
+    //classifier->read(fn);
+}
+
+void FernDescriptorMatcher::write( FileStorage& fs ) const
+{
+    fs << "nclasses" << params.nclasses;
+    fs << "patchSize" << params.patchSize;
+    fs << "signatureSize" << params.signatureSize;
+    fs << "nstructs" << params.nstructs;
+    fs << "structSize" << params.structSize;
+    fs << "nviews" << params.nviews;
+    fs << "compressionMethod" << params.compressionMethod;
+    
+    //    classifier->write(fs);
+}
+
+bool FernDescriptorMatcher::empty() const
+{
+    return classifier.empty() || classifier->empty();
+}
+
+Ptr<GenericDescriptorMatcher> FernDescriptorMatcher::clone( bool emptyTrainData ) const
+{
+    FernDescriptorMatcher* matcher = new FernDescriptorMatcher( params );
+    if( !emptyTrainData )
+    {
+        CV_Error( CV_StsNotImplemented, "deep clone dunctionality is not implemented, because "
+                 "FernClassifier has not copy constructor or clone method ");
+        
+        //matcher->classifier;
+        matcher->params = params;
+        matcher->prevTrainCount = prevTrainCount;
+        matcher->trainPointCollection = trainPointCollection;
+    }
+    return matcher;
+}
+    
+////////////////////////////////////// Planar Object Detector ////////////////////////////////////
+
+PlanarObjectDetector::PlanarObjectDetector()
+{
+}
+
+PlanarObjectDetector::PlanarObjectDetector(const FileNode& node)
+{
+    read(node);
+}
+
+PlanarObjectDetector::PlanarObjectDetector(const vector<Mat>& pyr, int npoints,
+                                           int patchSize, int nstructs, int structSize,
+                                           int nviews, const LDetector& detector,
+                                           const PatchGenerator& patchGenerator)
+{
+    train(pyr, npoints, patchSize, nstructs,
+          structSize, nviews, detector, patchGenerator);
+}
+
+PlanarObjectDetector::~PlanarObjectDetector()
+{
+}
+
+vector<KeyPoint> PlanarObjectDetector::getModelPoints() const
+{
+    return modelPoints;
+}
+
+void PlanarObjectDetector::train(const vector<Mat>& pyr, int npoints,
+                                 int patchSize, int nstructs, int structSize,
+                                 int nviews, const LDetector& detector,
+                                 const PatchGenerator& patchGenerator)
+{
+    modelROI = Rect(0, 0, pyr[0].cols, pyr[0].rows);
+    ldetector = detector;
+    ldetector.setVerbose(verbose);
+    ldetector.getMostStable2D(pyr[0], modelPoints, npoints, patchGenerator);
+    
+    npoints = (int)modelPoints.size();
+    fernClassifier.setVerbose(verbose);
+    fernClassifier.trainFromSingleView(pyr[0], modelPoints,
+                                       patchSize, (int)modelPoints.size(), nstructs, structSize, nviews,
+                                       FernClassifier::COMPRESSION_NONE, patchGenerator);
+}
+
+void PlanarObjectDetector::train(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
+                                 int patchSize, int nstructs, int structSize,
+                                 int nviews, const LDetector& detector,
+                                 const PatchGenerator& patchGenerator)
+{
+    modelROI = Rect(0, 0, pyr[0].cols, pyr[0].rows);
+    ldetector = detector;
+    ldetector.setVerbose(verbose);
+    modelPoints.resize(keypoints.size());
+    std::copy(keypoints.begin(), keypoints.end(), modelPoints.begin());
+    
+    fernClassifier.setVerbose(verbose);
+    fernClassifier.trainFromSingleView(pyr[0], modelPoints,
+                                       patchSize, (int)modelPoints.size(), nstructs, structSize, nviews,
+                                       FernClassifier::COMPRESSION_NONE, patchGenerator);
+}
+
+void PlanarObjectDetector::read(const FileNode& node)
+{
+    FileNodeIterator it = node["model-roi"].begin(), it_end;
+    it >> modelROI.x >> modelROI.y >> modelROI.width >> modelROI.height;
+    ldetector.read(node["detector"]);
+    fernClassifier.read(node["fern-classifier"]);
+    cv::read(node["model-points"], modelPoints);
+    CV_Assert(modelPoints.size() == (size_t)fernClassifier.getClassCount());
+}
+
+
+void PlanarObjectDetector::write(FileStorage& fs, const String& objname) const
+{
+    WriteStructContext ws(fs, objname, CV_NODE_MAP);
+    
+    {
+        WriteStructContext wsroi(fs, "model-roi", CV_NODE_SEQ + CV_NODE_FLOW);
+        cv::write(fs, modelROI.x);
+        cv::write(fs, modelROI.y);
+        cv::write(fs, modelROI.width);
+        cv::write(fs, modelROI.height);
+    }
+    ldetector.write(fs, "detector");
+    cv::write(fs, "model-points", modelPoints);
+    fernClassifier.write(fs, "fern-classifier");
+}
+
+
+bool PlanarObjectDetector::operator()(const Mat& image, Mat& H, vector<Point2f>& corners) const
+{
+    vector<Mat> pyr;
+    buildPyramid(image, pyr, ldetector.nOctaves - 1);
+    vector<KeyPoint> keypoints;
+    ldetector(pyr, keypoints);
+    
+    return (*this)(pyr, keypoints, H, corners);
+}
+
+bool PlanarObjectDetector::operator()(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
+                                      Mat& matH, vector<Point2f>& corners, vector<int>* pairs) const
+{
+    int i, j, m = (int)modelPoints.size(), n = (int)keypoints.size();
+    vector<int> bestMatches(m, -1);
+    vector<float> maxLogProb(m, -FLT_MAX);
+    vector<float> signature;
+    vector<Point2f> fromPt, toPt;
+    
+    for( i = 0; i < n; i++ )
+    {
+        KeyPoint kpt = keypoints[i];
+        CV_Assert(0 <= kpt.octave && kpt.octave < (int)pyr.size());
+        kpt.pt.x /= (float)(1 << kpt.octave);
+        kpt.pt.y /= (float)(1 << kpt.octave);
+        int k = fernClassifier(pyr[kpt.octave], kpt.pt, signature);
+        if( k >= 0 && (bestMatches[k] < 0 || signature[k] > maxLogProb[k]) )
+        {
+            maxLogProb[k] = signature[k];
+            bestMatches[k] = i;
+        }
+    }
+    
+    if(pairs)
+        pairs->resize(0);
+    
+    for( i = 0; i < m; i++ )
+        if( bestMatches[i] >= 0 )
+        {
+            fromPt.push_back(modelPoints[i].pt);
+            toPt.push_back(keypoints[bestMatches[i]].pt);
+        }
+    
+    if( fromPt.size() < 4 )
+        return false;
+    
+    vector<uchar> mask;
+    matH = findHomography(fromPt, toPt, RANSAC, 10, mask);
+    if( matH.data )
+    {
+        const Mat_<double>& H = matH;
+        corners.resize(4);
+        for( i = 0; i < 4; i++ )
+        {
+            Point2f pt((float)(modelROI.x + (i == 0 || i == 3 ? 0 : modelROI.width)),
+                       (float)(modelROI.y + (i <= 1 ? 0 : modelROI.height)));
+            double w = 1./(H(2,0)*pt.x + H(2,1)*pt.y + H(2,2));
+            corners[i] = Point2f((float)((H(0,0)*pt.x + H(0,1)*pt.y + H(0,2))*w),
+                                 (float)((H(1,0)*pt.x + H(1,1)*pt.y + H(1,2))*w));
+        }
+    }
+    
+    if( pairs )
+    {
+        for( i = j = 0; i < m; i++ )
+            if( bestMatches[i] >= 0 && mask[j++] )
+            {
+                pairs->push_back(i);
+                pairs->push_back(bestMatches[i]);
+            }
+    }
+    
+    return matH.data != 0;
+}
+
+
+void PlanarObjectDetector::setVerbose(bool _verbose)
+{
+    verbose = _verbose;
+}
 
 }

modules/legacy/test/test_main.cpp

@@ -0,0 +1,3 @@
+#include "test_precomp.hpp"
+
+CV_TEST_MAIN("cv")

modules/legacy/test/test_precomp.cpp

@@ -0,0 +1 @@
+#include "test_precomp.hpp"

modules/legacy/test/test_precomp.hpp

@@ -0,0 +1,11 @@
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include "opencv2/ts/ts.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/highgui/highgui_c.h"
+#include <iostream>
+
+#endif

modules/nonfree/CMakeLists.txt

@@ -0,0 +1,2 @@
+set(the_description "Functionality with possible limitations on the use")
+ocv_define_module(nonfree opencv_imgproc opencv_features2d)

modules/nonfree/doc/feature_detection.rst

@@ -0,0 +1,172 @@
+Feature Detection and Description
+=================================
+
+SIFT
+----
+.. ocv:class:: SIFT
+
+Class for extracting keypoints and computing descriptors using the Scale Invariant Feature Transform (SIFT) approach. ::
+
+    class CV_EXPORTS SIFT
+    {
+    public:
+        struct CommonParams
+        {
+            static const int DEFAULT_NOCTAVES = 4;
+            static const int DEFAULT_NOCTAVE_LAYERS = 3;
+            static const int DEFAULT_FIRST_OCTAVE = -1;
+            enum{ FIRST_ANGLE = 0, AVERAGE_ANGLE = 1 };
+
+            CommonParams();
+            CommonParams( int _nOctaves, int _nOctaveLayers, int _firstOctave,
+                                              int _angleMode );
+            int nOctaves, nOctaveLayers, firstOctave;
+            int angleMode;
+        };
+
+        struct DetectorParams
+        {
+            static double GET_DEFAULT_THRESHOLD()
+              { return 0.04 / SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS / 2.0; }
+            static double GET_DEFAULT_EDGE_THRESHOLD() { return 10.0; }
+
+            DetectorParams();
+            DetectorParams( double _threshold, double _edgeThreshold );
+            double threshold, edgeThreshold;
+        };
+
+        struct DescriptorParams
+        {
+            static double GET_DEFAULT_MAGNIFICATION() { return 3.0; }
+            static const bool DEFAULT_IS_NORMALIZE = true;
+            static const int DESCRIPTOR_SIZE = 128;
+
+            DescriptorParams();
+            DescriptorParams( double _magnification, bool _isNormalize,
+                                                      bool _recalculateAngles );
+            double magnification;
+            bool isNormalize;
+            bool recalculateAngles;
+        };
+
+        SIFT();
+        //! sift-detector constructor
+        SIFT( double _threshold, double _edgeThreshold,
+              int _nOctaves=CommonParams::DEFAULT_NOCTAVES,
+              int _nOctaveLayers=CommonParams::DEFAULT_NOCTAVE_LAYERS,
+              int _firstOctave=CommonParams::DEFAULT_FIRST_OCTAVE,
+              int _angleMode=CommonParams::FIRST_ANGLE );
+        //! sift-descriptor constructor
+        SIFT( double _magnification, bool _isNormalize=true,
+              bool _recalculateAngles = true,
+              int _nOctaves=CommonParams::DEFAULT_NOCTAVES,
+              int _nOctaveLayers=CommonParams::DEFAULT_NOCTAVE_LAYERS,
+              int _firstOctave=CommonParams::DEFAULT_FIRST_OCTAVE,
+              int _angleMode=CommonParams::FIRST_ANGLE );
+        SIFT( const CommonParams& _commParams,
+              const DetectorParams& _detectorParams = DetectorParams(),
+              const DescriptorParams& _descriptorParams = DescriptorParams() );
+
+        //! returns the descriptor size in floats (128)
+        int descriptorSize() const { return DescriptorParams::DESCRIPTOR_SIZE; }
+        //! finds the keypoints using the SIFT algorithm
+        void operator()(const Mat& img, const Mat& mask,
+                        vector<KeyPoint>& keypoints) const;
+        //! finds the keypoints and computes descriptors for them using SIFT algorithm.
+        //! Optionally it can compute descriptors for the user-provided keypoints
+        void operator()(const Mat& img, const Mat& mask,
+                        vector<KeyPoint>& keypoints,
+                        Mat& descriptors,
+                        bool useProvidedKeypoints=false) const;
+
+        CommonParams getCommonParams () const { return commParams; }
+        DetectorParams getDetectorParams () const { return detectorParams; }
+        DescriptorParams getDescriptorParams () const { return descriptorParams; }
+    protected:
+        ...
+    };
+
+
+
+
+SURF
+----
+.. ocv:class:: SURF
+
+Class for extracting Speeded Up Robust Features from an image [Bay06]_. The class is derived from ``CvSURFParams`` structure, which specifies the algorithm parameters:
+
+    .. ocv:member:: int extended
+    
+        * 0 means that the basic descriptors (64 elements each) shall be computed
+        * 1 means that the extended descriptors (128 elements each) shall be computed
+       
+    .. ocv:member:: int upright
+    
+        * 0 means that detector computes orientation of each feature.
+        * 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``.
+        
+    .. ocv:member:: double hessianThreshold
+    
+        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.
+        
+    .. ocv:member:: int nOctaves
+    
+        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.
+        
+    .. ocv:member:: int nOctaveLayers
+    
+        The number of images within each octave of a gaussian pyramid. It is set to 2 by default.
+
+
+.. [Bay06] Bay, H. and Tuytelaars, T. and Van Gool, L. "SURF: Speeded Up Robust Features", 9th European Conference on Computer Vision, 2006
+
+
+SURF::SURF
+----------
+The SURF extractor constructors.
+
+.. ocv:function:: SURF::SURF()
+
+.. ocv:function:: SURF::SURF(double hessianThreshold, int nOctaves=4, int nOctaveLayers=2, bool extended=false, bool upright=false)
+
+.. ocv:pyfunction:: cv2.SURF(_hessianThreshold[, _nOctaves[, _nOctaveLayers[, _extended[, _upright]]]]) -> <SURF object>
+
+    :param hessianThreshold: Threshold for hessian keypoint detector used in SURF.
+    
+    :param nOctaves: Number of pyramid octaves the keypoint detector will use.
+    
+    :param nOctaveLayers: Number of octave layers within each octave.
+    
+    :param extended: Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).
+    
+    :param upright: Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).
+
+
+SURF::operator()
+----------------
+Detects keypoints and computes SURF descriptors for them.
+
+.. ocv:function:: void SURF::operator()(const Mat& image, const Mat& mask, vector<KeyPoint>& keypoints)
+.. ocv:function:: void SURF::operator()(const Mat& image, const Mat& mask, vector<KeyPoint>& keypoints, vector<float>& descriptors, bool useProvidedKeypoints=false)
+
+.. ocv:pyfunction:: cv2.SURF.detect(img, mask) -> keypoints
+.. ocv:pyfunction:: cv2.SURF.detect(img, mask[, useProvidedKeypoints]) -> keypoints, descriptors
+
+.. ocv:cfunction:: void cvExtractSURF( const CvArr* image, const CvArr* mask, CvSeq** keypoints, CvSeq** descriptors, CvMemStorage* storage, CvSURFParams params )
+
+.. ocv:pyoldfunction:: cv.ExtractSURF(image, mask, storage, params)-> (keypoints, descriptors)
+
+    :param image: Input 8-bit grayscale image
+    
+    :param mask: Optional input mask that marks the regions where we should detect features.
+    
+    :param keypoints: The input/output vector of keypoints
+    
+    :param descriptors: The output concatenated vectors of descriptors. Each descriptor is 64- or 128-element vector, as returned by ``SURF::descriptorSize()``. So the total size of ``descriptors`` will be ``keypoints.size()*descriptorSize()``.
+    
+    :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.
+    
+    :param storage: Memory storage for the output keypoints and descriptors in OpenCV 1.x API.
+    
+    :param params: SURF algorithm parameters in OpenCV 1.x API.
+

modules/nonfree/doc/nonfree.rst

@@ -0,0 +1,10 @@
+********************************
+nonfree. Non-free functionality
+********************************
+
+The module contains algorithms that may be patented in some countries or have some other limitations on the use.
+
+.. toctree::
+    :maxdepth: 2
+
+    feature_detection

modules/nonfree/include/opencv2/nonfree/features2d.hpp

@@ -0,0 +1,155 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_NONFREE_FEATURES_2D_HPP__
+#define __OPENCV_NONFREE_FEATURES_2D_HPP__
+
+#include "opencv2/features2d/features2d.hpp"
+
+#ifdef __cplusplus
+
+namespace cv
+{
+
+/*!
+ SIFT implementation.
+ 
+ The class implements SIFT algorithm by D. Lowe.
+*/
+class CV_EXPORTS_W SIFT : public Feature2D
+{
+public:
+    explicit SIFT( int _nfeatures=0, int _nOctaveLayers=3,
+          double _contrastThreshold=0.04, double _edgeThreshold=10,
+          double _sigma=1.6);
+
+    //! returns the descriptor size in floats (128)
+    int descriptorSize() const;
+    
+    //! returns the descriptor type
+    int descriptorType() const;
+    
+    //! finds the keypoints using SIFT algorithm
+    void operator()(InputArray img, InputArray mask,
+                    vector<KeyPoint>& keypoints) const;
+    //! finds the keypoints and computes descriptors for them using SIFT algorithm.
+    //! Optionally it can compute descriptors for the user-provided keypoints
+    void operator()(InputArray img, InputArray mask,
+                    vector<KeyPoint>& keypoints,
+                    OutputArray descriptors,
+                    bool useProvidedKeypoints=false) const;
+    
+    AlgorithmInfo* info() const;
+    
+    void buildGaussianPyramid( const Mat& base, vector<Mat>& pyr, int nOctaves ) const;
+    void buildDoGPyramid( const vector<Mat>& pyr, vector<Mat>& dogpyr ) const;
+    void findScaleSpaceExtrema( const vector<Mat>& gauss_pyr, const vector<Mat>& dog_pyr,
+                                vector<KeyPoint>& keypoints ) const;
+
+protected:
+    void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
+    
+    CV_PROP_RW int nfeatures;
+    CV_PROP_RW int nOctaveLayers;
+    CV_PROP_RW double contrastThreshold;
+    CV_PROP_RW double edgeThreshold;
+    CV_PROP_RW double sigma;
+};
+
+typedef SIFT SiftFeatureDetector;
+typedef SIFT SiftDescriptorExtractor;
+    
+/*!
+ SURF implementation.
+ 
+ The class implements SURF algorithm by H. Bay et al.
+ */
+class CV_EXPORTS_W SURF : public Feature2D
+{
+public:
+    //! the default constructor
+    SURF();
+    //! the full constructor taking all the necessary parameters
+    explicit SURF(double _hessianThreshold,
+                  bool _extended=true, bool _upright=false,
+                  int _nOctaves=4, int _nOctaveLayers=2);
+
+    //! returns the descriptor size in float's (64 or 128)
+    int descriptorSize() const;
+    
+    //! returns the descriptor type
+    int descriptorType() const;
+    
+    //! finds the keypoints using fast hessian detector used in SURF
+    void operator()(InputArray img, InputArray mask,
+                    CV_OUT vector<KeyPoint>& keypoints) const;
+    //! finds the keypoints and computes their descriptors. Optionally it can compute descriptors for the user-provided keypoints
+    void operator()(InputArray img, InputArray mask,
+                    CV_OUT vector<KeyPoint>& keypoints,
+                    OutputArray descriptors,
+                    bool useProvidedKeypoints=false) const;
+    
+    AlgorithmInfo* info() const;
+    
+    CV_PROP_RW double hessianThreshold;
+    CV_PROP_RW int nOctaves;
+    CV_PROP_RW int nOctaveLayers;
+    CV_PROP_RW bool extended;
+    CV_PROP_RW bool upright;
+    
+protected:
+    
+    void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
+};
+    
+typedef SURF SurfFeatureDetector;
+typedef SURF SurfDescriptorExtractor;
+
+} /* namespace cv */
+
+#endif /* __cplusplus */
+
+#endif
+
+/* End of file. */

modules/nonfree/include/opencv2/nonfree/nonfree.hpp

@@ -0,0 +1,57 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009-2012, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_NONFREE_HPP__
+#define __OPENCV_NONFREE_HPP__
+
+#include "opencv2/nonfree/features2d.hpp"
+
+namespace cv
+{
+
+CV_EXPORTS bool initModule_nonfree(void);
+    
+}
+
+#endif
+
+/* End of file. */

modules/nonfree/perf/perf_main.cpp

@@ -0,0 +1,3 @@
+#include "perf_precomp.hpp"
+
+CV_PERF_TEST_MAIN(nonfree)

modules/nonfree/perf/perf_precomp.cpp

@@ -0,0 +1 @@
+#include "perf_precomp.hpp"

modules/nonfree/perf/perf_precomp.hpp

@@ -0,0 +1,12 @@
+#ifndef __OPENCV_PERF_PRECOMP_HPP__
+#define __OPENCV_PERF_PRECOMP_HPP__
+
+#include "opencv2/ts/ts.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+#if GTEST_CREATE_SHARED_LIBRARY
+#error no modules except ts should have GTEST_CREATE_SHARED_LIBRARY defined
+#endif
+
+#endif

modules/nonfree/src/precomp.cpp

@@ -0,0 +1,44 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+
+/* End of file. */

modules/nonfree/src/precomp.hpp

@@ -0,0 +1,58 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_PRECOMP_H__
+#define __OPENCV_PRECOMP_H__
+
+#if _MSC_VER >= 1200
+#pragma warning( disable: 4251 4512 4710 4711 4514 4996 )
+#endif
+
+#ifdef HAVE_CVCONFIG_H 
+#include "cvconfig.h"
+#endif
+
+#include "opencv2/nonfree/nonfree.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/core/internal.hpp"
+
+#endif

modules/nonfree/src/sift.cpp

@@ -0,0 +1,772 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+/**********************************************************************************************\
+ Implementation of SIFT is based on the code from http://blogs.oregonstate.edu/hess/code/sift/
+ Below is the original copyright.
+ 
+//    Copyright (c) 2006-2010, Rob Hess <hess@eecs.oregonstate.edu>
+//    All rights reserved.
+
+//    The following patent has been issued for methods embodied in this
+//    software: "Method and apparatus for identifying scale invariant features
+//    in an image and use of same for locating an object in an image," David
+//    G. Lowe, US Patent 6,711,293 (March 23, 2004). Provisional application
+//    filed March 8, 1999. Asignee: The University of British Columbia. For
+//    further details, contact David Lowe (lowe@cs.ubc.ca) or the
+//    University-Industry Liaison Office of the University of British
+//    Columbia.
+
+//    Note that restrictions imposed by this patent (and possibly others)
+//    exist independently of and may be in conflict with the freedoms granted
+//    in this license, which refers to copyright of the program, not patents
+//    for any methods that it implements.  Both copyright and patent law must
+//    be obeyed to legally use and redistribute this program and it is not the
+//    purpose of this license to induce you to infringe any patents or other
+//    property right claims or to contest validity of any such claims.  If you
+//    redistribute or use the program, then this license merely protects you
+//    from committing copyright infringement.  It does not protect you from
+//    committing patent infringement.  So, before you do anything with this
+//    program, make sure that you have permission to do so not merely in terms
+//    of copyright, but also in terms of patent law.
+
+//    Please note that this license is not to be understood as a guarantee
+//    either.  If you use the program according to this license, but in
+//    conflict with patent law, it does not mean that the licensor will refund
+//    you for any losses that you incur if you are sued for your patent
+//    infringement.
+
+//    Redistribution and use in source and binary forms, with or without
+//    modification, are permitted provided that the following conditions are
+//    met:
+//        * Redistributions of source code must retain the above copyright and
+//          patent notices, this list of conditions and the following
+//          disclaimer.
+//        * Redistributions in binary form must reproduce the above copyright
+//          notice, this list of conditions and the following disclaimer in
+//          the documentation and/or other materials provided with the
+//          distribution.
+//        * Neither the name of Oregon State University nor the names of its
+//          contributors may be used to endorse or promote products derived
+//          from this software without specific prior written permission.
+
+//    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+//    IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+//    TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+//    PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+//    HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+//    EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+//    PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+//    PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+//    LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//    NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+//    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+\**********************************************************************************************/
+ 
+#include "precomp.hpp"
+#include <iostream>
+#include <stdarg.h>
+
+namespace cv
+{
+
+/******************************* Defs and macros *****************************/
+
+// default number of sampled intervals per octave
+static const int SIFT_INTVLS = 3;
+
+// default sigma for initial gaussian smoothing
+static const float SIFT_SIGMA = 1.6f;
+
+// default threshold on keypoint contrast |D(x)|
+static const float SIFT_CONTR_THR = 0.04f;
+
+// default threshold on keypoint ratio of principle curvatures
+static const float SIFT_CURV_THR = 10.f;
+
+// double image size before pyramid construction?
+static const bool SIFT_IMG_DBL = true;
+
+// default width of descriptor histogram array
+static const int SIFT_DESCR_WIDTH = 4;
+
+// default number of bins per histogram in descriptor array
+static const int SIFT_DESCR_HIST_BINS = 8;
+
+// assumed gaussian blur for input image
+static const float SIFT_INIT_SIGMA = 0.5f;
+
+// width of border in which to ignore keypoints
+static const int SIFT_IMG_BORDER = 5;
+
+// maximum steps of keypoint interpolation before failure
+static const int SIFT_MAX_INTERP_STEPS = 5;
+
+// default number of bins in histogram for orientation assignment
+static const int SIFT_ORI_HIST_BINS = 36;
+
+// determines gaussian sigma for orientation assignment
+static const float SIFT_ORI_SIG_FCTR = 1.5f;
+
+// determines the radius of the region used in orientation assignment
+static const float SIFT_ORI_RADIUS = 3 * SIFT_ORI_SIG_FCTR;
+
+// orientation magnitude relative to max that results in new feature
+static const float SIFT_ORI_PEAK_RATIO = 0.8f;
+
+// determines the size of a single descriptor orientation histogram
+static const float SIFT_DESCR_SCL_FCTR = 3.f;
+
+// threshold on magnitude of elements of descriptor vector
+static const float SIFT_DESCR_MAG_THR = 0.2f;
+
+// factor used to convert floating-point descriptor to unsigned char
+static const float SIFT_INT_DESCR_FCTR = 512.f;
+    
+static const int SIFT_FIXPT_SCALE = 48;
+    
+    
+static Mat createInitialImage( const Mat& img, bool doubleImageSize, float sigma )
+{
+    Mat gray, gray_fpt;
+    if( img.channels() == 3 || img.channels() == 4 )
+        cvtColor(img, gray, COLOR_BGR2GRAY);
+    else
+        img.copyTo(gray);
+    gray.convertTo(gray_fpt, CV_16S, SIFT_FIXPT_SCALE, 0);
+    
+    float sig_diff;
+    
+    if( doubleImageSize )
+    {
+        sig_diff = sqrtf( std::max(sigma * sigma - SIFT_INIT_SIGMA * SIFT_INIT_SIGMA * 4, 0.01f) );
+        Mat dbl;
+        resize(gray_fpt, dbl, Size(gray.cols*2, gray.rows*2), 0, 0, INTER_LINEAR);
+        GaussianBlur(dbl, dbl, Size(), sig_diff, sig_diff);
+        return dbl;
+    }
+    else
+    {
+        sig_diff = sqrtf( std::max(sigma * sigma - SIFT_INIT_SIGMA * SIFT_INIT_SIGMA, 0.01f) );
+        GaussianBlur(gray_fpt, gray_fpt, Size(), sig_diff, sig_diff);
+        return gray_fpt;
+    }
+}
+    
+    
+void SIFT::buildGaussianPyramid( const Mat& base, vector<Mat>& pyr, int nOctaves ) const
+{
+    vector<double> sig(nOctaveLayers + 3);
+    pyr.resize(nOctaves*(nOctaveLayers + 3));
+    
+    // precompute Gaussian sigmas using the following formula:
+    //  \sigma_{total}^2 = \sigma_{i}^2 + \sigma_{i-1}^2
+    sig[0] = sigma;
+    double k = pow( 2., 1. / nOctaveLayers );
+    for( int i = 1; i < nOctaveLayers + 3; i++ )
+    {
+        double sig_prev = pow(k, (double)(i-1))*sigma;
+        double sig_total = sig_prev*k;
+        sig[i] = std::sqrt(sig_total*sig_total - sig_prev*sig_prev);
+    }
+    
+    for( int o = 0; o < nOctaves; o++ )
+    {
+        for( int i = 0; i < nOctaveLayers + 3; i++ )
+        {
+            Mat& dst = pyr[o*(nOctaveLayers + 3) + i];
+            if( o == 0  &&  i == 0 )
+                dst = base;
+            // base of new octave is halved image from end of previous octave
+            else if( i == 0 )
+            {
+                const Mat& src = pyr[(o-1)*(nOctaveLayers + 3) + nOctaveLayers];
+                resize(src, dst, Size(src.cols/2, src.rows/2),
+                       0, 0, INTER_NEAREST);
+            }
+            else
+            {
+                const Mat& src = pyr[o*(nOctaveLayers + 3) + i-1];
+                GaussianBlur(src, dst, Size(), sig[i], sig[i]);
+            }
+        }
+    }
+}
+
+
+void SIFT::buildDoGPyramid( const vector<Mat>& gpyr, vector<Mat>& dogpyr ) const
+{
+    int nOctaves = (int)gpyr.size()/(nOctaveLayers + 3);
+    dogpyr.resize( nOctaves*(nOctaveLayers + 2) );
+    
+    for( int o = 0; o < nOctaves; o++ )
+    {
+        for( int i = 0; i < nOctaveLayers + 2; i++ )
+        {
+            const Mat& src1 = gpyr[o*(nOctaveLayers + 3) + i];
+            const Mat& src2 = gpyr[o*(nOctaveLayers + 3) + i + 1];
+            Mat& dst = dogpyr[o*(nOctaveLayers + 2) + i];
+            subtract(src2, src1, dst, noArray(), CV_16S);
+        }
+    }
+}
+
+    
+// Computes a gradient orientation histogram at a specified pixel
+static float calcOrientationHist( const Mat& img, Point pt, int radius,
+                                  float sigma, float* hist, int n )
+{
+    int i, j, k, len = (radius*2+1)*(radius*2+1);
+    
+    float expf_scale = -1.f/(2.f * sigma * sigma);
+    AutoBuffer<float> buf(len*4 + n+4);
+    float *X = buf, *Y = X + len, *Mag = X, *Ori = Y + len, *W = Ori + len;
+    float* temphist = W + len + 2;
+    
+    for( i = 0; i < n; i++ )
+        temphist[i] = 0.f;
+    
+    for( i = -radius, k = 0; i <= radius; i++ )
+    {
+        int y = pt.y + i;
+        if( y <= 0 || y >= img.rows - 1 )
+            continue;
+        for( j = -radius; j <= radius; j++ )
+        {
+            int x = pt.x + j;
+            if( x <= 0 || x >= img.cols - 1 )
+                continue;
+            
+            float dx = img.at<short>(y, x+1) - img.at<short>(y, x-1);
+            float dy = img.at<short>(y-1, x) - img.at<short>(y+1, x);
+            
+            X[k] = dx; Y[k] = dy; W[k] = (i*i + j*j)*expf_scale;
+            k++;
+        }
+    }
+    
+    len = k;
+    
+    // compute gradient values, orientations and the weights over the pixel neighborhood
+    exp(W, W, len);
+    fastAtan2(Y, X, Ori, len, true);
+    magnitude(X, Y, Mag, len);
+    
+    for( k = 0; k < len; k++ )
+    {
+        int bin = cvRound((n/360.f)*Ori[k]);
+        if( bin >= n )
+            bin -= n;
+        if( bin < 0 )
+            bin += n;
+        temphist[bin] += W[k]*Mag[k];
+    }
+    
+    // smooth the histogram
+    temphist[-1] = temphist[n-1];
+    temphist[-2] = temphist[n-2];
+    temphist[n] = temphist[0];
+    temphist[n+1] = temphist[1];
+    for( i = 0; i < n; i++ )
+    {
+        hist[i] = (temphist[i-2] + temphist[i+2])*(1.f/16.f) +
+            (temphist[i-1] + temphist[i+1])*(4.f/16.f) +
+            temphist[i]*(6.f/16.f);
+    }
+    
+    float maxval = hist[0];
+    for( i = 1; i < n; i++ )
+        maxval = std::max(maxval, hist[i]);
+    
+    return maxval;
+}
+    
+
+//
+// Interpolates a scale-space extremum's location and scale to subpixel
+// accuracy to form an image feature.  Rejects features with low contrast.
+// Based on Section 4 of Lowe's paper.  
+static bool adjustLocalExtrema( const vector<Mat>& dog_pyr, KeyPoint& kpt, int octv,
+                                int& layer, int& r, int& c, int nOctaveLayers,
+                                float contrastThreshold, float edgeThreshold, float sigma )
+{
+    const float img_scale = 1.f/(255*SIFT_FIXPT_SCALE);
+    const float deriv_scale = img_scale*0.5f;
+    const float second_deriv_scale = img_scale;
+    const float cross_deriv_scale = img_scale*0.25f;
+    
+    float xi=0, xr=0, xc=0, contr;
+    int i = 0;
+    
+    for( ; i < SIFT_MAX_INTERP_STEPS; i++ )
+    {
+        int idx = octv*(nOctaveLayers+2) + layer;
+        const Mat& img = dog_pyr[idx];
+        const Mat& prev = dog_pyr[idx-1];
+        const Mat& next = dog_pyr[idx+1];
+        
+        Matx31f dD((img.at<short>(r, c+1) - img.at<short>(r, c-1))*deriv_scale,
+                   (img.at<short>(r+1, c) - img.at<short>(r-1, c))*deriv_scale,
+                   (next.at<short>(r, c) - prev.at<short>(r, c))*deriv_scale);
+        
+        float v2 = img.at<short>(r, c)*2;
+        float dxx = (img.at<short>(r, c+1) + img.at<short>(r, c-1) - v2)*second_deriv_scale;
+        float dyy = (img.at<short>(r+1, c) + img.at<short>(r-1, c) - v2)*second_deriv_scale;
+        float dss = (next.at<short>(r, c) + prev.at<short>(r, c) - v2)*second_deriv_scale;
+        float dxy = (img.at<short>(r+1, c+1) - img.at<short>(r+1, c-1) -
+                     img.at<short>(r-1, c+1) + img.at<short>(r-1, c-1))*cross_deriv_scale;
+        float dxs = (next.at<short>(r, c+1) - next.at<short>(r, c-1) -
+                     prev.at<short>(r, c+1) + prev.at<short>(r, c-1))*cross_deriv_scale;
+        float dys = (next.at<short>(r+1, c) - next.at<short>(r-1, c) -
+                     prev.at<short>(r+1, c) + prev.at<short>(r-1, c))*cross_deriv_scale;
+        
+        Matx33f H(dxx, dxy, dxs,
+                  dxy, dyy, dys,
+                  dxs, dys, dss);
+        
+        Matx31f X = H.solve<1>(dD, DECOMP_LU);
+        
+        xi = -X(2, 0);
+        xr = -X(1, 0);
+        xc = -X(0, 0);
+        
+        if( std::abs( xi ) < 0.5f  &&  std::abs( xr ) < 0.5f  &&  std::abs( xc ) < 0.5f )
+            break;
+        
+        c += cvRound( xc );
+        r += cvRound( xr );
+        layer += cvRound( xi );
+        
+        if( layer < 1 || layer > nOctaveLayers ||
+           c < SIFT_IMG_BORDER || c >= img.cols - SIFT_IMG_BORDER  ||
+           r < SIFT_IMG_BORDER || r >= img.rows - SIFT_IMG_BORDER )
+            return false;
+    }
+    
+    /* ensure convergence of interpolation */
+    if( i >= SIFT_MAX_INTERP_STEPS )
+        return false;
+    
+    {
+        int idx = octv*(nOctaveLayers+2) + layer;
+        const Mat& img = dog_pyr[idx];
+        const Mat& prev = dog_pyr[idx-1];
+        const Mat& next = dog_pyr[idx+1];
+        Matx31f dD((img.at<short>(r, c+1) - img.at<short>(r, c-1))*deriv_scale,
+                   (img.at<short>(r+1, c) - img.at<short>(r-1, c))*deriv_scale,
+                   (next.at<short>(r, c) - prev.at<short>(r, c))*deriv_scale);
+        float t = dD.dot(Matx31f(xc, xr, xi));
+        
+        contr = img.at<short>(r, c)*img_scale + t * 0.5f;
+        if( std::abs( contr ) * nOctaveLayers < contrastThreshold )
+            return false;
+        
+        /* principal curvatures are computed using the trace and det of Hessian */
+        float v2 = img.at<short>(r, c)*2;
+        float dxx = (img.at<short>(r, c+1) + img.at<short>(r, c-1) - v2)*second_deriv_scale;
+        float dyy = (img.at<short>(r+1, c) + img.at<short>(r-1, c) - v2)*second_deriv_scale;
+        float dxy = (img.at<short>(r+1, c+1) - img.at<short>(r+1, c-1) -
+                     img.at<short>(r-1, c+1) + img.at<short>(r-1, c-1)) * cross_deriv_scale;
+        float tr = dxx + dyy;
+        float det = dxx * dyy - dxy * dxy;
+        
+        if( det <= 0 || tr*tr*edgeThreshold >= (edgeThreshold + 1)*(edgeThreshold + 1)*det )
+            return false;
+    }
+    
+    kpt.pt.x = (c + xc) * (1 << octv);
+    kpt.pt.y = (r + xr) * (1 << octv);
+    kpt.octave = octv + (layer << 8) + (cvRound((xi + 0.5)*255) << 16);
+    kpt.size = sigma*powf(2.f, (layer + xi) / nOctaveLayers)*(1 << octv)*2;
+    
+    return true;
+}
+    
+    
+//
+// Detects features at extrema in DoG scale space.  Bad features are discarded
+// based on contrast and ratio of principal curvatures.
+void SIFT::findScaleSpaceExtrema( const vector<Mat>& gauss_pyr, const vector<Mat>& dog_pyr,
+                                  vector<KeyPoint>& keypoints ) const
+{
+    int nOctaves = (int)gauss_pyr.size()/(nOctaveLayers + 3);
+    int threshold = cvFloor(0.5 * contrastThreshold / nOctaveLayers * 255 * SIFT_FIXPT_SCALE);
+    const int n = SIFT_ORI_HIST_BINS;
+    float hist[n];
+    KeyPoint kpt;
+    
+    keypoints.clear();
+    
+    for( int o = 0; o < nOctaves; o++ )
+        for( int i = 1; i <= nOctaveLayers; i++ )
+        {
+            int idx = o*(nOctaveLayers+2)+i;
+            const Mat& img = dog_pyr[idx];
+            const Mat& prev = dog_pyr[idx-1];
+            const Mat& next = dog_pyr[idx+1];
+            int step = (int)img.step1();
+            int rows = img.rows, cols = img.cols;
+            
+            for( int r = SIFT_IMG_BORDER; r < rows-SIFT_IMG_BORDER; r++)
+            {
+                const short* currptr = img.ptr<short>(r);
+                const short* prevptr = prev.ptr<short>(r);
+                const short* nextptr = next.ptr<short>(r);
+                
+                for( int c = SIFT_IMG_BORDER; c < cols-SIFT_IMG_BORDER; c++)
+                {
+                    int val = currptr[c];
+                    
+                    // find local extrema with pixel accuracy
+                    if( std::abs(val) > threshold &&
+                       ((val > 0 && val >= currptr[c-1] && val >= currptr[c+1] &&
+                         val >= currptr[c-step-1] && val >= currptr[c-step] && val >= currptr[c-step+1] &&
+                         val >= currptr[c+step-1] && val >= currptr[c+step] && val >= currptr[c+step+1] &&
+                         val >= nextptr[c] && val >= nextptr[c-1] && val >= nextptr[c+1] &&
+                         val >= nextptr[c-step-1] && val >= nextptr[c-step] && val >= nextptr[c-step+1] &&
+                         val >= nextptr[c+step-1] && val >= nextptr[c+step] && val >= nextptr[c+step+1] &&
+                         val >= prevptr[c] && val >= prevptr[c-1] && val >= prevptr[c+1] &&
+                         val >= prevptr[c-step-1] && val >= prevptr[c-step] && val >= prevptr[c-step+1] &&
+                         val >= prevptr[c+step-1] && val >= prevptr[c+step] && val >= prevptr[c+step+1]) ||
+                        (val < 0 && val <= currptr[c-1] && val <= currptr[c+1] &&
+                         val <= currptr[c-step-1] && val <= currptr[c-step] && val <= currptr[c-step+1] &&
+                         val <= currptr[c+step-1] && val <= currptr[c+step] && val <= currptr[c+step+1] &&
+                         val <= nextptr[c] && val <= nextptr[c-1] && val <= nextptr[c+1] &&
+                         val <= nextptr[c-step-1] && val <= nextptr[c-step] && val <= nextptr[c-step+1] &&
+                         val <= nextptr[c+step-1] && val <= nextptr[c+step] && val <= nextptr[c+step+1] &&
+                         val <= prevptr[c] && val <= prevptr[c-1] && val <= prevptr[c+1] &&
+                         val <= prevptr[c-step-1] && val <= prevptr[c-step] && val <= prevptr[c-step+1] &&
+                         val <= prevptr[c+step-1] && val <= prevptr[c+step] && val <= prevptr[c+step+1])))
+                    {
+                        int r1 = r, c1 = c, layer = i;
+                        if( !adjustLocalExtrema(dog_pyr, kpt, o, layer, r1, c1, nOctaveLayers,
+                                                contrastThreshold, edgeThreshold, sigma) )
+                            continue;
+                        float scl_octv = kpt.size*0.5f/(1 << o);
+                        float omax = calcOrientationHist(gauss_pyr[o*(nOctaveLayers+3) + layer],
+                                                         Point(c1, r1),
+                                                         cvRound(SIFT_ORI_RADIUS * scl_octv),
+                                                         SIFT_ORI_SIG_FCTR * scl_octv,
+                                                         hist, n);
+                        float mag_thr = (float)(omax * SIFT_ORI_PEAK_RATIO);
+                        for( int j = 0; j < n; j++ )
+                        {
+                            int l = j > 0 ? j - 1 : n - 1;
+                            int r = j < n-1 ? j + 1 : 0;
+                            
+                            if( hist[j] > hist[l]  &&  hist[j] > hist[r]  &&  hist[j] >= mag_thr )
+                            {
+                                float bin = j + 0.5f * (hist[l]-hist[r]) / (hist[l] - 2*hist[j] + hist[r]);
+                                bin = bin < 0 ? n + bin : bin >= n ? bin - n : bin;
+                                kpt.angle = (float)((360.f/n) * bin);
+                                keypoints.push_back(kpt);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+}    
+    
+    
+static void calcSIFTDescriptor( const Mat& img, Point2f ptf, float ori, float scl,
+                               int d, int n, float* dst )
+{
+    Point pt(cvRound(ptf.x), cvRound(ptf.y));
+    float cos_t = cosf(ori*(float)(CV_PI/180));
+    float sin_t = sinf(ori*(float)(CV_PI/180));
+    float bins_per_rad = n / 360.f;
+    float exp_scale = -1.f/(d * d * 0.5f);
+    float hist_width = SIFT_DESCR_SCL_FCTR * scl;
+    int radius = cvRound(hist_width * 1.4142135623730951f * (d + 1) * 0.5f);
+    cos_t /= hist_width;
+    sin_t /= hist_width;
+    
+    int i, j, k, len = (radius*2+1)*(radius*2+1), histlen = (d+2)*(d+2)*(n+2);
+    int rows = img.rows, cols = img.cols;
+    
+    AutoBuffer<float> buf(len*6 + histlen);
+    float *X = buf, *Y = X + len, *Mag = Y, *Ori = Mag + len, *W = Ori + len;
+    float *RBin = W + len, *CBin = RBin + len, *hist = CBin + len;
+    
+    for( i = 0; i < d+2; i++ )
+    {
+        for( j = 0; j < d+2; j++ )
+            for( k = 0; k < n+2; k++ )
+                hist[(i*(d+2) + j)*(n+2) + k] = 0.;
+    }
+    
+    for( i = -radius, k = 0; i <= radius; i++ )
+        for( j = -radius; j <= radius; j++ )
+        {
+            /*
+             Calculate sample's histogram array coords rotated relative to ori.
+             Subtract 0.5 so samples that fall e.g. in the center of row 1 (i.e.
+             r_rot = 1.5) have full weight placed in row 1 after interpolation.
+             */
+            float c_rot = j * cos_t - i * sin_t;
+            float r_rot = j * sin_t + i * cos_t;
+            float rbin = r_rot + d/2 - 0.5f;
+            float cbin = c_rot + d/2 - 0.5f;
+            int r = pt.y + i, c = pt.x + j;
+            
+            if( rbin > -1 && rbin < d && cbin > -1 && cbin < d &&
+               r > 0 && r < rows - 1 && c > 0 && c < cols - 1 )
+            {
+                float dx = img.at<short>(r, c+1) - img.at<short>(r, c-1);
+                float dy = img.at<short>(r-1, c) - img.at<short>(r+1, c);
+                X[k] = dx; Y[k] = dy; RBin[k] = rbin; CBin[k] = cbin;
+                W[k] = (c_rot * c_rot + r_rot * r_rot)*exp_scale;
+                k++;
+            }
+        }
+    
+    len = k;
+    fastAtan2(Y, X, Ori, len, true);
+    magnitude(X, Y, Mag, len);
+    exp(W, W, len);
+    
+    for( k = 0; k < len; k++ )
+    {
+        float rbin = RBin[k], cbin = CBin[k];
+        float obin = (Ori[k] - ori)*bins_per_rad;
+        float mag = Mag[k]*W[k];
+        
+        int r0 = cvFloor( rbin );
+        int c0 = cvFloor( cbin );
+        int o0 = cvFloor( obin );
+        rbin -= r0;
+        cbin -= c0;
+        obin -= o0;
+        
+        if( o0 < 0 )
+            o0 += n;
+        if( o0 >= n )
+            o0 -= n;
+        
+        // histogram update using tri-linear interpolation
+        float v_r1 = mag*rbin, v_r0 = mag - v_r1;
+        float v_rc11 = v_r1*cbin, v_rc10 = v_r1 - v_rc11;
+        float v_rc01 = v_r0*cbin, v_rc00 = v_r0 - v_rc01;
+        float v_rco111 = v_rc11*obin, v_rco110 = v_rc11 - v_rco111;
+        float v_rco101 = v_rc10*obin, v_rco100 = v_rc10 - v_rco101;
+        float v_rco011 = v_rc01*obin, v_rco010 = v_rc01 - v_rco011;
+        float v_rco001 = v_rc00*obin, v_rco000 = v_rc00 - v_rco001;
+        
+        int idx = ((r0+1)*(d+2) + c0+1)*(n+2) + o0;
+        hist[idx] += v_rco000;
+        hist[idx+1] += v_rco001;
+        hist[idx+(n+2)] += v_rco010;
+        hist[idx+(n+3)] += v_rco011;
+        hist[idx+(d+2)*(n+2)] += v_rco100;
+        hist[idx+(d+2)*(n+2)+1] += v_rco101;
+        hist[idx+(d+3)*(n+2)] += v_rco110;
+        hist[idx+(d+3)*(n+2)+1] += v_rco111;
+    }
+    
+    // finalize histogram, since the orientation histograms are circular
+    for( i = 0; i < d; i++ )
+        for( j = 0; j < d; j++ )
+        {
+            int idx = ((i+1)*(d+2) + (j+1))*(n+2);
+            hist[idx] += hist[idx+n];
+            hist[idx+1] += hist[idx+n+1];
+            for( k = 0; k < n; k++ )
+                dst[(i*d + j)*n + k] = hist[idx+k];
+        }
+    // copy histogram to the descriptor,
+    // apply hysteresis thresholding
+    // and scale the result, so that it can be easily converted
+    // to byte array
+    float nrm2 = 0;
+    len = d*d*n;
+    for( k = 0; k < len; k++ )
+        nrm2 += dst[k]*dst[k];
+    float thr = std::sqrt(nrm2)*SIFT_DESCR_MAG_THR;
+    for( i = 0, nrm2 = 0; i < k; i++ )
+    {
+        float val = std::min(dst[i], thr);
+        dst[i] = val;
+        nrm2 += val*val;
+    }
+    nrm2 = SIFT_INT_DESCR_FCTR/std::max(std::sqrt(nrm2), FLT_EPSILON);
+    for( k = 0; k < len; k++ )
+    {
+        dst[k] = saturate_cast<uchar>(dst[k]*nrm2);
+    }
+}
+    
+static void calcDescriptors(const vector<Mat>& gpyr, const vector<KeyPoint>& keypoints,
+                            Mat& descriptors, int nOctaveLayers )
+{
+    int d = SIFT_DESCR_WIDTH, n = SIFT_DESCR_HIST_BINS;
+    
+    for( size_t i = 0; i < keypoints.size(); i++ )
+    {
+        KeyPoint kpt = keypoints[i];
+        int octv=kpt.octave & 255, layer=(kpt.octave >> 8) & 255;
+        float scale = 1.f/(1 << octv);
+        float size=kpt.size*scale;
+        Point2f ptf(kpt.pt.x*scale, kpt.pt.y*scale);
+        const Mat& img = gpyr[octv*(nOctaveLayers + 3) + layer];
+        
+        calcSIFTDescriptor(img, ptf, kpt.angle, size*0.5f, d, n, descriptors.ptr<float>(i));
+    }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+SIFT::SIFT( int _nfeatures, int _nOctaveLayers,
+           double _contrastThreshold, double _edgeThreshold, double _sigma )
+    : nfeatures(_nfeatures), nOctaveLayers(_nOctaveLayers),
+    contrastThreshold(_contrastThreshold), edgeThreshold(_edgeThreshold), sigma(_sigma)
+{
+}
+
+int SIFT::descriptorSize() const
+{
+    return SIFT_DESCR_WIDTH*SIFT_DESCR_WIDTH*SIFT_DESCR_HIST_BINS;
+}
+
+int SIFT::descriptorType() const
+{
+    return CV_32F;
+}
+
+static Algorithm* createSIFT()
+{
+    return new SIFT;
+}
+static AlgorithmInfo sift_info("Feature2D.SIFT", createSIFT);
+    
+AlgorithmInfo* SIFT::info() const
+{
+    static volatile bool initialized = false;
+    if( !initialized )
+    {
+        sift_info.addParam(this, "nFeatures", nfeatures);
+        sift_info.addParam(this, "nOctaveLayers", nOctaveLayers);
+        sift_info.addParam(this, "contrastThreshold", contrastThreshold);
+        sift_info.addParam(this, "edgeThreshold", edgeThreshold);
+        sift_info.addParam(this, "sigma", sigma);
+        
+        initialized = true;
+    }
+    return &sift_info;
+}
+
+
+void SIFT::operator()(InputArray _image, InputArray _mask,
+                      vector<KeyPoint>& keypoints) const
+{
+    (*this)(_image, _mask, keypoints, noArray());
+}
+
+
+void SIFT::operator()(InputArray _image, InputArray _mask,
+                      vector<KeyPoint>& keypoints,
+                      OutputArray _descriptors,
+                      bool useProvidedKeypoints) const
+{
+    Mat image = _image.getMat(), mask = _mask.getMat();
+    
+    if( image.empty() || image.depth() != CV_8U )
+        CV_Error( CV_StsBadArg, "image is empty or has incorrect depth (!=CV_8U)" );
+    
+    if( !mask.empty() && mask.type() != CV_8UC1 )
+        CV_Error( CV_StsBadArg, "mask has incorrect type (!=CV_8UC1)" );
+    
+    Mat base = createInitialImage(image, false, sigma);
+    vector<Mat> gpyr, dogpyr;
+    int nOctaves = cvRound(log( (double)std::min( base.cols, base.rows ) ) / log(2.) - 2);
+    
+    //double t, tf = getTickFrequency();
+    //t = (double)getTickCount();
+    buildGaussianPyramid(base, gpyr, nOctaves);
+    buildDoGPyramid(gpyr, dogpyr);
+    
+    //t = (double)getTickCount() - t;
+    //printf("pyramid construction time: %g\n", t*1000./tf);
+    
+    if( !useProvidedKeypoints )
+    {
+        //t = (double)getTickCount();
+        findScaleSpaceExtrema(gpyr, dogpyr, keypoints);
+        KeyPointsFilter::removeDuplicated( keypoints );
+        
+        if( !mask.empty() )
+            KeyPointsFilter::runByPixelsMask( keypoints, mask );
+        
+        if( nfeatures > 0 )
+            KeyPointsFilter::retainBest(keypoints, nfeatures);
+        //t = (double)getTickCount() - t;
+        //printf("keypoint detection time: %g\n", t*1000./tf);
+    }
+    else
+    {
+        // filter keypoints by mask
+        //KeyPointsFilter::runByPixelsMask( keypoints, mask );
+    }
+    
+    if( _descriptors.needed() )
+    {
+        //t = (double)getTickCount();
+        int dsize = descriptorSize();
+        _descriptors.create((int)keypoints.size(), dsize, CV_32F);
+        Mat descriptors = _descriptors.getMat();
+        
+        calcDescriptors(gpyr, keypoints, descriptors, nOctaveLayers);
+        //t = (double)getTickCount() - t;
+        //printf("descriptor extraction time: %g\n", t*1000./tf);
+    }
+}
+
+void SIFT::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask) const
+{
+    (*this)(image, mask, keypoints, noArray());
+}    
+    
+void SIFT::computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors) const
+{
+    (*this)(image, Mat(), keypoints, descriptors, true);
+}
+
+}

modules/nonfree/test/test_main.cpp

@@ -0,0 +1,3 @@
+#include "test_precomp.hpp"
+
+CV_TEST_MAIN("cv")

modules/nonfree/test/test_precomp.cpp

@@ -0,0 +1 @@
+#include "test_precomp.hpp"

modules/nonfree/test/test_precomp.hpp

@@ -0,0 +1,10 @@
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include "opencv2/ts/ts.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
+#include <iostream>
+
+#endif

modules/objdetect/include/opencv2/objdetect/objdetect.hpp

@@ -586,58 +586,9 @@ public:
     CV_PROP int nlevels;
 };
 
-/****************************************************************************************\
-*                                Planar Object Detection                                 *
-\****************************************************************************************/
-
-class CV_EXPORTS PlanarObjectDetector
-{
-public:
-    PlanarObjectDetector();
-    PlanarObjectDetector(const FileNode& node);
-    PlanarObjectDetector(const vector<Mat>& pyr, int _npoints=300,
-                         int _patchSize=FernClassifier::PATCH_SIZE,
-                         int _nstructs=FernClassifier::DEFAULT_STRUCTS,
-                         int _structSize=FernClassifier::DEFAULT_STRUCT_SIZE,
-                         int _nviews=FernClassifier::DEFAULT_VIEWS,
-                         const LDetector& detector=LDetector(),
-                         const PatchGenerator& patchGenerator=PatchGenerator());
-    virtual ~PlanarObjectDetector();
-    virtual void train(const vector<Mat>& pyr, int _npoints=300,
-                       int _patchSize=FernClassifier::PATCH_SIZE,
-                       int _nstructs=FernClassifier::DEFAULT_STRUCTS,
-                       int _structSize=FernClassifier::DEFAULT_STRUCT_SIZE,
-                       int _nviews=FernClassifier::DEFAULT_VIEWS,
-                       const LDetector& detector=LDetector(),
-                       const PatchGenerator& patchGenerator=PatchGenerator());
-    virtual void train(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
-                       int _patchSize=FernClassifier::PATCH_SIZE,
-                       int _nstructs=FernClassifier::DEFAULT_STRUCTS,
-                       int _structSize=FernClassifier::DEFAULT_STRUCT_SIZE,
-                       int _nviews=FernClassifier::DEFAULT_VIEWS,
-                       const LDetector& detector=LDetector(),
-                       const PatchGenerator& patchGenerator=PatchGenerator());
-    Rect getModelROI() const;
-    vector<KeyPoint> getModelPoints() const;
-    const LDetector& getDetector() const;
-    const FernClassifier& getClassifier() const;
-    void setVerbose(bool verbose);
-
-    void read(const FileNode& node);
-    void write(FileStorage& fs, const String& name=String()) const;
-    bool operator()(const Mat& image, CV_OUT Mat& H, CV_OUT vector<Point2f>& corners) const;
-    bool operator()(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
-                                       CV_OUT Mat& H, CV_OUT vector<Point2f>& corners,
-                                       CV_OUT vector<int>* pairs=0) const;
-
-protected:
-    bool verbose;
-    Rect modelROI;
-    vector<KeyPoint> modelPoints;
-    LDetector ldetector;
-    FernClassifier fernClassifier;
-};
 
+    
+    
 struct CV_EXPORTS DataMatrixCode {
   char msg[4]; //TODO std::string
   Mat original;

modules/objdetect/src/planardetect.cpp

@@ -46,176 +46,4 @@
 namespace cv
 {
 
-////////////////////////////////////// Planar Object Detector ////////////////////////////////////
-
-PlanarObjectDetector::PlanarObjectDetector()
-{
-}
-
-PlanarObjectDetector::PlanarObjectDetector(const FileNode& node)
-{
-    read(node);
-}
-
-PlanarObjectDetector::PlanarObjectDetector(const vector<Mat>& pyr, int npoints,
-                                           int patchSize, int nstructs, int structSize,
-                                           int nviews, const LDetector& detector,
-                                           const PatchGenerator& patchGenerator)
-{
-    train(pyr, npoints, patchSize, nstructs,
-          structSize, nviews, detector, patchGenerator);
-}
-
-PlanarObjectDetector::~PlanarObjectDetector()
-{
-}
-
-vector<KeyPoint> PlanarObjectDetector::getModelPoints() const
-{
-    return modelPoints;
-}
-
-void PlanarObjectDetector::train(const vector<Mat>& pyr, int npoints,
-                                 int patchSize, int nstructs, int structSize,
-                                 int nviews, const LDetector& detector,
-                                 const PatchGenerator& patchGenerator)
-{
-    modelROI = Rect(0, 0, pyr[0].cols, pyr[0].rows);
-    ldetector = detector;
-    ldetector.setVerbose(verbose);
-    ldetector.getMostStable2D(pyr[0], modelPoints, npoints, patchGenerator);
-
-    npoints = (int)modelPoints.size();
-    fernClassifier.setVerbose(verbose);
-    fernClassifier.trainFromSingleView(pyr[0], modelPoints,
-                                       patchSize, (int)modelPoints.size(), nstructs, structSize, nviews,
-                                       FernClassifier::COMPRESSION_NONE, patchGenerator);
-}
-
-void PlanarObjectDetector::train(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
-                                 int patchSize, int nstructs, int structSize,
-                                 int nviews, const LDetector& detector,
-                                 const PatchGenerator& patchGenerator)
-{
-    modelROI = Rect(0, 0, pyr[0].cols, pyr[0].rows);
-    ldetector = detector;
-    ldetector.setVerbose(verbose);
-    modelPoints.resize(keypoints.size());
-    std::copy(keypoints.begin(), keypoints.end(), modelPoints.begin());
-
-    fernClassifier.setVerbose(verbose);
-    fernClassifier.trainFromSingleView(pyr[0], modelPoints,
-                                       patchSize, (int)modelPoints.size(), nstructs, structSize, nviews,
-                                       FernClassifier::COMPRESSION_NONE, patchGenerator);
-}
-
-void PlanarObjectDetector::read(const FileNode& node)
-{
-    FileNodeIterator it = node["model-roi"].begin(), it_end;
-    it >> modelROI.x >> modelROI.y >> modelROI.width >> modelROI.height;
-    ldetector.read(node["detector"]);
-    fernClassifier.read(node["fern-classifier"]);
-    cv::read(node["model-points"], modelPoints);
-    CV_Assert(modelPoints.size() == (size_t)fernClassifier.getClassCount());
-}
-
-
-void PlanarObjectDetector::write(FileStorage& fs, const String& objname) const
-{
-    WriteStructContext ws(fs, objname, CV_NODE_MAP);
-
-    {
-        WriteStructContext wsroi(fs, "model-roi", CV_NODE_SEQ + CV_NODE_FLOW);
-        cv::write(fs, modelROI.x);
-        cv::write(fs, modelROI.y);
-        cv::write(fs, modelROI.width);
-        cv::write(fs, modelROI.height);
-    }
-    ldetector.write(fs, "detector");
-    cv::write(fs, "model-points", modelPoints);
-    fernClassifier.write(fs, "fern-classifier");
-}
-
-
-bool PlanarObjectDetector::operator()(const Mat& image, Mat& H, vector<Point2f>& corners) const
-{
-    vector<Mat> pyr;
-    buildPyramid(image, pyr, ldetector.nOctaves - 1);
-    vector<KeyPoint> keypoints;
-    ldetector(pyr, keypoints);
-
-    return (*this)(pyr, keypoints, H, corners);
-}
-
-bool PlanarObjectDetector::operator()(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
-                                      Mat& matH, vector<Point2f>& corners, vector<int>* pairs) const
-{
-    int i, j, m = (int)modelPoints.size(), n = (int)keypoints.size();
-    vector<int> bestMatches(m, -1);
-    vector<float> maxLogProb(m, -FLT_MAX);
-    vector<float> signature;
-    vector<Point2f> fromPt, toPt;
-
-    for( i = 0; i < n; i++ )
-    {
-        KeyPoint kpt = keypoints[i];
-        CV_Assert(0 <= kpt.octave && kpt.octave < (int)pyr.size());
-        kpt.pt.x /= (float)(1 << kpt.octave);
-        kpt.pt.y /= (float)(1 << kpt.octave);
-        int k = fernClassifier(pyr[kpt.octave], kpt.pt, signature);
-        if( k >= 0 && (bestMatches[k] < 0 || signature[k] > maxLogProb[k]) )
-        {
-            maxLogProb[k] = signature[k];
-            bestMatches[k] = i;
-        }
-    }
-
-    if(pairs)
-        pairs->resize(0);
-
-    for( i = 0; i < m; i++ )
-        if( bestMatches[i] >= 0 )
-        {
-            fromPt.push_back(modelPoints[i].pt);
-            toPt.push_back(keypoints[bestMatches[i]].pt);
-        }
-
-    if( fromPt.size() < 4 )
-        return false;
-
-    vector<uchar> mask;
-    matH = findHomography(fromPt, toPt, RANSAC, 10, mask);
-    if( matH.data )
-    {
-        const Mat_<double>& H = matH;
-        corners.resize(4);
-        for( i = 0; i < 4; i++ )
-        {
-            Point2f pt((float)(modelROI.x + (i == 0 || i == 3 ? 0 : modelROI.width)),
-                       (float)(modelROI.y + (i <= 1 ? 0 : modelROI.height)));
-            double w = 1./(H(2,0)*pt.x + H(2,1)*pt.y + H(2,2));
-            corners[i] = Point2f((float)((H(0,0)*pt.x + H(0,1)*pt.y + H(0,2))*w),
-                                 (float)((H(1,0)*pt.x + H(1,1)*pt.y + H(1,2))*w));
-        }
-    }
-
-    if( pairs )
-    {
-        for( i = j = 0; i < m; i++ )
-            if( bestMatches[i] >= 0 && mask[j++] )
-            {
-                pairs->push_back(i);
-                pairs->push_back(bestMatches[i]);
-            }
-    }
-
-    return matH.data != 0;
-}
-
-
-void PlanarObjectDetector::setVerbose(bool _verbose)
-{
-    verbose = _verbose;
-}
-
 }

modules/photo/CMakeLists.txt

@@ -0,0 +1,2 @@
+set(the_description "Computational Photography")
+ocv_define_module(photo opencv_imgproc)

modules/photo/doc/inpainting.rst

@@ -0,0 +1,33 @@
+Inpainting
+==========
+
+.. highlight:: cpp
+
+inpaint
+-----------
+Restores the selected region in an image using the region neighborhood.
+
+.. ocv:function:: void inpaint( InputArray src, InputArray inpaintMask, OutputArray dst, double inpaintRadius, int flags )
+
+.. ocv:pyfunction:: cv2.inpaint(src, inpaintMask, inpaintRange, flags[, dst]) -> dst
+
+.. ocv:cfunction:: void cvInpaint( const CvArr* src, const CvArr* mask, CvArr* dst, double inpaintRadius, int flags)
+.. ocv:pyoldfunction:: cv.Inpaint(src, mask, dst, inpaintRadius, flags) -> None
+
+    :param src: Input 8-bit 1-channel or 3-channel image.
+
+    :param inpaintMask: Inpainting mask, 8-bit 1-channel image. Non-zero pixels indicate the area that needs to be inpainted.
+
+    :param dst: Output image with the same size and type as  ``src`` .
+    
+    :param inpaintRadius: Radius of a circlular neighborhood of each point inpainted that is considered by the algorithm.
+
+    :param flags: Inpainting method that could be one of the following:
+
+            * **INPAINT_NS**     Navier-Stokes based method.
+
+            * **INPAINT_TELEA**     Method by Alexandru Telea  [Telea04]_.
+
+The function reconstructs the selected image area from the pixel near the area boundary. The function may be used to remove dust and scratches from a scanned photo, or to remove undesirable objects from still images or video. See
+http://en.wikipedia.org/wiki/Inpainting
+for more details.

modules/photo/doc/photo.rst

@@ -0,0 +1,10 @@
+********************************
+photo. Computational Photography
+********************************
+
+.. highlight:: cpp
+
+.. toctree::
+    :maxdepth: 2
+
+    inpainting 

modules/photo/include/opencv2/photo/photo.hpp

@@ -0,0 +1,72 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2008-2012, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_PHOTO_HPP__
+#define __OPENCV_PHOTO_HPP__
+
+#include "opencv2/core/core.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+
+#ifdef __cplusplus
+
+/*! \namespace cv
+ Namespace where all the C++ OpenCV functionality resides
+ */
+namespace cv
+{
+
+//! the inpainting algorithm
+enum
+{
+    INPAINT_NS=CV_INPAINT_NS, // Navier-Stokes algorithm
+    INPAINT_TELEA=CV_INPAINT_TELEA // A. Telea algorithm
+};
+
+//! restores the damaged image areas using one of the available intpainting algorithms
+CV_EXPORTS_W void inpaint( InputArray src, InputArray inpaintMask,
+                           OutputArray dst, double inpaintRange, int flags );
+
+}
+
+#endif
+
+#endif

modules/photo/perf/perf_inpaint.cpp

@@ -1,38 +1,38 @@
-#include "perf_precomp.hpp"
-
-using namespace std;
-using namespace cv;
-using namespace perf;
-using std::tr1::make_tuple;
-using std::tr1::get;
-
-CV_ENUM(InpaintingMethod, INPAINT_NS, INPAINT_TELEA)
-typedef std::tr1::tuple<Size, InpaintingMethod> InpaintArea_InpaintingMethod_t;
-typedef perf::TestBaseWithParam<InpaintArea_InpaintingMethod_t> InpaintArea_InpaintingMethod;
-
-
-PERF_TEST_P(InpaintArea_InpaintingMethod, inpaint,
-            testing::Combine(
-                SZ_ALL_SMALL,
-                testing::ValuesIn(InpaintingMethod::all())
-                )
-            )
-{
-    Mat src = imread(getDataPath("gpu/hog/road.png"));
-
-    Size sz = get<0>(GetParam());
-    int inpaintingMethod = get<1>(GetParam());
-
-    Mat mask(src.size(), CV_8UC1, Scalar(0));
-    Mat result(src.size(), src.type());
-
-    Rect inpaintArea(src.cols/3, src.rows/3, sz.width, sz.height);
-    mask(inpaintArea).setTo(255);
-
-    declare.in(src, mask).out(result).time(30);
-
-    TEST_CYCLE() inpaint(src, mask, result, 10.0, inpaintingMethod);
-
-    Mat inpaintedArea = result(inpaintArea);
-    SANITY_CHECK(inpaintedArea);
-}
+#include "perf_precomp.hpp"
+
+using namespace std;
+using namespace cv;
+using namespace perf;
+using std::tr1::make_tuple;
+using std::tr1::get;
+
+CV_ENUM(InpaintingMethod, INPAINT_NS, INPAINT_TELEA)
+typedef std::tr1::tuple<Size, InpaintingMethod> InpaintArea_InpaintingMethod_t;
+typedef perf::TestBaseWithParam<InpaintArea_InpaintingMethod_t> InpaintArea_InpaintingMethod;
+
+
+PERF_TEST_P(InpaintArea_InpaintingMethod, inpaint,
+            testing::Combine(
+                SZ_ALL_SMALL,
+                testing::ValuesIn(InpaintingMethod::all())
+                )
+            )
+{
+    Mat src = imread(getDataPath("gpu/hog/road.png"));
+
+    Size sz = get<0>(GetParam());
+    int inpaintingMethod = get<1>(GetParam());
+
+    Mat mask(src.size(), CV_8UC1, Scalar(0));
+    Mat result(src.size(), src.type());
+
+    Rect inpaintArea(src.cols/3, src.rows/3, sz.width, sz.height);
+    mask(inpaintArea).setTo(255);
+
+    declare.in(src, mask).out(result).time(30);
+
+    TEST_CYCLE() inpaint(src, mask, result, 10.0, inpaintingMethod);
+
+    Mat inpaintedArea = result(inpaintArea);
+    SANITY_CHECK(inpaintedArea);
+}

modules/photo/perf/perf_main.cpp

@@ -0,0 +1,3 @@
+#include "perf_precomp.hpp"
+
+CV_PERF_TEST_MAIN(photo)

modules/photo/perf/perf_precomp.cpp

@@ -0,0 +1 @@
+#include "perf_precomp.hpp"

modules/photo/perf/perf_precomp.hpp

@@ -0,0 +1,12 @@
+#ifndef __OPENCV_PERF_PRECOMP_HPP__
+#define __OPENCV_PERF_PRECOMP_HPP__
+
+#include "opencv2/ts/ts.hpp"
+#include "opencv2/photo/photo.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+#if GTEST_CREATE_SHARED_LIBRARY
+#error no modules except ts should have GTEST_CREATE_SHARED_LIBRARY defined
+#endif
+
+#endif

modules/photo/src/inpaint.cpp

@@ -46,6 +46,7 @@
 // */
 
 #include "precomp.hpp"
+#include "opencv2/imgproc/imgproc_c.h"
 
 #undef CV_MAT_ELEM_PTR_FAST
 #define CV_MAT_ELEM_PTR_FAST( mat, row, col, pix_size )  \
@@ -383,8 +384,7 @@ icvTeleaInpaintFMM(const CvMat *f, CvMat *t, CvMat *out, int range, CvPriorityQu
                   }
                   sat = (float)((Ia/s+(Jx+Jy)/(sqrt(Jx*Jx+Jy*Jy)+1.0e-20f)+0.5f));
                   {
-                  int isat = cvRound(sat);
-                  CV_MAT_3COLOR_ELEM(*out,uchar,i-1,j-1,color) = CV_CAST_8U(isat);
+                  CV_MAT_3COLOR_ELEM(*out,uchar,i-1,j-1,color) = cv::saturate_cast<uchar>(sat);
                   }
                }
 
@@ -496,8 +496,7 @@ icvTeleaInpaintFMM(const CvMat *f, CvMat *t, CvMat *out, int range, CvPriorityQu
                   }
                   sat = (float)((Ia/s+(Jx+Jy)/(sqrt(Jx*Jx+Jy*Jy)+1.0e-20f)+0.5f));
                   {
-                  int isat = cvRound(sat);
-                  CV_MAT_ELEM(*out,uchar,i-1,j-1) = CV_CAST_8U(isat);
+                  CV_MAT_ELEM(*out,uchar,i-1,j-1) = cv::saturate_cast<uchar>(sat);
                   }
                }
 
@@ -594,10 +593,7 @@ icvNSInpaintFMM(const CvMat *f, CvMat *t, CvMat *out, int range, CvPriorityQueue
                         }
                      }
                   }
-                  {
-                  int out_val = cvRound((double)Ia/s);
-                  CV_MAT_3COLOR_ELEM(*out,uchar,i-1,j-1,color) = CV_CAST_8U(out_val);
-                  }
+                  CV_MAT_3COLOR_ELEM(*out,uchar,i-1,j-1,color) = cv::saturate_cast<uchar>((double)Ia/s);
                }
 
                CV_MAT_ELEM(*f,uchar,i,j) = BAND;
@@ -685,10 +681,7 @@ icvNSInpaintFMM(const CvMat *f, CvMat *t, CvMat *out, int range, CvPriorityQueue
                         }
                      }
                   }
-                  {
-                  int out_val = cvRound((double)Ia/s);
-                  CV_MAT_ELEM(*out,uchar,i-1,j-1) = CV_CAST_8U(out_val);
-                  }
+                  CV_MAT_ELEM(*out,uchar,i-1,j-1) = cv::saturate_cast<uchar>((double)Ia/s);
                }
 
                CV_MAT_ELEM(*f,uchar,i,j) = BAND;
@@ -724,7 +717,7 @@ icvNSInpaintFMM(const CvMat *f, CvMat *t, CvMat *out, int range, CvPriorityQueue
    }
 
 
-CV_IMPL void
+void
 cvInpaint( const CvArr* _input_img, const CvArr* _inpaint_mask, CvArr* _output_img,
            double inpaintRange, int flags )
 {

modules/photo/src/precomp.cpp

@@ -0,0 +1,44 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+
+/* End of file. */

modules/photo/src/precomp.hpp

@@ -0,0 +1,56 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_PRECOMP_H__
+#define __OPENCV_PRECOMP_H__
+
+#if _MSC_VER >= 1200
+#pragma warning( disable: 4251 4512 4710 4711 4514 4996 )
+#endif
+
+#ifdef HAVE_CVCONFIG_H 
+#include "cvconfig.h"
+#endif
+
+#include "opencv2/photo/photo.hpp"
+
+#endif

modules/photo/test/test_main.cpp

@@ -0,0 +1,3 @@
+#include "test_precomp.hpp"
+
+CV_TEST_MAIN("cv")

modules/photo/test/test_precomp.cpp

@@ -0,0 +1 @@
+#include "test_precomp.hpp"

modules/photo/test/test_precomp.hpp

@@ -0,0 +1,9 @@
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include "opencv2/ts/ts.hpp"
+#include "opencv2/photo/photo.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include <iostream>
+
+#endif

modules/python/CMakeLists.txt

@@ -10,7 +10,7 @@ if(ANDROID OR IOS OR NOT PYTHONLIBS_FOUND OR NOT PYTHON_USE_NUMPY)
 endif()
 
 set(the_description "The python bindings")
-ocv_add_module(python BINDINGS opencv_core opencv_flann opencv_imgproc opencv_video opencv_ml opencv_features2d opencv_highgui opencv_calib3d opencv_objdetect opencv_legacy opencv_contrib)
+ocv_add_module(python BINDINGS opencv_core opencv_flann opencv_imgproc opencv_video opencv_ml opencv_features2d opencv_highgui opencv_calib3d opencv_photo opencv_nonfree opencv_objdetect opencv_legacy opencv_contrib)
 
 ocv_include_directories(${PYTHON_INCLUDE_PATH})
 ocv_include_directories(
@@ -19,12 +19,14 @@ ocv_include_directories(
     "${OpenCV_SOURCE_DIR}/modules/flann/include"
     "${OpenCV_SOURCE_DIR}/modules/imgproc/include"
     "${OpenCV_SOURCE_DIR}/modules/video/include"
+    "${OpenCV_SOURCE_DIR}/modules/photo/include"
     "${OpenCV_SOURCE_DIR}/modules/highgui/include"
     "${OpenCV_SOURCE_DIR}/modules/ml/include"
     "${OpenCV_SOURCE_DIR}/modules/features2d/include"
     "${OpenCV_SOURCE_DIR}/modules/flann/include"
     "${OpenCV_SOURCE_DIR}/modules/calib3d/include"
     "${OpenCV_SOURCE_DIR}/modules/objdetect/include"
+    "${OpenCV_SOURCE_DIR}/modules/nonfree/include"
     "${OpenCV_SOURCE_DIR}/modules/legacy/include"
     "${OpenCV_SOURCE_DIR}/modules/contrib/include"
     )
@@ -36,9 +38,11 @@ set(opencv_hdrs "${OpenCV_SOURCE_DIR}/modules/core/include/opencv2/core/core.hpp
     "${OpenCV_SOURCE_DIR}/modules/imgproc/include/opencv2/imgproc/imgproc.hpp"
     "${OpenCV_SOURCE_DIR}/modules/video/include/opencv2/video/background_segm.hpp"
     "${OpenCV_SOURCE_DIR}/modules/video/include/opencv2/video/tracking.hpp"
+    "${OpenCV_SOURCE_DIR}/modules/photo/include/opencv2/photo/photo.hpp"
     "${OpenCV_SOURCE_DIR}/modules/highgui/include/opencv2/highgui/highgui.hpp"
     "${OpenCV_SOURCE_DIR}/modules/ml/include/opencv2/ml/ml.hpp"
     "${OpenCV_SOURCE_DIR}/modules/features2d/include/opencv2/features2d/features2d.hpp"
+    "${OpenCV_SOURCE_DIR}/modules/nonfree/include/opencv2/nonfree/features2d.hpp"
     "${OpenCV_SOURCE_DIR}/modules/calib3d/include/opencv2/calib3d/calib3d.hpp"
     "${OpenCV_SOURCE_DIR}/modules/objdetect/include/opencv2/objdetect/objdetect.hpp")
 
@@ -71,7 +75,7 @@ add_custom_command(
 
 set(cv2_target "opencv_python")
 add_library(${cv2_target} SHARED src2/cv2.cpp ${CMAKE_CURRENT_BINARY_DIR}/generated0.i ${cv2_generated_hdrs} src2/cv2.cv.hpp)
-target_link_libraries(${cv2_target} ${PYTHON_LIBRARIES} opencv_core opencv_flann opencv_imgproc opencv_video opencv_ml opencv_features2d opencv_highgui opencv_calib3d opencv_objdetect opencv_legacy opencv_contrib)
+target_link_libraries(${cv2_target} ${PYTHON_LIBRARIES} opencv_core opencv_flann opencv_imgproc opencv_video opencv_ml opencv_features2d opencv_highgui opencv_calib3d opencv_objdetect opencv_legacy opencv_contrib opencv_photo)
     
 set_target_properties(${cv2_target} PROPERTIES PREFIX "")
 set_target_properties(${cv2_target} PROPERTIES OUTPUT_NAME "cv2")

modules/python/src2/cv2.cpp

@@ -17,6 +17,8 @@
 #include "opencv2/objdetect/objdetect.hpp"
 #include "opencv2/video/tracking.hpp"
 #include "opencv2/video/background_segm.hpp"
+#include "opencv2/photo/photo.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
 #include "opencv2/highgui/highgui.hpp"
 
 using cv::flann::IndexParams;

modules/refman.rst

@@ -16,5 +16,7 @@ OpenCV API Reference
    ml/doc/ml.rst
    flann/doc/flann.rst
    gpu/doc/gpu.rst
+   photo/doc/photo.rst
    stitching/doc/stitching.rst
+   nonfree/doc/nonfree.rst
 

modules/stitching/include/opencv2/stitching/detail/matchers.hpp

@@ -87,13 +87,13 @@ private:
 
     Ptr<FeatureDetector> detector_;
     Ptr<DescriptorExtractor> extractor_;
-    Ptr<SURF> surf;
+    Ptr<Feature2D> surf;
 };
 
 class CV_EXPORTS OrbFeaturesFinder : public FeaturesFinder
 {
 public:
-    OrbFeaturesFinder(Size _grid_size = Size(3,1), size_t n_features = 1500, const ORB::CommonParams & detector_params = ORB::CommonParams(1.3f, 5));
+    OrbFeaturesFinder(Size _grid_size = Size(3,1), int nfeatures=1500, float scaleFactor=1.3f, int nlevels=5);
 
 private:
     void find(const Mat &image, ImageFeatures &features);

modules/stitching/src/matchers.cpp

@@ -315,12 +315,27 @@ SurfFeaturesFinder::SurfFeaturesFinder(double hess_thresh, int num_octaves, int
 {
     if (num_octaves_descr == num_octaves && num_layers_descr == num_layers)
     {
-        surf = new SURF(hess_thresh, num_octaves, num_layers);
+        surf = Algorithm::create<Feature2D>("Feature2D.SURF");
+        if( surf.empty() )
+            CV_Error( CV_StsNotImplemented, "OpenCV was built without SURF support" );
+        surf->set("hessianThreshold", hess_thresh);
+        surf->set("nOctaves", num_octaves);
+        surf->set("nOctaveLayers", num_layers);
     }
     else
     {
-        detector_ = new SurfFeatureDetector(hess_thresh, num_octaves, num_layers);
-        extractor_ = new SurfDescriptorExtractor(num_octaves_descr, num_layers_descr);
+        detector_ = Algorithm::create<FeatureDetector>("Feature2D.SURF");
+        extractor_ = Algorithm::create<DescriptorExtractor>("Feature2D.SURF");
+        
+        if( detector_.empty() || extractor_.empty() )
+            CV_Error( CV_StsNotImplemented, "OpenCV was built without SURF support" );
+        
+        detector_->set("hessianThreshold", hess_thresh);
+        detector_->set("nOctaves", num_octaves);
+        detector_->set("nOctaveLayers", num_layers);
+        
+        extractor_->set("nOctaves", num_octaves_descr);
+        extractor_->set("nOctaveLayers", num_layers_descr);
     }
 }
 
@@ -342,10 +357,10 @@ void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
     }
 }
 
-OrbFeaturesFinder::OrbFeaturesFinder(Size _grid_size, size_t n_features, const ORB::CommonParams & detector_params)
+OrbFeaturesFinder::OrbFeaturesFinder(Size _grid_size, int n_features, float scaleFactor, int nlevels)
 {
     grid_size = _grid_size;
-    orb = new ORB(n_features * (99 + grid_size.area())/100/grid_size.area(), detector_params);
+    orb = new ORB(n_features * (99 + grid_size.area())/100/grid_size.area(), scaleFactor, nlevels);
 }
 
 void OrbFeaturesFinder::find(const Mat &image, ImageFeatures &features)

modules/video/include/opencv2/video/background_segm.hpp

@@ -416,7 +416,7 @@ public:
     //! the default constructor
     BackgroundSubtractorMOG2();
     //! the full constructor that takes the length of the history, the number of gaussian mixtures, the background ratio parameter and the noise strength
-    BackgroundSubtractorMOG2(int history,  float varThreshold, bool bShadowDetection=1);
+    BackgroundSubtractorMOG2(int history,  float varThreshold, bool bShadowDetection=true);
     //! the destructor
     virtual ~BackgroundSubtractorMOG2();
     //! the update operator

samples/c/CMakeLists.txt

@@ -3,8 +3,9 @@
 #
 # ----------------------------------------------------------------------------
 
-SET(OPENCV_C_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
-                                   opencv_features2d opencv_calib3d opencv_legacy opencv_contrib)
+SET(OPENCV_C_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc
+    opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_photo opencv_nonfree
+    opencv_features2d opencv_calib3d opencv_legacy opencv_contrib)
 
 ocv_check_dependencies(${OPENCV_C_SAMPLES_REQUIRED_DEPS})
 

samples/c/find_obj.cpp

@@ -8,7 +8,10 @@
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/calib3d/calib3d.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
 #include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/legacy/legacy.hpp"
+#include "opencv2/legacy/compat.hpp"
 
 #include <iostream>
 #include <vector>
@@ -214,6 +217,7 @@ int main(int argc, char** argv)
     const char* object_filename = argc == 3 ? argv[1] : "box.png";
     const char* scene_filename = argc == 3 ? argv[2] : "box_in_scene.png";
 
+    cv::initModule_nonfree();
     help();
 
     IplImage* object = cvLoadImage( object_filename, CV_LOAD_IMAGE_GRAYSCALE );

samples/c/find_obj_calonder.cpp

@@ -2,6 +2,8 @@
 #include "opencv2/core/core.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/features2d/features2d.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
+#include "opencv2/legacy/legacy.hpp"
 
 #include <iostream>
 #include <fstream>
@@ -123,7 +125,7 @@ void testCalonderClassifier( const string& classifierFilename, const string& img
     Mat descriptors2;  de.compute( img2, keypoints2, descriptors2 );
 
     // Match descriptors
-    BruteForceMatcher<L1<float> > matcher;
+    BFMatcher matcher(NORM_L1);
     vector<DMatch> matches;
     matcher.match( descriptors1, descriptors2, matches );
 

samples/c/find_obj_ferns.cpp

@@ -3,6 +3,7 @@
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/objdetect/objdetect.hpp"
+#include "opencv2/legacy/legacy.hpp"
 
 #include <algorithm>
 #include <iostream>

samples/c/mser_sample.cpp

@@ -1,134 +1,86 @@
 /* This sample code was originally provided by Liu Liu
- * Copyright<EFBFBD> 2009, Liu Liu All rights reserved.
+ * Copyright (C) 2009, Liu Liu All rights reserved.
  */
 
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/features2d/features2d.hpp"
-#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/imgproc/imgproc.hpp"
 
+#include <iostream>
 #include <stdio.h>
 
+using namespace cv;
+using namespace std;
+
 void help()
 {
-	printf("\nThis program demonstrates the Maximal Extremal Region interest point detector.\n"
-			"It finds the most stable (in size) dark and white regions as a threshold is increased.\n"
-			"\nCall:\n"
-			"./mser_sample <path_and_image_filename, Default is 'puzzle.png'>\n\n");
+	cout << "\nThis program demonstrates the Maximal Extremal Region interest point detector.\n"
+    "It finds the most stable (in size) dark and white regions as a threshold is increased.\n"
+    "\nCall:\n"
+    "./mser_sample <path_and_image_filename, Default is 'puzzle.png'>\n\n";
 }
 
-static CvScalar colors[] = 
-{
-    {{0,0,255}},
-    {{0,128,255}},
-    {{0,255,255}},
-    {{0,255,0}},
-    {{255,128,0}},
-    {{255,255,0}},
-    {{255,0,0}},
-    {{255,0,255}},
-    {{255,255,255}},
-    {{196,255,255}},
-    {{255,255,196}}
-};
-
-static uchar bcolors[][3] = 
+static const Vec3b bcolors[] = 
 {
-    {0,0,255},
-    {0,128,255},
-    {0,255,255},
-    {0,255,0},
-    {255,128,0},
-    {255,255,0},
-    {255,0,0},
-    {255,0,255},
-    {255,255,255}
+    Vec3b(0,0,255),
+    Vec3b(0,128,255),
+    Vec3b(0,255,255),
+    Vec3b(0,255,0),
+    Vec3b(255,128,0),
+    Vec3b(255,255,0),
+    Vec3b(255,0,0),
+    Vec3b(255,0,255),
+    Vec3b(255,255,255)
 };
 
-
 int main( int argc, char** argv )
 {
-	char path[1024];
-	IplImage* img;
+	string path;
+	Mat img0, img, yuv, gray, ellipses;
 	help();
-	if (argc!=2)
+    
+    img0 = imread( argc != 2 ? "puzzle.png" : argv[1], 1 );
+    if( img0.empty() )
+    {
+        if( argc != 2 )
+            cout << "\nUsage: mser_sample <path_to_image>\n";
+        else
+            cout << "Unable to load image " << argv[1] << endl;
+        return 0;
+    }
+    
+	cvtColor(img0, yuv, COLOR_BGR2YCrCb);
+    cvtColor(img0, gray, COLOR_BGR2GRAY);
+    cvtColor(gray, img, COLOR_GRAY2BGR);
+    img.copyTo(ellipses);
+    
+    vector<vector<Point> > contours;
+	double t = (double)getTickCount();
+    MSER()(yuv, contours);
+	t = (double)getTickCount() - t;
+	printf( "MSER extracted %d contours in %g ms.\n", (int)contours.size(),
+           t*1000./getTickFrequency() );
+    
+	// draw mser's with different colors
+	for( int i = (int)contours.size()-1; i >= 0; i-- )
 	{
-		strcpy(path,"puzzle.png");
-		img = cvLoadImage( path, CV_LOAD_IMAGE_GRAYSCALE );
-		if (!img)
+		const vector<Point>& r = contours[i];
+		for ( int j = 0; j < (int)r.size(); j++ )
 		{
-			printf("\nUsage: mser_sample <path_to_image>\n");
-			return 0;
+			Point pt = r[j];
+			img.at<Vec3b>(r[j]) = bcolors[i%9];
 		}
+        
+        // find ellipse (it seems cvfitellipse2 have error or sth?)
+        RotatedRect box = fitEllipse( r );
+        
+        box.angle=(float)CV_PI/2-box.angle;
+        ellipse( ellipses, box, Scalar(196,255,255), 2 );
 	}
-	else
-	{
-		strcpy(path,argv[1]);
-		img = cvLoadImage( path, CV_LOAD_IMAGE_GRAYSCALE );
-	}
-	
-	if (!img)
-	{
-		printf("Unable to load image %s\n",path);
-		return 0;
-	}
-	IplImage* rsp = cvLoadImage( path, CV_LOAD_IMAGE_COLOR );
-	IplImage* ellipses = cvCloneImage(rsp);
-	cvCvtColor(img,ellipses,CV_GRAY2BGR);
-	CvSeq* contours;
-	CvMemStorage* storage= cvCreateMemStorage();
-	IplImage* hsv = cvCreateImage( cvGetSize( rsp ), IPL_DEPTH_8U, 3 );
-	cvCvtColor( rsp, hsv, CV_BGR2YCrCb );
-	CvMSERParams params = cvMSERParams();//cvMSERParams( 5, 60, cvRound(.2*img->width*img->height), .25, .2 );
-
-	double t = (double)cvGetTickCount();
-	cvExtractMSER( hsv, NULL, &contours, storage, params );
-	t = cvGetTickCount() - t;
-	printf( "MSER extracted %d contours in %g ms.\n", contours->total, t/((double)cvGetTickFrequency()*1000.) );
-	uchar* rsptr = (uchar*)rsp->imageData;
-	// draw mser with different color
-	for ( int i = contours->total-1; i >= 0; i-- )
-	{
-		CvSeq* r = *(CvSeq**)cvGetSeqElem( contours, i );
-		for ( int j = 0; j < r->total; j++ )
-		{
-			CvPoint* pt = CV_GET_SEQ_ELEM( CvPoint, r, j );
-			rsptr[pt->x*3+pt->y*rsp->widthStep] = bcolors[i%9][2];
-			rsptr[pt->x*3+1+pt->y*rsp->widthStep] = bcolors[i%9][1];
-			rsptr[pt->x*3+2+pt->y*rsp->widthStep] = bcolors[i%9][0];
-		}
-	}
-	// find ellipse ( it seems cvfitellipse2 have error or sth?
-	for ( int i = 0; i < contours->total; i++ )
-	{
-		CvContour* r = *(CvContour**)cvGetSeqElem( contours, i );
-		CvBox2D box = cvFitEllipse2( r );
-		box.angle=(float)CV_PI/2-box.angle;
-		
-		if ( r->color > 0 )
-			cvEllipseBox( ellipses, box, colors[9], 2 );
-		else
-			cvEllipseBox( ellipses, box, colors[2], 2 );
-			
-	}
-
-	cvSaveImage( "rsp.png", rsp );
-
-	cvNamedWindow( "original", 0 );
-	cvShowImage( "original", img );
-	
-	cvNamedWindow( "response", 0 );
-	cvShowImage( "response", rsp );
-
-	cvNamedWindow( "ellipses", 0 );
-	cvShowImage( "ellipses", ellipses );
-
-	cvWaitKey(0);
-
-	cvDestroyWindow( "original" );
-	cvDestroyWindow( "response" );
-	cvDestroyWindow( "ellipses" );
-	cvReleaseImage(&rsp);
-	cvReleaseImage(&img);
-	cvReleaseImage(&ellipses);
-	
+    
+	imshow( "original", img0 );
+	imshow( "response", img );
+	imshow( "ellipses", ellipses );
+    
+	waitKey(0);
 }

samples/c/one_way_sample.cpp

@@ -11,6 +11,9 @@
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/nonfree/nonfree.hpp"
+#include "opencv2/legacy/legacy.hpp"
+#include "opencv2/legacy/compat.hpp"
 
 #include <string>
 #include <stdio.h>
@@ -25,8 +28,8 @@ void help()
 
 using namespace cv;
 
-IplImage* DrawCorrespondences(IplImage* img1, const vector<KeyPoint>& features1, IplImage* img2,
-                              const vector<KeyPoint>& features2, const vector<int>& desc_idx);
+Mat DrawCorrespondences(const Mat& img1, const vector<KeyPoint>& features1, const Mat& img2,
+                        const vector<KeyPoint>& features2, const vector<int>& desc_idx);
 
 int main(int argc, char** argv)
 {
@@ -45,8 +48,8 @@ int main(int argc, char** argv)
     std::string img2_name = path_name + "/" + std::string(argv[3]);
 
     printf("Reading the images...\n");
-    IplImage* img1 = cvLoadImage(img1_name.c_str(), CV_LOAD_IMAGE_GRAYSCALE);
-    IplImage* img2 = cvLoadImage(img2_name.c_str(), CV_LOAD_IMAGE_GRAYSCALE);
+    Mat img1 = imread(img1_name, CV_LOAD_IMAGE_GRAYSCALE);
+    Mat img2 = imread(img2_name, CV_LOAD_IMAGE_GRAYSCALE);
     
     // extract keypoints from the first image
     SURF surf_extractor(5.0e3);
@@ -61,7 +64,9 @@ int main(int argc, char** argv)
     // create descriptors
     OneWayDescriptorBase descriptors(patch_size, pose_count, OneWayDescriptorBase::GetPCAFilename(), path_name,
                                      images_list);
-    descriptors.CreateDescriptorsFromImage(img1, keypoints1);
+    IplImage img1_c = img1;
+    IplImage img2_c = img2;
+    descriptors.CreateDescriptorsFromImage(&img1_c, keypoints1);
     printf("done\n");
 
     // extract keypoints from the second image
@@ -77,43 +82,37 @@ int main(int argc, char** argv)
     {
         int pose_idx = 0;
         float distance = 0;
-        descriptors.FindDescriptor(img2, keypoints2[i].pt, desc_idx[i], pose_idx, distance);
+        descriptors.FindDescriptor(&img2_c, keypoints2[i].pt, desc_idx[i], pose_idx, distance);
     }
     printf("done\n");
 
-    IplImage* img_corr = DrawCorrespondences(img1, keypoints1, img2, keypoints2, desc_idx);
+    Mat img_corr = DrawCorrespondences(img1, keypoints1, img2, keypoints2, desc_idx);
 
-    cvNamedWindow("correspondences", 1);
-    cvShowImage("correspondences", img_corr);
-    cvWaitKey(0);
-
-    cvReleaseImage(&img1);
-    cvReleaseImage(&img2);
-    cvReleaseImage(&img_corr);
+    imshow("correspondences", img_corr);
+    waitKey(0);
 }
 
-IplImage* DrawCorrespondences(IplImage* img1, const vector<KeyPoint>& features1, IplImage* img2,
-                              const vector<KeyPoint>& features2, const vector<int>& desc_idx)
+Mat DrawCorrespondences(const Mat& img1, const vector<KeyPoint>& features1, const Mat& img2,
+                        const vector<KeyPoint>& features2, const vector<int>& desc_idx)
 {
-    IplImage* img_corr = cvCreateImage(cvSize(img1->width + img2->width, MAX(img1->height, img2->height)),
-                                       IPL_DEPTH_8U, 3);
-    cvSetImageROI(img_corr, cvRect(0, 0, img1->width, img1->height));
-    cvCvtColor(img1, img_corr, CV_GRAY2RGB);
-    cvSetImageROI(img_corr, cvRect(img1->width, 0, img2->width, img2->height));
-    cvCvtColor(img2, img_corr, CV_GRAY2RGB);
-    cvResetImageROI(img_corr);
-
+    Mat part, img_corr(Size(img1.cols + img2.cols, MAX(img1.rows, img2.rows)), CV_8UC3);
+    img_corr = Scalar::all(0);
+    part = img_corr(Rect(0, 0, img1.cols, img1.rows));
+    cvtColor(img1, part, COLOR_GRAY2RGB);
+    part = img_corr(Rect(img1.cols, 0, img2.cols, img2.rows));
+    cvtColor(img1, part, COLOR_GRAY2RGB);
+    
     for (size_t i = 0; i < features1.size(); i++)
     {
-        cvCircle(img_corr, features1[i].pt, 3, CV_RGB(255, 0, 0));
+        circle(img_corr, features1[i].pt, 3, CV_RGB(255, 0, 0));
     }
-
+    
     for (size_t i = 0; i < features2.size(); i++)
     {
-        CvPoint pt = cvPoint((int)features2[i].pt.x + img1->width, (int)features2[i].pt.y);
-        cvCircle(img_corr, pt, 3, CV_RGB(255, 0, 0));
-        cvLine(img_corr, features1[desc_idx[i]].pt, pt, CV_RGB(0, 255, 0));
+        Point pt((int)features2[i].pt.x + img1.cols, (int)features2[i].pt.y);
+        circle(img_corr, pt, 3, Scalar(0, 0, 255));
+        line(img_corr, features1[desc_idx[i]].pt, pt, Scalar(0, 255, 0));
     }
-
+    
     return img_corr;
 }

samples/cpp/CMakeLists.txt

@@ -3,8 +3,9 @@
 #
 # ----------------------------------------------------------------------------
 
-SET(OPENCV_CPP_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
-                                     opencv_features2d opencv_calib3d opencv_legacy opencv_contrib opencv_stitching)
+SET(OPENCV_CPP_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc
+    opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_photo opencv_nonfree
+    opencv_features2d opencv_calib3d opencv_legacy opencv_contrib opencv_stitching)
 
 ocv_check_dependencies(${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
 

samples/cpp/brief_match_test.cpp

@@ -105,7 +105,7 @@ int main(int argc, const char ** argv)
 
   //Do matching using features2d
   cout << "matching with BruteForceMatcher<Hamming>" << endl;
-  BruteForceMatcher<Hamming> matcher_popcount;
+  BFMatcher matcher_popcount(NORM_HAMMING);
   vector<DMatch> matches_popcount;
   double pop_time = match(kpts_1, kpts_2, matcher_popcount, desc_1, desc_2, matches_popcount);
   cout << "done BruteForceMatcher<Hamming> matching. took " << pop_time << " seconds" << endl;

samples/cpp/detector_descriptor_evaluation.cpp

@@ -42,6 +42,7 @@
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/features2d/features2d.hpp"
+#include "opencv2/legacy/legacy.hpp"
 
 #include <limits>
 #include <cstdio>
@@ -879,7 +880,7 @@ public:
     {
         string classifierFile = data_path + "/features2d/calonder_classifier.rtc";
         defaultDescMatcher = new VectorDescriptorMatch( new CalonderDescriptorExtractor<float>( classifierFile ),
-                                                        new BruteForceMatcher<L2<float> > );
+                                                        new BFMatcher(NORM_L2) );
         specificDescMatcher = defaultDescMatcher;
     }
 };

samples/cpp/generic_descriptor_match.cpp

@@ -1,7 +1,8 @@
 #include "opencv2/calib3d/calib3d.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/highgui/highgui.hpp"
-#include "opencv2/imgproc/imgproc_c.h"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
 
 #include <cstdio>
 
@@ -14,8 +15,8 @@ void help()
     printf("For example: ./generic_descriptor_match ../c/scene_l.bmp ../c/scene_r.bmp FERN fern_params.xml\n");
 }
 
-IplImage* DrawCorrespondences(IplImage* img1, const vector<KeyPoint>& features1, IplImage* img2,
-                              const vector<KeyPoint>& features2, const vector<DMatch>& desc_idx);
+Mat DrawCorrespondences(const Mat& img1, const vector<KeyPoint>& features1, const Mat& img2,
+                        const vector<KeyPoint>& features2, const vector<DMatch>& desc_idx);
 
 int main(int argc, char** argv)
 {
@@ -38,8 +39,8 @@ int main(int argc, char** argv)
     }
 
     //printf("Reading the images...\n");
-    IplImage* img1 = cvLoadImage(img1_name.c_str(), CV_LOAD_IMAGE_GRAYSCALE);
-    IplImage* img2 = cvLoadImage(img2_name.c_str(), CV_LOAD_IMAGE_GRAYSCALE);
+    Mat img1 = imread(img1_name, CV_LOAD_IMAGE_GRAYSCALE);
+    Mat img2 = imread(img2_name, CV_LOAD_IMAGE_GRAYSCALE);
     
     // extract keypoints from the first image
     SURF surf_extractor(5.0e3);
@@ -60,38 +61,32 @@ int main(int argc, char** argv)
     descriptorMatcher->match( img2, keypoints2, img1, keypoints1, matches2to1 );
     printf("Done\n");
 
-    IplImage* img_corr = DrawCorrespondences(img1, keypoints1, img2, keypoints2, matches2to1);
+    Mat img_corr = DrawCorrespondences(img1, keypoints1, img2, keypoints2, matches2to1);
 
-    cvNamedWindow("correspondences", 1);
-    cvShowImage("correspondences", img_corr);
-    cvWaitKey(0);
-
-    cvReleaseImage(&img1);
-    cvReleaseImage(&img2);
-    cvReleaseImage(&img_corr);
+    imshow("correspondences", img_corr);
+    waitKey(0);
 }
 
-IplImage* DrawCorrespondences(IplImage* img1, const vector<KeyPoint>& features1, IplImage* img2,
-                              const vector<KeyPoint>& features2, const vector<DMatch>& desc_idx)
+Mat DrawCorrespondences(const Mat& img1, const vector<KeyPoint>& features1, const Mat& img2,
+                        const vector<KeyPoint>& features2, const vector<DMatch>& desc_idx)
 {
-    IplImage* img_corr = cvCreateImage(cvSize(img1->width + img2->width, MAX(img1->height, img2->height)),
-                                       IPL_DEPTH_8U, 3);
-    cvSetImageROI(img_corr, cvRect(0, 0, img1->width, img1->height));
-    cvCvtColor(img1, img_corr, CV_GRAY2RGB);
-    cvSetImageROI(img_corr, cvRect(img1->width, 0, img2->width, img2->height));
-    cvCvtColor(img2, img_corr, CV_GRAY2RGB);
-    cvResetImageROI(img_corr);
+    Mat part, img_corr(Size(img1.cols + img2.cols, MAX(img1.rows, img2.rows)), CV_8UC3);
+    img_corr = Scalar::all(0);
+    part = img_corr(Rect(0, 0, img1.cols, img1.rows));
+    cvtColor(img1, part, COLOR_GRAY2RGB);
+    part = img_corr(Rect(img1.cols, 0, img2.cols, img2.rows));
+    cvtColor(img1, part, COLOR_GRAY2RGB);
 
     for (size_t i = 0; i < features1.size(); i++)
     {
-        cvCircle(img_corr, features1[i].pt, 3, CV_RGB(255, 0, 0));
+        circle(img_corr, features1[i].pt, 3, CV_RGB(255, 0, 0));
     }
 
     for (size_t i = 0; i < features2.size(); i++)
     {
-        CvPoint pt = cvPoint(cvRound(features2[i].pt.x + img1->width), cvRound(features2[i].pt.y));
-        cvCircle(img_corr, pt, 3, CV_RGB(255, 0, 0));
-        cvLine(img_corr, features1[desc_idx[i].trainIdx].pt, pt, CV_RGB(0, 255, 0));
+        Point pt(cvRound(features2[i].pt.x + img1.cols), cvRound(features2[i].pt.y));
+        circle(img_corr, pt, 3, Scalar(0, 0, 255));
+        line(img_corr, features1[desc_idx[i].trainIdx].pt, pt, Scalar(0, 255, 0));
     }
 
     return img_corr;

samples/cpp/inpaint.cpp

@@ -1,5 +1,6 @@
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/photo/photo.hpp"
 
 #include <iostream>
 

samples/cpp/matcher_simple.cpp

@@ -2,6 +2,7 @@
 #include "opencv2/core/core.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/highgui/highgui.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
 
 using namespace cv;
 
@@ -42,7 +43,7 @@ int main(int argc, char** argv)
 	extractor.compute(img2, keypoints2, descriptors2);
 
 	// matching descriptors
-	BruteForceMatcher<L2<float> > matcher;
+	BFMatcher matcher(NORM_L2);
     vector<DMatch> matches;
     matcher.match(descriptors1, descriptors2, matches);
 

samples/cpp/video_homography.cpp

@@ -141,7 +141,7 @@ int main(int ac, char ** av)
 
     vector<DMatch> matches;
 
-    BruteForceMatcher<Hamming> desc_matcher;
+    BFMatcher desc_matcher(NORM_HAMMING);
 
     vector<Point2f> train_pts, query_pts;
     vector<KeyPoint> train_kpts, query_kpts;

samples/gpu/CMakeLists.txt

@@ -1,6 +1,7 @@
 SET(OPENCV_GPU_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc opencv_highgui
                                      opencv_ml opencv_video opencv_objdetect opencv_features2d
-                                     opencv_calib3d opencv_legacy opencv_contrib opencv_gpu)
+                                     opencv_calib3d opencv_legacy opencv_contrib opencv_gpu
+                                     opencv_nonfree)
 
 ocv_check_dependencies(${OPENCV_GPU_SAMPLES_REQUIRED_DEPS})
 

samples/gpu/performance/tests.cpp

@@ -4,6 +4,7 @@
 #include "opencv2/calib3d/calib3d.hpp"
 #include "opencv2/video/video.hpp"
 #include "opencv2/gpu/gpu.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
 #include "performance.h"
 
 using namespace std;
@@ -352,7 +353,7 @@ TEST(BruteForceMatcher)
 
     int desc_len = 64;
 
-    BruteForceMatcher< L2<float> > matcher;
+    BFMatcher matcher(NORM_L2);
 
     Mat query; 
     gen(query, 3000, desc_len, CV_32F, 0, 1);