mirror of https://github.com/opencv/opencv.git
Open Source Computer Vision Library
https://opencv.org/
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
250 lines
8.1 KiB
250 lines
8.1 KiB
Features Finding and Images Matching |
|
==================================== |
|
|
|
.. highlight:: cpp |
|
|
|
detail::ImageFeatures |
|
----------------------- |
|
.. ocv:struct:: detail::ImageFeatures |
|
|
|
Structure containing image keypoints and descriptors. :: |
|
|
|
struct CV_EXPORTS ImageFeatures |
|
{ |
|
int img_idx; |
|
Size img_size; |
|
std::vector<KeyPoint> keypoints; |
|
Mat descriptors; |
|
}; |
|
|
|
detail::FeaturesFinder |
|
---------------------- |
|
.. ocv:class:: detail::FeaturesFinder |
|
|
|
Feature finders base class. :: |
|
|
|
class CV_EXPORTS FeaturesFinder |
|
{ |
|
public: |
|
virtual ~FeaturesFinder() {} |
|
void operator ()(const Mat &image, ImageFeatures &features); |
|
void operator ()(const Mat &image, ImageFeatures &features, const std::vector<cv::Rect> &rois); |
|
virtual void collectGarbage() {} |
|
|
|
protected: |
|
virtual void find(const Mat &image, ImageFeatures &features) = 0; |
|
}; |
|
|
|
detail::FeaturesFinder::operator() |
|
---------------------------------- |
|
|
|
Finds features in the given image. |
|
|
|
.. ocv:function:: void detail::FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features) |
|
|
|
.. ocv:function:: void detail::FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features, const std::vector<cv::Rect> &rois) |
|
|
|
:param image: Source image |
|
|
|
:param features: Found features |
|
|
|
:param rois: Regions of interest |
|
|
|
.. seealso:: :ocv:struct:`detail::ImageFeatures`, :ocv:class:`Rect_` |
|
|
|
detail::FeaturesFinder::collectGarbage |
|
-------------------------------------- |
|
|
|
Frees unused memory allocated before if there is any. |
|
|
|
.. ocv:function:: void detail::FeaturesFinder::collectGarbage() |
|
|
|
detail::FeaturesFinder::find |
|
---------------------------- |
|
|
|
This method must implement features finding logic in order to make the wrappers `detail::FeaturesFinder::operator()`_ work. |
|
|
|
.. ocv:function:: void detail::FeaturesFinder::find(const Mat &image, ImageFeatures &features) |
|
|
|
:param image: Source image |
|
|
|
:param features: Found features |
|
|
|
.. seealso:: :ocv:struct:`detail::ImageFeatures` |
|
|
|
detail::SurfFeaturesFinder |
|
-------------------------- |
|
.. ocv:class:: detail::SurfFeaturesFinder : public FeaturesFinder |
|
|
|
SURF features finder. :: |
|
|
|
class CV_EXPORTS SurfFeaturesFinder : public FeaturesFinder |
|
{ |
|
public: |
|
SurfFeaturesFinder(double hess_thresh = 300., int num_octaves = 3, int num_layers = 4, |
|
int num_octaves_descr = /*4*/3, int num_layers_descr = /*2*/4); |
|
|
|
private: |
|
/* hidden */ |
|
}; |
|
|
|
.. seealso:: :ocv:class:`detail::FeaturesFinder`, :ocv:class:`SURF` |
|
|
|
detail::OrbFeaturesFinder |
|
------------------------- |
|
.. ocv:class:: detail::OrbFeaturesFinder : public FeaturesFinder |
|
|
|
ORB features finder. :: |
|
|
|
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)); |
|
|
|
private: |
|
/* hidden */ |
|
}; |
|
|
|
.. seealso:: :ocv:class:`detail::FeaturesFinder`, :ocv:class:`ORB` |
|
|
|
detail::MatchesInfo |
|
------------------- |
|
.. ocv:struct:: detail::MatchesInfo |
|
|
|
Structure containing information about matches between two images. It's assumed that there is a homography between those images. :: |
|
|
|
struct CV_EXPORTS MatchesInfo |
|
{ |
|
MatchesInfo(); |
|
MatchesInfo(const MatchesInfo &other); |
|
const MatchesInfo& operator =(const MatchesInfo &other); |
|
|
|
int src_img_idx, dst_img_idx; // Images indices (optional) |
|
std::vector<DMatch> matches; |
|
std::vector<uchar> inliers_mask; // Geometrically consistent matches mask |
|
int num_inliers; // Number of geometrically consistent matches |
|
Mat H; // Estimated homography |
|
double confidence; // Confidence two images are from the same panorama |
|
}; |
|
|
|
detail::FeaturesMatcher |
|
----------------------- |
|
.. ocv:class:: detail::FeaturesMatcher |
|
|
|
Feature matchers base class. :: |
|
|
|
class CV_EXPORTS FeaturesMatcher |
|
{ |
|
public: |
|
virtual ~FeaturesMatcher() {} |
|
|
|
void operator ()(const ImageFeatures &features1, const ImageFeatures &features2, |
|
MatchesInfo& matches_info) { match(features1, features2, matches_info); } |
|
|
|
void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches, |
|
const Mat &mask = cv::Mat()); |
|
|
|
bool isThreadSafe() const { return is_thread_safe_; } |
|
|
|
virtual void collectGarbage() {} |
|
|
|
protected: |
|
FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {} |
|
|
|
virtual void match(const ImageFeatures &features1, const ImageFeatures &features2, |
|
MatchesInfo& matches_info) = 0; |
|
|
|
bool is_thread_safe_; |
|
}; |
|
|
|
detail::FeaturesMatcher::operator() |
|
----------------------------------- |
|
|
|
Performs images matching. |
|
|
|
.. ocv:function:: void detail::FeaturesMatcher::operator ()(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) |
|
|
|
:param features1: First image features |
|
|
|
:param features2: Second image features |
|
|
|
:param matches_info: Found matches |
|
|
|
.. ocv:function:: void detail::FeaturesMatcher::operator ()( const std::vector<ImageFeatures> & features, std::vector<MatchesInfo> & pairwise_matches, const Mat & mask=Mat() ) |
|
|
|
:param features: Features of the source images |
|
|
|
:param pairwise_matches: Found pairwise matches |
|
|
|
:param mask: Mask indicating which image pairs must be matched |
|
|
|
The function is parallelized with the TBB library. |
|
|
|
.. seealso:: :ocv:struct:`detail::MatchesInfo` |
|
|
|
detail::FeaturesMatcher::isThreadSafe |
|
------------------------------------- |
|
|
|
.. ocv:function:: bool detail::FeaturesMatcher::isThreadSafe() const |
|
|
|
:return: True, if it's possible to use the same matcher instance in parallel, false otherwise |
|
|
|
detail::FeaturesMatcher::collectGarbage |
|
--------------------------------------- |
|
|
|
Frees unused memory allocated before if there is any. |
|
|
|
.. ocv:function:: void detail::FeaturesMatcher::collectGarbage() |
|
|
|
detail::FeaturesMatcher::match |
|
------------------------------ |
|
|
|
This method must implement matching logic in order to make the wrappers `detail::FeaturesMatcher::operator()`_ work. |
|
|
|
.. ocv:function:: void detail::FeaturesMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) |
|
|
|
:param features1: First image features |
|
|
|
:param features2: Second image features |
|
|
|
:param matches_info: Found matches |
|
|
|
detail::BestOf2NearestMatcher |
|
----------------------------- |
|
.. ocv:class:: detail::BestOf2NearestMatcher : public FeaturesMatcher |
|
|
|
Features matcher which finds two best matches for each feature and leaves the best one only if the ratio between descriptor distances is greater than the threshold ``match_conf``. :: |
|
|
|
class CV_EXPORTS BestOf2NearestMatcher : public FeaturesMatcher |
|
{ |
|
public: |
|
BestOf2NearestMatcher(bool try_use_gpu = false, float match_conf = 0.65f, |
|
int num_matches_thresh1 = 6, int num_matches_thresh2 = 6); |
|
|
|
void collectGarbage(); |
|
|
|
protected: |
|
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info); |
|
|
|
int num_matches_thresh1_; |
|
int num_matches_thresh2_; |
|
Ptr<FeaturesMatcher> impl_; |
|
}; |
|
|
|
.. seealso:: :ocv:class:`detail::FeaturesMatcher` |
|
|
|
detail::BestOf2NearestMatcher::BestOf2NearestMatcher |
|
---------------------------------------------------- |
|
|
|
Constructs a "best of 2 nearest" matcher. |
|
|
|
.. ocv:function:: detail::BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu = false, float match_conf = 0.3f, int num_matches_thresh1 = 6, int num_matches_thresh2 = 6) |
|
|
|
:param try_use_gpu: Should try to use GPU or not |
|
|
|
:param match_conf: Match distances ration threshold |
|
|
|
:param num_matches_thresh1: Minimum number of matches required for the 2D projective transform estimation used in the inliers classification step |
|
|
|
:param num_matches_thresh2: Minimum number of matches required for the 2D projective transform re-estimation on inliers
|
|
|