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-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/*$Id: db_feature_matching.h,v 1.3 2011/06/17 14:03:30 mbansal Exp $*/
-
-#ifndef DB_FEATURE_MATCHING_H
-#define DB_FEATURE_MATCHING_H
-
-/*****************************************************************
-* Lean and mean begins here *
-*****************************************************************/
-/*!
- * \defgroup FeatureMatching Feature Matching
- */
-#include "db_utilities.h"
-#include "db_utilities_constants.h"
-
-DB_API void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip);
-DB_API void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip);
-float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip);
-float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip);
-
-class db_PointInfo_f
-{
-public:
- /*Coordinates of point*/
- int x;
- int y;
- /*Id nr of point*/
- int id;
- /*Best match score*/
- double s;
- /*Best match candidate*/
- db_PointInfo_f *pir;
- /*Precomputed coefficients
- of image patch*/
- float sum;
- float recip;
- /*Pointer to patch layout*/
- const float *patch;
-};
-
-class db_Bucket_f
-{
-public:
- db_PointInfo_f *ptr;
- int nr;
-};
-
-class db_PointInfo_u
-{
-public:
- /*Coordinates of point*/
- int x;
- int y;
- /*Id nr of point*/
- int id;
- /*Best match score*/
- double s;
- /*Best match candidate*/
- db_PointInfo_u *pir;
- /*Precomputed coefficients
- of image patch*/
- float sum;
- float recip;
- /*Pointer to patch layout*/
- const short *patch;
-};
-
-class db_Bucket_u
-{
-public:
- db_PointInfo_u *ptr;
- int nr;
-};
-/*!
- * \class db_Matcher_f
- * \ingroup FeatureMatching
- * \brief Feature matcher for float images.
- *
- * Normalized correlation feature matcher for <b>float</b> images.
- * Correlation window size is constant and set to 11x11.
- * See \ref FeatureDetection to detect Harris corners.
- * Images are managed with functions in \ref LMImageBasicUtilities.
- */
-class DB_API db_Matcher_f
-{
-public:
- db_Matcher_f();
- ~db_Matcher_f();
-
- /*!
- * Set parameters and pre-allocate memory. Return an upper bound
- * on the number of matches.
- * \param im_width width
- * \param im_height height
- * \param max_disparity maximum distance (as fraction of image size) between matches
- * \param target_nr_corners maximum number of matches
- * \return maximum number of matches
- */
- unsigned long Init(int im_width,int im_height,
- double max_disparity=DB_DEFAULT_MAX_DISPARITY,
- int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS);
-
- /*!
- * Match two sets of features.
- * If the prewarp H is not NULL it will be applied to the features
- * in the right image before matching.
- * Parameters id_l and id_r must point to arrays of size target_nr_corners
- * (returned by Init()).
- * The results of matching are in id_l and id_r.
- * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n,
- * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]).
- * \param l_img left image
- * \param r_img right image
- * \param x_l left x coordinates of features
- * \param y_l left y coordinates of features
- * \param nr_l number of features in left image
- * \param x_r right x coordinates of features
- * \param y_r right y coordinates of features
- * \param nr_r number of features in right image
- * \param id_l indices of left features that matched
- * \param id_r indices of right features that matched
- * \param nr_matches number of features actually matched
- * \param H image homography (prewarp) to be applied to right image features
- */
- void Match(const float * const *l_img,const float * const *r_img,
- const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r,
- int *id_l,int *id_r,int *nr_matches,const double H[9]=0);
-
-protected:
- void Clean();
-
- int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target;
- unsigned long m_kA,m_kB;
- db_Bucket_f **m_bp_l;
- db_Bucket_f **m_bp_r;
- float *m_patch_space,*m_aligned_patch_space;
-};
-/*!
- * \class db_Matcher_u
- * \ingroup FeatureMatching
- * \brief Feature matcher for byte images.
- *
- * Normalized correlation feature matcher for <b>byte</b> images.
- * Correlation window size is constant and set to 11x11.
- * See \ref FeatureDetection to detect Harris corners.
- * Images are managed with functions in \ref LMImageBasicUtilities.
- *
- * If the prewarp matrix H is supplied, the feature coordinates are warped by H before being placed in
- * appropriate buckets. If H is an affine transform and the "affine" parameter is set to 1 or 2,
- * then the correlation patches themselves are warped before being placed in the patch space.
- */
-class DB_API db_Matcher_u
-{
-public:
- db_Matcher_u();
-
- int GetPatchSize(){return 11;};
-
- virtual ~db_Matcher_u();
-
- /*!
- Copy ctor duplicates settings.
- Memory not copied.
- */
- db_Matcher_u(const db_Matcher_u& cm);
-
- /*!
- Assignment optor duplicates settings
- Memory not copied.
- */
- db_Matcher_u& operator= (const db_Matcher_u& cm);
-
- /*!
- * Set parameters and pre-allocate memory. Return an upper bound
- * on the number of matches.
- * If max_disparity_v is DB_DEFAULT_NO_DISPARITY, look for matches
- * in a ellipse around a feature of radius max_disparity*im_width by max_disparity*im_height.
- * If max_disparity_v is specified, use a rectangle max_disparity*im_width by max_disparity_v*im_height.
- * \param im_width width
- * \param im_height height
- * \param max_disparity maximum distance (as fraction of image size) between matches
- * \param target_nr_corners maximum number of matches
- * \param max_disparity_v maximum vertical disparity (distance between matches)
- * \param use_smaller_matching_window if set to true, uses a correlation window of 5x5 instead of the default 11x11
- * \return maximum number of matches
- */
- virtual unsigned long Init(int im_width,int im_height,
- double max_disparity=DB_DEFAULT_MAX_DISPARITY,
- int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS,
- double max_disparity_v=DB_DEFAULT_NO_DISPARITY,
- bool use_smaller_matching_window=false, int use_21=0);
-
- /*!
- * Match two sets of features.
- * If the prewarp H is not NULL it will be applied to the features
- * in the right image before matching.
- * Parameters id_l and id_r must point to arrays of size target_nr_corners
- * (returned by Init()).
- * The results of matching are in id_l and id_r.
- * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n,
- * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]).
- * \param l_img left image
- * \param r_img right image
- * \param x_l left x coordinates of features
- * \param y_l left y coordinates of features
- * \param nr_l number of features in left image
- * \param x_r right x coordinates of features
- * \param y_r right y coordinates of features
- * \param nr_r number of features in right image
- * \param id_l indices of left features that matched
- * \param id_r indices of right features that matched
- * \param nr_matches number of features actually matched
- * \param H image homography (prewarp) to be applied to right image features
- * \param affine prewarp the 11x11 patches by given affine transform. 0 means no warping,
- 1 means nearest neighbor, 2 means bilinear warping.
- */
- virtual void Match(const unsigned char * const *l_img,const unsigned char * const *r_img,
- const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r,
- int *id_l,int *id_r,int *nr_matches,const double H[9]=0,int affine=0);
-
- /*!
- * Checks if Init() was called.
- * \return 1 if Init() was called, 0 otherwise.
- */
- int IsAllocated();
-
-protected:
- virtual void Clean();
-
-
- int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target;
- unsigned long m_kA,m_kB;
- db_Bucket_u **m_bp_l;
- db_Bucket_u **m_bp_r;
- short *m_patch_space,*m_aligned_patch_space;
-
- double m_max_disparity, m_max_disparity_v;
- int m_rect_window;
- bool m_use_smaller_matching_window;
- int m_use_21;
-};
-
-
-
-#endif /*DB_FEATURE_MATCHING_H*/
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