1 /* 2 * cv_feature_match.h - optical flow feature match 3 * 4 * Copyright (c) 2016-2017 Intel Corporation 5 * 6 * Licensed under the Apache License, Version 2.0 (the "License"); 7 * you may not use this file except in compliance with the License. 8 * You may obtain a copy of the License at 9 * 10 * http://www.apache.org/licenses/LICENSE-2.0 11 * 12 * Unless required by applicable law or agreed to in writing, software 13 * distributed under the License is distributed on an "AS IS" BASIS, 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 * See the License for the specific language governing permissions and 16 * limitations under the License. 17 * 18 * Author: Wind Yuan <feng.yuan (at) intel.com> 19 * Author: Yinhang Liu <yinhangx.liu (at) intel.com> 20 */ 21 22 #ifndef XCAM_CV_FEATURE_MATCH_H 23 #define XCAM_CV_FEATURE_MATCH_H 24 25 #include <xcam_std.h> 26 #include <video_buffer.h> 27 #include <ocl/cv_base_class.h> 28 #include <interface/feature_match.h> 29 #include <interface/data_types.h> 30 31 #include <ocl/cl_context.h> 32 #include <ocl/cl_device.h> 33 #include <ocl/cl_memory.h> 34 35 namespace XCam { 36 37 class CVFeatureMatch 38 : public CVBaseClass 39 , public FeatureMatch 40 { 41 public: 42 explicit CVFeatureMatch (); 43 44 void optical_flow_feature_match ( 45 const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf, 46 Rect &left_img_crop, Rect &right_img_crop, int dst_width); 47 48 void set_ocl (bool use_ocl) { 49 CVBaseClass::set_ocl (use_ocl); 50 } 51 bool is_ocl_path () { 52 return CVBaseClass::is_ocl_path (); 53 } 54 55 protected: 56 bool get_crop_image (const SmartPtr<VideoBuffer> &buffer, const Rect &crop_rect, cv::UMat &img); 57 58 void add_detected_data (cv::InputArray image, cv::Ptr<cv::Feature2D> detector, std::vector<cv::Point2f> &corners); 59 void get_valid_offsets (std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1, 60 std::vector<uchar> &status, std::vector<float> &error, 61 std::vector<float> &offsets, float &sum, int &count, 62 cv::InputOutputArray debug_img, cv::Size &img0_size); 63 64 void calc_of_match (cv::InputArray image0, cv::InputArray image1, 65 std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1, 66 std::vector<uchar> &status, std::vector<float> &error, 67 int &last_count, float &last_mean_offset, float &out_x_offset); 68 69 void detect_and_match (cv::InputArray img_left, cv::InputArray img_right, Rect &crop_left, Rect &crop_right, 70 int &valid_count, float &mean_offset, float &x_offset, int dst_width); 71 72 private: 73 XCAM_DEAD_COPY (CVFeatureMatch); 74 75 }; 76 77 } 78 79 #endif // XCAM_CV_FEATURE_MATCH_H 80
