1 /* 2 * Copyright (C) 2011 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 /*$Id: db_feature_matching.h,v 1.3 2011/06/17 14:03:30 mbansal Exp $*/ 18 19 #ifndef DB_FEATURE_MATCHING_H 20 #define DB_FEATURE_MATCHING_H 21 22 /***************************************************************** 23 * Lean and mean begins here * 24 *****************************************************************/ 25 /*! 26 * \defgroup FeatureMatching Feature Matching 27 */ 28 #include "db_utilities.h" 29 #include "db_utilities_constants.h" 30 31 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); 32 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); 33 float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip); 34 float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip); 35 36 class db_PointInfo_f 37 { 38 public: 39 /*Coordinates of point*/ 40 int x; 41 int y; 42 /*Id nr of point*/ 43 int id; 44 /*Best match score*/ 45 double s; 46 /*Best match candidate*/ 47 db_PointInfo_f *pir; 48 /*Precomputed coefficients 49 of image patch*/ 50 float sum; 51 float recip; 52 /*Pointer to patch layout*/ 53 const float *patch; 54 }; 55 56 class db_Bucket_f 57 { 58 public: 59 db_PointInfo_f *ptr; 60 int nr; 61 }; 62 63 class db_PointInfo_u 64 { 65 public: 66 /*Coordinates of point*/ 67 int x; 68 int y; 69 /*Id nr of point*/ 70 int id; 71 /*Best match score*/ 72 double s; 73 /*Best match candidate*/ 74 db_PointInfo_u *pir; 75 /*Precomputed coefficients 76 of image patch*/ 77 float sum; 78 float recip; 79 /*Pointer to patch layout*/ 80 const short *patch; 81 }; 82 83 class db_Bucket_u 84 { 85 public: 86 db_PointInfo_u *ptr; 87 int nr; 88 }; 89 /*! 90 * \class db_Matcher_f 91 * \ingroup FeatureMatching 92 * \brief Feature matcher for float images. 93 * 94 * Normalized correlation feature matcher for <b>float</b> images. 95 * Correlation window size is constant and set to 11x11. 96 * See \ref FeatureDetection to detect Harris corners. 97 * Images are managed with functions in \ref LMImageBasicUtilities. 98 */ 99 class DB_API db_Matcher_f 100 { 101 public: 102 db_Matcher_f(); 103 ~db_Matcher_f(); 104 105 /*! 106 * Set parameters and pre-allocate memory. Return an upper bound 107 * on the number of matches. 108 * \param im_width width 109 * \param im_height height 110 * \param max_disparity maximum distance (as fraction of image size) between matches 111 * \param target_nr_corners maximum number of matches 112 * \return maximum number of matches 113 */ 114 unsigned long Init(int im_width,int im_height, 115 double max_disparity=DB_DEFAULT_MAX_DISPARITY, 116 int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS); 117 118 /*! 119 * Match two sets of features. 120 * If the prewarp H is not NULL it will be applied to the features 121 * in the right image before matching. 122 * Parameters id_l and id_r must point to arrays of size target_nr_corners 123 * (returned by Init()). 124 * The results of matching are in id_l and id_r. 125 * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n, 126 * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]). 127 * \param l_img left image 128 * \param r_img right image 129 * \param x_l left x coordinates of features 130 * \param y_l left y coordinates of features 131 * \param nr_l number of features in left image 132 * \param x_r right x coordinates of features 133 * \param y_r right y coordinates of features 134 * \param nr_r number of features in right image 135 * \param id_l indices of left features that matched 136 * \param id_r indices of right features that matched 137 * \param nr_matches number of features actually matched 138 * \param H image homography (prewarp) to be applied to right image features 139 */ 140 void Match(const float * const *l_img,const float * const *r_img, 141 const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, 142 int *id_l,int *id_r,int *nr_matches,const double H[9]=0); 143 144 protected: 145 void Clean(); 146 147 int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target; 148 unsigned long m_kA,m_kB; 149 db_Bucket_f **m_bp_l; 150 db_Bucket_f **m_bp_r; 151 float *m_patch_space,*m_aligned_patch_space; 152 }; 153 /*! 154 * \class db_Matcher_u 155 * \ingroup FeatureMatching 156 * \brief Feature matcher for byte images. 157 * 158 * Normalized correlation feature matcher for <b>byte</b> images. 159 * Correlation window size is constant and set to 11x11. 160 * See \ref FeatureDetection to detect Harris corners. 161 * Images are managed with functions in \ref LMImageBasicUtilities. 162 * 163 * If the prewarp matrix H is supplied, the feature coordinates are warped by H before being placed in 164 * appropriate buckets. If H is an affine transform and the "affine" parameter is set to 1 or 2, 165 * then the correlation patches themselves are warped before being placed in the patch space. 166 */ 167 class DB_API db_Matcher_u 168 { 169 public: 170 db_Matcher_u(); 171 172 int GetPatchSize(){return 11;}; 173 174 virtual ~db_Matcher_u(); 175 176 /*! 177 Copy ctor duplicates settings. 178 Memory not copied. 179 */ 180 db_Matcher_u(const db_Matcher_u& cm); 181 182 /*! 183 Assignment optor duplicates settings 184 Memory not copied. 185 */ 186 db_Matcher_u& operator= (const db_Matcher_u& cm); 187 188 /*! 189 * Set parameters and pre-allocate memory. Return an upper bound 190 * on the number of matches. 191 * If max_disparity_v is DB_DEFAULT_NO_DISPARITY, look for matches 192 * in a ellipse around a feature of radius max_disparity*im_width by max_disparity*im_height. 193 * If max_disparity_v is specified, use a rectangle max_disparity*im_width by max_disparity_v*im_height. 194 * \param im_width width 195 * \param im_height height 196 * \param max_disparity maximum distance (as fraction of image size) between matches 197 * \param target_nr_corners maximum number of matches 198 * \param max_disparity_v maximum vertical disparity (distance between matches) 199 * \param use_smaller_matching_window if set to true, uses a correlation window of 5x5 instead of the default 11x11 200 * \return maximum number of matches 201 */ 202 virtual unsigned long Init(int im_width,int im_height, 203 double max_disparity=DB_DEFAULT_MAX_DISPARITY, 204 int target_nr_corners=DB_DEFAULT_TARGET_NR_CORNERS, 205 double max_disparity_v=DB_DEFAULT_NO_DISPARITY, 206 bool use_smaller_matching_window=false, int use_21=0); 207 208 /*! 209 * Match two sets of features. 210 * If the prewarp H is not NULL it will be applied to the features 211 * in the right image before matching. 212 * Parameters id_l and id_r must point to arrays of size target_nr_corners 213 * (returned by Init()). 214 * The results of matching are in id_l and id_r. 215 * Interpretaqtion of results: if id_l[i] = m and id_r[i] = n, 216 * feature at (x_l[m],y_l[m]) matched to (x_r[n],y_r[n]). 217 * \param l_img left image 218 * \param r_img right image 219 * \param x_l left x coordinates of features 220 * \param y_l left y coordinates of features 221 * \param nr_l number of features in left image 222 * \param x_r right x coordinates of features 223 * \param y_r right y coordinates of features 224 * \param nr_r number of features in right image 225 * \param id_l indices of left features that matched 226 * \param id_r indices of right features that matched 227 * \param nr_matches number of features actually matched 228 * \param H image homography (prewarp) to be applied to right image features 229 * \param affine prewarp the 11x11 patches by given affine transform. 0 means no warping, 230 1 means nearest neighbor, 2 means bilinear warping. 231 */ 232 virtual void Match(const unsigned char * const *l_img,const unsigned char * const *r_img, 233 const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, 234 int *id_l,int *id_r,int *nr_matches,const double H[9]=0,int affine=0); 235 236 /*! 237 * Checks if Init() was called. 238 * \return 1 if Init() was called, 0 otherwise. 239 */ 240 int IsAllocated(); 241 242 protected: 243 virtual void Clean(); 244 245 246 int m_w,m_h,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,m_target; 247 unsigned long m_kA,m_kB; 248 db_Bucket_u **m_bp_l; 249 db_Bucket_u **m_bp_r; 250 short *m_patch_space,*m_aligned_patch_space; 251 252 double m_max_disparity, m_max_disparity_v; 253 int m_rect_window; 254 bool m_use_smaller_matching_window; 255 int m_use_21; 256 }; 257 258 259 260 #endif /*DB_FEATURE_MATCHING_H*/ 261
