1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Copyright (C) 2013, OpenCV Foundation, all rights reserved. 16 // Third party copyrights are property of their respective owners. 17 // 18 // Redistribution and use in source and binary forms, with or without modification, 19 // are permitted provided that the following conditions are met: 20 // 21 // * Redistribution's of source code must retain the above copyright notice, 22 // this list of conditions and the following disclaimer. 23 // 24 // * Redistribution's in binary form must reproduce the above copyright notice, 25 // this list of conditions and the following disclaimer in the documentation 26 // and/or other materials provided with the distribution. 27 // 28 // * The name of the copyright holders may not be used to endorse or promote products 29 // derived from this software without specific prior written permission. 30 // 31 // This software is provided by the copyright holders and contributors "as is" and 32 // any express or implied warranties, including, but not limited to, the implied 33 // warranties of merchantability and fitness for a particular purpose are disclaimed. 34 // In no event shall the Intel Corporation or contributors be liable for any direct, 35 // indirect, incidental, special, exemplary, or consequential damages 36 // (including, but not limited to, procurement of substitute goods or services; 37 // loss of use, data, or profits; or business interruption) however caused 38 // and on any theory of liability, whether in contract, strict liability, 39 // or tort (including negligence or otherwise) arising in any way out of 40 // the use of this software, even if advised of the possibility of such damage. 41 // 42 //M*/ 43 44 #include "precomp.hpp" 45 46 namespace cv 47 { 48 49 size_t KeyPoint::hash() const 50 { 51 size_t _Val = 2166136261U, scale = 16777619U; 52 Cv32suf u; 53 u.f = pt.x; _Val = (scale * _Val) ^ u.u; 54 u.f = pt.y; _Val = (scale * _Val) ^ u.u; 55 u.f = size; _Val = (scale * _Val) ^ u.u; 56 u.f = angle; _Val = (scale * _Val) ^ u.u; 57 u.f = response; _Val = (scale * _Val) ^ u.u; 58 _Val = (scale * _Val) ^ ((size_t) octave); 59 _Val = (scale * _Val) ^ ((size_t) class_id); 60 return _Val; 61 } 62 63 void KeyPoint::convert(const std::vector<KeyPoint>& keypoints, std::vector<Point2f>& points2f, 64 const std::vector<int>& keypointIndexes) 65 { 66 if( keypointIndexes.empty() ) 67 { 68 points2f.resize( keypoints.size() ); 69 for( size_t i = 0; i < keypoints.size(); i++ ) 70 points2f[i] = keypoints[i].pt; 71 } 72 else 73 { 74 points2f.resize( keypointIndexes.size() ); 75 for( size_t i = 0; i < keypointIndexes.size(); i++ ) 76 { 77 int idx = keypointIndexes[i]; 78 if( idx >= 0 ) 79 points2f[i] = keypoints[idx].pt; 80 else 81 { 82 CV_Error( CV_StsBadArg, "keypointIndexes has element < 0. TODO: process this case" ); 83 //points2f[i] = Point2f(-1, -1); 84 } 85 } 86 } 87 } 88 89 void KeyPoint::convert( const std::vector<Point2f>& points2f, std::vector<KeyPoint>& keypoints, 90 float size, float response, int octave, int class_id ) 91 { 92 keypoints.resize(points2f.size()); 93 for( size_t i = 0; i < points2f.size(); i++ ) 94 keypoints[i] = KeyPoint(points2f[i], size, -1, response, octave, class_id); 95 } 96 97 float KeyPoint::overlap( const KeyPoint& kp1, const KeyPoint& kp2 ) 98 { 99 float a = kp1.size * 0.5f; 100 float b = kp2.size * 0.5f; 101 float a_2 = a * a; 102 float b_2 = b * b; 103 104 Point2f p1 = kp1.pt; 105 Point2f p2 = kp2.pt; 106 float c = (float)norm( p1 - p2 ); 107 108 float ovrl = 0.f; 109 110 // one circle is completely encovered by the other => no intersection points! 111 if( std::min( a, b ) + c <= std::max( a, b ) ) 112 return std::min( a_2, b_2 ) / std::max( a_2, b_2 ); 113 114 if( c < a + b ) // circles intersect 115 { 116 float c_2 = c * c; 117 float cosAlpha = ( b_2 + c_2 - a_2 ) / ( kp2.size * c ); 118 float cosBeta = ( a_2 + c_2 - b_2 ) / ( kp1.size * c ); 119 float alpha = acos( cosAlpha ); 120 float beta = acos( cosBeta ); 121 float sinAlpha = sin(alpha); 122 float sinBeta = sin(beta); 123 124 float segmentAreaA = a_2 * beta; 125 float segmentAreaB = b_2 * alpha; 126 127 float triangleAreaA = a_2 * sinBeta * cosBeta; 128 float triangleAreaB = b_2 * sinAlpha * cosAlpha; 129 130 float intersectionArea = segmentAreaA + segmentAreaB - triangleAreaA - triangleAreaB; 131 float unionArea = (a_2 + b_2) * (float)CV_PI - intersectionArea; 132 133 ovrl = intersectionArea / unionArea; 134 } 135 136 return ovrl; 137 } 138 139 } // cv 140