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      1 /*M///////////////////////////////////////////////////////////////////////////////////////
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      9 //
     10 //                          License Agreement
     11 //                For Open Source Computer Vision Library
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     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.
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     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