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762aefd71b
opencv/modules/features2d/src/draw.cpp
Andrey Kamaev 2a6fb2867e Remove all using directives for STL namespace and members 
Made all STL usages explicit to be able automatically find all usages of
particular class or function.
2013-02-25 15:04:17 +04:00

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
const int draw_shift_bits = 4;
const int draw_multiplier = 1 << draw_shift_bits;
namespace cv
{
/*
* Functions to draw keypoints and matches.
*/
static inline void _drawKeypoint( Mat& img, const KeyPoint& p, const Scalar& color, int flags )
{
CV_Assert( !img.empty() );
Point center( cvRound(p.pt.x * draw_multiplier), cvRound(p.pt.y * draw_multiplier) );
if( flags & DrawMatchesFlags::DRAW_RICH_KEYPOINTS )
{
int radius = cvRound(p.size/2 * draw_multiplier); // KeyPoint::size is a diameter
// draw the circles around keypoints with the keypoints size
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
// draw orientation of the keypoint, if it is applicable
if( p.angle != -1 )
{
float srcAngleRad = p.angle*(float)CV_PI/180.f;
Point orient( cvRound(cos(srcAngleRad)*radius ),
cvRound(sin(srcAngleRad)*radius )
);
line( img, center, center+orient, color, 1, CV_AA, draw_shift_bits );
}
#if 0
else
{
// draw center with R=1
int radius = 1 * draw_multiplier;
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
}
#endif
}
else
{
// draw center with R=3
int radius = 3 * draw_multiplier;
circle( img, center, radius, color, 1, CV_AA, draw_shift_bits );
}
}
void drawKeypoints( const Mat& image, const std::vector<KeyPoint>& keypoints, Mat& outImage,
const Scalar& _color, int flags )
{
if( !(flags & DrawMatchesFlags::DRAW_OVER_OUTIMG) )
{
if( image.type() == CV_8UC3 )
{
image.copyTo( outImage );
}
else if( image.type() == CV_8UC1 )
{
cvtColor( image, outImage, CV_GRAY2BGR );
}
else
{
CV_Error( CV_StsBadArg, "Incorrect type of input image.\n" );
}
}
RNG& rng=theRNG();
bool isRandColor = _color == Scalar::all(-1);
CV_Assert( !outImage.empty() );
std::vector<KeyPoint>::const_iterator it = keypoints.begin(),
end = keypoints.end();
for( ; it != end; ++it )
{
Scalar color = isRandColor ? Scalar(rng(256), rng(256), rng(256)) : _color;
_drawKeypoint( outImage, *it, color, flags );
}
}
static void _prepareImgAndDrawKeypoints( const Mat& img1, const std::vector<KeyPoint>& keypoints1,
const Mat& img2, const std::vector<KeyPoint>& keypoints2,
Mat& outImg, Mat& outImg1, Mat& outImg2,
const Scalar& singlePointColor, int flags )
{
Size size( img1.cols + img2.cols, MAX(img1.rows, img2.rows) );
if( flags & DrawMatchesFlags::DRAW_OVER_OUTIMG )
{
if( size.width > outImg.cols || size.height > outImg.rows )
CV_Error( CV_StsBadSize, "outImg has size less than need to draw img1 and img2 together" );
outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
}
else
{
outImg.create( size, CV_MAKETYPE(img1.depth(), 3) );
outImg = Scalar::all(0);
outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
if( img1.type() == CV_8U )
cvtColor( img1, outImg1, CV_GRAY2BGR );
else
img1.copyTo( outImg1 );
if( img2.type() == CV_8U )
cvtColor( img2, outImg2, CV_GRAY2BGR );
else
img2.copyTo( outImg2 );
}
// draw keypoints
if( !(flags & DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS) )
{
Mat _outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
drawKeypoints( _outImg1, keypoints1, _outImg1, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
Mat _outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
drawKeypoints( _outImg2, keypoints2, _outImg2, singlePointColor, flags + DrawMatchesFlags::DRAW_OVER_OUTIMG );
}
}
static inline void _drawMatch( Mat& outImg, Mat& outImg1, Mat& outImg2 ,
const KeyPoint& kp1, const KeyPoint& kp2, const Scalar& matchColor, int flags )
{
RNG& rng = theRNG();
bool isRandMatchColor = matchColor == Scalar::all(-1);
Scalar color = isRandMatchColor ? Scalar( rng(256), rng(256), rng(256) ) : matchColor;
_drawKeypoint( outImg1, kp1, color, flags );
_drawKeypoint( outImg2, kp2, color, flags );
Point2f pt1 = kp1.pt,
pt2 = kp2.pt,
dpt2 = Point2f( std::min(pt2.x+outImg1.cols, float(outImg.cols-1)), pt2.y );
line( outImg,
Point(cvRound(pt1.x*draw_multiplier), cvRound(pt1.y*draw_multiplier)),
Point(cvRound(dpt2.x*draw_multiplier), cvRound(dpt2.y*draw_multiplier)),
color, 1, CV_AA, draw_shift_bits );
}
void drawMatches( const Mat& img1, const std::vector<KeyPoint>& keypoints1,
const Mat& img2, const std::vector<KeyPoint>& keypoints2,
const std::vector<DMatch>& matches1to2, Mat& outImg,
const Scalar& matchColor, const Scalar& singlePointColor,
const std::vector<char>& matchesMask, int flags )
{
if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
Mat outImg1, outImg2;
_prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
outImg, outImg1, outImg2, singlePointColor, flags );
// draw matches
for( size_t m = 0; m < matches1to2.size(); m++ )
{
if( matchesMask.empty() || matchesMask[m] )
{
int i1 = matches1to2[m].queryIdx;
int i2 = matches1to2[m].trainIdx;
CV_Assert(i1 >= 0 && i1 < static_cast<int>(keypoints1.size()));
CV_Assert(i2 >= 0 && i2 < static_cast<int>(keypoints2.size()));
const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
_drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
}
}
}
void drawMatches( const Mat& img1, const std::vector<KeyPoint>& keypoints1,
const Mat& img2, const std::vector<KeyPoint>& keypoints2,
const std::vector<std::vector<DMatch> >& matches1to2, Mat& outImg,
const Scalar& matchColor, const Scalar& singlePointColor,
const std::vector<std::vector<char> >& matchesMask, int flags )
{
if( !matchesMask.empty() && matchesMask.size() != matches1to2.size() )
CV_Error( CV_StsBadSize, "matchesMask must have the same size as matches1to2" );
Mat outImg1, outImg2;
_prepareImgAndDrawKeypoints( img1, keypoints1, img2, keypoints2,
outImg, outImg1, outImg2, singlePointColor, flags );
// draw matches
for( size_t i = 0; i < matches1to2.size(); i++ )
{
for( size_t j = 0; j < matches1to2[i].size(); j++ )
{
int i1 = matches1to2[i][j].queryIdx;
int i2 = matches1to2[i][j].trainIdx;
if( matchesMask.empty() || matchesMask[i][j] )
{
const KeyPoint &kp1 = keypoints1[i1], &kp2 = keypoints2[i2];
_drawMatch( outImg, outImg1, outImg2, kp1, kp2, matchColor, flags );
}
}
}
}
}
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