2a6fb2867e
Made all STL usages explicit to be able automatically find all usages of particular class or function.
223 lines
6.8 KiB
C++
223 lines
6.8 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009-2010, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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namespace cv
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{
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DynamicAdaptedFeatureDetector::DynamicAdaptedFeatureDetector(const Ptr<AdjusterAdapter>& a,
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int min_features, int max_features, int max_iters ) :
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escape_iters_(max_iters), min_features_(min_features), max_features_(max_features), adjuster_(a)
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{}
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bool DynamicAdaptedFeatureDetector::empty() const
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{
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return adjuster_.empty() || adjuster_->empty();
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}
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void DynamicAdaptedFeatureDetector::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
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{
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//for oscillation testing
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bool down = false;
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bool up = false;
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//flag for whether the correct threshhold has been reached
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bool thresh_good = false;
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Ptr<AdjusterAdapter> adjuster = adjuster_->clone();
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//break if the desired number hasn't been reached.
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int iter_count = escape_iters_;
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while( iter_count > 0 && !(down && up) && !thresh_good && adjuster->good() )
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{
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keypoints.clear();
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//the adjuster takes care of calling the detector with updated parameters
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adjuster->detect(image, keypoints,mask);
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if( int(keypoints.size()) < min_features_ )
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{
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down = true;
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adjuster->tooFew(min_features_, (int)keypoints.size());
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}
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else if( int(keypoints.size()) > max_features_ )
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{
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up = true;
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adjuster->tooMany(max_features_, (int)keypoints.size());
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}
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else
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thresh_good = true;
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iter_count--;
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}
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}
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FastAdjuster::FastAdjuster( int init_thresh, bool nonmax, int min_thresh, int max_thresh ) :
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thresh_(init_thresh), nonmax_(nonmax), init_thresh_(init_thresh),
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min_thresh_(min_thresh), max_thresh_(max_thresh)
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{}
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void FastAdjuster::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
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{
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FastFeatureDetector(thresh_, nonmax_).detect(image, keypoints, mask);
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}
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void FastAdjuster::tooFew(int, int)
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{
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//fast is easy to adjust
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thresh_--;
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}
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void FastAdjuster::tooMany(int, int)
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{
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//fast is easy to adjust
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thresh_++;
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}
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//return whether or not the threshhold is beyond
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//a useful point
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bool FastAdjuster::good() const
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{
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return (thresh_ > min_thresh_) && (thresh_ < max_thresh_);
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}
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Ptr<AdjusterAdapter> FastAdjuster::clone() const
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{
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Ptr<AdjusterAdapter> cloned_obj = new FastAdjuster( init_thresh_, nonmax_, min_thresh_, max_thresh_ );
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return cloned_obj;
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}
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StarAdjuster::StarAdjuster(double initial_thresh, double min_thresh, double max_thresh) :
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thresh_(initial_thresh), init_thresh_(initial_thresh),
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min_thresh_(min_thresh), max_thresh_(max_thresh)
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{}
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void StarAdjuster::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
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{
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StarFeatureDetector detector_tmp(16, cvRound(thresh_), 10, 8, 3);
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detector_tmp.detect(image, keypoints, mask);
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}
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void StarAdjuster::tooFew(int, int)
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{
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thresh_ *= 0.9;
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if (thresh_ < 1.1)
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thresh_ = 1.1;
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}
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void StarAdjuster::tooMany(int, int)
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{
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thresh_ *= 1.1;
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}
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bool StarAdjuster::good() const
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{
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return (thresh_ > min_thresh_) && (thresh_ < max_thresh_);
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}
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Ptr<AdjusterAdapter> StarAdjuster::clone() const
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{
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Ptr<AdjusterAdapter> cloned_obj = new StarAdjuster( init_thresh_, min_thresh_, max_thresh_ );
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return cloned_obj;
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}
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SurfAdjuster::SurfAdjuster( double initial_thresh, double min_thresh, double max_thresh ) :
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thresh_(initial_thresh), init_thresh_(initial_thresh),
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min_thresh_(min_thresh), max_thresh_(max_thresh)
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{}
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void SurfAdjuster::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const cv::Mat& mask) const
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{
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Ptr<FeatureDetector> surf = FeatureDetector::create("SURF");
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surf->set("hessianThreshold", thresh_);
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surf->detect(image, keypoints, mask);
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}
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void SurfAdjuster::tooFew(int, int)
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{
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thresh_ *= 0.9;
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if (thresh_ < 1.1)
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thresh_ = 1.1;
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}
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void SurfAdjuster::tooMany(int, int)
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{
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thresh_ *= 1.1;
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}
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//return whether or not the threshhold is beyond
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//a useful point
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bool SurfAdjuster::good() const
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{
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return (thresh_ > min_thresh_) && (thresh_ < max_thresh_);
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}
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Ptr<AdjusterAdapter> SurfAdjuster::clone() const
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{
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Ptr<AdjusterAdapter> cloned_obj = new SurfAdjuster( init_thresh_, min_thresh_, max_thresh_ );
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return cloned_obj;
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}
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Ptr<AdjusterAdapter> AdjusterAdapter::create( const std::string& detectorType )
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{
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Ptr<AdjusterAdapter> adapter;
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if( !detectorType.compare( "FAST" ) )
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{
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adapter = new FastAdjuster();
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}
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else if( !detectorType.compare( "STAR" ) )
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{
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adapter = new StarAdjuster();
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}
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else if( !detectorType.compare( "SURF" ) )
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{
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adapter = new SurfAdjuster();
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}
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return adapter;
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}
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}
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