1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
|
/*
* cv_feature_match.h - optical flow feature match
*
* Copyright (c) 2016-2017 Intel Corporation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Author: Wind Yuan <feng.yuan@intel.com>
* Author: Yinhang Liu <yinhangx.liu@intel.com>
*/
#ifndef XCAM_CV_FEATURE_MATCH_H
#define XCAM_CV_FEATURE_MATCH_H
#include <xcam_std.h>
#include <video_buffer.h>
#include <ocl/cv_base_class.h>
#include <interface/feature_match.h>
#include <interface/data_types.h>
#include <ocl/cl_context.h>
#include <ocl/cl_device.h>
#include <ocl/cl_memory.h>
namespace XCam {
class CVFeatureMatch
: public CVBaseClass
, public FeatureMatch
{
public:
explicit CVFeatureMatch ();
void optical_flow_feature_match (
SmartPtr<VideoBuffer> left_buf, SmartPtr<VideoBuffer> right_buf,
Rect &left_img_crop, Rect &right_img_crop, int dst_width);
void set_ocl (bool use_ocl) {
CVBaseClass::set_ocl (use_ocl);
}
bool is_ocl_path () {
return CVBaseClass::is_ocl_path ();
}
protected:
bool get_crop_image (SmartPtr<VideoBuffer> buffer, Rect crop_rect, cv::UMat &img);
void add_detected_data (cv::InputArray image, cv::Ptr<cv::Feature2D> detector, std::vector<cv::Point2f> &corners);
void get_valid_offsets (std::vector<cv::Point2f> corner0, std::vector<cv::Point2f> corner1,
std::vector<uchar> status, std::vector<float> error,
std::vector<float> &offsets, float &sum, int &count,
cv::InputOutputArray debug_img, cv::Size &img0_size);
void calc_of_match (cv::InputArray image0, cv::InputArray image1,
std::vector<cv::Point2f> corner0, std::vector<cv::Point2f> corner1,
std::vector<uchar> &status, std::vector<float> &error,
int &last_count, float &last_mean_offset, float &out_x_offset);
void detect_and_match (
cv::InputArray img_left, cv::InputArray img_right, Rect &crop_left, Rect &crop_right,
int &valid_count, float &mean_offset, float &x_offset, int dst_width);
private:
XCAM_DEAD_COPY (CVFeatureMatch);
};
}
#endif // XCAM_CV_FEATURE_MATCH_H
|
