1 files changed, 283 insertions, 0 deletions

diff --git a/cv/src/cvkdtree.cpp b/cv/src/cvkdtree.cpp
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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) 2008, Xavier Delacour, 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*/
+
+// 2008-05-13, Xavier Delacour <xavier.delacour@gmail.com>
+
+#include "_cv.h"
+
+#if !defined _MSC_VER || defined __ICL || _MSC_VER >= 1400
+#include "_cvkdtree.hpp"
+
+// * write up some docs
+
+// * removing __valuetype parameter from CvKDTree and using virtuals instead 
+// * of void* data here could simplify things.
+
+struct CvFeatureTree {
+
+  template <class __scalartype, int __cvtype>
+  struct deref {
+    typedef __scalartype scalar_type;
+    typedef double accum_type;
+
+    CvMat* mat;
+    deref(CvMat* _mat) : mat(_mat) {
+      assert(CV_ELEM_SIZE1(__cvtype) == sizeof(__scalartype));
+    }
+    scalar_type operator() (int i, int j) const {
+      return *((scalar_type*)(mat->data.ptr + i * mat->step) + j);
+    }
+  };
+
+#define dispatch_cvtype(mat, c) \
+    switch (CV_MAT_DEPTH((mat)->type)) { \
+    case CV_32F: \
+      { typedef CvKDTree<int, deref<float, CV_32F> > tree_type; c; break; } \
+    case CV_64F: \
+      { typedef CvKDTree<int, deref<double, CV_64F> > tree_type; c; break; } \
+    default: assert(0); \
+    }
+
+  CvMat* mat;
+  void* data;
+
+  template <class __treetype>
+  void find_nn(CvMat* d, int k, int emax, CvMat* results, CvMat* dist) {
+    __treetype* tr = (__treetype*) data;
+    uchar* dptr = d->data.ptr;
+    uchar* resultsptr = results->data.ptr;
+    uchar* distptr = dist->data.ptr;
+    typename __treetype::bbf_nn_pqueue nn;
+
+    assert(d->cols == tr->dims());
+    assert(results->rows == d->rows);
+    assert(results->rows == dist->rows);
+    assert(results->cols == k);
+    assert(dist->cols == k);
+
+    for (int j = 0; j < d->rows; ++j) {
+      typename __treetype::scalar_type* dj = (typename __treetype::scalar_type*) dptr;
+
+      int* resultsj = (int*) resultsptr;
+      double* distj = (double*) distptr;
+      tr->find_nn_bbf(dj, k, emax, nn);
+
+      assert((int)nn.size() <= k);
+      for (unsigned int j = 0; j < nn.size(); ++j) {
+	*resultsj++ = *nn[j].p;
+	*distj++ = nn[j].dist;
+      }
+      std::fill(resultsj, resultsj + k - nn.size(), -1);
+      std::fill(distj, distj + k - nn.size(), 0);
+
+      dptr += d->step;
+      resultsptr += results->step;
+      distptr += dist->step;
+    }
+  }
+
+  template <class __treetype>
+  int find_ortho_range(CvMat* bounds_min, CvMat* bounds_max,
+		       CvMat* results) {
+    int rn = results->rows * results->cols;
+    std::vector<int> inbounds;
+    dispatch_cvtype(mat, ((__treetype*)data)->
+		    find_ortho_range((typename __treetype::scalar_type*)bounds_min->data.ptr, 
+				     (typename __treetype::scalar_type*)bounds_max->data.ptr, 
+				     inbounds));
+    std::copy(inbounds.begin(),
+	      inbounds.begin() + std::min((int)inbounds.size(), rn),
+	      (int*) results->data.ptr);
+    return inbounds.size();
+  }
+
+  CvFeatureTree(const CvFeatureTree& x);
+  CvFeatureTree& operator= (const CvFeatureTree& rhs);
+public:
+  CvFeatureTree(CvMat* _mat) : mat(_mat) {
+    // * a flag parameter should tell us whether
+    // * (a) user ensures *mat outlives *this and is unchanged, 
+    // * (b) we take reference and user ensures mat is unchanged,
+    // * (c) we copy data, (d) we own and release data.
+
+    std::vector<int> tmp(mat->rows);
+    for (unsigned int j = 0; j < tmp.size(); ++j)
+      tmp[j] = j;
+
+    dispatch_cvtype(mat, data = new tree_type
+		    (&tmp[0], &tmp[0] + tmp.size(), mat->cols,
+		     tree_type::deref_type(mat)));
+  }
+  ~CvFeatureTree() {
+    dispatch_cvtype(mat, delete (tree_type*) data);
+  }
+
+  int dims() {
+    int d = 0;
+    dispatch_cvtype(mat, d = ((tree_type*) data)->dims());
+    return d;
+  }
+  int type() {
+    return mat->type;
+  }
+
+  void find_nn(CvMat* d, int k, int emax, CvMat* results, CvMat* dist) {
+    assert(CV_MAT_TYPE(d->type) == CV_MAT_TYPE(mat->type));
+    assert(CV_MAT_TYPE(dist->type) == CV_64FC1);
+    assert(CV_MAT_TYPE(results->type) == CV_32SC1);
+
+    dispatch_cvtype(mat, find_nn<tree_type>
+		    (d, k, emax, results, dist));
+  }
+  int find_ortho_range(CvMat* bounds_min, CvMat* bounds_max,
+			CvMat* results) {
+    assert(CV_MAT_TYPE(bounds_min->type) == CV_MAT_TYPE(mat->type));
+    assert(CV_MAT_TYPE(bounds_min->type) == CV_MAT_TYPE(bounds_max->type));
+    assert(bounds_min->rows * bounds_min->cols == dims());
+    assert(bounds_max->rows * bounds_max->cols == dims());
+
+    int count = 0;
+    dispatch_cvtype(mat, count = find_ortho_range<tree_type>
+		    (bounds_min, bounds_max,results));
+    return count;
+  }
+};
+
+
+
+CvFeatureTree* cvCreateFeatureTree(CvMat* desc) {
+  __BEGIN__;
+  CV_FUNCNAME("cvCreateFeatureTree");
+
+  if (CV_MAT_TYPE(desc->type) != CV_32FC1 &&
+      CV_MAT_TYPE(desc->type) != CV_64FC1)
+    CV_ERROR(CV_StsUnsupportedFormat, "descriptors must be either CV_32FC1 or CV_64FC1");
+
+  return new CvFeatureTree(desc);
+  __END__;
+
+  return 0;
+}
+
+void cvReleaseFeatureTree(CvFeatureTree* tr) {
+  delete tr;
+}
+
+// desc is m x d set of candidate points.
+// results is m x k set of row indices of matching points.
+// dist is m x k distance to matching points.
+void cvFindFeatures(CvFeatureTree* tr, CvMat* desc,
+		    CvMat* results, CvMat* dist, int k, int emax) {
+  bool free_desc = false;
+  int dims = tr->dims();
+  int type = tr->type();
+
+  __BEGIN__;
+  CV_FUNCNAME("cvFindFeatures");
+  
+  if (desc->cols != dims)
+    CV_ERROR(CV_StsUnmatchedSizes, "desc columns be equal feature dimensions");
+  if (results->rows != desc->rows && results->cols != k)
+    CV_ERROR(CV_StsUnmatchedSizes, "results and desc must be same height");
+  if (dist->rows != desc->rows && dist->cols != k)
+    CV_ERROR(CV_StsUnmatchedSizes, "dist and desc must be same height");
+  if (CV_MAT_TYPE(results->type) != CV_32SC1)
+    CV_ERROR(CV_StsUnsupportedFormat, "results must be CV_32SC1");
+  if (CV_MAT_TYPE(dist->type) != CV_64FC1)
+    CV_ERROR(CV_StsUnsupportedFormat, "dist must be CV_64FC1");
+
+  if (CV_MAT_TYPE(type) != CV_MAT_TYPE(desc->type)) {
+    CvMat* old_desc = desc;
+    desc = cvCreateMat(desc->rows, desc->cols, type);
+    cvConvert(old_desc, desc);
+    free_desc = true;
+  }
+
+  tr->find_nn(desc, k, emax, results, dist);
+
+  __END__;
+
+  if (free_desc)
+    cvReleaseMat(&desc);
+}
+
+int cvFindFeaturesBoxed(CvFeatureTree* tr,
+			CvMat* bounds_min, CvMat* bounds_max,
+			CvMat* results) {
+  int nr = -1;
+  bool free_bounds = false;
+  int dims = tr->dims();
+  int type = tr->type();
+
+  __BEGIN__;
+  CV_FUNCNAME("cvFindFeaturesBoxed");
+
+  if (bounds_min->cols * bounds_min->rows != dims ||
+      bounds_max->cols * bounds_max->rows != dims)
+    CV_ERROR(CV_StsUnmatchedSizes, "bounds_{min,max} must 1 x dims or dims x 1");
+  if (CV_MAT_TYPE(bounds_min->type) != CV_MAT_TYPE(bounds_max->type))
+    CV_ERROR(CV_StsUnmatchedFormats, "bounds_{min,max} must have same type");
+  if (CV_MAT_TYPE(results->type) != CV_32SC1)
+    CV_ERROR(CV_StsUnsupportedFormat, "results must be CV_32SC1");
+
+  if (CV_MAT_TYPE(bounds_min->type) != CV_MAT_TYPE(type)) {
+    free_bounds = true;
+
+    CvMat* old_bounds_min = bounds_min;
+    bounds_min = cvCreateMat(bounds_min->rows, bounds_min->cols, type);
+    cvConvert(old_bounds_min, bounds_min);
+
+    CvMat* old_bounds_max = bounds_max;
+    bounds_max = cvCreateMat(bounds_max->rows, bounds_max->cols, type);
+    cvConvert(old_bounds_max, bounds_max);
+  }
+
+  nr = tr->find_ortho_range(bounds_min, bounds_max, results);
+
+  __END__;
+  if (free_bounds) {
+    cvReleaseMat(&bounds_min);
+    cvReleaseMat(&bounds_max);
+  }
+
+  return nr;
+}
+#endif