kopia lustrzana https://github.com/OpenDroneMap/ODM
111 wiersze
3.4 KiB
C++
111 wiersze
3.4 KiB
C++
/*
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* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
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* and the University of Washington
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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/* keys2a.h */
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/* Class for SIFT keypoints */
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#ifndef __keys2a_h__
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#define __keys2a_h__
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#include <vector>
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#include <stdio.h>
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#include <zlib.h>
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#include "ANN/ANN.h"
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using namespace ann_1_1_char;
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class Keypoint {
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public:
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Keypoint(float x, float y, float scale, float ori, short int *d) :
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m_x(x), m_y(y), m_scale(scale), m_ori(ori), m_d(d)
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{ }
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float m_x, m_y; /* Subpixel location of keypoint. */
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float m_scale, m_ori; /* Scale and orientation (range [-PI,PI]) */
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short int *m_d; /* Vector of descriptor values */
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};
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/* Data struct for matches */
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class KeypointMatch {
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public:
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KeypointMatch()
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{ }
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#if 0
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KeypointMatch(int idx1, int idx2, float x1, float y1, float x2, float y2) :
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m_idx1(idx1), m_idx2(idx2), m_x1(x1), m_y1(y1), m_x2(x2), m_y2(y2)
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{ }
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#endif
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KeypointMatch(int idx1, int idx2) :
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m_idx1(idx1), m_idx2(idx2)
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{ }
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int m_idx1, m_idx2;
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// float m_x1, m_y1;
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// float m_x2, m_y2;
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};
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typedef struct {
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float x, y;
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float scale;
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float orient;
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} keypt_t;
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/* Returns the number of keys in a file */
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int GetNumberOfKeys(const char *filename);
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/* This reads a keypoint file from a given filename and returns the list
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* of keypoints. */
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int ReadKeyFile(const char *filename, unsigned char **keys,
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keypt_t **info = NULL);
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int ReadKeyPositions(const char *filename, keypt_t **info);
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/* Read keypoints from the given file pointer and return the list of
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* keypoints. The file format starts with 2 integers giving the total
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* number of keypoints and the size of descriptor vector for each
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* keypoint (currently assumed to be 128). Then each keypoint is
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* specified by 4 floating point numbers giving subpixel row and
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* column location, scale, and orientation (in radians from -PI to
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* PI). Then the descriptor vector for each keypoint is given as a
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* list of integers in range [0,255]. */
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int ReadKeys(FILE *fp, unsigned char **keys, keypt_t **info = NULL);
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int ReadKeysBin(FILE *fp, unsigned char **keys, keypt_t **info = NULL);
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int ReadKeysGzip(gzFile fp, unsigned char **keys, keypt_t **info = NULL);
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/* Read keys using MMAP to speed things up */
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std::vector<Keypoint *> ReadKeysMMAP(FILE *fp);
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/* Create a search tree for the given set of keypoints */
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ANNkd_tree *CreateSearchTree(int num_keys, unsigned char *keys);
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/* Compute likely matches between two sets of keypoints */
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std::vector<KeypointMatch> MatchKeys(int num_keys1, unsigned char *k1,
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int num_keys2, unsigned char *k2,
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double ratio = 0.6,
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int max_pts_visit = 200);
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std::vector<KeypointMatch> MatchKeys(int num_keys1, unsigned char *k1,
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ANNkd_tree *tree2,
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double ratio = 0.6,
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int max_pts_visit = 200);
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#endif /* __keys2_h__ */
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