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#include "precomp.hpp"
namespace cv
{
using std::vector;
Feature2D::~Feature2D() {}
/*
* Detect keypoints in an image.
* image The image.
* keypoints The detected keypoints.
* mask Mask specifying where to look for keypoints (optional). Must be a char
* matrix with non-zero values in the region of interest.
*/
void Feature2D::detect( InputArray image,
std::vector<KeyPoint>& keypoints,
InputArray mask )
{
if( image.empty() )
{
keypoints.clear();
return;
}
detectAndCompute(image, mask, keypoints, noArray(), false);
}
void Feature2D::detect( InputArrayOfArrays _images,
std::vector<std::vector<KeyPoint> >& keypoints,
InputArrayOfArrays _masks )
{
vector<Mat> images, masks;
_images.getMatVector(images);
size_t i, nimages = images.size();
if( !_masks.empty() )
{
_masks.getMatVector(masks);
CV_Assert(masks.size() == nimages);
}
keypoints.resize(nimages);
for( i = 0; i < nimages; i++ )
{
detect(images[i], keypoints[i], masks.empty() ? Mat() : masks[i] );
}
}
/*
* Compute the descriptors for a set of keypoints in an image.
* image The image.
* keypoints The input keypoints. Keypoints for which a descriptor cannot be computed are removed.
* descriptors Copmputed descriptors. Row i is the descriptor for keypoint i.
*/
void Feature2D::compute( InputArray image,
std::vector<KeyPoint>& keypoints,
OutputArray descriptors )
{
if( image.empty() )
{
descriptors.release();
return;
}
detectAndCompute(image, noArray(), keypoints, descriptors, true);
}
void Feature2D::compute( InputArrayOfArrays _images,
std::vector<std::vector<KeyPoint> >& keypoints,
OutputArrayOfArrays _descriptors )
{
if( !_descriptors.needed() )
return;
vector<Mat> images;
_images.getMatVector(images);
size_t i, nimages = images.size();
CV_Assert( keypoints.size() == nimages );
CV_Assert( _descriptors.kind() == _InputArray::STD_VECTOR_MAT );
vector<Mat>& descriptors = *(vector<Mat>*)_descriptors.getObj();
descriptors.resize(nimages);
for( i = 0; i < nimages; i++ )
{
compute(images[i], keypoints[i], descriptors[i]);
}
}
/* Detects keypoints and computes the descriptors */
void Feature2D::detectAndCompute( InputArray, InputArray,
std::vector<KeyPoint>&,
OutputArray,
bool )
{
CV_Error(Error::StsNotImplemented, "");
}
int Feature2D::descriptorSize() const
{
return 0;
}
int Feature2D::descriptorType() const
{
return CV_32F;
}
int Feature2D::defaultNorm() const
{
int tp = descriptorType();
return tp == CV_8U ? NORM_HAMMING : NORM_L2;
}
// Return true if detector object is empty
bool Feature2D::empty() const
{
return true;
}
}