Autonomous Space Robotics Lab Speeded Up SURF GpuSurfDetector.hpp Go to the documentation of this file. /* Copyright (c) 2010, Paul Furgale and Chi Hay Tong All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions 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 names of its contributors 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 COPYRIGHT HOLDER 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. */ #ifndef ASRL_GPU_SURF_DETECTOR #define ASRL_GPU_SURF_DETECTOR #include <vector> #include <opencv/cxtypes.h> #include <opencv/cxcore.h> #include <opencv/cv.h> #include <opencv/cv.hpp> #ifdef WIN32 # ifdef gpusurf_EXPORTS # define GPUSURF_API __declspec(dllexport) # else //# define GPUSURF_API __declspec(dllimport) # define GPUSURF_API # endif #else # define GPUSURF_API #endif namespace asrl { // Forward declaration of the private implementation. class GpuSurfDetectorInternal; struct GpuSurfConfiguration { GpuSurfConfiguration() : threshold(0.1f), nOctaves(4), nIntervals(4), initialScale(2.f), l1(3.f/1.5f), l2(5.f/1.5f), l3(3.f/1.5f), l4(1.f/1.5f), edgeScale(0.81f), initialStep(1), targetFeatures(1000), detector_threads_x(8), detector_threads_y(8), nonmax_threads_x(8), nonmax_threads_y(8) { } float threshold; int nOctaves; int nIntervals; float initialScale; float l1; float l2; float l3; float l4; float edgeScale; int initialStep; int targetFeatures; int detector_threads_x; int detector_threads_y; int nonmax_threads_x; int nonmax_threads_y; }; class GpuSurfDetector { public: GPUSURF_API GpuSurfDetector(GpuSurfConfiguration config = GpuSurfConfiguration()); GPUSURF_API virtual ~GpuSurfDetector(); GPUSURF_API void buildIntegralImage(cv::Mat & image); GPUSURF_API void detectKeypoints(); GPUSURF_API void findOrientation(); GPUSURF_API void findOrientationFast(); GPUSURF_API void computeDescriptors(); GPUSURF_API void computeUprightDescriptors(); GPUSURF_API void getKeypoints(std::vector<cv::KeyPoint> & outKeypoints); GPUSURF_API void getDescriptors(std::vector<float> & outDescriptors); GPUSURF_API int descriptorSize(); GPUSURF_API void setKeypoints(std::vector<cv::KeyPoint> const & inKeypoints); GPUSURF_API void saveIntegralImage(std::string const & basename); private: GpuSurfDetector(const GpuSurfDetector & rhs); GpuSurfDetector & operator=(const GpuSurfDetector & rhs); GpuSurfDetectorInternal * m_implementation; }; } // namespace asrl #endif // ASRL_GPU_SURF_DETECTOR