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/*
* 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 <video_buffer.h>
#include <interface/feature_match.h>
#include "cv_utils.h"
namespace XCam {
class CVFeatureMatch
: public FeatureMatch
{
public:
enum BufId {
BufIdLeft = 0,
BufIdRight,
BufIdMax
};
public:
explicit CVFeatureMatch ();
virtual ~CVFeatureMatch ();
virtual void feature_match (
const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf);
void set_cl_buf_mem (void *mem, BufId id);
protected:
bool get_crop_image_umat (const SmartPtr<VideoBuffer> &buffer, const Rect &crop_rect, cv::UMat &img, BufId id);
void add_detected_data (cv::Mat image, cv::Ptr<cv::Feature2D> detector, std::vector<cv::Point2f> &corners);
void debug_write_image (
const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf,
const Rect &left_rect, const Rect &right_rect, uint32_t frame_num, int fm_idx);
private:
virtual void detect_and_match (cv::Mat img_left, cv::Mat img_right);
virtual void calc_of_match (
cv::Mat image0, cv::Mat image1, std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
std::vector<uchar> &status, std::vector<float> &error);
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::Mat debug_img, cv::Size &img0_size);
void adjust_crop_area ();
virtual void set_dst_width (int width);
virtual void enable_adjust_crop_area ();
private:
XCAM_DEAD_COPY (CVFeatureMatch);
protected:
void *_cl_buf_mem[BufIdMax];
private:
int _dst_width;
bool _need_adjust;
};
}
#endif // XCAM_CV_FEATURE_MATCH_H
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