1 /*M///////////////////////////////////////////////////////////////////////////////////////
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10 // License Agreement
11 // For Open Source Computer Vision Library
12 //
13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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42 //M*/
43
44 #include "precomp.hpp"
45
46 namespace cv
47 {
48
hash() const49 size_t KeyPoint::hash() const
50 {
51 size_t _Val = 2166136261U, scale = 16777619U;
52 Cv32suf u;
53 u.f = pt.x; _Val = (scale * _Val) ^ u.u;
54 u.f = pt.y; _Val = (scale * _Val) ^ u.u;
55 u.f = size; _Val = (scale * _Val) ^ u.u;
56 u.f = angle; _Val = (scale * _Val) ^ u.u;
57 u.f = response; _Val = (scale * _Val) ^ u.u;
58 _Val = (scale * _Val) ^ ((size_t) octave);
59 _Val = (scale * _Val) ^ ((size_t) class_id);
60 return _Val;
61 }
62
convert(const std::vector<KeyPoint> & keypoints,std::vector<Point2f> & points2f,const std::vector<int> & keypointIndexes)63 void KeyPoint::convert(const std::vector<KeyPoint>& keypoints, std::vector<Point2f>& points2f,
64 const std::vector<int>& keypointIndexes)
65 {
66 if( keypointIndexes.empty() )
67 {
68 points2f.resize( keypoints.size() );
69 for( size_t i = 0; i < keypoints.size(); i++ )
70 points2f[i] = keypoints[i].pt;
71 }
72 else
73 {
74 points2f.resize( keypointIndexes.size() );
75 for( size_t i = 0; i < keypointIndexes.size(); i++ )
76 {
77 int idx = keypointIndexes[i];
78 if( idx >= 0 )
79 points2f[i] = keypoints[idx].pt;
80 else
81 {
82 CV_Error( CV_StsBadArg, "keypointIndexes has element < 0. TODO: process this case" );
83 //points2f[i] = Point2f(-1, -1);
84 }
85 }
86 }
87 }
88
convert(const std::vector<Point2f> & points2f,std::vector<KeyPoint> & keypoints,float size,float response,int octave,int class_id)89 void KeyPoint::convert( const std::vector<Point2f>& points2f, std::vector<KeyPoint>& keypoints,
90 float size, float response, int octave, int class_id )
91 {
92 keypoints.resize(points2f.size());
93 for( size_t i = 0; i < points2f.size(); i++ )
94 keypoints[i] = KeyPoint(points2f[i], size, -1, response, octave, class_id);
95 }
96
overlap(const KeyPoint & kp1,const KeyPoint & kp2)97 float KeyPoint::overlap( const KeyPoint& kp1, const KeyPoint& kp2 )
98 {
99 float a = kp1.size * 0.5f;
100 float b = kp2.size * 0.5f;
101 float a_2 = a * a;
102 float b_2 = b * b;
103
104 Point2f p1 = kp1.pt;
105 Point2f p2 = kp2.pt;
106 float c = (float)norm( p1 - p2 );
107
108 float ovrl = 0.f;
109
110 // one circle is completely encovered by the other => no intersection points!
111 if( std::min( a, b ) + c <= std::max( a, b ) )
112 return std::min( a_2, b_2 ) / std::max( a_2, b_2 );
113
114 if( c < a + b ) // circles intersect
115 {
116 float c_2 = c * c;
117 float cosAlpha = ( b_2 + c_2 - a_2 ) / ( kp2.size * c );
118 float cosBeta = ( a_2 + c_2 - b_2 ) / ( kp1.size * c );
119 float alpha = acos( cosAlpha );
120 float beta = acos( cosBeta );
121 float sinAlpha = sin(alpha);
122 float sinBeta = sin(beta);
123
124 float segmentAreaA = a_2 * beta;
125 float segmentAreaB = b_2 * alpha;
126
127 float triangleAreaA = a_2 * sinBeta * cosBeta;
128 float triangleAreaB = b_2 * sinAlpha * cosAlpha;
129
130 float intersectionArea = segmentAreaA + segmentAreaB - triangleAreaA - triangleAreaB;
131 float unionArea = (a_2 + b_2) * (float)CV_PI - intersectionArea;
132
133 ovrl = intersectionArea / unionArea;
134 }
135
136 return ovrl;
137 }
138
139 } // cv
140