| 957 | }; |
| 958 | |
| 959 | Eigen::RowMajorMatrixXf ComputeSiftDistanceMatrix( |
| 960 | const DistanceType distance_type, |
| 961 | const FeatureKeypoints* keypoints1, |
| 962 | const FeatureKeypoints* keypoints2, |
| 963 | const FeatureDescriptorsData& descriptors1, |
| 964 | const FeatureDescriptorsData& descriptors2, |
| 965 | const std::function<bool(float, float, float, float)>& guided_filter) { |
| 966 | if (guided_filter != nullptr) { |
| 967 | THROW_CHECK_NOTNULL(keypoints1); |
| 968 | THROW_CHECK_NOTNULL(keypoints2); |
| 969 | THROW_CHECK_EQ(keypoints1->size(), descriptors1.rows()); |
| 970 | THROW_CHECK_EQ(keypoints2->size(), descriptors2.rows()); |
| 971 | } |
| 972 | |
| 973 | const Eigen::Matrix<int, Eigen::Dynamic, kSiftDescriptorDim> |
| 974 | descriptors1_int = descriptors1.cast<int>(); |
| 975 | const Eigen::Matrix<int, Eigen::Dynamic, kSiftDescriptorDim> |
| 976 | descriptors2_int = descriptors2.cast<int>(); |
| 977 | |
| 978 | Eigen::RowMajorMatrixXf distances(descriptors1.rows(), descriptors2.rows()); |
| 979 | for (Eigen::Index i1 = 0; i1 < descriptors1.rows(); ++i1) { |
| 980 | for (Eigen::Index i2 = 0; i2 < descriptors2.rows(); ++i2) { |
| 981 | if (guided_filter != nullptr && guided_filter((*keypoints1)[i1].x, |
| 982 | (*keypoints1)[i1].y, |
| 983 | (*keypoints2)[i2].x, |
| 984 | (*keypoints2)[i2].y)) { |
| 985 | if (distance_type == DistanceType::L2) { |
| 986 | distances(i1, i2) = kSqSiftDescriptorNorm; |
| 987 | } else if (distance_type == DistanceType::DOT_PRODUCT) { |
| 988 | distances(i1, i2) = 0; |
| 989 | } else { |
| 990 | LOG(FATAL_THROW) << "Distance type not supported"; |
| 991 | } |
| 992 | } else { |
| 993 | if (distance_type == DistanceType::L2) { |
| 994 | distances(i1, i2) = |
| 995 | (descriptors1_int.row(i1) - descriptors2_int.row(i2)) |
| 996 | .squaredNorm(); |
| 997 | } else if (distance_type == DistanceType::DOT_PRODUCT) { |
| 998 | distances(i1, i2) = |
| 999 | descriptors1_int.row(i1).dot(descriptors2_int.row(i2)); |
| 1000 | } else { |
| 1001 | LOG(FATAL_THROW) << "Distance type not supported"; |
| 1002 | } |
| 1003 | } |
| 1004 | } |
| 1005 | } |
| 1006 | |
| 1007 | return distances; |
| 1008 | } |
| 1009 | |
| 1010 | FeatureKeypoints NormalizeFeatureKeypoints(const Camera& camera, |
| 1011 | const FeatureKeypoints& keypoints) { |
no test coverage detected