/*
?*?A?Demo?to?OpenCV?Implementation?of?SURF
?*?Further?Information?Refer?to?“SURF:?Speed-Up?Robust?Feature“
?*?Author:?Liu?Liu
?*?liuliu.1987+opencv@gmail.com
?*/

#include?
#include?
#include?
#include?
#include?

#include?
#include?

using?namespace?std;

#if?_DEBUG
#pragma??comment（lib?“cv200d.lib“）
#pragma??comment（lib?“cxcore200d.lib“）
#pragma??comment（lib?“cvaux200d.lib“）
#pragma??comment（lib?“highgui200d.lib“）
#pragma??comment（lib?“ml200d.lib“）
#else
#pragma??comment（lib?“cv200.lib“）
#pragma??comment（lib?“cxcore200.lib“）
#pragma??comment（lib?“cvaux200.lib“）
#pragma??comment（lib?“highgui200.lib“）
#pragma??comment（lib?“ml200.lib“）
#endif


//?define?whether?to?use?approximate?nearest-neighbor?search
#define?USE_FLANN


IplImage?*image?=?0;

double
compareSURFDescriptors（?const?float*?d1?const?float*?d2?double?best?int?length?）
{
????double?total_cost?=?0;
????assert（?length?%?4?==?0?）;
????for（?int?i?=?0;?i?????{
????????double?t0?=?d1[i]?-?d2[i];
????????double?t1?=?d1[i+1]?-?d2[i+1];
????????double?t2?=?d1[i+2]?-?d2[i+2];
????????double?t3?=?d1[i+3]?-?d2[i+3];
????????total_cost?+=?t0*t0?+?t1*t1?+?t2*t2?+?t3*t3;
????????if（?total_cost?>?best?）
????????????break;
????}
????return?total_cost;
}


int
naiveNearestNeighbor（?const?float*?vec?int?laplacian
??????????????????????const?CvSeq*?model_keypoints
??????????????????????const?CvSeq*?model_descriptors?）
{
????int?length?=?（int）（model_descriptors->elem_size/sizeof（float））;
????int?i?neighbor?=?-1;
????double?d?dist1?=?1e6?dist2?=?1e6;
????CvSeqReader?reader?kreader;
????cvStartReadSeq（?model_keypoints?&kreader?0?）;
????cvStartReadSeq（?model_descriptors?&reader?0?）;

????for（?i?=?0;?i?riptors->total;?i++?）
????{
????????const?CvSURFPoint*?kp?=?（const?CvSURFPoint*）kreader.ptr;
????????const?float*?mvec?=?（const?float*）reader.ptr;
????	CV_NEXT_SEQ_ELEM（?kreader.seq->elem_size?kreader?）;
????????CV_NEXT_SEQ_ELEM（?reader.seq->elem_size?reader?）;
????????if（?laplacian?!=?kp->laplacian?）
????????????continue;
????????d?=?compareSURFDescriptors（?vec?mvec?dist2?length?）;
????????if（?d?????????{
????????????dist2?=?dist1;
????????????dist1?=?d;
????????????neighbor?=?i;
????????}
????????else?if?（?d?????????????dist2?=?d;
????}
????if?（?dist1?????????return?neighbor;
????return?-1;
}

void
findPairs（?const?CvSeq*?objectKeypoints?const?CvSeq*?objectDescriptors
???????????const?CvSeq*?imageKeypoints?const?CvSeq*?imageDescriptors?vector&?ptpairs?）
{
????int?i;
????CvSeqReader?reader?kreader;
????cvStartReadSeq（?objectKeypoints?&kreader?）;
????cvStartReadSeq（?objectDescriptors?&reader?）;
????ptpairs.clear（）;

????for（?i?=?0;?i?jectDescriptors->total;?i++?）
????{
????????const?CvSURFPoint*?kp?=?（const?CvSURFPoint*）kreader.ptr;
?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2013-11-20?19:00??surf\
?????目錄???????????0??2013-11-20?19:00??surf\Debug\
?????文件?????1647104??2012-07-17?11:38??surf\Debug\cv200.dll
?????文件?????3389952??2012-07-17?11:33??surf\Debug\cv200d.dll
?????文件?????1010688??2012-07-17?11:40??surf\Debug\cvaux200.dll
?????文件?????2317312??2012-07-17?11:34??surf\Debug\cvaux200d.dll
?????文件?????2071040??2012-07-17?11:37??surf\Debug\cxcore200.dll
?????文件?????3638272??2012-07-17?11:32??surf\Debug\cxcore200d.dll
?????文件??????200192??2012-07-17?11:38??surf\Debug\cxts200.dll
?????文件??????435200??2012-07-17?11:33??surf\Debug\cxts200d.dll
?????文件??????774144??2012-07-17?11:39??surf\Debug\highgui200.dll
?????文件?????1631232??2012-07-17?11:33??surf\Debug\highgui200d.dll
?????文件??????432128??2012-07-17?11:38??surf\Debug\ml200.dll
?????文件??????945152??2012-07-17?11:33??surf\Debug\ml200d.dll
?????文件?????5205504??2012-07-17?11:39??surf\Debug\opencv_ffmpeg200.dll
?????文件?????6607872??2012-07-17?11:33??surf\Debug\opencv_ffmpeg200d.dll
?????文件???????99328??2012-07-19?15:39??surf\Debug\surf.exe
?????文件??????723672??2012-07-19?15:39??surf\Debug\surf.ilk
?????文件?????1264640??2012-07-19?15:39??surf\Debug\surf.pdb
?????目錄???????????0??2013-11-20?19:00??surf\surf\
?????文件????15346688??2012-07-19?19:58??surf\surf.ncb
?????文件?????????878??2012-07-19?15:25??surf\surf.sln
?????文件???????22528??2012-07-19?19:58??surf\surf.suo
?????目錄???????????0??2013-11-20?19:00??surf\surf\Debug\
?????文件????????6210??2012-07-19?15:39??surf\surf\Debug\BuildLog.htm
?????文件??????351979??2012-07-19?15:39??surf\surf\Debug\find_obj.obj
?????文件??????????67??2012-07-19?15:39??surf\surf\Debug\mt.dep
?????文件?????????663??2012-07-19?15:28??surf\surf\Debug\surf.exe.embed.manifest
?????文件?????????728??2012-07-19?15:28??surf\surf\Debug\surf.exe.embed.manifest.res
?????文件?????????621??2012-07-19?15:39??surf\surf\Debug\surf.exe.intermediate.manifest
?????文件??????601088??2012-07-19?15:39??surf\surf\Debug\vc90.idb
............此處省略4個文件信息