Merge pull request #2202 from ilya-lavrenov:tapi_GFTTDetector

modules/features2d/doc/common_interfaces_of_descriptor_matchers.rst

@@ -41,7 +41,7 @@ with an image set. ::
          * Group of methods to match descriptors from an image pair.
          */
         void match( InputArray queryDescriptors, InputArray trainDescriptors,
-                    vector<DMatch>& matches, InputArray mask=Mat() ) const;
+                    vector<DMatch>& matches, InputArray mask=noArray() ) const;
         void knnMatch( InputArray queryDescriptors, InputArray trainDescriptors,
                        vector<vector<DMatch> >& matches, int k,
                        InputArray mask=Mat(), bool compactResult=false ) const;
@@ -52,7 +52,7 @@ with an image set. ::
          * Group of methods to match descriptors from one image to an image set.
          */
         void match( InputArray queryDescriptors, vector<DMatch>& matches,
-                    const vector<Mat>& masks=vector<Mat>() );
+                    const vector<Mat>& masks=noArray() );
         void knnMatch( InputArray queryDescriptors, vector<vector<DMatch> >& matches,
                        int k, const vector<Mat>& masks=vector<Mat>(),
                        bool compactResult=false );
@@ -131,7 +131,7 @@ DescriptorMatcher::match
 ----------------------------
 Finds the best match for each descriptor from a query set.
 
-.. ocv:function:: void DescriptorMatcher::match( InputArray queryDescriptors, InputArray trainDescriptors, vector<DMatch>& matches, InputArray mask=Mat() ) const
+.. ocv:function:: void DescriptorMatcher::match( InputArray queryDescriptors, InputArray trainDescriptors, vector<DMatch>& matches, InputArray mask=noArray() ) const
 
 .. ocv:function:: void DescriptorMatcher::match(InputArray queryDescriptors, vector<DMatch>& matches, const vector<Mat>& masks=vector<Mat>() )
 
@@ -153,7 +153,7 @@ DescriptorMatcher::knnMatch
 -------------------------------
 Finds the k best matches for each descriptor from a query set.
 
-.. ocv:function:: void DescriptorMatcher::knnMatch(InputArray queryDescriptors,   InputArray trainDescriptors,       vector<vector<DMatch> >& matches,       int k, InputArray mask=Mat(),       bool compactResult=false ) const
+.. ocv:function:: void DescriptorMatcher::knnMatch(InputArray queryDescriptors,   InputArray trainDescriptors,       vector<vector<DMatch> >& matches,       int k, InputArray mask=noArray(),       bool compactResult=false ) const
 
 .. ocv:function:: void DescriptorMatcher::knnMatch( InputArray queryDescriptors,           vector<vector<DMatch> >& matches, int k,      const vector<Mat>& masks=vector<Mat>(),       bool compactResult=false )
 
@@ -179,7 +179,7 @@ DescriptorMatcher::radiusMatch
 ----------------------------------
 For each query descriptor, finds the training descriptors not farther than the specified distance.
 
-.. ocv:function:: void DescriptorMatcher::radiusMatch( InputArray queryDescriptors,           InputArray trainDescriptors,           vector<vector<DMatch> >& matches,           float maxDistance, InputArray mask=Mat(),           bool compactResult=false ) const
+.. ocv:function:: void DescriptorMatcher::radiusMatch( InputArray queryDescriptors,           InputArray trainDescriptors,           vector<vector<DMatch> >& matches,           float maxDistance, InputArray mask=noArray(),           bool compactResult=false ) const
 
 .. ocv:function:: void DescriptorMatcher::radiusMatch( InputArray queryDescriptors,           vector<vector<DMatch> >& matches,           float maxDistance,      const vector<Mat>& masks=vector<Mat>(),       bool compactResult=false )
 

modules/features2d/doc/common_interfaces_of_feature_detectors.rst

@@ -23,12 +23,12 @@ Abstract base class for 2D image feature detectors. ::
     public:
         virtual ~FeatureDetector();
 
-        void detect( const Mat& image, vector<KeyPoint>& keypoints,
-                     const Mat& mask=Mat() ) const;
+        void detect( InputArray image, vector<KeyPoint>& keypoints,
+                     InputArray mask=noArray() ) const;
 
-        void detect( const vector<Mat>& images,
+        void detect( InputArrayOfArrays images,
                      vector<vector<KeyPoint> >& keypoints,
-                     const vector<Mat>& masks=vector<Mat>() ) const;
+                     InputArrayOfArrays masks=noArray() ) const;
 
         virtual void read(const FileNode&);
         virtual void write(FileStorage&) const;
@@ -43,9 +43,9 @@ FeatureDetector::detect
 ---------------------------
 Detects keypoints in an image (first variant) or image set (second variant).
 
-.. ocv:function:: void FeatureDetector::detect( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const
+.. ocv:function:: void FeatureDetector::detect( InputArray image, vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const
 
-.. ocv:function:: void FeatureDetector::detect( const vector<Mat>& images, vector<vector<KeyPoint> >& keypoints, const vector<Mat>& masks=vector<Mat>() ) const
+.. ocv:function:: void FeatureDetector::detect( InputArrayOfArrays images, vector<vector<KeyPoint> >& keypoints, InputArrayOfArrays masks=noArray() ) const
 
 .. ocv:pyfunction:: cv2.FeatureDetector_create.detect(image[, mask]) -> keypoints
 

modules/features2d/include/opencv2/features2d.hpp

@@ -108,7 +108,7 @@ public:
      * mask         Mask specifying where to look for keypoints (optional). Must be a char
      *              matrix with non-zero values in the region of interest.
      */
-    CV_WRAP void detect( const Mat& image, CV_OUT std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    CV_WRAP void detect( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     /*
      * Detect keypoints in an image set.
@@ -116,7 +116,7 @@ public:
      * keypoints    Collection of keypoints detected in an input images. keypoints[i] is a set of keypoints detected in an images[i].
      * masks        Masks for image set. masks[i] is a mask for images[i].
      */
-    void detect( const std::vector<Mat>& images, std::vector<std::vector<KeyPoint> >& keypoints, const std::vector<Mat>& masks=std::vector<Mat>() ) const;
+    void detect( InputArrayOfArrays images, std::vector<std::vector<KeyPoint> >& keypoints, InputArrayOfArrays masks=noArray() ) const;
 
     // Return true if detector object is empty
     CV_WRAP virtual bool empty() const;
@@ -125,14 +125,14 @@ public:
     CV_WRAP static Ptr<FeatureDetector> create( const String& detectorType );
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const = 0;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const = 0;
 
     /*
      * Remove keypoints that are not in the mask.
      * Helper function, useful when wrapping a library call for keypoint detection that
      * does not support a mask argument.
      */
-    static void removeInvalidPoints( const Mat& mask, std::vector<KeyPoint>& keypoints );
+    static void removeInvalidPoints( const Mat & mask, std::vector<KeyPoint>& keypoints );
 };
 
 
@@ -253,7 +253,7 @@ public:
 protected:
 
     void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const;
-    void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     void computeKeypointsNoOrientation(InputArray image, InputArray mask, std::vector<KeyPoint>& keypoints) const;
     void computeDescriptorsAndOrOrientation(InputArray image, InputArray mask, std::vector<KeyPoint>& keypoints,
@@ -338,7 +338,7 @@ public:
 protected:
 
     void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const;
-    void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     CV_PROP_RW int nfeatures;
     CV_PROP_RW double scaleFactor;
@@ -470,7 +470,7 @@ public:
     AlgorithmInfo* info() const;
 
 protected:
-    void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     int delta;
     int minArea;
@@ -506,7 +506,7 @@ public:
     AlgorithmInfo* info() const;
 
 protected:
-    void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     int maxSize;
     int responseThreshold;
@@ -535,7 +535,7 @@ public:
     AlgorithmInfo* info() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     int threshold;
     bool nonmaxSuppression;
@@ -551,7 +551,7 @@ public:
     AlgorithmInfo* info() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     int nfeatures;
     double qualityLevel;
@@ -608,7 +608,7 @@ protected:
       double confidence;
   };
 
-  virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+  virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
   virtual void findBlobs(const Mat &image, const Mat &binaryImage, std::vector<Center> &centers) const;
 
   Params params;
@@ -627,7 +627,7 @@ public:
     AlgorithmInfo* info() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     double initFeatureScale;
     int featureScaleLevels;
@@ -664,7 +664,7 @@ public:
     AlgorithmInfo* info() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     Ptr<FeatureDetector> detector;
     int maxTotalKeypoints;
@@ -686,7 +686,7 @@ public:
     virtual bool empty() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     Ptr<FeatureDetector> detector;
     int maxLevel;
@@ -747,7 +747,7 @@ public:
     virtual bool empty() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
 private:
     DynamicAdaptedFeatureDetector& operator=(const DynamicAdaptedFeatureDetector&);
@@ -776,7 +776,7 @@ public:
     virtual Ptr<AdjusterAdapter> clone() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     int thresh_;
     bool nonmax_;
@@ -799,7 +799,7 @@ public:
     virtual Ptr<AdjusterAdapter> clone() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl(InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     double thresh_, init_thresh_, min_thresh_, max_thresh_;
 };
@@ -816,7 +816,7 @@ public:
     virtual Ptr<AdjusterAdapter> clone() const;
 
 protected:
-    virtual void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+    virtual void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask=noArray() ) const;
 
     double thresh_, init_thresh_, min_thresh_, max_thresh_;
 };
@@ -1035,19 +1035,19 @@ public:
      */
     // Find one best match for each query descriptor (if mask is empty).
     CV_WRAP void match( InputArray queryDescriptors, InputArray trainDescriptors,
-                CV_OUT std::vector<DMatch>& matches, InputArray mask=Mat() ) const;
+                CV_OUT std::vector<DMatch>& matches, InputArray mask=noArray() ) const;
     // Find k best matches for each query descriptor (in increasing order of distances).
     // compactResult is used when mask is not empty. If compactResult is false matches
     // vector will have the same size as queryDescriptors rows. If compactResult is true
     // matches vector will not contain matches for fully masked out query descriptors.
     CV_WRAP void knnMatch( InputArray queryDescriptors, InputArray trainDescriptors,
                    CV_OUT std::vector<std::vector<DMatch> >& matches, int k,
-                   InputArray mask=Mat(), bool compactResult=false ) const;
+                   InputArray mask=noArray(), bool compactResult=false ) const;
     // Find best matches for each query descriptor which have distance less than
     // maxDistance (in increasing order of distances).
     void radiusMatch( InputArray queryDescriptors, InputArray trainDescriptors,
                       std::vector<std::vector<DMatch> >& matches, float maxDistance,
-                      InputArray mask=Mat(), bool compactResult=false ) const;
+                      InputArray mask=noArray(), bool compactResult=false ) const;
     /*
      * Group of methods to match descriptors from one image to image set.
      * See description of similar methods for matching image pair above.
@@ -1102,9 +1102,9 @@ protected:
     // that the class object has been trained already. Public match methods call these methods
     // after calling train().
     virtual void knnMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, int k,
-        InputArrayOfArrays masks=std::vector<Mat>(), bool compactResult=false ) = 0;
+        InputArrayOfArrays masks=noArray(), bool compactResult=false ) = 0;
     virtual void radiusMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
-        InputArrayOfArrays masks=std::vector<Mat>(), bool compactResult=false ) = 0;
+        InputArrayOfArrays masks=noArray(), bool compactResult=false ) = 0;
 
     static bool isPossibleMatch( const Mat& mask, int queryIdx, int trainIdx );
     static bool isMaskedOut( const std::vector<Mat>& masks, int queryIdx );
@@ -1139,15 +1139,9 @@ public:
     AlgorithmInfo* info() const;
 protected:
     virtual void knnMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, int k,
-        InputArrayOfArrays masks=std::vector<Mat>(), bool compactResult=false );
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
     virtual void radiusMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
-        InputArrayOfArrays masks=std::vector<Mat>(), bool compactResult=false );
-
-    bool ocl_knnMatch(InputArray query, InputArray train, std::vector< std::vector<DMatch> > &matches,
-        int k, int dstType, bool compactResult=false);
-    bool ocl_radiusMatch(InputArray query, InputArray train, std::vector< std::vector<DMatch> > &matches,
-        float maxDistance, int dstType, bool compactResult=false);
-    bool ocl_match(InputArray query, InputArray train, std::vector< std::vector<DMatch> > &matches, int dstType);
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
 
     int normType;
     bool crossCheck;
@@ -1183,9 +1177,9 @@ protected:
                                    std::vector<std::vector<DMatch> >& matches );
 
     virtual void knnMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, int k,
-        InputArrayOfArrays masks=std::vector<Mat>(), bool compactResult=false );
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
     virtual void radiusMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
-        InputArrayOfArrays masks=std::vector<Mat>(), bool compactResult=false );
+        InputArrayOfArrays masks=noArray(), bool compactResult=false );
 
     Ptr<flann::IndexParams> indexParams;
     Ptr<flann::SearchParams> searchParams;

modules/features2d/src/blobdetector.cpp

@@ -276,7 +276,7 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
 #endif
 }
 
-void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat&) const
+void SimpleBlobDetector::detectImpl(InputArray image, std::vector<cv::KeyPoint>& keypoints, InputArray) const
 {
     //TODO: support mask
     keypoints.clear();
@@ -284,7 +284,7 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
     if (image.channels() == 3)
         cvtColor(image, grayscaleImage, COLOR_BGR2GRAY);
     else
-        grayscaleImage = image;
+        grayscaleImage = image.getMat();
 
     std::vector < std::vector<Center> > centers;
     for (double thresh = params.minThreshold; thresh < params.maxThreshold; thresh += params.thresholdStep)
@@ -292,20 +292,11 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
         Mat binarizedImage;
         threshold(grayscaleImage, binarizedImage, thresh, 255, THRESH_BINARY);
 
-#ifdef DEBUG_BLOB_DETECTOR
-        //    Mat keypointsImage;
-        //    cvtColor( binarizedImage, keypointsImage, CV_GRAY2RGB );
-#endif
-
         std::vector < Center > curCenters;
         findBlobs(grayscaleImage, binarizedImage, curCenters);
         std::vector < std::vector<Center> > newCenters;
         for (size_t i = 0; i < curCenters.size(); i++)
         {
-#ifdef DEBUG_BLOB_DETECTOR
-            //      circle(keypointsImage, curCenters[i].location, curCenters[i].radius, Scalar(0,0,255),-1);
-#endif
-
             bool isNew = true;
             for (size_t j = 0; j < centers.size(); j++)
             {
@@ -327,17 +318,9 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
                 }
             }
             if (isNew)
-            {
                 newCenters.push_back(std::vector<Center> (1, curCenters[i]));
-                //centers.push_back(std::vector<Center> (1, curCenters[i]));
-            }
         }
         std::copy(newCenters.begin(), newCenters.end(), std::back_inserter(centers));
-
-#ifdef DEBUG_BLOB_DETECTOR
-        //    imshow("binarized", keypointsImage );
-        //waitKey();
-#endif
     }
 
     for (size_t i = 0; i < centers.size(); i++)
@@ -355,16 +338,4 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
         KeyPoint kpt(sumPoint, (float)(centers[i][centers[i].size() / 2].radius));
         keypoints.push_back(kpt);
     }
-
-#ifdef DEBUG_BLOB_DETECTOR
-    namedWindow("keypoints", CV_WINDOW_NORMAL);
-    Mat outImg = image.clone();
-    for(size_t i=0; i<keypoints.size(); i++)
-    {
-        circle(outImg, keypoints[i].pt, keypoints[i].size, Scalar(255, 0, 255), -1);
-    }
-    //drawKeypoints(image, keypoints, outImg);
-    imshow("keypoints", outImg);
-    waitKey();
-#endif
 }

modules/features2d/src/brisk.cpp

@@ -751,9 +751,9 @@ BRISK::computeKeypointsNoOrientation(InputArray _image, InputArray _mask, std::v
 
 
 void
-BRISK::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+BRISK::detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask) const
 {
-    (*this)(image, mask, keypoints);
+    (*this)(image.getMat(), mask.getMat(), keypoints);
 }
 
 void
@@ -2229,7 +2229,7 @@ BriskLayer::halfsample(const cv::Mat& srcimg, cv::Mat& dstimg)
   CV_Assert(srcimg.cols / 2 == dstimg.cols);
   CV_Assert(srcimg.rows / 2 == dstimg.rows);
 
-  // handle non-SSE case
+  // handle non-SSE case
   resize(srcimg, dstimg, dstimg.size(), 0, 0, INTER_AREA);
 }
 

modules/features2d/src/detectors.cpp

@@ -51,7 +51,7 @@ namespace cv
 FeatureDetector::~FeatureDetector()
 {}
 
-void FeatureDetector::detect( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask ) const
+void FeatureDetector::detect( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask ) const
 {
     keypoints.clear();
 
@@ -63,11 +63,29 @@ void FeatureDetector::detect( const Mat& image, std::vector<KeyPoint>& keypoints
     detectImpl( image, keypoints, mask );
 }
 
-void FeatureDetector::detect(const std::vector<Mat>& imageCollection, std::vector<std::vector<KeyPoint> >& pointCollection, const std::vector<Mat>& masks ) const
+void FeatureDetector::detect(InputArrayOfArrays _imageCollection, std::vector<std::vector<KeyPoint> >& pointCollection,
+                             InputArrayOfArrays _masks ) const
 {
+    if (_imageCollection.isUMatVector())
+    {
+        std::vector<UMat> uimageCollection, umasks;
+        _imageCollection.getUMatVector(uimageCollection);
+        _masks.getUMatVector(umasks);
+
+        pointCollection.resize( uimageCollection.size() );
+        for( size_t i = 0; i < uimageCollection.size(); i++ )
+            detect( uimageCollection[i], pointCollection[i], umasks.empty() ? noArray() : umasks[i] );
+
+        return;
+    }
+
+    std::vector<Mat> imageCollection, masks;
+    _imageCollection.getMatVector(imageCollection);
+    _masks.getMatVector(masks);
+
     pointCollection.resize( imageCollection.size() );
     for( size_t i = 0; i < imageCollection.size(); i++ )
-        detect( imageCollection[i], pointCollection[i], masks.empty() ? Mat() : masks[i] );
+        detect( imageCollection[i], pointCollection[i], masks.empty() ? noArray() : masks[i] );
 }
 
 /*void FeatureDetector::read( const FileNode& )
@@ -125,21 +143,37 @@ GFTTDetector::GFTTDetector( int _nfeatures, double _qualityLevel,
 {
 }
 
-void GFTTDetector::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+void GFTTDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask) const
 {
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, COLOR_BGR2GRAY );
-
     std::vector<Point2f> corners;
-    goodFeaturesToTrack( grayImage, corners, nfeatures, qualityLevel, minDistance, mask,
+
+    if (_image.isUMat())
+    {
+        UMat ugrayImage;
+        if( _image.type() != CV_8U )
+            cvtColor( _image, ugrayImage, COLOR_BGR2GRAY );
+        else
+            ugrayImage = _image.getUMat();
+
+        goodFeaturesToTrack( ugrayImage, corners, nfeatures, qualityLevel, minDistance, _mask,
                              blockSize, useHarrisDetector, k );
+    }
+    else
+    {
+        Mat image = _image.getMat(), grayImage = image;
+        if( image.type() != CV_8U )
+            cvtColor( image, grayImage, COLOR_BGR2GRAY );
+
+        goodFeaturesToTrack( grayImage, corners, nfeatures, qualityLevel, minDistance, _mask,
+                             blockSize, useHarrisDetector, k );
+    }
+
     keypoints.resize(corners.size());
     std::vector<Point2f>::const_iterator corner_it = corners.begin();
     std::vector<KeyPoint>::iterator keypoint_it = keypoints.begin();
     for( ; corner_it != corners.end(); ++corner_it, ++keypoint_it )
-    {
         *keypoint_it = KeyPoint( *corner_it, (float)blockSize );
-    }
+
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -157,8 +191,10 @@ DenseFeatureDetector::DenseFeatureDetector( float _initFeatureScale, int _featur
 {}
 
 
-void DenseFeatureDetector::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask ) const
+void DenseFeatureDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask ) const
 {
+    Mat image = _image.getMat(), mask = _mask.getMat();
+
     float curScale = static_cast<float>(initFeatureScale);
     int curStep = initXyStep;
     int curBound = initImgBound;
@@ -271,9 +307,9 @@ public:
 };
 } // namepace
 
-void GridAdaptedFeatureDetector::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask ) const
+void GridAdaptedFeatureDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask ) const
 {
-    if (image.empty() || maxTotalKeypoints < gridRows * gridCols)
+    if (_image.empty() || maxTotalKeypoints < gridRows * gridCols)
     {
         keypoints.clear();
         return;
@@ -281,6 +317,8 @@ void GridAdaptedFeatureDetector::detectImpl( const Mat& image, std::vector<KeyPo
     keypoints.reserve(maxTotalKeypoints);
     int maxPerCell = maxTotalKeypoints / (gridRows * gridCols);
 
+    Mat image = _image.getMat(), mask = _mask.getMat();
+
     cv::Mutex kptLock;
     cv::parallel_for_(cv::Range(0, gridRows * gridCols),
         GridAdaptedFeatureDetectorInvoker(detector, image, mask, keypoints, maxPerCell, gridRows, gridCols, &kptLock));
@@ -298,8 +336,9 @@ bool PyramidAdaptedFeatureDetector::empty() const
     return !detector || detector->empty();
 }
 
-void PyramidAdaptedFeatureDetector::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask ) const
+void PyramidAdaptedFeatureDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask ) const
 {
+    Mat image = _image.getMat(), mask = _mask.getMat();
     Mat src = image;
     Mat src_mask = mask;
 

modules/features2d/src/dynamic.cpp

@@ -54,8 +54,10 @@ bool DynamicAdaptedFeatureDetector::empty() const
     return !adjuster_ || adjuster_->empty();
 }
 
-void DynamicAdaptedFeatureDetector::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+void DynamicAdaptedFeatureDetector::detectImpl(InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask) const
 {
+    Mat image = _image.getMat(), mask = _mask.getMat();
+
     //for oscillation testing
     bool down = false;
     bool up = false;
@@ -98,7 +100,7 @@ FastAdjuster::FastAdjuster( int init_thresh, bool nonmax, int min_thresh, int ma
     min_thresh_(min_thresh), max_thresh_(max_thresh)
 {}
 
-void FastAdjuster::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+void FastAdjuster::detectImpl(InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask) const
 {
     FastFeatureDetector(thresh_, nonmax_).detect(image, keypoints, mask);
 }
@@ -133,7 +135,7 @@ StarAdjuster::StarAdjuster(double initial_thresh, double min_thresh, double max_
     min_thresh_(min_thresh), max_thresh_(max_thresh)
 {}
 
-void StarAdjuster::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+void StarAdjuster::detectImpl(InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask) const
 {
     StarFeatureDetector detector_tmp(16, cvRound(thresh_), 10, 8, 3);
     detector_tmp.detect(image, keypoints, mask);
@@ -167,7 +169,7 @@ SurfAdjuster::SurfAdjuster( double initial_thresh, double min_thresh, double max
     min_thresh_(min_thresh), max_thresh_(max_thresh)
 {}
 
-void SurfAdjuster::detectImpl(const Mat& image, std::vector<KeyPoint>& keypoints, const cv::Mat& mask) const
+void SurfAdjuster::detectImpl(InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask) const
 {
     Ptr<FeatureDetector> surf = FeatureDetector::create("SURF");
     surf->set("hessianThreshold", thresh_);

modules/features2d/src/fast.cpp

@@ -283,10 +283,11 @@ FastFeatureDetector::FastFeatureDetector( int _threshold, bool _nonmaxSuppressio
 : threshold(_threshold), nonmaxSuppression(_nonmaxSuppression), type((short)_type)
 {}
 
-void FastFeatureDetector::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask ) const
+void FastFeatureDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask ) const
 {
-    Mat grayImage = image;
-    if( image.type() != CV_8U ) cvtColor( image, grayImage, COLOR_BGR2GRAY );
+    Mat image = _image.getMat(), mask = _mask.getMat(), grayImage = image;
+    if( image.type() != CV_8U )
+        cvtColor( image, grayImage, COLOR_BGR2GRAY );
     FAST( grayImage, keypoints, threshold, nonmaxSuppression, type );
     KeyPointsFilter::runByPixelsMask( keypoints, mask );
 }

modules/features2d/src/matchers.cpp

@@ -891,21 +891,25 @@ Ptr<DescriptorMatcher> BFMatcher::clone( bool emptyTrainData ) const
     return matcher;
 }
 
-bool BFMatcher::ocl_match(InputArray query, InputArray _train, std::vector< std::vector<DMatch> > &matches, int dstType)
+static bool ocl_match(InputArray query, InputArray _train, std::vector< std::vector<DMatch> > &matches, int dstType)
 {
     UMat trainIdx, distance;
-    if(!ocl_matchSingle(query, _train, trainIdx, distance, dstType)) return false;
-    if(!ocl_matchDownload(trainIdx, distance, matches)) return false;
+    if (!ocl_matchSingle(query, _train, trainIdx, distance, dstType))
+        return false;
+    if (!ocl_matchDownload(trainIdx, distance, matches))
+        return false;
     return true;
 }
 
-bool BFMatcher::ocl_knnMatch(InputArray query, InputArray _train, std::vector< std::vector<DMatch> > &matches, int k, int dstType, bool compactResult)
+static bool ocl_knnMatch(InputArray query, InputArray _train, std::vector< std::vector<DMatch> > &matches, int k, int dstType, bool compactResult)
 {
     UMat trainIdx, distance;
     if (k != 2)
         return false;
-    if (!ocl_knnMatchSingle(query, _train, trainIdx, distance, dstType)) return false;
-    if( !ocl_knnMatchDownload(trainIdx, distance, matches, compactResult) ) return false;
+    if (!ocl_knnMatchSingle(query, _train, trainIdx, distance, dstType))
+        return false;
+    if (!ocl_knnMatchDownload(trainIdx, distance, matches, compactResult) )
+        return false;
     return true;
 }
 
@@ -1033,12 +1037,14 @@ void BFMatcher::knnMatchImpl( InputArray _queryDescriptors, std::vector<std::vec
     }
 }
 
-bool BFMatcher::ocl_radiusMatch(InputArray query, InputArray _train, std::vector< std::vector<DMatch> > &matches,
+static bool ocl_radiusMatch(InputArray query, InputArray _train, std::vector< std::vector<DMatch> > &matches,
         float maxDistance, int dstType, bool compactResult)
 {
     UMat trainIdx, distance, nMatches;
-    if(!ocl_radiusMatchSingle(query, _train, trainIdx, distance, nMatches, maxDistance, dstType)) return false;
-    if(!ocl_radiusMatchDownload(trainIdx, distance, nMatches, matches, compactResult)) return false;
+    if (!ocl_radiusMatchSingle(query, _train, trainIdx, distance, nMatches, maxDistance, dstType))
+        return false;
+    if (!ocl_radiusMatchDownload(trainIdx, distance, nMatches, matches, compactResult))
+        return false;
     return true;
 }
 
@@ -1076,14 +1082,14 @@ void BFMatcher::radiusMatchImpl( InputArray _queryDescriptors, std::vector<std::
         _queryDescriptors.type() == CV_32FC1 && _queryDescriptors.offset() == 0 && trainDescOffset == 0 &&
         trainDescSize.width == _queryDescriptors.size().width && masks.size() == 1 && masks[0].total() == 0 )
     {
-        if(trainDescCollection.empty())
+        if (trainDescCollection.empty())
         {
             if(ocl_radiusMatch(_queryDescriptors, utrainDescCollection[0], matches, maxDistance, normType, compactResult) )
                 return;
         }
         else
         {
-            if(ocl_radiusMatch(_queryDescriptors, trainDescCollection[0], matches, maxDistance, normType, compactResult) )
+            if (ocl_radiusMatch(_queryDescriptors, trainDescCollection[0], matches, maxDistance, normType, compactResult) )
                 return;
         }
     }

modules/features2d/src/mser.cpp

@@ -1284,8 +1284,9 @@ void MSER::operator()( const Mat& image, std::vector<std::vector<Point> >& dstco
 }
 
 
-void MserFeatureDetector::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask ) const
+void MserFeatureDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask ) const
 {
+    Mat image = _image.getMat(), mask = _mask.getMat();
     std::vector<std::vector<Point> > msers;
 
     (*this)(image, msers, mask);

modules/features2d/src/orb.cpp

@@ -943,9 +943,9 @@ void ORB::operator()( InputArray _image, InputArray _mask, std::vector<KeyPoint>
     }
 }
 
-void ORB::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+void ORB::detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask) const
 {
-    (*this)(image, mask, keypoints, noArray(), false);
+    (*this)(image.getMat(), mask.getMat(), keypoints, noArray(), false);
 }
 
 void ORB::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors) const

modules/features2d/src/stardetector.cpp

@@ -426,9 +426,9 @@ StarDetector::StarDetector(int _maxSize, int _responseThreshold,
 {}
 
 
-void StarDetector::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask ) const
+void StarDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask ) const
 {
-    Mat grayImage = image;
+    Mat image = _image.getMat(), mask = _mask.getMat(), grayImage = image;
     if( image.type() != CV_8U ) cvtColor( image, grayImage, COLOR_BGR2GRAY );
 
     (*this)(grayImage, keypoints);

modules/nonfree/include/opencv2/nonfree/features2d.hpp

@@ -87,7 +87,7 @@ public:
                                 std::vector<KeyPoint>& keypoints ) const;
 
 protected:
-    void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask = Mat() ) const;
+    void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask = noArray() ) const;
     void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const;
 
     CV_PROP_RW int nfeatures;
@@ -143,7 +143,7 @@ public:
 
 protected:
 
-    void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask = Mat() ) const;
+    void detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask = noArray() ) const;
     void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const;
 };
 

modules/nonfree/src/sift.cpp

@@ -818,9 +818,9 @@ void SIFT::operator()(InputArray _image, InputArray _mask,
     }
 }
 
-void SIFT::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+void SIFT::detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask) const
 {
-    (*this)(image, mask, keypoints, noArray());
+    (*this)(image.getMat(), mask.getMat(), keypoints, noArray());
 }
 
 void SIFT::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors) const

modules/nonfree/src/surf.cpp

@@ -979,9 +979,9 @@ void SURF::operator()(InputArray _img, InputArray _mask,
 }
 
 
-void SURF::detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask) const
+void SURF::detectImpl( InputArray image, std::vector<KeyPoint>& keypoints, InputArray mask) const
 {
-    (*this)(image, mask, keypoints, noArray(), false);
+    (*this)(image.getMat(), mask.getMat(), keypoints, noArray(), false);
 }
 
 void SURF::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors) const