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Commit 01410678 authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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fixed building BRISK on Windows

parent 3ca0cc22
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Showing with 389 additions and 403 deletions
modules/features2d/src/brisk.cpp
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...@@ -70,15 +70,15 @@ public: ...@@ -70,15 +70,15 @@ public:
// Fast/Agast without non-max suppression // Fast/Agast without non-max suppression
void void
getAgastPoints(uint8_t threshold, std::vector<cv::KeyPoint>& keypoints); getAgastPoints(int threshold, std::vector<cv::KeyPoint>& keypoints);
// get scores - attention, this is in layer coordinates, not scale=1 coordinates! // get scores - attention, this is in layer coordinates, not scale=1 coordinates!
inline uint8_t inline int
getAgastScore(int x, int y, uint8_t threshold) const; getAgastScore(int x, int y, int threshold) const;
inline uint8_t inline int
getAgastScore_5_8(int x, int y, uint8_t threshold) const; getAgastScore_5_8(int x, int y, int threshold) const;
inline uint8_t inline int
getAgastScore(float xf, float yf, uint8_t threshold, float scale = 1.0f) const; getAgastScore(float xf, float yf, int threshold, float scale = 1.0f) const;
// accessors // accessors
inline const cv::Mat& inline const cv::Mat&
...@@ -111,7 +111,7 @@ public: ...@@ -111,7 +111,7 @@ public:
private: private:
// access gray values (smoothed/interpolated) // access gray values (smoothed/interpolated)
inline uint8_t inline int
value(const cv::Mat& mat, float xf, float yf, float scale) const; value(const cv::Mat& mat, float xf, float yf, float scale) const;
// the image // the image
cv::Mat img_; cv::Mat img_;
...@@ -130,7 +130,7 @@ class CV_EXPORTS BriskScaleSpace ...@@ -130,7 +130,7 @@ class CV_EXPORTS BriskScaleSpace
{ {
public: public:
// construct telling the octaves number: // construct telling the octaves number:
BriskScaleSpace(uint8_t _octaves = 3); BriskScaleSpace(int _octaves = 3);
~BriskScaleSpace(); ~BriskScaleSpace();
// construct the image pyramids // construct the image pyramids
...@@ -139,12 +139,12 @@ public: ...@@ -139,12 +139,12 @@ public:
// get Keypoints // get Keypoints
void void
getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint>& keypoints); getKeypoints(const int _threshold, std::vector<cv::KeyPoint>& keypoints);
protected: protected:
// nonmax suppression: // nonmax suppression:
inline bool inline bool
isMax2D(const uint8_t layer, const int x_layer, const int y_layer); isMax2D(const int layer, const int x_layer, const int y_layer);
// 1D (scale axis) refinement: // 1D (scale axis) refinement:
inline float inline float
refine1D(const float s_05, const float s0, const float s05, float& max) const; // around octave refine1D(const float s_05, const float s0, const float s05, float& max) const; // around octave
...@@ -158,24 +158,24 @@ protected: ...@@ -158,24 +158,24 @@ protected:
const int s_2_0, const int s_2_1, const int s_2_2, float& delta_x, float& delta_y) const; const int s_2_0, const int s_2_1, const int s_2_2, float& delta_x, float& delta_y) const;
// 3D maximum refinement centered around (x_layer,y_layer) // 3D maximum refinement centered around (x_layer,y_layer)
inline float inline float
refine3D(const uint8_t layer, const int x_layer, const int y_layer, float& x, float& y, float& scale, bool& ismax) const; refine3D(const int layer, const int x_layer, const int y_layer, float& x, float& y, float& scale, bool& ismax) const;
// interpolated score access with recalculation when needed: // interpolated score access with recalculation when needed:
inline int inline int
getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer) const; getScoreAbove(const int layer, const int x_layer, const int y_layer) const;
inline int inline int
getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer) const; getScoreBelow(const int layer, const int x_layer, const int y_layer) const;
// return the maximum of score patches above or below // return the maximum of score patches above or below
inline float inline float
getScoreMaxAbove(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool& ismax, getScoreMaxAbove(const int layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
float& dx, float& dy) const; float& dx, float& dy) const;
inline float inline float
getScoreMaxBelow(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool& ismax, getScoreMaxBelow(const int layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
float& dx, float& dy) const; float& dx, float& dy) const;
// the image pyramids: // the image pyramids:
uint8_t layers_; int layers_;
std::vector<BriskLayer> pyramid_; std::vector<BriskLayer> pyramid_;
// some constant parameters: // some constant parameters:
...@@ -183,15 +183,13 @@ protected: ...@@ -183,15 +183,13 @@ protected:
static const float basicSize_; static const float basicSize_;
}; };
using namespace cv; const float BRISK::basicSize_ = 12.0f;
const float BRISK::basicSize_ = 12.0;
const unsigned int BRISK::scales_ = 64; const unsigned int BRISK::scales_ = 64;
const float BRISK::scalerange_ = 30; // 40->4 Octaves - else, this needs to be adjusted... const float BRISK::scalerange_ = 30.f; // 40->4 Octaves - else, this needs to be adjusted...
const unsigned int BRISK::n_rot_ = 1024; // discretization of the rotation look-up const unsigned int BRISK::n_rot_ = 1024; // discretization of the rotation look-up
const float BriskScaleSpace::safetyFactor_ = 1.0; const float BriskScaleSpace::safetyFactor_ = 1.0f;
const float BriskScaleSpace::basicSize_ = 12.0; const float BriskScaleSpace::basicSize_ = 12.0f;
// constructors // constructors
BRISK::BRISK(int thresh, int octaves_in, float patternScale) BRISK::BRISK(int thresh, int octaves_in, float patternScale)
...@@ -207,11 +205,11 @@ BRISK::BRISK(int thresh, int octaves_in, float patternScale) ...@@ -207,11 +205,11 @@ BRISK::BRISK(int thresh, int octaves_in, float patternScale)
nList.resize(5); nList.resize(5);
const double f = 0.85 * patternScale; const double f = 0.85 * patternScale;
rList[0] = f * 0; rList[0] = (float)(f * 0.);
rList[1] = f * 2.9; rList[1] = (float)(f * 2.9);
rList[2] = f * 4.9; rList[2] = (float)(f * 4.9);
rList[3] = f * 7.4; rList[3] = (float)(f * 7.4);
rList[4] = f * 10.8; rList[4] = (float)(f * 10.8);
nList[0] = 1; nList[0] = 1;
nList[1] = 10; nList[1] = 10;
...@@ -219,7 +217,7 @@ BRISK::BRISK(int thresh, int octaves_in, float patternScale) ...@@ -219,7 +217,7 @@ BRISK::BRISK(int thresh, int octaves_in, float patternScale)
nList[3] = 15; nList[3] = 15;
nList[4] = 20; nList[4] = 20;
generateKernel(rList, nList, 5.85 * patternScale, 8.2 * patternScale); generateKernel(rList, nList, (float)(5.85 * patternScale), (float)(8.2 * patternScale));
} }
BRISK::BRISK(std::vector<float> &radiusList, std::vector<int> &numberList, float dMax, float dMin, BRISK::BRISK(std::vector<float> &radiusList, std::vector<int> &numberList, float dMax, float dMin,
...@@ -237,7 +235,7 @@ BRISK::generateKernel(std::vector<float> &radiusList, std::vector<int> &numberLi ...@@ -237,7 +235,7 @@ BRISK::generateKernel(std::vector<float> &radiusList, std::vector<int> &numberLi
dMin_ = dMin; dMin_ = dMin;
// get the total number of points // get the total number of points
const int rings = radiusList.size(); const int rings = (int)radiusList.size();
assert(radiusList.size()!=0&&radiusList.size()==numberList.size()); assert(radiusList.size()!=0&&radiusList.size()==numberList.size());
points_ = 0; // remember the total number of points points_ = 0; // remember the total number of points
for (int ring = 0; ring < rings; ring++) for (int ring = 0; ring < rings; ring++)
...@@ -249,44 +247,44 @@ BRISK::generateKernel(std::vector<float> &radiusList, std::vector<int> &numberLi ...@@ -249,44 +247,44 @@ BRISK::generateKernel(std::vector<float> &radiusList, std::vector<int> &numberLi
BriskPatternPoint* patternIterator = patternPoints_; BriskPatternPoint* patternIterator = patternPoints_;
// define the scale discretization: // define the scale discretization:
static const float lb_scale = log(scalerange_) / log(2.0); static const float lb_scale = (float)(log(scalerange_) / log(2.0));
static const float lb_scale_step = lb_scale / (scales_); static const float lb_scale_step = lb_scale / (scales_);
scaleList_ = new float[scales_]; scaleList_ = new float[scales_];
sizeList_ = new unsigned int[scales_]; sizeList_ = new unsigned int[scales_];
const float sigma_scale = 1.3; const float sigma_scale = 1.3f;
for (unsigned int scale = 0; scale < scales_; ++scale) for (unsigned int scale = 0; scale < scales_; ++scale)
{ {
scaleList_[scale] = pow((double) 2.0, (double) (scale * lb_scale_step)); scaleList_[scale] = (float)pow((double) 2.0, (double) (scale * lb_scale_step));
sizeList_[scale] = 0; sizeList_[scale] = 0;
// generate the pattern points look-up // generate the pattern points look-up
double alpha, theta; double alpha, theta;
for (size_t rot = 0; rot < n_rot_; ++rot) for (size_t rot = 0; rot < n_rot_; ++rot)
{ {
theta = double(rot) * 2 * M_PI / double(n_rot_); // this is the rotation of the feature theta = double(rot) * 2 * CV_PI / double(n_rot_); // this is the rotation of the feature
for (int ring = 0; ring < rings; ++ring) for (int ring = 0; ring < rings; ++ring)
{ {
for (int num = 0; num < numberList[ring]; ++num) for (int num = 0; num < numberList[ring]; ++num)
{ {
// the actual coordinates on the circle // the actual coordinates on the circle
alpha = (double(num)) * 2 * M_PI / double(numberList[ring]); alpha = (double(num)) * 2 * CV_PI / double(numberList[ring]);
patternIterator->x = scaleList_[scale] * radiusList[ring] * cos(alpha + theta); // feature rotation plus angle of the point patternIterator->x = (float)(scaleList_[scale] * radiusList[ring] * cos(alpha + theta)); // feature rotation plus angle of the point
patternIterator->y = scaleList_[scale] * radiusList[ring] * sin(alpha + theta); patternIterator->y = (float)(scaleList_[scale] * radiusList[ring] * sin(alpha + theta));
// and the gaussian kernel sigma // and the gaussian kernel sigma
if (ring == 0) if (ring == 0)
{ {
patternIterator->sigma = sigma_scale * scaleList_[scale] * 0.5; patternIterator->sigma = sigma_scale * scaleList_[scale] * 0.5f;
} }
else else
{ {
patternIterator->sigma = sigma_scale * scaleList_[scale] * (double(radiusList[ring])) patternIterator->sigma = (float)(sigma_scale * scaleList_[scale] * (double(radiusList[ring]))
* sin(M_PI / numberList[ring]); * sin(CV_PI / numberList[ring]));
} }
// adapt the sizeList if necessary // adapt the sizeList if necessary
const unsigned int size = ceil(((scaleList_[scale] * radiusList[ring]) + patternIterator->sigma)) + 1; const unsigned int size = cvCeil(((scaleList_[scale] * radiusList[ring]) + patternIterator->sigma)) + 1;
if (sizeList_[scale] < size) if (sizeList_[scale] < size)
{ {
sizeList_[scale] = size; sizeList_[scale] = size;
...@@ -306,11 +304,11 @@ BRISK::generateKernel(std::vector<float> &radiusList, std::vector<int> &numberLi ...@@ -306,11 +304,11 @@ BRISK::generateKernel(std::vector<float> &radiusList, std::vector<int> &numberLi
noLongPairs_ = 0; noLongPairs_ = 0;
// fill indexChange with 0..n if empty // fill indexChange with 0..n if empty
unsigned int indSize = indexChange.size(); unsigned int indSize = (unsigned int)indexChange.size();
if (indSize == 0) if (indSize == 0)
{ {
indexChange.resize(points_ * (points_ - 1) / 2); indexChange.resize(points_ * (points_ - 1) / 2);
indSize = indexChange.size(); indSize = (unsigned int)indexChange.size();
} }
for (unsigned int i = 0; i < indSize; i++) for (unsigned int i = 0; i < indSize; i++)
{ {
...@@ -370,34 +368,30 @@ BRISK::smoothedIntensity(const cv::Mat& image, const cv::Mat& integral, const fl ...@@ -370,34 +368,30 @@ BRISK::smoothedIntensity(const cv::Mat& image, const cv::Mat& integral, const fl
// get the sigma: // get the sigma:
const float sigma_half = briskPoint.sigma; const float sigma_half = briskPoint.sigma;
const float area = 4.0 * sigma_half * sigma_half; const float area = 4.0f * sigma_half * sigma_half;
// calculate output: // calculate output:
int ret_val; int ret_val;
if (sigma_half < 0.5) if (sigma_half < 0.5)
{ {
//interpolation multipliers: //interpolation multipliers:
const int r_x = (xf - x) * 1024; const int r_x = (int)((xf - x) * 1024);
const int r_y = (yf - y) * 1024; const int r_y = (int)((yf - y) * 1024);
const int r_x_1 = (1024 - r_x); const int r_x_1 = (1024 - r_x);
const int r_y_1 = (1024 - r_y); const int r_y_1 = (1024 - r_y);
uchar* ptr = image.data + x + y * imagecols; const uchar* ptr = &image.at<uchar>(y, x);
size_t step = image.step;
// just interpolate: // just interpolate:
ret_val = (r_x_1 * r_y_1 * int(*ptr)); ret_val = r_x_1 * r_y_1 * ptr[0] + r_x * r_y_1 * ptr[1] +
ptr++; r_x * r_y * ptr[step] + r_x_1 * r_y * ptr[step+1];
ret_val += (r_x * r_y_1 * int(*ptr));
ptr += imagecols;
ret_val += (r_x * r_y * int(*ptr));
ptr--;
ret_val += (r_x_1 * r_y * int(*ptr));
return (ret_val + 512) / 1024; return (ret_val + 512) / 1024;
} }
// this is the standard case (simple, not speed optimized yet): // this is the standard case (simple, not speed optimized yet):
// scaling: // scaling:
const int scaling = 4194304.0 / area; const int scaling = (int)(4194304.0 / area);
const int scaling2 = float(scaling) * area / 1024.0; const int scaling2 = int(float(scaling) * area / 1024.0);
// the integral image is larger: // the integral image is larger:
const int integralcols = imagecols + 1; const int integralcols = imagecols + 1;
...@@ -414,20 +408,20 @@ BRISK::smoothedIntensity(const cv::Mat& image, const cv::Mat& integral, const fl ...@@ -414,20 +408,20 @@ BRISK::smoothedIntensity(const cv::Mat& image, const cv::Mat& integral, const fl
const int y_bottom = int(y1 + 0.5); const int y_bottom = int(y1 + 0.5);
// overlap area - multiplication factors: // overlap area - multiplication factors:
const float r_x_1 = float(x_left) - x_1 + 0.5; const float r_x_1 = float(x_left) - x_1 + 0.5f;
const float r_y_1 = float(y_top) - y_1 + 0.5; const float r_y_1 = float(y_top) - y_1 + 0.5f;
const float r_x1 = x1 - float(x_right) + 0.5; const float r_x1 = x1 - float(x_right) + 0.5f;
const float r_y1 = y1 - float(y_bottom) + 0.5; const float r_y1 = y1 - float(y_bottom) + 0.5f;
const int dx = x_right - x_left - 1; const int dx = x_right - x_left - 1;
const int dy = y_bottom - y_top - 1; const int dy = y_bottom - y_top - 1;
const int A = (r_x_1 * r_y_1) * scaling; const int A = (int)((r_x_1 * r_y_1) * scaling);
const int B = (r_x1 * r_y_1) * scaling; const int B = (int)((r_x1 * r_y_1) * scaling);
const int C = (r_x1 * r_y1) * scaling; const int C = (int)((r_x1 * r_y1) * scaling);
const int D = (r_x_1 * r_y1) * scaling; const int D = (int)((r_x_1 * r_y1) * scaling);
const int r_x_1_i = r_x_1 * scaling; const int r_x_1_i = (int)(r_x_1 * scaling);
const int r_y_1_i = r_y_1 * scaling; const int r_y_1_i = (int)(r_y_1 * scaling);
const int r_x1_i = r_x1 * scaling; const int r_x1_i = (int)(r_x1 * scaling);
const int r_y1_i = r_y1 * scaling; const int r_y1_i = (int)(r_y1 * scaling);
if (dx + dy > 2) if (dx + dy > 2)
{ {
...@@ -529,7 +523,7 @@ void ...@@ -529,7 +523,7 @@ void
BRISK::operator()( InputArray _image, InputArray _mask, vector<KeyPoint>& keypoints, BRISK::operator()( InputArray _image, InputArray _mask, vector<KeyPoint>& keypoints,
OutputArray _descriptors, bool useProvidedKeypoints) const OutputArray _descriptors, bool useProvidedKeypoints) const
{ {
bool doOrientation; bool doOrientation=true;
if (useProvidedKeypoints) if (useProvidedKeypoints)
doOrientation = false; doOrientation = false;
computeDescriptorsAndOrOrientation(_image, _mask, keypoints, _descriptors, true, doOrientation, computeDescriptorsAndOrOrientation(_image, _mask, keypoints, _descriptors, true, doOrientation,
...@@ -555,11 +549,11 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v ...@@ -555,11 +549,11 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v
size_t ksize = keypoints.size(); size_t ksize = keypoints.size();
std::vector<int> kscales; // remember the scale per keypoint std::vector<int> kscales; // remember the scale per keypoint
kscales.resize(ksize); kscales.resize(ksize);
static const float log2 = 0.693147180559945; static const float log2 = 0.693147180559945f;
static const float lb_scalerange = log(scalerange_) / (log2); static const float lb_scalerange = (float)(log(scalerange_) / (log2));
std::vector<cv::KeyPoint>::iterator beginning = keypoints.begin(); std::vector<cv::KeyPoint>::iterator beginning = keypoints.begin();
std::vector<int>::iterator beginningkscales = kscales.begin(); std::vector<int>::iterator beginningkscales = kscales.begin();
static const float basicSize06 = basicSize_ * 0.6; static const float basicSize06 = basicSize_ * 0.6f;
for (size_t k = 0; k < ksize; k++) for (size_t k = 0; k < ksize; k++)
{ {
unsigned int scale; unsigned int scale;
...@@ -571,7 +565,7 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v ...@@ -571,7 +565,7 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v
const int border = sizeList_[scale]; const int border = sizeList_[scale];
const int border_x = image.cols - border; const int border_x = image.cols - border;
const int border_y = image.rows - border; const int border_y = image.rows - border;
if (RoiPredicate(border, border, border_x, border_y, keypoints[k])) if (RoiPredicate((float)border, (float)border, (float)border_x, (float)border_y, keypoints[k]))
{ {
keypoints.erase(beginning + k); keypoints.erase(beginning + k);
kscales.erase(beginningkscales + k); kscales.erase(beginningkscales + k);
...@@ -596,7 +590,7 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v ...@@ -596,7 +590,7 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v
cv::Mat descriptors; cv::Mat descriptors;
if (doDescriptors) if (doDescriptors)
{ {
_descriptors.create(ksize, strings_, CV_8U); _descriptors.create((int)ksize, strings_, CV_8U);
descriptors = _descriptors.getMat(); descriptors = _descriptors.getMat();
descriptors.setTo(0); descriptors.setTo(0);
} }
...@@ -640,9 +634,9 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v ...@@ -640,9 +634,9 @@ BRISK::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _mask, v
direction0 += tmp0; direction0 += tmp0;
direction1 += tmp1; direction1 += tmp1;
} }
kp.angle = atan2((float) direction1, (float) direction0) / M_PI * 180.0; kp.angle = (float)(atan2((float) direction1, (float) direction0) / CV_PI * 180.0);
if (kp.angle < 0) if (kp.angle < 0)
kp.angle += 360; kp.angle += 360.f;
} }
if (!doDescriptors) if (!doDescriptors)
...@@ -760,7 +754,7 @@ BRISK::computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descript ...@@ -760,7 +754,7 @@ BRISK::computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descript
} }
// construct telling the octaves number: // construct telling the octaves number:
BriskScaleSpace::BriskScaleSpace(uint8_t _octaves) BriskScaleSpace::BriskScaleSpace(int _octaves)
{ {
if (_octaves == 0) if (_octaves == 0)
layers_ = 1; layers_ = 1;
...@@ -787,7 +781,7 @@ BriskScaleSpace::constructPyramid(const cv::Mat& image) ...@@ -787,7 +781,7 @@ BriskScaleSpace::constructPyramid(const cv::Mat& image)
} }
const int octaves2 = layers_; const int octaves2 = layers_;
for (uint8_t i = 2; i < octaves2; i += 2) for (uchar i = 2; i < octaves2; i += 2)
{ {
pyramid_.push_back(BriskLayer(pyramid_[i - 2], BriskLayer::CommonParams::HALFSAMPLE)); pyramid_.push_back(BriskLayer(pyramid_[i - 2], BriskLayer::CommonParams::HALFSAMPLE));
pyramid_.push_back(BriskLayer(pyramid_[i - 1], BriskLayer::CommonParams::HALFSAMPLE)); pyramid_.push_back(BriskLayer(pyramid_[i - 1], BriskLayer::CommonParams::HALFSAMPLE));
...@@ -795,20 +789,19 @@ BriskScaleSpace::constructPyramid(const cv::Mat& image) ...@@ -795,20 +789,19 @@ BriskScaleSpace::constructPyramid(const cv::Mat& image)
} }
void void
BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint>& keypoints) BriskScaleSpace::getKeypoints(const int threshold_, std::vector<cv::KeyPoint>& keypoints)
{ {
// make sure keypoints is empty // make sure keypoints is empty
keypoints.resize(0); keypoints.resize(0);
keypoints.reserve(2000); keypoints.reserve(2000);
// assign thresholds // assign thresholds
uint8_t threshold_ = _threshold; int safeThreshold_ = (int)(threshold_ * safetyFactor_);
uint8_t safeThreshold_ = threshold_ * safetyFactor_;
std::vector<std::vector<cv::KeyPoint> > agastPoints; std::vector<std::vector<cv::KeyPoint> > agastPoints;
agastPoints.resize(layers_); agastPoints.resize(layers_);
// go through the octaves and intra layers and calculate fast corner scores: // go through the octaves and intra layers and calculate fast corner scores:
for (uint8_t i = 0; i < layers_; i++) for (int i = 0; i < layers_; i++)
{ {
// call OAST16_9 without nms // call OAST16_9 without nms
BriskLayer& l = pyramid_[i]; BriskLayer& l = pyramid_[i];
...@@ -818,25 +811,25 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint ...@@ -818,25 +811,25 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint
if (layers_ == 1) if (layers_ == 1)
{ {
// just do a simple 2d subpixel refinement... // just do a simple 2d subpixel refinement...
const int num = agastPoints[0].size(); const size_t num = agastPoints[0].size();
for (int n = 0; n < num; n++) for (size_t n = 0; n < num; n++)
{ {
const cv::Point2f& point = agastPoints.at(0)[n].pt; const cv::Point2f& point = agastPoints.at(0)[n].pt;
// first check if it is a maximum: // first check if it is a maximum:
if (!isMax2D(0, point.x, point.y)) if (!isMax2D(0, (int)point.x, (int)point.y))
continue; continue;
// let's do the subpixel and float scale refinement: // let's do the subpixel and float scale refinement:
BriskLayer& l = pyramid_[0]; BriskLayer& l = pyramid_[0];
register int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1); int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1);
register int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1); int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1);
register int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1); int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1);
register int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1); int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1);
register int s_1_1 = l.getAgastScore(point.x, point.y, 1); int s_1_1 = l.getAgastScore(point.x, point.y, 1);
register int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1); int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1);
register int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1); int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1);
register int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1); int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1);
register int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1); int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1);
float delta_x, delta_y; float delta_x, delta_y;
float max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x, delta_y); float max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x, delta_y);
...@@ -849,35 +842,35 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint ...@@ -849,35 +842,35 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint
} }
float x, y, scale, score; float x, y, scale, score;
for (uint8_t i = 0; i < layers_; i++) for (int i = 0; i < layers_; i++)
{ {
BriskLayer& l = pyramid_[i]; BriskLayer& l = pyramid_[i];
const int num = agastPoints[i].size(); const size_t num = agastPoints[i].size();
if (i == layers_ - 1) if (i == layers_ - 1)
{ {
for (int n = 0; n < num; n++) for (size_t n = 0; n < num; n++)
{ {
const cv::Point2f& point = agastPoints.at(i)[n].pt; const cv::Point2f& point = agastPoints.at(i)[n].pt;
// consider only 2D maxima... // consider only 2D maxima...
if (!isMax2D(i, point.x, point.y)) if (!isMax2D(i, (int)point.x, (int)point.y))
continue; continue;
bool ismax; bool ismax;
float dx, dy; float dx, dy;
getScoreMaxBelow(i, point.x, point.y, l.getAgastScore(point.x, point.y, safeThreshold_), ismax, dx, dy); getScoreMaxBelow(i, (int)point.x, (int)point.y, l.getAgastScore(point.x, point.y, safeThreshold_), ismax, dx, dy);
if (!ismax) if (!ismax)
continue; continue;
// get the patch on this layer: // get the patch on this layer:
register int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1); int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1);
register int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1); int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1);
register int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1); int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1);
register int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1); int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1);
register int s_1_1 = l.getAgastScore(point.x, point.y, 1); int s_1_1 = l.getAgastScore(point.x, point.y, 1);
register int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1); int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1);
register int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1); int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1);
register int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1); int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1);
register int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1); int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1);
float delta_x, delta_y; float delta_x, delta_y;
float max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x, delta_y); float max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x, delta_y);
...@@ -890,17 +883,17 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint ...@@ -890,17 +883,17 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint
else else
{ {
// not the last layer: // not the last layer:
for (int n = 0; n < num; n++) for (size_t n = 0; n < num; n++)
{ {
const cv::Point2f& point = agastPoints.at(i)[n].pt; const cv::Point2f& point = agastPoints.at(i)[n].pt;
// first check if it is a maximum: // first check if it is a maximum:
if (!isMax2D(i, point.x, point.y)) if (!isMax2D(i, (int)point.x, (int)point.y))
continue; continue;
// let's do the subpixel and float scale refinement: // let's do the subpixel and float scale refinement:
bool ismax; bool ismax=false;
score = refine3D(i, point.x, point.y, x, y, scale, ismax); score = refine3D(i, (int)point.x, (int)point.y, x, y, scale, ismax);
if (!ismax) if (!ismax)
{ {
continue; continue;
...@@ -918,7 +911,7 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint ...@@ -918,7 +911,7 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint
// interpolated score access with recalculation when needed: // interpolated score access with recalculation when needed:
inline int inline int
BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer) const BriskScaleSpace::getScoreAbove(const int layer, const int x_layer, const int y_layer) const
{ {
assert(layer<layers_-1); assert(layer<layers_-1);
const BriskLayer& l = pyramid_[layer + 1]; const BriskLayer& l = pyramid_[layer + 1];
...@@ -932,7 +925,7 @@ BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int ...@@ -932,7 +925,7 @@ BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int
const int r_x_1 = 6 - r_x; const int r_x_1 = 6 - r_x;
const int r_y = (sixths_y % 6); const int r_y = (sixths_y % 6);
const int r_y_1 = 6 - r_y; const int r_y_1 = 6 - r_y;
uint8_t score = 0xFF uchar score = 0xFF
& ((r_x_1 * r_y_1 * l.getAgastScore(x_above, y_above, 1) + r_x * r_y_1 & ((r_x_1 * r_y_1 * l.getAgastScore(x_above, y_above, 1) + r_x * r_y_1
* l.getAgastScore(x_above + 1, y_above, 1) * l.getAgastScore(x_above + 1, y_above, 1)
+ r_x_1 * r_y * l.getAgastScore(x_above, y_above + 1, 1) + r_x_1 * r_y * l.getAgastScore(x_above, y_above + 1, 1)
...@@ -951,7 +944,7 @@ BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int ...@@ -951,7 +944,7 @@ BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int
const int r_x_1 = 8 - r_x; const int r_x_1 = 8 - r_x;
const int r_y = (eighths_y % 8); const int r_y = (eighths_y % 8);
const int r_y_1 = 8 - r_y; const int r_y_1 = 8 - r_y;
uint8_t score = 0xFF uchar score = 0xFF
& ((r_x_1 * r_y_1 * l.getAgastScore(x_above, y_above, 1) + r_x * r_y_1 & ((r_x_1 * r_y_1 * l.getAgastScore(x_above, y_above, 1) + r_x * r_y_1
* l.getAgastScore(x_above + 1, y_above, 1) * l.getAgastScore(x_above + 1, y_above, 1)
+ r_x_1 * r_y * l.getAgastScore(x_above, y_above + 1, 1) + r_x_1 * r_y * l.getAgastScore(x_above, y_above + 1, 1)
...@@ -961,7 +954,7 @@ BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int ...@@ -961,7 +954,7 @@ BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int
} }
} }
inline int inline int
BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer) const BriskScaleSpace::getScoreBelow(const int layer, const int x_layer, const int y_layer) const
{ {
assert(layer); assert(layer);
const BriskLayer& l = pyramid_[layer - 1]; const BriskLayer& l = pyramid_[layer - 1];
...@@ -981,28 +974,28 @@ BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int ...@@ -981,28 +974,28 @@ BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int
if (layer % 2 == 0) if (layer % 2 == 0)
{ // octave { // octave
sixth_x = 8 * x_layer + 1; sixth_x = 8 * x_layer + 1;
xf = float(sixth_x) / 6.0; xf = float(sixth_x) / 6.0f;
sixth_y = 8 * y_layer + 1; sixth_y = 8 * y_layer + 1;
yf = float(sixth_y) / 6.0; yf = float(sixth_y) / 6.0f;
// scaling: // scaling:
offs = 2.0 / 3.0; offs = 2.0f / 3.0f;
area = 4.0 * offs * offs; area = 4.0f * offs * offs;
scaling = 4194304.0 / area; scaling = (int)(4194304.0 / area);
scaling2 = float(scaling) * area; scaling2 = (int)(float(scaling) * area);
} }
else else
{ {
quarter_x = 6 * x_layer + 1; quarter_x = 6 * x_layer + 1;
xf = float(quarter_x) / 4.0; xf = float(quarter_x) / 4.0f;
quarter_y = 6 * y_layer + 1; quarter_y = 6 * y_layer + 1;
yf = float(quarter_y) / 4.0; yf = float(quarter_y) / 4.0f;
// scaling: // scaling:
offs = 3.0 / 4.0; offs = 3.0f / 4.0f;
area = 4.0 * offs * offs; area = 4.0f * offs * offs;
scaling = 4194304.0 / area; scaling = (int)(4194304.0 / area);
scaling2 = float(scaling) * area; scaling2 = (int)(float(scaling) * area);
} }
// calculate borders // calculate borders
...@@ -1017,20 +1010,20 @@ BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int ...@@ -1017,20 +1010,20 @@ BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int
const int y_bottom = int(y1 + 0.5); const int y_bottom = int(y1 + 0.5);
// overlap area - multiplication factors: // overlap area - multiplication factors:
const float r_x_1 = float(x_left) - x_1 + 0.5; const float r_x_1 = float(x_left) - x_1 + 0.5f;
const float r_y_1 = float(y_top) - y_1 + 0.5; const float r_y_1 = float(y_top) - y_1 + 0.5f;
const float r_x1 = x1 - float(x_right) + 0.5; const float r_x1 = x1 - float(x_right) + 0.5f;
const float r_y1 = y1 - float(y_bottom) + 0.5; const float r_y1 = y1 - float(y_bottom) + 0.5f;
const int dx = x_right - x_left - 1; const int dx = x_right - x_left - 1;
const int dy = y_bottom - y_top - 1; const int dy = y_bottom - y_top - 1;
const int A = (r_x_1 * r_y_1) * scaling; const int A = (int)((r_x_1 * r_y_1) * scaling);
const int B = (r_x1 * r_y_1) * scaling; const int B = (int)((r_x1 * r_y_1) * scaling);
const int C = (r_x1 * r_y1) * scaling; const int C = (int)((r_x1 * r_y1) * scaling);
const int D = (r_x_1 * r_y1) * scaling; const int D = (int)((r_x_1 * r_y1) * scaling);
const int r_x_1_i = r_x_1 * scaling; const int r_x_1_i = (int)(r_x_1 * scaling);
const int r_y_1_i = r_y_1 * scaling; const int r_y_1_i = (int)(r_y_1 * scaling);
const int r_x1_i = r_x1 * scaling; const int r_x1_i = (int)(r_x1 * scaling);
const int r_y1_i = r_y1 * scaling; const int r_y1_i = (int)(r_y1 * scaling);
// first row: // first row:
int ret_val = A * int(l.getAgastScore(x_left, y_top, 1)); int ret_val = A * int(l.getAgastScore(x_left, y_top, 1));
...@@ -1062,7 +1055,7 @@ BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int ...@@ -1062,7 +1055,7 @@ BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int
} }
inline bool inline bool
BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_layer) BriskScaleSpace::isMax2D(const int layer, const int x_layer, const int y_layer)
{ {
const cv::Mat& scores = pyramid_[layer].scores(); const cv::Mat& scores = pyramid_[layer].scores();
const int scorescols = scores.cols; const int scorescols = scores.cols;
...@@ -1145,7 +1138,7 @@ BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_lay ...@@ -1145,7 +1138,7 @@ BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_lay
delta.push_back(1); delta.push_back(1);
delta.push_back(1); delta.push_back(1);
} }
const unsigned int deltasize = delta.size(); const unsigned int deltasize = (unsigned int)delta.size();
if (deltasize != 0) if (deltasize != 0)
{ {
// in this case, we have to analyze the situation more carefully: // in this case, we have to analyze the situation more carefully:
...@@ -1181,7 +1174,7 @@ BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_lay ...@@ -1181,7 +1174,7 @@ BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_lay
// 3D maximum refinement centered around (x_layer,y_layer) // 3D maximum refinement centered around (x_layer,y_layer)
inline float inline float
BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_layer, float& x, float& y, float& scale, BriskScaleSpace::refine3D(const int layer, const int x_layer, const int y_layer, float& x, float& y, float& scale,
bool& ismax) const bool& ismax) const
{ {
ismax = true; ismax = true;
...@@ -1193,7 +1186,7 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1193,7 +1186,7 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
float max_above = getScoreMaxAbove(layer, x_layer, y_layer, center, ismax, delta_x_above, delta_y_above); float max_above = getScoreMaxAbove(layer, x_layer, y_layer, center, ismax, delta_x_above, delta_y_above);
if (!ismax) if (!ismax)
return 0.0; return 0.0f;
float max; // to be returned float max; // to be returned
...@@ -1202,41 +1195,33 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1202,41 +1195,33 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
// treat the patch below: // treat the patch below:
float delta_x_below, delta_y_below; float delta_x_below, delta_y_below;
float max_below_float; float max_below_float;
uchar max_below_uchar = 0; int max_below = 0;
if (layer == 0) if (layer == 0)
{ {
// guess the lower intra octave... // guess the lower intra octave...
const BriskLayer& l = pyramid_[0]; const BriskLayer& l = pyramid_[0];
register int s_0_0 = l.getAgastScore_5_8(x_layer - 1, y_layer - 1, 1); int s_0_0 = l.getAgastScore_5_8(x_layer - 1, y_layer - 1, 1);
max_below_uchar = s_0_0; max_below = s_0_0;
register int s_1_0 = l.getAgastScore_5_8(x_layer, y_layer - 1, 1); int s_1_0 = l.getAgastScore_5_8(x_layer, y_layer - 1, 1);
if (s_1_0 > max_below_uchar) max_below = std::max(s_1_0, max_below);
max_below_uchar = s_1_0; int s_2_0 = l.getAgastScore_5_8(x_layer + 1, y_layer - 1, 1);
register int s_2_0 = l.getAgastScore_5_8(x_layer + 1, y_layer - 1, 1); max_below = std::max(s_2_0, max_below);
if (s_2_0 > max_below_uchar) int s_2_1 = l.getAgastScore_5_8(x_layer + 1, y_layer, 1);
max_below_uchar = s_2_0; max_below = std::max(s_2_1, max_below);
register int s_2_1 = l.getAgastScore_5_8(x_layer + 1, y_layer, 1); int s_1_1 = l.getAgastScore_5_8(x_layer, y_layer, 1);
if (s_2_1 > max_below_uchar) max_below = std::max(s_1_1, max_below);
max_below_uchar = s_2_1; int s_0_1 = l.getAgastScore_5_8(x_layer - 1, y_layer, 1);
register int s_1_1 = l.getAgastScore_5_8(x_layer, y_layer, 1); max_below = std::max(s_0_1, max_below);
if (s_1_1 > max_below_uchar) int s_0_2 = l.getAgastScore_5_8(x_layer - 1, y_layer + 1, 1);
max_below_uchar = s_1_1; max_below = std::max(s_0_2, max_below);
register int s_0_1 = l.getAgastScore_5_8(x_layer - 1, y_layer, 1); int s_1_2 = l.getAgastScore_5_8(x_layer, y_layer + 1, 1);
if (s_0_1 > max_below_uchar) max_below = std::max(s_1_2, max_below);
max_below_uchar = s_0_1; int s_2_2 = l.getAgastScore_5_8(x_layer + 1, y_layer + 1, 1);
register int s_0_2 = l.getAgastScore_5_8(x_layer - 1, y_layer + 1, 1); max_below = std::max(s_2_2, max_below);
if (s_0_2 > max_below_uchar)
max_below_uchar = s_0_2;
register int s_1_2 = l.getAgastScore_5_8(x_layer, y_layer + 1, 1);
if (s_1_2 > max_below_uchar)
max_below_uchar = s_1_2;
register int s_2_2 = l.getAgastScore_5_8(x_layer + 1, y_layer + 1, 1);
if (s_2_2 > max_below_uchar)
max_below_uchar = s_2_2;
max_below_float = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_below, max_below_float = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_below,
delta_y_below); delta_y_below);
max_below_float = max_below_uchar; max_below_float = (float)max_below;
} }
else else
{ {
...@@ -1246,15 +1231,15 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1246,15 +1231,15 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
} }
// get the patch on this layer: // get the patch on this layer:
register int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1); int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1);
register int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1); int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1);
register int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1); int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1);
register int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1); int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1);
register int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1); int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1);
register int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1); int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1);
register int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1); int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1);
register int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1); int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1);
register int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1); int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1);
float delta_x_layer, delta_y_layer; float delta_x_layer, delta_y_layer;
float max_layer = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_layer, float max_layer = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_layer,
delta_y_layer); delta_y_layer);
...@@ -1270,8 +1255,8 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1270,8 +1255,8 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
if (scale > 1.0) if (scale > 1.0)
{ {
// interpolate the position: // interpolate the position:
const float r0 = (1.5 - scale) / .5; const float r0 = (1.5f - scale) / .5f;
const float r1 = 1.0 - r0; const float r1 = 1.0f - r0;
x = (r0 * delta_x_layer + r1 * delta_x_above + float(x_layer)) * thisLayer.scale() + thisLayer.offset(); x = (r0 * delta_x_layer + r1 * delta_x_above + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r1 * delta_y_above + float(y_layer)) * thisLayer.scale() + thisLayer.offset(); y = (r0 * delta_y_layer + r1 * delta_y_above + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
} }
...@@ -1280,16 +1265,16 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1280,16 +1265,16 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
if (layer == 0) if (layer == 0)
{ {
// interpolate the position: // interpolate the position:
const float r0 = (scale - 0.5) / 0.5; const float r0 = (scale - 0.5f) / 0.5f;
const float r_1 = 1.0 - r0; const float r_1 = 1.0f - r0;
x = r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer); x = r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer);
y = r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer); y = r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer);
} }
else else
{ {
// interpolate the position: // interpolate the position:
const float r0 = (scale - 0.75) / 0.25; const float r0 = (scale - 0.75f) / 0.25f;
const float r_1 = 1.0 - r0; const float r_1 = 1.0f - r0;
x = (r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer)) * thisLayer.scale() + thisLayer.offset(); x = (r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer)) * thisLayer.scale() + thisLayer.offset(); y = (r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
} }
...@@ -1302,18 +1287,18 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1302,18 +1287,18 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
float delta_x_below, delta_y_below; float delta_x_below, delta_y_below;
float max_below = getScoreMaxBelow(layer, x_layer, y_layer, center, ismax, delta_x_below, delta_y_below); float max_below = getScoreMaxBelow(layer, x_layer, y_layer, center, ismax, delta_x_below, delta_y_below);
if (!ismax) if (!ismax)
return 0.0; return 0.0f;
// get the patch on this layer: // get the patch on this layer:
register int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1); int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1);
register int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1); int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1);
register int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1); int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1);
register int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1); int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1);
register int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1); int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1);
register int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1); int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1);
register int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1); int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1);
register int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1); int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1);
register int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1); int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1);
float delta_x_layer, delta_y_layer; float delta_x_layer, delta_y_layer;
float max_layer = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_layer, float max_layer = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_layer,
delta_y_layer); delta_y_layer);
...@@ -1323,16 +1308,16 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1323,16 +1308,16 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
if (scale > 1.0) if (scale > 1.0)
{ {
// interpolate the position: // interpolate the position:
const float r0 = 4.0 - scale * 3.0; const float r0 = 4.0f - scale * 3.0f;
const float r1 = 1.0 - r0; const float r1 = 1.0f - r0;
x = (r0 * delta_x_layer + r1 * delta_x_above + float(x_layer)) * thisLayer.scale() + thisLayer.offset(); x = (r0 * delta_x_layer + r1 * delta_x_above + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r1 * delta_y_above + float(y_layer)) * thisLayer.scale() + thisLayer.offset(); y = (r0 * delta_y_layer + r1 * delta_y_above + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
} }
else else
{ {
// interpolate the position: // interpolate the position:
const float r0 = scale * 3.0 - 2.0; const float r0 = scale * 3.0f - 2.0f;
const float r_1 = 1.0 - r0; const float r_1 = 1.0f - r0;
x = (r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer)) * thisLayer.scale() + thisLayer.offset(); x = (r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer)) * thisLayer.scale() + thisLayer.offset(); y = (r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
} }
...@@ -1347,7 +1332,7 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la ...@@ -1347,7 +1332,7 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
// return the maximum of score patches above or below // return the maximum of score patches above or below
inline float inline float
BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, BriskScaleSpace::getScoreMaxAbove(const int layer, const int x_layer, const int y_layer, const int threshold,
bool& ismax, float& dx, float& dy) const bool& ismax, float& dx, float& dy) const
{ {
...@@ -1365,10 +1350,10 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const ...@@ -1365,10 +1350,10 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const
if (layer % 2 == 0) if (layer % 2 == 0)
{ {
// octave // octave
x_1 = float(4 * (x_layer) - 1 - 2) / 6.0; x_1 = float(4 * (x_layer) - 1 - 2) / 6.0f;
x1 = float(4 * (x_layer) - 1 + 2) / 6.0; x1 = float(4 * (x_layer) - 1 + 2) / 6.0f;
y_1 = float(4 * (y_layer) - 1 - 2) / 6.0; y_1 = float(4 * (y_layer) - 1 - 2) / 6.0f;
y1 = float(4 * (y_layer) - 1 + 2) / 6.0; y1 = float(4 * (y_layer) - 1 + 2) / 6.0f;
} }
else else
{ {
...@@ -1380,103 +1365,103 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const ...@@ -1380,103 +1365,103 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const
} }
// check the first row // check the first row
int max_x = x_1 + 1; int max_x = (int)x_1 + 1;
int max_y = y_1 + 1; int max_y = (int)y_1 + 1;
float tmp_max; float tmp_max;
float max = layerAbove.getAgastScore(x_1, y_1, 1); float maxval = (float)layerAbove.getAgastScore(x_1, y_1, 1);
if (max > threshold) if (maxval > threshold)
return 0; return 0;
for (int x = x_1 + 1; x <= int(x1); x++) for (int x = (int)x_1 + 1; x <= int(x1); x++)
{ {
tmp_max = layerAbove.getAgastScore(float(x), y_1, 1); tmp_max = (float)layerAbove.getAgastScore(float(x), y_1, 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = x; max_x = x;
} }
} }
tmp_max = layerAbove.getAgastScore(x1, y_1, 1); tmp_max = (float)layerAbove.getAgastScore(x1, y_1, 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = int(x1); max_x = int(x1);
} }
// middle rows // middle rows
for (int y = y_1 + 1; y <= int(y1); y++) for (int y = (int)y_1 + 1; y <= int(y1); y++)
{ {
tmp_max = layerAbove.getAgastScore(x_1, float(y), 1); tmp_max = (float)layerAbove.getAgastScore(x_1, float(y), 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = int(x_1 + 1); max_x = int(x_1 + 1);
max_y = y; max_y = y;
} }
for (int x = x_1 + 1; x <= int(x1); x++) for (int x = (int)x_1 + 1; x <= int(x1); x++)
{ {
tmp_max = layerAbove.getAgastScore(x, y, 1); tmp_max = (float)layerAbove.getAgastScore(x, y, 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = x; max_x = x;
max_y = y; max_y = y;
} }
} }
tmp_max = layerAbove.getAgastScore(x1, float(y), 1); tmp_max = (float)layerAbove.getAgastScore(x1, float(y), 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = int(x1); max_x = int(x1);
max_y = y; max_y = y;
} }
} }
// bottom row // bottom row
tmp_max = layerAbove.getAgastScore(x_1, y1, 1); tmp_max = (float)layerAbove.getAgastScore(x_1, y1, 1);
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = int(x_1 + 1); max_x = int(x_1 + 1);
max_y = int(y1); max_y = int(y1);
} }
for (int x = x_1 + 1; x <= int(x1); x++) for (int x = (int)x_1 + 1; x <= int(x1); x++)
{ {
tmp_max = layerAbove.getAgastScore(float(x), y1, 1); tmp_max = (float)layerAbove.getAgastScore(float(x), y1, 1);
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = x; max_x = x;
max_y = int(y1); max_y = int(y1);
} }
} }
tmp_max = layerAbove.getAgastScore(x1, y1, 1); tmp_max = (float)layerAbove.getAgastScore(x1, y1, 1);
if (tmp_max > max) if (tmp_max > maxval)
{ {
max = tmp_max; maxval = tmp_max;
max_x = int(x1); max_x = int(x1);
max_y = int(y1); max_y = int(y1);
} }
//find dx/dy: //find dx/dy:
register int s_0_0 = layerAbove.getAgastScore(max_x - 1, max_y - 1, 1); int s_0_0 = layerAbove.getAgastScore(max_x - 1, max_y - 1, 1);
register int s_1_0 = layerAbove.getAgastScore(max_x, max_y - 1, 1); int s_1_0 = layerAbove.getAgastScore(max_x, max_y - 1, 1);
register int s_2_0 = layerAbove.getAgastScore(max_x + 1, max_y - 1, 1); int s_2_0 = layerAbove.getAgastScore(max_x + 1, max_y - 1, 1);
register int s_2_1 = layerAbove.getAgastScore(max_x + 1, max_y, 1); int s_2_1 = layerAbove.getAgastScore(max_x + 1, max_y, 1);
register int s_1_1 = layerAbove.getAgastScore(max_x, max_y, 1); int s_1_1 = layerAbove.getAgastScore(max_x, max_y, 1);
register int s_0_1 = layerAbove.getAgastScore(max_x - 1, max_y, 1); int s_0_1 = layerAbove.getAgastScore(max_x - 1, max_y, 1);
register int s_0_2 = layerAbove.getAgastScore(max_x - 1, max_y + 1, 1); int s_0_2 = layerAbove.getAgastScore(max_x - 1, max_y + 1, 1);
register int s_1_2 = layerAbove.getAgastScore(max_x, max_y + 1, 1); int s_1_2 = layerAbove.getAgastScore(max_x, max_y + 1, 1);
register int s_2_2 = layerAbove.getAgastScore(max_x + 1, max_y + 1, 1); int s_2_2 = layerAbove.getAgastScore(max_x + 1, max_y + 1, 1);
float dx_1, dy_1; float dx_1, dy_1;
float refined_max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, dx_1, dy_1); float refined_max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, dx_1, dy_1);
...@@ -1491,8 +1476,8 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const ...@@ -1491,8 +1476,8 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const
} }
else else
{ {
dx = (real_x * 8.0 + 1.0) / 6.0 - float(x_layer); dx = (real_x * 8.0f + 1.0f) / 6.0f - float(x_layer);
dy = (real_y * 8.0 + 1.0) / 6.0 - float(y_layer); dy = (real_y * 8.0f + 1.0f) / 6.0f - float(y_layer);
} }
// saturate // saturate
...@@ -1521,13 +1506,13 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const ...@@ -1521,13 +1506,13 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const
ismax = true; ismax = true;
if (returnrefined) if (returnrefined)
{ {
return std::max(refined_max, max); return std::max(refined_max, maxval);
} }
return max; return maxval;
} }
inline float inline float
BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, BriskScaleSpace::getScoreMaxBelow(const int layer, const int x_layer, const int y_layer, const int threshold,
bool& ismax, float& dx, float& dy) const bool& ismax, float& dx, float& dy) const
{ {
ismax = false; ismax = false;
...@@ -1541,17 +1526,17 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1541,17 +1526,17 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
if (layer % 2 == 0) if (layer % 2 == 0)
{ {
// octave // octave
x_1 = float(8 * (x_layer) + 1 - 4) / 6.0; x_1 = float(8 * (x_layer) + 1 - 4) / 6.0f;
x1 = float(8 * (x_layer) + 1 + 4) / 6.0; x1 = float(8 * (x_layer) + 1 + 4) / 6.0f;
y_1 = float(8 * (y_layer) + 1 - 4) / 6.0; y_1 = float(8 * (y_layer) + 1 - 4) / 6.0f;
y1 = float(8 * (y_layer) + 1 + 4) / 6.0; y1 = float(8 * (y_layer) + 1 + 4) / 6.0f;
} }
else else
{ {
x_1 = float(6 * (x_layer) + 1 - 3) / 4.0; x_1 = float(6 * (x_layer) + 1 - 3) / 4.0f;
x1 = float(6 * (x_layer) + 1 + 3) / 4.0; x1 = float(6 * (x_layer) + 1 + 3) / 4.0f;
y_1 = float(6 * (y_layer) + 1 - 3) / 4.0; y_1 = float(6 * (y_layer) + 1 - 3) / 4.0f;
y1 = float(6 * (y_layer) + 1 + 3) / 4.0; y1 = float(6 * (y_layer) + 1 + 3) / 4.0f;
} }
// the layer below // the layer below
...@@ -1559,15 +1544,15 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1559,15 +1544,15 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
const BriskLayer& layerBelow = pyramid_[layer - 1]; const BriskLayer& layerBelow = pyramid_[layer - 1];
// check the first row // check the first row
int max_x = x_1 + 1; int max_x = (int)x_1 + 1;
int max_y = y_1 + 1; int max_y = (int)y_1 + 1;
float tmp_max; float tmp_max;
float max = layerBelow.getAgastScore(x_1, y_1, 1); float max = (float)layerBelow.getAgastScore(x_1, y_1, 1);
if (max > threshold) if (max > threshold)
return 0; return 0;
for (int x = x_1 + 1; x <= int(x1); x++) for (int x = (int)x_1 + 1; x <= int(x1); x++)
{ {
tmp_max = layerBelow.getAgastScore(float(x), y_1, 1); tmp_max = (float)layerBelow.getAgastScore(float(x), y_1, 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > max)
...@@ -1576,7 +1561,7 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1576,7 +1561,7 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
max_x = x; max_x = x;
} }
} }
tmp_max = layerBelow.getAgastScore(x1, y_1, 1); tmp_max = (float)layerBelow.getAgastScore(x1, y_1, 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > max)
...@@ -1586,9 +1571,9 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1586,9 +1571,9 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
} }
// middle rows // middle rows
for (int y = y_1 + 1; y <= int(y1); y++) for (int y = (int)y_1 + 1; y <= int(y1); y++)
{ {
tmp_max = layerBelow.getAgastScore(x_1, float(y), 1); tmp_max = (float)layerBelow.getAgastScore(x_1, float(y), 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > max)
...@@ -1597,9 +1582,9 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1597,9 +1582,9 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
max_x = int(x_1 + 1); max_x = int(x_1 + 1);
max_y = y; max_y = y;
} }
for (int x = x_1 + 1; x <= int(x1); x++) for (int x = (int)x_1 + 1; x <= int(x1); x++)
{ {
tmp_max = layerBelow.getAgastScore(x, y, 1); tmp_max = (float)layerBelow.getAgastScore(x, y, 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max == max) if (tmp_max == max)
...@@ -1629,7 +1614,7 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1629,7 +1614,7 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
max_y = y; max_y = y;
} }
} }
tmp_max = layerBelow.getAgastScore(x1, float(y), 1); tmp_max = (float)layerBelow.getAgastScore(x1, float(y), 1);
if (tmp_max > threshold) if (tmp_max > threshold)
return 0; return 0;
if (tmp_max > max) if (tmp_max > max)
...@@ -1641,16 +1626,16 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1641,16 +1626,16 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
} }
// bottom row // bottom row
tmp_max = layerBelow.getAgastScore(x_1, y1, 1); tmp_max = (float)layerBelow.getAgastScore(x_1, y1, 1);
if (tmp_max > max) if (tmp_max > max)
{ {
max = tmp_max; max = tmp_max;
max_x = int(x_1 + 1); max_x = int(x_1 + 1);
max_y = int(y1); max_y = int(y1);
} }
for (int x = x_1 + 1; x <= int(x1); x++) for (int x = (int)x_1 + 1; x <= int(x1); x++)
{ {
tmp_max = layerBelow.getAgastScore(float(x), y1, 1); tmp_max = (float)layerBelow.getAgastScore(float(x), y1, 1);
if (tmp_max > max) if (tmp_max > max)
{ {
max = tmp_max; max = tmp_max;
...@@ -1658,7 +1643,7 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1658,7 +1643,7 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
max_y = int(y1); max_y = int(y1);
} }
} }
tmp_max = layerBelow.getAgastScore(x1, y1, 1); tmp_max = (float)layerBelow.getAgastScore(x1, y1, 1);
if (tmp_max > max) if (tmp_max > max)
{ {
max = tmp_max; max = tmp_max;
...@@ -1667,15 +1652,15 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1667,15 +1652,15 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
} }
//find dx/dy: //find dx/dy:
register int s_0_0 = layerBelow.getAgastScore(max_x - 1, max_y - 1, 1); int s_0_0 = layerBelow.getAgastScore(max_x - 1, max_y - 1, 1);
register int s_1_0 = layerBelow.getAgastScore(max_x, max_y - 1, 1); int s_1_0 = layerBelow.getAgastScore(max_x, max_y - 1, 1);
register int s_2_0 = layerBelow.getAgastScore(max_x + 1, max_y - 1, 1); int s_2_0 = layerBelow.getAgastScore(max_x + 1, max_y - 1, 1);
register int s_2_1 = layerBelow.getAgastScore(max_x + 1, max_y, 1); int s_2_1 = layerBelow.getAgastScore(max_x + 1, max_y, 1);
register int s_1_1 = layerBelow.getAgastScore(max_x, max_y, 1); int s_1_1 = layerBelow.getAgastScore(max_x, max_y, 1);
register int s_0_1 = layerBelow.getAgastScore(max_x - 1, max_y, 1); int s_0_1 = layerBelow.getAgastScore(max_x - 1, max_y, 1);
register int s_0_2 = layerBelow.getAgastScore(max_x - 1, max_y + 1, 1); int s_0_2 = layerBelow.getAgastScore(max_x - 1, max_y + 1, 1);
register int s_1_2 = layerBelow.getAgastScore(max_x, max_y + 1, 1); int s_1_2 = layerBelow.getAgastScore(max_x, max_y + 1, 1);
register int s_2_2 = layerBelow.getAgastScore(max_x + 1, max_y + 1, 1); int s_2_2 = layerBelow.getAgastScore(max_x + 1, max_y + 1, 1);
float dx_1, dy_1; float dx_1, dy_1;
float refined_max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, dx_1, dy_1); float refined_max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, dx_1, dy_1);
...@@ -1685,34 +1670,34 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const ...@@ -1685,34 +1670,34 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
bool returnrefined = true; bool returnrefined = true;
if (layer % 2 == 0) if (layer % 2 == 0)
{ {
dx = (real_x * 6.0 + 1.0) / 8.0 - float(x_layer); dx = (float)((real_x * 6.0 + 1.0) / 8.0) - float(x_layer);
dy = (real_y * 6.0 + 1.0) / 8.0 - float(y_layer); dy = (float)((real_y * 6.0 + 1.0) / 8.0) - float(y_layer);
} }
else else
{ {
dx = (real_x * 4.0 - 1.0) / 6.0 - float(x_layer); dx = (float)((real_x * 4.0 - 1.0) / 6.0) - float(x_layer);
dy = (real_y * 4.0 - 1.0) / 6.0 - float(y_layer); dy = (float)((real_y * 4.0 - 1.0) / 6.0) - float(y_layer);
} }
// saturate // saturate
if (dx > 1.0) if (dx > 1.0)
{ {
dx = 1.0; dx = 1.0f;
returnrefined = false; returnrefined = false;
} }
if (dx < -1.0) if (dx < -1.0f)
{ {
dx = -1.0; dx = -1.0f;
returnrefined = false; returnrefined = false;
} }
if (dy > 1.0) if (dy > 1.0f)
{ {
dy = 1.0; dy = 1.0f;
returnrefined = false; returnrefined = false;
} }
if (dy < -1.0) if (dy < -1.0f)
{ {
dy = -1.0; dy = -1.0f;
returnrefined = false; returnrefined = false;
} }
...@@ -1743,17 +1728,17 @@ BriskScaleSpace::refine1D(const float s_05, const float s0, const float s05, flo ...@@ -1743,17 +1728,17 @@ BriskScaleSpace::refine1D(const float s_05, const float s0, const float s05, flo
if (s0 >= s_05 && s0 >= s05) if (s0 >= s_05 && s0 >= s05)
{ {
max = s0; max = s0;
return 1.0; return 1.0f;
} }
if (s_05 >= s0 && s_05 >= s05) if (s_05 >= s0 && s_05 >= s05)
{ {
max = s_05; max = s_05;
return 0.75; return 0.75f;
} }
if (s05 >= s0 && s05 >= s_05) if (s05 >= s0 && s05 >= s_05)
{ {
max = s05; max = s05;
return 1.5; return 1.5f;
} }
} }
...@@ -1767,7 +1752,7 @@ BriskScaleSpace::refine1D(const float s_05, const float s0, const float s05, flo ...@@ -1767,7 +1752,7 @@ BriskScaleSpace::refine1D(const float s_05, const float s0, const float s05, flo
ret_val = 1.5; // allow to be slightly off bounds ...? ret_val = 1.5; // allow to be slightly off bounds ...?
int three_c = +24 * i_05 - 27 * i0 + 6 * i05; int three_c = +24 * i_05 - 27 * i0 + 6 * i05;
max = float(three_c) + float(three_a) * ret_val * ret_val + float(three_b) * ret_val; max = float(three_c) + float(three_a) * ret_val * ret_val + float(three_b) * ret_val;
max /= 3072.0; max /= 3072.0f;
return ret_val; return ret_val;
} }
...@@ -1789,17 +1774,17 @@ BriskScaleSpace::refine1D_1(const float s_05, const float s0, const float s05, f ...@@ -1789,17 +1774,17 @@ BriskScaleSpace::refine1D_1(const float s_05, const float s0, const float s05, f
if (s0 >= s_05 && s0 >= s05) if (s0 >= s_05 && s0 >= s05)
{ {
max = s0; max = s0;
return 1.0; return 1.0f;
} }
if (s_05 >= s0 && s_05 >= s05) if (s_05 >= s0 && s_05 >= s05)
{ {
max = s_05; max = s_05;
return 0.6666666666666666666666666667; return 0.6666666666666666666666666667f;
} }
if (s05 >= s0 && s05 >= s_05) if (s05 >= s0 && s05 >= s_05)
{ {
max = s05; max = s05;
return 1.3333333333333333333333333333; return 1.3333333333333333333333333333f;
} }
} }
...@@ -1807,13 +1792,13 @@ BriskScaleSpace::refine1D_1(const float s_05, const float s0, const float s05, f ...@@ -1807,13 +1792,13 @@ BriskScaleSpace::refine1D_1(const float s_05, const float s0, const float s05, f
// calculate max location: // calculate max location:
float ret_val = -float(two_b) / float(2 * two_a); float ret_val = -float(two_b) / float(2 * two_a);
// saturate and return // saturate and return
if (ret_val < 0.6666666666666666666666666667) if (ret_val < 0.6666666666666666666666666667f)
ret_val = 0.666666666666666666666666667; ret_val = 0.666666666666666666666666667f;
else if (ret_val > 1.33333333333333333333333333) else if (ret_val > 1.33333333333333333333333333f)
ret_val = 1.333333333333333333333333333; ret_val = 1.333333333333333333333333333f;
int two_c = +12 * i_05 - 16 * i0 + 6 * i05; int two_c = +12 * i_05 - 16 * i0 + 6 * i05;
max = float(two_c) + float(two_a) * ret_val * ret_val + float(two_b) * ret_val; max = float(two_c) + float(two_a) * ret_val * ret_val + float(two_b) * ret_val;
max /= 2048.0; max /= 2048.0f;
return ret_val; return ret_val;
} }
...@@ -1835,17 +1820,17 @@ BriskScaleSpace::refine1D_2(const float s_05, const float s0, const float s05, f ...@@ -1835,17 +1820,17 @@ BriskScaleSpace::refine1D_2(const float s_05, const float s0, const float s05, f
if (s0 >= s_05 && s0 >= s05) if (s0 >= s_05 && s0 >= s05)
{ {
max = s0; max = s0;
return 1.0; return 1.0f;
} }
if (s_05 >= s0 && s_05 >= s05) if (s_05 >= s0 && s_05 >= s05)
{ {
max = s_05; max = s_05;
return 0.7; return 0.7f;
} }
if (s05 >= s0 && s05 >= s_05) if (s05 >= s0 && s05 >= s_05)
{ {
max = s05; max = s05;
return 1.5; return 1.5f;
} }
} }
...@@ -1853,10 +1838,10 @@ BriskScaleSpace::refine1D_2(const float s_05, const float s0, const float s05, f ...@@ -1853,10 +1838,10 @@ BriskScaleSpace::refine1D_2(const float s_05, const float s0, const float s05, f
// calculate max location: // calculate max location:
float ret_val = -float(b) / float(2 * a); float ret_val = -float(b) / float(2 * a);
// saturate and return // saturate and return
if (ret_val < 0.7) if (ret_val < 0.7f)
ret_val = 0.7; ret_val = 0.7f;
else if (ret_val > 1.5) else if (ret_val > 1.5f)
ret_val = 1.5; // allow to be slightly off bounds ...? ret_val = 1.5f; // allow to be slightly off bounds ...?
int c = +3 * i_05 - 3 * i0 + 1 * i05; int c = +3 * i_05 - 3 * i0 + 1 * i05;
max = float(c) + float(a) * ret_val * ret_val + float(b) * ret_val; max = float(c) + float(a) * ret_val * ret_val + float(b) * ret_val;
max /= 1024; max /= 1024;
...@@ -1870,56 +1855,56 @@ BriskScaleSpace::subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, c ...@@ -1870,56 +1855,56 @@ BriskScaleSpace::subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, c
{ {
// the coefficients of the 2d quadratic function least-squares fit: // the coefficients of the 2d quadratic function least-squares fit:
register int tmp1 = s_0_0 + s_0_2 - 2 * s_1_1 + s_2_0 + s_2_2; int tmp1 = s_0_0 + s_0_2 - 2 * s_1_1 + s_2_0 + s_2_2;
register int coeff1 = 3 * (tmp1 + s_0_1 - ((s_1_0 + s_1_2) << 1) + s_2_1); int coeff1 = 3 * (tmp1 + s_0_1 - ((s_1_0 + s_1_2) << 1) + s_2_1);
register int coeff2 = 3 * (tmp1 - ((s_0_1 + s_2_1) << 1) + s_1_0 + s_1_2); int coeff2 = 3 * (tmp1 - ((s_0_1 + s_2_1) << 1) + s_1_0 + s_1_2);
register int tmp2 = s_0_2 - s_2_0; int tmp2 = s_0_2 - s_2_0;
register int tmp3 = (s_0_0 + tmp2 - s_2_2); int tmp3 = (s_0_0 + tmp2 - s_2_2);
register int tmp4 = tmp3 - 2 * tmp2; int tmp4 = tmp3 - 2 * tmp2;
register int coeff3 = -3 * (tmp3 + s_0_1 - s_2_1); int coeff3 = -3 * (tmp3 + s_0_1 - s_2_1);
register int coeff4 = -3 * (tmp4 + s_1_0 - s_1_2); int coeff4 = -3 * (tmp4 + s_1_0 - s_1_2);
register int coeff5 = (s_0_0 - s_0_2 - s_2_0 + s_2_2) << 2; int coeff5 = (s_0_0 - s_0_2 - s_2_0 + s_2_2) << 2;
register int coeff6 = -(s_0_0 + s_0_2 - ((s_1_0 + s_0_1 + s_1_2 + s_2_1) << 1) - 5 * s_1_1 + s_2_0 + s_2_2) << 1; int coeff6 = -(s_0_0 + s_0_2 - ((s_1_0 + s_0_1 + s_1_2 + s_2_1) << 1) - 5 * s_1_1 + s_2_0 + s_2_2) << 1;
// 2nd derivative test: // 2nd derivative test:
register int H_det = 4 * coeff1 * coeff2 - coeff5 * coeff5; int H_det = 4 * coeff1 * coeff2 - coeff5 * coeff5;
if (H_det == 0) if (H_det == 0)
{ {
delta_x = 0.0; delta_x = 0.0f;
delta_y = 0.0; delta_y = 0.0f;
return float(coeff6) / 18.0; return float(coeff6) / 18.0f;
} }
if (!(H_det > 0 && coeff1 < 0)) if (!(H_det > 0 && coeff1 < 0))
{ {
// The maximum must be at the one of the 4 patch corners. // The maximum must be at the one of the 4 patch corners.
int tmp_max = coeff3 + coeff4 + coeff5; int tmp_max = coeff3 + coeff4 + coeff5;
delta_x = 1.0; delta_x = 1.0f;
delta_y = 1.0; delta_y = 1.0f;
int tmp = -coeff3 + coeff4 - coeff5; int tmp = -coeff3 + coeff4 - coeff5;
if (tmp > tmp_max) if (tmp > tmp_max)
{ {
tmp_max = tmp; tmp_max = tmp;
delta_x = -1.0; delta_x = -1.0f;
delta_y = 1.0; delta_y = 1.0f;
} }
tmp = coeff3 - coeff4 - coeff5; tmp = coeff3 - coeff4 - coeff5;
if (tmp > tmp_max) if (tmp > tmp_max)
{ {
tmp_max = tmp; tmp_max = tmp;
delta_x = 1.0; delta_x = 1.0f;
delta_y = -1.0; delta_y = -1.0f;
} }
tmp = -coeff3 - coeff4 + coeff5; tmp = -coeff3 - coeff4 + coeff5;
if (tmp > tmp_max) if (tmp > tmp_max)
{ {
tmp_max = tmp; tmp_max = tmp;
delta_x = -1.0; delta_x = -1.0f;
delta_y = -1.0; delta_y = -1.0f;
} }
return float(tmp_max + coeff1 + coeff2 + coeff6) / 18.0; return float(tmp_max + coeff1 + coeff2 + coeff6) / 18.0f;
} }
// this is hopefully the normal outcome of the Hessian test // this is hopefully the normal outcome of the Hessian test
...@@ -1942,50 +1927,50 @@ BriskScaleSpace::subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, c ...@@ -1942,50 +1927,50 @@ BriskScaleSpace::subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, c
if (tx || tx_ || ty || ty_) if (tx || tx_ || ty || ty_)
{ {
// get two candidates: // get two candidates:
float delta_x1 = 0.0, delta_x2 = 0.0, delta_y1 = 0.0, delta_y2 = 0.0; float delta_x1 = 0.0f, delta_x2 = 0.0f, delta_y1 = 0.0f, delta_y2 = 0.0f;
if (tx) if (tx)
{ {
delta_x1 = 1.0; delta_x1 = 1.0f;
delta_y1 = -float(coeff4 + coeff5) / float(2 * coeff2); delta_y1 = -float(coeff4 + coeff5) / float(2 * coeff2);
if (delta_y1 > 1.0) if (delta_y1 > 1.0f)
delta_y1 = 1.0; delta_y1 = 1.0f;
else if (delta_y1 < -1.0) else if (delta_y1 < -1.0f)
delta_y1 = -1.0; delta_y1 = -1.0f;
} }
else if (tx_) else if (tx_)
{ {
delta_x1 = -1.0; delta_x1 = -1.0f;
delta_y1 = -float(coeff4 - coeff5) / float(2 * coeff2); delta_y1 = -float(coeff4 - coeff5) / float(2 * coeff2);
if (delta_y1 > 1.0) if (delta_y1 > 1.0f)
delta_y1 = 1.0; delta_y1 = 1.0f;
else if (delta_y1 < -1.0) else if (delta_y1 < -1.0)
delta_y1 = -1.0; delta_y1 = -1.0f;
} }
if (ty) if (ty)
{ {
delta_y2 = 1.0; delta_y2 = 1.0f;
delta_x2 = -float(coeff3 + coeff5) / float(2 * coeff1); delta_x2 = -float(coeff3 + coeff5) / float(2 * coeff1);
if (delta_x2 > 1.0) if (delta_x2 > 1.0f)
delta_x2 = 1.0; delta_x2 = 1.0f;
else if (delta_x2 < -1.0) else if (delta_x2 < -1.0f)
delta_x2 = -1.0; delta_x2 = -1.0f;
} }
else if (ty_) else if (ty_)
{ {
delta_y2 = -1.0; delta_y2 = -1.0f;
delta_x2 = -float(coeff3 - coeff5) / float(2 * coeff1); delta_x2 = -float(coeff3 - coeff5) / float(2 * coeff1);
if (delta_x2 > 1.0) if (delta_x2 > 1.0f)
delta_x2 = 1.0; delta_x2 = 1.0f;
else if (delta_x2 < -1.0) else if (delta_x2 < -1.0f)
delta_x2 = -1.0; delta_x2 = -1.0f;
} }
// insert both options for evaluation which to pick // insert both options for evaluation which to pick
float max1 = (coeff1 * delta_x1 * delta_x1 + coeff2 * delta_y1 * delta_y1 + coeff3 * delta_x1 + coeff4 * delta_y1 float max1 = (coeff1 * delta_x1 * delta_x1 + coeff2 * delta_y1 * delta_y1 + coeff3 * delta_x1 + coeff4 * delta_y1
+ coeff5 * delta_x1 * delta_y1 + coeff6) + coeff5 * delta_x1 * delta_y1 + coeff6)
/ 18.0; / 18.0f;
float max2 = (coeff1 * delta_x2 * delta_x2 + coeff2 * delta_y2 * delta_y2 + coeff3 * delta_x2 + coeff4 * delta_y2 float max2 = (coeff1 * delta_x2 * delta_x2 + coeff2 * delta_y2 * delta_y2 + coeff3 * delta_x2 + coeff4 * delta_y2
+ coeff5 * delta_x2 * delta_y2 + coeff6) + coeff5 * delta_x2 * delta_y2 + coeff6)
/ 18.0; / 18.0f;
if (max1 > max2) if (max1 > max2)
{ {
delta_x = delta_x1; delta_x = delta_x1;
...@@ -2003,7 +1988,7 @@ BriskScaleSpace::subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, c ...@@ -2003,7 +1988,7 @@ BriskScaleSpace::subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, c
// this is the case of the maximum inside the boundaries: // this is the case of the maximum inside the boundaries:
return (coeff1 * delta_x * delta_x + coeff2 * delta_y * delta_y + coeff3 * delta_x + coeff4 * delta_y return (coeff1 * delta_x * delta_x + coeff2 * delta_y * delta_y + coeff3 * delta_x + coeff4 * delta_y
+ coeff5 * delta_x * delta_y + coeff6) + coeff5 * delta_x * delta_y + coeff6)
/ 18.0; / 18.0f;
} }
// construct a layer // construct a layer
...@@ -2016,8 +2001,8 @@ BriskLayer::BriskLayer(const cv::Mat& img_in, float scale_in, float offset_in) ...@@ -2016,8 +2001,8 @@ BriskLayer::BriskLayer(const cv::Mat& img_in, float scale_in, float offset_in)
offset_ = offset_in; offset_ = offset_in;
// create an agast detector // create an agast detector
fast_9_16_ = new FastFeatureDetector(1, true, FastFeatureDetector::TYPE_9_16); fast_9_16_ = new FastFeatureDetector(1, true, FastFeatureDetector::TYPE_9_16);
makeOffsets(pixel_5_8_, img_.step, 8); makeOffsets(pixel_5_8_, (int)img_.step, 8);
makeOffsets(pixel_9_16_, img_.step, 16); makeOffsets(pixel_9_16_, (int)img_.step, 16);
} }
// derive a layer // derive a layer
BriskLayer::BriskLayer(const BriskLayer& layer, int mode) BriskLayer::BriskLayer(const BriskLayer& layer, int mode)
...@@ -2027,68 +2012,69 @@ BriskLayer::BriskLayer(const BriskLayer& layer, int mode) ...@@ -2027,68 +2012,69 @@ BriskLayer::BriskLayer(const BriskLayer& layer, int mode)
img_.create(layer.img().rows / 2, layer.img().cols / 2, CV_8U); img_.create(layer.img().rows / 2, layer.img().cols / 2, CV_8U);
halfsample(layer.img(), img_); halfsample(layer.img(), img_);
scale_ = layer.scale() * 2; scale_ = layer.scale() * 2;
offset_ = 0.5 * scale_ - 0.5; offset_ = 0.5f * scale_ - 0.5f;
} }
else else
{ {
img_.create(2 * (layer.img().rows / 3), 2 * (layer.img().cols / 3), CV_8U); img_.create(2 * (layer.img().rows / 3), 2 * (layer.img().cols / 3), CV_8U);
twothirdsample(layer.img(), img_); twothirdsample(layer.img(), img_);
scale_ = layer.scale() * 1.5; scale_ = layer.scale() * 1.5f;
offset_ = 0.5 * scale_ - 0.5; offset_ = 0.5f * scale_ - 0.5f;
} }
scores_ = cv::Mat::zeros(img_.rows, img_.cols, CV_8U); scores_ = cv::Mat::zeros(img_.rows, img_.cols, CV_8U);
fast_9_16_ = new FastFeatureDetector(1, false, FastFeatureDetector::TYPE_9_16); fast_9_16_ = new FastFeatureDetector(1, false, FastFeatureDetector::TYPE_9_16);
makeOffsets(pixel_5_8_, img_.step, 8); makeOffsets(pixel_5_8_, (int)img_.step, 8);
makeOffsets(pixel_9_16_, img_.step, 16); makeOffsets(pixel_9_16_, (int)img_.step, 16);
} }
// Fast/Agast // Fast/Agast
// wraps the agast class // wraps the agast class
void void
BriskLayer::getAgastPoints(uint8_t threshold, std::vector<KeyPoint>& keypoints) BriskLayer::getAgastPoints(int threshold, std::vector<KeyPoint>& keypoints)
{ {
fast_9_16_->set("threshold", threshold); fast_9_16_->set("threshold", threshold);
fast_9_16_->detect(img_, keypoints); fast_9_16_->detect(img_, keypoints);
// also write scores // also write scores
const int num = keypoints.size(); const size_t num = keypoints.size();
for (int i = 0; i < num; i++) for (size_t i = 0; i < num; i++)
scores_(keypoints[i].pt.y, keypoints[i].pt.x) = keypoints[i].response; scores_((int)keypoints[i].pt.y, (int)keypoints[i].pt.x) = saturate_cast<uchar>(keypoints[i].response);
} }
inline uint8_t
BriskLayer::getAgastScore(int x, int y, uint8_t threshold) const inline int
BriskLayer::getAgastScore(int x, int y, int threshold) const
{ {
if (x < 3 || y < 3) if (x < 3 || y < 3)
return 0; return 0;
if (x >= img_.cols - 3 || y >= img_.rows - 3) if (x >= img_.cols - 3 || y >= img_.rows - 3)
return 0; return 0;
uint8_t& score = *(scores_.data + x + y * scores_.cols); uchar& score = (uchar&)scores_(y, x);
if (score > 2) if (score > 2)
{ {
return score; return score;
} }
score = cornerScore<16>(img_.data + x + y * img_.cols, pixel_9_16_, threshold - 1); score = (uchar)cornerScore<16>(&img_.at<uchar>(y, x), pixel_9_16_, threshold - 1);
if (score < threshold) if (score < threshold)
score = 0; score = 0;
return score; return score;
} }
inline uint8_t inline int
BriskLayer::getAgastScore_5_8(int x, int y, uint8_t threshold) const BriskLayer::getAgastScore_5_8(int x, int y, int threshold) const
{ {
if (x < 2 || y < 2) if (x < 2 || y < 2)
return 0; return 0;
if (x >= img_.cols - 2 || y >= img_.rows - 2) if (x >= img_.cols - 2 || y >= img_.rows - 2)
return 0; return 0;
uint8_t score = cornerScore<8>(img_.data + x + y * img_.cols, pixel_5_8_, threshold - 1); int score = cornerScore<8>(&img_.at<uchar>(y, x), pixel_5_8_, threshold - 1);
if (score < threshold) if (score < threshold)
score = 0; score = 0;
return score; return score;
} }
inline uint8_t inline int
BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_in) const BriskLayer::getAgastScore(float xf, float yf, int threshold_in, float scale_in) const
{ {
if (scale_in <= 1.0f) if (scale_in <= 1.0f)
{ {
...@@ -2100,8 +2086,8 @@ BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_ ...@@ -2100,8 +2086,8 @@ BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_
const float ry1 = yf - float(y); const float ry1 = yf - float(y);
const float ry = 1.0f - ry1; const float ry = 1.0f - ry1;
return rx * ry * getAgastScore(x, y, threshold_in) + rx1 * ry * getAgastScore(x + 1, y, threshold_in) return (uchar)(rx * ry * getAgastScore(x, y, threshold_in) + rx1 * ry * getAgastScore(x + 1, y, threshold_in)
+ rx * ry1 * getAgastScore(x, y + 1, threshold_in) + rx1 * ry1 * getAgastScore(x + 1, y + 1, threshold_in); + rx * ry1 * getAgastScore(x, y + 1, threshold_in) + rx1 * ry1 * getAgastScore(x + 1, y + 1, threshold_in));
} }
else else
{ {
...@@ -2121,26 +2107,26 @@ BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_ ...@@ -2121,26 +2107,26 @@ BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_
} }
// access gray values (smoothed/interpolated) // access gray values (smoothed/interpolated)
inline uint8_t inline int
BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const
{ {
assert(!mat.empty()); assert(!mat.empty());
// get the position // get the position
const int x = floor(xf); const int x = cvFloor(xf);
const int y = floor(yf); const int y = cvFloor(yf);
const cv::Mat& image = mat; const cv::Mat& image = mat;
const int& imagecols = image.cols; const int& imagecols = image.cols;
// get the sigma_half: // get the sigma_half:
const float sigma_half = scale_in / 2; const float sigma_half = scale_in / 2;
const float area = 4.0 * sigma_half * sigma_half; const float area = 4.0f * sigma_half * sigma_half;
// calculate output: // calculate output:
int ret_val; int ret_val;
if (sigma_half < 0.5) if (sigma_half < 0.5)
{ {
//interpolation multipliers: //interpolation multipliers:
const int r_x = (xf - x) * 1024; const int r_x = (int)((xf - x) * 1024);
const int r_y = (yf - y) * 1024; const int r_y = (int)((yf - y) * 1024);
const int r_x_1 = (1024 - r_x); const int r_x_1 = (1024 - r_x);
const int r_y_1 = (1024 - r_y); const int r_y_1 = (1024 - r_y);
uchar* ptr = image.data + x + y * imagecols; uchar* ptr = image.data + x + y * imagecols;
...@@ -2158,8 +2144,8 @@ BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const ...@@ -2158,8 +2144,8 @@ BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const
// this is the standard case (simple, not speed optimized yet): // this is the standard case (simple, not speed optimized yet):
// scaling: // scaling:
const int scaling = 4194304.0 / area; const int scaling = (int)(4194304.0f / area);
const int scaling2 = float(scaling) * area / 1024.0; const int scaling2 = (int)(float(scaling) * area / 1024.0f);
// calculate borders // calculate borders
const float x_1 = xf - sigma_half; const float x_1 = xf - sigma_half;
...@@ -2173,20 +2159,20 @@ BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const ...@@ -2173,20 +2159,20 @@ BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const
const int y_bottom = int(y1 + 0.5); const int y_bottom = int(y1 + 0.5);
// overlap area - multiplication factors: // overlap area - multiplication factors:
const float r_x_1 = float(x_left) - x_1 + 0.5; const float r_x_1 = float(x_left) - x_1 + 0.5f;
const float r_y_1 = float(y_top) - y_1 + 0.5; const float r_y_1 = float(y_top) - y_1 + 0.5f;
const float r_x1 = x1 - float(x_right) + 0.5; const float r_x1 = x1 - float(x_right) + 0.5f;
const float r_y1 = y1 - float(y_bottom) + 0.5; const float r_y1 = y1 - float(y_bottom) + 0.5f;
const int dx = x_right - x_left - 1; const int dx = x_right - x_left - 1;
const int dy = y_bottom - y_top - 1; const int dy = y_bottom - y_top - 1;
const int A = (r_x_1 * r_y_1) * scaling; const int A = (int)((r_x_1 * r_y_1) * scaling);
const int B = (r_x1 * r_y_1) * scaling; const int B = (int)((r_x1 * r_y_1) * scaling);
const int C = (r_x1 * r_y1) * scaling; const int C = (int)((r_x1 * r_y1) * scaling);
const int D = (r_x_1 * r_y1) * scaling; const int D = (int)((r_x_1 * r_y1) * scaling);
const int r_x_1_i = r_x_1 * scaling; const int r_x_1_i = (int)(r_x_1 * scaling);
const int r_y_1_i = r_y_1 * scaling; const int r_y_1_i = (int)(r_y_1 * scaling);
const int r_x1_i = r_x1 * scaling; const int r_x1_i = (int)(r_x1 * scaling);
const int r_y1_i = r_y1 * scaling; const int r_y1_i = (int)(r_y1 * scaling);
// now the calculation: // now the calculation:
uchar* ptr = image.data + x_left + imagecols * y_top; uchar* ptr = image.data + x_left + imagecols * y_top;
......
modules/imgproc/src/imgwarp.cpp
View file @ 01410678
...@@ -1314,7 +1314,7 @@ public: ...@@ -1314,7 +1314,7 @@ public:
ssize.width *= cn; ssize.width *= cn;
int dy, dx, k = 0; int dy, dx, k = 0;
VecOp vop(scale_x, scale_y, src.channels(), src.step/*, area_ofs*/); VecOp vop(scale_x, scale_y, src.channels(), (int)src.step/*, area_ofs*/);
for( dy = range.start; dy < range.end; dy++ ) for( dy = range.start; dy < range.end; dy++ )
{ {
......
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