Merge pull request #8777 from mshabunin:pr6852

modules/features2d/src/kaze/AKAZEFeatures.cpp

@@ -1117,7 +1117,7 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
   float di = 0.0, dx = 0.0, dy = 0.0;
   float ri = 0.0, rx = 0.0, ry = 0.0, xf = 0.0, yf = 0.0;
   float sample_x = 0.0, sample_y = 0.0, ratio = 0.0;
-  int x1 = 0, y1 = 0, sample_step = 0, pattern_size = 0;
+  int x1 = 0, y1 = 0;
   int level = 0, nsamples = 0, scale = 0;
   int dcount1 = 0, dcount2 = 0;
 
@@ -1125,9 +1125,11 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
   const std::vector<TEvolution>& evolution = *evolution_;
 
   // Matrices for the M-LDB descriptor
-  Mat values_1 = Mat::zeros(4, options.descriptor_channels, CV_32FC1);
-  Mat values_2 = Mat::zeros(9, options.descriptor_channels, CV_32FC1);
-  Mat values_3 = Mat::zeros(16, options.descriptor_channels, CV_32FC1);
+  Mat values[3] = {
+    Mat::zeros(4, options.descriptor_channels, CV_32FC1),
+    Mat::zeros(9, options.descriptor_channels, CV_32FC1),
+    Mat::zeros(16, options.descriptor_channels, CV_32FC1)
+  };
 
   // Get the information from the keypoint
   ratio = (float)(1 << kpt.octave);
@@ -1136,190 +1138,72 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
   yf = kpt.pt.y / ratio;
   xf = kpt.pt.x / ratio;
 
-  // First 2x2 grid
-  pattern_size = options_->descriptor_pattern_size;
-  sample_step = pattern_size;
-
-  for (int i = -pattern_size; i < pattern_size; i += sample_step) {
-    for (int j = -pattern_size; j < pattern_size; j += sample_step) {
-      di = dx = dy = 0.0;
-      nsamples = 0;
-
-      for (int k = i; k < i + sample_step; k++) {
-        for (int l = j; l < j + sample_step; l++) {
-
-          // Get the coordinates of the sample point
-          sample_y = yf + l*scale;
-          sample_x = xf + k*scale;
-
-          y1 = fRound(sample_y);
-          x1 = fRound(sample_x);
-
-          ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
-          rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
-          ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
-
-          di += ri;
-          dx += rx;
-          dy += ry;
-          nsamples++;
-        }
-      }
-
-      di /= nsamples;
-      dx /= nsamples;
-      dy /= nsamples;
-
-      *(values_1.ptr<float>(dcount2)) = di;
-      *(values_1.ptr<float>(dcount2)+1) = dx;
-      *(values_1.ptr<float>(dcount2)+2) = dy;
-      dcount2++;
-    }
-  }
-
-  // Do binary comparison first level
-  for (int i = 0; i < 4; i++) {
-    for (int j = i + 1; j < 4; j++) {
-      if (*(values_1.ptr<float>(i)) > *(values_1.ptr<float>(j))) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
-
-      if (*(values_1.ptr<float>(i)+1) > *(values_1.ptr<float>(j)+1)) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
-
-      if (*(values_1.ptr<float>(i)+2) > *(values_1.ptr<float>(j)+2)) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
-    }
-  }
-
-  // Second 3x3 grid
-  sample_step = static_cast<int>(ceil(pattern_size*2. / 3.));
-  dcount2 = 0;
-
-  for (int i = -pattern_size; i < pattern_size; i += sample_step) {
-    for (int j = -pattern_size; j < pattern_size; j += sample_step) {
-      di = dx = dy = 0.0;
-      nsamples = 0;
-
-      for (int k = i; k < i + sample_step; k++) {
-        for (int l = j; l < j + sample_step; l++) {
-
-          // Get the coordinates of the sample point
-          sample_y = yf + l*scale;
-          sample_x = xf + k*scale;
-
-          y1 = fRound(sample_y);
-          x1 = fRound(sample_x);
-
-          ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
-          rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
-          ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
-
-          di += ri;
-          dx += rx;
-          dy += ry;
-          nsamples++;
+  // For 2x2 grid, 3x3 grid and 4x4 grid
+  const int pattern_size = options_->descriptor_pattern_size;
+  int sample_step[3] = {
+    pattern_size,
+    static_cast<int>(ceil(pattern_size*2./3.)),
+    pattern_size / 2
+  };
+
+  // For the three grids
+  for (int z = 0; z < 3; z++) {
+    dcount2 = 0;
+    const int step = sample_step[z];
+    for (int i = -pattern_size; i < pattern_size; i += step) {
+      for (int j = -pattern_size; j < pattern_size; j += step) {
+        di = dx = dy = 0.0;
+        nsamples = 0;
+
+        for (int k = i; k < i + step; k++) {
+          for (int l = j; l < j + step; l++) {
+
+            // Get the coordinates of the sample point
+            sample_y = yf + l*scale;
+            sample_x = xf + k*scale;
+
+            y1 = fRound(sample_y);
+            x1 = fRound(sample_x);
+
+            ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
+            rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
+            ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
+
+            di += ri;
+            dx += rx;
+            dy += ry;
+            nsamples++;
+          }
         }
-      }
-
-      di /= nsamples;
-      dx /= nsamples;
-      dy /= nsamples;
-
-      *(values_2.ptr<float>(dcount2)) = di;
-      *(values_2.ptr<float>(dcount2)+1) = dx;
-      *(values_2.ptr<float>(dcount2)+2) = dy;
-      dcount2++;
-    }
-  }
 
-  //Do binary comparison second level
-  dcount2 = 0;
-  for (int i = 0; i < 9; i++) {
-    for (int j = i + 1; j < 9; j++) {
-      if (*(values_2.ptr<float>(i)) > *(values_2.ptr<float>(j))) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
+        di /= nsamples;
+        dx /= nsamples;
+        dy /= nsamples;
 
-      if (*(values_2.ptr<float>(i)+1) > *(values_2.ptr<float>(j)+1)) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
+        float *val = values[z].ptr<float>(dcount2);
+        *(val) = di;
+        *(val+1) = dx;
+        *(val+2) = dy;
+        dcount2++;
       }
-      dcount1++;
-
-      if (*(values_2.ptr<float>(i)+2) > *(values_2.ptr<float>(j)+2)) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
     }
-  }
-
-  // Third 4x4 grid
-  sample_step = pattern_size / 2;
-  dcount2 = 0;
-
-  for (int i = -pattern_size; i < pattern_size; i += sample_step) {
-    for (int j = -pattern_size; j < pattern_size; j += sample_step) {
-      di = dx = dy = 0.0;
-      nsamples = 0;
-
-      for (int k = i; k < i + sample_step; k++) {
-        for (int l = j; l < j + sample_step; l++) {
-
-          // Get the coordinates of the sample point
-          sample_y = yf + l*scale;
-          sample_x = xf + k*scale;
 
-          y1 = fRound(sample_y);
-          x1 = fRound(sample_x);
-
-          ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
-          rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
-          ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
-
-          di += ri;
-          dx += rx;
-          dy += ry;
-          nsamples++;
+    // Do binary comparison
+    const int num = (z + 2) * (z + 2);
+    for (int i = 0; i < num; i++) {
+      for (int j = i + 1; j < num; j++) {
+        const float * valI = values[z].ptr<float>(i);
+        const float * valJ = values[z].ptr<float>(j);
+        for (int k = 0; k < 3; ++k) {
+          if (*(valI + k) > *(valJ + k)) {
+            desc[dcount1 / 8] |= (1 << (dcount1 % 8));
+          }
+          dcount1++;
         }
       }
-
-      di /= nsamples;
-      dx /= nsamples;
-      dy /= nsamples;
-
-      *(values_3.ptr<float>(dcount2)) = di;
-      *(values_3.ptr<float>(dcount2)+1) = dx;
-      *(values_3.ptr<float>(dcount2)+2) = dy;
-      dcount2++;
     }
-  }
-
-  //Do binary comparison third level
-  dcount2 = 0;
-  for (int i = 0; i < 16; i++) {
-    for (int j = i + 1; j < 16; j++) {
-      if (*(values_3.ptr<float>(i)) > *(values_3.ptr<float>(j))) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
-
-      if (*(values_3.ptr<float>(i)+1) > *(values_3.ptr<float>(j)+1)) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
 
-      if (*(values_3.ptr<float>(i)+2) > *(values_3.ptr<float>(j)+2)) {
-        desc[dcount1 / 8] |= (1 << (dcount1 % 8));
-      }
-      dcount1++;
-    }
-  }
+  } // for (int z = 0; z < 3; z++)
 }
 
 void MLDB_Full_Descriptor_Invoker::MLDB_Fill_Values(float* values, int sample_step, int level,