added improved ORB implementation, convex-convex polygon intersection, eigen2x2…

added improved ORB implementation, convex-convex polygon intersection, eigen2x2 low-level function ...

modules/contrib/src/templatebuffer.hpp

@@ -260,7 +260,7 @@ public:
 	* @param sensitivity: strenght of the sigmoide
 	* @param maxOutputValue: the maximum output value
 	*/
-	inline void normalizeGrayOutputCentredSigmoide(const type meanValue=(type)0.0, const type sensitivity=(type)2.0, const type maxOutputValue=(type)255.0){normalizeGrayOutputCentredSigmoide(meanValue, sensitivity, 255.0, this->Buffer(), this->Buffer(), this->getNBpixels()), maxOutputValue;};
+	inline void normalizeGrayOutputCentredSigmoide(const type meanValue=(type)0.0, const type sensitivity=(type)2.0, const type maxOutputValue=(type)255.0){normalizeGrayOutputCentredSigmoide(meanValue, sensitivity, 255.0, this->Buffer(), this->Buffer(), this->getNBpixels());};
 
 	/**
 	* sigmoide image normalization function (saturates min and max values), in this function, the sigmoide is centered on low values (high saturation of the medium and high values

modules/core/include/opencv2/core/core.hpp

@@ -729,6 +729,8 @@ public:
     _Tp dot(const Point_& pt) const;
     //! dot product computed in double-precision arithmetics
     double ddot(const Point_& pt) const;
+    //! cross-product
+    double cross(const Point_& pt) const;
     //! checks whether the point is inside the specified rectangle
     bool inside(const Rect_<_Tp>& r) const;
     
@@ -1274,6 +1276,7 @@ public:
     _InputArray();
     _InputArray(const Mat& m);
     _InputArray(const MatExpr& expr);
+    template<typename _Tp> _InputArray(const _Tp* vec, int n);
     template<typename _Tp> _InputArray(const vector<_Tp>& vec);
     template<typename _Tp> _InputArray(const vector<vector<_Tp> >& vec);
     _InputArray(const vector<Mat>& vec);
@@ -1323,6 +1326,7 @@ public:
     template<typename _Tp> _OutputArray(vector<vector<_Tp> >& vec);
     _OutputArray(vector<Mat>& vec);
     template<typename _Tp, int m, int n> _OutputArray(Matx<_Tp, m, n>& matx);
+    template<typename _Tp> _OutputArray(_Tp* vec, int n);
     virtual bool fixedSize() const;
     virtual bool fixedType() const;
     virtual bool needed() const;

modules/core/include/opencv2/core/mat.hpp

@@ -1112,6 +1112,9 @@ template<typename _Tp> inline _InputArray::_InputArray(const vector<vector<_Tp>
 
 template<typename _Tp, int m, int n> inline _InputArray::_InputArray(const Matx<_Tp, m, n>& mtx)
     : flags(MATX + DataType<_Tp>::type), obj((void*)&mtx), sz(n, m) {}
+    
+template<typename _Tp> inline _InputArray::_InputArray(const _Tp* vec, int n)
+    : flags(MATX + DataType<_Tp>::type), obj((void*)vec), sz(n, 1) {}
 
 inline _InputArray::_InputArray(const Scalar& s)
     : flags(MATX + CV_64F), obj((void*)&s), sz(1, 4) {} 
@@ -1119,6 +1122,7 @@ inline _InputArray::_InputArray(const Scalar& s)
 template<typename _Tp> inline _OutputArray::_OutputArray(vector<_Tp>& vec) : _InputArray(vec) {}
 template<typename _Tp> inline _OutputArray::_OutputArray(vector<vector<_Tp> >& vec) : _InputArray(vec) {}
 template<typename _Tp, int m, int n> inline _OutputArray::_OutputArray(Matx<_Tp, m, n>& mtx) : _InputArray(mtx) {}
+template<typename _Tp> inline _OutputArray::_OutputArray(_Tp* vec, int n) : _InputArray(vec, n) {}
     
 //////////////////////////////////// Matrix Expressions /////////////////////////////////////////
 

modules/core/include/opencv2/core/operations.hpp

@@ -1599,6 +1599,9 @@ template<typename _Tp> inline _Tp Point_<_Tp>::dot(const Point_& pt) const
 template<typename _Tp> inline double Point_<_Tp>::ddot(const Point_& pt) const
 { return (double)x*pt.x + (double)y*pt.y; }
 
+template<typename _Tp> inline double Point_<_Tp>::cross(const Point_& pt) const
+{ return (double)x*pt.y - (double)y*pt.x; }
+    
 template<typename _Tp> static inline Point_<_Tp>&
 operator += (Point_<_Tp>& a, const Point_<_Tp>& b)
 {

modules/core/src/drawing.cpp

@@ -2050,7 +2050,9 @@ void cv::polylines(InputOutputArray _img, InputArrayOfArrays pts,
                    int thickness, int lineType, int shift )
 {
     Mat img = _img.getMat();
-    int i, ncontours = (int)pts.total();
+    bool manyContours = pts.kind() == _InputArray::STD_VECTOR_VECTOR ||
+                        pts.kind() == _InputArray::STD_VECTOR_MAT;
+    int i, ncontours = manyContours ? (int)pts.total() : 1;
     if( ncontours == 0 )
         return;
     AutoBuffer<Point*> _ptsptr(ncontours);
@@ -2060,7 +2062,9 @@ void cv::polylines(InputOutputArray _img, InputArrayOfArrays pts,
     
     for( i = 0; i < ncontours; i++ )
     {
-        Mat p = pts.getMat(i);
+        Mat p = pts.getMat(manyContours ? i : -1);
+        if( p.total() == 0 )
+            continue;
         CV_Assert(p.checkVector(2, CV_32S) >= 0);
         ptsptr[i] = (Point*)p.data;
         npts[i] = p.rows*p.cols*p.channels()/2;

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

@@ -422,16 +422,15 @@ public:
 
   struct CV_EXPORTS CommonParams
   {
-    enum { DEFAULT_N_LEVELS = 3, DEFAULT_FIRST_LEVEL = 0};
+    enum { DEFAULT_N_LEVELS = 3, DEFAULT_FIRST_LEVEL = 0, HARRIS_SCORE=0, FAST_SCORE=1 };
 
     /** default constructor */
     CommonParams(float scale_factor = 1.2f, unsigned n_levels = DEFAULT_N_LEVELS, int edge_threshold = 31,
-                 unsigned first_level = DEFAULT_FIRST_LEVEL) :
+                 unsigned first_level = DEFAULT_FIRST_LEVEL, int WTA_K=2, int score_type=HARRIS_SCORE) :
       scale_factor_(scale_factor), n_levels_(n_levels), first_level_(first_level >= n_levels ? 0 : first_level),
-      edge_threshold_(edge_threshold)
+      edge_threshold_(edge_threshold), WTA_K_(WTA_K), score_type_(score_type)
     {
-      // No other patch size is supported right now
-      patch_size_ = 31;
+        patch_size_ = 31;
     }
     void read(const FileNode& fn);
     void write(FileStorage& fs) const;
@@ -444,12 +443,16 @@ public:
      * if 1, that means we will also look at the image scale_factor_ times bigger
      */
     unsigned first_level_;
-    /** How far from the boundary the points should be */
+    /** How far from the boundary the points should be. */
     int edge_threshold_;
+    
+    /** How many random points are used to produce each cell of the descriptor (2, 3, 4 ...) */
+    int WTA_K_;
+      
+    /** Type of the score to use (FAST, HARRIS, ...) */  
+    int score_type_; 
 
-    friend class ORB;
-  protected:
-    /** The size of the patch that will be used for orientation and comparisons */
+    /** The size of the patch that will be used for orientation and comparisons (only 31 is supported)*/
     int patch_size_;
   };
 
@@ -483,8 +486,12 @@ public:
   void
   operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors,
              bool useProvidedKeypoints = false);
-
+    
+  void read(const FileNode& fn);
+  void write(FileStorage& fs) const;
+    
 private:
+  
   /** The size of the patch used when comparing regions in the patterns */
   static const int kKernelWidth = 5;
 
@@ -539,28 +546,20 @@ private:
   /** Parameters tuning ORB */
   CommonParams params_;
 
-  /** size of the half patch used for orientation computation, see Rosin - 1999 - Measuring Corner Properties */
-  int half_patch_size_;
-
-  /** pre-computed offsets used for the Harris verification, one vector per scale */
-  std::vector<std::vector<int> > orientation_horizontal_offsets_;
-  std::vector<std::vector<int> > orientation_vertical_offsets_;
-
   /** The steps of the integral images for each scale */
-  std::vector<size_t> integral_image_steps_;
+  vector<size_t> integral_image_steps_;
 
   /** The number of desired features per scale */
-  std::vector<size_t> n_features_per_level_;
+  vector<size_t> n_features_per_level_;
 
   /** The overall number of desired features */
   size_t n_features_;
-
-  /** the end of a row in a circular patch */
-  std::vector<int> u_max_;
-
-  /** The patterns for each level (the patterns are the same, but not their offset */
-  class OrbPatterns;
-  std::vector<OrbPatterns*> patterns_;
+    
+  /** The circular region to compute a feature orientation */
+  vector<int> u_max_;
+  
+  /** Points to compute BRIEF descriptors from */
+  vector<Point> pattern;
 };
 
 /*!
@@ -1551,10 +1550,6 @@ protected:
 private:
   /** the ORB object we use for the computations */
   mutable ORB orb_;
-  /** The parameters used */
-  ORB::CommonParams params_;
-  /** the number of features that need to be retrieved */
-  unsigned n_features_;
 };
 
 class CV_EXPORTS SimpleBlobDetector : public cv::FeatureDetector
@@ -1953,8 +1948,6 @@ protected:
 private:
   /** the ORB object we use for the computations */
   mutable ORB orb_;
-  /** The parameters used */
-  ORB::CommonParams params_;
 };
 
 /*
@@ -2157,6 +2150,17 @@ struct CV_EXPORTS Hamming
 
 typedef Hamming HammingLUT;
 
+template<int cellsize> struct CV_EXPORTS HammingMultilevel
+{
+    typedef unsigned char ValueType;
+    typedef int ResultType;
+    
+    ResultType operator()( const unsigned char* a, const unsigned char* b, int size ) const
+    {
+        return normHamming(a, b, size, cellsize);
+    }
+};
+    
 /****************************************************************************************\
 *                                      DMatch                                            *
 \****************************************************************************************/

modules/features2d/src/descriptors.cpp

@@ -63,7 +63,6 @@ void DescriptorExtractor::compute( const Mat& image, vector<KeyPoint>& keypoints
         return;
     }
 
-
     KeyPointsFilter::runByImageBorder( keypoints, image.size(), 0 );
     KeyPointsFilter::runByKeypointSize( keypoints, std::numeric_limits<float>::epsilon() );
 
@@ -247,8 +246,7 @@ int SurfDescriptorExtractor::descriptorType() const
 
 
 /** Default constructor */
-OrbDescriptorExtractor::OrbDescriptorExtractor(ORB::CommonParams params) :
-  params_(params)
+OrbDescriptorExtractor::OrbDescriptorExtractor(ORB::CommonParams params)
 {
   orb_ = ORB(0, params);
 }
@@ -260,16 +258,15 @@ void OrbDescriptorExtractor::computeImpl(const cv::Mat& image, std::vector<cv::K
 }
 void OrbDescriptorExtractor::read(const cv::FileNode& fn)
 {
-  params_.read(fn);
-  orb_ = ORB(0, params_);
+  orb_.read(fn);
 }
 void OrbDescriptorExtractor::write(cv::FileStorage& fs) const
 {
-  params_.write(fs);
+  orb_.write(fs);
 }
 int OrbDescriptorExtractor::descriptorSize() const
 {
-  return ORB::kBytes;
+  return orb_.descriptorSize();
 }
 int OrbDescriptorExtractor::descriptorType() const
 {

modules/features2d/src/detectors.cpp

@@ -449,43 +449,22 @@ void SurfFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoi
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-void ORB::CommonParams::read(const FileNode& fn)
-{
-  scale_factor_ = fn["scaleFactor"];
-  n_levels_ = int(fn["nLevels"]);
-  first_level_ = int(fn["firstLevel"]);
-  edge_threshold_ = fn["edgeThreshold"];
-  patch_size_ = fn["patchSize"];
-}
-
-void ORB::CommonParams::write(FileStorage& fs) const
-{
-  fs << "scaleFactor" << scale_factor_;
-  fs << "nLevels" << int(n_levels_);
-  fs << "firstLevel" << int(first_level_);
-  fs << "edgeThreshold" << int(edge_threshold_);
-  fs << "patchSize" << int(patch_size_);
-}
-
 /** Default constructor
  * @param n_features the number of desired features
  */
-OrbFeatureDetector::OrbFeatureDetector(size_t n_features, ORB::CommonParams params) :
-  params_(params)
+OrbFeatureDetector::OrbFeatureDetector(size_t n_features, ORB::CommonParams params)
 {
   orb_ = ORB(n_features, params);
 }
 
 void OrbFeatureDetector::read(const FileNode& fn)
 {
-  params_.read(fn);
-  n_features_ = int(fn["nFeatures"]);
+  orb_.read(fn);
 }
 
 void OrbFeatureDetector::write(FileStorage& fs) const
 {
-  params_.write(fs);
-  fs << "nFeatures" << int(n_features_);
+  orb_.write(fs);
 }
 
 void OrbFeatureDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask) const

modules/features2d/src/draw.cpp

@@ -138,6 +138,7 @@ static void _prepareImgAndDrawKeypoints( const Mat& img1, const vector<KeyPoint>
     else
     {
         outImg.create( size, CV_MAKETYPE(img1.depth(), 3) );
+        outImg = Scalar::all(0);
         outImg1 = outImg( Rect(0, 0, img1.cols, img1.rows) );
         outImg2 = outImg( Rect(img1.cols, 0, img2.cols, img2.rows) );
 

modules/features2d/src/evaluation.cpp

@@ -46,6 +46,39 @@
 using namespace cv;
 using namespace std;
 
+template<typename _Tp> static int solveQuadratic(_Tp a, _Tp b, _Tp c, _Tp& x1, _Tp& x2)
+{
+    if( a == 0 )
+    {
+        if( b == 0 )
+        {
+            x1 = x2 = 0;
+            return c == 0;
+        }
+        x1 = x2 = -c/b;
+        return 1;
+    }
+    
+    _Tp d = b*b - 4*a*c;
+    if( d < 0 )
+    {
+        x1 = x2 = 0;
+        return 0;
+    }
+    if( d > 0 )
+    {
+        d = std::sqrt(d);
+        double s = 1/(2*a);
+        x1 = (-b - d)*s;
+        x2 = (-b + d)*s;
+        if( x1 > x2 )
+            std::swap(x1, x2);
+        return 2;
+    }
+    x1 = x2 = -b/(2*a);
+    return 1;
+}
+
 //for android ndk
 #undef _S
 static inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
@@ -109,13 +142,13 @@ EllipticKeyPoint::EllipticKeyPoint( const Point2f& _center, const Scalar& _ellip
     center = _center;
     ellipse = _ellipse;
 
-    Mat_<double> M = getSecondMomentsMatrix(_ellipse), eval;
-    eigen( M, eval );
-    assert( eval.rows == 2 && eval.cols == 1 );
-    axes.width = 1.f / (float)sqrt(eval(0,0));
-    axes.height = 1.f / (float)sqrt(eval(1,0));
-
-    double ac_b2 = ellipse[0]*ellipse[2] - ellipse[1]*ellipse[1];
+    double a = ellipse[0], b = ellipse[1], c = ellipse[2];
+    double ac_b2 = a*c - b*b;
+    double x1, x2;
+    solveQuadratic(1., -(a+c), ac_b2, x1, x2);
+    axes.width = (float)(1/sqrt(x1));
+    axes.height = (float)(1/sqrt(x2));
+    
     boundingBox.width = (float)sqrt(ellipse[2]/ac_b2);
     boundingBox.height = (float)sqrt(ellipse[0]/ac_b2);
 }

modules/features2d/src/fast.cpp

@@ -370,7 +370,7 @@ void cv::FAST(const Mat& img, std::vector<KeyPoint>& keypoints, int threshold, b
                 score > pprev[j-1] && score > pprev[j] && score > pprev[j+1] &&
                 score > curr[j-1] && score > curr[j] && score > curr[j+1]) )
             {
-                keypoints.push_back(KeyPoint((float)j, (float)(i-1), 6.f, -1, (float)score));
+                keypoints.push_back(KeyPoint((float)j, (float)(i-1), 7.f, -1, (float)score));
             }
         }
     }

modules/features2d/src/matchers.cpp

@@ -340,10 +340,20 @@ Ptr<DescriptorMatcher> DescriptorMatcher::create( const string& descriptorMatche
     {
         dm = new BruteForceMatcher<Hamming>();
     }
-    else if( !descriptorMatcherType.compare( "BruteForce-HammingLUT") )
+    else if( !descriptorMatcherType.compare("BruteForce-HammingLUT") )
     {
         dm = new BruteForceMatcher<Hamming>();
     }
+    else if( !descriptorMatcherType.compare("BruteForce-Hamming(2)") )
+    {
+        dm = new BruteForceMatcher<HammingMultilevel<2> >();
+    }
+    else if( !descriptorMatcherType.compare("BruteForce-Hamming(4)") )
+    {
+        dm = new BruteForceMatcher<HammingMultilevel<4> >();
+    }
+    else
+        CV_Error( CV_StsBadArg, "Unknown matcher name" );
 
     return dm;
 }

modules/imgproc/include/opencv2/imgproc/imgproc.hpp

@@ -445,6 +445,9 @@ CV_EXPORTS_W void cornerHarris( InputArray src, OutputArray dst, int blockSize,
                                 int ksize, double k,
                                 int borderType=BORDER_DEFAULT );
 
+// low-level function for computing eigenvalues and eigenvectors of 2x2 matrices
+CV_EXPORTS void eigen2x2( const float* a, float* e, int n );
+    
 //! computes both eigenvalues and the eigenvectors of 2x2 derivative covariation matrix  at each pixel. The output is stored as 6-channel matrix.
 CV_EXPORTS_W void cornerEigenValsAndVecs( InputArray src, OutputArray dst,
                                           int blockSize, int ksize,
@@ -1016,6 +1019,10 @@ CV_EXPORTS_W void convexHull( InputArray points, OutputArray hull,
 //! returns true iff the contour is convex. Does not support contours with self-intersection
 CV_EXPORTS_W bool isContourConvex( InputArray contour );
 
+//! finds intersection of two convex polygons
+CV_EXPORTS_W float intersectConvexConvex( InputArray _p1, InputArray _p2,
+                                          OutputArray _p12, bool handleNested=true );
+
 //! fits ellipse to the set of 2D points
 CV_EXPORTS_W RotatedRect fitEllipse( InputArray points );
 

modules/imgproc/src/corner.cpp

@@ -161,11 +161,67 @@ calcHarris( const Mat& _cov, Mat& _dst, double k )
     }
 }
 
+    
+void eigen2x2( const float* cov, float* dst, int n )
+{
+    for( int j = 0; j < n; j++ )
+    {
+        double a = cov[j*3];
+        double b = cov[j*3+1];
+        double c = cov[j*3+2];
+        
+        double u = (a + c)*0.5;
+        double v = std::sqrt((a - c)*(a - c)*0.25 + b*b);
+        double l1 = u + v;
+        double l2 = u - v;
+        
+        double x = b;
+        double y = l1 - a;
+        double e = fabs(x);
+        
+        if( e + fabs(y) < 1e-4 )
+        {
+            y = b;
+            x = l1 - c;
+            e = fabs(x);
+            if( e + fabs(y) < 1e-4 )
+            {
+                e = 1./(e + fabs(y) + FLT_EPSILON);
+                x *= e, y *= e;
+            }
+        }
+        
+        double d = 1./std::sqrt(x*x + y*y + DBL_EPSILON);
+        dst[6*j] = (float)l1;
+        dst[6*j + 2] = (float)(x*d);
+        dst[6*j + 3] = (float)(y*d);
+        
+        x = b;
+        y = l2 - a;
+        e = fabs(x);
+        
+        if( e + fabs(y) < 1e-4 )
+        {
+            y = b;
+            x = l2 - c;
+            e = fabs(x);
+            if( e + fabs(y) < 1e-4 )
+            {
+                e = 1./(e + fabs(y) + FLT_EPSILON);
+                x *= e, y *= e;
+            }
+        }
+        
+        d = 1./std::sqrt(x*x + y*y + DBL_EPSILON);
+        dst[6*j + 1] = (float)l2;
+        dst[6*j + 4] = (float)(x*d);
+        dst[6*j + 5] = (float)(y*d);
+    }
+}
 
 static void
 calcEigenValsVecs( const Mat& _cov, Mat& _dst )
 {
-    int i, j;
     Size size = _cov.size();
     if( _cov.isContinuous() && _dst.isContinuous() )
     {
@@ -173,64 +229,12 @@ calcEigenValsVecs( const Mat& _cov, Mat& _dst )
         size.height = 1;
     }
 
-    for( i = 0; i < size.height; i++ )
+    for( int i = 0; i < size.height; i++ )
     {
         const float* cov = (const float*)(_cov.data + _cov.step*i);
         float* dst = (float*)(_dst.data + _dst.step*i);
 
-        for( j = 0; j < size.width; j++ )
-        {
-            double a = cov[j*3];
-            double b = cov[j*3+1];
-            double c = cov[j*3+2];
-
-            double u = (a + c)*0.5;
-            double v = std::sqrt((a - c)*(a - c)*0.25 + b*b);
-            double l1 = u + v;
-            double l2 = u - v;
-
-            double x = b;
-            double y = l1 - a;
-            double e = fabs(x);
-
-            if( e + fabs(y) < 1e-4 )
-            {
-                y = b;
-                x = l1 - c;
-                e = fabs(x);
-                if( e + fabs(y) < 1e-4 )
-                {
-                    e = 1./(e + fabs(y) + FLT_EPSILON);
-                    x *= e, y *= e;
-                }
-            }
-
-            double d = 1./std::sqrt(x*x + y*y + DBL_EPSILON);
-            dst[6*j] = (float)l1;
-            dst[6*j + 2] = (float)(x*d);
-            dst[6*j + 3] = (float)(y*d);
-
-            x = b;
-            y = l2 - a;
-            e = fabs(x);
-
-            if( e + fabs(y) < 1e-4 )
-            {
-                y = b;
-                x = l2 - c;
-                e = fabs(x);
-                if( e + fabs(y) < 1e-4 )
-                {
-                    e = 1./(e + fabs(y) + FLT_EPSILON);
-                    x *= e, y *= e;
-                }
-            }
-
-            d = 1./std::sqrt(x*x + y*y + DBL_EPSILON);
-            dst[6*j + 1] = (float)l2;
-            dst[6*j + 4] = (float)(x*d);
-            dst[6*j + 5] = (float)(y*d);
-        }
+        eigen2x2(cov, dst, size.width);
     }
 }
 

modules/imgproc/src/utils.cpp

@@ -206,6 +206,22 @@ void cv::copyMakeBorder( InputArray _src, OutputArray _dst, int top, int bottom,
     _dst.create( src.rows + top + bottom, src.cols + left + right, src.type() );
     Mat dst = _dst.getMat();
     
+    if( src.isSubmatrix() && (borderType & BORDER_ISOLATED) == 0 )
+    {
+        Size wholeSize;
+        Point ofs;
+        src.locateROI(wholeSize, ofs);
+        int dtop = std::min(ofs.y, top);
+        int dbottom = std::min(wholeSize.height - src.rows - ofs.y, bottom);
+        int dleft = std::min(ofs.x, left);
+        int dright = std::min(wholeSize.width - src.cols - ofs.x, right);
+        src.adjustROI(dtop, dbottom, dleft, dright);
+        top -= dtop;
+        left -= dleft;
+    }
+    
+    borderType &= ~BORDER_ISOLATED;
+    
     if( borderType != BORDER_CONSTANT )
         copyMakeBorder_8u( src.data, src.step, src.size(),
                            dst.data, dst.step, dst.size(),