added FAST<5/8> & FAST<7/12> (by Vincent Rabaud)

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

@@ -473,12 +473,18 @@ protected:
 
 //! detects corners using FAST algorithm by E. Rosten
 CV_EXPORTS void FAST( InputArray image, CV_OUT vector<KeyPoint>& keypoints,
-                      int threshold, bool nonmaxSupression=true );
+                      int threshold, bool nonmaxSupression=true, int type = 2 );
 
 class CV_EXPORTS_W FastFeatureDetector : public FeatureDetector
 {
 public:
-    CV_WRAP FastFeatureDetector( int threshold=10, bool nonmaxSuppression=true );
+    enum
+    {
+      TYPE_5_8 = 0, TYPE_7_12 = 1, TYPE_9_16 = 2
+    };
+
+    CV_WRAP FastFeatureDetector( int threshold=10, bool nonmaxSuppression=true);
+    CV_WRAP FastFeatureDetector( int threshold, bool nonmaxSuppression, int type);
     AlgorithmInfo* info() const;
 
 protected:
@@ -486,6 +492,7 @@ protected:
 
     int threshold;
     bool nonmaxSuppression;
+    int type;
 };
 
 

modules/features2d/perf/perf_fast.cpp

@@ -22,9 +22,13 @@ PERF_TEST_P(fast, detectForORB, testing::Values(FAST_IMAGES))
 
     declare.in(frame);
 
-    FastFeatureDetector fd(20, true);
+    FastFeatureDetector fd(20, true, FastFeatureDetector::TYPE_5_8);
     vector<KeyPoint> points;
 
     TEST_CYCLE() fd.detect(frame, points);
+    fd = FastFeatureDetector(20, true, FastFeatureDetector::TYPE_7_12);
+    TEST_CYCLE() fd.detect(frame, points);
+    fd = FastFeatureDetector(20, true, FastFeatureDetector::TYPE_9_16);
+    TEST_CYCLE() fd.detect(frame, points);
 }
 

modules/features2d/src/features2d_init.cpp

@@ -58,7 +58,8 @@ CV_INIT_ALGORITHM(BriefDescriptorExtractor, "Feature2D.BRIEF",
 
 CV_INIT_ALGORITHM(FastFeatureDetector, "Feature2D.FAST",
                   obj.info()->addParam(obj, "threshold", obj.threshold);
-                  obj.info()->addParam(obj, "nonmaxSuppression", obj.nonmaxSuppression));
+                  obj.info()->addParam(obj, "nonmaxSuppression", obj.nonmaxSuppression);
+                  obj.info()->addParam(obj, "type", obj.type, FastFeatureDetector::TYPE_9_16));
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////
 

modules/features2d/test/test_fast.cpp

@@ -58,6 +58,7 @@ CV_FastTest::~CV_FastTest() {}
 
 void CV_FastTest::run( int )
 {
+  for(int type=0; type <= 2; ++type) {
     Mat image1 = imread(string(ts->get_data_path()) + "inpaint/orig.jpg");
     Mat image2 = imread(string(ts->get_data_path()) + "cameracalibration/chess9.jpg");
     string xml = string(ts->get_data_path()) + "fast/result.xml";
@@ -74,8 +75,8 @@ void CV_FastTest::run( int )
 
     vector<KeyPoint> keypoints1;
     vector<KeyPoint> keypoints2;
-    FAST(gray1, keypoints1, 30);
-    FAST(gray2, keypoints2, 30);
+    FAST(gray1, keypoints1, 30, type);
+    FAST(gray2, keypoints2, 30, type);
 
     for(size_t i = 0; i < keypoints1.size(); ++i)
     {
@@ -109,17 +110,21 @@ void CV_FastTest::run( int )
     read( fs["exp_kps2"], exp_kps2, Mat() );
     fs.release();
 
+    // We only have testing data for 9_16 but it actually works equally well for 7_12
+    if ((type==1) || (type==2)){
     if ( 0 != norm(exp_kps1, kps1, NORM_L2) || 0 != norm(exp_kps2, kps2, NORM_L2))
     {
         ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
         return;
     }
+    }
 
- /*   cv::namedWindow("Img1"); cv::imshow("Img1", image1);
+    /*cv::namedWindow("Img1"); cv::imshow("Img1", image1);
     cv::namedWindow("Img2"); cv::imshow("Img2", image2);
     cv::waitKey(0);*/
+  }
 
-    ts->set_failed_test_info(cvtest::TS::OK);
+  ts->set_failed_test_info(cvtest::TS::OK);
 }
 
 TEST(Features2d_FAST, regression) { CV_FastTest test; test.safe_run(); }