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Commit 736b42b3 authored by Olexa Bilaniuk's avatar Olexa Bilaniuk
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Refactorings and renamings. 

- Deleted "RefC" from names of external-interface functions.
- Renamed rhorefc.[cpp|hpp] to rho.[cpp|hpp]
- Introduced RHO_HEST base class, from which RHO_HEST_REFC inherits.
- rhoInit() currently only returns a Ptr<RHO_HEST_REFC>, but in the
future it will be allowed to return pointers to other derived classes,
depending on the values returned by cv::checkHardwareSupport().
parent 3a4d9a77
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Showing with 236 additions and 112 deletions
modules/calib3d/src/fundam.cpp
View file @ 736b42b3
......@@ -41,7 +41,7 @@
//M*/
#include "precomp.hpp"
#include "rhorefc.h"
#include "rho.h"
#include <iostream>
namespace cv
......@@ -303,7 +303,7 @@ static bool createAndRunRHORegistrator(double confidence,
* initialized, used, then finalized.
*/
Ptr<RHO_HEST_REFC> p = rhoRefCInit();
Ptr<RHO_HEST> p = rhoInit();
/**
* Optional. Ideally, the context would survive across calls to
......@@ -311,7 +311,7 @@ static bool createAndRunRHORegistrator(double confidence,
* to pay is marginally more computational work than strictly needed.
*/
rhoRefCEnsureCapacity(p, npoints, beta);
rhoEnsureCapacity(p, npoints, beta);
/**
* The critical call. All parameters are heavily documented in rhorefc.h.
......@@ -324,7 +324,7 @@ static bool createAndRunRHORegistrator(double confidence,
* this behaviour is too problematic.
*/
result = !!rhoRefC(p,
result = !!rhoHest(p,
(const float*)src.data,
(const float*)dst.data,
(char*) tempMask.data,
......
modules/calib3d/src/rhorefc.cpp → modules/calib3d/src/rho.cpp
View file @ 736b42b3
......@@ -55,7 +55,7 @@
#include <float.h>
#include <math.h>
#include <vector>
#include "rhorefc.h"
#include "rho.h"
......@@ -84,7 +84,162 @@ const double LM_GAIN_HI = 0.75; /* See sacLMGain(). */
/* Data Structures */
struct RHO_HEST_REFC{
/**
* Base Struct for RHO algorithm.
*
* A RHO estimator has initialization, finalization, capacity, seeding and
* homography-estimation APIs that must be implemented.
*/
struct RHO_HEST{
/* This is a virtual base class; It should have a virtual destructor. */
virtual ~RHO_HEST(){}
/* External Interface Methods */
/**
* Initialization work.
*
* @return 0 if initialization is unsuccessful; non-zero otherwise.
*/
virtual inline int initialize(void){return 1;}
/**
* Finalization work.
*/
virtual inline void finalize(void){}
/**
* Ensure that the estimator context's internal table for the non-randomness
* criterion is at least of the given size, and uses the given beta. The table
* should be larger than the maximum number of matches fed into the estimator.
*
* A value of N of 0 requests deallocation of the table.
*
* @param [in] N If 0, deallocate internal table. If > 0, ensure that the
* internal table is of at least this size, reallocating if
* necessary.
* @param [in] beta The beta-factor to use within the table.
* @return 0 if unsuccessful; non-zero otherwise.
*/
virtual inline int ensureCapacity(unsigned N, double beta){
(void)N;
(void)beta;
return 1;
}
/**
* Generates a random double uniformly distributed in the range [0, 1).
*
* The default implementation uses the xorshift128+ algorithm from
* Sebastiano Vigna. Further scramblings of Marsaglia's xorshift generators.
* CoRR, abs/1402.6246, 2014.
* http://vigna.di.unimi.it/ftp/papers/xorshiftplus.pdf
*
* Source roughly as given in
* http://en.wikipedia.org/wiki/Xorshift#Xorshift.2B
*/
virtual inline double fastRandom(void){
uint64_t x = prng.s[0];
uint64_t y = prng.s[1];
x ^= x << 23; // a
x ^= x >> 17; // b
x ^= y ^ (y >> 26); // c
prng.s[0] = y;
prng.s[1] = x;
uint64_t s = x + y;
return s * 5.421010862427522e-20;/* 2^-64 */
}
/**
* Seeds the context's PRNG.
*
* @param [in] seed A 64-bit unsigned integer seed.
*/
virtual inline void fastSeed(uint64_t seed){
int i;
prng.s[0] = seed;
prng.s[1] = ~seed;/* Guarantees one of the elements will be non-zero. */
/**
* Escape from zero-land (see xorshift128+ paper). Approximately 20
* iterations required according to the graph.
*/
for(i=0;i<20;i++){
fastRandom();
}
}
/**
* Estimates the homography using the given context, matches and parameters to
* PROSAC.
*
* @param [in] src The pointer to the source points of the matches.
* Cannot be NULL.
* @param [in] dst The pointer to the destination points of the matches.
* Cannot be NULL.
* @param [out] inl The pointer to the output mask of inlier matches.
* May be NULL.
* @param [in] N The number of matches.
* @param [in] maxD The maximum distance.
* @param [in] maxI The maximum number of PROSAC iterations.
* @param [in] rConvg The RANSAC convergence parameter.
* @param [in] cfd The required confidence in the solution.
* @param [in] minInl The minimum required number of inliers.
* @param [in] beta The beta-parameter for the non-randomness criterion.
* @param [in] flags A union of flags to control the estimation.
* @param [in] guessH An extrinsic guess at the solution H, or NULL if
* none provided.
* @param [out] finalH The final estimation of H, or the zero matrix if
* the minimum number of inliers was not met.
* Cannot be NULL.
* @return The number of inliers if the minimum number of
* inliers for acceptance was reached; 0 otherwise.
*/
virtual unsigned rhoHest(const float* src, /* Source points */
const float* dst, /* Destination points */
char* inl, /* Inlier mask */
unsigned N, /* = src.length = dst.length = inl.length */
float maxD, /* Works: 3.0 */
unsigned maxI, /* Works: 2000 */
unsigned rConvg, /* Works: 2000 */
double cfd, /* Works: 0.995 */
unsigned minInl, /* Minimum: 4 */
double beta, /* Works: 0.35 */
unsigned flags, /* Works: 0 */
const float* guessH, /* Extrinsic guess, NULL if none provided */
float* finalH) = 0; /* Final result. */
/* PRNG XORshift128+ */
struct{
uint64_t s[2]; /* PRNG state */
} prng;
};
/**
* Generic C implementation of RHO algorithm.
*/
struct RHO_HEST_REFC : RHO_HEST{
/**
* Virtual Arguments.
*
......@@ -163,11 +318,6 @@ struct RHO_HEST_REFC{
float* Jte; /* Jte vector */
} lm;
/* PRNG XORshift128+ */
struct{
uint64_t s[2]; /* PRNG state */
} prng;
/* Memory Management */
struct{
cv::Mat perObj;
......@@ -188,9 +338,9 @@ struct RHO_HEST_REFC{
/* Methods to implement external interface */
inline int initialize(void);
inline int sacEnsureCapacity(unsigned N, double beta);
inline void finalize(void);
unsigned rhoRefC(const float* src, /* Source points */
inline int ensureCapacity(unsigned N, double beta);
unsigned rhoHest(const float* src, /* Source points */
const float* dst, /* Destination points */
char* inl, /* Inlier mask */
unsigned N, /* = src.length = dst.length = inl.length */
......@@ -225,8 +375,6 @@ struct RHO_HEST_REFC{
inline void rndSmpl(unsigned sampleSize,
unsigned* currentSample,
unsigned dataSetSize);
inline double fastRandom(void);
inline void fastSeed(uint64_t seed);
inline int isSampleDegenerate(void);
inline void generateModel(void);
inline int isModelDegenerate(void);
......@@ -298,15 +446,27 @@ static inline void sacSub8x1 (float* Hout,
* @return A pointer to the context if successful; NULL if an error occured.
*/
Ptr<RHO_HEST_REFC> rhoRefCInit(void){
Ptr<RHO_HEST_REFC> p = Ptr<RHO_HEST_REFC>(new RHO_HEST_REFC);
Ptr<RHO_HEST> rhoInit(void){
/* Select an optimized implementation of RHO here. */
#if 1
/**
* For now, only the generic C implementation is available. In the future,
* SSE2/AVX/AVX2/FMA/NEON versions may be added, and they will be selected
* depending on cv::checkHardwareSupport()'s return values.
*/
Ptr<RHO_HEST> p = Ptr<RHO_HEST>(new RHO_HEST_REFC);
#endif
/* Initialize it. */
if(p){
if(!p->initialize()){
p = Ptr<RHO_HEST_REFC>((RHO_HEST_REFC*)NULL);
p = Ptr<RHO_HEST>((RHO_HEST*)NULL);
}
}
/* Return it. */
return p;
}
......@@ -315,8 +475,8 @@ Ptr<RHO_HEST_REFC> rhoRefCInit(void){
* External access to non-randomness table resize.
*/
int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta){
return p->sacEnsureCapacity(N, beta);
int rhoEnsureCapacity(Ptr<RHO_HEST> p, unsigned N, double beta){
return p->ensureCapacity(N, beta);
}
......@@ -324,8 +484,8 @@ int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta){
* Seeds the internal PRNG with the given seed.
*/
void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed){
p->fastSeed((uint64_t)seed);
void rhoSeed(Ptr<RHO_HEST> p, uint64_t seed){
p->fastSeed(seed);
}
......@@ -358,27 +518,37 @@ void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed){
* inliers for acceptance was reached; 0 otherwise.
*/
unsigned rhoRefC(Ptr<RHO_HEST_REFC> p, /* Homography estimation context. */
const float* src, /* Source points */
const float* dst, /* Destination points */
char* inl, /* Inlier mask */
unsigned N, /* = src.length = dst.length = inl.length */
float maxD, /* Works: 3.0 */
unsigned maxI, /* Works: 2000 */
unsigned rConvg, /* Works: 2000 */
double cfd, /* Works: 0.995 */
unsigned minInl, /* Minimum: 4 */
double beta, /* Works: 0.35 */
unsigned flags, /* Works: 0 */
const float* guessH, /* Extrinsic guess, NULL if none provided */
float* finalH){ /* Final result. */
return p->rhoRefC(src, dst, inl, N, maxD, maxI, rConvg, cfd, minInl, beta,
unsigned rhoHest(Ptr<RHO_HEST> p, /* Homography estimation context. */
const float* src, /* Source points */
const float* dst, /* Destination points */
char* inl, /* Inlier mask */
unsigned N, /* = src.length = dst.length = inl.length */
float maxD, /* Works: 3.0 */
unsigned maxI, /* Works: 2000 */
unsigned rConvg, /* Works: 2000 */
double cfd, /* Works: 0.995 */
unsigned minInl, /* Minimum: 4 */
double beta, /* Works: 0.35 */
unsigned flags, /* Works: 0 */
const float* guessH, /* Extrinsic guess, NULL if none provided */
float* finalH){ /* Final result. */
return p->rhoHest(src, dst, inl, N, maxD, maxI, rConvg, cfd, minInl, beta,
flags, guessH, finalH);
}
/*********************** RHO_HEST_REFC implementation **********************/
/**
* Constructor for RHO_HEST_REFC.
*
......@@ -479,13 +649,13 @@ inline void RHO_HEST_REFC::finalize(void){
* internal table is of at least this size, reallocating if
* necessary.
* @param [in] beta The beta-factor to use within the table.
* @return 1 if successful; 0 if an error occured.
* @return 0 if unsuccessful; non-zero otherwise.
*
* Reads: nr.*
* Writes: nr.*
*/
inline int RHO_HEST_REFC::sacEnsureCapacity(unsigned N, double beta){
inline int RHO_HEST_REFC::ensureCapacity(unsigned N, double beta){
if(N == 0){
/* Clear. */
nr.tbl.clear();
......@@ -516,9 +686,9 @@ inline int RHO_HEST_REFC::sacEnsureCapacity(unsigned N, double beta){
* @param [in] src The pointer to the source points of the matches.
* Must be aligned to 4 bytes. Cannot be NULL.
* @param [in] dst The pointer to the destination points of the matches.
* Must be aligned to 16 bytes. Cannot be NULL.
* Must be aligned to 4 bytes. Cannot be NULL.
* @param [out] inl The pointer to the output mask of inlier matches.
* Must be aligned to 16 bytes. May be NULL.
* Must be aligned to 4 bytes. May be NULL.
* @param [in] N The number of matches.
* @param [in] maxD The maximum distance.
* @param [in] maxI The maximum number of PROSAC iterations.
......@@ -536,7 +706,7 @@ inline int RHO_HEST_REFC::sacEnsureCapacity(unsigned N, double beta){
* inliers for acceptance was reached; 0 otherwise.
*/
unsigned RHO_HEST_REFC::rhoRefC(const float* src, /* Source points */
unsigned RHO_HEST_REFC::rhoHest(const float* src, /* Source points */
const float* dst, /* Destination points */
char* inl, /* Inlier mask */
unsigned N, /* = src.length = dst.length = inl.length */
......@@ -784,7 +954,7 @@ inline int RHO_HEST_REFC::initRun(void){
* substruct and the sanity-checked N and beta arguments from above.
*/
if(isNREnabled() && !sacEnsureCapacity(arg.N, arg.beta)){
if(isNREnabled() && !ensureCapacity(arg.N, arg.beta)){
return 0;
}
......@@ -1061,53 +1231,6 @@ inline void RHO_HEST_REFC::rndSmpl(unsigned sampleSize,
}
}
/**
* Generates a random double uniformly distributed in the range [0, 1).
*
* Uses xorshift128+ algorithm from
* Sebastiano Vigna. Further scramblings of Marsaglia's xorshift generators.
* CoRR, abs/1402.6246, 2014.
* http://vigna.di.unimi.it/ftp/papers/xorshiftplus.pdf
*
* Source roughly as given in
* http://en.wikipedia.org/wiki/Xorshift#Xorshift.2B
*/
inline double RHO_HEST_REFC::fastRandom(void){
uint64_t x = prng.s[0];
uint64_t y = prng.s[1];
x ^= x << 23; // a
x ^= x >> 17; // b
x ^= y ^ (y >> 26); // c
prng.s[0] = y;
prng.s[1] = x;
uint64_t s = x + y;
return s * 5.421010862427522e-20;/* 2^-64 */
}
/**
* Seeds the PRNG.
*
* The seed should not be zero, since the state must be initialized to non-zero.
*/
inline void RHO_HEST_REFC::fastSeed(uint64_t seed){
int i;
prng.s[0] = seed;
prng.s[1] = ~seed;/* Guarantees one of the elements will be non-zero. */
/**
* Escape from zero-land (see xorshift128+ paper). Approximately 20
* iterations required according to the graph.
*/
for(i=0;i<20;i++){
fastRandom();
}
}
/**
* Checks whether the *sample* is degenerate prior to model generation.
* - First, the extremely cheap numerical degeneracy test is run, which weeds
......
modules/calib3d/src/rhorefc.h → modules/calib3d/src/rho.h
View file @ 736b42b3
......@@ -44,13 +44,14 @@
*/
/* Include Guards */
#ifndef __OPENCV_RHOREFC_H__
#define __OPENCV_RHOREFC_H__
#ifndef __OPENCV_RHO_H__
#define __OPENCV_RHO_H__
/* Includes */
#include <opencv2/core.hpp>
#include <stdint.h>
......@@ -84,8 +85,8 @@ namespace cv{
* Homography Estimation context.
*/
struct RHO_HEST_REFC;
typedef struct RHO_HEST_REFC RHO_HEST_REFC;
struct RHO_HEST;
typedef struct RHO_HEST RHO_HEST;
/* Functions */
......@@ -97,7 +98,7 @@ typedef struct RHO_HEST_REFC RHO_HEST_REFC;
* @return A pointer to the context if successful; NULL if an error occured.
*/
Ptr<RHO_HEST_REFC> rhoRefCInit(void);
Ptr<RHO_HEST> rhoInit(void);
/**
......@@ -112,10 +113,10 @@ Ptr<RHO_HEST_REFC> rhoRefCInit(void);
* internal table is of at least this size, reallocating if
* necessary.
* @param [in] beta The beta-factor to use within the table.
* @return 0 if successful; non-zero if an error occured.
* @return 0 if unsuccessful; non-zero otherwise.
*/
int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta);
int rhoEnsureCapacity(Ptr<RHO_HEST> p, unsigned N, double beta);
......@@ -130,7 +131,7 @@ int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta);
* @param [in] seed The 64-bit integer seed.
*/
void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed);
void rhoSeed(Ptr<RHO_HEST> p, uint64_t seed);
/**
......@@ -240,20 +241,20 @@ void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed);
* inliers for acceptance was reached; 0 otherwise.
*/
unsigned rhoRefC(Ptr<RHO_HEST_REFC> p, /* Homography estimation context. */
const float* src, /* Source points */
const float* dst, /* Destination points */
char* inl, /* Inlier mask */
unsigned N, /* = src.length = dst.length = inl.length */
float maxD, /* 3.0 */
unsigned maxI, /* 2000 */
unsigned rConvg, /* 2000 */
double cfd, /* 0.995 */
unsigned minInl, /* 4 */
double beta, /* 0.35 */
unsigned flags, /* 0 */
const float* guessH, /* Extrinsic guess, NULL if none provided */
float* finalH); /* Final result. */
unsigned rhoHest(Ptr<RHO_HEST> p, /* Homography estimation context. */
const float* src, /* Source points */
const float* dst, /* Destination points */
char* inl, /* Inlier mask */
unsigned N, /* = src.length = dst.length = inl.length */
float maxD, /* 3.0 */
unsigned maxI, /* 2000 */
unsigned rConvg, /* 2000 */
double cfd, /* 0.995 */
unsigned minInl, /* 4 */
double beta, /* 0.35 */
unsigned flags, /* 0 */
const float* guessH, /* Extrinsic guess, NULL if none provided */
float* finalH); /* Final result. */
......
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