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Commit 84d62b69 authored by Andrey Kamaev's avatar Andrey Kamaev
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Fixed windows build of FREAK

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modules/features2d/src/freak.cpp
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// freak.cpp
//
// Copyright (C) 2011-2012 Signal processing laboratory 2, EPFL,
// Kirell Benzi (kirell.benzi@epfl.ch),
// Raphael Ortiz (raphael.ortiz@a3.epfl.ch)
// Alexandre Alahi (alexandre.alahi@epfl.ch)
// and Pierre Vandergheynst (pierre.vandergheynst@epfl.ch)
// Copyright (C) 2011-2012 Signal processing laboratory 2, EPFL,
// Kirell Benzi (kirell.benzi@epfl.ch),
// Raphael Ortiz (raphael.ortiz@a3.epfl.ch)
// Alexandre Alahi (alexandre.alahi@epfl.ch)
// and Pierre Vandergheynst (pierre.vandergheynst@epfl.ch)
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
......@@ -119,12 +119,12 @@ void FREAK::buildPattern()
{
if( patternScale == patternScale0 && nOctaves == nOctaves0 && !patternLookup.empty() )
return;
nOctaves0 = nOctaves;
patternScale0 = patternScale;
patternLookup.resize(FREAK_NB_SCALES*FREAK_NB_ORIENTATION*FREAK_NB_POINTS);
double scaleStep = pow(2.0, (double)(nOctaves)/FREAK_NB_SCALES ); // 2 ^ ( (nOctaves-1) /nbScales)
double scaleStep = pow(2.0, (double)(nOctaves)/FREAK_NB_SCALES ); // 2 ^ ( (nOctaves-1) /nbScales)
double scalingFactor, alpha, beta, theta = 0;
// pattern definition, radius normalized to 1.0 (outer point position+sigma=1.0)
......@@ -147,21 +147,21 @@ void FREAK::buildPattern()
for( int orientationIdx = 0; orientationIdx < FREAK_NB_ORIENTATION; ++orientationIdx ) {
theta = double(orientationIdx)* 2*CV_PI/double(FREAK_NB_ORIENTATION); // orientation of the pattern
int pointIdx = 0;
PatternPoint* patternLookupPtr = &patternLookup[0];
PatternPoint* patternLookupPtr = &patternLookup[0];
for( size_t i = 0; i < 8; ++i ) {
for( int k = 0 ; k < n[i]; ++k ) {
beta = M_PI/n[i] * (i%2); // orientation offset so that groups of points on each circles are staggered
alpha = double(k)* 2*M_PI/double(n[i])+beta+theta;
beta = CV_PI/n[i] * (i%2); // orientation offset so that groups of points on each circles are staggered
alpha = double(k)* 2*CV_PI/double(n[i])+beta+theta;
// add the point to the look-up table
PatternPoint& point = patternLookupPtr[ scaleIdx*FREAK_NB_ORIENTATION*FREAK_NB_POINTS+orientationIdx*FREAK_NB_POINTS+pointIdx ];
point.x = radius[i] * cos(alpha) * scalingFactor * patternScale;
point.y = radius[i] * sin(alpha) * scalingFactor * patternScale;
point.sigma = sigma[i] * scalingFactor * patternScale;
point.x = static_cast<float>(radius[i] * cos(alpha) * scalingFactor * patternScale);
point.y = static_cast<float>(radius[i] * sin(alpha) * scalingFactor * patternScale);
point.sigma = static_cast<float>(sigma[i] * scalingFactor * patternScale);
// adapt the sizeList if necessary
const int sizeMax = ceil((radius[i]+sigma[i])*scalingFactor*patternScale) + 1;
const int sizeMax = static_cast<int>(ceil((radius[i]+sigma[i])*scalingFactor*patternScale)) + 1;
if( patternSizes[scaleIdx] < sizeMax )
patternSizes[scaleIdx] = sizeMax;
......@@ -231,9 +231,9 @@ void FREAK::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat
return;
if( keypoints.empty() )
return;
((FREAK*)this)->buildPattern();
#if CV_SSSE3
register __m128i operand1;
register __m128i operand2;
......@@ -246,7 +246,7 @@ void FREAK::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat
std::vector<int> kpScaleIdx(keypoints.size()); // used to save pattern scale index corresponding to each keypoints
const std::vector<int>::iterator ScaleIdxBegin = kpScaleIdx.begin(); // used in std::vector erase function
const std::vector<cv::KeyPoint>::iterator kpBegin = keypoints.begin(); // used in std::vector erase function
const float sizeCst = FREAK_NB_SCALES/(FREAK_LOG2* nOctaves );
const float sizeCst = static_cast<float>(FREAK_NB_SCALES/(FREAK_LOG2* nOctaves));
uchar pointsValue[FREAK_NB_POINTS];
int thetaIdx = 0;
int direction0;
......@@ -317,7 +317,7 @@ void FREAK::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat
direction1 += delta*(orientationPairs[m].weight_dy)/2048;
}
keypoints[k].angle = atan2((float)direction1,(float)direction0)*(180.0/M_PI);//estimate orientation
keypoints[k].angle = static_cast<float>(atan2((float)direction1,(float)direction0)*(180.0/CV_PI));//estimate orientation
thetaIdx = int(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0)+0.5);
if( thetaIdx < 0 )
thetaIdx += FREAK_NB_ORIENTATION;
......@@ -328,7 +328,7 @@ void FREAK::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat
// extract descriptor at the computed orientation
for( int i = FREAK_NB_POINTS; i--; ) {
pointsValue[i] = meanIntensity(image, imgIntegral, keypoints[k].pt.x,keypoints[k].pt.y, kpScaleIdx[k], thetaIdx, i);
}
}
#if CV_SSSE3
// extracting descriptor by blocks of 128 bits using SSE instructions
// note that comparisons order is modified in each block (but first 128 comparisons remain globally the same-->does not affect the 128,384 bits segmanted matching strategy)
......@@ -388,7 +388,7 @@ void FREAK::computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat
direction1 += delta*(orientationPairs[m].weight_dy)/2048;
}
keypoints[k].angle = atan2((float)direction1,(float)direction0)*(180.0/M_PI); //estimate orientation
keypoints[k].angle = static_cast<float>(atan2((float)direction1,(float)direction0)*(180.0/CV_PI)); //estimate orientation
thetaIdx = int(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0)+0.5);
if( thetaIdx < 0 )
......@@ -438,8 +438,8 @@ uchar FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral,
int ret_val;
if( radius < 0.5 ) {
// interpolation multipliers:
const int r_x = (xf-x)*1024;
const int r_y = (yf-y)*1024;
const int r_x = static_cast<int>((xf-x)*1024);
const int r_y = static_cast<int>((yf-y)*1024);
const int r_x_1 = (1024-r_x);
const int r_y_1 = (1024-r_y);
uchar* ptr = image.data+x+y*imagecols;
......@@ -451,7 +451,7 @@ uchar FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral,
ret_val += (r_x*r_y*int(*ptr));
ptr--;
ret_val += (r_x_1*r_y*int(*ptr));
return (ret_val+512)/1024;
return static_cast<uchar>((ret_val+512)/1024);
}
// expected case:
......@@ -468,7 +468,7 @@ uchar FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral,
ret_val -= integral.at<int>(y_top,x_right);
ret_val = ret_val/( (x_right-x_left)* (y_bottom-y_top) );
//~ std::cout<<integral.step[1]<<std::endl;
return ret_val;
return static_cast<uchar>(ret_val);
}
// pair selection algorithm from a set of training images and corresponding keypoints
......@@ -583,8 +583,8 @@ void FREAKImpl::drawPattern()
/* FREAK interface implementation */
FREAK::FREAK( bool _orientationNormalized, bool _scaleNormalized
, float _patternScale, int _nOctaves, const std::vector<int>& _selectedPairs )
: orientationNormalized(_orientationNormalized), scaleNormalized(_scaleNormalized),
patternScale(_patternScale), nOctaves(_nOctaves), selectedPairs0(_selectedPairs)
: orientationNormalized(_orientationNormalized), scaleNormalized(_scaleNormalized),
patternScale(_patternScale), nOctaves(_nOctaves), selectedPairs0(_selectedPairs)
{
}
......
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