Merge branch 'master' of git://code.opencv.org/opencv

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

@@ -267,6 +267,97 @@ public:
     static Ptr<Feature2D> create( const string& name );
 };
 
+/*!
+  BRISK implementation
+*/
+class CV_EXPORTS_W BRISK : public Feature2D
+{
+public:
+    CV_WRAP explicit BRISK(int thresh=30, int octaves=3, float patternScale=1.0f);
+
+    virtual ~BRISK();
+
+    // returns the descriptor size in bytes
+    int descriptorSize() const;
+    // returns the descriptor type
+    int descriptorType() const;
+
+    // Compute the BRISK features on an image
+    void operator()(InputArray image, InputArray mask, vector<KeyPoint>& keypoints) const;
+
+    // Compute the BRISK features and descriptors on an image
+    void operator()( InputArray image, InputArray mask, vector<KeyPoint>& keypoints,
+                      OutputArray descriptors, bool useProvidedKeypoints=false ) const;
+
+    AlgorithmInfo* info() const;
+
+    // custom setup
+    CV_WRAP explicit BRISK(std::vector<float> &radiusList, std::vector<int> &numberList,
+        float dMax=5.85f, float dMin=8.2f, std::vector<int> indexChange=std::vector<int>());
+
+    // call this to generate the kernel:
+    // circle of radius r (pixels), with n points;
+    // short pairings with dMax, long pairings with dMin
+    CV_WRAP void generateKernel(std::vector<float> &radiusList,
+        std::vector<int> &numberList, float dMax=5.85f, float dMin=8.2f,
+        std::vector<int> indexChange=std::vector<int>());
+
+protected:
+
+    void computeImpl( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const;
+    void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const;
+
+    void computeKeypointsNoOrientation(InputArray image, InputArray mask, vector<KeyPoint>& keypoints) const;
+    void computeDescriptorsAndOrOrientation(InputArray image, InputArray mask, vector<KeyPoint>& keypoints,
+                                       OutputArray descriptors, bool doDescriptors, bool doOrientation,
+                                       bool useProvidedKeypoints) const;
+
+    // Feature parameters
+    CV_PROP_RW int threshold;
+    CV_PROP_RW int octaves;
+
+    // some helper structures for the Brisk pattern representation
+    struct BriskPatternPoint{
+        float x;         // x coordinate relative to center
+        float y;         // x coordinate relative to center
+        float sigma;     // Gaussian smoothing sigma
+    };
+    struct BriskShortPair{
+        unsigned int i;  // index of the first pattern point
+        unsigned int j;  // index of other pattern point
+    };
+    struct BriskLongPair{
+        unsigned int i;  // index of the first pattern point
+        unsigned int j;  // index of other pattern point
+        int weighted_dx; // 1024.0/dx
+        int weighted_dy; // 1024.0/dy
+    };
+    inline int smoothedIntensity(const cv::Mat& image,
+                const cv::Mat& integral,const float key_x,
+                const float key_y, const unsigned int scale,
+                const unsigned int rot, const unsigned int point) const;
+    // pattern properties
+    BriskPatternPoint* patternPoints_;     //[i][rotation][scale]
+    unsigned int points_;                 // total number of collocation points
+    float* scaleList_;                     // lists the scaling per scale index [scale]
+    unsigned int* sizeList_;             // lists the total pattern size per scale index [scale]
+    static const unsigned int scales_;    // scales discretization
+    static const float scalerange_;     // span of sizes 40->4 Octaves - else, this needs to be adjusted...
+    static const unsigned int n_rot_;    // discretization of the rotation look-up
+
+    // pairs
+    int strings_;                        // number of uchars the descriptor consists of
+    float dMax_;                         // short pair maximum distance
+    float dMin_;                         // long pair maximum distance
+    BriskShortPair* shortPairs_;         // d<_dMax
+    BriskLongPair* longPairs_;             // d>_dMin
+    unsigned int noShortPairs_;         // number of shortParis
+    unsigned int noLongPairs_;             // number of longParis
+
+    // general
+    static const float basicSize_;
+};
+
 
 /*!
  ORB implementation.

modules/features2d/src/fast_score.hpp

+/* This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten.
+   Below is the original copyright and the references */
+
+/*
+Copyright (c) 2006, 2008 Edward Rosten
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+    *Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+    *Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+    *Neither the name of the University of Cambridge nor the names of
+     its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/*
+The references are:
+ * Machine learning for high-speed corner detection,
+   E. Rosten and T. Drummond, ECCV 2006
+ * Faster and better: A machine learning approach to corner detection
+   E. Rosten, R. Porter and T. Drummond, PAMI, 2009
+*/
+
+#ifndef __OPENCV_FEATURES_2D_FAST_HPP__
+#define __OPENCV_FEATURES_2D_FAST_HPP__
+
+#ifdef __cplusplus
+
+#include "precomp.hpp"
+
+namespace cv
+{
+
+void makeOffsets(int pixel[25], int row_stride, int patternSize);
+
+//static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold);
+
+template<int patternSize>
+int cornerScore(const uchar* ptr, const int pixel[], int threshold);
+
+}
+
+#endif
+#endif

modules/features2d/src/features2d_init.cpp

@@ -51,6 +51,12 @@ using namespace cv;
    Otherwise, linker may throw away some seemingly unused stuff.
 */
 
+CV_INIT_ALGORITHM(BRISK, "Feature2D.BRISK",
+                   obj.info()->addParam(obj, "thres", obj.threshold);
+                   obj.info()->addParam(obj, "octaves", obj.octaves));
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////
+
 CV_INIT_ALGORITHM(BriefDescriptorExtractor, "Feature2D.BRIEF",
                   obj.info()->addParam(obj, "bytes", obj.bytes_));
 
@@ -154,6 +160,7 @@ bool cv::initModule_features2d(void)
 {
     bool all = true;
     all &= !BriefDescriptorExtractor_info_auto.name().empty();
+    all &= !BRISK_info_auto.name().empty();
     all &= !FastFeatureDetector_info_auto.name().empty();
     all &= !StarDetector_info_auto.name().empty();
     all &= !MSER_info_auto.name().empty();

modules/features2d/test/test_brisk.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+
+using namespace cv;
+
+class CV_BRISKTest : public cvtest::BaseTest
+{
+public:
+    CV_BRISKTest();
+    ~CV_BRISKTest();
+protected:
+    void run(int);
+};
+
+CV_BRISKTest::CV_BRISKTest() {}
+CV_BRISKTest::~CV_BRISKTest() {}
+
+void CV_BRISKTest::run( int )
+{
+  Mat image1 = imread(string(ts->get_data_path()) + "inpaint/orig.jpg");
+  Mat image2 = imread(string(ts->get_data_path()) + "cameracalibration/chess9.jpg");
+
+  if (image1.empty() || image2.empty())
+    {
+      ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
+      return;
+    }
+
+  Mat gray1, gray2;
+  cvtColor(image1, gray1, CV_BGR2GRAY);
+  cvtColor(image2, gray2, CV_BGR2GRAY);
+
+  Ptr<FeatureDetector> detector = Algorithm::create<FeatureDetector>("Feature2D.BRISK");
+
+  vector<KeyPoint> keypoints1;
+  vector<KeyPoint> keypoints2;
+  detector->detect(image1, keypoints1);
+  detector->detect(image2, keypoints2);
+
+  for(size_t i = 0; i < keypoints1.size(); ++i)
+    {
+      const KeyPoint& kp = keypoints1[i];
+      ASSERT_NE(kp.angle, -1);
+    }
+
+  for(size_t i = 0; i < keypoints2.size(); ++i)
+    {
+      const KeyPoint& kp = keypoints2[i];
+      ASSERT_NE(kp.angle, -1);
+    }
+}
+
+TEST(Features2d_BRISK, regression) { CV_BRISKTest test; test.safe_run(); }
+

modules/features2d/test/test_descriptors_regression.cpp

@@ -301,6 +301,13 @@ private:
 *                                Tests registrations                                     *
 \****************************************************************************************/
 
+TEST( Features2d_DescriptorExtractor_BRISK, regression )
+{
+    CV_DescriptorExtractorTest<Hamming> test( "descriptor-brisk",  (CV_DescriptorExtractorTest<Hamming>::DistanceType)2.f,
+                                                 DescriptorExtractor::create("BRISK") );
+    test.safe_run();
+}
+
 TEST( Features2d_DescriptorExtractor_ORB, regression )
 {
     // TODO adjust the parameters below

modules/features2d/test/test_detectors_regression.cpp

@@ -247,6 +247,12 @@ void CV_FeatureDetectorTest::run( int /*start_from*/ )
 *                                Tests registrations                                     *
 \****************************************************************************************/
 
+TEST( Features2d_Detector_BRISK, regression )
+{
+    CV_FeatureDetectorTest test( "detector-brisk", FeatureDetector::create("BRISK") );
+    test.safe_run();
+}
+
 TEST( Features2d_Detector_FAST, regression )
 {
     CV_FeatureDetectorTest test( "detector-fast", FeatureDetector::create("FAST") );

modules/features2d/test/test_keypoints.cpp

@@ -119,6 +119,12 @@ protected:
 
 // Registration of tests
 
+TEST(Features2d_Detector_Keypoints_BRISK, validation)
+{
+    CV_FeatureDetectorKeypointsTest test(Algorithm::create<FeatureDetector>("Feature2D.BRISK"));
+    test.safe_run();
+}
+
 TEST(Features2d_Detector_Keypoints_FAST, validation)
 {
     CV_FeatureDetectorKeypointsTest test(Algorithm::create<FeatureDetector>("Feature2D.FAST"));

modules/features2d/test/test_rotation_and_scale_invariance.cpp

@@ -592,6 +592,15 @@ protected:
 /*
  * Detector's rotation invariance check
  */
+
+TEST(Features2d_RotationInvariance_Detector_BRISK, regression)
+{
+    DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.BRISK"),
+                                        0.32f,
+                                        0.81f);
+    test.safe_run();
+}
+
 TEST(Features2d_RotationInvariance_Detector_ORB, regression)
 {
     DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
@@ -603,6 +612,16 @@ TEST(Features2d_RotationInvariance_Detector_ORB, regression)
 /*
  * Descriptors's rotation invariance check
  */
+
+TEST(Features2d_RotationInvariance_Descriptor_BRISK, regression)
+{
+    DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.BRISK"),
+                      Algorithm::create<DescriptorExtractor>("Feature2D.BRISK"),
+                        NORM_HAMMING,
+                                          0.99f);
+    test.safe_run();
+}
+
 TEST(Features2d_RotationInvariance_Descriptor_ORB, regression)
 {
     DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
@@ -625,6 +644,14 @@ TEST(Features2d_RotationInvariance_Descriptor_ORB, regression)
  * Detector's scale invariance check
  */
 
+TEST(Features2d_ScaleInvariance_Detector_BRISK, regression)
+{
+    DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.BRISK"),
+                                     0.08f,
+                                     0.54f);
+    test.safe_run();
+}
+
 //TEST(Features2d_ScaleInvariance_Detector_ORB, regression)
 //{
 //    DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
@@ -637,6 +664,15 @@ TEST(Features2d_RotationInvariance_Descriptor_ORB, regression)
  * Descriptor's scale invariance check
  */
 
+//TEST(Features2d_ScaleInvariance_Descriptor_BRISK, regression)
+//{
+//    DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.BRISK"),
+//                   Algorithm::create<DescriptorExtractor>("Feature2D.BRISK"),
+//                   NORM_HAMMING,
+//                                     0.99f);
+//    test.safe_run();
+//}
+
 //TEST(Features2d_ScaleInvariance_Descriptor_ORB, regression)
 //{
 //    DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),

modules/imgproc/src/imgwarp.cpp

@@ -1314,7 +1314,7 @@ public:
         ssize.width *= cn;
         int dy, dx, k = 0;
         
-        VecOp vop(scale_x, scale_y, src.channels(), src.step/*, area_ofs*/);
+        VecOp vop(scale_x, scale_y, src.channels(), (int)src.step/*, area_ofs*/);
         
         for( dy = range.start; dy < range.end; dy++ )
         {