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Commit f97e38d8 authored by Ievgen Khvedchenia's avatar Ievgen Khvedchenia
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Fix casting from/to int/float that caused lot of compiler warnings.

parent 61f79c26
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Showing with 584 additions and 564 deletions
modules/features2d/src/akaze.cpp
View file @ f97e38d8
......@@ -30,12 +30,12 @@ namespace cv
if (descriptor_size == 0)
{
int t = (6 + 36 + 120) * descriptor_channels;
return ceil(t / 8.);
return (int)ceil(t / 8.);
}
else
{
// We use the random bit selection length binary descriptor
return ceil(descriptor_size / 8.);
return (int)ceil(descriptor_size / 8.);
}
}
}
......
modules/features2d/src/akaze/AKAZE.cpp
View file @ f97e38d8
......@@ -47,12 +47,12 @@ AKAZEFeatures::~AKAZEFeatures(void) {
*/
void AKAZEFeatures::Allocate_Memory_Evolution(void) {
float rfactor = 0.0;
float rfactor = 0.0f;
int level_height = 0, level_width = 0;
// Allocate the dimension of the matrices for the evolution
for (int i = 0; i <= options_.omax - 1; i++) {
rfactor = 1.0 / pow(2.f, i);
rfactor = 1.0f / pow(2.f, i);
level_height = (int)(options_.img_height*rfactor);
level_width = (int)(options_.img_width*rfactor);
......@@ -75,7 +75,7 @@ void AKAZEFeatures::Allocate_Memory_Evolution(void) {
step.Lstep = cv::Mat::zeros(level_height, level_width, CV_32F);
step.esigma = options_.soffset*pow(2.f, (float)(j) / (float)(options_.nsublevels) + i);
step.sigma_size = fRound(step.esigma);
step.etime = 0.5*(step.esigma*step.esigma);
step.etime = 0.5f*(step.esigma*step.esigma);
step.octave = i;
step.sublevel = j;
evolution_.push_back(step);
......@@ -86,9 +86,9 @@ void AKAZEFeatures::Allocate_Memory_Evolution(void) {
for (size_t i = 1; i < evolution_.size(); i++) {
int naux = 0;
vector<float> tau;
float ttime = 0.0;
float ttime = 0.0f;
ttime = evolution_[i].etime - evolution_[i - 1].etime;
naux = fed_tau_by_process_time(ttime, 1, 0.25, reordering_, tau);
naux = fed_tau_by_process_time(ttime, 1, 0.25f, reordering_, tau);
nsteps_.push_back(naux);
tsteps_.push_back(tau);
ncycles_++;
......@@ -103,7 +103,7 @@ void AKAZEFeatures::Allocate_Memory_Evolution(void) {
*/
int AKAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat& img) {
double t1 = 0.0, t2 = 0.0;
//double t1 = 0.0, t2 = 0.0;
if (evolution_.size() == 0) {
cerr << "Error generating the nonlinear scale space!!" << endl;
......@@ -111,7 +111,7 @@ int AKAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat& img) {
return -1;
}
t1 = cv::getTickCount();
//t1 = cv::getTickCount();
// Copy the original image to the first level of the evolution
img.copyTo(evolution_[0].Lt);
......@@ -120,23 +120,23 @@ int AKAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat& img) {
// First compute the kcontrast factor
options_.kcontrast = compute_k_percentile(img, options_.kcontrast_percentile,
1.0, options_.kcontrast_nbins, 0, 0);
1.0f, options_.kcontrast_nbins, 0, 0);
t2 = cv::getTickCount();
timing_.kcontrast = 1000.0*(t2 - t1) / cv::getTickFrequency();
//t2 = cv::getTickCount();
//timing_.kcontrast = 1000.0*(t2 - t1) / cv::getTickFrequency();
// Now generate the rest of evolution levels
for (size_t i = 1; i < evolution_.size(); i++) {
if (evolution_[i].octave > evolution_[i - 1].octave) {
halfsample_image(evolution_[i - 1].Lt, evolution_[i].Lt);
options_.kcontrast = options_.kcontrast*0.75;
options_.kcontrast = options_.kcontrast*0.75f;
}
else {
evolution_[i - 1].Lt.copyTo(evolution_[i].Lt);
}
gaussian_2D_convolution(evolution_[i].Lt, evolution_[i].Lsmooth, 0, 0, 1.0);
gaussian_2D_convolution(evolution_[i].Lt, evolution_[i].Lsmooth, 0, 0, 1.0f);
// Compute the Gaussian derivatives Lx and Ly
image_derivatives_scharr(evolution_[i].Lsmooth, evolution_[i].Lx, 1, 0);
......@@ -167,8 +167,8 @@ int AKAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat& img) {
}
}
t2 = cv::getTickCount();
timing_.scale = 1000.0*(t2 - t1) / cv::getTickFrequency();
//t2 = cv::getTickCount();
//timing_.scale = 1000.0*(t2 - t1) / cv::getTickFrequency();
return 0;
}
......@@ -180,9 +180,9 @@ int AKAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat& img) {
*/
void AKAZEFeatures::Feature_Detection(std::vector<cv::KeyPoint>& kpts) {
double t1 = 0.0, t2 = 0.0;
//double t1 = 0.0, t2 = 0.0;
t1 = cv::getTickCount();
//t1 = cv::getTickCount();
kpts.clear();
......@@ -190,8 +190,8 @@ void AKAZEFeatures::Feature_Detection(std::vector<cv::KeyPoint>& kpts) {
Find_Scale_Space_Extrema(kpts);
Do_Subpixel_Refinement(kpts);
t2 = cv::getTickCount();
timing_.detector = 1000.0*(t2 - t1) / cv::getTickFrequency();
//t2 = cv::getTickCount();
//timing_.detector = 1000.0*(t2 - t1) / cv::getTickFrequency();
}
/* ************************************************************************* */
......@@ -200,7 +200,7 @@ class MultiscaleDerivativesInvoker : public cv::ParallelLoopBody
{
public:
explicit MultiscaleDerivativesInvoker(std::vector<TEvolution>& ev, const AKAZEOptions& opt)
: evolution_(ev)
: evolution_(&ev)
, options_(opt)
{
}
......@@ -208,27 +208,29 @@ public:
void operator()(const cv::Range& range) const
{
std::vector<TEvolution>& evolution = *evolution_;
for (int i = range.start; i < range.end; i++)
{
float ratio = pow(2.f, (float)evolution_[i].octave);
int sigma_size_ = fRound(evolution_[i].esigma * options_.derivative_factor / ratio);
compute_scharr_derivatives(evolution_[i].Lsmooth, evolution_[i].Lx, 1, 0, sigma_size_);
compute_scharr_derivatives(evolution_[i].Lsmooth, evolution_[i].Ly, 0, 1, sigma_size_);
compute_scharr_derivatives(evolution_[i].Lx, evolution_[i].Lxx, 1, 0, sigma_size_);
compute_scharr_derivatives(evolution_[i].Ly, evolution_[i].Lyy, 0, 1, sigma_size_);
compute_scharr_derivatives(evolution_[i].Lx, evolution_[i].Lxy, 0, 1, sigma_size_);
evolution_[i].Lx = evolution_[i].Lx*((sigma_size_));
evolution_[i].Ly = evolution_[i].Ly*((sigma_size_));
evolution_[i].Lxx = evolution_[i].Lxx*((sigma_size_)*(sigma_size_));
evolution_[i].Lxy = evolution_[i].Lxy*((sigma_size_)*(sigma_size_));
evolution_[i].Lyy = evolution_[i].Lyy*((sigma_size_)*(sigma_size_));
float ratio = pow(2.f, (float)evolution[i].octave);
int sigma_size_ = fRound(evolution[i].esigma * options_.derivative_factor / ratio);
compute_scharr_derivatives(evolution[i].Lsmooth, evolution[i].Lx, 1, 0, sigma_size_);
compute_scharr_derivatives(evolution[i].Lsmooth, evolution[i].Ly, 0, 1, sigma_size_);
compute_scharr_derivatives(evolution[i].Lx, evolution[i].Lxx, 1, 0, sigma_size_);
compute_scharr_derivatives(evolution[i].Ly, evolution[i].Lyy, 0, 1, sigma_size_);
compute_scharr_derivatives(evolution[i].Lx, evolution[i].Lxy, 0, 1, sigma_size_);
evolution[i].Lx = evolution[i].Lx*((sigma_size_));
evolution[i].Ly = evolution[i].Ly*((sigma_size_));
evolution[i].Lxx = evolution[i].Lxx*((sigma_size_)*(sigma_size_));
evolution[i].Lxy = evolution[i].Lxy*((sigma_size_)*(sigma_size_));
evolution[i].Lyy = evolution[i].Lyy*((sigma_size_)*(sigma_size_));
}
}
private:
std::vector<TEvolution> & evolution_;
std::vector<TEvolution>* evolution_;
AKAZEOptions options_;
};
......@@ -237,9 +239,9 @@ private:
*/
void AKAZEFeatures::Compute_Multiscale_Derivatives(void) {
double t1 = 0.0, t2 = 0.0;
//double t1 = 0.0, t2 = 0.0;
t1 = cv::getTickCount();
//t1 = cv::getTickCount();
cv::parallel_for_(cv::Range(0, evolution_.size()), MultiscaleDerivativesInvoker(evolution_, options_));
/*
......@@ -261,8 +263,8 @@ void AKAZEFeatures::Compute_Multiscale_Derivatives(void) {
evolution_[i].Lyy = evolution_[i].Lyy*((sigma_size_)*(sigma_size_));
}
*/
t2 = cv::getTickCount();
timing_.derivatives = 1000.0*(t2 - t1) / cv::getTickFrequency();
//t2 = cv::getTickCount();
//timing_.derivatives = 1000.0*(t2 - t1) / cv::getTickFrequency();
}
/* ************************************************************************* */
......@@ -276,9 +278,10 @@ void AKAZEFeatures::Compute_Determinant_Hessian_Response(void) {
Compute_Multiscale_Derivatives();
for (size_t i = 0; i < evolution_.size(); i++) {
if (options_.verbosity == true) {
cout << "Computing detector response. Determinant of Hessian. Evolution time: " << evolution_[i].etime << endl;
}
//if (options_.verbosity == true) {
// cout << "Computing detector response. Determinant of Hessian. Evolution time: " << evolution_[i].etime << endl;
//}
for (int ix = 0; ix < evolution_[i].Ldet.rows; ix++) {
for (int jx = 0; jx < evolution_[i].Ldet.cols; jx++) {
......@@ -298,7 +301,7 @@ void AKAZEFeatures::Compute_Determinant_Hessian_Response(void) {
*/
void AKAZEFeatures::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
double t1 = 0.0, t2 = 0.0;
//double t1 = 0.0, t2 = 0.0;
float value = 0.0;
float dist = 0.0, ratio = 0.0, smax = 0.0;
int npoints = 0, id_repeated = 0;
......@@ -310,13 +313,13 @@ void AKAZEFeatures::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
// Set maximum size
if (options_.descriptor == SURF_UPRIGHT || options_.descriptor == SURF ||
options_.descriptor == MLDB_UPRIGHT || options_.descriptor == MLDB) {
smax = 10.0*sqrtf(2.0);
smax = 10.0f*sqrtf(2.0f);
}
else if (options_.descriptor == MSURF_UPRIGHT || options_.descriptor == MSURF) {
smax = 12.0*sqrtf(2.0);
smax = 12.0f*sqrtf(2.0f);
}
t1 = cv::getTickCount();
//t1 = cv::getTickCount();
for (size_t i = 0; i < evolution_.size(); i++) {
for (int ix = 1; ix < evolution_[i].Ldet.rows - 1; ix++) {
......@@ -344,8 +347,8 @@ void AKAZEFeatures::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
point.class_id = i;
ratio = pow(2.f, point.octave);
sigma_size_ = fRound(point.size / ratio);
point.pt.x = jx;
point.pt.y = ix;
point.pt.x = static_cast<float>(jx);
point.pt.y = static_cast<float>(ix);
// Compare response with the same and lower scale
for (size_t ik = 0; ik < kpts_aux.size(); ik++) {
......@@ -422,8 +425,8 @@ void AKAZEFeatures::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
kpts.push_back(point);
}
t2 = cv::getTickCount();
timing_.extrema = 1000.0*(t2 - t1) / cv::getTickFrequency();
//t2 = cv::getTickCount();
//timing_.extrema = 1000.0*(t2 - t1) / cv::getTickFrequency();
}
/* ************************************************************************* */
......@@ -433,7 +436,7 @@ void AKAZEFeatures::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
*/
void AKAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts) {
double t1 = 0.0, t2 = 0.0;
//double t1 = 0.0, t2 = 0.0;
float Dx = 0.0, Dy = 0.0, ratio = 0.0;
float Dxx = 0.0, Dyy = 0.0, Dxy = 0.0;
int x = 0, y = 0;
......@@ -441,7 +444,7 @@ void AKAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts) {
cv::Mat b = cv::Mat::zeros(2, 1, CV_32F);
cv::Mat dst = cv::Mat::zeros(2, 1, CV_32F);
t1 = cv::getTickCount();
//t1 = cv::getTickCount();
for (size_t i = 0; i < kpts.size(); i++) {
ratio = pow(2.f, kpts[i].octave);
......@@ -449,23 +452,23 @@ void AKAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts) {
y = fRound(kpts[i].pt.y / ratio);
// Compute the gradient
Dx = (0.5)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x + 1)
Dx = (0.5f)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x + 1)
- *(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x - 1));
Dy = (0.5)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y + 1) + x)
Dy = (0.5f)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y + 1) + x)
- *(evolution_[kpts[i].class_id].Ldet.ptr<float>(y - 1) + x));
// Compute the Hessian
Dxx = (*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x + 1)
+ *(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x - 1)
- 2.0*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x)));
- 2.0f*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x)));
Dyy = (*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y + 1) + x)
+ *(evolution_[kpts[i].class_id].Ldet.ptr<float>(y - 1) + x)
- 2.0*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x)));
- 2.0f*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y)+x)));
Dxy = (0.25)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y + 1) + x + 1)
Dxy = (0.25f)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y + 1) + x + 1)
+ (*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y - 1) + x - 1)))
- (0.25)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y - 1) + x + 1)
- (0.25f)*(*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y - 1) + x + 1)
+ (*(evolution_[kpts[i].class_id].Ldet.ptr<float>(y + 1) + x - 1)));
// Solve the linear system
......@@ -477,15 +480,15 @@ void AKAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts) {
cv::solve(A, b, dst, DECOMP_LU);
if (fabs(*(dst.ptr<float>(0))) <= 1.0 && fabs(*(dst.ptr<float>(1))) <= 1.0) {
if (fabs(*(dst.ptr<float>(0))) <= 1.0f && fabs(*(dst.ptr<float>(1))) <= 1.0f) {
kpts[i].pt.x = x + (*(dst.ptr<float>(0)));
kpts[i].pt.y = y + (*(dst.ptr<float>(1)));
kpts[i].pt.x *= powf(2.f, evolution_[kpts[i].class_id].octave);
kpts[i].pt.y *= powf(2.f, evolution_[kpts[i].class_id].octave);
kpts[i].pt.x *= powf(2.f, (float)evolution_[kpts[i].class_id].octave);
kpts[i].pt.y *= powf(2.f, (float)evolution_[kpts[i].class_id].octave);
kpts[i].angle = 0.0;
// In OpenCV the size of a keypoint its the diameter
kpts[i].size *= 2.0;
kpts[i].size *= 2.0f;
}
// Delete the point since its not stable
else {
......@@ -494,8 +497,8 @@ void AKAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint>& kpts) {
}
}
t2 = cv::getTickCount();
timing_.subpixel = 1000.0*(t2 - t1) / cv::getTickFrequency();
//t2 = cv::getTickCount();
//timing_.subpixel = 1000.0*(t2 - t1) / cv::getTickFrequency();
}
/* ************************************************************************* */
......@@ -554,10 +557,10 @@ class SURF_Descriptor_Upright_64_Invoker : public cv::ParallelLoopBody
{
public:
SURF_Descriptor_Upright_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, std::vector<TEvolution>& evolution, AKAZEOptions& options)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
{
}
......@@ -565,27 +568,27 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
Get_SURF_Descriptor_Upright_64(keypoints_[i], descriptors_.ptr<float>(i));
Get_SURF_Descriptor_Upright_64((*keypoints_)[i], descriptors_->ptr<float>(i));
}
}
void Get_SURF_Descriptor_Upright_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
};
class SURF_Descriptor_64_Invoker : public cv::ParallelLoopBody
{
public:
SURF_Descriptor_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, std::vector<TEvolution>& evolution, AKAZEOptions& options)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
{
}
......@@ -593,28 +596,28 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_SURF_Descriptor_64(keypoints_[i], descriptors_.ptr<float>(i));
AKAZEFeatures::Compute_Main_Orientation((*keypoints_)[i], *evolution_);
Get_SURF_Descriptor_64((*keypoints_)[i], descriptors_->ptr<float>(i));
}
}
void Get_SURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
};
class MSURF_Upright_Descriptor_64_Invoker : public cv::ParallelLoopBody
{
public:
MSURF_Upright_Descriptor_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, std::vector<TEvolution>& evolution, AKAZEOptions& options)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
{
}
......@@ -622,27 +625,27 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
Get_MSURF_Upright_Descriptor_64(keypoints_[i], descriptors_.ptr<float>(i));
Get_MSURF_Upright_Descriptor_64((*keypoints_)[i], descriptors_->ptr<float>(i));
}
}
void Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
};
class MSURF_Descriptor_64_Invoker : public cv::ParallelLoopBody
{
public:
MSURF_Descriptor_64_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, std::vector<TEvolution>& evolution, AKAZEOptions& options)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
{
}
......@@ -650,28 +653,28 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_MSURF_Descriptor_64(keypoints_[i], descriptors_.ptr<float>(i));
AKAZEFeatures::Compute_Main_Orientation((*keypoints_)[i], *evolution_);
Get_MSURF_Descriptor_64((*keypoints_)[i], descriptors_->ptr<float>(i));
}
}
void Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
};
class Upright_MLDB_Full_Descriptor_Invoker : public cv::ParallelLoopBody
{
public:
Upright_MLDB_Full_Descriptor_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, std::vector<TEvolution>& evolution, AKAZEOptions& options)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
{
}
......@@ -679,17 +682,17 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
Get_Upright_MLDB_Full_Descriptor(keypoints_[i], descriptors_.ptr<unsigned char>(i));
Get_Upright_MLDB_Full_Descriptor((*keypoints_)[i], descriptors_->ptr<unsigned char>(i));
}
}
void Get_Upright_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
};
class Upright_MLDB_Descriptor_Subset_Invoker : public cv::ParallelLoopBody
......@@ -701,10 +704,10 @@ public:
AKAZEOptions& options,
cv::Mat descriptorSamples,
cv::Mat descriptorBits)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
, descriptorSamples_(descriptorSamples)
, descriptorBits_(descriptorBits)
{
......@@ -714,17 +717,17 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
Get_Upright_MLDB_Descriptor_Subset(keypoints_[i], descriptors_.ptr<unsigned char>(i));
Get_Upright_MLDB_Descriptor_Subset((*keypoints_)[i], descriptors_->ptr<unsigned char>(i));
}
}
void Get_Upright_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
cv::Mat descriptorSamples_; // List of positions in the grids to sample LDB bits from.
cv::Mat descriptorBits_;
......@@ -734,10 +737,10 @@ class MLDB_Full_Descriptor_Invoker : public cv::ParallelLoopBody
{
public:
MLDB_Full_Descriptor_Invoker(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc, std::vector<TEvolution>& evolution, AKAZEOptions& options)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
{
}
......@@ -745,18 +748,18 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_MLDB_Full_Descriptor(keypoints_[i], descriptors_.ptr<unsigned char>(i));
AKAZEFeatures::Compute_Main_Orientation((*keypoints_)[i], *evolution_);
Get_MLDB_Full_Descriptor((*keypoints_)[i], descriptors_->ptr<unsigned char>(i));
}
}
void Get_MLDB_Full_Descriptor(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
};
class MLDB_Descriptor_Subset_Invoker : public cv::ParallelLoopBody
......@@ -768,10 +771,10 @@ public:
AKAZEOptions& options,
cv::Mat descriptorSamples,
cv::Mat descriptorBits)
: keypoints_(kpts)
, descriptors_(desc)
, evolution_(evolution)
, options_(options)
: keypoints_(&kpts)
, descriptors_(&desc)
, evolution_(&evolution)
, options_(&options)
, descriptorSamples_(descriptorSamples)
, descriptorBits_(descriptorBits)
{
......@@ -781,18 +784,18 @@ public:
{
for (int i = range.start; i < range.end; i++)
{
AKAZEFeatures::Compute_Main_Orientation(keypoints_[i], evolution_);
Get_MLDB_Descriptor_Subset(keypoints_[i], descriptors_.ptr<unsigned char>(i));
AKAZEFeatures::Compute_Main_Orientation((*keypoints_)[i], *evolution_);
Get_MLDB_Descriptor_Subset((*keypoints_)[i], descriptors_->ptr<unsigned char>(i));
}
}
void Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc) const;
private:
std::vector<cv::KeyPoint>& keypoints_;
cv::Mat& descriptors_;
std::vector<TEvolution>& evolution_;
AKAZEOptions& options_;
std::vector<cv::KeyPoint>* keypoints_;
cv::Mat* descriptors_;
std::vector<TEvolution>* evolution_;
AKAZEOptions* options_;
cv::Mat descriptorSamples_; // List of positions in the grids to sample LDB bits from.
cv::Mat descriptorBits_;
......@@ -805,9 +808,9 @@ private:
*/
void AKAZEFeatures::Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat& desc) {
double t1 = 0.0, t2 = 0.0;
//double t1 = 0.0, t2 = 0.0;
t1 = cv::getTickCount();
//t1 = cv::getTickCount();
// Allocate memory for the matrix with the descriptors
if (options_.descriptor < MLDB_UPRIGHT) {
......@@ -817,11 +820,11 @@ void AKAZEFeatures::Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat
// We use the full length binary descriptor -> 486 bits
if (options_.descriptor_size == 0) {
int t = (6 + 36 + 120)*options_.descriptor_channels;
desc = cv::Mat::zeros(kpts.size(), ceil(t / 8.), CV_8UC1);
desc = cv::Mat::zeros(kpts.size(), (int)ceil(t / 8.), CV_8UC1);
}
else {
// We use the random bit selection length binary descriptor
desc = cv::Mat::zeros(kpts.size(), ceil(options_.descriptor_size / 8.), CV_8UC1);
desc = cv::Mat::zeros(kpts.size(), (int)ceil(options_.descriptor_size / 8.), CV_8UC1);
}
}
......@@ -898,8 +901,8 @@ void AKAZEFeatures::Compute_Descriptors(std::vector<cv::KeyPoint>& kpts, cv::Mat
break;
}
t2 = cv::getTickCount();
timing_.descriptor = 1000.0*(t2 - t1) / cv::getTickFrequency();
//t2 = cv::getTickCount();
//timing_.descriptor = 1000.0*(t2 - t1) / cv::getTickFrequency();
}
/* ************************************************************************* */
......@@ -922,7 +925,7 @@ void AKAZEFeatures::Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vecto
// Get the information from the keypoint
level = kpt.class_id;
ratio = (float)(1 << evolution_[level].octave);
s = fRound(0.5*kpt.size / ratio);
s = fRound(0.5f*kpt.size / ratio);
xf = kpt.pt.x / ratio;
yf = kpt.pt.y / ratio;
......@@ -944,8 +947,8 @@ void AKAZEFeatures::Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vecto
}
// Loop slides pi/3 window around feature point
for (ang1 = 0; ang1 < 2.0*CV_PI; ang1 += 0.15f) {
ang2 = (ang1 + CV_PI / 3.0f > 2.0*CV_PI ? ang1 - 5.0f*CV_PI / 3.0f : ang1 + CV_PI / 3.0f);
for (ang1 = 0; ang1 < (float)(2.0 * CV_PI); ang1 += 0.15f) {
ang2 = (ang1 + (float)(CV_PI / 3.0) > (float)(2.0*CV_PI) ? ang1 - (float)(5.0*CV_PI / 3.0) : ang1 + (float)(CV_PI / 3.0));
sumX = sumY = 0.f;
for (size_t k = 0; k < Ang.size(); ++k) {
......@@ -958,7 +961,7 @@ void AKAZEFeatures::Compute_Main_Orientation(cv::KeyPoint& kpt, const std::vecto
sumY += resY[k];
}
else if (ang2 < ang1 &&
((ang > 0 && ang < ang2) || (ang > ang1 && ang < 2.0*CV_PI))) {
((ang > 0 && ang < ang2) || (ang > ang1 && ang < 2.0f*CV_PI))) {
sumX += resX[k];
sumY += resY[k];
}
......@@ -991,6 +994,8 @@ void SURF_Descriptor_Upright_64_Invoker::Get_SURF_Descriptor_Upright_64(const cv
int x1 = 0, y1 = 0, x2 = 0, y2 = 0, sample_step = 0, pattern_size = 0, dcount = 0;
int scale = 0, dsize = 0, level = 0;
const std::vector<TEvolution>& evolution = *evolution_;
// Set the descriptor size and the sample and pattern sizes
dsize = 64;
sample_step = 5;
......@@ -998,7 +1003,7 @@ void SURF_Descriptor_Upright_64_Invoker::Get_SURF_Descriptor_Upright_64(const cv
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
scale = fRound(0.5*kpt.size / ratio);
scale = fRound(0.5f*kpt.size / ratio);
level = kpt.class_id;
yf = kpt.pt.y / ratio;
xf = kpt.pt.x / ratio;
......@@ -1014,26 +1019,26 @@ void SURF_Descriptor_Upright_64_Invoker::Get_SURF_Descriptor_Upright_64(const cv
sample_y = yf + l*scale;
sample_x = xf + k*scale;
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
fx = sample_x - x1;
fy = sample_y - y1;
res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution[level].Lx.ptr<float>(y2)+x2);
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution[level].Ly.ptr<float>(y2)+x2);
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Sum the derivatives to the cumulative descriptor
dx += rx;
......@@ -1086,9 +1091,11 @@ void SURF_Descriptor_64_Invoker::Get_SURF_Descriptor_64(const cv::KeyPoint& kpt,
sample_step = 5;
pattern_size = 10;
const std::vector<TEvolution>& evolution = *evolution_;
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
scale = fRound(0.5*kpt.size / ratio);
scale = fRound(0.5f*kpt.size / ratio);
angle = kpt.angle;
level = kpt.class_id;
yf = kpt.pt.y / ratio;
......@@ -1107,26 +1114,26 @@ void SURF_Descriptor_64_Invoker::Get_SURF_Descriptor_64(const cv::KeyPoint& kpt,
sample_y = yf + (l*scale*co + k*scale*si);
sample_x = xf + (-l*scale*si + k*scale*co);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
fx = sample_x - x1;
fy = sample_y - y1;
res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution[level].Lx.ptr<float>(y2)+x2);
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution[level].Ly.ptr<float>(y2)+x2);
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Get the x and y derivatives on the rotated axis
rry = rx*co + ry*si;
......@@ -1180,7 +1187,9 @@ void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const
int scale = 0, dsize = 0, level = 0;
// Subregion centers for the 4x4 gaussian weighting
float cx = -0.5, cy = 0.5;
float cx = -0.5f, cy = 0.5f;
const std::vector<TEvolution>& evolution = *evolution_;
// Set the descriptor size and the sample and pattern sizes
dsize = 64;
......@@ -1189,7 +1198,7 @@ void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
scale = fRound(0.5*kpt.size / ratio);
scale = fRound(0.5f*kpt.size / ratio);
level = kpt.class_id;
yf = kpt.pt.y / ratio;
xf = kpt.pt.x / ratio;
......@@ -1202,12 +1211,12 @@ void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const
j = -8;
i = i - 4;
cx += 1.0;
cy = -0.5;
cx += 1.0f;
cy = -0.5f;
while (j < pattern_size) {
dx = dy = mdx = mdy = 0.0;
cy += 1.0;
cy += 1.0f;
j = j - 4;
ky = i + sample_step;
......@@ -1222,7 +1231,7 @@ void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const
sample_x = l*scale + xf;
//Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.50*scale);
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.50f*scale);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
......@@ -1233,17 +1242,17 @@ void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const
fx = sample_x - x1;
fy = sample_y - y1;
res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution[level].Lx.ptr<float>(y2)+x2);
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution[level].Ly.ptr<float>(y2)+x2);
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
rx = gauss_s1*rx;
ry = gauss_s1*ry;
......@@ -1301,7 +1310,9 @@ void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const cv::KeyPoint& kp
int scale = 0, dsize = 0, level = 0;
// Subregion centers for the 4x4 gaussian weighting
float cx = -0.5, cy = 0.5;
float cx = -0.5f, cy = 0.5f;
const std::vector<TEvolution>& evolution = *evolution_;
// Set the descriptor size and the sample and pattern sizes
dsize = 64;
......@@ -1310,7 +1321,7 @@ void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const cv::KeyPoint& kp
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
scale = fRound(0.5*kpt.size / ratio);
scale = fRound(0.5f*kpt.size / ratio);
angle = kpt.angle;
level = kpt.class_id;
yf = kpt.pt.y / ratio;
......@@ -1326,12 +1337,12 @@ void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const cv::KeyPoint& kp
j = -8;
i = i - 4;
cx += 1.0;
cy = -0.5;
cx += 1.0f;
cy = -0.5f;
while (j < pattern_size) {
dx = dy = mdx = mdy = 0.0;
cy += 1.0;
cy += 1.0f;
j = j - 4;
ky = i + sample_step;
......@@ -1347,28 +1358,28 @@ void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const cv::KeyPoint& kp
sample_x = xf + (-l*scale*si + k*scale*co);
// Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5*scale);
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5f*scale);
y1 = fRound(sample_y - .5);
x1 = fRound(sample_x - .5);
y1 = fRound(sample_y - 0.5f);
x1 = fRound(sample_x - 0.5f);
y2 = fRound(sample_y + .5);
x2 = fRound(sample_x + .5);
y2 = fRound(sample_y + 0.5f);
x2 = fRound(sample_x + 0.5f);
fx = sample_x - x1;
fy = sample_y - y1;
res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Lx.ptr<float>(y1)+x1);
res2 = *(evolution[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution[level].Lx.ptr<float>(y2)+x2);
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution[level].Ly.ptr<float>(y2)+x2);
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Get the x and y derivatives on the rotated axis
rry = gauss_s1*(rx*co + ry*si);
......@@ -1421,20 +1432,23 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
int level = 0, nsamples = 0, scale = 0;
int dcount1 = 0, dcount2 = 0;
const AKAZEOptions & options = *options_;
const std::vector<TEvolution>& evolution = *evolution_;
// Matrices for the M-LDB descriptor
cv::Mat values_1 = cv::Mat::zeros(4, options_.descriptor_channels, CV_32FC1);
cv::Mat values_2 = cv::Mat::zeros(9, options_.descriptor_channels, CV_32FC1);
cv::Mat values_3 = cv::Mat::zeros(16, options_.descriptor_channels, CV_32FC1);
cv::Mat values_1 = cv::Mat::zeros(4, options.descriptor_channels, CV_32FC1);
cv::Mat values_2 = cv::Mat::zeros(9, options.descriptor_channels, CV_32FC1);
cv::Mat values_3 = cv::Mat::zeros(16, options.descriptor_channels, CV_32FC1);
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
scale = fRound(0.5*kpt.size / ratio);
scale = fRound(0.5f*kpt.size / ratio);
level = kpt.class_id;
yf = kpt.pt.y / ratio;
xf = kpt.pt.x / ratio;
// First 2x2 grid
pattern_size = options_.descriptor_pattern_size;
pattern_size = options_->descriptor_pattern_size;
sample_step = pattern_size;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
......@@ -1452,9 +1466,9 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution_[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
dx += rx;
......@@ -1495,7 +1509,7 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
}
// Second 3x3 grid
sample_step = ceil(pattern_size*2. / 3.);
sample_step = static_cast<int>(ceil(pattern_size*2. / 3.));
dcount2 = 0;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
......@@ -1513,9 +1527,9 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution_[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
dx += rx;
......@@ -1575,9 +1589,9 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution_[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
dx += rx;
......@@ -1635,14 +1649,17 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
int level = 0, nsamples = 0, scale = 0;
int dcount1 = 0, dcount2 = 0;
const AKAZEOptions & options = *options_;
const std::vector<TEvolution>& evolution = *evolution_;
// Matrices for the M-LDB descriptor
cv::Mat values_1 = cv::Mat::zeros(4, options_.descriptor_channels, CV_32FC1);
cv::Mat values_2 = cv::Mat::zeros(9, options_.descriptor_channels, CV_32FC1);
cv::Mat values_3 = cv::Mat::zeros(16, options_.descriptor_channels, CV_32FC1);
cv::Mat values_1 = cv::Mat::zeros(4, options.descriptor_channels, CV_32FC1);
cv::Mat values_2 = cv::Mat::zeros(9, options.descriptor_channels, CV_32FC1);
cv::Mat values_3 = cv::Mat::zeros(16, options.descriptor_channels, CV_32FC1);
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
scale = fRound(0.5*kpt.size / ratio);
scale = fRound(0.5f*kpt.size / ratio);
angle = kpt.angle;
level = kpt.class_id;
yf = kpt.pt.y / ratio;
......@@ -1651,7 +1668,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
si = sin(angle);
// First 2x2 grid
pattern_size = options_.descriptor_pattern_size;
pattern_size = options.descriptor_pattern_size;
sample_step = pattern_size;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
......@@ -1660,8 +1677,8 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
di = dx = dy = 0.0;
nsamples = 0;
for (float k = i; k < i + sample_step; k++) {
for (float l = j; l < j + sample_step; l++) {
for (float k = (float)i; k < i + sample_step; k++) {
for (float l = (float)j; l < j + sample_step; l++) {
// Get the coordinates of the sample point
sample_y = yf + (l*scale*co + k*scale*si);
......@@ -1670,16 +1687,16 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution_[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
if (options_.descriptor_channels == 2) {
if (options.descriptor_channels == 2) {
dx += sqrtf(rx*rx + ry*ry);
}
else if (options_.descriptor_channels == 3) {
else if (options.descriptor_channels == 3) {
// Get the x and y derivatives on the rotated axis
rry = rx*co + ry*si;
rrx = -rx*si + ry*co;
......@@ -1696,11 +1713,11 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
dy /= nsamples;
*(values_1.ptr<float>(dcount2)) = di;
if (options_.descriptor_channels > 1) {
if (options.descriptor_channels > 1) {
*(values_1.ptr<float>(dcount2)+1) = dx;
}
if (options_.descriptor_channels > 2) {
if (options.descriptor_channels > 2) {
*(values_1.ptr<float>(dcount2)+2) = dy;
}
......@@ -1718,7 +1735,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
}
}
if (options_.descriptor_channels > 1) {
if (options.descriptor_channels > 1) {
for (int i = 0; i < 4; i++) {
for (int j = i + 1; j < 4; j++) {
if (*(values_1.ptr<float>(i)+1) > *(values_1.ptr<float>(j)+1)) {
......@@ -1730,7 +1747,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
}
}
if (options_.descriptor_channels > 2) {
if (options.descriptor_channels > 2) {
for (int i = 0; i < 4; i++) {
for (int j = i + 1; j < 4; j++) {
if (*(values_1.ptr<float>(i)+2) > *(values_1.ptr<float>(j)+2)) {
......@@ -1742,7 +1759,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
}
// Second 3x3 grid
sample_step = ceil(pattern_size*2. / 3.);
sample_step = static_cast<int>(ceil(pattern_size*2. / 3.));
dcount2 = 0;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
......@@ -1761,15 +1778,15 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution_[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
if (options_.descriptor_channels == 2) {
if (options.descriptor_channels == 2) {
dx += sqrtf(rx*rx + ry*ry);
}
else if (options_.descriptor_channels == 3) {
else if (options.descriptor_channels == 3) {
// Get the x and y derivatives on the rotated axis
rry = rx*co + ry*si;
rrx = -rx*si + ry*co;
......@@ -1786,11 +1803,11 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
dy /= nsamples;
*(values_2.ptr<float>(dcount2)) = di;
if (options_.descriptor_channels > 1) {
if (options.descriptor_channels > 1) {
*(values_2.ptr<float>(dcount2)+1) = dx;
}
if (options_.descriptor_channels > 2) {
if (options.descriptor_channels > 2) {
*(values_2.ptr<float>(dcount2)+2) = dy;
}
......@@ -1808,7 +1825,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
}
}
if (options_.descriptor_channels > 1) {
if (options.descriptor_channels > 1) {
for (int i = 0; i < 9; i++) {
for (int j = i + 1; j < 9; j++) {
if (*(values_2.ptr<float>(i)+1) > *(values_2.ptr<float>(j)+1)) {
......@@ -1819,7 +1836,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
}
}
if (options_.descriptor_channels > 2) {
if (options.descriptor_channels > 2) {
for (int i = 0; i < 9; i++) {
for (int j = i + 1; j < 9; j++) {
if (*(values_2.ptr<float>(i)+2) > *(values_2.ptr<float>(j)+2)) {
......@@ -1849,15 +1866,15 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution_[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
if (options_.descriptor_channels == 2) {
if (options.descriptor_channels == 2) {
dx += sqrtf(rx*rx + ry*ry);
}
else if (options_.descriptor_channels == 3) {
else if (options.descriptor_channels == 3) {
// Get the x and y derivatives on the rotated axis
rry = rx*co + ry*si;
rrx = -rx*si + ry*co;
......@@ -1874,10 +1891,10 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
dy /= nsamples;
*(values_3.ptr<float>(dcount2)) = di;
if (options_.descriptor_channels > 1)
if (options.descriptor_channels > 1)
*(values_3.ptr<float>(dcount2)+1) = dx;
if (options_.descriptor_channels > 2)
if (options.descriptor_channels > 2)
*(values_3.ptr<float>(dcount2)+2) = dy;
dcount2++;
......@@ -1894,7 +1911,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
}
}
if (options_.descriptor_channels > 1) {
if (options.descriptor_channels > 1) {
for (int i = 0; i < 16; i++) {
for (int j = i + 1; j < 16; j++) {
if (*(values_3.ptr<float>(i)+1) > *(values_3.ptr<float>(j)+1)) {
......@@ -1905,7 +1922,7 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const cv::KeyPoint&
}
}
if (options_.descriptor_channels > 2) {
if (options.descriptor_channels > 2) {
for (int i = 0; i < 16; i++) {
for (int j = i + 1; j < 16; j++) {
if (*(values_3.ptr<float>(i)+2) > *(values_3.ptr<float>(j)+2)) {
......@@ -1932,24 +1949,27 @@ void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const cv::KeyPoi
float sample_x = 0.f, sample_y = 0.f;
int x1 = 0, y1 = 0;
const AKAZEOptions & options = *options_;
const std::vector<TEvolution>& evolution = *evolution_;
// Get the information from the keypoint
float ratio = (float)(1 << kpt.octave);
int scale = fRound(0.5*kpt.size / ratio);
int scale = fRound(0.5f*kpt.size / ratio);
float angle = kpt.angle;
float level = kpt.class_id;
int level = kpt.class_id;
float yf = kpt.pt.y / ratio;
float xf = kpt.pt.x / ratio;
float co = cos(angle);
float si = sin(angle);
// Allocate memory for the matrix of values
cv::Mat values = cv::Mat_<float>::zeros((4 + 9 + 16)*options_.descriptor_channels, 1);
cv::Mat values = cv::Mat_<float>::zeros((4 + 9 + 16)*options.descriptor_channels, 1);
// Sample everything, but only do the comparisons
vector<int> steps(3);
steps.at(0) = options_.descriptor_pattern_size;
steps.at(1) = ceil(2.f*options_.descriptor_pattern_size / 3.f);
steps.at(2) = options_.descriptor_pattern_size / 2;
steps.at(0) = options.descriptor_pattern_size;
steps.at(1) = (int)ceil(2.f*options.descriptor_pattern_size / 3.f);
steps.at(2) = options.descriptor_pattern_size / 2;
for (int i = 0; i < descriptorSamples_.rows; i++) {
const int *coords = descriptorSamples_.ptr<int>(i);
......@@ -1968,16 +1988,16 @@ void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const cv::KeyPoi
y1 = fRound(sample_y);
x1 = fRound(sample_x);
di += *(evolution_[level].Lt.ptr<float>(y1)+x1);
di += *(evolution[level].Lt.ptr<float>(y1)+x1);
if (options_.descriptor_channels > 1) {
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
if (options.descriptor_channels > 1) {
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
if (options_.descriptor_channels == 2) {
if (options.descriptor_channels == 2) {
dx += sqrtf(rx*rx + ry*ry);
}
else if (options_.descriptor_channels == 3) {
else if (options.descriptor_channels == 3) {
// Get the x and y derivatives on the rotated axis
dx += rx*co + ry*si;
dy += -rx*si + ry*co;
......@@ -1986,14 +2006,14 @@ void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const cv::KeyPoi
}
}
*(values.ptr<float>(options_.descriptor_channels*i)) = di;
*(values.ptr<float>(options.descriptor_channels*i)) = di;
if (options_.descriptor_channels == 2) {
*(values.ptr<float>(options_.descriptor_channels*i + 1)) = dx;
if (options.descriptor_channels == 2) {
*(values.ptr<float>(options.descriptor_channels*i + 1)) = dx;
}
else if (options_.descriptor_channels == 3) {
*(values.ptr<float>(options_.descriptor_channels*i + 1)) = dx;
*(values.ptr<float>(options_.descriptor_channels*i + 2)) = dy;
else if (options.descriptor_channels == 3) {
*(values.ptr<float>(options.descriptor_channels*i + 1)) = dx;
*(values.ptr<float>(options.descriptor_channels*i + 2)) = dy;
}
}
......@@ -2023,20 +2043,23 @@ void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(
float sample_x = 0.0f, sample_y = 0.0f;
int x1 = 0, y1 = 0;
const AKAZEOptions & options = *options_;
const std::vector<TEvolution>& evolution = *evolution_;
// Get the information from the keypoint
float ratio = (float)(1 << kpt.octave);
int scale = fRound(0.5*kpt.size / ratio);
float level = kpt.class_id;
int scale = fRound(0.5f*kpt.size / ratio);
int level = kpt.class_id;
float yf = kpt.pt.y / ratio;
float xf = kpt.pt.x / ratio;
// Allocate memory for the matrix of values
Mat values = cv::Mat_<float>::zeros((4 + 9 + 16)*options_.descriptor_channels, 1);
Mat values = cv::Mat_<float>::zeros((4 + 9 + 16)*options.descriptor_channels, 1);
vector<int> steps(3);
steps.at(0) = options_.descriptor_pattern_size;
steps.at(1) = ceil(2.f*options_.descriptor_pattern_size / 3.f);
steps.at(2) = options_.descriptor_pattern_size / 2;
steps.at(0) = options.descriptor_pattern_size;
steps.at(1) = static_cast<int>(ceil(2.f*options.descriptor_pattern_size / 3.f));
steps.at(2) = options.descriptor_pattern_size / 2;
for (int i = 0; i < descriptorSamples_.rows; i++) {
const int *coords = descriptorSamples_.ptr<int>(i);
......@@ -2052,16 +2075,16 @@ void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(
y1 = fRound(sample_y);
x1 = fRound(sample_x);
di += *(evolution_[level].Lt.ptr<float>(y1)+x1);
di += *(evolution[level].Lt.ptr<float>(y1)+x1);
if (options_.descriptor_channels > 1) {
rx = *(evolution_[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution_[level].Ly.ptr<float>(y1)+x1);
if (options.descriptor_channels > 1) {
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
if (options_.descriptor_channels == 2) {
if (options.descriptor_channels == 2) {
dx += sqrtf(rx*rx + ry*ry);
}
else if (options_.descriptor_channels == 3) {
else if (options.descriptor_channels == 3) {
dx += rx;
dy += ry;
}
......@@ -2069,14 +2092,14 @@ void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(
}
}
*(values.ptr<float>(options_.descriptor_channels*i)) = di;
*(values.ptr<float>(options.descriptor_channels*i)) = di;
if (options_.descriptor_channels == 2) {
*(values.ptr<float>(options_.descriptor_channels*i + 1)) = dx;
if (options.descriptor_channels == 2) {
*(values.ptr<float>(options.descriptor_channels*i + 1)) = dx;
}
else if (options_.descriptor_channels == 3) {
*(values.ptr<float>(options_.descriptor_channels*i + 1)) = dx;
*(values.ptr<float>(options_.descriptor_channels*i + 2)) = dy;
else if (options.descriptor_channels == 3) {
*(values.ptr<float>(options.descriptor_channels*i + 1)) = dx;
*(values.ptr<float>(options.descriptor_channels*i + 2)) = dy;
}
}
......@@ -2097,15 +2120,15 @@ void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(
/**
* @brief This method displays the computation times
*/
void AKAZEFeatures::Show_Computation_Times() const {
cout << "(*) Time Scale Space: " << timing_.scale << endl;
cout << "(*) Time Detector: " << timing_.detector << endl;
cout << " - Time Derivatives: " << timing_.derivatives << endl;
cout << " - Time Extrema: " << timing_.extrema << endl;
cout << " - Time Subpixel: " << timing_.subpixel << endl;
cout << "(*) Time Descriptor: " << timing_.descriptor << endl;
cout << endl;
}
//void AKAZEFeatures::Show_Computation_Times() const {
// cout << "(*) Time Scale Space: " << timing_.scale << endl;
// cout << "(*) Time Detector: " << timing_.detector << endl;
// cout << " - Time Derivatives: " << timing_.derivatives << endl;
// cout << " - Time Extrema: " << timing_.extrema << endl;
// cout << " - Time Subpixel: " << timing_.subpixel << endl;
// cout << "(*) Time Descriptor: " << timing_.descriptor << endl;
// cout << endl;
//}
/* ************************************************************************* */
/**
......@@ -2142,7 +2165,7 @@ void generateDescriptorSubsample(cv::Mat& sampleList, cv::Mat& comparisons, int
for (size_t i = 0, c = 0; i < 3; i++) {
int gdiv = i + 2; //grid divisions, per row
int gsz = gdiv*gdiv;
int psz = ceil(2.*pattern_size / (float)gdiv);
int psz = (int)ceil(2.f*pattern_size / (float)gdiv);
for (int j = 0; j < gsz; j++) {
for (int k = j + 1; k < gsz; k++, c++) {
......@@ -2156,12 +2179,12 @@ void generateDescriptorSubsample(cv::Mat& sampleList, cv::Mat& comparisons, int
}
srand(1024);
Mat_<int> comps = Mat_<int>(nchannels*ceil(nbits / (float)nchannels), 2);
Mat_<int> comps = Mat_<int>(nchannels * (int)ceil(nbits / (float)nchannels), 2);
comps = 1000;
// Select some samples. A sample includes all channels
int count = 0;
size_t npicks = ceil(nbits / (float)nchannels);
size_t npicks = (size_t)ceil(nbits / (float)nchannels);
Mat_<int> samples(29, 3);
Mat_<int> fullcopy = fullM.clone();
samples = -1;
......@@ -2235,15 +2258,15 @@ inline float get_angle(float x, float y) {
}
if (x < 0 && y >= 0) {
return CV_PI - atanf(-y / x);
return static_cast<float>(CV_PI) - atanf(-y / x);
}
if (x < 0 && y < 0) {
return CV_PI + atanf(y / x);
return static_cast<float>(CV_PI) + atanf(y / x);
}
if (x >= 0 && y < 0) {
return 2.0*CV_PI - atanf(-y / x);
return static_cast<float>(2.0 * CV_PI) - atanf(-y / x);
}
return 0;
......
modules/features2d/src/akaze/AKAZE.h
View file @ f97e38d8
......@@ -33,9 +33,6 @@ private:
cv::Mat descriptorBits_;
cv::Mat bitMask_;
/// Computation times variables in ms
AKAZETiming timing_;
public:
/// Constructor with input arguments
......@@ -74,14 +71,14 @@ public:
//void Get_MLDB_Descriptor_Subset(const cv::KeyPoint& kpt, unsigned char* desc);
// Methods for saving some results and showing computation times
void Save_Scale_Space();
void Save_Detector_Responses();
void Show_Computation_Times() const;
//void Save_Scale_Space();
//void Save_Detector_Responses();
//void Show_Computation_Times() const;
/// Return the computation times
AKAZETiming Get_Computation_Times() const {
return timing_;
}
//AKAZETiming Get_Computation_Times() const {
// return timing_;
//}
};
/* ************************************************************************* */
......
modules/features2d/src/kaze/KAZE.cpp
View file @ f97e38d8
......@@ -54,12 +54,12 @@ KAZEFeatures::KAZEFeatures(KAZEOptions& options) {
kcontrast_ = DEFAULT_KCONTRAST;
ncycles_ = 0;
reordering_ = true;
tkcontrast_ = 0.0;
tnlscale_ = 0.0;
tdetector_ = 0.0;
tmderivatives_ = 0.0;
tdresponse_ = 0.0;
tdescriptor_ = 0.0;
//tkcontrast_ = 0.0;
//tnlscale_ = 0.0;
//tdetector_ = 0.0;
//tmderivatives_ = 0.0;
//tdresponse_ = 0.0;
//tdescriptor_ = 0.0;
// Now allocate memory for the evolution
Allocate_Memory_Evolution();
......@@ -99,11 +99,11 @@ void KAZEFeatures::Allocate_Memory_Evolution(void) {
aux.Lsmooth = cv::Mat::zeros(img_height_, img_width_, CV_32F);
aux.Lstep = cv::Mat::zeros(img_height_, img_width_, CV_32F);
aux.Ldet = cv::Mat::zeros(img_height_, img_width_, CV_32F);
aux.esigma = soffset_*pow((float)2.0, (float)(j) / (float)(nsublevels_)+i);
aux.etime = 0.5*(aux.esigma*aux.esigma);
aux.esigma = soffset_*pow((float)2.0f, (float)(j) / (float)(nsublevels_)+i);
aux.etime = 0.5f*(aux.esigma*aux.esigma);
aux.sigma_size = fRound(aux.esigma);
aux.octave = i;
aux.sublevel = j;
aux.octave = (float)i;
aux.sublevel = (float)j;
evolution_.push_back(aux);
}
}
......@@ -115,7 +115,7 @@ void KAZEFeatures::Allocate_Memory_Evolution(void) {
vector<float> tau;
float ttime = 0.0;
ttime = evolution_[i].etime - evolution_[i - 1].etime;
naux = fed_tau_by_process_time(ttime, 1, 0.25, reordering_, tau);
naux = fed_tau_by_process_time(ttime, 1, 0.25f, reordering_, tau);
nsteps_.push_back(naux);
tsteps_.push_back(tau);
ncycles_++;
......@@ -147,7 +147,7 @@ void KAZEFeatures::Allocate_Memory_Evolution(void) {
*/
int KAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat &img) {
double t2 = 0.0, t1 = 0.0;
//double t2 = 0.0, t1 = 0.0;
if (evolution_.size() == 0) {
cout << "Error generating the nonlinear scale space!!" << endl;
......@@ -155,7 +155,7 @@ int KAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat &img) {
return -1;
}
t1 = getTickCount();
//t1 = getTickCount();
// Copy the original image to the first level of the evolution
img.copyTo(evolution_[0].Lt);
......@@ -165,8 +165,8 @@ int KAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat &img) {
// Firstly compute the kcontrast factor
Compute_KContrast(evolution_[0].Lt, KCONTRAST_PERCENTILE);
t2 = getTickCount();
tkcontrast_ = 1000.0*(t2 - t1) / getTickFrequency();
//t2 = getTickCount();
//tkcontrast_ = 1000.0*(t2 - t1) / getTickFrequency();
if (verbosity_ == true) {
cout << "Computed image evolution step. Evolution time: " << evolution_[0].etime <<
......@@ -212,8 +212,8 @@ int KAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat &img) {
}
}
t2 = getTickCount();
tnlscale_ = 1000.0*(t2 - t1) / getTickFrequency();
//t2 = getTickCount();
//tnlscale_ = 1000.0*(t2 - t1) / getTickFrequency();
return 0;
}
......@@ -228,18 +228,18 @@ int KAZEFeatures::Create_Nonlinear_Scale_Space(const cv::Mat &img) {
*/
void KAZEFeatures::Compute_KContrast(const cv::Mat &img, const float &kpercentile) {
if (verbosity_ == true) {
cout << "Computing Kcontrast factor." << endl;
}
//if (verbosity_ == true) {
// cout << "Computing Kcontrast factor." << endl;
//}
if (COMPUTE_KCONTRAST == true) {
if (COMPUTE_KCONTRAST) {
kcontrast_ = compute_k_percentile(img, kpercentile, sderivatives_, KCONTRAST_NBINS, 0, 0);
}
if (verbosity_ == true) {
cout << "kcontrast = " << kcontrast_ << endl;
cout << endl << "Now computing the nonlinear scale space!!" << endl;
}
//if (verbosity_ == true) {
// cout << "kcontrast = " << kcontrast_ << endl;
// cout << endl << "Now computing the nonlinear scale space!!" << endl;
//}
}
//*************************************************************************************
......@@ -250,18 +250,18 @@ void KAZEFeatures::Compute_KContrast(const cv::Mat &img, const float &kpercentil
*/
void KAZEFeatures::Compute_Multiscale_Derivatives(void)
{
double t2 = 0.0, t1 = 0.0;
t1 = getTickCount();
//double t2 = 0.0, t1 = 0.0;
//t1 = getTickCount();
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (size_t i = 0; i < evolution_.size(); i++) {
if (verbosity_ == true) {
cout << "Computing multiscale derivatives. Evolution time: " << evolution_[i].etime
<< " Step (pixels): " << evolution_[i].sigma_size << endl;
}
//if (verbosity_ == true) {
// cout << "Computing multiscale derivatives. Evolution time: " << evolution_[i].etime
// << " Step (pixels): " << evolution_[i].sigma_size << endl;
//}
// Compute multiscale derivatives for the detector
compute_scharr_derivatives(evolution_[i].Lsmooth, evolution_[i].Lx, 1, 0, evolution_[i].sigma_size);
......@@ -277,8 +277,8 @@ void KAZEFeatures::Compute_Multiscale_Derivatives(void)
evolution_[i].Lyy = evolution_[i].Lyy*((evolution_[i].sigma_size)*(evolution_[i].sigma_size));
}
t2 = getTickCount();
tmderivatives_ = 1000.0*(t2 - t1) / getTickFrequency();
//t2 = getTickCount();
//tmderivatives_ = 1000.0*(t2 - t1) / getTickFrequency();
}
//*************************************************************************************
......@@ -290,10 +290,10 @@ void KAZEFeatures::Compute_Multiscale_Derivatives(void)
*/
void KAZEFeatures::Compute_Detector_Response(void) {
double t2 = 0.0, t1 = 0.0;
//double t2 = 0.0, t1 = 0.0;
float lxx = 0.0, lxy = 0.0, lyy = 0.0;
t1 = getTickCount();
//t1 = getTickCount();
// Firstly compute the multiscale derivatives
Compute_Multiscale_Derivatives();
......@@ -301,9 +301,9 @@ void KAZEFeatures::Compute_Detector_Response(void) {
for (size_t i = 0; i < evolution_.size(); i++) {
// Determinant of the Hessian
if (verbosity_ == true) {
cout << "Computing detector response. Determinant of Hessian. Evolution time: " << evolution_[i].etime << endl;
}
//if (verbosity_ == true) {
// cout << "Computing detector response. Determinant of Hessian. Evolution time: " << evolution_[i].etime << endl;
//}
for (int ix = 0; ix < img_height_; ix++) {
for (int jx = 0; jx < img_width_; jx++) {
......@@ -315,8 +315,8 @@ void KAZEFeatures::Compute_Detector_Response(void) {
}
}
t2 = getTickCount();
tdresponse_ = 1000.0*(t2 - t1) / getTickFrequency();
//t2 = getTickCount();
//tdresponse_ = 1000.0*(t2 - t1) / getTickFrequency();
}
//*************************************************************************************
......@@ -328,8 +328,8 @@ void KAZEFeatures::Compute_Detector_Response(void) {
*/
void KAZEFeatures::Feature_Detection(std::vector<cv::KeyPoint>& kpts) {
double t2 = 0.0, t1 = 0.0;
t1 = getTickCount();
//double t2 = 0.0, t1 = 0.0;
//t1 = getTickCount();
kpts.clear();
......@@ -342,8 +342,8 @@ void KAZEFeatures::Feature_Detection(std::vector<cv::KeyPoint>& kpts) {
// Perform some subpixel refinement
Do_Subpixel_Refinement(kpts);
t2 = getTickCount();
tdetector_ = 1000.0*(t2 - t1) / getTickFrequency();
//t2 = getTickCount();
//tdetector_ = 1000.0*(t2 - t1) / getTickFrequency();
}
//*************************************************************************************
......@@ -476,11 +476,11 @@ void KAZEFeatures::Find_Extremum_Threading(const int& level) {
// Add the point of interest!!
if (is_extremum == true) {
KeyPoint point;
point.pt.x = jx;
point.pt.y = ix;
point.pt.x = (float)jx;
point.pt.y = (float)ix;
point.response = fabs(value);
point.size = evolution_[level].esigma;
point.octave = evolution_[level].octave;
point.octave = (int)evolution_[level].octave;
point.class_id = level;
// We use the angle field for the sublevel value
......@@ -508,50 +508,50 @@ void KAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint> &kpts) {
Mat A = Mat::zeros(3, 3, CV_32F);
Mat b = Mat::zeros(3, 1, CV_32F);
Mat dst = Mat::zeros(3, 1, CV_32F);
double t2 = 0.0, t1 = 0.0;
//double t2 = 0.0, t1 = 0.0;
t1 = cv::getTickCount();
//t1 = cv::getTickCount();
vector<KeyPoint> kpts_(kpts);
for (size_t i = 0; i < kpts_.size(); i++) {
x = kpts_[i].pt.x;
y = kpts_[i].pt.y;
x = static_cast<int>(kpts_[i].pt.x);
y = static_cast<int>(kpts_[i].pt.y);
// Compute the gradient
Dx = (1.0 / (2.0*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x + step)
Dx = (1.0f / (2.0f*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x + step)
- *(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x - step));
Dy = (1.0 / (2.0*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y + step) + x)
Dy = (1.0f / (2.0f*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y + step) + x)
- *(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y - step) + x));
Ds = 0.5*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y)+x)
Ds = 0.5f*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y)+x)
- *(evolution_[kpts_[i].class_id - 1].Ldet.ptr<float>(y)+x));
// Compute the Hessian
Dxx = (1.0 / (step*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x + step)
Dxx = (1.0f / (step*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x + step)
+ *(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x - step)
- 2.0*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x)));
- 2.0f*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x)));
Dyy = (1.0 / (step*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y + step) + x)
Dyy = (1.0f / (step*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y + step) + x)
+ *(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y - step) + x)
- 2.0*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x)));
- 2.0f*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x)));
Dss = *(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y)+x)
+ *(evolution_[kpts_[i].class_id - 1].Ldet.ptr<float>(y)+x)
- 2.0*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x));
- 2.0f*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y)+x));
Dxy = (1.0 / (4.0*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y + step) + x + step)
Dxy = (1.0f / (4.0f*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y + step) + x + step)
+ (*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y - step) + x - step)))
- (1.0 / (4.0*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y - step) + x + step)
- (1.0f / (4.0f*step))*(*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y - step) + x + step)
+ (*(evolution_[kpts_[i].class_id].Ldet.ptr<float>(y + step) + x - step)));
Dxs = (1.0 / (4.0*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y)+x + step)
Dxs = (1.0f / (4.0f*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y)+x + step)
+ (*(evolution_[kpts_[i].class_id - 1].Ldet.ptr<float>(y)+x - step)))
- (1.0 / (4.0*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y)+x - step)
- (1.0f / (4.0f*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y)+x - step)
+ (*(evolution_[kpts_[i].class_id - 1].Ldet.ptr<float>(y)+x + step)));
Dys = (1.0 / (4.0*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y + step) + x)
Dys = (1.0f / (4.0f*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y + step) + x)
+ (*(evolution_[kpts_[i].class_id - 1].Ldet.ptr<float>(y - step) + x)))
- (1.0 / (4.0*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y - step) + x)
- (1.0f / (4.0f*step))*(*(evolution_[kpts_[i].class_id + 1].Ldet.ptr<float>(y - step) + x)
+ (*(evolution_[kpts_[i].class_id - 1].Ldet.ptr<float>(y + step) + x)));
// Solve the linear system
......@@ -569,13 +569,13 @@ void KAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint> &kpts) {
solve(A, b, dst, DECOMP_LU);
if (fabs(*(dst.ptr<float>(0))) <= 1.0 && fabs(*(dst.ptr<float>(1))) <= 1.0 && fabs(*(dst.ptr<float>(2))) <= 1.0) {
if (fabs(*(dst.ptr<float>(0))) <= 1.0f && fabs(*(dst.ptr<float>(1))) <= 1.0f && fabs(*(dst.ptr<float>(2))) <= 1.0f) {
kpts_[i].pt.x += *(dst.ptr<float>(0));
kpts_[i].pt.y += *(dst.ptr<float>(1));
dsc = kpts_[i].octave + (kpts_[i].angle + *(dst.ptr<float>(2))) / ((float)(nsublevels_));
// In OpenCV the size of a keypoint is the diameter!!
kpts_[i].size = 2.0*soffset_*pow((float)2.0, dsc);
kpts_[i].size = 2.0f*soffset_*pow((float)2.0f, dsc);
kpts_[i].angle = 0.0;
}
// Set the points to be deleted after the for loop
......@@ -593,8 +593,8 @@ void KAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint> &kpts) {
}
}
t2 = getTickCount();
tsubpixel_ = 1000.0*(t2 - t1) / getTickFrequency();
//t2 = getTickCount();
//tsubpixel_ = 1000.0*(t2 - t1) / getTickFrequency();
}
//*************************************************************************************
......@@ -663,8 +663,8 @@ void KAZEFeatures::Feature_Suppression_Distance(std::vector<cv::KeyPoint>& kpts,
*/
void KAZEFeatures::Feature_Description(std::vector<cv::KeyPoint> &kpts, cv::Mat &desc) {
double t2 = 0.0, t1 = 0.0;
t1 = getTickCount();
//double t2 = 0.0, t1 = 0.0;
//t1 = getTickCount();
// Allocate memory for the matrix of descriptors
if (use_extended_ == true) {
......@@ -796,8 +796,8 @@ void KAZEFeatures::Feature_Description(std::vector<cv::KeyPoint> &kpts, cv::Mat
}
}
t2 = getTickCount();
tdescriptor_ = 1000.0*(t2 - t1) / getTickFrequency();
//t2 = getTickCount();
//tdescriptor_ = 1000.0*(t2 - t1) / getTickFrequency();
}
//*************************************************************************************
......@@ -822,7 +822,7 @@ void KAZEFeatures::Compute_Main_Orientation_SURF(cv::KeyPoint &kpt)
xf = kpt.pt.x;
yf = kpt.pt.y;
level = kpt.class_id;
s = fRound(kpt.size / 2.0);
s = fRound(kpt.size / 2.0f);
// Calculate derivatives responses for points within radius of 6*scale
for (int i = -6; i <= 6; ++i) {
......@@ -832,7 +832,7 @@ void KAZEFeatures::Compute_Main_Orientation_SURF(cv::KeyPoint &kpt)
ix = fRound(xf + i*s);
if (iy >= 0 && iy < img_height_ && ix >= 0 && ix < img_width_) {
gweight = gaussian(iy - yf, ix - xf, 2.5*s);
gweight = gaussian(iy - yf, ix - xf, 2.5f*s);
resX[idx] = gweight*(*(evolution_[level].Lx.ptr<float>(iy)+ix));
resY[idx] = gweight*(*(evolution_[level].Ly.ptr<float>(iy)+ix));
}
......@@ -848,8 +848,8 @@ void KAZEFeatures::Compute_Main_Orientation_SURF(cv::KeyPoint &kpt)
}
// Loop slides pi/3 window around feature point
for (ang1 = 0; ang1 < 2.0*CV_PI; ang1 += 0.15f) {
ang2 = (ang1 + CV_PI / 3.0f > 2.0*CV_PI ? ang1 - 5.0f*CV_PI / 3.0f : ang1 + CV_PI / 3.0f);
for (ang1 = 0; ang1 < 2.0f*CV_PI; ang1 += 0.15f) {
ang2 = (ang1 + (float)(CV_PI / 3.0) > (float)(2.0*CV_PI) ? ang1 - (float)(5.0*CV_PI / 3.0) : ang1 + (float)(CV_PI / 3.0));
sumX = sumY = 0.f;
for (size_t k = 0; k < Ang.size(); ++k) {
......@@ -862,7 +862,7 @@ void KAZEFeatures::Compute_Main_Orientation_SURF(cv::KeyPoint &kpt)
sumY += resY[k];
}
else if (ang2 < ang1 &&
((ang > 0 && ang < ang2) || (ang > ang1 && ang < 2.0*CV_PI))) {
((ang > 0 && ang < ang2) || (ang > ang1 && ang < (float)(2.0*CV_PI)))) {
sumX += resX[k];
sumY += resY[k];
}
......@@ -907,7 +907,7 @@ void KAZEFeatures::Get_SURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, float
yf = kpt.pt.y;
xf = kpt.pt.x;
level = kpt.class_id;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
// Calculate descriptor for this interest point
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
......@@ -921,13 +921,13 @@ void KAZEFeatures::Get_SURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, float
sample_y = k*scale + yf;
sample_x = l*scale + xf;
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - .5f);
x1 = (int)(sample_x - .5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + .5f);
x2 = (int)(sample_x + .5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -938,13 +938,13 @@ void KAZEFeatures::Get_SURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, float
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Sum the derivatives to the cumulative descriptor
dx += rx;
......@@ -1006,7 +1006,7 @@ void KAZEFeatures::Get_SURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
angle = kpt.angle;
level = kpt.class_id;
co = cos(angle);
......@@ -1024,13 +1024,13 @@ void KAZEFeatures::Get_SURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
sample_y = yf + (l*scale*co + k*scale*si);
sample_x = xf + (-l*scale*si + k*scale*co);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - .5f);
x1 = (int)(sample_x - .5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + .5f);
x2 = (int)(sample_x + .5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1041,13 +1041,13 @@ void KAZEFeatures::Get_SURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Get the x and y derivatives on the rotated axis
rry = rx*co + ry*si;
......@@ -1107,7 +1107,7 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
int dsize = 0, scale = 0, level = 0;
// Subregion centers for the 4x4 gaussian weighting
float cx = -0.5, cy = 0.5;
float cx = -0.5f, cy = 0.5f;
// Set the descriptor size and the sample and pattern sizes
dsize = 64;
......@@ -1117,7 +1117,7 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
level = kpt.class_id;
i = -8;
......@@ -1128,13 +1128,13 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
j = -8;
i = i - 4;
cx += 1.0;
cy = -0.5;
cx += 1.0f;
cy = -0.5f;
while (j < pattern_size) {
dx = dy = mdx = mdy = 0.0;
cy += 1.0;
cy += 1.0f;
j = j - 4;
ky = i + sample_step;
......@@ -1150,15 +1150,15 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
sample_x = l*scale + xf;
//Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5*scale);
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5f*scale);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1169,13 +1169,13 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
rx = gauss_s1*rx;
ry = gauss_s1*ry;
......@@ -1239,7 +1239,7 @@ void KAZEFeatures::Get_MSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
int dsize = 0, scale = 0, level = 0;
// Subregion centers for the 4x4 gaussian weighting
float cx = -0.5, cy = 0.5;
float cx = -0.5f, cy = 0.5f;
// Set the descriptor size and the sample and pattern sizes
dsize = 64;
......@@ -1249,7 +1249,7 @@ void KAZEFeatures::Get_MSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
angle = kpt.angle;
level = kpt.class_id;
co = cos(angle);
......@@ -1264,13 +1264,13 @@ void KAZEFeatures::Get_MSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
j = -8;
i = i - 4;
cx += 1.0;
cy = -0.5;
cx += 1.0f;
cy = -0.5f;
while (j < pattern_size) {
dx = dy = mdx = mdy = 0.0;
cy += 1.0;
cy += 1.0f;
j = j - 4;
ky = i + sample_step;
......@@ -1287,14 +1287,14 @@ void KAZEFeatures::Get_MSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
sample_x = xf + (-l*scale*si + k*scale*co);
// Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5*scale);
y1 = fRound(sample_y - .5);
x1 = fRound(sample_x - .5);
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5f*scale);
y1 = fRound(sample_y - 0.5f);
x1 = fRound(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1305,13 +1305,13 @@ void KAZEFeatures::Get_MSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Get the x and y derivatives on the rotated axis
rry = gauss_s1*(rx*co + ry*si);
......@@ -1379,7 +1379,7 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
level = kpt.class_id;
// Calculate descriptor for this interest point
......@@ -1395,13 +1395,13 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
sample_y = yf + l*scale;
sample_x = xf + k*scale;
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1412,13 +1412,13 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
modg = pow(rx, 2) + pow(ry, 2);
......@@ -1428,25 +1428,25 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, floa
res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
rxx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
rxy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
ryy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
lww = (pow(rx, 2)*rxx + 2.0*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
lvv = (-2.0*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
}
else {
lww = 0.0;
......@@ -1514,7 +1514,7 @@ void KAZEFeatures::Get_GSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
angle = kpt.angle;
level = kpt.class_id;
co = cos(angle);
......@@ -1533,13 +1533,13 @@ void KAZEFeatures::Get_GSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
sample_y = yf + (l*scale*co + k*scale*si);
sample_x = xf + (-l*scale*si + k*scale*co);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1550,13 +1550,13 @@ void KAZEFeatures::Get_GSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
modg = pow(rx, 2) + pow(ry, 2);
......@@ -1566,25 +1566,25 @@ void KAZEFeatures::Get_GSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc)
res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
rxx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
rxy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
ryy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
lww = (pow(rx, 2)*rxx + 2.0*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
lvv = (-2.0*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
}
else {
lww = 0.0;
......@@ -1652,7 +1652,7 @@ void KAZEFeatures::Get_SURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, floa
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
level = kpt.class_id;
// Calculate descriptor for this interest point
......@@ -1668,13 +1668,13 @@ void KAZEFeatures::Get_SURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, floa
sample_y = k*scale + yf;
sample_x = l*scale + xf;
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1685,13 +1685,13 @@ void KAZEFeatures::Get_SURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, floa
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Sum the derivatives to the cumulative descriptor
if (ry >= 0.0) {
......@@ -1772,7 +1772,7 @@ void KAZEFeatures::Get_SURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc)
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
angle = kpt.angle;
level = kpt.class_id;
co = cos(angle);
......@@ -1792,13 +1792,13 @@ void KAZEFeatures::Get_SURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc)
sample_y = yf + (l*scale*co + k*scale*si);
sample_x = xf + (-l*scale*si + k*scale*co);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1809,13 +1809,13 @@ void KAZEFeatures::Get_SURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc)
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Get the x and y derivatives on the rotated axis
rry = rx*co + ry*si;
......@@ -1895,7 +1895,7 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
int dsize = 0, scale = 0, level = 0;
// Subregion centers for the 4x4 gaussian weighting
float cx = -0.5, cy = 0.5;
float cx = -0.5f, cy = 0.5f;
// Set the descriptor size and the sample and pattern sizes
dsize = 128;
......@@ -1905,7 +1905,7 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
level = kpt.class_id;
i = -8;
......@@ -1917,15 +1917,15 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
j = -8;
i = i - 4;
cx += 1.0;
cy = -0.5;
cx += 1.0f;
cy = -0.5f;
while (j < pattern_size) {
dxp = dxn = mdxp = mdxn = 0.0;
dyp = dyn = mdyp = mdyn = 0.0;
cy += 1.0;
cy += 1.0f;
j = j - 4;
ky = i + sample_step;
......@@ -1941,15 +1941,15 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
sample_x = l*scale + xf;
//Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.50*scale);
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5f*scale);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -1960,13 +1960,13 @@ void KAZEFeatures::Get_MSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
rx = gauss_s1*rx;
ry = gauss_s1*ry;
......@@ -2051,7 +2051,7 @@ void KAZEFeatures::Get_MSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
int dsize = 0, scale = 0, level = 0;
// Subregion centers for the 4x4 gaussian weighting
float cx = -0.5, cy = 0.5;
float cx = -0.5f, cy = 0.5f;
// Set the descriptor size and the sample and pattern sizes
dsize = 128;
......@@ -2061,7 +2061,7 @@ void KAZEFeatures::Get_MSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
angle = kpt.angle;
level = kpt.class_id;
co = cos(angle);
......@@ -2076,8 +2076,8 @@ void KAZEFeatures::Get_MSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
j = -8;
i = i - 4;
cx += 1.0;
cy = -0.5;
cx += 1.0f;
cy = -0.5f;
while (j < pattern_size) {
......@@ -2101,15 +2101,15 @@ void KAZEFeatures::Get_MSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
sample_x = xf + (-l*scale*si + k*scale*co);
// Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5*scale);
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5f*scale);
y1 = fRound(sample_y - .5);
x1 = fRound(sample_x - .5);
y1 = fRound(sample_y - 0.5f);
x1 = fRound(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -2120,13 +2120,13 @@ void KAZEFeatures::Get_MSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Get the x and y derivatives on the rotated axis
rry = gauss_s1*(rx*co + ry*si);
......@@ -2217,7 +2217,7 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
level = kpt.class_id;
// Calculate descriptor for this interest point
......@@ -2233,13 +2233,13 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
sample_y = k*scale + yf;
sample_x = l*scale + xf;
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -2250,13 +2250,13 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
modg = pow(rx, 2) + pow(ry, 2);
......@@ -2266,25 +2266,25 @@ void KAZEFeatures::Get_GSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, flo
res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
rxx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
rxy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
ryy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
lww = (pow(rx, 2)*rxx + 2.0*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
lvv = (-2.0*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
}
else {
lww = 0.0;
......@@ -2372,7 +2372,7 @@ void KAZEFeatures::Get_GSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
// Get the information from the keypoint
yf = kpt.pt.y;
xf = kpt.pt.x;
scale = fRound(kpt.size / 2.0);
scale = fRound(kpt.size / 2.0f);
angle = kpt.angle;
level = kpt.class_id;
co = cos(angle);
......@@ -2392,13 +2392,13 @@ void KAZEFeatures::Get_GSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
sample_y = yf + (l*scale*co + k*scale*si);
sample_x = xf + (-l*scale*si + k*scale*co);
y1 = (int)(sample_y - .5);
x1 = (int)(sample_x - .5);
y1 = (int)(sample_y - 0.5f);
x1 = (int)(sample_x - 0.5f);
checkDescriptorLimits(x1, y1, img_width_, img_height_);
y2 = (int)(sample_y + .5);
x2 = (int)(sample_x + .5);
y2 = (int)(sample_y + 0.5f);
x2 = (int)(sample_x + 0.5f);
checkDescriptorLimits(x2, y2, img_width_, img_height_);
......@@ -2409,13 +2409,13 @@ void KAZEFeatures::Get_GSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
rx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
ry = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
modg = pow(rx, 2) + pow(ry, 2);
......@@ -2424,25 +2424,25 @@ void KAZEFeatures::Get_GSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc
res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
rxx = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
rxy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
ryy = (1.0 - fx)*(1.0 - fy)*res1 + fx*(1.0 - fy)*res2 + (1.0 - fx)*fy*res3 + fx*fy*res4;
ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
lww = (pow(rx, 2)*rxx + 2.0*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
lvv = (-2.0*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
}
else {
lww = 0.0;
......@@ -2530,7 +2530,7 @@ void KAZEFeatures::AOS_Step_Scalar(cv::Mat &Ld, const cv::Mat &Ldprev, const cv:
AOS_Columns(Ldprev, c, stepsize);
#endif
Ld = 0.5*(Lty_ + Ltx_.t());
Ld = 0.5f*(Lty_ + Ltx_.t());
}
//*************************************************************************************
......@@ -2567,7 +2567,7 @@ void KAZEFeatures::AOS_Rows(const cv::Mat &Ldprev, const cv::Mat &c, const float
// a = 1 + t.*p; (p is -1*p)
// b = -t.*q;
ay_ = 1.0 + stepsize*py_; // p is -1*p
ay_ = 1.0f + stepsize*py_; // p is -1*p
by_ = -stepsize*qr_;
// Do Thomas algorithm to solve the linear system of equations
......@@ -2607,7 +2607,7 @@ void KAZEFeatures::AOS_Columns(const cv::Mat &Ldprev, const cv::Mat &c, const fl
}
// a = 1 + t.*p';
ax_ = 1.0 + stepsize*px_.t();
ax_ = 1.0f + stepsize*px_.t();
// b = -t.*q';
bx_ = -stepsize*qc_.t();
......@@ -2697,15 +2697,15 @@ inline float getAngle(const float& x, const float& y) {
}
if (x < 0 && y >= 0) {
return CV_PI - atan(-y / x);
return (float)CV_PI - atan(-y / x);
}
if (x < 0 && y < 0) {
return CV_PI + atan(y / x);
return (float)CV_PI + atan(y / x);
}
if (x >= 0 && y < 0) {
return 2.0*CV_PI - atan(-y / x);
return 2.0f * (float)CV_PI - atan(-y / x);
}
return 0;
......@@ -2723,7 +2723,7 @@ inline float getAngle(const float& x, const float& y) {
*/
inline void clippingDescriptor(float *desc, const int& dsize, const int& niter, const float& ratio) {
float cratio = ratio / sqrt(dsize);
float cratio = ratio / sqrtf(static_cast<float>(dsize));
float len = 0.0;
for (int i = 0; i < niter; i++) {
......
modules/features2d/src/kaze/KAZE.h
View file @ f97e38d8
......@@ -54,13 +54,13 @@ private:
std::vector<int> nsteps_; // Vector of number of steps per cycle
// Computation times variables in ms
double tkcontrast_; // Kcontrast factor computation
double tnlscale_; // Nonlinear Scale space generation
double tdetector_; // Feature detector
double tmderivatives_; // Multiscale derivatives computation
double tdresponse_; // Detector response computation
double tdescriptor_; // Feature descriptor
double tsubpixel_; // Subpixel refinement
//double tkcontrast_; // Kcontrast factor computation
//double tnlscale_; // Nonlinear Scale space generation
//double tdetector_; // Feature detector
//double tmderivatives_; // Multiscale derivatives computation
//double tdresponse_; // Detector response computation
//double tdescriptor_; // Feature descriptor
//double tsubpixel_; // Subpixel refinement
// Some auxiliary variables used in the AOS step
cv::Mat Ltx_, Lty_, px_, py_, ax_, ay_, bx_, by_, qr_, qc_;
......@@ -243,33 +243,33 @@ public:
return use_extended_;
}
float Get_Time_KContrast(void) {
return tkcontrast_;
}
//float Get_Time_KContrast(void) {
// return tkcontrast_;
//}
float Get_Time_NLScale(void) {
return tnlscale_;
}
//float Get_Time_NLScale(void) {
// return tnlscale_;
//}
float Get_Time_Detector(void) {
return tdetector_;
}
//float Get_Time_Detector(void) {
// return tdetector_;
//}
float Get_Time_Multiscale_Derivatives(void) {
return tmderivatives_;
}
//float Get_Time_Multiscale_Derivatives(void) {
// return tmderivatives_;
//}
float Get_Time_Detector_Response(void) {
return tdresponse_;
}
//float Get_Time_Detector_Response(void) {
// return tdresponse_;
//}
float Get_Time_Descriptor(void) {
return tdescriptor_;
}
//float Get_Time_Descriptor(void) {
// return tdescriptor_;
//}
float Get_Time_Subpixel(void) {
return tsubpixel_;
}
//float Get_Time_Subpixel(void) {
// return tsubpixel_;
//}
};
//*************************************************************************************
......
modules/features2d/src/kaze/config.h
View file @ f97e38d8
......@@ -63,7 +63,7 @@ struct KAZEOptions {
KAZEOptions() {
// Load the default options
soffset = DEFAULT_SCALE_OFFSET;
omax = DEFAULT_OCTAVE_MAX;
omax = static_cast<int>(DEFAULT_OCTAVE_MAX);
nsublevels = DEFAULT_NSUBLEVELS;
dthreshold = DEFAULT_DETECTOR_THRESHOLD;
use_fed = DEFAULT_USE_FED;
......
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