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Commit 309274a4 authored by cbalint13's avatar cbalint13
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Fix doc in header.

parent 1a617614
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Showing with 87 additions and 150 deletions
modules/xfeatures2d/include/opencv2/xfeatures2d.hpp
View file @ 309274a4
......@@ -178,8 +178,6 @@ public:
@param q_radius amount of radial range division quantity
@param q_theta amount of angular range division quantity
@param q_hist amount of gradient orientations range division quantity
DAISY::ONLY_KEYS means to compute descriptors only for keypoints in the list (default) and
DAISY::COMP_FULL will compute descriptors for all pixels in the given image
@param norm choose descriptors normalization type, where
DAISY::NRM_NONE will not do any normalization (default),
DAISY::NRM_PARTIAL mean that histograms are normalized independently for L2 norm equal to 1.0,
......
modules/xfeatures2d/src/daisy.cpp
View file @ 309274a4
......@@ -50,7 +50,6 @@
#include "precomp.hpp"
#include <fstream>
#include <stdlib.h>
......@@ -371,21 +370,21 @@ private:
inline void get_descriptor( int y, int x, float* &descriptor );
// does not use interpolation while computing the histogram.
inline void ni_get_histogram( float* histogram, int y, int x, int shift, float* hcube ) const;
inline void ni_get_histogram( float* histogram, int y, int x, int shift, const float* hcube ) const;
// returns the interpolated histogram: picks either bi_get_histogram or
// ti_get_histogram depending on 'shift'
inline void i_get_histogram( float* histogram, double y, double x, double shift, float* cube ) const;
inline void i_get_histogram( float* histogram, double y, double x, double shift, const float* cube ) const;
// records the histogram that is computed by bilinear interpolation
// regarding the shift in the spatial coordinates. hcube is the
// histogram cube for a constant smoothness level.
inline void bi_get_histogram( float* descriptor, double y, double x, int shift, float* hcube ) const;
inline void bi_get_histogram( float* descriptor, double y, double x, int shift, const float* hcube ) const;
// records the histogram that is computed by trilinear interpolation
// regarding the shift in layers and spatial coordinates. hcube is the
// histogram cube for a constant smoothness level.
inline void ti_get_histogram( float* descriptor, double y, double x, double shift, float* hcube ) const;
inline void ti_get_histogram( float* descriptor, double y, double x, double shift, const float* hcube ) const;
// uses interpolation, for no interpolation call ni_get_descriptor. see also get_descriptor
inline void i_get_descriptor( double y, double x, int orientation, float* descriptor ) const;
......@@ -401,8 +400,6 @@ private:
inline int quantize_radius( float rad ) const;
inline int filter_size( double sigma );
// Return a number in the range [-0.5, 0.5] that represents the location of
// the peak of a parabola passing through the 3 evenly spaced samples. The
// center value is assumed to be greater than or equal to the other values
......@@ -486,53 +483,17 @@ static void gradient( Mat im, int h, int w, Mat dy, Mat dx )
}
}
static Mat layered_gradient( Mat data, int layer_no = 8 )
{
int data_size = data.rows * data.cols;
Mat layers( 1, layer_no*data_size, CV_32F, Scalar(0) );
float kernel[5];
gaussian_1d(kernel, 5, 0.5f, 0.0f);
Mat Kernel(1, 5, CV_32F, (float*) kernel);
Mat cvO;
// smooth the data matrix
filter2D( data, cvO, CV_32F, Kernel, Point( -1, -1 ), 0, BORDER_REPLICATE );
filter2D( cvO, cvO, CV_32F, Kernel.t(), Point( -1, -1 ), 0, BORDER_REPLICATE );
Mat dx(1, data_size, CV_32F);
Mat dy(1, data_size, CV_32F);
gradient(cvO, data.rows, data.cols, dy, dx);
cvO.release();
#if defined _OPENMP
#pragma omp parallel for
#endif
for( int l=0; l<layer_no; l++ )
{
float angle = (float) (2*l*CV_PI/layer_no);
float kos = (float) cos( angle );
float zin = (float) sin( angle );
float* layer_l = layers.ptr<float>(0) + l*data_size;
for( int index=0; index<data_size; index++ )
{
float value = kos * dx.at<float>(index) + zin * dy.at<float>(index);
if( value > 0 ) layer_l[index] = value;
else layer_l[index] = 0;
}
}
return layers;
}
// data is not destroyed afterwards
static void layered_gradient( Mat data, int layer_no, Mat layers )
static void layered_gradient( Mat data, Mat& layers )
{
CV_Assert( !layers.empty() );
CV_Assert( layers.dims == 4 );
CV_Assert( data.rows == layers.size[2] );
CV_Assert( data.cols == layers.size[3] );
int layer_no = layers.size[1];
Mat cvI = data.clone();
Mat cvI;
layers.setTo( Scalar(0) );
int data_size = data.rows * data.cols;
......@@ -540,7 +501,7 @@ static void layered_gradient( Mat data, int layer_no, Mat layers )
gaussian_1d(kernel, 5, 0.5f, 0.0f);
Mat Kernel(1, 5, CV_32F, (float*) kernel);
filter2D( cvI, cvI, CV_32F, Kernel, Point( -1, -1 ), 0, BORDER_REPLICATE );
filter2D( data, cvI, CV_32F, Kernel, Point( -1, -1 ), 0, BORDER_REPLICATE );
filter2D( cvI, cvI, CV_32F, Kernel.t(), Point( -1, -1 ), 0, BORDER_REPLICATE );
Mat dx(1, data_size, CV_32F);
......@@ -556,13 +517,13 @@ static void layered_gradient( Mat data, int layer_no, Mat layers )
float kos = (float) cos( angle );
float zin = (float) sin( angle );
float* layer_l = layers.ptr<float>(0) + l*data_size;
float* layer_l = layers.ptr<float>(0, l);
for( int index=0; index<data_size; index++ )
for( int i=0; i<data_size; i++ )
{
float value = kos * dx.at<float>(index) + zin * dy.at<float>(index);
if( value > 0 ) layer_l[index] = value;
else layer_l[index] = 0;
float value = kos * dx.at<float>(i) + zin * dy.at<float>(i);
if( value > 0 ) layer_l[i] = value;
else layer_l[i] = 0;
}
}
}
......@@ -577,6 +538,19 @@ static void point_transform_via_homography( double* H, double x, double y, doubl
v = kyp / kp;
}
static int filter_size( double sigma )
{
int fsz = (int)(5*sigma);
// kernel size must be odd
if( fsz%2 == 0 ) fsz++;
// kernel size cannot be smaller than 3
if( fsz < 3 ) fsz = 3;
return fsz;
}
inline void DAISY_Impl::compute_grid_points()
{
double r_step = m_rad / (double)m_rad_q_no;
......@@ -651,28 +625,23 @@ inline void DAISY_Impl::smooth_layers( Mat layers, int h, int w, int layer_numbe
{
int i;
float *layer = NULL;
int kernel_size = filter_size( sigma );
std::vector<float> kernel(kernel_size);
gaussian_1d( &kernel[0], kernel_size, sigma, 0 );
float* ptr = layers.ptr<float>(0);
#if defined _OPENMP
#pragma omp parallel for private(i, layer)
#endif
for( i=0; i<layer_number; i++ )
{
layer = ptr + i * h*w;
Mat cvI( h, w, CV_32FC1, (float*) layer );
Mat cvI( h, w, CV_32FC1, (float*) layers.ptr<float>(0, i) );
Mat Kernel( 1, kernel_size, CV_32FC1, &kernel[0] );
filter2D( cvI, cvI, CV_32F, Kernel, Point( -1, -1 ), 0, BORDER_REPLICATE );
filter2D( cvI, cvI, CV_32F, Kernel.t(), Point( -1, -1 ), 0, BORDER_REPLICATE );
}
}
......@@ -771,13 +740,15 @@ inline void DAISY_Impl::initialize()
m_cube_size = m_layer_size * m_hist_th_q_no;
}
m_smoothed_gradient_layers = Mat( g_cube_number + 1, m_cube_size, CV_32F);
// 4 dims matrix (idcube, idhist, img_y, img_x);
int dims[4] = { g_cube_number + 1, m_hist_th_q_no, m_image.rows , m_image.cols };
m_smoothed_gradient_layers = Mat( 4, dims, CV_32F );
layered_gradient( m_image, m_hist_th_q_no, m_smoothed_gradient_layers );
layered_gradient( m_image, m_smoothed_gradient_layers );
// assuming a 0.5 image smoothness, we pull this to 1.6 as in sift
smooth_layers( m_smoothed_gradient_layers, m_image.rows, m_image.cols,
m_hist_th_q_no, (float)sqrt(g_sigma_init*g_sigma_init-0.25) );
m_hist_th_q_no, (float)sqrt(g_sigma_init*g_sigma_init-0.25f) );
}
......@@ -791,10 +762,10 @@ inline void DAISY_Impl::compute_cube_sigmas()
m_cube_sigmas = Mat(1, g_cube_number, CV_64F);
double r_step = double(m_rad)/m_rad_q_no;
for( int r=0; r< m_rad_q_no; r++ )
double r_step = (double)m_rad / m_rad_q_no / 2;
for( int r=0; r<m_rad_q_no; r++ )
{
m_cube_sigmas.at<double>(r) = (r+1) * r_step/2;
m_cube_sigmas.at<double>(r) = (r+1) * r_step;
}
}
update_selected_cubes();
......@@ -802,9 +773,10 @@ inline void DAISY_Impl::compute_cube_sigmas()
inline void DAISY_Impl::update_selected_cubes()
{
double scale = m_rad/m_rad_q_no/2.0;
for( int r=0; r<m_rad_q_no; r++ )
{
double seed_sigma = ((double)r+1)*m_rad/m_rad_q_no/2.0;
double seed_sigma = ((double)r+1) * scale;
g_selected_cubes[r] = quantize_radius( (float)seed_sigma );
}
}
......@@ -816,17 +788,10 @@ inline int DAISY_Impl::quantize_radius( float rad ) const
if( rad >= m_cube_sigmas.at<double>(g_cube_number-1) )
return g_cube_number-1;
float dist;
float mindist=FLT_MAX;
int mini=0;
for( int c=0; c<g_cube_number; c++ ) {
dist = (float) fabs( m_cube_sigmas.at<double>(c)-rad );
if( dist < mindist ) {
mindist = dist;
mini=c;
}
}
return mini;
int idx_min[2];
minMaxIdx( abs( m_cube_sigmas - rad ), NULL, NULL, idx_min );
return idx_min[1];
}
inline void DAISY_Impl::compute_histograms()
......@@ -836,9 +801,8 @@ inline void DAISY_Impl::compute_histograms()
for( r=0; r<g_cube_number; r++ )
{
float* dst = m_smoothed_gradient_layers.ptr<float>(0) + r * m_cube_size;
float* src = m_smoothed_gradient_layers.ptr<float>(0) + (r+1)* m_cube_size;
float* dst = m_smoothed_gradient_layers.ptr<float>(r );
float* src = m_smoothed_gradient_layers.ptr<float>(r+1);
#if defined _OPENMP
#pragma omp parallel for private(y,x,ind,hist)
......@@ -848,7 +812,7 @@ inline void DAISY_Impl::compute_histograms()
for( x=0; x<m_image.cols; x++ )
{
ind = y*m_image.cols+x;
hist = dst+ind*m_hist_th_q_no;
hist = dst + m_hist_th_q_no * ind;
compute_histogram( src, y, x, hist );
}
}
......@@ -859,7 +823,7 @@ inline void DAISY_Impl::normalize_histograms()
{
for( int r=0; r<g_cube_number; r++ )
{
float* dst = m_smoothed_gradient_layers.ptr<float>(0) + r*m_cube_size;
float* dst = m_smoothed_gradient_layers.ptr<float>(r);
#if defined _OPENMP
#pragma omp parallel for
......@@ -883,14 +847,9 @@ inline void DAISY_Impl::normalize_histograms()
inline void DAISY_Impl::compute_smoothed_gradient_layers()
{
float* prev_cube = m_smoothed_gradient_layers.ptr<float>(0);
float* cube = NULL;
double sigma;
for( int r=0; r<g_cube_number; r++ )
{
cube = m_smoothed_gradient_layers.ptr<float>(0) + (r+1)*m_cube_size;
// incremental smoothing
if( r == 0 )
......@@ -903,19 +862,19 @@ inline void DAISY_Impl::compute_smoothed_gradient_layers()
std::vector<float> kernel(kernel_size);
gaussian_1d(&kernel[0], kernel_size, (float)sigma, 0);
#if defined _OPENMP
#pragma omp parallel for
#endif
for( int th=0; th<m_hist_th_q_no; th++ )
{
Mat cvI( m_image.rows, m_image.cols, CV_32FC1, (float*) prev_cube + th*m_layer_size );
Mat cvO( m_image.rows, m_image.cols, CV_32FC1, (float*) cube + th*m_layer_size );
Mat cvI( m_image.rows, m_image.cols, CV_32FC1, m_smoothed_gradient_layers.ptr<float>(r , th) );
Mat cvO( m_image.rows, m_image.cols, CV_32FC1, m_smoothed_gradient_layers.ptr<float>(r+1, th) );
Mat Kernel( 1, kernel_size, CV_32FC1, &kernel[0] );
filter2D( cvI, cvO, CV_32F, Kernel, Point( -1, -1 ), 0, BORDER_REPLICATE );
filter2D( cvO, cvO, CV_32F, Kernel.t(), Point( -1, -1 ), 0, BORDER_REPLICATE );
}
prev_cube = cube;
}
compute_histograms();
}
......@@ -975,18 +934,6 @@ inline float DAISY_Impl::interpolate_peak(float left, float center, float right)
else return (float) (0.5*(left -right)/den);
}
inline int DAISY_Impl::filter_size( double sigma )
{
int fsz = (int)(5*sigma);
// kernel size must be odd
if( fsz%2 == 0 ) fsz++;
// kernel size cannot be smaller than 3
if( fsz < 3 ) fsz = 3;
return fsz;
}
inline void DAISY_Impl::compute_scales()
{
......@@ -1096,13 +1043,14 @@ inline void DAISY_Impl::compute_orientations()
CV_Assert( !m_image.empty() );
int data_size = m_image.cols * m_image.rows;
Mat rotation_layers = layered_gradient( m_image, m_orientation_resolution );
//int data_size = m_image.cols * m_image.rows;
int dims[4] = { 1, m_orientation_resolution, m_image.rows, m_image.cols };
Mat rotation_layers(4, dims, CV_32F);
layered_gradient( m_image, rotation_layers );
m_orientation_map = Mat(m_image.cols, m_image.rows, CV_16U, Scalar(0));
int ori, max_ind;
int ind;
float max_val;
int next, prev;
......@@ -1119,7 +1067,7 @@ inline void DAISY_Impl::compute_orientations()
for( int scale=0; scale<g_scale_en; scale++ )
{
sigma_new = (float)( pow( g_sigma_step, scale ) * m_rad/3.0 );
sigma_new = (float)( pow( g_sigma_step, scale ) * m_rad / 3.0f );
sigma_inc = sqrt( sigma_new*sigma_new - sigma_prev*sigma_prev );
sigma_prev = sigma_new;
......@@ -1131,14 +1079,12 @@ inline void DAISY_Impl::compute_orientations()
for( x=0; x<m_image.cols; x++ )
{
ind = y*m_image.cols+x;
int ind = y*m_image.cols + x;
if( m_scale_invariant && m_scale_map.at<float>(y,x) != scale ) continue;
for( ori=0; ori<m_orientation_resolution; ori++ )
{
hist.at<float>(ori) = rotation_layers.at<float>(ori*data_size+ind);
}
//hist.at<float>(ori) = rotation_layers.ptr<float>(0, ori, y, x);
//hist.at<float>(ori) = rotation_layers.at<float>(ori*data_size+ind);
for( kk=0; kk<6; kk++ )
smooth_histogram( hist, m_orientation_resolution );
......@@ -1194,7 +1140,7 @@ inline void DAISY_Impl::compute_histogram( float* hcube, int y, int x, float* hi
for( int h=0; h<m_hist_th_q_no; h++ )
histogram[h] = *(spatial_shift + h*data_size);
}
inline void DAISY_Impl::i_get_histogram( float* histogram, double y, double x, double shift, float* cube ) const
inline void DAISY_Impl::i_get_histogram( float* histogram, double y, double x, double shift, const float* cube ) const
{
int ishift=(int)shift;
double fshift=shift-ishift;
......@@ -1203,7 +1149,7 @@ inline void DAISY_Impl::i_get_histogram( float* histogram, double y, double x, d
else ti_get_histogram( histogram, y, x, shift , cube );
}
inline void DAISY_Impl::bi_get_histogram( float* histogram, double y, double x, int shift, float* hcube ) const
inline void DAISY_Impl::bi_get_histogram( float* histogram, double y, double x, int shift, const float* hcube ) const
{
int mnx = int( x );
int mny = int( y );
......@@ -1217,10 +1163,10 @@ inline void DAISY_Impl::bi_get_histogram( float* histogram, double y, double x,
int ind = mny*m_image.cols+mnx;
// A C --> pixel positions
// B D
float* A = hcube+ind*m_hist_th_q_no;
float* B = A+m_image.cols*m_hist_th_q_no;
float* C = A+m_hist_th_q_no;
float* D = A+(m_image.cols+1)*m_hist_th_q_no;
const float* A = hcube + ind*m_hist_th_q_no;
const float* B = A + m_image.cols*m_hist_th_q_no;
const float* C = A + m_hist_th_q_no;
const float* D = A + (m_image.cols+1)*m_hist_th_q_no;
double alpha = mnx+1-x;
double beta = mny+1-y;
......@@ -1250,7 +1196,7 @@ inline void DAISY_Impl::bi_get_histogram( float* histogram, double y, double x,
}
}
inline void DAISY_Impl::ti_get_histogram( float* histogram, double y, double x, double shift, float* hcube ) const
inline void DAISY_Impl::ti_get_histogram( float* histogram, double y, double x, double shift, const float* hcube ) const
{
int ishift = int( shift );
double layer_alpha = shift - ishift;
......@@ -1263,13 +1209,13 @@ inline void DAISY_Impl::ti_get_histogram( float* histogram, double y, double x,
histogram[m_hist_th_q_no-1] = (float) ((1-layer_alpha)*thist[m_hist_th_q_no-1]+layer_alpha*thist[0]);
}
inline void DAISY_Impl::ni_get_histogram( float* histogram, int y, int x, int shift, float* hcube ) const
inline void DAISY_Impl::ni_get_histogram( float* histogram, int y, int x, int shift, const float* hcube ) const
{
if ( ! Point( x, y ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) return;
float* hptr = hcube + (y*m_image.cols+x)*m_hist_th_q_no;
const float* hptr = hcube + (y*m_image.cols+x)*m_hist_th_q_no;
for( int h=0; h<m_hist_th_q_no; h++ )
{
......@@ -1315,8 +1261,7 @@ inline void DAISY_Impl::i_get_descriptor( double y, double x, int orientation, f
double shift = m_orientation_shift_table[orientation];
float *ptr = (float *) m_smoothed_gradient_layers.ptr<float>(0);
i_get_histogram( descriptor, y, x, shift, ptr + g_selected_cubes[0]*m_cube_size );
i_get_histogram( descriptor, y, x, shift, m_smoothed_gradient_layers.ptr<float>( g_selected_cubes[0] ) );
int r, rdt, region;
double yy, xx;
......@@ -1337,8 +1282,8 @@ inline void DAISY_Impl::i_get_descriptor( double y, double x, int orientation, f
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) continue;
histogram = descriptor+region*m_hist_th_q_no;
i_get_histogram( histogram, yy, xx, shift, ptr + g_selected_cubes[r]*m_cube_size );
histogram = descriptor + region*m_hist_th_q_no;
i_get_histogram( histogram, yy, xx, shift, (float *) m_smoothed_gradient_layers.ptr<float>( r ) );
}
}
}
......@@ -1366,8 +1311,7 @@ inline void DAISY_Impl::ni_get_descriptor( double y, double x, int orientation,
int ix = (int)x; if( x - ix > 0.5 ) ix++;
// center
float *ptr = (float *) m_smoothed_gradient_layers.ptr<float>(0);
ni_get_histogram( descriptor, iy, ix, ishift, ptr + g_selected_cubes[0]*m_cube_size );
ni_get_histogram( descriptor, iy, ix, ishift, m_smoothed_gradient_layers.ptr<float>(g_selected_cubes[0]) );
double yy, xx;
float* histogram=0;
......@@ -1389,7 +1333,7 @@ inline void DAISY_Impl::ni_get_descriptor( double y, double x, int orientation,
) continue;
histogram = descriptor+region*m_hist_th_q_no;
ni_get_histogram( histogram, iy, ix, ishift, ptr + g_selected_cubes[r]*m_cube_size );
ni_get_histogram( histogram, iy, ix, ishift, m_smoothed_gradient_layers.ptr<float>(g_selected_cubes[r]) );
}
}
}
......@@ -1435,8 +1379,7 @@ inline bool DAISY_Impl::i_get_descriptor( double y, double x, int orientation, d
hradius[0] = quantize_radius( (float) radius );
double shift = m_orientation_shift_table[orientation];
float *ptr = (float *) m_smoothed_gradient_layers.ptr<float>(0);
i_get_histogram( descriptor, hy, hx, shift, ptr + hradius[0]*m_cube_size );
i_get_histogram( descriptor, hy, hx, shift, m_smoothed_gradient_layers.ptr<float>(hradius[0]) );
double gy, gx;
int r, rdt, th, region;
......@@ -1465,7 +1408,7 @@ inline bool DAISY_Impl::i_get_descriptor( double y, double x, int orientation, d
) continue;
histogram = descriptor+region*m_hist_th_q_no;
i_get_histogram( histogram, hy, hx, shift, ptr + hradius[r]*m_cube_size );
i_get_histogram( histogram, hy, hx, shift, m_smoothed_gradient_layers.ptr<float>(hradius[r]) );
}
}
return true;
......@@ -1507,8 +1450,7 @@ inline bool DAISY_Impl::ni_get_descriptor( double y, double x, int orientation,
int r, rdt, th, region;
double gy, gx;
float* histogram=0;
float *ptr = (float *) m_smoothed_gradient_layers.ptr<float>(0);
ni_get_histogram( descriptor, ihy, ihx, ishift, ptr + hradius[0]*m_cube_size );
ni_get_histogram( descriptor, ihy, ihx, ishift, m_smoothed_gradient_layers.ptr<float>(hradius[0]) );
for( r=0; r<m_rad_q_no; r++)
{
rdt = r*m_th_q_no + 1;
......@@ -1536,7 +1478,7 @@ inline bool DAISY_Impl::ni_get_descriptor( double y, double x, int orientation,
) continue;
histogram = descriptor+region*m_hist_th_q_no;
ni_get_histogram( histogram, ihy, ihx, ishift, ptr + hradius[r]*m_cube_size );
ni_get_histogram( histogram, ihy, ihx, ishift, m_smoothed_gradient_layers.ptr<float>(hradius[r]) );
}
}
return true;
......@@ -1706,25 +1648,13 @@ DAISY_Impl::DAISY_Impl( float _radius, int _q_radius, int _q_theta, int _q_hist,
m_nrm_type(_norm), m_disable_interpolation(_interpolation), m_use_orientation(_use_orientation)
{
m_image = 0;
m_descriptor_size = 0;
m_grid_point_number = 0;
m_grid_points.release();
m_dense_descriptors.release();
m_smoothed_gradient_layers.release();
m_oriented_grid_points.release();
m_scale_invariant = false;
m_rotation_invariant = false;
m_scale_map.release();
m_orientation_map.release();
m_orientation_resolution = 36;
m_cube_sigmas.release();
m_cube_size = 0;
m_layer_size = 0;
......
modules/xfeatures2d/test/test_rotation_and_scale_invariance.cpp
View file @ 309274a4
......@@ -660,6 +660,15 @@ TEST(Features2d_RotationInvariance_Descriptor_LATCH, regression)
test.safe_run();
}
TEST(Features2d_RotationInvariance_Descriptor_DAISY, regression)
{
DescriptorRotationInvarianceTest test(BRISK::create(),
DAISY::create(15, 3, 8, 8, DAISY::NRM_NONE, noArray(), true, true),
NORM_L1,
0.79f);
test.safe_run();
}
/*
* Detector's scale invariance check
......
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