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Unverified Commit 9c0ae273 authored by raanyild's avatar raanyild Committed by GitHub
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Merge pull request #2440 from raanyild:freak_rounding_bug 

* FREAK : better rounding off for weighted dx and dy of orientation pairs

* updated using cvRound

* cvRound modified
parent f220e983
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Showing with 9 additions and 15 deletions
modules/xfeatures2d/src/freak.cpp
View file @ 9c0ae273
......@@ -287,8 +287,8 @@ void FREAK_Impl::buildPattern()
const float dx = patternLookup[orientationPairs[m].i].x-patternLookup[orientationPairs[m].j].x;
const float dy = patternLookup[orientationPairs[m].i].y-patternLookup[orientationPairs[m].j].y;
const float norm_sq = (dx*dx+dy*dy);
orientationPairs[m].weight_dx = int((dx/(norm_sq))*4096.0+0.5);
orientationPairs[m].weight_dy = int((dy/(norm_sq))*4096.0+0.5);
orientationPairs[m].weight_dx = cvRound((dx/(norm_sq))*4096.0);
orientationPairs[m].weight_dy = cvRound((dy/(norm_sq))*4096.0);
}
// build the list of description pairs
......@@ -486,7 +486,7 @@ void FREAK_Impl::computeDescriptors( InputArray _image, std::vector<KeyPoint>& k
}
else
{
const int scIdx = std::max( (int)(1.0986122886681*sizeCst+0.5) ,0);
const int scIdx = std::max( cvRound(1.0986122886681*sizeCst) ,0);
for( size_t k = keypoints.size(); k--; )
{
kpScaleIdx[k] = scIdx; // equivalent to the formule when the scale is normalized with a constant size of keypoints[k].size=3*SMALLEST_KP_SIZE
......@@ -543,10 +543,7 @@ void FREAK_Impl::computeDescriptors( InputArray _image, std::vector<KeyPoint>& k
keypoints[k].angle = static_cast<float>(atan2((float)direction1,(float)direction0)*(180.0/CV_PI));//estimate orientation
if(keypoints[k].angle < 0.f)
thetaIdx = int(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0)-0.5);
else
thetaIdx = int(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0)+0.5);
thetaIdx = cvRound(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0));
if( thetaIdx < 0 )
thetaIdx += FREAK_NB_ORIENTATION;
......@@ -600,10 +597,7 @@ void FREAK_Impl::computeDescriptors( InputArray _image, std::vector<KeyPoint>& k
keypoints[k].angle = static_cast<float>(atan2((float)direction1,(float)direction0)*(180.0/CV_PI)); //estimate orientation
if(keypoints[k].angle < 0.f)
thetaIdx = int(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0)-0.5);
else
thetaIdx = int(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0)+0.5);
thetaIdx = cvRound(FREAK_NB_ORIENTATION*keypoints[k].angle*(1/360.0));
if( thetaIdx < 0 )
thetaIdx += FREAK_NB_ORIENTATION;
......@@ -675,10 +669,10 @@ imgType FREAK_Impl::meanIntensity( InputArray _image, InputArray _integral,
// expected case:
// calculate borders
const int x_left = int(xf-radius+0.5);
const int y_top = int(yf-radius+0.5);
const int x_right = int(xf+radius+1.5);//integral image is 1px wider
const int y_bottom = int(yf+radius+1.5);//integral image is 1px higher
const int x_left = cvRound(xf-radius);
const int y_top = cvRound(yf-radius);
const int x_right = cvRound(xf+radius+1);//integral image is 1px wider
const int y_bottom = cvRound(yf+radius+1);//integral image is 1px higher
iiType ret_val;
ret_val = integral.at<iiType>(y_bottom,x_right);//bottom right corner
......
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