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Commit a324c6c6 authored by cbalint13's avatar cbalint13
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Refactor DAISY for more opencv style.

parent 309274a4
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modules/xfeatures2d/include/opencv2/xfeatures2d.hpp
View file @ a324c6c6
...@@ -222,36 +222,36 @@ public: ...@@ -222,36 +222,36 @@ public:
/** /**
* @param y position y on image * @param y position y on image
* @param x position x on image * @param x position x on image
* @param orientation orientation on image (0->360) * @param ori orientation on image (0->360)
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
*/ */
virtual void get_descriptor( double y, double x, int orientation, float* descriptor ) const = 0; virtual void GetDescriptor( double y, double x, int orientation, float* descriptor ) const = 0;
/** /**
* @param y position y on image * @param y position y on image
* @param x position x on image * @param x position x on image
* @param orientation orientation on image (0->360) * @param orientation orientation on image (0->360)
* @param H homography matrix for warped grid
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
* @param H homography matrix for warped grid
*/ */
virtual bool get_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const = 0; virtual bool GetDescriptor( double y, double x, int orientation, float* descriptor, double* H ) const = 0;
/** /**
* @param y position y on image * @param y position y on image
* @param x position x on image * @param x position x on image
* @param orientation orientation on image (0->360) * @param ori orientation on image (0->360)
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
*/ */
virtual void get_unnormalized_descriptor( double y, double x, int orientation, float* descriptor ) const = 0; virtual void GetUnnormalizedDescriptor( double y, double x, int orientation, float* descriptor ) const = 0;
/** /**
* @param y position y on image * @param y position y on image
* @param x position x on image * @param x position x on image
* @param orientation orientation on image (0->360) * @param orientation orientation on image (0->360)
* @param H homography matrix for warped grid
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
* @param H homography matrix for warped grid
*/ */
virtual bool get_unnormalized_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const = 0; virtual bool GetUnnormalizedDescriptor( double y, double x, int orientation, float* descriptor , double *H ) const = 0;
}; };
......
modules/xfeatures2d/src/daisy.cpp
View file @ a324c6c6
...@@ -72,7 +72,6 @@ const static int g_grid_orientation_resolution = 360; ...@@ -72,7 +72,6 @@ const static int g_grid_orientation_resolution = 360;
static const int MAX_CUBE_NO = 64; static const int MAX_CUBE_NO = 64;
static const int MAX_NORMALIZATION_ITER = 5; static const int MAX_NORMALIZATION_ITER = 5;
int g_cube_number;
int g_selected_cubes[MAX_CUBE_NO]; // m_rad_q_no < MAX_CUBE_NO int g_selected_cubes[MAX_CUBE_NO]; // m_rad_q_no < MAX_CUBE_NO
/* /*
...@@ -136,17 +135,16 @@ public: ...@@ -136,17 +135,16 @@ public:
* @param ori orientation on image (0->360) * @param ori orientation on image (0->360)
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
*/ */
virtual void get_descriptor( double y, double x, int orientation, float* descriptor ) const; virtual void GetDescriptor( double y, double x, int orientation, float* descriptor ) const;
/** /**
* @param y position y on image * @param y position y on image
* @param x position x on image * @param x position x on image
* @param ori orientation on image (0->360) * @param ori orientation on image (0->360)
* @param H homography matrix for warped grid
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
* @param get_descriptor true if descriptor was computed * @param H homography matrix for warped grid
*/ */
virtual bool get_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const; virtual bool GetDescriptor( double y, double x, int orientation, float* descriptor, double* H ) const;
/** /**
* @param y position y on image * @param y position y on image
...@@ -154,18 +152,16 @@ public: ...@@ -154,18 +152,16 @@ public:
* @param ori orientation on image (0->360) * @param ori orientation on image (0->360)
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
*/ */
virtual void get_unnormalized_descriptor( double y, double x, int orientation, float* descriptor ) const; virtual void GetUnnormalizedDescriptor( double y, double x, int orientation, float* descriptor ) const;
/** /**
* @param y position y on image * @param y position y on image
* @param x position x on image * @param x position x on image
* @param ori orientation on image (0->360) * @param ori orientation on image (0->360)
* @param H homography matrix for warped grid
* @param descriptor supplied array for descriptor storage * @param descriptor supplied array for descriptor storage
* @param get_unnormalized_descriptor true if descriptor was computed * @param H homography matrix for warped grid
*/ */
virtual bool get_unnormalized_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const; virtual bool GetUnnormalizedDescriptor( double y, double x, int orientation, float* descriptor, double* H ) const;
protected: protected:
...@@ -189,25 +185,15 @@ protected: ...@@ -189,25 +185,15 @@ protected:
// default. change the value using set_normalization() function. // default. change the value using set_normalization() function.
int m_nrm_type; int m_nrm_type;
// number of bins in the histograms while computing orientation
int m_orientation_resolution;
// the number of grid locations
int m_grid_point_number;
// the size of the descriptor vector // the size of the descriptor vector
int m_descriptor_size; int m_descriptor_size;
// size of m_hsz layers at a single sigma: m_hsz * m_layer_size // the number of grid locations
int m_cube_size; int m_grid_point_number;
// size of the layer : // number of bins in the histograms while computing orientation
// m_roi.width*m_roi.height int m_orientation_resolution;
int m_layer_size;
// the clipping threshold to use in normalization: values above this value
// are clipped to this value for normalize_sift_way() function
float m_descriptor_normalization_threshold;
/* /*
* DAISY switches * DAISY switches
...@@ -221,7 +207,7 @@ protected: ...@@ -221,7 +207,7 @@ protected:
// if enabled, descriptors are computed with casting non-integer locations // if enabled, descriptors are computed with casting non-integer locations
// to integer positions otherwise we use interpolation. // to integer positions otherwise we use interpolation.
bool m_disable_interpolation; bool m_enable_interpolation;
// switch to enable sample by keypoints orientation // switch to enable sample by keypoints orientation
bool m_use_orientation; bool m_use_orientation;
...@@ -233,20 +219,16 @@ protected: ...@@ -233,20 +219,16 @@ protected:
// holds optional H matrix // holds optional H matrix
Mat m_h_matrix; Mat m_h_matrix;
// input image. // internal float image.
Mat m_image; Mat m_image;
// image roi // image roi
Rect m_roi; Rect m_roi;
// stores the descriptors :
// its size is [ m_roi.width*m_roi.height*m_descriptor_size ].
Mat m_dense_descriptors;
// stores the layered gradients in successively smoothed form : // stores the layered gradients in successively smoothed form :
// layer[n] = m_gradient_layers * gaussian( sigma_n ); // layer[n] = m_gradient_layers * gaussian( sigma_n );
// n>= 1; layer[0] is the layered_gradient // n>= 1; layer[0] is the layered_gradient
Mat m_smoothed_gradient_layers; std::vector<Mat> m_smoothed_gradient_layers;
// hold the scales of the pixels // hold the scales of the pixels
Mat m_scale_map; Mat m_scale_map;
...@@ -270,11 +252,6 @@ protected: ...@@ -270,11 +252,6 @@ protected:
private: private:
// two possible computational mode
// ONLY_KEYS -> (mode_1) compute descriptors on demand
// COMP_FULL -> (mode_2) compute all descriptors from image
enum { ONLY_KEYS = 0, COMP_FULL = 1 };
/* /*
* DAISY functions * DAISY functions
*/ */
...@@ -300,7 +277,7 @@ private: ...@@ -300,7 +277,7 @@ private:
inline void release_auxiliary(); inline void release_auxiliary();
// computes the descriptors for every pixel in the image. // computes the descriptors for every pixel in the image.
inline void compute_descriptors(); inline void compute_descriptors( Mat* m_dense_descriptors );
// computes scales for every pixel and scales the structure grid so that the // computes scales for every pixel and scales the structure grid so that the
// resulting descriptors are scale invariant. you must set // resulting descriptors are scale invariant. you must set
...@@ -334,79 +311,11 @@ private: ...@@ -334,79 +311,11 @@ private:
// histograms are going to be computed according to the given parameters. // histograms are going to be computed according to the given parameters.
inline void compute_oriented_grid_points(); inline void compute_oriented_grid_points();
// normalizes the descriptor
inline void normalize_descriptor( float* desc, int nrm_type ) const;
// applies one of the normalizations (partial,full,sift) to the desciptors. // applies one of the normalizations (partial,full,sift) to the desciptors.
inline void normalize_descriptors( int nrm_type = DAISY::NRM_NONE ); inline void normalize_descriptors( Mat* m_dense_descriptors );
// emulates the way sift is normalized.
inline void normalize_sift_way( float* desc ) const;
// normalizes the descriptor histogram by histogram
inline void normalize_partial( float* desc ) const;
// normalizes the full descriptor.
inline void normalize_full( float* desc ) const;
// normalizes histograms individually
inline void normalize_histograms();
inline void update_selected_cubes(); inline void update_selected_cubes();
// Smooth a histogram by using a [1/3 1/3 1/3] kernel. Assume the histogram
// is connected in a circular buffer.
inline void smooth_histogram( Mat hist, int bins );
// smooths each of the layers by a Gaussian having "sigma" standart
// deviation.
inline void smooth_layers( Mat layers, int h, int w, int layer_number, float sigma );
// returns the descriptor vector for the point (y, x) !!! use this for
// precomputed operations meaning that you must call compute_descriptors()
// before calling this function. if you want normalized descriptors, call
// normalize_descriptors() before calling compute_descriptors()
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, 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, 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, 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, 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;
// does not use interpolation. for w/interpolation, call i_get_descriptor. see also get_descriptor
inline void ni_get_descriptor( double y, double x, int orientation, float* descriptor ) const;
// uses interpolation for no interpolation call ni_get_descriptor. see also get_descriptor
inline bool i_get_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const;
// does not use interpolation. for w/interpolation, call i_get_descriptor. see also get_descriptor
inline bool ni_get_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const;
inline int quantize_radius( float rad ) const;
// 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
// if positive, or less than if negative.
inline float interpolate_peak( float left, float center, float right );
}; // END DAISY_Impl CLASS }; // END DAISY_Impl CLASS
...@@ -417,272 +326,178 @@ inline void DAISY_Impl::reset() ...@@ -417,272 +326,178 @@ inline void DAISY_Impl::reset()
{ {
m_image.release(); m_image.release();
m_orientation_map.release();
m_scale_map.release(); m_scale_map.release();
m_orientation_map.release();
m_dense_descriptors.release(); for (size_t i=0; i<m_smoothed_gradient_layers.size(); i++)
m_smoothed_gradient_layers.release(); m_smoothed_gradient_layers[i].release();
m_smoothed_gradient_layers.clear();
} }
inline void DAISY_Impl::release_auxiliary() inline void DAISY_Impl::release_auxiliary()
{ {
m_orientation_map.release(); reset();
m_scale_map.release();
m_smoothed_gradient_layers.release();
m_cube_sigmas.release();
m_grid_points.release(); m_grid_points.release();
m_oriented_grid_points.release(); m_oriented_grid_points.release();
m_cube_sigmas.release();
m_image.release();
}
// creates a 1D gaussian filter with N(mean,sigma).
static void gaussian_1d( float* fltr, int fsz, float sigma, float mean )
{
CV_Assert(fltr != NULL);
int sz = (fsz - 1) / 2;
int counter = -1;
float sum = 0.0f;
float v = 2 * sigma*sigma;
for( int x=-sz; x<=sz; x++ )
{
counter++;
fltr[counter] = exp((-((float)x-mean)*((float)x-mean))/v);
sum += fltr[counter];
}
if( sum != 0 )
for( int x=0; x<fsz; x++ ) fltr[x] /= sum;
}
// computes the gradient of an image
static void gradient( Mat im, int h, int w, Mat dy, Mat dx )
{
CV_Assert( !dx.empty() );
CV_Assert( !dy.empty() );
for( int y=0; y<h; y++ )
{
int yw = y*w;
for( int x=0; x<w; x++ )
{
int ind = yw+x;
// dx
if( x>0 && x<w-1 ) dx.at<float>(ind) = (im.at<float>(ind+1)-im.at<float>(ind-1)) / 2.0f;
if( x==0 ) dx.at<float>(ind) = im.at<float>(ind+1)-im.at<float>(ind );
if( x==w-1 ) dx.at<float>(ind) = im.at<float>(ind )-im.at<float>(ind-1);
// dy
if( y>0 && y<h-1 ) dy.at<float>(ind) = (im.at<float>(ind+w)-im.at<float>(ind-w)) / 2.0f;
if( y==0 ) dy.at<float>(ind) = im.at<float>(ind+w)-im.at<float>(ind );
if( y==h-1 ) dy.at<float>(ind) = im.at<float>(ind )-im.at<float>(ind-w);
}
}
} }
// data is not destroyed afterwards static int filter_size( double sigma, double factor )
static void layered_gradient( Mat data, Mat& layers )
{ {
CV_Assert( !layers.empty() ); int fsz = (int)( factor * sigma );
CV_Assert( layers.dims == 4 ); // kernel size must be odd
CV_Assert( data.rows == layers.size[2] ); if( fsz%2 == 0 ) fsz++;
CV_Assert( data.cols == layers.size[3] ); // kernel size cannot be smaller than 3
if( fsz < 3 ) fsz = 3;
int layer_no = layers.size[1];
Mat cvI;
layers.setTo( Scalar(0) );
int data_size = data.rows * data.cols;
float kernel[5];
gaussian_1d(kernel, 5, 0.5f, 0.0f);
Mat Kernel(1, 5, CV_32F, (float*) kernel);
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);
Mat dy(1, data_size, CV_32F);
gradient( cvI, data.rows, data.cols, dy, dx );
#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);
for( int i=0; i<data_size; i++ ) return fsz;
{
float value = kos * dx.at<float>(i) + zin * dy.at<float>(i);
if( value > 0 ) layer_l[i] = value;
else layer_l[i] = 0;
}
}
} }
// transform a point via the homography // transform a point via the homography
static void point_transform_via_homography( double* H, double x, double y, double &u, double &v ) static void pt_H( double* H, double x, double y, double &u, double &v )
{ {
double kxp = H[0]*x + H[1]*y + H[2]; double kxp = H[0]*x + H[1]*y + H[2];
double kyp = H[3]*x + H[4]*y + H[5]; double kyp = H[3]*x + H[4]*y + H[5];
double kp = H[6]*x + H[7]*y + H[8]; double kp = H[6]*x + H[7]*y + H[8];
u = kxp / kp; u = kxp / kp; v = kyp / kp;
v = kyp / kp;
} }
static int filter_size( double sigma )
{
int fsz = (int)(5*sigma);
// kernel size must be odd static float interpolate_peak( float left, float center, float right )
if( fsz%2 == 0 ) fsz++; {
if( center < 0.0 )
{
left = -left;
center = -center;
right = -right;
}
CV_Assert(center >= left && center >= right);
// kernel size cannot be smaller than 3 float den = (float) (left - 2.0 * center + right);
if( fsz < 3 ) fsz = 3;
return fsz; if( den == 0 ) return 0;
else return (float) (0.5*(left -right)/den);
} }
inline void DAISY_Impl::compute_grid_points() static void smooth_histogram( Mat* hist, int hsz )
{ {
double r_step = m_rad / (double)m_rad_q_no; int i;
double t_step = 2*CV_PI/ m_th_q_no; float prev, temp;
m_grid_points.release(); prev = hist->at<float>(hsz - 1);
m_grid_points = Mat( m_grid_point_number, 2, CV_64F ); for (i = 0; i < hsz; i++)
{
temp = hist->at<float>(i);
hist->at<float>(i) = (prev + hist->at<float>(i) + hist->at<float>( (i + 1 == hsz) ? 0 : i + 1) ) / 3.0f;
prev = temp;
}
}
for( int y=0; y<m_grid_point_number; y++ ) struct LayeredGradientInvoker : ParallelLoopBody
{
LayeredGradientInvoker( Mat* _layers, Mat& _dy, Mat& _dx )
{ {
m_grid_points.at<double>(y,0) = 0; dy = _dy;
m_grid_points.at<double>(y,1) = 0; dx = _dx;
layers = _layers;
layer_no = layers->size[0];
} }
for( int r=0; r<m_rad_q_no; r++ ) void operator ()(const cv::Range& range) const
{ {
int region = r*m_th_q_no+1; for (int l = range.start; l < range.end; ++l)
for( int t=0; t<m_th_q_no; t++ )
{ {
m_grid_points.at<double>(region+t,0) = (r+1)*r_step * sin( t*t_step ); double angle = l * 2*CV_PI / layer_no;
m_grid_points.at<double>(region+t,1) = (r+1)*r_step * cos( t*t_step ); Mat layer( dx.rows, dx.cols, CV_32F, layers->ptr<float>(l,0,0) );
addWeighted( dx, cos( angle ), dy, sin( angle ), 0.0f, layer, CV_32F );
max( layer, 0.0f, layer );
} }
} }
compute_oriented_grid_points(); Mat dy, dx;
} Mat *layers;
int layer_no;
};
inline void DAISY_Impl::normalize_descriptor( float* desc, int nrm_type = DAISY::NRM_NONE ) const static void layered_gradient( Mat& data, Mat* layers )
{ {
if( nrm_type == DAISY::NRM_NONE ) nrm_type = m_nrm_type; Mat cvO, dx, dy;
else if( nrm_type == DAISY::NRM_PARTIAL ) normalize_partial(desc); int layer_no = layers->size[0];
else if( nrm_type == DAISY::NRM_FULL ) normalize_full(desc);
else if( nrm_type == DAISY::NRM_SIFT ) normalize_sift_way(desc);
else
CV_Error( Error::StsInternal, "No such normalization" );
}
// Computes the descriptor by sampling convoluted orientation maps. GaussianBlur( data, cvO, Size(5, 5), 0.5f, 0.5f, BORDER_REPLICATE );
inline void DAISY_Impl::compute_descriptors() Sobel( cvO, dx, CV_32F, 1, 0, 1, 0.5f, 0.0f, BORDER_REPLICATE );
{ Sobel( cvO, dy, CV_32F, 0, 1, 1, 0.5f, 0.0f, BORDER_REPLICATE );
int y_off = m_roi.y; parallel_for_( Range(0, layer_no), LayeredGradientInvoker( layers, dy, dx ) );
int x_off = m_roi.x; }
int y_end = m_roi.y + m_roi.height;
int x_end = m_roi.x + m_roi.width;
// if( m_scale_invariant ) compute_scales(); struct SmoothLayersInvoker : ParallelLoopBody
// if( m_rotation_invariant ) compute_orientations(); {
SmoothLayersInvoker( Mat* _layers, const float _sigma )
{
layers = _layers;
sigma = _sigma;
m_dense_descriptors = Mat( m_roi.width*m_roi.height, m_descriptor_size, CV_32F, Scalar(0) ); h = layers->size[1];
w = layers->size[2];
ks = filter_size( sigma, 5.0f );
}
int y, x, index, orientation; void operator ()(const cv::Range& range) const
#if defined _OPENMP
#pragma omp parallel for private(y,x,index,orientation)
#endif
for( y=y_off; y<y_end ; y++ )
{ {
for( x=x_off; x<x_end; x++ ) for (int l = range.start; l < range.end; ++l)
{ {
index = y*m_image.cols + x; Mat layer( h, w, CV_32FC1, layers->ptr<float>(l,0,0) );
orientation = 0; GaussianBlur( layer, layer, Size(ks, ks), sigma, sigma, BORDER_REPLICATE );
if( !m_orientation_map.empty() )
orientation = (int) m_orientation_map.at<ushort>( x, y );
if( !( orientation >= 0 && orientation < g_grid_orientation_resolution ) )
orientation = 0;
get_unnormalized_descriptor( y, x, orientation, m_dense_descriptors.ptr<float>( index ) );
} }
} }
}
inline void DAISY_Impl::smooth_layers( Mat layers, int h, int w, int layer_number, float sigma )
{
int i;
int kernel_size = filter_size( sigma ); float sigma;
std::vector<float> kernel(kernel_size); int ks, h, w;
gaussian_1d( &kernel[0], kernel_size, sigma, 0 ); Mat *layers;
};
#if defined _OPENMP static void smooth_layers( Mat* layers, float sigma )
#pragma omp parallel for private(i, layer) {
#endif int layer_no = layers->size[0];
parallel_for_( Range(0, layer_no), SmoothLayersInvoker( layers, sigma ) );
}
for( i=0; i<layer_number; i++ ) static int quantize_radius( float rad, const int _rad_q_no, const Mat& _cube_sigmas )
{ {
if( rad <= _cube_sigmas.at<double>(0) )
return 0;
if( rad >= _cube_sigmas.at<double>(_rad_q_no-1) )
return _rad_q_no-1;
Mat cvI( h, w, CV_32FC1, (float*) layers.ptr<float>(0, i) ); int idx_min[2];
minMaxIdx( abs( _cube_sigmas - rad ), NULL, NULL, idx_min );
Mat Kernel( 1, kernel_size, CV_32FC1, &kernel[0] ); return idx_min[1];
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 );
}
} }
inline void DAISY_Impl::normalize_partial( float* desc ) const static void normalize_partial( float* desc, const int _grid_point_number, const int _hist_th_q_no )
{ {
float norm = 0.0f; float norm = 0.0f;
for( int h=0; h<m_grid_point_number; h++ ) for( int h=0; h<_grid_point_number; h++ )
{ {
// l2 norm // l2 norm
for( int i=0; i<m_hist_th_q_no; i++ ) for( int i=0; i<_hist_th_q_no; i++ )
{ {
norm += sqrt(desc[h*m_hist_th_q_no + i] norm += sqrt(desc[h*_hist_th_q_no + i]
* desc[h*m_hist_th_q_no + i]); * desc[h*_hist_th_q_no + i]);
} }
if( norm != 0.0 ) if( norm != 0.0 )
// divide with norm // divide with norm
for( int i=0; i<m_hist_th_q_no; i++ ) for( int i=0; i<_hist_th_q_no; i++ )
{ {
desc[h*m_hist_th_q_no + i] /= norm; desc[h*_hist_th_q_no + i] /= norm;
} }
} }
} }
inline void DAISY_Impl::normalize_full( float* desc ) const static void normalize_sift_way( float* desc, const int _descriptor_size )
{
// l2 norm
float norm = 0.0f;
for( int i=0; i<m_descriptor_size; i++ )
{
norm += sqrt(desc[m_descriptor_size + i]
* desc[m_descriptor_size + i]);
}
if( norm != 0.0 )
// divide with norm
for( int i=0; i<m_descriptor_size; i++ )
{
desc[m_descriptor_size + i] /= norm;
}
}
inline void DAISY_Impl::normalize_sift_way( float* desc ) const
{ {
int h; int h;
int iter = 0; int iter = 0;
...@@ -693,187 +508,681 @@ inline void DAISY_Impl::normalize_sift_way( float* desc ) const ...@@ -693,187 +508,681 @@ inline void DAISY_Impl::normalize_sift_way( float* desc ) const
changed = false; changed = false;
float norm = 0.0f; float norm = 0.0f;
for( int i=0; i<m_descriptor_size; i++ ) for( int i=0; i<_descriptor_size; i++ )
{ {
norm += sqrt(desc[m_descriptor_size + i] norm += sqrt(desc[_descriptor_size + i]
* desc[m_descriptor_size + i]); * desc[_descriptor_size + i]);
} }
if( norm > 1e-5 ) if( norm > 1e-5 )
// divide with norm // divide with norm
for( int i=0; i<m_descriptor_size; i++ ) for( int i=0; i<_descriptor_size; i++ )
{ {
desc[m_descriptor_size + i] /= norm; desc[_descriptor_size + i] /= norm;
} }
for( h=0; h<m_descriptor_size; h++ ) for( h=0; h<_descriptor_size; h++ )
{ { // sift magical number
if( desc[ h ] > m_descriptor_normalization_threshold ) if( desc[ h ] > 0.154f )
{ {
desc[ h ] = m_descriptor_normalization_threshold; desc[ h ] = 0.154f;
changed = true; changed = true;
} }
} }
} }
} }
inline void DAISY_Impl::normalize_descriptors( int nrm_type ) static void normalize_full( float* desc, const int _descriptor_size )
{ {
int d; // l2 norm
int number_of_descriptors = m_roi.width * m_roi.height; float norm = 0.0f;
for( int i=0; i<_descriptor_size; i++ )
{
norm += sqrt(desc[_descriptor_size + i]
* desc[_descriptor_size + i]);
}
if( norm != 0.0 )
// divide with norm
for( int i=0; i<_descriptor_size; i++ )
{
desc[_descriptor_size + i] /= norm;
}
}
#if defined _OPENMP static void normalize_descriptor( float* desc, const int nrm_type, const int _grid_point_number,
#pragma omp parallel for private(d) const int _hist_th_q_no, const int _descriptor_size )
#endif {
for( d=0; d<number_of_descriptors; d++ ) if( nrm_type == DAISY::NRM_NONE ) return;
normalize_descriptor( m_dense_descriptors.ptr<float>( d ), nrm_type ); else if( nrm_type == DAISY::NRM_PARTIAL ) normalize_partial(desc,_grid_point_number,_hist_th_q_no);
else if( nrm_type == DAISY::NRM_FULL ) normalize_full(desc,_descriptor_size);
else if( nrm_type == DAISY::NRM_SIFT ) normalize_sift_way(desc,_descriptor_size);
else
CV_Error( Error::StsInternal, "No such normalization" );
} }
inline void DAISY_Impl::initialize() static void ni_get_histogram( float* histogram, const int y, const int x, const int shift, const Mat* hcube )
{ {
// no image ?
CV_Assert(m_image.rows != 0);
CV_Assert(m_image.cols != 0);
if( m_layer_size == 0 ) { if ( ! Point( x, y ).inside(
m_layer_size = m_image.rows * m_image.cols; Rect( 0, 0, hcube->size[2]-1, hcube->size[1]-1 ) )
m_cube_size = m_layer_size * m_hist_th_q_no; ) return;
int _hist_th_q_no = hcube->size[0];
const float* hptr = hcube->ptr<float>(0,y*_hist_th_q_no,x*_hist_th_q_no);
for( int h=0; h<_hist_th_q_no; h++ )
{
int hi = h+shift;
if( hi >= _hist_th_q_no ) hi -= _hist_th_q_no;
histogram[h] = hptr[hi];
}
}
static void bi_get_histogram( float* histogram, const double y, const double x, const int shift, const Mat* hcube )
{
int mnx = int( x );
int mny = int( y );
int _hist_th_q_no = hcube->size[0];
if( mnx >= hcube->size[2]-2 || mny >= hcube->size[1]-2 )
{
memset(histogram, 0, sizeof(float)*_hist_th_q_no);
return;
} }
// 4 dims matrix (idcube, idhist, img_y, img_x); // A C --> pixel positions
int dims[4] = { g_cube_number + 1, m_hist_th_q_no, m_image.rows , m_image.cols }; // B D
m_smoothed_gradient_layers = Mat( 4, dims, CV_32F ); const float* A = hcube->ptr<float>(0, mny *_hist_th_q_no, mnx *_hist_th_q_no);
const float* B = hcube->ptr<float>(0, (mny+1)*_hist_th_q_no, mnx *_hist_th_q_no);
const float* C = hcube->ptr<float>(0, mny *_hist_th_q_no, (mnx+1)*_hist_th_q_no);
const float* D = hcube->ptr<float>(0, (mny+1)*_hist_th_q_no, (mnx+1)*_hist_th_q_no);
double alpha = mnx+1-x;
double beta = mny+1-y;
layered_gradient( m_image, m_smoothed_gradient_layers ); float w0 = (float) ( alpha * beta );
float w1 = (float) ( beta - w0 ); // (1-alpha)*beta;
float w2 = (float) ( alpha - w0 ); // (1-beta)*alpha;
float w3 = (float) ( 1 + w0 - alpha - beta); // (1-beta)*(1-alpha);
// assuming a 0.5 image smoothness, we pull this to 1.6 as in sift int h;
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-0.25f) );
for( h=0; h<_hist_th_q_no; h++ ) {
if( h+shift < _hist_th_q_no ) histogram[h] = w0 * A[h+shift];
else histogram[h] = w0 * A[h+shift-_hist_th_q_no];
}
for( h=0; h<_hist_th_q_no; h++ ) {
if( h+shift < _hist_th_q_no ) histogram[h] += w1 * C[h+shift];
else histogram[h] += w1 * C[h+shift-_hist_th_q_no];
}
for( h=0; h<_hist_th_q_no; h++ ) {
if( h+shift < _hist_th_q_no ) histogram[h] += w2 * B[h+shift];
else histogram[h] += w2 * B[h+shift-_hist_th_q_no];
}
for( h=0; h<_hist_th_q_no; h++ ) {
if( h+shift < _hist_th_q_no ) histogram[h] += w3 * D[h+shift];
else histogram[h] += w3 * D[h+shift-_hist_th_q_no];
}
} }
inline void DAISY_Impl::compute_cube_sigmas() static void ti_get_histogram( float* histogram, const double y, const double x, const double shift, const Mat* hcube )
{ {
if( m_cube_sigmas.empty() ) int ishift = int( shift );
{ double layer_alpha = shift - ishift;
// user didn't set the sigma's;
// set them from the descriptor parameters
g_cube_number = m_rad_q_no;
m_cube_sigmas = Mat(1, g_cube_number, CV_64F); float thist[MAX_CUBE_NO];
bi_get_histogram( thist, y, x, ishift, hcube );
double r_step = (double)m_rad / m_rad_q_no / 2; int _hist_th_q_no = hcube->size[0];
for( int r=0; r<m_rad_q_no; r++ ) for( int h=0; h<_hist_th_q_no-1; h++ )
{ histogram[h] = (float) ((1-layer_alpha)*thist[h]+layer_alpha*thist[h+1]);
m_cube_sigmas.at<double>(r) = (r+1) * r_step; histogram[_hist_th_q_no-1] = (float) ((1-layer_alpha)*thist[_hist_th_q_no-1]+layer_alpha*thist[0]);
}
}
update_selected_cubes();
} }
inline void DAISY_Impl::update_selected_cubes() static void i_get_histogram( float* histogram, const double y, const double x, const double shift, const Mat* hcube )
{ {
double scale = m_rad/m_rad_q_no/2.0; int ishift = (int)shift;
for( int r=0; r<m_rad_q_no; r++ ) double fshift = shift-ishift;
{ if ( fshift < 0.01 ) bi_get_histogram( histogram, y, x, ishift , hcube );
double seed_sigma = ((double)r+1) * scale; else if( fshift > 0.99 ) bi_get_histogram( histogram, y, x, ishift+1, hcube );
g_selected_cubes[r] = quantize_radius( (float)seed_sigma ); else ti_get_histogram( histogram, y, x, shift , hcube );
}
} }
inline int DAISY_Impl::quantize_radius( float rad ) const static void ni_get_descriptor( const double y, const double x, const int orientation, float* descriptor, const std::vector<Mat>* layers,
const Mat* _oriented_grid_points, const double* _orientation_shift_table, const int _th_q_no )
{ {
if( rad <= m_cube_sigmas.at<double>(0) ) CV_Assert( y >= 0 && y < layers->at(0).size[1] );
return 0; CV_Assert( x >= 0 && x < layers->at(0).size[2] );
if( rad >= m_cube_sigmas.at<double>(g_cube_number-1) ) CV_Assert( orientation >= 0 && orientation < 360 );
return g_cube_number-1; CV_Assert( !layers->empty() );
CV_Assert( !_oriented_grid_points->empty() );
CV_Assert( descriptor != NULL );
int idx_min[2]; int _rad_q_no = (int) layers->size() - 1;
minMaxIdx( abs( m_cube_sigmas - rad ), NULL, NULL, idx_min ); int _hist_th_q_no = layers->at(0).size[0];
double shift = _orientation_shift_table[orientation];
int ishift = (int)shift;
if( shift - ishift > 0.5 ) ishift++;
return idx_min[1]; int iy = (int)y; if( y - iy > 0.5 ) iy++;
} int ix = (int)x; if( x - ix > 0.5 ) ix++;
inline void DAISY_Impl::compute_histograms() // center
{ ni_get_histogram( descriptor, iy, ix, ishift, &layers->at(g_selected_cubes[0]) );
int r, y, x, ind;
float* hist=0;
for( r=0; r<g_cube_number; r++ ) double yy, xx;
float* histogram=0;
// petals of the flower
int r, rdt, region;
Mat grid = _oriented_grid_points->row( orientation );
for( r=0; r<_rad_q_no; r++ )
{ {
float* dst = m_smoothed_gradient_layers.ptr<float>(r ); rdt = r*_th_q_no+1;
float* src = m_smoothed_gradient_layers.ptr<float>(r+1); for( region=rdt; region<rdt+_th_q_no; region++ )
#if defined _OPENMP
#pragma omp parallel for private(y,x,ind,hist)
#endif
for( y=0; y<m_image.rows; y++ )
{ {
for( x=0; x<m_image.cols; x++ ) yy = y + grid.at<double>(2*region );
{ xx = x + grid.at<double>(2*region+1);
ind = y*m_image.cols+x; iy = (int)yy; if( yy - iy > 0.5 ) iy++;
hist = dst + m_hist_th_q_no * ind; ix = (int)xx; if( xx - ix > 0.5 ) ix++;
compute_histogram( src, y, x, hist );
} if ( ! Point2f( (float)xx, (float)yy ).inside(
Rect( 0, 0, layers->at(0).size[2]-1, layers->at(0).size[1]-1 ) )
) continue;
histogram = descriptor + region*_hist_th_q_no;
ni_get_histogram( histogram, iy, ix, ishift, &layers->at(g_selected_cubes[r]) );
} }
} }
} }
inline void DAISY_Impl::normalize_histograms() static void i_get_descriptor( const double y, const double x, const int orientation, float* descriptor, const std::vector<Mat>* layers,
const Mat* _oriented_grid_points, const double *_orientation_shift_table, const int _th_q_no )
{ {
for( int r=0; r<g_cube_number; r++ ) CV_Assert( y >= 0 && y < layers->at(0).size[1] );
{ CV_Assert( x >= 0 && x < layers->at(0).size[2] );
float* dst = m_smoothed_gradient_layers.ptr<float>(r); CV_Assert( orientation >= 0 && orientation < 360 );
CV_Assert( !layers->empty() );
CV_Assert( !_oriented_grid_points->empty() );
CV_Assert( descriptor != NULL );
#if defined _OPENMP int _rad_q_no = (int) layers->size() - 1;
#pragma omp parallel for int _hist_th_q_no = layers->at(0).size[0];
#endif double shift = _orientation_shift_table[orientation];
for( int y=0; y<m_image.rows; y++ )
{
for( int x=0; x<m_image.cols; x++ )
{
float* hist = dst + (y*m_image.cols+x) * m_hist_th_q_no;
float norm = 0.0f;
for( int i=0; i<m_hist_th_q_no; i++ )
norm += sqrt( hist[i] * hist[i] );
if( norm != 0.0 )
for( int i=0; i<m_hist_th_q_no; i++ )
hist[i] /= norm;
}
}
}
}
inline void DAISY_Impl::compute_smoothed_gradient_layers() i_get_histogram( descriptor, y, x, shift, &layers->at(g_selected_cubes[0]) );
{
double sigma;
for( int r=0; r<g_cube_number; r++ )
{
// incremental smoothing int r, rdt, region;
if( r == 0 ) double yy, xx;
sigma = m_cube_sigmas.at<double>(0); float* histogram = 0;
Mat grid = _oriented_grid_points->row( orientation );
// petals of the flower
for( r=0; r<_rad_q_no; r++ )
{
rdt = r*_th_q_no+1;
for( region=rdt; region<rdt+_th_q_no; region++ )
{
yy = y + grid.at<double>(2*region );
xx = x + grid.at<double>(2*region + 1);
if ( ! Point2f( (float)xx, (float)yy ).inside(
Rect( 0, 0, layers->at(0).size[2]-1, layers->at(0).size[1]-1 ) )
) continue;
histogram = descriptor + region*_hist_th_q_no;
i_get_histogram( histogram, yy, xx, shift, &layers->at(r) );
}
}
}
static bool ni_get_descriptor_h( const double y, const double x, const int orientation, double* H, float* descriptor, const std::vector<Mat>* layers,
const Mat& _cube_sigmas, const Mat* _grid_points, const double* _orientation_shift_table, const int _th_q_no )
{
CV_Assert( orientation >= 0 && orientation < 360 );
CV_Assert( !layers->empty() );
CV_Assert( descriptor != NULL );
int hradius[MAX_CUBE_NO];
double hy, hx, ry, rx;
pt_H(H, x, y, hx, hy );
if ( ! Point2f( (float)hx, (float)hy ).inside(
Rect( 0, 0, layers->at(0).size[2]-1, layers->at(0).size[1]-1 ) )
) return false;
int _rad_q_no = (int) layers->size() - 1;
int _hist_th_q_no = layers->at(0).size[0];
double shift = _orientation_shift_table[orientation];
int ishift = (int)shift; if( shift - ishift > 0.5 ) ishift++;
pt_H(H, x+_cube_sigmas.at<double>(g_selected_cubes[0]), y, rx, ry);
double d0 = rx - hx; double d1 = ry - hy;
double radius = sqrt( d0*d0 + d1*d1 );
hradius[0] = quantize_radius( (float) radius, _rad_q_no, _cube_sigmas );
int ihx = (int)hx; if( hx - ihx > 0.5 ) ihx++;
int ihy = (int)hy; if( hy - ihy > 0.5 ) ihy++;
int r, rdt, th, region;
double gy, gx;
float* histogram=0;
ni_get_histogram( descriptor, ihy, ihx, ishift, &layers->at(hradius[0]) );
for( r=0; r<_rad_q_no; r++)
{
rdt = r*_th_q_no + 1;
for( th=0; th<_th_q_no; th++ )
{
region = rdt + th;
gy = y + _grid_points->at<double>(region,0);
gx = x + _grid_points->at<double>(region,1);
pt_H(H, gx, gy, hx, hy);
if( th == 0 )
{
pt_H(H, gx+_cube_sigmas.at<double>(g_selected_cubes[r]), gy, rx, ry);
d0 = rx - hx; d1 = ry - hy;
radius = sqrt( d0*d0 + d1*d1 );
hradius[r] = quantize_radius( (float) radius, _rad_q_no, _cube_sigmas );
}
ihx = (int)hx; if( hx - ihx > 0.5 ) ihx++;
ihy = (int)hy; if( hy - ihy > 0.5 ) ihy++;
if ( ! Point( ihx, ihy ).inside(
Rect( 0, 0, layers->at(0).size[2]-1, layers->at(0).size[1]-1 ) )
) continue;
histogram = descriptor + region*_hist_th_q_no;
ni_get_histogram( histogram, ihy, ihx, ishift, &layers->at(hradius[r]) );
}
}
return true;
}
static bool i_get_descriptor_h( const double y, const double x, const int orientation, double* H, float* descriptor, const std::vector<Mat>* layers,
const Mat _cube_sigmas, const Mat* _grid_points, const double* _orientation_shift_table, const int _th_q_no )
{
CV_Assert( orientation >= 0 && orientation < 360 );
CV_Assert( !layers->empty() );
CV_Assert( descriptor != NULL );
int hradius[MAX_CUBE_NO];
double hy, hx, ry, rx;
pt_H( H, x, y, hx, hy );
if ( ! Point2f( (float)hx, (float)hy ).inside(
Rect( 0, 0, layers->at(0).size[2]-1, layers->at(0).size[1]-1 ) )
) return false;
int _rad_q_no = (int) layers->size() - 1;
int _hist_th_q_no = layers->at(0).size[0];
pt_H( H, x+_cube_sigmas.at<double>(g_selected_cubes[0]), y, rx, ry);
double d0 = rx - hx; double d1 = ry - hy;
double radius = sqrt( d0*d0 + d1*d1 );
hradius[0] = quantize_radius( (float) radius, _rad_q_no, _cube_sigmas );
double shift = _orientation_shift_table[orientation];
i_get_histogram( descriptor, hy, hx, shift, &layers->at(hradius[0]) );
double gy, gx;
int r, rdt, th, region;
float* histogram=0;
for( r=0; r<_rad_q_no; r++)
{
rdt = r*_th_q_no + 1;
for( th=0; th<_th_q_no; th++ )
{
region = rdt + th;
gy = y + _grid_points->at<double>(region,0);
gx = x + _grid_points->at<double>(region,1);
pt_H(H, gx, gy, hx, hy);
if( th == 0 )
{
pt_H(H, gx+_cube_sigmas.at<double>(g_selected_cubes[r]), gy, rx, ry);
d0 = rx - hx; d1 = ry - hy;
radius = sqrt( d0*d0 + d1*d1 );
hradius[r] = quantize_radius( (float) radius, _rad_q_no, _cube_sigmas );
}
if ( ! Point2f( (float)hx, (float)hy ).inside(
Rect( 0, 0, layers->at(0).size[2]-1, layers->at(0).size[1]-1 ) )
) continue;
histogram = descriptor + region*_hist_th_q_no;
i_get_histogram( histogram, hy, hx, shift, &layers->at(hradius[r]) );
}
}
return true;
}
static void get_unnormalized_descriptor( const double y, const double x, const int orientation, float* descriptor,
const std::vector<Mat>* m_smoothed_gradient_layers, const Mat* m_oriented_grid_points,
const double* m_orientation_shift_table, const int m_th_q_no, const bool m_enable_interpolation )
{
if( m_enable_interpolation )
i_get_descriptor( y, x, orientation, descriptor, m_smoothed_gradient_layers,
m_oriented_grid_points, m_orientation_shift_table, m_th_q_no );
else
ni_get_descriptor( y, x, orientation, descriptor, m_smoothed_gradient_layers,
m_oriented_grid_points, m_orientation_shift_table, m_th_q_no);
}
static void get_descriptor( const double y, const double x, const int orientation, float* descriptor,
const std::vector<Mat>* m_smoothed_gradient_layers, const Mat* m_oriented_grid_points,
const double* m_orientation_shift_table, const int m_th_q_no, const int m_hist_th_q_no,
const int m_grid_point_number, const int m_descriptor_size, const bool m_enable_interpolation,
const int m_nrm_type )
{
get_unnormalized_descriptor( y, x, orientation, descriptor, m_smoothed_gradient_layers,
m_oriented_grid_points, m_orientation_shift_table, m_th_q_no, m_enable_interpolation );
normalize_descriptor( descriptor, m_nrm_type, m_grid_point_number, m_hist_th_q_no, m_descriptor_size );
}
static bool get_unnormalized_descriptor_h( const double y, const double x, const int orientation, float* descriptor, double* H,
const std::vector<Mat>* m_smoothed_gradient_layers, const Mat& m_cube_sigmas,
const Mat* m_grid_points, const double* m_orientation_shift_table, const int m_th_q_no, const bool m_enable_interpolation )
{
if( m_enable_interpolation )
return i_get_descriptor_h( y, x, orientation, H, descriptor, m_smoothed_gradient_layers, m_cube_sigmas,
m_grid_points, m_orientation_shift_table, m_th_q_no );
else
return ni_get_descriptor_h( y, x, orientation, H, descriptor, m_smoothed_gradient_layers, m_cube_sigmas,
m_grid_points, m_orientation_shift_table, m_th_q_no );
}
static bool get_descriptor_h( const double y, const double x, const int orientation, float* descriptor, double* H,
const std::vector<Mat>* m_smoothed_gradient_layers, const Mat& m_cube_sigmas,
const Mat* m_grid_points, const double* m_orientation_shift_table, const int m_th_q_no,
const int m_hist_th_q_no, const int m_grid_point_number, const int m_descriptor_size,
const bool m_enable_interpolation, const int m_nrm_type )
{
bool rval =
get_unnormalized_descriptor_h( y, x, orientation, descriptor, H, m_smoothed_gradient_layers, m_cube_sigmas,
m_grid_points, m_orientation_shift_table, m_th_q_no, m_enable_interpolation );
if( rval )
normalize_descriptor( descriptor, m_nrm_type, m_grid_point_number, m_hist_th_q_no, m_descriptor_size );
return rval;
}
void DAISY_Impl::GetDescriptor( double y, double x, int orientation, float* descriptor ) const
{
get_descriptor( y, x, orientation, descriptor, &m_smoothed_gradient_layers,
&m_oriented_grid_points, m_orientation_shift_table, m_th_q_no,
m_hist_th_q_no, m_grid_point_number, m_descriptor_size, m_enable_interpolation,
m_nrm_type );
}
bool DAISY_Impl::GetDescriptor( double y, double x, int orientation, float* descriptor, double* H ) const
{
return
get_descriptor_h( y, x, orientation, descriptor, H, &m_smoothed_gradient_layers,
m_cube_sigmas, &m_grid_points, m_orientation_shift_table, m_th_q_no,
m_hist_th_q_no, m_grid_point_number, m_descriptor_size, m_enable_interpolation,
m_nrm_type );
}
void DAISY_Impl::GetUnnormalizedDescriptor( double y, double x, int orientation, float* descriptor ) const
{
get_unnormalized_descriptor( y, x, orientation, descriptor, &m_smoothed_gradient_layers,
&m_oriented_grid_points, m_orientation_shift_table, m_th_q_no,
m_enable_interpolation );
}
bool DAISY_Impl::GetUnnormalizedDescriptor( double y, double x, int orientation, float* descriptor, double* H ) const
{
return
get_unnormalized_descriptor_h( y, x, orientation, descriptor, H, &m_smoothed_gradient_layers,
m_cube_sigmas, &m_grid_points, m_orientation_shift_table, m_th_q_no,
m_enable_interpolation );
}
inline void DAISY_Impl::compute_grid_points()
{
double r_step = m_rad / (double)m_rad_q_no;
double t_step = 2*CV_PI / m_th_q_no;
m_grid_points.release();
m_grid_points = Mat( m_grid_point_number, 2, CV_64F );
for( int y=0; y<m_grid_point_number; y++ )
{
m_grid_points.at<double>(y,0) = 0;
m_grid_points.at<double>(y,1) = 0;
}
for( int r=0; r<m_rad_q_no; r++ )
{
int region = r*m_th_q_no+1;
for( int t=0; t<m_th_q_no; t++ )
{
m_grid_points.at<double>(region+t,0) = (r+1)*r_step * sin( t*t_step );
m_grid_points.at<double>(region+t,1) = (r+1)*r_step * cos( t*t_step );
}
}
compute_oriented_grid_points();
}
struct ComputeDescriptorsInvoker : ParallelLoopBody
{
ComputeDescriptorsInvoker( Mat* _descriptors, Mat* _image, Rect* _roi,
std::vector<Mat>* _layers, Mat* _orientation_map,
Mat* _oriented_grid_points, double* _orientation_shift_table,
int _th_q_no, bool _enable_interpolation )
{
x_off = _roi->x;
x_end = _roi->x + _roi->width;
image = _image;
layers = _layers;
th_q_no = _th_q_no;
descriptors = _descriptors;
orientation_map = _orientation_map;
enable_interpolation = _enable_interpolation;
oriented_grid_points = _oriented_grid_points;
orientation_shift_table = _orientation_shift_table;
}
void operator ()(const cv::Range& range) const
{
int index, orientation;
for (int y = range.start; y < range.end; ++y)
{
for( int x = x_off; x < x_end; x++ )
{
index = y*image->cols + x;
orientation = 0;
if( !orientation_map->empty() )
orientation = (int) orientation_map->at<ushort>( y, x );
if( !( orientation >= 0 && orientation < g_grid_orientation_resolution ) )
orientation = 0;
get_unnormalized_descriptor( y, x, orientation, descriptors->ptr<float>( index ),
layers, oriented_grid_points, orientation_shift_table,
th_q_no, enable_interpolation );
}
}
}
int th_q_no;
int x_off, x_end;
std::vector<Mat>* layers;
Mat *descriptors;
Mat *orientation_map;
bool enable_interpolation;
double* orientation_shift_table;
Mat *image, *oriented_grid_points;
};
// Computes the descriptor by sampling convoluted orientation maps.
inline void DAISY_Impl::compute_descriptors( Mat* m_dense_descriptors )
{
int y_off = m_roi.y;
int y_end = m_roi.y + m_roi.height;
if( m_scale_invariant ) compute_scales();
if( m_rotation_invariant ) compute_orientations();
m_dense_descriptors->setTo( Scalar(0) );
parallel_for_( Range(y_off, y_end),
ComputeDescriptorsInvoker( m_dense_descriptors, &m_image, &m_roi, &m_smoothed_gradient_layers,
&m_orientation_map, &m_oriented_grid_points, m_orientation_shift_table,
m_th_q_no, m_enable_interpolation )
);
}
struct NormalizeDescriptorsInvoker : ParallelLoopBody
{
NormalizeDescriptorsInvoker( Mat* _descriptors, int _nrm_type, int _grid_point_number,
int _hist_th_q_no, int _descriptor_size )
{
descriptors = _descriptors;
nrm_type = _nrm_type;
grid_point_number = _grid_point_number;
hist_th_q_no = _hist_th_q_no;
descriptor_size = _descriptor_size;
}
void operator ()(const cv::Range& range) const
{
for (int d = range.start; d < range.end; ++d)
{
normalize_descriptor( descriptors->ptr<float>(d), nrm_type,
grid_point_number, hist_th_q_no, descriptor_size );
}
}
Mat *descriptors;
int nrm_type;
int grid_point_number;
int hist_th_q_no;
int descriptor_size;
};
inline void DAISY_Impl::normalize_descriptors( Mat* m_dense_descriptors )
{
CV_Assert( !m_dense_descriptors->empty() );
int number_of_descriptors = m_roi.width * m_roi.height;
parallel_for_( Range(0, number_of_descriptors),
NormalizeDescriptorsInvoker( m_dense_descriptors, m_nrm_type, m_grid_point_number, m_hist_th_q_no, m_descriptor_size )
);
}
inline void DAISY_Impl::initialize()
{
// no image ?
CV_Assert(m_image.rows != 0);
CV_Assert(m_image.cols != 0);
// (m_rad_q_no + 1) matrices
// 3 dims matrix (idhist, img_y, img_x);
m_smoothed_gradient_layers.resize( m_rad_q_no + 1 );
int dims[3] = { m_hist_th_q_no, m_image.rows, m_image.cols };
for ( int c=0; c<=m_rad_q_no; c++)
m_smoothed_gradient_layers[c] = Mat( 3, dims, CV_32F );
layered_gradient( m_image, &m_smoothed_gradient_layers[0] );
// assuming a 0.5 image smoothness, we pull this to 1.6 as in sift
smooth_layers( &m_smoothed_gradient_layers[0], (float)sqrt(g_sigma_init*g_sigma_init-0.25f) );
}
inline void DAISY_Impl::compute_cube_sigmas()
{
if( m_cube_sigmas.empty() )
{
m_cube_sigmas = Mat(1, m_rad_q_no, CV_64F);
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;
}
}
update_selected_cubes();
}
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) * scale;
g_selected_cubes[r] = quantize_radius( (float)seed_sigma, m_rad_q_no, m_cube_sigmas );
}
}
struct ComputeHistogramsInvoker : ParallelLoopBody
{
ComputeHistogramsInvoker( std::vector<Mat>* _layers, int _r )
{
r = _r;
layers = _layers;
_hist_th_q_no = layers->at(r).size[0];
}
void operator ()(const cv::Range& range) const
{
for (int y = range.start; y < range.end; ++y)
{
for( int x = 0; x < layers->at(r).size[2]; x++ )
{
if ( ! Point( x, y ).inside(
Rect( 0, 0, layers->at(r).size[2]-1, layers->at(r).size[1]-1 ) )
) continue;
float* hist = layers->at(r).ptr<float>(0,y*_hist_th_q_no,x*_hist_th_q_no);
for( int h = 0; h < _hist_th_q_no; h++ )
hist[h] = layers->at(r+1).at<float>(h,y,x);
}
}
}
int r, _hist_th_q_no;
std::vector<Mat> *layers;
};
inline void DAISY_Impl::compute_histograms()
{
for( int r=0; r<m_rad_q_no; r++ )
{
parallel_for_( Range(0, m_image.rows), ComputeHistogramsInvoker( &m_smoothed_gradient_layers, r ) );
}
}
inline void DAISY_Impl::compute_smoothed_gradient_layers()
{
double sigma;
for( int r=0; r<m_rad_q_no; r++ )
{
// incremental smoothing
if( r == 0 )
sigma = m_cube_sigmas.at<double>(0);
else else
sigma = sqrt( m_cube_sigmas.at<double>(r ) * m_cube_sigmas.at<double>(r ) sigma = sqrt( m_cube_sigmas.at<double>(r ) * m_cube_sigmas.at<double>(r )
- m_cube_sigmas.at<double>(r-1) * m_cube_sigmas.at<double>(r-1) ); - m_cube_sigmas.at<double>(r-1) * m_cube_sigmas.at<double>(r-1) );
int kernel_size = filter_size( sigma ); int ks = filter_size( sigma, 5.0f );
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++ ) for( int th=0; th<m_hist_th_q_no; th++ )
{ {
Mat cvI( m_image.rows, m_image.cols, CV_32FC1, m_smoothed_gradient_layers.ptr<float>(r , th) ); Mat cvI( m_image.rows, m_image.cols, CV_32F, m_smoothed_gradient_layers[r ].ptr<float>(th,0,0) );
Mat cvO( m_image.rows, m_image.cols, CV_32FC1, m_smoothed_gradient_layers.ptr<float>(r+1, th) ); Mat cvO( m_image.rows, m_image.cols, CV_32F, m_smoothed_gradient_layers[r+1].ptr<float>(th,0,0) );
GaussianBlur( cvI, cvO, Size(ks, ks), sigma, sigma, BORDER_REPLICATE );
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 );
} }
} }
compute_histograms(); compute_histograms();
...@@ -904,36 +1213,54 @@ inline void DAISY_Impl::compute_oriented_grid_points() ...@@ -904,36 +1213,54 @@ inline void DAISY_Impl::compute_oriented_grid_points()
} }
} }
inline void DAISY_Impl::smooth_histogram(Mat hist, int hsz) struct MaxDoGInvoker : ParallelLoopBody
{ {
int i; MaxDoGInvoker( Mat* _next_sim, Mat* _sim, Mat* _max_dog, Mat* _scale_map, int _i, int _r )
float prev, temp; {
i = _i;
r = _r;
sim = _sim;
max_dog = _max_dog;
next_sim = _next_sim;
scale_map = _scale_map;
}
prev = hist.at<float>(hsz - 1); void operator ()(const cv::Range& range) const
for (i = 0; i < hsz; i++)
{ {
temp = hist.at<float>(i); for (int c = range.start; c < range.end; ++c)
hist.at<float>(i) = (prev + hist.at<float>(i) + hist.at<float>( (i + 1 == hsz) ? 0 : i + 1) ) / 3.0f; {
prev = temp; float dog = (float) fabs( next_sim->at<float>(r,c) - sim->at<float>(r,c) );
if( dog > max_dog->at<float>(r,c) )
{
max_dog->at<float>(r,c) = dog;
scale_map->at<float>(r,c) = (float) i;
}
}
} }
} int i, r;
Mat* max_dog;
Mat* scale_map;
Mat *sim, *next_sim;
};
inline float DAISY_Impl::interpolate_peak(float left, float center, float right) struct RoundingInvoker : ParallelLoopBody
{ {
if( center < 0.0 ) RoundingInvoker( Mat* _scale_map, int _r )
{ {
left = -left; r = _r;
center = -center; scale_map = _scale_map;
right = -right;
} }
CV_Assert(center >= left && center >= right);
float den = (float) (left - 2.0 * center + right);
if( den == 0 ) return 0;
else return (float) (0.5*(left -right)/den);
}
void operator ()(const cv::Range& range) const
{
for (int c = range.start; c < range.end; ++c)
{
scale_map->at<float>(r,c) = (float) round( scale_map->at<float>(r,c) );
}
}
int r;
Mat* scale_map;
};
inline void DAISY_Impl::compute_scales() inline void DAISY_Impl::compute_scales()
{ {
...@@ -941,97 +1268,46 @@ inline void DAISY_Impl::compute_scales() ...@@ -941,97 +1268,46 @@ inline void DAISY_Impl::compute_scales()
//# scale detection is work-in-progress! do not use it if you're not Engin Tola # //# scale detection is work-in-progress! do not use it if you're not Engin Tola #
//############################################################################### //###############################################################################
int kernel_size = 0;
float sigma = (float) ( pow( g_sigma_step, g_scale_st)*g_sigma_0 );
if( kernel_size == 0 ) kernel_size = (int)(3*sigma);
if( kernel_size%2 == 0 ) kernel_size++; // kernel size must be odd
if( kernel_size < 3 ) kernel_size = 3; // kernel size cannot be smaller than 3
std::vector<float> kernel(kernel_size);
gaussian_1d( &kernel[0], kernel_size, sigma, 0 );
Mat Kernel( 1, kernel_size, CV_32F, &kernel[0] );
Mat sim, next_sim; Mat sim, next_sim;
float sigma = (float) ( pow( g_sigma_step, g_scale_st)*g_sigma_0 );
// output gaussian image int ks = filter_size( sigma, 3.0f );
filter2D( m_image, sim, CV_32F, Kernel, Point( -1, -1 ), 0, BORDER_REPLICATE ); GaussianBlur( m_image, sim, Size(ks, ks), sigma, sigma, BORDER_REPLICATE );
filter2D( sim, sim, CV_32F, Kernel.t(), Point( -1, -1 ), 0, BORDER_REPLICATE );
Mat max_dog( m_image.rows, m_image.cols, CV_32F, Scalar(0) ); Mat max_dog( m_image.rows, m_image.cols, CV_32F, Scalar(0) );
m_scale_map = Mat( m_image.rows, m_image.cols, CV_32F, Scalar(0) ); m_scale_map = Mat( m_image.rows, m_image.cols, CV_32F, Scalar(0) );
int i;
float sigma_prev; float sigma_prev;
float sigma_new; float sigma_new;
float sigma_inc; float sigma_inc;
sigma_prev = (float) g_sigma_0; sigma_prev = (float) g_sigma_0;
for( i=0; i<g_scale_en; i++ ) for( int i=0; i<g_scale_en; i++ )
{ {
sigma_new = (float) ( pow( g_sigma_step, g_scale_st+i ) * g_sigma_0 ); sigma_new = (float) ( pow( g_sigma_step, g_scale_st + i ) * g_sigma_0 );
sigma_inc = sqrt( sigma_new*sigma_new - sigma_prev*sigma_prev ); sigma_inc = sqrt( sigma_new*sigma_new - sigma_prev*sigma_prev );
sigma_prev = sigma_new; sigma_prev = sigma_new;
kernel_size = filter_size( sigma_inc ); ks = filter_size( sigma_inc, 3.0f );
if( kernel_size == 0 ) kernel_size = (int)(3 * sigma_inc);
if( kernel_size%2 == 0 ) kernel_size++; // kernel size must be odd
if( kernel_size < 3 ) kernel_size= 3; // kernel size cannot be smaller than 3
kernel.resize(kernel_size);
gaussian_1d( &kernel[0], kernel_size, sigma_inc, 0 );
Mat NextKernel( 1, kernel_size, CV_32F, &kernel[0] );
// output gaussian image GaussianBlur( sim, next_sim, Size(ks, ks), sigma_inc, sigma_inc, BORDER_REPLICATE );
filter2D( sim, next_sim, CV_32F, NextKernel, Point( -1, -1 ), 0, BORDER_REPLICATE );
filter2D( next_sim, next_sim, CV_32F, NextKernel.t(), Point( -1, -1 ), 0, BORDER_REPLICATE );
#if defined _OPENMP
#pragma omp parallel for
#endif
for( int r=0; r<m_image.rows; r++ ) for( int r=0; r<m_image.rows; r++ )
{ {
for( int c=0; c<m_image.cols; c++ ) parallel_for_( Range(0, m_image.cols), MaxDoGInvoker( &next_sim, &sim, &max_dog, &m_scale_map, i, r ) );
{
float dog = (float) fabs( next_sim.at<float>(r,c) - sim.at<float>(r,c) );
if( dog > max_dog.at<float>(r,c) )
{
max_dog.at<float>(r,c) = dog;
m_scale_map.at<float>(r,c) = (float) i;
}
}
} }
sim.release(); sim.release();
sim = next_sim; sim = next_sim;
} }
kernel_size = filter_size( 10.0f ); ks = filter_size( 10.0f, 3.0f );
if( kernel_size == 0 ) kernel_size = (int)(3 * 10.0f); GaussianBlur( m_scale_map, m_scale_map, Size(ks, ks), 10.0f, 10.0f, BORDER_REPLICATE );
if( kernel_size%2 == 0 ) kernel_size++; // kernel size must be odd
if( kernel_size < 3 ) kernel_size = 3; // kernel size cannot be smaller than 3
kernel.resize(kernel_size);
gaussian_1d( &kernel[0], kernel_size, 10.0f, 0 );
Mat FilterKernel( 1, kernel_size, CV_32F, &kernel[0] );
// output gaussian image
filter2D( m_scale_map, m_scale_map, CV_32F, FilterKernel, Point( -1, -1 ), 0, BORDER_REPLICATE );
filter2D( m_scale_map, m_scale_map, CV_32F, FilterKernel.t(), Point( -1, -1 ), 0, BORDER_REPLICATE );
#if defined _OPENMP for( int r=0; r<m_image.rows; r++ )
#pragma omp parallel for {
#endif parallel_for_( Range(0, m_image.cols), RoundingInvoker( &m_scale_map, r ) );
for( int r=0; r<m_image.rows; r++ ) }
{
for( int c=0; c<m_image.cols; c++ )
{
m_scale_map.at<float>(r,c) = (float) round( m_scale_map.at<float>(r,c) );
}
}
//save( m_scale_map, m_image.rows, m_image.cols, "scales.dat");
} }
...@@ -1043,12 +1319,11 @@ inline void DAISY_Impl::compute_orientations() ...@@ -1043,12 +1319,11 @@ inline void DAISY_Impl::compute_orientations()
CV_Assert( !m_image.empty() ); CV_Assert( !m_image.empty() );
//int data_size = m_image.cols * m_image.rows;
int dims[4] = { 1, m_orientation_resolution, m_image.rows, m_image.cols }; int dims[4] = { 1, m_orientation_resolution, m_image.rows, m_image.cols };
Mat rotation_layers(4, dims, CV_32F); Mat rotation_layers(4, dims, CV_32F);
layered_gradient( m_image, rotation_layers ); layered_gradient( m_image, &rotation_layers );
m_orientation_map = Mat(m_image.cols, m_image.rows, CV_16U, Scalar(0)); m_orientation_map = Mat(m_image.rows, m_image.cols, CV_16U, Scalar(0));
int ori, max_ind; int ori, max_ind;
float max_val; float max_val;
...@@ -1071,7 +1346,7 @@ inline void DAISY_Impl::compute_orientations() ...@@ -1071,7 +1346,7 @@ inline void DAISY_Impl::compute_orientations()
sigma_inc = sqrt( sigma_new*sigma_new - sigma_prev*sigma_prev ); sigma_inc = sqrt( sigma_new*sigma_new - sigma_prev*sigma_prev );
sigma_prev = sigma_new; sigma_prev = sigma_new;
smooth_layers( rotation_layers, m_image.rows, m_image.cols, m_orientation_resolution, sigma_inc ); smooth_layers( &rotation_layers, sigma_inc );
for( y=0; y<m_image.rows; y ++ ) for( y=0; y<m_image.rows; y ++ )
{ {
...@@ -1079,15 +1354,14 @@ inline void DAISY_Impl::compute_orientations() ...@@ -1079,15 +1354,14 @@ inline void DAISY_Impl::compute_orientations()
for( x=0; x<m_image.cols; x++ ) for( x=0; x<m_image.cols; x++ )
{ {
int ind = y*m_image.cols + x;
if( m_scale_invariant && m_scale_map.at<float>(y,x) != scale ) continue; if( m_scale_invariant && m_scale_map.at<float>(y,x) != scale ) continue;
//hist.at<float>(ori) = rotation_layers.ptr<float>(0, ori, y, x); 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.at<float>(ori, y, x);
}
for( kk=0; kk<6; kk++ ) for( kk=0; kk<6; kk++ )
smooth_histogram( hist, m_orientation_resolution ); smooth_histogram( &hist, m_orientation_resolution );
max_val = -1; max_val = -1;
max_ind = 0; max_ind = 0;
...@@ -1128,361 +1402,6 @@ inline void DAISY_Impl::compute_orientations() ...@@ -1128,361 +1402,6 @@ inline void DAISY_Impl::compute_orientations()
compute_oriented_grid_points(); compute_oriented_grid_points();
} }
inline void DAISY_Impl::compute_histogram( float* hcube, int y, int x, float* histogram )
{
if ( ! Point( x, y ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) return;
float* spatial_shift = hcube + y * m_image.cols + x;
int data_size = m_image.cols * m_image.rows;
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, const float* cube ) const
{
int ishift=(int)shift;
double fshift=shift-ishift;
if ( fshift < 0.01 ) bi_get_histogram( histogram, y, x, ishift , cube );
else if( fshift > 0.99 ) bi_get_histogram( histogram, y, x, ishift+1, cube );
else ti_get_histogram( histogram, y, x, shift , cube );
}
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 );
if( mnx >= m_image.cols-2 || mny >= m_image.rows-2 )
{
memset(histogram, 0, sizeof(float)*m_hist_th_q_no);
return;
}
int ind = mny*m_image.cols+mnx;
// A C --> pixel positions
// B D
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;
float w0 = (float) (alpha*beta);
float w1 = (float) (beta-w0); // (1-alpha)*beta;
float w2 = (float) (alpha-w0); // (1-beta)*alpha;
float w3 = (float) (1+w0-alpha-beta); // (1-beta)*(1-alpha);
int h;
for( h=0; h<m_hist_th_q_no; h++ ) {
if( h+shift < m_hist_th_q_no ) histogram[h] = w0*A[h+shift];
else histogram[h] = w0*A[h+shift-m_hist_th_q_no];
}
for( h=0; h<m_hist_th_q_no; h++ ) {
if( h+shift < m_hist_th_q_no ) histogram[h] += w1*C[h+shift];
else histogram[h] += w1*C[h+shift-m_hist_th_q_no];
}
for( h=0; h<m_hist_th_q_no; h++ ) {
if( h+shift < m_hist_th_q_no ) histogram[h] += w2*B[h+shift];
else histogram[h] += w2*B[h+shift-m_hist_th_q_no];
}
for( h=0; h<m_hist_th_q_no; h++ ) {
if( h+shift < m_hist_th_q_no ) histogram[h] += w3*D[h+shift];
else histogram[h] += w3*D[h+shift-m_hist_th_q_no];
}
}
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;
float thist[MAX_CUBE_NO];
bi_get_histogram( thist, y, x, ishift, hcube );
for( int h=0; h<m_hist_th_q_no-1; h++ )
histogram[h] = (float) ((1-layer_alpha)*thist[h]+layer_alpha*thist[h+1]);
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, const float* hcube ) const
{
if ( ! Point( x, y ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) return;
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++ )
{
int hi = h+shift;
if( hi >= m_hist_th_q_no ) hi -= m_hist_th_q_no;
histogram[h] = hptr[hi];
}
}
inline void DAISY_Impl::get_descriptor( int y, int x, float* &descriptor )
{
CV_Assert( !m_dense_descriptors.empty() );
CV_Assert( y<m_image.rows && x<m_image.cols && y>=0 && x>=0 );
descriptor = m_dense_descriptors.ptr<float>( y*m_image.cols+x );
}
inline void DAISY_Impl::get_descriptor( double y, double x, int orientation, float* descriptor ) const
{
get_unnormalized_descriptor(y, x, orientation, descriptor );
normalize_descriptor(descriptor, m_nrm_type);
}
inline void DAISY_Impl::get_unnormalized_descriptor( double y, double x, int orientation, float* descriptor ) const
{
if( m_disable_interpolation ) ni_get_descriptor(y,x,orientation,descriptor);
else i_get_descriptor(y,x,orientation,descriptor);
}
inline void DAISY_Impl::i_get_descriptor( double y, double x, int orientation, float* descriptor ) const
{
// memset( descriptor, 0, sizeof(float)*m_descriptor_size );
//
// i'm not changing the descriptor[] values if the gridpoint is outside
// the image. you should memset the descriptor array to 0 if you don't
// want to have stupid values there.
CV_Assert( y >= 0 && y < m_image.rows );
CV_Assert( x >= 0 && x < m_image.cols );
CV_Assert( orientation >= 0 && orientation < 360 );
CV_Assert( !m_smoothed_gradient_layers.empty() );
CV_Assert( !m_oriented_grid_points.empty() );
CV_Assert( descriptor != NULL );
double shift = m_orientation_shift_table[orientation];
i_get_histogram( descriptor, y, x, shift, m_smoothed_gradient_layers.ptr<float>( g_selected_cubes[0] ) );
int r, rdt, region;
double yy, xx;
float* histogram = 0;
Mat grid = m_oriented_grid_points.row( orientation );
// petals of the flower
for( r=0; r<m_rad_q_no; r++ )
{
rdt = r*m_th_q_no+1;
for( region=rdt; region<rdt+m_th_q_no; region++ )
{
yy = y + grid.at<double>(2*region );
xx = x + grid.at<double>(2*region + 1);
if ( ! Point2f( (float)xx, (float)yy ).inside(
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, (float *) m_smoothed_gradient_layers.ptr<float>( r ) );
}
}
}
inline void DAISY_Impl::ni_get_descriptor( double y, double x, int orientation, float* descriptor ) const
{
// memset( descriptor, 0, sizeof(float)*m_descriptor_size );
//
// i'm not changing the descriptor[] values if the gridpoint is outside
// the image. you should memset the descriptor array to 0 if you don't
// want to have stupid values there.
CV_Assert( y >= 0 && y < m_image.rows );
CV_Assert( x >= 0 && x < m_image.cols );
CV_Assert( orientation >= 0 && orientation < 360 );
CV_Assert( !m_smoothed_gradient_layers.empty() );
CV_Assert( !m_oriented_grid_points.empty() );
CV_Assert( descriptor != NULL );
double shift = m_orientation_shift_table[orientation];
int ishift = (int)shift;
if( shift - ishift > 0.5 ) ishift++;
int iy = (int)y; if( y - iy > 0.5 ) iy++;
int ix = (int)x; if( x - ix > 0.5 ) ix++;
// center
ni_get_histogram( descriptor, iy, ix, ishift, m_smoothed_gradient_layers.ptr<float>(g_selected_cubes[0]) );
double yy, xx;
float* histogram=0;
// petals of the flower
int r, rdt, region;
Mat grid = m_oriented_grid_points.row( orientation );
for( r=0; r<m_rad_q_no; r++ )
{
rdt = r*m_th_q_no+1;
for( region=rdt; region<rdt+m_th_q_no; region++ )
{
yy = y + grid.at<double>(2*region );
xx = x + grid.at<double>(2*region+1);
iy = (int)yy; if( yy - iy > 0.5 ) iy++;
ix = (int)xx; if( xx - ix > 0.5 ) ix++;
if ( ! Point2f( (float)xx, (float)yy ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) continue;
histogram = descriptor+region*m_hist_th_q_no;
ni_get_histogram( histogram, iy, ix, ishift, m_smoothed_gradient_layers.ptr<float>(g_selected_cubes[r]) );
}
}
}
// Warped get_descriptor's
inline bool DAISY_Impl::get_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const
{
bool rval = get_unnormalized_descriptor(y,x,orientation, H, descriptor);
if( rval ) normalize_descriptor(descriptor, m_nrm_type);
return rval;
}
inline bool DAISY_Impl::get_unnormalized_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const
{
if( m_disable_interpolation ) return ni_get_descriptor(y,x,orientation,H,descriptor);
else return i_get_descriptor(y,x,orientation,H,descriptor);
}
inline bool DAISY_Impl::i_get_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const
{
// memset( descriptor, 0, sizeof(float)*m_descriptor_size );
//
// i'm not changing the descriptor[] values if the gridpoint is outside
// the image. you should memset the descriptor array to 0 if you don't
// want to have stupid values there.
CV_Assert( orientation >= 0 && orientation < 360 );
CV_Assert( !m_smoothed_gradient_layers.empty() );
CV_Assert( descriptor != NULL );
int hradius[MAX_CUBE_NO];
double hy, hx, ry, rx;
point_transform_via_homography( H, x, y, hx, hy );
if ( ! Point2f( (float)hx, (float)hy ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) return false;
point_transform_via_homography( H, x+m_cube_sigmas.at<double>(g_selected_cubes[0]), y, rx, ry);
double d0 = rx - hx; double d1 = ry - hy;
double radius = sqrt( d0*d0 + d1*d1 );
hradius[0] = quantize_radius( (float) radius );
double shift = m_orientation_shift_table[orientation];
i_get_histogram( descriptor, hy, hx, shift, m_smoothed_gradient_layers.ptr<float>(hradius[0]) );
double gy, gx;
int r, rdt, th, region;
float* histogram=0;
for( r=0; r<m_rad_q_no; r++)
{
rdt = r*m_th_q_no + 1;
for( th=0; th<m_th_q_no; th++ )
{
region = rdt + th;
gy = y + m_grid_points.at<double>(region,0);
gx = x + m_grid_points.at<double>(region,1);
point_transform_via_homography(H, gx, gy, hx, hy);
if( th == 0 )
{
point_transform_via_homography(H, gx+m_cube_sigmas.at<double>(g_selected_cubes[r]), gy, rx, ry);
d0 = rx - hx; d1 = ry - hy;
radius = sqrt( d0*d0 + d1+d1 );
hradius[r] = quantize_radius( (float) radius );
}
if ( ! Point2f( (float)hx, (float)hy ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) continue;
histogram = descriptor+region*m_hist_th_q_no;
i_get_histogram( histogram, hy, hx, shift, m_smoothed_gradient_layers.ptr<float>(hradius[r]) );
}
}
return true;
}
inline bool DAISY_Impl::ni_get_descriptor( double y, double x, int orientation, double* H, float* descriptor ) const
{
// memset( descriptor, 0, sizeof(float)*m_descriptor_size );
//
// i'm not changing the descriptor[] values if the gridpoint is outside
// the image. you should memset the descriptor array to 0 if you don't
// want to have stupid values there.
CV_Assert( orientation >= 0 && orientation < 360 );
CV_Assert( !m_smoothed_gradient_layers.empty() );
CV_Assert( descriptor != NULL );
int hradius[MAX_CUBE_NO];
double hy, hx, ry, rx;
point_transform_via_homography(H, x, y, hx, hy );
if ( ! Point2f( (float)hx, (float)hy ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) return false;
double shift = m_orientation_shift_table[orientation];
int ishift = (int)shift; if( shift - ishift > 0.5 ) ishift++;
point_transform_via_homography(H, x+m_cube_sigmas.at<double>(g_selected_cubes[0]), y, rx, ry);
double d0 = rx - hx; double d1 = ry - hy;
double radius = sqrt( d0*d0 + d1*d1 );
hradius[0] = quantize_radius( (float) radius );
int ihx = (int)hx; if( hx - ihx > 0.5 ) ihx++;
int ihy = (int)hy; if( hy - ihy > 0.5 ) ihy++;
int r, rdt, th, region;
double gy, gx;
float* histogram=0;
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;
for( th=0; th<m_th_q_no; th++ )
{
region = rdt + th;
gy = y + m_grid_points.at<double>(region,0);
gx = x + m_grid_points.at<double>(region,1);
point_transform_via_homography(H, gx, gy, hx, hy);
if( th == 0 )
{
point_transform_via_homography(H, gx+m_cube_sigmas.at<double>(g_selected_cubes[r]), gy, rx, ry);
d0 = rx - hx; d1 = ry - hy;
radius = sqrt( d0*d0 + d1*d1 );
hradius[r] = quantize_radius( (float) radius );
}
ihx = (int)hx; if( hx - ihx > 0.5 ) ihx++;
ihy = (int)hy; if( hy - ihy > 0.5 ) ihy++;
if ( ! Point( ihx, ihy ).inside(
Rect( 0, 0, m_image.cols-1, m_image.rows-1 ) )
) continue;
histogram = descriptor+region*m_hist_th_q_no;
ni_get_histogram( histogram, ihy, ihx, ishift, m_smoothed_gradient_layers.ptr<float>(hradius[r]) );
}
}
return true;
}
inline void DAISY_Impl::initialize_single_descriptor_mode( ) inline void DAISY_Impl::initialize_single_descriptor_mode( )
{ {
...@@ -1499,8 +1418,6 @@ inline void DAISY_Impl::set_parameters( ) ...@@ -1499,8 +1418,6 @@ inline void DAISY_Impl::set_parameters( )
{ {
m_orientation_shift_table[i] = i/360.0 * m_hist_th_q_no; m_orientation_shift_table[i] = i/360.0 * m_hist_th_q_no;
} }
m_layer_size = m_image.rows*m_image.cols;
m_cube_size = m_layer_size*m_hist_th_q_no;
compute_cube_sigmas(); compute_cube_sigmas();
compute_grid_points(); compute_grid_points();
...@@ -1574,14 +1491,20 @@ void DAISY_Impl::compute( InputArray _image, std::vector<KeyPoint>& keypoints, O ...@@ -1574,14 +1491,20 @@ void DAISY_Impl::compute( InputArray _image, std::vector<KeyPoint>& keypoints, O
{ {
get_descriptor( keypoints[k].pt.y, keypoints[k].pt.x, get_descriptor( keypoints[k].pt.y, keypoints[k].pt.x,
m_use_orientation ? (int) keypoints[k].angle : 0, m_use_orientation ? (int) keypoints[k].angle : 0,
&descriptors.at<float>( k, 0 ) ); &descriptors.at<float>( k, 0 ), &m_smoothed_gradient_layers,
&m_oriented_grid_points, m_orientation_shift_table, m_th_q_no,
m_hist_th_q_no, m_grid_point_number, m_descriptor_size, m_enable_interpolation,
m_nrm_type );
} }
else else
for (int k = 0; k < (int) keypoints.size(); k++) for (int k = 0; k < (int) keypoints.size(); k++)
{ {
get_descriptor( keypoints[k].pt.y, keypoints[k].pt.x, get_descriptor_h( keypoints[k].pt.y, keypoints[k].pt.x,
m_use_orientation ? (int) keypoints[k].angle : 0, m_use_orientation ? (int) keypoints[k].angle : 0,
&H.at<double>( 0 ), &descriptors.at<float>( k, 0 ) ); &descriptors.at<float>( k, 0 ), &H.at<double>( 0 ), &m_smoothed_gradient_layers,
m_cube_sigmas, &m_grid_points, m_orientation_shift_table, m_th_q_no,
m_hist_th_q_no, m_grid_point_number, m_descriptor_size, m_enable_interpolation,
m_nrm_type );
} }
} }
...@@ -1603,12 +1526,13 @@ void DAISY_Impl::compute( InputArray _image, Rect roi, OutputArray _descriptors ...@@ -1603,12 +1526,13 @@ void DAISY_Impl::compute( InputArray _image, Rect roi, OutputArray _descriptors
set_parameters(); set_parameters();
initialize_single_descriptor_mode(); initialize_single_descriptor_mode();
// compute full desc _descriptors.create( m_roi.width*m_roi.height, m_descriptor_size, CV_32F );
compute_descriptors();
normalize_descriptors();
Mat descriptors = _descriptors.getMat(); Mat descriptors = _descriptors.getMat();
descriptors = m_dense_descriptors;
// compute full desc
compute_descriptors( &descriptors );
normalize_descriptors( &descriptors );
release_auxiliary(); release_auxiliary();
} }
...@@ -1631,12 +1555,13 @@ void DAISY_Impl::compute( InputArray _image, OutputArray _descriptors ) ...@@ -1631,12 +1555,13 @@ void DAISY_Impl::compute( InputArray _image, OutputArray _descriptors )
set_parameters(); set_parameters();
initialize_single_descriptor_mode(); initialize_single_descriptor_mode();
// compute full desc _descriptors.create( m_roi.width*m_roi.height, m_descriptor_size, CV_32F );
compute_descriptors();
normalize_descriptors();
Mat descriptors = _descriptors.getMat(); Mat descriptors = _descriptors.getMat();
descriptors = m_dense_descriptors;
// compute full desc
compute_descriptors( &descriptors );
normalize_descriptors( &descriptors );
release_auxiliary(); release_auxiliary();
} }
...@@ -1645,7 +1570,7 @@ void DAISY_Impl::compute( InputArray _image, OutputArray _descriptors ) ...@@ -1645,7 +1570,7 @@ void DAISY_Impl::compute( InputArray _image, OutputArray _descriptors )
DAISY_Impl::DAISY_Impl( float _radius, int _q_radius, int _q_theta, int _q_hist, DAISY_Impl::DAISY_Impl( float _radius, int _q_radius, int _q_theta, int _q_hist,
int _norm, InputArray _H, bool _interpolation, bool _use_orientation ) int _norm, InputArray _H, bool _interpolation, bool _use_orientation )
: m_rad(_radius), m_rad_q_no(_q_radius), m_th_q_no(_q_theta), m_hist_th_q_no(_q_hist), : m_rad(_radius), m_rad_q_no(_q_radius), m_th_q_no(_q_theta), m_hist_th_q_no(_q_hist),
m_nrm_type(_norm), m_disable_interpolation(_interpolation), m_use_orientation(_use_orientation) m_nrm_type(_norm), m_enable_interpolation(_interpolation), m_use_orientation(_use_orientation)
{ {
m_descriptor_size = 0; m_descriptor_size = 0;
...@@ -1655,22 +1580,13 @@ DAISY_Impl::DAISY_Impl( float _radius, int _q_radius, int _q_theta, int _q_hist, ...@@ -1655,22 +1580,13 @@ DAISY_Impl::DAISY_Impl( float _radius, int _q_radius, int _q_theta, int _q_hist,
m_rotation_invariant = false; m_rotation_invariant = false;
m_orientation_resolution = 36; m_orientation_resolution = 36;
m_cube_size = 0;
m_layer_size = 0;
m_descriptor_normalization_threshold = 0.154f; // sift magical number
m_h_matrix = _H.getMat(); m_h_matrix = _H.getMat();
} }
// destructor // destructor
DAISY_Impl::~DAISY_Impl() DAISY_Impl::~DAISY_Impl()
{ {
m_scale_map.release(); release_auxiliary();
m_grid_points.release();
m_orientation_map.release();
m_oriented_grid_points.release();
m_smoothed_gradient_layers.release();
} }
Ptr<DAISY> DAISY::create( float radius, int q_radius, int q_theta, int q_hist, Ptr<DAISY> DAISY::create( float radius, int q_radius, int q_theta, int q_hist,
......
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