Merge pull request #207 from cbalint13/brief

Add rotation invariance option for BRIEF descriptor.

modules/xfeatures2d/include/opencv2/xfeatures2d.hpp

@@ -118,15 +118,14 @@ public:
 
 /** @brief Class for computing BRIEF descriptors described in @cite calon2010 .
 
-@note
-   -   A complete BRIEF extractor sample can be found at
-        opencv_source_code/samples/cpp/brief_match_test.cpp
+@param bytes legth of the descriptor in bytes, valid values are: 16, 32 (default) or 64 .
+@param use_orientation sample patterns using keypoints orientation, disabled by default.
 
  */
 class CV_EXPORTS_W BriefDescriptorExtractor : public Feature2D
 {
 public:
-    CV_WRAP static Ptr<BriefDescriptorExtractor> create( int bytes = 32 );
+    static Ptr<BriefDescriptorExtractor> create( int bytes = 32, bool use_orientation = false );
 };
 
 /** @brief Class implementing the locally uniform comparison image descriptor, described in @cite LUCID

modules/xfeatures2d/src/brief.cpp

@@ -61,7 +61,7 @@ public:
     enum { PATCH_SIZE = 48, KERNEL_SIZE = 9 };
 
     // bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.
-    BriefDescriptorExtractorImpl( int bytes = 32 );
+    BriefDescriptorExtractorImpl( int bytes = 32, bool use_orientation = false );
 
     virtual void read( const FileNode& );
     virtual void write( FileStorage& ) const;
@@ -73,67 +73,103 @@ public:
     virtual void compute(InputArray image, std::vector<KeyPoint>& keypoints, OutputArray descriptors);
 
 protected:
-    typedef void(*PixelTestFn)(InputArray, const std::vector<KeyPoint>&, OutputArray);
-    
+    typedef void(*PixelTestFn)(InputArray, const std::vector<KeyPoint>&, OutputArray, bool use_orientation );
+
     int bytes_;
+    bool use_orientation_;
     PixelTestFn test_fn_;
 };
 
-Ptr<BriefDescriptorExtractor> BriefDescriptorExtractor::create( int bytes )
+Ptr<BriefDescriptorExtractor> BriefDescriptorExtractor::create( int bytes, bool use_orientation )
 {
-    return makePtr<BriefDescriptorExtractorImpl>(bytes);
+    return makePtr<BriefDescriptorExtractorImpl>(bytes, use_orientation );
 }
 
-inline int smoothedSum(const Mat& sum, const KeyPoint& pt, int y, int x)
+inline int smoothedSum(const Mat& sum, const KeyPoint& pt, int y, int x, bool use_orientation, Matx21f R)
 {
     static const int HALF_KERNEL = BriefDescriptorExtractorImpl::KERNEL_SIZE / 2;
 
-    int img_y = (int)(pt.pt.y + 0.5) + y;
-    int img_x = (int)(pt.pt.x + 0.5) + x;
+    if ( use_orientation )
+    {
+      int rx = (int)(((float)x)*R(1,0) - ((float)y)*R(0,0));
+      int ry = (int)(((float)x)*R(0,0) + ((float)y)*R(1,0));
+      if (rx > 24) rx = 24; if (rx < -24) rx = -24;
+      if (ry > 24) ry = 24; if (ry < -24) ry = -24;
+      x = rx; y = ry;
+    }
+    const int img_y = (int)(pt.pt.y + 0.5) + y;
+    const int img_x = (int)(pt.pt.x + 0.5) + x;
     return   sum.at<int>(img_y + HALF_KERNEL + 1, img_x + HALF_KERNEL + 1)
            - sum.at<int>(img_y + HALF_KERNEL + 1, img_x - HALF_KERNEL)
            - sum.at<int>(img_y - HALF_KERNEL, img_x + HALF_KERNEL + 1)
            + sum.at<int>(img_y - HALF_KERNEL, img_x - HALF_KERNEL);
 }
 
-static void pixelTests16(InputArray _sum, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors)
+static void pixelTests16(InputArray _sum, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, bool use_orientation )
 {
+    Matx21f R;
     Mat sum = _sum.getMat(), descriptors = _descriptors.getMat();
-    for (int i = 0; i < (int)keypoints.size(); ++i)
+    for (size_t i = 0; i < keypoints.size(); ++i)
     {
-        uchar* desc = descriptors.ptr(i);
+        uchar* desc = descriptors.ptr(static_cast<int>(i));
         const KeyPoint& pt = keypoints[i];
+        if ( use_orientation )
+        {
+          float angle = pt.angle;
+          angle *= (float)(CV_PI/180.f);
+          R(0,0) = sin(angle);
+          R(1,0) = cos(angle);
+        }
+
 #include "generated_16.i"
     }
 }
 
-static void pixelTests32(InputArray _sum, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors)
+static void pixelTests32(InputArray _sum, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, bool use_orientation)
 {
+    Matx21f R;
     Mat sum = _sum.getMat(), descriptors = _descriptors.getMat();
-    for (int i = 0; i < (int)keypoints.size(); ++i)
+    for (size_t i = 0; i < keypoints.size(); ++i)
     {
-        uchar* desc = descriptors.ptr(i);
+        uchar* desc = descriptors.ptr(static_cast<int>(i));
         const KeyPoint& pt = keypoints[i];
+        if ( use_orientation )
+        {
+          float angle = pt.angle;
+          angle *= (float)(CV_PI / 180.f);
+          R(0,0) = sin(angle);
+          R(1,0) = cos(angle);
+        }
 
 #include "generated_32.i"
     }
 }
 
-static void pixelTests64(InputArray _sum, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors)
+static void pixelTests64(InputArray _sum, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, bool use_orientation)
 {
+    Matx21f R;
     Mat sum = _sum.getMat(), descriptors = _descriptors.getMat();
-    for (int i = 0; i < (int)keypoints.size(); ++i)
+    for (size_t i = 0; i < keypoints.size(); ++i)
     {
-        uchar* desc = descriptors.ptr(i);
+        uchar* desc = descriptors.ptr(static_cast<int>(i));
         const KeyPoint& pt = keypoints[i];
+        if ( use_orientation )
+        {
+          float angle = pt.angle;
+          angle *= (float)(CV_PI/180.f);
+          R(0,0) = sin(angle);
+          R(1,0) = cos(angle);
+        }
 
 #include "generated_64.i"
     }
 }
 
-BriefDescriptorExtractorImpl::BriefDescriptorExtractorImpl(int bytes) :
+BriefDescriptorExtractorImpl::BriefDescriptorExtractorImpl(int bytes, bool use_orientation) :
     bytes_(bytes), test_fn_(NULL)
 {
+    use_orientation_ = use_orientation;
+
     switch (bytes)
     {
         case 16:
@@ -212,7 +248,7 @@ void BriefDescriptorExtractorImpl::compute(InputArray image,
 
     descriptors.create((int)keypoints.size(), bytes_, CV_8U);
     descriptors.setTo(Scalar::all(0));
-    test_fn_(sum, keypoints, descriptors);
+    test_fn_(sum, keypoints, descriptors, use_orientation_);
 }
 
 }

modules/xfeatures2d/src/generated_16.i

 // Code generated with '$ scripts/generate_code.py src/test_pairs.txt 16'
-#define SMOOTHED(y,x) smoothedSum(sum, pt, y, x)
+#define SMOOTHED(y,x) smoothedSum(sum, pt, y, x, use_orientation, R)
     desc[0] = (uchar)(((SMOOTHED(-2, -1) < SMOOTHED(7, -1)) << 7) + ((SMOOTHED(-14, -1) < SMOOTHED(-3, 3)) << 6) + ((SMOOTHED(1, -2) < SMOOTHED(11, 2)) << 5) + ((SMOOTHED(1, 6) < SMOOTHED(-10, -7)) << 4) + ((SMOOTHED(13, 2) < SMOOTHED(-1, 0)) << 3) + ((SMOOTHED(-14, 5) < SMOOTHED(5, -3)) << 2) + ((SMOOTHED(-2, 8) < SMOOTHED(2, 4)) << 1) + ((SMOOTHED(-11, 8) < SMOOTHED(-15, 5)) << 0));
     desc[1] = (uchar)(((SMOOTHED(-6, -23) < SMOOTHED(8, -9)) << 7) + ((SMOOTHED(-12, 6) < SMOOTHED(-10, 8)) << 6) + ((SMOOTHED(-3, -1) < SMOOTHED(8, 1)) << 5) + ((SMOOTHED(3, 6) < SMOOTHED(5, 6)) << 4) + ((SMOOTHED(-7, -6) < SMOOTHED(5, -5)) << 3) + ((SMOOTHED(22, -2) < SMOOTHED(-11, -8)) << 2) + ((SMOOTHED(14, 7) < SMOOTHED(8, 5)) << 1) + ((SMOOTHED(-1, 14) < SMOOTHED(-5, -14)) << 0));
     desc[2] = (uchar)(((SMOOTHED(-14, 9) < SMOOTHED(2, 0)) << 7) + ((SMOOTHED(7, -3) < SMOOTHED(22, 6)) << 6) + ((SMOOTHED(-6, 6) < SMOOTHED(-8, -5)) << 5) + ((SMOOTHED(-5, 9) < SMOOTHED(7, -1)) << 4) + ((SMOOTHED(-3, -7) < SMOOTHED(-10, -18)) << 3) + ((SMOOTHED(4, -5) < SMOOTHED(0, 11)) << 2) + ((SMOOTHED(2, 3) < SMOOTHED(9, 10)) << 1) + ((SMOOTHED(-10, 3) < SMOOTHED(4, 9)) << 0));

modules/xfeatures2d/src/generated_32.i

 // Code generated with '$ scripts/generate_code.py src/test_pairs.txt 32'
-#define SMOOTHED(y,x) smoothedSum(sum, pt, y, x)
+#define SMOOTHED(y,x) smoothedSum(sum, pt, y, x, use_orientation, R)
     desc[0] = (uchar)(((SMOOTHED(-2, -1) < SMOOTHED(7, -1)) << 7) + ((SMOOTHED(-14, -1) < SMOOTHED(-3, 3)) << 6) + ((SMOOTHED(1, -2) < SMOOTHED(11, 2)) << 5) + ((SMOOTHED(1, 6) < SMOOTHED(-10, -7)) << 4) + ((SMOOTHED(13, 2) < SMOOTHED(-1, 0)) << 3) + ((SMOOTHED(-14, 5) < SMOOTHED(5, -3)) << 2) + ((SMOOTHED(-2, 8) < SMOOTHED(2, 4)) << 1) + ((SMOOTHED(-11, 8) < SMOOTHED(-15, 5)) << 0));
     desc[1] = (uchar)(((SMOOTHED(-6, -23) < SMOOTHED(8, -9)) << 7) + ((SMOOTHED(-12, 6) < SMOOTHED(-10, 8)) << 6) + ((SMOOTHED(-3, -1) < SMOOTHED(8, 1)) << 5) + ((SMOOTHED(3, 6) < SMOOTHED(5, 6)) << 4) + ((SMOOTHED(-7, -6) < SMOOTHED(5, -5)) << 3) + ((SMOOTHED(22, -2) < SMOOTHED(-11, -8)) << 2) + ((SMOOTHED(14, 7) < SMOOTHED(8, 5)) << 1) + ((SMOOTHED(-1, 14) < SMOOTHED(-5, -14)) << 0));
     desc[2] = (uchar)(((SMOOTHED(-14, 9) < SMOOTHED(2, 0)) << 7) + ((SMOOTHED(7, -3) < SMOOTHED(22, 6)) << 6) + ((SMOOTHED(-6, 6) < SMOOTHED(-8, -5)) << 5) + ((SMOOTHED(-5, 9) < SMOOTHED(7, -1)) << 4) + ((SMOOTHED(-3, -7) < SMOOTHED(-10, -18)) << 3) + ((SMOOTHED(4, -5) < SMOOTHED(0, 11)) << 2) + ((SMOOTHED(2, 3) < SMOOTHED(9, 10)) << 1) + ((SMOOTHED(-10, 3) < SMOOTHED(4, 9)) << 0));

modules/xfeatures2d/src/generated_64.i

 // Code generated with '$ scripts/generate_code.py src/test_pairs.txt 64'
-#define SMOOTHED(y,x) smoothedSum(sum, pt, y, x)
+#define SMOOTHED(y,x) smoothedSum(sum, pt, y, x, use_orientation, R)
     desc[0] = (uchar)(((SMOOTHED(-2, -1) < SMOOTHED(7, -1)) << 7) + ((SMOOTHED(-14, -1) < SMOOTHED(-3, 3)) << 6) + ((SMOOTHED(1, -2) < SMOOTHED(11, 2)) << 5) + ((SMOOTHED(1, 6) < SMOOTHED(-10, -7)) << 4) + ((SMOOTHED(13, 2) < SMOOTHED(-1, 0)) << 3) + ((SMOOTHED(-14, 5) < SMOOTHED(5, -3)) << 2) + ((SMOOTHED(-2, 8) < SMOOTHED(2, 4)) << 1) + ((SMOOTHED(-11, 8) < SMOOTHED(-15, 5)) << 0));
     desc[1] = (uchar)(((SMOOTHED(-6, -23) < SMOOTHED(8, -9)) << 7) + ((SMOOTHED(-12, 6) < SMOOTHED(-10, 8)) << 6) + ((SMOOTHED(-3, -1) < SMOOTHED(8, 1)) << 5) + ((SMOOTHED(3, 6) < SMOOTHED(5, 6)) << 4) + ((SMOOTHED(-7, -6) < SMOOTHED(5, -5)) << 3) + ((SMOOTHED(22, -2) < SMOOTHED(-11, -8)) << 2) + ((SMOOTHED(14, 7) < SMOOTHED(8, 5)) << 1) + ((SMOOTHED(-1, 14) < SMOOTHED(-5, -14)) << 0));
     desc[2] = (uchar)(((SMOOTHED(-14, 9) < SMOOTHED(2, 0)) << 7) + ((SMOOTHED(7, -3) < SMOOTHED(22, 6)) << 6) + ((SMOOTHED(-6, 6) < SMOOTHED(-8, -5)) << 5) + ((SMOOTHED(-5, 9) < SMOOTHED(7, -1)) << 4) + ((SMOOTHED(-3, -7) < SMOOTHED(-10, -18)) << 3) + ((SMOOTHED(4, -5) < SMOOTHED(0, 11)) << 2) + ((SMOOTHED(2, 3) < SMOOTHED(9, 10)) << 1) + ((SMOOTHED(-10, 3) < SMOOTHED(4, 9)) << 0));

modules/xfeatures2d/test/test_rotation_and_scale_invariance.cpp

@@ -669,6 +669,32 @@ TEST(Features2d_RotationInvariance_Descriptor_DAISY, regression)
     test.safe_run();
 }
 
+TEST(Features2d_RotationInvariance_Descriptor_BRIEF_64, regression)
+{
+    DescriptorRotationInvarianceTest test(SURF::create(),
+                                          BriefDescriptorExtractor::create(64,true),
+                                          NORM_L1,
+                                          0.98f);
+    test.safe_run();
+}
+
+TEST(Features2d_RotationInvariance_Descriptor_BRIEF_32, regression)
+{
+    DescriptorRotationInvarianceTest test(SURF::create(),
+                                          BriefDescriptorExtractor::create(32,true),
+                                          NORM_L1,
+                                          0.97f);
+    test.safe_run();
+}
+
+TEST(Features2d_RotationInvariance_Descriptor_BRIEF_16, regression)
+{
+    DescriptorRotationInvarianceTest test(SURF::create(),
+                                          BriefDescriptorExtractor::create(16,true),
+                                          NORM_L1,
+                                          0.85f);
+    test.safe_run();
+}
 
 /*
  * Detector's scale invariance check