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Remove GSURF descriptor from KAZE algorithm
This commit is contained in:
Ievgen Khvedchenia
parent
a068ccbf51
commit
029a8c443a
@ -256,29 +256,12 @@ KAZE
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Class implementing the KAZE keypoint detector and descriptor extractor, described in [ABD12]_. ::
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class CV_EXPORTS_W KAZE : public Feature2D
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{
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public:
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/// KAZE Descriptor Type
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enum DESCRIPTOR_TYPE {
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DESCRIPTOR_MSURF = 1,
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DESCRIPTOR_GSURF = 2
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};
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CV_WRAP KAZE();
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explicit KAZE(DESCRIPTOR_TYPE descriptor_type, bool extended, bool upright);
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....
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};
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KAZE::KAZE
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----------
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The KAZE constructor
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.. ocv:function:: KAZE::KAZE(DESCRIPTOR_TYPE descriptor_type, bool extended, bool upright)
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.. ocv:function:: KAZE::KAZE(bool extended, bool upright)
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:param descriptor_type: Type of the extracted descriptor.
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:param extended: Set to enable extraction of extended (128-byte) descriptor.
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:param upright: Set to enable use of upright descriptors (non rotation-invariant).
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@ -893,14 +893,8 @@ KAZE implementation
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class CV_EXPORTS_W KAZE : public Feature2D
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{
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public:
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/// AKAZE Descriptor Type
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enum DESCRIPTOR_TYPE {
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DESCRIPTOR_MSURF = 1,
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DESCRIPTOR_GSURF = 2
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};
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CV_WRAP KAZE();
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explicit KAZE(DESCRIPTOR_TYPE descriptor_type, bool extended, bool upright);
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CV_WRAP explicit KAZE(bool extended, bool upright);
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virtual ~KAZE();
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@ -126,7 +126,6 @@ CV_INIT_ALGORITHM(GFTTDetector, "Feature2D.GFTT",
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///////////////////////////////////////////////////////////////////////////////////////////////////////////
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CV_INIT_ALGORITHM(KAZE, "Feature2D.KAZE",
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obj.info()->addParam(obj, "descriptor", obj.descriptor);
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obj.info()->addParam(obj, "upright", obj.upright);
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obj.info()->addParam(obj, "extended", obj.extended))
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@ -53,15 +53,13 @@ http://www.robesafe.com/personal/pablo.alcantarilla/papers/Alcantarilla12eccv.pd
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namespace cv
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{
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KAZE::KAZE()
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: descriptor(DESCRIPTOR_MSURF)
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, extended(false)
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: extended(false)
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, upright(false)
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{
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}
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KAZE::KAZE(DESCRIPTOR_TYPE _descriptor_type, bool _extended, bool _upright)
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: descriptor(_descriptor_type)
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, extended(_extended)
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KAZE::KAZE(bool _extended, bool _upright)
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: extended(_extended)
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, upright(_upright)
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{
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@ -111,7 +109,6 @@ namespace cv
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KAZEOptions options;
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options.img_width = img.cols;
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options.img_height = img.rows;
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options.descriptor = static_cast<DESCRIPTOR_TYPE>(descriptor);
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options.extended = extended;
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options.upright = upright;
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@ -146,7 +143,6 @@ namespace cv
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KAZEOptions options;
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options.img_width = img.cols;
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options.img_height = img.rows;
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options.descriptor = static_cast<DESCRIPTOR_TYPE>(descriptor);
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options.extended = extended;
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options.upright = upright;
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@ -174,7 +170,6 @@ namespace cv
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KAZEOptions options;
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options.img_width = img.cols;
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options.img_height = img.rows;
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options.descriptor = static_cast<DESCRIPTOR_TYPE>(descriptor);
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options.extended = extended;
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options.upright = upright;
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@ -22,8 +22,7 @@ struct KAZEOptions {
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};
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KAZEOptions()
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: descriptor(cv::KAZE::DESCRIPTOR_MSURF)
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, diffusivity(PM_G2)
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: diffusivity(PM_G2)
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, soffset(1.60f)
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, omax(4)
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@ -46,7 +45,6 @@ struct KAZEOptions {
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{
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}
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cv::KAZE::DESCRIPTOR_TYPE descriptor;
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DIFFUSIVITY_TYPE diffusivity;
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float soffset;
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@ -500,10 +500,10 @@ void KAZEFeatures::Do_Subpixel_Refinement(std::vector<cv::KeyPoint> &kpts) {
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//*************************************************************************************
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//*************************************************************************************
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class MSURF_Descriptor_Invoker : public cv::ParallelLoopBody
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class KAZE_Descriptor_Invoker : public cv::ParallelLoopBody
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{
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public:
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MSURF_Descriptor_Invoker(std::vector<cv::KeyPoint> &kpts, cv::Mat &desc, std::vector<TEvolution>& evolution, const KAZEOptions& _options)
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KAZE_Descriptor_Invoker(std::vector<cv::KeyPoint> &kpts, cv::Mat &desc, std::vector<TEvolution>& evolution, const KAZEOptions& _options)
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: _kpts(&kpts)
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, _desc(&desc)
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, _evolution(&evolution)
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@ -511,7 +511,7 @@ public:
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{
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}
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virtual ~MSURF_Descriptor_Invoker()
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virtual ~KAZE_Descriptor_Invoker()
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{
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}
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@ -528,82 +528,26 @@ public:
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{
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kpts[i].angle = 0.0;
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if (options.extended)
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Get_MSURF_Upright_Descriptor_128(kpts[i], desc.ptr<float>((int)i));
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Get_KAZE_Upright_Descriptor_128(kpts[i], desc.ptr<float>((int)i));
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else
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Get_MSURF_Upright_Descriptor_64(kpts[i], desc.ptr<float>((int)i));
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Get_KAZE_Upright_Descriptor_64(kpts[i], desc.ptr<float>((int)i));
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}
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else
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{
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KAZEFeatures::Compute_Main_Orientation(kpts[i], evolution, options);
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if (options.extended)
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Get_MSURF_Descriptor_128(kpts[i], desc.ptr<float>((int)i));
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Get_KAZE_Descriptor_128(kpts[i], desc.ptr<float>((int)i));
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else
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Get_MSURF_Descriptor_64(kpts[i], desc.ptr<float>((int)i));
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Get_KAZE_Descriptor_64(kpts[i], desc.ptr<float>((int)i));
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}
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}
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}
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private:
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void Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
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void Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
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void Get_MSURF_Upright_Descriptor_128(const cv::KeyPoint& kpt, float* desc) const;
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void Get_MSURF_Descriptor_128(const cv::KeyPoint& kpt, float *desc) const;
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std::vector<cv::KeyPoint> * _kpts;
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cv::Mat * _desc;
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std::vector<TEvolution> * _evolution;
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KAZEOptions options;
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};
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class GSURF_Descriptor_Invoker : public cv::ParallelLoopBody
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{
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public:
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GSURF_Descriptor_Invoker(std::vector<cv::KeyPoint> &kpts, cv::Mat &desc, std::vector<TEvolution>& evolution, const KAZEOptions& _options)
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: _kpts(&kpts)
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, _desc(&desc)
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, _evolution(&evolution)
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, options(_options)
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{
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}
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virtual ~GSURF_Descriptor_Invoker()
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{
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}
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void operator() (const cv::Range& range) const
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{
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std::vector<cv::KeyPoint> &kpts = *_kpts;
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cv::Mat &desc = *_desc;
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std::vector<TEvolution> &evolution = *_evolution;
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for (int i = range.start; i < range.end; i++)
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{
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kpts[i].angle = 0.0;
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if (options.upright)
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{
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kpts[i].angle = 0.0;
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if (options.extended)
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Get_GSURF_Upright_Descriptor_128(kpts[i], desc.ptr<float>((int)i));
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else
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Get_GSURF_Upright_Descriptor_64(kpts[i], desc.ptr<float>((int)i));
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}
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else
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{
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KAZEFeatures::Compute_Main_Orientation(kpts[i], evolution, options);
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if (options.extended)
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Get_GSURF_Descriptor_128(kpts[i], desc.ptr<float>((int)i));
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else
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Get_GSURF_Descriptor_64(kpts[i], desc.ptr<float>((int)i));
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}
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}
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}
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private:
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void Get_GSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
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void Get_GSURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const;
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void Get_GSURF_Upright_Descriptor_128(const cv::KeyPoint& kpt, float* desc) const;
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void Get_GSURF_Descriptor_128(const cv::KeyPoint& kpt, float* desc) const;
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void Get_KAZE_Upright_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
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void Get_KAZE_Descriptor_64(const cv::KeyPoint& kpt, float* desc) const;
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void Get_KAZE_Upright_Descriptor_128(const cv::KeyPoint& kpt, float* desc) const;
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void Get_KAZE_Descriptor_128(const cv::KeyPoint& kpt, float *desc) const;
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std::vector<cv::KeyPoint> * _kpts;
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cv::Mat * _desc;
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@ -626,16 +570,7 @@ void KAZEFeatures::Feature_Description(std::vector<cv::KeyPoint> &kpts, cv::Mat
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desc = Mat::zeros((int)kpts.size(), 64, CV_32FC1);
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}
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switch (options.descriptor)
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{
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case cv::KAZE::DESCRIPTOR_MSURF:
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cv::parallel_for_(cv::Range(0, (int)kpts.size()), MSURF_Descriptor_Invoker(kpts, desc, evolution_, options));
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break;
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case cv::KAZE::DESCRIPTOR_GSURF:
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cv::parallel_for_(cv::Range(0, (int)kpts.size()), GSURF_Descriptor_Invoker(kpts, desc, evolution_, options));
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break;
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};
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cv::parallel_for_(cv::Range(0, (int)kpts.size()), KAZE_Descriptor_Invoker(kpts, desc, evolution_, options));
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}
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//*************************************************************************************
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@ -728,7 +663,7 @@ void KAZEFeatures::Compute_Main_Orientation(cv::KeyPoint &kpt, const std::vector
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* from Agrawal et al., CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching,
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* ECCV 2008
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*/
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void MSURF_Descriptor_Invoker::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, float *desc) const
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void KAZE_Descriptor_Invoker::Get_KAZE_Upright_Descriptor_64(const cv::KeyPoint &kpt, float *desc) const
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{
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float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0, gauss_s1 = 0.0, gauss_s2 = 0.0;
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float rx = 0.0, ry = 0.0, len = 0.0, xf = 0.0, yf = 0.0, ys = 0.0, xs = 0.0;
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@ -862,7 +797,7 @@ void MSURF_Descriptor_Invoker::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoin
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* from Agrawal et al., CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching,
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* ECCV 2008
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*/
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void MSURF_Descriptor_Invoker::Get_MSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc) const
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void KAZE_Descriptor_Invoker::Get_KAZE_Descriptor_64(const cv::KeyPoint &kpt, float *desc) const
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{
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float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0, gauss_s1 = 0.0, gauss_s2 = 0.0;
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float rx = 0.0, ry = 0.0, rrx = 0.0, rry = 0.0, len = 0.0, xf = 0.0, yf = 0.0, ys = 0.0, xs = 0.0;
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@ -988,284 +923,6 @@ void MSURF_Descriptor_Invoker::Get_MSURF_Descriptor_64(const cv::KeyPoint &kpt,
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//*************************************************************************************
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//*************************************************************************************
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/**
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* @brief This method computes the upright G-SURF descriptor of the provided keypoint
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* given the main orientation
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* @param kpt Input keypoint
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* @param desc Descriptor vector
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* @note Rectangular grid of 20 s x 20 s. Descriptor Length 64. No additional
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* G-SURF descriptor as described in Pablo F. Alcantarilla, Luis M. Bergasa and
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* Andrew J. Davison, Gauge-SURF Descriptors, Image and Vision Computing 31(1), 2013
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*/
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void GSURF_Descriptor_Invoker::Get_GSURF_Upright_Descriptor_64(const cv::KeyPoint &kpt, float *desc) const
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{
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float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0;
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float rx = 0.0, ry = 0.0, rxx = 0.0, rxy = 0.0, ryy = 0.0, len = 0.0, xf = 0.0, yf = 0.0;
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float sample_x = 0.0, sample_y = 0.0;
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float fx = 0.0, fy = 0.0, res1 = 0.0, res2 = 0.0, res3 = 0.0, res4 = 0.0;
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float lvv = 0.0, lww = 0.0, modg = 0.0;
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int x1 = 0, y1 = 0, x2 = 0, y2 = 0, sample_step = 0, pattern_size = 0, dcount = 0;
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int dsize = 0, scale = 0, level = 0;
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std::vector<TEvolution>& evolution_ = *_evolution;
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// Set the descriptor size and the sample and pattern sizes
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dsize = 64;
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sample_step = 5;
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pattern_size = 10;
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// Get the information from the keypoint
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yf = kpt.pt.y;
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xf = kpt.pt.x;
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scale = fRound(kpt.size / 2.0f);
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level = kpt.class_id;
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// Calculate descriptor for this interest point
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for (int i = -pattern_size; i < pattern_size; i += sample_step) {
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for (int j = -pattern_size; j < pattern_size; j += sample_step) {
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dx = dy = mdx = mdy = 0.0;
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for (int k = i; k < i + sample_step; k++) {
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for (int l = j; l < j + sample_step; l++) {
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// Get the coordinates of the sample point on the rotated axis
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sample_y = yf + l*scale;
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sample_x = xf + k*scale;
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y1 = (int)(sample_y - 0.5f);
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x1 = (int)(sample_x - 0.5f);
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checkDescriptorLimits(x1, y1, options.img_width, options.img_height);
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y2 = (int)(sample_y + 0.5f);
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x2 = (int)(sample_x + 0.5f);
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checkDescriptorLimits(x2, y2, options.img_width, options.img_height);
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fx = sample_x - x1;
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fy = sample_y - y1;
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res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
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res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
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res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
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res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
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rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
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res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
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res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
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res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
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res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
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ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
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modg = pow(rx, 2) + pow(ry, 2);
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if (modg != 0.0) {
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res1 = *(evolution_[level].Lxx.ptr<float>(y1)+x1);
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res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
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res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
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res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
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rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
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res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
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res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
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res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
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res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
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rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
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res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
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res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
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res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
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res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
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ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
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// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
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lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
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// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
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lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
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}
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else {
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lww = 0.0;
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lvv = 0.0;
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}
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// Sum the derivatives to the cumulative descriptor
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dx += lww;
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dy += lvv;
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mdx += fabs(lww);
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mdy += fabs(lvv);
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}
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}
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// Add the values to the descriptor vector
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desc[dcount++] = dx;
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desc[dcount++] = dy;
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desc[dcount++] = mdx;
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desc[dcount++] = mdy;
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// Store the current length^2 of the vector
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len += dx*dx + dy*dy + mdx*mdx + mdy*mdy;
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}
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}
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||||
// convert to unit vector
|
||||
len = sqrt(len);
|
||||
|
||||
for (int i = 0; i < dsize; i++) {
|
||||
desc[i] /= len;
|
||||
}
|
||||
|
||||
if (options.use_clipping_normalilzation) {
|
||||
clippingDescriptor(desc, dsize, options.clipping_normalization_niter, options.clipping_normalization_ratio);
|
||||
}
|
||||
}
|
||||
|
||||
//*************************************************************************************
|
||||
//*************************************************************************************
|
||||
|
||||
/**
|
||||
* @brief This method computes the G-SURF descriptor of the provided keypoint given the
|
||||
* main orientation
|
||||
* @param kpt Input keypoint
|
||||
* @param desc Descriptor vector
|
||||
* @note Rectangular grid of 20 s x 20 s. Descriptor Length 64. No additional
|
||||
* G-SURF descriptor as described in Pablo F. Alcantarilla, Luis M. Bergasa and
|
||||
* Andrew J. Davison, Gauge-SURF Descriptors, Image and Vision Computing 31(1), 2013
|
||||
*/
|
||||
void GSURF_Descriptor_Invoker::Get_GSURF_Descriptor_64(const cv::KeyPoint &kpt, float *desc) const
|
||||
{
|
||||
float dx = 0.0, dy = 0.0, mdx = 0.0, mdy = 0.0;
|
||||
float rx = 0.0, ry = 0.0, rxx = 0.0, rxy = 0.0, ryy = 0.0, len = 0.0, xf = 0.0, yf = 0.0;
|
||||
float sample_x = 0.0, sample_y = 0.0, co = 0.0, si = 0.0, angle = 0.0;
|
||||
float fx = 0.0, fy = 0.0, res1 = 0.0, res2 = 0.0, res3 = 0.0, res4 = 0.0;
|
||||
float lvv = 0.0, lww = 0.0, modg = 0.0;
|
||||
int x1 = 0, y1 = 0, x2 = 0, y2 = 0, sample_step = 0, pattern_size = 0, dcount = 0;
|
||||
int dsize = 0, scale = 0, level = 0;
|
||||
|
||||
std::vector<TEvolution>& evolution_ = *_evolution;
|
||||
|
||||
// Set the descriptor size and the sample and pattern sizes
|
||||
dsize = 64;
|
||||
sample_step = 5;
|
||||
pattern_size = 10;
|
||||
|
||||
// Get the information from the keypoint
|
||||
yf = kpt.pt.y;
|
||||
xf = kpt.pt.x;
|
||||
scale = fRound(kpt.size / 2.0f);
|
||||
angle = kpt.angle;
|
||||
level = kpt.class_id;
|
||||
co = cos(angle);
|
||||
si = sin(angle);
|
||||
|
||||
// Calculate descriptor for this interest point
|
||||
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
|
||||
for (int j = -pattern_size; j < pattern_size; j += sample_step) {
|
||||
|
||||
dx = dy = mdx = mdy = 0.0;
|
||||
|
||||
for (int k = i; k < i + sample_step; k++) {
|
||||
for (int l = j; l < j + sample_step; l++) {
|
||||
|
||||
// Get the coordinates of the sample point on the rotated axis
|
||||
sample_y = yf + (l*scale*co + k*scale*si);
|
||||
sample_x = xf + (-l*scale*si + k*scale*co);
|
||||
|
||||
y1 = (int)(sample_y - 0.5f);
|
||||
x1 = (int)(sample_x - 0.5f);
|
||||
|
||||
checkDescriptorLimits(x1, y1, options.img_width, options.img_height);
|
||||
|
||||
y2 = (int)(sample_y + 0.5f);
|
||||
x2 = (int)(sample_x + 0.5f);
|
||||
|
||||
checkDescriptorLimits(x2, y2, options.img_width, options.img_height);
|
||||
|
||||
fx = sample_x - x1;
|
||||
fy = sample_y - y1;
|
||||
|
||||
res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
|
||||
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
|
||||
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
modg = pow(rx, 2) + pow(ry, 2);
|
||||
|
||||
if (modg != 0.0) {
|
||||
|
||||
res1 = *(evolution_[level].Lxx.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
|
||||
rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
|
||||
rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
|
||||
ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
|
||||
lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
|
||||
|
||||
// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
|
||||
lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
|
||||
}
|
||||
else {
|
||||
lww = 0.0;
|
||||
lvv = 0.0;
|
||||
}
|
||||
|
||||
// Sum the derivatives to the cumulative descriptor
|
||||
dx += lww;
|
||||
dy += lvv;
|
||||
mdx += fabs(lww);
|
||||
mdy += fabs(lvv);
|
||||
}
|
||||
}
|
||||
|
||||
// Add the values to the descriptor vector
|
||||
desc[dcount++] = dx;
|
||||
desc[dcount++] = dy;
|
||||
desc[dcount++] = mdx;
|
||||
desc[dcount++] = mdy;
|
||||
|
||||
// Store the current length^2 of the vector
|
||||
len += dx*dx + dy*dy + mdx*mdx + mdy*mdy;
|
||||
}
|
||||
}
|
||||
|
||||
// convert to unit vector
|
||||
len = sqrt(len);
|
||||
|
||||
for (int i = 0; i < dsize; i++) {
|
||||
desc[i] /= len;
|
||||
}
|
||||
|
||||
if (options.use_clipping_normalilzation) {
|
||||
clippingDescriptor(desc, dsize, options.clipping_normalization_niter, options.clipping_normalization_ratio);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//*************************************************************************************
|
||||
//*************************************************************************************
|
||||
|
||||
/**
|
||||
* @brief This method computes the extended upright descriptor (not rotation invariant) of
|
||||
* the provided keypoint
|
||||
@ -1275,7 +932,7 @@ void GSURF_Descriptor_Invoker::Get_GSURF_Descriptor_64(const cv::KeyPoint &kpt,
|
||||
* from Agrawal et al., CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching,
|
||||
* ECCV 2008
|
||||
*/
|
||||
void MSURF_Descriptor_Invoker::Get_MSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, float *desc) const
|
||||
void KAZE_Descriptor_Invoker::Get_KAZE_Upright_Descriptor_128(const cv::KeyPoint &kpt, float *desc) const
|
||||
{
|
||||
float gauss_s1 = 0.0, gauss_s2 = 0.0;
|
||||
float rx = 0.0, ry = 0.0, len = 0.0, xf = 0.0, yf = 0.0, ys = 0.0, xs = 0.0;
|
||||
@ -1433,7 +1090,7 @@ void MSURF_Descriptor_Invoker::Get_MSURF_Upright_Descriptor_128(const cv::KeyPoi
|
||||
* from Agrawal et al., CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching,
|
||||
* ECCV 2008
|
||||
*/
|
||||
void MSURF_Descriptor_Invoker::Get_MSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc) const
|
||||
void KAZE_Descriptor_Invoker::Get_KAZE_Descriptor_128(const cv::KeyPoint &kpt, float *desc) const
|
||||
{
|
||||
float gauss_s1 = 0.0, gauss_s2 = 0.0;
|
||||
float rx = 0.0, ry = 0.0, rrx = 0.0, rry = 0.0, len = 0.0, xf = 0.0, yf = 0.0, ys = 0.0, xs = 0.0;
|
||||
@ -1587,322 +1244,6 @@ void MSURF_Descriptor_Invoker::Get_MSURF_Descriptor_128(const cv::KeyPoint &kpt,
|
||||
//*************************************************************************************
|
||||
//*************************************************************************************
|
||||
|
||||
/**
|
||||
* @brief This method computes the G-SURF upright extended descriptor
|
||||
* (no rotation invariant) of the provided keypoint
|
||||
* @param kpt Input keypoint
|
||||
* @param desc Descriptor vector
|
||||
* @note Rectangular grid of 20 s x 20 s. Descriptor Length 128. No additional
|
||||
* G-SURF descriptor as described in Pablo F. Alcantarilla, Luis M. Bergasa and
|
||||
* Andrew J. Davison, Gauge-SURF Descriptors, Image and Vision Computing 31(1), 2013
|
||||
*/
|
||||
void GSURF_Descriptor_Invoker::Get_GSURF_Upright_Descriptor_128(const cv::KeyPoint &kpt, float *desc) const
|
||||
{
|
||||
float len = 0.0, xf = 0.0, yf = 0.0, sample_x = 0.0, sample_y = 0.0;
|
||||
float rx = 0.0, ry = 0.0, rxx = 0.0, rxy = 0.0, ryy = 0.0, modg = 0.0;
|
||||
float fx = 0.0, fy = 0.0, res1 = 0.0, res2 = 0.0, res3 = 0.0, res4 = 0.0;
|
||||
float dxp = 0.0, dyp = 0.0, mdxp = 0.0, mdyp = 0.0;
|
||||
float dxn = 0.0, dyn = 0.0, mdxn = 0.0, mdyn = 0.0, lvv = 0.0, lww = 0.0;
|
||||
int x1 = 0, y1 = 0, x2 = 0, y2 = 0, sample_step = 0, pattern_size = 0, dcount = 0;
|
||||
int dsize = 0, scale = 0, level = 0;
|
||||
|
||||
std::vector<TEvolution>& evolution_ = *_evolution;
|
||||
|
||||
// Set the descriptor size and the sample and pattern sizes
|
||||
dsize = 128;
|
||||
sample_step = 5;
|
||||
pattern_size = 10;
|
||||
|
||||
// Get the information from the keypoint
|
||||
yf = kpt.pt.y;
|
||||
xf = kpt.pt.x;
|
||||
scale = fRound(kpt.size / 2.0f);
|
||||
level = kpt.class_id;
|
||||
|
||||
// Calculate descriptor for this interest point
|
||||
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
|
||||
for (int j = -pattern_size; j < pattern_size; j += sample_step) {
|
||||
|
||||
dxp = dxn = mdxp = mdxn = 0.0;
|
||||
dyp = dyn = mdyp = mdyn = 0.0;
|
||||
|
||||
for (int k = i; k < i + sample_step; k++) {
|
||||
for (int l = j; l < j + sample_step; l++) {
|
||||
|
||||
sample_y = k*scale + yf;
|
||||
sample_x = l*scale + xf;
|
||||
|
||||
y1 = (int)(sample_y - 0.5f);
|
||||
x1 = (int)(sample_x - 0.5f);
|
||||
|
||||
checkDescriptorLimits(x1, y1, options.img_width, options.img_height);
|
||||
|
||||
y2 = (int)(sample_y + 0.5f);
|
||||
x2 = (int)(sample_x + 0.5f);
|
||||
|
||||
checkDescriptorLimits(x2, y2, options.img_width, options.img_height);
|
||||
|
||||
fx = sample_x - x1;
|
||||
fy = sample_y - y1;
|
||||
|
||||
res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
|
||||
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
|
||||
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
modg = pow(rx, 2) + pow(ry, 2);
|
||||
|
||||
if (modg != 0.0) {
|
||||
|
||||
res1 = *(evolution_[level].Lxx.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
|
||||
rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
|
||||
rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
|
||||
ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
|
||||
lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
|
||||
|
||||
// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
|
||||
lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
|
||||
}
|
||||
else {
|
||||
lww = 0.0;
|
||||
lvv = 0.0;
|
||||
}
|
||||
|
||||
// Sum the derivatives to the cumulative descriptor
|
||||
if (lww >= 0.0) {
|
||||
dxp += lvv;
|
||||
mdxp += fabs(lvv);
|
||||
}
|
||||
else {
|
||||
dxn += lvv;
|
||||
mdxn += fabs(lvv);
|
||||
}
|
||||
|
||||
if (lvv >= 0.0) {
|
||||
dyp += lww;
|
||||
mdyp += fabs(lww);
|
||||
}
|
||||
else {
|
||||
dyn += lww;
|
||||
mdyn += fabs(lww);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Add the values to the descriptor vector
|
||||
desc[dcount++] = dxp;
|
||||
desc[dcount++] = dxn;
|
||||
desc[dcount++] = mdxp;
|
||||
desc[dcount++] = mdxn;
|
||||
desc[dcount++] = dyp;
|
||||
desc[dcount++] = dyn;
|
||||
desc[dcount++] = mdyp;
|
||||
desc[dcount++] = mdyn;
|
||||
|
||||
// Store the current length^2 of the vector
|
||||
len += dxp*dxp + dxn*dxn + mdxp*mdxp + mdxn*mdxn +
|
||||
dyp*dyp + dyn*dyn + mdyp*mdyp + mdyn*mdyn;
|
||||
}
|
||||
}
|
||||
|
||||
// convert to unit vector
|
||||
len = sqrt(len);
|
||||
|
||||
for (int i = 0; i < dsize; i++) {
|
||||
desc[i] /= len;
|
||||
}
|
||||
|
||||
if (options.use_clipping_normalilzation) {
|
||||
clippingDescriptor(desc, dsize, options.clipping_normalization_niter, options.clipping_normalization_ratio);
|
||||
}
|
||||
}
|
||||
|
||||
//*************************************************************************************
|
||||
//*************************************************************************************
|
||||
|
||||
/**
|
||||
* @brief This method computes the extended descriptor of the provided keypoint given the
|
||||
* main orientation
|
||||
* @param kpt Input keypoint
|
||||
* @param desc Descriptor vector
|
||||
* @note Rectangular grid of 20 s x 20 s. Descriptor Length 128. No additional
|
||||
* G-SURF descriptor as described in Pablo F. Alcantarilla, Luis M. Bergasa and
|
||||
* Andrew J. Davison, Gauge-SURF Descriptors, Image and Vision Computing 31(1), 2013
|
||||
*/
|
||||
void GSURF_Descriptor_Invoker::Get_GSURF_Descriptor_128(const cv::KeyPoint &kpt, float *desc) const
|
||||
{
|
||||
|
||||
float len = 0.0, xf = 0.0, yf = 0.0;
|
||||
float rx = 0.0, ry = 0.0, rxx = 0.0, rxy = 0.0, ryy = 0.0;
|
||||
float sample_x = 0.0, sample_y = 0.0, co = 0.0, si = 0.0, angle = 0.0;
|
||||
float fx = 0.0, fy = 0.0, res1 = 0.0, res2 = 0.0, res3 = 0.0, res4 = 0.0;
|
||||
float dxp = 0.0, dyp = 0.0, mdxp = 0.0, mdyp = 0.0;
|
||||
float dxn = 0.0, dyn = 0.0, mdxn = 0.0, mdyn = 0.0;
|
||||
float lvv = 0.0, lww = 0.0, modg = 0.0;
|
||||
int x1 = 0, y1 = 0, x2 = 0, y2 = 0, sample_step = 0, pattern_size = 0, dcount = 0;
|
||||
int dsize = 0, scale = 0, level = 0;
|
||||
|
||||
std::vector<TEvolution>& evolution_ = *_evolution;
|
||||
|
||||
// Set the descriptor size and the sample and pattern sizes
|
||||
dsize = 128;
|
||||
sample_step = 5;
|
||||
pattern_size = 10;
|
||||
|
||||
// Get the information from the keypoint
|
||||
yf = kpt.pt.y;
|
||||
xf = kpt.pt.x;
|
||||
scale = fRound(kpt.size / 2.0f);
|
||||
angle = kpt.angle;
|
||||
level = kpt.class_id;
|
||||
co = cos(angle);
|
||||
si = sin(angle);
|
||||
|
||||
// Calculate descriptor for this interest point
|
||||
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
|
||||
for (int j = -pattern_size; j < pattern_size; j += sample_step) {
|
||||
|
||||
dxp = dxn = mdxp = mdxn = 0.0;
|
||||
dyp = dyn = mdyp = mdyn = 0.0;
|
||||
|
||||
for (int k = i; k < i + sample_step; k++) {
|
||||
for (int l = j; l < j + sample_step; l++) {
|
||||
|
||||
// Get the coordinates of the sample point on the rotated axis
|
||||
sample_y = yf + (l*scale*co + k*scale*si);
|
||||
sample_x = xf + (-l*scale*si + k*scale*co);
|
||||
|
||||
y1 = (int)(sample_y - 0.5f);
|
||||
x1 = (int)(sample_x - 0.5f);
|
||||
|
||||
checkDescriptorLimits(x1, y1, options.img_width, options.img_height);
|
||||
|
||||
y2 = (int)(sample_y + 0.5f);
|
||||
x2 = (int)(sample_x + 0.5f);
|
||||
|
||||
checkDescriptorLimits(x2, y2, options.img_width, options.img_height);
|
||||
|
||||
fx = sample_x - x1;
|
||||
fy = sample_y - y1;
|
||||
|
||||
res1 = *(evolution_[level].Lx.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lx.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lx.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lx.ptr<float>(y2)+x2);
|
||||
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Ly.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Ly.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Ly.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Ly.ptr<float>(y2)+x2);
|
||||
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
modg = pow(rx, 2) + pow(ry, 2);
|
||||
|
||||
if (modg != 0.0) {
|
||||
res1 = *(evolution_[level].Lxx.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lxx.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lxx.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lxx.ptr<float>(y2)+x2);
|
||||
rxx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Lxy.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lxy.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lxy.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lxy.ptr<float>(y2)+x2);
|
||||
rxy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
res1 = *(evolution_[level].Lyy.ptr<float>(y1)+x1);
|
||||
res2 = *(evolution_[level].Lyy.ptr<float>(y1)+x2);
|
||||
res3 = *(evolution_[level].Lyy.ptr<float>(y2)+x1);
|
||||
res4 = *(evolution_[level].Lyy.ptr<float>(y2)+x2);
|
||||
ryy = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
|
||||
|
||||
// Lww = (Lx^2 * Lxx + 2*Lx*Lxy*Ly + Ly^2*Lyy) / (Lx^2 + Ly^2)
|
||||
lww = (pow(rx, 2)*rxx + 2.0f*rx*rxy*ry + pow(ry, 2)*ryy) / (modg);
|
||||
|
||||
// Lvv = (-2*Lx*Lxy*Ly + Lxx*Ly^2 + Lx^2*Lyy) / (Lx^2 + Ly^2)
|
||||
lvv = (-2.0f*rx*rxy*ry + rxx*pow(ry, 2) + pow(rx, 2)*ryy) / (modg);
|
||||
}
|
||||
else {
|
||||
lww = 0.0;
|
||||
lvv = 0.0;
|
||||
}
|
||||
|
||||
// Sum the derivatives to the cumulative descriptor
|
||||
if (lww >= 0.0) {
|
||||
dxp += lvv;
|
||||
mdxp += fabs(lvv);
|
||||
}
|
||||
else {
|
||||
dxn += lvv;
|
||||
mdxn += fabs(lvv);
|
||||
}
|
||||
|
||||
if (lvv >= 0.0) {
|
||||
dyp += lww;
|
||||
mdyp += fabs(lww);
|
||||
}
|
||||
else {
|
||||
dyn += lww;
|
||||
mdyn += fabs(lww);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Add the values to the descriptor vector
|
||||
desc[dcount++] = dxp;
|
||||
desc[dcount++] = dxn;
|
||||
desc[dcount++] = mdxp;
|
||||
desc[dcount++] = mdxn;
|
||||
desc[dcount++] = dyp;
|
||||
desc[dcount++] = dyn;
|
||||
desc[dcount++] = mdyp;
|
||||
desc[dcount++] = mdyn;
|
||||
|
||||
// Store the current length^2 of the vector
|
||||
len += dxp*dxp + dxn*dxn + mdxp*mdxp + mdxn*mdxn +
|
||||
dyp*dyp + dyn*dyn + mdyp*mdyp + mdyn*mdyn;
|
||||
}
|
||||
}
|
||||
|
||||
// convert to unit vector
|
||||
len = sqrt(len);
|
||||
|
||||
for (int i = 0; i < dsize; i++) {
|
||||
desc[i] /= len;
|
||||
}
|
||||
|
||||
if (options.use_clipping_normalilzation) {
|
||||
clippingDescriptor(desc, dsize, options.clipping_normalization_niter, options.clipping_normalization_ratio);
|
||||
}
|
||||
}
|
||||
|
||||
//*************************************************************************************
|
||||
//*************************************************************************************
|
||||
|
||||
/**
|
||||
* @brief This method performs a scalar non-linear diffusion step using AOS schemes
|
||||
* @param Ld Image at a given evolution step
|
||||
@ -1911,7 +1252,7 @@ void GSURF_Descriptor_Invoker::Get_GSURF_Descriptor_128(const cv::KeyPoint &kpt,
|
||||
* @param stepsize Stepsize for the nonlinear diffusion evolution
|
||||
* @note If c is constant, the diffusion will be linear
|
||||
* If c is a matrix of the same size as Ld, the diffusion will be nonlinear
|
||||
* The stepsize can be arbitrarilly large
|
||||
* The stepsize can be arbitrarily large
|
||||
*/
|
||||
void KAZEFeatures::AOS_Step_Scalar(cv::Mat &Ld, const cv::Mat &Ldprev, const cv::Mat &c, const float& stepsize) {
|
||||
|
||||
|
||||
@ -169,11 +169,8 @@ TEST(Features2d_Detector_Keypoints_Dense, validation)
|
||||
|
||||
TEST(Features2d_Detector_Keypoints_KAZE, validation)
|
||||
{
|
||||
CV_FeatureDetectorKeypointsTest test_gsurf(cv::Ptr<FeatureDetector>(new cv::KAZE(cv::KAZE::DESCRIPTOR_GSURF, false, false)));
|
||||
test_gsurf.safe_run();
|
||||
|
||||
CV_FeatureDetectorKeypointsTest test_msurf(cv::Ptr<FeatureDetector>(new cv::KAZE(cv::KAZE::DESCRIPTOR_MSURF, false, false)));
|
||||
test_msurf.safe_run();
|
||||
CV_FeatureDetectorKeypointsTest test(Algorithm::create<FeatureDetector>("Feature2D.KAZE"));
|
||||
test.safe_run();
|
||||
}
|
||||
|
||||
TEST(Features2d_Detector_Keypoints_AKAZE, validation)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user