replaced SIFT implementation (Some default parameters can be changed in the near future)

modules/features2d/include/opencv2/features2d/features2d.hpp

@@ -269,7 +269,7 @@ CV_EXPORTS void read(const FileNode& node, CV_OUT vector<KeyPoint>& keypoints);
 /*
  * A class filters a vector of keypoints.
  * Because now it is difficult to provide a convenient interface for all usage scenarios of the keypoints filter class,
- * it has only 3 needed by now static methods.
+ * it has only 4 needed by now static methods.
  */
 class CV_EXPORTS KeyPointsFilter
 {
@@ -288,6 +288,10 @@ public:
      * Remove keypoints from some image by mask for pixels of this image.
      */
     static void runByPixelsMask( vector<KeyPoint>& keypoints, const Mat& mask );
+    /*
+     * Remove duplicated keypoints.
+     */
+    static void removeDuplicated( vector<KeyPoint>& keypoints );
 };
 
 /*!
@@ -295,6 +299,7 @@ public:
  
  The class implements SIFT algorithm by D. Lowe.
 */
+
 class CV_EXPORTS SIFT
 {
 public:
@@ -306,14 +311,15 @@ public:
         enum { FIRST_ANGLE = 0, AVERAGE_ANGLE = 1 };
 
         CommonParams();
-        CommonParams( int _nOctaves, int _nOctaveLayers, int _firstOctave, int _angleMode );
-        int nOctaves, nOctaveLayers, firstOctave;
-        int angleMode;
+        CommonParams( int _nOctaves, int _nOctaveLayers, int /*_firstOctave*/, int /*_angleMode*/ );
+        int nOctaves, nOctaveLayers;
+        int firstOctave; // it is not used now (firstOctave == 0 always)
+        int angleMode;   // it is not used now
     };
 
     struct CV_EXPORTS DetectorParams
     {
-        static double GET_DEFAULT_THRESHOLD() { return 0.04 / SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS / 2.0; }
+        static double GET_DEFAULT_THRESHOLD() { return 0.04; }
         static double GET_DEFAULT_EDGE_THRESHOLD() { return 10.0; }
 
         DetectorParams();
@@ -328,9 +334,10 @@ public:
         static const int DESCRIPTOR_SIZE = 128;
 
         DescriptorParams();
-        DescriptorParams( double _magnification, bool _isNormalize, bool _recalculateAngles );
+        DescriptorParams( double _magnification, bool /*_isNormalize*/, bool _recalculateAngles );
+        DescriptorParams( bool _recalculateAngles );
         double magnification;
-        bool isNormalize;
+        bool isNormalize; // it is not used now (true always)
         bool recalculateAngles;
     };
 

modules/features2d/src/keypoint.cpp

@@ -234,4 +234,65 @@ void KeyPointsFilter::runByPixelsMask( vector<KeyPoint>& keypoints, const Mat& m
     keypoints.erase(remove_if(keypoints.begin(), keypoints.end(), MaskPredicate(mask)), keypoints.end());
 }
 
+struct KeyPoint_LessThan
+{
+    KeyPoint_LessThan(const vector<KeyPoint>& _kp) : kp(&_kp) {}
+    bool operator()(int i, int j) const
+    {
+        const KeyPoint& kp1 = (*kp)[i];
+        const KeyPoint& kp2 = (*kp)[j];
+        if( kp1.pt.x != kp2.pt.x )
+            return kp1.pt.x < kp2.pt.x;
+        if( kp1.pt.y != kp2.pt.y )
+            return kp1.pt.y < kp2.pt.y;
+        if( kp1.size != kp2.size )
+            return kp1.size > kp2.size;
+        if( kp1.size != kp2.size )
+            return kp1.size > kp2.size;
+        if( kp1.angle != kp2.angle )
+            return kp1.angle < kp2.angle;
+        if( kp1.response != kp2.response )
+            return kp1.response > kp2.response;
+        if( kp1.octave != kp2.octave )
+            return kp1.octave > kp2.octave;
+        if( kp1.class_id != kp2.class_id )
+            return kp1.class_id > kp2.class_id;
+
+        return i < j;
+    }
+    const vector<KeyPoint>* kp;
+};
+
+void KeyPointsFilter::removeDuplicated( vector<KeyPoint>& keypoints )
+{
+    int i, j, n = (int)keypoints.size();
+    vector<int> kpidx(n);
+    vector<uchar> mask(n, (uchar)1);
+
+    for( i = 0; i < n; i++ )
+        kpidx[i] = i;
+    std::sort(kpidx.begin(), kpidx.end(), KeyPoint_LessThan(keypoints));
+    for( i = 1, j = 0; i < n; i++ )
+    {
+        KeyPoint& kp1 = keypoints[kpidx[i]];
+        KeyPoint& kp2 = keypoints[kpidx[j]];
+        if( kp1.pt.x != kp2.pt.x || kp1.pt.y != kp2.pt.y ||
+            kp1.size != kp2.size || kp1.angle != kp2.angle )
+            j = i;
+        else
+            mask[kpidx[i]] = 0;
+    }
+
+    for( i = j = 0; i < n; i++ )
+    {
+        if( mask[i] )
+        {
+            if( i != j )
+                keypoints[j] = keypoints[i];
+            j++;
+        }
+    }
+    keypoints.resize(j);
+}
+
 }