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Merge pull request #8777 from mshabunin:pr6852
This commit is contained in:
Vadim Pisarevsky
commit
1ce61f3129
@ -1117,7 +1117,7 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
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float di = 0.0, dx = 0.0, dy = 0.0;
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float ri = 0.0, rx = 0.0, ry = 0.0, xf = 0.0, yf = 0.0;
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float sample_x = 0.0, sample_y = 0.0, ratio = 0.0;
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int x1 = 0, y1 = 0, sample_step = 0, pattern_size = 0;
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int x1 = 0, y1 = 0;
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int level = 0, nsamples = 0, scale = 0;
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int dcount1 = 0, dcount2 = 0;
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@ -1125,9 +1125,11 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
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const std::vector<TEvolution>& evolution = *evolution_;
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// Matrices for the M-LDB descriptor
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Mat values_1 = Mat::zeros(4, options.descriptor_channels, CV_32FC1);
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Mat values_2 = Mat::zeros(9, options.descriptor_channels, CV_32FC1);
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Mat values_3 = Mat::zeros(16, options.descriptor_channels, CV_32FC1);
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Mat values[3] = {
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Mat::zeros(4, options.descriptor_channels, CV_32FC1),
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Mat::zeros(9, options.descriptor_channels, CV_32FC1),
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Mat::zeros(16, options.descriptor_channels, CV_32FC1)
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};
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// Get the information from the keypoint
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ratio = (float)(1 << kpt.octave);
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@ -1136,190 +1138,72 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
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yf = kpt.pt.y / ratio;
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xf = kpt.pt.x / ratio;
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// First 2x2 grid
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pattern_size = options_->descriptor_pattern_size;
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sample_step = pattern_size;
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// For 2x2 grid, 3x3 grid and 4x4 grid
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const int pattern_size = options_->descriptor_pattern_size;
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int sample_step[3] = {
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pattern_size,
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static_cast<int>(ceil(pattern_size*2./3.)),
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pattern_size / 2
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};
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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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di = dx = dy = 0.0;
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nsamples = 0;
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// For the three grids
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for (int z = 0; z < 3; z++) {
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dcount2 = 0;
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const int step = sample_step[z];
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for (int i = -pattern_size; i < pattern_size; i += step) {
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for (int j = -pattern_size; j < pattern_size; j += step) {
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di = dx = dy = 0.0;
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nsamples = 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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for (int k = i; k < i + step; k++) {
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for (int l = j; l < j + step; l++) {
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// Get the coordinates of the sample point
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sample_y = yf + l*scale;
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sample_x = xf + k*scale;
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// Get the coordinates of the sample point
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sample_y = yf + l*scale;
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sample_x = xf + k*scale;
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y1 = fRound(sample_y);
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x1 = fRound(sample_x);
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y1 = fRound(sample_y);
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x1 = fRound(sample_x);
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ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
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rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
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ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
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ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
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rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
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ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
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di += ri;
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dx += rx;
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dy += ry;
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nsamples++;
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di += ri;
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dx += rx;
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dy += ry;
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nsamples++;
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}
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}
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di /= nsamples;
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dx /= nsamples;
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dy /= nsamples;
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float *val = values[z].ptr<float>(dcount2);
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*(val) = di;
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*(val+1) = dx;
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*(val+2) = dy;
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dcount2++;
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}
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}
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// Do binary comparison
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const int num = (z + 2) * (z + 2);
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for (int i = 0; i < num; i++) {
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for (int j = i + 1; j < num; j++) {
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const float * valI = values[z].ptr<float>(i);
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const float * valJ = values[z].ptr<float>(j);
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for (int k = 0; k < 3; ++k) {
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if (*(valI + k) > *(valJ + k)) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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}
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}
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di /= nsamples;
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dx /= nsamples;
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dy /= nsamples;
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*(values_1.ptr<float>(dcount2)) = di;
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*(values_1.ptr<float>(dcount2)+1) = dx;
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*(values_1.ptr<float>(dcount2)+2) = dy;
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dcount2++;
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}
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}
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// Do binary comparison first level
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for (int i = 0; i < 4; i++) {
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for (int j = i + 1; j < 4; j++) {
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if (*(values_1.ptr<float>(i)) > *(values_1.ptr<float>(j))) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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if (*(values_1.ptr<float>(i)+1) > *(values_1.ptr<float>(j)+1)) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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if (*(values_1.ptr<float>(i)+2) > *(values_1.ptr<float>(j)+2)) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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}
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}
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// Second 3x3 grid
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sample_step = static_cast<int>(ceil(pattern_size*2. / 3.));
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dcount2 = 0;
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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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di = dx = dy = 0.0;
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nsamples = 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
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sample_y = yf + l*scale;
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sample_x = xf + k*scale;
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y1 = fRound(sample_y);
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x1 = fRound(sample_x);
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ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
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rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
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ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
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di += ri;
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dx += rx;
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dy += ry;
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nsamples++;
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}
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}
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di /= nsamples;
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dx /= nsamples;
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dy /= nsamples;
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*(values_2.ptr<float>(dcount2)) = di;
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*(values_2.ptr<float>(dcount2)+1) = dx;
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*(values_2.ptr<float>(dcount2)+2) = dy;
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dcount2++;
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}
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}
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//Do binary comparison second level
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dcount2 = 0;
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for (int i = 0; i < 9; i++) {
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for (int j = i + 1; j < 9; j++) {
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if (*(values_2.ptr<float>(i)) > *(values_2.ptr<float>(j))) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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if (*(values_2.ptr<float>(i)+1) > *(values_2.ptr<float>(j)+1)) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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if (*(values_2.ptr<float>(i)+2) > *(values_2.ptr<float>(j)+2)) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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}
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}
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// Third 4x4 grid
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sample_step = pattern_size / 2;
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dcount2 = 0;
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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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di = dx = dy = 0.0;
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nsamples = 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
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sample_y = yf + l*scale;
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sample_x = xf + k*scale;
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y1 = fRound(sample_y);
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x1 = fRound(sample_x);
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ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
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rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
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ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
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di += ri;
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dx += rx;
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dy += ry;
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nsamples++;
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}
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}
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di /= nsamples;
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dx /= nsamples;
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dy /= nsamples;
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*(values_3.ptr<float>(dcount2)) = di;
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*(values_3.ptr<float>(dcount2)+1) = dx;
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*(values_3.ptr<float>(dcount2)+2) = dy;
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dcount2++;
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}
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}
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//Do binary comparison third level
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dcount2 = 0;
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for (int i = 0; i < 16; i++) {
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for (int j = i + 1; j < 16; j++) {
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if (*(values_3.ptr<float>(i)) > *(values_3.ptr<float>(j))) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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if (*(values_3.ptr<float>(i)+1) > *(values_3.ptr<float>(j)+1)) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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if (*(values_3.ptr<float>(i)+2) > *(values_3.ptr<float>(j)+2)) {
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desc[dcount1 / 8] |= (1 << (dcount1 % 8));
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}
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dcount1++;
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}
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}
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} // for (int z = 0; z < 3; z++)
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}
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void MLDB_Full_Descriptor_Invoker::MLDB_Fill_Values(float* values, int sample_step, int level,
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