split FAST in order to reuse it in BRISK
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@ -42,335 +42,11 @@ The references are:
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*/
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#include "precomp.hpp"
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#include "fast_score.hpp"
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namespace cv
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{
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static void makeOffsets(int pixel[], int row_stride, int patternSize)
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{
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switch(patternSize) {
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case 16:
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pixel[0] = 0 + row_stride * 3;
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pixel[1] = 1 + row_stride * 3;
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pixel[2] = 2 + row_stride * 2;
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pixel[3] = 3 + row_stride * 1;
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pixel[4] = 3 + row_stride * 0;
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pixel[5] = 3 + row_stride * -1;
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pixel[6] = 2 + row_stride * -2;
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pixel[7] = 1 + row_stride * -3;
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pixel[8] = 0 + row_stride * -3;
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pixel[9] = -1 + row_stride * -3;
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pixel[10] = -2 + row_stride * -2;
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pixel[11] = -3 + row_stride * -1;
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pixel[12] = -3 + row_stride * 0;
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pixel[13] = -3 + row_stride * 1;
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pixel[14] = -2 + row_stride * 2;
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pixel[15] = -1 + row_stride * 3;
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break;
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case 12:
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pixel[0] = 0 + row_stride * 2;
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pixel[1] = 1 + row_stride * 2;
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pixel[2] = 2 + row_stride * 1;
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pixel[3] = 2 + row_stride * 0;
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pixel[4] = 2 + row_stride * -1;
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pixel[5] = 1 + row_stride * -2;
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pixel[6] = 0 + row_stride * -2;
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pixel[7] = -1 + row_stride * -2;
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pixel[8] = -2 + row_stride * -1;
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pixel[9] = -2 + row_stride * 0;
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pixel[10] = -2 + row_stride * 1;
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pixel[11] = -1 + row_stride * 2;
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break;
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case 8:
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pixel[0] = 0 + row_stride * 1;
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pixel[1] = 1 + row_stride * 1;
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pixel[2] = 1 + row_stride * 0;
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pixel[3] = 1 + row_stride * -1;
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pixel[4] = 0 + row_stride * -1;
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pixel[5] = -1 + row_stride * -1;
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pixel[6] = 0 + row_stride * 0;
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pixel[7] = 1 + row_stride * 1;
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break;
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}
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}
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/*static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold) {
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// check that with the computed "threshold" the pixel is still a corner
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// and that with the increased-by-1 "threshold" the pixel is not a corner anymore
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for( int delta = 0; delta <= 1; delta++ )
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{
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int v0 = std::min(ptr[0] + threshold + delta, 255);
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int v1 = std::max(ptr[0] - threshold - delta, 0);
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int c0 = 0, c1 = 0;
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for( int k = 0; k < N; k++ )
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{
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int x = ptr[pixel[k]];
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if(x > v0)
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{
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if( ++c0 > K )
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break;
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c1 = 0;
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}
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else if( x < v1 )
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{
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if( ++c1 > K )
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break;
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c0 = 0;
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}
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else
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{
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c0 = c1 = 0;
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}
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}
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CV_Assert( (delta == 0 && std::max(c0, c1) > K) ||
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(delta == 1 && std::max(c0, c1) <= K) );
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}
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}*/
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template<int patternSize>
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int cornerScore(const uchar* ptr, const int pixel[], int threshold);
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template<>
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int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold)
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{
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const int K = 8, N = 16 + K + 1;
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int k, v = ptr[0];
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short d[N];
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for( k = 0; k < N; k++ )
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d[k] = (short)(v - ptr[pixel[k]]);
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#if CV_SSE2
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__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
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for( k = 0; k < 16; k += 8 )
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{
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__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
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__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
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__m128i a = _mm_min_epi16(v0, v1);
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__m128i b = _mm_max_epi16(v0, v1);
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v0 = _mm_loadu_si128((__m128i*)(d+k+3));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+4));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+5));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+6));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+7));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+8));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k));
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
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v0 = _mm_loadu_si128((__m128i*)(d+k+9));
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
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}
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q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
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q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
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threshold = (short)_mm_cvtsi128_si32(q0) - 1;
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#else
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int a0 = threshold;
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for( k = 0; k < 16; k += 2 )
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{
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int a = std::min((int)d[k+1], (int)d[k+2]);
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a = std::min(a, (int)d[k+3]);
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if( a <= a0 )
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continue;
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a = std::min(a, (int)d[k+4]);
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a = std::min(a, (int)d[k+5]);
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a = std::min(a, (int)d[k+6]);
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a = std::min(a, (int)d[k+7]);
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a = std::min(a, (int)d[k+8]);
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a0 = std::max(a0, std::min(a, (int)d[k]));
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a0 = std::max(a0, std::min(a, (int)d[k+9]));
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}
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int b0 = -a0;
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for( k = 0; k < 16; k += 2 )
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{
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int b = std::max((int)d[k+1], (int)d[k+2]);
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b = std::max(b, (int)d[k+3]);
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b = std::max(b, (int)d[k+4]);
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b = std::max(b, (int)d[k+5]);
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if( b >= b0 )
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continue;
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b = std::max(b, (int)d[k+6]);
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b = std::max(b, (int)d[k+7]);
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b = std::max(b, (int)d[k+8]);
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b0 = std::min(b0, std::max(b, (int)d[k]));
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b0 = std::min(b0, std::max(b, (int)d[k+9]));
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}
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threshold = -b0-1;
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#endif
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#if 0
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testCorner(ptr, pixel, K, N, threshold);
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#endif
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return threshold;
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}
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template<>
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int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold)
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{
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const int K = 6, N = 12 + K + 1;
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int k, v = ptr[0];
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short d[N];
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for( k = 0; k < N; k++ )
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d[k] = (short)(v - ptr[pixel[k]]);
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#if CV_SSE2
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__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
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for( k = 0; k < 16; k += 8 )
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{
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__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
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__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
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__m128i a = _mm_min_epi16(v0, v1);
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__m128i b = _mm_max_epi16(v0, v1);
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v0 = _mm_loadu_si128((__m128i*)(d+k+3));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+4));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+5));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+6));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k));
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
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v0 = _mm_loadu_si128((__m128i*)(d+k+7));
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
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}
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q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
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q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
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threshold = (short)_mm_cvtsi128_si32(q0) - 1;
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#else
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int a0 = threshold;
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for( k = 0; k < 12; k += 2 )
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{
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int a = std::min((int)d[k+1], (int)d[k+2]);
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if( a <= a0 )
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continue;
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a = std::min(a, (int)d[k+3]);
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a = std::min(a, (int)d[k+4]);
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a = std::min(a, (int)d[k+5]);
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a = std::min(a, (int)d[k+6]);
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a0 = std::max(a0, std::min(a, (int)d[k]));
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a0 = std::max(a0, std::min(a, (int)d[k+7]));
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}
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int b0 = -a0;
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for( k = 0; k < 12; k += 2 )
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{
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int b = std::max((int)d[k+1], (int)d[k+2]);
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b = std::max(b, (int)d[k+3]);
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b = std::max(b, (int)d[k+4]);
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if( b >= b0 )
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continue;
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b = std::max(b, (int)d[k+5]);
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b = std::max(b, (int)d[k+6]);
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b0 = std::min(b0, std::max(b, (int)d[k]));
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b0 = std::min(b0, std::max(b, (int)d[k+7]));
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}
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threshold = -b0-1;
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#endif
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#if 0
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testCorner(ptr, pixel, K, N, threshold);
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#endif
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return threshold;
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}
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template<>
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int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold)
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{
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const int K = 4, N = 8 + K + 1;
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int k, v = ptr[0];
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short d[N];
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for( k = 0; k < N; k++ )
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d[k] = (short)(v - ptr[pixel[k]]);
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#if CV_SSE2
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__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
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for( k = 0; k < 16; k += 8 )
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{
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__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
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__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
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__m128i a = _mm_min_epi16(v0, v1);
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__m128i b = _mm_max_epi16(v0, v1);
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v0 = _mm_loadu_si128((__m128i*)(d+k+3));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k+4));
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a = _mm_min_epi16(a, v0);
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b = _mm_max_epi16(b, v0);
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v0 = _mm_loadu_si128((__m128i*)(d+k));
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
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v0 = _mm_loadu_si128((__m128i*)(d+k+5));
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
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}
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q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
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q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
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threshold = (short)_mm_cvtsi128_si32(q0) - 1;
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#else
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int a0 = threshold;
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for( k = 0; k < 8; k += 2 )
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{
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int a = std::min((int)d[k+1], (int)d[k+2]);
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if( a <= a0 )
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continue;
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a = std::min(a, (int)d[k+3]);
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a = std::min(a, (int)d[k+4]);
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a0 = std::max(a0, std::min(a, (int)d[k]));
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a0 = std::max(a0, std::min(a, (int)d[k+5]));
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}
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int b0 = -a0;
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for( k = 0; k < 8; k += 2 )
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{
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int b = std::max((int)d[k+1], (int)d[k+2]);
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b = std::max(b, (int)d[k+3]);
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if( b >= b0 )
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continue;
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b = std::max(b, (int)d[k+4]);
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b0 = std::min(b0, std::max(b, (int)d[k]));
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b0 = std::min(b0, std::max(b, (int)d[k+5]));
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}
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threshold = -b0-1;
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#endif
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#if 0
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testCorner(ptr, pixel, K, N, threshold);
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#endif
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return threshold;
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}
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template<int patternSize>
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void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
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{
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@ -381,8 +57,6 @@ void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bo
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#endif
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int i, j, k, pixel[25];
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makeOffsets(pixel, (int)img.step, patternSize);
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for(k = patternSize; k < 25; k++)
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pixel[k] = pixel[k - patternSize];
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keypoints.clear();
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374
modules/features2d/src/fast_score.cpp
Normal file
374
modules/features2d/src/fast_score.cpp
Normal file
@ -0,0 +1,374 @@
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/* This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten.
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Below is the original copyright and the references */
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/*
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Copyright (c) 2006, 2008 Edward Rosten
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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*Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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*Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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*Neither the name of the University of Cambridge nor the names of
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its contributors may be used to endorse or promote products derived
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from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/*
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The references are:
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* Machine learning for high-speed corner detection,
|
||||
E. Rosten and T. Drummond, ECCV 2006
|
||||
* Faster and better: A machine learning approach to corner detection
|
||||
E. Rosten, R. Porter and T. Drummond, PAMI, 2009
|
||||
*/
|
||||
|
||||
#include "fast_score.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
void makeOffsets(int pixel[25], int row_stride, int patternSize)
|
||||
{
|
||||
CV_Assert(pixel != 0);
|
||||
switch(patternSize) {
|
||||
case 16:
|
||||
pixel[0] = 0 + row_stride * 3;
|
||||
pixel[1] = 1 + row_stride * 3;
|
||||
pixel[2] = 2 + row_stride * 2;
|
||||
pixel[3] = 3 + row_stride * 1;
|
||||
pixel[4] = 3 + row_stride * 0;
|
||||
pixel[5] = 3 + row_stride * -1;
|
||||
pixel[6] = 2 + row_stride * -2;
|
||||
pixel[7] = 1 + row_stride * -3;
|
||||
pixel[8] = 0 + row_stride * -3;
|
||||
pixel[9] = -1 + row_stride * -3;
|
||||
pixel[10] = -2 + row_stride * -2;
|
||||
pixel[11] = -3 + row_stride * -1;
|
||||
pixel[12] = -3 + row_stride * 0;
|
||||
pixel[13] = -3 + row_stride * 1;
|
||||
pixel[14] = -2 + row_stride * 2;
|
||||
pixel[15] = -1 + row_stride * 3;
|
||||
break;
|
||||
case 12:
|
||||
pixel[0] = 0 + row_stride * 2;
|
||||
pixel[1] = 1 + row_stride * 2;
|
||||
pixel[2] = 2 + row_stride * 1;
|
||||
pixel[3] = 2 + row_stride * 0;
|
||||
pixel[4] = 2 + row_stride * -1;
|
||||
pixel[5] = 1 + row_stride * -2;
|
||||
pixel[6] = 0 + row_stride * -2;
|
||||
pixel[7] = -1 + row_stride * -2;
|
||||
pixel[8] = -2 + row_stride * -1;
|
||||
pixel[9] = -2 + row_stride * 0;
|
||||
pixel[10] = -2 + row_stride * 1;
|
||||
pixel[11] = -1 + row_stride * 2;
|
||||
break;
|
||||
case 8:
|
||||
pixel[0] = 0 + row_stride * 1;
|
||||
pixel[1] = 1 + row_stride * 1;
|
||||
pixel[2] = 1 + row_stride * 0;
|
||||
pixel[3] = 1 + row_stride * -1;
|
||||
pixel[4] = 0 + row_stride * -1;
|
||||
pixel[5] = -1 + row_stride * -1;
|
||||
pixel[6] = 0 + row_stride * 0;
|
||||
pixel[7] = 1 + row_stride * 1;
|
||||
break;
|
||||
}
|
||||
for(int k = patternSize; k < 25; k++)
|
||||
pixel[k] = pixel[k - patternSize];
|
||||
}
|
||||
|
||||
/*static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold) {
|
||||
// check that with the computed "threshold" the pixel is still a corner
|
||||
// and that with the increased-by-1 "threshold" the pixel is not a corner anymore
|
||||
for( int delta = 0; delta <= 1; delta++ )
|
||||
{
|
||||
int v0 = std::min(ptr[0] + threshold + delta, 255);
|
||||
int v1 = std::max(ptr[0] - threshold - delta, 0);
|
||||
int c0 = 0, c1 = 0;
|
||||
|
||||
for( int k = 0; k < N; k++ )
|
||||
{
|
||||
int x = ptr[pixel[k]];
|
||||
if(x > v0)
|
||||
{
|
||||
if( ++c0 > K )
|
||||
break;
|
||||
c1 = 0;
|
||||
}
|
||||
else if( x < v1 )
|
||||
{
|
||||
if( ++c1 > K )
|
||||
break;
|
||||
c0 = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
c0 = c1 = 0;
|
||||
}
|
||||
}
|
||||
CV_Assert( (delta == 0 && std::max(c0, c1) > K) ||
|
||||
(delta == 1 && std::max(c0, c1) <= K) );
|
||||
}
|
||||
}*/
|
||||
|
||||
template<>
|
||||
int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold)
|
||||
{
|
||||
const int K = 8, N = 16 + K + 1;
|
||||
int k, v = ptr[0];
|
||||
short d[N];
|
||||
for( k = 0; k < N; k++ )
|
||||
d[k] = (short)(v - ptr[pixel[k]]);
|
||||
|
||||
#if CV_SSE2
|
||||
__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
|
||||
for( k = 0; k < 16; k += 8 )
|
||||
{
|
||||
__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
|
||||
__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
|
||||
__m128i a = _mm_min_epi16(v0, v1);
|
||||
__m128i b = _mm_max_epi16(v0, v1);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+3));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+4));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+5));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+6));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+7));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+8));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k));
|
||||
q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
|
||||
q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+9));
|
||||
q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
|
||||
q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
|
||||
}
|
||||
q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
|
||||
q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
|
||||
q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
|
||||
q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
|
||||
threshold = (short)_mm_cvtsi128_si32(q0) - 1;
|
||||
#else
|
||||
int a0 = threshold;
|
||||
for( k = 0; k < 16; k += 2 )
|
||||
{
|
||||
int a = std::min((int)d[k+1], (int)d[k+2]);
|
||||
a = std::min(a, (int)d[k+3]);
|
||||
if( a <= a0 )
|
||||
continue;
|
||||
a = std::min(a, (int)d[k+4]);
|
||||
a = std::min(a, (int)d[k+5]);
|
||||
a = std::min(a, (int)d[k+6]);
|
||||
a = std::min(a, (int)d[k+7]);
|
||||
a = std::min(a, (int)d[k+8]);
|
||||
a0 = std::max(a0, std::min(a, (int)d[k]));
|
||||
a0 = std::max(a0, std::min(a, (int)d[k+9]));
|
||||
}
|
||||
|
||||
int b0 = -a0;
|
||||
for( k = 0; k < 16; k += 2 )
|
||||
{
|
||||
int b = std::max((int)d[k+1], (int)d[k+2]);
|
||||
b = std::max(b, (int)d[k+3]);
|
||||
b = std::max(b, (int)d[k+4]);
|
||||
b = std::max(b, (int)d[k+5]);
|
||||
if( b >= b0 )
|
||||
continue;
|
||||
b = std::max(b, (int)d[k+6]);
|
||||
b = std::max(b, (int)d[k+7]);
|
||||
b = std::max(b, (int)d[k+8]);
|
||||
|
||||
b0 = std::min(b0, std::max(b, (int)d[k]));
|
||||
b0 = std::min(b0, std::max(b, (int)d[k+9]));
|
||||
}
|
||||
|
||||
threshold = -b0-1;
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
testCorner(ptr, pixel, K, N, threshold);
|
||||
#endif
|
||||
return threshold;
|
||||
}
|
||||
|
||||
template<>
|
||||
int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold)
|
||||
{
|
||||
const int K = 6, N = 12 + K + 1;
|
||||
int k, v = ptr[0];
|
||||
short d[N];
|
||||
for( k = 0; k < N; k++ )
|
||||
d[k] = (short)(v - ptr[pixel[k]]);
|
||||
|
||||
#if CV_SSE2
|
||||
__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
|
||||
for( k = 0; k < 16; k += 8 )
|
||||
{
|
||||
__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
|
||||
__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
|
||||
__m128i a = _mm_min_epi16(v0, v1);
|
||||
__m128i b = _mm_max_epi16(v0, v1);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+3));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+4));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+5));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+6));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k));
|
||||
q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
|
||||
q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+7));
|
||||
q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
|
||||
q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
|
||||
}
|
||||
q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
|
||||
q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
|
||||
q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
|
||||
q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
|
||||
threshold = (short)_mm_cvtsi128_si32(q0) - 1;
|
||||
#else
|
||||
int a0 = threshold;
|
||||
for( k = 0; k < 12; k += 2 )
|
||||
{
|
||||
int a = std::min((int)d[k+1], (int)d[k+2]);
|
||||
if( a <= a0 )
|
||||
continue;
|
||||
a = std::min(a, (int)d[k+3]);
|
||||
a = std::min(a, (int)d[k+4]);
|
||||
a = std::min(a, (int)d[k+5]);
|
||||
a = std::min(a, (int)d[k+6]);
|
||||
a0 = std::max(a0, std::min(a, (int)d[k]));
|
||||
a0 = std::max(a0, std::min(a, (int)d[k+7]));
|
||||
}
|
||||
|
||||
int b0 = -a0;
|
||||
for( k = 0; k < 12; k += 2 )
|
||||
{
|
||||
int b = std::max((int)d[k+1], (int)d[k+2]);
|
||||
b = std::max(b, (int)d[k+3]);
|
||||
b = std::max(b, (int)d[k+4]);
|
||||
if( b >= b0 )
|
||||
continue;
|
||||
b = std::max(b, (int)d[k+5]);
|
||||
b = std::max(b, (int)d[k+6]);
|
||||
|
||||
b0 = std::min(b0, std::max(b, (int)d[k]));
|
||||
b0 = std::min(b0, std::max(b, (int)d[k+7]));
|
||||
}
|
||||
|
||||
threshold = -b0-1;
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
testCorner(ptr, pixel, K, N, threshold);
|
||||
#endif
|
||||
return threshold;
|
||||
}
|
||||
|
||||
template<>
|
||||
int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold)
|
||||
{
|
||||
const int K = 4, N = 8 + K + 1;
|
||||
int k, v = ptr[0];
|
||||
short d[N];
|
||||
for( k = 0; k < N; k++ )
|
||||
d[k] = (short)(v - ptr[pixel[k]]);
|
||||
|
||||
#if CV_SSE2
|
||||
__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
|
||||
for( k = 0; k < 16; k += 8 )
|
||||
{
|
||||
__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
|
||||
__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
|
||||
__m128i a = _mm_min_epi16(v0, v1);
|
||||
__m128i b = _mm_max_epi16(v0, v1);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+3));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+4));
|
||||
a = _mm_min_epi16(a, v0);
|
||||
b = _mm_max_epi16(b, v0);
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k));
|
||||
q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
|
||||
q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
|
||||
v0 = _mm_loadu_si128((__m128i*)(d+k+5));
|
||||
q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
|
||||
q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
|
||||
}
|
||||
q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
|
||||
q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
|
||||
q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
|
||||
q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
|
||||
threshold = (short)_mm_cvtsi128_si32(q0) - 1;
|
||||
#else
|
||||
int a0 = threshold;
|
||||
for( k = 0; k < 8; k += 2 )
|
||||
{
|
||||
int a = std::min((int)d[k+1], (int)d[k+2]);
|
||||
if( a <= a0 )
|
||||
continue;
|
||||
a = std::min(a, (int)d[k+3]);
|
||||
a = std::min(a, (int)d[k+4]);
|
||||
a0 = std::max(a0, std::min(a, (int)d[k]));
|
||||
a0 = std::max(a0, std::min(a, (int)d[k+5]));
|
||||
}
|
||||
|
||||
int b0 = -a0;
|
||||
for( k = 0; k < 8; k += 2 )
|
||||
{
|
||||
int b = std::max((int)d[k+1], (int)d[k+2]);
|
||||
b = std::max(b, (int)d[k+3]);
|
||||
if( b >= b0 )
|
||||
continue;
|
||||
b = std::max(b, (int)d[k+4]);
|
||||
|
||||
b0 = std::min(b0, std::max(b, (int)d[k]));
|
||||
b0 = std::min(b0, std::max(b, (int)d[k+5]));
|
||||
}
|
||||
|
||||
threshold = -b0-1;
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
testCorner(ptr, pixel, K, N, threshold);
|
||||
#endif
|
||||
return threshold;
|
||||
}
|
||||
|
||||
}
|
64
modules/features2d/src/fast_score.hpp
Normal file
64
modules/features2d/src/fast_score.hpp
Normal file
@ -0,0 +1,64 @@
|
||||
/* This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten.
|
||||
Below is the original copyright and the references */
|
||||
|
||||
/*
|
||||
Copyright (c) 2006, 2008 Edward Rosten
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions
|
||||
are met:
|
||||
|
||||
*Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
|
||||
*Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
|
||||
*Neither the name of the University of Cambridge nor the names of
|
||||
its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||||
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||||
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||||
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||||
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
/*
|
||||
The references are:
|
||||
* Machine learning for high-speed corner detection,
|
||||
E. Rosten and T. Drummond, ECCV 2006
|
||||
* Faster and better: A machine learning approach to corner detection
|
||||
E. Rosten, R. Porter and T. Drummond, PAMI, 2009
|
||||
*/
|
||||
|
||||
#ifndef __OPENCV_FEATURES_2D_FAST_HPP__
|
||||
#define __OPENCV_FEATURES_2D_FAST_HPP__
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include "precomp.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
void makeOffsets(int pixel[25], int row_stride, int patternSize);
|
||||
|
||||
//static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold);
|
||||
|
||||
template<int patternSize>
|
||||
int cornerScore(const uchar* ptr, const int pixel[], int threshold);
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif
|
Loading…
Reference in New Issue
Block a user