split FAST in order to reuse it in BRISK
This commit is contained in:
Vincent Rabaud
committed by
Vadim Pisarevsky
Vadim Pisarevsky
parent
a6e2acbfee
commit
228070a74c
@@ -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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