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Fix BRISK detector&descriptor using proper AGAST.

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This commit is contained in:
cbalint13
2015-04-11 12:09:13 +03:00
parent b639353193
commit 26997f32c6
10 changed files with 17378 additions and 21 deletions
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7667
modules/features2d/src/agast.cpp Normal file
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9375
modules/features2d/src/agast_score.cpp Normal file
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62
modules/features2d/src/agast_score.hpp Normal file
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@@ -0,0 +1,62 @@
/* This is AGAST and OAST, an optimal and accelerated corner detector
based on the accelerated segment tests
Below is the original copyright and the references */
/*
Copyright (C) 2010 Elmar Mair
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:
* Adaptive and Generic Corner Detection Based on the Accelerated Segment Test,
Elmar Mair and Gregory D. Hager and Darius Burschka
and Michael Suppa and Gerhard Hirzinger ECCV 2010
URL: http://www6.in.tum.de/Main/ResearchAgast
*/
#ifndef __OPENCV_FEATURES_2D_AGAST_HPP__
#define __OPENCV_FEATURES_2D_AGAST_HPP__
#ifdef __cplusplus
#include "precomp.hpp"
namespace cv
{
void makeAgastOffsets(int pixel[16], int row_stride, int type);
template<int type>
int agast_cornerScore(const uchar* ptr, const int pixel[], int threshold);
}
#endif
#endif

45
modules/features2d/src/brisk.cpp
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@@ -46,7 +46,7 @@
#include <fstream>
#include <stdlib.h>
#include "fast_score.hpp"
#include "agast_score.hpp"
namespace cv
{
@@ -157,7 +157,7 @@ public:
// derive a layer
BriskLayer(const BriskLayer& layer, int mode);
// Fast/Agast without non-max suppression
// Agast without non-max suppression
void
getAgastPoints(int threshold, std::vector<cv::KeyPoint>& keypoints);
@@ -204,13 +204,13 @@ private:
value(const cv::Mat& mat, float xf, float yf, float scale) const;
// the image
cv::Mat img_;
// its Fast scores
// its Agast scores
cv::Mat_<uchar> scores_;
// coordinate transformation
float scale_;
float offset_;
// agast
cv::Ptr<cv::FastFeatureDetector> fast_9_16_;
cv::Ptr<cv::AgastFeatureDetector> oast_9_16_;
int pixel_5_8_[25];
int pixel_9_16_[25];
};
@@ -618,8 +618,6 @@ BRISK_Impl::detectAndCompute( InputArray _image, InputArray _mask, std::vector<K
OutputArray _descriptors, bool useProvidedKeypoints)
{
bool doOrientation=true;
if (useProvidedKeypoints)
doOrientation = false;
// If the user specified cv::noArray(), this will yield false. Otherwise it will return true.
bool doDescriptors = _descriptors.needed();
@@ -733,8 +731,12 @@ BRISK_Impl::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _ma
direction1 += tmp1;
}
kp.angle = (float)(atan2((float) direction1, (float) direction0) / CV_PI * 180.0);
if (kp.angle < 0)
kp.angle += 360.f;
if (!doDescriptors)
{
if (kp.angle < 0)
kp.angle += 360.f;
}
}
if (!doDescriptors)
@@ -755,6 +757,9 @@ BRISK_Impl::computeDescriptorsAndOrOrientation(InputArray _image, InputArray _ma
theta -= n_rot_;
}
if (kp.angle < 0)
kp.angle += 360.f;
// now also extract the stuff for the actual direction:
// let us compute the smoothed values
int shifter = 0;
@@ -867,7 +872,7 @@ BriskScaleSpace::getKeypoints(const int threshold_, std::vector<cv::KeyPoint>& k
std::vector<std::vector<cv::KeyPoint> > agastPoints;
agastPoints.resize(layers_);
// go through the octaves and intra layers and calculate fast corner scores:
// go through the octaves and intra layers and calculate agast corner scores:
for (int i = 0; i < layers_; i++)
{
// call OAST16_9 without nms
@@ -2067,9 +2072,9 @@ BriskLayer::BriskLayer(const cv::Mat& img_in, float scale_in, float offset_in)
scale_ = scale_in;
offset_ = offset_in;
// create an agast detector
fast_9_16_ = FastFeatureDetector::create(1, true, FastFeatureDetector::TYPE_9_16);
makeOffsets(pixel_5_8_, (int)img_.step, 8);
makeOffsets(pixel_9_16_, (int)img_.step, 16);
oast_9_16_ = AgastFeatureDetector::create(1, false, AgastFeatureDetector::OAST_9_16);
makeAgastOffsets(pixel_5_8_, (int)img_.step, AgastFeatureDetector::AGAST_5_8);
makeAgastOffsets(pixel_9_16_, (int)img_.step, AgastFeatureDetector::OAST_9_16);
}
// derive a layer
BriskLayer::BriskLayer(const BriskLayer& layer, int mode)
@@ -2089,18 +2094,18 @@ BriskLayer::BriskLayer(const BriskLayer& layer, int mode)
offset_ = 0.5f * scale_ - 0.5f;
}
scores_ = cv::Mat::zeros(img_.rows, img_.cols, CV_8U);
fast_9_16_ = FastFeatureDetector::create(1, false, FastFeatureDetector::TYPE_9_16);
makeOffsets(pixel_5_8_, (int)img_.step, 8);
makeOffsets(pixel_9_16_, (int)img_.step, 16);
oast_9_16_ = AgastFeatureDetector::create(1, false, AgastFeatureDetector::OAST_9_16);
makeAgastOffsets(pixel_5_8_, (int)img_.step, AgastFeatureDetector::AGAST_5_8);
makeAgastOffsets(pixel_9_16_, (int)img_.step, AgastFeatureDetector::OAST_9_16);
}
// Fast/Agast
// Agast
// wraps the agast class
void
BriskLayer::getAgastPoints(int threshold, std::vector<KeyPoint>& keypoints)
{
fast_9_16_->setThreshold(threshold);
fast_9_16_->detect(img_, keypoints);
oast_9_16_->setThreshold(threshold);
oast_9_16_->detect(img_, keypoints);
// also write scores
const size_t num = keypoints.size();
@@ -2121,7 +2126,7 @@ BriskLayer::getAgastScore(int x, int y, int threshold) const
{
return score;
}
score = (uchar)cornerScore<16>(&img_.at<uchar>(y, x), pixel_9_16_, threshold - 1);
score = (uchar)agast_cornerScore<AgastFeatureDetector::OAST_9_16>(&img_.at<uchar>(y, x), pixel_9_16_, threshold - 1);
if (score < threshold)
score = 0;
return score;
@@ -2134,7 +2139,7 @@ BriskLayer::getAgastScore_5_8(int x, int y, int threshold) const
return 0;
if (x >= img_.cols - 2 || y >= img_.rows - 2)
return 0;
int score = cornerScore<8>(&img_.at<uchar>(y, x), pixel_5_8_, threshold - 1);
int score = agast_cornerScore<AgastFeatureDetector::AGAST_5_8>(&img_.at<uchar>(y, x), pixel_5_8_, threshold - 1);
if (score < threshold)
score = 0;
return score;