fix for ORB tests
This commit is contained in:
Marina Kolpakova
parent
a3c4d1b679
commit
4b1724aeb9
@ -63,7 +63,7 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat&) { throw_nogpu(); }
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#else /* !defined (HAVE_CUDA) */
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namespace cv { namespace gpu { namespace device
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namespace cv { namespace gpu { namespace device
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{
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namespace orb
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{
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@ -345,8 +345,8 @@ namespace
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9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/,
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7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/,
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-1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
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};
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};
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void initializeOrbPattern(const Point* pattern0, Mat& pattern, int ntuples, int tupleSize, int poolSize)
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{
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RNG rng(0x12345678);
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@ -356,7 +356,7 @@ namespace
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int* pattern_x_ptr = pattern.ptr<int>(0);
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int* pattern_y_ptr = pattern.ptr<int>(1);
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for (int i = 0; i < ntuples; i++)
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{
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for (int k = 0; k < tupleSize; k++)
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@ -386,8 +386,8 @@ namespace
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{
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// we always start with a fixed seed,
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// to make patterns the same on each run
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RNG rng(0x34985739);
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RNG rng(0x34985739);
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for (int i = 0; i < npoints; i++)
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{
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pattern[i].x = rng.uniform(-patchSize / 2, patchSize / 2 + 1);
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@ -400,11 +400,11 @@ cv::gpu::ORB_GPU::ORB_GPU(int nFeatures, float scaleFactor, int nLevels, int edg
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nFeatures_(nFeatures), scaleFactor_(scaleFactor), nLevels_(nLevels), edgeThreshold_(edgeThreshold), firstLevel_(firstLevel), WTA_K_(WTA_K),
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scoreType_(scoreType), patchSize_(patchSize),
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fastDetector_(DEFAULT_FAST_THRESHOLD)
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{
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{
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// fill the extractors and descriptors for the corresponding scales
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float factor = 1.0f / scaleFactor_;
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float n_desired_features_per_scale = nFeatures_ * (1.0f - factor) / (1.0f - std::pow(factor, nLevels_));
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n_features_per_level_.resize(nLevels_);
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size_t sum_n_features = 0;
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for (int level = 0; level < nLevels_ - 1; ++level)
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@ -420,7 +420,7 @@ cv::gpu::ORB_GPU::ORB_GPU(int nFeatures, float scaleFactor, int nLevels, int edg
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vector<int> u_max(half_patch_size + 1);
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for (int v = 0; v <= half_patch_size * std::sqrt(2.f) / 2 + 1; ++v)
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u_max[v] = cvRound(std::sqrt(static_cast<float>(half_patch_size * half_patch_size - v * v)));
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// Make sure we are symmetric
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for (int v = half_patch_size, v_0 = 0; v >= half_patch_size * std::sqrt(2.f) / 2; --v)
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{
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@ -431,7 +431,7 @@ cv::gpu::ORB_GPU::ORB_GPU(int nFeatures, float scaleFactor, int nLevels, int edg
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}
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CV_Assert(u_max.size() < 32);
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cv::gpu::device::orb::loadUMax(&u_max[0], static_cast<int>(u_max.size()));
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// Calc pattern
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const int npoints = 512;
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Point pattern_buf[npoints];
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@ -441,15 +441,15 @@ cv::gpu::ORB_GPU::ORB_GPU(int nFeatures, float scaleFactor, int nLevels, int edg
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pattern0 = pattern_buf;
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makeRandomPattern(patchSize_, pattern_buf, npoints);
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}
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CV_Assert(WTA_K_ == 2 || WTA_K_ == 3 || WTA_K_ == 4);
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CV_Assert(WTA_K_ == 2 || WTA_K_ == 3 || WTA_K_ == 4);
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Mat h_pattern;
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if (WTA_K_ == 2)
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{
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h_pattern.create(2, npoints, CV_32SC1);
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int* pattern_x_ptr = h_pattern.ptr<int>(0);
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int* pattern_y_ptr = h_pattern.ptr<int>(1);
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@ -466,7 +466,7 @@ cv::gpu::ORB_GPU::ORB_GPU(int nFeatures, float scaleFactor, int nLevels, int edg
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}
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pattern_.upload(h_pattern);
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blurFilter = createGaussianFilter_GPU(CV_8UC1, Size(7, 7), 2, 2, BORDER_REFLECT_101);
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blurForDescriptor = false;
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@ -497,7 +497,7 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
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ensureSizeIsEnough(sz, image.type(), imagePyr_[level]);
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ensureSizeIsEnough(sz, CV_8UC1, maskPyr_[level]);
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maskPyr_[level].setTo(Scalar::all(255));
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// Compute the resized image
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if (level != firstLevel_)
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{
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@ -513,7 +513,10 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
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resize(imagePyr_[level - 1], imagePyr_[level], sz, 0, 0, INTER_LINEAR);
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if (!mask.empty())
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{
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resize(maskPyr_[level - 1], maskPyr_[level], sz, 0, 0, INTER_LINEAR);
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threshold(maskPyr_[level], maskPyr_[level], 254, 0, THRESH_TOZERO);
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}
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}
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}
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else
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@ -544,7 +547,7 @@ namespace
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//this is only necessary if the keypoints size is greater than the number of desired points.
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if (count > n_points)
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{
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if (n_points == 0)
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if (n_points == 0)
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{
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keypoints.release();
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return;
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@ -563,7 +566,7 @@ void cv::gpu::ORB_GPU::computeKeyPointsPyramid()
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keyPointsPyr_.resize(nLevels_);
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keyPointsCount_.resize(nLevels_);
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for (int level = 0; level < nLevels_; ++level)
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{
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keyPointsCount_[level] = fastDetector_.calcKeyPointsLocation(imagePyr_[level], maskPyr_[level]);
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@ -588,7 +591,7 @@ void cv::gpu::ORB_GPU::computeKeyPointsPyramid()
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// Compute the Harris cornerness (better scoring than FAST)
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HarrisResponses_gpu(imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float>(1), keyPointsCount_[level], 7, HARRIS_K, 0);
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}
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}
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//cull to the final desired level, using the new Harris scores or the original FAST scores.
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cull(keyPointsPyr_[level], keyPointsCount_[level], n_features);
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@ -618,7 +621,7 @@ void cv::gpu::ORB_GPU::computeDescriptors(GpuMat& descriptors)
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int offset = 0;
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for (int level = 0; level < nLevels_; ++level)
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{
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{
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if (keyPointsCount_[level] == 0)
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continue;
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@ -631,7 +634,7 @@ void cv::gpu::ORB_GPU::computeDescriptors(GpuMat& descriptors)
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blurFilter->apply(imagePyr_[level], buf_, Rect(0, 0, imagePyr_[level].cols, imagePyr_[level].rows));
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}
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computeOrbDescriptor_gpu(blurForDescriptor ? buf_ : imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float>(2),
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computeOrbDescriptor_gpu(blurForDescriptor ? buf_ : imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float>(2),
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keyPointsCount_[level], pattern_.ptr<int>(0), pattern_.ptr<int>(1), descRange, descriptorSize(), WTA_K_, 0);
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offset += keyPointsCount_[level];
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@ -656,7 +659,7 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat& keypoints)
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ensureSizeIsEnough(ROWS_COUNT, nAllkeypoints, CV_32FC1, keypoints);
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int offset = 0;
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for (int level = 0; level < nLevels_; ++level)
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{
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if (keyPointsCount_[level] == 0)
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@ -664,15 +667,15 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat& keypoints)
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float sf = getScale(scaleFactor_, firstLevel_, level);
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GpuMat keyPointsRange = keypoints.colRange(offset, offset + keyPointsCount_[level]);
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GpuMat keyPointsRange = keypoints.colRange(offset, offset + keyPointsCount_[level]);
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float locScale = level != firstLevel_ ? sf : 1.0f;
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mergeLocation_gpu(keyPointsPyr_[level].ptr<short2>(0), keyPointsRange.ptr<float>(0), keyPointsRange.ptr<float>(1), keyPointsCount_[level], locScale, 0);
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GpuMat range = keyPointsRange.rowRange(2, 4);
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keyPointsPyr_[level](Range(1, 3), Range(0, keyPointsCount_[level])).copyTo(range);
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keyPointsRange.row(4).setTo(Scalar::all(level));
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keyPointsRange.row(5).setTo(Scalar::all(patchSize_ * sf));
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