added FAST<5/8> & FAST<7/12> (by Vincent Rabaud)
This commit is contained in:
Vadim Pisarevsky
parent
b43cec3301
commit
640408ebe7
@ -473,12 +473,18 @@ protected:
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//! detects corners using FAST algorithm by E. Rosten
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CV_EXPORTS void FAST( InputArray image, CV_OUT vector<KeyPoint>& keypoints,
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int threshold, bool nonmaxSupression=true );
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int threshold, bool nonmaxSupression=true, int type = 2 );
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class CV_EXPORTS_W FastFeatureDetector : public FeatureDetector
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{
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public:
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CV_WRAP FastFeatureDetector( int threshold=10, bool nonmaxSuppression=true );
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enum
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{
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TYPE_5_8 = 0, TYPE_7_12 = 1, TYPE_9_16 = 2
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};
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CV_WRAP FastFeatureDetector( int threshold=10, bool nonmaxSuppression=true);
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CV_WRAP FastFeatureDetector( int threshold, bool nonmaxSuppression, int type);
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AlgorithmInfo* info() const;
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protected:
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@ -486,6 +492,7 @@ protected:
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int threshold;
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bool nonmaxSuppression;
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int type;
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};
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@ -22,9 +22,13 @@ PERF_TEST_P(fast, detectForORB, testing::Values(FAST_IMAGES))
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declare.in(frame);
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FastFeatureDetector fd(20, true);
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FastFeatureDetector fd(20, true, FastFeatureDetector::TYPE_5_8);
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vector<KeyPoint> points;
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TEST_CYCLE() fd.detect(frame, points);
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fd = FastFeatureDetector(20, true, FastFeatureDetector::TYPE_7_12);
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TEST_CYCLE() fd.detect(frame, points);
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fd = FastFeatureDetector(20, true, FastFeatureDetector::TYPE_9_16);
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TEST_CYCLE() fd.detect(frame, points);
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}
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@ -46,27 +46,93 @@ The references are:
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namespace cv
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{
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static void makeOffsets(int pixel[], int row_stride)
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static void makeOffsets(int pixel[], int row_stride, int patternSize)
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{
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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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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 int cornerScore(const uchar* ptr, const int pixel[], int threshold)
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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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@ -150,50 +216,170 @@ static int cornerScore(const uchar* ptr, const int pixel[], int threshold)
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#endif
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#if 0
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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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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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void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
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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 < 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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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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Mat img = _img.getMat();
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const int K = 8, N = 16 + K + 1;
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int i, j, k, pixel[N];
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makeOffsets(pixel, (int)img.step);
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for(k = 16; k < N; k++)
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pixel[k] = pixel[k - 16];
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const int K = patternSize/2, N = patternSize + K + 1, quarterPatternSize = patternSize/4;
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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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@ -235,9 +421,9 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
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v0 = _mm_xor_si128(_mm_adds_epu8(v0, t), delta);
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__m128i x0 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[0])), delta);
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__m128i x1 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[4])), delta);
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__m128i x2 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[8])), delta);
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__m128i x3 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[12])), delta);
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__m128i x1 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[quarterPatternSize])), delta);
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__m128i x2 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[2*quarterPatternSize])), delta);
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__m128i x3 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[3*quarterPatternSize])), delta);
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m0 = _mm_and_si128(_mm_cmpgt_epi8(x0, v0), _mm_cmpgt_epi8(x1, v0));
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m1 = _mm_and_si128(_mm_cmpgt_epi8(v1, x0), _mm_cmpgt_epi8(v1, x1));
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m0 = _mm_or_si128(m0, _mm_and_si128(_mm_cmpgt_epi8(x1, v0), _mm_cmpgt_epi8(x2, v0)));
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@ -279,7 +465,7 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
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{
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cornerpos[ncorners++] = j+k;
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if(nonmax_suppression)
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curr[j+k] = (uchar)cornerScore(ptr+k, pixel, threshold);
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curr[j+k] = (uchar)cornerScore<patternSize>(ptr+k, pixel, threshold);
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}
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}
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#endif
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@ -317,7 +503,7 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
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||||
{
|
||||
cornerpos[ncorners++] = j;
|
||||
if(nonmax_suppression)
|
||||
curr[j] = (uchar)cornerScore(ptr, pixel, threshold);
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||||
curr[j] = (uchar)cornerScore<patternSize>(ptr, pixel, threshold);
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||||
break;
|
||||
}
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}
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@ -339,7 +525,7 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
|
||||
{
|
||||
cornerpos[ncorners++] = j;
|
||||
if(nonmax_suppression)
|
||||
curr[j] = (uchar)cornerScore(ptr, pixel, threshold);
|
||||
curr[j] = (uchar)cornerScore<patternSize>(ptr, pixel, threshold);
|
||||
break;
|
||||
}
|
||||
}
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@ -375,19 +561,36 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression, int type)
|
||||
{
|
||||
switch(type) {
|
||||
case FastFeatureDetector::TYPE_5_8:
|
||||
FAST_t<8>(_img, keypoints, threshold, nonmax_suppression);
|
||||
break;
|
||||
case FastFeatureDetector::TYPE_7_12:
|
||||
FAST_t<12>(_img, keypoints, threshold, nonmax_suppression);
|
||||
break;
|
||||
case FastFeatureDetector::TYPE_9_16:
|
||||
FAST_t<16>(_img, keypoints, threshold, nonmax_suppression);
|
||||
break;
|
||||
}
|
||||
}
|
||||
/*
|
||||
* FastFeatureDetector
|
||||
*/
|
||||
FastFeatureDetector::FastFeatureDetector( int _threshold, bool _nonmaxSuppression )
|
||||
: threshold(_threshold), nonmaxSuppression(_nonmaxSuppression)
|
||||
: threshold(_threshold), nonmaxSuppression(_nonmaxSuppression), type(FastFeatureDetector::TYPE_9_16)
|
||||
{}
|
||||
|
||||
FastFeatureDetector::FastFeatureDetector( int _threshold, bool _nonmaxSuppression, int _type )
|
||||
: threshold(_threshold), nonmaxSuppression(_nonmaxSuppression), type(_type)
|
||||
{}
|
||||
|
||||
void FastFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
|
||||
{
|
||||
Mat grayImage = image;
|
||||
if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
|
||||
FAST( grayImage, keypoints, threshold, nonmaxSuppression );
|
||||
FAST( grayImage, keypoints, threshold, nonmaxSuppression, type );
|
||||
KeyPointsFilter::runByPixelsMask( keypoints, mask );
|
||||
}
|
||||
|
||||
|
||||
@ -58,7 +58,8 @@ CV_INIT_ALGORITHM(BriefDescriptorExtractor, "Feature2D.BRIEF",
|
||||
|
||||
CV_INIT_ALGORITHM(FastFeatureDetector, "Feature2D.FAST",
|
||||
obj.info()->addParam(obj, "threshold", obj.threshold);
|
||||
obj.info()->addParam(obj, "nonmaxSuppression", obj.nonmaxSuppression));
|
||||
obj.info()->addParam(obj, "nonmaxSuppression", obj.nonmaxSuppression);
|
||||
obj.info()->addParam(obj, "type", obj.type, FastFeatureDetector::TYPE_9_16));
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
@ -58,6 +58,7 @@ CV_FastTest::~CV_FastTest() {}
|
||||
|
||||
void CV_FastTest::run( int )
|
||||
{
|
||||
for(int type=0; type <= 2; ++type) {
|
||||
Mat image1 = imread(string(ts->get_data_path()) + "inpaint/orig.jpg");
|
||||
Mat image2 = imread(string(ts->get_data_path()) + "cameracalibration/chess9.jpg");
|
||||
string xml = string(ts->get_data_path()) + "fast/result.xml";
|
||||
@ -74,8 +75,8 @@ void CV_FastTest::run( int )
|
||||
|
||||
vector<KeyPoint> keypoints1;
|
||||
vector<KeyPoint> keypoints2;
|
||||
FAST(gray1, keypoints1, 30);
|
||||
FAST(gray2, keypoints2, 30);
|
||||
FAST(gray1, keypoints1, 30, type);
|
||||
FAST(gray2, keypoints2, 30, type);
|
||||
|
||||
for(size_t i = 0; i < keypoints1.size(); ++i)
|
||||
{
|
||||
@ -109,17 +110,21 @@ void CV_FastTest::run( int )
|
||||
read( fs["exp_kps2"], exp_kps2, Mat() );
|
||||
fs.release();
|
||||
|
||||
// We only have testing data for 9_16 but it actually works equally well for 7_12
|
||||
if ((type==1) || (type==2)){
|
||||
if ( 0 != norm(exp_kps1, kps1, NORM_L2) || 0 != norm(exp_kps2, kps2, NORM_L2))
|
||||
{
|
||||
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/* cv::namedWindow("Img1"); cv::imshow("Img1", image1);
|
||||
/*cv::namedWindow("Img1"); cv::imshow("Img1", image1);
|
||||
cv::namedWindow("Img2"); cv::imshow("Img2", image2);
|
||||
cv::waitKey(0);*/
|
||||
}
|
||||
|
||||
ts->set_failed_test_info(cvtest::TS::OK);
|
||||
ts->set_failed_test_info(cvtest::TS::OK);
|
||||
}
|
||||
|
||||
TEST(Features2d_FAST, regression) { CV_FastTest test; test.safe_run(); }
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user