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added FAST<5/8> & FAST<7/12> (by Vincent Rabaud)

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This commit is contained in:
Vadim Pisarevsky
2012-07-31 17:17:58 +04:00
parent b43cec3301
commit 640408ebe7
5 changed files with 292 additions and 72 deletions
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11
modules/features2d/include/opencv2/features2d/features2d.hpp
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@@ -473,12 +473,18 @@ protected:
//! detects corners using FAST algorithm by E. Rosten
CV_EXPORTS void FAST( InputArray image, CV_OUT vector<KeyPoint>& keypoints,
int threshold, bool nonmaxSupression=true );
int threshold, bool nonmaxSupression=true, int type = 2 );
class CV_EXPORTS_W FastFeatureDetector : public FeatureDetector
{
public:
CV_WRAP FastFeatureDetector( int threshold=10, bool nonmaxSuppression=true );
enum
{
TYPE_5_8 = 0, TYPE_7_12 = 1, TYPE_9_16 = 2
};
CV_WRAP FastFeatureDetector( int threshold=10, bool nonmaxSuppression=true);
CV_WRAP FastFeatureDetector( int threshold, bool nonmaxSuppression, int type);
AlgorithmInfo* info() const;
protected:
@@ -486,6 +492,7 @@ protected:
int threshold;
bool nonmaxSuppression;
int type;
};

6
modules/features2d/perf/perf_fast.cpp
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@@ -22,9 +22,13 @@ PERF_TEST_P(fast, detectForORB, testing::Values(FAST_IMAGES))
declare.in(frame);
FastFeatureDetector fd(20, true);
FastFeatureDetector fd(20, true, FastFeatureDetector::TYPE_5_8);
vector<KeyPoint> points;
TEST_CYCLE() fd.detect(frame, points);
fd = FastFeatureDetector(20, true, FastFeatureDetector::TYPE_7_12);
TEST_CYCLE() fd.detect(frame, points);
fd = FastFeatureDetector(20, true, FastFeatureDetector::TYPE_9_16);
TEST_CYCLE() fd.detect(frame, points);
}

331
modules/features2d/src/fast.cpp
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@@ -46,27 +46,93 @@ The references are:
namespace cv
{
static void makeOffsets(int pixel[], int row_stride)
static void makeOffsets(int pixel[], int row_stride, int patternSize)
{
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;
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;
}
}
static int cornerScore(const uchar* ptr, const int pixel[], int threshold)
/*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 patternSize>
int cornerScore(const uchar* ptr, const int pixel[], int threshold);
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];
@@ -150,50 +216,170 @@ static int cornerScore(const uchar* ptr, const int pixel[], int threshold)
#endif
#if 0
// 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) );
}
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]]);
void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
#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 < 12; 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;
}
template<int patternSize>
void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
{
Mat img = _img.getMat();
const int K = 8, N = 16 + K + 1;
int i, j, k, pixel[N];
makeOffsets(pixel, (int)img.step);
for(k = 16; k < N; k++)
pixel[k] = pixel[k - 16];
const int K = patternSize/2, N = patternSize + K + 1, quarterPatternSize = patternSize/4;
int i, j, k, pixel[25];
makeOffsets(pixel, (int)img.step, patternSize);
for(k = patternSize; k < 25; k++)
pixel[k] = pixel[k - patternSize];
keypoints.clear();
@@ -235,9 +421,9 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
v0 = _mm_xor_si128(_mm_adds_epu8(v0, t), delta);
__m128i x0 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[0])), delta);
__m128i x1 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[4])), delta);
__m128i x2 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[8])), delta);
__m128i x3 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[12])), delta);
__m128i x1 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[quarterPatternSize])), delta);
__m128i x2 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[2*quarterPatternSize])), delta);
__m128i x3 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[3*quarterPatternSize])), delta);
m0 = _mm_and_si128(_mm_cmpgt_epi8(x0, v0), _mm_cmpgt_epi8(x1, v0));
m1 = _mm_and_si128(_mm_cmpgt_epi8(v1, x0), _mm_cmpgt_epi8(v1, x1));
m0 = _mm_or_si128(m0, _mm_and_si128(_mm_cmpgt_epi8(x1, v0), _mm_cmpgt_epi8(x2, v0)));
@@ -279,7 +465,7 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
{
cornerpos[ncorners++] = j+k;
if(nonmax_suppression)
curr[j+k] = (uchar)cornerScore(ptr+k, pixel, threshold);
curr[j+k] = (uchar)cornerScore<patternSize>(ptr+k, pixel, threshold);
}
}
#endif
@@ -317,7 +503,7 @@ 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;
}
}
@@ -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;
}
}
@@ -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 );
}

3
modules/features2d/src/features2d_init.cpp
View File

@@ -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));
///////////////////////////////////////////////////////////////////////////////////////////////////////////

13
modules/features2d/test/test_fast.cpp
View File

@@ -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(); }