From 66c116ec6ad77a470b2380ff9369dbe659c6f67d Mon Sep 17 00:00:00 2001
From: Maria Dimashova <no@email>
Date: Thu, 5 May 2011 10:10:46 +0000
Subject: [PATCH] fixed #1044
---
.../include/opencv2/features2d/features2d.hpp | 14 ++--
modules/features2d/src/detectors.cpp | 28 ++------
modules/features2d/src/keypoint.cpp | 21 ++++++
modules/features2d/src/sift.cpp | 69 ++++++++++++++++---
4 files changed, 91 insertions(+), 41 deletions(-)
diff --git a/modules/features2d/include/opencv2/features2d/features2d.hpp b/modules/features2d/include/opencv2/features2d/features2d.hpp
index 66ffea98e..31a14d035 100644
--- a/modules/features2d/include/opencv2/features2d/features2d.hpp
+++ b/modules/features2d/include/opencv2/features2d/features2d.hpp
@@ -266,7 +266,7 @@ CV_EXPORTS void read(const FileNode& node, CV_OUT vector<KeyPoint>& keypoints);
/*
* A class filters a vector of keypoints.
* Because now it is difficult to provide a convenient interface for all usage scenarios of the keypoints filter class,
- * it has only 2 needed by now static methods.
+ * it has only 3 needed by now static methods.
*/
class CV_EXPORTS KeyPointsFilter
{
@@ -281,6 +281,10 @@ public:
* Remove keypoints of sizes out of range.
*/
static void runByKeypointSize( vector<KeyPoint>& keypoints, float minSize, float maxSize=std::numeric_limits<float>::max() );
+ /*
+ * Remove keypoints from some image by mask for pixels of this image.
+ */
+ static void runByPixelsMask( vector<KeyPoint>& keypoints, const Mat& mask );
};
/*!
@@ -1243,13 +1247,7 @@ public:
static Ptr<FeatureDetector> create( const string& detectorType );
protected:
- virtual void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const = 0;
- /*
- * Remove keypoints that are not in the mask.
- * Helper function, useful when wrapping a library call for keypoint detection that
- * does not support a mask argument.
- */
- static void removeInvalidPoints( const Mat& mask, vector<KeyPoint>& keypoints );
+ virtual void detectImpl( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const = 0;
};
class CV_EXPORTS FastFeatureDetector : public FeatureDetector
diff --git a/modules/features2d/src/detectors.cpp b/modules/features2d/src/detectors.cpp
index d5a0f8374..552adf394 100644
--- a/modules/features2d/src/detectors.cpp
+++ b/modules/features2d/src/detectors.cpp
@@ -48,17 +48,6 @@ namespace cv
/*
* FeatureDetector
*/
-class MaskPredicate
-{
-public:
- MaskPredicate( const Mat& _mask ) : mask(_mask) {}
- bool operator() (const KeyPoint& key_pt) const
- {
- return mask.at<uchar>( (int)(key_pt.pt.y + 0.5f), (int)(key_pt.pt.x + 0.5f) ) == 0;
- }
-private:
- const Mat mask;
-};
FeatureDetector::~FeatureDetector()
{}
@@ -82,14 +71,6 @@ void FeatureDetector::detect(const vector<Mat>& imageCollection, vector<vector<K
detect( imageCollection[i], pointCollection[i], masks.empty() ? Mat() : masks[i] );
}
-void FeatureDetector::removeInvalidPoints( const Mat& mask, vector<KeyPoint>& keypoints )
-{
- if( mask.empty() )
- return;
-
- keypoints.erase(remove_if(keypoints.begin(), keypoints.end(), MaskPredicate(mask)), keypoints.end());
-};
-
void FeatureDetector::read( const FileNode& )
{}
@@ -179,7 +160,7 @@ void FastFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoi
Mat grayImage = image;
if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
FAST( grayImage, keypoints, threshold, nonmaxSuppression );
- removeInvalidPoints( mask, keypoints );
+ KeyPointsFilter::runByPixelsMask( keypoints, mask );
}
/*
@@ -360,7 +341,7 @@ void StarFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypoi
if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
star(grayImage, keypoints);
- removeInvalidPoints(mask, keypoints);
+ KeyPointsFilter::runByPixelsMask( keypoints, mask );
}
/*
@@ -482,7 +463,7 @@ void DenseFeatureDetector::detectImpl( const Mat& image, vector<KeyPoint>& keypo
if( params.varyImgBoundWithScale ) curBound = static_cast<int>( curBound * params.featureScaleMul + 0.5f );
}
- removeInvalidPoints( mask, keypoints );
+ KeyPointsFilter::runByPixelsMask( keypoints, mask );
}
/*
@@ -566,7 +547,7 @@ void PyramidAdaptedFeatureDetector::detectImpl( const Mat& image, vector<KeyPoin
{
// Detect on current level of the pyramid
vector<KeyPoint> new_pts;
- detector->detect(src, new_pts);
+ detector->detect( src, new_pts, mask );
for( vector<KeyPoint>::iterator it = new_pts.begin(), end = new_pts.end(); it != end; ++it)
{
it->pt.x *= multiplier;
@@ -574,7 +555,6 @@ void PyramidAdaptedFeatureDetector::detectImpl( const Mat& image, vector<KeyPoin
it->size *= multiplier;
it->octave = l;
}
- removeInvalidPoints( mask, new_pts );
keypoints.insert( keypoints.end(), new_pts.begin(), new_pts.end() );
// Downsample
diff --git a/modules/features2d/src/keypoint.cpp b/modules/features2d/src/keypoint.cpp
index 88305914c..6f76026a5 100644
--- a/modules/features2d/src/keypoint.cpp
+++ b/modules/features2d/src/keypoint.cpp
@@ -200,4 +200,25 @@ void KeyPointsFilter::runByKeypointSize( vector<KeyPoint>& keypoints, float minS
keypoints.end() );
}
+class MaskPredicate
+{
+public:
+ MaskPredicate( const Mat& _mask ) : mask(_mask) {}
+ bool operator() (const KeyPoint& key_pt) const
+ {
+ return mask.at<uchar>( (int)(key_pt.pt.y + 0.5f), (int)(key_pt.pt.x + 0.5f) ) == 0;
+ }
+
+private:
+ const Mat mask;
+};
+
+void KeyPointsFilter::runByPixelsMask( vector<KeyPoint>& keypoints, const Mat& mask )
+{
+ if( mask.empty() )
+ return;
+
+ keypoints.erase(remove_if(keypoints.begin(), keypoints.end(), MaskPredicate(mask)), keypoints.end());
+}
+
}
diff --git a/modules/features2d/src/sift.cpp b/modules/features2d/src/sift.cpp
index f97f1faa6..fca4de70c 100644
--- a/modules/features2d/src/sift.cpp
+++ b/modules/features2d/src/sift.cpp
@@ -2194,16 +2194,49 @@ static void removeDuplicatedKeypoints(vector<KeyPoint>& keypoints)
keypoints.resize(j);
}
-
// detectors
-void SIFT::operator()(const Mat& img, const Mat& mask,
+void SIFT::operator()(const Mat& image, const Mat& mask,
vector<KeyPoint>& keypoints) const
{
- if( img.empty() || img.type() != CV_8UC1 )
- CV_Error( CV_StsBadArg, "img is empty or has incorrect type" );
+ if( image.empty() || image.type() != CV_8UC1 )
+ CV_Error( CV_StsBadArg, "image is empty or has incorrect type (!=CV_8UC1)" );
+
+ if( !mask.empty() && mask.type() != CV_8UC1 )
+ CV_Error( CV_StsBadArg, "mask has incorrect type (!=CV_8UC1)" );
+
+ Mat subImage, subMask;
+ Rect brect( 0, 0, image.cols, image.rows );
+ if( mask.empty() )
+ {
+ subImage = image;
+ }
+ else
+ {
+ vector<Point> points;
+ points.reserve( image.rows * image.cols );
+ for( int y = 0; y < mask.rows; y++ )
+ {
+ for( int x = 0; x < mask.cols; x++ )
+ {
+ if( mask.at<uchar>(y,x) )
+ points.push_back( cv::Point(x,y) );
+ }
+ }
+ brect = cv::boundingRect( points );
+
+ if( brect.x == 0 && brect.y == 0 && brect.width == mask.cols && brect.height == mask.rows )
+ {
+ subImage = image;
+ }
+ else
+ {
+ subImage = image( brect );
+ subMask = mask( brect );
+ }
+ }
Mat fimg;
- img.convertTo(fimg, CV_32FC1, 1.0/255.0);
+ subImage.convertTo( fimg, CV_32FC1, 1.0/255.0 );
const double sigman = .5 ;
const double sigma0 = 1.6 * powf(2.0f, 1.0f / commParams.nOctaveLayers) ;
@@ -2225,7 +2258,20 @@ void SIFT::operator()(const Mat& img, const Mat& mask,
keypoints.push_back( vlKeypointToOcv(vlsift, *iter, angleVal*a_180divPI) );
}
}
+
removeDuplicatedKeypoints(keypoints);
+
+ if( !subMask.empty() )
+ {
+ // filter points by subMask and convert the points coordinates from subImage size to image size
+ KeyPointsFilter::runByPixelsMask( keypoints, subMask );
+ int dx = brect.x, dy = brect.y;
+ for( vector<KeyPoint>::iterator it = keypoints.begin(); it != keypoints.end(); ++it )
+ {
+ it->pt.x += dx;
+ it->pt.y += dy;
+ }
+ }
}
struct InvalidKeypoint
@@ -2234,16 +2280,16 @@ struct InvalidKeypoint
};
// descriptors
-void SIFT::operator()(const Mat& img, const Mat& mask,
+void SIFT::operator()(const Mat& image, const Mat& mask,
vector<KeyPoint>& keypoints,
Mat& descriptors,
bool useProvidedKeypoints) const
{
- if( img.empty() || img.type() != CV_8UC1 )
+ if( image.empty() || image.type() != CV_8UC1 )
CV_Error( CV_StsBadArg, "img is empty or has incorrect type" );
Mat fimg;
- img.convertTo(fimg, CV_32FC1, 1.0/255.0);
+ image.convertTo(fimg, CV_32FC1, 1.0/255.0);
const double sigman = .5 ;
const double sigma0 = 1.6 * powf(2.0f, 1.0f / commParams.nOctaveLayers) ;
@@ -2251,7 +2297,12 @@ void SIFT::operator()(const Mat& img, const Mat& mask,
const double a_PIdiv180 = CV_PI/180.;
if( !useProvidedKeypoints )
- (*this)(img, mask, keypoints);
+ (*this)(image, mask, keypoints);
+ else
+ {
+ // filter keypoints by mask
+ KeyPointsFilter::runByPixelsMask( keypoints, mask );
+ }
VL::Sift vlsift((float*)fimg.data, fimg.cols, fimg.rows,
sigman, sigma0, commParams.nOctaves, commParams.nOctaveLayers,