Refactorings and renamings.
- Deleted "RefC" from names of external-interface functions. - Renamed rhorefc.[cpp|hpp] to rho.[cpp|hpp] - Introduced RHO_HEST base class, from which RHO_HEST_REFC inherits. - rhoInit() currently only returns a Ptr<RHO_HEST_REFC>, but in the future it will be allowed to return pointers to other derived classes, depending on the values returned by cv::checkHardwareSupport().
This commit is contained in:
Olexa Bilaniuk
parent
3a4d9a77b2
commit
736b42b372
@ -41,7 +41,7 @@
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//M*/
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#include "precomp.hpp"
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#include "rhorefc.h"
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#include "rho.h"
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#include <iostream>
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namespace cv
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@ -303,7 +303,7 @@ static bool createAndRunRHORegistrator(double confidence,
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* initialized, used, then finalized.
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*/
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Ptr<RHO_HEST_REFC> p = rhoRefCInit();
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Ptr<RHO_HEST> p = rhoInit();
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/**
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* Optional. Ideally, the context would survive across calls to
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@ -311,7 +311,7 @@ static bool createAndRunRHORegistrator(double confidence,
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* to pay is marginally more computational work than strictly needed.
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*/
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rhoRefCEnsureCapacity(p, npoints, beta);
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rhoEnsureCapacity(p, npoints, beta);
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/**
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* The critical call. All parameters are heavily documented in rhorefc.h.
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@ -324,7 +324,7 @@ static bool createAndRunRHORegistrator(double confidence,
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* this behaviour is too problematic.
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*/
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result = !!rhoRefC(p,
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result = !!rhoHest(p,
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(const float*)src.data,
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(const float*)dst.data,
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(char*) tempMask.data,
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@ -55,7 +55,7 @@
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#include <float.h>
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#include <math.h>
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#include <vector>
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#include "rhorefc.h"
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#include "rho.h"
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@ -84,7 +84,162 @@ const double LM_GAIN_HI = 0.75; /* See sacLMGain(). */
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/* Data Structures */
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struct RHO_HEST_REFC{
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/**
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* Base Struct for RHO algorithm.
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*
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* A RHO estimator has initialization, finalization, capacity, seeding and
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* homography-estimation APIs that must be implemented.
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*/
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struct RHO_HEST{
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/* This is a virtual base class; It should have a virtual destructor. */
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virtual ~RHO_HEST(){}
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/* External Interface Methods */
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/**
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* Initialization work.
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*
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* @return 0 if initialization is unsuccessful; non-zero otherwise.
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*/
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virtual inline int initialize(void){return 1;}
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/**
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* Finalization work.
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*/
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virtual inline void finalize(void){}
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/**
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* Ensure that the estimator context's internal table for the non-randomness
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* criterion is at least of the given size, and uses the given beta. The table
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* should be larger than the maximum number of matches fed into the estimator.
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*
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* A value of N of 0 requests deallocation of the table.
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*
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* @param [in] N If 0, deallocate internal table. If > 0, ensure that the
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* internal table is of at least this size, reallocating if
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* necessary.
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* @param [in] beta The beta-factor to use within the table.
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* @return 0 if unsuccessful; non-zero otherwise.
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*/
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virtual inline int ensureCapacity(unsigned N, double beta){
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(void)N;
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(void)beta;
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return 1;
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}
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/**
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* Generates a random double uniformly distributed in the range [0, 1).
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*
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* The default implementation uses the xorshift128+ algorithm from
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* Sebastiano Vigna. Further scramblings of Marsaglia's xorshift generators.
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* CoRR, abs/1402.6246, 2014.
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* http://vigna.di.unimi.it/ftp/papers/xorshiftplus.pdf
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*
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* Source roughly as given in
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* http://en.wikipedia.org/wiki/Xorshift#Xorshift.2B
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*/
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virtual inline double fastRandom(void){
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uint64_t x = prng.s[0];
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uint64_t y = prng.s[1];
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x ^= x << 23; // a
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x ^= x >> 17; // b
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x ^= y ^ (y >> 26); // c
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prng.s[0] = y;
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prng.s[1] = x;
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uint64_t s = x + y;
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return s * 5.421010862427522e-20;/* 2^-64 */
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}
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/**
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* Seeds the context's PRNG.
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*
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* @param [in] seed A 64-bit unsigned integer seed.
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*/
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virtual inline void fastSeed(uint64_t seed){
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int i;
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prng.s[0] = seed;
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prng.s[1] = ~seed;/* Guarantees one of the elements will be non-zero. */
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/**
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* Escape from zero-land (see xorshift128+ paper). Approximately 20
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* iterations required according to the graph.
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*/
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for(i=0;i<20;i++){
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fastRandom();
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}
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}
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/**
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* Estimates the homography using the given context, matches and parameters to
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* PROSAC.
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*
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* @param [in] src The pointer to the source points of the matches.
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* Cannot be NULL.
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* @param [in] dst The pointer to the destination points of the matches.
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* Cannot be NULL.
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* @param [out] inl The pointer to the output mask of inlier matches.
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* May be NULL.
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* @param [in] N The number of matches.
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* @param [in] maxD The maximum distance.
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* @param [in] maxI The maximum number of PROSAC iterations.
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* @param [in] rConvg The RANSAC convergence parameter.
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* @param [in] cfd The required confidence in the solution.
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* @param [in] minInl The minimum required number of inliers.
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* @param [in] beta The beta-parameter for the non-randomness criterion.
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* @param [in] flags A union of flags to control the estimation.
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* @param [in] guessH An extrinsic guess at the solution H, or NULL if
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* none provided.
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* @param [out] finalH The final estimation of H, or the zero matrix if
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* the minimum number of inliers was not met.
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* Cannot be NULL.
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* @return The number of inliers if the minimum number of
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* inliers for acceptance was reached; 0 otherwise.
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*/
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virtual unsigned rhoHest(const float* src, /* Source points */
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const float* dst, /* Destination points */
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char* inl, /* Inlier mask */
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unsigned N, /* = src.length = dst.length = inl.length */
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float maxD, /* Works: 3.0 */
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unsigned maxI, /* Works: 2000 */
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unsigned rConvg, /* Works: 2000 */
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double cfd, /* Works: 0.995 */
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unsigned minInl, /* Minimum: 4 */
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double beta, /* Works: 0.35 */
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unsigned flags, /* Works: 0 */
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const float* guessH, /* Extrinsic guess, NULL if none provided */
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float* finalH) = 0; /* Final result. */
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/* PRNG XORshift128+ */
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struct{
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uint64_t s[2]; /* PRNG state */
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} prng;
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};
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/**
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* Generic C implementation of RHO algorithm.
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*/
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struct RHO_HEST_REFC : RHO_HEST{
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/**
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* Virtual Arguments.
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*
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@ -163,11 +318,6 @@ struct RHO_HEST_REFC{
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float* Jte; /* Jte vector */
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} lm;
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/* PRNG XORshift128+ */
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struct{
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uint64_t s[2]; /* PRNG state */
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} prng;
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/* Memory Management */
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struct{
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cv::Mat perObj;
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@ -188,9 +338,9 @@ struct RHO_HEST_REFC{
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/* Methods to implement external interface */
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inline int initialize(void);
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inline int sacEnsureCapacity(unsigned N, double beta);
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inline void finalize(void);
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unsigned rhoRefC(const float* src, /* Source points */
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inline int ensureCapacity(unsigned N, double beta);
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unsigned rhoHest(const float* src, /* Source points */
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const float* dst, /* Destination points */
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char* inl, /* Inlier mask */
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unsigned N, /* = src.length = dst.length = inl.length */
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@ -225,8 +375,6 @@ struct RHO_HEST_REFC{
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inline void rndSmpl(unsigned sampleSize,
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unsigned* currentSample,
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unsigned dataSetSize);
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inline double fastRandom(void);
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inline void fastSeed(uint64_t seed);
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inline int isSampleDegenerate(void);
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inline void generateModel(void);
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inline int isModelDegenerate(void);
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@ -298,15 +446,27 @@ static inline void sacSub8x1 (float* Hout,
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* @return A pointer to the context if successful; NULL if an error occured.
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*/
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Ptr<RHO_HEST_REFC> rhoRefCInit(void){
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Ptr<RHO_HEST_REFC> p = Ptr<RHO_HEST_REFC>(new RHO_HEST_REFC);
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Ptr<RHO_HEST> rhoInit(void){
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/* Select an optimized implementation of RHO here. */
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#if 1
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/**
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* For now, only the generic C implementation is available. In the future,
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* SSE2/AVX/AVX2/FMA/NEON versions may be added, and they will be selected
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* depending on cv::checkHardwareSupport()'s return values.
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*/
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Ptr<RHO_HEST> p = Ptr<RHO_HEST>(new RHO_HEST_REFC);
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#endif
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/* Initialize it. */
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if(p){
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if(!p->initialize()){
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p = Ptr<RHO_HEST_REFC>((RHO_HEST_REFC*)NULL);
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p = Ptr<RHO_HEST>((RHO_HEST*)NULL);
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}
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}
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/* Return it. */
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return p;
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}
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@ -315,8 +475,8 @@ Ptr<RHO_HEST_REFC> rhoRefCInit(void){
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* External access to non-randomness table resize.
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*/
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int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta){
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return p->sacEnsureCapacity(N, beta);
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int rhoEnsureCapacity(Ptr<RHO_HEST> p, unsigned N, double beta){
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return p->ensureCapacity(N, beta);
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}
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@ -324,8 +484,8 @@ int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta){
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* Seeds the internal PRNG with the given seed.
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*/
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void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed){
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p->fastSeed((uint64_t)seed);
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void rhoSeed(Ptr<RHO_HEST> p, uint64_t seed){
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p->fastSeed(seed);
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}
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@ -358,7 +518,7 @@ void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed){
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* inliers for acceptance was reached; 0 otherwise.
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*/
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unsigned rhoRefC(Ptr<RHO_HEST_REFC> p, /* Homography estimation context. */
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unsigned rhoHest(Ptr<RHO_HEST> p, /* Homography estimation context. */
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const float* src, /* Source points */
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const float* dst, /* Destination points */
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char* inl, /* Inlier mask */
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@ -372,13 +532,23 @@ unsigned rhoRefC(Ptr<RHO_HEST_REFC> p, /* Homography estimation context. *
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unsigned flags, /* Works: 0 */
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const float* guessH, /* Extrinsic guess, NULL if none provided */
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float* finalH){ /* Final result. */
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return p->rhoRefC(src, dst, inl, N, maxD, maxI, rConvg, cfd, minInl, beta,
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return p->rhoHest(src, dst, inl, N, maxD, maxI, rConvg, cfd, minInl, beta,
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flags, guessH, finalH);
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}
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/*********************** RHO_HEST_REFC implementation **********************/
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/**
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* Constructor for RHO_HEST_REFC.
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*
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@ -479,13 +649,13 @@ inline void RHO_HEST_REFC::finalize(void){
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* internal table is of at least this size, reallocating if
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* necessary.
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* @param [in] beta The beta-factor to use within the table.
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* @return 1 if successful; 0 if an error occured.
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* @return 0 if unsuccessful; non-zero otherwise.
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*
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* Reads: nr.*
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* Writes: nr.*
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*/
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inline int RHO_HEST_REFC::sacEnsureCapacity(unsigned N, double beta){
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inline int RHO_HEST_REFC::ensureCapacity(unsigned N, double beta){
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if(N == 0){
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/* Clear. */
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nr.tbl.clear();
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@ -516,9 +686,9 @@ inline int RHO_HEST_REFC::sacEnsureCapacity(unsigned N, double beta){
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* @param [in] src The pointer to the source points of the matches.
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* Must be aligned to 4 bytes. Cannot be NULL.
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* @param [in] dst The pointer to the destination points of the matches.
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* Must be aligned to 16 bytes. Cannot be NULL.
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* Must be aligned to 4 bytes. Cannot be NULL.
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* @param [out] inl The pointer to the output mask of inlier matches.
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* Must be aligned to 16 bytes. May be NULL.
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* Must be aligned to 4 bytes. May be NULL.
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* @param [in] N The number of matches.
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* @param [in] maxD The maximum distance.
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* @param [in] maxI The maximum number of PROSAC iterations.
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@ -536,7 +706,7 @@ inline int RHO_HEST_REFC::sacEnsureCapacity(unsigned N, double beta){
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* inliers for acceptance was reached; 0 otherwise.
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*/
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unsigned RHO_HEST_REFC::rhoRefC(const float* src, /* Source points */
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unsigned RHO_HEST_REFC::rhoHest(const float* src, /* Source points */
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const float* dst, /* Destination points */
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char* inl, /* Inlier mask */
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unsigned N, /* = src.length = dst.length = inl.length */
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@ -784,7 +954,7 @@ inline int RHO_HEST_REFC::initRun(void){
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* substruct and the sanity-checked N and beta arguments from above.
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*/
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if(isNREnabled() && !sacEnsureCapacity(arg.N, arg.beta)){
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if(isNREnabled() && !ensureCapacity(arg.N, arg.beta)){
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return 0;
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}
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@ -1061,53 +1231,6 @@ inline void RHO_HEST_REFC::rndSmpl(unsigned sampleSize,
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}
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}
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/**
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* Generates a random double uniformly distributed in the range [0, 1).
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*
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* Uses xorshift128+ algorithm from
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* Sebastiano Vigna. Further scramblings of Marsaglia's xorshift generators.
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* CoRR, abs/1402.6246, 2014.
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* http://vigna.di.unimi.it/ftp/papers/xorshiftplus.pdf
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*
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* Source roughly as given in
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* http://en.wikipedia.org/wiki/Xorshift#Xorshift.2B
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*/
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inline double RHO_HEST_REFC::fastRandom(void){
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uint64_t x = prng.s[0];
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uint64_t y = prng.s[1];
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x ^= x << 23; // a
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x ^= x >> 17; // b
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x ^= y ^ (y >> 26); // c
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prng.s[0] = y;
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prng.s[1] = x;
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uint64_t s = x + y;
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return s * 5.421010862427522e-20;/* 2^-64 */
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}
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/**
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* Seeds the PRNG.
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*
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* The seed should not be zero, since the state must be initialized to non-zero.
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*/
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inline void RHO_HEST_REFC::fastSeed(uint64_t seed){
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int i;
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prng.s[0] = seed;
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prng.s[1] = ~seed;/* Guarantees one of the elements will be non-zero. */
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/**
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* Escape from zero-land (see xorshift128+ paper). Approximately 20
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* iterations required according to the graph.
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*/
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for(i=0;i<20;i++){
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fastRandom();
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}
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}
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/**
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* Checks whether the *sample* is degenerate prior to model generation.
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* - First, the extremely cheap numerical degeneracy test is run, which weeds
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@ -44,13 +44,14 @@
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*/
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/* Include Guards */
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#ifndef __OPENCV_RHOREFC_H__
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#define __OPENCV_RHOREFC_H__
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#ifndef __OPENCV_RHO_H__
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#define __OPENCV_RHO_H__
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/* Includes */
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#include <opencv2/core.hpp>
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#include <stdint.h>
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@ -84,8 +85,8 @@ namespace cv{
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* Homography Estimation context.
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*/
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struct RHO_HEST_REFC;
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typedef struct RHO_HEST_REFC RHO_HEST_REFC;
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struct RHO_HEST;
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typedef struct RHO_HEST RHO_HEST;
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/* Functions */
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@ -97,7 +98,7 @@ typedef struct RHO_HEST_REFC RHO_HEST_REFC;
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* @return A pointer to the context if successful; NULL if an error occured.
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*/
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Ptr<RHO_HEST_REFC> rhoRefCInit(void);
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Ptr<RHO_HEST> rhoInit(void);
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/**
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@ -112,10 +113,10 @@ Ptr<RHO_HEST_REFC> rhoRefCInit(void);
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* internal table is of at least this size, reallocating if
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* necessary.
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* @param [in] beta The beta-factor to use within the table.
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* @return 0 if successful; non-zero if an error occured.
|
||||
* @return 0 if unsuccessful; non-zero otherwise.
|
||||
*/
|
||||
|
||||
int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta);
|
||||
int rhoEnsureCapacity(Ptr<RHO_HEST> p, unsigned N, double beta);
|
||||
|
||||
|
||||
|
||||
@ -130,7 +131,7 @@ int rhoRefCEnsureCapacity(Ptr<RHO_HEST_REFC> p, unsigned N, double beta);
|
||||
* @param [in] seed The 64-bit integer seed.
|
||||
*/
|
||||
|
||||
void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed);
|
||||
void rhoSeed(Ptr<RHO_HEST> p, uint64_t seed);
|
||||
|
||||
|
||||
/**
|
||||
@ -240,7 +241,7 @@ void rhoRefCSeed(Ptr<RHO_HEST_REFC> p, unsigned long long seed);
|
||||
* inliers for acceptance was reached; 0 otherwise.
|
||||
*/
|
||||
|
||||
unsigned rhoRefC(Ptr<RHO_HEST_REFC> p, /* Homography estimation context. */
|
||||
unsigned rhoHest(Ptr<RHO_HEST> p, /* Homography estimation context. */
|
||||
const float* src, /* Source points */
|
||||
const float* dst, /* Destination points */
|
||||
char* inl, /* Inlier mask */
|
||||
Loading…
x
Reference in New Issue
Block a user