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fixed sift descriptor

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This commit is contained in:
Maria Dimashova 2010-11-29 13:44:10 +00:00
parent 9d990b7f69
commit 7c4cff994c
1 changed files with 45 additions and 14 deletions
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59
modules/features2d/src/sift.cpp
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@ -2061,10 +2061,11 @@ inline void ocvKeypointToVl( const VL::Sift& vlSift, const KeyPoint& ocvKeypoint
vlKeypoint = vlSift.getKeypoint( ocvKeypoint.pt.x, ocvKeypoint.pt.y, sigma);
}
float computeKeypointOrientations( VL::Sift& sift, const VL::Sift::Keypoint& keypoint, int angleMode )
bool computeKeypointOrientations( VL::Sift& sift, const VL::Sift::Keypoint& keypoint, float& angleVal, int angleMode )
{
float angleVal = -1;
angleVal = 0.f;
VL::float_t angles[4];
int angleCount = sift.computeKeypointOrientations(angles, keypoint);
if( angleCount > 0 )
{
@ -2082,8 +2083,10 @@ float computeKeypointOrientations( VL::Sift& sift, const VL::Sift::Keypoint& key
{
assert(0);
}
return true;
}
return angleVal;
return false;
}
// detectors
@ -2098,6 +2101,7 @@ void SIFT::operator()(const Mat& img, const Mat& mask,
const double sigman = .5 ;
const double sigma0 = 1.6 * powf(2.0f, 1.0f / commParams.nOctaveLayers) ;
const double a_180divPI = 180./CV_PI;
VL::Sift vlsift((float*)fimg.data, fimg.cols, fimg.rows,
sigman, sigma0, commParams.nOctaves, commParams.nOctaveLayers,
@ -2109,14 +2113,19 @@ void SIFT::operator()(const Mat& img, const Mat& mask,
for( VL::Sift::KeypointsConstIter iter = vlsift.keypointsBegin(); iter != vlsift.keypointsEnd(); ++iter )
{
float angleVal = computeKeypointOrientations( vlsift, *iter, commParams.angleMode );
if( angleVal >= 0 )
float angleVal = 0.f;
if( computeKeypointOrientations( vlsift, *iter, angleVal, commParams.angleMode ) )
{
keypoints.push_back( vlKeypointToOcv(vlsift, *iter, angleVal*180.0/CV_PI) );
keypoints.push_back( vlKeypointToOcv(vlsift, *iter, angleVal*a_180divPI) );
}
}
}
struct InvalidKeypoint
{
bool operator()(const KeyPoint& kp) const { return kp.octave == std::numeric_limits<int>::max(); }
};
// descriptors
void SIFT::operator()(const Mat& img, const Mat& mask,
vector<KeyPoint>& keypoints,
@ -2131,6 +2140,8 @@ void SIFT::operator()(const Mat& img, const Mat& mask,
const double sigman = .5 ;
const double sigma0 = 1.6 * powf(2.0f, 1.0f / commParams.nOctaveLayers) ;
const double a_180divPI = 180./CV_PI;
const double a_PIdiv180 = CV_PI/180.;
if( !useProvidedKeypoints )
(*this)(img, mask, keypoints);
@ -2142,20 +2153,40 @@ void SIFT::operator()(const Mat& img, const Mat& mask,
vlsift.setMagnification(descriptorParams.magnification);
descriptors.create( keypoints.size(), DescriptorParams::DESCRIPTOR_SIZE, DataType<VL::float_t>::type );
vector<KeyPoint>::const_iterator iter = keypoints.begin();
for( int pi = 0 ; iter != keypoints.end(); ++iter, pi++ )
vector<KeyPoint>::iterator kp_iter = keypoints.begin();
for( int pi = 0 ; kp_iter != keypoints.end(); ++kp_iter, pi++ )
{
VL::Sift::Keypoint vlkpt;
ocvKeypointToVl( vlsift, *iter, vlkpt, descriptorParams.magnification );
float angleVal = iter->angle*CV_PI/180.0;
ocvKeypointToVl( vlsift, *kp_iter, vlkpt, descriptorParams.magnification );
if( descriptorParams.recalculateAngles )
{
float recalcAngleVal = computeKeypointOrientations( vlsift, vlkpt, commParams.angleMode );
if( recalcAngleVal >= 0 )
angleVal = recalcAngleVal;
float recalcAngleVal = 0.f;
if( computeKeypointOrientations( vlsift, vlkpt, recalcAngleVal, commParams.angleMode ) )
{
kp_iter->angle = recalcAngleVal*a_180divPI; // save recalculated angle value
assert( kp_iter->angle >= 0 );
vlsift.computeKeypointDescriptor((VL::float_t*)descriptors.ptr(pi), vlkpt, recalcAngleVal);
}
else
{
// mark point to remove
kp_iter->octave = std::numeric_limits<int>::max();
}
}
else
{
if( kp_iter->angle < 0 )
CV_Error( CV_StsBadArg, "Angle must be applicable (i.e. supported by feature detector that was used to detect keypoints)." );
float angleVal = kp_iter->angle*a_PIdiv180;
vlsift.computeKeypointDescriptor((VL::float_t*)descriptors.ptr(pi), vlkpt, angleVal);
}
vlsift.computeKeypointDescriptor((VL::float_t*)descriptors.ptr(pi), vlkpt, angleVal);
}
if( descriptorParams.recalculateAngles )
keypoints.erase( remove_if(keypoints.begin(), keypoints.end(), InvalidKeypoint()), keypoints.end());
}
#endif