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Merge pull request #3299 from felixendres:orb_keypoint_detector_threshold

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This commit is contained in:
Vadim Pisarevsky 2014-10-09 14:52:38 +00:00
commit 9575a82a9e
4 changed files with 12 additions and 7 deletions
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3
modules/features2d/include/opencv2/features2d.hpp
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@ -317,7 +317,7 @@ public:
enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
CV_WRAP explicit ORB(int nfeatures = 500, float scaleFactor = 1.2f, int nlevels = 8, int edgeThreshold = 31,
int firstLevel = 0, int WTA_K=2, int scoreType=ORB::HARRIS_SCORE, int patchSize=31 );
int firstLevel = 0, int WTA_K=2, int scoreType=ORB::HARRIS_SCORE, int patchSize=31, int fastThreshold = 20);
// returns the descriptor size in bytes
int descriptorSize() const;
@ -348,6 +348,7 @@ protected:
CV_PROP_RW int WTA_K;
CV_PROP_RW int scoreType;
CV_PROP_RW int patchSize;
CV_PROP_RW int fastThreshold;
};
typedef ORB OrbFeatureDetector;

3
modules/features2d/src/features2d_init.cpp
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@ -91,7 +91,8 @@ CV_INIT_ALGORITHM(ORB, "Feature2D.ORB",
obj.info()->addParam(obj, "edgeThreshold", obj.edgeThreshold);
obj.info()->addParam(obj, "patchSize", obj.patchSize);
obj.info()->addParam(obj, "WTA_K", obj.WTA_K);
obj.info()->addParam(obj, "scoreType", obj.scoreType))
obj.info()->addParam(obj, "scoreType", obj.scoreType);
obj.info()->addParam(obj, "fastThreshold", obj.fastThreshold))
///////////////////////////////////////////////////////////////////////////////////////////////////////////

11
modules/features2d/src/orb.cpp
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@ -649,10 +649,10 @@ static inline float getScale(int level, int firstLevel, double scaleFactor)
* @param detector_params parameters to use
*/
ORB::ORB(int _nfeatures, float _scaleFactor, int _nlevels, int _edgeThreshold,
int _firstLevel, int _WTA_K, int _scoreType, int _patchSize) :
int _firstLevel, int _WTA_K, int _scoreType, int _patchSize, int _fastThreshold) :
nfeatures(_nfeatures), scaleFactor(_scaleFactor), nlevels(_nlevels),
edgeThreshold(_edgeThreshold), firstLevel(_firstLevel), WTA_K(_WTA_K),
scoreType(_scoreType), patchSize(_patchSize)
scoreType(_scoreType), patchSize(_patchSize), fastThreshold(_fastThreshold)
{}
@ -730,7 +730,7 @@ static void computeKeyPoints(const Mat& imagePyramid,
std::vector<KeyPoint>& allKeypoints,
int nfeatures, double scaleFactor,
int edgeThreshold, int patchSize, int scoreType,
bool useOCL )
bool useOCL, int fastThreshold )
{
int i, nkeypoints, level, nlevels = (int)layerInfo.size();
std::vector<int> nfeaturesPerLevel(nlevels);
@ -781,7 +781,7 @@ static void computeKeyPoints(const Mat& imagePyramid,
Mat mask = maskPyramid.empty() ? Mat() : maskPyramid(layerInfo[level]);
// Detect FAST features, 20 is a good threshold
FastFeatureDetector fd(20, true);
FastFeatureDetector fd(fastThreshold, true);
fd.detect(img, keypoints, mask);
// Remove keypoints very close to the border
@ -1033,7 +1033,7 @@ void ORB::operator()( InputArray _image, InputArray _mask, std::vector<KeyPoint>
// Get keypoints, those will be far enough from the border that no check will be required for the descriptor
computeKeyPoints(imagePyramid, uimagePyramid, maskPyramid,
layerInfo, ulayerInfo, layerScale, keypoints,
nfeatures, scaleFactor, edgeThreshold, patchSize, scoreType, useOCL);
nfeatures, scaleFactor, edgeThreshold, patchSize, scoreType, useOCL, fastThreshold);
}
else
{
@ -1131,4 +1131,5 @@ void ORB::computeImpl( InputArray image, std::vector<KeyPoint>& keypoints, Outpu
(*this)(image, Mat(), keypoints, descriptors, true);
}
}

2
modules/features2d/test/test_orb.cpp
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@ -48,6 +48,8 @@ using namespace cv;
TEST(Features2D_ORB, _1996)
{
Ptr<FeatureDetector> fd = FeatureDetector::create("ORB");
fd->set("nFeatures", 10000);//setting a higher maximum to make effect of threshold visible
fd->set("fastThreshold", 20);//more features than the default
Ptr<DescriptorExtractor> de = DescriptorExtractor::create("ORB");
Mat image = imread(string(cvtest::TS::ptr()->get_data_path()) + "shared/lena.png");