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added the filtering of keypoints having zero size (#877)

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This commit is contained in:
Maria Dimashova
2011-05-01 17:38:52 +00:00
parent d3aa228073
commit b9662e099c
6 changed files with 128 additions and 62 deletions
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2
modules/features2d/src/brief.cpp
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@@ -208,7 +208,7 @@ void BriefDescriptorExtractor::computeImpl(const Mat& image, std::vector<KeyPoin
integral( grayImage, sum, CV_32S);
//Remove keypoints very close to the border
removeBorderKeypoints(keypoints, image.size(), PATCH_SIZE/2 + KERNEL_SIZE/2);
KeyPointsFilter::runByImageBorder(keypoints, image.size(), PATCH_SIZE/2 + KERNEL_SIZE/2);
descriptors = Mat::zeros((int)keypoints.size(), bytes_, CV_8U);
test_fn_(sum, keypoints, descriptors);

38
modules/features2d/src/descriptors.cpp
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@@ -52,30 +52,20 @@ namespace cv
/*
* DescriptorExtractor
*/
struct RoiPredicate
{
RoiPredicate( const Rect& _r ) : r(_r)
{}
bool operator()( const KeyPoint& keyPt ) const
{
return !r.contains( keyPt.pt );
}
Rect r;
};
DescriptorExtractor::~DescriptorExtractor()
{}
void DescriptorExtractor::compute( const Mat& image, vector<KeyPoint>& keypoints, Mat& descriptors ) const
{
{
if( image.empty() || keypoints.empty() )
return;
{
descriptors.release();
return;
}
// Check keypoints are in image. Do filter bad points here?
//for( size_t i = 0; i < keypoints.size(); i++ )
// CV_Assert( Rect(0,0, image.cols, image.rows).contains(keypoints[i].pt) );
KeyPointsFilter::runByImageBorder( keypoints, image.size(), 0 );
KeyPointsFilter::runByKeypointSize( keypoints, std::numeric_limits<float>::epsilon() );
computeImpl( image, keypoints, descriptors );
}
@@ -99,18 +89,6 @@ bool DescriptorExtractor::empty() const
return false;
}
void DescriptorExtractor::removeBorderKeypoints( vector<KeyPoint>& keypoints,
Size imageSize, int borderSize )
{
if( borderSize > 0)
{
keypoints.erase( remove_if(keypoints.begin(), keypoints.end(),
RoiPredicate(Rect(Point(borderSize, borderSize),
Point(imageSize.width - borderSize, imageSize.height - borderSize)))),
keypoints.end() );
}
}
Ptr<DescriptorExtractor> DescriptorExtractor::create(const string& descriptorExtractorType)
{
DescriptorExtractor* de = 0;

10
modules/features2d/src/detectors.cpp
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@@ -65,14 +65,14 @@ FeatureDetector::~FeatureDetector()
void FeatureDetector::detect( const Mat& image, vector<KeyPoint>& keypoints, const Mat& mask ) const
{
keypoints.clear();
keypoints.clear();
if( image.empty() )
return;
if( image.empty() )
return;
CV_Assert( mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()) );
CV_Assert( mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()) );
detectImpl( image, keypoints, mask );
detectImpl( image, keypoints, mask );
}
void FeatureDetector::detect(const vector<Mat>& imageCollection, vector<vector<KeyPoint> >& pointCollection, const vector<Mat>& masks ) const

48
modules/features2d/src/keypoint.cpp
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@@ -152,4 +152,52 @@ float KeyPoint::overlap( const KeyPoint& kp1, const KeyPoint& kp2 )
return ovrl;
}
struct RoiPredicate
{
RoiPredicate( const Rect& _r ) : r(_r)
{}
bool operator()( const KeyPoint& keyPt ) const
{
return !r.contains( keyPt.pt );
}
Rect r;
};
void KeyPointsFilter::runByImageBorder( vector<KeyPoint>& keypoints, Size imageSize, int borderSize )
{
if( borderSize > 0)
{
keypoints.erase( remove_if(keypoints.begin(), keypoints.end(),
RoiPredicate(Rect(Point(borderSize, borderSize),
Point(imageSize.width - borderSize, imageSize.height - borderSize)))),
keypoints.end() );
}
}
struct SizePredicate
{
SizePredicate( float _minSize, float _maxSize ) : minSize(_minSize), maxSize(_maxSize)
{}
bool operator()( const KeyPoint& keyPt ) const
{
float size = keyPt.size;
return (size < minSize) || (size > maxSize);
}
float minSize, maxSize;
};
void KeyPointsFilter::runByKeypointSize( vector<KeyPoint>& keypoints, float minSize, float maxSize )
{
CV_Assert( minSize >= 0 );
CV_Assert( maxSize >= 0);
CV_Assert( minSize <= maxSize );
keypoints.erase( remove_if(keypoints.begin(), keypoints.end(), SizePredicate(minSize, maxSize)),
keypoints.end() );
}
}

62
modules/features2d/src/matchers.cpp
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@@ -244,21 +244,21 @@ void DescriptorMatcher::match( const Mat& queryDescriptors, vector<DMatch>& matc
void DescriptorMatcher::checkMasks( const vector<Mat>& masks, int queryDescriptorsCount ) const
{
if( isMaskSupported() && !masks.empty() )
{
// Check masks
size_t imageCount = trainDescCollection.size();
CV_Assert( masks.size() == imageCount );
for( size_t i = 0; i < imageCount; i++ )
{
if( !masks[i].empty() && !trainDescCollection[i].empty() )
{
CV_Assert( masks[i].rows == queryDescriptorsCount &&
masks[i].cols == trainDescCollection[i].rows &&
masks[i].type() == CV_8UC1 );
}
}
}
if( isMaskSupported() && !masks.empty() )
{
// Check masks
size_t imageCount = trainDescCollection.size();
CV_Assert( masks.size() == imageCount );
for( size_t i = 0; i < imageCount; i++ )
{
if( !masks[i].empty() && !trainDescCollection[i].empty() )
{
CV_Assert( masks[i].rows == queryDescriptorsCount &&
masks[i].cols == trainDescCollection[i].rows &&
masks[i].type() == CV_8UC1 );
}
}
}
}
void DescriptorMatcher::knnMatch( const Mat& queryDescriptors, vector<vector<DMatch> >& matches, int knn,
@@ -736,10 +736,20 @@ GenericDescriptorMatcher::GenericDescriptorMatcher()
GenericDescriptorMatcher::~GenericDescriptorMatcher()
{}
void GenericDescriptorMatcher::add( const vector<Mat>& imgCollection,
vector<vector<KeyPoint> >& pointCollection )
void GenericDescriptorMatcher::add( const vector<Mat>& images,
vector<vector<KeyPoint> >& keypoints )
{
trainPointCollection.add( imgCollection, pointCollection );
CV_Assert( !images.empty() );
CV_Assert( images.size() == keypoints.size() );
for( size_t i = 0; i < images.size(); i++ )
{
CV_Assert( !images[i].empty() );
KeyPointsFilter::runByImageBorder( keypoints[i], images[i].size(), 0 );
KeyPointsFilter::runByKeypointSize( keypoints[i], std::numeric_limits<float>::epsilon() );
}
trainPointCollection.add( images, keypoints );
}
const vector<Mat>& GenericDescriptorMatcher::getTrainImages() const
@@ -827,6 +837,14 @@ void GenericDescriptorMatcher::knnMatch( const Mat& queryImage, vector<KeyPoint>
vector<vector<DMatch> >& matches, int knn,
const vector<Mat>& masks, bool compactResult )
{
matches.clear();
if( queryImage.empty() || queryKeypoints.empty() )
return;
KeyPointsFilter::runByImageBorder( queryKeypoints, queryImage.size(), 0 );
KeyPointsFilter::runByKeypointSize( queryKeypoints, std::numeric_limits<float>::epsilon() );
train();
knnMatchImpl( queryImage, queryKeypoints, matches, knn, masks, compactResult );
}
@@ -835,6 +853,14 @@ void GenericDescriptorMatcher::radiusMatch( const Mat& queryImage, vector<KeyPoi
vector<vector<DMatch> >& matches, float maxDistance,
const vector<Mat>& masks, bool compactResult )
{
matches.clear();
if( queryImage.empty() || queryKeypoints.empty() )
return;
KeyPointsFilter::runByImageBorder( queryKeypoints, queryImage.size(), 0 );
KeyPointsFilter::runByKeypointSize( queryKeypoints, std::numeric_limits<float>::epsilon() );
train();
radiusMatchImpl( queryImage, queryKeypoints, matches, maxDistance, masks, compactResult );
}