Replace config with AKAZEConfig.h
This commit is contained in:
Ievgen Khvedchenia
parent
5848e75168
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d27ed856f2
189
modules/features2d/src/akaze/AKAZEConfig.h
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189
modules/features2d/src/akaze/AKAZEConfig.h
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/**
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* @file AKAZEConfig.h
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* @brief AKAZE configuration file
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* @date Feb 23, 2014
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* @author Pablo F. Alcantarilla, Jesus Nuevo
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*/
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#pragma once
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/* ************************************************************************* */
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// OpenCV
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#include <opencv2/opencv.hpp>
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#include <opencv2/features2d/features2d.hpp>
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// OpenMP
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#ifdef _OPENMP
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# include <omp.h>
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#endif
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// System Includes
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#include <string>
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#include <vector>
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#include <cmath>
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#include <bitset>
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#include <iomanip>
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/* ************************************************************************* */
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/// Lookup table for 2d gaussian (sigma = 2.5) where (0,0) is top left and (6,6) is bottom right
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const float gauss25[7][7] = {
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{0.02546481f, 0.02350698f, 0.01849125f, 0.01239505f, 0.00708017f, 0.00344629f, 0.00142946f},
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{0.02350698f, 0.02169968f, 0.01706957f, 0.01144208f, 0.00653582f, 0.00318132f, 0.00131956f},
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{0.01849125f, 0.01706957f, 0.01342740f, 0.00900066f, 0.00514126f, 0.00250252f, 0.00103800f},
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{0.01239505f, 0.01144208f, 0.00900066f, 0.00603332f, 0.00344629f, 0.00167749f, 0.00069579f},
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{0.00708017f, 0.00653582f, 0.00514126f, 0.00344629f, 0.00196855f, 0.00095820f, 0.00039744f},
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{0.00344629f, 0.00318132f, 0.00250252f, 0.00167749f, 0.00095820f, 0.00046640f, 0.00019346f},
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{0.00142946f, 0.00131956f, 0.00103800f, 0.00069579f, 0.00039744f, 0.00019346f, 0.00008024f}
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};
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/* ************************************************************************* */
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/// AKAZE Descriptor Type
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enum DESCRIPTOR_TYPE {
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SURF_UPRIGHT = 0, ///< Upright descriptors, not invariant to rotation
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SURF = 1,
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MSURF_UPRIGHT = 2, ///< Upright descriptors, not invariant to rotation
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MSURF = 3,
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MLDB_UPRIGHT = 4, ///< Upright descriptors, not invariant to rotation
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MLDB = 5
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};
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/* ************************************************************************* */
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/// AKAZE Diffusivities
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enum DIFFUSIVITY_TYPE {
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PM_G1 = 0,
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PM_G2 = 1,
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WEICKERT = 2,
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CHARBONNIER = 3
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};
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/* ************************************************************************* */
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/// AKAZE Timing structure
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struct AKAZETiming {
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AKAZETiming() {
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kcontrast = 0.0;
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scale = 0.0;
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derivatives = 0.0;
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detector = 0.0;
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extrema = 0.0;
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subpixel = 0.0;
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descriptor = 0.0;
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}
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double kcontrast; ///< Contrast factor computation time in ms
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double scale; ///< Nonlinear scale space computation time in ms
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double derivatives; ///< Multiscale derivatives computation time in ms
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double detector; ///< Feature detector computation time in ms
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double extrema; ///< Scale space extrema computation time in ms
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double subpixel; ///< Subpixel refinement computation time in ms
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double descriptor; ///< Descriptors computation time in ms
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};
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/* ************************************************************************* */
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/// AKAZE configuration options structure
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struct AKAZEOptions {
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AKAZEOptions() {
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soffset = 1.6f;
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derivative_factor = 1.5f;
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omax = 4;
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nsublevels = 4;
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dthreshold = 0.001f;
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min_dthreshold = 0.00001f;
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diffusivity = PM_G2;
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descriptor = MLDB;
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descriptor_size = 0;
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descriptor_channels = 3;
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descriptor_pattern_size = 10;
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sderivatives = 1.0;
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kcontrast = 0.001f;
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kcontrast_percentile = 0.7f;
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kcontrast_nbins = 300;
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save_scale_space = false;
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save_keypoints = false;
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verbosity = false;
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}
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int omin; ///< Initial octave level (-1 means that the size of the input image is duplicated)
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int omax; ///< Maximum octave evolution of the image 2^sigma (coarsest scale sigma units)
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int nsublevels; ///< Default number of sublevels per scale level
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int img_width; ///< Width of the input image
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int img_height; ///< Height of the input image
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float soffset; ///< Base scale offset (sigma units)
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float derivative_factor; ///< Factor for the multiscale derivatives
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float sderivatives; ///< Smoothing factor for the derivatives
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DIFFUSIVITY_TYPE diffusivity; ///< Diffusivity type
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float dthreshold; ///< Detector response threshold to accept point
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float min_dthreshold; ///< Minimum detector threshold to accept a point
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DESCRIPTOR_TYPE descriptor; ///< Type of descriptor
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int descriptor_size; ///< Size of the descriptor in bits. 0->Full size
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int descriptor_channels; ///< Number of channels in the descriptor (1, 2, 3)
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int descriptor_pattern_size; ///< Actual patch size is 2*pattern_size*point.scale
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float kcontrast; ///< The contrast factor parameter
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float kcontrast_percentile; ///< Percentile level for the contrast factor
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size_t kcontrast_nbins; ///< Number of bins for the contrast factor histogram
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bool save_scale_space; ///< Set to true for saving the scale space images
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bool save_keypoints; ///< Set to true for saving the detected keypoints and descriptors
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bool verbosity; ///< Set to true for displaying verbosity information
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friend std::ostream& operator<<(std::ostream& os,
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const AKAZEOptions& akaze_options) {
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os << std::left;
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#define CHECK_AKAZE_OPTION(option) \
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os << std::setw(33) << #option << " = " << option << std::endl
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// Scale-space parameters.
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CHECK_AKAZE_OPTION(akaze_options.omax);
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CHECK_AKAZE_OPTION(akaze_options.nsublevels);
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CHECK_AKAZE_OPTION(akaze_options.soffset);
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CHECK_AKAZE_OPTION(akaze_options.sderivatives);
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CHECK_AKAZE_OPTION(akaze_options.diffusivity);
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// Detection parameters.
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CHECK_AKAZE_OPTION(akaze_options.dthreshold);
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// Descriptor parameters.
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CHECK_AKAZE_OPTION(akaze_options.descriptor);
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CHECK_AKAZE_OPTION(akaze_options.descriptor_channels);
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CHECK_AKAZE_OPTION(akaze_options.descriptor_size);
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// Save scale-space
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CHECK_AKAZE_OPTION(akaze_options.save_scale_space);
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// Verbose option for debug.
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CHECK_AKAZE_OPTION(akaze_options.verbosity);
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#undef CHECK_AKAZE_OPTIONS
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return os;
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}
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};
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/* ************************************************************************* */
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/// AKAZE nonlinear diffusion filtering evolution
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struct TEvolution {
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TEvolution() {
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etime = 0.0f;
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esigma = 0.0f;
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octave = 0;
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sublevel = 0;
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sigma_size = 0;
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}
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cv::Mat Lx, Ly; // First order spatial derivatives
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cv::Mat Lxx, Lxy, Lyy; // Second order spatial derivatives
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cv::Mat Lflow; // Diffusivity image
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cv::Mat Lt; // Evolution image
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cv::Mat Lsmooth; // Smoothed image
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cv::Mat Lstep; // Evolution step update
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cv::Mat Ldet; // Detector response
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float etime; // Evolution time
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float esigma; // Evolution sigma. For linear diffusion t = sigma^2 / 2
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size_t octave; // Image octave
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size_t sublevel; // Image sublevel in each octave
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size_t sigma_size; // Integer sigma. For computing the feature detector responses
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};
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@ -1,155 +0,0 @@
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#ifndef __OPENCV_FEATURES_2D_AKAZE_CONFIG_HPP__
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#define __OPENCV_FEATURES_2D_AKAZE_CONFIG_HPP__
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// STL
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#include <string>
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#include <vector>
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#include <cmath>
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#include <bitset>
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#include <iomanip>
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// OpenCV
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#include "precomp.hpp"
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// OpenMP
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#ifdef _OPENMP
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# include <omp.h>
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#endif
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// Lookup table for 2d gaussian (sigma = 2.5) where (0,0) is top left and (6,6) is bottom right
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static const float gauss25[7][7] = {
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{0.02546481f, 0.02350698f, 0.01849125f, 0.01239505f, 0.00708017f, 0.00344629f, 0.00142946f},
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{0.02350698f, 0.02169968f, 0.01706957f, 0.01144208f, 0.00653582f, 0.00318132f, 0.00131956f},
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{0.01849125f, 0.01706957f, 0.01342740f, 0.00900066f, 0.00514126f, 0.00250252f, 0.00103800f},
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{0.01239505f, 0.01144208f, 0.00900066f, 0.00603332f, 0.00344629f, 0.00167749f, 0.00069579f},
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{0.00708017f, 0.00653582f, 0.00514126f, 0.00344629f, 0.00196855f, 0.00095820f, 0.00039744f},
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{0.00344629f, 0.00318132f, 0.00250252f, 0.00167749f, 0.00095820f, 0.00046640f, 0.00019346f},
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{0.00142946f, 0.00131956f, 0.00103800f, 0.00069579f, 0.00039744f, 0.00019346f, 0.00008024f}
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};
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// Scale Space parameters
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static const float DEFAULT_SCALE_OFFSET = 1.60f; // Base scale offset (sigma units)
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static const float DEFAULT_FACTOR_SIZE = 1.5f; // Factor for the multiscale derivatives
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static const int DEFAULT_OCTAVE_MIN = 0; // Initial octave level (-1 means that the size of the input image is duplicated)
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static const int DEFAULT_OCTAVE_MAX = 4; // Maximum octave evolution of the image 2^sigma (coarsest scale sigma units)
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static const int DEFAULT_NSUBLEVELS = 4; // Default number of sublevels per scale level
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static const int DEFAULT_DIFFUSIVITY_TYPE = 1;
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static const float KCONTRAST_PERCENTILE = 0.7f;
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static const int KCONTRAST_NBINS = 300;
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static const float DEFAULT_SIGMA_SMOOTHING_DERIVATIVES = 1.0f;
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static const float DEFAULT_KCONTRAST = .01f;
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// Detector Parameters
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static const float DEFAULT_DETECTOR_THRESHOLD = 0.001f; // Detector response threshold to accept point
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static const float DEFAULT_MIN_DETECTOR_THRESHOLD = 0.00001f; // Minimum Detector response threshold to accept point
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static const int DEFAULT_LDB_DESCRIPTOR_SIZE = 0; // Use 0 for the full descriptor, or the number of bits
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static const int DEFAULT_LDB_PATTERN_SIZE = 10; // Actual patch size is 2*pattern_size*point.scale;
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static const int DEFAULT_LDB_CHANNELS = 3;
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// Descriptor Parameters
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enum DESCRIPTOR_TYPE
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{
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SURF_UPRIGHT = 0, // Upright descriptors, not invariant to rotation
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SURF = 1,
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MSURF_UPRIGHT = 2, // Upright descriptors, not invariant to rotation
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MSURF = 3,
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MLDB_UPRIGHT = 4, // Upright descriptors, not invariant to rotation
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MLDB = 5
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};
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static const int DEFAULT_DESCRIPTOR = MLDB;
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// Some debugging options
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static const bool DEFAULT_SAVE_SCALE_SPACE = false; // For saving the scale space images
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static const bool DEFAULT_VERBOSITY = false; // Verbosity level (0->no verbosity)
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static const bool DEFAULT_SHOW_RESULTS = true; // For showing the output image with the detected features plus some ratios
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static const bool DEFAULT_SAVE_KEYPOINTS = false; // For saving the list of keypoints
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// Options structure
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struct AKAZEOptions
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{
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int omin;
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int omax;
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int nsublevels;
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int img_width;
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int img_height;
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int diffusivity;
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float soffset;
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float sderivatives;
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float dthreshold;
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float dthreshold2;
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int descriptor;
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int descriptor_size;
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int descriptor_channels;
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int descriptor_pattern_size;
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bool save_scale_space;
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bool save_keypoints;
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bool verbosity;
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AKAZEOptions()
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{
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// Load the default options
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soffset = DEFAULT_SCALE_OFFSET;
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omax = DEFAULT_OCTAVE_MAX;
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nsublevels = DEFAULT_NSUBLEVELS;
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dthreshold = DEFAULT_DETECTOR_THRESHOLD;
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diffusivity = DEFAULT_DIFFUSIVITY_TYPE;
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descriptor = DEFAULT_DESCRIPTOR;
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descriptor_size = DEFAULT_LDB_DESCRIPTOR_SIZE;
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descriptor_channels = DEFAULT_LDB_CHANNELS;
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descriptor_pattern_size = DEFAULT_LDB_PATTERN_SIZE;
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sderivatives = DEFAULT_SIGMA_SMOOTHING_DERIVATIVES;
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save_scale_space = DEFAULT_SAVE_SCALE_SPACE;
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save_keypoints = DEFAULT_SAVE_KEYPOINTS;
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verbosity = DEFAULT_VERBOSITY;
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}
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friend std::ostream& operator<<(std::ostream& os,
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const AKAZEOptions& akaze_options)
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{
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os << std::left;
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#define CHECK_AKAZE_OPTION(option) \
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os << std::setw(33) << #option << " = " << option << std::endl
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// Scale-space parameters.
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CHECK_AKAZE_OPTION(akaze_options.omax);
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CHECK_AKAZE_OPTION(akaze_options.nsublevels);
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CHECK_AKAZE_OPTION(akaze_options.soffset);
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CHECK_AKAZE_OPTION(akaze_options.sderivatives);
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CHECK_AKAZE_OPTION(akaze_options.diffusivity);
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// Detection parameters.
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CHECK_AKAZE_OPTION(akaze_options.dthreshold);
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// Descriptor parameters.
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CHECK_AKAZE_OPTION(akaze_options.descriptor);
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CHECK_AKAZE_OPTION(akaze_options.descriptor_channels);
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CHECK_AKAZE_OPTION(akaze_options.descriptor_size);
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// Save scale-space
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CHECK_AKAZE_OPTION(akaze_options.save_scale_space);
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// Verbose option for debug.
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CHECK_AKAZE_OPTION(akaze_options.verbosity);
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#undef CHECK_AKAZE_OPTIONS
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return os;
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}
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};
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struct tevolution
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{
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cv::Mat Lx, Ly; // First order spatial derivatives
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cv::Mat Lxx, Lxy, Lyy; // Second order spatial derivatives
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cv::Mat Lflow; // Diffusivity image
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cv::Mat Lt; // Evolution image
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cv::Mat Lsmooth; // Smoothed image
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cv::Mat Lstep; // Evolution step update
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cv::Mat Ldet; // Detector response
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float etime; // Evolution time
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float esigma; // Evolution sigma. For linear diffusion t = sigma^2 / 2
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int octave; // Image octave
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int sublevel; // Image sublevel in each octave
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int sigma_size; // Integer sigma. For computing the feature detector responses
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};
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#endif
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