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Exposing the FAST detector threshold for ORB

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Implemented as a new optional parameter for
the constructor of the ORB detector. The
change of this parameter has been included
in the orb unit test.
This commit is contained in:
Felix Endres
2014-10-02 12:17:01 +02:00
parent da1ac35930
commit ee6835492c
4 changed files with 13 additions and 8 deletions
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11
modules/features2d/src/orb.cpp
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@@ -648,10 +648,10 @@ 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)
{}
@@ -729,7 +729,7 @@ 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);
@@ -780,7 +780,7 @@ 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
@@ -1028,7 +1028,7 @@ 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
{
@@ -1126,4 +1126,5 @@ void ORB::computeImpl( InputArray image, std::vector<KeyPoint>& keypoints, Outpu
(*this)(image, Mat(), keypoints, descriptors, true);
}
}