From 2cc11e2c6ac205f52120ddb8699cb48654015165 Mon Sep 17 00:00:00 2001 From: sprice Date: Wed, 4 Dec 2013 18:13:34 -0800 Subject: [PATCH 1/2] Updating STAR detector and FREAK descriptor to work with large and/or 16-bit images --- .../features2d/include/opencv2/features2d.hpp | 12 +- modules/features2d/src/freak.cpp | 254 +++++++++++------- modules/features2d/src/stardetector.cpp | 95 ++++--- modules/imgproc/src/sumpixels.cpp | 6 + 4 files changed, 226 insertions(+), 141 deletions(-) mode change 100644 => 100755 modules/imgproc/src/sumpixels.cpp diff --git a/modules/features2d/include/opencv2/features2d.hpp b/modules/features2d/include/opencv2/features2d.hpp index 9cbae2216..6c0a5c6a2 100644 --- a/modules/features2d/include/opencv2/features2d.hpp +++ b/modules/features2d/include/opencv2/features2d.hpp @@ -397,8 +397,16 @@ public: protected: virtual void computeImpl( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; void buildPattern(); - uchar meanIntensity( const Mat& image, const Mat& integral, const float kp_x, const float kp_y, - const unsigned int scale, const unsigned int rot, const unsigned int point ) const; + + template + imgType meanIntensity( const Mat& image, const Mat& integral, const float kp_x, const float kp_y, + const unsigned int scale, const unsigned int rot, const unsigned int point ) const; + + template + void computeDescriptors( const Mat& image, std::vector& keypoints, Mat& descriptors ) const; + + template + void extractDescriptor(srcMatType *pointsValue, void ** ptr) const; bool orientationNormalized; //true if the orientation is normalized, false otherwise bool scaleNormalized; //true if the scale is normalized, false otherwise diff --git a/modules/features2d/src/freak.cpp b/modules/features2d/src/freak.cpp index 086a2e2e7..7805f49ca 100644 --- a/modules/features2d/src/freak.cpp +++ b/modules/features2d/src/freak.cpp @@ -224,13 +224,128 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat ((FREAK*)this)->buildPattern(); + // Convert to gray if not already + Mat grayImage = image; + if( image.channels() > 1 ) + cvtColor( image, grayImage, COLOR_BGR2GRAY ); + + // Use 32-bit integers if we won't overflow in the integral image + if ((image.depth() == CV_8U || image.depth() == CV_8S) && + (image.rows * image.cols) < 8388608 ) // 8388608 = 2 ^ (32 - 8(bit depth) - 1(sign bit)) + { + // Create the integral image appropriate for our type & usage + if (image.depth() == CV_8U) + computeDescriptors(grayImage, keypoints, descriptors); + else if (image.depth() == CV_8S) + computeDescriptors(grayImage, keypoints, descriptors); + else + CV_Error( Error::StsUnsupportedFormat, "" ); + } else { + // Create the integral image appropriate for our type & usage + if ( image.depth() == CV_8U ) + computeDescriptors(grayImage, keypoints, descriptors); + else if ( image.depth() == CV_8S ) + computeDescriptors(grayImage, keypoints, descriptors); + else if ( image.depth() == CV_16U ) + computeDescriptors(grayImage, keypoints, descriptors); + else if ( image.depth() == CV_16S ) + computeDescriptors(grayImage, keypoints, descriptors); + else + CV_Error( Error::StsUnsupportedFormat, "" ); + } +} + +template +void FREAK::extractDescriptor(srcMatType *pointsValue, void ** ptr) const +{ + std::bitset** ptrScalar = (std::bitset**) ptr; + + // extracting descriptor preserving the order of SSE version + int cnt = 0; + for( int n = 7; n < FREAK_NB_PAIRS; n += 128) + { + for( int m = 8; m--; ) + { + int nm = n-m; + for(int kk = nm+15*8; kk >= nm; kk-=8, ++cnt) + { + (*ptrScalar)->set(kk, pointsValue[descriptionPairs[cnt].i] >= pointsValue[descriptionPairs[cnt].j]); + } + } + } + --(*ptrScalar); +} + +#if CV_SSE2 +template <> +void FREAK::extractDescriptor(uchar *pointsValue, void ** ptr) const +{ + __m128i** ptrSSE = (__m128i**) ptr; + + // note that comparisons order is modified in each block (but first 128 comparisons remain globally the same-->does not affect the 128,384 bits segmanted matching strategy) + int cnt = 0; + for( int n = FREAK_NB_PAIRS/128; n-- ; ) + { + __m128i result128 = _mm_setzero_si128(); + for( int m = 128/16; m--; cnt += 16 ) + { + __m128i operand1 = _mm_set_epi8(pointsValue[descriptionPairs[cnt+0].i], + pointsValue[descriptionPairs[cnt+1].i], + pointsValue[descriptionPairs[cnt+2].i], + pointsValue[descriptionPairs[cnt+3].i], + pointsValue[descriptionPairs[cnt+4].i], + pointsValue[descriptionPairs[cnt+5].i], + pointsValue[descriptionPairs[cnt+6].i], + pointsValue[descriptionPairs[cnt+7].i], + pointsValue[descriptionPairs[cnt+8].i], + pointsValue[descriptionPairs[cnt+9].i], + pointsValue[descriptionPairs[cnt+10].i], + pointsValue[descriptionPairs[cnt+11].i], + pointsValue[descriptionPairs[cnt+12].i], + pointsValue[descriptionPairs[cnt+13].i], + pointsValue[descriptionPairs[cnt+14].i], + pointsValue[descriptionPairs[cnt+15].i]); + + __m128i operand2 = _mm_set_epi8(pointsValue[descriptionPairs[cnt+0].j], + pointsValue[descriptionPairs[cnt+1].j], + pointsValue[descriptionPairs[cnt+2].j], + pointsValue[descriptionPairs[cnt+3].j], + pointsValue[descriptionPairs[cnt+4].j], + pointsValue[descriptionPairs[cnt+5].j], + pointsValue[descriptionPairs[cnt+6].j], + pointsValue[descriptionPairs[cnt+7].j], + pointsValue[descriptionPairs[cnt+8].j], + pointsValue[descriptionPairs[cnt+9].j], + pointsValue[descriptionPairs[cnt+10].j], + pointsValue[descriptionPairs[cnt+11].j], + pointsValue[descriptionPairs[cnt+12].j], + pointsValue[descriptionPairs[cnt+13].j], + pointsValue[descriptionPairs[cnt+14].j], + pointsValue[descriptionPairs[cnt+15].j]); + + __m128i workReg = _mm_min_epu8(operand1, operand2); // emulated "not less than" for 8-bit UNSIGNED integers + workReg = _mm_cmpeq_epi8(workReg, operand2); // emulated "not less than" for 8-bit UNSIGNED integers + + workReg = _mm_and_si128(_mm_set1_epi16(short(0x8080 >> m)), workReg); // merge the last 16 bits with the 128bits std::vector until full + result128 = _mm_or_si128(result128, workReg); + } + (**ptrSSE) = result128; + ++(*ptrSSE); + } + (*ptrSSE) -= 8; +} +#endif + +template +void FREAK::computeDescriptors( const Mat& image, std::vector& keypoints, Mat& descriptors ) const { + Mat imgIntegral; - integral(image, imgIntegral); + integral(image, imgIntegral, DataType::type); std::vector kpScaleIdx(keypoints.size()); // used to save pattern scale index corresponding to each keypoints const std::vector::iterator ScaleIdxBegin = kpScaleIdx.begin(); // used in std::vector erase function const std::vector::iterator kpBegin = keypoints.begin(); // used in std::vector erase function const float sizeCst = static_cast(FREAK_NB_SCALES/(FREAK_LOG2* nOctaves)); - uchar pointsValue[FREAK_NB_POINTS]; + srcMatType pointsValue[FREAK_NB_POINTS]; int thetaIdx = 0; int direction0; int direction1; @@ -275,11 +390,8 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat if( !extAll ) { // extract the best comparisons only descriptors = cv::Mat::zeros((int)keypoints.size(), FREAK_NB_PAIRS/8, CV_8U); -#if CV_SSE2 - __m128i* ptr= (__m128i*) (descriptors.data+(keypoints.size()-1)*descriptors.step[0]); -#else - std::bitset* ptr = (std::bitset*) (descriptors.data+(keypoints.size()-1)*descriptors.step[0]); -#endif + void *ptr = descriptors.data+(keypoints.size()-1)*descriptors.step[0]; + for( size_t k = keypoints.size(); k--; ) { // estimate orientation (gradient) if( !orientationNormalized ) { @@ -289,7 +401,9 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat else { // get the points intensity value in the un-rotated pattern for( int i = FREAK_NB_POINTS; i--; ) { - pointsValue[i] = meanIntensity(image, imgIntegral, keypoints[k].pt.x,keypoints[k].pt.y, kpScaleIdx[k], 0, i); + pointsValue[i] = meanIntensity(image, imgIntegral, + keypoints[k].pt.x, keypoints[k].pt.y, + kpScaleIdx[k], 0, i); } direction0 = 0; direction1 = 0; @@ -310,78 +424,13 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat } // extract descriptor at the computed orientation for( int i = FREAK_NB_POINTS; i--; ) { - pointsValue[i] = meanIntensity(image, imgIntegral, keypoints[k].pt.x,keypoints[k].pt.y, kpScaleIdx[k], thetaIdx, i); + pointsValue[i] = meanIntensity(image, imgIntegral, + keypoints[k].pt.x, keypoints[k].pt.y, + kpScaleIdx[k], thetaIdx, i); } -#if CV_SSE2 - // note that comparisons order is modified in each block (but first 128 comparisons remain globally the same-->does not affect the 128,384 bits segmanted matching strategy) - int cnt = 0; - for( int n = FREAK_NB_PAIRS/128; n-- ; ) - { - __m128i result128 = _mm_setzero_si128(); - for( int m = 128/16; m--; cnt += 16 ) - { - __m128i operand1 = _mm_set_epi8( - pointsValue[descriptionPairs[cnt+0].i], - pointsValue[descriptionPairs[cnt+1].i], - pointsValue[descriptionPairs[cnt+2].i], - pointsValue[descriptionPairs[cnt+3].i], - pointsValue[descriptionPairs[cnt+4].i], - pointsValue[descriptionPairs[cnt+5].i], - pointsValue[descriptionPairs[cnt+6].i], - pointsValue[descriptionPairs[cnt+7].i], - pointsValue[descriptionPairs[cnt+8].i], - pointsValue[descriptionPairs[cnt+9].i], - pointsValue[descriptionPairs[cnt+10].i], - pointsValue[descriptionPairs[cnt+11].i], - pointsValue[descriptionPairs[cnt+12].i], - pointsValue[descriptionPairs[cnt+13].i], - pointsValue[descriptionPairs[cnt+14].i], - pointsValue[descriptionPairs[cnt+15].i]); - __m128i operand2 = _mm_set_epi8( - pointsValue[descriptionPairs[cnt+0].j], - pointsValue[descriptionPairs[cnt+1].j], - pointsValue[descriptionPairs[cnt+2].j], - pointsValue[descriptionPairs[cnt+3].j], - pointsValue[descriptionPairs[cnt+4].j], - pointsValue[descriptionPairs[cnt+5].j], - pointsValue[descriptionPairs[cnt+6].j], - pointsValue[descriptionPairs[cnt+7].j], - pointsValue[descriptionPairs[cnt+8].j], - pointsValue[descriptionPairs[cnt+9].j], - pointsValue[descriptionPairs[cnt+10].j], - pointsValue[descriptionPairs[cnt+11].j], - pointsValue[descriptionPairs[cnt+12].j], - pointsValue[descriptionPairs[cnt+13].j], - pointsValue[descriptionPairs[cnt+14].j], - pointsValue[descriptionPairs[cnt+15].j]); - - __m128i workReg = _mm_min_epu8(operand1, operand2); // emulated "not less than" for 8-bit UNSIGNED integers - workReg = _mm_cmpeq_epi8(workReg, operand2); // emulated "not less than" for 8-bit UNSIGNED integers - - workReg = _mm_and_si128(_mm_set1_epi16(short(0x8080 >> m)), workReg); // merge the last 16 bits with the 128bits std::vector until full - result128 = _mm_or_si128(result128, workReg); - } - (*ptr) = result128; - ++ptr; - } - ptr -= 8; -#else - // extracting descriptor preserving the order of SSE version - int cnt = 0; - for( int n = 7; n < FREAK_NB_PAIRS; n += 128) - { - for( int m = 8; m--; ) - { - int nm = n-m; - for(int kk = nm+15*8; kk >= nm; kk-=8, ++cnt) - { - ptr->set(kk, pointsValue[descriptionPairs[cnt].i] >= pointsValue[descriptionPairs[cnt].j]); - } - } - } - --ptr; -#endif + // Extract descriptor + extractDescriptor(pointsValue, &ptr); } } else { // extract all possible comparisons for selection @@ -397,7 +446,9 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat else { //get the points intensity value in the un-rotated pattern for( int i = FREAK_NB_POINTS;i--; ) - pointsValue[i] = meanIntensity(image, imgIntegral, keypoints[k].pt.x,keypoints[k].pt.y, kpScaleIdx[k], 0, i); + pointsValue[i] = meanIntensity(image, imgIntegral, + keypoints[k].pt.x,keypoints[k].pt.y, + kpScaleIdx[k], 0, i); direction0 = 0; direction1 = 0; @@ -419,8 +470,9 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat } // get the points intensity value in the rotated pattern for( int i = FREAK_NB_POINTS; i--; ) { - pointsValue[i] = meanIntensity(image, imgIntegral, keypoints[k].pt.x, - keypoints[k].pt.y, kpScaleIdx[k], thetaIdx, i); + pointsValue[i] = meanIntensity(image, imgIntegral, + keypoints[k].pt.x, keypoints[k].pt.y, + kpScaleIdx[k], thetaIdx, i); } int cnt(0); @@ -437,19 +489,19 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat } // simply take average on a square patch, not even gaussian approx -uchar FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral, - const float kp_x, - const float kp_y, - const unsigned int scale, - const unsigned int rot, - const unsigned int point) const { +template +imgType FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral, + const float kp_x, + const float kp_y, + const unsigned int scale, + const unsigned int rot, + const unsigned int point) const { // get point position in image const PatternPoint& FreakPoint = patternLookup[scale*FREAK_NB_ORIENTATION*FREAK_NB_POINTS + rot*FREAK_NB_POINTS + point]; const float xf = FreakPoint.x+kp_x; const float yf = FreakPoint.y+kp_y; const int x = int(xf); const int y = int(yf); - const int& imagecols = image.cols; // get the sigma: const float radius = FreakPoint.sigma; @@ -461,19 +513,15 @@ uchar FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral, const int r_y = static_cast((yf-y)*1024); const int r_x_1 = (1024-r_x); const int r_y_1 = (1024-r_y); - uchar* ptr = image.data+x+y*imagecols; unsigned int ret_val; // linear interpolation: - ret_val = (r_x_1*r_y_1*int(*ptr)); - ptr++; - ret_val += (r_x*r_y_1*int(*ptr)); - ptr += imagecols; - ret_val += (r_x*r_y*int(*ptr)); - ptr--; - ret_val += (r_x_1*r_y*int(*ptr)); + ret_val = r_x_1*r_y_1*int(image.at(y , x )) + + r_x *r_y_1*int(image.at(y , x+1)) + + r_x_1*r_y *int(image.at(y+1, x )) + + r_x *r_y *int(image.at(y+1, x+1)); //return the rounded mean ret_val += 2 * 1024 * 1024; - return static_cast(ret_val / (4 * 1024 * 1024)); + return static_cast(ret_val / (4 * 1024 * 1024)); } // expected case: @@ -483,15 +531,15 @@ uchar FREAK::meanIntensity( const cv::Mat& image, const cv::Mat& integral, const int y_top = int(yf-radius+0.5); const int x_right = int(xf+radius+1.5);//integral image is 1px wider const int y_bottom = int(yf+radius+1.5);//integral image is 1px higher - int ret_val; + iiType ret_val; - ret_val = integral.at(y_bottom,x_right);//bottom right corner - ret_val -= integral.at(y_bottom,x_left); - ret_val += integral.at(y_top,x_left); - ret_val -= integral.at(y_top,x_right); + ret_val = integral.at(y_bottom,x_right);//bottom right corner + ret_val -= integral.at(y_bottom,x_left); + ret_val += integral.at(y_top,x_left); + ret_val -= integral.at(y_top,x_right); ret_val = ret_val/( (x_right-x_left)* (y_bottom-y_top) ); //~ std::cout<(ret_val); + return static_cast(ret_val); } // pair selection algorithm from a set of training images and corresponding keypoints diff --git a/modules/features2d/src/stardetector.cpp b/modules/features2d/src/stardetector.cpp index 02b999b62..9fbbc5bd1 100644 --- a/modules/features2d/src/stardetector.cpp +++ b/modules/features2d/src/stardetector.cpp @@ -44,20 +44,24 @@ namespace cv { -static void -computeIntegralImages( const Mat& matI, Mat& matS, Mat& matT, Mat& _FT ) +template static void +computeIntegralImages( const Mat& matI, Mat& matS, Mat& matT, Mat& _FT, + int iiType ) { - CV_Assert( matI.type() == CV_8U ); - int x, y, rows = matI.rows, cols = matI.cols; - matS.create(rows + 1, cols + 1, CV_32S); - matT.create(rows + 1, cols + 1, CV_32S); - _FT.create(rows + 1, cols + 1, CV_32S); + matS.create(rows + 1, cols + 1, iiType ); + matT.create(rows + 1, cols + 1, iiType ); + _FT.create(rows + 1, cols + 1, iiType ); - const uchar* I = matI.ptr(); - int *S = matS.ptr(), *T = matT.ptr(), *FT = _FT.ptr(); - int istep = (int)matI.step, step = (int)(matS.step/sizeof(S[0])); + const inMatType* I = matI.ptr(); + + outMatType *S = matS.ptr(); + outMatType *T = matT.ptr(); + outMatType *FT = _FT.ptr(); + + int istep = (int)(matI.step/matI.elemSize()); + int step = (int)(matS.step/matS.elemSize()); for( x = 0; x <= cols; x++ ) S[x] = T[x] = FT[x] = 0; @@ -95,14 +99,9 @@ computeIntegralImages( const Mat& matI, Mat& matS, Mat& matT, Mat& _FT ) } } -struct StarFeature -{ - int area; - int* p[8]; -}; - -static int -StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, int maxSize ) +template static int +StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, + int maxSize, int iiType ) { const int MAX_PATTERN = 17; static const int sizes0[] = {1, 2, 3, 4, 6, 8, 11, 12, 16, 22, 23, 32, 45, 46, 64, 90, 128, -1}; @@ -116,16 +115,21 @@ StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, int ma __m128 sizes1_4[MAX_PATTERN]; union { int i; float f; } absmask; absmask.i = 0x7fffffff; - volatile bool useSIMD = cv::checkHardwareSupport(CV_CPU_SSE2); + volatile bool useSIMD = cv::checkHardwareSupport(CV_CPU_SSE2) && iiType == CV_32S; #endif + + struct StarFeature + { + int area; + iiMatType* p[8]; + }; + StarFeature f[MAX_PATTERN]; Mat sum, tilted, flatTilted; int y, rows = img.rows, cols = img.cols; int border, npatterns=0, maxIdx=0; - CV_Assert( img.type() == CV_8UC1 ); - responses.create( img.size(), CV_32F ); sizes.create( img.size(), CV_16S ); @@ -139,7 +143,18 @@ StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, int ma npatterns += (pairs[npatterns-1][0] >= 0); maxIdx = pairs[npatterns-1][0]; - computeIntegralImages( img, sum, tilted, flatTilted ); + // Create the integral image appropriate for our type & usage + if ( img.type() == CV_8U ) + computeIntegralImages( img, sum, tilted, flatTilted, iiType ); + else if ( img.type() == CV_8S ) + computeIntegralImages( img, sum, tilted, flatTilted, iiType ); + else if ( img.type() == CV_16U ) + computeIntegralImages( img, sum, tilted, flatTilted, iiType ); + else if ( img.type() == CV_16S ) + computeIntegralImages( img, sum, tilted, flatTilted, iiType ); + else + CV_Error( Error::StsUnsupportedFormat, "" ); + int step = (int)(sum.step/sum.elemSize()); for(int i = 0; i <= maxIdx; i++ ) @@ -148,15 +163,15 @@ StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, int ma int ur_area = (2*ur_size + 1)*(2*ur_size + 1); int t_area = t_size*t_size + (t_size + 1)*(t_size + 1); - f[i].p[0] = sum.ptr() + (ur_size + 1)*step + ur_size + 1; - f[i].p[1] = sum.ptr() - ur_size*step + ur_size + 1; - f[i].p[2] = sum.ptr() + (ur_size + 1)*step - ur_size; - f[i].p[3] = sum.ptr() - ur_size*step - ur_size; + f[i].p[0] = sum.ptr() + (ur_size + 1)*step + ur_size + 1; + f[i].p[1] = sum.ptr() - ur_size*step + ur_size + 1; + f[i].p[2] = sum.ptr() + (ur_size + 1)*step - ur_size; + f[i].p[3] = sum.ptr() - ur_size*step - ur_size; - f[i].p[4] = tilted.ptr() + (t_size + 1)*step + 1; - f[i].p[5] = flatTilted.ptr() - t_size; - f[i].p[6] = flatTilted.ptr() + t_size + 1; - f[i].p[7] = tilted.ptr() - t_size*step + 1; + f[i].p[4] = tilted.ptr() + (t_size + 1)*step + 1; + f[i].p[5] = flatTilted.ptr() - t_size; + f[i].p[6] = flatTilted.ptr() + t_size + 1; + f[i].p[7] = tilted.ptr() - t_size*step + 1; f[i].area = ur_area + t_area; sizes1[i] = sizes0[i]; @@ -227,7 +242,7 @@ StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, int ma for(int i = 0; i <= maxIdx; i++ ) { - const int** p = (const int**)&f[i].p[0]; + const iiMatType** p = (const iiMatType**)&f[i].p[0]; __m128i r0 = _mm_sub_epi32(_mm_loadu_si128((const __m128i*)(p[0]+ofs)), _mm_loadu_si128((const __m128i*)(p[1]+ofs))); __m128i r1 = _mm_sub_epi32(_mm_loadu_si128((const __m128i*)(p[3]+ofs)), @@ -269,9 +284,9 @@ StarDetectorComputeResponses( const Mat& img, Mat& responses, Mat& sizes, int ma for(int i = 0; i <= maxIdx; i++ ) { - const int** p = (const int**)&f[i].p[0]; - vals[i] = p[0][ofs] - p[1][ofs] - p[2][ofs] + p[3][ofs] + - p[4][ofs] - p[5][ofs] - p[6][ofs] + p[7][ofs]; + const iiMatType** p = (const iiMatType**)&f[i].p[0]; + vals[i] = (int)(p[0][ofs] - p[1][ofs] - p[2][ofs] + p[3][ofs] + + p[4][ofs] - p[5][ofs] - p[6][ofs] + p[7][ofs]); } for(int i = 0; i < npatterns; i++ ) { @@ -429,7 +444,7 @@ StarDetector::StarDetector(int _maxSize, int _responseThreshold, void StarDetector::detectImpl( const Mat& image, std::vector& keypoints, const Mat& mask ) const { Mat grayImage = image; - if( image.type() != CV_8U ) cvtColor( image, grayImage, COLOR_BGR2GRAY ); + if( image.channels() > 1 ) cvtColor( image, grayImage, COLOR_BGR2GRAY ); (*this)(grayImage, keypoints); KeyPointsFilter::runByPixelsMask( keypoints, mask ); @@ -438,7 +453,15 @@ void StarDetector::detectImpl( const Mat& image, std::vector& keypoint void StarDetector::operator()(const Mat& img, std::vector& keypoints) const { Mat responses, sizes; - int border = StarDetectorComputeResponses( img, responses, sizes, maxSize ); + int border; + + // Use 32-bit integers if we won't overflow in the integral image + if ((img.depth() == CV_8U || img.depth() == CV_8S) && + (img.rows * img.cols) < 8388608 ) // 8388608 = 2 ^ (32 - 8(bit depth) - 1(sign bit)) + border = StarDetectorComputeResponses( img, responses, sizes, maxSize, CV_32S ); + else + border = StarDetectorComputeResponses( img, responses, sizes, maxSize, CV_64F ); + keypoints.clear(); if( border >= 0 ) StarDetectorSuppressNonmax( responses, sizes, keypoints, border, diff --git a/modules/imgproc/src/sumpixels.cpp b/modules/imgproc/src/sumpixels.cpp old mode 100644 new mode 100755 index 219f28d62..2db3b921d --- a/modules/imgproc/src/sumpixels.cpp +++ b/modules/imgproc/src/sumpixels.cpp @@ -217,6 +217,8 @@ static void integral_##suffix( T* src, size_t srcstep, ST* sum, size_t sumstep, DEF_INTEGRAL_FUNC(8u32s, uchar, int, double) DEF_INTEGRAL_FUNC(8u32f, uchar, float, double) DEF_INTEGRAL_FUNC(8u64f, uchar, double, double) +DEF_INTEGRAL_FUNC(16u64f, ushort, double, double) +DEF_INTEGRAL_FUNC(16s64f, short, double, double) DEF_INTEGRAL_FUNC(32f, float, float, double) DEF_INTEGRAL_FUNC(32f64f, float, double, double) DEF_INTEGRAL_FUNC(64f, double, double, double) @@ -307,6 +309,10 @@ void cv::integral( InputArray _src, OutputArray _sum, OutputArray _sqsum, Output func = (IntegralFunc)integral_8u32f; else if( depth == CV_8U && sdepth == CV_64F ) func = (IntegralFunc)integral_8u64f; + else if( depth == CV_16U && sdepth == CV_64F ) + func = (IntegralFunc)integral_16u64f; + else if( depth == CV_16S && sdepth == CV_64F ) + func = (IntegralFunc)integral_16s64f; else if( depth == CV_32F && sdepth == CV_32F ) func = (IntegralFunc)integral_32f; else if( depth == CV_32F && sdepth == CV_64F ) From 73b0827ec166f5b9e226162bae8ec960f951c87e Mon Sep 17 00:00:00 2001 From: sprice Date: Wed, 4 Dec 2013 18:21:56 -0800 Subject: [PATCH 2/2] Don't automatically convert to grayscale (keep previous behavior.) --- modules/features2d/src/freak.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/features2d/src/freak.cpp b/modules/features2d/src/freak.cpp index 7805f49ca..47bc641db 100644 --- a/modules/features2d/src/freak.cpp +++ b/modules/features2d/src/freak.cpp @@ -226,8 +226,8 @@ void FREAK::computeImpl( const Mat& image, std::vector& keypoints, Mat // Convert to gray if not already Mat grayImage = image; - if( image.channels() > 1 ) - cvtColor( image, grayImage, COLOR_BGR2GRAY ); +// if( image.channels() > 1 ) +// cvtColor( image, grayImage, COLOR_BGR2GRAY ); // Use 32-bit integers if we won't overflow in the integral image if ((image.depth() == CV_8U || image.depth() == CV_8S) &&