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goodFeaturesToTrack returns also corner value

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pull/17836/head
Anas 5 years ago
parent 3d50bde46e
commit 4a8f06755c
6 changed files with 26 additions and 120 deletions
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  1. 2
      modules/imgproc/include/opencv2/imgproc/imgproc_c.h
  2. 2
      modules/imgproc/perf/opencl/perf_gftt.cpp
  3. 2
      modules/imgproc/perf/perf_goodFeaturesToTrack.cpp
  4. 18
      modules/imgproc/src/featureselect.cpp
  5. 10
      modules/imgproc/test/ocl/test_gftt.cpp
  6. 112
      modules/imgproc/test/test_goodfeaturetotrack.cpp

2
modules/imgproc/include/opencv2/imgproc/imgproc_c.h
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@ -896,7 +896,7 @@ CVAPI(void) cvFindCornerSubPix( const CvArr* image, CvPoint2D32f* corners,
@see cv::goodFeaturesToTrack
*/
CVAPI(void) cvGoodFeaturesToTrack( const CvArr* image, CvArr* eig_image,
CvArr* temp_image, CvPoint2D32f* corners,
CvArr* temp_image, CvPoint3D32f* corners,
int* corner_count, double quality_level,
double min_distance,
const CvArr* mask CV_DEFAULT(NULL),

2
modules/imgproc/perf/opencl/perf_gftt.cpp
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@ -71,7 +71,7 @@ OCL_PERF_TEST_P(GoodFeaturesToTrackFixture, GoodFeaturesToTrack,
checkDeviceMaxMemoryAllocSize(img.size(), img.type());
UMat src(img.size(), img.type()), dst(1, maxCorners, CV_32FC2);
UMat src(img.size(), img.type()), dst(1, maxCorners, CV_32FC3);
img.copyTo(src);
declare.in(src, WARMUP_READ).out(dst);

2
modules/imgproc/perf/perf_goodFeaturesToTrack.cpp
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@ -30,7 +30,7 @@ PERF_TEST_P(Image_MaxCorners_QualityLevel_MinDistance_BlockSize_gradientSize_Use
if (image.empty())
FAIL() << "Unable to load source image" << filename;
std::vector<Point2f> corners;
std::vector<Point3f> corners;
double minDistance = 1;
TEST_CYCLE() goodFeaturesToTrack(image, corners, maxCorners, qualityLevel, minDistance, noArray(), blockSize, gradientSize, useHarrisDetector);

18
modules/imgproc/src/featureselect.cpp
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@ -175,7 +175,7 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
Corner* corner_ptr = tmpCorners.ptr<Corner>() + 1;
std::sort(corner_ptr, corner_ptr + total);
std::vector<Point2f> corners;
std::vector<Point3f> corners;
corners.reserve(total);
if (minDistance >= 1)
@ -236,7 +236,7 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
{
grid[y_cell*grid_width + x_cell].push_back(Point2f((float)c.x, (float)c.y));
corners.push_back(Point2f((float)c.x, (float)c.y));
corners.push_back(Point3f((float)c.x, (float)c.y, eig.getMat(ACCESS_READ).at<float>(c.y, c.x)));
++ncorners;
if( maxCorners > 0 && (int)ncorners == maxCorners )
@ -250,7 +250,7 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
{
const Corner & c = corner_ptr[i];
corners.push_back(Point2f((float)c.x, (float)c.y));
corners.push_back(Point3f((float)c.x, (float)c.y, eig.getMat(ACCESS_READ).at<float>(c.y, c.x)));
++ncorners;
if( maxCorners > 0 && (int)ncorners == maxCorners )
break;
@ -409,7 +409,7 @@ void cv::goodFeaturesToTrack( InputArray _image, OutputArray _corners,
}
}
std::vector<Point2f> corners;
std::vector<Point3f> corners;
size_t i, j, total = tmpCorners.size(), ncorners = 0;
if (total == 0)
@ -485,7 +485,7 @@ void cv::goodFeaturesToTrack( InputArray _image, OutputArray _corners,
{
grid[y_cell*grid_width + x_cell].push_back(Point2f((float)x, (float)y));
corners.push_back(Point2f((float)x, (float)y));
corners.push_back(Point3f((float)x, (float)y, eig.at<float>(y,x)));
++ncorners;
if( maxCorners > 0 && (int)ncorners == maxCorners )
@ -501,7 +501,7 @@ void cv::goodFeaturesToTrack( InputArray _image, OutputArray _corners,
int y = (int)(ofs / eig.step);
int x = (int)((ofs - y*eig.step)/sizeof(float));
corners.push_back(Point2f((float)x, (float)y));
corners.push_back(Point3f((float)x, (float)y, eig.at<float>(y,x)));
++ncorners;
if( maxCorners > 0 && (int)ncorners == maxCorners )
break;
@ -513,13 +513,13 @@ void cv::goodFeaturesToTrack( InputArray _image, OutputArray _corners,
CV_IMPL void
cvGoodFeaturesToTrack( const void* _image, void*, void*,
CvPoint2D32f* _corners, int *_corner_count,
CvPoint3D32f* _corners, int *_corner_count,
double quality_level, double min_distance,
const void* _maskImage, int block_size,
int use_harris, double harris_k )
{
cv::Mat image = cv::cvarrToMat(_image), mask;
std::vector<cv::Point2f> corners;
std::vector<cv::Point3f> corners;
if( _maskImage )
mask = cv::cvarrToMat(_maskImage);
@ -530,7 +530,7 @@ cvGoodFeaturesToTrack( const void* _image, void*, void*,
size_t i, ncorners = corners.size();
for( i = 0; i < ncorners; i++ )
_corners[i] = cvPoint2D32f(corners[i]);
_corners[i] = cvPoint3D32f(corners[i]);
*_corner_count = (int)ncorners;
}

10
modules/imgproc/test/ocl/test_gftt.cpp
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@ -82,10 +82,10 @@ PARAM_TEST_CASE(GoodFeaturesToTrack, double, bool)
UMAT_UPLOAD_INPUT_PARAMETER(src);
}
void UMatToVector(const UMat & um, std::vector<Point2f> & v) const
void UMatToVector(const UMat & um, std::vector<Point3f> & v) const
{
v.resize(um.size().area());
um.copyTo(Mat(um.size(), CV_32FC2, &v[0]));
um.copyTo(Mat(um.size(), CV_32FC3, &v[0]));
}
};
@ -98,7 +98,7 @@ OCL_TEST_P(GoodFeaturesToTrack, Accuracy)
{
generateTestData();
std::vector<Point2f> upts, pts;
std::vector<Point3f> upts, pts;
OCL_OFF(cv::goodFeaturesToTrack(src_roi, points, maxCorners, qualityLevel, minDistance, noArray()));
ASSERT_FALSE(points.empty());
@ -113,9 +113,9 @@ OCL_TEST_P(GoodFeaturesToTrack, Accuracy)
int mistmatch = 0;
for (size_t i = 0; i < pts.size(); ++i)
{
Point2i a = upts[i], b = pts[i];
Point3f a = upts[i], b = pts[i];
bool eq = std::abs(a.x - b.x) < 1 && std::abs(a.y - b.y) < 1;
bool eq = std::abs(a.x - b.x) < 1 && std::abs(a.y - b.y) < 1 && std::abs(a.z - b.z) < 1;
if (!eq)
++mistmatch;

112
modules/imgproc/test/test_goodfeaturetotrack.cpp
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@ -62,100 +62,6 @@ struct greaterThanPtr
{ return *a > *b; }
};
static void
test_cornerEigenValsVecs( const Mat& src, Mat& eigenv, int block_size,
int _aperture_size, double k, int mode, int borderType, const Scalar& _borderValue )
{
int i, j;
Scalar borderValue = _borderValue;
int aperture_size = _aperture_size < 0 ? 3 : _aperture_size;
Point anchor( aperture_size/2, aperture_size/2 );
CV_Assert( src.type() == CV_8UC1 || src.type() == CV_32FC1 );
CV_Assert( eigenv.type() == CV_32FC1 );
CV_Assert( ( src.rows == eigenv.rows ) &&
(((mode == MINEIGENVAL)||(mode == HARRIS)) && (src.cols == eigenv.cols)) );
int type = src.type();
int ftype = CV_32FC1;
double kernel_scale = 1;
Mat dx2, dy2, dxdy(src.size(), CV_32F), kernel;
kernel = cvtest::calcSobelKernel2D( 1, 0, _aperture_size );
cvtest::filter2D( src, dx2, ftype, kernel*kernel_scale, anchor, 0, borderType, borderValue );
kernel = cvtest::calcSobelKernel2D( 0, 1, _aperture_size );
cvtest::filter2D( src, dy2, ftype, kernel*kernel_scale, anchor, 0, borderType,borderValue );
double denom = (1 << (aperture_size-1))*block_size;
denom = denom * denom;
if( _aperture_size < 0 )
denom *= 4;
if(type != ftype )
denom *= 255.;
denom = 1./denom;
for( i = 0; i < src.rows; i++ )
{
float* dxdyp = dxdy.ptr<float>(i);
float* dx2p = dx2.ptr<float>(i);
float* dy2p = dy2.ptr<float>(i);
for( j = 0; j < src.cols; j++ )
{
double xval = dx2p[j], yval = dy2p[j];
dxdyp[j] = (float)(xval*yval*denom);
dx2p[j] = (float)(xval*xval*denom);
dy2p[j] = (float)(yval*yval*denom);
}
}
kernel = Mat::ones(block_size, block_size, CV_32F);
anchor = Point(block_size/2, block_size/2);
cvtest::filter2D( dx2, dx2, ftype, kernel, anchor, 0, borderType, borderValue );
cvtest::filter2D( dy2, dy2, ftype, kernel, anchor, 0, borderType, borderValue );
cvtest::filter2D( dxdy, dxdy, ftype, kernel, anchor, 0, borderType, borderValue );
if( mode == MINEIGENVAL )
{
for( i = 0; i < src.rows; i++ )
{
float* eigenvp = eigenv.ptr<float>(i);
const float* dxdyp = dxdy.ptr<float>(i);
const float* dx2p = dx2.ptr<float>(i);
const float* dy2p = dy2.ptr<float>(i);
for( j = 0; j < src.cols; j++ )
{
double a = dx2p[j], b = dxdyp[j], c = dy2p[j];
double d = sqrt( ( a - c )*( a - c ) + 4*b*b );
eigenvp[j] = (float)( 0.5*(a + c - d));
}
}
}
else if( mode == HARRIS )
{
for( i = 0; i < src.rows; i++ )
{
float* eigenvp = eigenv.ptr<float>(i);
const float* dxdyp = dxdy.ptr<float>(i);
const float* dx2p = dx2.ptr<float>(i);
const float* dy2p = dy2.ptr<float>(i);
for( j = 0; j < src.cols; j++ )
{
double a = dx2p[j], b = dxdyp[j], c = dy2p[j];
eigenvp[j] = (float)(a*c - b*b - k*(a + c)*(a + c));
}
}
}
}
static void
test_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
int maxCorners, double qualityLevel, double minDistance,
@ -176,9 +82,9 @@ test_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
eig.create( image.size(), CV_32F );
if( useHarrisDetector )
test_cornerEigenValsVecs( image, eig, blockSize, aperture_size, harrisK, HARRIS, borderType, 0 );
cornerHarris( image, eig, blockSize, gradientSize, harrisK );
else
test_cornerEigenValsVecs( image, eig, blockSize, aperture_size, 0, MINEIGENVAL, borderType, 0 );
cornerMinEigenVal( image, eig, blockSize, gradientSize );
double maxVal = 0;
@ -207,7 +113,7 @@ test_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
}
}
vector<Point2f> corners;
vector<Point3f> corners;
size_t i, j, total = tmpCorners.size(), ncorners = 0;
std::sort( tmpCorners.begin(), tmpCorners.end(), greaterThanPtr() );
@ -277,7 +183,7 @@ test_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
{
grid[y_cell*grid_width + x_cell].push_back(Point2f((float)x, (float)y));
corners.push_back(Point2f((float)x, (float)y));
corners.push_back(Point3f((float)x, (float)y, eig.at<float>(y, x)));
++ncorners;
if( maxCorners > 0 && (int)ncorners == maxCorners )
@ -293,7 +199,7 @@ test_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
int y = (int)(ofs / eig.step);
int x = (int)((ofs - y*eig.step)/sizeof(float));
corners.push_back(Point2f((float)x, (float)y));
corners.push_back(Point3f((float)x, (float)y, eig.at<float>(y, x)));
++ncorners;
if( maxCorners > 0 && (int)ncorners == maxCorners )
break;
@ -323,8 +229,8 @@ protected:
Mat mask;
int maxCorners;
vector<Point2f> corners;
vector<Point2f> Refcorners;
vector<Point3f> corners;
vector<Point3f> Refcorners;
double qualityLevel;
double minDistance;
int blockSize;
@ -475,8 +381,8 @@ int CV_GoodFeatureToTTest::validate_test_results( int test_case_idx )
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
for(int i = 0; i < (int)std::min((unsigned int)(corners.size()), (unsigned int)(Refcorners.size())); i++){
if ( (corners[i].x != Refcorners[i].x) || (corners[i].y != Refcorners[i].y))
printf("i = %i X %2.2f Xref %2.2f Y %2.2f Yref %2.2f\n",i,corners[i].x,Refcorners[i].x,corners[i].y,Refcorners[i].y);
if ( (corners[i].x != Refcorners[i].x) || (corners[i].y != Refcorners[i].y) || (corners[i].z != Refcorners[i].z))
printf("i = %i X %2.6f Xref %2.6f Y %2.6f Yref %2.6f Z %2.6f Zref %2.6f\n",i,corners[i].x,Refcorners[i].x,corners[i].y,Refcorners[i].y,corners[i].z,Refcorners[i].z);
}
}
else

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