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akaze: more fixes

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- boundary checks
- div by zero guard
- fixed bilinear interpolation (another case)
- reduce memory allocation
pull/9308/head
Alexander Alekhin 8 years ago
parent e0489cb4a6
commit ad2e864a9a
1 changed files with 109 additions and 100 deletions
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  1. 209
      modules/features2d/src/kaze/AKAZEFeatures.cpp

209
modules/features2d/src/kaze/AKAZEFeatures.cpp
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@ -1466,25 +1466,28 @@ void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const
//Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.50f*scale);
y1 = (int)(sample_y - .5f);
x1 = (int)(sample_x - .5f);
y1 = cvFloor(sample_y);
x1 = cvFloor(sample_x);
y2 = (int)(sample_y + .5f);
x2 = (int)(sample_x + .5f);
y2 = y1 + 1;
x2 = x1 + 1;
if (x1 < 0 || y1 < 0 || x2 >= Lx.cols || y2 >= Lx.rows)
continue; // FIXIT Boundaries
fx = sample_x - x1;
fy = sample_y - y1;
res1 = *(Lx.ptr<float>(y1)+x1);
res2 = *(Lx.ptr<float>(y1)+x2);
res3 = *(Lx.ptr<float>(y2)+x1);
res4 = *(Lx.ptr<float>(y2)+x2);
res1 = Lx.at<float>(y1, x1);
res2 = Lx.at<float>(y1, x2);
res3 = Lx.at<float>(y2, x1);
res4 = Lx.at<float>(y2, x2);
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(Ly.ptr<float>(y1)+x1);
res2 = *(Ly.ptr<float>(y1)+x2);
res3 = *(Ly.ptr<float>(y2)+x1);
res4 = *(Ly.ptr<float>(y2)+x2);
res1 = Ly.at<float>(y1, x1);
res2 = Ly.at<float>(y1, x2);
res3 = Ly.at<float>(y2, x1);
res4 = Ly.at<float>(y2, x2);
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
rx = gauss_s1*rx;
@ -1519,8 +1522,9 @@ void MSURF_Upright_Descriptor_64_Invoker::Get_MSURF_Upright_Descriptor_64(const
// convert to unit vector
len = sqrt(len);
const float len_inv = 1.0f / len;
for (i = 0; i < dsize; i++) {
desc[i] /= len;
desc[i] *= len_inv;
}
}
@ -1599,34 +1603,28 @@ void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const KeyPoint& kpt, f
// Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs - sample_x, ys - sample_y, 2.5f*scale);
y1 = cvRound(sample_y - 0.5f);
x1 = cvRound(sample_x - 0.5f);
y1 = cvFloor(sample_y);
x1 = cvFloor(sample_x);
y2 = cvRound(sample_y + 0.5f);
x2 = cvRound(sample_x + 0.5f);
y2 = y1 + 1;
x2 = x1 + 1;
// fix crash: indexing with out-of-bounds index, this might happen near the edges of image
// clip values so they fit into the image
const MatSize& size = Lx.size;
y1 = min(max(0, y1), size[0] - 1);
x1 = min(max(0, x1), size[1] - 1);
y2 = min(max(0, y2), size[0] - 1);
x2 = min(max(0, x2), size[1] - 1);
CV_DbgAssert(Lx.size == Ly.size);
if (x1 < 0 || y1 < 0 || x2 >= Lx.cols || y2 >= Lx.rows)
continue; // FIXIT Boundaries
fx = sample_x - x1;
fy = sample_y - y1;
res1 = *(Lx.ptr<float>(y1, x1));
res2 = *(Lx.ptr<float>(y1, x2));
res3 = *(Lx.ptr<float>(y2, x1));
res4 = *(Lx.ptr<float>(y2, x2));
res1 = Lx.at<float>(y1, x1);
res2 = Lx.at<float>(y1, x2);
res3 = Lx.at<float>(y2, x1);
res4 = Lx.at<float>(y2, x2);
rx = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
res1 = *(Ly.ptr<float>(y1, x1));
res2 = *(Ly.ptr<float>(y1, x2));
res3 = *(Ly.ptr<float>(y2, x1));
res4 = *(Ly.ptr<float>(y2, x2));
res1 = Ly.at<float>(y1, x1);
res2 = Ly.at<float>(y1, x2);
res3 = Ly.at<float>(y2, x1);
res4 = Ly.at<float>(y2, x2);
ry = (1.0f - fx)*(1.0f - fy)*res1 + fx*(1.0f - fy)*res2 + (1.0f - fx)*fy*res3 + fx*fy*res4;
// Get the x and y derivatives on the rotated axis
@ -1661,8 +1659,9 @@ void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const KeyPoint& kpt, f
// convert to unit vector
len = sqrt(len);
const float len_inv = 1.0f / len;
for (i = 0; i < dsize; i++) {
desc[i] /= len;
desc[i] *= len_inv;
}
}
@ -1675,13 +1674,6 @@ void MSURF_Descriptor_64_Invoker::Get_MSURF_Descriptor_64(const KeyPoint& kpt, f
*/
void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(const KeyPoint& kpt, unsigned char *desc, int desc_size) const {
float di = 0.0, dx = 0.0, dy = 0.0;
float ri = 0.0, rx = 0.0, ry = 0.0, xf = 0.0, yf = 0.0;
float sample_x = 0.0, sample_y = 0.0, ratio = 0.0;
int x1 = 0, y1 = 0;
int nsamples = 0, scale = 0;
int dcount1 = 0, dcount2 = 0;
const AKAZEOptions & options = *options_;
const std::vector<Evolution>& evolution = *evolution_;
@ -1691,14 +1683,14 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
float values[16*max_channels];
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
scale = cvRound(0.5f*kpt.size / ratio);
const float ratio = (float)(1 << kpt.octave);
const int scale = cvRound(0.5f*kpt.size / ratio);
const int level = kpt.class_id;
const Mat Lx = evolution[level].Lx;
const Mat Ly = evolution[level].Ly;
const Mat Lt = evolution[level].Lt;
yf = kpt.pt.y / ratio;
xf = kpt.pt.x / ratio;
const float yf = kpt.pt.y / ratio;
const float xf = kpt.pt.x / ratio;
// For 2x2 grid, 3x3 grid and 4x4 grid
const int pattern_size = options_->descriptor_pattern_size;
@ -1712,27 +1704,31 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
memset(desc, 0, desc_size);
// For the three grids
int dcount1 = 0;
for (int z = 0; z < 3; z++) {
dcount2 = 0;
int dcount2 = 0;
const int step = sample_step[z];
for (int i = -pattern_size; i < pattern_size; i += step) {
for (int j = -pattern_size; j < pattern_size; j += step) {
di = dx = dy = 0.0;
nsamples = 0;
float di = 0.0, dx = 0.0, dy = 0.0;
for (int k = i; k < i + step; k++) {
for (int l = j; l < j + step; l++) {
int nsamples = 0;
for (int k = 0; k < step; k++) {
for (int l = 0; l < step; l++) {
// Get the coordinates of the sample point
sample_y = yf + l*scale;
sample_x = xf + k*scale;
const float sample_y = yf + (l+j)*scale;
const float sample_x = xf + (k+i)*scale;
y1 = cvRound(sample_y);
x1 = cvRound(sample_x);
const int y1 = cvRound(sample_y);
const int x1 = cvRound(sample_x);
ri = *(Lt.ptr<float>(y1)+x1);
rx = *(Lx.ptr<float>(y1)+x1);
ry = *(Ly.ptr<float>(y1)+x1);
if (y1 < 0 || y1 >= Lt.rows || x1 < 0 || x1 >= Lt.cols)
continue; // Boundaries
const float ri = Lt.at<float>(y1, x1);
const float rx = Lx.at<float>(y1, x1);
const float ry = Ly.at<float>(y1, x1);
di += ri;
dx += rx;
@ -1741,9 +1737,13 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
}
}
di /= nsamples;
dx /= nsamples;
dy /= nsamples;
if (nsamples > 0)
{
const float nsamples_inv = 1.0f / nsamples;
di *= nsamples_inv;
dx *= nsamples_inv;
dy *= nsamples_inv;
}
float *val = &values[dcount2*max_channels];
*(val) = di;
@ -1780,17 +1780,20 @@ void MLDB_Full_Descriptor_Invoker::MLDB_Fill_Values(float* values, int sample_st
const std::vector<Evolution>& evolution = *evolution_;
int pattern_size = options_->descriptor_pattern_size;
int chan = options_->descriptor_channels;
int valpos = 0;
const Mat Lx = evolution[level].Lx;
const Mat Ly = evolution[level].Ly;
const Mat Lt = evolution[level].Lt;
const Size size = Lt.size();
CV_Assert(size == Lx.size());
CV_Assert(size == Ly.size());
int valpos = 0;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
for (int j = -pattern_size; j < pattern_size; j += sample_step) {
float di, dx, dy;
di = dx = dy = 0.0;
int nsamples = 0;
float di = 0.0f, dx = 0.0f, dy = 0.0f;
int nsamples = 0;
for (int k = i; k < i + sample_step; k++) {
for (int l = j; l < j + sample_step; l++) {
float sample_y = yf + (l*co * scale + k*si*scale);
@ -1799,20 +1802,15 @@ void MLDB_Full_Descriptor_Invoker::MLDB_Fill_Values(float* values, int sample_st
int y1 = cvRound(sample_y);
int x1 = cvRound(sample_x);
// fix crash: indexing with out-of-bounds index, this might happen near the edges of image
// clip values so they fit into the image
const MatSize& size = Lt.size;
CV_DbgAssert(size == Lx.size &&
size == Ly.size);
y1 = min(max(0, y1), size[0] - 1);
x1 = min(max(0, x1), size[1] - 1);
if (y1 < 0 || y1 >= Lt.rows || x1 < 0 || x1 >= Lt.cols)
continue; // Boundaries
float ri = *(Lt.ptr<float>(y1, x1));
float ri = Lt.at<float>(y1, x1);
di += ri;
if(chan > 1) {
float rx = *(Lx.ptr<float>(y1, x1));
float ry = *(Ly.ptr<float>(y1, x1));
float rx = Lx.at<float>(y1, x1);
float ry = Ly.at<float>(y1, x1);
if (chan == 2) {
dx += sqrtf(rx*rx + ry*ry);
}
@ -1826,20 +1824,25 @@ void MLDB_Full_Descriptor_Invoker::MLDB_Fill_Values(float* values, int sample_st
nsamples++;
}
}
di /= nsamples;
dx /= nsamples;
dy /= nsamples;
if (nsamples > 0)
{
const float nsamples_inv = 1.0f / nsamples;
di *= nsamples_inv;
dx *= nsamples_inv;
dy *= nsamples_inv;
}
values[valpos] = di;
if (chan > 1) {
values[valpos + 1] = dx;
}
if (chan > 2) {
values[valpos + 2] = dy;
values[valpos + 2] = dy;
}
valpos += chan;
}
}
}
}
void MLDB_Full_Descriptor_Invoker::MLDB_Binary_Comparisons(float* values, unsigned char* desc,
@ -1917,10 +1920,8 @@ void MLDB_Full_Descriptor_Invoker::Get_MLDB_Full_Descriptor(const KeyPoint& kpt,
*/
void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const KeyPoint& kpt, unsigned char *desc, int desc_size) const {
float di = 0.f, dx = 0.f, dy = 0.f;
float rx = 0.f, ry = 0.f;
float sample_x = 0.f, sample_y = 0.f;
int x1 = 0, y1 = 0;
const AKAZEOptions & options = *options_;
const std::vector<Evolution>& evolution = *evolution_;
@ -1943,7 +1944,7 @@ void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const KeyPoint&
const int max_channels = 3;
const int channels = options.descriptor_channels;
CV_Assert(channels <= max_channels);
float values[(4 + 9 + 16)*max_channels];
float values[(4 + 9 + 16)*max_channels] = { 0 };
// Sample everything, but only do the comparisons
const int pattern_size = options.descriptor_pattern_size;
@ -1958,9 +1959,7 @@ void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const KeyPoint&
const int *coords = descriptorSamples_.ptr<int>(i);
CV_Assert(coords[0] >= 0 && coords[0] < 3);
const int sample_step = sample_steps[coords[0]];
di = 0.0f;
dx = 0.0f;
dy = 0.0f;
float di = 0.f, dx = 0.f, dy = 0.f;
for (int k = coords[1]; k < coords[1] + sample_step; k++) {
for (int l = coords[2]; l < coords[2] + sample_step; l++) {
@ -1969,14 +1968,17 @@ void MLDB_Descriptor_Subset_Invoker::Get_MLDB_Descriptor_Subset(const KeyPoint&
sample_y = yf + (l*scale*co + k*scale*si);
sample_x = xf + (-l*scale*si + k*scale*co);
y1 = cvRound(sample_y);
x1 = cvRound(sample_x);
const int y1 = cvRound(sample_y);
const int x1 = cvRound(sample_x);
di += *(Lt.ptr<float>(y1)+x1);
if (x1 < 0 || y1 < 0 || x1 >= Lt.cols || y1 >= Lt.rows)
continue; // Boundaries
di += Lt.at<float>(y1, x1);
if (options.descriptor_channels > 1) {
rx = *(Lx.ptr<float>(y1)+x1);
ry = *(Ly.ptr<float>(y1)+x1);
rx = Lx.at<float>(y1, x1);
ry = Ly.at<float>(y1, x1);
if (options.descriptor_channels == 2) {
dx += sqrtf(rx*rx + ry*ry);
@ -2044,7 +2046,10 @@ void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(
float xf = kpt.pt.x / ratio;
// Allocate memory for the matrix of values
Mat values ((4 + 9 + 16)*options.descriptor_channels, 1, CV_32FC1);
const int max_channels = 3;
const int channels = options.descriptor_channels;
CV_Assert(channels <= max_channels);
float values[(4 + 9 + 16)*max_channels] = { 0 };
const int pattern_size = options.descriptor_pattern_size;
CV_Assert((pattern_size & 1) == 0);
@ -2069,11 +2074,15 @@ void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(
y1 = cvRound(sample_y);
x1 = cvRound(sample_x);
di += *(Lt.ptr<float>(y1)+x1);
if (x1 < 0 || y1 < 0 || x1 >= Lt.cols || y1 >= Lt.rows)
continue; // Boundaries
di += Lt.at<float>(y1, x1);
if (options.descriptor_channels > 1) {
rx = *(Lx.ptr<float>(y1)+x1);
ry = *(Ly.ptr<float>(y1)+x1);
rx = Lx.at<float>(y1, x1);
ry = Ly.at<float>(y1, x1);
if (options.descriptor_channels == 2) {
dx += sqrtf(rx*rx + ry*ry);
@ -2086,26 +2095,26 @@ void Upright_MLDB_Descriptor_Subset_Invoker::Get_Upright_MLDB_Descriptor_Subset(
}
}
*(values.ptr<float>(options.descriptor_channels*i)) = di;
float* pValues = &values[channels * i];
pValues[0] = di;
if (options.descriptor_channels == 2) {
*(values.ptr<float>(options.descriptor_channels*i + 1)) = dx;
pValues[1] = dx;
}
else if (options.descriptor_channels == 3) {
*(values.ptr<float>(options.descriptor_channels*i + 1)) = dx;
*(values.ptr<float>(options.descriptor_channels*i + 2)) = dy;
pValues[1] = dx;
pValues[2] = dy;
}
}
// Do the comparisons
const float *vals = values.ptr<float>(0);
const int *comps = descriptorBits_.ptr<int>(0);
CV_Assert(divUp(descriptorBits_.rows, 8) == desc_size);
memset(desc, 0, desc_size);
for (int i = 0; i<descriptorBits_.rows; i++) {
if (vals[comps[2 * i]] > vals[comps[2 * i + 1]]) {
if (values[comps[2 * i]] > values[comps[2 * i + 1]]) {
desc[i / 8] |= (1 << (i % 8));
}
}

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