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add const correctness, replace __inline__ and remote a useless release()

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pull/27/merge
Vincent Rabaud 12 years ago committed by Vadim Pisarevsky
parent 92da6d381b
commit da1921b2fc
1 changed files with 56 additions and 57 deletions
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  1. 113
      modules/features2d/src/brisk.cpp

113
modules/features2d/src/brisk.cpp
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@ -74,11 +74,11 @@ public:
// get scores - attention, this is in layer coordinates, not scale=1 coordinates!
inline uint8_t
getAgastScore(int x, int y, uint8_t threshold);
getAgastScore(int x, int y, uint8_t threshold) const;
inline uint8_t
getAgastScore_5_8(int x, int y, uint8_t threshold);
getAgastScore_5_8(int x, int y, uint8_t threshold) const;
inline uint8_t
getAgastScore(float xf, float yf, uint8_t threshold, float scale = 1.0f);
getAgastScore(float xf, float yf, uint8_t threshold, float scale = 1.0f) const;
// accessors
inline const cv::Mat&
@ -111,8 +111,8 @@ public:
private:
// access gray values (smoothed/interpolated)
__inline__ uint8_t
value(const cv::Mat& mat, float xf, float yf, float scale);
inline uint8_t
value(const cv::Mat& mat, float xf, float yf, float scale) const;
// the image
cv::Mat img_;
// its Fast scores
@ -139,40 +139,40 @@ public:
// get Keypoints
void
getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint>& keypoints);
getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint>& keypoints);
protected:
// nonmax suppression:
__inline__ bool
inline bool
isMax2D(const uint8_t layer, const int x_layer, const int y_layer);
// 1D (scale axis) refinement:
__inline__ float
refine1D(const float s_05, const float s0, const float s05, float& max); // around octave
__inline__ float
refine1D_1(const float s_05, const float s0, const float s05, float& max); // around intra
__inline__ float
refine1D_2(const float s_05, const float s0, const float s05, float& max); // around octave 0 only
inline float
refine1D(const float s_05, const float s0, const float s05, float& max) const; // around octave
inline float
refine1D_1(const float s_05, const float s0, const float s05, float& max) const; // around intra
inline float
refine1D_2(const float s_05, const float s0, const float s05, float& max) const; // around octave 0 only
// 2D maximum refinement:
__inline__ float
inline float
subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, const int s_1_0, const int s_1_1, const int s_1_2,
const int s_2_0, const int s_2_1, const int s_2_2, float& delta_x, float& delta_y);
const int s_2_0, const int s_2_1, const int s_2_2, float& delta_x, float& delta_y) const;
// 3D maximum refinement centered around (x_layer,y_layer)
__inline__ float
refine3D(const uint8_t layer, const int x_layer, const int y_layer, float& x, float& y, float& scale, bool& ismax);
inline float
refine3D(const uint8_t layer, const int x_layer, const int y_layer, float& x, float& y, float& scale, bool& ismax) const;
// interpolated score access with recalculation when needed:
__inline__ int
getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer);
__inline__ int
getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer);
inline int
getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer) const;
inline int
getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer) const;
// return the maximum of score patches above or below
__inline__ float
inline float
getScoreMaxAbove(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
float& dx, float& dy);
__inline__ float
float& dx, float& dy) const;
inline float
getScoreMaxBelow(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
float& dx, float& dy);
float& dx, float& dy) const;
// the image pyramids:
uint8_t layers_;
@ -354,7 +354,7 @@ BRISK::generateKernel(std::vector<float> &radiusList, std::vector<int> &numberLi
}
// simple alternative:
__inline__ int
inline int
BRISK::smoothedIntensity(const cv::Mat& image, const cv::Mat& integral, const float key_x,
const float key_y, const unsigned int scale, const unsigned int rot,
const unsigned int point) const
@ -650,7 +650,6 @@ BRISK::operator()( InputArray _image, InputArray _mask, vector<KeyPoint>& keypoi
}
// clean-up
_integral.release();
delete[] _values;
}
@ -946,11 +945,11 @@ BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint
}
// interpolated score access with recalculation when needed:
__inline__ int
BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer)
inline int
BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer) const
{
assert(layer<layers_-1);
BriskLayer& l = pyramid_[layer + 1];
const BriskLayer& l = pyramid_[layer + 1];
if (layer % 2 == 0)
{ // octave
const int sixths_x = 4 * x_layer - 1;
@ -989,11 +988,11 @@ BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int
return score;
}
}
__inline__ int
BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer)
inline int
BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer) const
{
assert(layer);
BriskLayer& l = pyramid_[layer - 1];
const BriskLayer& l = pyramid_[layer - 1];
int sixth_x;
int quarter_x;
float xf;
@ -1090,7 +1089,7 @@ BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int
return ((ret_val + scaling2 / 2) / scaling2);
}
__inline__ bool
inline bool
BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_layer)
{
const cv::Mat& scores = pyramid_[layer].scores();
@ -1209,12 +1208,12 @@ BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_lay
}
// 3D maximum refinement centered around (x_layer,y_layer)
__inline__ float
inline float
BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_layer, float& x, float& y, float& scale,
bool& ismax)
bool& ismax) const
{
ismax = true;
BriskLayer& thisLayer = pyramid_[layer];
const BriskLayer& thisLayer = pyramid_[layer];
const int center = thisLayer.getAgastScore(x_layer, y_layer, 1);
// check and get above maximum:
@ -1235,7 +1234,7 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
if (layer == 0)
{
// guess the lower intra octave...
BriskLayer& l = pyramid_[0];
const BriskLayer& l = pyramid_[0];
register int s_0_0 = l.getAgastScore_5_8(x_layer - 1, y_layer - 1, 1);
max_below_uchar = s_0_0;
register int s_1_0 = l.getAgastScore_5_8(x_layer, y_layer - 1, 1);
@ -1375,9 +1374,9 @@ BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_la
}
// return the maximum of score patches above or below
__inline__ float
inline float
BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const int y_layer, const int threshold,
bool& ismax, float& dx, float& dy)
bool& ismax, float& dx, float& dy) const
{
ismax = false;
@ -1389,7 +1388,7 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const
// the layer above
assert(layer+1<layers_);
BriskLayer& layerAbove = pyramid_[layer + 1];
const BriskLayer& layerAbove = pyramid_[layer + 1];
if (layer % 2 == 0)
{
@ -1555,9 +1554,9 @@ BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const
return max;
}
__inline__ float
inline float
BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const int y_layer, const int threshold,
bool& ismax, float& dx, float& dy)
bool& ismax, float& dx, float& dy) const
{
ismax = false;
@ -1585,7 +1584,7 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
// the layer below
assert(layer>0);
BriskLayer& layerBelow = pyramid_[layer - 1];
const BriskLayer& layerBelow = pyramid_[layer - 1];
// check the first row
int max_x = x_1 + 1;
@ -1754,8 +1753,8 @@ BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const
return max;
}
__inline__ float
BriskScaleSpace::refine1D(const float s_05, const float s0, const float s05, float& max)
inline float
BriskScaleSpace::refine1D(const float s_05, const float s0, const float s05, float& max) const
{
int i_05 = int(1024.0 * s_05 + 0.5);
int i0 = int(1024.0 * s0 + 0.5);
@ -1800,8 +1799,8 @@ BriskScaleSpace::refine1D(const float s_05, const float s0, const float s05, flo
return ret_val;
}
__inline__ float
BriskScaleSpace::refine1D_1(const float s_05, const float s0, const float s05, float& max)
inline float
BriskScaleSpace::refine1D_1(const float s_05, const float s0, const float s05, float& max) const
{
int i_05 = int(1024.0 * s_05 + 0.5);
int i0 = int(1024.0 * s0 + 0.5);
@ -1846,8 +1845,8 @@ BriskScaleSpace::refine1D_1(const float s_05, const float s0, const float s05, f
return ret_val;
}
__inline__ float
BriskScaleSpace::refine1D_2(const float s_05, const float s0, const float s05, float& max)
inline float
BriskScaleSpace::refine1D_2(const float s_05, const float s0, const float s05, float& max) const
{
int i_05 = int(1024.0 * s_05 + 0.5);
int i0 = int(1024.0 * s0 + 0.5);
@ -1892,10 +1891,10 @@ BriskScaleSpace::refine1D_2(const float s_05, const float s0, const float s05, f
return ret_val;
}
__inline__ float
inline float
BriskScaleSpace::subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, const int s_1_0, const int s_1_1,
const int s_1_2, const int s_2_0, const int s_2_1, const int s_2_2, float& delta_x,
float& delta_y)
float& delta_y) const
{
// the coefficients of the 2d quadratic function least-squares fit:
@ -2086,7 +2085,7 @@ BriskLayer::getAgastPoints(uint8_t threshold, std::vector<KeyPoint>& keypoints)
scores_(keypoints[i].pt.y, keypoints[i].pt.x) = keypoints[i].response;
}
inline uint8_t
BriskLayer::getAgastScore(int x, int y, uint8_t threshold)
BriskLayer::getAgastScore(int x, int y, uint8_t threshold) const
{
if (x < 3 || y < 3)
return 0;
@ -2104,7 +2103,7 @@ BriskLayer::getAgastScore(int x, int y, uint8_t threshold)
}
inline uint8_t
BriskLayer::getAgastScore_5_8(int x, int y, uint8_t threshold)
BriskLayer::getAgastScore_5_8(int x, int y, uint8_t threshold) const
{
if (x < 2 || y < 2)
return 0;
@ -2117,7 +2116,7 @@ BriskLayer::getAgastScore_5_8(int x, int y, uint8_t threshold)
}
inline uint8_t
BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_in)
BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_in) const
{
if (scale_in <= 1.0f)
{
@ -2150,8 +2149,8 @@ BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_
}
// access gray values (smoothed/interpolated)
__inline__ uint8_t
BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in)
inline uint8_t
BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const
{
assert(!mat.empty());
// get the position

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