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Open Source Computer Vision Library https://opencv.org/
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opencv/modules/features2d/src/brief.cpp

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009-2010, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include <algorithm>
#include <vector>
#include <iostream>
#include <iomanip>
using namespace cv;
inline int smoothedSum(const Mat& sum, const KeyPoint& pt, int y, int x)
{
static const int HALF_KERNEL = BriefDescriptorExtractor::KERNEL_SIZE / 2;
int img_y = (int)(pt.pt.y + 0.5) + y;
int img_x = (int)(pt.pt.x + 0.5) + x;
return sum.at<int>(img_y + HALF_KERNEL + 1, img_x + HALF_KERNEL + 1)
- sum.at<int>(img_y + HALF_KERNEL + 1, img_x - HALF_KERNEL)
- sum.at<int>(img_y - HALF_KERNEL, img_x + HALF_KERNEL + 1)
+ sum.at<int>(img_y - HALF_KERNEL, img_x - HALF_KERNEL);
}
void pixelTests16(const Mat& sum, const std::vector<KeyPoint>& keypoints, Mat& descriptors)
{
for (int i = 0; i < (int)keypoints.size(); ++i)
{
uchar* desc = descriptors.ptr(i);
const KeyPoint& pt = keypoints[i];
#include "generated_16.i"
}
}
void pixelTests32(const Mat& sum, const std::vector<KeyPoint>& keypoints, Mat& descriptors)
{
for (int i = 0; i < (int)keypoints.size(); ++i)
{
uchar* desc = descriptors.ptr(i);
const KeyPoint& pt = keypoints[i];
#include "generated_32.i"
}
}
void pixelTests64(const Mat& sum, const std::vector<KeyPoint>& keypoints, Mat& descriptors)
{
for (int i = 0; i < (int)keypoints.size(); ++i)
{
uchar* desc = descriptors.ptr(i);
const KeyPoint& pt = keypoints[i];
#include "generated_64.i"
}
}
namespace cv
{
HammingLUT::ResultType HammingLUT::operator()( const unsigned char* a, const unsigned char* b, int size ) const
{
ResultType result = 0;
for (int i = 0; i < size; i++)
{
result += byteBitsLookUp(a[i] ^ b[i]);
}
return result;
}
Hamming::ResultType Hamming::operator()(const unsigned char* a, const unsigned char* b, int size) const
{
#if __GNUC__
ResultType result = 0;
#if CV_NEON
if (CPU_HAS_NEON_FEATURE)
{
for (size_t i = 0; i < size; i += 16)
{
uint8x16_t A_vec = vld1q_u8 (a + i);
uint8x16_t B_vec = vld1q_u8 (b + i);
//uint8x16_t veorq_u8 (uint8x16_t, uint8x16_t)
uint8x16_t AxorB = veorq_u8 (A_vec, B_vec);
uint8x16_t bitsSet = vcntq_u8 (AxorB);
//uint16x8_t vpadalq_u8 (uint16x8_t, uint8x16_t)
uint16x8_t bitSet8 = vpaddlq_u8 (bitsSet);
uint32x4_t bitSet4 = vpaddlq_u16 (bitSet8);
uint64x2_t bitSet2 = vpaddlq_u32 (bitSet4);
result += vgetq_lane_u64 (bitSet2,0);
result += vgetq_lane_u64 (bitSet2,1);
}
}
else
#endif
{
//for portability just use unsigned long -- and use the __builtin_popcountll (see docs for __builtin_popcountll)
typedef unsigned long long pop_t;
const size_t modulo = size % sizeof(pop_t);
const pop_t * a2 = reinterpret_cast<const pop_t*> (a);
const pop_t * b2 = reinterpret_cast<const pop_t*> (b);
const pop_t * a2_end = a2 + (size/sizeof(pop_t));
for (; a2 != a2_end; ++a2, ++b2)
result += __builtin_popcountll((*a2) ^ (*b2));
if (modulo)
{
//in the case where size is not divisible by sizeof(size_t)
//need to mask off the bits at the end
pop_t a_final=0,b_final=0;
memcpy(&a_final,a2,modulo);
memcpy(&b_final,b2,modulo);
result += __builtin_popcountll(a_final ^ b_final);
}
}
return result;
#else
return HammingLUT()(a,b,size);
#endif
}
BriefDescriptorExtractor::BriefDescriptorExtractor(int bytes) :
bytes_(bytes), test_fn_(NULL)
{
switch (bytes)
{
case 16:
test_fn_ = pixelTests16;
break;
case 32:
test_fn_ = pixelTests32;
break;
case 64:
test_fn_ = pixelTests64;
break;
default:
CV_Error(CV_StsBadArg, "bytes must be 16, 32, or 64");
}
}
int BriefDescriptorExtractor::descriptorSize() const
{
return bytes_;
}
int BriefDescriptorExtractor::descriptorType() const
{
return CV_8UC1;
}
void BriefDescriptorExtractor::computeImpl(const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors) const
{
// Construct integral image for fast smoothing (box filter)
Mat sum;
Mat grayImage = image;
if( image.type() != CV_8U ) cvtColor( image, grayImage, CV_BGR2GRAY );
///TODO allow the user to pass in a precomputed integral image
//if(image.type() == CV_32S)
// sum = image;
//else
integral( grayImage, sum, CV_32S);
//Remove keypoints very close to the border
KeyPointsFilter::runByImageBorder(keypoints, image.size(), PATCH_SIZE/2 + KERNEL_SIZE/2);
descriptors = Mat::zeros((int)keypoints.size(), bytes_, CV_8U);
test_fn_(sum, keypoints, descriptors);
}
/**
* \brief template meta programming struct that gives number of bits in a byte
* @TODO Maybe unintuitive and should just use python to generate the entries in the LUT
*/
template<unsigned char b>
struct ByteBits
{
/**
* number of bits in the byte given by the template constant
*/
enum
{
COUNT = ((b >> 0) & 1) +
((b >> 1) & 1) +
((b >> 2) & 1) +
((b >> 3) & 1) +
((b >> 4) & 1) +
((b >> 5) & 1) +
((b >> 6) & 1) +
((b >> 7) & 1)
};
};
unsigned char HammingLUT::byteBitsLookUp(unsigned char b)
{
static const unsigned char table[256] =
{
ByteBits<0>::COUNT,
ByteBits<1>::COUNT,
ByteBits<2>::COUNT,
ByteBits<3>::COUNT,
ByteBits<4>::COUNT,
ByteBits<5>::COUNT,
ByteBits<6>::COUNT,
ByteBits<7>::COUNT,
ByteBits<8>::COUNT,
ByteBits<9>::COUNT,
ByteBits<10>::COUNT,
ByteBits<11>::COUNT,
ByteBits<12>::COUNT,
ByteBits<13>::COUNT,
ByteBits<14>::COUNT,
ByteBits<15>::COUNT,
ByteBits<16>::COUNT,
ByteBits<17>::COUNT,
ByteBits<18>::COUNT,
ByteBits<19>::COUNT,
ByteBits<20>::COUNT,
ByteBits<21>::COUNT,
ByteBits<22>::COUNT,
ByteBits<23>::COUNT,
ByteBits<24>::COUNT,
ByteBits<25>::COUNT,
ByteBits<26>::COUNT,
ByteBits<27>::COUNT,
ByteBits<28>::COUNT,
ByteBits<29>::COUNT,
ByteBits<30>::COUNT,
ByteBits<31>::COUNT,
ByteBits<32>::COUNT,
ByteBits<33>::COUNT,
ByteBits<34>::COUNT,
ByteBits<35>::COUNT,
ByteBits<36>::COUNT,
ByteBits<37>::COUNT,
ByteBits<38>::COUNT,
ByteBits<39>::COUNT,
ByteBits<40>::COUNT,
ByteBits<41>::COUNT,
ByteBits<42>::COUNT,
ByteBits<43>::COUNT,
ByteBits<44>::COUNT,
ByteBits<45>::COUNT,
ByteBits<46>::COUNT,
ByteBits<47>::COUNT,
ByteBits<48>::COUNT,
ByteBits<49>::COUNT,
ByteBits<50>::COUNT,
ByteBits<51>::COUNT,
ByteBits<52>::COUNT,
ByteBits<53>::COUNT,
ByteBits<54>::COUNT,
ByteBits<55>::COUNT,
ByteBits<56>::COUNT,
ByteBits<57>::COUNT,
ByteBits<58>::COUNT,
ByteBits<59>::COUNT,
ByteBits<60>::COUNT,
ByteBits<61>::COUNT,
ByteBits<62>::COUNT,
ByteBits<63>::COUNT,
ByteBits<64>::COUNT,
ByteBits<65>::COUNT,
ByteBits<66>::COUNT,
ByteBits<67>::COUNT,
ByteBits<68>::COUNT,
ByteBits<69>::COUNT,
ByteBits<70>::COUNT,
ByteBits<71>::COUNT,
ByteBits<72>::COUNT,
ByteBits<73>::COUNT,
ByteBits<74>::COUNT,
ByteBits<75>::COUNT,
ByteBits<76>::COUNT,
ByteBits<77>::COUNT,
ByteBits<78>::COUNT,
ByteBits<79>::COUNT,
ByteBits<80>::COUNT,
ByteBits<81>::COUNT,
ByteBits<82>::COUNT,
ByteBits<83>::COUNT,
ByteBits<84>::COUNT,
ByteBits<85>::COUNT,
ByteBits<86>::COUNT,
ByteBits<87>::COUNT,
ByteBits<88>::COUNT,
ByteBits<89>::COUNT,
ByteBits<90>::COUNT,
ByteBits<91>::COUNT,
ByteBits<92>::COUNT,
ByteBits<93>::COUNT,
ByteBits<94>::COUNT,
ByteBits<95>::COUNT,
ByteBits<96>::COUNT,
ByteBits<97>::COUNT,
ByteBits<98>::COUNT,
ByteBits<99>::COUNT,
ByteBits<100>::COUNT,
ByteBits<101>::COUNT,
ByteBits<102>::COUNT,
ByteBits<103>::COUNT,
ByteBits<104>::COUNT,
ByteBits<105>::COUNT,
ByteBits<106>::COUNT,
ByteBits<107>::COUNT,
ByteBits<108>::COUNT,
ByteBits<109>::COUNT,
ByteBits<110>::COUNT,
ByteBits<111>::COUNT,
ByteBits<112>::COUNT,
ByteBits<113>::COUNT,
ByteBits<114>::COUNT,
ByteBits<115>::COUNT,
ByteBits<116>::COUNT,
ByteBits<117>::COUNT,
ByteBits<118>::COUNT,
ByteBits<119>::COUNT,
ByteBits<120>::COUNT,
ByteBits<121>::COUNT,
ByteBits<122>::COUNT,
ByteBits<123>::COUNT,
ByteBits<124>::COUNT,
ByteBits<125>::COUNT,
ByteBits<126>::COUNT,
ByteBits<127>::COUNT,
ByteBits<128>::COUNT,
ByteBits<129>::COUNT,
ByteBits<130>::COUNT,
ByteBits<131>::COUNT,
ByteBits<132>::COUNT,
ByteBits<133>::COUNT,
ByteBits<134>::COUNT,
ByteBits<135>::COUNT,
ByteBits<136>::COUNT,
ByteBits<137>::COUNT,
ByteBits<138>::COUNT,
ByteBits<139>::COUNT,
ByteBits<140>::COUNT,
ByteBits<141>::COUNT,
ByteBits<142>::COUNT,
ByteBits<143>::COUNT,
ByteBits<144>::COUNT,
ByteBits<145>::COUNT,
ByteBits<146>::COUNT,
ByteBits<147>::COUNT,
ByteBits<148>::COUNT,
ByteBits<149>::COUNT,
ByteBits<150>::COUNT,
ByteBits<151>::COUNT,
ByteBits<152>::COUNT,
ByteBits<153>::COUNT,
ByteBits<154>::COUNT,
ByteBits<155>::COUNT,
ByteBits<156>::COUNT,
ByteBits<157>::COUNT,
ByteBits<158>::COUNT,
ByteBits<159>::COUNT,
ByteBits<160>::COUNT,
ByteBits<161>::COUNT,
ByteBits<162>::COUNT,
ByteBits<163>::COUNT,
ByteBits<164>::COUNT,
ByteBits<165>::COUNT,
ByteBits<166>::COUNT,
ByteBits<167>::COUNT,
ByteBits<168>::COUNT,
ByteBits<169>::COUNT,
ByteBits<170>::COUNT,
ByteBits<171>::COUNT,
ByteBits<172>::COUNT,
ByteBits<173>::COUNT,
ByteBits<174>::COUNT,
ByteBits<175>::COUNT,
ByteBits<176>::COUNT,
ByteBits<177>::COUNT,
ByteBits<178>::COUNT,
ByteBits<179>::COUNT,
ByteBits<180>::COUNT,
ByteBits<181>::COUNT,
ByteBits<182>::COUNT,
ByteBits<183>::COUNT,
ByteBits<184>::COUNT,
ByteBits<185>::COUNT,
ByteBits<186>::COUNT,
ByteBits<187>::COUNT,
ByteBits<188>::COUNT,
ByteBits<189>::COUNT,
ByteBits<190>::COUNT,
ByteBits<191>::COUNT,
ByteBits<192>::COUNT,
ByteBits<193>::COUNT,
ByteBits<194>::COUNT,
ByteBits<195>::COUNT,
ByteBits<196>::COUNT,
ByteBits<197>::COUNT,
ByteBits<198>::COUNT,
ByteBits<199>::COUNT,
ByteBits<200>::COUNT,
ByteBits<201>::COUNT,
ByteBits<202>::COUNT,
ByteBits<203>::COUNT,
ByteBits<204>::COUNT,
ByteBits<205>::COUNT,
ByteBits<206>::COUNT,
ByteBits<207>::COUNT,
ByteBits<208>::COUNT,
ByteBits<209>::COUNT,
ByteBits<210>::COUNT,
ByteBits<211>::COUNT,
ByteBits<212>::COUNT,
ByteBits<213>::COUNT,
ByteBits<214>::COUNT,
ByteBits<215>::COUNT,
ByteBits<216>::COUNT,
ByteBits<217>::COUNT,
ByteBits<218>::COUNT,
ByteBits<219>::COUNT,
ByteBits<220>::COUNT,
ByteBits<221>::COUNT,
ByteBits<222>::COUNT,
ByteBits<223>::COUNT,
ByteBits<224>::COUNT,
ByteBits<225>::COUNT,
ByteBits<226>::COUNT,
ByteBits<227>::COUNT,
ByteBits<228>::COUNT,
ByteBits<229>::COUNT,
ByteBits<230>::COUNT,
ByteBits<231>::COUNT,
ByteBits<232>::COUNT,
ByteBits<233>::COUNT,
ByteBits<234>::COUNT,
ByteBits<235>::COUNT,
ByteBits<236>::COUNT,
ByteBits<237>::COUNT,
ByteBits<238>::COUNT,
ByteBits<239>::COUNT,
ByteBits<240>::COUNT,
ByteBits<241>::COUNT,
ByteBits<242>::COUNT,
ByteBits<243>::COUNT,
ByteBits<244>::COUNT,
ByteBits<245>::COUNT,
ByteBits<246>::COUNT,
ByteBits<247>::COUNT,
ByteBits<248>::COUNT,
ByteBits<249>::COUNT,
ByteBits<250>::COUNT,
ByteBits<251>::COUNT,
ByteBits<252>::COUNT,
ByteBits<253>::COUNT,
ByteBits<254>::COUNT,
ByteBits<255>::COUNT
};
return table[b];
}
} // namespace cv