Some applications only want to know if there are feature at specific locations. To fit these needs the FAST approach is extended in FASTForPointSet to recieve a vector of locations and calculates the FAST response on these positions. If it is below the threshold, it will be removed from the list.pull/450/head
baudenri
10 years ago
parent
5e008c8758
commit
1c580151f4
2 changed files with 539 additions and 0 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include <opencv2/xfeatures2d.hpp> |
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#ifndef VERIFY_CORNERS |
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#define VERIFY_CORNERS 0 |
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#endif |
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namespace cv { |
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namespace xfeatures2d { |
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#if VERIFY_CORNERS |
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static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold) { |
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// check that with the computed "threshold" the pixel is still a corner
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// and that with the increased-by-1 "threshold" the pixel is not a corner anymore
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for( int delta = 0; delta <= 1; delta++ ) |
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{ |
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int v0 = std::min(ptr[0] + threshold + delta, 255); |
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int v1 = std::max(ptr[0] - threshold - delta, 0); |
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int c0 = 0, c1 = 0; |
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for( int k = 0; k < N; k++ ) |
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{ |
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int x = ptr[pixel[k]]; |
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if(x > v0) |
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{ |
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if( ++c0 > K ) |
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break; |
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c1 = 0; |
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} |
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else if( x < v1 ) |
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{ |
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if( ++c1 > K ) |
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break; |
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c0 = 0; |
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} |
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else |
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{ |
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c0 = c1 = 0; |
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} |
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} |
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CV_Assert( (delta == 0 && std::max(c0, c1) > K) || |
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(delta == 1 && std::max(c0, c1) <= K) ); |
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} |
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} |
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#endif |
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template<> |
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int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold) |
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{ |
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const int K = 8, N = K*3 + 1; |
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int k, v = ptr[0]; |
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short d[N]; |
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for( k = 0; k < N; k++ ) |
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d[k] = (short)(v - ptr[pixel[k]]); |
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#if CV_SSE2 |
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__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); |
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for( k = 0; k < 16; k += 8 ) |
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{ |
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__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); |
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__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); |
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__m128i a = _mm_min_epi16(v0, v1); |
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__m128i b = _mm_max_epi16(v0, v1); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+3)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+4)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+5)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+6)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+7)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+8)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k)); |
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); |
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+9)); |
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); |
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); |
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} |
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q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); |
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q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); |
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); |
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); |
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threshold = (short)_mm_cvtsi128_si32(q0) - 1; |
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#else |
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int a0 = threshold; |
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for( k = 0; k < 16; k += 2 ) |
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{ |
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int a = std::min((int)d[k+1], (int)d[k+2]); |
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a = std::min(a, (int)d[k+3]); |
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if( a <= a0 ) |
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continue; |
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a = std::min(a, (int)d[k+4]); |
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a = std::min(a, (int)d[k+5]); |
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a = std::min(a, (int)d[k+6]); |
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a = std::min(a, (int)d[k+7]); |
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a = std::min(a, (int)d[k+8]); |
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a0 = std::max(a0, std::min(a, (int)d[k])); |
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a0 = std::max(a0, std::min(a, (int)d[k+9])); |
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} |
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int b0 = -a0; |
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for( k = 0; k < 16; k += 2 ) |
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{ |
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int b = std::max((int)d[k+1], (int)d[k+2]); |
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b = std::max(b, (int)d[k+3]); |
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b = std::max(b, (int)d[k+4]); |
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b = std::max(b, (int)d[k+5]); |
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if( b >= b0 ) |
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continue; |
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b = std::max(b, (int)d[k+6]); |
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b = std::max(b, (int)d[k+7]); |
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b = std::max(b, (int)d[k+8]); |
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b0 = std::min(b0, std::max(b, (int)d[k])); |
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b0 = std::min(b0, std::max(b, (int)d[k+9])); |
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} |
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threshold = -b0-1; |
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#endif |
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#if VERIFY_CORNERS |
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testCorner(ptr, pixel, K, N, threshold); |
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#endif |
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return threshold; |
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} |
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template<> |
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int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold) |
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{ |
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const int K = 6, N = K*3 + 1; |
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int k, v = ptr[0]; |
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short d[N + 4]; |
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for( k = 0; k < N; k++ ) |
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d[k] = (short)(v - ptr[pixel[k]]); |
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#if CV_SSE2 |
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for( k = 0; k < 4; k++ ) |
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d[N+k] = d[k]; |
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#endif |
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#if CV_SSE2 |
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__m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); |
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for( k = 0; k < 16; k += 8 ) |
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{ |
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__m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); |
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__m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); |
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__m128i a = _mm_min_epi16(v0, v1); |
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__m128i b = _mm_max_epi16(v0, v1); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+3)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+4)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+5)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+6)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+k)); |
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); |
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); |
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v0 = _mm_loadu_si128((__m128i*)(d+k+7)); |
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); |
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); |
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} |
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q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); |
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q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); |
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); |
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); |
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threshold = (short)_mm_cvtsi128_si32(q0) - 1; |
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#else |
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int a0 = threshold; |
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for( k = 0; k < 12; k += 2 ) |
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{ |
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int a = std::min((int)d[k+1], (int)d[k+2]); |
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if( a <= a0 ) |
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continue; |
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a = std::min(a, (int)d[k+3]); |
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a = std::min(a, (int)d[k+4]); |
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a = std::min(a, (int)d[k+5]); |
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a = std::min(a, (int)d[k+6]); |
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a0 = std::max(a0, std::min(a, (int)d[k])); |
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a0 = std::max(a0, std::min(a, (int)d[k+7])); |
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} |
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int b0 = -a0; |
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for( k = 0; k < 12; k += 2 ) |
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{ |
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int b = std::max((int)d[k+1], (int)d[k+2]); |
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b = std::max(b, (int)d[k+3]); |
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b = std::max(b, (int)d[k+4]); |
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if( b >= b0 ) |
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continue; |
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b = std::max(b, (int)d[k+5]); |
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b = std::max(b, (int)d[k+6]); |
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b0 = std::min(b0, std::max(b, (int)d[k])); |
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b0 = std::min(b0, std::max(b, (int)d[k+7])); |
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} |
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threshold = -b0-1; |
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#endif |
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#if VERIFY_CORNERS |
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testCorner(ptr, pixel, K, N, threshold); |
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#endif |
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return threshold; |
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} |
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template<> |
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int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold) |
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{ |
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const int K = 4, N = K*3 + 1; |
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int k, v = ptr[0]; |
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short d[N]; |
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for( k = 0; k < N; k++ ) |
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d[k] = (short)(v - ptr[pixel[k]]); |
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#if CV_SSE2 |
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__m128i v0 = _mm_loadu_si128((__m128i*)(d+1)); |
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__m128i v1 = _mm_loadu_si128((__m128i*)(d+2)); |
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__m128i a = _mm_min_epi16(v0, v1); |
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__m128i b = _mm_max_epi16(v0, v1); |
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v0 = _mm_loadu_si128((__m128i*)(d+3)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+4)); |
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a = _mm_min_epi16(a, v0); |
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b = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d)); |
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__m128i q0 = _mm_min_epi16(a, v0); |
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__m128i q1 = _mm_max_epi16(b, v0); |
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v0 = _mm_loadu_si128((__m128i*)(d+5)); |
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q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); |
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q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); |
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q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); |
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q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); |
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); |
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q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); |
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threshold = (short)_mm_cvtsi128_si32(q0) - 1; |
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#else |
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int a0 = threshold; |
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for( k = 0; k < 8; k += 2 ) |
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{ |
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int a = std::min((int)d[k+1], (int)d[k+2]); |
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if( a <= a0 ) |
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continue; |
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a = std::min(a, (int)d[k+3]); |
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a = std::min(a, (int)d[k+4]); |
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a0 = std::max(a0, std::min(a, (int)d[k])); |
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a0 = std::max(a0, std::min(a, (int)d[k+5])); |
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} |
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int b0 = -a0; |
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for( k = 0; k < 8; k += 2 ) |
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{ |
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int b = std::max((int)d[k+1], (int)d[k+2]); |
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b = std::max(b, (int)d[k+3]); |
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if( b >= b0 ) |
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continue; |
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b = std::max(b, (int)d[k+4]); |
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b0 = std::min(b0, std::max(b, (int)d[k])); |
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b0 = std::min(b0, std::max(b, (int)d[k+5])); |
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} |
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threshold = -b0-1; |
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#endif |
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#if VERIFY_CORNERS |
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testCorner(ptr, pixel, K, N, threshold); |
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#endif |
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return threshold; |
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} |
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void makeOffsets(int pixel[25], int rowStride, int patternSize) |
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{ |
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static const int offsets16[][2] = |
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{ |
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{0, 3}, { 1, 3}, { 2, 2}, { 3, 1}, { 3, 0}, { 3, -1}, { 2, -2}, { 1, -3}, |
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{0, -3}, {-1, -3}, {-2, -2}, {-3, -1}, {-3, 0}, {-3, 1}, {-2, 2}, {-1, 3} |
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}; |
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static const int offsets12[][2] = |
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{ |
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{0, 2}, { 1, 2}, { 2, 1}, { 2, 0}, { 2, -1}, { 1, -2}, |
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{0, -2}, {-1, -2}, {-2, -1}, {-2, 0}, {-2, 1}, {-1, 2} |
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}; |
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static const int offsets8[][2] = |
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{ |
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{0, 1}, { 1, 1}, { 1, 0}, { 1, -1}, |
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{0, -1}, {-1, -1}, {-1, 0}, {-1, 1} |
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}; |
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const int (*offsets)[2] = patternSize == 16 ? offsets16 : |
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patternSize == 12 ? offsets12 : |
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patternSize == 8 ? offsets8 : 0; |
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CV_Assert(pixel && offsets); |
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int k = 0; |
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for( ; k < patternSize; k++ ) |
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pixel[k] = offsets[k][0] + offsets[k][1] * rowStride; |
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for( ; k < 25; k++ ) |
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pixel[k] = pixel[k - patternSize]; |
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} |
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template<int patternSize> |
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void FASTForPointSet_t( InputArray image, std::vector<KeyPoint>& keypoints, int threshold, bool nonmaxSuppression ) { |
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Mat img = image.getMat(); |
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const int K = patternSize/2, N = patternSize + K + 1; |
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int i, k, pixel[25]; |
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makeOffsets(pixel, (int)img.step, patternSize); |
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keypoints.clear(); |
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threshold = std::min(std::max(threshold, 0), 255); |
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uchar threshold_tab[512]; |
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for( i = -255; i <= 255; i++ ) |
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threshold_tab[i+255] = (uchar)(i < -threshold ? 1 : i > threshold ? 2 : 0); |
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AutoBuffer<uchar> _buf((img.cols+16)*3*(sizeof(int) + sizeof(uchar)) + 128); |
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uchar* buf[3]; |
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buf[0] = _buf; buf[1] = buf[0] + img.cols; buf[2] = buf[1] + img.cols; |
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int* cpbuf[3]; |
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cpbuf[0] = (int*)alignPtr(buf[2] + img.cols, sizeof(int)) + 1; |
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cpbuf[1] = cpbuf[0] + img.cols + 1; |
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cpbuf[2] = cpbuf[1] + img.cols + 1; |
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memset(buf[0], 0, img.cols*3); |
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// Calculate threshold for the keypoints
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for (size_t keyPointIdx=0; keyPointIdx < keypoints.size(); keyPointIdx++) { |
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// Set response to -1:
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// All keypoints with response <= 0 will be removed afterwards
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keypoints[keyPointIdx].response = -1; |
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// Poiter to keyPoint in image
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Point keyPoint = keypoints[keyPointIdx].pt; |
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const uchar* ptr = img.ptr<uchar>(keyPoint.y, keyPoint.x); |
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// value of the pixel at certain position
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int v = ptr[0]; |
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// Initialize Lookup table
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// If k=v --> tab[k] is at the center of the thrshold table
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// The threshold table is made as follows:
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// -255 -threshold 0 +threshold 255
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// 111111111111111111|0000000000000|0000000000000|222222222222222
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const uchar* tab = &threshold_tab[0] - v + 255; |
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// Calculate the fast value
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int d = tab[ptr[pixel[0]]] | tab[ptr[pixel[8]]]; |
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if( d == 0 ) |
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continue; |
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d &= tab[ptr[pixel[2]]] | tab[ptr[pixel[10]]]; |
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d &= tab[ptr[pixel[4]]] | tab[ptr[pixel[12]]]; |
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d &= tab[ptr[pixel[6]]] | tab[ptr[pixel[14]]]; |
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|
||||
if( d == 0 ) |
||||
continue; |
||||
|
||||
d &= tab[ptr[pixel[1]]] | tab[ptr[pixel[9]]]; |
||||
d &= tab[ptr[pixel[3]]] | tab[ptr[pixel[11]]]; |
||||
d &= tab[ptr[pixel[5]]] | tab[ptr[pixel[13]]]; |
||||
d &= tab[ptr[pixel[7]]] | tab[ptr[pixel[15]]]; |
||||
|
||||
// For at least half pixels darker than v count the number
|
||||
if( d & 1 ) |
||||
{ |
||||
int vt = v - threshold, count = 0; |
||||
|
||||
for(k = 0; k < N; k++ ) |
||||
{ |
||||
int x = ptr[pixel[k]]; |
||||
if(x < vt) |
||||
{ |
||||
if( ++count > K ) |
||||
{ |
||||
// Calculate score
|
||||
keypoints[keyPointIdx].response = (uchar)cornerScore<patternSize>(ptr, pixel, threshold); |
||||
// Non Maxima Supression I
|
||||
if (nonmaxSuppression && keyPointIdx>0 && keypoints[keyPointIdx-1].response < keypoints[keyPointIdx].response) { |
||||
keypoints[keyPointIdx-1].response = -1; |
||||
} |
||||
break; |
||||
} |
||||
} |
||||
else |
||||
count = 0; |
||||
} |
||||
} |
||||
|
||||
// For at least half pixels brighter than v count the number
|
||||
if(d & 2 ) |
||||
{ |
||||
int vt = v + threshold, count = 0; |
||||
|
||||
for(k = 0; k < N; k++ ) |
||||
{ |
||||
int x = ptr[pixel[k]]; |
||||
if(x > vt) |
||||
{ |
||||
if( ++count > K ) |
||||
{ |
||||
// Calculate score
|
||||
keypoints[keyPointIdx].response = (uchar)cornerScore<patternSize>(ptr, pixel, threshold); |
||||
// Non Maxima Suppression I
|
||||
if (nonmaxSuppression && keyPointIdx>0 &&keypoints[keyPointIdx-1].response < keypoints[keyPointIdx].response) { |
||||
keypoints[keyPointIdx-1].response = -1; |
||||
} |
||||
break; |
||||
} |
||||
} |
||||
else |
||||
count = 0; |
||||
} |
||||
} |
||||
|
||||
} |
||||
|
||||
// Remove unused Keypoints
|
||||
size_t maxKeypointSize = keypoints.size(); |
||||
for (size_t keyPointIdx=maxKeypointSize; keyPointIdx > 0;) { |
||||
keyPointIdx--; |
||||
if (keypoints[keyPointIdx].response <= 0) { |
||||
keypoints.erase(keypoints.begin() + keyPointIdx); |
||||
} else if (nonmaxSuppression && keyPointIdx>0 && keypoints[keyPointIdx-1].response > keypoints[keyPointIdx].response) { |
||||
// Non Maxima Suppression II
|
||||
keypoints.erase(keypoints.begin() + keyPointIdx); |
||||
} |
||||
} |
||||
} |
||||
|
||||
void FASTForPointSet(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression, int type) |
||||
{ |
||||
if (keypoints.empty()) { |
||||
FAST(_img, keypoints, threshold, nonmax_suppression, type); |
||||
return; |
||||
} |
||||
|
||||
switch(type) { |
||||
case FastFeatureDetector::TYPE_5_8: |
||||
FASTForPointSet_t<8>(_img, keypoints, threshold, nonmax_suppression); |
||||
break; |
||||
case FastFeatureDetector::TYPE_7_12: |
||||
FASTForPointSet_t<12>(_img, keypoints, threshold, nonmax_suppression); |
||||
break; |
||||
case FastFeatureDetector::TYPE_9_16: |
||||
FASTForPointSet_t<16>(_img, keypoints, threshold, nonmax_suppression); |
||||
break; |
||||
} |
||||
} |
||||
} |
||||
} |
||||
Loading…
Reference in new issue