Balint Cristian
9 years ago
parent
2a63746177
commit
9c1d01e22a
10 changed files with 1297 additions and 5 deletions
@ -1,4 +1,5 @@ |
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set(the_description "Contributed/Experimental Algorithms for Salient 2D Features Detection") |
set(the_description "Contributed/Experimental Algorithms for Salient 2D Features Detection") |
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ocv_define_module(xfeatures2d opencv_core opencv_imgproc opencv_features2d opencv_calib3d opencv_shape opencv_highgui opencv_videoio opencv_ml |
ocv_define_module(xfeatures2d opencv_core opencv_imgproc opencv_features2d opencv_calib3d opencv_shape opencv_highgui opencv_videoio opencv_ml |
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OPTIONAL opencv_cudaarithm WRAP python java) |
OPTIONAL opencv_cudaarithm WRAP python java) |
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include(cmake/download_vgg.cmake) |
include(cmake/download_vgg.cmake) |
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include(cmake/download_boostdesc.cmake) |
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@ -0,0 +1,30 @@ |
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set(OPENCV_3RDPARTY_COMMIT "34e4206aef44d50e6bbcd0ab06354b52e7466d26") |
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set(FILE_HASH_BOOSTDESC_BGM "0ea90e7a8f3f7876d450e4149c97c74f") |
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set(FILE_HASH_BOOSTDESC_BGM_BI "232c966b13651bd0e46a1497b0852191") |
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set(FILE_HASH_BOOSTDESC_BGM_HD "324426a24fa56ad9c5b8e3e0b3e5303e") |
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set(FILE_HASH_BOOSTDESC_BINBOOST_064 "202e1b3e9fec871b04da31f7f016679f") |
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set(FILE_HASH_BOOSTDESC_BINBOOST_128 "98ea99d399965c03d555cef3ea502a0b") |
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set(FILE_HASH_BOOSTDESC_BINBOOST_256 "e6dcfa9f647779eb1ce446a8d759b6ea") |
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set(FILE_HASH_BOOSTDESC_LBGM "0ae0675534aa318d9668f2a179c2a052") |
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set(BOOSTDESC_DOWNLOAD_URL ${OPENCV_CONTRIB_BOOSTDESC_URL};$ENV{OPENCV_CONTRIB_BOOSTDESC_URL};https://raw.githubusercontent.com/opencv/opencv_3rdparty/${OPENCV_3RDPARTY_COMMIT}/) |
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function(boostdesc_download file id) |
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message(STATUS "Check contents of ${file} ...") |
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ocv_download(PACKAGE ${file} |
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HASH ${FILE_HASH_${id}} |
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URL ${BOOSTDESC_DOWNLOAD_URL} |
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DESTINATION_DIR ${CMAKE_CURRENT_LIST_DIR}/../src |
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DOWNLOAD_DIR ${CMAKE_CURRENT_LIST_DIR}/.download) |
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endfunction() |
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boostdesc_download(boostdesc_bgm.i BOOSTDESC_BGM) |
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boostdesc_download(boostdesc_bgm_bi.i BOOSTDESC_BGM_BI) |
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boostdesc_download(boostdesc_bgm_hd.i BOOSTDESC_BGM_HD) |
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boostdesc_download(boostdesc_binboost_064.i BOOSTDESC_BINBOOST_064) |
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boostdesc_download(boostdesc_binboost_128.i BOOSTDESC_BINBOOST_128) |
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boostdesc_download(boostdesc_binboost_256.i BOOSTDESC_BINBOOST_256) |
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boostdesc_download(boostdesc_lbgm.i BOOSTDESC_LBGM) |
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@ -0,0 +1,293 @@ |
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#!/usr/bin/python |
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""" |
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/********************************************************************* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2016 |
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* |
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* Balint Cristian <cristian dot balint at gmail dot com> |
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* |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of the copyright holders nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* 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 |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*********************************************************************/ |
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/* export-boostdesc.py */ |
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/* Export C headers from binary data */ |
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// [http://infoscience.epfl.ch/record/186246/files/boostDesc_1.0.tar.gz] |
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""" |
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import sys |
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import struct |
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def float_to_hex(f): |
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return struct.unpack( '<I', struct.pack('<f', f) )[0] |
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def main(): |
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# usage |
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if ( len(sys.argv) < 3 ): |
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print( "Usage: %s <binary-type (BGM, LBGM, BINBOOST)> <boostdesc-binary-filename>" % sys.argv[0] ) |
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sys.exit(0) |
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if ( ( sys.argv[1] != "BGM" ) and |
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( sys.argv[1] != "LBGM" ) and |
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( sys.argv[1] != "BINBOOST" ) ): |
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print( "Invalid type [%s]" % sys.argv[1] ) |
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sys.exit(0) |
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# enum literals |
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Assign = [ "ASSIGN_HARD", |
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"ASSIGN_BILINEAR", |
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"ASSIGN_SOFT", |
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"ASSIGN_HARD_MAGN", |
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"ASSIGN_SOFT_MAGN" ] |
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# open binary data file |
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f = open( sys.argv[2], 'rb' ) |
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# header |
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print "/*" |
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print " *" |
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print " * Header exported from binary." |
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print " * [%s %s %s]" % ( sys.argv[0], sys.argv[1], sys.argv[2] ) |
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print " *" |
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print " */" |
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# ini |
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nDim = 1; |
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nWLs = 0; |
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# dimensionality (where is the case) |
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if ( ( sys.argv[1] == "LBGM" ) or |
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( sys.argv[1] == "BINBOOST" ) ): |
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nDim = struct.unpack( '<i', f.read(4) )[0] |
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print |
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print "// dimensionality of learner" |
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print "static const int nDim = %i;" % nDim |
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# week learners (where is the case) |
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if ( sys.argv[1] != "BINBOOST" ): |
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nWLs = struct.unpack( '<i', f.read(4) )[0] |
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# common header |
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orientQuant = struct.unpack( '<i', f.read(4) )[0] |
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patchSize = struct.unpack( '<i', f.read(4) )[0] |
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iGradAssignType = struct.unpack( '<i', f.read(4) )[0] |
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print |
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print "// orientations" |
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print "static const int orientQuant = %i;" % orientQuant |
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print |
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print "// patch size" |
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print "static const int patchSize = %i;" % patchSize |
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print |
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print "// gradient assignment type" |
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print "static const int iGradAssignType = %s;" % Assign[iGradAssignType] |
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arr_thresh = "" |
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arr_orient = "" |
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arr__y_min = "" |
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arr__y_max = "" |
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arr__x_min = "" |
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arr__x_max = "" |
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arr__alpha = "" |
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arr___beta = "" |
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dims = nDim |
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if ( sys.argv[1] == "LBGM" ): |
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dims = 1 |
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# iterate each dimension |
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for d in range( 0, dims ): |
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if ( sys.argv[1] == "BINBOOST" ): |
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nWLs = struct.unpack( '<i', f.read(4) )[0] |
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if ( d == 0 ): |
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print |
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print "// number of weak learners" |
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print "static const int nWLs = %i;" % nWLs |
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# iterate each members |
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for i in range( 0, nWLs ): |
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# unpack structure array |
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thresh = struct.unpack( '<f', f.read(4) )[0] |
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orient = struct.unpack( '<i', f.read(4) )[0] |
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y_min = struct.unpack( '<i', f.read(4) )[0] |
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y_max = struct.unpack( '<i', f.read(4) )[0] |
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x_min = struct.unpack( '<i', f.read(4) )[0] |
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x_max = struct.unpack( '<i', f.read(4) )[0] |
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alpha = struct.unpack( '<f', f.read(4) )[0] |
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beta = 0 |
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if ( sys.argv[1] == "BINBOOST" ): |
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beta = struct.unpack( '<f', f.read(4) )[0] |
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# first entry |
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if ( d*dims + i == 0 ): |
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arr_thresh += "\n" |
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arr_thresh += "// threshold array (%s x %s)\n" % (dims,nWLs) |
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arr_thresh += "static const unsigned int thresh[] =\n{\n" |
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arr_orient += "\n" |
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arr_orient += "// orientation array (%s x %s)\n" % (dims,nWLs) |
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arr_orient += "static const int orient[] =\n{\n" |
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arr__y_min += "\n" |
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arr__y_min += "// Y min array (%s x %s)\n" % (dims,nWLs) |
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arr__y_min += "static const int y_min[] =\n{\n" |
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arr__y_max += "\n" |
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arr__y_max += "// Y max array (%s x %s)\n" % (dims,nWLs) |
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arr__y_max += "static const int y_max[] =\n{\n" |
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arr__x_min += "\n" |
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arr__x_min += "// X min array (%s x %s)\n" % (dims,nWLs) |
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arr__x_min += "static const int x_min[] =\n{\n" |
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arr__x_max += "\n" |
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arr__x_max += "// X max array (%s x %s)\n" % (dims,nWLs) |
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arr__x_max += "static const int x_max[] =\n{\n" |
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arr__alpha += "\n" |
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arr__alpha += "// alpha array (%s x %s)\n" % (dims,nWLs) |
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arr__alpha += "static const unsigned int alpha[] =\n{\n" |
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if ( sys.argv[1] == "BINBOOST" ): |
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arr___beta += "\n" |
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arr___beta += "// beta array (%s x %s)\n" % (dims,nWLs) |
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arr___beta += "static const unsigned int beta[] =\n{\n" |
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# last entry |
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if ( i == nWLs - 1 ) and ( d == dims - 1): |
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arr_thresh += " 0x%08x\n};" % float_to_hex(thresh) |
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arr_orient += " 0x%02x\n};" % orient |
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arr__y_min += " 0x%02x\n};" % y_min |
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arr__y_max += " 0x%02x\n};" % y_max |
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arr__x_min += " 0x%02x\n};" % x_min |
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arr__x_max += " 0x%02x\n};" % x_max |
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arr__alpha += " 0x%08x\n};" % float_to_hex(alpha) |
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if ( sys.argv[1] == "BINBOOST" ): |
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arr___beta += " 0x%08x\n};" % float_to_hex(beta) |
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break |
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# align entries |
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if ( (d*dims + i + 1) % 8 ): |
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arr_thresh += " 0x%08x," % float_to_hex(thresh) |
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arr_orient += " 0x%02x," % orient |
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arr__y_min += " 0x%02x," % y_min |
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arr__y_max += " 0x%02x," % y_max |
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arr__x_min += " 0x%02x," % x_min |
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arr__x_max += " 0x%02x," % x_max |
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arr__alpha += " 0x%08x," % float_to_hex(alpha) |
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if ( sys.argv[1] == "BINBOOST" ): |
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arr___beta += " 0x%08x," % float_to_hex(beta) |
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else: |
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arr_thresh += " 0x%08x,\n" % float_to_hex(thresh) |
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arr_orient += " 0x%02x,\n" % orient |
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arr__y_min += " 0x%02x,\n" % y_min |
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arr__y_max += " 0x%02x,\n" % y_max |
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arr__x_min += " 0x%02x,\n" % x_min |
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arr__x_max += " 0x%02x,\n" % x_max |
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arr__alpha += " 0x%08x,\n" % float_to_hex(alpha) |
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if ( sys.argv[1] == "BINBOOST" ): |
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arr___beta += " 0x%08x,\n" % float_to_hex(beta) |
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# extra array (when LBGM) |
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if ( sys.argv[1] == "LBGM" ): |
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arr___beta += "\n" |
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arr___beta += "// beta array (%s x %s)\n" % (nWLs,nDim) |
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arr___beta += "static const unsigned int beta[] =\n{\n" |
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for i in range( 0, nWLs ): |
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for d in range( 0, nDim ): |
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beta = struct.unpack( '<f', f.read(4) )[0] |
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# last entry |
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if ( i == nWLs-1 ) and ( d == nDim-1 ): |
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arr___beta += " 0x%08x\n};" % float_to_hex(beta) |
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break |
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# align entries |
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if ( (i*nDim + d + 1) % 8 ): |
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arr___beta += " 0x%08x," % float_to_hex(beta) |
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else: |
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arr___beta += " 0x%08x,\n" % float_to_hex(beta) |
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# release |
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f.close() |
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# dump on screen |
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print arr_thresh |
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print arr_orient |
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print arr__y_min |
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print arr__y_max |
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print arr__x_min |
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print arr__x_max |
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print arr__alpha |
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if ( ( sys.argv[1] == "LBGM" ) or |
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( sys.argv[1] == "BINBOOST" ) ): |
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print arr___beta |
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if __name__ == "__main__": |
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main() |
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@ -0,0 +1,731 @@ |
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/*********************************************************************
|
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2013, 2016 |
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* |
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* Tomasz Trzcinski <t dot trzcinski at ii dot pw dot edu dot pl> |
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* Mario Christoudias <mariochristoudias at gmail dot com> |
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* Vincent Lepetit <lepetit at icg dot tugraz dot at> |
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* |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of the copyright holders nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* 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 |
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|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*********************************************************************/ |
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/*
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|
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"Learning Image Descriptors with Boosting" |
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T. Trzcinski, M. Christoudias and V. Lepetit |
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IEEE Transactions on Pattern Analysis and Machine Intelligence, 2013 |
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"Boosting Binary Keypoint Descriptors" |
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T. Trzcinski, M. Christoudias, V. Lepetit and P. Fua |
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Computer Vision and Pattern Recognition (CVPR), 2013 |
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|
Original code: Tomasz Trzcinski <t dot trzcinski at ii dot pw dot edu dot pl> |
||||||
|
OpenCV port by: Cristian Balint <cristian dot balint at gmail dot com> |
||||||
|
|
||||||
|
*/ |
||||||
|
|
||||||
|
#include <bitset> |
||||||
|
#include "precomp.hpp" |
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
using namespace cv; |
||||||
|
using namespace std; |
||||||
|
|
||||||
|
|
||||||
|
namespace cv |
||||||
|
{ |
||||||
|
namespace xfeatures2d |
||||||
|
{ |
||||||
|
|
||||||
|
/*
|
||||||
|
!BoostDesc implementation |
||||||
|
*/ |
||||||
|
class BoostDesc_Impl : public BoostDesc |
||||||
|
{ |
||||||
|
|
||||||
|
public: |
||||||
|
|
||||||
|
// constructor
|
||||||
|
explicit BoostDesc_Impl( int desc = BINBOOST_256, |
||||||
|
bool use_scale_orientation = true, |
||||||
|
float scale_factor = 6.25f ); |
||||||
|
|
||||||
|
// destructor
|
||||||
|
virtual ~BoostDesc_Impl(); |
||||||
|
|
||||||
|
// returns the descriptor length in bytes
|
||||||
|
virtual int descriptorSize() const { return m_descriptor_size; } |
||||||
|
|
||||||
|
// returns the descriptor type
|
||||||
|
virtual int descriptorType() const { return m_descriptor_type; } |
||||||
|
|
||||||
|
// returns the default norm type
|
||||||
|
virtual int defaultNorm() const { return m_descriptor_norm; } |
||||||
|
|
||||||
|
// compute descriptors given keypoints
|
||||||
|
virtual void compute( InputArray image, vector<KeyPoint>& keypoints, OutputArray descriptors ); |
||||||
|
|
||||||
|
protected: |
||||||
|
|
||||||
|
/*
|
||||||
|
* BoostDesc parameters |
||||||
|
*/ |
||||||
|
|
||||||
|
// size, type, norm
|
||||||
|
int m_descriptor_size; |
||||||
|
int m_descriptor_type; |
||||||
|
int m_descriptor_norm; |
||||||
|
|
||||||
|
// desc type
|
||||||
|
int m_desc_type; |
||||||
|
|
||||||
|
// gradient
|
||||||
|
// assignment types
|
||||||
|
enum Assign |
||||||
|
{ |
||||||
|
ASSIGN_HARD = 0, |
||||||
|
ASSIGN_BILINEAR = 1, |
||||||
|
ASSIGN_SOFT = 2, |
||||||
|
ASSIGN_HARD_MAGN = 3, |
||||||
|
ASSIGN_SOFT_MAGN = 4 |
||||||
|
}; |
||||||
|
|
||||||
|
// dims
|
||||||
|
int m_Dims; |
||||||
|
|
||||||
|
// no. weak
|
||||||
|
// learners
|
||||||
|
int m_nWLs; |
||||||
|
|
||||||
|
// gradient type
|
||||||
|
int m_grad_atype; |
||||||
|
|
||||||
|
// patch size
|
||||||
|
int m_patch_size; |
||||||
|
|
||||||
|
// orient quantitiy
|
||||||
|
int m_orient_q; |
||||||
|
|
||||||
|
// patch scale factor
|
||||||
|
float m_scale_factor; |
||||||
|
|
||||||
|
/*
|
||||||
|
* BoostDesc switches |
||||||
|
*/ |
||||||
|
|
||||||
|
// switch to enable sample by keypoints orientation
|
||||||
|
bool m_use_scale_orientation; |
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
* BoostDesc arrays |
||||||
|
*/ |
||||||
|
|
||||||
|
// image
|
||||||
|
Mat m_image; |
||||||
|
|
||||||
|
// parameters
|
||||||
|
// weak learner
|
||||||
|
Mat m_wl_thresh; |
||||||
|
Mat m_wl_orient; |
||||||
|
Mat m_wl_x_min, m_wl_x_max; |
||||||
|
Mat m_wl_y_min, m_wl_y_max; |
||||||
|
Mat m_wl_alpha, m_wl_beta; |
||||||
|
|
||||||
|
private: |
||||||
|
|
||||||
|
/*
|
||||||
|
* BoostDesc functions |
||||||
|
*/ |
||||||
|
|
||||||
|
// initialize parameters
|
||||||
|
inline void ini_params( const int orientQuant, const int patchSize, |
||||||
|
const int iGradAssignType, |
||||||
|
const int nDim, const int nWLs, |
||||||
|
const unsigned int thresh[], const int orient[], |
||||||
|
const int x_min[], const int x_max[], |
||||||
|
const int y_min[], const int y_max[], |
||||||
|
const unsigned int alpha[], const unsigned int beta[] ); |
||||||
|
|
||||||
|
}; // END BoostDesc_Impl CLASS
|
||||||
|
|
||||||
|
// -------------------------------------------------
|
||||||
|
/* BoostDesc internal routines */ |
||||||
|
|
||||||
|
static void computeGradientMaps( const Mat& im, |
||||||
|
const int gradAssignType, |
||||||
|
const int orientQuant, |
||||||
|
vector<Mat>& gradMap ) |
||||||
|
{ |
||||||
|
enum Assign |
||||||
|
{ |
||||||
|
ASSIGN_HARD = 0, |
||||||
|
ASSIGN_BILINEAR = 1, |
||||||
|
ASSIGN_SOFT = 2, |
||||||
|
ASSIGN_HARD_MAGN = 3, |
||||||
|
ASSIGN_SOFT_MAGN = 4 |
||||||
|
}; |
||||||
|
|
||||||
|
Mat derivx( im.size(), CV_32FC1 ); |
||||||
|
Mat derivy( im.size(), CV_32FC1 ); |
||||||
|
|
||||||
|
Sobel( im, derivx, derivx.depth(), 1, 0 ); |
||||||
|
Sobel( im, derivy, derivy.depth(), 0, 1 ); |
||||||
|
|
||||||
|
for ( int i = 0; i < orientQuant; i++ ) |
||||||
|
gradMap.push_back( Mat::zeros( im.size(), CV_8UC1 ) ); |
||||||
|
|
||||||
|
int index, index2; |
||||||
|
double binCenter, weight; |
||||||
|
double binSize = (2 * CV_PI) / orientQuant; |
||||||
|
|
||||||
|
// fill in temp matrices with
|
||||||
|
// respones to edge detection
|
||||||
|
const float* pDerivx = derivx.ptr<float>(); |
||||||
|
const float* pDerivy = derivy.ptr<float>(); |
||||||
|
|
||||||
|
for ( int i = 0; i < im.rows; i++ ) |
||||||
|
{ |
||||||
|
for ( int j = 0; j < im.cols; j++ ) |
||||||
|
{ |
||||||
|
float gradMagnitude = sqrt( (*pDerivx) * (*pDerivx) |
||||||
|
+ (*pDerivy) * (*pDerivy) ); |
||||||
|
if ( gradMagnitude > 20 ) |
||||||
|
{ |
||||||
|
double theta = atan2( *pDerivy, *pDerivx ); |
||||||
|
theta = ( theta < 0 ) ? theta + 2*CV_PI : theta; |
||||||
|
index = int( theta / binSize ); |
||||||
|
index = ( index == orientQuant ) ? 0 : index; |
||||||
|
|
||||||
|
switch ( gradAssignType ) |
||||||
|
{ |
||||||
|
case ASSIGN_HARD: |
||||||
|
gradMap[index].at<uchar>(i,j) = 1; |
||||||
|
break; |
||||||
|
|
||||||
|
case ASSIGN_HARD_MAGN: |
||||||
|
gradMap[index].at<uchar>(i,j) = (uchar) round( gradMagnitude ); |
||||||
|
break; |
||||||
|
|
||||||
|
case ASSIGN_BILINEAR: |
||||||
|
index2 = (int) ceil( theta / binSize ); |
||||||
|
index2 = ( index2 == orientQuant ) ? 0 : index2; |
||||||
|
binCenter = ( index + 0.5f ) * binSize; |
||||||
|
weight = 1 - abs( theta - binCenter ) / binSize; |
||||||
|
gradMap[index ].at<uchar>(i,j) = (uchar) round( 255 * weight ); |
||||||
|
gradMap[index2].at<uchar>(i,j) = (uchar) round( 255 * ( 1 - weight ) ); |
||||||
|
break; |
||||||
|
|
||||||
|
case ASSIGN_SOFT: |
||||||
|
for ( int binNum = 0; binNum < orientQuant/2 + 1; binNum++ ) |
||||||
|
{ |
||||||
|
index2 = ( binNum + index + orientQuant - orientQuant/4 ) % orientQuant; |
||||||
|
binCenter = ( index2 + 0.5f ) * binSize; |
||||||
|
weight = cos( theta - binCenter ); |
||||||
|
weight = ( weight < 0 ) ? 0 : weight; |
||||||
|
gradMap[index2].at<uchar>(i,j) = (uchar) round( 255 * weight ); |
||||||
|
} |
||||||
|
break; |
||||||
|
|
||||||
|
case ASSIGN_SOFT_MAGN: |
||||||
|
for ( int binNum = 0; binNum < orientQuant/2 + 1; binNum++ ) |
||||||
|
{ |
||||||
|
index2 = ( binNum + index + orientQuant - orientQuant/4 ) % orientQuant; |
||||||
|
binCenter = ( index2 + 0.5f ) * binSize; |
||||||
|
weight = cos( theta - binCenter ); |
||||||
|
weight = ( weight < 0 ) ? 0 : weight; |
||||||
|
gradMap[index2].at<uchar>(i,j) = (uchar) round( gradMagnitude * weight ); |
||||||
|
} |
||||||
|
break; |
||||||
|
} // end switch
|
||||||
|
} |
||||||
|
++pDerivy; |
||||||
|
++pDerivx; |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
static void computeIntegrals( const vector<Mat>& gradMap, |
||||||
|
const int orientQuant, |
||||||
|
vector<Mat>& integralMap ) |
||||||
|
{ |
||||||
|
// init integral images
|
||||||
|
int rows = gradMap[0].rows; |
||||||
|
int cols = gradMap[0].cols; |
||||||
|
|
||||||
|
for ( int i = 0; i < orientQuant+1; i++ ) |
||||||
|
integralMap.push_back( Mat::zeros( rows+1, cols+1, CV_8UC1 ) ); |
||||||
|
|
||||||
|
// generate corresponding integral images
|
||||||
|
for( int i = 0; i < orientQuant; i++ ) |
||||||
|
integral( gradMap[i], integralMap[i] ); |
||||||
|
|
||||||
|
// copy the values from the first quantization bin
|
||||||
|
integralMap[0].copyTo( integralMap[orientQuant] ); |
||||||
|
|
||||||
|
int* ptrSum, *ptr; |
||||||
|
for ( int k = 1; k < orientQuant; k++ ) |
||||||
|
{ |
||||||
|
ptr = (int*) integralMap[k].ptr<int>(); |
||||||
|
ptrSum = (int*) integralMap[orientQuant].ptr<int>(); |
||||||
|
for (int i=0; i<(rows+1)*(cols+1); ++i) |
||||||
|
{ |
||||||
|
*ptrSum += *ptr; |
||||||
|
++ptrSum; |
||||||
|
++ptr; |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
static float computeWLResponse( const int x_min, const int x_max, |
||||||
|
const int y_min, const int y_max, |
||||||
|
const int orient, const float thresh, |
||||||
|
const int orientQuant, |
||||||
|
const vector<Mat>& integralMap ) |
||||||
|
{ |
||||||
|
const int width = integralMap[0].cols; |
||||||
|
|
||||||
|
const int idx1 = (y_min ) * width + x_min; |
||||||
|
const int idx2 = (y_min ) * width + x_max + 1; |
||||||
|
const int idx3 = (y_max + 1) * width + x_min; |
||||||
|
const int idx4 = (y_max + 1) * width + x_max + 1; |
||||||
|
|
||||||
|
const int* ptr = integralMap[orient].ptr<int>(); |
||||||
|
|
||||||
|
int A, B ,C, D; |
||||||
|
A = ptr[idx1]; B = ptr[idx2]; |
||||||
|
C = ptr[idx3]; D = ptr[idx4]; |
||||||
|
|
||||||
|
const float current = float(D + A - B - C); |
||||||
|
|
||||||
|
ptr = integralMap[orientQuant].ptr<int>(); |
||||||
|
|
||||||
|
A = ptr[idx1]; B = ptr[idx2]; |
||||||
|
C = ptr[idx3]; D = ptr[idx4]; |
||||||
|
|
||||||
|
const float total = float(D + A - B - C); |
||||||
|
|
||||||
|
return total ? ( (current / total) - thresh ) : 0.f; |
||||||
|
} |
||||||
|
|
||||||
|
static void rectifyPatch( const Mat& image, const KeyPoint& kp, |
||||||
|
const int& patchSize, Mat& patch, |
||||||
|
const bool use_scale_orientation, |
||||||
|
const float scale_factor ) |
||||||
|
{ |
||||||
|
Mat M; |
||||||
|
if ( use_scale_orientation ) |
||||||
|
{ |
||||||
|
const float s = scale_factor * (float) kp.size / (float) patchSize; |
||||||
|
|
||||||
|
const float cosine = (kp.angle>=0) ? cos(kp.angle*(float)CV_PI/180.0f) : 1.f; |
||||||
|
const float sine = (kp.angle>=0) ? sin(kp.angle*(float)CV_PI/180.0f) : 0.f; |
||||||
|
|
||||||
|
float M_[] = { |
||||||
|
s*cosine, -s*sine, (-s*cosine + s*sine ) * patchSize/2.0f + kp.pt.x, |
||||||
|
s*sine, s*cosine, (-s*sine - s*cosine) * patchSize/2.0f + kp.pt.y |
||||||
|
}; |
||||||
|
M = Mat( 2, 3, CV_32FC1, M_ ).clone(); |
||||||
|
} |
||||||
|
else |
||||||
|
{ |
||||||
|
float M_[] = { |
||||||
|
1.f, 0.f, -1.f * patchSize/2.0f + kp.pt.x, |
||||||
|
0.f, 1.f, -1.f * patchSize/2.0f + kp.pt.y |
||||||
|
}; |
||||||
|
M = Mat( 2, 3, CV_32FC1, M_ ).clone(); |
||||||
|
} |
||||||
|
|
||||||
|
warpAffine( image, patch, M, Size( patchSize, patchSize ), |
||||||
|
WARP_INVERSE_MAP + INTER_CUBIC + WARP_FILL_OUTLIERS ); |
||||||
|
} |
||||||
|
|
||||||
|
// -------------------------------------------------
|
||||||
|
/* BoostDesc interface implementation */ |
||||||
|
|
||||||
|
struct ComputeBoostDescInvoker : ParallelLoopBody |
||||||
|
{ |
||||||
|
ComputeBoostDescInvoker( const Mat& _image, Mat* _descriptors, |
||||||
|
const vector<KeyPoint>& _keypoints, |
||||||
|
const int _desc_type, const int _grad_atype, |
||||||
|
const int _orient_q, const int _patch_size, |
||||||
|
const int _nWLs, const int _Dims, |
||||||
|
const Mat& _wl_x_min, const Mat& _wl_x_max, |
||||||
|
const Mat& _wl_y_min, const Mat& _wl_y_max, |
||||||
|
const Mat& _wl_thresh, const Mat& _wl_orient, |
||||||
|
const Mat& _wl_alpha, const Mat& _wl_beta, |
||||||
|
const bool _use_scale_orientation, |
||||||
|
const float _scale_factor ) |
||||||
|
{ |
||||||
|
nWLs = _nWLs; |
||||||
|
Dims = _Dims; |
||||||
|
image = _image; |
||||||
|
orient_q = _orient_q; |
||||||
|
desc_type = _desc_type; |
||||||
|
keypoints = _keypoints; |
||||||
|
grad_atype = _grad_atype; |
||||||
|
patch_size = _patch_size; |
||||||
|
descriptors = _descriptors; |
||||||
|
|
||||||
|
wl_beta = _wl_beta; |
||||||
|
wl_alpha = _wl_alpha; |
||||||
|
wl_x_min = _wl_x_min; |
||||||
|
wl_x_max = _wl_x_max; |
||||||
|
wl_y_min = _wl_y_min; |
||||||
|
wl_y_max = _wl_y_max; |
||||||
|
wl_thresh = _wl_thresh; |
||||||
|
wl_orient = _wl_orient; |
||||||
|
|
||||||
|
scale_factor = _scale_factor; |
||||||
|
use_scale_orientation = _use_scale_orientation; |
||||||
|
} |
||||||
|
|
||||||
|
void operator ()( const cv::Range& range ) const |
||||||
|
{ |
||||||
|
// maps
|
||||||
|
vector<Mat> gradMap, integralMap; |
||||||
|
|
||||||
|
// small binary map
|
||||||
|
uchar binLookUp[8]; |
||||||
|
for ( unsigned int i = 0; i < 8; i++ ) |
||||||
|
binLookUp[i] = (uchar) 1 << i; |
||||||
|
|
||||||
|
for ( int i = range.start; i < range.end; i++ ) |
||||||
|
{ |
||||||
|
|
||||||
|
Mat patch; |
||||||
|
// rectify the patch around a given keypoint
|
||||||
|
rectifyPatch( image, keypoints[i], patch_size, |
||||||
|
patch, use_scale_orientation, scale_factor ); |
||||||
|
|
||||||
|
// compute gradient maps (and integral gradient maps)
|
||||||
|
computeGradientMaps( patch, grad_atype, orient_q, gradMap ); |
||||||
|
computeIntegrals( gradMap, orient_q, integralMap ); |
||||||
|
|
||||||
|
float WLR; |
||||||
|
|
||||||
|
/*
|
||||||
|
* BGM |
||||||
|
*/ |
||||||
|
if ( ( desc_type == BGM ) || |
||||||
|
( desc_type == BGM_HARD ) || |
||||||
|
( desc_type == BGM_BILINEAR ) |
||||||
|
) |
||||||
|
{ |
||||||
|
uchar* desc = descriptors->ptr<uchar>(i); |
||||||
|
for ( int j = 0; j < nWLs; j++ ) |
||||||
|
{ |
||||||
|
WLR = computeWLResponse( wl_x_min.at<int>(0,j), wl_x_max.at<int>(0,j), |
||||||
|
wl_y_min.at<int>(0,j), wl_y_max.at<int>(0,j), |
||||||
|
wl_orient.at<int>(0,j), wl_thresh.at<float>(0,j), |
||||||
|
orient_q, integralMap ); |
||||||
|
desc[j/8] |= ( WLR >= 0 ) ? binLookUp[ j % 8 ] : 0; |
||||||
|
} |
||||||
|
} // end BGM
|
||||||
|
|
||||||
|
/*
|
||||||
|
* LBGM |
||||||
|
*/ |
||||||
|
if ( desc_type == LBGM ) |
||||||
|
{ |
||||||
|
std::bitset<512> wlResponses; |
||||||
|
|
||||||
|
for ( int j = 0; j < nWLs; j++ ) |
||||||
|
{ |
||||||
|
WLR = computeWLResponse( wl_x_min.at<int>(0,j), wl_x_max.at<int>(0,j), |
||||||
|
wl_y_min.at<int>(0,j), wl_y_max.at<int>(0,j), |
||||||
|
wl_orient.at<int>(0,j), wl_thresh.at<float>(0,j), |
||||||
|
orient_q, integralMap ); |
||||||
|
wlResponses[j] = ( WLR >= 0 ) ? 1 : 0; |
||||||
|
} |
||||||
|
|
||||||
|
float* desc = descriptors->ptr<float>(i); |
||||||
|
for ( int d = 0; d < Dims; d++ ) |
||||||
|
{ |
||||||
|
for ( int wl = 0; wl < nWLs; wl++ ) |
||||||
|
{ |
||||||
|
desc[d] += ( wlResponses[wl] ) ? wl_beta.at<float>(wl,d) : -wl_beta.at<float>(wl,d); |
||||||
|
} |
||||||
|
} |
||||||
|
} // end LBGM
|
||||||
|
|
||||||
|
/*
|
||||||
|
* BINBOOST |
||||||
|
*/ |
||||||
|
if ( ( desc_type == BINBOOST_64 ) || |
||||||
|
( desc_type == BINBOOST_128 ) || |
||||||
|
( desc_type == BINBOOST_256 ) |
||||||
|
) |
||||||
|
{ |
||||||
|
float resp; |
||||||
|
for ( int d = 0; d < Dims; d++ ) |
||||||
|
{ |
||||||
|
resp = 0; |
||||||
|
uchar* desc = descriptors->ptr<uchar>(i); |
||||||
|
for ( int wl = 0; wl < nWLs; wl++ ) |
||||||
|
{ |
||||||
|
WLR = computeWLResponse( wl_x_min.at<int>(d,wl), wl_x_max.at<int>(d,wl), |
||||||
|
wl_y_min.at<int>(d,wl), wl_y_max.at<int>(d,wl), |
||||||
|
wl_orient.at<int>(d,wl), wl_thresh.at<float>(d,wl), |
||||||
|
orient_q, integralMap ); |
||||||
|
resp += ( WLR >= 0 ) ? wl_beta.at<float>(d,wl) : -wl_beta.at<float>(d,wl); |
||||||
|
} |
||||||
|
desc[d/8] |= ( resp >= 0 ) ? binLookUp[d%8] : 0; |
||||||
|
} |
||||||
|
} // end BINBOOST
|
||||||
|
|
||||||
|
// clean-up
|
||||||
|
patch.release(); |
||||||
|
gradMap.clear(); |
||||||
|
integralMap.clear(); |
||||||
|
|
||||||
|
} // end for loop
|
||||||
|
} // end operator
|
||||||
|
|
||||||
|
int nWLs; |
||||||
|
int Dims; |
||||||
|
int orient_q; |
||||||
|
int desc_type; |
||||||
|
int patch_size; |
||||||
|
int grad_atype; |
||||||
|
int patch_szie; |
||||||
|
|
||||||
|
Mat image; |
||||||
|
Mat *descriptors; |
||||||
|
vector<KeyPoint> keypoints; |
||||||
|
|
||||||
|
Mat wl_x_min, wl_x_max, wl_y_min, wl_y_max; |
||||||
|
Mat wl_thresh, wl_orient, wl_alpha, wl_beta; |
||||||
|
|
||||||
|
float scale_factor; |
||||||
|
bool use_scale_orientation; |
||||||
|
|
||||||
|
enum
|
||||||
|
{ |
||||||
|
BGM = 100, BGM_HARD = 101, BGM_BILINEAR = 102, LBGM = 200, |
||||||
|
BINBOOST_64 = 300, BINBOOST_128 = 301, BINBOOST_256 = 302 |
||||||
|
}; |
||||||
|
}; |
||||||
|
|
||||||
|
// descriptor computation using keypoints
|
||||||
|
void BoostDesc_Impl::compute( InputArray _image, vector<KeyPoint>& keypoints, OutputArray _descriptors ) |
||||||
|
{ |
||||||
|
// do nothing if no image
|
||||||
|
if( _image.getMat().empty() ) |
||||||
|
return; |
||||||
|
|
||||||
|
if( keypoints.empty() ) |
||||||
|
return; |
||||||
|
|
||||||
|
m_image = _image.getMat().clone(); |
||||||
|
|
||||||
|
// Only 8bit images
|
||||||
|
CV_Assert( m_image.depth() == CV_8U ); |
||||||
|
|
||||||
|
// convert to gray inplace
|
||||||
|
if( m_image.channels() > 1 ) |
||||||
|
cvtColor( m_image, m_image, COLOR_BGR2GRAY ); |
||||||
|
|
||||||
|
// initialize the variables
|
||||||
|
_descriptors.create( (int)keypoints.size(), descriptorSize(), descriptorType() ); |
||||||
|
_descriptors.setTo( Scalar::all(0) ); |
||||||
|
|
||||||
|
// descriptor storage
|
||||||
|
Mat descriptors = _descriptors.getMat(); |
||||||
|
|
||||||
|
parallel_for_( Range( 0, (int) keypoints.size() ), |
||||||
|
ComputeBoostDescInvoker( m_image, &descriptors, keypoints, |
||||||
|
m_desc_type, m_grad_atype, m_orient_q, |
||||||
|
m_patch_size, m_nWLs, m_Dims, |
||||||
|
m_wl_x_min, m_wl_x_max, m_wl_y_min, m_wl_y_max, |
||||||
|
m_wl_thresh, m_wl_orient, m_wl_alpha, m_wl_beta, |
||||||
|
m_use_scale_orientation, m_scale_factor ) |
||||||
|
); |
||||||
|
} |
||||||
|
|
||||||
|
void BoostDesc_Impl::ini_params( const int orientQuant, const int patchSize, |
||||||
|
const int iGradAssignType, |
||||||
|
const int nDim, const int nWLs, |
||||||
|
const unsigned int thresh[], const int orient[], |
||||||
|
const int x_min[], const int x_max[], |
||||||
|
const int y_min[], const int y_max[], |
||||||
|
const unsigned int alpha[], const unsigned int beta[] ) |
||||||
|
{ |
||||||
|
// desc type, norm, size
|
||||||
|
if ( m_desc_type == LBGM ) |
||||||
|
{ |
||||||
|
m_descriptor_size = nDim; |
||||||
|
m_descriptor_norm = NORM_L2; |
||||||
|
m_descriptor_type = CV_32FC1; |
||||||
|
} |
||||||
|
else |
||||||
|
{ |
||||||
|
if ( ( m_desc_type == BGM ) || |
||||||
|
( m_desc_type == BGM_HARD ) || |
||||||
|
( m_desc_type == BGM_BILINEAR ) |
||||||
|
) |
||||||
|
m_descriptor_size = nWLs / 8; |
||||||
|
else |
||||||
|
m_descriptor_size = nDim / 8; |
||||||
|
|
||||||
|
m_descriptor_type = CV_8UC1; |
||||||
|
m_descriptor_norm = NORM_HAMMING; |
||||||
|
} |
||||||
|
|
||||||
|
// 2d array dim
|
||||||
|
int dim0 = nDim; |
||||||
|
int dim1 = nWLs; |
||||||
|
|
||||||
|
// override beta dim0 on LBGM
|
||||||
|
if ( m_desc_type == LBGM ) dim0 = 1; |
||||||
|
|
||||||
|
m_Dims = nDim; |
||||||
|
m_nWLs = nWLs; |
||||||
|
m_orient_q = orientQuant; |
||||||
|
m_patch_size = patchSize; |
||||||
|
m_grad_atype = iGradAssignType; |
||||||
|
|
||||||
|
// cast into opencv Mat type as float
|
||||||
|
m_wl_thresh = Mat( dim0, dim1, CV_32F, reinterpret_cast<float *>(const_cast<unsigned int *>(thresh)) ); |
||||||
|
m_wl_alpha = Mat( dim0, dim1, CV_32F, reinterpret_cast<float *>(const_cast<unsigned int *>(alpha )) ); |
||||||
|
|
||||||
|
// cast into opencv Mat type as integer
|
||||||
|
m_wl_orient = Mat( dim0, dim1, CV_32S, const_cast<int *>(orient) ); |
||||||
|
m_wl_x_min = Mat( dim0, dim1, CV_32S, const_cast<int *>(x_min ) ); |
||||||
|
m_wl_x_max = Mat( dim0, dim1, CV_32S, const_cast<int *>(x_max ) ); |
||||||
|
m_wl_y_min = Mat( dim0, dim1, CV_32S, const_cast<int *>(y_min ) ); |
||||||
|
m_wl_y_max = Mat( dim0, dim1, CV_32S, const_cast<int *>(y_max ) ); |
||||||
|
|
||||||
|
// no beta
|
||||||
|
if ( beta == NULL ) return; |
||||||
|
|
||||||
|
if ( m_desc_type == LBGM ) |
||||||
|
m_wl_beta = Mat( dim1, nDim, CV_32F, reinterpret_cast<float *>(const_cast<unsigned int *>(beta)) ); |
||||||
|
else |
||||||
|
m_wl_beta = Mat( dim0, dim1, CV_32F, reinterpret_cast<float *>(const_cast<unsigned int *>(beta)) ); |
||||||
|
} |
||||||
|
|
||||||
|
// constructor
|
||||||
|
BoostDesc_Impl::BoostDesc_Impl( int _desc, bool _use_scale_orientation, float _scale_factor ) |
||||||
|
: m_desc_type( _desc ), m_scale_factor( _scale_factor ), |
||||||
|
m_use_scale_orientation( _use_scale_orientation ) |
||||||
|
{ |
||||||
|
// desc type
|
||||||
|
switch ( m_desc_type ) |
||||||
|
{ |
||||||
|
case BGM: |
||||||
|
{ |
||||||
|
#include "boostdesc_bgm.i" |
||||||
|
ini_params( orientQuant, patchSize, |
||||||
|
iGradAssignType, |
||||||
|
nDim, nWLs, thresh, orient, |
||||||
|
x_min, x_max, y_min, y_max, |
||||||
|
alpha, NULL ); |
||||||
|
} |
||||||
|
break; |
||||||
|
case BGM_HARD: |
||||||
|
{ |
||||||
|
#include "boostdesc_bgm_hd.i" |
||||||
|
ini_params( orientQuant, patchSize, |
||||||
|
iGradAssignType, |
||||||
|
nDim, nWLs, thresh, orient, |
||||||
|
x_min, x_max, y_min, y_max, |
||||||
|
alpha, NULL ); |
||||||
|
} |
||||||
|
break; |
||||||
|
case BGM_BILINEAR: |
||||||
|
{ |
||||||
|
#include "boostdesc_bgm_bi.i" |
||||||
|
ini_params( orientQuant, patchSize, |
||||||
|
iGradAssignType, |
||||||
|
nDim, nWLs, thresh, orient, |
||||||
|
x_min, x_max, y_min, y_max, |
||||||
|
alpha, NULL ); |
||||||
|
} |
||||||
|
break; |
||||||
|
case LBGM: |
||||||
|
{ |
||||||
|
#include "boostdesc_lbgm.i" |
||||||
|
ini_params( orientQuant, patchSize, |
||||||
|
iGradAssignType, |
||||||
|
nDim, nWLs, thresh, orient, |
||||||
|
x_min, x_max, y_min, y_max, |
||||||
|
alpha, beta ); |
||||||
|
} |
||||||
|
break; |
||||||
|
case BINBOOST_64: |
||||||
|
{ |
||||||
|
#include "boostdesc_binboost_064.i" |
||||||
|
ini_params( orientQuant, patchSize, |
||||||
|
iGradAssignType, |
||||||
|
nDim, nWLs, thresh, orient, |
||||||
|
x_min, x_max, y_min, y_max, |
||||||
|
alpha, beta ); |
||||||
|
} |
||||||
|
break; |
||||||
|
case BINBOOST_128: |
||||||
|
{ |
||||||
|
#include "boostdesc_binboost_128.i" |
||||||
|
ini_params( orientQuant, patchSize, |
||||||
|
iGradAssignType, |
||||||
|
nDim, nWLs, thresh, orient, |
||||||
|
x_min, x_max, y_min, y_max, |
||||||
|
alpha, beta ); |
||||||
|
} |
||||||
|
break; |
||||||
|
case BINBOOST_256: |
||||||
|
{ |
||||||
|
#include "boostdesc_binboost_256.i" |
||||||
|
ini_params( orientQuant, patchSize, |
||||||
|
iGradAssignType, |
||||||
|
nDim, nWLs, thresh, orient, |
||||||
|
x_min, x_max, y_min, y_max, |
||||||
|
alpha, beta ); |
||||||
|
} |
||||||
|
break; |
||||||
|
default: |
||||||
|
CV_Error( Error::StsInternal, "Unknown Descriptor Type." ); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
// destructor
|
||||||
|
BoostDesc_Impl::~BoostDesc_Impl() |
||||||
|
{ |
||||||
|
} |
||||||
|
|
||||||
|
Ptr<BoostDesc> BoostDesc::create( int desc, bool use_scale_orientation, float scale_factor ) |
||||||
|
{ |
||||||
|
return makePtr<BoostDesc_Impl>( desc, use_scale_orientation, scale_factor ); |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
} // END NAMESPACE XFEATURES2D
|
||||||
|
} // END NAMESPACE CV
|
||||||
Loading…
Reference in new issue