From e2dfa35745b8ac44a1ad0cc75a6f81f68dec1416 Mon Sep 17 00:00:00 2001 From: GilLevi Date: Sat, 16 May 2015 22:39:00 +0300 Subject: [PATCH] added description of LATCH and fixed indentation --- .../include/opencv2/xfeatures2d.hpp | 13 + modules/xfeatures2d/src/latch.cpp | 1938 ++++++++--------- 2 files changed, 982 insertions(+), 969 deletions(-) diff --git a/modules/xfeatures2d/include/opencv2/xfeatures2d.hpp b/modules/xfeatures2d/include/opencv2/xfeatures2d.hpp index d57a78bff..5e37e4b98 100644 --- a/modules/xfeatures2d/include/opencv2/xfeatures2d.hpp +++ b/modules/xfeatures2d/include/opencv2/xfeatures2d.hpp @@ -152,6 +152,19 @@ public: /** latch Class for computing the LATCH descriptor. If you find this code useful, please add a reference to the following paper in your work: Gil Levi and Tal Hassner, "LATCH: Learned Arrangements of Three Patch Codes", arXiv preprint arXiv:1501.03719, 15 Jan. 2015 + +LATCH is a binary descriptor based on learned comparisons of triplets of image patches. + +* bytes is the size of the descriptor - can be 64, 32, 16, 8, 4, 2 or 1 +* rotationInvariance - whether or not the descriptor should compansate for orientation changes. +* half_ssd_size - the size of half of the mini-patches size. For example, if we would like to compare triplets of patches of size 7x7x + then the half_ssd_size should be (7-1)/2 = 3. + +Note: the descriptor can be coupled with any keypoint extractor. The only demand is that if you use set rotationInvariance = True then + you will have to use an extractor which estimates the patch orientation (in degrees). Examples for such extractors are ORB and SIFT. + +Note: a complete example can be found under /samples/cpp/tutorial_code/xfeatures2D/latch_match.cpp + */ class CV_EXPORTS LATCHDescriptorExtractor : public DescriptorExtractor { diff --git a/modules/xfeatures2d/src/latch.cpp b/modules/xfeatures2d/src/latch.cpp index 68474118c..ea0a86617 100644 --- a/modules/xfeatures2d/src/latch.cpp +++ b/modules/xfeatures2d/src/latch.cpp @@ -52,975 +52,975 @@ namespace cv { -namespace xfeatures2d -{ - -/* - * LATCH Descriptor - */ - class LATCHDescriptorExtractorImpl : public LATCHDescriptorExtractor -{ -public: - enum { PATCH_SIZE = 48 }; - - LATCHDescriptorExtractorImpl(int bytes = 32, bool rotationInvariance = true, int half_ssd_size = 3); - - virtual void read( const FileNode& ); - virtual void write( FileStorage& ) const; - - virtual int descriptorSize() const; - virtual int descriptorType() const; - virtual int defaultNorm() const; - - virtual void compute(InputArray image, std::vector& keypoints, OutputArray descriptors); - -protected: - typedef void(*PixelTestFn)(const Mat& input_image, const std::vector& keypoints, OutputArray, const std::vector &points, bool rotationInvariance, int half_ssd_size); - - int bytes_; - PixelTestFn test_fn_; - bool rotationInvariance_; - int half_ssd_size_; - - - std::vector sampling_points_ ; -}; - - Ptr LATCHDescriptorExtractor::create(int bytes, bool rotationInvariance, int half_ssd_size) -{ - return makePtr(bytes, rotationInvariance, half_ssd_size); -} -void CacluateSums(int count, const std::vector &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size); - - -static void pixelTests1(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) -{ - Mat descriptors = _descriptors.getMat(); - for (int i = 0; i < (int)keypoints.size(); ++i) - { - uchar* desc = descriptors.ptr(i); - const KeyPoint& pt = keypoints[i]; - int count = 0; - - //handling keypoint orientation - float angle = pt.angle; - angle *= (float)(CV_PI / 180.f); - float cos_theta = cos(angle); - float sin_theta = sin(angle); - for (int ix = 0; ix < 1; ix++){ - desc[ix] = 0; - for (int j = 7; j >= 0; j--){ - - int suma = 0; - int sumc = 0; - - CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); - desc[ix] += (uchar)((suma < sumc) << j); - - count += 6; - } - } - } -} - - -static void pixelTests2(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) -{ - Mat descriptors = _descriptors.getMat(); - for (int i = 0; i < (int)keypoints.size(); ++i) - { - uchar* desc = descriptors.ptr(i); - const KeyPoint& pt = keypoints[i]; - int count = 0; - - //handling keypoint orientation - float angle = pt.angle; - angle *= (float)(CV_PI / 180.f); - float cos_theta = cos(angle); - float sin_theta = sin(angle); - for (int ix = 0; ix < 2; ix++){ - desc[ix] = 0; - for (int j = 7; j >= 0; j--){ - - int suma = 0; - int sumc = 0; - - CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); - desc[ix] += (uchar)((suma < sumc) << j); - - count += 6; - } - } - } -} - - -static void pixelTests4(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) -{ - Mat descriptors = _descriptors.getMat(); - for (int i = 0; i < (int)keypoints.size(); ++i) - { - uchar* desc = descriptors.ptr(i); - const KeyPoint& pt = keypoints[i]; - int count = 0; - - //handling keypoint orientation - float angle = pt.angle; - angle *= (float)(CV_PI / 180.f); - float cos_theta = cos(angle); - float sin_theta = sin(angle); - for (int ix = 0; ix < 4; ix++){ - desc[ix] = 0; - for (int j = 7; j >= 0; j--){ - - int suma = 0; - int sumc = 0; - - CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); - desc[ix] += (uchar)((suma < sumc) << j); - - count += 6; - } - } - } -} - - - -static void pixelTests8(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) -{ - Mat descriptors = _descriptors.getMat(); - for (int i = 0; i < (int)keypoints.size(); ++i) - { - uchar* desc = descriptors.ptr(i); - const KeyPoint& pt = keypoints[i]; - int count = 0; - - //handling keypoint orientation - float angle = pt.angle; - angle *= (float)(CV_PI / 180.f); - float cos_theta = cos(angle); - float sin_theta = sin(angle); - for (int ix = 0; ix < 8; ix++){ - desc[ix] = 0; - for (int j = 7; j >= 0; j--){ - - int suma = 0; - int sumc = 0; - - CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); - desc[ix] += (uchar)((suma < sumc) << j); - - count += 6; - } - } - } -} - - -static void pixelTests16(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) -{ - Mat descriptors = _descriptors.getMat(); - for (int i = 0; i < (int)keypoints.size(); ++i) - { - uchar* desc = descriptors.ptr(i); - const KeyPoint& pt = keypoints[i]; - int count = 0; - - //handling keypoint orientation - float angle = pt.angle; - angle *= (float)(CV_PI / 180.f); - float cos_theta = cos(angle); - float sin_theta = sin(angle); - for (int ix = 0; ix < 16; ix++){ - desc[ix] = 0; - for (int j = 7; j >= 0; j--){ - - int suma = 0; - int sumc = 0; - - CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); - desc[ix] += (uchar)((suma < sumc) << j); - - count += 6; - } - } - } -} - - -static void pixelTests32(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) -{ - Mat descriptors = _descriptors.getMat(); - for (int i = 0; i < (int)keypoints.size(); ++i) - { - uchar* desc = descriptors.ptr(i); - const KeyPoint& pt = keypoints[i]; - int count = 0; - - float angle = pt.angle; - angle *= (float)(CV_PI / 180.f); - float cos_theta = cos(angle); - float sin_theta = sin(angle); - for (int ix = 0; ix < 32; ix++){ - desc[ix] = 0; - for (int j = 7; j >= 0; j--){ - - int suma = 0; - int sumc = 0; - - CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); - desc[ix] += (uchar)((suma < sumc) << j); - - count += 6; - } - } - } -} - - -static void pixelTests64(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) -{ - Mat descriptors = _descriptors.getMat(); - for (int i = 0; i < (int)keypoints.size(); ++i) - { - uchar* desc = descriptors.ptr(i); - const KeyPoint& pt = keypoints[i]; - int count = 0; - - //handling keypoint orientation - float angle = pt.angle; - angle *= (float)(CV_PI / 180.f); - float cos_theta = cos(angle); - float sin_theta = sin(angle); - for (int ix = 0; ix < 64; ix++){ - desc[ix] = 0; - for (int j = 7; j >= 0; j--){ - - int suma = 0; - int sumc = 0; - - CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); - desc[ix] += (uchar)((suma < sumc) << j); - - count += 6; - } - } - } -} - -void CacluateSums(int count, const std::vector &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size) - -{ - int ax = points[count]; - int ay = points[count + 1]; - - int bx = points[count + 2]; - int by = points[count + 3]; - - int cx = points[count + 4]; - int cy = points[count + 5]; - - int ax2 = ax; - int ay2 = ay; - int bx2 = bx; - int by2 = by; - int cx2 = cx; - int cy2 = cy; - - if (rotationInvariance){ - - - ax2 =(int)(((float)ax)*cos_theta - ((float)ay)*sin_theta); - ay2 = (int)(((float)ax)*sin_theta + ((float)ay)*cos_theta); - bx2 = (int)(((float)bx)*cos_theta - ((float)by)*sin_theta); - by2 = (int)(((float)bx)*sin_theta + ((float)by)*cos_theta); - cx2 = (int)(((float)cx)*cos_theta - ((float)cy)*sin_theta); - cy2 = (int)(((float)cx)*sin_theta + ((float)cy)*cos_theta); - - - if (ax2 > 24) - ax2 = 24; - if (ax2<-24) - ax2 = -24; - - if (ay2>24) - ay2 = 24; - if (ay2<-24) - ay2 = -24; - - if (bx2>24) - bx2 = 24; - if (bx2<-24) - bx2 = -24; - - if (by2>24) - by2 = 24; - if (by2<-24) - by2 = -24; - - if (cx2>24) - cx2 = 24; - if (cx2<-24) - cx2 = -24; - - if (cy2>24) - cy2 = 24; - if (cy2 < -24) - cy2 = -24; - - } - - - ax2 += (int)(pt.pt.x + 0.5); - ay2 += (int)(pt.pt.y + 0.5); - - bx2 += (int)(pt.pt.x + 0.5); - by2 += (int)(pt.pt.y + 0.5); - - cx2 += (int)(pt.pt.x + 0.5); - cy2 += (int)(pt.pt.y + 0.5); - - - int K = half_ssd_size; - for (int iy = -K; iy <= K; iy++) - { - const uchar * Mi_a = grayImage.ptr(ay2 + iy); - const uchar * Mi_b = grayImage.ptr(by2 + iy); - const uchar * Mi_c = grayImage.ptr(cy2 + iy); - - for (int ix = -K; ix <= K; ix++) - { - double difa = Mi_a[ax2 + ix] - Mi_b[bx2 + ix]; - suma += (int)((difa)*(difa)); - - double difc = Mi_c[cx2 + ix] - Mi_b[bx2 + ix]; - sumc += (int)((difc)*(difc)); - } - } - -} - - - -LATCHDescriptorExtractorImpl::LATCHDescriptorExtractorImpl(int bytes, bool rotationInvariance, int half_ssd_size) : -bytes_(bytes), test_fn_(NULL), rotationInvariance_(rotationInvariance), half_ssd_size_(half_ssd_size) -{ - switch (bytes) - { - case 1: - test_fn_ = pixelTests1; - break; - case 2: - test_fn_ = pixelTests2; - break; - case 4: - test_fn_ = pixelTests4; - break; - case 8: - test_fn_ = pixelTests8; - break; - case 16: - test_fn_ = pixelTests16; - break; - case 32: - test_fn_ = pixelTests32; - break; - case 64: - test_fn_ = pixelTests64; - break; - default: - CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64"); - } - int sampling_points_arr[3072]= { 13, -6, 19, 19, 23, -4, - 4, 16, 24, -11, 4, -21, - 22, -14, -2, -20, 23, 5, - 17, -10, 2, 10, 14, -18, - -22, 2, -12, 12, -22, 21, - 11, 6, 7, 15, 3, -11, - -7, 16, -10, -14, -3, 9, - -5, 1, -16, 16, -9, -21, - -19, 2, -2, -9, -22, 24, - 19, 12, -1, -19, 15, -9, - 7, -2, 22, -23, 13, 20, - -3, 9, -17, -1, -5, -19, - -3, -14, 5, -21, 10, 19, - 12, -9, 24, 20, 20, -20, - -5, 18, 19, 11, -6, -16, - 22, 7, 1, -8, -10, 6, - 19, -4, 3, 8, -2, 19, - -17, 10, -11, -12, -21, -17, - 24, -13, 18, -14, 14, -19, - -24, -15, 15, -14, -23, -11, - -6, 22, -1, -11, 6, -14, - 16, 18, 10, -23, 20, 4, - 23, 8, 4, 7, 17, -19, - -2, -21, -11, -18, -3, 7, - -23, 10, -11, 5, -16, 19, - -24, 4, 15, -16, -19, -5, - -19, -4, -1, 5, -20, 2, - 20, 12, 11, -24, 9, 22, - 9, 13, -6, -23, 10, 15, - -22, -8, -4, -5, -15, 20, - -6, -13, 1, 16, -6, 23, - -18, -3, -8, -15, -18, 5, - 14, -12, 9, 13, 19, 12, - -22, 16, -1, 19, 16, -12, - 1, 8, -1, -4, -3, 7, - 3, 15, 23, -23, 5, -9, - 2, -7, 14, -13, 6, 20, - -18, 11, 16, -10, -12, 4, - -15, 2, -9, 21, -21, 20, - -3, 5, -22, 23, -7, -22, - -17, 13, 24, -14, -24, -24, - 24, 15, 3, -22, -16, 7, - -14, -20, 1, -7, -12, -2, - 19, 17, 0, 18, -12, -7, - -12, 10, 8, 5, -21, -18, - -15, 9, 13, 3, -18, -17, - 0, 5, 11, -22, 8, 18, - 21, 2, -22, -17, 15, 3, - -22, -15, 18, 23, -23, 21, - -24, 16, 10, -3, -8, -1, - -19, 19, 22, 23, -14, -2, - 20, 15, -2, -19, 19, -15, - -10, 12, 0, -9, -9, -16, - 13, -22, 16, 16, 0, -14, - -8, -13, -1, 20, -5, -22, - -7, -23, -4, 10, -1, 20, - 16, -1, -13, -16, 24, -18, - -18, 12, 8, 19, -24, -14, - -15, 24, 6, 2, -21, -22, - 20, -2, 8, 0, 17, -10, - -19, 21, -7, 20, -14, 3, - 19, 17, 0, -16, -18, -19, - -17, -19, 12, -23, -12, -8, - 9, 10, 9, -23, 21, -24, - 9, 19, -15, -18, 7, -19, - 5, 3, -3, -16, 4, -2, - 15, -10, -24, 16, 24, 11, - 17, 16, -9, 1, 18, -15, - 11, -5, 0, 24, -20, -12, - -14, -19, 24, -16, -9, -6, - 22, -14, 2, -22, 16, 11, - 23, -1, 4, -10, 20, 22, - -10, -9, 17, 13, -13, -13, - -15, 13, 11, 9, -13, 9, - 22, 15, 2, 18, -12, -10, - 3, 23, 18, 15, 20, -24, - 7, -6, 16, 11, 8, 1, - 13, 16, 24, -20, 9, -4, - -8, -3, 17, 24, -19, 17, - 11, 6, -5, 22, 14, -10, - -5, -11, -15, -10, -22, 9, - 7, 18, -12, 8, 13, -24, - 9, 0, 2, 3, 7, 12, - 21, 14, 0, -8, -17, 2, - 22, 20, -5, 16, 19, -23, - 22, -18, -19, -3, 24, -15, - 18, 0, -11, 16, 17, 11, - 22, 15, -11, 7, 20, -9, - -16, 10, 2, 1, -19, 20, - -19, -4, 2, -3, -24, 17, - -3, 21, 22, -12, -1, 3, - -3, -20, -7, 23, -1, -9, - -11, 3, -20, -5, -9, -8, - 19, -17, 21, 21, 21, -13, - -10, 6, 2, -2, -17, -21, - 19, 24, 20, 6, 24, -11, - 10, -23, -1, -9, 8, -5, - 22, -20, -3, 24, 19, 5, - -24, 6, 0, -13, -23, -15, - 10, 20, -22, -4, 9, -20, - -24, 10, 5, -15, -24, -20, - 22, 6, 8, -7, 11, 22, - -18, 7, -9, 19, -12, -5, - -9, 21, -20, -17, -17, 22, - -23, 6, -22, -12, -17, 7, - -18, 3, 1, 24, -24, 20, - -10, -9, 2, 15, 18, 18, - 16, -13, -18, 11, 9, -6, - 24, 24, -24, 22, 12, -12, - 20, 7, -21, 15, 22, -5, - -9, -7, 23, -13, -17, -20, - -9, -6, 23, 0, -22, 13, - -15, -18, 1, -22, -17, 10, - 0, 4, 4, -8, 18, -8, - -7, -6, -20, 18, -20, -3, - -20, -14, 4, -9, -17, -8, - -18, -7, 3, 8, -16, 5, - 7, -12, 10, 19, 20, 21, - -22, 24, 4, 8, -22, 2, - -19, -18, -18, 22, -2, 13, - 10, 9, -15, 15, 21, 16, - 16, 11, -24, -2, 24, 21, - -7, -12, 1, 14, 9, 17, - 20, 17, 7, 7, 5, -24, - -13, -8, 21, 18, -15, 11, - -22, 8, 12, -8, -18, 23, - 14, 10, 6, -24, 17, -10, - 8, 13, 21, 17, 24, -3, - -21, -24, 18, 11, -8, 5, - -10, -23, -2, 23, -13, 5, - 11, 7, -1, -21, -10, -4, - 21, -22, -15, 6, 6, -4, - 16, -7, -7, -23, 19, 6, - -1, 21, 23, -14, -2, -17, - 22, -13, -22, 4, 14, 3, - -10, 3, 14, -11, -22, 8, - 11, 13, -24, 10, 24, 21, - 12, 2, 13, -16, 15, 1, - -1, -4, 20, -22, -6, -19, - -14, -20, 2, -11, -20, 24, - -23, -10, 12, 1, -24, 2, - -24, -23, -16, 13, -1, -11, - -8, 6, 19, -13, -23, 23, - -18, -24, 23, -16, -21, 16, - -12, 19, -10, 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bytes_; -} - -int LATCHDescriptorExtractorImpl::descriptorType() const -{ - return CV_8UC1; -} - -int LATCHDescriptorExtractorImpl::defaultNorm() const -{ - return NORM_HAMMING; -} - -void LATCHDescriptorExtractorImpl::read(const FileNode& fn) -{ - int dSize = fn["descriptorSize"]; - switch (dSize) - { - case 1: - test_fn_ = pixelTests1; - break; - case 2: - test_fn_ = pixelTests2; - break; - case 4: - test_fn_ = pixelTests4; - break; - case 8: - test_fn_ = pixelTests8; - break; - case 16: - test_fn_ = pixelTests16; - break; - case 32: - test_fn_ = pixelTests32; - break; - case 64: - test_fn_ = pixelTests64; - break; - default: - CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64"); - } - bytes_ = dSize; -} - -void LATCHDescriptorExtractorImpl::write(FileStorage& fs) const -{ - fs << "descriptorSize" << bytes_; -} - -void LATCHDescriptorExtractorImpl::compute(InputArray image, - std::vector& keypoints, - OutputArray descriptors) -{ - - Mat grayImage; - GaussianBlur(image, grayImage, cv::Size(3, 3), 2, 2); - - if (image.type() != CV_8U) cvtColor(image, grayImage, COLOR_BGR2GRAY); - - - - //Remove keypoints very close to the border - KeyPointsFilter::runByImageBorder(keypoints, image.size(), PATCH_SIZE / 2 + half_ssd_size_); - - - descriptors.create((int)keypoints.size(), bytes_, CV_8U); - - test_fn_(grayImage, keypoints, descriptors, sampling_points_, rotationInvariance_, half_ssd_size_); -} -} + namespace xfeatures2d + { + + /* + * LATCH Descriptor + */ + class LATCHDescriptorExtractorImpl : public LATCHDescriptorExtractor + { + public: + enum { PATCH_SIZE = 48 }; + + LATCHDescriptorExtractorImpl(int bytes = 32, bool rotationInvariance = true, int half_ssd_size = 3); + + virtual void read( const FileNode& ); + virtual void write( FileStorage& ) const; + + virtual int descriptorSize() const; + virtual int descriptorType() const; + virtual int defaultNorm() const; + + virtual void compute(InputArray image, std::vector& keypoints, OutputArray descriptors); + + protected: + typedef void(*PixelTestFn)(const Mat& input_image, const std::vector& keypoints, OutputArray, const std::vector &points, bool rotationInvariance, int half_ssd_size); + + int bytes_; + PixelTestFn test_fn_; + bool rotationInvariance_; + int half_ssd_size_; + + + std::vector sampling_points_ ; + }; + + Ptr LATCHDescriptorExtractor::create(int bytes, bool rotationInvariance, int half_ssd_size) + { + return makePtr(bytes, rotationInvariance, half_ssd_size); + } + void CalcuateSums(int count, const std::vector &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size); + + + static void pixelTests1(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) + { + Mat descriptors = _descriptors.getMat(); + for (int i = 0; i < (int)keypoints.size(); ++i) + { + uchar* desc = descriptors.ptr(i); + const KeyPoint& pt = keypoints[i]; + int count = 0; + + //handling keypoint orientation + float angle = pt.angle; + angle *= (float)(CV_PI / 180.f); + float cos_theta = cos(angle); + float sin_theta = sin(angle); + for (int ix = 0; ix < 1; ix++){ + desc[ix] = 0; + for (int j = 7; j >= 0; j--){ + + int suma = 0; + int sumc = 0; + + CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); + desc[ix] += (uchar)((suma < sumc) << j); + + count += 6; + } + } + } + } + + + static void pixelTests2(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) + { + Mat descriptors = _descriptors.getMat(); + for (int i = 0; i < (int)keypoints.size(); ++i) + { + uchar* desc = descriptors.ptr(i); + const KeyPoint& pt = keypoints[i]; + int count = 0; + + //handling keypoint orientation + float angle = pt.angle; + angle *= (float)(CV_PI / 180.f); + float cos_theta = cos(angle); + float sin_theta = sin(angle); + for (int ix = 0; ix < 2; ix++){ + desc[ix] = 0; + for (int j = 7; j >= 0; j--){ + + int suma = 0; + int sumc = 0; + + CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); + desc[ix] += (uchar)((suma < sumc) << j); + + count += 6; + } + } + } + } + + + static void pixelTests4(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) + { + Mat descriptors = _descriptors.getMat(); + for (int i = 0; i < (int)keypoints.size(); ++i) + { + uchar* desc = descriptors.ptr(i); + const KeyPoint& pt = keypoints[i]; + int count = 0; + + //handling keypoint orientation + float angle = pt.angle; + angle *= (float)(CV_PI / 180.f); + float cos_theta = cos(angle); + float sin_theta = sin(angle); + for (int ix = 0; ix < 4; ix++){ + desc[ix] = 0; + for (int j = 7; j >= 0; j--){ + + int suma = 0; + int sumc = 0; + + CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); + desc[ix] += (uchar)((suma < sumc) << j); + + count += 6; + } + } + } + } + + + + static void pixelTests8(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) + { + Mat descriptors = _descriptors.getMat(); + for (int i = 0; i < (int)keypoints.size(); ++i) + { + uchar* desc = descriptors.ptr(i); + const KeyPoint& pt = keypoints[i]; + int count = 0; + + //handling keypoint orientation + float angle = pt.angle; + angle *= (float)(CV_PI / 180.f); + float cos_theta = cos(angle); + float sin_theta = sin(angle); + for (int ix = 0; ix < 8; ix++){ + desc[ix] = 0; + for (int j = 7; j >= 0; j--){ + + int suma = 0; + int sumc = 0; + + CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); + desc[ix] += (uchar)((suma < sumc) << j); + + count += 6; + } + } + } + } + + + static void pixelTests16(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) + { + Mat descriptors = _descriptors.getMat(); + for (int i = 0; i < (int)keypoints.size(); ++i) + { + uchar* desc = descriptors.ptr(i); + const KeyPoint& pt = keypoints[i]; + int count = 0; + + //handling keypoint orientation + float angle = pt.angle; + angle *= (float)(CV_PI / 180.f); + float cos_theta = cos(angle); + float sin_theta = sin(angle); + for (int ix = 0; ix < 16; ix++){ + desc[ix] = 0; + for (int j = 7; j >= 0; j--){ + + int suma = 0; + int sumc = 0; + + CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); + desc[ix] += (uchar)((suma < sumc) << j); + + count += 6; + } + } + } + } + + + static void pixelTests32(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) + { + Mat descriptors = _descriptors.getMat(); + for (int i = 0; i < (int)keypoints.size(); ++i) + { + uchar* desc = descriptors.ptr(i); + const KeyPoint& pt = keypoints[i]; + int count = 0; + + float angle = pt.angle; + angle *= (float)(CV_PI / 180.f); + float cos_theta = cos(angle); + float sin_theta = sin(angle); + for (int ix = 0; ix < 32; ix++){ + desc[ix] = 0; + for (int j = 7; j >= 0; j--){ + + int suma = 0; + int sumc = 0; + + CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); + desc[ix] += (uchar)((suma < sumc) << j); + + count += 6; + } + } + } + } + + + static void pixelTests64(const Mat& grayImage, const std::vector& keypoints, OutputArray _descriptors, const std::vector &points, bool rotationInvariance, int half_ssd_size) + { + Mat descriptors = _descriptors.getMat(); + for (int i = 0; i < (int)keypoints.size(); ++i) + { + uchar* desc = descriptors.ptr(i); + const KeyPoint& pt = keypoints[i]; + int count = 0; + + //handling keypoint orientation + float angle = pt.angle; + angle *= (float)(CV_PI / 180.f); + float cos_theta = cos(angle); + float sin_theta = sin(angle); + for (int ix = 0; ix < 64; ix++){ + desc[ix] = 0; + for (int j = 7; j >= 0; j--){ + + int suma = 0; + int sumc = 0; + + CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size); + desc[ix] += (uchar)((suma < sumc) << j); + + count += 6; + } + } + } + } + + void CalcuateSums(int count, const std::vector &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size) + + { + int ax = points[count]; + int ay = points[count + 1]; + + int bx = points[count + 2]; + int by = points[count + 3]; + + int cx = points[count + 4]; + int cy = points[count + 5]; + + int ax2 = ax; + int ay2 = ay; + int bx2 = bx; + int by2 = by; + int cx2 = cx; + int cy2 = cy; + + if (rotationInvariance){ + + + ax2 =(int)(((float)ax)*cos_theta - ((float)ay)*sin_theta); + ay2 = (int)(((float)ax)*sin_theta + ((float)ay)*cos_theta); + bx2 = (int)(((float)bx)*cos_theta - ((float)by)*sin_theta); + by2 = (int)(((float)bx)*sin_theta + ((float)by)*cos_theta); + cx2 = (int)(((float)cx)*cos_theta - ((float)cy)*sin_theta); + cy2 = (int)(((float)cx)*sin_theta + ((float)cy)*cos_theta); + + + if (ax2 > 24) + ax2 = 24; + if (ax2<-24) + ax2 = -24; + + if (ay2>24) + ay2 = 24; + if (ay2<-24) + ay2 = -24; + + if (bx2>24) + bx2 = 24; + if (bx2<-24) + bx2 = -24; + + if (by2>24) + by2 = 24; + if (by2<-24) + by2 = -24; + + if (cx2>24) + cx2 = 24; + if (cx2<-24) + cx2 = -24; + + if (cy2>24) + cy2 = 24; + if (cy2 < -24) + cy2 = -24; + + } + + + ax2 += (int)(pt.pt.x + 0.5); + ay2 += (int)(pt.pt.y + 0.5); + + bx2 += (int)(pt.pt.x + 0.5); + by2 += (int)(pt.pt.y + 0.5); + + cx2 += (int)(pt.pt.x + 0.5); + cy2 += (int)(pt.pt.y + 0.5); + + + int K = half_ssd_size; + for (int iy = -K; iy <= K; iy++) + { + const uchar * Mi_a = grayImage.ptr(ay2 + iy); + const uchar * Mi_b = grayImage.ptr(by2 + iy); + const uchar * Mi_c = grayImage.ptr(cy2 + iy); + + for (int ix = -K; ix <= K; ix++) + { + double difa = Mi_a[ax2 + ix] - Mi_b[bx2 + ix]; + suma += (int)((difa)*(difa)); + + double difc = Mi_c[cx2 + ix] - Mi_b[bx2 + ix]; + sumc += (int)((difc)*(difc)); + } + } + + } + + + + LATCHDescriptorExtractorImpl::LATCHDescriptorExtractorImpl(int bytes, bool rotationInvariance, int half_ssd_size) : + bytes_(bytes), test_fn_(NULL), rotationInvariance_(rotationInvariance), half_ssd_size_(half_ssd_size) + { + switch (bytes) + { + case 1: + test_fn_ = pixelTests1; + break; + case 2: + test_fn_ = pixelTests2; + break; + case 4: + test_fn_ = pixelTests4; + break; + case 8: + test_fn_ = pixelTests8; + break; + case 16: + test_fn_ = pixelTests16; + break; + case 32: + test_fn_ = pixelTests32; + break; + case 64: + test_fn_ = pixelTests64; + break; + default: + CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64"); + } + int sampling_points_arr[3072]= { 13, -6, 19, 19, 23, -4, + 4, 16, 24, -11, 4, -21, + 22, -14, -2, -20, 23, 5, + 17, -10, 2, 10, 14, -18, + -22, 2, -12, 12, -22, 21, + 11, 6, 7, 15, 3, -11, + -7, 16, -10, -14, -3, 9, + -5, 1, -16, 16, -9, -21, + -19, 2, -2, -9, -22, 24, + 19, 12, -1, -19, 15, -9, + 7, -2, 22, -23, 13, 20, + -3, 9, -17, -1, -5, -19, + -3, -14, 5, -21, 10, 19, + 12, -9, 24, 20, 20, -20, + -5, 18, 19, 11, -6, -16, + 22, 7, 1, -8, -10, 6, + 19, -4, 3, 8, -2, 19, + -17, 10, -11, -12, -21, -17, + 24, -13, 18, -14, 14, -19, + -24, -15, 15, -14, -23, -11, + -6, 22, -1, -11, 6, -14, + 16, 18, 10, -23, 20, 4, + 23, 8, 4, 7, 17, -19, + -2, -21, -11, -18, -3, 7, + -23, 10, -11, 5, -16, 19, + -24, 4, 15, -16, -19, -5, + -19, -4, -1, 5, -20, 2, + 20, 12, 11, -24, 9, 22, + 9, 13, -6, -23, 10, 15, + -22, -8, -4, -5, -15, 20, + -6, -13, 1, 16, -6, 23, + -18, -3, -8, -15, -18, 5, + 14, -12, 9, 13, 19, 12, + -22, 16, -1, 19, 16, -12, + 1, 8, -1, -4, -3, 7, + 3, 15, 23, -23, 5, -9, + 2, -7, 14, -13, 6, 20, + -18, 11, 16, -10, -12, 4, + -15, 2, -9, 21, -21, 20, + -3, 5, -22, 23, -7, -22, + -17, 13, 24, -14, -24, -24, + 24, 15, 3, -22, -16, 7, + -14, -20, 1, -7, -12, -2, + 19, 17, 0, 18, -12, -7, + -12, 10, 8, 5, -21, -18, + -15, 9, 13, 3, -18, -17, + 0, 5, 11, -22, 8, 18, + 21, 2, -22, -17, 15, 3, + -22, -15, 18, 23, -23, 21, + -24, 16, 10, -3, -8, -1, + -19, 19, 22, 23, -14, -2, + 20, 15, -2, -19, 19, -15, + -10, 12, 0, -9, -9, -16, + 13, -22, 16, 16, 0, -14, + -8, -13, -1, 20, -5, -22, + -7, -23, -4, 10, -1, 20, + 16, -1, -13, -16, 24, -18, + -18, 12, 8, 19, -24, -14, + -15, 24, 6, 2, -21, -22, + 20, -2, 8, 0, 17, -10, + -19, 21, -7, 20, -14, 3, + 19, 17, 0, -16, -18, -19, + -17, -19, 12, -23, -12, -8, + 9, 10, 9, -23, 21, -24, + 9, 19, -15, -18, 7, -19, + 5, 3, -3, -16, 4, -2, + 15, -10, -24, 16, 24, 11, + 17, 16, -9, 1, 18, -15, + 11, -5, 0, 24, -20, -12, + -14, -19, 24, -16, -9, -6, + 22, -14, 2, -22, 16, 11, + 23, -1, 4, -10, 20, 22, + -10, -9, 17, 13, -13, -13, + -15, 13, 11, 9, -13, 9, + 22, 15, 2, 18, -12, -10, + 3, 23, 18, 15, 20, -24, + 7, -6, 16, 11, 8, 1, + 13, 16, 24, -20, 9, -4, + -8, -3, 17, 24, -19, 17, + 11, 6, -5, 22, 14, -10, + -5, -11, -15, -10, -22, 9, + 7, 18, -12, 8, 13, -24, + 9, 0, 2, 3, 7, 12, + 21, 14, 0, -8, -17, 2, + 22, 20, -5, 16, 19, -23, + 22, -18, -19, -3, 24, -15, + 18, 0, -11, 16, 17, 11, + 22, 15, -11, 7, 20, -9, + -16, 10, 2, 1, -19, 20, + -19, -4, 2, -3, -24, 17, + -3, 21, 22, -12, -1, 3, + -3, -20, -7, 23, -1, -9, + -11, 3, -20, -5, -9, -8, + 19, -17, 21, 21, 21, -13, + -10, 6, 2, -2, -17, -21, + 19, 24, 20, 6, 24, -11, + 10, -23, -1, -9, 8, -5, + 22, -20, -3, 24, 19, 5, + -24, 6, 0, -13, -23, -15, + 10, 20, -22, -4, 9, -20, + -24, 10, 5, -15, -24, -20, + 22, 6, 8, -7, 11, 22, + -18, 7, -9, 19, -12, -5, + -9, 21, -20, -17, -17, 22, + -23, 6, -22, -12, -17, 7, + -18, 3, 1, 24, -24, 20, + -10, -9, 2, 15, 18, 18, + 16, -13, -18, 11, 9, -6, + 24, 24, -24, 22, 12, -12, + 20, 7, -21, 15, 22, -5, + -9, -7, 23, -13, -17, -20, + -9, -6, 23, 0, -22, 13, + -15, -18, 1, -22, -17, 10, + 0, 4, 4, -8, 18, -8, + -7, -6, -20, 18, -20, -3, + -20, -14, 4, -9, -17, -8, + -18, -7, 3, 8, -16, 5, + 7, -12, 10, 19, 20, 21, + -22, 24, 4, 8, -22, 2, + -19, -18, -18, 22, -2, 13, + 10, 9, -15, 15, 21, 16, + 16, 11, -24, -2, 24, 21, + -7, -12, 1, 14, 9, 17, + 20, 17, 7, 7, 5, -24, + -13, -8, 21, 18, -15, 11, + -22, 8, 12, -8, -18, 23, + 14, 10, 6, -24, 17, -10, + 8, 13, 21, 17, 24, -3, + -21, -24, 18, 11, -8, 5, + -10, -23, -2, 23, -13, 5, + 11, 7, -1, -21, -10, -4, + 21, -22, -15, 6, 6, -4, + 16, -7, -7, -23, 19, 6, + -1, 21, 23, -14, -2, -17, + 22, -13, -22, 4, 14, 3, + -10, 3, 14, -11, -22, 8, + 11, 13, -24, 10, 24, 21, + 12, 2, 13, -16, 15, 1, + -1, -4, 20, -22, -6, -19, + -14, -20, 2, -11, -20, 24, + -23, -10, 12, 1, -24, 2, + -24, -23, -16, 13, -1, -11, + -8, 6, 19, -13, -23, 23, + -18, -24, 23, -16, -21, 16, + -12, 19, -10, 6, -6, -16, + 0, -15, -13, 24, -2, 9, + 19, -4, 0, 21, 21, 16, + -10, -24, -24, -20, -13, -5, + 24, 7, -13, 7, 18, 19, + 0, 22, -21, 20, 0, 18, + 23, 10, -13, -14, 16, 10, + -10, -12, 8, 10, -13, 24, + -22, -6, -17, 14, -6, 11, + 17, 17, -7, 17, 17, -12, + 22, -1, -2, -3, -24, 22, + 12, 0, 1, -11, 12, -16, + -20, -6, -11, 17, -5, -19, + 18, 7, -8, 3, 23, -11, + 24, -7, -18, 24, 20, -1, + -10, 4, -4, -22, -14, -8, + 15, -8, -16, 20, 17, 23, + 12, 15, 15, -19, 5, 4, + -16, 21, 3, -3, -17, -15, + -18, 14, -20, -22, -18, 12, + 21, 13, -18, 0, 12, -12, + -20, 23, 15, -10, -14, -16, + -24, 16, 12, -5, -16, 13, + -11, -13, -4, -9, -2, -18, + 3, -12, -24, 0, -2, -3, + -14, -14, 22, 9, -21, 17, + 18, 10, 2, 23, 15, 6, + -8, -18, 15, 23, -11, 23, + -24, 13, 4, 16, -24, -13, + 9, 0, 21, -23, 6, -24, + -22, 13, 21, 19, -21, -10, + -21, 19, 7, -2, -7, 1, + 2, -21, 8, 20, 11, -12, + 19, -19, -2, 24, 17, 1, + -3, -7, 3, 17, -4, -13, + -23, -5, -15, -14, -7, 11, + -15, -23, 24, 22, -17, 18, + 5, -7, 11, -22, 18, -5, + 20, -11, -20, 0, 11, 4, + 18, 18, -9, 7, 19, 17, + 1, -17, 24, -24, 4, 3, + -19, -23, 9, 23, -10, 9, + 7, -2, -13, 5, 16, -5, + 8, -13, -9, -23, 12, 13, + 6, -21, -1, 0, -4, 18, + 9, -17, -24, -22, 9, 17, + -19, 2, 20, -14, -22, 23, + 22, 11, -9, -14, 8, -4, + 12, -22, -2, 13, 8, 21, + 9, -8, 14, 18, 5, -9, + 16, -13, -7, -7, 21, -12, + 13, -12, -10, 11, 7, 11, + 3, 8, 5, -6, 2, 14, + 24, -22, 8, 23, -7, -10, + 22, 11, 6, 20, -6, -9, + 10, -5, -2, -1, 12, 15, + -14, 14, -23, 6, -13, -3, + -9, 2, 22, -1, -24, -10, + -17, 22, 6, -9, -12, -13, + -12, 1, -4, 9, -14, -2, + 13, 2, 23, -2, 12, 5, + 16, -14, -4, -22, 18, 17, + -13, -8, 7, -5, -21, -17, + 3, -1, -3, -2, -10, 19, + 18, 6, -14, 24, 20, 10, + -7, -20, -23, 10, -4, -8, + -20, -9, -10, 16, -14, -21, + 9, 17, -12, 21, 16, 24, + 19, -22, -11, -12, 24, -20, + 5, -15, 14, 12, 3, -13, + -6, 20, 4, 22, 3, -20, + -23, -12, 7, 12, -23, 16, + 22, 3, -4, 18, 22, 8, + 1, 1, 16, 9, -5, 18, + 21, -7, -5, -15, 24, -6, + -13, 14, -12, 23, -17, 18, + 12, 18, -1, 0, 20, 7, + 14, -7, -15, -17, 18, -2, + -18, -12, -11, 14, -15, -21, + -2, -21, 4, -16, 10, -2, + 22, -23, -19, -17, 19, 16, + 8, 22, 7, -22, 22, -22, + 8, -17, -17, 0, 12, 22, + 13, 8, -6, 19, 19, -6, + 19, -4, -23, -10, 23, -13, + -16, -19, -6, 18, -19, 23, + 5, -18, -4, -12, -18, -24, + -10, 9, 6, 4, -16, -24, + -7, -15, 0, 3, -1, 24, + -5, 12, 10, -24, 24, 22, + -13, 9, 1, 18, 15, 7, + -18, -3, -11, -22, -18, -5, + -9, 7, 14, 24, -6, -1, + -1, -24, 22, 19, -1, 13, + -19, 3, -15, -16, -12, 1, + 0, 12, 21, 21, 13, -22, + -19, -9, 14, 12, -23, 17, + 13, -11, 22, 3, 24, -14, + -19, 5, -1, 20, 18, 15, + 19, -19, -16, 24, 23, 7, + -20, -13, 22, 21, -23, -3, + -20, 19, 16, -2, -20, -19, + 18, 18, -12, -16, 14, -5, + 21, -16, -23, -5, 19, 8, + -12, 12, -20, -5, -7, -6, + -10, -24, -3, 18, -11, -5, + 8, 14, 2, -3, 9, 6, + 24, 2, -2, -6, 24, -12, + 7, -8, 0, 8, -3, 21, + 22, 1, 17, -12, 14, -23, + 19, -18, -1, 23, -21, -10, + -6, -1, 14, 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return bytes_; + } + + int LATCHDescriptorExtractorImpl::descriptorType() const + { + return CV_8UC1; + } + + int LATCHDescriptorExtractorImpl::defaultNorm() const + { + return NORM_HAMMING; + } + + void LATCHDescriptorExtractorImpl::read(const FileNode& fn) + { + int dSize = fn["descriptorSize"]; + switch (dSize) + { + case 1: + test_fn_ = pixelTests1; + break; + case 2: + test_fn_ = pixelTests2; + break; + case 4: + test_fn_ = pixelTests4; + break; + case 8: + test_fn_ = pixelTests8; + break; + case 16: + test_fn_ = pixelTests16; + break; + case 32: + test_fn_ = pixelTests32; + break; + case 64: + test_fn_ = pixelTests64; + break; + default: + CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64"); + } + bytes_ = dSize; + } + + void LATCHDescriptorExtractorImpl::write(FileStorage& fs) const + { + fs << "descriptorSize" << bytes_; + } + + void LATCHDescriptorExtractorImpl::compute(InputArray image, + std::vector& keypoints, + OutputArray descriptors) + { + + Mat grayImage; + GaussianBlur(image, grayImage, cv::Size(3, 3), 2, 2); + + if (image.type() != CV_8U) cvtColor(image, grayImage, COLOR_BGR2GRAY); + + + + //Remove keypoints very close to the border + KeyPointsFilter::runByImageBorder(keypoints, image.size(), PATCH_SIZE / 2 + half_ssd_size_); + + + descriptors.create((int)keypoints.size(), bytes_, CV_8U); + + test_fn_(grayImage, keypoints, descriptors, sampling_points_, rotationInvariance_, half_ssd_size_); + } + } } // namespace cv