mirror of
https://github.com/opencv/opencv_contrib.git
synced 2025-10-21 06:11:09 +08:00
fixed errors
This commit is contained in:
GilLevi
@@ -81,435 +81,7 @@ protected:
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PixelTestFn test_fn_;
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int half_ssd_size_;
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bool rotationInvariance_;
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//std::vector<int> sampling_points_;
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void setTriplets();
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};
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Ptr<LATCHDescriptorExtractor> LATCHDescriptorExtractor::create(int bytes, bool rotationInvariance, int half_ssd_size)
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{
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return makePtr<LATCHDescriptorExtractorImpl>(bytes, rotationInvariance, half_ssd_size);
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}
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void CacluateSums(int count, const std::vector<int> &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size);
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static void pixelTests1(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 1; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests2(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 2; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests4(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 4; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests8(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 8; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests16(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 16; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests32(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 32; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests64(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 64; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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void CacluateSums(int count, const std::vector<int> &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size)
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{
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int ax = points[count];
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int ay = points[count + 1];
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int bx = points[count + 2];
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int by = points[count + 3];
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int cx = points[count + 4];
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int cy = points[count + 5];
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int ax2 = ax;
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int ay2 = ay;
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int bx2 = bx;
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int by2 = by;
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int cx2 = cx;
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int cy2 = cy;
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if (rotationInvariance){
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ax2 =(int)(((float)ax)*cos_theta - ((float)ay)*sin_theta);
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ay2 = (int)(((float)ax)*sin_theta + ((float)ay)*cos_theta);
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bx2 = (int)(((float)bx)*cos_theta - ((float)by)*sin_theta);
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by2 = (int)(((float)bx)*sin_theta + ((float)by)*cos_theta);
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cx2 = (int)(((float)cx)*cos_theta - ((float)cy)*sin_theta);
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cy2 = (int)(((float)cx)*sin_theta + ((float)cy)*cos_theta);
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if (ax2 > 24)
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ax2 = 24;
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if (ax2<-24)
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ax2 = -24;
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if (ay2>24)
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ay2 = 24;
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if (ay2<-24)
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ay2 = -24;
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if (bx2>24)
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bx2 = 24;
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if (bx2<-24)
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bx2 = -24;
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if (by2>24)
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by2 = 24;
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if (by2<-24)
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by2 = -24;
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if (cx2>24)
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cx2 = 24;
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if (cx2<-24)
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cx2 = -24;
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if (cy2>24)
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cy2 = 24;
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if (cy2 < -24)
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cy2 = -24;
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}
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ax2 += (int)(pt.pt.x + 0.5);
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ay2 += (int)(pt.pt.y + 0.5);
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bx2 += (int)(pt.pt.x + 0.5);
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by2 += (int)(pt.pt.y + 0.5);
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cx2 += (int)(pt.pt.x + 0.5);
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cy2 += (int)(pt.pt.y + 0.5);
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int K = half_ssd_size;
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for (int iy = -K; iy <= K; iy++)
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{
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const uchar * Mi_a = grayImage.ptr<uchar>(ay2 + iy);
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const uchar * Mi_b = grayImage.ptr<uchar>(by2 + iy);
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const uchar * Mi_c = grayImage.ptr<uchar>(cy2 + iy);
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for (int ix = -K; ix <= K; ix++)
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{
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double difa = Mi_a[ax2 + ix] - Mi_b[bx2 + ix];
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suma += (int)((difa)*(difa));
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double difc = Mi_c[cx2 + ix] - Mi_b[bx2 + ix];
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sumc += (int)((difc)*(difc));
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}
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}
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}
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LATCHDescriptorExtractorImpl::LATCHDescriptorExtractorImpl(int bytes, bool rotationInvariance, int half_ssd_size) :
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bytes_(bytes), test_fn_(NULL), rotationInvariance_(rotationInvariance), half_ssd_size_(half_ssd_size)
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{
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switch (bytes)
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{
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case 1:
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test_fn_ = pixelTests1;
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break;
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case 2:
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test_fn_ = pixelTests2;
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break;
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case 4:
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test_fn_ = pixelTests4;
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break;
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case 8:
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test_fn_ = pixelTests8;
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break;
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case 16:
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test_fn_ = pixelTests16;
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break;
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case 32:
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test_fn_ = pixelTests32;
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break;
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case 64:
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test_fn_ = pixelTests64;
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break;
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default:
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CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64");
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}
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setTriplets();
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}
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int LATCHDescriptorExtractorImpl::descriptorSize() const
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{
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return bytes_;
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}
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int LATCHDescriptorExtractorImpl::descriptorType() const
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{
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return CV_8UC1;
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}
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int LATCHDescriptorExtractorImpl::defaultNorm() const
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{
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return NORM_HAMMING;
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}
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void LATCHDescriptorExtractorImpl::read(const FileNode& fn)
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{
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int dSize = fn["descriptorSize"];
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switch (dSize)
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{
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case 1:
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test_fn_ = pixelTests1;
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break;
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case 2:
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test_fn_ = pixelTests2;
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break;
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case 4:
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test_fn_ = pixelTests4;
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break;
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case 8:
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test_fn_ = pixelTests8;
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break;
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case 16:
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test_fn_ = pixelTests16;
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break;
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case 32:
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test_fn_ = pixelTests32;
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break;
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case 64:
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test_fn_ = pixelTests64;
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break;
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default:
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CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64");
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}
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bytes_ = dSize;
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}
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void LATCHDescriptorExtractorImpl::write(FileStorage& fs) const
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{
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fs << "descriptorSize" << bytes_;
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}
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void LATCHDescriptorExtractorImpl::compute(InputArray image,
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std::vector<KeyPoint>& keypoints,
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OutputArray descriptors)
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{
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Mat grayImage;
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GaussianBlur(image, grayImage, cv::Size(3, 3), 2, 2);
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if (image.type() != CV_8U) cvtColor(image, grayImage, COLOR_BGR2GRAY);
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//Remove keypoints very close to the border
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KeyPointsFilter::runByImageBorder(keypoints, image.size(), PATCH_SIZE / 2 + half_ssd_size_);
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descriptors.create((int)keypoints.size(), bytes_, CV_8U);
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test_fn_(grayImage, keypoints, descriptors, sampling_points_, rotationInvariance_, half_ssd_size_);
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}
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static std::vector<int> sampling_points_ { 13, -6, 19, 19, 23, -4,
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std::vector<int> sampling_points_ { 13, -6, 19, 19, 23, -4,
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4, 16, 24, -11, 4, -21,
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22, -14, -2, -20, 23, 5,
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17, -10, 2, 10, 14, -18,
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@@ -1022,8 +594,432 @@ static std::vector<int> sampling_points_ { 13, -6, 19, 19, 23, -4,
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-19, 20, -11, -2, -20, -24,
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11, -12, 5, -21, -2, -13
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};
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};
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Ptr<LATCHDescriptorExtractor> LATCHDescriptorExtractor::create(int bytes, bool rotationInvariance, int half_ssd_size)
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{
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return makePtr<LATCHDescriptorExtractorImpl>(bytes, rotationInvariance, half_ssd_size);
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}
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void CacluateSums(int count, const std::vector<int> &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size);
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static void pixelTests1(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 1; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CacluateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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|
||||
static void pixelTests2(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &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<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &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<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &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<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &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<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &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<KeyPoint>& keypoints, OutputArray& _descriptors, const std::vector<int> &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<int> &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<uchar>(ay2 + iy);
|
||||
const uchar * Mi_b = grayImage.ptr<uchar>(by2 + iy);
|
||||
const uchar * Mi_c = grayImage.ptr<uchar>(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");
|
||||
}
|
||||
|
||||
setTriplets();
|
||||
}
|
||||
|
||||
int LATCHDescriptorExtractorImpl::descriptorSize() const
|
||||
{
|
||||
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<KeyPoint>& 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
|
||||
|
||||
Reference in New Issue
Block a user