// Fast/Agast without non-max suppression
void
- getAgastPoints(uint8_t threshold, std::vector<cv::KeyPoint>& keypoints);
+ getAgastPoints(int threshold, std::vector<cv::KeyPoint>& keypoints);
// get scores - attention, this is in layer coordinates, not scale=1 coordinates!
- inline uint8_t
- getAgastScore(int x, int y, uint8_t threshold) const;
- inline uint8_t
- getAgastScore_5_8(int x, int y, uint8_t threshold) const;
- inline uint8_t
- getAgastScore(float xf, float yf, uint8_t threshold, float scale = 1.0f) const;
+ inline int
+ getAgastScore(int x, int y, int threshold) const;
+ inline int
+ getAgastScore_5_8(int x, int y, int threshold) const;
+ inline int
+ getAgastScore(float xf, float yf, int threshold, float scale = 1.0f) const;
// accessors
inline const cv::Mat&
private:
// access gray values (smoothed/interpolated)
- inline uint8_t
+ inline int
value(const cv::Mat& mat, float xf, float yf, float scale) const;
// the image
cv::Mat img_;
{
public:
// construct telling the octaves number:
- BriskScaleSpace(uint8_t _octaves = 3);
+ BriskScaleSpace(int _octaves = 3);
~BriskScaleSpace();
// construct the image pyramids
// get Keypoints
void
- getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint>& keypoints);
+ getKeypoints(const int _threshold, std::vector<cv::KeyPoint>& keypoints);
protected:
// nonmax suppression:
inline bool
- isMax2D(const uint8_t layer, const int x_layer, const int y_layer);
+ isMax2D(const int layer, const int x_layer, const int y_layer);
// 1D (scale axis) refinement:
inline float
refine1D(const float s_05, const float s0, const float s05, float& max) const; // around octave
const int s_2_0, const int s_2_1, const int s_2_2, float& delta_x, float& delta_y) const;
// 3D maximum refinement centered around (x_layer,y_layer)
inline float
- refine3D(const uint8_t layer, const int x_layer, const int y_layer, float& x, float& y, float& scale, bool& ismax) const;
+ refine3D(const int layer, const int x_layer, const int y_layer, float& x, float& y, float& scale, bool& ismax) const;
// interpolated score access with recalculation when needed:
inline int
- getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer) const;
+ getScoreAbove(const int layer, const int x_layer, const int y_layer) const;
inline int
- getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer) const;
+ getScoreBelow(const int layer, const int x_layer, const int y_layer) const;
// return the maximum of score patches above or below
inline float
- getScoreMaxAbove(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
+ getScoreMaxAbove(const int layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
float& dx, float& dy) const;
inline float
- getScoreMaxBelow(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
+ getScoreMaxBelow(const int layer, const int x_layer, const int y_layer, const int threshold, bool& ismax,
float& dx, float& dy) const;
// the image pyramids:
- uint8_t layers_;
+ int layers_;
std::vector<BriskLayer> pyramid_;
// some constant parameters:
static const float basicSize_;
};
-using namespace cv;
-
-const float BRISK::basicSize_ = 12.0;
+const float BRISK::basicSize_ = 12.0f;
const unsigned int BRISK::scales_ = 64;
-const float BRISK::scalerange_ = 30; // 40->4 Octaves - else, this needs to be adjusted...
+const float BRISK::scalerange_ = 30.f; // 40->4 Octaves - else, this needs to be adjusted...
const unsigned int BRISK::n_rot_ = 1024; // discretization of the rotation look-up
-const float BriskScaleSpace::safetyFactor_ = 1.0;
-const float BriskScaleSpace::basicSize_ = 12.0;
+const float BriskScaleSpace::safetyFactor_ = 1.0f;
+const float BriskScaleSpace::basicSize_ = 12.0f;
// constructors
BRISK::BRISK(int thresh, int octaves_in, float patternScale)
nList.resize(5);
const double f = 0.85 * patternScale;
- rList[0] = f * 0;
- rList[1] = f * 2.9;
- rList[2] = f * 4.9;
- rList[3] = f * 7.4;
- rList[4] = f * 10.8;
+ rList[0] = (float)(f * 0.);
+ rList[1] = (float)(f * 2.9);
+ rList[2] = (float)(f * 4.9);
+ rList[3] = (float)(f * 7.4);
+ rList[4] = (float)(f * 10.8);
nList[0] = 1;
nList[1] = 10;
nList[3] = 15;
nList[4] = 20;
- generateKernel(rList, nList, 5.85 * patternScale, 8.2 * patternScale);
+ generateKernel(rList, nList, (float)(5.85 * patternScale), (float)(8.2 * patternScale));
}
BRISK::BRISK(std::vector<float> &radiusList, std::vector<int> &numberList, float dMax, float dMin,
dMin_ = dMin;
// get the total number of points
- const int rings = radiusList.size();
+ const int rings = (int)radiusList.size();
assert(radiusList.size()!=0&&radiusList.size()==numberList.size());
points_ = 0; // remember the total number of points
for (int ring = 0; ring < rings; ring++)
BriskPatternPoint* patternIterator = patternPoints_;
// define the scale discretization:
- static const float lb_scale = log(scalerange_) / log(2.0);
+ static const float lb_scale = (float)(log(scalerange_) / log(2.0));
static const float lb_scale_step = lb_scale / (scales_);
scaleList_ = new float[scales_];
sizeList_ = new unsigned int[scales_];
- const float sigma_scale = 1.3;
+ const float sigma_scale = 1.3f;
for (unsigned int scale = 0; scale < scales_; ++scale)
{
- scaleList_[scale] = pow((double) 2.0, (double) (scale * lb_scale_step));
+ scaleList_[scale] = (float)pow((double) 2.0, (double) (scale * lb_scale_step));
sizeList_[scale] = 0;
// generate the pattern points look-up
double alpha, theta;
for (size_t rot = 0; rot < n_rot_; ++rot)
{
- theta = double(rot) * 2 * M_PI / double(n_rot_); // this is the rotation of the feature
+ theta = double(rot) * 2 * CV_PI / double(n_rot_); // this is the rotation of the feature
for (int ring = 0; ring < rings; ++ring)
{
for (int num = 0; num < numberList[ring]; ++num)
{
// the actual coordinates on the circle
- alpha = (double(num)) * 2 * M_PI / double(numberList[ring]);
- patternIterator->x = scaleList_[scale] * radiusList[ring] * cos(alpha + theta); // feature rotation plus angle of the point
- patternIterator->y = scaleList_[scale] * radiusList[ring] * sin(alpha + theta);
+ alpha = (double(num)) * 2 * CV_PI / double(numberList[ring]);
+ patternIterator->x = (float)(scaleList_[scale] * radiusList[ring] * cos(alpha + theta)); // feature rotation plus angle of the point
+ patternIterator->y = (float)(scaleList_[scale] * radiusList[ring] * sin(alpha + theta));
// and the gaussian kernel sigma
if (ring == 0)
{
- patternIterator->sigma = sigma_scale * scaleList_[scale] * 0.5;
+ patternIterator->sigma = sigma_scale * scaleList_[scale] * 0.5f;
}
else
{
- patternIterator->sigma = sigma_scale * scaleList_[scale] * (double(radiusList[ring]))
- * sin(M_PI / numberList[ring]);
+ patternIterator->sigma = (float)(sigma_scale * scaleList_[scale] * (double(radiusList[ring]))
+ * sin(CV_PI / numberList[ring]));
}
// adapt the sizeList if necessary
- const unsigned int size = ceil(((scaleList_[scale] * radiusList[ring]) + patternIterator->sigma)) + 1;
+ const unsigned int size = cvCeil(((scaleList_[scale] * radiusList[ring]) + patternIterator->sigma)) + 1;
if (sizeList_[scale] < size)
{
sizeList_[scale] = size;
noLongPairs_ = 0;
// fill indexChange with 0..n if empty
- unsigned int indSize = indexChange.size();
+ unsigned int indSize = (unsigned int)indexChange.size();
if (indSize == 0)
{
indexChange.resize(points_ * (points_ - 1) / 2);
- indSize = indexChange.size();
+ indSize = (unsigned int)indexChange.size();
}
for (unsigned int i = 0; i < indSize; i++)
{
// get the sigma:
const float sigma_half = briskPoint.sigma;
- const float area = 4.0 * sigma_half * sigma_half;
+ const float area = 4.0f * sigma_half * sigma_half;
// calculate output:
int ret_val;
if (sigma_half < 0.5)
{
//interpolation multipliers:
- const int r_x = (xf - x) * 1024;
- const int r_y = (yf - y) * 1024;
+ const int r_x = (int)((xf - x) * 1024);
+ const int r_y = (int)((yf - y) * 1024);
const int r_x_1 = (1024 - r_x);
const int r_y_1 = (1024 - r_y);
- uchar* ptr = image.data + x + y * imagecols;
+ const uchar* ptr = &image.at<uchar>(y, x);
+ size_t step = image.step;
// just interpolate:
- ret_val = (r_x_1 * r_y_1 * int(*ptr));
- ptr++;
- ret_val += (r_x * r_y_1 * int(*ptr));
- ptr += imagecols;
- ret_val += (r_x * r_y * int(*ptr));
- ptr--;
- ret_val += (r_x_1 * r_y * int(*ptr));
+ ret_val = r_x_1 * r_y_1 * ptr[0] + r_x * r_y_1 * ptr[1] +
+ r_x * r_y * ptr[step] + r_x_1 * r_y * ptr[step+1];
return (ret_val + 512) / 1024;
}
// this is the standard case (simple, not speed optimized yet):
// scaling:
- const int scaling = 4194304.0 / area;
- const int scaling2 = float(scaling) * area / 1024.0;
+ const int scaling = (int)(4194304.0 / area);
+ const int scaling2 = int(float(scaling) * area / 1024.0);
// the integral image is larger:
const int integralcols = imagecols + 1;
const int y_bottom = int(y1 + 0.5);
// overlap area - multiplication factors:
- const float r_x_1 = float(x_left) - x_1 + 0.5;
- const float r_y_1 = float(y_top) - y_1 + 0.5;
- const float r_x1 = x1 - float(x_right) + 0.5;
- const float r_y1 = y1 - float(y_bottom) + 0.5;
+ const float r_x_1 = float(x_left) - x_1 + 0.5f;
+ const float r_y_1 = float(y_top) - y_1 + 0.5f;
+ const float r_x1 = x1 - float(x_right) + 0.5f;
+ const float r_y1 = y1 - float(y_bottom) + 0.5f;
const int dx = x_right - x_left - 1;
const int dy = y_bottom - y_top - 1;
- const int A = (r_x_1 * r_y_1) * scaling;
- const int B = (r_x1 * r_y_1) * scaling;
- const int C = (r_x1 * r_y1) * scaling;
- const int D = (r_x_1 * r_y1) * scaling;
- const int r_x_1_i = r_x_1 * scaling;
- const int r_y_1_i = r_y_1 * scaling;
- const int r_x1_i = r_x1 * scaling;
- const int r_y1_i = r_y1 * scaling;
+ const int A = (int)((r_x_1 * r_y_1) * scaling);
+ const int B = (int)((r_x1 * r_y_1) * scaling);
+ const int C = (int)((r_x1 * r_y1) * scaling);
+ const int D = (int)((r_x_1 * r_y1) * scaling);
+ const int r_x_1_i = (int)(r_x_1 * scaling);
+ const int r_y_1_i = (int)(r_y_1 * scaling);
+ const int r_x1_i = (int)(r_x1 * scaling);
+ const int r_y1_i = (int)(r_y1 * scaling);
if (dx + dy > 2)
{
BRISK::operator()( InputArray _image, InputArray _mask, vector<KeyPoint>& keypoints,
OutputArray _descriptors, bool useProvidedKeypoints) const
{
- bool doOrientation;
+ bool doOrientation=true;
if (useProvidedKeypoints)
doOrientation = false;
computeDescriptorsAndOrOrientation(_image, _mask, keypoints, _descriptors, true, doOrientation,
size_t ksize = keypoints.size();
std::vector<int> kscales; // remember the scale per keypoint
kscales.resize(ksize);
- static const float log2 = 0.693147180559945;
- static const float lb_scalerange = log(scalerange_) / (log2);
+ static const float log2 = 0.693147180559945f;
+ static const float lb_scalerange = (float)(log(scalerange_) / (log2));
std::vector<cv::KeyPoint>::iterator beginning = keypoints.begin();
std::vector<int>::iterator beginningkscales = kscales.begin();
- static const float basicSize06 = basicSize_ * 0.6;
+ static const float basicSize06 = basicSize_ * 0.6f;
for (size_t k = 0; k < ksize; k++)
{
unsigned int scale;
const int border = sizeList_[scale];
const int border_x = image.cols - border;
const int border_y = image.rows - border;
- if (RoiPredicate(border, border, border_x, border_y, keypoints[k]))
+ if (RoiPredicate((float)border, (float)border, (float)border_x, (float)border_y, keypoints[k]))
{
keypoints.erase(beginning + k);
kscales.erase(beginningkscales + k);
cv::Mat descriptors;
if (doDescriptors)
{
- _descriptors.create(ksize, strings_, CV_8U);
+ _descriptors.create((int)ksize, strings_, CV_8U);
descriptors = _descriptors.getMat();
descriptors.setTo(0);
}
direction0 += tmp0;
direction1 += tmp1;
}
- kp.angle = atan2((float) direction1, (float) direction0) / M_PI * 180.0;
+ kp.angle = (float)(atan2((float) direction1, (float) direction0) / CV_PI * 180.0);
if (kp.angle < 0)
- kp.angle += 360;
+ kp.angle += 360.f;
}
if (!doDescriptors)
}
// construct telling the octaves number:
-BriskScaleSpace::BriskScaleSpace(uint8_t _octaves)
+BriskScaleSpace::BriskScaleSpace(int _octaves)
{
if (_octaves == 0)
layers_ = 1;
}
const int octaves2 = layers_;
- for (uint8_t i = 2; i < octaves2; i += 2)
+ for (uchar i = 2; i < octaves2; i += 2)
{
pyramid_.push_back(BriskLayer(pyramid_[i - 2], BriskLayer::CommonParams::HALFSAMPLE));
pyramid_.push_back(BriskLayer(pyramid_[i - 1], BriskLayer::CommonParams::HALFSAMPLE));
}
void
-BriskScaleSpace::getKeypoints(const uint8_t _threshold, std::vector<cv::KeyPoint>& keypoints)
+BriskScaleSpace::getKeypoints(const int threshold_, std::vector<cv::KeyPoint>& keypoints)
{
// make sure keypoints is empty
keypoints.resize(0);
keypoints.reserve(2000);
// assign thresholds
- uint8_t threshold_ = _threshold;
- uint8_t safeThreshold_ = threshold_ * safetyFactor_;
+ int safeThreshold_ = (int)(threshold_ * safetyFactor_);
std::vector<std::vector<cv::KeyPoint> > agastPoints;
agastPoints.resize(layers_);
// go through the octaves and intra layers and calculate fast corner scores:
- for (uint8_t i = 0; i < layers_; i++)
+ for (int i = 0; i < layers_; i++)
{
// call OAST16_9 without nms
BriskLayer& l = pyramid_[i];
if (layers_ == 1)
{
// just do a simple 2d subpixel refinement...
- const int num = agastPoints[0].size();
- for (int n = 0; n < num; n++)
+ const size_t num = agastPoints[0].size();
+ for (size_t n = 0; n < num; n++)
{
const cv::Point2f& point = agastPoints.at(0)[n].pt;
// first check if it is a maximum:
- if (!isMax2D(0, point.x, point.y))
+ if (!isMax2D(0, (int)point.x, (int)point.y))
continue;
// let's do the subpixel and float scale refinement:
BriskLayer& l = pyramid_[0];
- register int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1);
- register int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1);
- register int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1);
- register int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1);
- register int s_1_1 = l.getAgastScore(point.x, point.y, 1);
- register int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1);
- register int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1);
- register int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1);
- register int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1);
+ int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1);
+ int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1);
+ int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1);
+ int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1);
+ int s_1_1 = l.getAgastScore(point.x, point.y, 1);
+ int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1);
+ int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1);
+ int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1);
+ int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1);
float delta_x, delta_y;
float max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x, delta_y);
}
float x, y, scale, score;
- for (uint8_t i = 0; i < layers_; i++)
+ for (int i = 0; i < layers_; i++)
{
BriskLayer& l = pyramid_[i];
- const int num = agastPoints[i].size();
+ const size_t num = agastPoints[i].size();
if (i == layers_ - 1)
{
- for (int n = 0; n < num; n++)
+ for (size_t n = 0; n < num; n++)
{
const cv::Point2f& point = agastPoints.at(i)[n].pt;
// consider only 2D maxima...
- if (!isMax2D(i, point.x, point.y))
+ if (!isMax2D(i, (int)point.x, (int)point.y))
continue;
bool ismax;
float dx, dy;
- getScoreMaxBelow(i, point.x, point.y, l.getAgastScore(point.x, point.y, safeThreshold_), ismax, dx, dy);
+ getScoreMaxBelow(i, (int)point.x, (int)point.y, l.getAgastScore(point.x, point.y, safeThreshold_), ismax, dx, dy);
if (!ismax)
continue;
// get the patch on this layer:
- register int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1);
- register int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1);
- register int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1);
- register int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1);
- register int s_1_1 = l.getAgastScore(point.x, point.y, 1);
- register int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1);
- register int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1);
- register int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1);
- register int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1);
+ int s_0_0 = l.getAgastScore(point.x - 1, point.y - 1, 1);
+ int s_1_0 = l.getAgastScore(point.x, point.y - 1, 1);
+ int s_2_0 = l.getAgastScore(point.x + 1, point.y - 1, 1);
+ int s_2_1 = l.getAgastScore(point.x + 1, point.y, 1);
+ int s_1_1 = l.getAgastScore(point.x, point.y, 1);
+ int s_0_1 = l.getAgastScore(point.x - 1, point.y, 1);
+ int s_0_2 = l.getAgastScore(point.x - 1, point.y + 1, 1);
+ int s_1_2 = l.getAgastScore(point.x, point.y + 1, 1);
+ int s_2_2 = l.getAgastScore(point.x + 1, point.y + 1, 1);
float delta_x, delta_y;
float max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x, delta_y);
else
{
// not the last layer:
- for (int n = 0; n < num; n++)
+ for (size_t n = 0; n < num; n++)
{
const cv::Point2f& point = agastPoints.at(i)[n].pt;
// first check if it is a maximum:
- if (!isMax2D(i, point.x, point.y))
+ if (!isMax2D(i, (int)point.x, (int)point.y))
continue;
// let's do the subpixel and float scale refinement:
- bool ismax;
- score = refine3D(i, point.x, point.y, x, y, scale, ismax);
+ bool ismax=false;
+ score = refine3D(i, (int)point.x, (int)point.y, x, y, scale, ismax);
if (!ismax)
{
continue;
// interpolated score access with recalculation when needed:
inline int
-BriskScaleSpace::getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer) const
+BriskScaleSpace::getScoreAbove(const int layer, const int x_layer, const int y_layer) const
{
assert(layer<layers_-1);
const BriskLayer& l = pyramid_[layer + 1];
const int r_x_1 = 6 - r_x;
const int r_y = (sixths_y % 6);
const int r_y_1 = 6 - r_y;
- uint8_t score = 0xFF
+ uchar score = 0xFF
& ((r_x_1 * r_y_1 * l.getAgastScore(x_above, y_above, 1) + r_x * r_y_1
* l.getAgastScore(x_above + 1, y_above, 1)
+ r_x_1 * r_y * l.getAgastScore(x_above, y_above + 1, 1)
const int r_x_1 = 8 - r_x;
const int r_y = (eighths_y % 8);
const int r_y_1 = 8 - r_y;
- uint8_t score = 0xFF
+ uchar score = 0xFF
& ((r_x_1 * r_y_1 * l.getAgastScore(x_above, y_above, 1) + r_x * r_y_1
* l.getAgastScore(x_above + 1, y_above, 1)
+ r_x_1 * r_y * l.getAgastScore(x_above, y_above + 1, 1)
}
}
inline int
-BriskScaleSpace::getScoreBelow(const uint8_t layer, const int x_layer, const int y_layer) const
+BriskScaleSpace::getScoreBelow(const int layer, const int x_layer, const int y_layer) const
{
assert(layer);
const BriskLayer& l = pyramid_[layer - 1];
if (layer % 2 == 0)
{ // octave
sixth_x = 8 * x_layer + 1;
- xf = float(sixth_x) / 6.0;
+ xf = float(sixth_x) / 6.0f;
sixth_y = 8 * y_layer + 1;
- yf = float(sixth_y) / 6.0;
+ yf = float(sixth_y) / 6.0f;
// scaling:
- offs = 2.0 / 3.0;
- area = 4.0 * offs * offs;
- scaling = 4194304.0 / area;
- scaling2 = float(scaling) * area;
+ offs = 2.0f / 3.0f;
+ area = 4.0f * offs * offs;
+ scaling = (int)(4194304.0 / area);
+ scaling2 = (int)(float(scaling) * area);
}
else
{
quarter_x = 6 * x_layer + 1;
- xf = float(quarter_x) / 4.0;
+ xf = float(quarter_x) / 4.0f;
quarter_y = 6 * y_layer + 1;
- yf = float(quarter_y) / 4.0;
+ yf = float(quarter_y) / 4.0f;
// scaling:
- offs = 3.0 / 4.0;
- area = 4.0 * offs * offs;
- scaling = 4194304.0 / area;
- scaling2 = float(scaling) * area;
+ offs = 3.0f / 4.0f;
+ area = 4.0f * offs * offs;
+ scaling = (int)(4194304.0 / area);
+ scaling2 = (int)(float(scaling) * area);
}
// calculate borders
const int y_bottom = int(y1 + 0.5);
// overlap area - multiplication factors:
- const float r_x_1 = float(x_left) - x_1 + 0.5;
- const float r_y_1 = float(y_top) - y_1 + 0.5;
- const float r_x1 = x1 - float(x_right) + 0.5;
- const float r_y1 = y1 - float(y_bottom) + 0.5;
+ const float r_x_1 = float(x_left) - x_1 + 0.5f;
+ const float r_y_1 = float(y_top) - y_1 + 0.5f;
+ const float r_x1 = x1 - float(x_right) + 0.5f;
+ const float r_y1 = y1 - float(y_bottom) + 0.5f;
const int dx = x_right - x_left - 1;
const int dy = y_bottom - y_top - 1;
- const int A = (r_x_1 * r_y_1) * scaling;
- const int B = (r_x1 * r_y_1) * scaling;
- const int C = (r_x1 * r_y1) * scaling;
- const int D = (r_x_1 * r_y1) * scaling;
- const int r_x_1_i = r_x_1 * scaling;
- const int r_y_1_i = r_y_1 * scaling;
- const int r_x1_i = r_x1 * scaling;
- const int r_y1_i = r_y1 * scaling;
+ const int A = (int)((r_x_1 * r_y_1) * scaling);
+ const int B = (int)((r_x1 * r_y_1) * scaling);
+ const int C = (int)((r_x1 * r_y1) * scaling);
+ const int D = (int)((r_x_1 * r_y1) * scaling);
+ const int r_x_1_i = (int)(r_x_1 * scaling);
+ const int r_y_1_i = (int)(r_y_1 * scaling);
+ const int r_x1_i = (int)(r_x1 * scaling);
+ const int r_y1_i = (int)(r_y1 * scaling);
// first row:
int ret_val = A * int(l.getAgastScore(x_left, y_top, 1));
}
inline bool
-BriskScaleSpace::isMax2D(const uint8_t layer, const int x_layer, const int y_layer)
+BriskScaleSpace::isMax2D(const int layer, const int x_layer, const int y_layer)
{
const cv::Mat& scores = pyramid_[layer].scores();
const int scorescols = scores.cols;
delta.push_back(1);
delta.push_back(1);
}
- const unsigned int deltasize = delta.size();
+ const unsigned int deltasize = (unsigned int)delta.size();
if (deltasize != 0)
{
// in this case, we have to analyze the situation more carefully:
// 3D maximum refinement centered around (x_layer,y_layer)
inline float
-BriskScaleSpace::refine3D(const uint8_t layer, const int x_layer, const int y_layer, float& x, float& y, float& scale,
+BriskScaleSpace::refine3D(const int layer, const int x_layer, const int y_layer, float& x, float& y, float& scale,
bool& ismax) const
{
ismax = true;
float max_above = getScoreMaxAbove(layer, x_layer, y_layer, center, ismax, delta_x_above, delta_y_above);
if (!ismax)
- return 0.0;
+ return 0.0f;
float max; // to be returned
// treat the patch below:
float delta_x_below, delta_y_below;
float max_below_float;
- uchar max_below_uchar = 0;
+ int max_below = 0;
if (layer == 0)
{
// guess the lower intra octave...
const BriskLayer& l = pyramid_[0];
- register int s_0_0 = l.getAgastScore_5_8(x_layer - 1, y_layer - 1, 1);
- max_below_uchar = s_0_0;
- register int s_1_0 = l.getAgastScore_5_8(x_layer, y_layer - 1, 1);
- if (s_1_0 > max_below_uchar)
- max_below_uchar = s_1_0;
- register int s_2_0 = l.getAgastScore_5_8(x_layer + 1, y_layer - 1, 1);
- if (s_2_0 > max_below_uchar)
- max_below_uchar = s_2_0;
- register int s_2_1 = l.getAgastScore_5_8(x_layer + 1, y_layer, 1);
- if (s_2_1 > max_below_uchar)
- max_below_uchar = s_2_1;
- register int s_1_1 = l.getAgastScore_5_8(x_layer, y_layer, 1);
- if (s_1_1 > max_below_uchar)
- max_below_uchar = s_1_1;
- register int s_0_1 = l.getAgastScore_5_8(x_layer - 1, y_layer, 1);
- if (s_0_1 > max_below_uchar)
- max_below_uchar = s_0_1;
- register int s_0_2 = l.getAgastScore_5_8(x_layer - 1, y_layer + 1, 1);
- if (s_0_2 > max_below_uchar)
- max_below_uchar = s_0_2;
- register int s_1_2 = l.getAgastScore_5_8(x_layer, y_layer + 1, 1);
- if (s_1_2 > max_below_uchar)
- max_below_uchar = s_1_2;
- register int s_2_2 = l.getAgastScore_5_8(x_layer + 1, y_layer + 1, 1);
- if (s_2_2 > max_below_uchar)
- max_below_uchar = s_2_2;
+ int s_0_0 = l.getAgastScore_5_8(x_layer - 1, y_layer - 1, 1);
+ max_below = s_0_0;
+ int s_1_0 = l.getAgastScore_5_8(x_layer, y_layer - 1, 1);
+ max_below = std::max(s_1_0, max_below);
+ int s_2_0 = l.getAgastScore_5_8(x_layer + 1, y_layer - 1, 1);
+ max_below = std::max(s_2_0, max_below);
+ int s_2_1 = l.getAgastScore_5_8(x_layer + 1, y_layer, 1);
+ max_below = std::max(s_2_1, max_below);
+ int s_1_1 = l.getAgastScore_5_8(x_layer, y_layer, 1);
+ max_below = std::max(s_1_1, max_below);
+ int s_0_1 = l.getAgastScore_5_8(x_layer - 1, y_layer, 1);
+ max_below = std::max(s_0_1, max_below);
+ int s_0_2 = l.getAgastScore_5_8(x_layer - 1, y_layer + 1, 1);
+ max_below = std::max(s_0_2, max_below);
+ int s_1_2 = l.getAgastScore_5_8(x_layer, y_layer + 1, 1);
+ max_below = std::max(s_1_2, max_below);
+ int s_2_2 = l.getAgastScore_5_8(x_layer + 1, y_layer + 1, 1);
+ max_below = std::max(s_2_2, max_below);
max_below_float = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_below,
delta_y_below);
- max_below_float = max_below_uchar;
+ max_below_float = (float)max_below;
}
else
{
}
// get the patch on this layer:
- register int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1);
- register int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1);
- register int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1);
- register int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1);
- register int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1);
- register int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1);
- register int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1);
- register int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1);
- register int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1);
+ int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1);
+ int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1);
+ int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1);
+ int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1);
+ int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1);
+ int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1);
+ int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1);
+ int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1);
+ int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1);
float delta_x_layer, delta_y_layer;
float max_layer = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_layer,
delta_y_layer);
if (scale > 1.0)
{
// interpolate the position:
- const float r0 = (1.5 - scale) / .5;
- const float r1 = 1.0 - r0;
+ const float r0 = (1.5f - scale) / .5f;
+ const float r1 = 1.0f - r0;
x = (r0 * delta_x_layer + r1 * delta_x_above + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r1 * delta_y_above + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
}
if (layer == 0)
{
// interpolate the position:
- const float r0 = (scale - 0.5) / 0.5;
- const float r_1 = 1.0 - r0;
+ const float r0 = (scale - 0.5f) / 0.5f;
+ const float r_1 = 1.0f - r0;
x = r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer);
y = r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer);
}
else
{
// interpolate the position:
- const float r0 = (scale - 0.75) / 0.25;
- const float r_1 = 1.0 - r0;
+ const float r0 = (scale - 0.75f) / 0.25f;
+ const float r_1 = 1.0f - r0;
x = (r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
}
float delta_x_below, delta_y_below;
float max_below = getScoreMaxBelow(layer, x_layer, y_layer, center, ismax, delta_x_below, delta_y_below);
if (!ismax)
- return 0.0;
+ return 0.0f;
// get the patch on this layer:
- register int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1);
- register int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1);
- register int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1);
- register int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1);
- register int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1);
- register int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1);
- register int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1);
- register int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1);
- register int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1);
+ int s_0_0 = thisLayer.getAgastScore(x_layer - 1, y_layer - 1, 1);
+ int s_1_0 = thisLayer.getAgastScore(x_layer, y_layer - 1, 1);
+ int s_2_0 = thisLayer.getAgastScore(x_layer + 1, y_layer - 1, 1);
+ int s_2_1 = thisLayer.getAgastScore(x_layer + 1, y_layer, 1);
+ int s_1_1 = thisLayer.getAgastScore(x_layer, y_layer, 1);
+ int s_0_1 = thisLayer.getAgastScore(x_layer - 1, y_layer, 1);
+ int s_0_2 = thisLayer.getAgastScore(x_layer - 1, y_layer + 1, 1);
+ int s_1_2 = thisLayer.getAgastScore(x_layer, y_layer + 1, 1);
+ int s_2_2 = thisLayer.getAgastScore(x_layer + 1, y_layer + 1, 1);
float delta_x_layer, delta_y_layer;
float max_layer = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, delta_x_layer,
delta_y_layer);
if (scale > 1.0)
{
// interpolate the position:
- const float r0 = 4.0 - scale * 3.0;
- const float r1 = 1.0 - r0;
+ const float r0 = 4.0f - scale * 3.0f;
+ const float r1 = 1.0f - r0;
x = (r0 * delta_x_layer + r1 * delta_x_above + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r1 * delta_y_above + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
}
else
{
// interpolate the position:
- const float r0 = scale * 3.0 - 2.0;
- const float r_1 = 1.0 - r0;
+ const float r0 = scale * 3.0f - 2.0f;
+ const float r_1 = 1.0f - r0;
x = (r0 * delta_x_layer + r_1 * delta_x_below + float(x_layer)) * thisLayer.scale() + thisLayer.offset();
y = (r0 * delta_y_layer + r_1 * delta_y_below + float(y_layer)) * thisLayer.scale() + thisLayer.offset();
}
// return the maximum of score patches above or below
inline float
-BriskScaleSpace::getScoreMaxAbove(const uint8_t layer, const int x_layer, const int y_layer, const int threshold,
+BriskScaleSpace::getScoreMaxAbove(const int layer, const int x_layer, const int y_layer, const int threshold,
bool& ismax, float& dx, float& dy) const
{
if (layer % 2 == 0)
{
// octave
- x_1 = float(4 * (x_layer) - 1 - 2) / 6.0;
- x1 = float(4 * (x_layer) - 1 + 2) / 6.0;
- y_1 = float(4 * (y_layer) - 1 - 2) / 6.0;
- y1 = float(4 * (y_layer) - 1 + 2) / 6.0;
+ x_1 = float(4 * (x_layer) - 1 - 2) / 6.0f;
+ x1 = float(4 * (x_layer) - 1 + 2) / 6.0f;
+ y_1 = float(4 * (y_layer) - 1 - 2) / 6.0f;
+ y1 = float(4 * (y_layer) - 1 + 2) / 6.0f;
}
else
{
}
// check the first row
- int max_x = x_1 + 1;
- int max_y = y_1 + 1;
+ int max_x = (int)x_1 + 1;
+ int max_y = (int)y_1 + 1;
float tmp_max;
- float max = layerAbove.getAgastScore(x_1, y_1, 1);
- if (max > threshold)
+ float maxval = (float)layerAbove.getAgastScore(x_1, y_1, 1);
+ if (maxval > threshold)
return 0;
- for (int x = x_1 + 1; x <= int(x1); x++)
+ for (int x = (int)x_1 + 1; x <= int(x1); x++)
{
- tmp_max = layerAbove.getAgastScore(float(x), y_1, 1);
+ tmp_max = (float)layerAbove.getAgastScore(float(x), y_1, 1);
if (tmp_max > threshold)
return 0;
- if (tmp_max > max)
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = x;
}
}
- tmp_max = layerAbove.getAgastScore(x1, y_1, 1);
+ tmp_max = (float)layerAbove.getAgastScore(x1, y_1, 1);
if (tmp_max > threshold)
return 0;
- if (tmp_max > max)
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = int(x1);
}
// middle rows
- for (int y = y_1 + 1; y <= int(y1); y++)
+ for (int y = (int)y_1 + 1; y <= int(y1); y++)
{
- tmp_max = layerAbove.getAgastScore(x_1, float(y), 1);
+ tmp_max = (float)layerAbove.getAgastScore(x_1, float(y), 1);
if (tmp_max > threshold)
return 0;
- if (tmp_max > max)
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = int(x_1 + 1);
max_y = y;
}
- for (int x = x_1 + 1; x <= int(x1); x++)
+ for (int x = (int)x_1 + 1; x <= int(x1); x++)
{
- tmp_max = layerAbove.getAgastScore(x, y, 1);
+ tmp_max = (float)layerAbove.getAgastScore(x, y, 1);
if (tmp_max > threshold)
return 0;
- if (tmp_max > max)
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = x;
max_y = y;
}
}
- tmp_max = layerAbove.getAgastScore(x1, float(y), 1);
+ tmp_max = (float)layerAbove.getAgastScore(x1, float(y), 1);
if (tmp_max > threshold)
return 0;
- if (tmp_max > max)
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = int(x1);
max_y = y;
}
}
// bottom row
- tmp_max = layerAbove.getAgastScore(x_1, y1, 1);
- if (tmp_max > max)
+ tmp_max = (float)layerAbove.getAgastScore(x_1, y1, 1);
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = int(x_1 + 1);
max_y = int(y1);
}
- for (int x = x_1 + 1; x <= int(x1); x++)
+ for (int x = (int)x_1 + 1; x <= int(x1); x++)
{
- tmp_max = layerAbove.getAgastScore(float(x), y1, 1);
- if (tmp_max > max)
+ tmp_max = (float)layerAbove.getAgastScore(float(x), y1, 1);
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = x;
max_y = int(y1);
}
}
- tmp_max = layerAbove.getAgastScore(x1, y1, 1);
- if (tmp_max > max)
+ tmp_max = (float)layerAbove.getAgastScore(x1, y1, 1);
+ if (tmp_max > maxval)
{
- max = tmp_max;
+ maxval = tmp_max;
max_x = int(x1);
max_y = int(y1);
}
//find dx/dy:
- register int s_0_0 = layerAbove.getAgastScore(max_x - 1, max_y - 1, 1);
- register int s_1_0 = layerAbove.getAgastScore(max_x, max_y - 1, 1);
- register int s_2_0 = layerAbove.getAgastScore(max_x + 1, max_y - 1, 1);
- register int s_2_1 = layerAbove.getAgastScore(max_x + 1, max_y, 1);
- register int s_1_1 = layerAbove.getAgastScore(max_x, max_y, 1);
- register int s_0_1 = layerAbove.getAgastScore(max_x - 1, max_y, 1);
- register int s_0_2 = layerAbove.getAgastScore(max_x - 1, max_y + 1, 1);
- register int s_1_2 = layerAbove.getAgastScore(max_x, max_y + 1, 1);
- register int s_2_2 = layerAbove.getAgastScore(max_x + 1, max_y + 1, 1);
+ int s_0_0 = layerAbove.getAgastScore(max_x - 1, max_y - 1, 1);
+ int s_1_0 = layerAbove.getAgastScore(max_x, max_y - 1, 1);
+ int s_2_0 = layerAbove.getAgastScore(max_x + 1, max_y - 1, 1);
+ int s_2_1 = layerAbove.getAgastScore(max_x + 1, max_y, 1);
+ int s_1_1 = layerAbove.getAgastScore(max_x, max_y, 1);
+ int s_0_1 = layerAbove.getAgastScore(max_x - 1, max_y, 1);
+ int s_0_2 = layerAbove.getAgastScore(max_x - 1, max_y + 1, 1);
+ int s_1_2 = layerAbove.getAgastScore(max_x, max_y + 1, 1);
+ int s_2_2 = layerAbove.getAgastScore(max_x + 1, max_y + 1, 1);
float dx_1, dy_1;
float refined_max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, dx_1, dy_1);
}
else
{
- dx = (real_x * 8.0 + 1.0) / 6.0 - float(x_layer);
- dy = (real_y * 8.0 + 1.0) / 6.0 - float(y_layer);
+ dx = (real_x * 8.0f + 1.0f) / 6.0f - float(x_layer);
+ dy = (real_y * 8.0f + 1.0f) / 6.0f - float(y_layer);
}
// saturate
ismax = true;
if (returnrefined)
{
- return std::max(refined_max, max);
+ return std::max(refined_max, maxval);
}
- return max;
+ return maxval;
}
inline float
-BriskScaleSpace::getScoreMaxBelow(const uint8_t layer, const int x_layer, const int y_layer, const int threshold,
+BriskScaleSpace::getScoreMaxBelow(const int layer, const int x_layer, const int y_layer, const int threshold,
bool& ismax, float& dx, float& dy) const
{
ismax = false;
if (layer % 2 == 0)
{
// octave
- x_1 = float(8 * (x_layer) + 1 - 4) / 6.0;
- x1 = float(8 * (x_layer) + 1 + 4) / 6.0;
- y_1 = float(8 * (y_layer) + 1 - 4) / 6.0;
- y1 = float(8 * (y_layer) + 1 + 4) / 6.0;
+ x_1 = float(8 * (x_layer) + 1 - 4) / 6.0f;
+ x1 = float(8 * (x_layer) + 1 + 4) / 6.0f;
+ y_1 = float(8 * (y_layer) + 1 - 4) / 6.0f;
+ y1 = float(8 * (y_layer) + 1 + 4) / 6.0f;
}
else
{
- x_1 = float(6 * (x_layer) + 1 - 3) / 4.0;
- x1 = float(6 * (x_layer) + 1 + 3) / 4.0;
- y_1 = float(6 * (y_layer) + 1 - 3) / 4.0;
- y1 = float(6 * (y_layer) + 1 + 3) / 4.0;
+ x_1 = float(6 * (x_layer) + 1 - 3) / 4.0f;
+ x1 = float(6 * (x_layer) + 1 + 3) / 4.0f;
+ y_1 = float(6 * (y_layer) + 1 - 3) / 4.0f;
+ y1 = float(6 * (y_layer) + 1 + 3) / 4.0f;
}
// the layer below
const BriskLayer& layerBelow = pyramid_[layer - 1];
// check the first row
- int max_x = x_1 + 1;
- int max_y = y_1 + 1;
+ int max_x = (int)x_1 + 1;
+ int max_y = (int)y_1 + 1;
float tmp_max;
- float max = layerBelow.getAgastScore(x_1, y_1, 1);
+ float max = (float)layerBelow.getAgastScore(x_1, y_1, 1);
if (max > threshold)
return 0;
- for (int x = x_1 + 1; x <= int(x1); x++)
+ for (int x = (int)x_1 + 1; x <= int(x1); x++)
{
- tmp_max = layerBelow.getAgastScore(float(x), y_1, 1);
+ tmp_max = (float)layerBelow.getAgastScore(float(x), y_1, 1);
if (tmp_max > threshold)
return 0;
if (tmp_max > max)
max_x = x;
}
}
- tmp_max = layerBelow.getAgastScore(x1, y_1, 1);
+ tmp_max = (float)layerBelow.getAgastScore(x1, y_1, 1);
if (tmp_max > threshold)
return 0;
if (tmp_max > max)
}
// middle rows
- for (int y = y_1 + 1; y <= int(y1); y++)
+ for (int y = (int)y_1 + 1; y <= int(y1); y++)
{
- tmp_max = layerBelow.getAgastScore(x_1, float(y), 1);
+ tmp_max = (float)layerBelow.getAgastScore(x_1, float(y), 1);
if (tmp_max > threshold)
return 0;
if (tmp_max > max)
max_x = int(x_1 + 1);
max_y = y;
}
- for (int x = x_1 + 1; x <= int(x1); x++)
+ for (int x = (int)x_1 + 1; x <= int(x1); x++)
{
- tmp_max = layerBelow.getAgastScore(x, y, 1);
+ tmp_max = (float)layerBelow.getAgastScore(x, y, 1);
if (tmp_max > threshold)
return 0;
if (tmp_max == max)
max_y = y;
}
}
- tmp_max = layerBelow.getAgastScore(x1, float(y), 1);
+ tmp_max = (float)layerBelow.getAgastScore(x1, float(y), 1);
if (tmp_max > threshold)
return 0;
if (tmp_max > max)
}
// bottom row
- tmp_max = layerBelow.getAgastScore(x_1, y1, 1);
+ tmp_max = (float)layerBelow.getAgastScore(x_1, y1, 1);
if (tmp_max > max)
{
max = tmp_max;
max_x = int(x_1 + 1);
max_y = int(y1);
}
- for (int x = x_1 + 1; x <= int(x1); x++)
+ for (int x = (int)x_1 + 1; x <= int(x1); x++)
{
- tmp_max = layerBelow.getAgastScore(float(x), y1, 1);
+ tmp_max = (float)layerBelow.getAgastScore(float(x), y1, 1);
if (tmp_max > max)
{
max = tmp_max;
max_y = int(y1);
}
}
- tmp_max = layerBelow.getAgastScore(x1, y1, 1);
+ tmp_max = (float)layerBelow.getAgastScore(x1, y1, 1);
if (tmp_max > max)
{
max = tmp_max;
}
//find dx/dy:
- register int s_0_0 = layerBelow.getAgastScore(max_x - 1, max_y - 1, 1);
- register int s_1_0 = layerBelow.getAgastScore(max_x, max_y - 1, 1);
- register int s_2_0 = layerBelow.getAgastScore(max_x + 1, max_y - 1, 1);
- register int s_2_1 = layerBelow.getAgastScore(max_x + 1, max_y, 1);
- register int s_1_1 = layerBelow.getAgastScore(max_x, max_y, 1);
- register int s_0_1 = layerBelow.getAgastScore(max_x - 1, max_y, 1);
- register int s_0_2 = layerBelow.getAgastScore(max_x - 1, max_y + 1, 1);
- register int s_1_2 = layerBelow.getAgastScore(max_x, max_y + 1, 1);
- register int s_2_2 = layerBelow.getAgastScore(max_x + 1, max_y + 1, 1);
+ int s_0_0 = layerBelow.getAgastScore(max_x - 1, max_y - 1, 1);
+ int s_1_0 = layerBelow.getAgastScore(max_x, max_y - 1, 1);
+ int s_2_0 = layerBelow.getAgastScore(max_x + 1, max_y - 1, 1);
+ int s_2_1 = layerBelow.getAgastScore(max_x + 1, max_y, 1);
+ int s_1_1 = layerBelow.getAgastScore(max_x, max_y, 1);
+ int s_0_1 = layerBelow.getAgastScore(max_x - 1, max_y, 1);
+ int s_0_2 = layerBelow.getAgastScore(max_x - 1, max_y + 1, 1);
+ int s_1_2 = layerBelow.getAgastScore(max_x, max_y + 1, 1);
+ int s_2_2 = layerBelow.getAgastScore(max_x + 1, max_y + 1, 1);
float dx_1, dy_1;
float refined_max = subpixel2D(s_0_0, s_0_1, s_0_2, s_1_0, s_1_1, s_1_2, s_2_0, s_2_1, s_2_2, dx_1, dy_1);
bool returnrefined = true;
if (layer % 2 == 0)
{
- dx = (real_x * 6.0 + 1.0) / 8.0 - float(x_layer);
- dy = (real_y * 6.0 + 1.0) / 8.0 - float(y_layer);
+ dx = (float)((real_x * 6.0 + 1.0) / 8.0) - float(x_layer);
+ dy = (float)((real_y * 6.0 + 1.0) / 8.0) - float(y_layer);
}
else
{
- dx = (real_x * 4.0 - 1.0) / 6.0 - float(x_layer);
- dy = (real_y * 4.0 - 1.0) / 6.0 - float(y_layer);
+ dx = (float)((real_x * 4.0 - 1.0) / 6.0) - float(x_layer);
+ dy = (float)((real_y * 4.0 - 1.0) / 6.0) - float(y_layer);
}
// saturate
if (dx > 1.0)
{
- dx = 1.0;
+ dx = 1.0f;
returnrefined = false;
}
- if (dx < -1.0)
+ if (dx < -1.0f)
{
- dx = -1.0;
+ dx = -1.0f;
returnrefined = false;
}
- if (dy > 1.0)
+ if (dy > 1.0f)
{
- dy = 1.0;
+ dy = 1.0f;
returnrefined = false;
}
- if (dy < -1.0)
+ if (dy < -1.0f)
{
- dy = -1.0;
+ dy = -1.0f;
returnrefined = false;
}
if (s0 >= s_05 && s0 >= s05)
{
max = s0;
- return 1.0;
+ return 1.0f;
}
if (s_05 >= s0 && s_05 >= s05)
{
max = s_05;
- return 0.75;
+ return 0.75f;
}
if (s05 >= s0 && s05 >= s_05)
{
max = s05;
- return 1.5;
+ return 1.5f;
}
}
ret_val = 1.5; // allow to be slightly off bounds ...?
int three_c = +24 * i_05 - 27 * i0 + 6 * i05;
max = float(three_c) + float(three_a) * ret_val * ret_val + float(three_b) * ret_val;
- max /= 3072.0;
+ max /= 3072.0f;
return ret_val;
}
if (s0 >= s_05 && s0 >= s05)
{
max = s0;
- return 1.0;
+ return 1.0f;
}
if (s_05 >= s0 && s_05 >= s05)
{
max = s_05;
- return 0.6666666666666666666666666667;
+ return 0.6666666666666666666666666667f;
}
if (s05 >= s0 && s05 >= s_05)
{
max = s05;
- return 1.3333333333333333333333333333;
+ return 1.3333333333333333333333333333f;
}
}
// calculate max location:
float ret_val = -float(two_b) / float(2 * two_a);
// saturate and return
- if (ret_val < 0.6666666666666666666666666667)
- ret_val = 0.666666666666666666666666667;
- else if (ret_val > 1.33333333333333333333333333)
- ret_val = 1.333333333333333333333333333;
+ if (ret_val < 0.6666666666666666666666666667f)
+ ret_val = 0.666666666666666666666666667f;
+ else if (ret_val > 1.33333333333333333333333333f)
+ ret_val = 1.333333333333333333333333333f;
int two_c = +12 * i_05 - 16 * i0 + 6 * i05;
max = float(two_c) + float(two_a) * ret_val * ret_val + float(two_b) * ret_val;
- max /= 2048.0;
+ max /= 2048.0f;
return ret_val;
}
if (s0 >= s_05 && s0 >= s05)
{
max = s0;
- return 1.0;
+ return 1.0f;
}
if (s_05 >= s0 && s_05 >= s05)
{
max = s_05;
- return 0.7;
+ return 0.7f;
}
if (s05 >= s0 && s05 >= s_05)
{
max = s05;
- return 1.5;
+ return 1.5f;
}
}
// calculate max location:
float ret_val = -float(b) / float(2 * a);
// saturate and return
- if (ret_val < 0.7)
- ret_val = 0.7;
- else if (ret_val > 1.5)
- ret_val = 1.5; // allow to be slightly off bounds ...?
+ if (ret_val < 0.7f)
+ ret_val = 0.7f;
+ else if (ret_val > 1.5f)
+ ret_val = 1.5f; // allow to be slightly off bounds ...?
int c = +3 * i_05 - 3 * i0 + 1 * i05;
max = float(c) + float(a) * ret_val * ret_val + float(b) * ret_val;
max /= 1024;
{
// the coefficients of the 2d quadratic function least-squares fit:
- register int tmp1 = s_0_0 + s_0_2 - 2 * s_1_1 + s_2_0 + s_2_2;
- register int coeff1 = 3 * (tmp1 + s_0_1 - ((s_1_0 + s_1_2) << 1) + s_2_1);
- register int coeff2 = 3 * (tmp1 - ((s_0_1 + s_2_1) << 1) + s_1_0 + s_1_2);
- register int tmp2 = s_0_2 - s_2_0;
- register int tmp3 = (s_0_0 + tmp2 - s_2_2);
- register int tmp4 = tmp3 - 2 * tmp2;
- register int coeff3 = -3 * (tmp3 + s_0_1 - s_2_1);
- register int coeff4 = -3 * (tmp4 + s_1_0 - s_1_2);
- register int coeff5 = (s_0_0 - s_0_2 - s_2_0 + s_2_2) << 2;
- register int coeff6 = -(s_0_0 + s_0_2 - ((s_1_0 + s_0_1 + s_1_2 + s_2_1) << 1) - 5 * s_1_1 + s_2_0 + s_2_2) << 1;
+ int tmp1 = s_0_0 + s_0_2 - 2 * s_1_1 + s_2_0 + s_2_2;
+ int coeff1 = 3 * (tmp1 + s_0_1 - ((s_1_0 + s_1_2) << 1) + s_2_1);
+ int coeff2 = 3 * (tmp1 - ((s_0_1 + s_2_1) << 1) + s_1_0 + s_1_2);
+ int tmp2 = s_0_2 - s_2_0;
+ int tmp3 = (s_0_0 + tmp2 - s_2_2);
+ int tmp4 = tmp3 - 2 * tmp2;
+ int coeff3 = -3 * (tmp3 + s_0_1 - s_2_1);
+ int coeff4 = -3 * (tmp4 + s_1_0 - s_1_2);
+ int coeff5 = (s_0_0 - s_0_2 - s_2_0 + s_2_2) << 2;
+ int coeff6 = -(s_0_0 + s_0_2 - ((s_1_0 + s_0_1 + s_1_2 + s_2_1) << 1) - 5 * s_1_1 + s_2_0 + s_2_2) << 1;
// 2nd derivative test:
- register int H_det = 4 * coeff1 * coeff2 - coeff5 * coeff5;
+ int H_det = 4 * coeff1 * coeff2 - coeff5 * coeff5;
if (H_det == 0)
{
- delta_x = 0.0;
- delta_y = 0.0;
- return float(coeff6) / 18.0;
+ delta_x = 0.0f;
+ delta_y = 0.0f;
+ return float(coeff6) / 18.0f;
}
if (!(H_det > 0 && coeff1 < 0))
{
// The maximum must be at the one of the 4 patch corners.
int tmp_max = coeff3 + coeff4 + coeff5;
- delta_x = 1.0;
- delta_y = 1.0;
+ delta_x = 1.0f;
+ delta_y = 1.0f;
int tmp = -coeff3 + coeff4 - coeff5;
if (tmp > tmp_max)
{
tmp_max = tmp;
- delta_x = -1.0;
- delta_y = 1.0;
+ delta_x = -1.0f;
+ delta_y = 1.0f;
}
tmp = coeff3 - coeff4 - coeff5;
if (tmp > tmp_max)
{
tmp_max = tmp;
- delta_x = 1.0;
- delta_y = -1.0;
+ delta_x = 1.0f;
+ delta_y = -1.0f;
}
tmp = -coeff3 - coeff4 + coeff5;
if (tmp > tmp_max)
{
tmp_max = tmp;
- delta_x = -1.0;
- delta_y = -1.0;
+ delta_x = -1.0f;
+ delta_y = -1.0f;
}
- return float(tmp_max + coeff1 + coeff2 + coeff6) / 18.0;
+ return float(tmp_max + coeff1 + coeff2 + coeff6) / 18.0f;
}
// this is hopefully the normal outcome of the Hessian test
if (tx || tx_ || ty || ty_)
{
// get two candidates:
- float delta_x1 = 0.0, delta_x2 = 0.0, delta_y1 = 0.0, delta_y2 = 0.0;
+ float delta_x1 = 0.0f, delta_x2 = 0.0f, delta_y1 = 0.0f, delta_y2 = 0.0f;
if (tx)
{
- delta_x1 = 1.0;
+ delta_x1 = 1.0f;
delta_y1 = -float(coeff4 + coeff5) / float(2 * coeff2);
- if (delta_y1 > 1.0)
- delta_y1 = 1.0;
- else if (delta_y1 < -1.0)
- delta_y1 = -1.0;
+ if (delta_y1 > 1.0f)
+ delta_y1 = 1.0f;
+ else if (delta_y1 < -1.0f)
+ delta_y1 = -1.0f;
}
else if (tx_)
{
- delta_x1 = -1.0;
+ delta_x1 = -1.0f;
delta_y1 = -float(coeff4 - coeff5) / float(2 * coeff2);
- if (delta_y1 > 1.0)
- delta_y1 = 1.0;
+ if (delta_y1 > 1.0f)
+ delta_y1 = 1.0f;
else if (delta_y1 < -1.0)
- delta_y1 = -1.0;
+ delta_y1 = -1.0f;
}
if (ty)
{
- delta_y2 = 1.0;
+ delta_y2 = 1.0f;
delta_x2 = -float(coeff3 + coeff5) / float(2 * coeff1);
- if (delta_x2 > 1.0)
- delta_x2 = 1.0;
- else if (delta_x2 < -1.0)
- delta_x2 = -1.0;
+ if (delta_x2 > 1.0f)
+ delta_x2 = 1.0f;
+ else if (delta_x2 < -1.0f)
+ delta_x2 = -1.0f;
}
else if (ty_)
{
- delta_y2 = -1.0;
+ delta_y2 = -1.0f;
delta_x2 = -float(coeff3 - coeff5) / float(2 * coeff1);
- if (delta_x2 > 1.0)
- delta_x2 = 1.0;
- else if (delta_x2 < -1.0)
- delta_x2 = -1.0;
+ if (delta_x2 > 1.0f)
+ delta_x2 = 1.0f;
+ else if (delta_x2 < -1.0f)
+ delta_x2 = -1.0f;
}
// insert both options for evaluation which to pick
float max1 = (coeff1 * delta_x1 * delta_x1 + coeff2 * delta_y1 * delta_y1 + coeff3 * delta_x1 + coeff4 * delta_y1
+ coeff5 * delta_x1 * delta_y1 + coeff6)
- / 18.0;
+ / 18.0f;
float max2 = (coeff1 * delta_x2 * delta_x2 + coeff2 * delta_y2 * delta_y2 + coeff3 * delta_x2 + coeff4 * delta_y2
+ coeff5 * delta_x2 * delta_y2 + coeff6)
- / 18.0;
+ / 18.0f;
if (max1 > max2)
{
delta_x = delta_x1;
// this is the case of the maximum inside the boundaries:
return (coeff1 * delta_x * delta_x + coeff2 * delta_y * delta_y + coeff3 * delta_x + coeff4 * delta_y
+ coeff5 * delta_x * delta_y + coeff6)
- / 18.0;
+ / 18.0f;
}
// construct a layer
offset_ = offset_in;
// create an agast detector
fast_9_16_ = new FastFeatureDetector(1, true, FastFeatureDetector::TYPE_9_16);
- makeOffsets(pixel_5_8_, img_.step, 8);
- makeOffsets(pixel_9_16_, img_.step, 16);
+ makeOffsets(pixel_5_8_, (int)img_.step, 8);
+ makeOffsets(pixel_9_16_, (int)img_.step, 16);
}
// derive a layer
BriskLayer::BriskLayer(const BriskLayer& layer, int mode)
img_.create(layer.img().rows / 2, layer.img().cols / 2, CV_8U);
halfsample(layer.img(), img_);
scale_ = layer.scale() * 2;
- offset_ = 0.5 * scale_ - 0.5;
+ offset_ = 0.5f * scale_ - 0.5f;
}
else
{
img_.create(2 * (layer.img().rows / 3), 2 * (layer.img().cols / 3), CV_8U);
twothirdsample(layer.img(), img_);
- scale_ = layer.scale() * 1.5;
- offset_ = 0.5 * scale_ - 0.5;
+ scale_ = layer.scale() * 1.5f;
+ offset_ = 0.5f * scale_ - 0.5f;
}
scores_ = cv::Mat::zeros(img_.rows, img_.cols, CV_8U);
fast_9_16_ = new FastFeatureDetector(1, false, FastFeatureDetector::TYPE_9_16);
- makeOffsets(pixel_5_8_, img_.step, 8);
- makeOffsets(pixel_9_16_, img_.step, 16);
+ makeOffsets(pixel_5_8_, (int)img_.step, 8);
+ makeOffsets(pixel_9_16_, (int)img_.step, 16);
}
// Fast/Agast
// wraps the agast class
void
-BriskLayer::getAgastPoints(uint8_t threshold, std::vector<KeyPoint>& keypoints)
+BriskLayer::getAgastPoints(int threshold, std::vector<KeyPoint>& keypoints)
{
fast_9_16_->set("threshold", threshold);
fast_9_16_->detect(img_, keypoints);
// also write scores
- const int num = keypoints.size();
+ const size_t num = keypoints.size();
- for (int i = 0; i < num; i++)
- scores_(keypoints[i].pt.y, keypoints[i].pt.x) = keypoints[i].response;
+ for (size_t i = 0; i < num; i++)
+ scores_((int)keypoints[i].pt.y, (int)keypoints[i].pt.x) = saturate_cast<uchar>(keypoints[i].response);
}
-inline uint8_t
-BriskLayer::getAgastScore(int x, int y, uint8_t threshold) const
+
+inline int
+BriskLayer::getAgastScore(int x, int y, int threshold) const
{
if (x < 3 || y < 3)
return 0;
if (x >= img_.cols - 3 || y >= img_.rows - 3)
return 0;
- uint8_t& score = *(scores_.data + x + y * scores_.cols);
+ uchar& score = (uchar&)scores_(y, x);
if (score > 2)
{
return score;
}
- score = cornerScore<16>(img_.data + x + y * img_.cols, pixel_9_16_, threshold - 1);
+ score = (uchar)cornerScore<16>(&img_.at<uchar>(y, x), pixel_9_16_, threshold - 1);
if (score < threshold)
score = 0;
return score;
}
-inline uint8_t
-BriskLayer::getAgastScore_5_8(int x, int y, uint8_t threshold) const
+inline int
+BriskLayer::getAgastScore_5_8(int x, int y, int threshold) const
{
if (x < 2 || y < 2)
return 0;
if (x >= img_.cols - 2 || y >= img_.rows - 2)
return 0;
- uint8_t score = cornerScore<8>(img_.data + x + y * img_.cols, pixel_5_8_, threshold - 1);
+ int score = cornerScore<8>(&img_.at<uchar>(y, x), pixel_5_8_, threshold - 1);
if (score < threshold)
score = 0;
return score;
}
-inline uint8_t
-BriskLayer::getAgastScore(float xf, float yf, uint8_t threshold_in, float scale_in) const
+inline int
+BriskLayer::getAgastScore(float xf, float yf, int threshold_in, float scale_in) const
{
if (scale_in <= 1.0f)
{
const float ry1 = yf - float(y);
const float ry = 1.0f - ry1;
- return rx * ry * getAgastScore(x, y, threshold_in) + rx1 * ry * getAgastScore(x + 1, y, threshold_in)
- + rx * ry1 * getAgastScore(x, y + 1, threshold_in) + rx1 * ry1 * getAgastScore(x + 1, y + 1, threshold_in);
+ return (uchar)(rx * ry * getAgastScore(x, y, threshold_in) + rx1 * ry * getAgastScore(x + 1, y, threshold_in)
+ + rx * ry1 * getAgastScore(x, y + 1, threshold_in) + rx1 * ry1 * getAgastScore(x + 1, y + 1, threshold_in));
}
else
{
}
// access gray values (smoothed/interpolated)
-inline uint8_t
+inline int
BriskLayer::value(const cv::Mat& mat, float xf, float yf, float scale_in) const
{
assert(!mat.empty());
// get the position
- const int x = floor(xf);
- const int y = floor(yf);
+ const int x = cvFloor(xf);
+ const int y = cvFloor(yf);
const cv::Mat& image = mat;
const int& imagecols = image.cols;
// get the sigma_half:
const float sigma_half = scale_in / 2;
- const float area = 4.0 * sigma_half * sigma_half;
+ const float area = 4.0f * sigma_half * sigma_half;
// calculate output:
int ret_val;
if (sigma_half < 0.5)
{
//interpolation multipliers:
- const int r_x = (xf - x) * 1024;
- const int r_y = (yf - y) * 1024;
+ const int r_x = (int)((xf - x) * 1024);
+ const int r_y = (int)((yf - y) * 1024);
const int r_x_1 = (1024 - r_x);
const int r_y_1 = (1024 - r_y);
uchar* ptr = image.data + x + y * imagecols;
// this is the standard case (simple, not speed optimized yet):
// scaling:
- const int scaling = 4194304.0 / area;
- const int scaling2 = float(scaling) * area / 1024.0;
+ const int scaling = (int)(4194304.0f / area);
+ const int scaling2 = (int)(float(scaling) * area / 1024.0f);
// calculate borders
const float x_1 = xf - sigma_half;
const int y_bottom = int(y1 + 0.5);
// overlap area - multiplication factors:
- const float r_x_1 = float(x_left) - x_1 + 0.5;
- const float r_y_1 = float(y_top) - y_1 + 0.5;
- const float r_x1 = x1 - float(x_right) + 0.5;
- const float r_y1 = y1 - float(y_bottom) + 0.5;
+ const float r_x_1 = float(x_left) - x_1 + 0.5f;
+ const float r_y_1 = float(y_top) - y_1 + 0.5f;
+ const float r_x1 = x1 - float(x_right) + 0.5f;
+ const float r_y1 = y1 - float(y_bottom) + 0.5f;
const int dx = x_right - x_left - 1;
const int dy = y_bottom - y_top - 1;
- const int A = (r_x_1 * r_y_1) * scaling;
- const int B = (r_x1 * r_y_1) * scaling;
- const int C = (r_x1 * r_y1) * scaling;
- const int D = (r_x_1 * r_y1) * scaling;
- const int r_x_1_i = r_x_1 * scaling;
- const int r_y_1_i = r_y_1 * scaling;
- const int r_x1_i = r_x1 * scaling;
- const int r_y1_i = r_y1 * scaling;
+ const int A = (int)((r_x_1 * r_y_1) * scaling);
+ const int B = (int)((r_x1 * r_y_1) * scaling);
+ const int C = (int)((r_x1 * r_y1) * scaling);
+ const int D = (int)((r_x_1 * r_y1) * scaling);
+ const int r_x_1_i = (int)(r_x_1 * scaling);
+ const int r_y_1_i = (int)(r_y_1 * scaling);
+ const int r_x1_i = (int)(r_x1 * scaling);
+ const int r_y1_i = (int)(r_y1 * scaling);
// now the calculation:
uchar* ptr = image.data + x_left + imagecols * y_top;
projects / profile / ivi / opencv.git / commitdiff