From 035fd0019b165e1665416d4676f335c95f4614f7 Mon Sep 17 00:00:00 2001 From: Maria Dimashova Date: Tue, 31 May 2011 18:18:02 +0000 Subject: [PATCH] replaced SIFT implementation (Some default parameters can be changed in the near future) --- .../include/opencv2/features2d/features2d.hpp | 21 +- modules/features2d/src/keypoint.cpp | 61 + modules/features2d/src/sift.cpp | 3335 ++++++++------------ 3 files changed, 1434 insertions(+), 1983 deletions(-) diff --git a/modules/features2d/include/opencv2/features2d/features2d.hpp b/modules/features2d/include/opencv2/features2d/features2d.hpp index 98beda2..35fc805 100644 --- a/modules/features2d/include/opencv2/features2d/features2d.hpp +++ b/modules/features2d/include/opencv2/features2d/features2d.hpp @@ -269,7 +269,7 @@ CV_EXPORTS void read(const FileNode& node, CV_OUT vector& keypoints); /* * A class filters a vector of keypoints. * Because now it is difficult to provide a convenient interface for all usage scenarios of the keypoints filter class, - * it has only 3 needed by now static methods. + * it has only 4 needed by now static methods. */ class CV_EXPORTS KeyPointsFilter { @@ -288,6 +288,10 @@ public: * Remove keypoints from some image by mask for pixels of this image. */ static void runByPixelsMask( vector& keypoints, const Mat& mask ); + /* + * Remove duplicated keypoints. + */ + static void removeDuplicated( vector& keypoints ); }; /*! @@ -295,6 +299,7 @@ public: The class implements SIFT algorithm by D. Lowe. */ + class CV_EXPORTS SIFT { public: @@ -306,14 +311,15 @@ public: enum { FIRST_ANGLE = 0, AVERAGE_ANGLE = 1 }; CommonParams(); - CommonParams( int _nOctaves, int _nOctaveLayers, int _firstOctave, int _angleMode ); - int nOctaves, nOctaveLayers, firstOctave; - int angleMode; + CommonParams( int _nOctaves, int _nOctaveLayers, int /*_firstOctave*/, int /*_angleMode*/ ); + int nOctaves, nOctaveLayers; + int firstOctave; // it is not used now (firstOctave == 0 always) + int angleMode; // it is not used now }; struct CV_EXPORTS DetectorParams { - static double GET_DEFAULT_THRESHOLD() { return 0.04 / SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS / 2.0; } + static double GET_DEFAULT_THRESHOLD() { return 0.04; } static double GET_DEFAULT_EDGE_THRESHOLD() { return 10.0; } DetectorParams(); @@ -328,9 +334,10 @@ public: static const int DESCRIPTOR_SIZE = 128; DescriptorParams(); - DescriptorParams( double _magnification, bool _isNormalize, bool _recalculateAngles ); + DescriptorParams( double _magnification, bool /*_isNormalize*/, bool _recalculateAngles ); + DescriptorParams( bool _recalculateAngles ); double magnification; - bool isNormalize; + bool isNormalize; // it is not used now (true always) bool recalculateAngles; }; diff --git a/modules/features2d/src/keypoint.cpp b/modules/features2d/src/keypoint.cpp index 21ebce2..28bea4f 100644 --- a/modules/features2d/src/keypoint.cpp +++ b/modules/features2d/src/keypoint.cpp @@ -234,4 +234,65 @@ void KeyPointsFilter::runByPixelsMask( vector& keypoints, const Mat& m keypoints.erase(remove_if(keypoints.begin(), keypoints.end(), MaskPredicate(mask)), keypoints.end()); } +struct KeyPoint_LessThan +{ + KeyPoint_LessThan(const vector& _kp) : kp(&_kp) {} + bool operator()(int i, int j) const + { + const KeyPoint& kp1 = (*kp)[i]; + const KeyPoint& kp2 = (*kp)[j]; + if( kp1.pt.x != kp2.pt.x ) + return kp1.pt.x < kp2.pt.x; + if( kp1.pt.y != kp2.pt.y ) + return kp1.pt.y < kp2.pt.y; + if( kp1.size != kp2.size ) + return kp1.size > kp2.size; + if( kp1.size != kp2.size ) + return kp1.size > kp2.size; + if( kp1.angle != kp2.angle ) + return kp1.angle < kp2.angle; + if( kp1.response != kp2.response ) + return kp1.response > kp2.response; + if( kp1.octave != kp2.octave ) + return kp1.octave > kp2.octave; + if( kp1.class_id != kp2.class_id ) + return kp1.class_id > kp2.class_id; + + return i < j; + } + const vector* kp; +}; + +void KeyPointsFilter::removeDuplicated( vector& keypoints ) +{ + int i, j, n = (int)keypoints.size(); + vector kpidx(n); + vector mask(n, (uchar)1); + + for( i = 0; i < n; i++ ) + kpidx[i] = i; + std::sort(kpidx.begin(), kpidx.end(), KeyPoint_LessThan(keypoints)); + for( i = 1, j = 0; i < n; i++ ) + { + KeyPoint& kp1 = keypoints[kpidx[i]]; + KeyPoint& kp2 = keypoints[kpidx[j]]; + if( kp1.pt.x != kp2.pt.x || kp1.pt.y != kp2.pt.y || + kp1.size != kp2.size || kp1.angle != kp2.angle ) + j = i; + else + mask[kpidx[i]] = 0; + } + + for( i = j = 0; i < n; i++ ) + { + if( mask[i] ) + { + if( i != j ) + keypoints[j] = keypoints[i]; + j++; + } + } + keypoints.resize(j); +} + } diff --git a/modules/features2d/src/sift.cpp b/modules/features2d/src/sift.cpp index fca4de7..5fd58ae 100644 --- a/modules/features2d/src/sift.cpp +++ b/modules/features2d/src/sift.cpp @@ -1,2017 +1,1362 @@ -/* - * Here: - * 1.) SIFT imlementation of Andrea Vedaldi - * 2.) wrapper of Vedaldi`s SIFT - */ - -/****************************************************************************************\ - 1.) Implementation of SIFT taken from http://www.vlfeat.org/~vedaldi/code/siftpp.html -\****************************************************************************************/ - -// AUTORIGHTS -// Copyright (c) 2006 The Regents of the University of California -// All Rights Reserved. +/*M/////////////////////////////////////////////////////////////////////////////////////// // -// Created by Andrea Vedaldi (UCLA VisionLab) +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // -// Permission to use, copy, modify, and distribute this software and its -// documentation for educational, research and non-profit purposes, -// without fee, and without a written agreement is hereby granted, -// provided that the above copyright notice, this paragraph and the -// following three paragraphs appear in all copies. +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. // -// This software program and documentation are copyrighted by The Regents -// of the University of California. The software program and -// documentation are supplied "as is", without any accompanying services -// from The Regents. The Regents does not warrant that the operation of -// the program will be uninterrupted or error-free. The end-user -// understands that the program was developed for research purposes and -// is advised not to rely exclusively on the program for any reason. // -// This software embodies a method for which the following patent has -// been issued: "Method and apparatus for identifying scale invariant -// features in an image and use of same for locating an object in an -// image," David G. Lowe, US Patent 6,711,293 (March 23, -// 2004). Provisional application filed March 8, 1999. Asignee: The -// University of British Columbia. +// Intel License Agreement +// For Open Source Computer Vision Library // -// IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY -// FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, -// INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND -// ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN -// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. THE UNIVERSITY OF -// CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -// A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" -// BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATIONS TO PROVIDE -// MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - -#include "precomp.hpp" - -//#ifdef __arm__ -//#define ARM_NO_SIFT -//#endif - -//#ifdef ANDROID -//#undef ARM_NO_SIFT -//#endif //ANDROID - -#undef ARM_NO_SIFT -#ifdef ARM_NO_SIFT - -static inline void throw_nosift() { CV_Error(CV_StsBadFunc, "The library is compiled under ARM without SIFT support"); } - -cv::SIFT::CommonParams::CommonParams() { } -cv::SIFT::CommonParams::CommonParams( int, int, int, int ) { throw_nosift(); } -cv::SIFT::DetectorParams::DetectorParams() { throw_nosift(); } -cv::SIFT::DetectorParams::DetectorParams( double, double ) { throw_nosift(); } -cv::SIFT::DescriptorParams::DescriptorParams() { throw_nosift(); } -cv::SIFT::DescriptorParams::DescriptorParams( double, bool, bool ) { throw_nosift(); } -cv::SIFT::SIFT() { throw_nosift(); } -cv::SIFT::SIFT( double, double, int, int, int, int ) { throw_nosift(); } -cv::SIFT::SIFT( double, bool, bool, int, int, int, int ) { throw_nosift(); } -cv::SIFT::SIFT( const CommonParams&, const DetectorParams&, const DescriptorParams& ) { throw_nosift(); } -int cv::SIFT::descriptorSize() const { throw_nosift(); return 0; } -void cv::SIFT::operator()( const Mat&, const Mat&, vector& ) const { throw_nosift(); } -void cv::SIFT::operator()( const Mat&, const Mat&, vector&, Mat&, bool ) const { throw_nosift(); } -cv::SIFT::CommonParams cv::SIFT::getCommonParams() const { throw_nosift(); return cv::SIFT::CommonParams(); } -cv::SIFT::DetectorParams cv::SIFT::getDetectorParams() const { throw_nosift(); return cv::SIFT::DetectorParams(); } -cv::SIFT::DescriptorParams cv::SIFT::getDescriptorParams() const { throw_nosift(); return cv::SIFT::DescriptorParams(); } +// Copyright (C) 2000, Intel Corporation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of Intel Corporation may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ -#else // with SIFT +/****************************************************************************************\ + Implementation of SIFT taken from http://blogs.oregonstate.edu/hess/code/sift/ +\****************************************************************************************/ -#include -#include +// Copyright (c) 2006-2010, Rob Hess +// All rights reserved. + +// The following patent has been issued for methods embodied in this +// software: "Method and apparatus for identifying scale invariant features +// in an image and use of same for locating an object in an image," David +// G. Lowe, US Patent 6,711,293 (March 23, 2004). Provisional application +// filed March 8, 1999. Asignee: The University of British Columbia. For +// further details, contact David Lowe (lowe@cs.ubc.ca) or the +// University-Industry Liaison Office of the University of British +// Columbia. + +// Note that restrictions imposed by this patent (and possibly others) +// exist independently of and may be in conflict with the freedoms granted +// in this license, which refers to copyright of the program, not patents +// for any methods that it implements. Both copyright and patent law must +// be obeyed to legally use and redistribute this program and it is not the +// purpose of this license to induce you to infringe any patents or other +// property right claims or to contest validity of any such claims. If you +// redistribute or use the program, then this license merely protects you +// from committing copyright infringement. It does not protect you from +// committing patent infringement. So, before you do anything with this +// program, make sure that you have permission to do so not merely in terms +// of copyright, but also in terms of patent law. + +// Please note that this license is not to be understood as a guarantee +// either. If you use the program according to this license, but in +// conflict with patent law, it does not mean that the licensor will refund +// you for any losses that you incur if you are sued for your patent +// infringement. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are +// met: +// * Redistributions of source code must retain the above copyright and +// patent notices, this list of conditions and the following +// disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in +// the documentation and/or other materials provided with the +// distribution. +// * Neither the name of Oregon State University nor the names of its +// contributors may be used to endorse or promote products derived +// from this software without specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS +// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED +// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A +// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -#define log2(a) (log((a))/CV_LOG2) +#include "precomp.hpp" -#if defined _MSC_VER && _MSC_VER >= 1400 -#pragma warning(disable: 4100 4244 4267 4305) -#endif +const double a_180divPI = 180./CV_PI; +const double a_PIdiv180 = CV_PI/180.; -/* - * from sift.hpp of original code - */ -#if defined (VL_USEFASTMATH) -#if defined (VL_MAC) -#define VL_FASTFLOAT float -#else -#define VL_FASTFLOAT double -#endif -#else -#define VL_FASTFLOAT float -#endif - -/** @brief VisionLab namespace */ -namespace VL { - -/** @brief Pixel data type */ -typedef float pixel_t ; - -/** @brief Floating point data type - ** - ** Although floats are precise enough for this applicatgion, on Intel - ** based architecture using doubles for floating point computations - ** turns out to be much faster. - **/ -typedef VL_FASTFLOAT float_t ; - -/** @brief 32-bit floating data type */ -typedef float float32_t ; - -/** @brief 64-bit floating data type */ -typedef double float64_t ; - -/** @brief 32-bit integer data type */ -typedef int int32_t ; - -/** @brief 64-bit integer data type */ -typedef long long int int64_t ; - -/** @brief 32-bit unsigned integer data type */ -typedef int uint32_t ; - -/** @brief 8-bit unsigned integer data type */ -typedef char unsigned uint8_t ; - -/** @name Fast math - ** - ** We provide approximate mathematical functions. These are usually - ** rather faster than the corresponding standard library functions. - **/ -/*@{*/ -float fast_resqrt(float x) ; -double fast_resqrt(double x) ; -float_t fast_expn(float_t x) ; -float_t fast_abs(float_t x) ; -float_t fast_mod_2pi(float_t x) ; -float_t fast_atan2(float_t y, float_t x) ; -float_t fast_sqrt(float_t x) ; -int32_t fast_floor(float_t x) ; -/*@}*/ - -/** @brief PGM buffer descriptor - ** - ** The structure describes a gray scale image and it is used by the - ** PGM input/output functions. The fileds are self-explanatory. - **/ -/*@{*/ -struct PgmBuffer +static inline float getOctaveSamplingPeriod( int o ) { - int width ; ///< Image width - int height ; ///< Image hegith - pixel_t* data ; ///< Image data -} ; -/*@}*/ - -/** @brief SIFT filter - ** - ** This class is a filter computing the Scale Invariant Feature - ** Transform (SIFT). - **/ -class Sift -{ - -public: - - /** @brief SIFT keypoint - ** - ** A SIFT keypoint is charactedized by a location x,y and a scale - ** @c sigma. The scale is obtained from the level index @c s and - ** the octave index @c o through a simple formula (see the PDF - ** documentation). - ** - ** In addition to the location, scale indexes and scale, we also - ** store the integer location and level. The integer location is - ** unnormalized, i.e. relative to the resolution of the octave - ** containing the keypoint (octaves are downsampled). - **/ - struct Keypoint - { - int o ; ///< Keypoint octave index - - int ix ; ///< Keypoint integer X coordinate (unnormalized) - int iy ; ///< Keypoint integer Y coordinate (unnormalized) - int is ; ///< Keypoint integer scale indiex - - float_t x ; ///< Keypoint fractional X coordinate - float_t y ; ///< Keypoint fractional Y coordinate - float_t s ; ///< Keypoint fractional scale index - - float_t sigma ; ///< Keypoint scale - } ; - - typedef std::vector Keypoints ; ///< Keypoint list datatype - typedef Keypoints::iterator KeypointsIter ; ///< Keypoint list iter datatype - typedef Keypoints::const_iterator KeypointsConstIter ; ///< Keypoint list const iter datatype - -#undef _S - /** @brief Constructors and destructors */ - /*@{*/ - Sift(const pixel_t* _im_pt, int _width, int _height, - float_t _sigman, - float_t _sigma0, - int _O, int _S, - int _omin, int _smin, int _smax) ; - ~Sift() ; - /*@}*/ - - void process(const pixel_t* _im_pt, int _width, int _height) ; - - /** @brief Querying the Gaussian scale space */ - /*@{*/ - VL::pixel_t* getOctave(int o) ; - VL::pixel_t* getLevel(int o, int s) ; - int getWidth() const ; - int getHeight() const ; - int getOctaveWidth(int o) const ; - int getOctaveHeight(int o) const ; - VL::float_t getOctaveSamplingPeriod(int o) const ; - VL::float_t getScaleFromIndex(VL::float_t o, VL::float_t s) const ; - Keypoint getKeypoint(VL::float_t x, VL::float_t y, VL::float_t s) const ; - /*@}*/ - - /** @brief Descriptor parameters */ - /*@{*/ - bool getNormalizeDescriptor() const ; - void setNormalizeDescriptor(bool) ; - void setMagnification(VL::float_t) ; - VL::float_t getMagnification() const ; - /*@}*/ - - /** @brief Detector and descriptor */ - /*@{*/ - void detectKeypoints(VL::float_t threshold, VL::float_t edgeThreshold) ; - int computeKeypointOrientations(VL::float_t angles [4], Keypoint keypoint) ; - void computeKeypointDescriptor(VL::float_t* descr_pt, Keypoint keypoint, VL::float_t angle) ; - KeypointsIter keypointsBegin() ; - KeypointsIter keypointsEnd() ; - /*@}*/ - -private: - void prepareBuffers() ; - void freeBuffers() ; - void smooth(VL::pixel_t * dst, - VL::pixel_t * temp, - VL::pixel_t const * src, int width, int height, - VL::float_t s) ; - - void prepareGrad(int o) ; - - // scale space parameters - VL::float_t sigman ; - VL::float_t sigma0 ; - VL::float_t sigmak ; - - int O ; - int S ; - int omin ; - int smin ; - int smax ; - - int width ; - int height ; - - // descriptor parameters - VL::float_t magnif ; - bool normalizeDescriptor ; - - // buffers - VL::pixel_t* temp ; - int tempReserved ; - bool tempIsGrad ; - int tempOctave ; - VL::pixel_t** octaves ; - - VL::pixel_t* filter ; - int filterReserved ; - - Keypoints keypoints ; -} ; - + return (o >= 0) ? (1 << o) : 1.0f / (1 << -o) ; } /* - * from sift.ipp of original code - */ -namespace VL -{ + Interpolates a histogram peak from left, center, and right values +*/ +#define interp_hist_peak( l, c, r ) ( 0.5 * ((l)-(r)) / ((l) - 2.0*(c) + (r)) ) -namespace Detail -{ -extern int const expnTableSize ; -extern VL::float_t const expnTableMax ; -extern VL::float_t expnTable [] ; -} -/** @brief Get width of source image - ** @result width. - **/ -inline -int -Sift::getWidth() const -{ - return width ; -} +// utils.h +/** + A function to get a pixel value from a 32-bit floating-point image. -/** @brief Get height of source image - ** @result height. - **/ -inline -int -Sift::getHeight() const + @param img an image + @param r row + @param c column + @return Returns the value of the pixel at (\a r, \a c) in \a img +*/ +static inline float pixval32f( IplImage* img, int r, int c ) { - return height ; + return ( (float*)(img->imageData + img->widthStep*r) )[c]; } -/** @brief Get width of an octave - ** @param o octave index. - ** @result width of octave @a o. - **/ -inline -int -Sift::getOctaveWidth(int o) const -{ - assert( omin <= o && o < omin + O ) ; - return (o >= 0) ? (width >> o) : (width << -o) ; -} -/** @brief Get height of an octave - ** @param o octave index. - ** @result height of octave @a o. - **/ -inline -int -Sift::getOctaveHeight(int o) const -{ - assert( omin <= o && o < omin + O ) ; - return (o >= 0) ? (height >> o) : (height << -o) ; -} +// imgfeatures.h -/** @brief Get octave - ** @param o octave index. - ** @return pointer to octave @a o. - **/ -inline -VL::pixel_t * -Sift::getOctave(int o) +/** holds feature data relevant to detection */ +struct detection_data { - assert( omin <= o && o < omin + O ) ; - return octaves[o-omin] ; -} + int r; // row + int c; // col + int octv; + int intvl; + double subintvl; + double scl_octv; +}; -/** @brief Get level - ** @param o octave index. - ** @param s level index. - ** @result pointer to level @c (o,s). - **/ -inline -VL::pixel_t * -Sift::getLevel(int o, int s) -{ - assert( omin <= o && o < omin + O ) ; - assert( smin <= s && s <= smax ) ; - return octaves[o - omin] + - getOctaveWidth(o)*getOctaveHeight(o) * (s-smin) ; -} +/** max feature descriptor length */ +#define FEATURE_MAX_D 128 -/** @brief Get octave sampling period - ** @param o octave index. - ** @result Octave sampling period (in pixels). - **/ -inline -VL::float_t -Sift::getOctaveSamplingPeriod(int o) const -{ - return (o >= 0) ? (1 << o) : 1.0f / (1 << -o) ; -} +/** + Structure to represent an affine invariant image feature. The fields + x, y, a, b, c represent the affine region around the feature: -/** @brief Convert index into scale - ** @param o octave index. - ** @param s scale index. - ** @return scale. - **/ -inline -VL::float_t -Sift::getScaleFromIndex(VL::float_t o, VL::float_t s) const + a(x-u)(x-u) + 2b(x-u)(y-v) + c(y-v)(y-v) = 1 +*/ +struct feature { - return sigma0 * powf( 2.0f, o + s / S ) ; -} + double x; /**< x coord */ + double y; /**< y coord */ -/** @brief Get keypoint list begin - ** @return iterator to the beginning. - **/ -inline -Sift::KeypointsIter -Sift::keypointsBegin() -{ - return keypoints.begin() ; -} + double scl; /**< scale of a Lowe-style feature */ + double ori; /**< orientation of a Lowe-style feature */ -/** @brief Get keypoint list end - ** @return iterator to the end. - **/ -inline -Sift::KeypointsIter -Sift::keypointsEnd() -{ - return keypoints.end() ; -} + int d; /**< descriptor length */ + double descr[FEATURE_MAX_D]; /**< descriptor */ -/** @brief Set normalize descriptor flag */ -inline -void -Sift::setNormalizeDescriptor(bool flag) -{ - normalizeDescriptor = flag ; -} + detection_data* feature_data; /**< user-definable data */ +}; -/** @brief Get normalize descriptor flag */ -inline -bool -Sift::getNormalizeDescriptor() const -{ - return normalizeDescriptor ; -} +/******************************* Defs and macros *****************************/ -/** @brief Set descriptor magnification */ -inline -void -Sift::setMagnification(VL::float_t _magnif) -{ - magnif = _magnif ; -} +/** default number of sampled intervals per octave */ +#define SIFT_INTVLS 3 -/** @brief Get descriptor magnification */ -inline -VL::float_t -Sift::getMagnification() const -{ - return magnif ; -} +/** default sigma for initial gaussian smoothing */ +#define SIFT_SIGMA 1.6 -/** @brief Fast @ exp(-x) - ** - ** The argument must be in the range 0-25.0 (bigger arguments may be - ** truncated to zero). - ** - ** @param x argument. - ** @return @c exp(-x) - **/ -inline -VL::float_t -fast_expn(VL::float_t x) -{ - assert(VL::float_t(0) <= x && x <= Detail::expnTableMax) ; -#ifdef VL_USEFASTMATH - x *= Detail::expnTableSize / Detail::expnTableMax ; - VL::int32_t i = fast_floor(x) ; - VL::float_t r = x - i ; - VL::float_t a = VL::Detail::expnTable[i] ; - VL::float_t b = VL::Detail::expnTable[i+1] ; - return a + r * (b - a) ; -#else - return exp(-x) ; -#endif -} +/** default threshold on keypoint contrast |D(x)| */ +#define SIFT_CONTR_THR 0.04 -/** @brief Fast @c mod(x,2pi) - ** - ** The function quickly computes the value @c mod(x,2pi). - ** - ** @remark The computation is fast only for arguments @a x which are - ** small in modulus. - ** - ** @remark For negative arguments, the semantic of the function is - ** not equivalent to the standard library @c fmod function. - ** - ** @param x function argument. - ** @return @c mod(x,2pi) - **/ -inline -VL::float_t -fast_mod_2pi(VL::float_t x) -{ -#ifdef VL_USEFASTMATH - while(x < VL::float_t(0) ) x += VL::float_t(2*CV_PI) ; - while(x > VL::float_t(2*CV_PI) ) x -= VL::float_t(2*CV_PI) ; - return x ; -#else - return (x>=0) ? std::fmod(x, VL::float_t(2*CV_PI)) - : 2*CV_PI + std::fmod(x, VL::float_t(2*CV_PI)) ; -#endif -} +/** default threshold on keypoint ratio of principle curvatures */ +#define SIFT_CURV_THR 10 -/** @brief Fast @c (int) floor(x) - ** @param x argument. - ** @return @c float(x) - **/ -inline -int32_t -fast_floor(VL::float_t x) -{ -#ifdef VL_USEFASTMATH - return (x>=0)? int32_t(x) : std::floor(x) ; - // return int32_t( x - ((x>=0)?0:1) ) ; -#else - return int32_t( std::floor(x) ) ; -#endif -} +/** double image size before pyramid construction? */ +#define SIFT_IMG_DBL 1 -/** @brief Fast @c abs(x) - ** @param x argument. - ** @return @c abs(x) - **/ -inline -VL::float_t -fast_abs(VL::float_t x) -{ -#ifdef VL_USEFASTMATH - return (x >= 0) ? x : -x ; -#else - return std::fabs(x) ; -#endif -} +/** default width of descriptor histogram array */ +#define SIFT_DESCR_WIDTH 4 -/** @brief Fast @c atan2 - ** @param x argument. - ** @param y argument. - ** @return Approximation of @c atan2(x). - **/ -inline -VL::float_t -fast_atan2(VL::float_t y, VL::float_t x) -{ -#ifdef VL_USEFASTMATH +/** default number of bins per histogram in descriptor array */ +#define SIFT_DESCR_HIST_BINS 8 - /* - The function f(r)=atan((1-r)/(1+r)) for r in [-1,1] is easier to - approximate than atan(z) for z in [0,inf]. To approximate f(r) to - the third degree we may solve the system +/* assumed gaussian blur for input image */ +#define SIFT_INIT_SIGMA 0.5 - f(+1) = c0 + c1 + c2 + c3 = atan(0) = 0 - f(-1) = c0 - c1 + c2 - c3 = atan(inf) = pi/2 - f(0) = c0 = atan(1) = pi/4 +/* width of border in which to ignore keypoints */ +#define SIFT_IMG_BORDER 5 - which constrains the polynomial to go through the end points and - the middle point. +/* maximum steps of keypoint interpolation before failure */ +#define SIFT_MAX_INTERP_STEPS 5 - We still miss a constrain, which might be simply a constarint on - the derivative in 0. Instead we minimize the Linf error in the - range [0,1] by searching for an optimal value of the free - parameter. This turns out to correspond to the solution +/* default number of bins in histogram for orientation assignment */ +#define SIFT_ORI_HIST_BINS 36 - c0=pi/4, c1=-0.9675, c2=0, c3=0.1821 +/* determines gaussian sigma for orientation assignment */ +#define SIFT_ORI_SIG_FCTR 1.5 - which has maxerr = 0.0061 rad = 0.35 grad. - */ +/* determines the radius of the region used in orientation assignment */ +#define SIFT_ORI_RADIUS 3.0 * SIFT_ORI_SIG_FCTR - VL::float_t angle, r ; - VL::float_t const c3 = 0.1821 ; - VL::float_t const c1 = 0.9675 ; - VL::float_t abs_y = fast_abs(y) + VL::float_t(1e-10) ; - - if (x >= 0) { - r = (x - abs_y) / (x + abs_y) ; - angle = VL::float_t(CV_PI/4.0) ; - } else { - r = (x + abs_y) / (abs_y - x) ; - angle = VL::float_t(3*CV_PI/4.0) ; - } - angle += (c3*r*r - c1) * r ; - return (y < 0) ? -angle : angle ; -#else - return std::atan2(y,x) ; -#endif -} +/* number of passes of orientation histogram smoothing */ +#define SIFT_ORI_SMOOTH_PASSES 2 -/** @brief Fast @c resqrt - ** @param x argument. - ** @return Approximation to @c resqrt(x). - **/ -inline -float -fast_resqrt(float x) -{ -#ifdef VL_USEFASTMATH - // Works if VL::float_t is 32 bit ... - union { - float x ; - VL::int32_t i ; - } u ; - float xhalf = float(0.5) * x ; - u.x = x ; // get bits for floating value - u.i = 0x5f3759df - (u.i>>1); // gives initial guess y0 - //u.i = 0xdf59375f - (u.i>>1); // gives initial guess y0 - u.x = u.x*(float(1.5) - xhalf*u.x*u.x); // Newton step (may repeat) - u.x = u.x*(float(1.5) - xhalf*u.x*u.x); // Newton step (may repeat) - return u.x ; -#else - return float(1.0) / std::sqrt(x) ; -#endif -} +/* orientation magnitude relative to max that results in new feature */ +#define SIFT_ORI_PEAK_RATIO 0.8 -/** @brief Fast @c resqrt - ** @param x argument. - ** @return Approximation to @c resqrt(x). - **/ -inline -double -fast_resqrt(double x) -{ -#ifdef VL_USEFASTMATH - // Works if double is 64 bit ... - union { - double x ; - VL::int64_t i ; - } u ; - double xhalf = double(0.5) * x ; - u.x = x ; // get bits for floating value - u.i = 0x5fe6ec85e7de30daLL - (u.i>>1); // gives initial guess y0 - u.x = u.x*(double(1.5) - xhalf*u.x*u.x); // Newton step (may repeat) - u.x = u.x*(double(1.5) - xhalf*u.x*u.x); // Newton step (may repeat) - return u.x ; -#else - return double(1.0) / std::sqrt(x) ; -#endif -} +/* determines the size of a single descriptor orientation histogram */ +#define SIFT_DESCR_SCL_FCTR 3.0 -/** @brief Fast @c sqrt - ** @param x argument. - ** @return Approximation to @c sqrt(x). - **/ -inline -VL::float_t -fast_sqrt(VL::float_t x) -{ -#ifdef VL_USEFASTMATH - return (x < 1e-8) ? 0 : x * fast_resqrt(x) ; -#else - return std::sqrt(x) ; -#endif -} +/* threshold on magnitude of elements of descriptor vector */ +#define SIFT_DESCR_MAG_THR 0.2 -} +/* factor used to convert floating-point descriptor to unsigned char */ +#define SIFT_INT_DESCR_FCTR 512.0 + +/**************************************************************************/ /* - * from sift.tpp of original code - */ + Converts an image to 32-bit grayscale -template -void -normalize(T* filter, int W) + @param img a 3-channel 8-bit color (BGR) or 8-bit gray image + + @return Returns a 32-bit grayscale image +*/ +static IplImage* convert_to_gray32( IplImage* img ) { - T acc = 0 ; - T* iter = filter ; - T* end = filter + 2*W+1 ; - while(iter != end) acc += *iter++ ; + IplImage* gray8, * gray32; + + gray32 = cvCreateImage( cvGetSize(img), IPL_DEPTH_32F, 1 ); + if( img->nChannels == 1 ) + gray8 = (IplImage*)cvClone( img ); + else + { + gray8 = cvCreateImage( cvGetSize(img), IPL_DEPTH_8U, 1 ); + cvCvtColor( img, gray8, CV_BGR2GRAY ); + } + cvConvertScale( gray8, gray32, 1.0 / 255.0, 0 ); - iter = filter ; - while(iter != end) *iter++ /= acc ; + cvReleaseImage( &gray8 ); + return gray32; } -template -void -convolve(T* dst_pt, - const T* src_pt, int M, int N, - const T* filter_pt, int W) +/* + Converts an image to 8-bit grayscale and Gaussian-smooths it. The image is + optionally doubled in size prior to smoothing. + + @param img input image + @param img_dbl if true, image is doubled in size prior to smoothing + @param sigma total std of Gaussian smoothing +*/ +static IplImage* create_init_img( IplImage* img, int img_dbl, double sigma ) { - typedef T const TC ; - // convolve along columns, save transpose - // image is M by N - // buffer is N by M - // filter is (2*W+1) by 1 - for(int j = 0 ; j < N ; ++j) { - - int i = 0 ; - - // top - for(; i <= std::min(W-1, M-1) ; ++i) { - TC* start = src_pt ; - TC* stop = src_pt + std::min(i+W, M-1) + 1 ; - TC* g = filter_pt + W-i ; - T acc = 0.0 ; - while(stop != start) acc += (*g++) * (*start++) ; - *dst_pt = acc ; - dst_pt += N ; - } + IplImage* gray, * dbl; + double sig_diff; - // middle - // run this for W <= i <= M-1-W, only if M >= 2*W+1 - for(; i <= M-1-W ; ++i) { - TC* start = src_pt + i-W ; - TC* stop = src_pt + i+W + 1 ; - TC* g = filter_pt ; - T acc = 0.0 ; - while(stop != start) acc += (*g++) * (*start++) ; - *dst_pt = acc ; - dst_pt += N ; + gray = convert_to_gray32( img ); + if( img_dbl ) + { + sig_diff = sqrt( sigma * sigma - SIFT_INIT_SIGMA * SIFT_INIT_SIGMA * 4 ); + dbl = cvCreateImage( cvSize( img->width*2, img->height*2 ), + IPL_DEPTH_32F, 1 ); + cvResize( gray, dbl, CV_INTER_CUBIC ); + cvSmooth( dbl, dbl, CV_GAUSSIAN, 0, 0, sig_diff, sig_diff ); + cvReleaseImage( &gray ); + return dbl; } - - // bottom - // run this for M-W <= i <= M-1, only if M >= 2*W+1 - for(; i <= M-1 ; ++i) { - TC* start = src_pt + i-W ; - TC* stop = src_pt + std::min(i+W, M-1) + 1 ; - TC* g = filter_pt ; - T acc = 0.0 ; - while(stop != start) acc += (*g++) * (*start++) ; - *dst_pt = acc ; - dst_pt += N ; + else + { + sig_diff = sqrt( sigma * sigma - SIFT_INIT_SIGMA * SIFT_INIT_SIGMA ); + cvSmooth( gray, gray, CV_GAUSSIAN, 0, 0, sig_diff, sig_diff ); + return gray; } - - // next column - src_pt += M ; - dst_pt -= M*N - 1 ; - } } -// works with symmetric filters only -template -void -nconvolve(T* dst_pt, - const T* src_pt, int M, int N, - const T* filter_pt, int W, - T* scratch_pt ) -{ - typedef T const TC ; - - for(int i = 0 ; i <= W ; ++i) { - T acc = 0.0 ; - TC* iter = filter_pt + std::max(W-i, 0) ; - TC* stop = filter_pt + std::min(M-1-i,W) + W + 1 ; - while(iter != stop) acc += *iter++ ; - scratch_pt [i] = acc ; - } - - for(int j = 0 ; j < N ; ++j) { - - int i = 0 ; - // top margin - for(; i <= std::min(W, M-1) ; ++i) { - TC* start = src_pt ; - TC* stop = src_pt + std::min(i+W, M-1) + 1 ; - TC* g = filter_pt + W-i ; - T acc = 0.0 ; - while(stop != start) acc += (*g++) * (*start++) ; - *dst_pt = acc / scratch_pt [i] ; - dst_pt += N ; - } - - // middle - for(; i <= M-1-W ; ++i) { - TC* start = src_pt + i-W ; - TC* stop = src_pt + i+W + 1 ; - TC* g = filter_pt ; - T acc = 0.0 ; - while(stop != start) acc += (*g++) * (*start++) ; - *dst_pt = acc ; - dst_pt += N ; - } - - // bottom - for(; i <= M-1 ; ++i) { - TC* start = src_pt + i-W ; - TC* stop = src_pt + std::min(i+W, M-1) + 1 ; - TC* g = filter_pt ; - T acc = 0.0 ; - while(stop != start) acc += (*g++) * (*start++) ; - *dst_pt = acc / scratch_pt [M-1-i]; - dst_pt += N ; - } - - // next column - src_pt += M ; - dst_pt -= M*N - 1 ; - } -} +/* + Downsamples an image to a quarter of its size (half in each dimension) + using nearest-neighbor interpolation -template -void -econvolve(T* dst_pt, - const T* src_pt, int M, int N, - const T* filter_pt, int W) + @param img an image + + @return Returns an image whose dimensions are half those of img +*/ +static IplImage* downsample( IplImage* img ) { - typedef T const TC ; - // convolve along columns, save transpose - // image is M by N - // buffer is N by M - // filter is (2*W+1) by 1 - for(int j = 0 ; j < N ; ++j) { - for(int i = 0 ; i < M ; ++i) { - T acc = 0.0 ; - TC* g = filter_pt ; - TC* start = src_pt + (i-W) ; - TC* stop ; - T x ; - - // beginning - stop = src_pt + std::max(0, i-W) ; - x = *stop ; - while( start <= stop ) { acc += (*g++) * x ; start++ ; } - - // middle - stop = src_pt + std::min(M-1, i+W) ; - while( start < stop ) acc += (*g++) * (*start++) ; - - // end - x = *start ; - stop = src_pt + (i+W) ; - while( start <= stop ) { acc += (*g++) * x ; start++ ; } - - // save - *dst_pt = acc ; - dst_pt += N ; - - assert( g - filter_pt == 2*W+1 ) ; + IplImage* smaller = cvCreateImage( cvSize(img->width / 2, img->height / 2), + img->depth, img->nChannels ); + cvResize( img, smaller, CV_INTER_NN ); - } - // next column - src_pt += M ; - dst_pt -= M*N - 1 ; - } + return smaller; } /* - * from sift.cpp of original code - */ - -extern "C" { -#if defined (VL_MAC) -#include -#else -#include -} -#endif + Builds Gaussian scale space pyramid from an image + + @param base base image of the pyramid + @param octvs number of octaves of scale space + @param intvls number of intervals per octave + @param sigma amount of Gaussian smoothing per octave + + @return Returns a Gaussian scale space pyramid as an octvs x (intvls + 3) + array +*/ +static IplImage*** build_gauss_pyr( IplImage* base, int octvs, + int intvls, double sigma ) +{ + IplImage*** gauss_pyr; + const int _intvls = intvls; + double sig[_intvls+3], sig_total, sig_prev, k; + int i, o; -// on startup, pre-compute expn(x) = exp(-x) -namespace VL { -namespace Detail { + gauss_pyr = (IplImage***)calloc( octvs, sizeof( IplImage** ) ); + for( i = 0; i < octvs; i++ ) + gauss_pyr[i] = (IplImage**)calloc( intvls + 3, sizeof( IplImage *) ); -int const expnTableSize = 256 ; -VL::float_t const expnTableMax = VL::float_t(25.0) ; -VL::float_t expnTable [ expnTableSize + 1 ] ; + /* + precompute Gaussian sigmas using the following formula: -struct buildExpnTable -{ - buildExpnTable() { - for(int k = 0 ; k < expnTableSize + 1 ; ++k) { - expnTable[k] = exp( - VL::float_t(k) / expnTableSize * expnTableMax ) ; + \sigma_{total}^2 = \sigma_{i}^2 + \sigma_{i-1}^2 + */ + sig[0] = sigma; + k = pow( 2.0, 1.0 / intvls ); + for( i = 1; i < intvls + 3; i++ ) + { + sig_prev = pow( k, i - 1 ) * sigma; + sig_total = sig_prev * k; + sig[i] = sqrt( sig_total * sig_total - sig_prev * sig_prev ); } - } -} _buildExpnTable ; -} } + for( o = 0; o < octvs; o++ ) + for( i = 0; i < intvls + 3; i++ ) + { + if( o == 0 && i == 0 ) + gauss_pyr[o][i] = cvCloneImage(base); + /* base of new octvave is halved image from end of previous octave */ + else if( i == 0 ) + gauss_pyr[o][i] = downsample( gauss_pyr[o-1][intvls] ); -namespace VL { + /* blur the current octave's last image to create the next one */ + else + { + gauss_pyr[o][i] = cvCreateImage( cvGetSize(gauss_pyr[o][i-1]), + IPL_DEPTH_32F, 1 ); + cvSmooth( gauss_pyr[o][i-1], gauss_pyr[o][i], + CV_GAUSSIAN, 0, 0, sig[i], sig[i] ); + } + } - // =================================================================== -// Low level image operations -// ------------------------------------------------------------------- + return gauss_pyr; +} + +/* + Builds a difference of Gaussians scale space pyramid by subtracting adjacent + intervals of a Gaussian pyramid -namespace Detail { + @param gauss_pyr Gaussian scale-space pyramid + @param octvs number of octaves of scale space + @param intvls number of intervals per octave -/** @brief Copy an image - ** @param dst output imgage buffer. - ** @param src input image buffer. - ** @param width input image width. - ** @param height input image height. - **/ -void -copy(pixel_t* dst, pixel_t const* src, int width, int height) + @return Returns a difference of Gaussians scale space pyramid as an + octvs x (intvls + 2) array +*/ +static IplImage*** build_dog_pyr( IplImage*** gauss_pyr, int octvs, int intvls ) { - memcpy(dst, src, sizeof(pixel_t)*width*height) ; + IplImage*** dog_pyr; + int i, o; + + dog_pyr = (IplImage***)calloc( octvs, sizeof( IplImage** ) ); + for( i = 0; i < octvs; i++ ) + dog_pyr[i] = (IplImage**)calloc( intvls + 2, sizeof(IplImage*) ); + + for( o = 0; o < octvs; o++ ) + for( i = 0; i < intvls + 2; i++ ) + { + dog_pyr[o][i] = cvCreateImage( cvGetSize(gauss_pyr[o][i]), + IPL_DEPTH_32F, 1 ); + cvSub( gauss_pyr[o][i+1], gauss_pyr[o][i], dog_pyr[o][i], NULL ); + } + + return dog_pyr; } -/** @brief Copy an image upsampling two times - ** - ** The destination buffer must be at least as big as two times the - ** input buffer. Bilinear interpolation is used. - ** - ** @param dst output imgage buffer. - ** @param src input image buffer. - ** @param width input image width. - ** @param height input image height. - **/ -void -copyAndUpsampleRows -(pixel_t* dst, pixel_t const* src, int width, int height) +/* + Determines whether a pixel is a scale-space extremum by comparing it to it's + 3x3x3 pixel neighborhood. + + @param dog_pyr DoG scale space pyramid + @param octv pixel's scale space octave + @param intvl pixel's within-octave interval + @param r pixel's image row + @param c pixel's image col + + @return Returns 1 if the specified pixel is an extremum (max or min) among + it's 3x3x3 pixel neighborhood. +*/ +static int is_extremum( IplImage*** dog_pyr, int octv, int intvl, int r, int c ) { - for(int y = 0 ; y < height ; ++y) { - pixel_t b, a ; - b = a = *src++ ; - for(int x = 0 ; x < width-1 ; ++x) { - b = *src++ ; - *dst = a ; dst += height ; - *dst = 0.5*(a+b) ; dst += height ; - a = b ; + double val = pixval32f( dog_pyr[octv][intvl], r, c ); + int i, j, k; + + /* check for maximum */ + if( val > 0 ) + { + for( i = -1; i <= 1; i++ ) + for( j = -1; j <= 1; j++ ) + for( k = -1; k <= 1; k++ ) + if( val < pixval32f( dog_pyr[octv][intvl+i], r + j, c + k ) ) + return 0; } - *dst = b ; dst += height ; - *dst = b ; dst += height ; - dst += 1 - width * 2 * height ; - } -} -/** @brief Copy and downasample an image - ** - ** The image is downsampled @a d times, i.e. reduced to @c 1/2^d of - ** its original size. The parameters @a width and @a height are the - ** size of the input image. The destination image is assumed to be @c - ** floor(width/2^d) pixels wide and @c floor(height/2^d) pixels high. - ** - ** @param dst output imgage buffer. - ** @param src input image buffer. - ** @param width input image width. - ** @param height input image height. - ** @param d downsampling factor. - **/ -void -copyAndDownsample(pixel_t* dst, pixel_t const* src, - int width, int height, int d) -{ - for(int y = 0 ; y < height ; y+=d) { - pixel_t const * srcrowp = src + y * width ; - for(int x = 0 ; x < width - (d-1) ; x+=d) { - *dst++ = *srcrowp ; - srcrowp += d ; + /* check for minimum */ + else + { + for( i = -1; i <= 1; i++ ) + for( j = -1; j <= 1; j++ ) + for( k = -1; k <= 1; k++ ) + if( val > pixval32f( dog_pyr[octv][intvl+i], r + j, c + k ) ) + return 0; } - } -} + return 1; } -/** @brief Smooth an image - ** - ** The function convolves the image @a src by a Gaussian kernel of - ** variance @a s and writes the result to @a dst. The function also - ** needs a scratch buffer @a dst of the same size of @a src and @a - ** dst. - ** - ** @param dst output image buffer. - ** @param temp scratch image buffer. - ** @param src input image buffer. - ** @param width width of the buffers. - ** @param height height of the buffers. - ** @param s standard deviation of the Gaussian kernel. - **/ -void -Sift::smooth -(pixel_t* dst, pixel_t* temp, - pixel_t const* src, int width, int height, - VL::float_t s) +/* + Computes the partial derivatives in x, y, and scale of a pixel in the DoG + scale space pyramid. + + @param dog_pyr DoG scale space pyramid + @param octv pixel's octave in dog_pyr + @param intvl pixel's interval in octv + @param r pixel's image row + @param c pixel's image col + + @return Returns the vector of partial derivatives for pixel I + { dI/dx, dI/dy, dI/ds }^T as a CvMat* +*/ +static CvMat* deriv_3D( IplImage*** dog_pyr, int octv, int intvl, int r, int c ) { - // make sure a buffer larege enough has been allocated - // to hold the filter - int W = int( ceil( VL::float_t(4.0) * s ) ) ; - if( ! filter ) { - filterReserved = 0 ; - } - - if( filterReserved < W ) { - filterReserved = W ; - if( filter ) delete [] filter ; - filter = new pixel_t [ 2* filterReserved + 1 ] ; - } - - // pre-compute filter - for(int j = 0 ; j < 2*W+1 ; ++j) - filter[j] = VL::pixel_t - (std::exp - (VL::float_t - (-0.5 * (j-W) * (j-W) / (s*s) ))) ; - - // normalize to one - normalize(filter, W) ; - - // convolve - econvolve(temp, src, width, height, filter, W) ; - econvolve(dst, temp, height, width, filter, W) ; + CvMat* dI; + double dx, dy, ds; + + dx = ( pixval32f( dog_pyr[octv][intvl], r, c+1 ) - + pixval32f( dog_pyr[octv][intvl], r, c-1 ) ) / 2.0; + dy = ( pixval32f( dog_pyr[octv][intvl], r+1, c ) - + pixval32f( dog_pyr[octv][intvl], r-1, c ) ) / 2.0; + ds = ( pixval32f( dog_pyr[octv][intvl+1], r, c ) - + pixval32f( dog_pyr[octv][intvl-1], r, c ) ) / 2.0; + + dI = cvCreateMat( 3, 1, CV_64FC1 ); + cvmSet( dI, 0, 0, dx ); + cvmSet( dI, 1, 0, dy ); + cvmSet( dI, 2, 0, ds ); + + return dI; } -// =================================================================== -// Sift(), ~Sift() -// ------------------------------------------------------------------- - -/** @brief Initialize Gaussian scale space parameters - ** - ** @param _im_pt Source image data - ** @param _width Soruce image width - ** @param _height Soruce image height - ** @param _sigman Nominal smoothing value of the input image. - ** @param _sigma0 Base smoothing level. - ** @param _O Number of octaves. - ** @param _S Number of levels per octave. - ** @param _omin First octave. - ** @param _smin First level in each octave. - ** @param _smax Last level in each octave. - **/ -Sift::Sift(const pixel_t* _im_pt, int _width, int _height, - VL::float_t _sigman, - VL::float_t _sigma0, - int _O, int _S, - int _omin, int _smin, int _smax) - : sigman( _sigman ), - sigma0( _sigma0 ), - O( _O ), - S( _S ), - omin( _omin ), - smin( _smin ), - smax( _smax ), - - magnif( 3.0f ), - normalizeDescriptor( true ), - - temp( NULL ), - octaves( NULL ), - filter( NULL ) +/* + Computes the 3D Hessian matrix for a pixel in the DoG scale space pyramid. + + @param dog_pyr DoG scale space pyramid + @param octv pixel's octave in dog_pyr + @param intvl pixel's interval in octv + @param r pixel's image row + @param c pixel's image col + + @return Returns the Hessian matrix (below) for pixel I as a CvMat* + + / Ixx Ixy Ixs \
+ | Ixy Iyy Iys |
+ \ Ixs Iys Iss / +*/ +static CvMat* hessian_3D( IplImage*** dog_pyr, int octv, int intvl, int r, + int c ) { - process(_im_pt, _width, _height) ; + CvMat* H; + double v, dxx, dyy, dss, dxy, dxs, dys; + + v = pixval32f( dog_pyr[octv][intvl], r, c ); + dxx = ( pixval32f( dog_pyr[octv][intvl], r, c+1 ) + + pixval32f( dog_pyr[octv][intvl], r, c-1 ) - 2 * v ); + dyy = ( pixval32f( dog_pyr[octv][intvl], r+1, c ) + + pixval32f( dog_pyr[octv][intvl], r-1, c ) - 2 * v ); + dss = ( pixval32f( dog_pyr[octv][intvl+1], r, c ) + + pixval32f( dog_pyr[octv][intvl-1], r, c ) - 2 * v ); + dxy = ( pixval32f( dog_pyr[octv][intvl], r+1, c+1 ) - + pixval32f( dog_pyr[octv][intvl], r+1, c-1 ) - + pixval32f( dog_pyr[octv][intvl], r-1, c+1 ) + + pixval32f( dog_pyr[octv][intvl], r-1, c-1 ) ) / 4.0; + dxs = ( pixval32f( dog_pyr[octv][intvl+1], r, c+1 ) - + pixval32f( dog_pyr[octv][intvl+1], r, c-1 ) - + pixval32f( dog_pyr[octv][intvl-1], r, c+1 ) + + pixval32f( dog_pyr[octv][intvl-1], r, c-1 ) ) / 4.0; + dys = ( pixval32f( dog_pyr[octv][intvl+1], r+1, c ) - + pixval32f( dog_pyr[octv][intvl+1], r-1, c ) - + pixval32f( dog_pyr[octv][intvl-1], r+1, c ) + + pixval32f( dog_pyr[octv][intvl-1], r-1, c ) ) / 4.0; + + H = cvCreateMat( 3, 3, CV_64FC1 ); + cvmSet( H, 0, 0, dxx ); + cvmSet( H, 0, 1, dxy ); + cvmSet( H, 0, 2, dxs ); + cvmSet( H, 1, 0, dxy ); + cvmSet( H, 1, 1, dyy ); + cvmSet( H, 1, 2, dys ); + cvmSet( H, 2, 0, dxs ); + cvmSet( H, 2, 1, dys ); + cvmSet( H, 2, 2, dss ); + + return H; } -/** @brief Destroy SIFT filter. - **/ -Sift::~Sift() +/* + Performs one step of extremum interpolation. Based on Eqn. (3) in Lowe's + paper. + + @param dog_pyr difference of Gaussians scale space pyramid + @param octv octave of scale space + @param intvl interval being interpolated + @param r row being interpolated + @param c column being interpolated + @param xi output as interpolated subpixel increment to interval + @param xr output as interpolated subpixel increment to row + @param xc output as interpolated subpixel increment to col +*/ + +static void interp_step( IplImage*** dog_pyr, int octv, int intvl, int r, int c, + double* xi, double* xr, double* xc ) { - freeBuffers() ; + CvMat* dD, * H, * H_inv, X; + double x[3] = { 0 }; + + dD = deriv_3D( dog_pyr, octv, intvl, r, c ); + H = hessian_3D( dog_pyr, octv, intvl, r, c ); + H_inv = cvCreateMat( 3, 3, CV_64FC1 ); + cvInvert( H, H_inv, CV_SVD ); + cvInitMatHeader( &X, 3, 1, CV_64FC1, x, CV_AUTOSTEP ); + cvGEMM( H_inv, dD, -1, NULL, 0, &X, 0 ); + + cvReleaseMat( &dD ); + cvReleaseMat( &H ); + cvReleaseMat( &H_inv ); + + *xi = x[2]; + *xr = x[1]; + *xc = x[0]; } -/** Allocate buffers. Buffer sizes depend on the image size and the - ** value of omin. - **/ -void -Sift:: -prepareBuffers() +/* + Calculates interpolated pixel contrast. Based on Eqn. (3) in Lowe's + paper. + + @param dog_pyr difference of Gaussians scale space pyramid + @param octv octave of scale space + @param intvl within-octave interval + @param r pixel row + @param c pixel column + @param xi interpolated subpixel increment to interval + @param xr interpolated subpixel increment to row + @param xc interpolated subpixel increment to col + + @param Returns interpolated contrast. +*/ +static double interp_contr( IplImage*** dog_pyr, int octv, int intvl, int r, + int c, double xi, double xr, double xc ) { - // compute buffer size - int w = (omin >= 0) ? (width >> omin) : (width << -omin) ; - int h = (omin >= 0) ? (height >> omin) : (height << -omin) ; - int size = w*h* std::max - ((smax - smin), 2*((smax+1) - (smin-2) +1)) ; - - if( temp && tempReserved == size ) return ; - - freeBuffers() ; - - // allocate - temp = new pixel_t [ size ] ; - tempReserved = size ; - tempIsGrad = false ; - tempOctave = 0 ; - - octaves = new pixel_t* [ O ] ; - for(int o = 0 ; o < O ; ++o) { - octaves[o] = new pixel_t [ (smax - smin + 1) * w * h ] ; - w >>= 1 ; - h >>= 1 ; - } + CvMat* dD, X, T; + double t[1], x[3] = { xc, xr, xi }; + + cvInitMatHeader( &X, 3, 1, CV_64FC1, x, CV_AUTOSTEP ); + cvInitMatHeader( &T, 1, 1, CV_64FC1, t, CV_AUTOSTEP ); + dD = deriv_3D( dog_pyr, octv, intvl, r, c ); + cvGEMM( dD, &X, 1, NULL, 0, &T, CV_GEMM_A_T ); + cvReleaseMat( &dD ); + + return pixval32f( dog_pyr[octv][intvl], r, c ) + t[0] * 0.5; } -/** @brief Free buffers. - ** - ** This function releases any buffer allocated by prepareBuffers(). - ** - ** @sa prepareBuffers(). - **/ -void -Sift:: -freeBuffers() +/* + Allocates and initializes a new feature + + @return Returns a pointer to the new feature +*/ +static struct feature* new_feature( void ) { - if( filter ) { - delete [] filter ; - } - filter = 0 ; - - if( octaves ) { - for(int o = 0 ; o < O ; ++o) { - delete [] octaves[ o ] ; - } - delete [] octaves ; - } - octaves = 0 ; - - if( temp ) { - delete [] temp ; - } - temp = 0 ; + struct feature* feat; + struct detection_data* ddata; + + feat = (feature*) malloc( sizeof( struct feature ) ); + memset( feat, 0, sizeof( struct feature ) ); + ddata = (detection_data*) malloc( sizeof( struct detection_data ) ); + memset( ddata, 0, sizeof( struct detection_data ) ); + feat->feature_data = ddata; + + return feat; } -// =================================================================== -// getKeypoint -// ------------------------------------------------------------------- - -/** @brief Get keypoint from position and scale - ** - ** The function returns a keypoint with a given position and - ** scale. Note that the keypoint structure contains fields that make - ** sense only in conjunction with a specific scale space. Therefore - ** the keypoint structure should be re-calculated whenever the filter - ** is applied to a new image, even if the parameters @a x, @a y and - ** @a sigma do not change. - ** - ** @param x x coordinate of the center. - ** @peram y y coordinate of the center. - ** @param sigma scale. - ** @return Corresponing keypoint. - **/ -Sift::Keypoint -Sift::getKeypoint(VL::float_t x, VL::float_t y, VL::float_t sigma) const +/* + Interpolates a scale-space extremum's location and scale to subpixel + accuracy to form an image feature. Rejects features with low contrast. + Based on Section 4 of Lowe's paper. + + @param dog_pyr DoG scale space pyramid + @param octv feature's octave of scale space + @param intvl feature's within-octave interval + @param r feature's image row + @param c feature's image column + @param intvls total intervals per octave + @param contr_thr threshold on feature contrast + + @return Returns the feature resulting from interpolation of the given + parameters or NULL if the given location could not be interpolated or + if contrast at the interpolated loation was too low. If a feature is + returned, its scale, orientation, and descriptor are yet to be determined. +*/ +static struct feature* interp_extremum( IplImage*** dog_pyr, int octv, + int intvl, int r, int c, int intvls, + double contr_thr ) { + struct feature* feat; + struct detection_data* ddata; + double xi, xr, xc, contr; + int i = 0; - /* - The formula linking the keypoint scale sigma to the octave and - scale index is + while( i < SIFT_MAX_INTERP_STEPS ) + { + interp_step( dog_pyr, octv, intvl, r, c, &xi, &xr, &xc ); + if( std::abs( xi ) < 0.5 && std::abs( xr ) < 0.5 && std::abs( xc ) < 0.5 ) + break; + + c += cvRound( xc ); + r += cvRound( xr ); + intvl += cvRound( xi ); + + if( intvl < 1 || + intvl > intvls || + c < SIFT_IMG_BORDER || + r < SIFT_IMG_BORDER || + c >= dog_pyr[octv][0]->width - SIFT_IMG_BORDER || + r >= dog_pyr[octv][0]->height - SIFT_IMG_BORDER ) + { + return NULL; + } - (1) sigma(o,s) = sigma0 2^(o+s/S) + i++; + } - for which + /* ensure convergence of interpolation */ + if( i >= SIFT_MAX_INTERP_STEPS ) + return NULL; + + contr = interp_contr( dog_pyr, octv, intvl, r, c, xi, xr, xc ); + if( std::abs( contr ) < contr_thr / intvls ) + return NULL; + + feat = new_feature(); + ddata = feat->feature_data; + feat->x = ( c + xc ) * pow( 2.0, octv ); + feat->y = ( r + xr ) * pow( 2.0, octv ); + ddata->r = r; + ddata->c = c; + ddata->octv = octv; + ddata->intvl = intvl; + ddata->subintvl = xi; + + return feat; +} - (2) o + s/S = log2 sigma/sigma0 == phi. +/* + Determines whether a feature is too edge like to be stable by computing the + ratio of principal curvatures at that feature. Based on Section 4.1 of + Lowe's paper. + + @param dog_img image from the DoG pyramid in which feature was detected + @param r feature row + @param c feature col + @param curv_thr high threshold on ratio of principal curvatures + + @return Returns 0 if the feature at (r,c) in dog_img is sufficiently + corner-like or 1 otherwise. +*/ +static int is_too_edge_like( IplImage* dog_img, int r, int c, int curv_thr ) +{ + double d, dxx, dyy, dxy, tr, det; + + /* principal curvatures are computed using the trace and det of Hessian */ + d = pixval32f(dog_img, r, c); + dxx = pixval32f( dog_img, r, c+1 ) + pixval32f( dog_img, r, c-1 ) - 2 * d; + dyy = pixval32f( dog_img, r+1, c ) + pixval32f( dog_img, r-1, c ) - 2 * d; + dxy = ( pixval32f(dog_img, r+1, c+1) - pixval32f(dog_img, r+1, c-1) - + pixval32f(dog_img, r-1, c+1) + pixval32f(dog_img, r-1, c-1) ) / 4.0; + tr = dxx + dyy; + det = dxx * dyy - dxy * dxy; + + /* negative determinant -> curvatures have different signs; reject feature */ + if( det <= 0 ) + return 1; + + if( tr * tr / det < ( curv_thr + 1.0 )*( curv_thr + 1.0 ) / curv_thr ) + return 0; + return 1; +} - In addition to the scale index s (which can be fractional due to - scale interpolation) a keypoint has an integer scale index is too - (which is the index of the scale level where it was detected in - the DoG scale space). We have the constraints: +/* + Detects features at extrema in DoG scale space. Bad features are discarded + based on contrast and ratio of principal curvatures. + + @param dog_pyr DoG scale space pyramid + @param octvs octaves of scale space represented by dog_pyr + @param intvls intervals per octave + @param contr_thr low threshold on feature contrast + @param curv_thr high threshold on feature ratio of principal curvatures + @param storage memory storage in which to store detected features + + @return Returns an array of detected features whose scales, orientations, + and descriptors are yet to be determined. +*/ +static CvSeq* scale_space_extrema( IplImage*** dog_pyr, int octvs, int intvls, + double contr_thr, int curv_thr, + CvMemStorage* storage ) +{ + CvSeq* features; + double prelim_contr_thr = 0.5 * contr_thr / intvls; + struct feature* feat; + struct detection_data* ddata; + int o, i, r, c; + + features = cvCreateSeq( 0, sizeof(CvSeq), sizeof(struct feature), storage ); + for( o = 0; o < octvs; o++ ) + for( i = 1; i <= intvls; i++ ) + for(r = SIFT_IMG_BORDER; r < dog_pyr[o][0]->height-SIFT_IMG_BORDER; r++) + for(c = SIFT_IMG_BORDER; c < dog_pyr[o][0]->width-SIFT_IMG_BORDER; c++) + /* perform preliminary check on contrast */ + if( std::abs( pixval32f( dog_pyr[o][i], r, c ) ) > prelim_contr_thr ) + if( is_extremum( dog_pyr, o, i, r, c ) ) + { + feat = interp_extremum(dog_pyr, o, i, r, c, intvls, contr_thr); + if( feat ) + { + ddata = feat->feature_data; + if( ! is_too_edge_like( dog_pyr[ddata->octv][ddata->intvl], + ddata->r, ddata->c, curv_thr ) ) + { + cvSeqPush( features, feat ); + } + else + free( ddata ); + free( feat ); + } + } - - o and is are integer + return features; +} - - is is in the range [smin+1, smax-2 ] +/* + Calculates characteristic scale for each feature in an array. - - o is in the range [omin, omin+O-1] + @param features array of features + @param sigma amount of Gaussian smoothing per octave of scale space + @param intvls intervals per octave of scale space +*/ +static void calc_feature_scales( CvSeq* features, double sigma, int intvls ) +{ + struct feature* feat; + struct detection_data* ddata; + double intvl; + int i, n; - - is = rand(s) most of the times (but not always, due to the way s - is obtained by quadratic interpolation of the DoG scale space). + n = features->total; + for( i = 0; i < n; i++ ) + { + feat = CV_GET_SEQ_ELEM( struct feature, features, i ); + ddata = feat->feature_data; + intvl = ddata->intvl + ddata->subintvl; + feat->scl = sigma * pow( 2.0, ddata->octv + intvl / intvls ); + ddata->scl_octv = sigma * pow( 2.0, intvl / intvls ); + } +} - Depending on the values of smin and smax, often (2) has multiple - solutions is,o that satisfy all constraints. In this case we - choose the one with biggest index o (this saves a bit of - computation). - DETERMINING THE OCTAVE INDEX O - From (2) we have o = phi - s/S and we want to pick the biggest - possible index o in the feasible range. This corresponds to - selecting the smallest possible index s. We write s = is + ds - where in most cases |ds|<.5 (but in general |ds|<1). So we have +/* + Halves feature coordinates and scale in case the input image was doubled + prior to scale space construction. - o = phi - s/S, s = is + ds , |ds| < .5 (or |ds| < 1). + @param features array of features +*/ +static void adjust_for_img_dbl( CvSeq* features ) +{ + struct feature* feat; + int i, n; - Since is is in the range [smin+1,smax-2], s is in the range - [smin+.5,smax-1.5] (or [smin,smax-1]), the number o is an integer - in the range phi+[-smax+1.5,-smin-.5] (or - phi+[-smax+1,-smin]). Thus the maximum value of o is obtained for - o = floor(phi-smin-.5) (or o = floor(phi-smin)). + n = features->total; + for( i = 0; i < n; i++ ) + { + feat = CV_GET_SEQ_ELEM( struct feature, features, i ); + feat->x /= 2.0; + feat->y /= 2.0; + feat->scl /= 2.0; + } +} - Finally o is clamped to make sure it is contained in the feasible - range. +/* + Calculates the gradient magnitude and orientation at a given pixel. + + @param img image + @param r pixel row + @param c pixel col + @param mag output as gradient magnitude at pixel (r,c) + @param ori output as gradient orientation at pixel (r,c) + + @return Returns 1 if the specified pixel is a valid one and sets mag and + ori accordingly; otherwise returns 0 +*/ +static int calc_grad_mag_ori( IplImage* img, int r, int c, double* mag, + double* ori ) +{ + double dx, dy; - DETERMINING THE SCALE INDEXES S AND IS + if( r > 0 && r < img->height - 1 && c > 0 && c < img->width - 1 ) + { + dx = pixval32f( img, r, c+1 ) - pixval32f( img, r, c-1 ); + dy = pixval32f( img, r-1, c ) - pixval32f( img, r+1, c ); + *mag = sqrt( dx*dx + dy*dy ); + *ori = atan2( dy, dx ); + return 1; + } - Given o we can derive is by writing (2) as + else + return 0; +} - s = is + ds = S(phi - o). +/* + Computes a gradient orientation histogram at a specified pixel. + + @param img image + @param r pixel row + @param c pixel col + @param n number of histogram bins + @param rad radius of region over which histogram is computed + @param sigma std for Gaussian weighting of histogram entries + + @return Returns an n-element array containing an orientation histogram + representing orientations between 0 and 2 PI. +*/ +static double* ori_hist( IplImage* img, int r, int c, int n, int rad, + double sigma ) +{ + double* hist; + double mag, ori, w, exp_denom, PI2 = CV_PI * 2.0; + int bin, i, j; + + hist = (double*) calloc( n, sizeof( double ) ); + exp_denom = 2.0 * sigma * sigma; + for( i = -rad; i <= rad; i++ ) + for( j = -rad; j <= rad; j++ ) + if( calc_grad_mag_ori( img, r + i, c + j, &mag, &ori ) ) + { + w = exp( -( i*i + j*j ) / exp_denom ); + bin = cvRound( n * ( ori + CV_PI ) / PI2 ); + bin = ( bin < n )? bin : 0; + hist[bin] += w * mag; + } - We then take is = round(s) and clamp its value to be in the - feasible range. - */ + return hist; +} - int o,ix,iy,is ; - VL::float_t s,phi ; +/* + Gaussian smooths an orientation histogram. - phi = log2(sigma/sigma0) ; - o = fast_floor( phi - (VL::float_t(smin)+.5)/S ) ; - o = std::min(o, omin+O-1) ; - o = std::max(o, omin ) ; - s = S * (phi - o) ; + @param hist an orientation histogram + @param n number of bins +*/ +static void smooth_ori_hist( double* hist, int n ) +{ + double prev, tmp, h0 = hist[0]; + int i; - is = int(s + 0.5) ; - is = std::min(is, smax - 2) ; - is = std::max(is, smin + 1) ; + prev = hist[n-1]; + for( i = 0; i < n; i++ ) + { + tmp = hist[i]; + hist[i] = 0.25 * prev + 0.5 * hist[i] + + 0.25 * ( ( i+1 == n )? h0 : hist[i+1] ); + prev = tmp; + } +} - VL::float_t per = getOctaveSamplingPeriod(o) ; - ix = int(x / per + 0.5) ; - iy = int(y / per + 0.5) ; +/* + Finds the magnitude of the dominant orientation in a histogram + + @param hist an orientation histogram + @param n number of bins - Keypoint key ; - key.o = o ; + @return Returns the value of the largest bin in hist +*/ +static double dominant_ori( double* hist, int n ) +{ + double omax; + int maxbin, i; + + omax = hist[0]; + maxbin = 0; + for( i = 1; i < n; i++ ) + if( hist[i] > omax ) + { + omax = hist[i]; + maxbin = i; + } + return omax; +} - key.ix = ix ; - key.iy = iy ; - key.is = is ; +/* + Makes a deep copy of a feature - key.x = x ; - key.y = y ; - key.s = s ; + @param feat feature to be cloned - key.sigma = sigma ; + @return Returns a deep copy of feat +*/ +static struct feature* clone_feature( struct feature* feat ) +{ + struct feature* new_feat; + struct detection_data* ddata; + + new_feat = new_feature(); + ddata = new_feat->feature_data; + memcpy( new_feat, feat, sizeof( struct feature ) ); + memcpy( ddata, feat->feature_data, sizeof( struct detection_data ) ); + new_feat->feature_data = ddata; - return key ; + return new_feat; } -// =================================================================== -// process() -// ------------------------------------------------------------------- - -/** @brief Compute Gaussian Scale Space - ** - ** The method computes the Gaussian scale space of the specified - ** image. The scale space data is managed internally and can be - ** accessed by means of getOctave() and getLevel(). - ** - ** @remark Calling this method will delete the list of keypoints - ** constructed by detectKeypoints(). - ** - ** @param _im_pt pointer to image data. - ** @param _width image width. - ** @param _height image height . - **/ -void -Sift:: -process(const pixel_t* _im_pt, int _width, int _height) +/* + Adds features to an array for every orientation in a histogram greater than + a specified threshold. + + @param features new features are added to the end of this array + @param hist orientation histogram + @param n number of bins in hist + @param mag_thr new features are added for entries in hist greater than this + @param feat new features are clones of this with different orientations +*/ +static void add_good_ori_features( CvSeq* features, double* hist, int n, + double mag_thr, struct feature* feat ) { - using namespace Detail ; - - width = _width ; - height = _height ; - prepareBuffers() ; - - VL::float_t sigmak = powf(2.0f, 1.0 / S) ; - VL::float_t dsigma0 = sigma0 * sqrt (1.0f - 1.0f / (sigmak*sigmak) ) ; - - // ----------------------------------------------------------------- - // Make pyramid base - // ----------------------------------------------------------------- - if( omin < 0 ) { - copyAndUpsampleRows(temp, _im_pt, width, height ) ; - copyAndUpsampleRows(octaves[0], temp, height, 2*width ) ; - - for(int o = -1 ; o > omin ; --o) { - copyAndUpsampleRows(temp, octaves[0], width << -o, height << -o) ; - copyAndUpsampleRows(octaves[0], temp, height << -o, 2*(width << -o)) ; } - - } else if( omin > 0 ) { - copyAndDownsample(octaves[0], _im_pt, width, height, 1 << omin) ; - } else { - copy(octaves[0], _im_pt, width, height) ; - } - - { - VL::float_t sa = sigma0 * powf(sigmak, smin) ; - VL::float_t sb = sigman / powf(2.0f, omin) ; // review this - if( sa > sb ) { - VL::float_t sd = sqrt ( sa*sa - sb*sb ) ; - smooth( octaves[0], temp, octaves[0], - getOctaveWidth(omin), - getOctaveHeight(omin), - sd ) ; - } - } - - // ----------------------------------------------------------------- - // Make octaves - // ----------------------------------------------------------------- - for(int o = omin ; o < omin+O ; ++o) { - // Prepare octave base - if( o > omin ) { - int sbest = std::min(smin + S, smax) ; - copyAndDownsample(getLevel(o, smin ), - getLevel(o-1, sbest), - getOctaveWidth(o-1), - getOctaveHeight(o-1), 2 ) ; - VL::float_t sa = sigma0 * powf(sigmak, smin ) ; - VL::float_t sb = sigma0 * powf(sigmak, sbest - S ) ; - if(sa > sb ) { - VL::float_t sd = sqrt ( sa*sa - sb*sb ) ; - smooth( getLevel(o,0), temp, getLevel(o,0), - getOctaveWidth(o), getOctaveHeight(o), - sd ) ; - } - } + struct feature* new_feat; + double bin, PI2 = CV_PI * 2.0; + int l, r, i; - // Make other levels - for(int s = smin+1 ; s <= smax ; ++s) { - VL::float_t sd = dsigma0 * powf(sigmak, s) ; - smooth( getLevel(o,s), temp, getLevel(o,s-1), - getOctaveWidth(o), getOctaveHeight(o), - sd ) ; + for( i = 0; i < n; i++ ) + { + l = ( i == 0 )? n - 1 : i-1; + r = ( i + 1 ) % n; + + if( hist[i] > hist[l] && hist[i] > hist[r] && hist[i] >= mag_thr ) + { + bin = i + interp_hist_peak( hist[l], hist[i], hist[r] ); + bin = ( bin < 0 )? n + bin : ( bin >= n )? bin - n : bin; + new_feat = clone_feature( feat ); + new_feat->ori = ( ( PI2 * bin ) / n ) - CV_PI; + cvSeqPush( features, new_feat ); + free( new_feat ); + } } - } } -/** @brief Sift detector - ** - ** The function runs the SIFT detector on the stored Gaussian scale - ** space (see process()). The detector consists in three steps - ** - ** - local maxima detection; - ** - subpixel interpolation; - ** - rejection of weak keypoints (@a threhsold); - ** - rejection of keypoints on edge-like structures (@a edgeThreshold). - ** - ** As they are found, keypoints are added to an internal list. This - ** list can be accessed by means of the member functions - ** getKeypointsBegin() and getKeypointsEnd(). The list is ordered by - ** octave, which is usefult to speed-up computeKeypointOrientations() - ** and computeKeypointDescriptor(). - **/ -void -Sift::detectKeypoints(VL::float_t threshold, VL::float_t edgeThreshold) +/* + Computes a canonical orientation for each image feature in an array. Based + on Section 5 of Lowe's paper. This function adds features to the array when + there is more than one dominant orientation at a given feature location. + + @param features an array of image features + @param gauss_pyr Gaussian scale space pyramid +*/ +static void calc_feature_oris( CvSeq* features, IplImage*** gauss_pyr ) { - keypoints.clear() ; + struct feature* feat; + struct detection_data* ddata; + double* hist; + double omax; + int i, j, n = features->total; - int nValidatedKeypoints = 0 ; - - // Process one octave per time - for(int o = omin ; o < omin + O ; ++o) { + for( i = 0; i < n; i++ ) + { + feat = (feature*) malloc( sizeof( struct feature ) ); + cvSeqPopFront( features, feat ); + ddata = feat->feature_data; + hist = ori_hist( gauss_pyr[ddata->octv][ddata->intvl], + ddata->r, ddata->c, SIFT_ORI_HIST_BINS, + cvRound( SIFT_ORI_RADIUS * ddata->scl_octv ), + SIFT_ORI_SIG_FCTR * ddata->scl_octv ); + for( j = 0; j < SIFT_ORI_SMOOTH_PASSES; j++ ) + smooth_ori_hist( hist, SIFT_ORI_HIST_BINS ); + omax = dominant_ori( hist, SIFT_ORI_HIST_BINS ); + add_good_ori_features( features, hist, SIFT_ORI_HIST_BINS, + omax * SIFT_ORI_PEAK_RATIO, feat ); + free( ddata ); + free( feat ); + free( hist ); + } +} - int const xo = 1 ; - int const yo = getOctaveWidth(o) ; - int const so = getOctaveWidth(o) * getOctaveHeight(o) ; - int const ow = getOctaveWidth(o) ; - int const oh = getOctaveHeight(o) ; +/* + Interpolates an entry into the array of orientation histograms that form + the feature descriptor. + + @param hist 2D array of orientation histograms + @param rbin sub-bin row coordinate of entry + @param cbin sub-bin column coordinate of entry + @param obin sub-bin orientation coordinate of entry + @param mag size of entry + @param d width of 2D array of orientation histograms + @param n number of bins per orientation histogram +*/ +static void interp_hist_entry( double*** hist, double rbin, double cbin, + double obin, double mag, int d, int n ) +{ + double d_r, d_c, d_o, v_r, v_c, v_o; + double** row, * h; + int r0, c0, o0, rb, cb, ob, r, c, o; - VL::float_t xperiod = getOctaveSamplingPeriod(o) ; + r0 = cvFloor( rbin ); + c0 = cvFloor( cbin ); + o0 = cvFloor( obin ); + d_r = rbin - r0; + d_c = cbin - c0; + d_o = obin - o0; - // ----------------------------------------------------------------- - // Difference of Gaussians - // ----------------------------------------------------------------- - pixel_t* dog = temp ; - tempIsGrad = false ; + /* + The entry is distributed into up to 8 bins. Each entry into a bin + is multiplied by a weight of 1 - d for each dimension, where d is the + distance from the center value of the bin measured in bin units. + */ + for( r = 0; r <= 1; r++ ) { - pixel_t* pt = dog ; - for(int s = smin ; s <= smax-1 ; ++s) { - pixel_t* srca = getLevel(o, s ) ; - pixel_t* srcb = getLevel(o, s+1) ; - pixel_t* enda = srcb ; - while( srca != enda ) { - *pt++ = *srcb++ - *srca++ ; + rb = r0 + r; + if( rb >= 0 && rb < d ) + { + v_r = mag * ( ( r == 0 )? 1.0 - d_r : d_r ); + row = hist[rb]; + for( c = 0; c <= 1; c++ ) + { + cb = c0 + c; + if( cb >= 0 && cb < d ) + { + v_c = v_r * ( ( c == 0 )? 1.0 - d_c : d_c ); + h = row[cb]; + for( o = 0; o <= 1; o++ ) + { + ob = ( o0 + o ) % n; + v_o = v_c * ( ( o == 0 )? 1.0 - d_o : d_o ); + h[ob] += v_o; + } + } + } } - } } +} + +/* + Computes the 2D array of orientation histograms that form the feature + descriptor. Based on Section 6.1 of Lowe's paper. + + @param img image used in descriptor computation + @param r row coord of center of orientation histogram array + @param c column coord of center of orientation histogram array + @param ori canonical orientation of feature whose descr is being computed + @param scl scale relative to img of feature whose descr is being computed + @param d width of 2d array of orientation histograms + @param n bins per orientation histogram + + @return Returns a d x d array of n-bin orientation histograms. +*/ +static double*** descr_hist( IplImage* img, int r, int c, double ori, + double scl, int d, int n ) +{ + double*** hist; + double cos_t, sin_t, hist_width, exp_denom, r_rot, c_rot, grad_mag, + grad_ori, w, rbin, cbin, obin, bins_per_rad, PI2 = 2.0 * CV_PI; + int radius, i, j; - // ----------------------------------------------------------------- - // Find points of extremum - // ----------------------------------------------------------------- + hist = (double***) calloc( d, sizeof( double** ) ); + for( i = 0; i < d; i++ ) { - pixel_t* pt = dog + xo + yo + so ; - for(int s = smin+1 ; s <= smax-2 ; ++s) { - for(int y = 1 ; y < oh - 1 ; ++y) { - for(int x = 1 ; x < ow - 1 ; ++x) { - pixel_t v = *pt ; - - // assert( (pt - x*xo - y*yo - (s-smin)*so) - dog == 0 ) ; - -#define CHECK_NEIGHBORS(CMP,SGN) \ - ( v CMP ## = SGN 0.8 * threshold && \ - v CMP *(pt + xo) && \ - v CMP *(pt - xo) && \ - v CMP *(pt + so) && \ - v CMP *(pt - so) && \ - v CMP *(pt + yo) && \ - v CMP *(pt - yo) && \ - \ - v CMP *(pt + yo + xo) && \ - v CMP *(pt + yo - xo) && \ - v CMP *(pt - yo + xo) && \ - v CMP *(pt - yo - xo) && \ - \ - v CMP *(pt + xo + so) && \ - v CMP *(pt - xo + so) && \ - v CMP *(pt + yo + so) && \ - v CMP *(pt - yo + so) && \ - v CMP *(pt + yo + xo + so) && \ - v CMP *(pt + yo - xo + so) && \ - v CMP *(pt - yo + xo + so) && \ - v CMP *(pt - yo - xo + so) && \ - \ - v CMP *(pt + xo - so) && \ - v CMP *(pt - xo - so) && \ - v CMP *(pt + yo - so) && \ - v CMP *(pt - yo - so) && \ - v CMP *(pt + yo + xo - so) && \ - v CMP *(pt + yo - xo - so) && \ - v CMP *(pt - yo + xo - so) && \ - v CMP *(pt - yo - xo - so) ) - - if( CHECK_NEIGHBORS(>,+) || CHECK_NEIGHBORS(<,-) ) { - - Keypoint k ; - k.ix = x ; - k.iy = y ; - k.is = s ; - keypoints.push_back(k) ; - } - pt += 1 ; - } - pt += 2 ; - } - pt += 2*yo ; - } + hist[i] = (double**) calloc( d, sizeof( double* ) ); + for( j = 0; j < d; j++ ) + hist[i][j] = (double*) calloc( n, sizeof( double ) ); } - // ----------------------------------------------------------------- - // Refine local maxima - // ----------------------------------------------------------------- - { // refine - KeypointsIter siter ; - KeypointsIter diter ; - - for(diter = siter = keypointsBegin() + nValidatedKeypoints ; - siter != keypointsEnd() ; - ++siter) { - - int x = int( siter->ix ) ; - int y = int( siter->iy ) ; - int s = int( siter->is ) ; - - VL::float_t Dx=0,Dy=0,Ds=0,Dxx=0,Dyy=0,Dss=0,Dxy=0,Dxs=0,Dys=0 ; - VL::float_t b [3] ; - pixel_t* pt = 0; - int dx = 0 ; - int dy = 0 ; - - // must be exec. at least once - for(int iter = 0 ; iter < 5 ; ++iter) { - - VL::float_t A[3*3] ; - - x += dx ; - y += dy ; - - pt = dog - + xo * x - + yo * y - + so * (s - smin) ; - -#define at(dx,dy,ds) (*( pt + (dx)*xo + (dy)*yo + (ds)*so)) -#define Aat(i,j) (A[(i)+(j)*3]) - - /* Compute the gradient. */ - Dx = 0.5 * (at(+1,0,0) - at(-1,0,0)) ; - Dy = 0.5 * (at(0,+1,0) - at(0,-1,0)); - Ds = 0.5 * (at(0,0,+1) - at(0,0,-1)) ; - - /* Compute the Hessian. */ - Dxx = (at(+1,0,0) + at(-1,0,0) - 2.0 * at(0,0,0)) ; - Dyy = (at(0,+1,0) + at(0,-1,0) - 2.0 * at(0,0,0)) ; - Dss = (at(0,0,+1) + at(0,0,-1) - 2.0 * at(0,0,0)) ; - - Dxy = 0.25 * ( at(+1,+1,0) + at(-1,-1,0) - at(-1,+1,0) - at(+1,-1,0) ) ; - Dxs = 0.25 * ( at(+1,0,+1) + at(-1,0,-1) - at(-1,0,+1) - at(+1,0,-1) ) ; - Dys = 0.25 * ( at(0,+1,+1) + at(0,-1,-1) - at(0,-1,+1) - at(0,+1,-1) ) ; - - /* Solve linear system. */ - Aat(0,0) = Dxx ; - Aat(1,1) = Dyy ; - Aat(2,2) = Dss ; - Aat(0,1) = Aat(1,0) = Dxy ; - Aat(0,2) = Aat(2,0) = Dxs ; - Aat(1,2) = Aat(2,1) = Dys ; - - b[0] = - Dx ; - b[1] = - Dy ; - b[2] = - Ds ; - - // Gauss elimination - for(int j = 0 ; j < 3 ; ++j) { - - // look for leading pivot - VL::float_t maxa = 0 ; - VL::float_t maxabsa = 0 ; - int maxi = -1 ; - int i ; - for(i = j ; i < 3 ; ++i) { - VL::float_t a = Aat(i,j) ; - VL::float_t absa = fabsf( a ) ; - if ( absa > maxabsa ) { - maxa = a ; - maxabsa = absa ; - maxi = i ; - } - } - - // singular? - if( maxabsa < 1e-10f ) { - b[0] = 0 ; - b[1] = 0 ; - b[2] = 0 ; - break ; + cos_t = cos( ori ); + sin_t = sin( ori ); + bins_per_rad = n / PI2; + exp_denom = d * d * 0.5; + hist_width = SIFT_DESCR_SCL_FCTR * scl; + radius = hist_width * sqrt(2) * ( d + 1.0 ) * 0.5 + 0.5; + for( i = -radius; i <= radius; i++ ) + for( j = -radius; j <= radius; j++ ) + { + /* + Calculate sample's histogram array coords rotated relative to ori. + Subtract 0.5 so samples that fall e.g. in the center of row 1 (i.e. + r_rot = 1.5) have full weight placed in row 1 after interpolation. + */ + c_rot = ( j * cos_t - i * sin_t ) / hist_width; + r_rot = ( j * sin_t + i * cos_t ) / hist_width; + rbin = r_rot + d / 2 - 0.5; + cbin = c_rot + d / 2 - 0.5; + + if( rbin > -1.0 && rbin < d && cbin > -1.0 && cbin < d ) + if( calc_grad_mag_ori( img, r + i, c + j, &grad_mag, &grad_ori )) + { + grad_ori -= ori; + while( grad_ori < 0.0 ) + grad_ori += PI2; + while( grad_ori >= PI2 ) + grad_ori -= PI2; + + obin = grad_ori * bins_per_rad; + w = exp( -(c_rot * c_rot + r_rot * r_rot) / exp_denom ); + interp_hist_entry( hist, rbin, cbin, obin, grad_mag * w, d, n ); } + } - i = maxi ; + return hist; +} - // swap j-th row with i-th row and - // normalize j-th row - for(int jj = j ; jj < 3 ; ++jj) { - std::swap( Aat(j,jj) , Aat(i,jj) ) ; - Aat(j,jj) /= maxa ; - } - std::swap( b[j], b[i] ) ; - b[j] /= maxa ; - - // elimination - for(int ii = j+1 ; ii < 3 ; ++ii) { - VL::float_t x = Aat(ii,j) ; - for(int jj = j ; jj < 3 ; ++jj) { - Aat(ii,jj) -= x * Aat(j,jj) ; - } - b[ii] -= x * b[j] ; - } - } +/* + Normalizes a feature's descriptor vector to unitl length - // backward substitution - for(int i = 2 ; i > 0 ; --i) { - VL::float_t x = b[i] ; - for(int ii = i-1 ; ii >= 0 ; --ii) { - b[ii] -= x * Aat(ii,i) ; - } - } + @param feat feature +*/ +static void normalize_descr( struct feature* feat ) +{ + double cur, len_inv, len_sq = 0.0; + int i, d = feat->d; - /* If the translation of the keypoint is big, move the keypoint - * and re-iterate the computation. Otherwise we are all set. - */ - dx= ((b[0] > 0.6 && x < ow-2) ? 1 : 0 ) - + ((b[0] < -0.6 && x > 1 ) ? -1 : 0 ) ; + for( i = 0; i < d; i++ ) + { + cur = feat->descr[i]; + len_sq += cur*cur; + } + len_inv = 1.0 / sqrt( len_sq ); + for( i = 0; i < d; i++ ) + feat->descr[i] *= len_inv; +} - dy= ((b[1] > 0.6 && y < oh-2) ? 1 : 0 ) - + ((b[1] < -0.6 && y > 1 ) ? -1 : 0 ) ; +/* + Converts the 2D array of orientation histograms into a feature's descriptor + vector. + + @param hist 2D array of orientation histograms + @param d width of hist + @param n bins per histogram + @param feat feature into which to store descriptor +*/ +static void hist_to_descr( double*** hist, int d, int n, struct feature* feat ) +{ + int int_val, i, r, c, o, k = 0; + + for( r = 0; r < d; r++ ) + for( c = 0; c < d; c++ ) + for( o = 0; o < n; o++ ) + feat->descr[k++] = hist[r][c][o]; + + feat->d = k; + normalize_descr( feat ); + for( i = 0; i < k; i++ ) + if( feat->descr[i] > SIFT_DESCR_MAG_THR ) + feat->descr[i] = SIFT_DESCR_MAG_THR; + normalize_descr( feat ); + + /* convert floating-point descriptor to integer valued descriptor */ + for( i = 0; i < k; i++ ) + { + int_val = SIFT_INT_DESCR_FCTR * feat->descr[i]; + feat->descr[i] = MIN( 255, int_val ); + } +} - /* - std::cout<scl < f2->scl ) + return 1; + if( f1->scl > f2->scl ) + return -1; + return 0; +} - // Accept-reject keypoint - { - VL::float_t val = at(0,0,0) + 0.5 * (Dx * b[0] + Dy * b[1] + Ds * b[2]) ; - VL::float_t score = (Dxx+Dyy)*(Dxx+Dyy) / (Dxx*Dyy - Dxy*Dxy) ; - VL::float_t xn = x + b[0] ; - VL::float_t yn = y + b[1] ; - VL::float_t sn = s + b[2] ; - - if(fast_abs(val) > threshold && - score < (edgeThreshold+1)*(edgeThreshold+1)/edgeThreshold && - score >= 0 && - fast_abs(b[0]) < 1.5 && - fast_abs(b[1]) < 1.5 && - fast_abs(b[2]) < 1.5 && - xn >= 0 && - xn <= ow-1 && - yn >= 0 && - yn <= oh-1 && - sn >= smin && - sn <= smax ) { - - diter->o = o ; - - diter->ix = x ; - diter->iy = y ; - diter->is = s ; - - diter->x = xn * xperiod ; - diter->y = yn * xperiod ; - diter->s = sn ; - - diter->sigma = getScaleFromIndex(o,sn) ; - - ++diter ; - } - } - } // next candidate keypoint +/* + De-allocates memory held by a descriptor histogram - // prepare for next octave - keypoints.resize( diter - keypoints.begin() ) ; - nValidatedKeypoints = keypoints.size() ; - } // refine block + @param hist pointer to a 2D array of orientation histograms + @param d width of hist +*/ +static void release_descr_hist( double**** hist, int d ) +{ + int i, j; - } // next octave + for( i = 0; i < d; i++) + { + for( j = 0; j < d; j++ ) + free( (*hist)[i][j] ); + free( (*hist)[i] ); + } + free( *hist ); + *hist = NULL; } -// =================================================================== -// computeKeypointOrientations() -// ------------------------------------------------------------------- - -/** @brief Compute modulus and phase of the gradient - ** - ** The function computes the modulus and the angle of the gradient of - ** the specified octave @a o. The result is stored in a temporary - ** internal buffer accessed by computeKeypointDescriptor() and - ** computeKeypointOrientations(). - ** - ** The SIFT detector provides keypoint with scale index s in the - ** range @c smin+1 and @c smax-2. As such, the buffer contains only - ** these levels. - ** - ** If called mutliple time on the same data, the function exits - ** immediately. - ** - ** @param o octave of interest. - **/ -void -Sift::prepareGrad(int o) + +/* + De-allocates memory held by a scale space pyramid + + @param pyr scale space pyramid + @param octvs number of octaves of scale space + @param n number of images per octave +*/ +static void release_pyr( IplImage**** pyr, int octvs, int n ) { - int const ow = getOctaveWidth(o) ; - int const oh = getOctaveHeight(o) ; - int const xo = 1 ; - int const yo = ow ; - int const so = oh*ow ; - - if( ! tempIsGrad || tempOctave != o ) { - - // compute dx/dy - for(int s = smin+1 ; s <= smax-2 ; ++s) { - for(int y = 1 ; y < oh-1 ; ++y ) { - pixel_t* src = getLevel(o, s) + xo + yo*y ; - pixel_t* end = src + ow - 1 ; - pixel_t* grad = 2 * (xo + yo*y + (s - smin -1)*so) + temp ; - while(src != end) { - VL::float_t Gx = 0.5 * ( *(src+xo) - *(src-xo) ) ; - VL::float_t Gy = 0.5 * ( *(src+yo) - *(src-yo) ) ; - VL::float_t m = fast_sqrt( Gx*Gx + Gy*Gy ) ; - VL::float_t t = fast_mod_2pi( fast_atan2(Gy, Gx) + VL::float_t(2*CV_PI) ); - *grad++ = pixel_t( m ) ; - *grad++ = pixel_t( t ) ; - ++src ; - } - } + int i, j; + for( i = 0; i < octvs; i++ ) + { + for( j = 0; j < n; j++ ) + cvReleaseImage( &(*pyr)[i][j] ); + free( (*pyr)[i] ); } - } - - tempIsGrad = true ; - tempOctave = o ; + free( *pyr ); + *pyr = NULL; } -/** @brief Compute the orientation(s) of a keypoint - ** - ** The function computes the orientation of the specified keypoint. - ** The function returns up to four different orientations, obtained - ** as strong peaks of the histogram of gradient orientations (a - ** keypoint can theoretically generate more than four orientations, - ** but this is very unlikely). - ** - ** @remark The function needs to compute the gradient modululs and - ** orientation of the Gaussian scale space octave to which the - ** keypoint belongs. The result is cached, but discarded if different - ** octaves are visited. Thereofre it is much quicker to evaluate the - ** keypoints in their natural octave order. - ** - ** The keypoint must lie within the scale space. In particular, the - ** scale index is supposed to be in the range @c smin+1 and @c smax-1 - ** (this is from the SIFT detector). If this is not the case, the - ** computation is silently aborted and no orientations are returned. - ** - ** @param angles buffers to store the resulting angles. - ** @param keypoint keypoint to process. - ** @return number of orientations found. - **/ -int -Sift::computeKeypointOrientations(VL::float_t angles [4], Keypoint keypoint) +/* + Computes feature descriptors for features in an array. Based on Section 6 + of Lowe's paper. + + @param features array of features + @param gauss_pyr Gaussian scale space pyramid + @param d width of 2D array of orientation histograms + @param n number of bins per orientation histogram +*/ +static void compute_descriptors( CvSeq* features, IplImage*** gauss_pyr, int d, + int n ) { - int const nbins = 36 ; - VL::float_t const winFactor = 1.5 ; - VL::float_t hist [nbins] ; - - // octave - int o = keypoint.o ; - VL::float_t xperiod = getOctaveSamplingPeriod(o) ; - - // offsets to move in the Gaussian scale space octave - const int ow = getOctaveWidth(o) ; - const int oh = getOctaveHeight(o) ; - const int xo = 2 ; - const int yo = xo * ow ; - const int so = yo * oh ; - - // keypoint fractional geometry - VL::float_t x = keypoint.x / xperiod ; - VL::float_t y = keypoint.y / xperiod ; - VL::float_t sigma = keypoint.sigma / xperiod ; - - // shall we use keypoints.ix,iy,is here? - int xi = ((int) (x+0.5)) ; - int yi = ((int) (y+0.5)) ; - int si = keypoint.is ; - - VL::float_t const sigmaw = winFactor * sigma ; - int W = (int) floor(3.0 * sigmaw) ; - - // skip the keypoint if it is out of bounds - if(o < omin || - o >=omin+O || - xi < 0 || - xi > ow-1 || - yi < 0 || - yi > oh-1 || - si < smin+1 || - si > smax-2 ) { - std::cerr<<"!"<= W*W+0.5) continue ; - - VL::float_t wgt = VL::fast_expn( r2 / (2*sigmaw*sigmaw) ) ; - VL::float_t mod = *(pt + xs*xo + ys*yo) ; - VL::float_t ang = *(pt + xs*xo + ys*yo + 1) ; - - // int bin = (int) floor( nbins * ang / (2*CV_PI) ) ; - int bin = (int) floor( nbins * ang / (2*CV_PI) ) ; - hist[bin] += mod * wgt ; - } - } - - // smooth the histogram -#if defined VL_LOWE_STRICT - // Lowe's version apparently has a little issue with orientations - // around + or - pi, which we reproduce here for compatibility - for (int iter = 0; iter < 6; iter++) { - VL::float_t prev = hist[nbins/2] ; - for (int i = nbins/2-1; i >= -nbins/2 ; --i) { - int const j = (i + nbins) % nbins ; - int const jp = (i - 1 + nbins) % nbins ; - VL::float_t newh = (prev + hist[j] + hist[jp]) / 3.0; - prev = hist[j] ; - hist[j] = newh ; - } - } -#else - // this is slightly more correct - for (int iter = 0; iter < 6; iter++) { - VL::float_t prev = hist[nbins-1] ; - VL::float_t first = hist[0] ; - int i ; - for (i = 0; i < nbins - 1; i++) { - VL::float_t newh = (prev + hist[i] + hist[(i+1) % nbins]) / 3.0; - prev = hist[i] ; - hist[i] = newh ; - } - hist[i] = (prev + hist[i] + first)/3.0 ; - } -#endif - - // find the histogram maximum - VL::float_t maxh = * std::max_element(hist, hist + nbins) ; - - // find peaks within 80% from max - int nangles = 0 ; - for(int i = 0 ; i < nbins ; ++i) { - VL::float_t h0 = hist [i] ; - VL::float_t hm = hist [(i-1+nbins) % nbins] ; - VL::float_t hp = hist [(i+1+nbins) % nbins] ; - - // is this a peak? - if( h0 > 0.8*maxh && h0 > hm && h0 > hp ) { - - // quadratic interpolation - // VL::float_t di = -0.5 * (hp - hm) / (hp+hm-2*h0) ; - VL::float_t di = -0.5 * (hp - hm) / (hp+hm-2*h0) ; - VL::float_t th = 2*CV_PI * (i+di+0.5) / nbins ; - angles [ nangles++ ] = th ; - if( nangles == 4 ) - goto enough_angles ; + struct feature* feat; + struct detection_data* ddata; + double*** hist; + int i, k = features->total; + + for( i = 0; i < k; i++ ) + { + feat = CV_GET_SEQ_ELEM( struct feature, features, i ); + ddata = feat->feature_data; + hist = descr_hist( gauss_pyr[ddata->octv][ddata->intvl], ddata->r, + ddata->c, feat->ori, ddata->scl_octv, d, n ); + hist_to_descr( hist, d, n, feat ); + release_descr_hist( &hist, d ); } - } - enough_angles: - return nangles ; } -// =================================================================== -// computeKeypointDescriptor() -// ------------------------------------------------------------------- +/***** some auxilary stucture (there is not it in original implementation) *******/ -namespace Detail { - -/** Normalizes in norm L_2 a descriptor. */ -void -normalize_histogram(VL::float_t* L_begin, VL::float_t* L_end) +struct ImagePyrData { - VL::float_t* L_iter ; - VL::float_t norm = 0.0 ; + ImagePyrData( IplImage* img, int octvs, int intvls, double _sigma, int img_dbl ) + { + if( ! img ) + CV_Error( CV_StsBadArg, "NULL image pointer" ); - for(L_iter = L_begin; L_iter != L_end ; ++L_iter) - norm += (*L_iter) * (*L_iter) ; + /* build scale space pyramid; smallest dimension of top level is ~4 pixels */ + init_img = create_init_img( img, img_dbl, _sigma ); - norm = fast_sqrt(norm) ; + int max_octvs = log( MIN( init_img->width, init_img->height ) ) / log(2) - 2; + octvs = std::max( std::min( octvs, max_octvs ), 1 ); - for(L_iter = L_begin; L_iter != L_end ; ++L_iter) - *L_iter /= (norm + std::numeric_limits::epsilon() ) ; -} + gauss_pyr = build_gauss_pyr( init_img, octvs, intvls, _sigma ); + dog_pyr = build_dog_pyr( gauss_pyr, octvs, intvls ); -} + octaves = octvs; + intervals = intvls; + sigma = _sigma; + is_img_dbl = img_dbl != 0 ? true : false; + } -/** @brief SIFT descriptor - ** - ** The function computes the descriptor of the keypoint @a keypoint. - ** The function fills the buffer @a descr_pt which must be large - ** enough. The funciton uses @a angle0 as rotation of the keypoint. - ** By calling the function multiple times, different orientations can - ** be evaluated. - ** - ** @remark The function needs to compute the gradient modululs and - ** orientation of the Gaussian scale space octave to which the - ** keypoint belongs. The result is cached, but discarded if different - ** octaves are visited. Thereofre it is much quicker to evaluate the - ** keypoints in their natural octave order. - ** - ** The function silently abort the computations of keypoints without - ** the scale space boundaries. See also siftComputeOrientations(). - **/ -void -Sift::computeKeypointDescriptor -(VL::float_t* descr_pt, - Keypoint keypoint, - VL::float_t angle0) -{ + virtual ~ImagePyrData() + { + cvReleaseImage( &init_img ); + release_pyr( &gauss_pyr, octaves, intervals + 3 ); + release_pyr( &dog_pyr, octaves, intervals + 2 ); + } - /* The SIFT descriptor is a three dimensional histogram of the position - * and orientation of the gradient. There are NBP bins for each spatial - * dimesions and NBO bins for the orientation dimesion, for a total of - * NBP x NBP x NBO bins. - * - * The support of each spatial bin has an extension of SBP = 3sigma - * pixels, where sigma is the scale of the keypoint. Thus all the bins - * together have a support SBP x NBP pixels wide . Since weighting and - * interpolation of pixel is used, another half bin is needed at both - * ends of the extension. Therefore, we need a square window of SBP x - * (NBP + 1) pixels. Finally, since the patch can be arbitrarly rotated, - * we need to consider a window 2W += sqrt(2) x SBP x (NBP + 1) pixels - * wide. - */ - - // octave - int o = keypoint.o ; - VL::float_t xperiod = getOctaveSamplingPeriod(o) ; - - // offsets to move in Gaussian scale space octave - const int ow = getOctaveWidth(o) ; - const int oh = getOctaveHeight(o) ; - const int xo = 2 ; - const int yo = xo * ow ; - const int so = yo * oh ; - - // keypoint fractional geometry - VL::float_t x = keypoint.x / xperiod; - VL::float_t y = keypoint.y / xperiod ; - VL::float_t sigma = keypoint.sigma / xperiod ; - - VL::float_t st0 = sinf( angle0 ) ; - VL::float_t ct0 = cosf( angle0 ) ; - - // shall we use keypoints.ix,iy,is here? - int xi = ((int) (x+0.5)) ; - int yi = ((int) (y+0.5)) ; - int si = keypoint.is ; - - // const VL::float_t magnif = 3.0f ; - const int NBO = 8 ; - const int NBP = 4 ; - const VL::float_t SBP = magnif * sigma ; - const int W = (int) floor (sqrt(2.0) * SBP * (NBP + 1) / 2.0 + 0.5) ; - - /* Offsets to move in the descriptor. */ - /* Use Lowe's convention. */ - const int binto = 1 ; - const int binyo = NBO * NBP ; - const int binxo = NBO ; - // const int bino = NBO * NBP * NBP ; - - int bin ; - - // check bounds - if(o < omin || - o >=omin+O || - xi < 0 || - xi > ow-1 || - yi < 0 || - yi > oh-1 || - si < smin+1 || - si > smax-2 ) - return ; - - // make sure gradient buffer is up-to-date - prepareGrad(o) ; - - std::fill( descr_pt, descr_pt + NBO*NBP*NBP, 0.f ) ; - - /* Center the scale space and the descriptor on the current keypoint. - * Note that dpt is pointing to the bin of center (SBP/2,SBP/2,0). - */ - pixel_t const * pt = temp + xi*xo + yi*yo + (si - smin - 1)*so ; - VL::float_t * dpt = descr_pt + (NBP/2) * binyo + (NBP/2) * binxo ; - -#define atd(dbinx,dbiny,dbint) *(dpt + (dbint)*binto + (dbiny)*binyo + (dbinx)*binxo) + IplImage* init_img; + IplImage*** gauss_pyr, *** dog_pyr; - /* - * Process pixels in the intersection of the image rectangle - * (1,1)-(M-1,N-1) and the keypoint bounding box. - */ - for(int dyi = std::max(-W, 1-yi) ; dyi <= std::min(+W, oh-2-yi) ; ++dyi) { - for(int dxi = std::max(-W, 1-xi) ; dxi <= std::min(+W, ow-2-xi) ; ++dxi) { - - // retrieve - VL::float_t mod = *( pt + dxi*xo + dyi*yo + 0 ) ; - VL::float_t angle = *( pt + dxi*xo + dyi*yo + 1 ) ; - VL::float_t theta = fast_mod_2pi(-angle + angle0) ; // lowe compatible ? - - // fractional displacement - VL::float_t dx = xi + dxi - x; - VL::float_t dy = yi + dyi - y; - - // get the displacement normalized w.r.t. the keypoint - // orientation and extension. - VL::float_t nx = ( ct0 * dx + st0 * dy) / SBP ; - VL::float_t ny = (-st0 * dx + ct0 * dy) / SBP ; - VL::float_t nt = NBO * theta / (2*CV_PI) ; - - // Get the gaussian weight of the sample. The gaussian window - // has a standard deviation equal to NBP/2. Note that dx and dy - // are in the normalized frame, so that -NBP/2 <= dx <= NBP/2. - VL::float_t const wsigma = NBP/2 ; - VL::float_t win = VL::fast_expn((nx*nx + ny*ny)/(2.0 * wsigma * wsigma)) ; - - // The sample will be distributed in 8 adjacent bins. - // We start from the ``lower-left'' bin. - int binx = fast_floor( nx - 0.5 ) ; - int biny = fast_floor( ny - 0.5 ) ; - int bint = fast_floor( nt ) ; - VL::float_t rbinx = nx - (binx+0.5) ; - VL::float_t rbiny = ny - (biny+0.5) ; - VL::float_t rbint = nt - bint ; - int dbinx ; - int dbiny ; - int dbint ; - - // Distribute the current sample into the 8 adjacent bins - for(dbinx = 0 ; dbinx < 2 ; ++dbinx) { - for(dbiny = 0 ; dbiny < 2 ; ++dbiny) { - for(dbint = 0 ; dbint < 2 ; ++dbint) { - - if( binx+dbinx >= -(NBP/2) && - binx+dbinx < (NBP/2) && - biny+dbiny >= -(NBP/2) && - biny+dbiny < (NBP/2) ) { - VL::float_t weight = win - * mod - * fast_abs (1 - dbinx - rbinx) - * fast_abs (1 - dbiny - rbiny) - * fast_abs (1 - dbint - rbint) ; - - atd(binx+dbinx, biny+dbiny, (bint+dbint) % NBO) += weight ; - } - } - } - } + int octaves, intervals; + double sigma; + + bool is_img_dbl; +}; + +void release_features( struct feature** feat, int count ) +{ + for( int i = 0; i < count; i++ ) + { + free( (*feat)[i].feature_data ); + (*feat)[i].feature_data = NULL; } - } + free( *feat ); +} - /* Standard SIFT descriptors are normalized, truncated and normalized again */ - if( normalizeDescriptor ) { +void compute_features( const ImagePyrData* imgPyrData, struct feature** feat, int& count, + double contr_thr, int curv_thr ) +{ + CvMemStorage* storage; + CvSeq* features; - /* Normalize the histogram to L2 unit length. */ - Detail::normalize_histogram(descr_pt, descr_pt + NBO*NBP*NBP) ; + storage = cvCreateMemStorage( 0 ); + features = scale_space_extrema( imgPyrData->dog_pyr, imgPyrData->octaves, imgPyrData->intervals, + contr_thr, curv_thr, storage ); - /* Truncate at 0.2. */ - for(bin = 0; bin < NBO*NBP*NBP ; ++bin) { - if (descr_pt[bin] > 0.2) descr_pt[bin] = 0.2; - } + calc_feature_scales( features, imgPyrData->sigma, imgPyrData->intervals ); + if( imgPyrData->is_img_dbl ) + adjust_for_img_dbl( features ); + calc_feature_oris( features, imgPyrData->gauss_pyr ); - /* Normalize again. */ - Detail::normalize_histogram(descr_pt, descr_pt + NBO*NBP*NBP) ; - } + /* sort features by decreasing scale and move from CvSeq to array */ + cvSeqSort( features, (CvCmpFunc)feature_cmp, NULL ); + int n = features->total; + *feat = (feature*)calloc( n, sizeof(struct feature) ); + *feat = (feature*)cvCvtSeqToArray( features, *feat, CV_WHOLE_SEQ ); -} -// namespace VL + cvReleaseMemStorage( &storage ); + + count = n; } /****************************************************************************************\ - 2.) wrapper of Vedaldi`s SIFT + 2.) wrapper of Rob Hess`s SIFT \****************************************************************************************/ using namespace cv; @@ -2021,9 +1366,9 @@ SIFT::CommonParams::CommonParams() : firstOctave(DEFAULT_FIRST_OCTAVE), angleMode(FIRST_ANGLE) {} -SIFT::CommonParams::CommonParams( int _nOctaves, int _nOctaveLayers, int _firstOctave, int _angleMode ) : +SIFT::CommonParams::CommonParams( int _nOctaves, int _nOctaveLayers, int /*_firstOctave*/, int /*_angleMode*/ ) : nOctaves(_nOctaves), nOctaveLayers(_nOctaveLayers), - firstOctave(_firstOctave), angleMode(_angleMode) + firstOctave(-1/*_firstOctave*/), angleMode(FIRST_ANGLE/*_angleMode*/) {} SIFT::DetectorParams::DetectorParams() : @@ -2039,11 +1384,15 @@ SIFT::DescriptorParams::DescriptorParams() : recalculateAngles(true) {} -SIFT::DescriptorParams::DescriptorParams( double _magnification, bool _isNormalize, bool _recalculateAngles ) : - magnification(_magnification), isNormalize(_isNormalize), +SIFT::DescriptorParams::DescriptorParams( double _magnification, bool /*_isNormalize*/, bool _recalculateAngles ) : + magnification(_magnification), isNormalize(true/*_isNormalize*/), recalculateAngles(_recalculateAngles) {} +SIFT::DescriptorParams::DescriptorParams( bool _recalculateAngles ) + : magnification(GET_DEFAULT_MAGNIFICATION()), isNormalize(true),recalculateAngles(_recalculateAngles) +{} + SIFT::SIFT() {} @@ -2090,108 +1439,141 @@ SIFT::DescriptorParams SIFT::getDescriptorParams () const return descriptorParams; } -inline KeyPoint vlKeypointToOcv( const VL::Sift& vlSift, const VL::Sift::Keypoint& vlKeypoint, float angle ) +struct SiftParams { - float size = vlKeypoint.sigma*SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION()*4;// 4==NBP - return KeyPoint( vlKeypoint.x, vlKeypoint.y, size, angle, 0, vlKeypoint.o, 0 ); -} + SiftParams( int _O, int _S ) + { + O = _O; + S = _S; + + sigma0 = 1.6 * powf(2.0f, 1.0f / S ) ; + + omin = -1; + smin = -1; + smax = S + 1; + } -inline void ocvKeypointToVl( const VL::Sift& vlSift, const KeyPoint& ocvKeypoint, - VL::Sift::Keypoint& vlKeypoint, int magnification ) + int O; + int S; + + double sigma0; + + int omin; + int smin; + int smax; +}; + +inline KeyPoint featureToKeyPoint( const feature& feat ) { - float sigma = ocvKeypoint.size/(SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION()*4);// 4==NBP - vlKeypoint = vlSift.getKeypoint( ocvKeypoint.pt.x, ocvKeypoint.pt.y, sigma); + float size = feat.scl * SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION() * 4; // 4==NBP + float angle = feat.ori * a_180divPI; + return KeyPoint( feat.x, feat.y, size, angle, 0, feat.feature_data->octv, 0 ); } -bool computeKeypointOrientations( VL::Sift& sift, const VL::Sift::Keypoint& keypoint, float& angleVal, int angleMode ) +static void fillFeatureData( feature& feat, const SiftParams& params ) { - angleVal = 0.f; - VL::float_t angles[4]; - int angleCount = sift.computeKeypointOrientations(angles, keypoint); - if( angleCount > 0 ) - { - if( angleMode == SIFT::CommonParams::FIRST_ANGLE ) - { - angleVal = angles[0]; - } - else if( angleMode == SIFT::CommonParams::AVERAGE_ANGLE ) - { - for( int i = 0; i < angleCount; i++ ) - angleVal += angles[i]; - angleVal /= angleCount; - } - else - { - assert(0); - } - return true; - } + /* + The formula linking the keypoint scale sigma to the octave and + scale index is - return false; -} + (1) sigma(o,s) = sigma0 2^(o+s/S) + for which -struct KeyPoint_LessThan -{ - KeyPoint_LessThan(const vector& _kp) : kp(&_kp) {} - bool operator()(int i, int j) const - { - const KeyPoint& kp1 = (*kp)[i]; - const KeyPoint& kp2 = (*kp)[j]; - if( kp1.pt.x != kp2.pt.x ) - return kp1.pt.x < kp2.pt.x; - if( kp1.pt.y != kp2.pt.y ) - return kp1.pt.y < kp2.pt.y; - if( kp1.size != kp2.size ) - return kp1.size > kp2.size; - if( kp1.size != kp2.size ) - return kp1.size > kp2.size; - if( kp1.angle != kp2.angle ) - return kp1.angle < kp2.angle; - if( kp1.response != kp2.response ) - return kp1.response > kp2.response; - if( kp1.octave != kp2.octave ) - return kp1.octave > kp2.octave; - if( kp1.class_id != kp2.class_id ) - return kp1.class_id > kp2.class_id; - - return i < j; - } - const vector* kp; -}; + (2) o + s/S = log2 sigma/sigma0 == phi. + + In addition to the scale index s (which can be fractional due to + scale interpolation) a keypoint has an integer scale index is too + (which is the index of the scale level where it was detected in + the DoG scale space). We have the constraints: + + - o and is are integer + + - is is in the range [smin+1, smax-2 ] + + - o is in the range [omin, omin+O-1] + + - is = rand(s) most of the times (but not always, due to the way s + is obtained by quadratic interpolation of the DoG scale space). + + Depending on the values of smin and smax, often (2) has multiple + solutions is,o that satisfy all constraints. In this case we + choose the one with biggest index o (this saves a bit of + computation). + DETERMINING THE OCTAVE INDEX O -static void removeDuplicatedKeypoints(vector& keypoints) + From (2) we have o = phi - s/S and we want to pick the biggest + possible index o in the feasible range. This corresponds to + selecting the smallest possible index s. We write s = is + ds + where in most cases |ds|<.5 (but in general |ds|<1). So we have + + o = phi - s/S, s = is + ds , |ds| < .5 (or |ds| < 1). + + Since is is in the range [smin+1,smax-2], s is in the range + [smin+.5,smax-1.5] (or [smin,smax-1]), the number o is an integer + in the range phi+[-smax+1.5,-smin-.5] (or + phi+[-smax+1,-smin]). Thus the maximum value of o is obtained for + o = floor(phi-smin-.5) (or o = floor(phi-smin)). + + Finally o is clamped to make sure it is contained in the feasible + range. + + DETERMINING THE SCALE INDEXES S AND IS + + Given o we can derive is by writing (2) as + + s = is + ds = S(phi - o). + + We then take is = round(s) and clamp its value to be in the + feasible range. + */ + + double sigma = feat.scl; + double x = feat.x; + double y = feat.y; + + int o, ix, iy, is; + float s, phi; + + phi = log2( sigma / params.sigma0 ) ; + o = std::floor( phi - (float(params.smin)+.5)/params.S ); + o = std::min(o, params.omin+params.O-1); + o = std::max(o, params.omin); + s = params.S * (phi - o); + + is = int(s + 0.5); + is = std::min(is, params.smax - 2); + is = std::max(is, params.smin + 1); + + float per = getOctaveSamplingPeriod(o) ; + ix = int(x / per + 0.5) ; + iy = int(y / per + 0.5) ; + + + detection_data* ddata = feat.feature_data; + + ddata->r = iy; + ddata->c = ix; + + ddata->octv = o + 1; + ddata->intvl = is + 1; + + ddata->subintvl = s - is; + ddata->scl_octv = params.sigma0 * pow(2.0, s / params.S); +} + +inline void keyPointToFeature( const KeyPoint& keypoint, feature& feat, const SiftParams& params ) { - int i, j, n = (int)keypoints.size(); - vector kpidx(n); - vector mask(n, (uchar)1); - - for( i = 0; i < n; i++ ) - kpidx[i] = i; - std::sort(kpidx.begin(), kpidx.end(), KeyPoint_LessThan(keypoints)); - for( i = 1, j = 0; i < n; i++ ) - { - KeyPoint& kp1 = keypoints[kpidx[i]]; - KeyPoint& kp2 = keypoints[kpidx[j]]; - if( kp1.pt.x != kp2.pt.x || kp1.pt.y != kp2.pt.y || - kp1.size != kp2.size || kp1.angle != kp2.angle ) - j = i; - else - mask[kpidx[i]] = 0; - } + feat.x = keypoint.pt.x; + feat.y = keypoint.pt.y; - for( i = j = 0; i < n; i++ ) - { - if( mask[i] ) - { - if( i != j ) - keypoints[j] = keypoints[i]; - j++; - } - } - keypoints.resize(j); + feat.scl = keypoint.size / (SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION()*4); // 4==NBP + feat.ori = keypoint.angle * a_PIdiv180; + + feat.feature_data = (detection_data*) calloc( 1, sizeof( detection_data ) ); + fillFeatureData( feat, params ); } // detectors @@ -2236,30 +1618,26 @@ void SIFT::operator()(const Mat& image, const Mat& mask, } Mat fimg; - subImage.convertTo( fimg, CV_32FC1, 1.0/255.0 ); + subImage.convertTo( fimg, CV_32FC1 ); - const double sigman = .5 ; - const double sigma0 = 1.6 * powf(2.0f, 1.0f / commParams.nOctaveLayers) ; - const double a_180divPI = 180./CV_PI; + // compute features + IplImage img = fimg; + struct feature* features; - VL::Sift vlsift((float*)fimg.data, fimg.cols, fimg.rows, - sigman, sigma0, commParams.nOctaves, commParams.nOctaveLayers, - commParams.firstOctave, -1, commParams.nOctaveLayers+1); + ImagePyrData pyrImages( &img, commParams.nOctaves, commParams.nOctaveLayers, SIFT_SIGMA, SIFT_IMG_DBL ); - vlsift.detectKeypoints(detectorParams.threshold, detectorParams.edgeThreshold); - int d = std::abs(int(vlsift.keypointsBegin()-vlsift.keypointsEnd())); - keypoints.reserve(d); + int feature_count = 0; + compute_features( &pyrImages, &features, feature_count, detectorParams.threshold, detectorParams.edgeThreshold ); - for( VL::Sift::KeypointsConstIter iter = vlsift.keypointsBegin(); iter != vlsift.keypointsEnd(); ++iter ) + // convert to KeyPoint structure + keypoints.resize( feature_count ); + for( int i = 0; i < feature_count; i++ ) { - float angleVal = 0.f; - if( computeKeypointOrientations( vlsift, *iter, angleVal, commParams.angleMode ) ) - { - keypoints.push_back( vlKeypointToOcv(vlsift, *iter, angleVal*a_180divPI) ); - } + keypoints[i] = featureToKeyPoint( features[i] ); } + release_features( &features, feature_count ); - removeDuplicatedKeypoints(keypoints); + KeyPointsFilter::removeDuplicated( keypoints ); if( !subMask.empty() ) { @@ -2274,11 +1652,6 @@ void SIFT::operator()(const Mat& image, const Mat& mask, } } -struct InvalidKeypoint -{ - bool operator()(const KeyPoint& kp) const { return kp.octave == std::numeric_limits::max(); } -}; - // descriptors void SIFT::operator()(const Mat& image, const Mat& mask, vector& keypoints, @@ -2289,12 +1662,7 @@ void SIFT::operator()(const Mat& image, const Mat& mask, CV_Error( CV_StsBadArg, "img is empty or has incorrect type" ); Mat fimg; - image.convertTo(fimg, CV_32FC1, 1.0/255.0); - - const double sigman = .5 ; - const double sigma0 = 1.6 * powf(2.0f, 1.0f / commParams.nOctaveLayers) ; - const double a_180divPI = 180./CV_PI; - const double a_PIdiv180 = CV_PI/180.; + image.convertTo(fimg, CV_32FC1/*, 1.0/255.0*/); if( !useProvidedKeypoints ) (*this)(image, mask, keypoints); @@ -2304,47 +1672,62 @@ void SIFT::operator()(const Mat& image, const Mat& mask, KeyPointsFilter::runByPixelsMask( keypoints, mask ); } - VL::Sift vlsift((float*)fimg.data, fimg.cols, fimg.rows, - sigman, sigma0, commParams.nOctaves, commParams.nOctaveLayers, - commParams.firstOctave, -1, commParams.nOctaveLayers+1); - vlsift.setNormalizeDescriptor(descriptorParams.isNormalize); - vlsift.setMagnification(descriptorParams.magnification); + IplImage img = fimg; + ImagePyrData pyrImages( &img, commParams.nOctaves, commParams.nOctaveLayers, SIFT_SIGMA, SIFT_IMG_DBL ); - descriptors.create( keypoints.size(), DescriptorParams::DESCRIPTOR_SIZE, DataType::type ); - vector::iterator kp_iter = keypoints.begin(); + // Calculate orientation of features. + // Note: calc_feature_oris() duplicates the points with several dominant orientations. + // So if keypoints was detected by Sift feature detector then some points will be + // duplicated twice. + CvMemStorage* storage = cvCreateMemStorage( 0 ); + CvSeq* featuresSeq = cvCreateSeq( 0, sizeof(CvSeq), sizeof(struct feature), storage ); - for( int pi = 0 ; kp_iter != keypoints.end(); ++kp_iter, pi++ ) + if( descriptorParams.recalculateAngles ) { - VL::Sift::Keypoint vlkpt; - ocvKeypointToVl( vlsift, *kp_iter, vlkpt, descriptorParams.magnification ); - - if( descriptorParams.recalculateAngles ) + for( size_t i = 0; i < keypoints.size(); i++ ) { - float recalcAngleVal = 0.f; - if( computeKeypointOrientations( vlsift, vlkpt, recalcAngleVal, commParams.angleMode ) ) - { - kp_iter->angle = recalcAngleVal*a_180divPI; // save recalculated angle value - assert( kp_iter->angle >= 0 ); - vlsift.computeKeypointDescriptor((VL::float_t*)descriptors.ptr(pi), vlkpt, recalcAngleVal); - } - else - { - // mark point to remove - kp_iter->octave = std::numeric_limits::max(); - } + feature* ft = (feature*) calloc( 1, sizeof( struct feature ) ); + keyPointToFeature( keypoints[i], *ft, SiftParams( commParams.nOctaves, commParams.nOctaveLayers ) ); + cvSeqPush( featuresSeq, ft ); } - else + calc_feature_oris( featuresSeq, pyrImages.gauss_pyr ); + + keypoints.resize( featuresSeq->total ); + for( int i = 0; i < featuresSeq->total; i++ ) { - if( kp_iter->angle < 0 ) - CV_Error( CV_StsBadArg, "Angle must be applicable (i.e. supported by feature detector that was used to detect keypoints)." ); + feature * ft = CV_GET_SEQ_ELEM( feature, featuresSeq, i ); + keypoints[i] = featureToKeyPoint( *ft ); + } + + // Remove duplicated keypoints. + KeyPointsFilter::removeDuplicated( keypoints ); - float angleVal = kp_iter->angle*a_PIdiv180; - vlsift.computeKeypointDescriptor((VL::float_t*)descriptors.ptr(pi), vlkpt, angleVal); + // Compute descriptors. + cvSeqRemoveSlice( featuresSeq, cvSlice(0, featuresSeq->total) ); + } + + for( size_t i = 0; i < keypoints.size(); i++ ) + { + feature* ft = (feature*) calloc( 1, sizeof( struct feature ) ); + keyPointToFeature( keypoints[i], *ft, SiftParams( commParams.nOctaves, commParams.nOctaveLayers ) ); + cvSeqPush( featuresSeq, ft ); + } + compute_descriptors( featuresSeq, pyrImages.gauss_pyr, SIFT_DESCR_WIDTH, SIFT_DESCR_HIST_BINS ); + CV_DbgAssert( (int)keypoints.size() == featuresSeq->total ); + // TODO check that keypoint fiels is the same as before compute_descriptors() + + descriptors.create( featuresSeq->total, SIFT::DescriptorParams::DESCRIPTOR_SIZE, CV_32FC1 ); + for( int i = 0; i < featuresSeq->total; i++ ) + { + float* rowPtr = descriptors.ptr(i); + feature * featurePtr = CV_GET_SEQ_ELEM( feature, featuresSeq, i ); + CV_Assert( featurePtr ); + double* desc = featurePtr->descr; + for( int j = 0; j < descriptors.cols; j++ ) + { + rowPtr[j] = (float)desc[j]; } } - if( descriptorParams.recalculateAngles ) - keypoints.erase( remove_if(keypoints.begin(), keypoints.end(), InvalidKeypoint()), keypoints.end()); + cvReleaseMemStorage( &storage ); } - -#endif // ARM_NO_SIFT -- 2.7.4