From 228070a74cf43f4f37e6c65110ea18587d76e4a6 Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Thu, 23 Aug 2012 14:33:11 +0200 Subject: [PATCH] split FAST in order to reuse it in BRISK --- modules/features2d/src/fast.cpp | 328 +---------------------------- modules/features2d/src/fast_score.cpp | 374 ++++++++++++++++++++++++++++++++++ modules/features2d/src/fast_score.hpp | 64 ++++++ 3 files changed, 439 insertions(+), 327 deletions(-) create mode 100644 modules/features2d/src/fast_score.cpp create mode 100644 modules/features2d/src/fast_score.hpp diff --git a/modules/features2d/src/fast.cpp b/modules/features2d/src/fast.cpp index b9834bb..9beba21 100644 --- a/modules/features2d/src/fast.cpp +++ b/modules/features2d/src/fast.cpp @@ -42,335 +42,11 @@ The references are: */ #include "precomp.hpp" +#include "fast_score.hpp" namespace cv { -static void makeOffsets(int pixel[], int row_stride, int patternSize) -{ - switch(patternSize) { - case 16: - pixel[0] = 0 + row_stride * 3; - pixel[1] = 1 + row_stride * 3; - pixel[2] = 2 + row_stride * 2; - pixel[3] = 3 + row_stride * 1; - pixel[4] = 3 + row_stride * 0; - pixel[5] = 3 + row_stride * -1; - pixel[6] = 2 + row_stride * -2; - pixel[7] = 1 + row_stride * -3; - pixel[8] = 0 + row_stride * -3; - pixel[9] = -1 + row_stride * -3; - pixel[10] = -2 + row_stride * -2; - pixel[11] = -3 + row_stride * -1; - pixel[12] = -3 + row_stride * 0; - pixel[13] = -3 + row_stride * 1; - pixel[14] = -2 + row_stride * 2; - pixel[15] = -1 + row_stride * 3; - break; - case 12: - pixel[0] = 0 + row_stride * 2; - pixel[1] = 1 + row_stride * 2; - pixel[2] = 2 + row_stride * 1; - pixel[3] = 2 + row_stride * 0; - pixel[4] = 2 + row_stride * -1; - pixel[5] = 1 + row_stride * -2; - pixel[6] = 0 + row_stride * -2; - pixel[7] = -1 + row_stride * -2; - pixel[8] = -2 + row_stride * -1; - pixel[9] = -2 + row_stride * 0; - pixel[10] = -2 + row_stride * 1; - pixel[11] = -1 + row_stride * 2; - break; - case 8: - pixel[0] = 0 + row_stride * 1; - pixel[1] = 1 + row_stride * 1; - pixel[2] = 1 + row_stride * 0; - pixel[3] = 1 + row_stride * -1; - pixel[4] = 0 + row_stride * -1; - pixel[5] = -1 + row_stride * -1; - pixel[6] = 0 + row_stride * 0; - pixel[7] = 1 + row_stride * 1; - break; - } -} - -/*static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold) { - // check that with the computed "threshold" the pixel is still a corner - // and that with the increased-by-1 "threshold" the pixel is not a corner anymore - for( int delta = 0; delta <= 1; delta++ ) - { - int v0 = std::min(ptr[0] + threshold + delta, 255); - int v1 = std::max(ptr[0] - threshold - delta, 0); - int c0 = 0, c1 = 0; - - for( int k = 0; k < N; k++ ) - { - int x = ptr[pixel[k]]; - if(x > v0) - { - if( ++c0 > K ) - break; - c1 = 0; - } - else if( x < v1 ) - { - if( ++c1 > K ) - break; - c0 = 0; - } - else - { - c0 = c1 = 0; - } - } - CV_Assert( (delta == 0 && std::max(c0, c1) > K) || - (delta == 1 && std::max(c0, c1) <= K) ); - } -}*/ - -template -int cornerScore(const uchar* ptr, const int pixel[], int threshold); - -template<> -int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold) -{ - const int K = 8, N = 16 + K + 1; - int k, v = ptr[0]; - short d[N]; - for( k = 0; k < N; k++ ) - d[k] = (short)(v - ptr[pixel[k]]); - -#if CV_SSE2 - __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); - for( k = 0; k < 16; k += 8 ) - { - __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); - __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); - __m128i a = _mm_min_epi16(v0, v1); - __m128i b = _mm_max_epi16(v0, v1); - v0 = _mm_loadu_si128((__m128i*)(d+k+3)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+4)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+5)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+6)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+7)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+8)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k)); - q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); - q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); - v0 = _mm_loadu_si128((__m128i*)(d+k+9)); - q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); - q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); - } - q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); - q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); - q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); - q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); - threshold = (short)_mm_cvtsi128_si32(q0) - 1; -#else - int a0 = threshold; - for( k = 0; k < 16; k += 2 ) - { - int a = std::min((int)d[k+1], (int)d[k+2]); - a = std::min(a, (int)d[k+3]); - if( a <= a0 ) - continue; - a = std::min(a, (int)d[k+4]); - a = std::min(a, (int)d[k+5]); - a = std::min(a, (int)d[k+6]); - a = std::min(a, (int)d[k+7]); - a = std::min(a, (int)d[k+8]); - a0 = std::max(a0, std::min(a, (int)d[k])); - a0 = std::max(a0, std::min(a, (int)d[k+9])); - } - - int b0 = -a0; - for( k = 0; k < 16; k += 2 ) - { - int b = std::max((int)d[k+1], (int)d[k+2]); - b = std::max(b, (int)d[k+3]); - b = std::max(b, (int)d[k+4]); - b = std::max(b, (int)d[k+5]); - if( b >= b0 ) - continue; - b = std::max(b, (int)d[k+6]); - b = std::max(b, (int)d[k+7]); - b = std::max(b, (int)d[k+8]); - - b0 = std::min(b0, std::max(b, (int)d[k])); - b0 = std::min(b0, std::max(b, (int)d[k+9])); - } - - threshold = -b0-1; -#endif - -#if 0 - testCorner(ptr, pixel, K, N, threshold); -#endif - return threshold; -} - -template<> -int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold) -{ - const int K = 6, N = 12 + K + 1; - int k, v = ptr[0]; - short d[N]; - for( k = 0; k < N; k++ ) - d[k] = (short)(v - ptr[pixel[k]]); - -#if CV_SSE2 - __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); - for( k = 0; k < 16; k += 8 ) - { - __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); - __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); - __m128i a = _mm_min_epi16(v0, v1); - __m128i b = _mm_max_epi16(v0, v1); - v0 = _mm_loadu_si128((__m128i*)(d+k+3)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+4)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+5)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+6)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k)); - q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); - q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); - v0 = _mm_loadu_si128((__m128i*)(d+k+7)); - q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); - q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); - } - q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); - q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); - q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); - q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); - threshold = (short)_mm_cvtsi128_si32(q0) - 1; -#else - int a0 = threshold; - for( k = 0; k < 12; k += 2 ) - { - int a = std::min((int)d[k+1], (int)d[k+2]); - if( a <= a0 ) - continue; - a = std::min(a, (int)d[k+3]); - a = std::min(a, (int)d[k+4]); - a = std::min(a, (int)d[k+5]); - a = std::min(a, (int)d[k+6]); - a0 = std::max(a0, std::min(a, (int)d[k])); - a0 = std::max(a0, std::min(a, (int)d[k+7])); - } - - int b0 = -a0; - for( k = 0; k < 12; k += 2 ) - { - int b = std::max((int)d[k+1], (int)d[k+2]); - b = std::max(b, (int)d[k+3]); - b = std::max(b, (int)d[k+4]); - if( b >= b0 ) - continue; - b = std::max(b, (int)d[k+5]); - b = std::max(b, (int)d[k+6]); - - b0 = std::min(b0, std::max(b, (int)d[k])); - b0 = std::min(b0, std::max(b, (int)d[k+7])); - } - - threshold = -b0-1; -#endif - -#if 0 - testCorner(ptr, pixel, K, N, threshold); -#endif - return threshold; -} - -template<> -int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold) -{ - const int K = 4, N = 8 + K + 1; - int k, v = ptr[0]; - short d[N]; - for( k = 0; k < N; k++ ) - d[k] = (short)(v - ptr[pixel[k]]); - -#if CV_SSE2 - __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); - for( k = 0; k < 16; k += 8 ) - { - __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); - __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); - __m128i a = _mm_min_epi16(v0, v1); - __m128i b = _mm_max_epi16(v0, v1); - v0 = _mm_loadu_si128((__m128i*)(d+k+3)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k+4)); - a = _mm_min_epi16(a, v0); - b = _mm_max_epi16(b, v0); - v0 = _mm_loadu_si128((__m128i*)(d+k)); - q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); - q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); - v0 = _mm_loadu_si128((__m128i*)(d+k+5)); - q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); - q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); - } - q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); - q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); - q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); - q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); - threshold = (short)_mm_cvtsi128_si32(q0) - 1; -#else - int a0 = threshold; - for( k = 0; k < 8; k += 2 ) - { - int a = std::min((int)d[k+1], (int)d[k+2]); - if( a <= a0 ) - continue; - a = std::min(a, (int)d[k+3]); - a = std::min(a, (int)d[k+4]); - a0 = std::max(a0, std::min(a, (int)d[k])); - a0 = std::max(a0, std::min(a, (int)d[k+5])); - } - - int b0 = -a0; - for( k = 0; k < 8; k += 2 ) - { - int b = std::max((int)d[k+1], (int)d[k+2]); - b = std::max(b, (int)d[k+3]); - if( b >= b0 ) - continue; - b = std::max(b, (int)d[k+4]); - - b0 = std::min(b0, std::max(b, (int)d[k])); - b0 = std::min(b0, std::max(b, (int)d[k+5])); - } - - threshold = -b0-1; -#endif - -#if 0 - testCorner(ptr, pixel, K, N, threshold); -#endif - return threshold; -} - template void FAST_t(InputArray _img, std::vector& keypoints, int threshold, bool nonmax_suppression) { @@ -381,8 +57,6 @@ void FAST_t(InputArray _img, std::vector& keypoints, int threshold, bo #endif int i, j, k, pixel[25]; makeOffsets(pixel, (int)img.step, patternSize); - for(k = patternSize; k < 25; k++) - pixel[k] = pixel[k - patternSize]; keypoints.clear(); diff --git a/modules/features2d/src/fast_score.cpp b/modules/features2d/src/fast_score.cpp new file mode 100644 index 0000000..aa5881e --- /dev/null +++ b/modules/features2d/src/fast_score.cpp @@ -0,0 +1,374 @@ +/* This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten. + Below is the original copyright and the references */ + +/* +Copyright (c) 2006, 2008 Edward Rosten +All rights reserved. + +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 + notice, 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 the University of Cambridge 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 OWNER 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. +*/ + +/* +The references are: + * Machine learning for high-speed corner detection, + E. Rosten and T. Drummond, ECCV 2006 + * Faster and better: A machine learning approach to corner detection + E. Rosten, R. Porter and T. Drummond, PAMI, 2009 +*/ + +#include "fast_score.hpp" + +namespace cv +{ + +void makeOffsets(int pixel[25], int row_stride, int patternSize) +{ + CV_Assert(pixel != 0); + switch(patternSize) { + case 16: + pixel[0] = 0 + row_stride * 3; + pixel[1] = 1 + row_stride * 3; + pixel[2] = 2 + row_stride * 2; + pixel[3] = 3 + row_stride * 1; + pixel[4] = 3 + row_stride * 0; + pixel[5] = 3 + row_stride * -1; + pixel[6] = 2 + row_stride * -2; + pixel[7] = 1 + row_stride * -3; + pixel[8] = 0 + row_stride * -3; + pixel[9] = -1 + row_stride * -3; + pixel[10] = -2 + row_stride * -2; + pixel[11] = -3 + row_stride * -1; + pixel[12] = -3 + row_stride * 0; + pixel[13] = -3 + row_stride * 1; + pixel[14] = -2 + row_stride * 2; + pixel[15] = -1 + row_stride * 3; + break; + case 12: + pixel[0] = 0 + row_stride * 2; + pixel[1] = 1 + row_stride * 2; + pixel[2] = 2 + row_stride * 1; + pixel[3] = 2 + row_stride * 0; + pixel[4] = 2 + row_stride * -1; + pixel[5] = 1 + row_stride * -2; + pixel[6] = 0 + row_stride * -2; + pixel[7] = -1 + row_stride * -2; + pixel[8] = -2 + row_stride * -1; + pixel[9] = -2 + row_stride * 0; + pixel[10] = -2 + row_stride * 1; + pixel[11] = -1 + row_stride * 2; + break; + case 8: + pixel[0] = 0 + row_stride * 1; + pixel[1] = 1 + row_stride * 1; + pixel[2] = 1 + row_stride * 0; + pixel[3] = 1 + row_stride * -1; + pixel[4] = 0 + row_stride * -1; + pixel[5] = -1 + row_stride * -1; + pixel[6] = 0 + row_stride * 0; + pixel[7] = 1 + row_stride * 1; + break; + } + for(int k = patternSize; k < 25; k++) + pixel[k] = pixel[k - patternSize]; +} + +/*static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold) { + // check that with the computed "threshold" the pixel is still a corner + // and that with the increased-by-1 "threshold" the pixel is not a corner anymore + for( int delta = 0; delta <= 1; delta++ ) + { + int v0 = std::min(ptr[0] + threshold + delta, 255); + int v1 = std::max(ptr[0] - threshold - delta, 0); + int c0 = 0, c1 = 0; + + for( int k = 0; k < N; k++ ) + { + int x = ptr[pixel[k]]; + if(x > v0) + { + if( ++c0 > K ) + break; + c1 = 0; + } + else if( x < v1 ) + { + if( ++c1 > K ) + break; + c0 = 0; + } + else + { + c0 = c1 = 0; + } + } + CV_Assert( (delta == 0 && std::max(c0, c1) > K) || + (delta == 1 && std::max(c0, c1) <= K) ); + } +}*/ + +template<> +int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold) +{ + const int K = 8, N = 16 + K + 1; + int k, v = ptr[0]; + short d[N]; + for( k = 0; k < N; k++ ) + d[k] = (short)(v - ptr[pixel[k]]); + +#if CV_SSE2 + __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); + for( k = 0; k < 16; k += 8 ) + { + __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); + __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); + __m128i a = _mm_min_epi16(v0, v1); + __m128i b = _mm_max_epi16(v0, v1); + v0 = _mm_loadu_si128((__m128i*)(d+k+3)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+4)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+5)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+6)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+7)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+8)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k)); + q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); + q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); + v0 = _mm_loadu_si128((__m128i*)(d+k+9)); + q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); + q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); + } + q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); + q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); + q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); + q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); + threshold = (short)_mm_cvtsi128_si32(q0) - 1; +#else + int a0 = threshold; + for( k = 0; k < 16; k += 2 ) + { + int a = std::min((int)d[k+1], (int)d[k+2]); + a = std::min(a, (int)d[k+3]); + if( a <= a0 ) + continue; + a = std::min(a, (int)d[k+4]); + a = std::min(a, (int)d[k+5]); + a = std::min(a, (int)d[k+6]); + a = std::min(a, (int)d[k+7]); + a = std::min(a, (int)d[k+8]); + a0 = std::max(a0, std::min(a, (int)d[k])); + a0 = std::max(a0, std::min(a, (int)d[k+9])); + } + + int b0 = -a0; + for( k = 0; k < 16; k += 2 ) + { + int b = std::max((int)d[k+1], (int)d[k+2]); + b = std::max(b, (int)d[k+3]); + b = std::max(b, (int)d[k+4]); + b = std::max(b, (int)d[k+5]); + if( b >= b0 ) + continue; + b = std::max(b, (int)d[k+6]); + b = std::max(b, (int)d[k+7]); + b = std::max(b, (int)d[k+8]); + + b0 = std::min(b0, std::max(b, (int)d[k])); + b0 = std::min(b0, std::max(b, (int)d[k+9])); + } + + threshold = -b0-1; +#endif + +#if 0 + testCorner(ptr, pixel, K, N, threshold); +#endif + return threshold; +} + +template<> +int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold) +{ + const int K = 6, N = 12 + K + 1; + int k, v = ptr[0]; + short d[N]; + for( k = 0; k < N; k++ ) + d[k] = (short)(v - ptr[pixel[k]]); + +#if CV_SSE2 + __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); + for( k = 0; k < 16; k += 8 ) + { + __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); + __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); + __m128i a = _mm_min_epi16(v0, v1); + __m128i b = _mm_max_epi16(v0, v1); + v0 = _mm_loadu_si128((__m128i*)(d+k+3)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+4)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+5)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+6)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k)); + q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); + q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); + v0 = _mm_loadu_si128((__m128i*)(d+k+7)); + q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); + q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); + } + q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); + q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); + q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); + q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); + threshold = (short)_mm_cvtsi128_si32(q0) - 1; +#else + int a0 = threshold; + for( k = 0; k < 12; k += 2 ) + { + int a = std::min((int)d[k+1], (int)d[k+2]); + if( a <= a0 ) + continue; + a = std::min(a, (int)d[k+3]); + a = std::min(a, (int)d[k+4]); + a = std::min(a, (int)d[k+5]); + a = std::min(a, (int)d[k+6]); + a0 = std::max(a0, std::min(a, (int)d[k])); + a0 = std::max(a0, std::min(a, (int)d[k+7])); + } + + int b0 = -a0; + for( k = 0; k < 12; k += 2 ) + { + int b = std::max((int)d[k+1], (int)d[k+2]); + b = std::max(b, (int)d[k+3]); + b = std::max(b, (int)d[k+4]); + if( b >= b0 ) + continue; + b = std::max(b, (int)d[k+5]); + b = std::max(b, (int)d[k+6]); + + b0 = std::min(b0, std::max(b, (int)d[k])); + b0 = std::min(b0, std::max(b, (int)d[k+7])); + } + + threshold = -b0-1; +#endif + +#if 0 + testCorner(ptr, pixel, K, N, threshold); +#endif + return threshold; +} + +template<> +int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold) +{ + const int K = 4, N = 8 + K + 1; + int k, v = ptr[0]; + short d[N]; + for( k = 0; k < N; k++ ) + d[k] = (short)(v - ptr[pixel[k]]); + +#if CV_SSE2 + __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000); + for( k = 0; k < 16; k += 8 ) + { + __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1)); + __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2)); + __m128i a = _mm_min_epi16(v0, v1); + __m128i b = _mm_max_epi16(v0, v1); + v0 = _mm_loadu_si128((__m128i*)(d+k+3)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k+4)); + a = _mm_min_epi16(a, v0); + b = _mm_max_epi16(b, v0); + v0 = _mm_loadu_si128((__m128i*)(d+k)); + q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); + q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); + v0 = _mm_loadu_si128((__m128i*)(d+k+5)); + q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0)); + q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0)); + } + q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1)); + q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0)); + q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4)); + q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2)); + threshold = (short)_mm_cvtsi128_si32(q0) - 1; +#else + int a0 = threshold; + for( k = 0; k < 8; k += 2 ) + { + int a = std::min((int)d[k+1], (int)d[k+2]); + if( a <= a0 ) + continue; + a = std::min(a, (int)d[k+3]); + a = std::min(a, (int)d[k+4]); + a0 = std::max(a0, std::min(a, (int)d[k])); + a0 = std::max(a0, std::min(a, (int)d[k+5])); + } + + int b0 = -a0; + for( k = 0; k < 8; k += 2 ) + { + int b = std::max((int)d[k+1], (int)d[k+2]); + b = std::max(b, (int)d[k+3]); + if( b >= b0 ) + continue; + b = std::max(b, (int)d[k+4]); + + b0 = std::min(b0, std::max(b, (int)d[k])); + b0 = std::min(b0, std::max(b, (int)d[k+5])); + } + + threshold = -b0-1; +#endif + +#if 0 + testCorner(ptr, pixel, K, N, threshold); +#endif + return threshold; +} + +} diff --git a/modules/features2d/src/fast_score.hpp b/modules/features2d/src/fast_score.hpp new file mode 100644 index 0000000..f6e9f6f --- /dev/null +++ b/modules/features2d/src/fast_score.hpp @@ -0,0 +1,64 @@ +/* This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten. + Below is the original copyright and the references */ + +/* +Copyright (c) 2006, 2008 Edward Rosten +All rights reserved. + +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 + notice, 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 the University of Cambridge 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 OWNER 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. +*/ + +/* +The references are: + * Machine learning for high-speed corner detection, + E. Rosten and T. Drummond, ECCV 2006 + * Faster and better: A machine learning approach to corner detection + E. Rosten, R. Porter and T. Drummond, PAMI, 2009 +*/ + +#ifndef __OPENCV_FEATURES_2D_FAST_HPP__ +#define __OPENCV_FEATURES_2D_FAST_HPP__ + +#ifdef __cplusplus + +#include "precomp.hpp" + +namespace cv +{ + +void makeOffsets(int pixel[25], int row_stride, int patternSize); + +//static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold); + +template +int cornerScore(const uchar* ptr, const int pixel[], int threshold); + +} + +#endif +#endif -- 2.7.4