Esempio n. 1
0
 void ComputeMSURFDescriptor(
   const ImageT & Lx ,
   const ImageT & Ly ,
   const int id_octave ,
   const SIOPointFeature & ipt ,
   Descriptor< unsigned char , 64 > & desc )
 {
   Descriptor< float , 64 > descFloat;
   ComputeMSURFDescriptor(
     Lx ,
     Ly ,
     id_octave ,
     ipt ,
     descFloat);
 }
  /**
  @brief Detect regions on the image and compute their attributes (description)
  @param image Image.
  @param regions The detected regions and attributes (the caller must delete the allocated data)
  @param mask 8-bit gray image for keypoint filtering (optional).
     Non-zero values depict the region of interest.
  */
  bool Describe(const image::Image<unsigned char>& image,
    OPENMVG_UNIQUE_PTR<Regions> &regions,
    const image::Image<unsigned char> * mask = NULL)
  {
    _params._options.fDesc_factor =
      (_params._eAkazeDescriptor == AKAZE_MSURF ||
      _params._eAkazeDescriptor == AKAZE_LIOP) ? 10.f*sqrtf(2.f)
      : 11.f*sqrtf(2.f); // MLDB

    AKAZE akaze(image, _params._options);
    akaze.Compute_AKAZEScaleSpace();
    std::vector<AKAZEKeypoint> kpts;
    kpts.reserve(5000);
    akaze.Feature_Detection(kpts);
    akaze.Do_Subpixel_Refinement(kpts);

    Allocate(regions);

    switch(_params._eAkazeDescriptor)
    {
      case AKAZE_MSURF:
      {
        // Build alias to cached data
        AKAZE_Float_Regions * regionsCasted = dynamic_cast<AKAZE_Float_Regions*>(regions.get());
        regionsCasted->Features().resize(kpts.size());
        regionsCasted->Descriptors().resize(kpts.size());

      #ifdef OPENMVG_USE_OPENMP
        #pragma omp parallel for
      #endif
        for (int i = 0; i < static_cast<int>(kpts.size()); ++i)
        {
          AKAZEKeypoint ptAkaze = kpts[i];

          // Feature masking
          if (mask)
          {
            const image::Image<unsigned char> & maskIma = *mask;
            if (maskIma(ptAkaze.y, ptAkaze.x) > 0)
              continue;
          }

          const TEvolution & cur_slice = akaze.getSlices()[ptAkaze.class_id];

          if (_bOrientation)
            akaze.Compute_Main_Orientation(ptAkaze, cur_slice.Lx, cur_slice.Ly);
          else
            ptAkaze.angle = 0.0f;

          regionsCasted->Features()[i] =
            SIOPointFeature(ptAkaze.x, ptAkaze.y, ptAkaze.size, ptAkaze.angle);

          ComputeMSURFDescriptor(cur_slice.Lx, cur_slice.Ly, ptAkaze.octave,
            regionsCasted->Features()[i],
            regionsCasted->Descriptors()[i]);
        }
      }
      break;
      case AKAZE_LIOP:
      {
        // Build alias to cached data
        AKAZE_Liop_Regions * regionsCasted = dynamic_cast<AKAZE_Liop_Regions*>(regions.get());
        regionsCasted->Features().resize(kpts.size());
        regionsCasted->Descriptors().resize(kpts.size());

        // Init LIOP extractor
        LIOP::Liop_Descriptor_Extractor liop_extractor;

      #ifdef OPENMVG_USE_OPENMP
        #pragma omp parallel for
      #endif
        for (int i = 0; i < static_cast<int>(kpts.size()); ++i)
        {
          AKAZEKeypoint ptAkaze = kpts[i];

          // Feature masking
          if (mask)
          {
            const image::Image<unsigned char> & maskIma = *mask;
            if (maskIma(ptAkaze.y, ptAkaze.x) > 0)
              continue;
          }

          const TEvolution & cur_slice = akaze.getSlices()[ptAkaze.class_id];

          if (_bOrientation)
            akaze.Compute_Main_Orientation(ptAkaze, cur_slice.Lx, cur_slice.Ly);
          else
            ptAkaze.angle = 0.0f;

          regionsCasted->Features()[i] =
            SIOPointFeature(ptAkaze.x, ptAkaze.y, ptAkaze.size, ptAkaze.angle);

          // Compute LIOP descriptor (do not need rotation computation, since
          //  LIOP descriptor is rotation invariant).
          // Rescale for LIOP patch extraction
          const SIOPointFeature fp =
              SIOPointFeature(ptAkaze.x, ptAkaze.y,
              ptAkaze.size/2.0, ptAkaze.angle);

          float desc[144];
          liop_extractor.extract(image, fp, desc);
          for(int j=0; j < 144; ++j)
            regionsCasted->Descriptors()[i][j] =
              static_cast<unsigned char>(desc[j] * 255.f +.5f);
        }
      }
      break;
      case AKAZE_MLDB:
      {
        // Build alias to cached data
        AKAZE_Binary_Regions * regionsCasted = dynamic_cast<AKAZE_Binary_Regions*>(regions.get());
        regionsCasted->Features().resize(kpts.size());
        regionsCasted->Descriptors().resize(kpts.size());

      #ifdef OPENMVG_USE_OPENMP
        #pragma omp parallel for
      #endif
        for (int i = 0; i < static_cast<int>(kpts.size()); ++i)
        {
          AKAZEKeypoint ptAkaze = kpts[i];

          // Feature masking
          if (mask)
          {
            const image::Image<unsigned char> & maskIma = *mask;
            if (maskIma(ptAkaze.y, ptAkaze.x) > 0)
              continue;
          }

          const TEvolution & cur_slice = akaze.getSlices()[ptAkaze.class_id];

          if (_bOrientation)
            akaze.Compute_Main_Orientation(ptAkaze, cur_slice.Lx, cur_slice.Ly);
          else
            ptAkaze.angle = 0.0f;

          regionsCasted->Features()[i] =
            SIOPointFeature(ptAkaze.x, ptAkaze.y, ptAkaze.size, ptAkaze.angle);

          // Compute MLDB descriptor
		      Descriptor<bool,486> desc;
      		ComputeMLDBDescriptor(cur_slice.cur, cur_slice.Lx, cur_slice.Ly,
            ptAkaze.octave, regionsCasted->Features()[i], desc);
          // convert the bool vector to the binary unsigned char array
          unsigned char * ptr = reinterpret_cast<unsigned char*>(&regionsCasted->Descriptors()[i]);
          memset(ptr, 0, regionsCasted->DescriptorLength()*sizeof(unsigned char));
          // For each byte
          for (int j = 0; j < std::ceil(486./8.); ++j, ++ptr) {
            // set the corresponding 8bits to the good values
            for (int iBit = 0; iBit < 8 && j*8+iBit < 486; ++iBit)  {
              *ptr |= desc[j*8+iBit] << iBit;
            }
          }
        }
      }
      break;
    }
    return true;
  };