static void
icvCornerEigenValsVecs( const CvMat* src, CvMat* eigenv, int block_size,
int aperture_size, int op_type, double k=0. )
{
CvSepFilter dx_filter, dy_filter;
CvBoxFilter blur_filter;
CvMat *tempsrc = 0;
CvMat *Dx = 0, *Dy = 0, *cov = 0;
CvMat *sqrt_buf = 0;
int buf_size = 1 << 12;
CV_FUNCNAME( "icvCornerEigenValsVecs" );
__BEGIN__;
int i, j, y, dst_y = 0, max_dy, delta = 0;
int aperture_size0 = aperture_size;
int temp_step = 0, d_step;
uchar* shifted_ptr = 0;
int depth, d_depth;
int stage = CV_START;
CvSobelFixedIPPFunc ipp_sobel_vert = 0, ipp_sobel_horiz = 0;
CvFilterFixedIPPFunc ipp_scharr_vert = 0, ipp_scharr_horiz = 0;
CvSize el_size, size, stripe_size;
int aligned_width;
CvPoint el_anchor;
double factorx, factory;
bool use_ipp = false;
if( block_size < 3 || !(block_size & 1) )
CV_ERROR( CV_StsOutOfRange, "averaging window size must be an odd number >= 3" );
if( aperture_size < 3 && aperture_size != CV_SCHARR || !(aperture_size & 1) )
CV_ERROR( CV_StsOutOfRange,
"Derivative filter aperture size must be a positive odd number >=3 or CV_SCHARR" );
depth = CV_MAT_DEPTH(src->type);
d_depth = depth == CV_8U ? CV_16S : CV_32F;
size = cvGetMatSize(src);
aligned_width = cvAlign(size.width, 4);
aperture_size = aperture_size == CV_SCHARR ? 3 : aperture_size;
el_size = cvSize( aperture_size, aperture_size );
el_anchor = cvPoint( aperture_size/2, aperture_size/2 );
if( aperture_size <= 5 && icvFilterSobelVert_8u16s_C1R_p )
{
if( depth == CV_8U && aperture_size0 == CV_SCHARR )
{
ipp_scharr_vert = icvFilterScharrVert_8u16s_C1R_p;
ipp_scharr_horiz = icvFilterScharrHoriz_8u16s_C1R_p;
}
else if( depth == CV_32F && aperture_size0 == CV_SCHARR )
{
ipp_scharr_vert = icvFilterScharrVert_32f_C1R_p;
ipp_scharr_horiz = icvFilterScharrHoriz_32f_C1R_p;
}
else if( depth == CV_8U )
{
ipp_sobel_vert = icvFilterSobelVert_8u16s_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_8u16s_C1R_p;
}
else if( depth == CV_32F )
{
ipp_sobel_vert = icvFilterSobelVert_32f_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_32f_C1R_p;
}
}
if( ipp_sobel_vert && ipp_sobel_horiz ||
ipp_scharr_vert && ipp_scharr_horiz )
{
CV_CALL( tempsrc = icvIPPFilterInit( src, buf_size,
cvSize(el_size.width,el_size.height + block_size)));
shifted_ptr = tempsrc->data.ptr + el_anchor.y*tempsrc->step +
el_anchor.x*CV_ELEM_SIZE(depth);
temp_step = tempsrc->step ? tempsrc->step : CV_STUB_STEP;
max_dy = tempsrc->rows - aperture_size + 1;
use_ipp = true;
}
else
{
ipp_sobel_vert = ipp_sobel_horiz = 0;
ipp_scharr_vert = ipp_scharr_horiz = 0;
CV_CALL( dx_filter.init_deriv( size.width, depth, d_depth, 1, 0, aperture_size0 ));
CV_CALL( dy_filter.init_deriv( size.width, depth, d_depth, 0, 1, aperture_size0 ));
max_dy = buf_size / src->cols;
max_dy = MAX( max_dy, aperture_size + block_size );
}
CV_CALL( Dx = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( Dy = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( cov = cvCreateMat( max_dy + block_size + 1, size.width, CV_32FC3 ));
CV_CALL( sqrt_buf = cvCreateMat( 2, size.width, CV_32F ));
Dx->cols = Dy->cols = size.width;
if( !use_ipp )
max_dy -= aperture_size - 1;
d_step = Dx->step ? Dx->step : CV_STUB_STEP;
CV_CALL(blur_filter.init(size.width, CV_32FC3, CV_32FC3, 0, cvSize(block_size,block_size)));
stripe_size = size;
factorx = (double)(1 << (aperture_size - 1)) * block_size;
if( aperture_size0 == CV_SCHARR )
factorx *= 2;
if( depth == CV_8U )
factorx *= 255.;
factory = factorx = 1./factorx;
if( ipp_sobel_vert )
factory = -factory;
for( y = 0; y < size.height; y += delta )
{
if( !use_ipp )
{
delta = MIN( size.height - y, max_dy );
if( y + delta == size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
dx_filter.process( src, Dx, cvRect(0,y,-1,delta), cvPoint(0,0), stage );
stripe_size.height = dy_filter.process( src, Dy, cvRect(0,y,-1,delta),
cvPoint(0,0), stage );
}
else
{
delta = icvIPPFilterNextStripe( src, tempsrc, y, el_size, el_anchor );
stripe_size.height = delta;
if( ipp_sobel_vert )
{
IPPI_CALL( ipp_sobel_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size,
aperture_size*10 + aperture_size ));
IPPI_CALL( ipp_sobel_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size,
aperture_size*10 + aperture_size ));
}
else /*if( ipp_scharr_vert )*/
{
IPPI_CALL( ipp_scharr_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size ));
IPPI_CALL( ipp_scharr_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size ));
}
}
for( i = 0; i < stripe_size.height; i++ )
{
float* cov_data = (float*)(cov->data.ptr + i*cov->step);
if( d_depth == CV_16S )
{
const short* dxdata = (const short*)(Dx->data.ptr + i*Dx->step);
const short* dydata = (const short*)(Dy->data.ptr + i*Dy->step);
for( j = 0; j < size.width; j++ )
{
double dx = dxdata[j]*factorx;
double dy = dydata[j]*factory;
cov_data[j*3] = (float)(dx*dx);
cov_data[j*3+1] = (float)(dx*dy);
cov_data[j*3+2] = (float)(dy*dy);
}
}
else
{
const float* dxdata = (const float*)(Dx->data.ptr + i*Dx->step);
const float* dydata = (const float*)(Dy->data.ptr + i*Dy->step);
for( j = 0; j < size.width; j++ )
{
double dx = dxdata[j]*factorx;
double dy = dydata[j]*factory;
cov_data[j*3] = (float)(dx*dx);
cov_data[j*3+1] = (float)(dx*dy);
cov_data[j*3+2] = (float)(dy*dy);
}
}
}
if( y + stripe_size.height >= size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
stripe_size.height = blur_filter.process(cov,cov,
cvRect(0,0,-1,stripe_size.height),cvPoint(0,0),stage+CV_ISOLATED_ROI);
if( op_type == ICV_MINEIGENVAL )
icvCalcMinEigenVal( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf );
else if( op_type == ICV_HARRIS )
icvCalcHarris( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf, k );
else if( op_type == ICV_EIGENVALSVECS )
icvCalcEigenValsVecs( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf );
dst_y += stripe_size.height;
stage = CV_MIDDLE;
}
__END__;
cvReleaseMat( &Dx );
cvReleaseMat( &Dy );
cvReleaseMat( &cov );
cvReleaseMat( &sqrt_buf );
cvReleaseMat( &tempsrc );
}
CV_IMPL void
cvPreCornerDetect( const void* srcarr, void* dstarr, int aperture_size )
{
CvSepFilter dx_filter, dy_filter, d2x_filter, d2y_filter, dxy_filter;
CvMat *Dx = 0, *Dy = 0, *D2x = 0, *D2y = 0, *Dxy = 0;
CvMat *tempsrc = 0;
int buf_size = 1 << 12;
CV_FUNCNAME( "cvPreCornerDetect" );
__BEGIN__;
int i, j, y, dst_y = 0, max_dy, delta = 0;
int temp_step = 0, d_step;
uchar* shifted_ptr = 0;
int depth, d_depth;
int stage = CV_START;
CvSobelFixedIPPFunc ipp_sobel_vert = 0, ipp_sobel_horiz = 0,
ipp_sobel_vert_second = 0, ipp_sobel_horiz_second = 0,
ipp_sobel_cross = 0;
CvSize el_size, size, stripe_size;
int aligned_width;
CvPoint el_anchor;
double factor;
CvMat stub, *src = (CvMat*)srcarr;
CvMat dststub, *dst = (CvMat*)dstarr;
bool use_ipp = false;
CV_CALL( src = cvGetMat( srcarr, &stub ));
CV_CALL( dst = cvGetMat( dst, &dststub ));
if( CV_MAT_TYPE(src->type) != CV_8UC1 && CV_MAT_TYPE(src->type) != CV_32FC1 ||
CV_MAT_TYPE(dst->type) != CV_32FC1 )
CV_ERROR( CV_StsUnsupportedFormat, "Input must be 8uC1 or 32fC1, output must be 32fC1" );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( aperture_size == CV_SCHARR )
CV_ERROR( CV_StsOutOfRange, "CV_SCHARR is not supported by this function" );
if( aperture_size < 3 || aperture_size > 7 || !(aperture_size & 1) )
CV_ERROR( CV_StsOutOfRange,
"Derivative filter aperture size must be 3, 5 or 7" );
depth = CV_MAT_DEPTH(src->type);
d_depth = depth == CV_8U ? CV_16S : CV_32F;
size = cvGetMatSize(src);
aligned_width = cvAlign(size.width, 4);
el_size = cvSize( aperture_size, aperture_size );
el_anchor = cvPoint( aperture_size/2, aperture_size/2 );
if( aperture_size <= 5 && icvFilterSobelVert_8u16s_C1R_p )
{
if( depth == CV_8U )
{
ipp_sobel_vert = icvFilterSobelVert_8u16s_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_8u16s_C1R_p;
ipp_sobel_vert_second = icvFilterSobelVertSecond_8u16s_C1R_p;
ipp_sobel_horiz_second = icvFilterSobelHorizSecond_8u16s_C1R_p;
ipp_sobel_cross = icvFilterSobelCross_8u16s_C1R_p;
}
else if( depth == CV_32F )
{
ipp_sobel_vert = icvFilterSobelVert_32f_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_32f_C1R_p;
ipp_sobel_vert_second = icvFilterSobelVertSecond_32f_C1R_p;
ipp_sobel_horiz_second = icvFilterSobelHorizSecond_32f_C1R_p;
ipp_sobel_cross = icvFilterSobelCross_32f_C1R_p;
}
}
if( ipp_sobel_vert && ipp_sobel_horiz && ipp_sobel_vert_second &&
ipp_sobel_horiz_second && ipp_sobel_cross )
{
CV_CALL( tempsrc = icvIPPFilterInit( src, buf_size, el_size ));
shifted_ptr = tempsrc->data.ptr + el_anchor.y*tempsrc->step +
el_anchor.x*CV_ELEM_SIZE(depth);
temp_step = tempsrc->step ? tempsrc->step : CV_STUB_STEP;
max_dy = tempsrc->rows - aperture_size + 1;
use_ipp = true;
}
else
{
ipp_sobel_vert = ipp_sobel_horiz = 0;
ipp_sobel_vert_second = ipp_sobel_horiz_second = ipp_sobel_cross = 0;
dx_filter.init_deriv( size.width, depth, d_depth, 1, 0, aperture_size );
dy_filter.init_deriv( size.width, depth, d_depth, 0, 1, aperture_size );
d2x_filter.init_deriv( size.width, depth, d_depth, 2, 0, aperture_size );
d2y_filter.init_deriv( size.width, depth, d_depth, 0, 2, aperture_size );
dxy_filter.init_deriv( size.width, depth, d_depth, 1, 1, aperture_size );
max_dy = buf_size / src->cols;
max_dy = MAX( max_dy, aperture_size );
}
CV_CALL( Dx = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( Dy = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( D2x = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( D2y = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( Dxy = cvCreateMat( max_dy, aligned_width, d_depth ));
Dx->cols = Dy->cols = D2x->cols = D2y->cols = Dxy->cols = size.width;
if( !use_ipp )
max_dy -= aperture_size - 1;
d_step = Dx->step ? Dx->step : CV_STUB_STEP;
stripe_size = size;
factor = 1 << (aperture_size - 1);
if( depth == CV_8U )
factor *= 255;
factor = 1./(factor * factor * factor);
aperture_size = aperture_size * 10 + aperture_size;
for( y = 0; y < size.height; y += delta )
{
if( !use_ipp )
{
delta = MIN( size.height - y, max_dy );
CvRect roi = cvRect(0,y,size.width,delta);
CvPoint origin=cvPoint(0,0);
if( y + delta == size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
dx_filter.process(src,Dx,roi,origin,stage);
dy_filter.process(src,Dy,roi,origin,stage);
d2x_filter.process(src,D2x,roi,origin,stage);
d2y_filter.process(src,D2y,roi,origin,stage);
stripe_size.height = dxy_filter.process(src,Dxy,roi,origin,stage);
}
else
{
delta = icvIPPFilterNextStripe( src, tempsrc, y, el_size, el_anchor );
stripe_size.height = delta;
IPPI_CALL( ipp_sobel_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_vert_second( shifted_ptr, temp_step,
D2x->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_horiz_second( shifted_ptr, temp_step,
D2y->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_cross( shifted_ptr, temp_step,
Dxy->data.ptr, d_step, stripe_size, aperture_size ));
}
for( i = 0; i < stripe_size.height; i++, dst_y++ )
{
float* dstdata = (float*)(dst->data.ptr + dst_y*dst->step);
if( d_depth == CV_16S )
{
const short* dxdata = (const short*)(Dx->data.ptr + i*Dx->step);
const short* dydata = (const short*)(Dy->data.ptr + i*Dy->step);
const short* d2xdata = (const short*)(D2x->data.ptr + i*D2x->step);
const short* d2ydata = (const short*)(D2y->data.ptr + i*D2y->step);
const short* dxydata = (const short*)(Dxy->data.ptr + i*Dxy->step);
for( j = 0; j < stripe_size.width; j++ )
{
double dx = dxdata[j];
double dx2 = dx * dx;
double dy = dydata[j];
double dy2 = dy * dy;
dstdata[j] = (float)(factor*(dx2*d2ydata[j] + dy2*d2xdata[j] - 2*dx*dy*dxydata[j]));
}
}
else
{
const float* dxdata = (const float*)(Dx->data.ptr + i*Dx->step);
const float* dydata = (const float*)(Dy->data.ptr + i*Dy->step);
const float* d2xdata = (const float*)(D2x->data.ptr + i*D2x->step);
const float* d2ydata = (const float*)(D2y->data.ptr + i*D2y->step);
const float* dxydata = (const float*)(Dxy->data.ptr + i*Dxy->step);
for( j = 0; j < stripe_size.width; j++ )
{
double dx = dxdata[j];
double dy = dydata[j];
dstdata[j] = (float)(factor*(dx*dx*d2ydata[j] + dy*dy*d2xdata[j] - 2*dx*dy*dxydata[j]));
}
}
}
stage = CV_MIDDLE;
}
__END__;
cvReleaseMat( &Dx );
cvReleaseMat( &Dy );
cvReleaseMat( &D2x );
cvReleaseMat( &D2y );
cvReleaseMat( &Dxy );
cvReleaseMat( &tempsrc );
}
CV_IMPL void
cvFilter2D( const CvArr* _src, CvArr* _dst, const CvMat* _kernel, CvPoint anchor )
{
// below that approximate size OpenCV is faster
const int ipp_lower_limit = 20;
static CvFuncTable filter_tab;
static int inittab = 0;
CvFilterState *state = 0;
float* kernel_data = 0;
int local_alloc = 1;
CvMat* temp = 0;
CV_FUNCNAME( "cvFilter2D" );
__BEGIN__;
CvFilterFunc func = 0;
int coi1 = 0, coi2 = 0;
CvMat srcstub, *src = (CvMat*)_src;
CvMat dststub, *dst = (CvMat*)_dst;
CvSize size;
int type, depth;
int src_step, dst_step;
CvMat kernel_hdr;
const CvMat* kernel = _kernel;
if( !inittab )
{
icvInitFilterTab( &filter_tab );
inittab = 1;
}
CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
if( coi1 != 0 || coi2 != 0 )
CV_ERROR( CV_BadCOI, "" );
type = CV_MAT_TYPE( src->type );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( !CV_ARE_TYPES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( !CV_IS_MAT(kernel) ||
(CV_MAT_TYPE(kernel->type) != CV_32F &&
CV_MAT_TYPE(kernel->type) != CV_64F ))
CV_ERROR( CV_StsBadArg, "kernel must be single-channel floating-point matrix" );
if( anchor.x == -1 && anchor.y == -1 )
anchor = cvPoint(kernel->cols/2,kernel->rows/2);
if( (unsigned)anchor.x >= (unsigned)kernel->cols ||
(unsigned)anchor.y >= (unsigned)kernel->rows )
CV_ERROR( CV_StsOutOfRange, "anchor point is out of kernel" );
if( CV_MAT_TYPE(kernel->type) != CV_32FC1 || !CV_IS_MAT_CONT(kernel->type) || icvFilter_8u_C1R_p )
{
int sz = kernel->rows*kernel->cols*sizeof(kernel_data[0]);
if( sz < CV_MAX_LOCAL_SIZE )
kernel_data = (float*)cvStackAlloc( sz );
else
{
CV_CALL( kernel_data = (float*)cvAlloc( sz ));
local_alloc = 0;
}
kernel_hdr = cvMat( kernel->rows, kernel->cols, CV_32F, kernel_data );
if( CV_MAT_TYPE(kernel->type) == CV_32FC1 )
cvCopy( kernel, &kernel_hdr );
else
cvConvertScale( kernel, &kernel_hdr, 1, 0 );
kernel = &kernel_hdr;
}
size = cvGetMatSize( src );
depth = CV_MAT_DEPTH(type);
src_step = src->step;
dst_step = dst->step ? dst->step : CV_STUB_STEP;
if( icvFilter_8u_C1R_p && (src->rows >= ipp_lower_limit || src->cols >= ipp_lower_limit) )
{
CvFilterIPPFunc ipp_func =
type == CV_8UC1 ? (CvFilterIPPFunc)icvFilter_8u_C1R_p :
type == CV_8UC3 ? (CvFilterIPPFunc)icvFilter_8u_C3R_p :
type == CV_8UC4 ? (CvFilterIPPFunc)icvFilter_8u_C4R_p :
type == CV_16SC1 ? (CvFilterIPPFunc)icvFilter_16s_C1R_p :
type == CV_16SC3 ? (CvFilterIPPFunc)icvFilter_16s_C3R_p :
type == CV_16SC4 ? (CvFilterIPPFunc)icvFilter_16s_C4R_p :
type == CV_32FC1 ? (CvFilterIPPFunc)icvFilter_32f_C1R_p :
type == CV_32FC3 ? (CvFilterIPPFunc)icvFilter_32f_C3R_p :
type == CV_32FC4 ? (CvFilterIPPFunc)icvFilter_32f_C4R_p : 0;
if( ipp_func )
{
CvSize el_size = { kernel->cols, kernel->rows };
CvPoint el_anchor = { el_size.width - anchor.x - 1, el_size.height - anchor.y - 1 };
int stripe_size = 1 << 16; // the optimal value may depend on CPU cache,
// overhead of current IPP code etc.
const uchar* shifted_ptr;
int i, j, y, dy = 0;
int temp_step;
// mirror the kernel around the center
for( i = 0; i < (el_size.height+1)/2; i++ )
{
float* top_row = kernel->data.fl + el_size.width*i;
float* bottom_row = kernel->data.fl + el_size.width*(el_size.height - i - 1);
for( j = 0; j < (el_size.width+1)/2; j++ )
{
float a = top_row[j], b = top_row[el_size.width - j - 1];
float c = bottom_row[j], d = bottom_row[el_size.width - j - 1];
top_row[j] = d;
top_row[el_size.width - j - 1] = c;
bottom_row[j] = b;
bottom_row[el_size.width - j - 1] = a;
}
}
CV_CALL( temp = icvIPPFilterInit( src, stripe_size, el_size ));
shifted_ptr = temp->data.ptr +
anchor.y*temp->step + anchor.x*CV_ELEM_SIZE(type);
temp_step = temp->step ? temp->step : CV_STUB_STEP;
for( y = 0; y < src->rows; y += dy )
{
dy = icvIPPFilterNextStripe( src, temp, y, el_size, anchor );
IPPI_CALL( ipp_func( shifted_ptr, temp_step,
dst->data.ptr + y*dst_step, dst_step, cvSize(src->cols, dy),
kernel->data.fl, el_size, el_anchor ));
}
EXIT;
}
}
CV_CALL( state = icvFilterInitAlloc( src->cols, cv32f, CV_MAT_CN(type),
cvSize(kernel->cols, kernel->rows), anchor,
kernel->data.ptr, ICV_GENERIC_KERNEL ));
if( CV_MAT_CN(type) == 2 )
CV_ERROR( CV_BadNumChannels, "Unsupported number of channels" );
func = (CvFilterFunc)(filter_tab.fn_2d[depth]);
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
if( size.height == 1 )
src_step = dst_step = CV_STUB_STEP;
IPPI_CALL( func( src->data.ptr, src_step, dst->data.ptr,
dst_step, &size, state, 0 ));
__END__;
cvReleaseMat( &temp );
icvFilterFree( &state );
if( !local_alloc )
cvFree( (void**)&kernel_data );
}
