diff options
Diffstat (limited to 'extern/libmv/patches/detect.patch')
| -rw-r--r-- | extern/libmv/patches/detect.patch | 181 |
1 files changed, 0 insertions, 181 deletions
diff --git a/extern/libmv/patches/detect.patch b/extern/libmv/patches/detect.patch deleted file mode 100644 index 36fea8427db..00000000000 --- a/extern/libmv/patches/detect.patch +++ /dev/null @@ -1,181 +0,0 @@ -diff --git a/src/libmv/simple_pipeline/detect.cc b/src/libmv/simple_pipeline/detect.cc -index 6fc0cdd..8ac42ab 100644 ---- a/src/libmv/simple_pipeline/detect.cc -+++ b/src/libmv/simple_pipeline/detect.cc -@@ -23,15 +23,89 @@ - ****************************************************************************/ - - #include "libmv/simple_pipeline/detect.h" -+#include <third_party/fast/fast.h> - #include <stdlib.h> --#include <string.h> -+#include <memory.h> -+ -+#ifdef __SSE2__ -+#include <emmintrin.h> -+#endif - - namespace libmv { - - typedef unsigned int uint; - -+int featurecmp(const void *a_v, const void *b_v) -+{ -+ Feature *a = (Feature*)a_v; -+ Feature *b = (Feature*)b_v; -+ -+ return b->score - a->score; -+} -+ -+std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, int stride, -+ int min_trackness, int min_distance) { -+ std::vector<Feature> features; -+ // TODO(MatthiasF): Support targetting a feature count (binary search trackness) -+ int num_features; -+ xy* all = fast9_detect(data, width, height, -+ stride, min_trackness, &num_features); -+ if(num_features == 0) { -+ free(all); -+ return features; -+ } -+ int* scores = fast9_score(data, stride, all, num_features, min_trackness); -+ // TODO: merge with close feature suppression -+ xy* nonmax = nonmax_suppression(all, scores, num_features, &num_features); -+ free(all); -+ // Remove too close features -+ // TODO(MatthiasF): A resolution independent parameter would be better than distance -+ // e.g. a coefficient going from 0 (no minimal distance) to 1 (optimal circle packing) -+ // FIXME(MatthiasF): this method will not necessarily give all maximum markers -+ if(num_features) { -+ Feature *all_features = new Feature[num_features]; -+ -+ for(int i = 0; i < num_features; ++i) { -+ Feature a = { nonmax[i].x, nonmax[i].y, scores[i], 0 }; -+ all_features[i] = a; -+ } -+ -+ qsort((void *)all_features, num_features, sizeof(Feature), featurecmp); -+ -+ features.reserve(num_features); -+ -+ int prev_score = all_features[0].score; -+ for(int i = 0; i < num_features; ++i) { -+ bool ok = true; -+ Feature a = all_features[i]; -+ if(a.score>prev_score) -+ abort(); -+ prev_score = a.score; -+ -+ // compare each feature against filtered set -+ for(int j = 0; j < features.size(); j++) { -+ Feature& b = features[j]; -+ if ( (a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y) < min_distance*min_distance ) { -+ // already a nearby feature -+ ok = false; -+ break; -+ } -+ } -+ -+ if(ok) { -+ // add the new feature -+ features.push_back(a); -+ } -+ } -+ -+ delete [] all_features; -+ } -+ free(scores); -+ free(nonmax); -+ return features; -+} -+ - #ifdef __SSE2__ --#include <emmintrin.h> - static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strideB) { - __m128i a = _mm_setzero_si128(); - for(int i = 0; i < 16; i++) { -@@ -52,7 +126,7 @@ static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strid - } - #endif - --void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { -+void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { - unsigned short histogram[256]; - memset(histogram,0,sizeof(histogram)); - ubyte* scores = new ubyte[width*height]; -diff --git a/src/libmv/simple_pipeline/detect.h b/src/libmv/simple_pipeline/detect.h -index 23b239b..bbe7aed 100644 ---- a/src/libmv/simple_pipeline/detect.h -+++ b/src/libmv/simple_pipeline/detect.h -@@ -25,27 +25,52 @@ - #ifndef LIBMV_SIMPLE_PIPELINE_DETECT_H_ - #define LIBMV_SIMPLE_PIPELINE_DETECT_H_ - --#ifdef __cplusplus -+#include <vector> -+ - namespace libmv { --#endif - - typedef unsigned char ubyte; - - /*! -- \a Feature is the 2D location of a detected feature in an image. -+ A Feature is the 2D location of a detected feature in an image. - -- \a x, \a y is the position of the center in pixels (from image top-left). -- \a score is an estimate of how well the pattern will be tracked. -- \a size can be used as an initial size to track the pattern. -+ \a x, \a y is the position of the feature in pixels from the top left corner. -+ \a score is an estimate of how well the feature will be tracked. -+ \a size can be used as an initial pattern size to track the feature. - - \sa Detect - */ - struct Feature { -+ /// Position in pixels (from top-left corner) -+ /// \note libmv might eventually support subpixel precision. - float x, y; -+ /// Trackness of the feature - float score; -+ /// Size of the feature in pixels - float size; - }; -- //radius for non maximal suppression -+ -+/*! -+ Detect features in an image. -+ -+ You need to input a single channel 8-bit image using pointer to image \a data, -+ \a width, \a height and \a stride (i.e bytes per line). -+ -+ You can tweak the count of detected features using \a min_trackness, which is -+ the minimum score to add a feature, and \a min_distance which is the minimal -+ distance accepted between two featuress. -+ -+ \note You can binary search over \a min_trackness to get a given feature count. -+ -+ \note a way to get an uniform distribution of a given feature count is: -+ \a min_distance = \a width * \a height / desired_feature_count ^ 2 -+ -+ \return All detected feartures matching given parameters -+*/ -+std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, -+ int stride, int min_trackness = 128, -+ int min_distance = 120); -+ - /*! - Detect features in an image. - -@@ -63,10 +88,8 @@ struct Feature { - \note \a You can crop the image (to avoid detecting markers near the borders) without copying: - image += marginY*stride+marginX, width -= 2*marginX, height -= 2*marginY; - */ --void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); -+void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); - --#ifdef __cplusplus - } --#endif - - #endif |