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Diffstat (limited to 'extern/libmv/patches/detect.patch')
| -rw-r--r-- | extern/libmv/patches/detect.patch | 181 |
1 files changed, 181 insertions, 0 deletions
diff --git a/extern/libmv/patches/detect.patch b/extern/libmv/patches/detect.patch new file mode 100644 index 00000000000..36fea8427db --- /dev/null +++ b/extern/libmv/patches/detect.patch @@ -0,0 +1,181 @@ +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 |