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Adding a comfort function to FeatureDetector
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Summary: The comfort function is able to handle any pixel format while the existing function will be restricted back to Y8 pixel formats only (as it was before).

Reviewed By: enpe

Differential Revision: D63768763

fbshipit-source-id: 5281e90533277cfbf167cf923859d20b31d494e1
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@janherling @facebook-github-bot
janherling authored and facebook-github-bot committed Oct 2, 2024
1 parent 3f7f839 commit 61b4b1c
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Showing 2 changed files with 60 additions and 29 deletions.
28 changes: 14 additions & 14 deletions impl/ocean/cv/detector/FeatureDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,20 @@ namespace CV
namespace Detector
{

Vectors2 FeatureDetector::Comfort::determineHarrisPoints(const Frame& frame, const SubRegion& subRegion, const unsigned int horizontalBins, const unsigned int verticalBins, const unsigned int strength, Worker* worker, std::vector<int>* strengths)
{
ocean_assert(frame.isValid());

Frame yFrame;
if (!CV::FrameConverter::Comfort::convert(frame, FrameType::FORMAT_Y8, yFrame, CV::FrameConverter::CP_AVOID_COPY_IF_POSSIBLE, worker))
{
ocean_assert(false && "Invalid pixel format!");
return Vectors2();
}

return FeatureDetector::determineHarrisPoints(yFrame.constdata<uint8_t>(), yFrame.width(), yFrame.height(), yFrame.paddingElements(), subRegion, horizontalBins, verticalBins, strength, worker, strengths);
}

Vectors2 FeatureDetector::filterStrongHarrisPoints(const uint8_t* yFrame, const unsigned int width, const unsigned int height, const unsigned int yFramePaddingElements, const Vectors2& positions, const unsigned int maximalPoints, const Scalar minSqrDistance, const int harrisThreshold, Worker* worker)
{
ocean_assert(yFrame != nullptr);
Expand Down Expand Up @@ -181,20 +195,6 @@ Vectors2 FeatureDetector::determineHarrisPoints(const uint8_t* yFrame, const uns
return Detector::HarrisCorner::corners2imagePoints(cornersSubRegion);
}

Vectors2 FeatureDetector::determineHarrisPoints(const Frame& frame, const SubRegion& subRegion, const unsigned int horizontalBins, const unsigned int verticalBins, const unsigned int strength, Worker* worker, std::vector<int>* strengths)
{
ocean_assert(frame.isValid());

Frame yFrame;
if (!CV::FrameConverter::Comfort::convert(frame, FrameType::FORMAT_Y8, yFrame, CV::FrameConverter::CP_AVOID_COPY_IF_POSSIBLE, worker))
{
ocean_assert(false && "Invalid pixel format!");
return Vectors2();
}

return determineHarrisPoints(yFrame.constdata<uint8_t>(), yFrame.width(), yFrame.height(), yFrame.paddingElements(), subRegion, horizontalBins, verticalBins, strength, worker, strengths);
}

}

}
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61 changes: 46 additions & 15 deletions impl/ocean/cv/detector/FeatureDetector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,31 @@ namespace Detector
*/
class OCEAN_CV_DETECTOR_EXPORT FeatureDetector
{
public:

/**
* The following comfort class provides comfortable functions simplifying prototyping applications but also increasing binary size of the resulting applications.
* Best practice is to avoid using these functions if binary size matters,<br>
* as for every comfort function a corresponding function exists with specialized functionality not increasing binary size significantly.<br>
*/
class OCEAN_CV_EXPORT Comfort
{
public:

/**
* Determines strong feature points in a given image, optional a sub-region can be specified in that the points are detected.
* @param frame The frame in which the feature points are detected, will be converted to a frame with pixel format FORMAT_Y8 internally, must be valid
* @param subRegion Optional sub-region specifying a small image area in that the points are detected, an invalid sub-region to use the entire frame
* @param horizontalBins Optional horizontal bins that can be used to distribute the tracked points into array bins (in each bin there will be at most one point)
* @param verticalBins Optional vertical bins that can be used to distribute the tracked points into array bins (in each bin there will be at most one point)
* @param strength Minimal aiming strength parameter of the tracked feature points, this value will be weakened if too less feature points can be detected
* @param worker Optional worker object to distribute the computation
* @param strengths Optional resulting strength values individual for each point
* @return The resulting feature points, feature points with high strength value first
*/
static Vectors2 determineHarrisPoints(const Frame& frame, const SubRegion& subRegion = SubRegion(), const unsigned int horizontalBins = 0u, const unsigned int verticalBins = 0u, const unsigned int strength = 30u, Worker* worker = nullptr, std::vector<int>* strengths = nullptr);
};

protected:

/**
Expand All @@ -47,7 +72,7 @@ class OCEAN_CV_DETECTOR_EXPORT FeatureDetector
* Beware: The elements are neither zero nor a specific value!
* @see VectorT2::VectorT2()
*/
inline IntensityVector2();
IntensityVector2() = default;

/**
* Creates a new intensity vector by the given position and intensity value.
Expand All @@ -72,13 +97,13 @@ class OCEAN_CV_DETECTOR_EXPORT FeatureDetector
private:

/// Intensity value.
int vectorIntensity;
int intensity_ = NumericT<int>::minValue();
};

/**
* Definition of a vector holding intensity vector objects.
*/
typedef std::vector<IntensityVector2> IntensityVectors2;
using IntensityVectors2 = std::vector<IntensityVector2>;

public:

Expand All @@ -99,7 +124,7 @@ class OCEAN_CV_DETECTOR_EXPORT FeatureDetector

/**
* Determines strong feature points in a given image, optional a sub-region can be specified in that the points are detected.
* @param frame The frame in which the feature points are detected, will be converted to a frame with pixel format FORMAT_Y internally, must be valid
* @param yFrame The grayscale frame in which the feature points are detected, must have pixel format FORMAT_Y8, must be valid
* @param subRegion Optional sub-region specifying a small image area in that the points are detected, an invalid sub-region to use the entire frame
* @param horizontalBins Optional horizontal bins that can be used to distribute the tracked points into array bins (in each bin there will be at most one point)
* @param verticalBins Optional vertical bins that can be used to distribute the tracked points into array bins (in each bin there will be at most one point)
Expand All @@ -108,7 +133,7 @@ class OCEAN_CV_DETECTOR_EXPORT FeatureDetector
* @param strengths Optional resulting strength values individual for each point
* @return The resulting feature points, feature points with high strength value first
*/
static Vectors2 determineHarrisPoints(const Frame& frame, const SubRegion& subRegion = SubRegion(), const unsigned int horizontalBins = 0u, const unsigned int verticalBins = 0u, const unsigned int strength = 30u, Worker* worker = nullptr, std::vector<int>* strengths = nullptr);
static inline Vectors2 determineHarrisPoints(const Frame& yFrame, const SubRegion& subRegion = SubRegion(), const unsigned int horizontalBins = 0u, const unsigned int verticalBins = 0u, const unsigned int strength = 30u, Worker* worker = nullptr, std::vector<int>* strengths = nullptr);

/**
* Determines strong feature points in a given image, optional a sub-region can be specified in that the points are detected.
Expand All @@ -127,28 +152,34 @@ class OCEAN_CV_DETECTOR_EXPORT FeatureDetector
static Vectors2 determineHarrisPoints(const uint8_t* yFrame, const unsigned int width, const unsigned int height, const unsigned int yFramePaddingElements, const SubRegion& subRegion, const unsigned int horizontalBins = 0u, const unsigned int verticalBins = 0u, const unsigned int strength = 30u, Worker* worker = nullptr, std::vector<int>* strengths = nullptr);
};

inline FeatureDetector::IntensityVector2::IntensityVector2() :
Vector2(),
vectorIntensity(NumericT<int>::minValue())
{
// nothing to do here
}

inline FeatureDetector::IntensityVector2::IntensityVector2(const Vector2& position, const int intensity) :
Vector2(position),
vectorIntensity(intensity)
intensity_(intensity)
{
// nothing to do here
}

inline int FeatureDetector::IntensityVector2::intensity() const
{
return vectorIntensity;
return intensity_;
}

inline bool FeatureDetector::IntensityVector2::operator<(const IntensityVector2& object) const
{
return vectorIntensity > object.vectorIntensity;
return intensity_ > object.intensity_;
}

inline Vectors2 FeatureDetector::determineHarrisPoints(const Frame& yFrame, const SubRegion& subRegion, const unsigned int horizontalBins, const unsigned int verticalBins, const unsigned int strength, Worker* worker, std::vector<int>* strengths)
{
ocean_assert(yFrame.isValid());
ocean_assert(yFrame.isPixelFormatCompatible(FrameType::FORMAT_Y8));

if (!yFrame.isValid() || !yFrame.isPixelFormatCompatible(FrameType::FORMAT_Y8))
{
return Vectors2();
}

return determineHarrisPoints(yFrame.constdata<uint8_t>(), yFrame.width(), yFrame.height(), yFrame.paddingElements(), subRegion, horizontalBins, verticalBins, strength, worker, strengths);
}

}
Expand Down

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