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matcher.cpp
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/*
Copyright 2012. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany
This file is part of libviso2.
Authors: Andreas Geiger
libviso2 is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or any later version.
libviso2 is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
libviso2; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/
#include "matcher.h"
#include "triangle.h"
#include "filter.h"
using namespace std;
//////////////////////
// PUBLIC FUNCTIONS //
//////////////////////
// constructor (with default parameters)
Matcher::Matcher(parameters param) : param(param) {
// init match ring buffer to zero
m1p1 = 0; n1p1 = 0;
m1p2 = 0; n1p2 = 0;
m2p1 = 0; n2p1 = 0;
m2p2 = 0; n2p2 = 0;
m1c1 = 0; n1c1 = 0;
m1c2 = 0; n1c2 = 0;
m2c1 = 0; n2c1 = 0;
m2c2 = 0; n2c2 = 0;
I1p = 0; I2p = 0;
I1c = 0; I2c = 0;
I1p_du = 0; I1p_dv = 0;
I2p_du = 0; I2p_dv = 0;
I1c_du = 0; I1c_dv = 0;
I2c_du = 0; I2c_dv = 0;
I1p_du_full = 0; I1p_dv_full = 0;
I2p_du_full = 0; I2p_dv_full = 0;
I1c_du_full = 0; I1c_dv_full = 0;
I2c_du_full = 0; I2c_dv_full = 0;
// margin needed to compute descriptor + sobel responses
margin = 5+1;
// adjust match radius on half resolution
if (param.half_resolution)
this->param.match_radius /= 2;
}
// deconstructor
Matcher::~Matcher() {
if (I1p) _mm_free(I1p);
if (I2p) _mm_free(I2p);
if (I1c) _mm_free(I1c);
if (I2c) _mm_free(I2c);
if (m1p1) _mm_free(m1p1);
if (m1p2) _mm_free(m1p2);
if (I1p_du) _mm_free(I1p_du);
if (I1p_dv) _mm_free(I1p_dv);
if (I1p_du_full) _mm_free(I1p_du_full);
if (I1p_dv_full) _mm_free(I1p_dv_full);
if (m2p1) _mm_free(m2p1);
if (m2p2) _mm_free(m2p2);
if (I2p_du) _mm_free(I2p_du);
if (I2p_dv) _mm_free(I2p_dv);
if (I2p_du_full) _mm_free(I2p_du_full);
if (I2p_dv_full) _mm_free(I2p_dv_full);
if (m1c1) _mm_free(m1c1);
if (m1c2) _mm_free(m1c2);
if (I1c_du) _mm_free(I1c_du);
if (I1c_dv) _mm_free(I1c_dv);
if (I1c_du_full) _mm_free(I1c_du_full);
if (I1c_dv_full) _mm_free(I1c_dv_full);
if (m2c1) _mm_free(m2c1);
if (m2c2) _mm_free(m2c2);
if (I2c_du) _mm_free(I2c_du);
if (I2c_dv) _mm_free(I2c_dv);
if (I2c_du_full) _mm_free(I2c_du_full);
if (I2c_dv_full) _mm_free(I2c_dv_full);
}
void Matcher::pushBack (uint8_t *I1,uint8_t* I2,int32_t* dims,const bool replace) {
// image dimensions
int32_t width = dims[0];
int32_t height = dims[1];
int32_t bpl = dims[2];
// sanity check
if (width<=0 || height<=0 || bpl<width || I1==0) {
cerr << "ERROR: Image dimension mismatch!" << endl;
return;
}
if (replace) {
if (I1c) _mm_free(I1c);
if (I2c) _mm_free(I2c);
if (m1c1) _mm_free(m1c1);
if (m1c2) _mm_free(m1c2);
if (I1c_du) _mm_free(I1c_du);
if (I1c_dv) _mm_free(I1c_dv);
if (I1c_du_full) _mm_free(I1c_du_full);
if (I1c_dv_full) _mm_free(I1c_dv_full);
if (m2c1) _mm_free(m2c1);
if (m2c2) _mm_free(m2c2);
if (I2c_du) _mm_free(I2c_du);
if (I2c_dv) _mm_free(I2c_dv);
if (I2c_du_full) _mm_free(I2c_du_full);
if (I2c_dv_full) _mm_free(I2c_dv_full);
} else {
if (I1p) _mm_free(I1p);
if (I2p) _mm_free(I2p);
if (m1p1) _mm_free(m1p1);
if (m1p2) _mm_free(m1p2);
if (I1p_du) _mm_free(I1p_du);
if (I1p_dv) _mm_free(I1p_dv);
if (I1p_du_full) _mm_free(I1p_du_full);
if (I1p_dv_full) _mm_free(I1p_dv_full);
if (m2p1) _mm_free(m2p1);
if (m2p2) _mm_free(m2p2);
if (I2p_du) _mm_free(I2p_du);
if (I2p_dv) _mm_free(I2p_dv);
if (I2p_du_full) _mm_free(I2p_du_full);
if (I2p_dv_full) _mm_free(I2p_dv_full);
m1p1 = m1c1; n1p1 = n1c1;
m1p2 = m1c2; n1p2 = n1c2;
m2p1 = m2c1; n2p1 = n2c1;
m2p2 = m2c2; n2p2 = n2c2;
I1p = I1c;
I2p = I2c;
I1p_du = I1c_du;
I1p_dv = I1c_dv;
I1p_du_full = I1c_du_full;
I1p_dv_full = I1c_dv_full;
I2p_du = I2c_du;
I2p_dv = I2c_dv;
I2p_du_full = I2c_du_full;
I2p_dv_full = I2c_dv_full;
dims_p[0] = dims_c[0];
dims_p[1] = dims_c[1];
dims_p[2] = dims_c[2];
}
// set new dims (bytes per line must be multiple of 16)
dims_c[0] = width;
dims_c[1] = height;
dims_c[2] = width + 15-(width-1)%16;
// copy images to byte aligned memory
I1c = (uint8_t*)_mm_malloc(dims_c[2]*dims_c[1]*sizeof(uint8_t),16);
I2c = (uint8_t*)_mm_malloc(dims_c[2]*dims_c[1]*sizeof(uint8_t),16);
if (dims_c[2]==bpl) {
memcpy(I1c,I1,dims_c[2]*dims_c[1]*sizeof(uint8_t));
if (I2!=0)
memcpy(I2c,I2,dims_c[2]*dims_c[1]*sizeof(uint8_t));
} else {
for (int32_t v=0; v<height; v++) {
memcpy(I1c+v*dims_c[2],I1+v*bpl,dims_c[0]*sizeof(uint8_t));
if (I2!=0)
memcpy(I2c+v*dims_c[2],I2+v*bpl,dims_c[0]*sizeof(uint8_t));
}
}
// compute new features for current frame
computeFeatures(I1c,dims_c,m1c1,n1c1,m1c2,n1c2,I1c_du,I1c_dv,I1c_du_full,I1c_dv_full);
if (I2!=0)
computeFeatures(I2c,dims_c,m2c1,n2c1,m2c2,n2c2,I2c_du,I2c_dv,I2c_du_full,I2c_dv_full);
}
void Matcher::matchFeatures(int32_t method, Matrix *Tr_delta) {
//////////////////
// sanity check //
//////////////////
// flow
if (method==0) {
if (m1p2==0 || n1p2==0 || m1c2==0 || n1c2==0)
return;
if (param.multi_stage)
if (m1p1==0 || n1p1==0 || m1c1==0 || n1c1==0)
return;
// stereo
} else if (method==1) {
if (m1c2==0 || n1c2==0 || m2c2==0 || n2c2==0)
return;
if (param.multi_stage)
if (m1c1==0 || n1c1==0 || m2c1==0 || n2c1==0)
return;
// quad matching
} else {
if (m1p2==0 || n1p2==0 || m2p2==0 || n2p2==0 || m1c2==0 || n1c2==0 || m2c2==0 || n2c2==0)
return;
if (param.multi_stage)
if (m1p1==0 || n1p1==0 || m2p1==0 || n2p1==0 || m1c1==0 || n1c1==0 || m2c1==0 || n2c1==0)
return;
}
// clear old matches
p_matched_1.clear();
p_matched_2.clear();
// double pass matching
if (param.multi_stage) {
// 1st pass (sparse matches)
matching(m1p1,m2p1,m1c1,m2c1,n1p1,n2p1,n1c1,n2c1,p_matched_1,method,false,Tr_delta);
removeOutliers(p_matched_1,method);
// compute search range prior statistics (used for speeding up 2nd pass)
computePriorStatistics(p_matched_1,method);
// 2nd pass (dense matches)
matching(m1p2,m2p2,m1c2,m2c2,n1p2,n2p2,n1c2,n2c2,p_matched_2,method,true,Tr_delta);
if (param.refinement>0)
refinement(p_matched_2,method);
removeOutliers(p_matched_2,method);
// single pass matching
} else {
matching(m1p2,m2p2,m1c2,m2c2,n1p2,n2p2,n1c2,n2c2,p_matched_2,method,false,Tr_delta);
if (param.refinement>0)
refinement(p_matched_2,method);
removeOutliers(p_matched_2,method);
}
}
void Matcher::bucketFeatures(int32_t max_features,float bucket_width,float bucket_height) {
// find max values
float u_max = 0;
float v_max = 0;
for (vector<p_match>::iterator it = p_matched_2.begin(); it!=p_matched_2.end(); it++) {
if (it->u1c>u_max) u_max=it->u1c;
if (it->v1c>v_max) v_max=it->v1c;
}
// allocate number of buckets needed
int32_t bucket_cols = (int32_t)floor(u_max/bucket_width)+1;
int32_t bucket_rows = (int32_t)floor(v_max/bucket_height)+1;
vector<p_match> *buckets = new vector<p_match>[bucket_cols*bucket_rows];
// assign matches to their buckets
for (vector<p_match>::iterator it=p_matched_2.begin(); it!=p_matched_2.end(); it++) {
int32_t u = (int32_t)floor(it->u1c/bucket_width);
int32_t v = (int32_t)floor(it->v1c/bucket_height);
buckets[v*bucket_cols+u].push_back(*it);
}
// refill p_matched from buckets
p_matched_2.clear();
for (int32_t i=0; i<bucket_cols*bucket_rows; i++) {
// shuffle bucket indices randomly
std::random_shuffle(buckets[i].begin(),buckets[i].end());
// add up to max_features features from this bucket to p_matched
int32_t k=0;
for (vector<p_match>::iterator it=buckets[i].begin(); it!=buckets[i].end(); it++) {
p_matched_2.push_back(*it);
k++;
if (k>=max_features)
break;
}
}
// free buckets
delete []buckets;
}
float Matcher::getGain (vector<int32_t> inliers) {
// check if two images are provided and matched
if (I1p==0 || I1c==0 || p_matched_2.size()==0 || inliers.size()==0)
return 1;
int32_t window_size = 3;
float gain = 0;
int32_t num = 0;
int32_t u_min,u_max,v_min,v_max;
float mean_prev,mean_curr;
for (vector<int32_t>::iterator it=inliers.begin(); it!=inliers.end(); it++) {
if (*it<(int32_t)p_matched_2.size()) {
// mean in previous image
u_min = min(max((int32_t)p_matched_2[*it].u1p-window_size,0),dims_p[0]);
u_max = min(max((int32_t)p_matched_2[*it].u1p+window_size,0),dims_p[0]);
v_min = min(max((int32_t)p_matched_2[*it].v1p-window_size,0),dims_p[1]);
v_max = min(max((int32_t)p_matched_2[*it].v1p+window_size,0),dims_p[1]);
mean_prev = mean(I1p,dims_p[2],u_min,u_max,v_min,v_max);
// mean in current image
u_min = min(max((int32_t)p_matched_2[*it].u1c-window_size,0),dims_p[0]);
u_max = min(max((int32_t)p_matched_2[*it].u1c+window_size,0),dims_p[0]);
v_min = min(max((int32_t)p_matched_2[*it].v1c-window_size,0),dims_p[1]);
v_max = min(max((int32_t)p_matched_2[*it].v1c+window_size,0),dims_p[1]);
mean_curr = mean(I1c,dims_c[2],u_min,u_max,v_min,v_max);
if (mean_prev>10) {
gain += mean_curr/mean_prev;
num++;
}
}
}
if (num>0) return gain/=(float)num;
else return 1;
}
///////////////////////
// PRIVATE FUNCTIONS //
///////////////////////
void Matcher::nonMaximumSuppression (int16_t* I_f1,int16_t* I_f2,const int32_t* dims,vector<Matcher::maximum> &maxima,int32_t nms_n) {
// extract parameters
int32_t width = dims[0];
int32_t height = dims[1];
int32_t bpl = dims[2];
int32_t n = nms_n;
int32_t tau = param.nms_tau;
// loop variables
int32_t f1mini,f1minj,f1maxi,f1maxj,f2mini,f2minj,f2maxi,f2maxj;
int32_t f1minval,f1maxval,f2minval,f2maxval,currval;
int32_t addr;
for (int32_t i=n+margin; i<width-n-margin;i+=n+1) {
for (int32_t j=n+margin; j<height-n-margin;j+=n+1) {
f1mini = i; f1minj = j; f1maxi = i; f1maxj = j;
f2mini = i; f2minj = j; f2maxi = i; f2maxj = j;
addr = getAddressOffsetImage(i,j,bpl);
f1minval = *(I_f1+addr);
f1maxval = f1minval;
f2minval = *(I_f2+addr);
f2maxval = f2minval;
for (int32_t i2=i; i2<=i+n; i2++) {
for (int32_t j2=j; j2<=j+n; j2++) {
addr = getAddressOffsetImage(i2,j2,bpl);
currval = *(I_f1+addr);
if (currval<f1minval) {
f1mini = i2;
f1minj = j2;
f1minval = currval;
} else if (currval>f1maxval) {
f1maxi = i2;
f1maxj = j2;
f1maxval = currval;
}
currval = *(I_f2+addr);
if (currval<f2minval) {
f2mini = i2;
f2minj = j2;
f2minval = currval;
} else if (currval>f2maxval) {
f2maxi = i2;
f2maxj = j2;
f2maxval = currval;
}
}
}
// f1 minimum
for (int32_t i2=f1mini-n; i2<=min(f1mini+n,width-1-margin); i2++) {
for (int32_t j2=f1minj-n; j2<=min(f1minj+n,height-1-margin); j2++) {
currval = *(I_f1+getAddressOffsetImage(i2,j2,bpl));
if (currval<f1minval && (i2<i || i2>i+n || j2<j || j2>j+n))
goto failed_f1min;
}
}
if (f1minval<=-tau)
maxima.push_back(Matcher::maximum(f1mini,f1minj,f1minval,0));
failed_f1min:;
// f1 maximum
for (int32_t i2=f1maxi-n; i2<=min(f1maxi+n,width-1-margin); i2++) {
for (int32_t j2=f1maxj-n; j2<=min(f1maxj+n,height-1-margin); j2++) {
currval = *(I_f1+getAddressOffsetImage(i2,j2,bpl));
if (currval>f1maxval && (i2<i || i2>i+n || j2<j || j2>j+n))
goto failed_f1max;
}
}
if (f1maxval>=tau)
maxima.push_back(Matcher::maximum(f1maxi,f1maxj,f1maxval,1));
failed_f1max:;
// f2 minimum
for (int32_t i2=f2mini-n; i2<=min(f2mini+n,width-1-margin); i2++) {
for (int32_t j2=f2minj-n; j2<=min(f2minj+n,height-1-margin); j2++) {
currval = *(I_f2+getAddressOffsetImage(i2,j2,bpl));
if (currval<f2minval && (i2<i || i2>i+n || j2<j || j2>j+n))
goto failed_f2min;
}
}
if (f2minval<=-tau)
maxima.push_back(Matcher::maximum(f2mini,f2minj,f2minval,2));
failed_f2min:;
// f2 maximum
for (int32_t i2=f2maxi-n; i2<=min(f2maxi+n,width-1-margin); i2++) {
for (int32_t j2=f2maxj-n; j2<=min(f2maxj+n,height-1-margin); j2++) {
currval = *(I_f2+getAddressOffsetImage(i2,j2,bpl));
if (currval>f2maxval && (i2<i || i2>i+n || j2<j || j2>j+n))
goto failed_f2max;
}
}
if (f2maxval>=tau)
maxima.push_back(Matcher::maximum(f2maxi,f2maxj,f2maxval,3));
failed_f2max:;
}
}
}
inline void Matcher::computeDescriptor (const uint8_t* I_du,const uint8_t* I_dv,const int32_t &bpl,const int32_t &u,const int32_t &v,uint8_t *desc_addr) {
// get address indices
int32_t addr_m1 = getAddressOffsetImage(u,v-1,bpl);
int32_t addr_m3 = addr_m1-2*bpl;
int32_t addr_m5 = addr_m3-2*bpl;
int32_t addr_p1 = addr_m1+2*bpl;
int32_t addr_p3 = addr_p1+2*bpl;
int32_t addr_p5 = addr_p3+2*bpl;
// compute descriptor
uint32_t k = 0;
desc_addr[k++] = I_du[addr_m1-3];
desc_addr[k++] = I_dv[addr_m1-3];
desc_addr[k++] = I_du[addr_p1-3];
desc_addr[k++] = I_dv[addr_p1-3];
desc_addr[k++] = I_du[addr_m1-1];
desc_addr[k++] = I_dv[addr_m1-1];
desc_addr[k++] = I_du[addr_p1-1];
desc_addr[k++] = I_dv[addr_p1-1];
desc_addr[k++] = I_du[addr_m1+3];
desc_addr[k++] = I_dv[addr_m1+3];
desc_addr[k++] = I_du[addr_p1+3];
desc_addr[k++] = I_dv[addr_p1+3];
desc_addr[k++] = I_du[addr_m1+1];
desc_addr[k++] = I_dv[addr_m1+1];
desc_addr[k++] = I_du[addr_p1+1];
desc_addr[k++] = I_dv[addr_p1+1];
desc_addr[k++] = I_du[addr_m5-1];
desc_addr[k++] = I_dv[addr_m5-1];
desc_addr[k++] = I_du[addr_p5-1];
desc_addr[k++] = I_dv[addr_p5-1];
desc_addr[k++] = I_du[addr_m5+1];
desc_addr[k++] = I_dv[addr_m5+1];
desc_addr[k++] = I_du[addr_p5+1];
desc_addr[k++] = I_dv[addr_p5+1];
desc_addr[k++] = I_du[addr_m3-5];
desc_addr[k++] = I_dv[addr_m3-5];
desc_addr[k++] = I_du[addr_p3-5];
desc_addr[k++] = I_dv[addr_p3-5];
desc_addr[k++] = I_du[addr_m3+5];
desc_addr[k++] = I_dv[addr_m3+5];
desc_addr[k++] = I_du[addr_p3+5];
desc_addr[k++] = I_dv[addr_p3+5];
}
inline void Matcher::computeSmallDescriptor (const uint8_t* I_du,const uint8_t* I_dv,const int32_t &bpl,const int32_t &u,const int32_t &v,uint8_t *desc_addr) {
// get address indices
int32_t addr2 = getAddressOffsetImage(u,v,bpl);
int32_t addr1 = addr2-bpl;
int32_t addr0 = addr1-bpl;
int32_t addr3 = addr2+bpl;
int32_t addr4 = addr3+bpl;
// compute ELAS-descriptor
uint32_t k = 0;
desc_addr[k++] = I_du[addr0];
desc_addr[k++] = I_du[addr1-2];
desc_addr[k++] = I_du[addr1];
desc_addr[k++] = I_du[addr1+2];
desc_addr[k++] = I_du[addr2-1];
desc_addr[k++] = I_du[addr2];
desc_addr[k++] = I_du[addr2];
desc_addr[k++] = I_du[addr2+1];
desc_addr[k++] = I_du[addr3-2];
desc_addr[k++] = I_du[addr3];
desc_addr[k++] = I_du[addr3+2];
desc_addr[k++] = I_du[addr4];
desc_addr[k++] = I_dv[addr1];
desc_addr[k++] = I_dv[addr2-1];
desc_addr[k++] = I_dv[addr2+1];
desc_addr[k++] = I_dv[addr3];
}
void Matcher::computeDescriptors (uint8_t* I_du,uint8_t* I_dv,const int32_t bpl,std::vector<Matcher::maximum> &maxima) {
// loop variables
int32_t u,v;
uint8_t *desc_addr;
// for all maxima do
for (vector<Matcher::maximum>::iterator it=maxima.begin(); it!=maxima.end(); it++) {
u = (*it).u;
v = (*it).v;
desc_addr = (uint8_t*)(&((*it).d1));
computeDescriptor(I_du,I_dv,bpl,u,v,desc_addr);
}
}
inline uint8_t Matcher::saturate (int16_t in) {
if (in<0) return 0;
if (in>255) return 255;
return in;
}
void Matcher::filterImageAll (uint8_t* I,uint8_t* I_du,uint8_t* I_dv,int16_t* I_f1,int16_t* I_f2,const int* dims) {
// get bpl and height
const int32_t height = dims[1];
const int32_t bpl = dims[2];
// init sobel pointers
const uint8_t* p00 = I + 0;
const uint8_t* p01 = I + 1;
const uint8_t* p02 = I + 2;
const uint8_t* p03 = I + 3;
const uint8_t* p04 = I + 4;
const uint8_t* p10 = I + 0 + bpl;
const uint8_t* p11 = I + 1 + bpl;
const uint8_t* p12 = I + 2 + bpl;
const uint8_t* p13 = I + 3 + bpl;
const uint8_t* p14 = I + 4 + bpl;
const uint8_t* p20 = I + 0 + 2*bpl;
const uint8_t* p21 = I + 1 + 2*bpl;
const uint8_t* p22 = I + 2 + 2*bpl;
const uint8_t* p23 = I + 3 + 2*bpl;
const uint8_t* p24 = I + 4 + 2*bpl;
const uint8_t* p30 = I + 0 + 3*bpl;
const uint8_t* p31 = I + 1 + 3*bpl;
const uint8_t* p32 = I + 2 + 3*bpl;
const uint8_t* p33 = I + 3 + 3*bpl;
const uint8_t* p34 = I + 4 + 3*bpl;
const uint8_t* p40 = I + 0 + 4*bpl;
const uint8_t* p41 = I + 1 + 4*bpl;
const uint8_t* p42 = I + 2 + 4*bpl;
const uint8_t* p43 = I + 3 + 4*bpl;
const uint8_t* p44 = I + 4 + 4*bpl;
// init output pointers
uint8_t* result_du = I_du + bpl + 1;
uint8_t* result_dv = I_dv + bpl + 1;
int16_t* result_f1 = I_f1 + 2*bpl + 2;
int16_t* result_f2 = I_f2 + 2*bpl + 2;
// stop here
const uint8_t* end_input = I + bpl*height;
// compute filter responses (border pixels are invalid)
for( ; p44 != end_input; p00++, p01++, p02++, p03++, p04++,
p10++, p11++, p12++, p13++, p14++,
p20++, p21++, p22++, p23++, p24++,
p30++, p31++, p32++, p33++, p34++,
p40++, p41++, p42++, p43++, p44++,
result_du++, result_dv++, result_f1++, result_f2++ ) {
int16_t temp_du = - *p00 - 2 * *p10 - *p20 + *p02 + 2 * *p12 + *p22;
int16_t temp_dv = - *p00 - 2 * *p01 - *p02 + *p20 + 2 * *p21 + *p22;
*result_du = saturate( temp_du/4 + 128 );
*result_dv = saturate( temp_dv/4 + 128 );
*result_f1 = - *p00 - *p01 - *p02 - *p03 - *p04
- *p10 + *p11 + *p12 + *p13 - *p14
- *p20 + *p21 + 8 * *p22 + *p23 - *p24
- *p30 + *p31 + *p32 + *p33 - *p34
- *p40 - *p41 - *p42 - *p43 - *p44;
*result_f2 = - *p00 - *p01 + *p03 + *p04
- *p10 - *p11 + *p13 + *p14
+ *p30 + *p31 - *p33 - *p34
+ *p40 + *p41 - *p43 - *p44;
}
}
void Matcher::filterImageSobel (uint8_t* I,uint8_t* I_du,uint8_t* I_dv,const int* dims) {
// get image width and height
const int32_t height = dims[1];
const int32_t bpl = dims[2];
// init sobel pointers
const uint8_t* p00 = I + 0;
const uint8_t* p01 = I + 1;
const uint8_t* p02 = I + 2;
const uint8_t* p10 = I + 0 + bpl;
const uint8_t* p11 = I + 1 + bpl;
const uint8_t* p12 = I + 2 + bpl;
const uint8_t* p20 = I + 0 + 2*bpl;
const uint8_t* p21 = I + 1 + 2*bpl;
const uint8_t* p22 = I + 2 + 2*bpl;
// init output pointers
uint8_t* result_du = I_du + bpl + 1;
uint8_t* result_dv = I_dv + bpl + 1;
// stop here
const uint8_t* end_input = I + bpl*height;
// compute filter responses (border pixels are invalid)
for( ; p22 != end_input; p00++, p01++, p02++,
p10++, p11++, p12++,
p20++, p21++, p22++,
result_du++, result_dv++) {
int16_t temp_du = - *p00 - 2 * *p10 - *p20 + *p02 + 2 * *p12 + *p22;
int16_t temp_dv = - *p00 - 2 * *p01 - *p02 + *p20 + 2 * *p21 + *p22;
*result_du = saturate( temp_du/4 + 128 );
*result_dv = saturate( temp_dv/4 + 128 );
}
}
void Matcher::getHalfResolutionDimensions(const int32_t *dims,int32_t *dims_half) {
dims_half[0] = dims[0]/2;
dims_half[1] = dims[1]/2;
dims_half[2] = dims_half[0]+15-(dims_half[0]-1)%16;
}
uint8_t* Matcher::createHalfResolutionImage(uint8_t *I,const int32_t* dims) {
int32_t dims_half[3];
getHalfResolutionDimensions(dims,dims_half);
uint8_t* I_half = (uint8_t*)_mm_malloc(dims_half[2]*dims_half[1]*sizeof(uint8_t),16);
for (int32_t v=0; v<dims_half[1]; v++)
for (int32_t u=0; u<dims_half[0]; u++)
I_half[v*dims_half[2]+u] = (uint8_t)(((int32_t)I[(v*2+0)*dims[2]+u*2+0]+
(int32_t)I[(v*2+0)*dims[2]+u*2+1]+
(int32_t)I[(v*2+1)*dims[2]+u*2+0]+
(int32_t)I[(v*2+1)*dims[2]+u*2+1])/4);
return I_half;
}
void Matcher::computeFeatures (uint8_t *I,const int32_t* dims,int32_t* &max1,int32_t &num1,int32_t* &max2,int32_t &num2,uint8_t* &I_du,uint8_t* &I_dv,uint8_t* &I_du_full,uint8_t* &I_dv_full) {
int16_t *I_f1;
int16_t *I_f2;
int32_t dims_matching[3];
memcpy(dims_matching,dims,3*sizeof(int32_t));
// allocate memory for sobel images and filter images
if (!param.half_resolution) {
I_du = (uint8_t*)_mm_malloc(dims[2]*dims[1]*sizeof(uint8_t*),16);
I_dv = (uint8_t*)_mm_malloc(dims[2]*dims[1]*sizeof(uint8_t*),16);
I_f1 = (int16_t*)_mm_malloc(dims[2]*dims[1]*sizeof(int16_t),16);
I_f2 = (int16_t*)_mm_malloc(dims[2]*dims[1]*sizeof(int16_t),16);
filter::sobel5x5(I,I_du,I_dv,dims[2],dims[1]);
filter::blob5x5(I,I_f1,dims[2],dims[1]);
filter::checkerboard5x5(I,I_f2,dims[2],dims[1]);
} else {
uint8_t* I_matching = createHalfResolutionImage(I,dims);
getHalfResolutionDimensions(dims,dims_matching);
I_du = (uint8_t*)_mm_malloc(dims_matching[2]*dims_matching[1]*sizeof(uint8_t*),16);
I_dv = (uint8_t*)_mm_malloc(dims_matching[2]*dims_matching[1]*sizeof(uint8_t*),16);
I_f1 = (int16_t*)_mm_malloc(dims_matching[2]*dims_matching[1]*sizeof(int16_t),16);
I_f2 = (int16_t*)_mm_malloc(dims_matching[2]*dims_matching[1]*sizeof(int16_t),16);
I_du_full = (uint8_t*)_mm_malloc(dims[2]*dims[1]*sizeof(uint8_t*),16);
I_dv_full = (uint8_t*)_mm_malloc(dims[2]*dims[1]*sizeof(uint8_t*),16);
filter::sobel5x5(I_matching,I_du,I_dv,dims_matching[2],dims_matching[1]);
filter::sobel5x5(I,I_du_full,I_dv_full,dims[2],dims[1]);
filter::blob5x5(I_matching,I_f1,dims_matching[2],dims_matching[1]);
filter::checkerboard5x5(I_matching,I_f2,dims_matching[2],dims_matching[1]);
_mm_free(I_matching);
}
// extract sparse maxima (1st pass) via non-maximum suppression
vector<Matcher::maximum> maxima1;
if (param.multi_stage) {
int32_t nms_n_sparse = param.nms_n*3;
if (nms_n_sparse>10)
nms_n_sparse = max(param.nms_n,10);
nonMaximumSuppression(I_f1,I_f2,dims_matching,maxima1,nms_n_sparse);
computeDescriptors(I_du,I_dv,dims_matching[2],maxima1);
}
// extract dense maxima (2nd pass) via non-maximum suppression
vector<Matcher::maximum> maxima2;
nonMaximumSuppression(I_f1,I_f2,dims_matching,maxima2,param.nms_n);
computeDescriptors(I_du,I_dv,dims_matching[2],maxima2);
// release filter images
_mm_free(I_f1);
_mm_free(I_f2);
// get number of interest points and init maxima pointer to NULL
num1 = maxima1.size();
num2 = maxima2.size();
max1 = 0;
max2 = 0;
int32_t s = 1;
if (param.half_resolution)
s = 2;
// return sparse maxima as 16-bytes aligned memory
if (num1!=0) {
max1 = (int32_t*)_mm_malloc(sizeof(Matcher::maximum)*num1,16);
int32_t k=0;
for (vector<Matcher::maximum>::iterator it=maxima1.begin(); it!=maxima1.end(); it++) {
*(max1+k++) = it->u*s; *(max1+k++) = it->v*s; *(max1+k++) = 0; *(max1+k++) = it->c;
*(max1+k++) = it->d1; *(max1+k++) = it->d2; *(max1+k++) = it->d3; *(max1+k++) = it->d4;
*(max1+k++) = it->d5; *(max1+k++) = it->d6; *(max1+k++) = it->d7; *(max1+k++) = it->d8;
}
}
// return dense maxima as 16-bytes aligned memory
if (num2!=0) {
max2 = (int32_t*)_mm_malloc(sizeof(Matcher::maximum)*num2,16);
int32_t k=0;
for (vector<Matcher::maximum>::iterator it=maxima2.begin(); it!=maxima2.end(); it++) {
*(max2+k++) = it->u*s; *(max2+k++) = it->v*s; *(max2+k++) = 0; *(max2+k++) = it->c;
*(max2+k++) = it->d1; *(max2+k++) = it->d2; *(max2+k++) = it->d3; *(max2+k++) = it->d4;
*(max2+k++) = it->d5; *(max2+k++) = it->d6; *(max2+k++) = it->d7; *(max2+k++) = it->d8;
}
}
}
void Matcher::computePriorStatistics (vector<Matcher::p_match> &p_matched,int32_t method) {
// compute number of bins
int32_t u_bin_num = (int32_t)ceil((float)dims_c[0]/(float)param.match_binsize);
int32_t v_bin_num = (int32_t)ceil((float)dims_c[1]/(float)param.match_binsize);
int32_t bin_num = v_bin_num*u_bin_num;
// number of matching stages
int32_t num_stages = 2;
if (method==2)
num_stages = 4;
// allocate bin accumulator memory
vector<Matcher::delta> *delta_accu = new vector<Matcher::delta>[bin_num];
// fill bin accumulator
Matcher::delta delta_curr;
for (vector<Matcher::p_match>::iterator it=p_matched.begin(); it!=p_matched.end(); it++) {
// method flow: compute position delta
if (method==0) {
delta_curr.val[0] = it->u1p - it->u1c;
delta_curr.val[1] = it->v1p - it->v1c;
delta_curr.val[2] = it->u1c - it->u1p;
delta_curr.val[3] = it->v1c - it->v1p;
// method stereo: compute position delta
} else if (method==1) {
delta_curr.val[0] = it->u2c - it->u1c;
delta_curr.val[1] = 0;
delta_curr.val[2] = it->u1c - it->u2c;
delta_curr.val[3] = 0;
// method quad matching: compute position delta
} else {
/*
delta_curr.val[0] = it->u1p - it->u1c;
delta_curr.val[1] = it->v1p - it->v1c;
delta_curr.val[2] = it->u2p - it->u1p;
delta_curr.val[3] = 0;
delta_curr.val[4] = it->u2c - it->u2p;
delta_curr.val[5] = it->v2c - it->v2p;
delta_curr.val[6] = it->u1c - it->u2c;
delta_curr.val[7] = 0;*/
delta_curr.val[0] = it->u2p - it->u1p;
delta_curr.val[1] = 0;
delta_curr.val[2] = it->u2c - it->u2p;
delta_curr.val[3] = it->v2c - it->v2p;
delta_curr.val[4] = it->u1c - it->u2c;
delta_curr.val[5] = 0;
delta_curr.val[6] = it->u1p - it->u1c;
delta_curr.val[7] = it->v1p - it->v1c;
}
// compute row and column of bin to which this observation belongs
int32_t u_bin_min,u_bin_max,v_bin_min,v_bin_max;
// flow + stereo: use current left image as reference
if (method<2) {
u_bin_min = min(max((int32_t)floor(it->u1c/(float)param.match_binsize)-1,0),u_bin_num-1);
u_bin_max = min(max((int32_t)floor(it->u1c/(float)param.match_binsize)+1,0),u_bin_num-1);
v_bin_min = min(max((int32_t)floor(it->v1c/(float)param.match_binsize)-1,0),v_bin_num-1);
v_bin_max = min(max((int32_t)floor(it->v1c/(float)param.match_binsize)+1,0),v_bin_num-1);
// quad matching: use current previous image as reference
} else {
u_bin_min = min(max((int32_t)floor(it->u1p/(float)param.match_binsize)-1,0),u_bin_num-1);
u_bin_max = min(max((int32_t)floor(it->u1p/(float)param.match_binsize)+1,0),u_bin_num-1);
v_bin_min = min(max((int32_t)floor(it->v1p/(float)param.match_binsize)-1,0),v_bin_num-1);
v_bin_max = min(max((int32_t)floor(it->v1p/(float)param.match_binsize)+1,0),v_bin_num-1);
}
// add to accumulator
for (int32_t v_bin=v_bin_min; v_bin<=v_bin_max; v_bin++)
for (int32_t u_bin=u_bin_min; u_bin<=u_bin_max; u_bin++)
delta_accu[v_bin*u_bin_num+u_bin].push_back(delta_curr);
}
// clear ranges
ranges.clear();
// for all bins compute statistics
for (int32_t v_bin=0; v_bin<v_bin_num; v_bin++) {
for (int32_t u_bin=0; u_bin<u_bin_num; u_bin++) {
// use full range in case there are no observations
delta delta_min(-param.match_radius);
delta delta_max(+param.match_radius);
// otherwise determine delta min and delta max
if (delta_accu[v_bin*u_bin_num+u_bin].size()>0) {
// init displacements 'delta' to 'infinite'
delta_min = delta(+1000000);
delta_max = delta(-1000000);
// find minimum and maximum displacements
for (vector<Matcher::delta>::iterator it=delta_accu[v_bin*u_bin_num+u_bin].begin();
it!=delta_accu[v_bin*u_bin_num+u_bin].end(); it++) {
for (int32_t i=0; i<num_stages*2; i++) {
if (it->val[i]<delta_min.val[i]) delta_min.val[i] = it->val[i];
if (it->val[i]>delta_max.val[i]) delta_max.val[i] = it->val[i];
}
}
}
// set search range for this bin
range r;
for (int32_t i=0; i<num_stages; i++) {
// bound minimum search range to 20x20
float delta_u = delta_max.val[i*2+0]-delta_min.val[i*2+0];
if (delta_u<20) {
delta_min.val[i*2+0] -= ceil((20-delta_u)/2);
delta_max.val[i*2+0] += ceil((20-delta_u)/2);
}
float delta_v = delta_max.val[i*2+1]-delta_min.val[i*2+1];
if (delta_v<20) {
delta_min.val[i*2+1] -= ceil((20-delta_v)/2);
delta_max.val[i*2+1] += ceil((20-delta_v)/2);
}
// set range for this bin
r.u_min[i] = delta_min.val[i*2+0];
r.u_max[i] = delta_max.val[i*2+0];
r.v_min[i] = delta_min.val[i*2+1];
r.v_max[i] = delta_max.val[i*2+1];
}
ranges.push_back(r);
}
}
// free bin accumulator memory
delete []delta_accu;
}
void Matcher::createIndexVector (int32_t* m,int32_t n,vector<int32_t> *k,const int32_t &u_bin_num,const int32_t &v_bin_num) {
// descriptor step size
int32_t step_size = sizeof(Matcher::maximum)/sizeof(int32_t);
// for all points do
for (int32_t i=0; i<n; i++) {
// extract coordinates and class
int32_t u = *(m+step_size*i+0); // u-coordinate
int32_t v = *(m+step_size*i+1); // v-coordinate
int32_t c = *(m+step_size*i+3); // class
// compute row and column of bin to which this observation belongs
int32_t u_bin = min((int32_t)floor((float)u/(float)param.match_binsize),u_bin_num-1);
int32_t v_bin = min((int32_t)floor((float)v/(float)param.match_binsize),v_bin_num-1);
// save index
k[(c*v_bin_num+v_bin)*u_bin_num+u_bin].push_back(i);
}
}
inline void Matcher::findMatch (int32_t* m1,const int32_t &i1,int32_t* m2,const int32_t &step_size,vector<int32_t> *k2,
const int32_t &u_bin_num,const int32_t &v_bin_num,const int32_t &stat_bin,
int32_t& min_ind,int32_t stage,bool flow,bool use_prior,double u_,double v_) {
// init and load image coordinates + feature
min_ind = 0;
double min_cost = 10000000;
int32_t u1 = *(m1+step_size*i1+0);
int32_t v1 = *(m1+step_size*i1+1);
int32_t c = *(m1+step_size*i1+3);
__m128i xmm1 = _mm_load_si128((__m128i*)(m1+step_size*i1+4));
__m128i xmm2 = _mm_load_si128((__m128i*)(m1+step_size*i1+8));
float u_min,u_max,v_min,v_max;
// restrict search range with prior
if (use_prior) {
u_min = u1+ranges[stat_bin].u_min[stage];
u_max = u1+ranges[stat_bin].u_max[stage];
v_min = v1+ranges[stat_bin].v_min[stage];
v_max = v1+ranges[stat_bin].v_max[stage];
// otherwise: use full search space
} else {
u_min = u1-param.match_radius;
u_max = u1+param.match_radius;
v_min = v1-param.match_radius;
v_max = v1+param.match_radius;
}
// if stereo search => constrain to 1d
if (!flow) {
v_min = v1-param.match_disp_tolerance;
v_max = v1+param.match_disp_tolerance;
}
// bins of interest
int32_t u_bin_min = min(max((int32_t)floor(u_min/(float)param.match_binsize),0),u_bin_num-1);
int32_t u_bin_max = min(max((int32_t)floor(u_max/(float)param.match_binsize),0),u_bin_num-1);
int32_t v_bin_min = min(max((int32_t)floor(v_min/(float)param.match_binsize),0),v_bin_num-1);
int32_t v_bin_max = min(max((int32_t)floor(v_max/(float)param.match_binsize),0),v_bin_num-1);
// for all bins of interest do
for (int32_t u_bin=u_bin_min; u_bin<=u_bin_max; u_bin++) {
for (int32_t v_bin=v_bin_min; v_bin<=v_bin_max; v_bin++) {
int32_t k2_ind = (c*v_bin_num+v_bin)*u_bin_num+u_bin;
for (vector<int32_t>::const_iterator i2_it=k2[k2_ind].begin(); i2_it!=k2[k2_ind].end(); i2_it++) {
int32_t u2 = *(m2+step_size*(*i2_it)+0);
int32_t v2 = *(m2+step_size*(*i2_it)+1);
if (u2>=u_min && u2<=u_max && v2>=v_min && v2<=v_max) {
__m128i xmm3 = _mm_load_si128((__m128i*)(m2+step_size*(*i2_it)+4));
__m128i xmm4 = _mm_load_si128((__m128i*)(m2+step_size*(*i2_it)+8));
xmm3 = _mm_sad_epu8 (xmm1,xmm3);
xmm4 = _mm_sad_epu8 (xmm2,xmm4);
xmm4 = _mm_add_epi16(xmm3,xmm4);
double cost = (double)(_mm_extract_epi16(xmm4,0)+_mm_extract_epi16(xmm4,4));
if (u_>=0 && v_>=0) {
double du = (double)u2-u_;
double dv = (double)v2-v_;
double dist = sqrt(du*du+dv*dv);
cost += 4*dist;
}
if (cost<min_cost) {
min_ind = *i2_it;
min_cost = cost;
}
}
}
}
}
}
void Matcher::matching (int32_t *m1p,int32_t *m2p,int32_t *m1c,int32_t *m2c,
int32_t n1p,int32_t n2p,int32_t n1c,int32_t n2c,
vector<Matcher::p_match> &p_matched,int32_t method,bool use_prior,Matrix *Tr_delta) {
// descriptor step size (number of int32_t elements in struct)
int32_t step_size = sizeof(Matcher::maximum)/sizeof(int32_t);
// compute number of bins
int32_t u_bin_num = (int32_t)ceil((float)dims_c[0]/(float)param.match_binsize);
int32_t v_bin_num = (int32_t)ceil((float)dims_c[1]/(float)param.match_binsize);
int32_t bin_num = 4*v_bin_num*u_bin_num; // 4 classes
// allocate memory for index vectors (needed for efficient search)
vector<int32_t> *k1p = new vector<int32_t>[bin_num];
vector<int32_t> *k2p = new vector<int32_t>[bin_num];
vector<int32_t> *k1c = new vector<int32_t>[bin_num];
vector<int32_t> *k2c = new vector<int32_t>[bin_num];
// loop variables
int32_t* M = (int32_t*)calloc(dims_c[0]*dims_c[1],sizeof(int32_t));
int32_t i1p,i2p,i1c,i2c,i1c2,i1p2;
int32_t u1p,v1p,u2p,v2p,u1c,v1c,u2c,v2c;
double t00,t01,t02,t03,t10,t11,t12,t13,t20,t21,t22,t23;
if (Tr_delta) {
t00 = Tr_delta->val[0][0];
t01 = Tr_delta->val[0][1];
t02 = Tr_delta->val[0][2];
t03 = Tr_delta->val[0][3];
t10 = Tr_delta->val[1][0];
t11 = Tr_delta->val[1][1];
t12 = Tr_delta->val[1][2];
t13 = Tr_delta->val[1][3];
t20 = Tr_delta->val[2][0];
t21 = Tr_delta->val[2][1];