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fix linters
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@marinagmoreira
marinagmoreira committed Jun 26, 2024
1 parent c973991 commit ad69913
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Showing 2 changed files with 45 additions and 16 deletions.
10 changes: 6 additions & 4 deletions localization/interest_point/include/interest_point/BAD.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,14 @@
* Constact: [email protected]
* Software developed in the PhD: Low-level vision for resource-limited devices
*/
#ifndef EFFICIENT_DESCRIPTORS_BAD_H_
#define EFFICIENT_DESCRIPTORS_BAD_H_
#ifndef INTEREST_POINT_BAD_H_
#define INTEREST_POINT_BAD_H_

#include <vector>
#include <opencv2/opencv.hpp>

#include <vector>
#include <string>

namespace upm {

/**
Expand Down Expand Up @@ -94,4 +96,4 @@ class BAD : public cv::Feature2D {
};

} // namespace upm
#endif // EFFICIENT_DESCRIPTORS_BAD_H_
#endif // INTEREST_POINT_BAD_H_
51 changes: 39 additions & 12 deletions localization/interest_point/src/BAD.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,12 @@
* Constact: [email protected]
* Software developed in the PhD: Low-level vision for resource-limited devices
*/
#include <cassert>
#include <interest_point/BAD.h>
#include <cassert>
#include <vector>

#define UPM_DEGREES_TO_RADS 0.017453292519943295
#define UPM_ROUNDNUM(x) ((int)(x + 0.5f))
#define UPM_ROUNDNUM(x) (static_cast<int>(x + 0.5f))
#define UPM_BAD_EXTRA_RATIO_MARGIN 1.75

namespace upm {
Expand Down Expand Up @@ -40,8 +41,8 @@ static inline void rectifyBoxes(const std::vector<BAD::BoxPairParams> &boxes_par
m11 = s;
m12 = -s * 0.5f * patch_size.height + kp.pt.y;
} else {
cosine = (kp.angle >= 0) ? float(cos(kp.angle * UPM_DEGREES_TO_RADS)) : 1.f;
sine = (kp.angle >= 0) ? float(sin(kp.angle * UPM_DEGREES_TO_RADS)) : 0.f;
cosine = (kp.angle >= 0) ? static_cast<float>(cos(kp.angle * UPM_DEGREES_TO_RADS)) : 1.f;
sine = (kp.angle >= 0) ? static_cast<float>(sin(kp.angle * UPM_DEGREES_TO_RADS)) : 0.f;

m00 = s * cosine;
m01 = -s * sine;
Expand Down Expand Up @@ -133,7 +134,7 @@ static inline float computeBadResponse(const BAD::BoxPairParams &box_params,
D = integral_img.at<int>(box1y2, box1x2);

// Calculate the mean intensity value of the pixels in the box
sum1 = float(A + D - B - C);
sum1 = static_cast<float>(A + D - B - C);
box_area1 = (box1y2 - box1y1) * (box1x2 - box1x1);
assert(box_area1 > 0);
average1 = sum1 / box_area1;
Expand All @@ -145,7 +146,7 @@ static inline float computeBadResponse(const BAD::BoxPairParams &box_params,
D = integral_img.at<int>(box2y2, box2x2);

// Calculate the mean intensity value of the pixels in the box
sum2 = float(A + D - B - C);
sum2 = static_cast<float>(A + D - B - C);
box_area2 = (box2y2 - box2y1) * (box2x2 - box2x1);
assert(box_area2 > 0);
average2 = sum2 / box_area2;
Expand Down Expand Up @@ -262,7 +263,33 @@ BAD::BAD(float scale_factor, BadSize n_bits) {
// {15,15,15,11,1}, {17,16,14,13,1}, {12,18,12,17,1}, {30,3,30,2,1}, {21,20,18,28,3}, {25,25,7,14,5}, {3,11,2,3,2},
// {25,5,9,21,4}, {6,15,4,28,3}, {9,9,3,3,3}, {16,19,14,16,2}, {10,25,10,20,1}, {2,17,2,15,1}, {17,15,15,16,1},
// {20,15,19,15,1}, {22,2,22,1,1}, {15,19,15,18,1}, {15,16,10,12,1}, {28,2,23,14,2}, {11,3,9,2,1}}; thresholds_ =
// {14.45,4.15,7.75,9.65,2.25,0.15,0.45,-0.95,3.65,-1.75,1.05,5.45,-0.05,-2.65,3.35,1.65,-1.55,2.85,3.05,22.05,-3.65,-0.15,-0.55,-0.05,3.25,-2.85,-1.25,10.45,-1.05,1.25,3.15,2.05,-0.55,-1.25,3.45,4.35,2.45,2.55,1.35,1.25,2.75,-0.15,8.35,0.35,-1.25,0.75,-0.45,-0.05,0.85,3.65,1.55,1.75,-0.35,1.35,4.85,-2.25,0.25,-2.15,3.35,1.95,6.25,0.35,24.45,-1.15,0.85,-1.95,5.15,1.35,0.85,0.35,-0.45,4.95,-0.25,2.45,11.75,0.85,-1.65,0.05,4.05,-0.35,-0.95,-0.25,49.35,0.85,1.95,0.25,1.15,-2.65,-0.25,0.85,-5.65,1.15,3.05,4.05,7.35,9.05,0.35,1.65,1.65,2.55,6.95,1.75,0.85,-1.15,1.35,5.45,1.35,-2.35,-0.15,0.85,-3.05,0.05,-0.35,-0.65,11.65,-0.85,1.15,2.35,-9.25,16.05,-1.45,1.95,0.35,-0.35,0.15,0.25,-1.35,0.65,-4.05,-2.25,1.05,-0.05,-1.55,0.25,69.45,0.15,-1.25,-1.85,-0.65,8.75,-0.95,1.95,1.05,-1.45,2.15,-1.85,-1.75,-2.95,2.65,0.65,-1.05,4.35,0.25,19.65,0.35,1.65,0.65,2.75,2.85,-10.95,3.65,-4.15,0.25,-0.65,-2.25,3.75,35.75,3.15,-0.55,1.95,-6.55,88.35,7.25,1.75,-4.15,0.25,0.25,0.65,3.75,1.65,2.85,42.15,11.75,-1.25,-8.25,0.05,2.15,0.65,-1.55,-2.75,1.15,-0.15,-0.75,16.85,1.15,1.45,15.35,19.45,8.65,-1.25,0.25,2.15,0.15,2.85,-2.25,1.75,-15.15,4.15,-0.45,-8.25,1.25,-0.85,3.55,0.45,-1.25,9.65,1.25,3.15,-2.05,-6.85,-0.05,3.25,7.05,2.35,-1.45,-1.05,20.25,1.15,1.35,1.05,5.15,2.55,0.55,0.55,-0.15,0.65,-28.35,3.85,2.05,-1.15,3.05,-0.95,-1.55,-0.35,101.95,0.35,-2.05,-2.15,4.25,105.15,1.15,27.45,30.15,18.45,-2.45,1.85,2.95,-3.75,-0.65,0.05,0.25,34.45,-2.05,0.25,3.25,2.05,2.85,3.45,20.95,1.45,-1.95,-0.35,-6.85,1.15,-31.95,11.85,2.75,0.15,8.35,1.15,2.15,-1.15,-1.05,2.45,1.45,0.15,-1.65,41.85,0.35,0.65,-0.35,0.25,56.75,23.55,88.85,-7.25,1.05,0.75,-1.05,-1.65,-9.75,-16.95,-0.05,-10.05,34.15,14.75,-0.95,1.45,4.85,-0.05,-0.35,0.75,64.75,24.25,-0.35,-13.65,2.85,1.75,-0.35,0.25,-12.15,108.05,-0.35,-3.35,1.95,-0.35,21.25,-20.05,95.85,-1.05,-17.75,-0.55,2.75,0.65,0.75,-1.85,2.65,-2.15,1.05,-0.05,4.25,3.75,-13.55,-0.05,105.95,0.45,3.05,9.35,79.25,1.75,7.65,-0.45,0.95,79.15,28.05,0.05,0.65,-0.35,0.95,2.05,1.15,2.75,-1.65,8.65,3.55,-0.25,-28.95,-7.35,122.25,0.55,4.75,1.75,11.15,0.15,2.55,0.05,-7.95,51.05,6.25,0.05,-1.15,0.75,26.65,-1.25,1.15,-0.55,0.05,5.85,1.55,2.25,-1.65,-16.85,-62.65,-1.25,-1.05,-1.55,1.35,0.25,-0.65,0.85,17.45,0.25,-9.35,34.35,0.95,-0.95,-10.05,1.45,-6.05,93.25,3.15,-10.85,-1.65,-0.15,-2.45,-0.35,0.15,118.15,-81.85,4.05,1.05,-0.85,152.35,0.65,1.35,-12.35,95.35,-23.25,-0.75,75.65,50.85,47.85,2.55,0.55,0.15,0.25,38.15,-2.65,-1.95,-1.05,110.25,35.25,2.65,3.65,18.75,89.45,-0.55,0.35,0.25,105.05,0.25,1.25,-34.65,-0.55,-0.15,0.75,-0.15,-0.15,-94.25,-12.05,-15.35,-1.75,31.35,0.15,-2.15,-0.15,-12.05,-0.35,-0.65,-0.55,28.95,39.05,7.05,0.65,-1.65,2.85,4.85,-1.85,1.75,-31.65,0.05,13.75,-0.35,0.35,-5.75,83.85,0.95,27.95,-0.25,-19.05,2.45,-13.25,44.05,51.85,-0.05,0.05,79.35,111.25,-61.65,3.05,-69.95,35.65,62.05,-0.25,-1.05,-2.95,0.95,-0.15,-18.15,-18.65,74.55,2.65};
// {14.45,4.15,7.75,9.65,2.25,0.15,0.45,-0.95,3.65,-1.75,1.05,5.45,-0.05,-2.65,3.35,1.65,-1.55,2.85,3.05,22.05,
// -3.65,-0.15,-0.55,-0.05,3.25,-2.85,-1.25,10.45,-1.05,1.25,3.15,2.05,-0.55,-1.25,3.45,4.35,2.45,2.55,1.35,1.25,
// 2.75,-0.15,8.35,0.35,-1.25,0.75,-0.45,-0.05,0.85,3.65,1.55,1.75,-0.35,1.35,4.85,-2.25,0.25,-2.15,3.35,1.95,6.25,
// 0.35,24.45,-1.15,0.85,-1.95,5.15,1.35,0.85,0.35,-0.45,4.95,-0.25,2.45,11.75,0.85,-1.65,0.05,4.05,-0.35,-0.95,
// -0.25,49.35,0.85,1.95,0.25,1.15,-2.65,-0.25,0.85,-5.65,1.15,3.05,4.05,7.35,9.05,0.35,1.65,1.65,2.55,6.95,1.75,
// 0.85,-1.15,1.35,5.45,1.35,-2.35,-0.15,0.85,-3.05,0.05,-0.35,-0.65,11.65,-0.85,1.15,2.35,-9.25,16.05,-1.45,1.95,
// 0.35,-0.35,0.15,0.25,-1.35,0.65,-4.05,-2.25,1.05,-0.05,-1.55,0.25,69.45,0.15,-1.25,-1.85,-0.65,8.75,-0.95,1.95,
// 1.05,-1.45,2.15,-1.85,-1.75,-2.95,2.65,0.65,-1.05,4.35,0.25,19.65,0.35,1.65,0.65,2.75,2.85,-10.95,3.65,-4.15,
// 0.25,-0.65,-2.25,3.75,35.75,3.15,-0.55,1.95,-6.55,88.35,7.25,1.75,-4.15,0.25,0.25,0.65,3.75,1.65,2.85,42.15,
// 11.75, -1.25,-8.25,0.05,2.15,0.65,-1.55,-2.75,1.15,-0.15,-0.75,16.85,1.15,1.45,15.35,19.45,8.65,-1.25,0.25,
// 2.15,0.15,2.85, -2.25,1.75,-15.15,4.15,-0.45,-8.25,1.25,-0.85,3.55,0.45,-1.25,9.65,1.25,3.15,-2.05,-6.85,-0.05,
// 3.25,7.05,2.35, -1.45,-1.05,20.25,1.15,1.35,1.05,5.15,2.55,0.55,0.55,-0.15,0.65,-28.35,3.85,2.05,-1.15,3.05,
// -0.95,-1.55,-0.35, 101.95,0.35,-2.05,-2.15,4.25,105.15,1.15,27.45,30.15,18.45,-2.45,1.85,2.95,-3.75,-0.65,0.05,
// 0.25,34.45,-2.05, 0.25,3.25,2.05,2.85,3.45,20.95,1.45,-1.95,-0.35,-6.85,1.15,-31.95,11.85,2.75,0.15,8.35,1.15,
// 2.15,-1.15,-1.05, 2.45,1.45,0.15,-1.65,41.85,0.35,0.65,-0.35,0.25,56.75,23.55,88.85,-7.25,1.05,0.75,-1.05,-1.65,
// -9.75,-16.95,-0.05, -10.05,34.15,14.75,-0.95,1.45,4.85,-0.05,-0.35,0.75,64.75,24.25,-0.35,-13.65,2.85,1.75,
// -0.35,0.25,-12.15,108.05, -0.35,-3.35,1.95,-0.35,21.25,-20.05,95.85,-1.05,-17.75,-0.55,2.75,0.65,0.75,-1.85,
// 2.65,-2.15,1.05,-0.05,4.25,3.75, -13.55,-0.05,105.95,0.45,3.05,9.35,79.25,1.75,7.65,-0.45,0.95,79.15,28.05,0.05,
// 0.65,-0.35,0.95,2.05,1.15,2.75, -1.65,8.65,3.55,-0.25,-28.95,-7.35,122.25,0.55,4.75,1.75,11.15,0.15,2.55,0.05,
// -7.95,51.05,6.25,0.05,-1.15,0.75, 26.65,-1.25,1.15,-0.55,0.05,5.85,1.55,2.25,-1.65,-16.85,-62.65,-1.25,-1.05,
// -1.55,1.35,0.25,-0.65,0.85,17.45, 0.25, -9.35,34.35,0.95,-0.95,-10.05,1.45,-6.05,93.25,3.15,-10.85,-1.65,-0.15,
// -2.45,-0.35,0.15,118.15,-81.85,4.05,1.05, -0.85,152.35,0.65,1.35,-12.35,95.35,-23.25,-0.75,75.65,50.85,47.85,
// 2.55,0.55,0.15,0.25,38.15,-2.65,-1.95,-1.05, 110.25,35.25,2.65,3.65,18.75,89.45,-0.55,0.35,0.25,105.05,0.25,
// 1.25,-34.65,-0.55,-0.15,0.75,-0.15,-0.15,-94.25, -12.05,-15.35,-1.75,31.35,0.15,-2.15,-0.15,-12.05,-0.35,-0.65,
// -0.55,28.95,39.05,7.05,0.65,-1.65,2.85,4.85,-1.85, 1.75,-31.65,0.05,13.75,-0.35,0.35,-5.75,83.85,0.95,27.95,
// -0.25,-19.05,2.45,-13.25,44.05,51.85,-0.05,0.05,79.35,111.25,-61.65,3.05,-69.95,35.65,62.05,-0.25,-1.05,-2.95,
// 0.95,-0.15,-18.15,-18.65,74.55,2.65};

// Without data augmentation
box_params_ = {
Expand Down Expand Up @@ -510,7 +537,7 @@ void BAD::compute(cv::InputArray _image,
cv::integral(image, integral_img);

// Create the output array of descriptors
_descriptors.create((int)keypoints.size(), descriptorSize(), descriptorType());
_descriptors.create(static_cast<int>(keypoints.size()), descriptorSize(), descriptorType());

// descriptor storage
cv::Mat descriptors = _descriptors.getMat();
Expand All @@ -533,7 +560,7 @@ void BAD::computeBAD(const cv::Mat &integral_img,
#ifndef UPM_BAD_PARALLEL
const cv::Range range(0, keypoints.size());
#else
cv::parallel_for_(cv::Range(0, int(keypoints.size())), [&](const cv::Range &range){
cv::parallel_for_(cv::Range(0, static_cast<int>(keypoints.size())), [&](const cv::Range &range){ // NOLINT
#endif
// Get a pointer to the first element in the range
// Get a pointer to the first element in the range
Expand All @@ -553,7 +580,7 @@ void BAD::computeBAD(const cv::Mat &integral_img,
if (isKeypointInTheBorder(keypoints[kpIdx], frame_size, patch_size_, scale_factor_)) {
// Code to process the keypoints in the image margins
for (box_pair_idx = 0; box_pair_idx < box_params_.size(); box_pair_idx++) {
bit_idx = 7 - int(box_pair_idx % 8);
bit_idx = 7 - static_cast<int>(box_pair_idx % 8);
response_fun = computeBadResponse(img_boxes[box_pair_idx], integral_img);
// Set the bit to 1 if the response function is less or equal to the threshod
byte |= (response_fun <= thresholds_[box_pair_idx]) << bit_idx;
Expand All @@ -568,7 +595,7 @@ void BAD::computeBAD(const cv::Mat &integral_img,
// Code to process the keypoints in the image center
box_pair = img_boxes.data();
for (box_pair_idx = 0; box_pair_idx < box_params_.size(); box_pair_idx++) {
bit_idx = 7 - int(box_pair_idx % 8);
bit_idx = 7 - static_cast<int>(box_pair_idx % 8);

// For the first box, we calculate its margin coordinates
box1x1 = box_pair->x1 - box_pair->boxRadius;
Expand Down Expand Up @@ -607,5 +634,5 @@ void BAD::computeBAD(const cv::Mat &integral_img,
#ifdef UPM_BAD_PARALLEL
});
#endif
} // namespace upm
} // namespace upm ## NOLINT
}

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