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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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This commit is contained in:
Alexander Alekhin
2019-07-02 21:17:45 +00:00
parent 2bf8793632 2370079220
commit 097d81363b
35 changed files with 467 additions and 540 deletions
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modules/features2d/src/fast.cpp
+27 -8
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@@ -132,10 +132,9 @@ void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bo
m1 = m1 | ((x3 < v1) & (x0 < v1));
m0 = m0 | m1;
int mask = v_signmask(m0);
if( mask == 0 )
if( !v_check_any(m0) )
continue;
if( (mask & 255) == 0 )
if( !v_check_any(v_combine_low(m0, m0)) )
{
j -= 8;
ptr -= 8;
@@ -159,16 +158,36 @@ void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bo
max1 = v_max(max1, v_reinterpret_as_u8(c1));
}
max0 = v_max(max0, max1);
int m = v_signmask(K16 < max0);
max0 = K16 < v_max(max0, max1);
int m = -v_reduce_sum(v_reinterpret_as_s8(max0));
uchar mflag[16];
v_store(mflag, max0);
for( k = 0; m > 0 && k < 16; k++, m >>= 1 )
for( k = 0; m > 0 && k < 16; k++ )
{
if(m & 1)
if(mflag[k])
{
--m;
cornerpos[ncorners++] = j+k;
if(nonmax_suppression)
curr[j+k] = (uchar)cornerScore<patternSize>(ptr+k, pixel, threshold);
{
short d[25];
for (int _k = 0; _k < 25; _k++)
d[_k] = (short)(ptr[k] - ptr[k + pixel[_k]]);
v_int16x8 a0, b0, a1, b1;
a0 = b0 = a1 = b1 = v_load(d + 8);
for(int shift = 0; shift < 8; ++shift)
{
v_int16x8 v_nms = v_load(d + shift);
a0 = v_min(a0, v_nms);
b0 = v_max(b0, v_nms);
v_nms = v_load(d + 9 + shift);
a1 = v_min(a1, v_nms);
b1 = v_max(b1, v_nms);
}
curr[j + k] = (uchar)(v_reduce_max(v_max(v_max(a0, a1), v_setzero_s16() - v_min(b0, b1))) - 1);
}
}
}
}