boofcv.abst.feature.detdesc.Surf_DetectDescribe_MT Maven / Gradle / Ivy

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BoofCV is an open source Java library for real-time computer vision and robotics applications.

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/*
 * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.abst.feature.detdesc;

import boofcv.BoofDefaults;
import boofcv.abst.feature.orientation.OrientationIntegral;
import boofcv.alg.feature.describe.DescribePointSurf;
import boofcv.alg.feature.detect.interest.FastHessianFeatureDetector;
import boofcv.concurrency.BoofConcurrency;
import boofcv.struct.feature.ScalePoint;
import boofcv.struct.image.ImageGray;
import pabeles.concurrency.GrowArray;

/**
 * Concurrent implementations of {@link Surf_DetectDescribe}.
 *
 * @author Peter Abeles
 */
public class Surf_DetectDescribe_MT, II extends ImageGray>
		extends Surf_DetectDescribe {

	// Stores data used as workspace inside each thread
	GrowArray threadData;

	public Surf_DetectDescribe_MT( FastHessianFeatureDetector detector,
								   OrientationIntegral orientation,
								   DescribePointSurf describe,
								   Class inputType ) {
		super(detector, orientation, describe, inputType);

		threadData = new GrowArray<>(() -> new ThreadData((OrientationIntegral)orientation.copy(), describe.copy()));
	}

	@Override
	protected void computeDescriptors() {
		BoofConcurrency.loopBlocks(0, foundPoints.size(), threadData, ( data, i0, i1 ) -> {
			final OrientationIntegral orientation = data.orientation;
			final DescribePointSurf describe = data.describe;

			orientation.setImage(ii);
			describe.setImage(ii);

			for (int i = i0; i < i1; i++) {
				ScalePoint p = foundPoints.get(i);
				double radius = p.scale*BoofDefaults.SURF_SCALE_TO_RADIUS;

				orientation.setObjectRadius(radius);
				double angle = orientation.compute(p.pixel.x, p.pixel.y);
				describe.describe(p.pixel.x, p.pixel.y, angle, p.scale, true, features.get(i));
				featureAngles.set(i, angle);
			}
		});
	}

	private class ThreadData {
		OrientationIntegral orientation;
		DescribePointSurf describe;

		public ThreadData( OrientationIntegral orientation, DescribePointSurf describe ) {
			this.orientation = orientation;
			this.describe = describe;
		}
	}
}