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Making pos0 and pos1 as global variables

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This commit is contained in:
Ankit Agrawal
2013-11-29 20:47:59 +01:00
committed by Johannes Schönberger
parent fe9f1e75b8
commit b996776e41
2 changed files with 515 additions and 261 deletions
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skimage/feature/orb.py
-2
View File
@@ -183,8 +183,6 @@ def descriptor_orb(image, keypoints, orientations, scales,
"""
image = _prepare_grayscale_input_2D(image)
image = img_as_float(image)
pyramid = list(pyramid_gaussian(image, n_scales - 1, downscale))
descriptors_list = []
skimage/feature/orb_cy.pyx
+515 -259
View File
@@ -13,13 +13,12 @@ def _orb_loop(double[:, ::1] image, Py_ssize_t[:, ::1] keypoints,
double[:] orientations):
cdef Py_ssize_t i, d, kr, kc, pr0, pr1, pc0, pc1, spr0, spc0, spr1, spc1
cdef char[:, ::1] pos0 = binary_tests[:, :2]
cdef char[:, ::1] pos1 = binary_tests[:, 2:]
cdef int[:, ::1] steered_pos0, steered_pos1
cdef double angle
cdef char[:, ::1] descriptors = np.zeros((keypoints.shape[0], 256),
dtype=np.uint8)
for i in range(keypoints.shape[0]):
angle = orientations[i]
sin_a = sin(angle * M_PI / 180.)
@@ -45,260 +44,517 @@ def _orb_loop(double[:, ::1] image, Py_ssize_t[:, ::1] keypoints,
return np.asarray(descriptors)
# Learned 256 decision pairs for binary tests in rBRIEF. Taken from OpenCV.
cdef char[:, ::1] binary_tests = np.ascontiguousarray(np.asarray([[8,-3, 9,5],
[4,2, 7,-12],
[-11,9, -8,2],
[7,-12, 12,-13],
[2,-13, 2,12],
[1,-7, 1,6],
[-2,-10, -2,-4],
[-13,-13, -11,-8],
[-13,-3, -12,-9],
[10,4, 11,9],
[-13,-8, -8,-9],
[-11,7, -9,12],
[7,7, 12,6],
[-4,-5, -3,0],
[-13,2, -12,-3],
[-9,0, -7,5],
[12,-6, 12,-1],
[-3,6, -2,12],
[-6,-13, -4,-8],
[11,-13, 12,-8],
[4,7, 5,1],
[5,-3, 10,-3],
[3,-7, 6,12],
[-8,-7, -6,-2],
[-2,11, -1,-10],
[-13,12, -8,10],
[-7,3, -5,-3],
[-4,2, -3,7],
[-10,-12, -6,11],
[5,-12, 6,-7],
[5,-6, 7,-1],
[1,0, 4,-5],
[9,11, 11,-13],
[4,7, 4,12],
[2,-1, 4,4],
[-4,-12, -2,7],
[-8,-5, -7,-10],
[4,11, 9,12],
[0,-8, 1,-13],
[-13,-2, -8,2],
[-3,-2, -2,3],
[-6,9, -4,-9],
[8,12, 10,7],
[0,9, 1,3],
[7,-5, 11,-10],
[-13,-6, -11,0],
[10,7, 12,1],
[-6,-3, -6,12],
[10,-9, 12,-4],
[-13,8, -8,-12],
[-13,0, -8,-4],
[3,3, 7,8],
[5,7, 10,-7],
[-1,7, 1,-12],
[3,-10, 5,6],
[2,-4, 3,-10],
[-13,0, -13,5],
[-13,-7, -12,12],
[-13,3, -11,8],
[-7,12, -4,7],
[6,-10, 12,8],
[-9,-1, -7,-6],
[-2,-5, 0,12],
[-12,5, -7,5],
[3,-10, 8,-13],
[-7,-7, -4,5],
[-3,-2, -1,-7],
[2,9, 5,-11],
[-11,-13, -5,-13],
[-1,6, 0,-1],
[5,-3, 5,2],
[-4,-13, -4,12],
[-9,-6, -9,6],
[-12,-10, -8,-4],
[10,2, 12,-3],
[7,12, 12,12],
[-7,-13, -6,5],
[-4,9, -3,4],
[7,-1, 12,2],
[-7,6, -5,1],
[-13,11, -12,5],
[-3,7, -2,-6],
[7,-8, 12,-7],
[-13,-7, -11,-12],
[1,-3, 12,12],
[2,-6, 3,0],
[-4,3, -2,-13],
[-1,-13, 1,9],
[7,1, 8,-6],
[1,-1, 3,12],
[9,1, 12,6],
[-1,-9, -1,3],
[-13,-13, -10,5],
[7,7, 10,12],
[12,-5, 12,9],
[6,3, 7,11],
[5,-13, 6,10],
[2,-12, 2,3],
[3,8, 4,-6],
[2,6, 12,-13],
[9,-12, 10,3],
[-8,4, -7,9],
[-11,12, -4,-6],
[1,12, 2,-8],
[6,-9, 7,-4],
[2,3, 3,-2],
[6,3, 11,0],
[3,-3, 8,-8],
[7,8, 9,3],
[-11,-5, -6,-4],
[-10,11, -5,10],
[-5,-8, -3,12],
[-10,5, -9,0],
[8,-1, 12,-6],
[4,-6, 6,-11],
[-10,12, -8,7],
[4,-2, 6,7],
[-2,0, -2,12],
[-5,-8, -5,2],
[7,-6, 10,12],
[-9,-13, -8,-8],
[-5,-13, -5,-2],
[8,-8, 9,-13],
[-9,-11, -9,0],
[1,-8, 1,-2],
[7,-4, 9,1],
[-2,1, -1,-4],
[11,-6, 12,-11],
[-12,-9, -6,4],
[3,7, 7,12],
[5,5, 10,8],
[0,-4, 2,8],
[-9,12, -5,-13],
[0,7, 2,12],
[-1,2, 1,7],
[5,11, 7,-9],
[3,5, 6,-8],
[-13,-4, -8,9],
[-5,9, -3,-3],
[-4,-7, -3,-12],
[6,5, 8,0],
[-7,6, -6,12],
[-13,6, -5,-2],
[1,-10, 3,10],
[4,1, 8,-4],
[-2,-2, 2,-13],
[2,-12, 12,12],
[-2,-13, 0,-6],
[4,1, 9,3],
[-6,-10, -3,-5],
[-3,-13, -1,1],
[7,5, 12,-11],
[4,-2, 5,-7],
[-13,9, -9,-5],
[7,1, 8,6],
[7,-8, 7,6],
[-7,-4, -7,1],
[-8,11, -7,-8],
[-13,6, -12,-8],
[2,4, 3,9],
[10,-5, 12,3],
[-6,-5, -6,7],
[8,-3, 9,-8],
[2,-12, 2,8],
[-11,-2, -10,3],
[-12,-13, -7,-9],
[-11,0, -10,-5],
[5,-3, 11,8],
[-2,-13, -1,12],
[-1,-8, 0,9],
[-13,-11, -12,-5],
[-10,-2, -10,11],
[-3,9, -2,-13],
[2,-3, 3,2],
[-9,-13, -4,0],
[-4,6, -3,-10],
[-4,12, -2,-7],
[-6,-11, -4,9],
[6,-3, 6,11],
[-13,11, -5,5],
[11,11, 12,6],
[7,-5, 12,-2],
[-1,12, 0,7],
[-4,-8, -3,-2],
[-7,1, -6,7],
[-13,-12, -8,-13],
[-7,-2, -6,-8],
[-8,5, -6,-9],
[-5,-1, -4,5],
[-13,7, -8,10],
[1,5, 5,-13],
[1,0, 10,-13],
[9,12, 10,-1],
[5,-8, 10,-9],
[-1,11, 1,-13],
[-9,-3, -6,2],
[-1,-10, 1,12],
[-13,1, -8,-10],
[8,-11, 10,-6],
[2,-13, 3,-6],
[7,-13, 12,-9],
[-10,-10, -5,-7],
[-10,-8, -8,-13],
[4,-6, 8,5],
[3,12, 8,-13],
[-4,2, -3,-3],
[5,-13, 10,-12],
[4,-13, 5,-1],
[-9,9, -4,3],
[0,3, 3,-9],
[-12,1, -6,1],
[3,2, 4,-8],
[-10,-10, -10,9],
[8,-13, 12,12],
[-8,-12, -6,-5],
[2,2, 3,7],
[10,6, 11,-8],
[6,8, 8,-12],
[-7,10, -6,5],
[-3,-9, -3,9],
[-1,-13, -1,5],
[-3,-7, -3,4],
[-8,-2, -8,3],
[4,2, 12,12],
[2,-5, 3,11],
[6,-9, 11,-13],
[3,-1, 7,12],
[11,-1, 12,4],
[-3,0, -3,6],
[4,-11, 4,12],
[2,-4, 2,1],
[-10,-6, -8,1],
[-13,7, -11,1],
[-13,12, -11,-13],
[6,0, 11,-13],
[0,-1, 1,4],
[-13,3, -9,-2],
[-9,8, -6,-3],
[-13,-6, -8,-2],
[5,-9, 8,10],
[2,7, 3,-9],
[-1,-6, -1,-1],
[9,5, 11,-2],
[11,-3, 12,-8],
[3,0, 3,5],
[-1,4, 0,10],
[3,-6, 4,5],
[-13,0, -10,5],
[5,8, 12,11],
[8,9, 9,-6],
[7,-4, 8,-12],
[-10,4, -10,9],
[7,3, 12,4],
[9,-7, 10,-2],
[7,0, 12,-2],
[-1,-6, 0,-11]], dtype=np.int8))
cdef char[:, ::1] pos0 = np.array([[ 8, -3],
[ 4, 2],
[-11, 9],
[ 7, -12],
[ 2, -13],
[ 1, -7],
[ -2, -10],
[-13, -13],
[-13, -3],
[ 10, 4],
[-13, -8],
[-11, 7],
[ 7, 7],
[ -4, -5],
[-13, 2],
[ -9, 0],
[ 12, -6],
[ -3, 6],
[ -6, -13],
[ 11, -13],
[ 4, 7],
[ 5, -3],
[ 3, -7],
[ -8, -7],
[ -2, 11],
[-13, 12],
[ -7, 3],
[ -4, 2],
[-10, -12],
[ 5, -12],
[ 5, -6],
[ 1, 0],
[ 9, 11],
[ 4, 7],
[ 2, -1],
[ -4, -12],
[ -8, -5],
[ 4, 11],
[ 0, -8],
[-13, -2],
[ -3, -2],
[ -6, 9],
[ 8, 12],
[ 0, 9],
[ 7, -5],
[-13, -6],
[ 10, 7],
[ -6, -3],
[ 10, -9],
[-13, 8],
[-13, 0],
[ 3, 3],
[ 5, 7],
[ -1, 7],
[ 3, -10],
[ 2, -4],
[-13, 0],
[-13, -7],
[-13, 3],
[ -7, 12],
[ 6, -10],
[ -9, -1],
[ -2, -5],
[-12, 5],
[ 3, -10],
[ -7, -7],
[ -3, -2],
[ 2, 9],
[-11, -13],
[ -1, 6],
[ 5, -3],
[ -4, -13],
[ -9, -6],
[-12, -10],
[ 10, 2],
[ 7, 12],
[ -7, -13],
[ -4, 9],
[ 7, -1],
[ -7, 6],
[-13, 11],
[ -3, 7],
[ 7, -8],
[-13, -7],
[ 1, -3],
[ 2, -6],
[ -4, 3],
[ -1, -13],
[ 7, 1],
[ 1, -1],
[ 9, 1],
[ -1, -9],
[-13, -13],
[ 7, 7],
[ 12, -5],
[ 6, 3],
[ 5, -13],
[ 2, -12],
[ 3, 8],
[ 2, 6],
[ 9, -12],
[ -8, 4],
[-11, 12],
[ 1, 12],
[ 6, -9],
[ 2, 3],
[ 6, 3],
[ 3, -3],
[ 7, 8],
[-11, -5],
[-10, 11],
[ -5, -8],
[-10, 5],
[ 8, -1],
[ 4, -6],
[-10, 12],
[ 4, -2],
[ -2, 0],
[ -5, -8],
[ 7, -6],
[ -9, -13],
[ -5, -13],
[ 8, -8],
[ -9, -11],
[ 1, -8],
[ 7, -4],
[ -2, 1],
[ 11, -6],
[-12, -9],
[ 3, 7],
[ 5, 5],
[ 0, -4],
[ -9, 12],
[ 0, 7],
[ -1, 2],
[ 5, 11],
[ 3, 5],
[-13, -4],
[ -5, 9],
[ -4, -7],
[ 6, 5],
[ -7, 6],
[-13, 6],
[ 1, -10],
[ 4, 1],
[ -2, -2],
[ 2, -12],
[ -2, -13],
[ 4, 1],
[ -6, -10],
[ -3, -13],
[ 7, 5],
[ 4, -2],
[-13, 9],
[ 7, 1],
[ 7, -8],
[ -7, -4],
[ -8, 11],
[-13, 6],
[ 2, 4],
[ 10, -5],
[ -6, -5],
[ 8, -3],
[ 2, -12],
[-11, -2],
[-12, -13],
[-11, 0],
[ 5, -3],
[ -2, -13],
[ -1, -8],
[-13, -11],
[-10, -2],
[ -3, 9],
[ 2, -3],
[ -9, -13],
[ -4, 6],
[ -4, 12],
[ -6, -11],
[ 6, -3],
[-13, 11],
[ 11, 11],
[ 7, -5],
[ -1, 12],
[ -4, -8],
[ -7, 1],
[-13, -12],
[ -7, -2],
[ -8, 5],
[ -5, -1],
[-13, 7],
[ 1, 5],
[ 1, 0],
[ 9, 12],
[ 5, -8],
[ -1, 11],
[ -9, -3],
[ -1, -10],
[-13, 1],
[ 8, -11],
[ 2, -13],
[ 7, -13],
[-10, -10],
[-10, -8],
[ 4, -6],
[ 3, 12],
[ -4, 2],
[ 5, -13],
[ 4, -13],
[ -9, 9],
[ 0, 3],
[-12, 1],
[ 3, 2],
[-10, -10],
[ 8, -13],
[ -8, -12],
[ 2, 2],
[ 10, 6],
[ 6, 8],
[ -7, 10],
[ -3, -9],
[ -1, -13],
[ -3, -7],
[ -8, -2],
[ 4, 2],
[ 2, -5],
[ 6, -9],
[ 3, -1],
[ 11, -1],
[ -3, 0],
[ 4, -11],
[ 2, -4],
[-10, -6],
[-13, 7],
[-13, 12],
[ 6, 0],
[ 0, -1],
[-13, 3],
[ -9, 8],
[-13, -6],
[ 5, -9],
[ 2, 7],
[ -1, -6],
[ 9, 5],
[ 11, -3],
[ 3, 0],
[ -1, 4],
[ 3, -6],
[-13, 0],
[ 5, 8],
[ 8, 9],
[ 7, -4],
[-10, 4],
[ 7, 3],
[ 9, -7],
[ 7, 0],
[ -1, -6]], dtype=np.int8)
cdef char[:, ::1] pos1 = np.array([[ 9, 5],
[ 7, -12],
[ -8, 2],
[ 12, -13],
[ 2, 12],
[ 1, 6],
[ -2, -4],
[-11, -8],
[-12, -9],
[ 11, 9],
[ -8, -9],
[ -9, 12],
[ 12, 6],
[ -3, 0],
[-12, -3],
[ -7, 5],
[ 12, -1],
[ -2, 12],
[ -4, -8],
[ 12, -8],
[ 5, 1],
[ 10, -3],
[ 6, 12],
[ -6, -2],
[ -1, -10],
[ -8, 10],
[ -5, -3],
[ -3, 7],
[ -6, 11],
[ 6, -7],
[ 7, -1],
[ 4, -5],
[ 11, -13],
[ 4, 12],
[ 4, 4],
[ -2, 7],
[ -7, -10],
[ 9, 12],
[ 1, -13],
[ -8, 2],
[ -2, 3],
[ -4, -9],
[ 10, 7],
[ 1, 3],
[ 11, -10],
[-11, 0],
[ 12, 1],
[ -6, 12],
[ 12, -4],
[ -8, -12],
[ -8, -4],
[ 7, 8],
[ 10, -7],
[ 1, -12],
[ 5, 6],
[ 3, -10],
[-13, 5],
[-12, 12],
[-11, 8],
[ -4, 7],
[ 12, 8],
[ -7, -6],
[ 0, 12],
[ -7, 5],
[ 8, -13],
[ -4, 5],
[ -1, -7],
[ 5, -11],
[ -5, -13],
[ 0, -1],
[ 5, 2],
[ -4, 12],
[ -9, 6],
[ -8, -4],
[ 12, -3],
[ 12, 12],
[ -6, 5],
[ -3, 4],
[ 12, 2],
[ -5, 1],
[-12, 5],
[ -2, -6],
[ 12, -7],
[-11, -12],
[ 12, 12],
[ 3, 0],
[ -2, -13],
[ 1, 9],
[ 8, -6],
[ 3, 12],
[ 12, 6],
[ -1, 3],
[-10, 5],
[ 10, 12],
[ 12, 9],
[ 7, 11],
[ 6, 10],
[ 2, 3],
[ 4, -6],
[ 12, -13],
[ 10, 3],
[ -7, 9],
[ -4, -6],
[ 2, -8],
[ 7, -4],
[ 3, -2],
[ 11, 0],
[ 8, -8],
[ 9, 3],
[ -6, -4],
[ -5, 10],
[ -3, 12],
[ -9, 0],
[ 12, -6],
[ 6, -11],
[ -8, 7],
[ 6, 7],
[ -2, 12],
[ -5, 2],
[ 10, 12],
[ -8, -8],
[ -5, -2],
[ 9, -13],
[ -9, 0],
[ 1, -2],
[ 9, 1],
[ -1, -4],
[ 12, -11],
[ -6, 4],
[ 7, 12],
[ 10, 8],
[ 2, 8],
[ -5, -13],
[ 2, 12],
[ 1, 7],
[ 7, -9],
[ 6, -8],
[ -8, 9],
[ -3, -3],
[ -3, -12],
[ 8, 0],
[ -6, 12],
[ -5, -2],
[ 3, 10],
[ 8, -4],
[ 2, -13],
[ 12, 12],
[ 0, -6],
[ 9, 3],
[ -3, -5],
[ -1, 1],
[ 12, -11],
[ 5, -7],
[ -9, -5],
[ 8, 6],
[ 7, 6],
[ -7, 1],
[ -7, -8],
[-12, -8],
[ 3, 9],
[ 12, 3],
[ -6, 7],
[ 9, -8],
[ 2, 8],
[-10, 3],
[ -7, -9],
[-10, -5],
[ 11, 8],
[ -1, 12],
[ 0, 9],
[-12, -5],
[-10, 11],
[ -2, -13],
[ 3, 2],
[ -4, 0],
[ -3, -10],
[ -2, -7],
[ -4, 9],
[ 6, 11],
[ -5, 5],
[ 12, 6],
[ 12, -2],
[ 0, 7],
[ -3, -2],
[ -6, 7],
[ -8, -13],
[ -6, -8],
[ -6, -9],
[ -4, 5],
[ -8, 10],
[ 5, -13],
[ 10, -13],
[ 10, -1],
[ 10, -9],
[ 1, -13],
[ -6, 2],
[ 1, 12],
[ -8, -10],
[ 10, -6],
[ 3, -6],
[ 12, -9],
[ -5, -7],
[ -8, -13],
[ 8, 5],
[ 8, -13],
[ -3, -3],
[ 10, -12],
[ 5, -1],
[ -4, 3],
[ 3, -9],
[ -6, 1],
[ 4, -8],
[-10, 9],
[ 12, 12],
[ -6, -5],
[ 3, 7],
[ 11, -8],
[ 8, -12],
[ -6, 5],
[ -3, 9],
[ -1, 5],
[ -3, 4],
[ -8, 3],
[ 12, 12],
[ 3, 11],
[ 11, -13],
[ 7, 12],
[ 12, 4],
[ -3, 6],
[ 4, 12],
[ 2, 1],
[ -8, 1],
[-11, 1],
[-11, -13],
[ 11, -13],
[ 1, 4],
[ -9, -2],
[ -6, -3],
[ -8, -2],
[ 8, 10],
[ 3, -9],
[ -1, -1],
[ 11, -2],
[ 12, -8],
[ 3, 5],
[ 0, 10],
[ 4, 5],
[-10, 5],
[ 12, 11],
[ 9, -6],
[ 8, -12],
[-10, 9],
[ 12, 4],
[ 10, -2],
[ 12, -2],
[ 0, -11]], dtype=np.int8)