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[Hugin-cvs] SF.net SVN: hugin: [2150] gsoc07_featuredetection/HessianDetector.cpp
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From: <ste...@us...> - 2007-06-23 23:16:35
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Revision: 2150
http://hugin.svn.sourceforge.net/hugin/?rev=2150&view=rev
Author: stereo_sl
Date: 2007-06-23 16:16:31 -0700 (Sat, 23 Jun 2007)
Log Message:
-----------
- implementation of scale-space
- fixed some bugs(math related)
Modified Paths:
--------------
gsoc07_featuredetection/HessianDetector.cpp
Modified: gsoc07_featuredetection/HessianDetector.cpp
===================================================================
--- gsoc07_featuredetection/HessianDetector.cpp 2007-06-23 23:05:26 UTC (rev 2149)
+++ gsoc07_featuredetection/HessianDetector.cpp 2007-06-23 23:16:31 UTC (rev 2150)
@@ -28,6 +28,7 @@
using namespace std;
HessianDetector::HessianDetector(Image* i) {
+
this->image=i;
determinants.resize(this->image->getHeightBW());
maximas.resize(this->image->getHeightBW());
@@ -49,22 +50,28 @@
bool HessianDetector::detect() {
-
int height = this->image->getHeightBW();
int width = this->image->getWidthBW();
- int kernelX=5;
- int kernelY=5;
- int scale=1.2;
+ int kernelX=9;
+ int kernelY=9;
+ double scale=1.2;
- //TODO: larger kernels for scale-space(see main.java)
-
- int gxx[][5]={
- 1, 29, 90, 29, 1,
+ int gxx[][9]={
+ /*1, 29, 90, 29, 1,
5, 133, 411, 133, 5,
-11, -329, -1013, -329, -11,
5, 133, 411, 133, 5,
- 1, 29, 90, 29, 1
+ 1, 29, 90, 29, 1*/
+ 1, 7, 29, 68, 90, 68, 29, 7, 1, //9x9 gauss kernels
+ 4, 26, 106, 247, 327, 247, 106, 26, 4,
+ 5, 33, 133, 310, 411, 310, 133, 33, 5,
+ -4, -27, -109, -252, -335, -252, -109, -27, -4,
+ -11, -81, -329, -765, -1013, -765, -329, -81, -11,
+ -4, -27, -109, -252, -335, -252, -109, -27, -4,
+ 5, 33, 133, 310, 411, 310, 133, 33, 5,
+ 4, 26, 106, 247, 327, 247, 106, 26, 4,
+ 1, 7, 29, 68, 90, 68, 29, 7, 1
/*0,0,1,1,1,1,1,0,0, //box filters 9x9
0,0,1,1,1,1,1,0,0,
0,0,1,1,1,1,1,0,0,
@@ -76,19 +83,47 @@
0,0,1,1,1,1,1,0,0*/
};
- int gyy[][5]={
- 1, 5, -11, 5, 1,
+ int gyy[][9]={
+ /*1, 5, -11, 5, 1,
29, 133, -329, 133, 29,
90, 411, -1013, 411, 90,
29, 133, -329, 133, 29,
- 1, 5, -11, 5, 1};
+ 1, 5, -11, 5, 1*/
+ 1, 4, 5, -4, -11, -4, 5, 4, 1,
+ 7, 26, 33, -27, -81, -27, 33, 26, 7,
+ 29, 106, 133, -109, -329, -109, 133, 106, 29,
+ 68, 247, 310, -252, -765, -252, 310, 247, 68,
+ 90, 327, 411, -335, -1013, -335, 411, 327, 90,
+ 68, 247, 310, -252, -765, -252, 310, 247, 68,
+ 29, 106, 133, -109, -329, -109, 133, 106, 29,
+ 7, 26, 33, -27, -81, -27, 33, 26, 7,
+ 1, 4, 5, -4, -11, -4, 5, 4, 1
+ /*0,0,0,0,0,0,0,0,0, //box filters 9x9
+ 0,0,0,0,0,0,0,0,0,
+ 1,1,1,-2,-2,-2,1,1,1,
+ 1,1,1,-2,-2,-2,1,1,1,
+ 1,1,1,-2,-2,-2,1,1,1,
+ 1,1,1,-2,-2,-2,1,1,1,
+ 1,1,1,-2,-2,-2,1,1,1,
+ 0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0*/
+ };
- int gxy[][5]={
- 1, 15, 0, -15, -1,
+ int gxy[][9]={
+ /*1, 15, 0, -15, -1,
15, 214, 0, -214, -15,
0, 0, 0, 0, 0,
-15, -214, 0, 214, 15,
- -1, -15, 0, 15, 1
+ -1, -15, 0, 15, 1*/
+ 1, 5, 15, 17, 0, -17, -15, -5, -1,
+ 5, 29, 78, 91, 0, -91, -78, -29, -5,
+ 15, 78, 214, 248, 0, -248, -214, -78, -15,
+ 17, 91, 248, 289, 0, -289, -248, -91, -17,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ -17, -91, -248, -289, 0, 289, 248, 91, 17,
+ -15, -78, -214, -248, 0, 248, 214, 78, 15,
+ -5, -29, -78, -91, 0, 91, 78, 29, 5,
+ -1, -5, -15, -17, 0, 17, 15, 5, 1
/*0,0,0,0,0,0,0,0,0,
0,1,1,1,0,-1,-1,-1,0,
0,1,1,1,0,-1,-1,-1,0,
@@ -104,28 +139,34 @@
int offsetY=floor(kernelY/2);
int xStart=0;
int yStart=0;
- double pixelSumYY=0;
- double pixelSumXX=0;
- double pixelSumXY=0;
- bool outOfRange=false;
+ double pixelSumYY;
+ double pixelSumXX;
+ double pixelSumXY;
+
int tmpX=0;
int tmpY=0;
int val;
+ double mappingX;
+ double mappingY;
- double det=0;
+ double det;
+ double max=0;
-
- for(int s=1; s<2;s+=1.0) { //scale-space loop
+ for(int s=0; s<6;s+=1.0) { //scale-space loop
cout << s << "\n";
-
+ height=image->getHeightBW();
+ width=image->getWidthBW();
+ cout << height << "," << width << " \n";
+ cout << " ";
for(int i=0;i<height;i++) {
for(int j=0; j<width;j++) {
pixelSumYY=0;
pixelSumXX=0;
pixelSumXY=0;
+
xStart=i-offsetX;
+ yStart=j-offsetY;
- yStart=j-offsetY;
for(int k=0;k<kernelX;k++) {
tmpX=xStart+k;
if(tmpX<0) tmpX=height+tmpX;
@@ -135,30 +176,33 @@
tmpY=yStart+l;
if(tmpY<0) tmpY=width+tmpY;
-
if(tmpY>=height) tmpY=tmpY-height;
- //cout << "(" << tmpX<< "," <<tmpY <<") ";
- val=image->getPixel(tmpX,tmpY);
- pixelSumYY+=0.01*gyy[k][l]*val;
- pixelSumXX+=0.01*gxx[k][l]*val;
- pixelSumXY+=0.01*gxy[k][l]*val;
- //cout << " "<< pixelSumXX;
- //}
+ val=image->getPixel(tmpX,tmpY);
+
+ pixelSumYY+=0.001*gyy[k][l]*val;
+ pixelSumXX+=0.001*gxx[k][l]*val;
+ pixelSumXY+=0.001*gxy[k][l]*val;
}
}
- //cout << "\n\n";
//determinant of the Hessian Matrix
det = pixelSumXX*pixelSumYY-pow((pixelSumXY),2);
- //cout << det << " ";
- if(det>determinants[i][j]) {
- determinants[i][j]=det;
- maximas[i][j]=s;
+
+ //map coordinates on the scaled image onto coordinates on the original image
+ mappingX=round(i*pow(scale,s));
+ mappingY=round(j*pow(scale,s));
+
+ if(det>determinants[mappingX][mappingY]) {
+ if(det>max) max=det;
+
+ determinants[mappingX][mappingY]=det;
+ maximas[mappingX][mappingY]=s;
}
}
//cout << "\n";
}
+ image->scale(scale);
} //scale-space
//TODO:
@@ -188,31 +232,26 @@
if(p==0) deg=0;
else deg=atan(q/p)* 180 / PI;
+ if(deg<0) deg=360+deg;
+
//cout << "(" << m[i][j]<< "," << deg <<") ";
+ //cout << maximas[i][j] <<" ";
tmp=(int)deg/22.5;
//sector(orientation)
switch(tmp) {
case 0:
- case 7:
- case 8:
case 15:
a[i][j]=0;
break;
- case 5:
- case 6:
- case 9:
- case 10:
+ case 1:
+ case 2:
a[i][j]=1;
break;
case 3:
- case 4:
- case 11:
case 12:
a[i][j]=2;
break;
- case 1:
- case 2:
case 13:
case 14:
a[i][j]=3;
@@ -223,7 +262,7 @@
//cout << "\n";
}
- int threshold=50000;
+ int threshold=0.15*max;
for(int i=3;i<(image->getHeight()-1);i++) {
/*if(i==0) tmpX=height+tmpX;
@@ -240,23 +279,23 @@
switch(a[i][j]) {
case 0:
if(m[i][j]>m[i-1][j] && m[i][j]>m[i+1][j] && determinants[i][j]>threshold) {
- image->drawCircle(j,i,(int)1*maximas[i][j]);
+ image->drawCircle(j,i,round(offsetX*pow(scale,maximas[i][j])));
}
break;
case 1:
if(m[i][j]>m[i-1][j+1] && m[i][j]>m[i+1][j-1] &&determinants[i][j]>threshold) {
- image->drawCircle(j,i,(int)1*maximas[i][j]);
+ image->drawCircle(j,i,round(offsetX*pow(scale,maximas[i][j])));
}
break;
case 2:
if(m[i][j]>m[i-1][j] && m[i][j]>m[i+1][j] && determinants[i][j]>threshold) {
- image->drawCircle(j,i,(int)1*maximas[i][j]);
+ image->drawCircle(j,i,round(offsetX*pow(scale,maximas[i][j])));
}
break;
case 3:
if(m[i][j]>m[i-1][j-1] && m[i][j]>m[i+1][j+1] && determinants[i][j]>threshold) {
- image->drawCircle(j,i,(int)1*maximas[i][j]);
+ image->drawCircle(j,i,round(offsetX*pow(scale,maximas[i][j])));
}
break;
}
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