[37] | 1 | /* |
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| 2 | * Speeded-Up Robust Features (SURF) |
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| 3 | * http://people.ee.ethz.ch/~surf |
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| 4 | * |
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| 5 | * Authors: Herbert Bay, Andreas Ess, Geert Willems |
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| 6 | * Windows port by Stefan Saur |
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| 7 | * |
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| 8 | * Copyright (2006): ETH Zurich, Switzerland |
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| 9 | * Katholieke Universiteit Leuven, Belgium |
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| 10 | * All rights reserved. |
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| 11 | * |
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| 12 | * For details, see the paper: |
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| 13 | * Herbert Bay, Tinne Tuytelaars, Luc Van Gool, |
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| 14 | * "SURF: Speeded Up Robust Features" |
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| 15 | * Proceedings of the ninth European Conference on Computer Vision, May 2006 |
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| 16 | * |
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| 17 | * Permission to use, copy, modify, and distribute this software and |
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| 18 | * its documentation for educational, research, and non-commercial |
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| 19 | * purposes, without fee and without a signed licensing agreement, is |
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| 20 | * hereby granted, provided that the above copyright notice and this |
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| 21 | * paragraph appear in all copies modifications, and distributions. |
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| 22 | * |
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| 23 | * Any commercial use or any redistribution of this software |
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| 24 | * requires a license from one of the above mentioned establishments. |
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| 25 | * |
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| 26 | * For further details, contact Andreas Ess (aess@vision.ee.ethz.ch). |
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| 27 | */ |
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| 28 | |
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| 29 | #ifndef __FASTHESSIAN_H |
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| 30 | #define __FASTHESSIAN_H |
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| 31 | |
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| 32 | #include <vector> |
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| 33 | |
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| 34 | namespace surf { |
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| 35 | |
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| 36 | class Ipoint; |
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| 37 | class Image; |
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| 38 | |
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| 39 | class FastHessian { |
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| 40 | public: |
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| 41 | //! Destructor |
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| 42 | ~FastHessian(); |
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| 43 | |
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| 44 | //! Constructor with parameters |
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| 45 | FastHessian(Image *im, std::vector< Ipoint >& ip, double thres = 0.2, bool doub = false, |
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| 46 | short int initMasksize = 9, short int samplingStep = 2, |
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| 47 | short int octaves = 4); |
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| 48 | |
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| 49 | //! Pass the integral image |
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| 50 | void setIimage( Image *iim ); |
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| 51 | |
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| 52 | //! Detect the interest Points, write into ipts |
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| 53 | void getInterestPoints(); |
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| 54 | |
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| 55 | //! Create a new ipoint at location (x, y), at a certain scale |
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| 56 | //! and corner response strength |
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| 57 | void makeIpoint(double x, double y, double scale, double strength=0); |
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| 58 | |
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| 59 | protected: |
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| 60 | //! Allocate scale layers for one octave |
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| 61 | void allocateOctave(); |
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| 62 | |
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| 63 | //! Fast non-maximum-suppression |
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| 64 | void findMaximum(int *borders, int o, int octave); |
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| 65 | void interpFeature(int s, int row, int col, Image *map, |
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| 66 | int o, int octave, int movesRemain, |
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| 67 | int *borders); |
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| 68 | int fitQuadrat(int s, int r, int c, double &res); |
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| 69 | |
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| 70 | private: |
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| 71 | //! Integral image |
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| 72 | Image *_Iimage; |
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| 73 | |
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| 74 | //! Octaves |
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| 75 | Image **_scaleLevel; |
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| 76 | |
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| 77 | //! Vector of variables |
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| 78 | int _vas[9]; |
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| 79 | |
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| 80 | //! Threshold for interest point detection |
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| 81 | double _threshold; |
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| 82 | |
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| 83 | //! Indicates whether the image size was doubled or not |
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| 84 | //! default is false |
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| 85 | bool _doubled; |
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| 86 | |
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| 87 | //! Reference to vector of interest points passed from outside |
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| 88 | std::vector< Ipoint >& _ipts; |
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| 89 | |
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| 90 | //! Initial lobe size for the second derivative in one direction |
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| 91 | //! default is 3 |
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| 92 | short int _initLobe; |
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| 93 | |
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| 94 | //! Number scales |
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| 95 | short int _maxScales; |
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| 96 | |
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| 97 | //! Number octaves |
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| 98 | short int _maxOctaves; |
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| 99 | |
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| 100 | //! The sampling step |
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| 101 | short int _sampling; |
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| 102 | |
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| 103 | //! Integral image dimensions |
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| 104 | int _width; |
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| 105 | int _height; |
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| 106 | |
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| 107 | //! Result of fitting quadratic |
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| 108 | double _offset[3]; |
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| 109 | }; |
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| 110 | |
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| 111 | } |
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| 112 | |
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| 113 | #endif // FASTHESSIAN_H |
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