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 | /** |
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30 | * SURF library functions |
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31 | **/ |
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32 | |
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33 | #ifndef __SURFLIB_H |
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34 | #define __SURFLIB_H |
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35 | |
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36 | #include "ipoint.h" |
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37 | #include "fasthessian.h" |
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38 | #include "surf.h" |
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39 | #include "image.h" |
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40 | |
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41 | namespace surf { |
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42 | |
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43 | /** |
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44 | * Identify interest points and calculate their descriptor |
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45 | * |
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46 | * @param im pointer to double image |
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47 | * @param ipts (return) vector of interest points |
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48 | * @param thres blob response threshold |
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49 | * @param doubleImageSize double image size |
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50 | * @param initLobe custom lobe size |
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51 | * @param samplingStep initial sampling step |
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52 | * @param octaves number of octaves |
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53 | * @param upright true to switch off rotation invariance |
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54 | * @param extended true for SURF-128 instead of SURF-64 |
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55 | * @param indexSize descriptor size |
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56 | **/ |
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57 | inline void surfDetDes(Image *im, std::vector< Ipoint >& ipts, |
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58 | double thres = 4.0, bool doubleImageSize = false, |
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59 | int initLobe = 3, int samplingStep = 2, int octaves = 4, |
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60 | bool upright = false, bool extended = false, int indexSize = 4) { |
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61 | // Create the integral image |
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62 | Image iimage(im, doubleImageSize); |
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63 | |
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64 | // Extract interest points with Fast-Hessian |
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65 | FastHessian fh(&iimage, /* pointer to integral image */ |
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66 | ipts, /* interest point vector to be filled */ |
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67 | thres, /* blob response threshold */ |
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68 | doubleImageSize, /* double image size flag */ |
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69 | initLobe * 3 /* 3 times lobe size equals the mask size */, |
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70 | samplingStep, /* subsample the blob response map */ |
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71 | octaves /* number of octaves to be analysed */); |
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72 | |
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73 | // Extract them and get their pointer |
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74 | fh.getInterestPoints(); |
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75 | |
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76 | // Initialise the SURF descriptor |
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77 | Surf des(&iimage, /* pointer to integral image */ |
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78 | doubleImageSize, /* double image size flag */ |
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79 | upright, /* rotation invariance or upright */ |
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80 | extended, /* use the extended descriptor */ |
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81 | indexSize /* square size of the descriptor window (default 4x4)*/); |
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82 | |
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83 | // Compute the orientation and the descriptor for every interest point |
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84 | for (unsigned n=0; n<ipts.size(); n++){ |
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85 | // set the current interest point |
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86 | des.setIpoint(&ipts[n]); |
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87 | // assign reproducible orientation |
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88 | des.assignOrientation(); |
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89 | // make the SURF descriptor |
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90 | des.makeDescriptor(); |
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91 | } |
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92 | } |
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93 | |
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94 | /** |
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95 | * Calculate descriptor for given interest points |
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96 | * |
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97 | * @param im pointer to double image |
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98 | * @param ipts (return) vector of interest points |
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99 | * @param doubleImageSize double image size |
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100 | * @param upright true to switch off rotation invariance |
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101 | * @param extended true for SURF-128 instead of SURF-64 |
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102 | * @param indexSize descriptor size |
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103 | **/ |
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104 | inline void surfDes(Image *im, std::vector< Ipoint >& ipts, |
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105 | bool doubleImageSize = false, |
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106 | bool upright = false, bool extended = false, int indexSize = 4) { |
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107 | // Create the integral image |
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108 | Image iimage(im, doubleImageSize); |
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109 | |
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110 | // Initialise the SURF descriptor |
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111 | Surf des(&iimage, /* pointer to integral image */ |
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112 | doubleImageSize, /* double image size flag */ |
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113 | upright, /* rotation invariance or upright */ |
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114 | extended, /* use the extended descriptor */ |
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115 | indexSize /* square size of the descriptor window (default 4x4)*/); |
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116 | |
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117 | // Compute the orientation and the descriptor for every interest point |
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118 | for (unsigned n=0; n<ipts.size(); n++){ |
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119 | //for (Ipoint *k = ipts; k != NULL; k = k->next){ |
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120 | // set the current interest point |
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121 | des.setIpoint(&ipts[n]); |
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122 | // assign reproducible orientation |
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123 | des.assignOrientation(); |
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124 | // make the SURF descriptor |
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125 | des.makeDescriptor(); |
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126 | } |
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127 | } |
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128 | |
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129 | } |
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130 | |
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131 | #endif |
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