[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 | /** |
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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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