template<class SrcArrayT>
| void Impala::Core::Feature::HarrisLaplaceDetector::laplacianScaleSelection | ( | PointDescriptorTable * | output, | |
| SrcArrayT * | imIntensity, | |||
| MyPointList & | pointList, | |||
| Real64 | laplaceThreshold | |||
| ) | [inline] |
Definition at line 273 of file HarrisLaplaceDetector.h.
References Impala::Core::Array::Abs(), Impala::Core::Table::TableTem< Col1T, Col2T, Col3T, Col4T, Col5T, Col6T, Col7T, Col8T, Col9T >::Add(), ILOG_DEBUG, ILOG_WARN, Impala::Core::Array::Laplacian(), mBackwardsCompatible, mPrecision, mUseRecGauss, and Impala::Application::DemoCamera2d::sigma.
Referenced by CHLDetector(), and HLDetector().
00274 { 00275 std::vector<Real64> precomputeScales; 00276 std::vector<Array2dScalarReal64*> cache; 00277 for(int i = 0; i < 21; i++) { 00278 Real64 sigma = pow(sqrt(sqrt(Real64(2))),i) * 0.75; 00279 precomputeScales.push_back(sigma); 00280 Array2dScalarReal64* tmp = 0; 00281 Laplacian(tmp, imIntensity, sigma, 2, mUseRecGauss, mPrecision); 00282 Abs(tmp, tmp); 00283 cache.push_back(tmp); 00284 00285 ILOG_DEBUG("Computing Laplacian scale: " << sigma); 00286 } 00287 00288 typedef std::pair<int, std::pair<int, int> > MyKey; 00289 std::map<MyKey, int> alreadyHavePoint; 00290 00291 for(MyPointList::iterator iter = pointList.begin(); iter != pointList.end(); iter++) 00292 { 00293 MyPoint* point(*iter); 00294 Real64 sigmaN = point->mDetectionScale; 00295 00296 // we must find the index of the nearest sigma in precomputeScales 00297 int nearestIndex = 0; 00298 Real64 smallestDifference = 999; 00299 for(int i = 0; i < precomputeScales.size(); i++) { 00300 Real64 difference; 00301 if(mBackwardsCompatible) 00302 { 00303 // make the current (wrong) behavior explicit 00304 difference = static_cast<int>(abs(precomputeScales[i] - sigmaN)); 00305 } 00306 else 00307 { 00308 difference = fabs(precomputeScales[i] - sigmaN); 00309 } 00310 if(difference < smallestDifference) 00311 { 00312 smallestDifference = difference; 00313 nearestIndex = i; 00314 } 00315 } 00316 if(smallestDifference > 0.0001) { 00317 ILOG_WARN("WARNING: scale mismatch"); 00318 } 00319 00320 std::vector<int> interestingScales; 00321 std::vector<Real64> laplacianValues; 00322 //std::cout << "LAP: "; 00323 for(int i = 0; i < precomputeScales.size(); i++) { 00324 if((i >= nearestIndex - 4) && (i <= nearestIndex + 4)) { 00325 interestingScales.push_back(i); 00326 // lookup the Laplacian value for this cached scale 00327 laplacianValues.push_back(cache[i]->Value(point->mX, point->mY)); 00328 //std::cout << cache[i]->Value(point.mX, point.mY) << " "; 00329 } 00330 } 00331 //std::cout << std::endl; 00332 00333 /*std::cout << "plot(["; 00334 for(int i = 0; i < precomputeScales.size(); i++) { 00335 std::cout << cache[i]->Value(point.mX, point.mY) << " "; 00336 } 00337 std::cout << "])" << std::endl;*/ 00338 00339 // laplacianValues now contains the values of the Laplacian at interestingScales 00340 00341 // select the local maximum 00342 int nrFound = 0; 00343 for(int i = 1; i < interestingScales.size() - 1; i++) { 00344 if((laplacianValues[i] > laplacianValues[i-1]) && 00345 (laplacianValues[i] > laplacianValues[i+1])) 00346 { 00347 if(laplacianValues[i] > laplaceThreshold) { 00348 MyKey key(std::make_pair(point->mX, std::make_pair(point->mY, interestingScales[i]))); 00349 if(alreadyHavePoint.find(key) == alreadyHavePoint.end()) 00350 { 00351 alreadyHavePoint[key] = 0; 00352 output->Add(point->mX, point->mY, precomputeScales[interestingScales[i]], 0, point->mCornerness); 00353 nrFound++; 00354 } 00355 } 00356 } 00357 } 00358 } 00359 for(int i = 0; i < cache.size(); i++) { 00360 delete cache[i]; 00361 } 00362 }
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