template<class SrcArrayT>
| PointDescriptorTable* Impala::Core::Feature::HarrisLaplaceDetector::HLDetector | ( | SrcArrayT * | input, | |
| Real64 | harrisThreshold, | |||
| Real64 | harrisK, | |||
| Real64 | laplaceThreshold | |||
| ) | [inline] |
Definition at line 450 of file HarrisLaplaceDetector.h.
References Impala::Core::Array::Array2dTem< StorT, elemSize, ArithT >::CH(), Impala::Core::Array::Array2dTem< StorT, elemSize, ArithT >::CW(), harrisCornerDetector(), ILOG_DEBUG, ILOG_INFO, laplacianScaleSelection(), Impala::Core::Array::MulVal(), Impala::Core::Array::RGB2Gray(), Impala::Core::Table::Table::Size(), Impala::Core::Table::SortOnColumn5(), and Impala::Timer::SplitTimeStr().
Referenced by Impala::Core::Feature::InterestPointFeature::ApplyDetector().
00451 { 00452 Timer timer; 00453 PointDescriptorTable* output = new PointDescriptorTable(); 00454 00455 // convert to grey-scale 00456 Array2dScalarReal64* imIntensity = 0; 00457 RGB2Gray(imIntensity, input); 00458 00459 // scale intensity to the range 0..1 instead of 0..255 so it is comparable to Matlab 00460 MulVal(imIntensity, imIntensity, 1 / 255.0); 00461 00462 // Harris corner detection 00463 MyPointList centroids; 00464 Real64 sigmaZero = 0.75; 00465 Real64 borderIgnoreSize = 4.0; 00466 for(int sigmaCounter = 1; sigmaCounter <= 8; sigmaCounter++) 00467 { 00468 Real64 sigmaN = pow(sqrt(Real64(2)), sigmaCounter) * sigmaZero; 00469 MyPointList pointList; 00470 harrisCornerDetector(pointList, imIntensity, sigmaN, harrisK, harrisThreshold); 00471 for(MyPointList::iterator iter = pointList.begin(); iter != pointList.end(); iter++) 00472 { 00473 MyPoint* point(*iter); 00474 00475 point->mDetectionScale = sigmaN; 00476 //ILOG_DEBUG(" " << point->mX << " " << point->mY << " " << point->mCornerness << " " << point->mDetectionScale); 00477 if((point->mX < borderIgnoreSize) || 00478 (point->mY < borderIgnoreSize) || 00479 (point->mX >= imIntensity->CW() - borderIgnoreSize) || 00480 (point->mY >= imIntensity->CH() - borderIgnoreSize)) 00481 { 00482 //ILOG_DEBUG(" " << point->mX << " " << point->mY << " BORDER CLOSENESS REJECT"); 00483 continue; 00484 } 00485 centroids.push_back(point); 00486 } 00487 ILOG_DEBUG(sigmaN << " " << pointList.size()); 00488 } 00489 int info_harrisCount = centroids.size(); 00490 String info_harrisTiming = timer.SplitTimeStr(); 00491 00492 // Laplacian scale selection 00493 laplacianScaleSelection(output, imIntensity, centroids, laplaceThreshold); 00494 00495 delete imIntensity; 00496 00497 ILOG_INFO("Harris found " << info_harrisCount << " (" << info_harrisTiming << "); Laplacian left " << output->Size() << " (" << timer.SplitTimeStr() << ")"); 00498 00499 // now sort the points by cornerness 00500 SortOnColumn5(output, false); 00501 return output; 00502 }
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