|| || || || || || || ||

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KeypointsLowe.h

Go to the documentation of this file.

#ifndef Impala_Core_Array_KeypointsLowe_h
#define Impala_Core_Array_KeypointsLowe_h

#include "Core/Array/Arrays.h"
#include "Core/Array/RGB2Intensity.h"
#include "Core/Array/PixMax.h"
#include "Link/LoweSift/LoweKeypoints.h"

namespace Impala
{
namespace Core
{
namespace Array
{


// each row of points contains X-coordinate, Y-coordinate, scale, and orientation
// each row of featVecs contains the corresponding feature values
void
KeypointsLowe(Array2dScalarReal64*& points, Array2dScalarUInt8*& featVecs,
              Array2dVec3UInt8* src, bool doFeatVecs)
{
    using namespace Impala::Link::LoweSift;

    Array2dScalarReal64* rData = 0;
    RGB2Intensity(rData, src);
    Real64 maxVal = PixMax(rData);

    int width = src->CW();
    int height = src->CH();
    Image im = CreateImage(height, width, IMAGE_POOL);
    Real64* dataPtr = rData->CPB();
    for (int r = 0; r < height; r++)
        for (int c = 0; c < width; c++)
            im->pixels[r][c] = *dataPtr++ / maxVal;
    delete rData;

    LoweKeypoints loweKeypoints;
    Keypoint keys = loweKeypoints.GetKeypoints(im);

    int nrPoints = 0;
    for (Keypoint k = keys; k != NULL; k = k->next)
        nrPoints++;

    if (!points || (points->CW() != 4) || (points->CH() != nrPoints))
    {
        delete points;
        points = new Array2dScalarReal64(4, nrPoints, 0, 0);
    }
    if (!featVecs || (featVecs->CW() != LoweKeypoints::VecLength) ||
        (featVecs->CH() != nrPoints))
    {
        if (doFeatVecs)
        {
            delete featVecs;
            featVecs = new Array2dScalarUInt8(LoweKeypoints::VecLength,
                                              nrPoints, 0, 0);
        }
    }

    int row = 0;
    for (Keypoint srcK = keys ; srcK != NULL; srcK = srcK->next)
    {
        Real64* pointPtr = points->CPB(0, row);
        *pointPtr++ = srcK->col;
        *pointPtr++ = srcK->row;
        *pointPtr++ = srcK->scale;
        *pointPtr++ = srcK->ori;
        if (doFeatVecs)
        {
            UInt8* featPtr = featVecs->CPB(0, row);
            for (int i = 0; i < LoweKeypoints::VecLength; i++)
                *featPtr++ = srcK->ivec[i];
        }
        row++;
    }
}

} // namespace Array
} // namespace Core
} // namespace Impala

#endif

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