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hessnaff.cpp
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hessnaff.cpp
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#include "hessnaff.h"
#include "cleaner.h"
#include "filter.h"
#include "vmath.h"
#include <iostream>
#include <cstdlib>
#include <cstdio>
#include <cmath>
/**constant initialization**/
const int HessnAff::MaxOctaves = 4;
const int HessnAff::SCALES = 6;
const float HessnAff::_SIGMA = 1.4;
const float HessnAff::INITSIGMA = 0.5;
const bool HessnAff::INTERP_KEYS = true;
const float HessnAff::mag = 5.1962; //optimal 3.0 // 3*sqrt(3)
const int HessnAff::BORDER = 5;
const int HessnAff::THRESH = 600; //100
const int HessnAff::DEGREE = 10;
const int HessnAff::NOrient = 36;
const int HessnAff::DEGPERBIN = (360 / NOrient);
const float HessnAff::NwKpThresh = 0.8;
const float HessnAff::cvtRatio = 10.0f;
const int HessnAff::maxIter = 10;
const int HessnAff::W0 = 10;
const float HessnAff::err_c = 0.80f;
/**
* I try to use a dynamic threshold, however, no significant improvement I can get,
it actually produces a few bigger number of interest points
@date Mar.2nd.2009
const float HessnAff::thresh_ratio = 2.5f;
**/
/**
I modified the implementation completely. Now it performs as good as HessnAff-Laplacian.
However, it is really HessnAff detector
@date 11-May-2011
@author Wan-Lei Zhao
**/
/**
I modified the implementation a little bit, it performs better and faster
@date 11-May-2015
@author Wan-Lei Zhao
Shuangquan Feng and I worked out a new way to estimate the affine region. The affine region looks reasonably good,
however it does not perform well. So I build Hessian-Affine upon my Hessian detector
**/
HessnAff::HessnAff()
{
cout<<"Detector ................................ HessnAff\n";
this->DETECTOR = hesaff;
this->intImg = NULL;
this->sel_option = THRSH;
this->AFF_OUT = false;
}
bool HessnAff::paramsCheck()
{
const char *argv[] = {"sigma", "thresh", "topk", "dens"};
if(this->paras.find(argv[1]) != this->paras.end())
{
this->thresh = atof(paras["thresh"]);
}else{
this->thresh = THRESH;
}
cout<<"Thresh .................................. "<<this->thresh<<endl;
if(this->paras.find(argv[2]) != this->paras.end())
{
this->fix_kp_numb = atoi(paras["topk"]);
this->sel_option = TOPK;
cout<<"Topk .................................... "<<this->fix_kp_numb<<endl;
}
if(this->paras.find(argv[3]) != this->paras.end())
{
this->fix_kp_numb = atoi(paras["dens"]);
this->sel_option = DENS;
cout<<"Topk .................................... "<<this->fix_kp_numb<<endl;
}
return true;
}
float HessnAff::InterpKeyStep(int x, int y, int s, vector<Image *> & DI, float * dx, float * dy, float * ds)
{
float Dp[3] = {0}; // first derivative of D with respect to x, y, s
float Dpp[3][3] = {{0}}; // HessnAff of D
Dp[0] = (DI[s]->getPixel(x+1, y) - DI[s]->getPixel(x-1, y)) / 2.0; // Dx
Dp[1] = (DI[s]->getPixel(x, y+1) - DI[s]->getPixel(x, y-1)) / 2.0; // Dy
Dp[2] = (DI[s+1]->getPixel(x, y) - DI[s-1]->getPixel(x, y)) / 2.0; // Ds
// Dxx
Dpp[0][0] = (DI[s]->getPixel(x+1, y) + DI[s]->getPixel(x-1, y)
- 2.0 * DI[s]->getPixel(x, y));
// Dyy
Dpp[1][1] = (DI[s]->getPixel(x, y+1) + DI[s]->getPixel(x, y-1)
- 2.0 * DI[s]->getPixel(x, y));
// Dzz
Dpp[2][2] = (DI[s+1]->getPixel(x, y) + DI[s-1]->getPixel(x, y)
- 2.0 * DI[s]->getPixel(x, y));
// Dxy = Dyx
Dpp[0][1] = Dpp[1][0] = (DI[s]->getPixel(x+1, y+1) - DI[s]->getPixel(x-1, y+1)
- DI[s]->getPixel(x+1, y-1) + DI[s]->getPixel(x-1, y-1)) / 4.0;
// Dxs = Dsx
Dpp[0][2] = Dpp[2][0] = (DI[s+1]->getPixel(x+1, y) - DI[s+1]->getPixel(x-1, y)
- DI[s-1]->getPixel(x+1, y) + DI[s-1]->getPixel(x-1, y)) / 4.0;
// Dys = Dsy
Dpp[1][2] = Dpp[2][1] = (DI[s+1]->getPixel(x, y+1) - DI[s+1]->getPixel(x, y-1)
- DI[s-1]->getPixel(x, y+1) + DI[s-1]->getPixel(x, y-1)) / 4.0;
float invDpp[3][3];
VMath::mInv33(Dpp, invDpp);
// Solve for delta positions
*dx = 0;
for (int i = 0; i < 3; i++)
*dx -= invDpp[0][i] * Dp[i];
*dy = 0;
for (int i = 0; i < 3; i++)
*dy -= invDpp[1][i] * Dp[i];
*ds = 0;
for (int i = 0; i < 3; i++)
*ds -= invDpp[2][i] * Dp[i];
//printf("Interp: %f %f %f\n", *dx, *dy, *ds);
float val = DI[s]->getPixel(x, y);
val += 0.5 * (Dp[0] * *ds + Dp[1] * *dy + Dp[2] * *ds);
return fabs(val);
}
bool HessnAff::InterpKey(int x, int y, int s, vector<Image *> & LoGImages, float * fx, float * fy, float * fs,float *dogVal)
{
bool addkey = true;
int moves_left = 5;
int tx = x;
int ty = y;
int ts = s;
float dx, dy, ds,val;
bool updated;
float contrast_thresh = 0.8*this->thresh;//(float)NUM_SCALES;
do
{
moves_left--;
updated = false;
val = InterpKeyStep(tx, ty, ts, LoGImages, &dx, &dy, &ds);
if (val < contrast_thresh)
{
addkey = false;
continue;
}
if (dx > 0.6 && tx < LoGImages[0]->width - 3)
{
tx++;
updated = true;
}
else if (dx < -0.6 && tx > 3)
{
tx--;
updated = true;
}
if (dy > 0.6 && ty < LoGImages[0]->height - 3)
{
ty++;
updated = true;
}
else if (dy < -0.6 && ty > 3)
{
ty--;
updated = true;
}
}
while (moves_left > 0 && updated);
*dogVal = val;
if (addkey && fabs(dx) < 1.5 && fabs(dy) < 1.5 && fabs(ds) < 1.5)
{
*fx = tx + dx;
*fy = ty + dy;
*fs = ts + ds;
return true;
}
return false;
}
vector<vector<Image *> > HessnAff::BuildHessOctaves(vector<vector<Image *> > & GxxOctaves,vector<vector<Image *> > & GyyOctaves,vector<vector<Image *> >& GxyOctaves)
{
vector<Image *> gxxScales, gyyScales, gxyScales;
vector<vector<Image *> > HessOctaves;
for (unsigned int i = 0; i < GxxOctaves.size(); i++)
{
gxxScales = GxxOctaves[i];
gyyScales = GyyOctaves[i];
gxyScales = GxyOctaves[i];
vector<Image *> HessScales;
HessScales = BuildHessScales(gxxScales, gyyScales, gxyScales);
HessOctaves.push_back(HessScales);
}
return HessOctaves;
}
vector<Image* > HessnAff::BuildHessScales(vector<Image *> &gxxScales,vector<Image *> &gyyScales,vector<Image *> &gxyScales)
{
vector<Image* > HessScales;
Image *crntDxxImg = NULL, *crntDyyImg = NULL, *crntDxyImg = NULL, *crntHessImg = NULL;
float dxx = 0.0f, dyy = 0.0f, dxy = 0.0f;
int x = 0, y = 0, width = 0, height = 0;
float _sigma = 0, det = 0;
unsigned int nscale = 0;
for(nscale = 0; nscale < gxxScales.size(); nscale++)
{
crntDxxImg = gxxScales[nscale];
crntDyyImg = gyyScales[nscale];
crntDxyImg = gxyScales[nscale];
width = crntDxxImg->width;
height = crntDxxImg->height;
crntHessImg = new Image(crntDxxImg->width, crntDxxImg->height);
for(x = 0; x < width; x++)
{
for(y = 0; y < height; y++)
{
dxx = crntDxxImg->getPixel(x, y);
dyy = crntDyyImg->getPixel(x, y);
dxy = crntDxyImg->getPixel(x, y);
_sigma = HessnAff::_SIGMA * pow(2.0, nscale / (float) SCALES);
det = _sigma*_sigma*(dxx*dyy - dxy*dxy);
crntHessImg->setPixel(x, y, det);
}
}
HessScales.push_back(crntHessImg);
}
return HessScales;
}
bool HessnAff::isSpatialPeak(Image *image,const int x,const int y)
{
float center =image->getPixel(x, y);
float p2 = 0.0f;
int xi = 0, yi = 0;
if(center > 0.0)
{
for (yi = y - 1; yi <= y + 1; yi++)
{
for (xi = x - 1; xi <= x + 1; xi++)
{
p2 = image->getPixel(xi, yi);
if (center < p2)
return false;
}
}
return true;
}
else
{
for (yi = y - 1; yi <= y + 1; yi++)
{
for (xi = x - 1; xi <= x + 1; xi++)
{
p2 = image->getPixel(xi, yi);
if (center > p2)
return false;
}
}
return true;
}
}
bool HessnAff::isScalePeak(Image * aimage, Image * bimage,Image * cimage, const int x, const int y)
{
assert(aimage);
assert(bimage);
assert(cimage);
Image * ims[3];
ims[0] = aimage;
ims[1] = bimage;
ims[2] = cimage;
float center = bimage->getPixel(x, y);
float p2;
if (center > 0.0)
{
for (int si = 0; si < 3; si++)
{
p2 = ims[si]->getPixel(x, y);
if (center < p2)
return false;
}
}
else
{
for (int si = 0; si < 3; si++)
{
p2 = ims[si]->getPixel(x, y);
if (center > p2)
return false;
}
return false;
}
return true;
}
vector<KeyPoint *> HessnAff::FindPeaksScales(const int octave, vector<Image*> &HessImages, vector<Image*> &GxxImages, vector<Image*> &GyyImages)
{
vector<KeyPoint *> peaks;
Image * kpfound = new Image(HessImages[0]->width, HessImages[0]->height);
float fx = 0.0f, fy = 0.0f, fs = 0.0f, funcVal = 0.0f, trace = 0.0f;
int x = 0, y = 0;
unsigned int s = 0;
float contrast_thresh = this->thresh;
for (s = 1; s < HessImages.size()-1; s++)
{
for (y = BORDER; y < (HessImages[0]->height - BORDER); y++)
{
for (x = BORDER; x < (HessImages[0]->width - BORDER); x++)
{
funcVal = HessImages[s]->getPixel(x, y);
if (funcVal <= contrast_thresh)
continue;
if (kpfound->getPixel(x, y) == 1)
continue;
if (!isSpatialPeak(HessImages[s], x, y))
continue;
if(!isScalePeak(HessImages[s-1], HessImages[s], HessImages[s+1], x, y))
continue;
fx = x;
fy = y;
fs = s;
if (INTERP_KEYS)
{
if (!InterpKey(x, y, s, HessImages, &fx, &fy, &fs,&funcVal))
continue;
}
fs = fs < 0?0:fs;
trace = GxxImages[s]->getPixel(x, y) + GyyImages[s]->getPixel(x, y);
KeyPoint * peak = new KeyPoint();
peak->x = (int)round(fx * pow(2.0, octave));
peak->y = (int)round(fy * pow(2.0, octave));
peak->dscale = HessnAff::_SIGMA * pow(2.0, octave + fs / (float) SCALES);
peak->octSigma = HessnAff::_SIGMA * pow(2.0, fs / (float) SCALES);
peak->iscale = peak->dscale*HessnAff::mag;
peak->funcVal = funcVal;
peak->ori = 0;
peak->scale = s;
peak->fscale = fs;
peak->gscale = octave + fs/HessnAff::SCALES;
peak->sx = x;
peak->sy = y;
peak->octave = octave;
peak->octIndex = octave;
peak->KP = true;
peak->div = trace > 0 ? 1:-1;
peak->img_width = this->crntimg->width;
peak->fx = x * pow(2.0, octave);
peak->fy = y * pow(2.0, octave);
leveli_kps.push_back(peak);
kpfound->setPixel((int)(fx + 0.5), (int)(fy + 0.5), 1);
}
}
peaks.insert(peaks.begin(),leveli_kps.begin(),leveli_kps.end());
leveli_kps.clear();
}
delete kpfound;
return peaks;
}
bool HessnAff::getdRds(const float block[5][5], const float sigma, float &dxds, float &dyds)
{
float dxx, dyy, dxy, xn, xp, xy, yn, yp, xpyp, xnyn, xnyp, xpyn;
float det = 0, v = 0, xnn, xpp, ynn, ypp, dxxx, dxxy, dxyy, dyyy;
xy = block[2][2];
xn = block[2][1]; xp = block[2][3];
yn = block[1][2]; yp = block[3][2];
xpyp = block[3][3]; xnyn = block[1][1];
xnyp = block[3][1]; xpyn = block[1][3];
dxx = xn + xp - 2 * xy;
dyy = yn + yp - 2 * xy;
dxy = (xpyp + xnyn - xnyp - xpyn) / 4;
det = dxx * dyy - dxy * dxy;
v = -sigma / det;
xnn = block[2][0]; xpp = block[2][4];
ynn = block[0][2]; ypp = block[4][2];
dxxx = (xpp - 2 * xp + 2 * xn - xnn) / 2;
dyyy = (ypp - 2 * yp + 2 * yn - ynn) / 2;
dxyy = (2 * (xn - xp) + xpyn + xpyp - xnyn - xnyp) / 2;
dxxy = (2 * (yn - yp) + xnyp + xpyp - xnyn - xpyn) / 2;
dxds = v * (dyy * dxxx + dyy * dxyy - dxy * dxxy - dxy * dyyy);
dyds = v * (dxx * dyyy + dxx * dxxy - dxy * dxxx - dxy * dxyy);
return true;
}
float HessnAff::getdHds(const float block[5][5], float sigma)
{
float t = sigma;
float dxx, dyy, dxy, dxxxx, dyyyy, dxxyy, dxxxy, dxyyy, dhs = 0;
float xn = block[2][1]; //window->getPixel(cx - 1, cy); // x negative 1
float xp = block[2][3];//window->getPixel(cx + 1, cy); // x positive 1
float xy = block[2][2];//window->getPixel(cx, cy);
float yn = block[1][2];//window->getPixel(cx, cy - 1);
float yp = block[3][2];//window->getPixel(cx, cy + 1);
float xpyp = block[3][3];//window->getPixel(cx + 1, cy + 1);
float xnyn = block[1][1];//window->getPixel(cx - 1, cy - 1);
float xnyp = block[3][1];//window->getPixel(cx - 1, cy + 1);
float xpyn = block[1][3];//window->getPixel(cx + 1, cy - 1);
dxx = xn + xp - 2 * xy;
dyy = yn + yp - 2 * xy;
dxy = (xpyp + xnyn - xnyp - xpyn) / 4;
dxxxx = block[2][0] + block[2][4] - 4 * (xn + xp) + 6 * xy;
dyyyy = block[0][2] + block[4][2] - 4 * (yn + yp) + 6 * xy;
dxxyy = xpyp + xpyn + xnyp + xnyn - 2 * (xn + xp + yn + yp) + 4 * xy;
dxxxy = (block[1][0] + block[3][4] - block[3][0] - block[1][4])/4 + (xnyp + xpyn - xnyn - xpyp)/2;
dxyyy = (block[0][1] + block[4][3] - block[0][3] - block[4][1])/4 + (xnyp + xpyn - xnyn - xpyp)/2;
dhs = ((dxxxx + dxxyy) * dyy + (dxxyy + dyyyy) * dxx)/2 - dxy*(dxxxy + dxyyy);
return 2 * t * (dxx * dyy - dxy * dxy) + t * t * dhs;
}
bool HessnAff::Inverse2D(float m[2][2], float invm[2][2])
{
float det = det2D(m);
if (fabs(det) > 1e-8)
{
float divDet = 1 / det;
invm[0][0] = divDet * m[1][1];
invm[0][1] = -divDet * m[0][1];
invm[1][0] = -divDet * m[1][0];
invm[1][1] = divDet * m[0][0];
return true;
} else
return false;
}
void HessnAff::affineAdapt(vector<KeyPoint *> &peaks, vector<vector<Image*> > &gaussPyramid, vector<vector<Image*> > &dxPyramid, vector<vector<Image*> > &dyPyramid)
{
int times = 0, num = 0, nPxs = 0, cx = 0, cy = 0;
int oct = 0, si = 0, xi = 0, yi = 0, ri = 0, x, y, wd = 0, ci = 0;
unsigned int ioct;
vector<KeyPoint*>::iterator it;
vector<Cords>::iterator cit;
vector<Cords> visited;
vector<Board *> octFlags;
Board *bdFlag = NULL;
Image *dxImg = NULL, *dyImg = NULL, *gsImg = NULL;
KeyPoint *crntKp = NULL;
float fx = 0, fy = 0, dx = 0, dy = 0, px = 0, sx, sy = 0, dr = 0, r = 4.81;
float itSigma = 0, ds = 0, tmpdt = 0, dt = 0, dxds, dyds, dta, theta;
float U[2][2] = {0}, ivU[2][2] = {0}, nwU[2][2]={0}, tU[2][2];
float M[2][2] = {0}, lm1 = 0, lm2 = 0, dlta = 0, sc = 0, tr = 0;
float tmpU[2][2] = {0}, es[2] = {0}, block[5][5];
bool _CNVG_ = false;
for(ioct = 0; ioct < gaussPyramid.size(); ioct++)
{
gsImg = gaussPyramid[ioct][0];
bdFlag = new Board(gsImg->width, gsImg->height);
octFlags.push_back(bdFlag);
}
///cout<<"\t";
for(it = peaks.begin(); it != peaks.end(); it++, num++)
{
crntKp = *it;
if(crntKp->KP == false)
continue;
oct = crntKp->octIndex;
si = crntKp->scale;
itSigma = crntKp->octSigma;
U[0][0] = U[1][1] = 1;
U[0][1] = U[1][0] = 0;
_CNVG_ = false;
r = 4.5;
times = 0;
bdFlag = octFlags[oct];
es[0] = es[1] = 1;
ds = 0.08;
dt = 1.0;
sx = crntKp->sx; sy = crntKp->sy;
dxImg = dxPyramid[oct][si];
dyImg = dyPyramid[oct][si];
gsImg = gaussPyramid[oct][si];
while(!_CNVG_ && times < 10)
{
M[0][0] = M[0][1] = M[1][0] = M[1][1] = 0;
sc = (itSigma*3.0)/r;
wd = (int)floor((sc*es[1]*es[0]*itSigma*3.0)/r);
wd = wd*2+1;
nPxs = 0;
visited.clear();
for(theta = 0; theta < 6.32; theta += 0.45)
{
for(dr = 0; dr < 4.81; dr += 0.8)
{
xi = dr*cos(theta);
yi = dr*sin(theta);
fx = sc*xi*U[0][0] + sc*yi*U[0][1];
fy = sc*xi*U[1][0] + sc*yi*U[1][1];
x = (int)floor(sx + fx);
y = (int)floor(sy + fy);
for(ri = -wd; ri <= wd; ri++)
{
cy = y + ri;
for(ci = -wd; ci <= wd; ci++)
{
cx = x + ci;
if(bdFlag->getPixel(cx, cy) == 0)
{
dx = dxImg->getPixel(cx, cy);
dy = dyImg->getPixel(cx, cy);
M[0][0] += dx*dx;
M[0][1] += dx*dy;
M[1][1] += dy*dy;
nPxs++;
bdFlag->setPixel(cx, cy, 1);
Cords pt; pt.x = cx; pt.y = cy;
visited.push_back(pt);
}
}
}
}
}
for(cit = visited.begin(); cit != visited.end(); cit++)
{
Cords & pt = *cit;
bdFlag->setPixel(pt.x, pt.y, 0);
}
visited.clear();
for(yi = 0; yi < 5; yi++)
{
for(xi = 0; xi < 5; xi++)
{
x = xi - 2; y = yi - 2;
fx = sc*x*U[0][0] + sc*y*U[0][1];
fy = sc*x*U[1][0] + sc*y*U[1][1];
x = crntKp->sx + fx;
y = crntKp->sy + fy;
px = gsImg->getPixelBI(x, y);
block[yi][xi] = px;
}
}
tmpdt = getdHds(block, itSigma);
if(tmpdt*dt < 0)
{
ds = ds/2;
}
if(tmpdt > 0)
{
itSigma = itSigma + ds;
}else{
itSigma = itSigma - ds;
}
dt = tmpdt;
this->getdRds(block, itSigma, dxds, dyds);
sx = sx + ds * dxds;
sy = sy + ds * dyds;
///cout<<"tm: "<<times<<"\tds: "<<ds<<"\tsig: "<<itSigma<<"\txy: "<<dxds<<"\t"<<dyds<<endl;
M[1][0] = M[0][1];
M[0][0] = M[0][0]/nPxs; M[0][1] = M[0][1]/nPxs;
M[1][0] = M[1][0]/nPxs; M[1][1] = M[1][1]/nPxs;
tmpU[0][0] = M[0][0]; tmpU[0][1] = M[0][1];
tmpU[1][0] = M[1][0]; tmpU[1][1] = M[1][1];
///cout<<"M: "<<M[0][0]<<"\t"<<M[0][1]<<"\t"<<M[1][0]<<"\t"<<M[1][1]<<"\t"<<nPxs<<endl;
VMath::sqrtSymMat(tmpU[0][0], tmpU[0][1], tmpU[1][1], nwU, es);
Inverse2D(U, ivU);
tU[0][0] = nwU[0][0]*ivU[0][0] + nwU[1][0]*ivU[1][0];
tU[0][1] = nwU[0][0]*ivU[0][1] + nwU[1][0]*ivU[1][1];
tU[1][0] = nwU[1][0]*ivU[0][0] + nwU[1][1]*ivU[1][0];
tU[1][1] = nwU[1][0]*ivU[0][1] + nwU[1][1]*ivU[1][1];
tr = tU[0][0] + tU[1][1];
dlta = tU[0][0]*tU[1][1] - tU[1][0]*tU[0][1];
lm1 = tr/2 + sqrt(tr*tr/4-dlta);
lm2 = tr/2 - sqrt(tr*tr/4-dlta);
///cout<<"lm1: "<<lm1<<"\t"<<lm2<<endl;
if(lm2/lm1 > 0.96)
{
_CNVG_ = true;
}
U[0][0] = nwU[0][0]; U[0][1] = nwU[0][1];
U[1][0] = nwU[1][0]; U[1][1] = nwU[1][1];
///exit(0);
times++;
}///while(!_CNVG_)
///exit(0);
if(times >= 10)
{
crntKp->KP = false;
}
///cout<<num<<"\t"<<times<<"\t"<<lm2/lm1<<"\tdt = "<<dt<<endl;
crntKp->a = U[0][0]; crntKp->b = U[0][1]; crntKp->c = U[1][1];
///cout<<crntKp->a<<"\t"<<crntKp->b<<"\t"<<crntKp->c<<endl;
crntKp->octSigma = itSigma;
crntKp->iscale = pow(2.0, crntKp->octIndex)*itSigma*HessnAff::mag;
crntKp->dscale = pow(2.0, crntKp->octIndex)*itSigma;
crntKp->x = (int) round(sx * pow(2.0, crntKp->octIndex));
crntKp->y = (int) round(sy * pow(2.0, crntKp->octIndex));
///cout<<"\r\r\r\r\t"<<num<<"/"<<peaks.size();
}
Cleaner::releaseBoards(octFlags);
///cout<<"done\n";
///cout<<endl;
}
void HessnAff::affineAdapt2D(vector<KeyPoint *> &peaks, vector<vector<Image*> > &gaussPyramid, vector<vector<Image*> > &dxxPyramid,
vector<vector<Image*> > &dyyPyramid, vector<vector<Image*> > &dxyPyramid)
{
int times = 0, num = 0, nPxs = 0, cx = 0, cy = 0;
int oct = 0, si = 0, xi = 0, yi = 0, ri = 0, x, y, wd = 0, ci = 0;
unsigned int ioct;
vector<KeyPoint*>::iterator it;
vector<Cords>::iterator cit;
vector<Cords> visited;
vector<Board *> octFlags;
Board *bdFlag = NULL;
Image *dxxImg = NULL, *dyyImg = NULL, *dxyImg = NULL, *gsImg = NULL;
KeyPoint *crntKp = NULL;
float fx = 0, fy = 0, dxx = 0, dyy = 0, dxy = 0, px = 0, sx, sy = 0, dr = 0, r = 4.81;
float itSigma = 0, ds = 0, tmpdt = 0, dt = 0, dxds, dyds, dta, theta;
float U[2][2] = {0}, ivU[2][2] = {0}, nwU[2][2]={0}, tU[2][2];
float M[2][2] = {0}, lm1 = 0, lm2 = 0, dlta = 0, sc = 0, tr = 0;
float tmpU[2][2] = {0}, es[2] = {0}, block[5][5];
bool _CNVG_ = false;
for(ioct = 0; ioct < gaussPyramid.size(); ioct++)
{
gsImg = gaussPyramid[ioct][0];
bdFlag = new Board(gsImg->width, gsImg->height);
octFlags.push_back(bdFlag);
}
///cout<<"\t";
for(it = peaks.begin(); it != peaks.end(); it++, num++)
{
crntKp = *it;
if(crntKp->KP == false)
continue;
oct = crntKp->octIndex;
si = crntKp->scale;
itSigma = crntKp->octSigma;
U[0][0] = U[1][1] = 1;
U[0][1] = U[1][0] = 0;
_CNVG_ = false;
r = 4.5;
times = 0;
bdFlag = octFlags[oct];
es[0] = es[1] = 1;
ds = 0.08;
dt = 1.0;
sx = crntKp->sx; sy = crntKp->sy;
dxxImg = dxxPyramid[oct][si];
dyyImg = dyyPyramid[oct][si];
dxyImg = dxyPyramid[oct][si];
gsImg = gaussPyramid[oct][si];
while(!_CNVG_ && times < 10)
{
M[0][0] = M[0][1] = M[1][0] = M[1][1] = 0;
sc = (itSigma*3.0)/r;
wd = (int)floor((sc*es[1]*es[0]*itSigma*3.0)/r);
wd = wd*2+1;
nPxs = 0;
visited.clear();
for(theta = 0; theta < 6.32; theta += 0.45)
{
for(dr = 0; dr < 4.81; dr += 0.8)
{
xi = dr*cos(theta);
yi = dr*sin(theta);
fx = sc*xi*U[0][0] + sc*yi*U[0][1];
fy = sc*xi*U[1][0] + sc*yi*U[1][1];
x = (int)floor(sx + fx);
y = (int)floor(sy + fy);
for(ri = -wd; ri <= wd; ri++)
{
cy = y + ri;
for(ci = -wd; ci <= wd; ci++)
{
cx = x + ci;
if(bdFlag->getPixel(cx, cy) == 0)
{
dxx = dxxImg->getPixel(cx, cy);
dyy = dyyImg->getPixel(cx, cy);
dxy = dxyImg->getPixel(cx, cy);
M[0][0] += dxx*dxx;
M[0][1] += dxy*dxy;
M[1][1] += dyy*dyy;
nPxs++;
bdFlag->setPixel(cx, cy, 1);
Cords pt; pt.x = cx; pt.y = cy;
visited.push_back(pt);
}//else
}
//cout<<endl;
}
}
}
for(cit = visited.begin(); cit != visited.end(); cit++)
{
Cords & pt = *cit;
bdFlag->setPixel(pt.x, pt.y, 0);
}
visited.clear();
for(yi = 0; yi < 5; yi++)
{
for(xi = 0; xi < 5; xi++)
{
x = xi - 2; y = yi - 2;
fx = sc*x*U[0][0] + sc*y*U[0][1];
fy = sc*x*U[1][0] + sc*y*U[1][1];
x = crntKp->sx + fx;
y = crntKp->sy + fy;
px = gsImg->getPixelBI(x, y);
block[yi][xi] = px;
}
}
tmpdt = getdHds(block, itSigma);
if(tmpdt*dt < 0)
{
ds = ds/2;
}
if(tmpdt > 0)
{
itSigma = itSigma + ds;
}else{
itSigma = itSigma - ds;
}
dt = tmpdt;
this->getdRds(block, itSigma, dxds, dyds);
sx = sx + ds * dxds;
sy = sy + ds * dyds;
M[1][0] = M[0][1];
M[0][0] = M[0][0]/nPxs; M[0][1] = M[0][1]/nPxs;
M[1][0] = M[1][0]/nPxs; M[1][1] = M[1][1]/nPxs;
tmpU[0][0] = M[0][0]; tmpU[0][1] = M[0][1];
tmpU[1][0] = M[1][0]; tmpU[1][1] = M[1][1];
VMath::sqrtSymMat(tmpU[0][0], tmpU[0][1], tmpU[1][1], nwU, es);
Inverse2D(U, ivU);
tU[0][0] = nwU[0][0]*ivU[0][0] + nwU[1][0]*ivU[1][0];
tU[0][1] = nwU[0][0]*ivU[0][1] + nwU[1][0]*ivU[1][1];
tU[1][0] = nwU[1][0]*ivU[0][0] + nwU[1][1]*ivU[1][0];
tU[1][1] = nwU[1][0]*ivU[0][1] + nwU[1][1]*ivU[1][1];
tr = tU[0][0] + tU[1][1];
dlta = tU[0][0]*tU[1][1] - tU[1][0]*tU[0][1];
lm1 = tr/2 + sqrt(tr*tr/4-dlta);
lm2 = tr/2 - sqrt(tr*tr/4-dlta);
if(lm2/lm1 > 0.96)
{
_CNVG_ = true;
}
U[0][0] = nwU[0][0]; U[0][1] = nwU[0][1];
U[1][0] = nwU[1][0]; U[1][1] = nwU[1][1];
times++;
}///while(!_CNVG_)
if(times >= 10)
{
crntKp->KP = false;
}
crntKp->a = U[0][0]; crntKp->b = U[0][1]; crntKp->c = U[1][1];
crntKp->octSigma = itSigma;
crntKp->iscale = pow(2.0, crntKp->octIndex)*itSigma*HessnAff::mag;
crntKp->dscale = pow(2.0, crntKp->octIndex)*itSigma;
crntKp->x = (int)round(sx * pow(2.0, crntKp->octIndex));
crntKp->y = (int)round(sy * pow(2.0, crntKp->octIndex));
crntKp->fx = sx * pow(2.0, crntKp->octIndex);
crntKp->fy = sy * pow(2.0, crntKp->octIndex);
}
Cleaner::releaseBoards(octFlags);
}
vector<KeyPoint*> HessnAff::findOrientByGrad(vector<KeyPoint *> &kps, vector<vector<Image *> > & GaussianOctaves)
{
vector<vector<float> > gmat;
vector<KeyPoint*> newkps;
KeyPoint *newkp;
float sigma, m, theta, degree, fx, fy;
float U[2][2];
int c, index;
int indexa, indexb, indexc, j;
float thetaa, thetab, thetac;
unsigned int i;
float maxval,maxp;
bool valid;
float thetas[NOrient] = {0};
float weight;
for (i = 0; i < kps.size(); i++)
{
if(kps[i]->KP == false)
continue;
sigma = 1.5 * pow(2.0, (kps[i]->fscale)/(float) SCALES) *HessnAff::_SIGMA;
Filter::GaussianKernel2D(sigma, gmat);
c = gmat.size()/2;
for(j = 0; j < NOrient; j++)
{
thetas[j] = 0;
}
U[0][0] = kps[i]->a; U[0][1] = kps[i]->b;
U[1][0] = kps[i]->b; U[1][1] = kps[i]->c;
for (int y = -c; y <= c; y++)
{
for (int x = -c; x <= c; x++)
{
if (sqrt((float) x*x + y*y) > 3.0 * sigma)
continue;
fx = x*U[0][0] + y*U[0][1];
fy = x*U[1][0] - y*U[1][1];
valid = Filter::GetPixOrientation((int) (kps[i]->sx + fx + 0.5), (int) (kps[i]->sy + fy + 0.5),
GaussianOctaves[kps[i]->octave][kps[i]->scale], m, theta);
if(valid)
{
degree = theta / PI * 180.0 + 180.0;
index = ((int) (degree / DEGREE));
weight = m*gmat[y + c][x + c];
index = index%NOrient;
thetas[index] += weight;
}
}
}
vector<vector<float> >::iterator it;
vector<float> crntvect;
for(it = gmat.begin(); it != gmat.end(); it++)
{
crntvect = *it;
crntvect.clear();
}
gmat.erase(gmat.begin(),gmat.end());
for (int j = 0; j < 6; j++)
VMath::SmoothHistogram(thetas, NOrient);
maxval = VMath::maxVec(thetas, NOrient);
for (int j = 0; j < NOrient; j++)
{
if (thetas[j] < maxval * NwKpThresh)
continue;
indexa = VMath::mod(j - 1, NOrient);
indexb = j;
indexc = VMath::mod(j + 1, NOrient);
thetaa = thetas[indexa];
thetab = thetas[indexb];
thetac = thetas[indexc];
if (!(thetab > thetaa && thetab > thetac))
continue;
maxp = VMath::getMaxParabola(-1, thetaa, 0, thetab, 1, thetac);
if(thetas[j] == maxval)
{
kps[i]->ori = ((float) j + maxp + 0.5) * 2.0 * PI / (float) NOrient - PI;
}
else
{
newkp = new KeyPoint();
memcpy(newkp, kps[i], sizeof(KeyPoint));
if(/**/this->mydesc == ERIFT || this->mydesc == NERIFT || /**/
this->mydesc == NSPIN || this->mydesc == SPIN)
{
newkp->KP = false;
}
newkp->ori = ((float) j + maxp + 0.5) * 2.0 * PI / (float) NOrient - PI;
newkps.push_back(newkp);
}
}
}
return newkps ;
}
bool HessnAff::KeypointBuild(const char *fn, const char *dstfn, const char *descfn, const char *dvfn)
{
assert(fn);
AbstractDetector::releaseKpList(this->kps);
this->crntimg = new Image(fn);
if(!this->crntimg->isActive())
return false;
Image *oriImg = NULL, *tmpImg = NULL;
vector<vector<Image*> > GxxOctaves, GyyOctaves, GxyOctaves;
vector<vector<Image*> > GxOctaves, GyOctaves;
vector<vector<Image *> > HessOctaves;
vector<vector<Image *> > GaussOctaves;
vector<KeyPoint *> extra_peaks;
unsigned int ioctave = 0;
int minsz = (this->crntimg->width>this->crntimg->height)?this->crntimg->height:this->crntimg->width;
if(minsz < 50)
{
tmpImg = Image::doubleSizeImage(this->crntimg);
delete this->crntimg;
this->crntimg = tmpImg;
this->resize_rate = 0.5;
this->RESIZE = true;
}
else if(minsz > imgSzBound)
{
this->resize_rate = 1.0f;