src/qvworkers/qvhessianpointdetector.cpp

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00001 /*
00002  *      Copyright (C) 2007, 2008. PARP Research Group.
00003  *      <http://perception.inf.um.es>
00004  *      University of Murcia, Spain.
00005  *
00006  *      This file is part of the QVision library.
00007  *
00008  *      QVision is free software: you can redistribute it and/or modify
00009  *      it under the terms of the GNU Lesser General Public License as
00010  *      published by the Free Software Foundation, version 3 of the License.
00011  *
00012  *      QVision is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *      GNU Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with QVision. If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00024 
00025 #include <qvdta.h>
00026 #include <qvip.h>
00027 #include <qvipp.h>
00028 #include <QVMatrix>
00029 
00030 #include <QVHessianPointDetector>
00031 
00032 Q_DECLARE_METATYPE(QList<QPointF>);
00033 Q_DECLARE_METATYPE(QList<sFloat>);
00034 
00035 QVHessianPointDetector::QVHessianPointDetector(QString name): QVWorker(name)
00036         {
00037         addProperty< QVImage<uChar,3> >("Input image", inputFlag|outputFlag);
00038         addProperty< QVImage<uChar,1> >("Feature response image", outputFlag);
00039         addProperty< QList < QPointF > >("Feature locations", outputFlag);
00040         addProperty< QList < sFloat > >("Feature responses", outputFlag);
00041         addProperty< int >("Max number of corners", inputFlag, 300, "Maximal number of corners to detect", 10, 1000);
00042         }
00043 
00044 void QVHessianPointDetector::iterate()
00045         {
00046         // 0. Read input property values.
00047         const QVImage<uChar>    image = getPropertyValue< QVImage<uChar,3> >("Input image");
00048         const int               maxNumberCorners = getPropertyValue< int >("Max number of corners");
00049         const int               rows = image.getRows(), cols = image.getCols();
00050 
00051         timeFlag("Read input properties");
00052 
00053         // 2. Get candidate points from corner response image.
00054         QVImage<sFloat> cornerResponseImage(cols, rows);
00055         FilterHessianCornerResponseImage(image, cornerResponseImage);
00056         setPropertyValue< QVImage<uChar> >("Feature response image", cornerResponseImage);
00057         timeFlag("Feature response image");
00058 
00059         // 3. Store locations and intensities of points.
00060         const QList< QPair<sFloat, QPointF> > maximalPointsPlusResponses = GetMaximalResponsePoints3bis(cornerResponseImage);
00061         const QList<sFloat> actualResponses = getFirstPairList<sFloat, QPointF>(maximalPointsPlusResponses);
00062         const QList<QPointF> points = getSecondPairList<sFloat, QPointF>(maximalPointsPlusResponses);
00063         const QList<QPointF> actualPoints = getSecondPairList<sFloat, QPointF>(maximalPointsPlusResponses);
00064         timeFlag("Get corners and intensity responses");
00065 
00066         const int size = actualResponses.size();
00067         setPropertyValue< QList<sFloat> >("Feature responses", actualResponses.mid(MAX(0,size-maxNumberCorners),maxNumberCorners) );
00068         setPropertyValue< QList<QPointF> >("Feature locations", actualPoints.mid(MAX(0,size-maxNumberCorners),maxNumberCorners) );
00069         timeFlag("Store properties values");
00070         }
00071