00001 #include "MultiScaleDetector.h"
00002
00003
00004 MultiScaleDetector::MultiScaleDetector(const PeakFinder* _peak, unsigned int _scales, double _sigma, double step, SmoothingFilterFamily _filterType):
00005 m_peakFinder(_peak),
00006 m_scaleNumber(_scales),
00007 m_baseSigma(_sigma),
00008 m_sigmaStep(step),
00009 m_useMaxRange(false),
00010 m_filterType(_filterType)
00011 {
00012 computeFilterBank();
00013 }
00014
00015 unsigned int MultiScaleDetector::detect(const LaserReading& reading, std::vector<InterestPoint*>& point) const{
00016 std::vector<double> signal;
00017 std::vector< std::vector<double> > signalSmooth;
00018 std::vector< std::vector<double> > signalDiff;
00019 std::vector< std::vector<unsigned int> > indexes;
00020 return detect(reading, point, signal, signalSmooth, signalDiff, indexes);
00021 }
00022
00023 unsigned int MultiScaleDetector::detect(const LaserReading& reading, std::vector<InterestPoint*>& point,
00024 std::vector< double >& signal,
00025 std::vector< std::vector<double> >& signalSmooth,
00026 std::vector< std::vector<double> >& signalDiff,
00027 std::vector< std::vector<unsigned int> >& indexes) const
00028 {
00029 std::vector<unsigned int> maxRangeMapping;
00030 computeSignal(reading, signal, maxRangeMapping);
00031 detect(signal, signalSmooth, signalDiff, indexes);
00032 return computeInterestPoints(reading, signal, point, indexes, maxRangeMapping);
00033 }
00034
00035 void MultiScaleDetector::detect(const std::vector<double>& signal,
00036 std::vector< std::vector<double> >& signalSmooth,
00037 std::vector< std::vector<double> >& signalDiff,
00038 std::vector< std::vector<unsigned int> >& indexes) const
00039 {
00040 signalSmooth.resize(m_scaleNumber);
00041 signalDiff.resize(m_scaleNumber);
00042 indexes.resize(m_scaleNumber);
00043 for(unsigned int i = 0; i < m_filterBank.size(); i++){
00044 int offsetRange = floor((int)m_filterBank[i].size()/2.0);
00045 signalSmooth[i] = convolve1D(signal, m_filterBank[i], -offsetRange);
00046 signalDiff[i] = convolve1D(signalSmooth[i], m_differentialBank[i], -1);
00047 for(unsigned int j = offsetRange + 1; j < signal.size() - offsetRange - 1; j++){
00048 if(m_peakFinder->isPeak(signalDiff[i], j)){
00049 indexes[i].push_back(j);
00050 }
00051 }
00052 }
00053 }
00054
00055 void MultiScaleDetector::computeFilterBank(){
00056 m_filterBank.resize(m_scaleNumber);
00057 m_scales.resize(m_scaleNumber);
00058 for(unsigned int i = 0; i < m_filterBank.size(); i++){
00059 m_scales[i] = m_baseSigma * pow(m_sigmaStep, i);
00060 unsigned int kernelSize = 2*ceil(m_scales[i])+1;
00061 if(kernelSize < MIN_KERNEL_SIZE)
00062 kernelSize = MIN_KERNEL_SIZE;
00063 else if(kernelSize > MAX_KERNEL_SIZE)
00064 kernelSize = MAX_KERNEL_SIZE;
00065 switch(m_filterType){
00066 case GAUSSIAN:
00067 m_filterBank[i] = gaussianKernel1D(m_scales[i], kernelSize); break;
00068 case BESSEL:
00069 m_filterBank[i] = besselKernel1D(m_scales[i], kernelSize); break;
00070 default:
00071 m_filterBank[i] = besselKernel1D(m_scales[i], kernelSize); break;
00072 }
00073 }
00074 }
