HarrisSIFTFeatureCalculator.cpp

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// ****************************************************************************
// ****************************************************************************
// Filename:  HarrisSIFTFeatureCalculator.cpp
// Author:    Pedram Azad
// Date:      20.11.2007
// ****************************************************************************

// ******************************************************************************************************
// Implementation of the paper:
// P. Azad, T. Asfour, R. Dillmann,
// "Combining Harris Interest Points and the SIFT Descriptor for Fast Scale-Invariant Object Recognition"
// IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
// St. Louis, USA, pp. 4275-4280, 2009.
// ******************************************************************************************************

#include "HarrisSIFTFeatureCalculator.h"

#include "Image/ImageProcessor.h"
#include "Image/ByteImage.h"
#include "Math/FloatMatrix.h"

#include "DataStructures/DynamicArray.h"
#include "Features/SIFTFeatures/SIFTFeatureCalculator.h"
#include "Features/SIFTFeatures/SIFTFeatureEntry.h"

#include <math.h>



static const float scale_factor = 0.75f;



// ****************************************************************************
// Constructor / Destructor
// ****************************************************************************

CHarrisSIFTFeatureCalculator::CHarrisSIFTFeatureCalculator(float fThreshold, int nLevels, int nMaxInterestPoints)
{
        CSIFTFeatureCalculator::InitializeVariables();

        m_nMaxInterestPoints = nMaxInterestPoints;
        m_nLevels = nLevels;
        m_fThreshold = fThreshold;
        m_fMinDistance = 5.0f;

        m_bPerform80PercentCheck = true;

        m_pInterestPoints = new Vec2d[m_nMaxInterestPoints];
        m_nInterestPoints = 0;

        m_pResultList = 0;
        m_pResultListTemplate = 0;
        m_bTemplateList = true;
        m_bManageMemory = true;

        m_pImage = 0;
}

CHarrisSIFTFeatureCalculator::~CHarrisSIFTFeatureCalculator()
{
        delete [] m_pInterestPoints;
}


// ****************************************************************************
// Methods
// ****************************************************************************

CFeatureEntry* CHarrisSIFTFeatureCalculator::CreateCopy(const CFeatureEntry *pFeatureEntry)
{
        return new CSIFTFeatureEntry(*((CSIFTFeatureEntry *) pFeatureEntry));
}

int CHarrisSIFTFeatureCalculator::CalculateFeatures(const CByteImage *pImage, CDynamicArray *pResultList, bool bManageMemory)
{
        if (pImage->type != CByteImage::eGrayScale)
        {
                printf("error: input image is not a grayscale image\n");
                return -1;
        }

        m_bTemplateList = false;
        m_bManageMemory = bManageMemory;

        m_pResultList = pResultList;
        m_pImage = pImage;
        
        FindInterestPoints(pImage, 1, m_nLevels);

        return pResultList->GetSize();
}

int CHarrisSIFTFeatureCalculator::CalculateFeatures(const CByteImage *pImage, CDynamicArrayTemplatePointer<CFeatureEntry> &resultList)
{
        if (pImage->type != CByteImage::eGrayScale)
        {
                printf("error: input image is not a grayscale image\n");
                return -1;
        }

        m_bTemplateList = true;

        m_pResultListTemplate = &resultList;
        m_pImage = pImage;
        
        FindInterestPoints(pImage, 1, m_nLevels);

        return resultList.GetSize();
}

void CHarrisSIFTFeatureCalculator::FindInterestPoints(const CByteImage *pImage, float scale, int nLevel)
{
        // calculate feature points
        m_nInterestPoints = ImageProcessor::CalculateHarrisInterestPoints(pImage, m_pInterestPoints, m_nMaxInterestPoints, m_fThreshold, m_fMinDistance);

        if (m_bTemplateList)
        {
                for (int i = 0; i < m_nInterestPoints; i++)
                        CSIFTFeatureCalculator::CreateSIFTDescriptors(pImage, *m_pResultListTemplate, m_pInterestPoints[i].x, m_pInterestPoints[i].y, scale, m_bPerform80PercentCheck);
        }
        else
        {
                for (int i = 0; i < m_nInterestPoints; i++)
                        CSIFTFeatureCalculator::CreateSIFTDescriptors(pImage, m_pResultList, m_pInterestPoints[i].x, m_pInterestPoints[i].y, scale, m_bManageMemory, m_bPerform80PercentCheck);
        }

        if (nLevel > 1)
        {
                // recursive call
                CByteImage scaled_image(int(m_pImage->width * powf(scale_factor, float(m_nLevels - nLevel + 1)) + 0.5f), int(m_pImage->height * powf(scale_factor, float(m_nLevels - nLevel + 1.0f)) + 0.5f), CByteImage::eGrayScale);
                ImageProcessor::Resize(m_pImage, &scaled_image);
                FindInterestPoints(&scaled_image, scale * scale_factor, nLevel - 1);
        }
}