SIFTFeatureCalculator.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  SIFTFeatureCalculator.h
// Author:    Pedram Azad, Lars Paetzold
// Date:      24.09.2008
// ****************************************************************************

#ifndef _SIFT_FEATURE_CALCULATOR__H_
#define _SIFT_FEATURE_CALCULATOR__H_


// ****************************************************************************
// Includes
// ****************************************************************************

#include "Interfaces/FeatureCalculatorInterface.h"
#include "DataStructures/DynamicArrayTemplatePointer.h"
#include "DataStructures/DynamicArrayTemplate.h"
#include <vector>


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CFeatureEntry;
class CFloatMatrix;
class CByteImage;
struct Vec2d;


// ****************************************************************************
// Defines
// ****************************************************************************

#define MAX_SCALES      10



// ****************************************************************************
// CSIFTFeatureCalculator
// ****************************************************************************

class CSIFTFeatureCalculator : public CFeatureCalculatorInterface
{
public:
        // constructor
        CSIFTFeatureCalculator(float fThreshold = 0.05f, int nOctaves = 3);

        // destructor
        ~CSIFTFeatureCalculator();
  
        
        // public methods
        int CalculateFeatures(const CByteImage *pImage, CDynamicArray *pResultList, bool bManageMemory = true);

        // member access
        void SetThreshold(float fThreshold) { m_fThreshold = fThreshold;}
        void SetNumberOfOctaves(int nOctaves) { m_nOctaves = nOctaves; }

        float GetThreshold() { return m_fThreshold; }
        int GetNumberOfOctaves() { return m_nOctaves; }

        // public static methods
        static void InitializeVariables();
        static void CreateSIFTDescriptors(const CFloatMatrix *pImage, CDynamicArray *pResultList, float x, float y, float scale, float sigma, const float *pOrientationWeights, bool bManageMemory = true, bool bPerform80PercentCheck = true);
        static void CreateSIFTDescriptors(const CByteImage *pImage, CDynamicArray *pResultList, float x, float y, float scale = 1.0f, bool bManageMemory = true, bool bPerform80PercentCheck = true);
        static void CreateSIFTDescriptors(const CByteImage *pImage, CDynamicArrayTemplatePointer<CFeatureEntry> &resultList, float x, float y, float scale = 1.0f, bool bPerform80PercentCheck = true);


private:
        // private methods
        static void DetermineDominatingOrientations(const CFloatMatrix *pAngleMatrix, const CFloatMatrix *pMagnitudeMatrix, CDynamicArrayTemplate<float> &orientations, bool bPerform80PercentCheck);
        void FindScaleSpaceExtrema(const CFloatMatrix *pImage, float scale, int nOctave);

        // private attributes
        float m_fThreshold;
        int m_nOctaves;

        CDynamicArray *m_pResultList;
        bool m_bManageMemory;

        // static constants for internal use
        static float edgethreshold_;
        static float k_;
        static float diffk_;
        static float prescaledsigma_;
        static float diffsigma0_;

        static int SIFTPointers[256]; 
        static float SIFTWeights[256];
        static float SIFTOrientationWeights[256 * (MAX_SCALES + 1)];
        static float SIFTDescriptorWeights[256];

        static float SIFTDiffSigmas[MAX_SCALES];
        static float SIFTSigmas[MAX_SCALES];
        static float* SIFTGaussianFilters[MAX_SCALES];
        static int SIFTKernelRadius[MAX_SCALES];

        static int m_bInitialized;
};



#endif /* _SIFT_FEATURE_CALCULATOR__H_ */