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00025 #include <hessiancornersextractor.h>
00026
00027 Q_DECLARE_METATYPE(QList<sFloat>);
00028
00029 QPointF normalizePoint(const QVImage<uChar> &image, const QPointF &point)
00030 {
00031 const double rows = image.getRows(), cols = image.getCols(), factor = cols/2;
00032 return QPointF((point.x() - cols/2)/factor,-(point.y() - rows/2)/factor);
00033 }
00034
00035 QList<QPointF> normalizePoints(const QVImage<uChar> &image, const QList<QPointF> &points)
00036 {
00037 const double rows = image.getRows(), cols = image.getCols(), factor = cols/2;
00038 QList<QPointF> pointFList;
00039
00040 foreach(QPointF point, points)
00041 pointFList.append(QPointF((point.x() - cols/2)/factor,-(point.y() - rows/2)/factor));
00042 return pointFList;
00043 }
00044
00045 HessianCornersExtractor::HessianCornersExtractor(QString name): QVWorker(name)
00046 {
00047 addProperty< QVImage<uChar,3> >("Input image", inputFlag|outputFlag);
00048 addProperty< QVImage<uChar,1> >("Corner response image", outputFlag);
00049 addProperty< QList < QPointF > >("Corner locations", outputFlag);
00050 addProperty< QList < sFloat > >("Corner responses", outputFlag);
00051 addProperty< int >("Max number of corners", inputFlag, 300, "Maximal number of corners to detect", 10, 1000);
00052 }
00053
00054 void HessianCornersExtractor::iterate()
00055 {
00056
00057 const QVImage<uChar> image = getPropertyValue< QVImage<uChar,3> >("Input image");
00058 const int maxNumberCorners = getPropertyValue< int >("Max number of corners");
00059 const int rows = image.getRows(), cols = image.getCols();
00060
00061 timeFlag("Read input properties");
00062
00063
00064 QVImage<sFloat> cornerResponseImage(cols, rows);
00065 FilterHessianCornerResponseImage(image, cornerResponseImage);
00066 setPropertyValue< QVImage<uChar> >("Corner response image", cornerResponseImage);
00067 timeFlag("Corner response image");
00068
00069
00070 const QList< QPair<sFloat, QPointF> > maximalPointsPlusResponses =
00071 GetMaximalResponsePoints3bis(cornerResponseImage);
00072 const QList<sFloat> actualResponses =
00073 getFirstPairList<sFloat, QPointF>(maximalPointsPlusResponses);
00074 const QList<QPointF> points =
00075 getSecondPairList<sFloat, QPointF>(maximalPointsPlusResponses);
00076 const QList<QPointF> actualPoints =
00077 normalizePoints(image, getSecondPairList<sFloat, QPointF>(maximalPointsPlusResponses));
00078 timeFlag("Get corners and intensity responses");
00079
00080 const int size = actualResponses.size();
00081 setPropertyValue< QList<sFloat> >("Corner responses", actualResponses.mid(MAX(0,size-maxNumberCorners),maxNumberCorners) );
00082 setPropertyValue< QList<QPointF> >("Corner locations", actualPoints.mid(MAX(0,size-maxNumberCorners),maxNumberCorners) );
00083
00084
00085 timeFlag("Store properties values");
00086 }
00087