www.pudn.com > SIFTPRO.rar > SIFTPRO.cpp
#ifdef _CH_
#pragma package
#endif
#ifndef _EiC
#include
#include "stdlib.h"
#include "string.h"
#include "malloc.h"
#include "math.h"
#include
#include
#include
#include
#include
#include
#include
#endif
#ifdef _EiC
#define WIN32
#endif
#define NUMSIZE 2
#define GAUSSKERN 3.5
#define PI 3.14159265358979323846
/**
Sigma of base image -- See D.L.'s paper.
*/
#define INITSIGMA 0.5
/**
Sigma of each octave -- See D.L.'s paper.
*/
#define SIGMA sqrt(3)//1.6//
/**
Number of scales per octave. See D.L.'s paper.
*/
#define SCALESPEROCTAVE 2
#define MAXOCTAVES 4
int numoctaves;
/**
Double image size before looking searching for keypoints
Doubling finds more keypoints, but takes longer. See
D.L.'s paper.
*/
#define CONTRAST_THRESHOLD 0.02
#define CURVATURE_THRESHOLD 10.0
#define DOUBLE_BASE_IMAGE_SIZE 1
#define peakRelThresh 0.8
#define LEN 128
CvMemStorage* storage = 0; // temporary storage
//Gaussian金字塔感觉用二维指针较简单
/* Data structure for a float image.
*/
typedef struct ImageSt { /*金字塔每一层*/
float levelsigma;
int levelsigmalength;
float absolute_sigma;
CvMat *Level;
} ImageLevels;
typedef struct ImageSt1 { /*金字塔每一阶梯*/
int row, col; /* Dimensions of image. */
float subsample;
ImageLevels *Octave;
} ImageOctaves;
ImageOctaves *DOGoctaves; //DOG pyr
ImageOctaves *mag_thresh ;
ImageOctaves *mag_pyr ;
ImageOctaves *grad_pyr ;
/* Data structure for a keypoint. Lists of keypoints are linked
by the "next" field.*/
typedef struct KeypointSt
{
float row, col; /* 反馈回原图像大小，特征点的位置 */
float sx,sy; /* 金字塔中特征点的位置*/
int octave,level;/*金字塔中，特征点所在的阶梯、层次*/
float scale, ori,mag; /*所在层的尺度sigma,主方向orientation (range [-PI,PI])，以及幅值*/
float *descrip; /*特征描述字指针：128维或32维等*/
struct KeypointSt *next;/* Pointer to next keypoint in list. */
} *Keypoint;
//定义特征点具体变量
Keypoint keypoints=NULL; //用于临时存储特征点的位置等
Keypoint keyDescriptors=NULL; //用于最后的确定特征点以及特征描述字
//图像处理基本函数，其实其实可以用OPENCV的函数代替
//void NormalizeImage(CvMat *src);
CvMat * halfSizeImage(CvMat * im); //缩小图像：下采样
CvMat * doubleSizeImage(CvMat * im); //扩大图像：最近临方法
CvMat * doubleSizeImage2(CvMat * im); //扩大图像：线性插值
float getPixelBI(CvMat * im, float col, float row);//双线性插值函数
void normalizeVec(float* vec, int dim);//向量归一化
CvMat* GaussianKernel2D(float sigma); //得到2维高斯核
void normalizeMat(CvMat* mat) ; //矩阵归一化
float* GaussianKernel1D(float sigma, int dim) ; //得到1维高斯核
float ConvolveLocWidth(float* kernel, int dim, CvMat * src, int x, int y) ; //在具体像素处宽度方向进行高斯卷积
void Convolve1DWidth(float* kern, int dim, CvMat * src, CvMat * dst) ; //在整个图像宽度方向进行1D高斯卷积
float ConvolveLocHeight(float* kernel, int dim, CvMat * src, int x, int y) ; //在具体像素处高度方向进行高斯卷积
void Convolve1DHeight(float* kern, int dim, CvMat * src, CvMat * dst); //在整个图像高度方向进行1D高斯卷积
int BlurImage(CvMat * src, CvMat * dst, float sigma) ; //用高斯函数模糊图像
//以下为算法核心部分
//SIFT算法第一步：图像预处理
CvMat *ScaleInitImage(CvMat * im) ; //金字塔初始化
//SIFT算法第二步：建立高斯金字塔函数
ImageOctaves* BuildGaussianOctaves(CvMat * image) ; //建立高斯金字塔
//SIFT算法第三步：特征点位置检测，最后确定特征点的位置
int DetectKeypoint(int numoctaves, ImageOctaves *GaussianPyr);
void DisplayKeypointLocation(IplImage* image, ImageOctaves *GaussianPyr);
//SIFT算法第四步：计算高斯图像的梯度方向和幅值，计算各个特征点的主方向
void ComputeGrad_DirecandMag(int numoctaves, ImageOctaves *GaussianPyr);
int FindClosestRotationBin (int binCount, float angle); //进行方向直方图统计
void AverageWeakBins (double* bins, int binCount); //对方向直方图滤波
//确定真正的主方向
bool InterpolateOrientation (double left, double middle,double right, double *degreeCorrection, double *peakValue);
//确定各个特征点处的主方向函数
void AssignTheMainOrientation(int numoctaves, ImageOctaves *GaussianPyr,ImageOctaves *mag_pyr,ImageOctaves *grad_pyr);
//显示主方向
void DisplayOrientation (IplImage* image, ImageOctaves *GaussianPyr);
//SIFT算法第五步：抽取各个特征点处的特征描述字
void ExtractFeatureDescriptors(int numoctaves, ImageOctaves *GaussianPyr);
//为了显示图象金字塔，而作的图像水平垂直拼接
CvMat* MosaicHorizen( CvMat* im1, CvMat* im2 );
CvMat* MosaicVertical( CvMat* im1, CvMat* im2 );
// The feature grid is has 4x4 cells - feat_grid describes the cell center positions
#define GridSpacing 4
int main( void )
{
//声明当前帧IplImage指针
IplImage* src = NULL;
IplImage* image1 = NULL;
IplImage* grey_im1 = NULL;
IplImage* DoubleSizeImage = NULL;
IplImage* mosaic1 = NULL;
IplImage* mosaic2 = NULL;
CvMat* mosaicHorizen1 = NULL;
CvMat* mosaicHorizen2 = NULL;
CvMat* mosaicVertical1 = NULL;
CvMat* image1Mat = NULL;
CvMat* tempMat=NULL;
ImageOctaves *Gaussianpyr;
int rows,cols;
#define Im1Mat(ROW,COL) ((float *)(image1Mat->data.fl + image1Mat->step/sizeof(float) *(ROW)))[(COL)]
//灰度图象像素的数据结构
#define Im1B(ROW,COL) ((uchar*)(image1->imageData + image1->widthStep*(ROW)))[(COL)*3]
#define Im1G(ROW,COL) ((uchar*)(image1->imageData + image1->widthStep*(ROW)))[(COL)*3+1]
#define Im1R(ROW,COL) ((uchar*)(image1->imageData + image1->widthStep*(ROW)))[(COL)*3+2]
storage = cvCreateMemStorage(0);
//读取图片
if( (src = cvLoadImage( "einstein.pgm", 1)) == 0 ) // test1.jpg einstein.pgm back1.bmp
return -1;
//为图像分配内存
image1 = cvCreateImage(cvSize(src->width, src->height), IPL_DEPTH_8U,3);
grey_im1 = cvCreateImage(cvSize(src->width, src->height), IPL_DEPTH_8U,1);
DoubleSizeImage = cvCreateImage(cvSize(2*(src->width), 2*(src->height)), IPL_DEPTH_8U,3);
//为图像阵列分配内存，假设两幅图像的大小相同，tempMat跟随image1的大小
image1Mat = cvCreateMat(src->height, src->width, CV_32FC1);
//转化成单通道图像再处理
cvCvtColor(src, grey_im1, CV_BGR2GRAY);
//转换进入Mat数据结构,图像操作使用的是浮点型操作
cvConvert(grey_im1, image1Mat);
double t = (double)cvGetTickCount();
//图像归一化
cvConvertScale( image1Mat, image1Mat, 1.0/255, 0 );
int dim = min(image1Mat->rows, image1Mat->cols);
numoctaves = (int) (log((double) dim) / log(2.0)) - 2; //金字塔阶数
numoctaves = min(numoctaves, MAXOCTAVES);
//第一步，预滤波除噪声，建立金字塔底层
tempMat = ScaleInitImage(image1Mat) ;
//第二步，建立Guassian金字塔和DOG金字塔
Gaussianpyr = BuildGaussianOctaves(tempMat) ;
t = (double)cvGetTickCount() - t;
printf( "the time of build Gaussian pyramid and DOG pyramid is %.1f\n", t/(cvGetTickFrequency()*1000.) );
#define ImLevels(OCTAVE,LEVEL,ROW,COL) ((float *)(Gaussianpyr[(OCTAVE)].Octave[(LEVEL)].Level->data.fl + Gaussianpyr[(OCTAVE)].Octave[(LEVEL)].Level->step/sizeof(float) *(ROW)))[(COL)]
//显示高斯金字塔
for (int i=0; iwidth, mosaicVertical1->height), IPL_DEPTH_8U,1);
cvConvertScale( mosaicVertical1, mosaicVertical1, 255.0, 0 );
cvConvertScaleAbs( mosaicVertical1, mosaic1, 1, 0 );
// cvSaveImage("GaussianPyramid of me.jpg",mosaic1);
cvNamedWindow("mosaic1",1);
cvShowImage("mosaic1", mosaic1);
cvWaitKey(0);
cvDestroyWindow("mosaic1");
//显示DOG金字塔
for ( i=0; iwidth, mosaicVertical1->height), IPL_DEPTH_8U,1);
cvConvertScale( mosaicVertical1, mosaicVertical1, 255.0/(max_val-min_val), 0 );
cvConvertScaleAbs( mosaicVertical1, mosaic2, 1, 0 );
// cvSaveImage("DOGPyramid of me.jpg",mosaic2);
cvNamedWindow("mosaic1",1);
cvShowImage("mosaic1", mosaic2);
cvWaitKey(0);
//SIFT算法第三步：特征点位置检测，最后确定特征点的位置
int keycount=DetectKeypoint(numoctaves, Gaussianpyr);
printf("the keypoints number are %d ;\n", keycount);
cvCopy(src,image1,NULL);
DisplayKeypointLocation( image1 ,Gaussianpyr);
cvPyrUp( image1, DoubleSizeImage, CV_GAUSSIAN_5x5 );
cvNamedWindow("image1",1);
cvShowImage("image1", DoubleSizeImage);
cvWaitKey(0);
cvDestroyWindow("image1");
//SIFT算法第四步：计算高斯图像的梯度方向和幅值，计算各个特征点的主方向
ComputeGrad_DirecandMag(numoctaves, Gaussianpyr);
AssignTheMainOrientation( numoctaves, Gaussianpyr,mag_pyr,grad_pyr);
cvCopy(src,image1,NULL);
DisplayOrientation ( image1, Gaussianpyr);
// cvPyrUp( image1, DoubleSizeImage, CV_GAUSSIAN_5x5 );
cvNamedWindow("image1",1);
// cvResizeWindow("image1", 2*(image1->width), 2*(image1->height) );
cvShowImage("image1", image1);
cvWaitKey(0);
//SIFT算法第五步：抽取各个特征点处的特征描述字
ExtractFeatureDescriptors( numoctaves, Gaussianpyr);
cvWaitKey(0);
//销毁窗口
cvDestroyWindow("image1");
cvDestroyWindow("mosaic1");
//释放图像
cvReleaseImage(&image1);
cvReleaseImage(&grey_im1);
cvReleaseImage(&mosaic1);
cvReleaseImage(&mosaic2);
return 0;
}
//下采样原来的图像，返回缩小2倍尺寸的图像
CvMat * halfSizeImage(CvMat * im)
{
unsigned int i,j;
int w = im->cols/2;
int h = im->rows/2;
CvMat *imnew = cvCreateMat(h, w, CV_32FC1);
#define Im(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]
#define Imnew(ROW,COL) ((float *)(imnew->data.fl + imnew->step/sizeof(float) *(ROW)))[(COL)]
for ( j = 0; j < h; j++)
for ( i = 0; i < w; i++)
Imnew(j,i)=Im(j*2, i*2);
return imnew;
}
//上采样原来的图像，返回放大2倍尺寸的图像
CvMat * doubleSizeImage(CvMat * im)
{
unsigned int i,j;
int w = im->cols*2;
int h = im->rows*2;
CvMat *imnew = cvCreateMat(h, w, CV_32FC1);
#define Im(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]
#define Imnew(ROW,COL) ((float *)(imnew->data.fl + imnew->step/sizeof(float) *(ROW)))[(COL)]
for ( j = 0; j < h; j++)
for ( i = 0; i < w; i++)
Imnew(j,i)=Im(j/2, i/2);
return imnew;
}
//上采样原来的图像，返回放大2倍尺寸的线性插值图像
CvMat * doubleSizeImage2(CvMat * im)
{
unsigned int i,j;
int w = im->cols*2;
int h = im->rows*2;
CvMat *imnew = cvCreateMat(h, w, CV_32FC1);
#define Im(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]
#define Imnew(ROW,COL) ((float *)(imnew->data.fl + imnew->step/sizeof(float) *(ROW)))[(COL)]
// fill every pixel so we don't have to worry about skipping pixels later
for ( j = 0; j < h; j++)
{
for ( i = 0; i < w; i++)
{
Imnew(j,i)=Im(j/2, i/2);
}
}
/*
A B C
E F G
H I J
pixels A C H J are pixels from original image
pixels B E G I F are interpolated pixels
*/
// interpolate pixels B and I
for ( j = 0; j < h; j += 2)
for ( i = 1; i < w - 1; i += 2)
Imnew(j,i)=0.5*(Im(j/2, i/2)+Im(j/2, i/2+1));
// interpolate pixels E and G
for ( j = 1; j < h - 1; j += 2)
for ( i = 0; i < w; i += 2)
Imnew(j,i)=0.5*(Im(j/2, i/2)+Im(j/2+1, i/2));
// interpolate pixel F
for ( j = 1; j < h - 1; j += 2)
for ( i = 1; i < w - 1; i += 2)
Imnew(j,i)=0.25*(Im(j/2, i/2)+Im(j/2+1, i/2)+Im(j/2, i/2+1)+Im(j/2+1, i/2+1));
return imnew;
}
//双线性插值，返回像素间的灰度值
float getPixelBI(CvMat * im, float col, float row)
{
int irow, icol;
float rfrac, cfrac;
float row1 = 0, row2 = 0;
int width=im->cols;
int height=im->rows;
#define ImMat(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]
irow = (int) row;
icol = (int) col;
if (irow < 0 || irow >= height
|| icol < 0 || icol >= width)
return 0;
if (row > height - 1)
row = height - 1;
if (col > width - 1)
col = width - 1;
rfrac = 1.0 - (row - (float) irow);
cfrac = 1.0 - (col - (float) icol);
if (cfrac < 1)
{
row1 = cfrac * ImMat(irow,icol) + (1.0 - cfrac) * ImMat(irow,icol+1);
}
else
{
row1 = ImMat(irow,icol);
}
if (rfrac < 1)
{
if (cfrac < 1)
{
row2 = cfrac * ImMat(irow+1,icol) + (1.0 - cfrac) * ImMat(irow+1,icol+1);
} else
{
row2 = ImMat(irow+1,icol);
}
}
return rfrac * row1 + (1.0 - rfrac) * row2;
}
//矩阵归一化
void normalizeMat(CvMat* mat)
{
#define Mat(ROW,COL) ((float *)(mat->data.fl + mat->step/sizeof(float) *(ROW)))[(COL)]
float sum = 0;
for (unsigned int j = 0; j < mat->rows; j++)
for (unsigned int i = 0; i < mat->cols; i++)
sum += Mat(j,i);
for ( j = 0; j < mat->rows; j++)
for (unsigned int i = 0; i < mat->rows; i++)
Mat(j,i) /= sum;
}
//向量归一化
void normalizeVec(float* vec, int dim)
{
unsigned int i;
float sum = 0;
for ( i = 0; i < dim; i++)
sum += vec[i];
for ( i = 0; i < dim; i++)
vec[i] /= sum;
}
//得到向量的欧式长度，2-范数
float GetVecNorm( float* vec, int dim )
{
float sum=0.0;
for (unsigned int i=0;idata.fl + mat->step/sizeof(float) *(ROW)))[(COL)]
float s2 = sigma * sigma;
int c = dim / 2;
//printf("%d %d\n", mat.size(), mat[0].size());
float m= 1.0/(sqrt(2.0 * CV_PI) * sigma);
for (int i = 0; i < (dim + 1) / 2; i++)
{
for (int j = 0; j < (dim + 1) / 2; j++)
{
//printf("%d %d %d\n", c, i, j);
float v = m * exp(-(1.0*i*i + 1.0*j*j) / (2.0 * s2));
Mat(c+i,c+j) =v;
Mat(c-i,c+j) =v;
Mat(c+i,c-j) =v;
Mat(c-i,c-j) =v;
}
}
// normalizeMat(mat);
return mat;
}
//x方向像素处作卷积
float ConvolveLocWidth(float* kernel, int dim, CvMat * src, int x, int y)
{
#define Src(ROW,COL) ((float *)(src->data.fl + src->step/sizeof(float) *(ROW)))[(COL)]
unsigned int i;
float pixel = 0;
int col;
int cen = dim / 2;
//printf("ConvolveLoc(): Applying convoluation at location (%d, %d)\n", x, y);
for ( i = 0; i < dim; i++)
{
col = x + (i - cen);
if (col < 0)
col = 0;
if (col >= src->cols)
col = src->cols - 1;
pixel += kernel[i] * Src(y,col);
}
if (pixel > 1)
pixel = 1;
return pixel;
}
//x方向作卷积
void Convolve1DWidth(float* kern, int dim, CvMat * src, CvMat * dst)
{
#define DST(ROW,COL) ((float *)(dst->data.fl + dst->step/sizeof(float) *(ROW)))[(COL)]
unsigned int i,j;
for ( j = 0; j < src->rows; j++)
{
for ( i = 0; i < src->cols; i++)
{
//printf("%d, %d\n", i, j);
DST(j,i) = ConvolveLocWidth(kern, dim, src, i, j);
}
}
}
//y方向像素处作卷积
float ConvolveLocHeight(float* kernel, int dim, CvMat * src, int x, int y)
{
#define Src(ROW,COL) ((float *)(src->data.fl + src->step/sizeof(float) *(ROW)))[(COL)]
unsigned int j;
float pixel = 0;
int cen = dim / 2;
//printf("ConvolveLoc(): Applying convoluation at location (%d, %d)\n", x, y);
for ( j = 0; j < dim; j++)
{
int row = y + (j - cen);
if (row < 0)
row = 0;
if (row >= src->rows)
row = src->rows - 1;
pixel += kernel[j] * Src(row,x);
}
if (pixel > 1)
pixel = 1;
return pixel;
}
//y方向作卷积
void Convolve1DHeight(float* kern, int dim, CvMat * src, CvMat * dst)
{
#define Dst(ROW,COL) ((float *)(dst->data.fl + dst->step/sizeof(float) *(ROW)))[(COL)]
unsigned int i,j;
for ( j = 0; j < src->rows; j++)
{
for ( i = 0; i < src->cols; i++)
{
//printf("%d, %d\n", i, j);
Dst(j,i) = ConvolveLocHeight(kern, dim, src, i, j);
}
}
}
//卷积模糊图像
int BlurImage(CvMat * src, CvMat * dst, float sigma)
{
float* convkernel;
int dim = (int) max(3.0f, 2.0 * GAUSSKERN * sigma + 1.0f);
CvMat *tempMat;
// make dim odd
if (dim % 2 == 0)
dim++;
tempMat = cvCreateMat(src->rows, src->cols, CV_32FC1);
convkernel = GaussianKernel1D(sigma, dim);
Convolve1DWidth(convkernel, dim, src, tempMat);
Convolve1DHeight(convkernel, dim, tempMat, dst);
cvReleaseMat(&tempMat);
return dim;
}
//SIFT算法第一步：扩大图像，预滤波剔除噪声，得到金字塔的最底层-第一阶的第一层
CvMat *ScaleInitImage(CvMat * im)
{
double sigma,preblur_sigma;
CvMat *imMat;
CvMat * dst;
CvMat *tempMat;
//首先对图像进行平滑滤波，抑制噪声
imMat = cvCreateMat(im->rows, im->cols, CV_32FC1);
BlurImage(im, imMat, INITSIGMA);
//针对两种情况分别进行处理：初始化放大原始图像或者在原图像基础上进行后续操作
//建立金字塔的最底层
if (DOUBLE_BASE_IMAGE_SIZE)
{
tempMat = doubleSizeImage2(imMat);//对扩大两倍的图像进行二次采样，采样率为0.5，采用线性插值
#define TEMPMAT(ROW,COL) ((float *)(tempMat->data.fl + tempMat->step/sizeof(float) * (ROW)))[(COL)]
dst = cvCreateMat(tempMat->rows, tempMat->cols, CV_32FC1);
preblur_sigma = 1.0;//sqrt(2 - 4*INITSIGMA*INITSIGMA);
BlurImage(tempMat, dst, preblur_sigma);
// The initial blurring for the first image of the first octave of the pyramid.
sigma = sqrt( (4*INITSIGMA*INITSIGMA) + preblur_sigma * preblur_sigma );
// sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA * 4);
//printf("Init Sigma: %f\n", sigma);
BlurImage(dst, tempMat, sigma); //得到金字塔的最底层-放大2倍的图像
cvReleaseMat( &dst );
return tempMat;
}
else
{
dst = cvCreateMat(im->rows, im->cols, CV_32FC1);
//sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA);
preblur_sigma = 1.0;//sqrt(2 - 4*INITSIGMA*INITSIGMA);
sigma = sqrt( (4*INITSIGMA*INITSIGMA) + preblur_sigma * preblur_sigma );
//printf("Init Sigma: %f\n", sigma);
BlurImage(imMat, dst, sigma); //得到金字塔的最底层：原始图像大小
return dst;
}
}
//SIFT第二步，建立Gaussian金字塔
//给定金字塔第一阶第一层图像后，计算高斯金字塔其他尺度图像，
//每一阶的数目由变量SCALESPEROCTAVE决定
//给定一个基本图像，计算它的高斯金字塔图像，返回外部向量是阶梯指针，内部向量是每一个阶梯内部的不同尺度图像
ImageOctaves* BuildGaussianOctaves(CvMat * image)
{
ImageOctaves *octaves;
CvMat *tempMat;
CvMat *dst;
CvMat *temp;
int i,j;
double k = pow(2, 1.0/((float)SCALESPEROCTAVE)); //方差倍数
float preblur_sigma, initial_sigma , sigma1,sigma2,sigma,absolute_sigma,sigma_f;
//计算金字塔的阶梯数目
int dim = min(image->rows, image->cols);
int numoctaves = (int) (log((double) dim) / log(2.0)) - 2; //金字塔阶数
//限定金字塔的阶梯数
numoctaves = min(numoctaves, MAXOCTAVES);
//为高斯金塔和DOG金字塔分配内存
octaves=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );
DOGoctaves=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );
printf("BuildGaussianOctaves(): Base image dimension is %dx%d\n", (int)(0.5*(image->cols)), (int)(0.5*(image->rows)) );
printf("BuildGaussianOctaves(): Building %d octaves\n", numoctaves);
// start with initial source image
tempMat=cvCloneMat( image );
// preblur_sigma = 1.0;//sqrt(2 - 4*INITSIGMA*INITSIGMA);
initial_sigma = sqrt(2);//sqrt( (4*INITSIGMA*INITSIGMA) + preblur_sigma * preblur_sigma );
// initial_sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA * 4);
//在每一阶金字塔图像中建立不同的尺度图像
for ( i = 0; i < numoctaves; i++)
{
//首先建立金字塔每一阶梯的最底层，其中0阶梯的最底层已经建立好
printf("Building octave %d of dimesion (%d, %d)\n", i, tempMat->cols,tempMat->rows);
//为各个阶梯分配内存
octaves[i].Octave= (ImageLevels*) malloc( (SCALESPEROCTAVE + 3) * sizeof(ImageLevels) );
DOGoctaves[i].Octave= (ImageLevels*) malloc( (SCALESPEROCTAVE + 2) * sizeof(ImageLevels) );
//存储各个阶梯的最底层
(octaves[i].Octave)[0].Level=tempMat;
octaves[i].col=tempMat->cols;
octaves[i].row=tempMat->rows;
DOGoctaves[i].col=tempMat->cols;
DOGoctaves[i].row=tempMat->rows;
if (DOUBLE_BASE_IMAGE_SIZE)
octaves[i].subsample=pow(2,i)*0.5;
else
octaves[i].subsample=pow(2,i);
if(i==0)
{
(octaves[0].Octave)[0].levelsigma = initial_sigma;
(octaves[0].Octave)[0].absolute_sigma = initial_sigma;
printf("0 scale and blur sigma : %f \n", (octaves[0].subsample) * ((octaves[0].Octave)[0].absolute_sigma));
}
else
{
(octaves[i].Octave)[0].levelsigma = (octaves[i-1].Octave)[SCALESPEROCTAVE].levelsigma;
(octaves[i].Octave)[0].absolute_sigma = (octaves[i-1].Octave)[SCALESPEROCTAVE].absolute_sigma;
printf( "0 scale and blur sigma : %f \n", ((octaves[i].Octave)[0].absolute_sigma) );
}
sigma = initial_sigma;
//建立本阶梯其他层的图像
for ( j = 1; j < SCALESPEROCTAVE + 3; j++)
{
dst = cvCreateMat(tempMat->rows, tempMat->cols, CV_32FC1);//用于存储高斯层
temp = cvCreateMat(tempMat->rows, tempMat->cols, CV_32FC1);//用于存储DOG层
// 2 passes of 1D on original
// if(i!=0)
// {
// sigma1 = pow(k, j - 1) * ((octaves[i-1].Octave)[j-1].levelsigma);
// sigma2 = pow(k, j) * ((octaves[i].Octave)[j-1].levelsigma);
// sigma = sqrt(sigma2*sigma2 - sigma1*sigma1);
sigma_f= sqrt(k*k-1)*sigma;
// }
// else
// {
// sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA * 4)*pow(k,j);
// }
sigma = k*sigma;
absolute_sigma = sigma * (octaves[i].subsample);
printf("%d scale and Blur sigma: %f \n", j, absolute_sigma);
(octaves[i].Octave)[j].levelsigma = sigma;
(octaves[i].Octave)[j].absolute_sigma = absolute_sigma;
//产生高斯层
int length=BlurImage((octaves[i].Octave)[j-1].Level, dst, sigma_f);//相应尺度
(octaves[i].Octave)[j].levelsigmalength = length;
(octaves[i].Octave)[j].Level=dst;
//产生DOG层
cvSub( ((octaves[i].Octave)[j]).Level, ((octaves[i].Octave)[j-1]).Level, temp, 0 );
// cvAbsDiff( ((octaves[i].Octave)[j]).Level, ((octaves[i].Octave)[j-1]).Level, temp );
((DOGoctaves[i].Octave)[j-1]).Level=temp;
}
// halve the image size for next iteration
tempMat = halfSizeImage( ( (octaves[i].Octave)[SCALESPEROCTAVE].Level ) );
}
return octaves;
}
// 下一步是检测DOG金字塔中的局部最大值，找到之后，还要经过两个检验才能确认为特征点
// 一是它必须有明显的差异，二是他不应该是边缘点，（也就是说，在极值点处的主曲率比应该小于某一个阈值）
int DetectKeypoint(int numoctaves, ImageOctaves *GaussianPyr)
{
//计算用于DOG极值点检测的主曲率比的阈值
double curvature_threshold;
curvature_threshold= ((CURVATURE_THRESHOLD + 1)*(CURVATURE_THRESHOLD + 1))/CURVATURE_THRESHOLD;
#define ImLevels(OCTAVE,LEVEL,ROW,COL) ((float *)(DOGoctaves[(OCTAVE)].Octave[(LEVEL)].Level->data.fl + DOGoctaves[(OCTAVE)].Octave[(LEVEL)].Level->step/sizeof(float) *(ROW)))[(COL)]
int keypoint_count = 0;
for (int i=0; i= CONTRAST_THRESHOLD )
{
if ( ImLevels(i,j,m,n)!=0.0 ) //1、首先是非零
{
float inf_val=ImLevels(i,j,m,n);
if(( (inf_val <= ImLevels(i,j-1,m-1,n-1))&&
(inf_val <= ImLevels(i,j-1,m ,n-1))&&
(inf_val <= ImLevels(i,j-1,m+1,n-1))&&
(inf_val <= ImLevels(i,j-1,m-1,n ))&&
(inf_val <= ImLevels(i,j-1,m ,n ))&&
(inf_val <= ImLevels(i,j-1,m+1,n ))&&
(inf_val <= ImLevels(i,j-1,m-1,n+1))&&
(inf_val <= ImLevels(i,j-1,m ,n+1))&&
(inf_val <= ImLevels(i,j-1,m+1,n+1))&& //底层的小尺度9
(inf_val <= ImLevels(i,j,m-1,n-1))&&
(inf_val <= ImLevels(i,j,m ,n-1))&&
(inf_val <= ImLevels(i,j,m+1,n-1))&&
(inf_val <= ImLevels(i,j,m-1,n ))&&
(inf_val <= ImLevels(i,j,m+1,n ))&&
(inf_val <= ImLevels(i,j,m-1,n+1))&&
(inf_val <= ImLevels(i,j,m ,n+1))&&
(inf_val <= ImLevels(i,j,m+1,n+1))&& //当前层8
(inf_val <= ImLevels(i,j+1,m-1,n-1))&&
(inf_val <= ImLevels(i,j+1,m ,n-1))&&
(inf_val <= ImLevels(i,j+1,m+1,n-1))&&
(inf_val <= ImLevels(i,j+1,m-1,n ))&&
(inf_val <= ImLevels(i,j+1,m ,n ))&&
(inf_val <= ImLevels(i,j+1,m+1,n ))&&
(inf_val <= ImLevels(i,j+1,m-1,n+1))&&
(inf_val <= ImLevels(i,j+1,m ,n+1))&&
(inf_val <= ImLevels(i,j+1,m+1,n+1)) //下一层大尺度9
) ||
( (inf_val >= ImLevels(i,j-1,m-1,n-1))&&
(inf_val >= ImLevels(i,j-1,m ,n-1))&&
(inf_val >= ImLevels(i,j-1,m+1,n-1))&&
(inf_val >= ImLevels(i,j-1,m-1,n ))&&
(inf_val >= ImLevels(i,j-1,m ,n ))&&
(inf_val >= ImLevels(i,j-1,m+1,n ))&&
(inf_val >= ImLevels(i,j-1,m-1,n+1))&&
(inf_val >= ImLevels(i,j-1,m ,n+1))&&
(inf_val >= ImLevels(i,j-1,m+1,n+1))&&
(inf_val >= ImLevels(i,j,m-1,n-1))&&
(inf_val >= ImLevels(i,j,m ,n-1))&&
(inf_val >= ImLevels(i,j,m+1,n-1))&&
(inf_val >= ImLevels(i,j,m-1,n ))&&
(inf_val >= ImLevels(i,j,m+1,n ))&&
(inf_val >= ImLevels(i,j,m-1,n+1))&&
(inf_val >= ImLevels(i,j,m ,n+1))&&
(inf_val >= ImLevels(i,j,m+1,n+1))&&
(inf_val >= ImLevels(i,j+1,m-1,n-1))&&
(inf_val >= ImLevels(i,j+1,m ,n-1))&&
(inf_val >= ImLevels(i,j+1,m+1,n-1))&&
(inf_val >= ImLevels(i,j+1,m-1,n ))&&
(inf_val >= ImLevels(i,j+1,m ,n ))&&
(inf_val >= ImLevels(i,j+1,m+1,n ))&&
(inf_val >= ImLevels(i,j+1,m-1,n+1))&&
(inf_val >= ImLevels(i,j+1,m ,n+1))&&
(inf_val >= ImLevels(i,j+1,m+1,n+1))
) ) //2、满足26个中极值点
{
//此处可存储
//然后必须具有明显的显著性，即必须大于CONTRAST_THRESHOLD=0.02
if ( fabs(ImLevels(i,j,m,n))>= CONTRAST_THRESHOLD )
{
//最后显著处的特征点必须具有足够的曲率比，CURVATURE_THRESHOLD=10.0，首先计算Hessian矩阵
// Compute the entries of the Hessian matrix at the extrema location.
/*
1 0 -1
0 0 0
-1 0 1 *0.25
*/
// Compute the trace and the determinant of the Hessian.
//Tr_H = Dxx + Dyy;
//Det_H = Dxx*Dyy - Dxy^2;
float Dxx,Dyy,Dxy,Tr_H,Det_H,curvature_ratio;
Dxx = ImLevels(i,j,m,n-1) + ImLevels(i,j,m,n+1)-2.0*ImLevels(i,j,m,n);
Dyy = ImLevels(i,j,m-1,n) + ImLevels(i,j,m+1,n)-2.0*ImLevels(i,j,m,n);
Dxy = ImLevels(i,j,m-1,n-1) + ImLevels(i,j,m+1,n+1) - ImLevels(i,j,m+1,n-1) - ImLevels(i,j,m-1,n+1);
Tr_H = Dxx + Dyy;
Det_H = Dxx*Dyy - Dxy*Dxy;
// Compute the ratio of the principal curvatures.
curvature_ratio = (1.0*Tr_H*Tr_H)/Det_H;
if ( (Det_H>=0.0) && (curvature_ratio <= curvature_threshold) ) //最后得到最具有显著性特征的特征点
{
//将其存储起来，以计算后面的特征描述字
keypoint_count++;
Keypoint k;
/* Allocate memory for the keypoint. */
k = (Keypoint) malloc(sizeof(struct KeypointSt));
k->next = keypoints;
keypoints = k;
k->row = m*(GaussianPyr[i].subsample);
k->col =n*(GaussianPyr[i].subsample);
k->sy = m; //行
k->sx = n; //列
k->octave=i;
k->level=j;
k->scale = (GaussianPyr[i].Octave)[j].absolute_sigma;
}//if >curvature_thresh
}//if >contrast
}//if inf value
}//if non zero
}//if >contrast
} //for concrete image level col
}//for levels
}//for octaves
return keypoint_count;
}
//在图像中，显示SIFT特征点的位置
void DisplayKeypointLocation(IplImage* image, ImageOctaves *GaussianPyr)
{
Keypoint p = keypoints; // p指向第一个结点
while(p) // 没到表尾
{
cvLine( image, cvPoint((int)((p->col)-3),(int)(p->row)),
cvPoint((int)((p->col)+3),(int)(p->row)), CV_RGB(255,255,0),
1, 8, 0 );
cvLine( image, cvPoint((int)(p->col),(int)((p->row)-3)),
cvPoint((int)(p->col),(int)((p->row)+3)), CV_RGB(255,255,0),
1, 8, 0 );
// cvCircle(image,cvPoint((uchar)(p->col),(uchar)(p->row)),
// (int)((GaussianPyr[p->octave].Octave)[p->level].absolute_sigma),
// CV_RGB(255,0,0),1,8,0);
p=p->next;
}
}
// Compute the gradient direction and magnitude of the gaussian pyramid images
void ComputeGrad_DirecandMag(int numoctaves, ImageOctaves *GaussianPyr)
{
// ImageOctaves *mag_thresh ;
mag_pyr=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );
grad_pyr=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );
// float sigma=( (GaussianPyr[0].Octave)[SCALESPEROCTAVE+2].absolute_sigma ) / GaussianPyr[0].subsample;
// int dim = (int) (max(3.0f, 2 * GAUSSKERN *sigma + 1.0f)*0.5+0.5);
#define ImLevels(OCTAVE,LEVEL,ROW,COL) ((float *)(GaussianPyr[(OCTAVE)].Octave[(LEVEL)].Level->data.fl + GaussianPyr[(OCTAVE)].Octave[(LEVEL)].Level->step/sizeof(float) *(ROW)))[(COL)]
for (int i=0; idata.fl + Mag->step/sizeof(float) *(ROW)))[(COL)]
#define ORI(ROW,COL) ((float *)(Ori->data.fl + Ori->step/sizeof(float) *(ROW)))[(COL)]
#define TEMPMAT1(ROW,COL) ((float *)(tempMat1->data.fl + tempMat1->step/sizeof(float) *(ROW)))[(COL)]
#define TEMPMAT2(ROW,COL) ((float *)(tempMat2->data.fl + tempMat2->step/sizeof(float) *(ROW)))[(COL)]
for (int m=1;m<(GaussianPyr[i].row-1);m++)
for(int n=1;n<(GaussianPyr[i].col-1);n++)
{
//计算幅值
TEMPMAT1(m,n) = 0.5*( ImLevels(i,j,m,n+1)-ImLevels(i,j,m,n-1) ); //dx
TEMPMAT2(m,n) = 0.5*( ImLevels(i,j,m+1,n)-ImLevels(i,j,m-1,n) ); //dy
MAG(m,n) = sqrt(TEMPMAT1(m,n)*TEMPMAT1(m,n)+TEMPMAT2(m,n)*TEMPMAT2(m,n)); //mag
//计算方向
ORI(m,n) =atan( TEMPMAT2(m,n)/TEMPMAT1(m,n) );
if (ORI(m,n)==CV_PI)
ORI(m,n)=-CV_PI;
}
((mag_pyr[i].Octave)[j-1]).Level=Mag;
((grad_pyr[i].Octave)[j-1]).Level=Ori;
cvReleaseMat(&tempMat1);
cvReleaseMat(&tempMat2);
}//for levels
}//for octaves
}
//SIFT算法第四步：计算各个特征点的主方向，确定主方向
void AssignTheMainOrientation(int numoctaves, ImageOctaves *GaussianPyr,ImageOctaves *mag_pyr,ImageOctaves *grad_pyr)
{
// Set up the histogram bin centers for a 36 bin histogram.
int num_bins = 36;
float hist_step = 2.0*PI/num_bins;
float hist_orient[36];
for (int i=0;i<36;i++)
hist_orient[i]=-PI+i*hist_step;
float sigma1=( ((GaussianPyr[0].Octave)[SCALESPEROCTAVE].absolute_sigma) ) / (GaussianPyr[0].subsample);//SCALESPEROCTAVE+2
int zero_pad = (int) (max(3.0f, 2 * GAUSSKERN *sigma1 + 1.0f)*0.5+0.5);
//Assign orientations to the keypoints.
#define ImLevels(OCTAVES,LEVELS,ROW,COL) ((float *)((GaussianPyr[(OCTAVES)].Octave[(LEVELS)].Level)->data.fl + (GaussianPyr[(OCTAVES)].Octave[(LEVELS)].Level)->step/sizeof(float) *(ROW)))[(COL)]
int keypoint_count = 0;
Keypoint p = keypoints; // p指向第一个结点
while(p) // 没到表尾
{
int i=p->octave;
int j=p->level;
int m=p->sy; //行
int n=p->sx; //列
if ((m>=zero_pad)&&(m=zero_pad)&&(nrows));
//分配用于存储Patch幅值和方向的空间
#define MAT(ROW,COL) ((float *)(mat->data.fl + mat->step/sizeof(float) *(ROW)))[(COL)]
//声明方向直方图变量
double* orienthist = (double *) malloc(36 * sizeof(double));
for ( int sw = 0 ; sw < 36 ; ++sw)
{
orienthist[sw]=0.0;
}
//在特征点的周围统计梯度方向
for (int x=m-dim,mm=0;x<=(m+dim);x++,mm++)
for(int y=n-dim,nn=0;y<=(n+dim);y++,nn++)
{
//计算特征点处的幅值
double dx = 0.5*(ImLevels(i,j,x,y+1)-ImLevels(i,j,x,y-1)); //dx
double dy = 0.5*(ImLevels(i,j,x+1,y)-ImLevels(i,j,x-1,y)); //dy
double mag = sqrt(dx*dx+dy*dy); //mag
//计算方向
double Ori =atan( 1.0*dy/dx );
int binIdx = FindClosestRotationBin(36, Ori); //得到离现有方向最近的直方块
orienthist[binIdx] = orienthist[binIdx] + 1.0* mag * MAT(mm,nn);//利用高斯加权累加进直方图相应的块
}
// Find peaks in the orientation histogram using nonmax suppression.
AverageWeakBins (orienthist, 36);
// find the maximum peak in gradient orientation
double maxGrad = 0.0;
int maxBin = 0;
for (int b = 0 ; b < 36 ; ++b)
{
if (orienthist[b] > maxGrad)
{
maxGrad = orienthist[b];
maxBin = b;
}
}
// First determine the real interpolated peak high at the maximum bin
// position, which is guaranteed to be an absolute peak.
double maxPeakValue=0.0;
double maxDegreeCorrection=0.0;
if ( (InterpolateOrientation ( orienthist[maxBin == 0 ? (36 - 1) : (maxBin - 1)],
orienthist[maxBin], orienthist[(maxBin + 1) % 36],
&maxDegreeCorrection, &maxPeakValue)) == false)
printf("BUG: Parabola fitting broken");
// Now that we know the maximum peak value, we can find other keypoint
// orientations, which have to fulfill two criterias:
//
// 1. They must be a local peak themselves. Else we might add a very
// similar keypoint orientation twice (imagine for example the
// values: 0.4 1.0 0.8, if 1.0 is maximum peak, 0.8 is still added
// with the default threshhold, but the maximum peak orientation
// was already added).
// 2. They must have at least peakRelThresh times the maximum peak
// value.
bool binIsKeypoint[36];
for ( b = 0 ; b < 36 ; ++b)
{
binIsKeypoint[b] = false;
// The maximum peak of course is
if (b == maxBin)
{
binIsKeypoint[b] = true;
continue;
}
// Local peaks are, too, in case they fulfill the threshhold
if (orienthist[b] < (peakRelThresh * maxPeakValue))
continue;
int leftI = (b == 0) ? (36 - 1) : (b - 1);
int rightI = (b + 1) % 36;
if (orienthist[b] <= orienthist[leftI] || orienthist[b] <= orienthist[rightI])
continue; // no local peak
binIsKeypoint[b] = true;
}
// find other possible locations
double oneBinRad = (2.0 * PI) / 36;
for ( b = 0 ; b < 36 ; ++b)
{
if (binIsKeypoint[b] == false)
continue;
int bLeft = (b == 0) ? (36 - 1) : (b - 1);
int bRight = (b + 1) % 36;
// Get an interpolated peak direction and value guess.
double peakValue;
double degreeCorrection;
double maxPeakValue, maxDegreeCorrection;
if (InterpolateOrientation ( orienthist[maxBin == 0 ? (36 - 1) : (maxBin - 1)],
orienthist[maxBin], orienthist[(maxBin + 1) % 36],
°reeCorrection, &peakValue) == false)
{
printf("BUG: Parabola fitting broken");
}
double degree = (b + degreeCorrection) * oneBinRad - PI;
if (degree < -PI)
degree += 2.0 * PI;
else if (degree > PI)
degree -= 2.0 * PI;
//存储方向，可以直接利用检测到的链表进行该步主方向的指定;
//分配内存重新存储特征点
Keypoint k;
/* Allocate memory for the keypoint Descriptor. */
k = (Keypoint) malloc(sizeof(struct KeypointSt));
k->next = keyDescriptors;
keyDescriptors = k;
k->descrip = (float*)malloc(LEN * sizeof(float));
k->row = p->row;
k->col = p->col;
k->sy = p->sy; //行
k->sx = p->sx; //列
k->octave = p->octave;
k->level = p->level;
k->scale = p->scale;
k->ori = degree;
k->mag = peakValue;
}//for
free(orienthist);
}
p=p->next;
}
}
//寻找与方向直方图最近的柱，确定其index
int FindClosestRotationBin (int binCount, float angle)
{
angle += CV_PI;
angle /= 2.0 * CV_PI;
// calculate the aligned bin
angle *= binCount;
int idx = (int) angle;
if (idx == binCount)
idx = 0;
return (idx);
}
// Average the content of the direction bins.
void AverageWeakBins (double* hist, int binCount)
{
// TODO: make some tests what number of passes is the best. (its clear
// one is not enough, as we may have something like
// ( 0.4, 0.4, 0.3, 0.4, 0.4 ))
for (int sn = 0 ; sn < 2 ; ++sn)
{
double firstE = hist[0];
double last = hist[binCount-1];
for (int sw = 0 ; sw < binCount ; ++sw)
{
double cur = hist[sw];
double next = (sw == (binCount - 1)) ? firstE : hist[(sw + 1) % binCount];
hist[sw] = (last + cur + next) / 3.0;
last = cur;
}
}
}
// Fit a parabol to the three points (-1.0 ; left), (0.0 ; middle) and
// (1.0 ; right).
// Formulas:
// f(x) = a (x - c)^2 + b
// c is the peak offset (where f'(x) is zero), b is the peak value.
// In case there is an error false is returned, otherwise a correction
// value between [-1 ; 1] is returned in 'degreeCorrection', where -1
// means the peak is located completely at the left vector, and -0.5 just
// in the middle between left and middle and > 0 to the right side. In
// 'peakValue' the maximum estimated peak value is stored.
bool InterpolateOrientation (double left, double middle,double right, double *degreeCorrection, double *peakValue)
{
double a = ((left + right) - 2.0 * middle) / 2.0; //抛物线捏合系数a
// degreeCorrection = peakValue = Double.NaN;
// Not a parabol
if (a == 0.0)
return false;
double c = (((left - middle) / a) - 1.0) / 2.0;
double b = middle - c * c * a;
if (c < -0.5 || c > 0.5)
return false;
*degreeCorrection = c;
*peakValue = b;
return true;
}
//显示特征点处的主方向
void DisplayOrientation (IplImage* image, ImageOctaves *GaussianPyr)
{
Keypoint p = keyDescriptors; // p指向第一个结点
while(p) // 没到表尾
{
float scale=(GaussianPyr[p->octave].Octave)[p->level].absolute_sigma;
float autoscale = 3.0;
float uu=autoscale*scale*cos(p->ori);
float vv=autoscale*scale*sin(p->ori);
float x=(p->col)+uu;
float y=(p->row)+vv;
cvLine( image, cvPoint((int)(p->col),(int)(p->row)),
cvPoint((int)x,(int)y), CV_RGB(255,255,0),
1, 8, 0 );
// Arrow head parameters
float alpha = 0.33; // Size of arrow head relative to the length of the vector
float beta = 0.33; // Width of the base of the arrow head relative to the length
float xx0= (p->col)+uu-alpha*(uu+beta*vv);
float yy0= (p->row)+vv-alpha*(vv-beta*uu);
float xx1= (p->col)+uu-alpha*(uu-beta*vv);
float yy1= (p->row)+vv-alpha*(vv+beta*uu);
cvLine( image, cvPoint((int)xx0,(int)yy0),
cvPoint((int)x,(int)y), CV_RGB(255,255,0),
1, 8, 0 );
cvLine( image, cvPoint((int)xx1,(int)yy1),
cvPoint((int)x,(int)y), CV_RGB(255,255,0),
1, 8, 0 );
p=p->next;
}
}
//确定特征点的描述字。描述字是Patch网格内梯度方向的描述，
//旋转网格到主方向，插值得到网格处梯度值。
//一个特征点可以用2*2*8=32维的向量，也可以用4*4*8=128维的向量更精确的进行描述。
void ExtractFeatureDescriptors(int numoctaves, ImageOctaves *GaussianPyr)
{
// The orientation histograms have 8 bins
float orient_bin_spacing = PI/4;
float orient_angles[8]={-PI,-PI+orient_bin_spacing,-PI*0.5, -orient_bin_spacing,
0.0, orient_bin_spacing, PI*0.5, PI+orient_bin_spacing};
//产生描述字中心各点坐标
float *feat_grid=(float *) malloc( 2*16 * sizeof(float));
for (int i=0;ioctave].Octave)[p->level].absolute_sigma;
float sine = sin(p->ori);
float cosine = cos(p->ori);
//计算中心点坐标旋转之后的位置
float *featcenter=(float *) malloc( 2*16 * sizeof(float));
for (int i=0;isx);
featcenter[i*2*GridSpacing+j+1]=((-sine * x + cosine * y) + p->sy);
}
}
// calculate sample window coordinates (rotated along keypoint)
float *feat=(float *) malloc( 2*256 * sizeof(float));
for ( i=0;i<64*GridSpacing;i++,i++)
{
float x=feat_samples[i];
float y=feat_samples[i+1];
feat[i]=((cosine * x + sine * y) + p->sx);
feat[i+1]=((-sine * x + cosine * y) + p->sy);
}
//Initialize the feature descriptor.
float *feat_desc = (float *) malloc( 128 * sizeof(float));
for (i=0;i<128;i++)
{
feat_desc[i]=0.0;
// printf("%f ",feat_desc[i]);
}
//printf("\n");
for ( i=0;i<512;++i,++i)
{
float x_sample = feat[i];
float y_sample = feat[i+1];
// Interpolate the gradient at the sample position
/*
0 1 0
1 * 1
0 1 0 具体插值策略如图示
*/
float sample12=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample, y_sample-1);
float sample21=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample-1, y_sample);
float sample22=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample, y_sample);
float sample23=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample+1, y_sample);
float sample32=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample, y_sample+1);
//float diff_x = 0.5*(sample23 - sample21);
//float diff_y = 0.5*(sample32 - sample12);
float diff_x = sample23 - sample21;
float diff_y = sample32 - sample12;
float mag_sample = sqrt( diff_x*diff_x + diff_y*diff_y );
float grad_sample = atan( diff_y / diff_x );
if(grad_sample == CV_PI)
grad_sample = -CV_PI;
// Compute the weighting for the x and y dimensions.
float *x_wght=(float *) malloc( GridSpacing * GridSpacing * sizeof(float));
float *y_wght=(float *) malloc( GridSpacing * GridSpacing * sizeof(float));
float *pos_wght=(float *) malloc( 8*GridSpacing * GridSpacing * sizeof(float));;
for (int m=0;m<32;++m,++m)
{
float x=featcenter[m];
float y=featcenter[m+1];
x_wght[m/2] = max(1 - (fabs(x - x_sample)*1.0/GridSpacing), 0);
y_wght[m/2] = max(1 - (fabs(y - y_sample)*1.0/GridSpacing), 0);
}
for ( m=0;m<16;++m)
for (int n=0;n<8;++n)
pos_wght[m*8+n]=x_wght[m]*y_wght[m];
free(x_wght);
free(y_wght);
//计算方向的加权，首先旋转梯度场到主方向，然后计算差异
float diff[8],orient_wght[128];
for ( m=0;m<8;++m)
{
float angle = grad_sample-(p->ori)-orient_angles[m]+CV_PI;
float temp = angle / (2.0 * CV_PI);
angle -= (int)(temp) * (2.0 * CV_PI);
diff[m]= angle - CV_PI;
}
// Compute the gaussian weighting.
float x=p->sx;
float y=p->sy;
float g = exp(-((x_sample-x)*(x_sample-x)+(y_sample-y)*(y_sample-y))/(2*feat_window*feat_window))/(2*CV_PI*feat_window*feat_window);
for ( m=0;m<128;++m)
{
orient_wght[m] = max((1.0 - 1.0*fabs(diff[m%8])/orient_bin_spacing),0);
feat_desc[m] = feat_desc[m] + orient_wght[m]*pos_wght[m]*g*mag_sample;
}
free(pos_wght);
}
free(feat);
free(featcenter);
float norm=GetVecNorm( feat_desc, 128);
for (int m=0;m<128;m++)
{
feat_desc[m]/=norm;
if (feat_desc[m]>0.2)
feat_desc[m]=0.2;
}
norm=GetVecNorm( feat_desc, 128);
for ( m=0;m<128;m++)
{
feat_desc[m]/=norm;
printf("%f ",feat_desc[m]);
}
printf("\n");
p->descrip = feat_desc;
p=p->next;
}
free(feat_grid);
free(feat_samples);
}
//为了显示图象金字塔，而作的图像水平拼接
CvMat* MosaicHorizen( CvMat* im1, CvMat* im2 )
{
int row,col;
CvMat *mosaic = cvCreateMat( max(im1->rows,im2->rows),(im1->cols+im2->cols),CV_32FC1);
#define Mosaic(ROW,COL) ((float*)(mosaic->data.fl + mosaic->step/sizeof(float)*(ROW)))[(COL)]
#define Im11Mat(ROW,COL) ((float *)(im1->data.fl + im1->step/sizeof(float) *(ROW)))[(COL)]
#define Im22Mat(ROW,COL) ((float *)(im2->data.fl + im2->step/sizeof(float) *(ROW)))[(COL)]
cvZero(mosaic);
/* Copy images into mosaic1. */
for ( row = 0; row < im1->rows; row++)
for ( col = 0; col < im1->cols; col++)
Mosaic(row,col)=Im11Mat(row,col) ;
for ( row = 0; row < im2->rows; row++)
for ( col = 0; col < im2->cols; col++)
Mosaic(row, (col+im1->cols) )= Im22Mat(row,col) ;
return mosaic;
}
//为了显示图象金字塔，而作的图像垂直拼接
CvMat* MosaicVertical( CvMat* im1, CvMat* im2 )
{
int row,col;
CvMat *mosaic = cvCreateMat(im1->rows+im2->rows,max(im1->cols,im2->cols), CV_32FC1);
#define Mosaic(ROW,COL) ((float*)(mosaic->data.fl + mosaic->step/sizeof(float)*(ROW)))[(COL)]
#define Im11Mat(ROW,COL) ((float *)(im1->data.fl + im1->step/sizeof(float) *(ROW)))[(COL)]
#define Im22Mat(ROW,COL) ((float *)(im2->data.fl + im2->step/sizeof(float) *(ROW)))[(COL)]
cvZero(mosaic);
/* Copy images into mosaic1. */
for ( row = 0; row < im1->rows; row++)
for ( col = 0; col < im1->cols; col++)
Mosaic(row,col)= Im11Mat(row,col) ;
for ( row = 0; row < im2->rows; row++)
for ( col = 0; col < im2->cols; col++)
Mosaic((row+im1->rows),col)=Im22Mat(row,col) ;
return mosaic;
}