quickHarrisDetector.hpp

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#ifndef QUICKHARRISDETECTOR_HPP_
#define QUICKHARRISDETECTOR_HPP_

#include "image/Image.hpp"
#include "image/roi.hpp"

#include "rtslam/featurePoint.hpp"


/*
 * STATUS: in progress, do not use for now
 * Approximate a gaussian mask with integral images, in order to
 * improve precision (getting points closer to the real corner).
 * Disabled for now because it hasn't proved to be really more efficient.
 */
#define GAUSSIAN_MASK_APPROX 0


/*
 * STATUS: in progress, do not use for now
 * Try to detect virtual corners (created by a depth discontinuity).
 * It does not eliminate them yet, we're just trying to find a good criteria,
 * the current one tries to quickly count the gradient peaks around the point.
 */
#define FILTER_VIRTUAL_POINTS 0


namespace jafar{
  namespace rtslam{

    class QuickHarrisDetector {
      public:
        QuickHarrisDetector(int convolutionBoxSize = 5, float threshold = 15.0, float edge = 2.0
#if GAUSSIAN_MASK_APPROX
          , int convolutionGaussianApproxCoeffsNumber = 3
#endif
          );
        ~QuickHarrisDetector();
        virtual bool detectIn(image::Image const& image, feat_img_pnt_ptr_t featPtr, const image::ConvexRoi * roiPtr = 0 );
      private:
        void quickDerivatives(const image::Image & image, image::ConvexRoi & roi);
        bool quickConvolutionWithBestPoint(const image::ConvexRoi & roi, int pixMax[2], float & scoreMax);

        void writeHarrisImagesAsPPM(image::ConvexRoi & roi);

      private:
        int m_derivationSize, m_convolutionSize;
        float m_threshold;
        float m_edge;
        struct HQuickData {
          int im_x, im_y, im_xx, im_xy, im_yy, im_conv_xx, im_conv_xy, im_conv_yy;
          int int_xx, int_xy, int_yy;
          double im_high_curv, im_low_curv;
        };
        HQuickData* m_quickData; // integral image for quick detector.

      private:
        double normCoeff;
        int m_nConvCoeffs;
        int shift_conv;
        int *shift_convs;
        int *convCoeffs;
        int nConvCoeffs;
        bool nConvCoeffsCenter;

        HQuickData** int_upLeft;
        HQuickData** int_upRight;
        HQuickData** int_downLeft;
        HQuickData** int_downRight;
    };
  }
}




#endif /* QUICKHARRISDETECTOR_HPP_ */