void HessianDetector::detectOctaveKeypoints(const cv::Mat &firstLevel, float pixelDistance, cv::Mat &nextOctaveFirstLevel)
{
octaveMap = cv::Mat::zeros(firstLevel.rows, firstLevel.cols, CV_8UC1);
float sigmaStep = pow(2.0f, 1.0f / (float) par.numberOfScales);
float curSigma = par.initialSigma;
blur = firstLevel;
cur = hessianResponse(blur, curSigma*curSigma);
int numLevels = 1;
for (int i = 1; i < par.numberOfScales+2; i++)
{
// compute the increase necessary for the next level and compute the next level
float sigma = curSigma * sqrt(sigmaStep * sigmaStep - 1.0f);
// do the blurring
cv::Mat nextBlur = gaussianBlur(blur, sigma);
// the next level sigma
sigma = curSigma*sigmaStep;
// compute response for current level
high = hessianResponse(nextBlur, sigma*sigma);
numLevels ++;
// if we have three consecutive responses
if (numLevels == 3)
{
// find keypoints in this part of octave for curLevel
findLevelKeypoints(curSigma, pixelDistance);
numLevels--;
}
if (i == par.numberOfScales)
// downsample the right level for the next octave
nextOctaveFirstLevel = halfImage(nextBlur);
prevBlur = blur; blur = nextBlur;
// shift to the next response
low = cur; cur = high;
curSigma *= sigmaStep;
}
}
int main(int argc, const char * argv[]) {
// insert code here...
//std::cout << "Hello, World!\n";
Palette c64palette(c64_colors, num_64_colors);
Ditherer* ditherer = Ditherer::createC64Ditherer();
const char* dirname = argv[1];
const char* outdirname = argv[2];
const char* out64fname = argv[3];
int index = 0;
char thisfname[256];
char nextfname[256];
char outfname[256];
unsigned char* c64frame = NULL;
FILE* fp = fopen(out64fname, "wb");
NetPort port(192,168,1,25,99998,99999);
Tools::Timer frameTimer;
frameTimer.start();
for (index = 1; index < 9999; index++)
{
// check if file can be opened
sprintf(thisfname, "%s/%04d.ppm", dirname, index);
sprintf(nextfname, "%s/%04d.ppm", dirname, index+1);
wait_for_file(nextfname);
printf("%s\n", thisfname);
// open image
Image inputImage(thisfname);
int imWidth = inputImage.getWidth();
int imHeight = inputImage.getHeight();
Image halfImage(inputImage, imWidth/2, imHeight);
Image* dithered = ditherer->createDitheredImageFromImageWithPalette(halfImage, c64palette);
C64Image* c64im = (C64Image*)dithered;
/*
// test - output to new ppm
sprintf(outfname, "%s/%04d.ppm", outdirname, index);
Image fullImage(*dithered, imWidth, imHeight);
fullImage.writePPM(outfname);
*/
int c64FrameSize = c64im->getC64FrameSize();
if (!c64frame)
{
c64frame = (unsigned char*)malloc(sizeof(unsigned char) * c64FrameSize);
}
float time = (float)index / 8.0;
c64im->getC64Frame(c64frame, time);
fwrite(c64frame, 1, c64FrameSize, fp);
float thisTime = frameTimer.getTime();
printf("pts %f, time %f\n", time, thisTime);
while (thisTime < time)
{
float diff = time - thisTime;
float usec = diff * 1000000.0;
usleep(usec);
thisTime = frameTimer.getTime();
}
// send bytes to port
port.send(&c64frame[4], 9216);
delete dithered;
}
fclose(fp);
return 0;
}
