void FeatureSearch::initSearch()
{
m_countFeatures = 0;
for(std::vector<SearchPairInfo>::iterator itSPI = m_infos.begin(); itSPI != m_infos.end(); itSPI++)
{
m_countFeatures += itSPI->area.width() * itSPI->area.height();
}
// Allocate the array of points
m_pointArray = annAllocPts( m_countFeatures, m_spaceDimension );
for(std::vector<SearchPairInfo>::iterator itSPI = m_infos.begin(); itSPI != m_infos.end(); itSPI++)
{
// Initialize the descriptors
int cacheLineCount = (itSPI->area.width() + diameter());
size_t cacheLineSize = cacheLineCount * sizeof(Feature);
// pixels will hold a cache of the luminosity to feed the descriptors
Feature** pixels = new Feature*[diameter()];
for(int i = 0; i < diameter(); i++)
{
pixels[i] = new Feature[ cacheLineCount ];
}
// KisColorSpace* cs = dev->colorSpace();
// Read the first 'radius' line to initialize the cache
KisHLineIterator itDevA = itSPI->devA->createHLineIterator(itSPI->area.x(), itSPI->area.y(), itSPI->area.width(), false);
KisHLineIterator itDevAPrime = itSPI->devAPrime->createHLineIterator(itSPI->area.x(), itSPI->area.y(), itSPI->area.width(), false);
// Intialize the first row of the cache, as the cache needs to be full before it is possible to start creating descriptors for the key points
for(int indexInPixels = radius(); indexInPixels < diameter() - 1; ++indexInPixels)
{
deviceToCache(itDevA, pixels[indexInPixels], radius());
itDevA.nextRow();
}
// Copy the first line, as the first 'radius' columns are initialized with the same pixel value
for(int i = 0; i < radius(); ++i)
{
memcpy(pixels[i], pixels[radius()], cacheLineSize);
}
// Main loop
int posInAP = 0;
for(int y = 0; y < itSPI->area.height(); y++)
{
// Fill the last line of the cache
if( itDevA.y() <= itSPI->area.bottom())
{
deviceToCache(itDevA, pixels[diameter() - 1], radius());
} else { // No more line in the device, so copy the last line
memcpy(pixels[diameter() - 1], pixels[diameter() - 2], cacheLineSize);
}
itDevA.nextRow();
// Use the cache to fill the array of points
for(int x = 0; x < itSPI->area.width(); x++)
{
int subPos = 0;
// kdDebug() << " Feature : " << posInAP << endl;
for(int i = 0; i < diameter(); i++)
{
for(int j = 0; j < diameter(); j++)
{
pixels[i][j + x].convertToArray((m_pointArray[ posInAP ]) + subPos );
// kdDebug() << subPos << " "<< pixels[i][j + x] << endl;
subPos++;
}
}
m_values.push_back(*reinterpret_cast<float*>(itDevAPrime.rawData()));
++itDevAPrime;
++posInAP;
}
itDevAPrime.nextRow();
swapCache(pixels, diameter());
}
// delete the luminosity cache
for(int i = 0; i < diameter(); i++)
{
delete[] pixels[i];
}
delete[] pixels;
}
// Initialize the search tree
m_tree = new ANNkd_tree( m_pointArray, m_countFeatures, m_spaceDimension);
}
lInterestPoints HarrisPointDetector::computeInterestPoints(KisPaintDeviceSP device, const QRect& rect)
// lHarrisPoints computeHarrisPoints(KisPaintDeviceSP device, QRect rect)
{
dbgPlugins << "Compute Harris points on the rect :" << rect;
Q_ASSERT(device->colorSpace()->id() == "GRAYA");
lInterestPoints points;
// Compute the derivatives
KisEightFloatColorSpace* floatCs = new KisEightFloatColorSpace();
KisPaintDeviceSP infoDevice = new KisPaintDevice(floatCs, "infoDevice");
float g_var = DERIVATION_SIGMA * DERIVATION_SIGMA ;
float sqrt2pi = sqrt(2 * M_PI);
float beta0 = 1 / (sqrt2pi * DERIVATION_SIGMA);
float beta1 = beta0 * exp(-1 / (2 * g_var));
float beta2 = beta0 * exp(-4 / (2 * g_var));
float alpha1 = beta1 / g_var;
float alpha2 = 2 * beta2 / g_var;
{
KisHLineConstIteratorPixel hitDevice = device->createHLineConstIterator(rect.left(), rect.top() + 2, rect.width() - 4);
KisHLineIteratorPixel hitinfoDevice = infoDevice-> createHLineIterator(rect.left() + 2, 2, rect.width());
quint8 pixelvalue[5];
dbgPlugins << " Compute the derivatives";
dbgPlugins << " horizontal derivatives";
/* Horizontal computation of derivatives */
for (int y = rect.top() + 2; y < rect.bottom() - 2; y++) {
pixelvalue[LEFTLEFT] = *hitDevice.rawData();
++hitDevice;
pixelvalue[LEFT] = *hitDevice.rawData();
++hitDevice;
pixelvalue[CENTER] = *hitDevice.rawData();
++hitDevice;
pixelvalue[RIGHT] = *hitDevice.rawData();
++hitDevice;
while (!hitDevice.isDone()) {
pixelvalue[RIGHTRIGHT] = *hitDevice.rawData();
float* infoValues = reinterpret_cast<float*>(hitinfoDevice.rawData());
infoValues[INFO_HDIFF] = alpha1 * (pixelvalue[LEFT] - pixelvalue[RIGHT]) + alpha2 * (pixelvalue[LEFTLEFT] - pixelvalue[RIGHTRIGHT]);
infoValues[INFO_HADD] = beta0 * (pixelvalue[CENTER]) + beta1 * (pixelvalue[LEFT] + pixelvalue[RIGHT]) + beta2 * (pixelvalue[LEFTLEFT] + pixelvalue[RIGHTRIGHT]);
infoValues[INFO_INTENSITY] = pixelvalue[CENTER];
// dbgPlugins << hitDevice.x() <<"" << hitDevice.y() <<"" << infoValues[INFO_HDIFF] <<"" << infoValues[INFO_HADD] <<"" << (int)pixelvalue[CENTER] <<"" << infoValues[INFO_INTENSITY];
memmove(pixelvalue, pixelvalue + 1, 4*sizeof(quint8));
++hitDevice;
++hitinfoDevice;
}
hitDevice.nextRow();
hitinfoDevice.nextRow();
}
}
KisTransaction a("", infoDevice);
{
KisVLineConstIteratorPixel vitinfoDeviceRead = infoDevice-> createVLineConstIterator(rect.left() + 4, rect.top(), rect.height());
KisVLineIteratorPixel vitinfoDevice = infoDevice-> createVLineIterator(rect.left() + 4, rect.top() + 2, rect.height() - 2);
float hdiffValue[5];
float haddValue[5];
dbgPlugins << " vertical derivatives";
/* Vertical computation of derivatives */
for (int x = rect.left() + 4; x < rect.right() - 4; x++) {
const float* infoValue = reinterpret_cast<const float*>(vitinfoDeviceRead.oldRawData());
hdiffValue[TOPTOP] = infoValue[INFO_HDIFF];
haddValue[TOPTOP] = infoValue[INFO_HADD];
++vitinfoDeviceRead;
infoValue = reinterpret_cast<const float*>(vitinfoDeviceRead.oldRawData());
hdiffValue[TOP] = infoValue[INFO_HDIFF];
haddValue[TOP] = infoValue[INFO_HADD];
++vitinfoDeviceRead;
infoValue = reinterpret_cast<const float*>(vitinfoDeviceRead.oldRawData());
hdiffValue[CENTER] = infoValue[INFO_HDIFF];
haddValue[CENTER] = infoValue[INFO_HADD];
++vitinfoDeviceRead;
infoValue = reinterpret_cast<const float*>(vitinfoDeviceRead.oldRawData());
hdiffValue[RIGHT] = infoValue[INFO_HDIFF];
haddValue[RIGHT] = infoValue[INFO_HADD];
++vitinfoDeviceRead;
while (!vitinfoDevice.isDone()) {
infoValue = reinterpret_cast<const float*>(vitinfoDeviceRead.oldRawData());
hdiffValue[RIGHTRIGHT] = infoValue[INFO_HDIFF];
haddValue[RIGHTRIGHT] = infoValue[INFO_HADD];
float c_grdy = beta0 * hdiffValue[ CENTER ] + beta1 * (hdiffValue[ TOP ] + hdiffValue[ BOTTOM ]) + beta2 * (hdiffValue[ TOPTOP ] + hdiffValue[ BOTTOMBOTTOM ]);
float c_grdx = alpha1 * (haddValue[ TOP ] - haddValue[ BOTTOM ]) + alpha2 * (haddValue[ TOPTOP ] - haddValue[ BOTTOMBOTTOM ]);
float* infoValueDst = reinterpret_cast<float*>(vitinfoDevice.rawData());
infoValueDst[ INFO_XX ] = c_grdx * c_grdx;
infoValueDst[ INFO_YY ] = c_grdy * c_grdy;
infoValueDst[ INFO_X ] = c_grdx;
infoValueDst[ INFO_Y ] = c_grdy;
infoValueDst[ INFO_XY ] = c_grdx * c_grdy;
memmove(hdiffValue, hdiffValue + 1, 4 * sizeof(float));
memmove(haddValue , haddValue + 1 , 4 * sizeof(float));
++vitinfoDeviceRead;
++vitinfoDevice;
}
vitinfoDeviceRead.nextCol();
vitinfoDevice.nextCol();
}
}
// Apply a blur
// Apply a blur
KisTransaction("", infoDevice);
#if 1
{
KisHLineConstIteratorPixel hitDevice = infoDevice->createHLineConstIterator(rect.left(), rect.top() + 2, rect.width() - 4);
KisHLineIteratorPixel hitinfoDevice = infoDevice-> createHLineIterator(rect.left() + 2, rect.top() + 2, rect.width() - 4);
float pixelvalue[6][6];
dbgPlugins << " Compute the blur";
dbgPlugins << " horizontal blur";
/* Horizontal computation of derivatives */
for (int y = rect.top() + 2; y < rect.bottom() - 2; y++) {
memcpy(pixelvalue[LEFTLEFT], hitDevice.rawData(), 6*sizeof(float));
++hitDevice;
memcpy(pixelvalue[LEFT], hitDevice.rawData(), 6*sizeof(float));
++hitDevice;
memcpy(pixelvalue[CENTER], hitDevice.rawData(), 6*sizeof(float));
++hitDevice;
memcpy(pixelvalue[RIGHT], hitDevice.rawData(), 6*sizeof(float));
++hitDevice;
while (!hitDevice.isDone()) {
memcpy(pixelvalue[RIGHTRIGHT], hitDevice.rawData(), 6*sizeof(float));
float* infoValues = reinterpret_cast<float*>(hitinfoDevice.rawData());
for (int i = 0; i < 5; i++) {
infoValues[i] = beta0 * pixelvalue[CENTER][i] + beta1 * (pixelvalue[LEFT][i] + pixelvalue[RIGHT][i]) + beta2 * (pixelvalue[LEFTLEFT][i] + pixelvalue[RIGHTRIGHT][i]);
// infoValues[i] =2 * pixelvalue[CENTER][i] + ( pixelvalue[LEFT][i] + pixelvalue[RIGHT][i] );
}
// memmove(pixelvalue, pixelvalue + 1, 4*sizeof(float[6]));
for (int i = 0; i < 5; i++) {
memcpy(pixelvalue[i], pixelvalue[i+1], 6*sizeof(float));
}
++hitDevice;
++hitinfoDevice;
}
hitDevice.nextRow();
hitinfoDevice.nextRow();
}
}
KisTransaction b("", infoDevice);
{
KisVLineConstIteratorPixel vitinfoDeviceRead = infoDevice-> createVLineConstIterator(rect.left() + 4, rect.top(), rect.height());
KisVLineIteratorPixel vitinfoDevice = infoDevice-> createVLineIterator(rect.left() + 4, rect.top() + 2, rect.height() - 4);
float infoValue[6][6];
dbgPlugins << " vertical blur";
/* Vertical computation of derivatives */
for (int x = rect.left() + 4; x < rect.right() - 4; x++) {
memcpy(infoValue[TOPTOP], vitinfoDeviceRead.oldRawData(), 6*sizeof(float));
++vitinfoDeviceRead;
memcpy(infoValue[TOP], vitinfoDeviceRead.oldRawData(), 6*sizeof(float));
++vitinfoDeviceRead;
memcpy(infoValue[CENTER], vitinfoDeviceRead.oldRawData(), 6*sizeof(float));
++vitinfoDeviceRead;
memcpy(infoValue[BOTTOM], vitinfoDeviceRead.oldRawData(), 6*sizeof(float));
++vitinfoDeviceRead;
while (!vitinfoDevice.isDone()) {
memcpy(infoValue[BOTTOMBOTTOM], vitinfoDeviceRead.oldRawData(), 6*sizeof(float));
float* dst = reinterpret_cast<float*>(vitinfoDevice.rawData());
for (int i = 0; i < 5; i++) {
dst[i] = beta0 * infoValue[CENTER][i] + beta1 * (infoValue[BOTTOM][i] + infoValue[TOP][i]) + beta2 * (infoValue[TOPTOP][i] + infoValue[BOTTOMBOTTOM][i]);
// dst[i] = (2*infoValue[CENTER][i] + ( infoValue[BOTTOM][i] + infoValue[TOP][i] )) / 16;
}
// memmove(infoValue, infoValue + 1, 4*sizeof(float[6]));
for (int i = 0; i < 5; i++) {
memcpy(infoValue[i], infoValue[i+1], 6*sizeof(float));
}
++vitinfoDeviceRead;
++vitinfoDevice;
}
vitinfoDeviceRead.nextCol();
vitinfoDevice.nextCol();
}
}
#endif
#if 0
KisTransaction("", infoDevice);
dbgPlugins << " Blur";
{
// Compute the blur mask
KisAutobrushShape* kas = new KisAutobrushCircleShape(5, 5, 2, 2);
QImage mask;
kas->createBrush(&mask);
KisKernelSP kernel = KisKernel::fromQImage(mask);
// Apply the convolution to xxDevice
KisConvolutionPainter infoDevicePainter(infoDevice);
infoDevicePainter.beginTransaction("bouuh");
infoDevicePainter.applyMatrix(kernel, 2, 2, rect.width() - 4, rect.height() - 4, BORDER_REPEAT);
delete kas;
}
#endif
dbgPlugins << " compute curvatures";
// Compute the curvatures
{
KisRectIteratorPixel vitinfoDeviceRect = infoDevice->createRectIterator(2, 0, rect.width() - 2, rect.height() - 2);
for (;!vitinfoDeviceRect.isDone(); ++vitinfoDeviceRect) {
float* infoValue = reinterpret_cast<float*>(vitinfoDeviceRect.rawData());
float det = infoValue[INFO_XX] * infoValue[INFO_YY] - infoValue[INFO_XY] * infoValue[INFO_XY];
float trace = infoValue[INFO_XX] + infoValue[INFO_YY];
float temp = sqrt(trace * trace - 4 * det);
infoValue[ INFO_HIGH ] = 0.5 * (trace + temp);
infoValue[ INFO_LOW ] = 0.5 * (trace - temp);
if (infoValue[ INFO_HIGH ] < infoValue[ INFO_LOW ]) {
float a = infoValue[ INFO_HIGH ];
infoValue[ INFO_HIGH ] = infoValue[ INFO_LOW ];
infoValue[ INFO_LOW ] = a;
}
// dbgPlugins << vitinfoDeviceRect.x() <<"" << vitinfoDeviceRect.y() <<"" << infoValue[INFO_XX] <<"" << infoValue[INFO_YY] <<"" << infoValue[INFO_XY] <<"" << infoValue[INFO_HIGH] <<"" << infoValue[INFO_LOW] <<"" << trace <<"" << temp <<"" << det;
}
}
HarrisPoints zones(5, 5, rect.width(), rect.height(), FEATURES_QUANTITY);
// Detect Harris Points
{
int margin = 8;
KisHLineIterator hitinfoDevice = infoDevice-> createHLineIterator(margin, margin, rect.width() - 2 * margin);
for (int y = margin + rect.top(); y < rect.bottom() - margin; y++) {
for (int x = margin + rect.left(); x < rect.right() - margin; x++, ++hitinfoDevice) {
float* infoValue = reinterpret_cast<float*>(hitinfoDevice.rawData());
float low = infoValue[ INFO_LOW ];
// dbgPlugins << low;
if (low > THRESHOLD_LAMBDA) {
KisRectIteratorPixel vitinfoDeviceRect = infoDevice->createRectIterator(x - 1, y - 1, 3, 3);
bool greater = true;
for (;!vitinfoDeviceRect.isDone(); ++vitinfoDeviceRect) {
if (reinterpret_cast<float*>(vitinfoDeviceRect.rawData())[ INFO_LOW ] > low) {
greater = false;
break;
}
}
if (greater) {
// dbgPlugins <<"new point";
HarrisPoint* hp = new HarrisPoint(x, y, infoValue[INFO_INTENSITY], infoValue[INFO_HIGH], infoValue[INFO_LOW], device);
#if 0
points.push_back(hp);
#endif
#if 0
if (points.empty()) {
points.push_back(hp);
} else {
if (points.size() >= FEATURES_QUANTITY && hp->low() > static_cast<HarrisPoint*>(points.back())->low()) { // remove last element, the totalNumber stay equal to FEATURES_QUANTITY
points.pop_back();
}
if (points.size() != FEATURES_QUANTITY) {
lInterestPoints::iterator it;
if (hp->low() < static_cast<HarrisPoint*>(points.back())->low()) {
points.push_back(hp);
} else {
// insert the new corner at his right place
bool inserted = false;
for (it = points.begin(); it != points.end(); it++) {
if (hp->low() >= static_cast<HarrisPoint*>(*it)->low()) {
// dbgPlugins <<"insert point";
points.insert(it, hp);
inserted = true;
break;
}
}
if (!inserted) delete hp;
}
} else { // hp wasn't added to the list, remove it
delete hp;
}
}
#endif
#if 1
zones.instertPoint(hp);
#endif
}
}
}
hitinfoDevice.nextRow();
}
}
points = zones.points();
dbgPlugins << "Harris detector has found :" << points.size() << " harris points";
delete floatCs;
return points;
}