/*
Detects features at extrema in DoG scale space. Bad features are discarded
based on contrast and ratio of principal curvatures.
@param dog_pyr DoG scale space pyramid
@param octvs octaves of scale space represented by dog_pyr
@param intvls intervals per octave
@param contr_thr low threshold on feature contrast
@param curv_thr high threshold on feature ratio of principal curvatures
@param storage memory storage in which to store detected features
@return Returns an array of detected features whose scales, orientations,
and descriptors are yet to be determined.
*/
CvSeq* scale_space_extrema( IplImage*** dog_pyr, int octvs, int intvls,
double contr_thr, int curv_thr, CvMemStorage* storage ) {
CvSeq* features;
double prelim_contr_thr = 0.5 * contr_thr / intvls;
struct feature* feat;
struct detection_data* ddata;
int o, i, r, c;
features = cvCreateSeq( 0, sizeof(CvSeq), sizeof(struct feature), storage );
for( o = 0; o < octvs; o++ )
for( i = 1; i <= intvls; i++ )
for(r = SIFT_IMG_BORDER; r < dog_pyr[o][0]->height-SIFT_IMG_BORDER; r++)
for(c = SIFT_IMG_BORDER; c < dog_pyr[o][0]->width-SIFT_IMG_BORDER; c++)
/* perform preliminary check on contrast */
if( ABS( pixval32f( dog_pyr[o][i], r, c ) ) > prelim_contr_thr )
if( is_extremum( dog_pyr, o, i, r, c ) ) {
feat = interp_extremum(dog_pyr, o, i, r, c, intvls, contr_thr);
if( feat ) {
ddata = feat_detection_data( feat );
if( ! is_too_edge_like( dog_pyr[ddata->octv][ddata->intvl],
ddata->r, ddata->c, curv_thr ) ) {
cvSeqPush( features, feat );
}
else
free( ddata );
free( feat );
}
}
return features;
}
/*
Detects features at extrema in DoG scale space. Bad features are discarded
based on contrast and ratio of principal curvatures.
@param dog_pyr DoG scale space pyramid
@param octvs octaves of scale space represented by dog_pyr
@param intvls intervals per octave
@param contr_thr low threshold on feature contrast
@param curv_thr high threshold on feature ratio of principal curvatures
@param storage memory storage in which to store detected features
@return Returns an array of detected features whose scales, orientations,
and descriptors are yet to be determined.
*/
static CvSeq* scale_space_extrema( IplImage*** dog_pyr, int octvs, int intvls,
double contr_thr, int curv_thr, CvMemStorage* storage )
{
CvSeq* features;//特征点序列
double prelim_contr_thr = 0.5 * contr_thr / intvls;//像素的对比度阈值
struct feature* feat;
struct detection_data* ddata;
int o, i, r, c;
//在存储器storage上创建存储极值点的序列，其中存储feature结构类型的数据
features = cvCreateSeq( 0, sizeof(CvSeq), sizeof(struct feature), storage );
/*遍历高斯差分金字塔，检测极值点*/
//SIFT_IMG_BORDER指明边界宽度，只检测边界线以内的极值点
for( o = 0; o < octvs; o++ )//第o组
for( i = 1; i <= intvls; i++ )//遍i层
for(r = SIFT_IMG_BORDER; r < dog_pyr[o][0]->height-SIFT_IMG_BORDER; r++)//第r行
for(c = SIFT_IMG_BORDER; c < dog_pyr[o][0]->width-SIFT_IMG_BORDER; c++)//第c列
//进行初步的对比度检查，只有当归一化后的像素值大于对比度阈值prelim_contr_thr时才继续检测此像素点是否可能是极值
//调用函数pixval32f获取图像dog_pyr[o][i]的第r行第c列的点的坐标值，然后调用ABS宏求其绝对值
if( ABS( pixval32f( dog_pyr[o][i], r, c ) ) > prelim_contr_thr )
//通过在尺度空间中将一个像素点的值与其周围3*3*3邻域内的点比较来决定此点是否极值点(极大值或极小都行)
if( is_extremum( dog_pyr, o, i, r, c ) )//若是极值点
{
//由于极值点的检测是在离散空间中进行的，所以检测到的极值点并不一定是真正意义上的极值点
//因为真正的极值点可能位于两个像素之间，而在离散空间中只能精确到坐标点精度上
//通过亚像素级插值进行极值点精确定位(修正极值点坐标)，并去除低对比度的极值点，将修正后的特征点组成feature结构返回
feat = interp_extremum(dog_pyr, o, i, r, c, intvls, contr_thr);
//返回值非空，表明此点已被成功修正
if( feat )
{
//调用宏feat_detection_data来提取参数feat中的feature_data成员并转换为detection_data类型的指针
ddata = feat_detection_data( feat );
//去除边缘响应，即通过计算主曲率比值判断某点是否边缘点,返回值为0表示不是边缘点，可做特征点
if( ! is_too_edge_like( dog_pyr[ddata->octv][ddata->intvl], ddata->r, ddata->c, curv_thr ) )
{
cvSeqPush( features, feat );//向特征点序列features末尾插入新检测到的特征点feat
}
else
free( ddata );
free( feat );
}
}
return features;//返回特征点序列
}