void HessianDetector::detectPyramidKeypoints(const cv::Mat &image)
{
float curSigma = 0.5f;
float pixelDistance = 1.0f;
cv::Mat firstLevel;
if (par.upscaleInputImage > 0)
{
firstLevel = doubleImage(image);
pixelDistance *= 0.5f;
curSigma *= 2.0f;
} else
firstLevel = image.clone();
// prepare first octave input image
if (par.initialSigma > curSigma)
{
float sigma = sqrt(par.initialSigma * par.initialSigma - curSigma * curSigma);
gaussianBlurInplace(firstLevel, sigma);
}
// while there is sufficient size of image
int minSize = 2 * par.border + 2;
while (firstLevel.rows > minSize && firstLevel.cols > minSize)
{
cv::Mat nextOctaveFirstLevel;
detectOctaveKeypoints(firstLevel, pixelDistance, nextOctaveFirstLevel);
pixelDistance *= 2.0;
// firstLevel gets destroyed in the process
firstLevel = nextOctaveFirstLevel;
}
}
int main(int argc, char **argv) {
//void main() {
FILE *output; //keypoint output (text)
Image *sourceImage, *sourceImage2;
Image *doubledImage;
Image *currentImage;
Octave *octavesList;
Octave *temp, *current;
KeyPoint *peaks;
KeyPoint *counter, *prevPoint;
KeyPoint *keypoints, *keyCounter;
int candidates = 0;
double scale;
double ***mags, ***directions;
int octaveCount;
int tempHeight, tempWidth, tempDepth;
int totalKeypoints = 0;
double imageSigma;
char fileName[32] = {'\0'};
FILE *candidateOutput;
FILE *trashOutput;
FILE *filteredOutput;
/*
if(argc < 2) {
printf("Usage: sift dat_file\n");
return 0;
}
*/
/* read input */
//sourceImage = readPGMFile(argv[1]);
sourceImage = readDATFile("./image.dat");
if(sourceImage == NULL) {
printf("file was not read\n");
return 1;
}
scale = START_SCALE;
/* print constants used */
printf("Constants:\n");
printf("START_SIGMA=%f\n", START_SIGMA);
printf("OCTAVE_LIMIT=%d\n", OCTAVE_LIMIT);
printf("IMAGES_PER_OCTAVE=%d\n", IMAGES_PER_OCTAVE);
printf("SKIP_OCTAVES=%d\n", SKIP_OCTAVES);
printf("MIN_SIZE=%d\n", MIN_SIZE);
printf("MAX_ADJ_STEPS=%d\n", MAX_ADJ_STEPS);
printf("EDGE_RATIO=%f\n", EDGE_RATIO);
printf("CONTRAST_THRESH=%f\n", CONTRAST_THRESH);
printf("CAP=%f\n", CAP);
/* double image to save data */
doubledImage = doubleImage(sourceImage);
if(doubledImage == NULL) {
return 1;
}
scale /= 2.0;
printf("\nImage doubled\n");
/* preprocessing smoothing*/
printf("Preprocessing smoothing\n");
doubledImage = gaussianConvolution2DFast(doubledImage, 1.0);
// doubledImage = gaussianConvolution2DFast(sourceImage, 1.0);
/* build octaves of scalespace */
printf("Octave pyramid construction\n");
currentImage = doubledImage;
octavesList = NULL;
octaveCount = 0;
while(octaveCount < OCTAVE_LIMIT && currentImage->width >= MIN_SIZE && currentImage->height >= MIN_SIZE) {
if(currentImage == NULL) {
printf(" ***Current image null. Exiting.\n");
return 1;
}
/* create octave pointer wrapper */
printf(" Octave for pic %d %d (%d)\n", currentImage->width, currentImage->height, octaveCount);
temp = (Octave *) malloc(sizeof(Octave));
if(temp == NULL) {
printf(" ***Out of memory. Exiting.\n");
return 1;
}
/* build scale space L(x,y,sigma) */
printf(" Gaussian Scale Space\n");
if(octaveCount == 0)
imageSigma = 1.0; //blur of the first image is 1.0
else
imageSigma = START_SIGMA;
temp->gaussianSpace = buildScaleSpaceOctave(currentImage, scale, imageSigma);
/* build diff space D(x,y,sigma) */
printf(" Diff Gaussian Space\n");
temp->diffGaussianSpace = buildDifferences(temp->gaussianSpace);
/* store and go on */
octavesList = link(octavesList, temp);
currentImage = halveImage(getLastImage(temp->gaussianSpace));
scale *= 2.0;
++octaveCount;
printf(" Image halved\n");
}
--octaveCount; /* one extra */
/* generate keypoints from each octave of scalespace */
printf("Keypoint generation\n");
candidateOutput = fopen("output_candidates.txt", "w"); //helpful output file
trashOutput = fopen("output_trash.txt", "w"); //helpful output file
filteredOutput = fopen("output_filtered.txt", "w"); //helpful output file
histOutput = fopen("output_histogram.txt", "w"); //outputs histograms
histOutput2 = fopen("output_histogram2.txt", "w"); //turn on/off in scalespace.c
keypoints = NULL;
sourceImage2 = cloneImage(sourceImage);
for(current = octavesList; current != NULL && octaveCount >= SKIP_OCTAVES; current = current->next, --octaveCount) {
printf(" Octave %d\n", octaveCount);
fprintf(histOutput, "Octave %d\n", octaveCount);
fprintf(histOutput, "---------\n");
fprintf(histOutput2, "Octave %d\n", octaveCount);
fprintf(histOutput2, "---------\n");
/* find keypoint candidates */
printf(" Looking for peaks\n");
peaks = getPeaks(current);
/* temporary output */
scale = current->diffGaussianSpace->imageScale;
printPoints(candidateOutput, peaks, scale, octaveCount);
markImageSPoint(peaks, sourceImage2, scale); //output candidates
if(peaks != NULL)
printf(" found %d candidates\n", peaks->count);
else
printf(" found 0 candidates\n");
/* filter peaks for contrast and edge-iness and localize them */
printf(" Filtering and localizing\n");
trash = NULL;
peaks = filterAndLocalizePeaks(current->diffGaussianSpace, current->gaussianSpace, peaks);
/* temporary output */
printPoints(filteredOutput, peaks, scale, octaveCount);
printTrashed(trashOutput, trash, scale, octaveCount);
if(peaks != NULL)
printf(" have %d candidates remaining\n", peaks->count);
else
printf(" have 0 candidates remaining\n");
/* precompute magnitudes and orientations */
printf(" Generating magnitudes and orientations\n");
tempHeight = current->gaussianSpace->imgHeight;
tempWidth = current->gaussianSpace->imgWidth;
tempDepth = current->gaussianSpace->imageCount - 2;
current->gaussianSpace->magnitudes = allocate3D(tempHeight, tempWidth, tempDepth);
current->gaussianSpace->directions = allocate3D(tempHeight, tempWidth, tempDepth);
getMagnitudesAndOrientations(current->gaussianSpace);
/* assign orientation(s) */
printf(" Assigning orientation(s)\n");
generateKeypoints(current->gaussianSpace, peaks);
/* generate descriptors*/
printf(" Calculating descriptors\n");
createDescriptors(current->gaussianSpace, peaks);
/* multiply by imgScale to get real values */
for(counter = peaks; counter != NULL; counter = counter->next) {
counter->finalX *= counter->imgScale;
counter->finalY *= counter->imgScale;
//also multiply x,y?
counter->scale *= counter->imgScale;
}
/* merge lists */
if(peaks != NULL) {
if(keypoints != NULL) {
keypoints->listRear->next = peaks;
keypoints->listRear = peaks->listRear;
}
else
keypoints = peaks;
}
/* deallocate memory */
deallocate3D(current->gaussianSpace->magnitudes, tempHeight, tempWidth);
deallocate3D(current->gaussianSpace->directions, tempHeight, tempWidth);
/* deallocate trashed points */
counter = trash;
prevPoint = NULL;
while(counter != NULL) {
prevPoint = counter;
counter = counter->next;
free(prevPoint);
}
}
fclose(histOutput);
fclose(histOutput2);
/* write footer to each file */
printFooter(candidateOutput);
fclose(candidateOutput);
printFooter(trashOutput);
fclose(trashOutput);
printFooter(filteredOutput);
fclose(filteredOutput);
/* output keypoint descriptors */
printf("Output\n");
output = fopen("output.txt", "w");
for(keyCounter = keypoints; keyCounter != NULL; keyCounter=keyCounter->next) {
++totalKeypoints;
}
fprintf(output, "%d %d\n", totalKeypoints, 128);
for(keyCounter = keypoints; keyCounter != NULL; keyCounter=keyCounter->next) {
printKeyPoint(keyCounter, output);
}
fclose(output);
/* output keypoints on image*/
markImage(keypoints, sourceImage);
writeDATFile(sourceImage, "./output/keypoints.dat");
/* output initial candidates on image */
writeDATFile(sourceImage2, "./output/keypoints_all.dat");
printf("Done. %d keypoints found.\n", totalKeypoints);
free(sourceImage);
free(sourceImage2);
free(doubledImage);
//free octaves - should put it here
return 0;
}
