/* * compute cornerness */ bool harrisCorners::getCornerness(const channel& fxx, const channel& fxy, const channel& fyy, const float scale, channel& cornerness, float& maxCornerness) const { // we can assume that all channels are connected, but try it out if not if ((fxx.getMode() != channel::Connected) || (fxy.getMode() != channel::Connected) || (fyy.getMode() != channel::Connected)) { setStatusString("Channels not contigous in getCornerness"); return false; } if (fxx.empty() || fxy.empty() || fyy.empty()) { cornerness.clear(); maxCornerness = 0.0f; return false; } int i; const int end = fxx.rows()*fxx.columns(); const float *const pfxx = &fxx.at(0); const float *const pfxy = &fxy.at(0); const float *const pfyy = &fyy.at(0); cornerness.resize(fxx.size(),0,false,false); float* pcor = &cornerness.at(0); float det,trace,txx,txy,tyy,c; float maxc = 0.0f; for (i=0;i<end;++i) { txx=pfxx[i]; txy=pfxy[i]; tyy=pfyy[i]; det=txx*tyy - txy*txy; trace=txx+tyy; c = det-scale*trace*trace; pcor[i]=c; if (c>maxc) { maxc=c; } } maxCornerness = maxc; return true; }
bool hessianFunctor::classicXY(const channel& src, channel& xy) const { if (src.columns() < 3) { setStatusString("width less than 3"); xy.clear(); return false; } if (src.rows() < 3) { setStatusString("height less than 3"); xy.clear(); return false; } if (src.getMode()!=channel::Connected) { setStatusString("src must be Connected"); xy.clear(); return false; } const int width = src.columns(); const int height = src.rows(); xy.resize(height,width,0.f,false,false); float* fpxy = &xy.at(0,0); const float* fpSrc = &src.at(0,0); const float* rowy; const float* colx; float* pidxy; const int w1 = width-1; const int w2 = width-2; const int last = (height-1)*width; // index of begin of last row const int lastRow = -w1; // offset from actual column pointer to // last row const int nextRow = width+1; // offset from actual column pointer to // next row const int nextRow2 = width+2; // offset from actual column pointer to // next row + 1 // top-left corner fpxy[0]=(fpSrc[0]-fpSrc[1]-fpSrc[width]+fpSrc[nextRow]); // top pidxy = &fpxy[1]; for (colx=&fpSrc[0],rowy=&fpSrc[w1]; colx<rowy; ++colx,++pidxy) { *pidxy=(*colx - colx[2] - colx[width] + colx[nextRow2]); } // top-right corner fpxy[w1]=(fpSrc[w2]-fpSrc[w1]-fpSrc[w2+width]+fpSrc[w1+width]); // main loop (begin at coordinates (1,0) pidxy = &fpxy[width]; const float *const rowEnd = &fpSrc[last]; for (rowy=&fpSrc[width]; rowy<rowEnd; rowy+=width) { // left side *pidxy=(rowy[-width] - rowy[lastRow] - rowy[width] + rowy[nextRow]); ++pidxy; // middle const float *const colEnd = &rowy[w2]; for (colx=rowy; colx<colEnd; ++colx,++pidxy) { *pidxy=(colx[-width] - colx[-w2] - colx[width] + colx[nextRow2]); } // right side *pidxy=(colx[-width] - colx[lastRow] - colx[width] + colx[nextRow]); ++pidxy; } // bottom-left corner fpxy[last]=(fpSrc[last+1]-fpSrc[last]); // bottom pidxy = &fpxy[last+1]; const float *const colEnd = &rowEnd[w2]; for (colx=rowEnd; colx<colEnd; ++colx,++pidxy) { *pidxy=(colx[-width] - colx[-w2] - *colx + colx[2]); } // bottom-right corner fpxy[last+w1]=(fpSrc[last-2]-fpSrc[last-1]-fpSrc[last+w2]+fpSrc[last+w1]); return true; };