* mln/detection/corner/harris.hh: New. * mln/detection/corner/harris_criterion.hh: New. --- milena/ChangeLog | 7 + .../mln/detection/corner/{moravec.hh => harris.hh} | 91 +++++++++------ milena/mln/detection/corner/harris_criterion.hh | 123 ++++++++++++++++++++ 3 files changed, 187 insertions(+), 34 deletions(-) copy milena/mln/detection/corner/{moravec.hh => harris.hh} (52%) create mode 100644 milena/mln/detection/corner/harris_criterion.hh diff --git a/milena/ChangeLog b/milena/ChangeLog index fab764c..808624f 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,3 +1,10 @@ +2012-10-04 Jonathan Fabrizio <jonathan@lrde.epita.fr> + + Add Harris corner detection. + + * mln/detection/corner/harris.hh: New. + * mln/detection/corner/harris_criterion.hh: New. + 2012-10-03 Jonathan Fabrizio <jonathan@lrde.epita.fr> Add test for Moravec corner detection. diff --git a/milena/mln/detection/corner/moravec.hh b/milena/mln/detection/corner/harris.hh similarity index 52% copy from milena/mln/detection/corner/moravec.hh copy to milena/mln/detection/corner/harris.hh index b9af479..0acce69 100644 --- a/milena/mln/detection/corner/moravec.hh +++ b/milena/mln/detection/corner/harris.hh @@ -1,4 +1,4 @@ -// Copyright (C) 2010 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2012 EPITA Research and Development Laboratory (LRDE) // // This file is part of Olena. // @@ -23,20 +23,24 @@ // exception does not however invalidate any other reasons why the // executable file might be covered by the GNU General Public License. -#ifndef MLN_DETECTION_CORNER_MORAVEC_HH -# define MLN_DETECTION_CORNER_MORAVEC_HH +#ifndef MLN_DETECTION_CORNER_HARRIS_HH +# define MLN_DETECTION_CORNER_HARRIS_HH #include <mln/core/site_set/p_array.hh> -#include <mln/extension/adjust_duplicate.hh> -#include <mln/metal/is.hh> -#include <mln/win/rectangle2d.hh> +//#include <mln/win/rectangle2d.hh> #include <mln/core/alias/neighb2d.hh> -#include <mln/core/alias/window2d.hh> -#include <mln/detection/corner/moravec_criterion.hh> +#include <mln/linear/ch_convolve.hh> +#include <mln/linear/convolve.hh> +#include <mln/linear/gaussian.hh> +#include <mln/arith/times.hh> +#include <mln/core/alias/w_window2d_int.hh> + +//#include <mln/core/alias/window2d.hh> +#include <mln/detection/corner/harris_criterion.hh> /// \file /// -/// \brief Implementation of Moravec corner detection. +/// \brief Implementation of Harris corner detection. namespace mln @@ -46,32 +50,47 @@ namespace mln namespace corner { /** - Computes Moravec corner detection on \p in_image + Computes Harris corner detection on \p in_image \param image_in_ The input image - \param win The window of moravec algorithm - \param nbh All possible positions of the window + \param k the k parameter in Harris algorithm + \param sigma the standard deviation of the gaussian used in + Harris algorithm \return The list of points detected as corner \author J. Fabrizio */ - template<typename I, typename W, typename N> + template<typename I> p_array<mln_site(I)> - moravec(const Image<I>& in_image_, const Window<W>& win, const Neighborhood<N>& nbh); + harris(const Image<I>& in_image_, float k, float sigma); /** - Computes Moravec corner detection on \p in_image - with a default 3x3 window and a defaut 3x3 neighborhood. + Computes Harris corner detection on \p in_image with the + standard deviation of the guassian sets to 0.34 \param image_in_ The input image + \param k the k parameter in Harris algorithm \return The list of points detected as corner \author J. Fabrizio */ template<typename I> p_array<mln_site(I)> - moravec(const Image<I>& in_image_); + harris(const Image<I>& in_image_, float k); + + /** + Computes Harris corner detection on \p in_image with the k + parameter sets to 0.04 and the standard deviation of the + guassian sets to 0.34. + \param image_in_ The input image + \return The list of points detected as corner + + \author J. Fabrizio + */ + template<typename I> + p_array<mln_site(I)> + harris(const Image<I>& in_image_); # ifndef MLN_INCLUDE_ONLY @@ -80,19 +99,18 @@ namespace mln namespace internal { /** - \iternal Computes local min to find corner in an image + \iternal Computes local max to find corner in an image - \param image_in_ The result of moravec_criterion + \param image_in_ The result of harris_criterion \return The list of local min \author J. Fabrizio */ template<typename I> p_array<mln_site(I)> - moravec_local_min(const Image<I>& in_image_) + harris_local_max(const Image<I>& in_image_) { - trace::entering("detection::corner::moravec_local_min"); - + trace::exiting("detection::corner::harris_local_max"); const I& in_image = exact(in_image_); p_array<mln_site(I)> result; mln_piter(I) p(in_image.domain()); @@ -101,7 +119,7 @@ namespace mln bool max = true; mln_niter(neighb2d) n(c8(), p); for_all(n) { - if (in_image(p)<=in_image(n)) + if (in_image(p)<=in_image(n)) { max = false; break; @@ -111,28 +129,33 @@ namespace mln result.append(p); } } - trace::exiting("detection::corner::moravec_local_min"); + trace::exiting("detection::corner::harris_local_max"); return result; } } // end of namespace mln::detection::corner::internal - template<typename I, typename W, typename N> + template<typename I> p_array<mln_site(I)> - moravec(const Image<I>& in_image_, const Window<W>& win, const Neighborhood<N>& nbh) { - trace::entering("detection::corner::moravec"); - mln_ch_value(I, unsigned short) criterion_image; - criterion_image = moravec_criterion(in_image_, win, nbh); - trace::exiting("detection::corner::moravec"); - return internal::moravec_local_min(criterion_image); + harris(const Image<I>& in_image_, float k, float sigma) { + trace::entering("detection::corner::harris"); + mln_ch_convolve(I, w_window2d_int) criterion_image; + criterion_image = harris_criterion(in_image_, k, sigma); + trace::exiting("detection::corner::harris"); + return internal::harris_local_max(criterion_image); } template<typename I> p_array<mln_site(I)> - moravec(const Image<I>& in_image_) { - return moravec(in_image_, win_c8p(), c8()); + harris(const Image<I>& in_image_, float k) { + return harris(in_image_, k, 0.34); } + template<typename I> + p_array<mln_site(I)> + harris(const Image<I>& in_image_) { + return harris(in_image_, 0.04, 0.34); + } @@ -144,4 +167,4 @@ namespace mln } // end of namespace mln -#endif // ! MLN_DETECTION_CORNER_MORAVEC_HH +#endif // ! MLN_DETECTION_CORNER_HARRIS_HH diff --git a/milena/mln/detection/corner/harris_criterion.hh b/milena/mln/detection/corner/harris_criterion.hh new file mode 100644 index 0000000..0b125c6 --- /dev/null +++ b/milena/mln/detection/corner/harris_criterion.hh @@ -0,0 +1,123 @@ +// Copyright (C) 2012 EPITA Research and Development Laboratory (LRDE) +// +// This file is part of Olena. +// +// Olena is free software: you can redistribute it and/or modify it under +// the terms of the GNU General Public License as published by the Free +// Software Foundation, version 2 of the License. +// +// Olena is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Olena. If not, see <http://www.gnu.org/licenses/>. +// +// As a special exception, you may use this file as part of a free +// software project without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to produce +// an executable, this file does not by itself cause the resulting +// executable to be covered by the GNU General Public License. This +// exception does not however invalidate any other reasons why the +// executable file might be covered by the GNU General Public License. + +#ifndef MLN_DETECTION_CORNER_HARRIS_CRITERION_HH +# define MLN_DETECTION_CORNER_HARRIS_CRITERION_HH + + +//#include <mln/io/essential.hh> +//#include <mln/data/stretch.hh> +//#include <mln/data/convert.hh> +//#include <mln/value/graylevel.hh> +# include <mln/core/alias/w_window2d_int.hh> + +/// \file +/// +/// \brief Implementation of Harris corner detection. + + +namespace mln +{ + namespace detection + { + namespace corner + { + /** + Computes Harris corner detection criterion on \p in_image. + + \param image_in_ The input image. + \param k The k parameter in harris algorithm (use 0.04 if you + do not know what to do). + \param sigma The standard deviation of the gaussian used harris algorithm. + + \return Harris criterion computed for evey pixel. + + \author J. Fabrizio + */ + template<typename I> + mln_ch_convolve(I, w_window2d_int) + harris_criterion(const Image<I>& in_image_, float k, float sigma); + +# ifndef MLN_INCLUDE_ONLY + + + template<typename I> + mln_ch_convolve(I, w_window2d_int) + harris_criterion(const Image<I>& in_image_, float k, float sigma) + { + trace::entering("detection::corner::haris_criterion"); + + const I& in_image = exact(in_image_); + p_array<mln_site(I)> result; + typedef mln_ch_convolve(I, w_window2d_int) O; + O dx_image; + O dy_image; + O dxx_image; + O dxy_image; + O dyy_image; + O harris_criterion(in_image.domain()); + + typedef dpoint2d D; + w_window2d_int dx_grad; + dx_grad + .insert(-1, D(0, -1)) + .insert(+1, D(0, +1)); + w_window2d_int dy_grad; + dy_grad + .insert(-1, D(-1, 0)) + .insert(+1, D(+1, 0)); + + dx_image=linear::convolve(in_image, dx_grad); + dy_image=linear::convolve(in_image, dy_grad); + + dxx_image=linear::gaussian(dx_image*dx_image, sigma); + dxy_image=linear::gaussian(dx_image*dy_image, sigma); + dyy_image=linear::gaussian(dy_image*dy_image, sigma); + + typedef mln_value(O) V; + mln_piter(I) p(in_image.domain()); + for_all(p) { + V a = dxx_image(p); + V b = dyy_image(p); + V c = dxy_image(p); + harris_criterion(p)=(a*b-c*c)-k*(a+b)*(a+b); + } + + // I output = data::stretch(mln_value(I)(), harris_criterion); + // io::pgm::save(output, "harris-criterion-result.pgm"); + + trace::exiting("detection::corner::harris_criterion"); + return harris_criterion; + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::detection::corner + + } // end of namespace mln::detection + +} // end of namespace mln + +#endif // ! MLN_DETECTION_CORNER_HARRIS_CRITERION_HH -- 1.7.2.5