mirror of https://github.com/davisking/dlib.git
Changed the hessian_pyramid so that it has a slightly smaller border
region and therefore finds more interest points.
This commit is contained in:
Davis King
parent
ddaefb6c26
commit
905fd90303
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@ -119,10 +119,10 @@ namespace dlib
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for (long o = 0; o < num_octaves; ++o)
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{
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const long step_size = get_step_size(o);
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const long border_size = get_border_size(o)*step_size;
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for (long i = 0; i < num_intervals; ++i)
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{
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const long border_size = get_border_size(i)*step_size;
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const long lobe_size = static_cast<long>(std::pow(2.0, o+1.0)+0.5)*(i+1) + 1;
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const double area_inv = 1.0/std::pow(3.0*lobe_size, 2.0);
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@ -178,17 +178,17 @@ namespace dlib
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}
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long get_border_size (
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long octave
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long interval
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) const
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{
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DLIB_ASSERT(0 <= octave && octave < octaves(),
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"\tlong get_border_size(octave)"
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<< "\n\tInvalid octave value"
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DLIB_ASSERT(0 <= interval && interval < intervals(),
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"\tlong get_border_size(interval)"
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<< "\n\tInvalid interval value"
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<< "\n\t this: " << this
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<< "\n\t octave: " << octave
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<< "\n\t interval: " << interval
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);
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const double lobe_size = std::pow(2.0, octave+1.0)*(num_intervals+1) + 1;
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const double lobe_size = 2.0*(interval+1) + 1;
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const double filter_size = 3*lobe_size;
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const long bs = static_cast<long>(std::ceil(filter_size/2.0));
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@ -246,8 +246,8 @@ namespace dlib
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{
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DLIB_ASSERT(0 <= octave && octave < octaves() &&
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0 <= interval && interval < intervals() &&
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get_border_size(octave) <= r && r < nr(octave)-get_border_size(octave) &&
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get_border_size(octave) <= c && c < nc(octave)-get_border_size(octave),
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get_border_size(interval) <= r && r < nr(octave)-get_border_size(interval) &&
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get_border_size(interval) <= c && c < nc(octave)-get_border_size(interval),
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"\tdouble get_value(octave, interval, r, c)"
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<< "\n\tInvalid inputs to this function"
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<< "\n\t this: " << this
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@ -259,7 +259,7 @@ namespace dlib
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<< "\n\t c: " << c
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<< "\n\t nr(octave): " << nr(octave)
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<< "\n\t nc(octave): " << nc(octave)
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<< "\n\t get_border_size(octave): " << get_border_size(octave)
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<< "\n\t get_border_size(interval): " << get_border_size(interval)
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);
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return std::abs(pyramid[num_intervals*octave + interval][r][c]);
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@ -274,8 +274,8 @@ namespace dlib
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{
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DLIB_ASSERT(0 <= octave && octave < octaves() &&
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0 <= interval && interval < intervals() &&
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get_border_size(octave) <= r && r < nr(octave)-get_border_size(octave) &&
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get_border_size(octave) <= c && c < nc(octave)-get_border_size(octave),
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get_border_size(interval) <= r && r < nr(octave)-get_border_size(interval) &&
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get_border_size(interval) <= c && c < nc(octave)-get_border_size(interval),
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"\tdouble get_laplacian(octave, interval, r, c)"
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<< "\n\tInvalid inputs to this function"
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<< "\n\t this: " << this
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@ -287,7 +287,7 @@ namespace dlib
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<< "\n\t c: " << c
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<< "\n\t nr(octave): " << nr(octave)
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<< "\n\t nc(octave): " << nc(octave)
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<< "\n\t get_border_size(octave): " << get_border_size(octave)
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<< "\n\t get_border_size(interval): " << get_border_size(interval)
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);
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// return the sign of the laplacian
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@ -436,6 +436,11 @@ namespace dlib
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temp.score = pyr.get_value(o,i,r,c);
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temp.laplacian = pyr.get_laplacian(o,i,r,c);
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}
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else
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{
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// this indicates to the caller that no interest point was found.
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temp.score = -1;
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}
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return temp;
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}
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@ -469,43 +474,26 @@ namespace dlib
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// do non-maximum suppression on all the intervals in the current octave and
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// accumulate the results in result_points
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for (long i = 1; i < pyr.intervals()-1; i += 3)
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for (long i = 1; i < pyr.intervals()-1; i += 1)
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{
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for (long r = border_size+1; r < nr - border_size-1; r += 3)
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const long border_size = pyr.get_border_size(i+1);
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for (long r = border_size+1; r < nr - border_size-1; r += 1)
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{
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for (long c = border_size+1; c < nc - border_size-1; c += 3)
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for (long c = border_size+1; c < nc - border_size-1; c += 1)
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{
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double max_val = pyr.get_value(o,i,r,c);
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long max_i = i;
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long max_r = r;
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long max_c = c;
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// loop over this 3x3x3 block and find the largest element
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for (long ii = i; ii < std::min(i + 3, pyr.intervals()-1); ++ii)
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{
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for (long rr = r; rr < std::min(r + 3, nr - border_size - 1); ++rr)
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{
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for (long cc = c; cc < std::min(c + 3, nc - border_size - 1); ++cc)
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{
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double temp = pyr.get_value(o,ii,rr,cc);
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if (temp > max_val)
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{
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max_val = temp;
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max_i = ii;
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max_r = rr;
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max_c = cc;
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}
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}
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}
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}
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// If the max point we found is really a maximum in its own region and
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// is big enough then add it to the results.
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if (max_val > threshold && is_maximum_in_region(pyr, o, max_i, max_r, max_c))
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if (max_val >= threshold && is_maximum_in_region(pyr, o, max_i, max_r, max_c))
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{
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//cout << max_val << endl;
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interest_point sp = interpolate_point (pyr, o, max_i, max_r, max_c);
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if (sp.score > threshold)
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if (sp.score >= threshold)
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{
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result_points.push_back(sp);
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}
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@ -73,13 +73,13 @@ namespace dlib
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!*/
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long get_border_size (
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long octave
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long interval
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) const;
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/*!
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requires
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- 0 <= octave < octaves()
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- 0 <= interval < intervals()
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ensures
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- Each octave of the pyramid has a certain sized border region where we
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- Each interval of the pyramid has a certain sized border region where we
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can't compute the Hessian values since they are too close to the edge
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of the input image. This function returns the size of that border.
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!*/
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@ -129,7 +129,7 @@ namespace dlib
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requires
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- 0 <= octave < octaves()
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- 0 <= interval < intervals()
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- Let BS == get_border_size(octave): then
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- Let BS == get_border_size(interval): then
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- BS <= r < nr(octave)-BS
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- BS <= c < nc(octave)-BS
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ensures
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@ -148,7 +148,7 @@ namespace dlib
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requires
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- 0 <= octave < octaves()
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- 0 <= interval < intervals()
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- Let BS == get_border_size(octave): then
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- Let BS == get_border_size(interval): then
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- BS <= r < nr(octave)-BS
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- BS <= c < nc(octave)-BS
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ensures
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@ -175,7 +175,12 @@ namespace dlib
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- center == the x/y location of the center of the interest point
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(in image space coordinates. y gives the row and x gives the
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column in the image)
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- scale == the scale at which the point was detected
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- scale == the scale at which the point was detected. This is a number
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>= 1. If it is 1 then it means the interest point was detected at
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the lowest scale in the image pyramid. Larger numbers indicate that
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the interest point is from high up in the image pyramid. For
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example, a scale of 4 would mean the interest point was located at a
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point in the pyramid where the image had been shrunk by a factor of 4.
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- score == the determinant of the Hessian for the interest point
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- laplacian == the sign of the laplacian for the interest point
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!*/
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