boofcv.factory.feature.detect.interest.FactoryDetectPoint Maven / Gradle / Ivy

Go to download
Show more of this group Show more artifacts with this name
Show all versions of boofcv-feature Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 1.1.7
/*
 * Copyright (c) 2011-2018, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.factory.feature.detect.interest;

import boofcv.abst.feature.detect.extract.NonMaxSuppression;
import boofcv.abst.feature.detect.intensity.*;
import boofcv.abst.feature.detect.interest.ConfigFast;
import boofcv.abst.feature.detect.interest.ConfigGeneralDetector;
import boofcv.abst.filter.blur.BlurStorageFilter;
import boofcv.alg.feature.detect.intensity.FastCornerIntensity;
import boofcv.alg.feature.detect.intensity.GradientCornerIntensity;
import boofcv.alg.feature.detect.intensity.HessianBlobIntensity;
import boofcv.alg.feature.detect.interest.GeneralFeatureDetector;
import boofcv.factory.feature.detect.extract.FactoryFeatureExtractor;
import boofcv.factory.feature.detect.intensity.FactoryIntensityPoint;
import boofcv.factory.feature.detect.intensity.FactoryIntensityPointAlg;
import boofcv.factory.filter.blur.FactoryBlurFilter;
import boofcv.struct.image.ImageGray;
import boofcv.struct.image.ImageType;

import javax.annotation.Nullable;

/**
 * 
 * Creates instances of {@link GeneralFeatureDetector}, which detects the location of
 * point features inside an image.
 * 
 * 
 * 

 * NOTE: Sometimes the image border is ignored and some times it is not.  If feature intensities are not
 * computed along the image border then it will be full of zeros.  In that case the ignore border region
 * needs to be increased for non-max suppression or else it might generate a false positive.
 * 
 *
 * @author Peter Abeles
 */
public class FactoryDetectPoint {

	/**
	 * Detects Harris corners.
	 *
	 * @param configDetector Configuration for feature detector.
	 * @param weighted        Is a Gaussian weight applied to the sample region?  False is much faster.
	 * @param derivType       Type of derivative image.
	 * @see boofcv.alg.feature.detect.intensity.HarrisCornerIntensity
	 */
	public static , D extends ImageGray>
	GeneralFeatureDetector createHarris( @Nullable ConfigGeneralDetector configDetector,
											   boolean weighted, Class derivType) {
		if( configDetector == null)
			configDetector = new ConfigGeneralDetector();

		GradientCornerIntensity cornerIntensity =
				FactoryIntensityPointAlg.harris(configDetector.radius, 0.04f, weighted, derivType);
		return createGeneral(cornerIntensity, configDetector);
	}

	/**
	 * Detects Shi-Tomasi corners.
	 *
	 * @param configDetector Configuration for feature detector.
	 * @param weighted        Is a Gaussian weight applied to the sample region?  False is much faster.
	 * @param derivType       Type of derivative image.
	 * @see boofcv.alg.feature.detect.intensity.ShiTomasiCornerIntensity
	 */
	public static , D extends ImageGray>
	GeneralFeatureDetector createShiTomasi( @Nullable ConfigGeneralDetector configDetector,
												  boolean weighted, Class derivType) {
		if( configDetector == null)
			configDetector = new ConfigGeneralDetector();

		GradientCornerIntensity cornerIntensity =
				FactoryIntensityPointAlg.shiTomasi(configDetector.radius, weighted, derivType);
		return createGeneral(cornerIntensity, configDetector);
	}

	/**
	 * Detects Kitchen and Rosenfeld corners.
	 *
	 * @param configDetector Configuration for feature detector.
	 * @param derivType       Type of derivative image.
	 * @see boofcv.alg.feature.detect.intensity.KitRosCornerIntensity
	 */
	public static , D extends ImageGray>
	GeneralFeatureDetector createKitRos(@Nullable ConfigGeneralDetector configDetector, Class derivType) {
		if( configDetector == null)
			configDetector = new ConfigGeneralDetector();

		GeneralFeatureIntensity intensity = new WrapperKitRosCornerIntensity<>(derivType);
		return createGeneral(intensity, configDetector);
	}

	/**
	 * Creates a Fast corner detector.
	 *
	 * @param configFast Configuration for FAST feature detector
	 * @param configDetector Configuration for feature extractor.
	 * @param imageType       Type of input image.
	 * @see FastCornerIntensity
	 */
	@SuppressWarnings("UnnecessaryLocalVariable")
	public static , D extends ImageGray>
	GeneralFeatureDetector createFast( @Nullable ConfigFast configFast ,
											 ConfigGeneralDetector configDetector , Class imageType) {

		if( configFast == null )
			configFast = new ConfigFast();
		configFast.checkValidity();

		ConfigGeneralDetector d = configDetector;

		FastCornerIntensity alg = FactoryIntensityPointAlg.fast(configFast.pixelTol, configFast.minContinuous, imageType);
		GeneralFeatureIntensity intensity = new WrapperFastCornerIntensity<>(alg);
		ConfigGeneralDetector configExtract =
				new ConfigGeneralDetector(d.maxFeatures,d.radius,d.threshold,0,true,false,true);
		return createGeneral(intensity, configExtract);
	}

	/**
	 * Creates a median filter corner detector.
	 *
	 * @param configDetector Configuration for feature detector.
	 * @param imageType       Type of input image.
	 * @see boofcv.alg.feature.detect.intensity.MedianCornerIntensity
	 */
	public static , D extends ImageGray>
	GeneralFeatureDetector createMedian(@Nullable ConfigGeneralDetector configDetector, Class imageType) {

		if( configDetector == null)
			configDetector = new ConfigGeneralDetector();

		BlurStorageFilter medianFilter = FactoryBlurFilter.median(ImageType.single(imageType), configDetector.radius);
		GeneralFeatureIntensity intensity = new WrapperMedianCornerIntensity<>(medianFilter, imageType);
		return createGeneral(intensity, configDetector);
	}

	/**
	 * Creates a Hessian based blob detector.
	 *
	 * @param type            The type of Hessian based blob detector to use. DETERMINANT often works well.
	 * @param configDetector Configuration for feature detector.
	 * @param derivType       Type of derivative image.
	 * @see HessianBlobIntensity
	 */
	public static , D extends ImageGray>
	GeneralFeatureDetector createHessian(HessianBlobIntensity.Type type,
											   @Nullable ConfigGeneralDetector configDetector, Class derivType) {
		if( configDetector == null)
			configDetector = new ConfigGeneralDetector();

		GeneralFeatureIntensity intensity = FactoryIntensityPoint.hessian(type, derivType);
		return createGeneral(intensity, configDetector);
	}

	public static , D extends ImageGray>
	GeneralFeatureDetector createGeneral(GradientCornerIntensity cornerIntensity,
											   ConfigGeneralDetector config) {
		GeneralFeatureIntensity intensity = new WrapperGradientCornerIntensity<>(cornerIntensity);
		return createGeneral(intensity, config);
	}

	public static , D extends ImageGray>
	GeneralFeatureDetector createGeneral(GeneralFeatureIntensity intensity,
											   ConfigGeneralDetector config ) {
		// create a copy since it's going to modify the detector config
		ConfigGeneralDetector foo = new ConfigGeneralDetector();
		foo.setTo(config);
		config = foo;
		config.ignoreBorder += config.radius;
		NonMaxSuppression extractor = FactoryFeatureExtractor.nonmax(config);
		GeneralFeatureDetector det = new GeneralFeatureDetector<>(intensity, extractor);
		det.setMaxFeatures(config.maxFeatures);

		return det;
	}
}