boofcv.abst.feature.detdesc.Surf_DetectDescribe Maven / Gradle / Ivy

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/*
 * Copyright (c) 2021, 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.abst.feature.detdesc;

import boofcv.BoofDefaults;
import boofcv.abst.feature.orientation.OrientationIntegral;
import boofcv.alg.feature.describe.DescribePointSurf;
import boofcv.alg.feature.detect.interest.FastHessianFeatureDetector;
import boofcv.alg.transform.ii.GIntegralImageOps;
import boofcv.struct.feature.ScalePoint;
import boofcv.struct.feature.TupleDesc_F64;
import boofcv.struct.image.ImageGray;
import boofcv.struct.image.ImageType;
import georegression.struct.point.Point2D_F64;
import org.ddogleg.struct.DogArray;
import org.ddogleg.struct.DogArray_F64;

import java.util.List;

/**
 * Wrapper around SURF algorithms for {@link DetectDescribePoint}.
 *
 * @param  Input image type
 * @param  Integral image type
 * @author Peter Abeles
 * @see FastHessianFeatureDetector
 * @see OrientationIntegral
 * @see DescribePointSurf
 */
@SuppressWarnings({"NullAway.Init"})
public class Surf_DetectDescribe, II extends ImageGray>
		implements DetectDescribePoint {
	// SURF algorithms
	protected FastHessianFeatureDetector detector;
	protected OrientationIntegral orientation;
	protected DescribePointSurf describe;

	// storage for integral image
	protected II ii;

	// storage for computed features
	protected DogArray features;
	// detected scale points
	protected List foundPoints;
	// orientation of features
	protected DogArray_F64 featureAngles = new DogArray_F64(10);

	ImageType imageType;

	public Surf_DetectDescribe( FastHessianFeatureDetector detector,
								OrientationIntegral orientation,
								DescribePointSurf describe,
								Class imageType ) {
		this.detector = detector;
		this.orientation = orientation;
		this.describe = describe;
		this.imageType = ImageType.single(imageType);

		features = new DogArray<>(describe::createDescription);
	}

	@Override
	public TupleDesc_F64 createDescription() {
		return describe.createDescription();
	}

	@Override
	public TupleDesc_F64 getDescription( int index ) {
		return features.get(index);
	}

	@Override
	public ImageType getInputType() {
		return imageType;
	}

	@Override
	public Class getDescriptionType() {
		return TupleDesc_F64.class;
	}

	@Override
	public void detect( T input ) {
		if (ii != null) {
			ii.reshape(input.width, input.height);
		}

		// compute integral image
		ii = GIntegralImageOps.transform(input, ii);
		features.reset();
		featureAngles.reset();

		// detect features
		detector.detect(ii);

		// describe the found interest points
		foundPoints = detector.getFoundFeatures();

		// pre-declare memory
		features.resize(foundPoints.size());
		featureAngles.resize(foundPoints.size());

		computeDescriptors();
	}

	@Override
	public int getNumberOfSets() {
		return 2;
	}

	@Override
	public int getSet( int index ) {
		return foundPoints.get(index).white ? 0 : 1;
	}

	protected void computeDescriptors() {
		orientation.setImage(ii);
		describe.setImage(ii);
		for (int i = 0; i < foundPoints.size(); i++) {
			ScalePoint p = foundPoints.get(i);
			double radius = p.scale*BoofDefaults.SURF_SCALE_TO_RADIUS;

			orientation.setObjectRadius(radius);
			double angle = orientation.compute(p.pixel.x, p.pixel.y);
			describe.describe(p.pixel.x, p.pixel.y, angle, p.scale, true, features.get(i));
			featureAngles.set(i, angle);
		}
	}

	@Override
	public int getNumberOfFeatures() {
		return foundPoints.size();
	}

	@Override
	public Point2D_F64 getLocation( int featureIndex ) {
		return foundPoints.get(featureIndex).pixel;
	}

	@Override
	public double getRadius( int featureIndex ) {
		return foundPoints.get(featureIndex).scale*BoofDefaults.SURF_SCALE_TO_RADIUS;
	}

	@Override
	public double getOrientation( int featureIndex ) {
		return featureAngles.get(featureIndex);
	}

	@Override
	public boolean hasScale() {
		return true;
	}

	@Override
	public boolean hasOrientation() {
		return true;
	}
}