boofcv.alg.feature.detect.intensity.impl.ImplFastHelper_F32 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.alg.feature.detect.intensity.impl;

import boofcv.struct.image.GrayF32;

/**
 * Helper functions for {@link boofcv.alg.feature.detect.intensity.FastCornerDetector} with {@link GrayF32} images.
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public abstract class ImplFastHelper_F32 implements FastCornerInterface {
	// how similar do the pixel in the circle need to be to the center pixel
	protected float tol;

	// pixel index offsets for circle
	protected int[] offsets;
	protected float[] data;

	float centerValue;
	float lower, upper;

	protected ImplFastHelper_F32( float pixelTol ) {
		this.tol = pixelTol;
	}

	@Override
	public void setImage( GrayF32 image, int[] offsets ) {
		this.data = image.data;
		this.offsets = offsets;
	}

	@Override
	public float scoreLower( int index ) {
		float total = 0.0f;
		int count = 0;
		for (int i = 0; i < offsets.length; i++) {
			float v = data[index + offsets[i]];
			if (v < lower) {
				total += v;
				count++;
			}
		}

		if (count == 0)
			return 0;

		return total - centerValue*count;
	}

	@Override
	public float scoreUpper( int index ) {
		float total = 0.0f;
		int count = 0;
		for (int i = 0; i < offsets.length; i++) {
			float v = data[index + offsets[i]];
			if (v > upper) {
				total += v;
				count++;
			}
		}

		if (count == 0)
			return 0;

		return total - centerValue*count;
	}

	@Override
	public void setThreshold( int index ) {
		centerValue = data[index];
		lower = centerValue - tol;
		upper = centerValue + tol;
	}

	@Override
	public Class getImageType() {
		return GrayF32.class;
	}
}