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/****************************************************************************
**
** Copyright (c) 2011 libmv authors.
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to
** deal in the Software without restriction, including without limitation the
** rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
** sell copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
**
** The above copyright notice and this permission notice shall be included in
** all copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
** FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
** IN THE SOFTWARE.
**
****************************************************************************/
#ifndef LIBMV_SIMPLE_PIPELINE_DETECT_H_
#define LIBMV_SIMPLE_PIPELINE_DETECT_H_
#include <iostream>
#include <vector>
#include "libmv/base/vector.h"
#include "libmv/image/image.h"
namespace libmv {
typedef unsigned char ubyte;
// A Feature is the 2D location of a detected feature in an image.
struct Feature {
Feature(float x, float y) : x(x), y(y) {}
Feature(float x, float y, float score, float size)
: x(x), y(y), score(score), size(size) {}
// Position of the feature in pixels from top-left corner.
// Note: Libmv detector might eventually support subpixel precision.
float x, y;
// An estimate of how well the feature will be tracked.
//
// Absolute values totally depends on particular detector type
// used for detection. It's only guaranteed that features with
// higher score from the same Detect() result will be tracked better.
float score;
// An approximate feature size in pixels.
//
// If the feature is approximately a 5x5 square region, then size will be 5.
// It can be used as an initial pattern size to track the feature.
float size;
};
struct DetectOptions {
DetectOptions();
// TODO(sergey): Write descriptions to each of algorithms.
enum DetectorType {
FAST,
MORAVEC,
HARRIS,
};
DetectorType type;
// Margin in pixels from the image boundary.
// No features will be detected within the margin.
int margin;
// Minimal distance between detected features.
int min_distance;
// Minimum score to add a feature. Only used by FAST detector.
//
// TODO(sergey): Write more detailed documentation about which
// units this value is measured in and so on.
int fast_min_trackness;
// Maximum count to detect. Only used by MORAVEC detector.
int moravec_max_count;
// Find only features similar to this pattern. Only used by MORAVEC detector.
//
// This is an image patch denoted in byte array with dimensions of 16px by
// 16px used to filter features by similarity to this patch.
unsigned char* moravec_pattern;
// Threshold value of the Harris function to add new featrue
// to the result.
double harris_threshold;
};
// Detect features on a given image using given detector options.
//
// Image could have 1-4 channels, it'll be converted to a grayscale
// by the detector function if needed.
void Detect(const FloatImage& image,
const DetectOptions& options,
vector<Feature>* detected_features);
std::ostream& operator<<(std::ostream& os, const Feature& feature);
} // namespace libmv
#endif
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