base class for all gradient based corner detectors More...

#include <FeatureDetector/CornerDetectorGradient.hh>

Inheritance diagram for BIAS::CornerDetectorGradient< StorageType, CalculationType >:

Collaboration diagram for BIAS::CornerDetectorGradient< StorageType, CalculationType >:

Public Types
enum	ECDType { CDT_Invalid, CDT_Susan, CDT_Harris, CDT_Foerstner, CDT_KLT, CDT_Laplace }
	the differnet types of corner detectors More...

Public Member Functions
void	AddDebugLevel (const long int lv)

void	AddDebugLevel (const std::string &name)

	CornerDetectorGradient ()

virtual int	Cornerness (const Image< CalculationType > &gradx, const Image< CalculationType > &grady, Image< CalculationType > &cornerness)
	calculates the cornerness using the gradients gx and gy More...

bool	DebugLevelIsSet (const long int lv) const

bool	DebugLevelIsSet (const std::string &name) const

virtual int	Detect (const Image< StorageType > &image, std::vector< HomgPoint2D > &p, std::vector< QUAL > &quality)
	purely virtual interface definition More...

virtual int	Detect (const Image< StorageType > &image, std::vector< HomgPoint2D > &p, std::vector< QUAL > &quality, std::vector< Matrix2x2< double > > *cov=NULL)
	detect corners in a grey image More...

virtual int	Detect (const Image< CalculationType > &gradx, const Image< CalculationType > &grady, std::vector< HomgPoint2D > &p, std::vector< QUAL > &quality, std::vector< Matrix2x2< double > > *cov=NULL)
	detect corners given the gradient images More...

virtual int	DetectFromCornerness (const Image< CalculationType > &cornerness, std::vector< HomgPoint2D > &p, std::vector< QUAL > &quality)
	detect corners avoiding double calculation of cornerness image More...

virtual int	DetectFromCornerness (const Image< CalculationType > &cornerness, const std::vector< Vector2< int > > &region, std::vector< HomgPoint2D > &p, std::vector< QUAL > &quality)
	detect corners avoiding double calculation of cornerness image More...

virtual const Image < CalculationType > &	GetCornernessImage () const

int	GetDebugLevel () const

std::ostream &	GetDebugStream () const

void	GetDebugStream (std::ostream &os) const

int	GetMaxNumFeatures ()

double	GetMinCornerness ()
	rets minimum cornernes of detectable features (simple parameter access function - does nothing else) More...

int	GetMinDistance () const
	rets the min distance of features (simple parameter access function - does nothing else) More...

long int	Name2DebugLevel (const std::string &name) const
	looks up a debuglevel in the internal map, returns 0 if not found More...

long int	NewDebugLevel (const std::string &name)
	creates a new debuglevel More...

void	PrintDebugLevel (std::ostream &os=std::cout) const

void	RemoveDebugLevel (const long int lv)

void	RemoveDebugLevel (const std::string &name)

void	SetDebugLevel (const long int lv)

void	SetDebugLevel (const std::string &name)

void	SetDebugStream (const std::ostream &os)

void	SetMaxNumFeatures (const int maxnum)

virtual void	SetMinCornerness (double min_cornerness)
	sets minimum cornernes of detectable features More...

void	SetMinDistance (int mindist)
	sets the min distance of features (simple parameter access function - does nothing else) More...

virtual void	SetStructureTensorHalfWinSize (int halfwinsize)

void	SetSubpixelAccuracy (bool subpixel_accuracy)

void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...

virtual	~CornerDetectorGradient ()

Static Public Member Functions
static long int	GetGlobalDebugLevel ()

static void	SetGlobalDebugLevel (long int lev)

Protected Member Functions
void	_AllocInternalMem (const int width, const int height)
	allocates _Cornerness , _sgxx, _sgxy and _sgyy More...

int	_CalcCornerness (const Image< StorageType > &src, Image< CalculationType > &cornerness)
	calculates the cornerness using the src image More...

int	_CalcCornerness (const Image< CalculationType > &gradx, const Image< CalculationType > &grady, Image< CalculationType > &cornerness)
	calculates the cornerness using the gradients gx and gy More...

virtual int	_ComputeCornerness (Image< CalculationType > &Cornerness)
	the main function which should be overwritten in derived classes, no implementation in this class More...

void	_DeleteInternalMem ()
	frees _Cornerness, _sgxx, _sgxy and _sgyy More...

int	_EnforceMinimumDistance (std::vector< HomgPoint2D > &p, std::vector< QUAL > &quality)
	selects features sorted by quality from _FeatList such that they have a min distance as given in the param object More...

void	_ExtractLocalMaxima (const Image< CalculationType > &Cornerness)
	extracts the local maxima checking a 3x3 region into _FeatList More...

void	_FillFeatureMap (std::vector< HomgPoint2D > &p)
	fills feature map with every point from p which isnt at infinity More...

bool	_RefineCornerPosition (int col, int row, double &x, double &y, QUAL &SubPixelCornerness)
	fit quadratic surface around (row;col) to find the maximum cornerness subpixel position and save it in x;y More...

void	_RefineCorners (std::vector< HomgPoint2D > &pos, std::vector< QUAL > &quality)
	refines corner position and quality for all corners in list, internal Cornerness_ image must be valid More...

void	_ZeroFeatureMap ()
	zeros the feature map More...

long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...

void	GetCov_ (const std::vector< HomgPoint2D > &p, std::vector< Matrix2x2< double > > &cov, const double noise=5) const
	returns the inverse structure tensor, multiplied by noise^2 More...

Protected Attributes
Image< CalculationType >	_Cornerness
	resulting image which tells for each pixel how cornerlike it is More...

bool	_DoRefinement
	tells whether subpixel refinement should be done More...

std::vector< class Feat >	_FeatList
	temporary list of detected corners More...

bool **	_FeatureMap
	array used to enforce a min distance / neighbor suppression More...

Gauss< StorageType, StorageType >	_gauss
	Gauss for pre-smoothing. More...

long int	_liDebugLevel

long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...

int	_MaxNum
	maximum number of corners to return More...

double	_MinCornerness
	threshold to accept a feature More...

int	_MinDistance
	minimal distance between points More...

int	_NumberFeaturesSoFar
	initialized with the old features provided by user, then counted up and compared against _MaxNumFeatures from Base class More...

int	_NumTilesX

int	_NumTilesY

Image< CalculationType >	_sgxx
	internal structure tensor images More...

Image< CalculationType >	_sgxy

Image< CalculationType >	_sgyy

StructureTensor < CalculationType, CalculationType >	_st
	structure tensor computation object More...

std::map< std::string, long int >	_String2Debuglevel

Static Protected Attributes
static std::ostream	_zDebugStream

static long int	GlobalDebugLevel = 0

Detailed Description

template<class StorageType, class CalculationType>
class BIAS::CornerDetectorGradient< StorageType, CalculationType >

base class for all gradient based corner detectors

provides functionality to compute the structure tensor | gxx gxy | | gyx gyy |

The function detect low pass filters the image, computes gradients and the structure tensor and then calls _ComputeCornerness on the structure tensor image. This function must be implemented in derived classes, it basically converts the 2x2 structure tensor to a scalar value which describes how much cornerlike the region around that pixel is, which is saved in the cornerness image. Values above a threshold are pushed into an internal list. Afterwards the EnforceMinimumDistance function is called to sort features by quality and add them to the final list. New points are accepted only if the have a minimum distance to all previously extracted points. In the detect function you may pass a non-empty vector of points, which are regarded as "existing corners" and none of the new points may lie withing the critical distance around the old ones. This gives the possibility to detect new features for a tracker, which has tracked some points (where no new features are desired) and lost some features.

Author: woelk/koeser 09/2004

Examples:: ExampleCornerDetector.cpp.

Definition at line 87 of file CornerDetectorGradient.hh.

Member Enumeration Documentation

template<class StorageType>

enum BIAS::CornerDetectorBase::ECDType

inherited

the differnet types of corner detectors

Enumerator
CDT_Invalid
CDT_Susan
CDT_Harris
CDT_Foerstner
CDT_KLT
CDT_Laplace

Definition at line 57 of file CornerDetectorBase.hh.

Constructor & Destructor Documentation

template<class StorageType , class CalculationType >

CornerDetectorGradient::CornerDetectorGradient ( )

Definition at line 53 of file CornerDetectorGradient.cpp.

References BIAS::CornerDetectorGradient< StorageType, CalculationType >::_DoRefinement, BIAS::CornerDetectorGradient< StorageType, CalculationType >::_FeatureMap, BIAS::CornerDetectorGradient< StorageType, CalculationType >::_MinCornerness, and BIAS::CornerDetectorGradient< StorageType, CalculationType >::_MinDistance.

template<class StorageType , class CalculationType >

CornerDetectorGradient::~CornerDetectorGradient ( )

virtual

Definition at line 64 of file CornerDetectorGradient.cpp.

Member Function Documentation

template<class StorageType , class CalculationType >

void CornerDetectorGradient::_AllocInternalMem	(	const int	width,
		const int	height
	)

protected

allocates _Cornerness , _sgxx, _sgxy and _sgyy

Definition at line 627 of file CornerDetectorGradient.cpp.

template<class StorageType , class CalculationType >

int CornerDetectorGradient::_CalcCornerness	(	const Image< StorageType > &	src,
		Image< CalculationType > &	cornerness
	)

protected

calculates the cornerness using the src image

Author: woelk 09/2004

Definition at line 645 of file CornerDetectorGradient.cpp.

References BIAS::ImageConvert::ConvertST(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetStorageType(), BIAS::ImageBase::GetWidth(), and BIAS::ImageIO::Save().

template<class StorageType , class CalculationType >

int CornerDetectorGradient::_CalcCornerness	(	const Image< CalculationType > &	gradx,
		const Image< CalculationType > &	grady,
		Image< CalculationType > &	cornerness
	)

protected

calculates the cornerness using the gradients gx and gy

Author: woelk 09/2004

Definition at line 687 of file CornerDetectorGradient.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), BIAS::Image< StorageType >::Release(), and BIAS::ImageBase::SamePixelAndChannelCount().

template<class StorageType , class CalculationType >

int CornerDetectorGradient::_ComputeCornerness ( Image< CalculationType > & Cornerness )

protectedvirtual

the main function which should be overwritten in derived classes, no implementation in this class

computes the cornerness from the structure tensor image Uses structure tensor sgxx, _sgxy, _sgyy as input

Reimplemented in BIAS::CornerDetectorHarris< StorageType, CalculationType >, BIAS::CornerDetectorKLT< StorageType, CalculationType >, BIAS::CornerDetectorFoerstner< StorageType, CalculationType >, and BIAS::LinearRegionDetector< StorageType, CalculationType >.

Definition at line 577 of file CornerDetectorGradient.cpp.

template<class StorageType , class CalculationType >

void CornerDetectorGradient::_DeleteInternalMem ( )

protected

frees _Cornerness, _sgxx, _sgxy and _sgyy

Definition at line 615 of file CornerDetectorGradient.cpp.

template<class StorageType , class CalculationType >

int CornerDetectorGradient::_EnforceMinimumDistance	(	std::vector< HomgPoint2D > &	p,
		std::vector< QUAL > &	quality
	)

protected

selects features sorted by quality from _FeatList such that they have a min distance as given in the param object

assumes feature map is zeroed

Author: woelk 09/2004

Definition at line 373 of file CornerDetectorGradient.cpp.

References BIAS::TimeMeasure::GetRealTime(), BIAS::TimeMeasure::Reset(), BIAS::HomgPoint2D::Set(), BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

template<class StorageType , class CalculationType >

void CornerDetectorGradient::_ExtractLocalMaxima ( const Image< CalculationType > & Cornerness )

protected

extracts the local maxima checking a 3x3 region into _FeatList

Definition at line 708 of file CornerDetectorGradient.cpp.

References BIAS::ROI::GetCorners(), BIAS::ROI::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetROI(), BIAS::ROI::GetROIType(), BIAS::ROI::GetWidth(), BIAS::ROI::IsInROI(), BIAS::ROI_Corners, BIAS::ROI_Mask, BIAS::ROI_Points, and BIAS::ROI_Rows.

template<class StorageType , class CalculationType >

void CornerDetectorGradient::_FillFeatureMap ( std::vector< HomgPoint2D > & p )

protected

fills feature map with every point from p which isnt at infinity

Definition at line 585 of file CornerDetectorGradient.cpp.

template<class StorageType , class CalculationType >

bool CornerDetectorGradient::_RefineCornerPosition	(	int	col,
		int	row,
		double &	x,
		double &	y,
		QUAL &	SubPixelCornerness
	)

protected

fit quadratic surface around (row;col) to find the maximum cornerness subpixel position and save it in x;y

Parameters

col	column in image where refinement should take place
row	row in image where refinement should take place
x	output, refined coordinate
y	output, refined coordinate
SubPixelCornerness	cornerness value at subpixel maximum

Author: koeser 01/2004

Definition at line 469 of file CornerDetectorGradient.cpp.

template<class StorageType, class CalculationType>

void BIAS::CornerDetectorGradient< StorageType, CalculationType >::_RefineCorners	(	std::vector< HomgPoint2D > &	pos,
		std::vector< QUAL > &	quality
	)

inlineprotected

refines corner position and quality for all corners in list, internal Cornerness_ image must be valid

Parameters

pos	input/output of old/new position
quality	holds new cornernesses afterwards

Author: koeser 09/2004

Definition at line 255 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

void BIAS::CornerDetectorGradient< StorageType, CalculationType >::_ZeroFeatureMap ( )

inlineprotected

zeros the feature map

Definition at line 272 of file CornerDetectorGradient.hh.

void BIAS::Debug::AddDebugLevel ( const long int lv )

inlineinherited

Examples:: EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string & name )

inlineinherited

Definition at line 362 of file Debug.hh.

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author: woelk 09/2006

Definition at line 521 of file Debug.hh.

template<class StorageType , class CalculationType >

int CornerDetectorGradient::Cornerness	(	const Image< CalculationType > &	gradx,
		const Image< CalculationType > &	grady,
		Image< CalculationType > &	cornerness
	)

virtual

calculates the cornerness using the gradients gx and gy

Author: woelk 09/2004

Definition at line 274 of file CornerDetectorGradient.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), BIAS::Image< StorageType >::Release(), and BIAS::ImageBase::SamePixelAndChannelCount().

bool BIAS::Debug::DebugLevelIsSet ( const long int lv ) const

inlineinherited

Examples:: ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string & name ) const

inlineinherited

Definition at line 350 of file Debug.hh.

template<class StorageType >

int CornerDetectorBase::Detect	(	const Image< StorageType > &	image,
		std::vector< HomgPoint2D > &	p,
		std::vector< QUAL > &	quality
	)

virtualinherited

purely virtual interface definition

Reimplemented in BIAS::CornerDetectorSusan< StorageType >.

Definition at line 53 of file CornerDetectorBase.cpp.

template<class StorageType , class CalculationType >

int CornerDetectorGradient::Detect	(	const Image< StorageType > &	image,
		std::vector< HomgPoint2D > &	p,
		std::vector< QUAL > &	quality,
		std::vector< Matrix2x2< double > > *	cov = `NULL`
	)

virtual

detect corners in a grey image

see documentation of BIAS::CornerDetectorGradient class for more info

Parameters

image	grey value input image
p	all points in p not lying at infinity (p[i][2]!=0) are assumed to be corners of very good quality, in the region around these points no new features are detected, leave empty if you just want to detect some features in the image In any case p is cleared and only new detected points are added before returning. Example: assume MaxNum=100, you pass a vector p with 40 points of which 12 have the third coordinate w=0. You will get back a vector of maximum size 72, it may be smaller if Distance and MinCornerness have too large values
quality	after returning, for each point in p there is a quality in quality, no input requirements

Definition at line 71 of file CornerDetectorGradient.cpp.

References BIAS::ImageConvert::ConvertST(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetStorageType(), BIAS::ImageBase::GetWidth(), and BIAS::ImageIO::Save().

template<class StorageType , class CalculationType >

int CornerDetectorGradient::Detect	(	const Image< CalculationType > &	gradx,
		const Image< CalculationType > &	grady,
		std::vector< HomgPoint2D > &	p,
		std::vector< QUAL > &	quality,
		std::vector< Matrix2x2< double > > *	cov = `NULL`
	)

virtual

detect corners given the gradient images

see documentation of BIAS::CornerDetectorGradient class for more info

Parameters

gradx	image containing gradient x component
grady	image containing gradient y component
p	all points in p not lying at infinity (p[i][2]!=0) are assumed to be corners of very good quality, in the region around these points no new features are detected, leave empty if you just want to detect some features in the image. In any case p is cleared and only new detected points are added before returning. Example: assume MaxNum=100, you pass a vector p with 40 points of which 12 have the third coordinate w=0. You will get back a vector of maximum size 72, it may be smaller if Distance and MinCornerness have too large values
quality	after returning, for each point in p there is a quality in quality, no input requirements

Definition at line 179 of file CornerDetectorGradient.cpp.

References BIAS::TimeMeasure::GetRealTime(), BIAS::TimeMeasure::Reset(), BIAS::ImageBase::SamePixelAndChannelCount(), BIAS::ImageIO::Save(), BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

template<class StorageType , class CalculationType >

int CornerDetectorGradient::DetectFromCornerness	(	const Image< CalculationType > &	cornerness,
		std::vector< HomgPoint2D > &	p,
		std::vector< QUAL > &	quality
	)

virtual

detect corners avoiding double calculation of cornerness image

see documentation of BIAS::CornerDetectorGradient class for more info

Parameters

cornerness	image with already computed cornerness
p	all points in p not lying at infinity (p[i][2]!=0) are assumed to be corners of very good quality, in the region around these points no new features are detected, leave empty if you just want to detect some features in the image In any case p is cleared and only new detected points are added before returning. Example: assume MaxNum=100, you pass a vector p with 40 points of which 12 have the third coordinate w=0. You will get back a vector of maximum size 72, it may be smaller if Distance and MinCornerness have too large values
quality	after returning, for each point in p there is a quality in quality, no input requirements

Definition at line 301 of file CornerDetectorGradient.cpp.

template<class StorageType , class CalculationType >

int CornerDetectorGradient::DetectFromCornerness	(	const Image< CalculationType > &	cornerness,
		const std::vector< Vector2< int > > &	region,
		std::vector< HomgPoint2D > &	p,
		std::vector< QUAL > &	quality
	)

virtual

detect corners avoiding double calculation of cornerness image

Author: Dennis Herzog, June 2005

Definition at line 321 of file CornerDetectorGradient.cpp.

References BIAS::Image< StorageType >::GetImageDataArray().

template<class StorageType, class CalculationType>

virtual const Image<CalculationType>& BIAS::CornerDetectorGradient< StorageType, CalculationType >::GetCornernessImage ( ) const

inlinevirtual

Definition at line 201 of file CornerDetectorGradient.hh.

template<class StorageType , class CalculationType >

void CornerDetectorGradient::GetCov_	(	const std::vector< HomgPoint2D > &	p,
		std::vector< Matrix2x2< double > > &	cov,
		const double	noise = `5`
	)		const

protected

returns the inverse structure tensor, multiplied by noise^2

Author: woelk 03/2006

Definition at line 137 of file CornerDetectorGradient.cpp.

References BIAS::Matrix2x2< T >::Invert().

int BIAS::Debug::GetDebugLevel ( ) const

inlineinherited

Examples:: ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const

inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream & os ) const

inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )

inlinestaticinherited

Definition at line 431 of file Debug.hh.

template<class StorageType>

int BIAS::CornerDetectorBase< StorageType >::GetMaxNumFeatures ( )

inlineinherited

Author: Dennis Herzog

Definition at line 73 of file CornerDetectorBase.hh.

template<class StorageType, class CalculationType>

double BIAS::CornerDetectorGradient< StorageType, CalculationType >::GetMinCornerness ( )

inline

rets minimum cornernes of detectable features (simple parameter access function - does nothing else)

Author: Dennis Herzog, 2005-07-04

Definition at line 186 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

int BIAS::CornerDetectorGradient< StorageType, CalculationType >::GetMinDistance ( ) const

inline

rets the min distance of features (simple parameter access function - does nothing else)

Author: Dennis Herzog, 2005-06-22

Definition at line 174 of file CornerDetectorGradient.hh.

long int BIAS::Debug::Name2DebugLevel ( const std::string & name ) const

inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author: woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string & name )

inlineinherited

creates a new debuglevel

Author: woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

void BIAS::Debug::PrintDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

Definition at line 383 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int lv )

inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string & name )

inlineinherited

Definition at line 376 of file Debug.hh.

void BIAS::Debug::SetDebugLevel ( const long int lv )

inlineinherited

void BIAS::Debug::SetDebugLevel ( const std::string & name )

inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream & os )

inlineinherited

Definition at line 398 of file Debug.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int lev )

inlinestaticinherited

Definition at line 424 of file Debug.hh.

template<class StorageType>

void BIAS::CornerDetectorBase< StorageType >::SetMaxNumFeatures ( const int maxnum )

inlineinherited

Definition at line 70 of file CornerDetectorBase.hh.

template<class StorageType, class CalculationType>

virtual void BIAS::CornerDetectorGradient< StorageType, CalculationType >::SetMinCornerness ( double min_cornerness )

inlinevirtual

sets minimum cornernes of detectable features

Author: woelk 02/2006

Definition at line 191 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

void BIAS::CornerDetectorGradient< StorageType, CalculationType >::SetMinDistance ( int mindist )

inline

sets the min distance of features (simple parameter access function - does nothing else)

Author: Dennis Herzog, 2005-06-22

Definition at line 180 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

virtual void BIAS::CornerDetectorGradient< StorageType, CalculationType >::SetStructureTensorHalfWinSize ( int halfwinsize )

inlinevirtual

Definition at line 198 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

void BIAS::CornerDetectorGradient< StorageType, CalculationType >::SetSubpixelAccuracy ( bool subpixel_accuracy )

inline

Author: woelk 02/2006

Definition at line 195 of file CornerDetectorGradient.hh.

void BIAS::Debug::ShowDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

prints all internally known debuglevels

Author: woelk 09/2006

Definition at line 496 of file Debug.hh.

Member Data Documentation

template<class StorageType, class CalculationType>

Image<CalculationType> BIAS::CornerDetectorGradient< StorageType, CalculationType >::_Cornerness

protected

resulting image which tells for each pixel how cornerlike it is

Definition at line 293 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

bool BIAS::CornerDetectorGradient< StorageType, CalculationType >::_DoRefinement

protected

tells whether subpixel refinement should be done

Definition at line 311 of file CornerDetectorGradient.hh.

Referenced by BIAS::CornerDetectorGradient< StorageType, CalculationType >::CornerDetectorGradient().

template<class StorageType, class CalculationType>

std::vector<class Feat> BIAS::CornerDetectorGradient< StorageType, CalculationType >::_FeatList

protected

temporary list of detected corners

Definition at line 299 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

bool** BIAS::CornerDetectorGradient< StorageType, CalculationType >::_FeatureMap

protected

array used to enforce a min distance / neighbor suppression

Definition at line 296 of file CornerDetectorGradient.hh.

Referenced by BIAS::CornerDetectorGradient< StorageType, CalculationType >::CornerDetectorGradient().

template<class StorageType, class CalculationType>

Gauss<StorageType, StorageType> BIAS::CornerDetectorGradient< StorageType, CalculationType >::_gauss

protected

Gauss for pre-smoothing.

Definition at line 302 of file CornerDetectorGradient.hh.

long int BIAS::Debug::_liDebugLevel

protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel

protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

template<class StorageType>

int BIAS::CornerDetectorBase< StorageType >::_MaxNum

protectedinherited

maximum number of corners to return

Definition at line 81 of file CornerDetectorBase.hh.

Referenced by BIAS::CornerDetectorSusan< StorageType >::CornerDetectorSusan().

template<class StorageType, class CalculationType>

double BIAS::CornerDetectorGradient< StorageType, CalculationType >::_MinCornerness

protected

threshold to accept a feature

Definition at line 310 of file CornerDetectorGradient.hh.

Referenced by BIAS::CornerDetectorGradient< StorageType, CalculationType >::CornerDetectorGradient().

template<class StorageType, class CalculationType>

int BIAS::CornerDetectorGradient< StorageType, CalculationType >::_MinDistance

protected

minimal distance between points

Definition at line 309 of file CornerDetectorGradient.hh.

Referenced by BIAS::CornerDetectorGradient< StorageType, CalculationType >::CornerDetectorGradient().

template<class StorageType, class CalculationType>

int BIAS::CornerDetectorGradient< StorageType, CalculationType >::_NumberFeaturesSoFar

protected

initialized with the old features provided by user, then counted up and compared against _MaxNumFeatures from Base class

Definition at line 306 of file CornerDetectorGradient.hh.

template<class StorageType>

int BIAS::CornerDetectorBase< StorageType >::_NumTilesX

protectedinherited

Todo:: implement tiling mechanism

Definition at line 78 of file CornerDetectorBase.hh.

template<class StorageType>

int BIAS::CornerDetectorBase< StorageType >::_NumTilesY

protectedinherited

Definition at line 78 of file CornerDetectorBase.hh.

template<class StorageType, class CalculationType>

Image<CalculationType> BIAS::CornerDetectorGradient< StorageType, CalculationType >::_sgxx

protected

internal structure tensor images

Definition at line 290 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

Image<CalculationType> BIAS::CornerDetectorGradient< StorageType, CalculationType >::_sgxy

protected

Definition at line 290 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

Image<CalculationType> BIAS::CornerDetectorGradient< StorageType, CalculationType >::_sgyy

protected

Definition at line 290 of file CornerDetectorGradient.hh.

template<class StorageType, class CalculationType>

StructureTensor<CalculationType, CalculationType> BIAS::CornerDetectorGradient< StorageType, CalculationType >::_st

protected

structure tensor computation object

Definition at line 287 of file CornerDetectorGradient.hh.

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel

protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream

staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

The documentation for this class was generated from the following files:

FeatureDetector/CornerDetectorGradient.hh
FeatureDetector/CornerDetectorGradient.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<class StorageType, class CalculationType> class BIAS::CornerDetectorGradient< StorageType, CalculationType >

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class StorageType, class CalculationType>
class BIAS::CornerDetectorGradient< StorageType, CalculationType >