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// // Copyright 2019 Olzhas Zhumabek // // Use, modification and distribution are subject to the Boost Software License, // Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at // http://www.boost.org/LICENSE_1_0.txt) // #ifndef BOOST_GIL_IMAGE_PROCESSING_HARRIS_HPP #define BOOST_GIL_IMAGE_PROCESSING_HARRIS_HPP #include #include #include namespace boost { namespace gil { /// \defgroup CornerDetectionAlgorithms /// \brief Algorithms that are used to find corners in an image /// /// These algorithms are used to find spots from which /// sliding the window will produce large intensity change /// \brief function to record Harris responses /// \ingroup CornerDetectionAlgorithms /// /// This algorithm computes Harris responses /// for structure tensor represented by m11, m12_21, m22 views. /// Note that m12_21 represents both entries (1, 2) and (2, 1). /// Window length represents size of a window which is slided around /// to compute sum of corresponding entries. k is a discrimination /// constant against edges (usually in range 0.04 to 0.06). /// harris_response is an out parameter that will contain the Harris responses. template void compute_harris_responses( boost::gil::gray32f_view_t m11, boost::gil::gray32f_view_t m12_21, boost::gil::gray32f_view_t m22, boost::gil::detail::kernel_2d weights, float k, boost::gil::gray32f_view_t harris_response) { if (m11.dimensions() != m12_21.dimensions() || m12_21.dimensions() != m22.dimensions()) { throw std::invalid_argument("m prefixed arguments must represent" " tensor from the same image"); } std::ptrdiff_t const window_length = weights.size(); auto const width = m11.width(); auto const height = m11.height(); auto const half_length = window_length / 2; for (auto y = half_length; y < height - half_length; ++y) { for (auto x = half_length; x < width - half_length; ++x) { float ddxx = 0; float dxdy = 0; float ddyy = 0; for (gil::gray32f_view_t::coord_t y_kernel = 0; y_kernel < window_length; ++y_kernel) { for (gil::gray32f_view_t::coord_t x_kernel = 0; x_kernel < window_length; ++x_kernel) { ddxx += m11(x + x_kernel - half_length, y + y_kernel - half_length) .at(std::integral_constant{}) * weights.at(x_kernel, y_kernel); dxdy += m12_21(x + x_kernel - half_length, y + y_kernel - half_length) .at(std::integral_constant{}) * weights.at(x_kernel, y_kernel); ddyy += m22(x + x_kernel - half_length, y + y_kernel - half_length) .at(std::integral_constant{}) * weights.at(x_kernel, y_kernel); } } auto det = (ddxx * ddyy) - dxdy * dxdy; auto trace = ddxx + ddyy; auto harris_value = det - k * trace * trace; harris_response(x, y).at(std::integral_constant{}) = harris_value; } } } }} //namespace boost::gil #endif