+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-#include "_cv.h"
-
-#define cmp_features( f1, f2 ) (*(f1) > *(f2))
-
-static CV_IMPLEMENT_QSORT( icvSortFeatures, int *, cmp_features )
-
-CV_IMPL void
-cvGoodFeaturesToTrack( const void* image, void* eigImage, void* tempImage,
- CvPoint2D32f* corners, int *corner_count,
- double quality_level, double min_distance,
- const void* maskImage, int block_size,
- int use_harris, double harris_k )
-{
- CvMat* _eigImg = 0;
- CvMat* _tmpImg = 0;
-
- CV_FUNCNAME( "cvGoodFeaturesToTrack" );
-
- __BEGIN__;
-
- double max_val = 0;
- int max_count = 0;
- int count = 0;
- int x, y, i, k = 0;
- int min_dist;
- int eig_step, tmp_step;
-
- /* when selecting points, use integer coordinates */
- CvPoint *ptr = (CvPoint *) corners;
-
- /* process floating-point images using integer arithmetics */
- int *eig_data = 0;
- int *tmp_data = 0;
- int **ptr_data = 0;
- uchar *mask_data = 0;
- int mask_step = 0;
- CvSize size;
-
- int coi1 = 0, coi2 = 0, coi3 = 0;
- CvMat stub, *img = (CvMat*)image;
- CvMat eig_stub, *eig = (CvMat*)eigImage;
- CvMat tmp_stub, *tmp = (CvMat*)tempImage;
- CvMat mask_stub, *mask = (CvMat*)maskImage;
-
- if( corner_count )
- {
- max_count = *corner_count;
- *corner_count = 0;
- }
-
- CV_CALL( img = cvGetMat( img, &stub, &coi1 ));
- if( eig )
- {
- CV_CALL( eig = cvGetMat( eig, &eig_stub, &coi2 ));
- }
- else
- {
- CV_CALL( _eigImg = cvCreateMat( img->rows, img->cols, CV_32FC1 ));
- eig = _eigImg;
- }
-
- if( tmp )
- {
- CV_CALL( tmp = cvGetMat( tmp, &tmp_stub, &coi3 ));
- }
- else
- {
- CV_CALL( _tmpImg = cvCreateMat( img->rows, img->cols, CV_32FC1 ));
- tmp = _tmpImg;
- }
-
- if( mask )
- {
- CV_CALL( mask = cvGetMat( mask, &mask_stub ));
- if( !CV_IS_MASK_ARR( mask ))
- {
- CV_ERROR( CV_StsBadMask, "" );
- }
- }
-
- if( coi1 != 0 || coi2 != 0 || coi3 != 0 )
- CV_ERROR( CV_BadCOI, "" );
-
- if( CV_MAT_CN(img->type) != 1 ||
- CV_MAT_CN(eig->type) != 1 ||
- CV_MAT_CN(tmp->type) != 1 )
- CV_ERROR( CV_BadNumChannels, cvUnsupportedFormat );
-
- if( CV_MAT_DEPTH(tmp->type) != CV_32F ||
- CV_MAT_DEPTH(eig->type) != CV_32F )
- CV_ERROR( CV_BadDepth, cvUnsupportedFormat );
-
- if( !corners || !corner_count )
- CV_ERROR( CV_StsNullPtr, "" );
-
- if( max_count <= 0 )
- CV_ERROR( CV_StsBadArg, "maximal corners number is non positive" );
-
- if( quality_level <= 0 || min_distance < 0 )
- CV_ERROR( CV_StsBadArg, "quality level or min distance are non positive" );
-
- if( use_harris )
- {
- CV_CALL( cvCornerHarris( img, eig, block_size, 3, harris_k ));
- }
- else
- {
- CV_CALL( cvCornerMinEigenVal( img, eig, block_size, 3 ));
- }
- CV_CALL( cvMinMaxLoc( eig, 0, &max_val, 0, 0, mask ));
- CV_CALL( cvThreshold( eig, eig, max_val * quality_level,
- 0, CV_THRESH_TOZERO ));
- CV_CALL( cvDilate( eig, tmp ));
-
- min_dist = cvRound( min_distance * min_distance );
-
- size = cvGetMatSize( img );
- ptr_data = (int**)(tmp->data.ptr);
- eig_data = (int*)(eig->data.ptr);
- tmp_data = (int*)(tmp->data.ptr);
- if( mask )
- {
- mask_data = (uchar*)(mask->data.ptr);
- mask_step = mask->step;
- }
-
- eig_step = eig->step / sizeof(eig_data[0]);
- tmp_step = tmp->step / sizeof(tmp_data[0]);
-
- /* collect list of pointers to features - put them into temporary image */
- for( y = 1, k = 0; y < size.height - 1; y++ )
- {
- eig_data += eig_step;
- tmp_data += tmp_step;
- mask_data += mask_step;
-
- for( x = 1; x < size.width - 1; x++ )
- {
- int val = eig_data[x];
- if( val != 0 && val == tmp_data[x] && (!mask || mask_data[x]) )
- ptr_data[k++] = eig_data + x;
- }
- }
-
- icvSortFeatures( ptr_data, k, 0 );
-
- /* select the strongest features */
- for( i = 0; i < k; i++ )
- {
- int j = count, ofs = (int)((uchar*)(ptr_data[i]) - eig->data.ptr);
- y = ofs / eig->step;
- x = (ofs - y * eig->step)/sizeof(float);
-
- if( min_dist != 0 )
- {
- for( j = 0; j < count; j++ )
- {
- int dx = x - ptr[j].x;
- int dy = y - ptr[j].y;
- int dist = dx * dx + dy * dy;
-
- if( dist < min_dist )
- break;
- }
- }
-
- if( j == count )
- {
- ptr[count].x = x;
- ptr[count].y = y;
- if( ++count >= max_count )
- break;
- }
- }
-
- /* convert points to floating-point format */
- for( i = 0; i < count; i++ )
- {
- assert( (unsigned)ptr[i].x < (unsigned)size.width &&
- (unsigned)ptr[i].y < (unsigned)size.height );
-
- corners[i].x = (float)ptr[i].x;
- corners[i].y = (float)ptr[i].y;
- }
-
- *corner_count = count;
-
- __END__;
-
- cvReleaseMat( &_eigImg );
- cvReleaseMat( &_tmpImg );
-}
-
-/* End of file. */
projects / opencv / blobdiff