[libcvd-members] libcvd Makefile.in cvd_src/nonmax_suppression.c... [FAST_cleanup]

[Edward Rosten]

CVSROOT:        /cvsroot/libcvd
Module name:    libcvd
Branch:         FAST_cleanup
Changes by:     Edward Rosten <edrosten>        07/06/27 22:26:53

Modified files:
        .              : Makefile.in 
Added files:
        cvd_src        : nonmax_suppression.cxx 
        cvd            : nonmax_suppression.h 

Log message:
        More generic nonmax-suppression.

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/libcvd/cvd_src/nonmax_suppression.cxx?cvsroot=libcvd&only_with_tag=FAST_cleanup&rev=1.1.2.1
http://cvs.savannah.gnu.org/viewcvs/libcvd/cvd/nonmax_suppression.h?cvsroot=libcvd&only_with_tag=FAST_cleanup&rev=1.1.2.1
http://cvs.savannah.gnu.org/viewcvs/libcvd/Makefile.in?cvsroot=libcvd&only_with_tag=FAST_cleanup&r1=1.52&r2=1.52.2.1

Patches:
Index: Makefile.in
===================================================================
RCS file: /cvsroot/libcvd/libcvd/Makefile.in,v
retrieving revision 1.52
retrieving revision 1.52.2.1
diff -u -b -r1.52 -r1.52.2.1
--- Makefile.in 2 Mar 2007 15:31:19 -0000       1.52
+++ Makefile.in 27 Jun 2007 22:26:53 -0000      1.52.2.1
@@ -101,6 +101,7 @@
                        cvd_src/fast_corner.o                       \
                        cvd_src/faster_corner.o                       \
                        cvd_src/convolution.o                                   
        \
+                       cvd_src/nonmax_suppression.o                    \
                        cvd_src/fast/address@hidden@address@hidden@.o           
                                        \
                        cvd_src/fast/address@hidden@address@hidden@.o           
                                        \
                        cvd_src/fast/address@hidden@address@hidden@.o           
                                        \

Index: cvd_src/nonmax_suppression.cxx
===================================================================
RCS file: cvd_src/nonmax_suppression.cxx
diff -N cvd_src/nonmax_suppression.cxx
--- /dev/null   1 Jan 1970 00:00:00 -0000
+++ cvd_src/nonmax_suppression.cxx      27 Jun 2007 22:26:52 -0000      1.1.2.1
@@ -0,0 +1,133 @@
+#include <cvd/image_ref.h>
+#include <vector>
+
+using namespace std;
+
+namespace CVD
+{
+
+
+//This function has been moved from fast_corner.cxx. Look there
+//for the old ChangeLog.
+// fast_nonmax_t is templated so you can have either of:
+//     1: A vector of ImageRefs of the nonmax corners
+//     2: A vector of <ImageRef, int> pairs of the corners and their scores.
+//     It's internal, the user-visible functions instantiate it below..
+template<class Score, class ReturnType, class Collector>
+inline void nonmax_suppression_t(const vector<ImageRef>& corners, const 
vector<Score>& scores, vector<ReturnType>& nonmax_corners)
+{
+       nonmax_corners.clear();
+       nonmax_corners.reserve(corners.size());
+
+       if(corners.size() < 1)
+               return;
+
+       
+       // Find where each row begins
+       // (the corners are output in raster scan order). A beginning of -1 
signifies
+       // that there are no corners on that row.
+       int last_row = corners.back().y;
+       vector<int> row_start(last_row, -1);
+
+       int prev_row = -1;
+       for(unsigned int i=0; i< corners.size(); i++)
+               if(corners[i].y != prev_row)
+               {
+                       row_start[corners[i].y] = i;
+                       prev_row = corners[i].y;
+               }
+       
+       
+       //Point above points (roughly) to the pixel above the one of interest, 
if there
+       //is a feature there.
+       int point_above = 0;
+       int point_below = 0;
+       
+       const unsigned int sz = corners.size(); 
+       
+       for(unsigned int i=0; i < sz; i++)
+       {
+               Score score = scores[i];
+               ImageRef pos = corners[i];
+                       
+               //Check left 
+               if(i > 0)
+                       if(corners[i-1] == pos-ImageRef(1,0) && scores[i-1] > 
score)
+                               continue;
+                       
+               //Check right
+               if(i < (sz - 1))
+                       if(corners[i+1] == pos+ImageRef(1,0) && scores[i+1] > 
score)
+                               continue;
+                       
+               //Check above (if there is a valid row above)
+               if(pos.y != 0 && row_start[pos.y - 1] != -1) 
+               {
+                       //Make sure that current point_above is one
+                       //row above.
+                       if(corners[point_above].y < pos.y - 1)
+                               point_above = row_start[pos.y-1];
+                       
+                       //Make point_above point to the first of the pixels 
above the current point,
+                       //if it exists.
+                       for(; corners[point_above].y < pos.y && 
corners[point_above].x < pos.x - 1; point_above++);
+                       
+                       
+                       for(int i=point_above; corners[i].y < pos.y && 
corners[i].x <= pos.x + 1; i++)
+                       {
+                               int x = corners[i].x;
+                               if( (x == pos.x - 1 || x ==pos.x || x == 
pos.x+1) && scores[i] > score)
+                                       goto cont;
+                       }
+                       
+               }
+                       
+               //Check below (if there is anything below)
+               if(pos.y != last_row-1 && row_start[pos.y + 1] != -1 && 
point_below < sz) //Nothing below
+               {
+                       if(corners[point_below].y < pos.y + 1)
+                               point_below = row_start[pos.y+1];
+                       
+                       // Make point below point to one of the pixels belowthe 
current point, if it
+                       // exists.
+                       for(; point_below < sz && corners[point_below].y == 
pos.y+1 && corners[point_below].x < pos.x - 1; point_below++);
+
+                       for(int i=point_below; i < sz && corners[i].y == 
pos.y+1 && corners[i].x <= pos.x + 1; i++)
+                       {
+                               int x = corners[i].x;
+                               if( (x == pos.x - 1 || x ==pos.x || x == 
pos.x+1) && scores[i] > score)
+                                       goto cont;
+                       }
+               }
+                       
+               
nonmax_corners.push_back(Collector::collect(corners[i],scores[i]));
+                       
+               cont:
+                       ;
+       }
+}
+       
+// The two collectors which either return just the ImageRef or the 
<ImageRef,int> pair
+struct collect_pos
+{
+       static inline ImageRef collect(const ImageRef& pos, int score){return 
pos;}
+};
+
+struct collect_score
+{
+       static inline pair<ImageRef, int> collect(const ImageRef& pos, int 
score){return make_pair(pos,score);}
+};
+
+// The callable functions
+void nonmax_suppression(const vector<ImageRef>& corners, const vector<int>& 
scores, vector<ImageRef>& nonmax_corners)
+{
+       nonmax_suppression_t<int, ImageRef, collect_pos>(corners, scores, 
nonmax_corners);
+}
+
+void nonmax_suppression_with_scores(const vector<ImageRef>& corners, const 
vector<int>& scores, vector<pair<ImageRef,int> >& nonmax_corners)
+{
+       nonmax_suppression_t<int, pair<ImageRef,int> , collect_score>(corners, 
scores, nonmax_corners);
+}
+
+
+}

Index: cvd/nonmax_suppression.h
===================================================================
RCS file: cvd/nonmax_suppression.h
diff -N cvd/nonmax_suppression.h
--- /dev/null   1 Jan 1970 00:00:00 -0000
+++ cvd/nonmax_suppression.h    27 Jun 2007 22:26:53 -0000      1.1.2.1
@@ -0,0 +1,28 @@
+#ifndef CVD_NONMAX_SUPPRESSION_H
+#define CVD_NONMAX_SUPPRESSION_H
+
+#include <vector>
+#include <cvd/image_ref.h>
+
+namespace CVD
+{
+       /**Perform nonmaximal suppression on a set of features.
+
+       @param corners The corner locations
+       @param scores  The corners' scores
+       @param max_corners The locally maximal corners.
+       @ingroup gVision
+       */
+       void nonmax_suppression(const vector<ImageRef>& corners, const 
vector<int>& scores, vector<ImageRef>& nmax_corners);
+
+
+       /**Perform nonmaximal suppression on a set of features.
+
+       @param corners The corner locations
+       @param scores  The corners' scores
+       @param max_corners The locally maximal corners, and their scores.
+       @ingroup gVision
+       */
+       void nonmax_suppression_with_scores(const vector<ImageRef>& corners, 
const vector<int>& socres, vector<pair<ImageRef,int> >& max_corners);
+
+}