keypoint_orientation_corrector.h

Go to the documentation of this file.

/*
Copyright 2005, 2006 Computer Vision Lab, 
Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland. 
All rights reserved.

This file is part of BazAR.

BazAR is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.

BazAR is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with
BazAR; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA 
*/
#ifndef KEYPOINT_ORIENTATION_CORRECTOR_H
#define KEYPOINT_ORIENTATION_CORRECTOR_H

#include <cv.h>


class  keypoint_orientation_corrector
{
public:
   keypoint_orientation_corrector(int width, int height, int neighborhood_size, int nbLev);
   ~keypoint_orientation_corrector();

   void compute_gradient_images(IplImage * image, IplImage ** Ix, IplImage ** Iy);

   int orientation_bucket_index(const IplImage * _Ix, const IplImage * _Iy, const int u, const int v);
   int optimized_orientation_bucket_index(const IplImage * _Ix, const IplImage * _Iy, const int u, const int v);

   float estimate_orientation_in_radians(IplImage * image, int u, int v, IplImage * _Ix, IplImage * _Iy);

   int correct_orientation(IplImage * image, int u, int v, 
                           IplImage * rotated_neighborhood, 
                           IplImage * Ix, IplImage * Iy, int level);

   int correct_orientationf(IplImage * image, float u, float v, 
                            IplImage * rotated_neighborhood, 
                            float orientation_in_radians, int level);

   static bool subpixel_rotate;

   static const int ANGLE_QUANTUM = 20; // in degrees
   static const int ANGLE_BUCKET_NUMBER = 360 / ANGLE_QUANTUM;
private:
   void initialize_tables(void);
   void rotate_patch(IplImage * original_image, int u, int v, 
                                                  IplImage * rotated_patch,
                                                  int orientation_bucket_index, int level);
   void rotate_patchf(IplImage * original_image, float u, float v, 
                                                  IplImage * rotated_patch,
                                                  float angle);

   int width, height, neighborhood_size, actual_neighborhood_size;

   short * atan2_table;
   int * angle_buckets;
   IplImage * exp_weights;
  
   int ** orientation_lookup_tables;
   int nbLev;
};

#endif // KEYPOINT_ORIENTATION_CORRECTOR_H