harris.h

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#ifndef AIMS_MATH_HARRIS_H
#define AIMS_MATH_HARRIS_H
 
#include <iostream>
#include <aims/bucket/bucketMap.h>
#include <cartodata/volume/volume.h>
 
namespace aims
{

 
  template <class T>
  class BaseHarrisDetector
  {
    public :

      BaseHarrisDetector( const carto::rc_ptr<carto::Volume<T> > & image,
                          const double sigma = 1.2,
                          const double k = 0.6,
                          const double epsilon = 1E-3,
                          const T levels = (T)255 );

      virtual double gaussian(const double x,
                              const double y,
                              const double z);
 
      virtual void computeDerivatives() {}

      virtual double harrisMeasure(const int x,
                                  const int y,
                                  const int z,
                                  const int t) = 0;

      virtual void computeHarrisMap();

      virtual bool isSpatialMaxima(const int x,
                                  const int y,
                                  const int z,
                                  const int t) = 0;
 

      virtual void computeCorners();

      virtual void filter(int minDistance);

      carto::VolumeRef<double> harrisMap();

      aims::BucketMap<Void> corners();
 
    protected :
 
      // Parameters
      double _epsilon;
      double _k;
      double _sigma, _sigma2;
      double _u;
      T _levels;
      double _f;
      int _radius;
      int _window;
 
      // Image
      carto::VolumeRef<T> _image;
      carto::VolumeRef<double> _g; // Gaussian window
 
      // Harris measure map
      carto::VolumeRef<double> _hmap;
 
      // Corners
      aims::BucketMap<double> _corners;
  };
 
  template <class T, int D>
  class HarrisDetector
  {
  };
 
  template <class T>
  class HarrisDetector<T, 2>
    : public BaseHarrisDetector<T>
    {
 
    public :

      HarrisDetector( const carto::rc_ptr<carto::Volume<T> > & image,
                      double sigma = 1.2,
                      double k = 0.6,
                      double epsilon = 1E-3,
                      T levels = 255 );

      virtual void computeDerivatives();

      virtual double harrisMeasure( const int x,
                                    const int y,
                                    const int z,
                                    const int t );

      virtual bool isSpatialMaxima( const int x,
                                    const int y,
                                    const int z,
                                    const int t );
 
    private :
      // Derivatives
      carto::VolumeRef<double> _lx2, _ly2, _lxy;
  };
 
} // namespace aims
 
#endif