// private void ComputeSubpixelHessianSameOctave(
// float H[9],float b[3],
// const Image& lap0,const Image& lap1,const Image& lap2,
// int x,int y)
private void ComputeSubpixelHessianSameOctave(double[] H, double[] b, LaplacianImage lap0, LaplacianImage lap1, LaplacianImage lap2,
int x, int y)
{
double Dx, Dy, Ds;
double Dxx, Dyy, Dxy;
double Dss, Dxs, Dys;
//assert (x - 1) >= 0 && (x + 1) < lap1.getWidth();
//assert (y - 1) >= 0 && (y + 1) < lap1.getHeight();
//assert lap0.getWidth() == lap1.getWidth();
//assert lap0.getWidth() == lap2.getWidth();
//assert lap0.getHeight() == lap1.getHeight();
//assert lap0.getHeight() == lap2.getHeight();
int lap0_pm1 = lap0.get(y - 1) + x;
int lap0_p = lap0.get(y) + x;
int lap0_pp1 = lap0.get(y + 1) + x;
int lap1_p = lap1.get(y) + x;
int lap2_pm1 = lap2.get(y - 1) + x;
int lap2_p = lap2.get(y) + x;
int lap2_pp1 = lap2.get(y + 1) + x;
double[] tmp = new double[5];
// Compute spatial derivatives
// ComputeSubpixelDerivatives(Dx, Dy, Dxx, Dyy, Dxy, lap1, x, y);
lap1.computeSubpixelDerivatives(x, y, tmp);
Dx = tmp[0];
Dy = tmp[1];
Dxx = tmp[2];
Dyy = tmp[3];
Dxy = tmp[4];
double[] lap0buf = (double[])lap0.getBuffer();
double[] lap1buf = (double[])lap1.getBuffer();
double[] lap2buf = (double[])lap2.getBuffer();
// Compute scale derivates
Ds = 0.5f * (lap2buf[lap2_p + 0] - lap0buf[lap0_p + 0]);
Dss = lap0buf[lap0_p + 0] + (-2.0f * lap1buf[lap1_p + 0]) + lap2buf[lap2_p + 0];
Dxs = 0.25f * ((lap0buf[lap0_p - 1] - lap0buf[lap0_p + 1]) + (-lap2buf[lap2_p - 1] + lap2buf[lap2_p + 1]));
Dys = 0.25f * ((lap0buf[lap0_pm1 + 0] - lap0buf[lap0_pp1 + 0]) + (-lap2buf[lap2_pm1 + 0] + lap2buf[lap2_pp1 + 0]));
// H
H[0] = Dxx;
H[1] = Dxy;
H[2] = Dxs;
H[3] = Dxy;
H[4] = Dyy;
H[5] = Dys;
H[6] = Dxs;
H[7] = Dys;
H[8] = Dss;
// b
b[0] = -Dx;
b[1] = -Dy;
b[2] = -Ds;
}
// inline void ComputeSubpixelHessianFineOctavePair(
// float H[9],float b[3],
// const Image& lap0,const Image& lap1,const Image& lap2,
// int x,int y)
private void ComputeSubpixelHessianFineOctavePair(double[] H, double[] b, LaplacianImage lap0, LaplacianImage lap1,
LaplacianImage lap2, int x, int y)
{
double x_div_2, y_div_2;
double val;
double Dx, Dy, Ds;
double Dxx, Dyy, Dxy;
double Dss, Dxs, Dys;
//assert (x - 1) >= 0 && (x + 1) < lap1.getWidth();
//assert (y - 1) >= 0 && (y + 1) < lap1.getHeight();
//assert lap0.getWidth() == lap1.getWidth();
//assert (lap0.getWidth() >> 1) == lap2.getWidth();
//assert lap0.getHeight() == lap1.getHeight();
//assert (lap0.getHeight() >> 1) == lap2.getHeight();
int lap0_pm1 = lap0.get(y - 1) + x;
int lap0_p = lap0.get(y) + x;
int lap0_pp1 = lap0.get(y + 1) + x;
int lap1_p = lap1.get(y) + x;
double[] tmp = new double[5];
bilinear_downsample_point(tmp, x, y, 1);
x_div_2 = tmp[0];
y_div_2 = tmp[1];
//assert x_div_2 - 0.5f >= 0;
//assert y_div_2 - 0.5f >= 0;
//assert x_div_2 + 0.5f < lap2.getWidth();
//assert y_div_2 + 0.5f < lap2.getHeight();
// Compute spatial derivatives
// ComputeSubpixelDerivatives(Dx, Dy, Dxx, Dyy, Dxy, lap1, x, y);
lap1.computeSubpixelDerivatives(x, y, tmp);
Dx = tmp[0];
Dy = tmp[1];
Dxx = tmp[2];
Dyy = tmp[3];
Dxy = tmp[4];
// Interpolate the VALUE at the coarser octave
val = lap2.bilinearInterpolation(x_div_2, y_div_2);
double[] lap0_buf = (double[])lap0.getBuffer();
double[] lap1_buf = (double[])lap1.getBuffer();
Ds = 0.5f * (val - lap0_buf[lap0_p + 0]);
Dss = lap0_buf[lap0_p + 0] + (-2.0f * lap1_buf[lap1_p + 0]) + val;
Dxs = 0.25f * (
(lap0_buf[lap0_p - 1] + lap2.bilinearInterpolation(x_div_2 + .5f, y_div_2))
- (lap0_buf[lap0_p + 1] + lap2.bilinearInterpolation(x_div_2 - .5f, y_div_2))
);
Dys = 0.25f * (
(lap0_buf[lap0_pm1 + 0] + lap2.bilinearInterpolation(x_div_2, y_div_2 + .5f))
- (lap0_buf[lap0_pp1 + 0] + lap2.bilinearInterpolation(x_div_2, y_div_2 - .5f))
);
// H
H[0] = Dxx;
H[1] = Dxy;
H[2] = Dxs;
H[3] = Dxy;
H[4] = Dyy;
H[5] = Dys;
H[6] = Dxs;
H[7] = Dys;
H[8] = Dss;
// b
b[0] = -Dx;
b[1] = -Dy;
b[2] = -Ds;
}
// private void ComputeSubpixelHessianCoarseOctavePair(
// float H[9],float b[3],
// const Image& lap0,const Image& lap1,const Image& lap2,
// int x,int y)
private void ComputeSubpixelHessianCoarseOctavePair(double[] H, double[] b, LaplacianImage lap0, LaplacianImage lap1,
LaplacianImage lap2, int x, int y)
{
double val;
double x_mul_2, y_mul_2;
double Dx, Dy, Ds;
double Dxx, Dyy, Dxy;
double Dss, Dxs, Dys;
//assert (x - 1) >= 0 && (x + 1) < lap1.getWidth();
//assert (y - 1) >= 0 && (y + 1) < lap1.getHeight();
//assert (lap0.getWidth() >> 1) == lap1.getWidth();
//assert (lap0.getWidth() >> 1) == lap2.getWidth();
//assert (lap0.getHeight() >> 1) == lap1.getHeight();
//assert (lap0.getHeight() >> 1) == lap2.getHeight();
int lap1_p = lap1.get(y) + x;
int lap2_pm1 = lap2.get(y - 1) + x;
int lap2_p = lap2.get(y) + x;
int lap2_pp1 = lap2.get(y + 1) + x;
double[] tmp = new double[5];
// Upsample the point to the higher octave
bilinear_upsample_point(tmp, x, y, 1);
x_mul_2 = tmp[0];
y_mul_2 = tmp[1];
// Compute spatial derivatives
// ComputeSubpixelDerivatives(Dx, Dy, Dxx, Dyy, Dxy, lap1, x, y);
lap1.computeSubpixelDerivatives(x, y, tmp);
Dx = tmp[0];
Dy = tmp[1];
Dxx = tmp[2];
Dyy = tmp[3];
Dxy = tmp[4];
// Interpolate the VALUE at the finer octave
val = lap0.bilinearInterpolation(x_mul_2, y_mul_2);
double[] lap2buf = (double[])lap2.getBuffer();
double[] lap1buf = (double[])lap1.getBuffer();
Ds = 0.5f * (lap2buf[lap2_p + 0] - val);
Dss = val + (-2.0f * lap1buf[lap1_p + 0]) + lap2buf[lap2_p + 0];
Dxs = 0.25f * ((lap0.bilinearInterpolation(x_mul_2 - 2, y_mul_2) + lap2buf[lap2_p + 1]) - (lap0.bilinearInterpolation(
x_mul_2 + 2, y_mul_2) + lap2buf[lap2_p - 1]));
Dys = 0.25f * ((lap0.bilinearInterpolation(x_mul_2, y_mul_2 - 2) + lap2buf[lap2_pp1 + 0]) - (lap0.bilinearInterpolation(
x_mul_2, y_mul_2 + 2) + lap2buf[lap2_pm1 + 0]));
// H
H[0] = Dxx;
H[1] = Dxy;
H[2] = Dxs;
H[3] = Dxy;
H[4] = Dyy;
H[5] = Dys;
H[6] = Dxs;
H[7] = Dys;
H[8] = Dss;
// b
b[0] = -Dx;
b[1] = -Dy;
b[2] = -Ds;
}
