/**
* Detect scale-invariant feature points given a pyramid.
* @param _i_dog_feature_points
* 検出したDOG特徴点
*/
public void detect(GaussianScaleSpacePyramid i_pyramid, DogFeaturePointStack i_dog_feature_points)
{
//clean up 1st feature stack
DogFeaturePointStack tmp_fp = this._tmp_fps;
tmp_fp.clear();
// Compute Laplacian images (DoG)
this.mLaplacianPyramid.compute(i_pyramid);
// Detect minima and maximum in Laplacian images
this.extractFeatures(i_pyramid, this.mLaplacianPyramid, tmp_fp);
// Sub-pixel refinement
this.findSubpixelLocations(i_pyramid, tmp_fp);
// Compute the gradient pyramid
this.mOrientationAssignment.computeGradients(i_pyramid);
AreaBuckit abuckit = this.mBuckets;
if (tmp_fp.getLength() <= abuckit._buckit.Length)
{
//特徴点の数が要求数以下なら全てのポイントを使う。
for (int i = 0; i < tmp_fp.getLength(); i++)
{
this.addFeatureOrientations(i_pyramid, tmp_fp.getItem(i), i_dog_feature_points);
}
}
else
{
//特徴点を選別(Prune features)
// Clear the previous state
abuckit.clear();
// Insert each features into a bucket
for (int i = 0; i < tmp_fp.getLength(); i++)
{
DogFeaturePoint p = tmp_fp.getItem(i);
abuckit.put(p.x, p.y, i, Math.Abs(p.score));
}
// Compute an orientation for each feature point
for (int i = 0; i < abuckit._buckit.Length; i++)
{
if (abuckit._buckit[i].first == 0)
{
continue;
}
this.addFeatureOrientations(i_pyramid, tmp_fp.getItem(abuckit._buckit[i].second), i_dog_feature_points);
}
}
return;
}
