susan特征检测c++函数

#include"susan.h" void GetUSAN(Mat &USAN,Mat &GRAY, vector<Point2i> &offset, uchar radius, uchar t, float Quality) { //获取图像大小 ushort W = GRAY.cols; ushort H = GRAY.rows; //边界处理 Mat exIMG(H+ radius * 2, W + radius * 2,CV_8UC1);//(H+2r)x(W+2r)边缘处理 copyMakeBorder(GRAY, exIMG, radius, radius,radius, radius, BORDER_REPLICATE); //SUSAN检测 if (USAN.isContinuous())//存储空间连续 { uchar* Uptr = USAN.data; //Uprt指向新矩阵(or USAN.data) for (int nucleasY = radius; nucleasY <= exIMG.rows - radius - 1; ++nucleasY)//网格遍历 { for (int nucleasX = radius; nucleasX <= exIMG.cols - radius - 1; ++nucleasX) { size_t sizeOftemp = offset.size();//模板大小初始化 uchar usan = 0; uchar center = *exIMG.ptr(nucleasY, nucleasX); if (Uptr != NULL) { while (sizeOftemp > 0)//遍历模板 offset[0]~offset[size0ftemp-1] { --sizeOftemp; int delta_x = offset[sizeOftemp].x;//偏移地址x分量 int delta_y = offset[sizeOftemp].y;//偏移地址y分量 uchar h = *exIMG.ptr(nucleasY + delta_y, nucleasX + delta_x); uchar delta = abs(h - center); if (delta < t)//若低于阈值则收纳 { ++usan; } } } *Uptr++ =usan;//获取该像素的usan } } } else//存储空间不连续 { for (int nucleasY = radius; nucleasY <= exIMG.rows - radius - 1; ++nucleasY)//网格遍历 { for (int nucleasX = radius; nucleasX <= exIMG.cols - radius - 1; ++nucleasX) { size_t sizeOftemp = offset.size();//模板大小初始化 uchar usan = 0; uchar center = exIMG.at<uchar>(nucleasY, nucleasX); while (sizeOftemp > 0)//遍历模板 offset[0]~offset[size0ftemp-1] { --sizeOftemp; int delta_x = offset[sizeOftemp].x;//偏移地址x分量 int delta_y = offset[sizeOftemp].y;//偏移地址y分量 uchar h = exIMG.at<uchar>(nucleasY + delta_y, nucleasX + delta_x); uchar delta = abs(h - center); if (delta < t)//若低于阈值则收纳 { ++usan; } } USAN.at<uchar>(nucleasY-radius , nucleasX-radius ) = usan;//获取该像素的usan } } } //初步获得初态USAN过后，需要进一步优化获取终态 //formula： USAN(r0) = g - USAN(r0), if USAN(r0) < g // 0 , otherwise // where g = Quality * max(USAN(:)), 初态USAN越小边缘响应越强, 其中角点极小，对应终态USAN极大 double maxv, g; minMaxIdx(USAN, NULL, &maxv);//得到USAN的最大值 g = Quality * maxv; //定义质量分割阈值 uchar* ptr = USAN.ptr(0, 0); //指向USAN首个元素 uint N = (uint)USAN.total(); cout << "N = " << N << endl; while (N > 0)//遍历USAN { if (*ptr < g) { *ptr = (uchar)g - *ptr; } else { *ptr = 0; } ++ptr; --N; } }