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/********************************
Author: Sravanthi Kota Venkata
********************************/
#include "tracking.h"
/** Computes lambda matrix, strength at each pixel
det = determinant( [ IverticalEdgeSq IhorzVertEdge; IhorzVertEdge IhorizontalEdgeSq] ) ;
tr = IverticalEdgeSq + IhorizontalEdgeSq;
lamdba = det/tr;
Lambda is the measure of the strength of pixel
neighborhood. By strength we mean the amount of
edge information it has, which translates to
sharp features in the image.
Input: Edge images - vertical and horizontal
Window size (neighborhood size)
Output: Lambda, strength of pixel neighborhood
Given the edge images, we compute strength based
on how strong the edges are within each neighborhood.
**/
F2D* calcGoodFeature(F2D* verticalEdgeImage, F2D* horizontalEdgeImage, int cols, int rows, int winSize)
{
int i, j, k, ind;
F2D *verticalEdgeSq, *horizontalEdgeSq, *horzVertEdge;
F2D *tr, *det, *lambda;
F2D *cummulative_verticalEdgeSq, *cummulative_horzVertEdge, *cummulative_horizontalEdgeSq;
verticalEdgeSq = fMallocHandle(rows, cols);
horzVertEdge = fMallocHandle(rows, cols);
horizontalEdgeSq = fMallocHandle(rows, cols);
for( i=0; i<rows; i++)
{
for( j=0; j<cols; j++)
{
subsref(verticalEdgeSq,i,j) = subsref(verticalEdgeImage,i,j) * subsref(verticalEdgeImage,i,j);
subsref(horzVertEdge,i,j) = subsref(verticalEdgeImage,i,j) * subsref(horizontalEdgeImage,i,j);
subsref(horizontalEdgeSq,i,j) = subsref(horizontalEdgeImage,i,j) * subsref(horizontalEdgeImage,i,j);
}
}
cummulative_verticalEdgeSq = calcAreaSum(verticalEdgeSq, cols, rows, winSize);
cummulative_horzVertEdge = calcAreaSum(horzVertEdge, cols, rows, winSize);
cummulative_horizontalEdgeSq = calcAreaSum(horizontalEdgeSq, cols, rows, winSize);
tr = fMallocHandle(rows, cols);
det = fMallocHandle(rows, cols);
lambda = fMallocHandle(rows, cols);
for( i=0; i<rows; i++)
{
for( j=0; j<cols; j++)
{
subsref(tr,i,j) = subsref(cummulative_verticalEdgeSq,i,j) + subsref(cummulative_horizontalEdgeSq,i,j);
subsref(det,i,j) = subsref(cummulative_verticalEdgeSq,i,j) * subsref(cummulative_horizontalEdgeSq,i,j) - subsref(cummulative_horzVertEdge,i,j) * subsref(cummulative_horzVertEdge,i,j);
subsref(lambda,i,j) = ( subsref(det,i,j) / (subsref(tr,i,j)+0.00001) ) ;
}
}
fFreeHandle(verticalEdgeSq);
fFreeHandle(horzVertEdge);
fFreeHandle(horizontalEdgeSq);
fFreeHandle(cummulative_verticalEdgeSq);
fFreeHandle(cummulative_horzVertEdge);
fFreeHandle(cummulative_horizontalEdgeSq);
fFreeHandle(tr);
fFreeHandle(det);
return lambda;
}
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