00001 00002 /** 00003 * @file SUSANEdgeDetectionLite.h 00004 * Declaration of file SUSANEdgeDetectionLite. 00005 * 00006 * @author <A href=mailto:walter.nistico@uni-dortmund.de>Walter Nistico</A> 00007 */ 00008 00009 #ifndef _SUSANEdgeDetectionLite_h_ 00010 #define _SUSANEdgeDetectionLite_h_ 00011 00012 #include "Representations/Perception/Image.h" 00013 #include <math.h> 00014 00015 /** 00016 * @class SUSANEdgeDetectionLite 00017 * 00018 * This class represents a non-linear image edge detection filter. 00019 * Unlike traditional edge detectors gradient based like Sobel or LoG, this filter doesnt perform a derivative operation on the image, 00020 * (which is an hi-pass characteristic) thus has a better noise-rejection performance. 00021 * This implementation is dubbed "Lite" as the heaviest passes of the full algorithm (edge direction calculation, non-maxima suppression, binary thinning) 00022 * have been stripped out for performance reasons. 00023 * 00024 * @author <A href=mailto:walter.nistico@uni-dortmund.de>Walter Nistico</A> 00025 */ 00026 class SUSANEdgeDetectionLite 00027 { 00028 00029 public: 00030 00031 enum ColorSpectra {componentA=0, componentB, componentC}; 00032 enum {GEOMETRIC_THRESHOLD=255*8*3/4}; 00033 00034 /** Constructor */ 00035 SUSANEdgeDetectionLite(int edgeThreshold); 00036 00037 /** Destructor */ 00038 ~SUSANEdgeDetectionLite(); 00039 00040 /** 00041 * Checks if a given point is an edge point. 00042 * @param image The source image 00043 * @param X The X coordinate of the given point 00044 * @param Y The Y coordinate of the given point 00045 * @param channel The chosen color spectrum (Y, U, or V for ex.) 00046 * @return is the point an edge point? 00047 */ 00048 bool isEdgePoint(const Image& image, int X, int Y, ColorSpectra channel) const; 00049 00050 private: 00051 00052 /** 00053 * A LookUpTable containing a correlation function 00054 */ 00055 unsigned char Susan_LUT[255]; 00056 00057 /** 00058 * Initializes the LookUpTable 00059 */ 00060 void setupSusanLUT(int threshold); 00061 00062 /** 00063 * The correlation function, precomputed 00064 */ 00065 inline unsigned char correlation(int delta) const 00066 { 00067 return Susan_LUT[(delta>>1)+127]; 00068 } 00069 00070 }; 00071 00072 #endif // _SUSANEdgeDetectionLite_h_ 00073 00074 /* 00075 * Change log : 00076 * 00077 * $Log: SUSANEdgeDetectionLite.h,v $ 00078 * Revision 1.2 2004/06/01 13:23:01 nistico 00079 * *** empty log message *** 00080 * 00081 * Revision 1.1.1.1 2004/05/22 17:19:53 cvsadm 00082 * created new repository GT2004_WM 00083 * 00084 * Revision 1.3 2004/03/19 11:04:58 nistico 00085 * Some corrections and restructuring 00086 * 00087 * Revision 1.2 2004/03/11 21:00:39 schmidtb 00088 * removed errors with enums and destructor 00089 * 00090 * Revision 1.1 2004/03/03 13:43:52 nistico 00091 * -Added SUSANEdgeDetectionLite 00092 * 00093 * 00094 * 00095 */
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