Repository: sun11/sw-sift Branch: master Commit: 3bfb1ac676ce Files: 18 Total size: 229.1 KB Directory structure: gitextract_rgsa_otb/ ├── LICENSE ├── README.md ├── addOriFeatures.m ├── book.pgm ├── calcGrad.m ├── drawFeatures.m ├── drawMatched.m ├── gaussian.m ├── getFeatures.m ├── hist2Descr.m ├── interpHistEntry.m ├── interpLocation.m ├── isEdgeLike.m ├── match.m ├── oriHist.m ├── scene.pgm ├── smoothOriHist.m └── swSift.m ================================================ FILE CONTENTS ================================================ ================================================ FILE: LICENSE ================================================ Copyright (c) 2016, Starsky Wong All rights reserved. The following patent has been issued for methods embodied in this software: "Method and apparatus for identifying scale invariant features in an image and use of same for locating an object in an image," David G. Lowe, US Patent 6,711,293 (March 23, 2004). Provisional application filed March 8, 1999. Asignee: The University of British Columbia. For further details, contact David Lowe (lowe@cs.ubc.ca) or the University-Industry Liaison Office of the University of British Columbia. Note that restrictions imposed by this patent (and possibly others) exist independently of and may be in conflict with the freedoms granted in this license, which refers to copyright of the program, not patents for any methods that it implements. Both copyright and patent law must be obeyed to legally use and redistribute this program and it is not the purpose of this license to induce you to infringe any patents or other property right claims or to contest validity of any such claims. If you redistribute or use the program, then this license merely protects you from committing copyright infringement. It does not protect you from committing patent infringement. So, before you do anything with this program, make sure that you have permission to do so not merely in terms of copyright, but also in terms of patent law. Please note that this license is not to be understood as a guarantee either. If you use the program according to this license, but in conflict with patent law, it does not mean that the licensor will refund you for any losses that you incur if you are sued for your patent infringement. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright and patent notices, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Oregon State University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ================================================ FILE: README.md ================================================ # SW-SIFT This is a Matlab implementation of SIFT algorithm. The parameters and procedure are almost the same as Rob Hess's [opensift](https://github.com/robwhess/opensift) except for the match step. An article about sw-sift is [here](http://www.sun11.me/blog/2016/sift-implementation-in-matlab/)(in Chinese). # License The SIFT algorithm is patented in the United States and cannot be used in commercial products without a license from the University of British Columbia. For more information, refer to the file LICENSE. ================================================ FILE: addOriFeatures.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [feat_index] = addOriFeatures(ddata_index,feat_index,ddata,hist,n,ori_peak_ratio) % Function: Add good orientation for keypoints global features; global init_sigma; global intvls; omax = dominantOri(hist,n); for i = 1:n if (i==1) l = n; r = 2; elseif (i==n) l = n-1; r = 1; else l = i-1; r = i+1; end if ( hist(i) > hist(l) && hist(i) > hist(r) && hist(i) >= ori_peak_ratio*omax ) bin = i + interp_hist_peak(hist(l),hist(i),hist(r)); if ( bin -1 <= 0 ) bin = bin + n; % i think it's theoretically impossible elseif ( bin -1 > n ) bin = bin - n; disp('###################what the fuck?###################'); end accu_intvl = ddata.intvl + ddata.x_hat(3); features(feat_index).ddata_index = ddata_index; % first octave is double size features(feat_index).x = (ddata.x + ddata.x_hat(1))*2^(ddata.octv-2); features(feat_index).y = (ddata.y + ddata.x_hat(2))*2^(ddata.octv-2); features(feat_index).scl = init_sigma * power(2,ddata.octv-2 + (accu_intvl-1)/intvls); features(feat_index).ori = (bin-1)/n*2*pi - pi; feat_index = feat_index + 1; end end end function [omax] = dominantOri(hist,n) omax = hist(1); for i = 2:n if(hist(i) > omax) omax = hist(i); end end end function [position] = interp_hist_peak(l,c,r) position = 0.5*(l-r)/(l-2*c+r); end ================================================ FILE: book.pgm ================================================ P5 338 289 255           "+'+'/$'&'()&&$'+-.1378;8?=>C?4>18>9===@HAJIFGEFGHIHNJKGCDEB@D@ABC>6434=CCACE@ABA@?>74.-0478946377;98?AAC=GF>FKJNQMX\XUYUZ^]]lqxh@76K'BYorjnijgjgc_]dba^dcdbfbhkolnoijha`ceehkifhbmb]WMV^^XZ]OVWSUUWRSRKNMFJHJIJKLEDGCGDFA8533=C@AB?=:;>>;982/0-2679;88776:>@AA;9668433344323502/-++(%,)(,+*-,*.))((&)(,%"!&##$*-)&'"!#$$$"## ""!"$$!!" 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"#$#$#!'%$%!" &'(+&+1%*&! $&!#'*''$%&($+24: %)"#$"$(('$$#$$##&)+(! #'$"("()()$./,:BB?86 {#,,/,*./-.)-% !&$($ "(&%'+#           ================================================ FILE: calcGrad.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [mag_ori] = calcGrad(img,x,y) % Function: Calculate gradients for image pixels [height,width] = size(img); mag_ori = [0 0]; if (x > 1 && x < height && y > 1 && y < width) % x is vertical, from up to down dx = img(x-1,y) - img(x+1,y); dy = img(x,y+1) - img(x,y-1); mag_ori(1) = sqrt(dx*dx + dy*dy); mag_ori(2) = atan2(dx,dy); else mag_ori = -1; end end ================================================ FILE: drawFeatures.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [] = drawFeatures( img, loc ) % Function: Draw sift feature points figure; imshow(img); hold on; plot(loc(:,2),loc(:,1),'+g'); end ================================================ FILE: drawMatched.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [] = drawMatched( matched, img1, img2, loc1, loc2 ) % Function: Draw matched points % Create a new image showing the two images side by side. img3 = appendimages(img1,img2); % Show a figure with lines joining the accepted matches. figure('Position', [100 100 size(img3,2) size(img3,1)]); colormap gray; imagesc(img3); hold on; cols1 = size(img1,2); n = size(matched,2); colors = ['c','m','y']; colors_n = length(colors); for i = 1: n if (matched(i) > 0) color = colors(randi(colors_n)); line([loc1(i,2) loc2(matched(i),2)+cols1], ... [loc1(i,1) loc2(matched(i),1)], 'Color', color); end end hold off; num = sum(matched > 0); fprintf('Found %d matches.\n', num); end function im = appendimages(image1, image2) % im = appendimages(image1, image2) % % Return a new image that appends the two images side-by-side. % Select the image with the fewest rows and fill in enough empty rows % to make it the same height as the other image. rows1 = size(image1,1); rows2 = size(image2,1); if (rows1 < rows2) image1(rows2,1) = 0; else image2(rows1,1) = 0; end % Now append both images side-by-side. im = [image1 image2]; end ================================================ FILE: gaussian.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [ out_img ] = gaussian( input_img, sigma ) % Function: Gaussian smooth for an image k = 3; hsize = round(2*k*sigma+1); if mod(hsize,2) == 0 hsize = hsize+1; end g = fspecial('gaussian',hsize,sigma); out_img = conv2(input_img,g,'same'); end ================================================ FILE: getFeatures.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [ descrs, locs ] = getFeatures( input_img ) % Function: Get sift features and descriptors global gauss_pyr; global dog_pyr; global init_sigma; global octvs; global intvls; global ddata_array; global features; if(size(input_img,3)==3) input_img = rgb2gray(input_img); end input_img = im2double(input_img); %% Build DoG Pyramid % initial sigma init_sigma = 1.6; % number of intervals per octave intvls = 3; s = intvls; k = 2^(1/s); sigma = ones(1,s+3); sigma(1) = init_sigma; sigma(2) = init_sigma*sqrt(k*k-1); for i = 3:s+3 sigma(i) = sigma(i-1)*k; end % default cubic method input_img = imresize(input_img,2); % assume the original image has a blur of sigma = 0.5 input_img = gaussian(input_img,sqrt(init_sigma^2-0.5^2*4)); % smallest dimension of top level is about 8 pixels octvs = floor(log( min(size(input_img)) )/log(2) - 2); % gaussian pyramid [img_height,img_width] = size(input_img); gauss_pyr = cell(octvs,1); % set image size gimg_size = zeros(octvs,2); gimg_size(1,:) = [img_height,img_width]; for i = 1:octvs if (i~=1) gimg_size(i,:) = [round(size(gauss_pyr{i-1},1)/2),round(size(gauss_pyr{i-1},2)/2)]; end gauss_pyr{i} = zeros( gimg_size(i,1),gimg_size(i,2),s+3 ); end for i = 1:octvs for j = 1:s+3 if (i==1 && j==1) gauss_pyr{i}(:,:,j) = input_img; % downsample for the first image in an octave, from the s+1 image % in previous octave. elseif (j==1) gauss_pyr{i}(:,:,j) = imresize(gauss_pyr{i-1}(:,:,s+1),0.5); else gauss_pyr{i}(:,:,j) = gaussian(gauss_pyr{i}(:,:,j-1),sigma(j)); end end end % dog pyramid dog_pyr = cell(octvs,1); for i = 1:octvs dog_pyr{i} = zeros(gimg_size(i,1),gimg_size(i,2),s+2); for j = 1:s+2 dog_pyr{i}(:,:,j) = gauss_pyr{i}(:,:,j+1) - gauss_pyr{i}(:,:,j); end end % for i = 1:size(dog_pyr,1) % for j = 1:size(dog_pyr{i},3) % imwrite(im2bw(im2uint8(dog_pyr{i}(:,:,j)),0),['dog_pyr\dog_pyr_',num2str(i),num2str(j),'.png']); % end % end %% Accurate Keypoint Localization % width of border in which to ignore keypoints img_border = 5; % maximum steps of keypoint interpolation max_interp_steps = 5; % low threshold on feature contrast contr_thr = 0.04; % high threshold on feature ratio of principal curvatures curv_thr = 10; prelim_contr_thr = 0.5*contr_thr/intvls; ddata_array = struct('x',0,'y',0,'octv',0,'intvl',0,'x_hat',[0,0,0],'scl_octv',0); ddata_index = 1; for i = 1:octvs [height, width] = size(dog_pyr{i}(:,:,1)); % find extrema in middle intvls for j = 2:s+1 dog_imgs = dog_pyr{i}; dog_img = dog_imgs(:,:,j); for x = img_border+1:height-img_border for y = img_border+1:width-img_border % preliminary check on contrast if(abs(dog_img(x,y)) > prelim_contr_thr) % check 26 neighboring pixels if(isExtremum(j,x,y)) ddata = interpLocation(dog_imgs,height,width,i,j,x,y,img_border,contr_thr,max_interp_steps); if(~isempty(ddata)) if(~isEdgeLike(dog_img,ddata.x,ddata.y,curv_thr)) ddata_array(ddata_index) = ddata; ddata_index = ddata_index + 1; end end end end end end end end function [ flag ] = isExtremum( intvl, x, y) % Function: Find Extrema in 26 neighboring pixels value = dog_imgs(x,y,intvl); block = dog_imgs(x-1:x+1,y-1:y+1,intvl-1:intvl+1); if ( value > 0 && value == max(block(:)) ) flag = 1; elseif ( value == min(block(:)) ) flag = 1; else flag = 0; end end %% Orientation Assignment % number of detected points n = size(ddata_array,2); % determines gaussian sigma for orientation assignment ori_sig_factr = 1.5; % number of bins in histogram ori_hist_bins = 36; % orientation magnitude relative to max that results in new feature ori_peak_ratio = 0.8; % array of feature features = struct('ddata_index',0,'x',0,'y',0,'scl',0,'ori',0,'descr',[]); feat_index = 1; for i = 1:n ddata = ddata_array(i); ori_sigma = ori_sig_factr * ddata.scl_octv; % generate a histogram for the gradient distribution around a keypoint hist = oriHist(gauss_pyr{ddata.octv}(:,:,ddata.intvl),ddata.x,ddata.y,ori_hist_bins,round(3*ori_sigma),ori_sigma); for j = 1:2 smoothOriHist(hist,ori_hist_bins); end % generate feature from ddata and orientation hist peak % add orientations greater than or equal to 80% of the largest orientation magnitude feat_index = addOriFeatures(i,feat_index,ddata,hist,ori_hist_bins,ori_peak_ratio); end %% Descriptor Generation % number of features n = size(features,2); % width of 2d array of orientation histograms descr_hist_d = 4; % bins per orientation histogram descr_hist_obins = 8; % threshold on magnitude of elements of descriptor vector descr_mag_thr = 0.2; descr_length = descr_hist_d*descr_hist_d*descr_hist_obins; local_features = features; local_ddata_array = ddata_array; local_gauss_pyr = gauss_pyr; clear features; clear ddata_array; clear gauss_pyr; clear dog_pyr; parfor feat_index = 1:n feat = local_features(feat_index); ddata = local_ddata_array(feat.ddata_index); gauss_img = local_gauss_pyr{ddata.octv}(:,:,ddata.intvl); % computes the 2D array of orientation histograms that form the feature descriptor hist_width = 3*ddata.scl_octv; radius = round( hist_width * (descr_hist_d + 1) * sqrt(2) / 2 ); feat_ori = feat.ori; ddata_x = ddata.x; ddata_y = ddata.y; hist = zeros(1,descr_length); for i = -radius:radius for j = -radius:radius j_rot = j*cos(feat_ori) - i*sin(feat_ori); i_rot = j*sin(feat_ori) + i*cos(feat_ori); r_bin = i_rot/hist_width + descr_hist_d/2 - 0.5; c_bin = j_rot/hist_width + descr_hist_d/2 - 0.5; if (r_bin > -1 && r_bin < descr_hist_d && c_bin > -1 && c_bin < descr_hist_d) mag_ori = calcGrad(gauss_img,ddata_x+i,ddata_y+j); if (mag_ori(1) ~= -1) ori = mag_ori(2); ori = ori - feat_ori; while (ori < 0) ori = ori + 2*pi; end % i think it's theoretically impossible while (ori >= 2*pi) ori = ori - 2*pi; disp('###################what the fuck?###################'); end o_bin = ori * descr_hist_obins / (2*pi); w = exp( -(j_rot*j_rot+i_rot*i_rot) / (2*(0.5*descr_hist_d*hist_width)^2) ); hist = interpHistEntry(hist,r_bin,c_bin,o_bin,mag_ori(1)*w,descr_hist_d,descr_hist_obins); end end end end local_features(feat_index) = hist2Descr(feat,hist,descr_mag_thr); end % sort the descriptors by descending scale order features_scl = [local_features.scl]; [~,features_order] = sort(features_scl,'descend'); % return descriptors and locations descrs = zeros(n,descr_length); locs = zeros(n,2); for i = 1:n descrs(i,:) = local_features(features_order(i)).descr; locs(i,1) = local_features(features_order(i)).x; locs(i,2) = local_features(features_order(i)).y; end end ================================================ FILE: hist2Descr.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [feat] = hist2Descr(feat,descr,descr_mag_thr) % Function: Convert histogram to descriptor descr = descr/norm(descr); descr = min(descr_mag_thr,descr); descr = descr/norm(descr); feat.descr = descr; end ================================================ FILE: interpHistEntry.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [hist] = interpHistEntry(hist,r,c,o,m,d,obins) % Function: Interplation for hist entry r0 = floor(r); c0 = floor(c); o0 = floor(o); d_r = r - r0; d_c = c - c0; d_o = o - o0; for i = 0:1 r_index = r0 + i; if (r_index >= 0 && r_index < d) for j = 0:1 c_index = c0 + j; if (c_index >=0 && c_index < d) for k = 0:1 o_index = mod(o0+k,obins); % if i == 0, m*(1-d_r)*... % if i == 1, m*d_r*... value = m * ( 0.5 + (d_r - 0.5)*(2*i-1) ) ... * ( 0.5 + (d_c - 0.5)*(2*j-1) ) ... * ( 0.5 + (d_o - 0.5)*(2*k-1) ); hist_index = r_index*d*obins + c_index*obins + o_index +1; hist(hist_index) = hist(hist_index) + value; end end end end end end ================================================ FILE: interpLocation.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [ ddata ] = interpLocation( dog_imgs, height, width, octv, intvl, x, y, img_border, contr_thr, max_interp_steps ) % Function: Interpolates a scale-space extremum's location and scale global init_sigma; global intvls; i = 1; while (i <= max_interp_steps) dD = deriv3D(intvl,x,y); H = hessian3D(intvl,x,y); [U,S,V] = svd(H); T=S; T(S~=0) = 1./S(S~=0); svd_inv_H = V * T' * U'; x_hat = - svd_inv_H*dD; if( abs(x_hat(1)) < 0.5 && abs(x_hat(2)) < 0.5 && abs(x_hat(3)) < 0.5) break; end x = x + round(x_hat(1)); y = y + round(x_hat(2)); intvl = intvl + round(x_hat(3)); if (intvl < 2 || intvl > intvls+1 || x <= img_border || y <= img_border || x > height-img_border || y > width-img_border) ddata = []; return; end i = i+1; end if (i > max_interp_steps) ddata = []; return; end contr = dog_imgs(x,y,intvl) + 0.5*dD'*x_hat; if ( abs(contr) < contr_thr/intvls ) ddata = []; return; end ddata.x = x; ddata.y = y; ddata.octv = octv; ddata.intvl = intvl; ddata.x_hat = x_hat; ddata.scl_octv = init_sigma * power(2,(intvl+x_hat(3)-1)/intvls); function [ result ] = deriv3D(intvl, x, y) dx = (dog_imgs(x+1,y,intvl) - dog_imgs(x-1,y,intvl))/2; dy = (dog_imgs(x,y+1,intvl) - dog_imgs(x,y-1,intvl))/2; ds = (dog_imgs(x,y,intvl+1) - dog_imgs(x,y,intvl-1))/2; result = [dx,dy,ds]'; end function [ result ] = hessian3D(intvl, x, y) center = dog_imgs(x,y,intvl); dxx = dog_imgs(x+1,y,intvl) + dog_imgs(x-1,y,intvl) - 2*center; dyy = dog_imgs(x,y+1,intvl) + dog_imgs(x,y-1,intvl) - 2*center; dss = dog_imgs(x,y,intvl+1) + dog_imgs(x,y,intvl-1) - 2*center; dxy = (dog_imgs(x+1,y+1,intvl)+dog_imgs(x-1,y-1,intvl)-dog_imgs(x+1,y-1,intvl)-dog_imgs(x-1,y+1,intvl))/4; dxs = (dog_imgs(x+1,y,intvl+1)+dog_imgs(x-1,y,intvl-1)-dog_imgs(x+1,y,intvl-1)-dog_imgs(x-1,y,intvl+1))/4; dys = (dog_imgs(x,y+1,intvl+1)+dog_imgs(x,y-1,intvl-1)-dog_imgs(x,y-1,intvl+1)-dog_imgs(x,y+1,intvl-1))/4; result = [dxx,dxy,dxs;dxy,dyy,dys;dxs,dys,dss]; end end ================================================ FILE: isEdgeLike.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [ flag ] = isEdgeLike( img, x, y, curv_thr ) % Function: Remove edge-like points center = img(x,y); dxx = img(x,y+1) + img(x,y-1) - 2*center; dyy = img(x+1,y) + img(x-1,y) - 2*center; dxy = ( img(x+1,y+1) + img(x-1,y-1) - img(x+1,y-1) - img(x-1,y+1) )/4; tr = dxx + dyy; det = dxx * dyy - dxy * dxy; if ( det <= 0 ) flag = 1; return; elseif ( tr^2 / det < (curv_thr + 1)^2 / curv_thr ) flag = 0; else flag = 1; end end ================================================ FILE: match.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [ matched ] = match( des1, des2 ) % Function: Match descriptors from the 1st to the 2nd, return matched index. % matched vectors' angles from the nearest to second nearest neighbor is less than distRatio. distRatio = 0.6; % for each descriptor in the first image, select its match to second image. des2t = des2'; n = size(des1,1); matched = zeros(1,n); for i = 1 : n dotprods = des1(i,:) * des2t; [values,index] = sort(acos(dotprods)); if (values(1) < distRatio * values(2)) matched(i) = index(1); else matched(i) = 0; end end end ================================================ FILE: oriHist.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. function [ hist ] = oriHist( img, x, y, n, rad, sigma ) % Function: Calculate orientation histogram hist = zeros(n,1); exp_factor = 2*sigma*sigma; for i = -rad:rad for j = -rad:rad [mag_ori] = calcGrad(img,x+i,y+j); if(mag_ori(1) ~= -1) w = exp( -(i*i+j*j)/exp_factor ); bin = 1 + round( n*(mag_ori(2) + pi)/(2*pi) ); if(bin == n +1) bin = 1; end hist(bin) = hist(bin) + w*mag_ori(1); end end end end ================================================ FILE: scene.pgm ================================================ P5 512 384 255 ,,//10-/1/1/2//351100222./.1/2312444170-3/20/415730..0./+0,/,-,,,,--+,+*0,,.0-.-.1//-//./02,.,00-*+,+%!%%*'-*//20.11353345334671:3:77547666777:889<7::@<:C"'*'%$%""" &/0-20-+$/<<?>@@F>CACBA@8<=@@??>>>??>??=?><>A@ABG; *(((,)(,+*+)**&"0;@CABCCCA@EBDFBIHLD~]WB'**-,../10312,5/8),6Bdcgeegiegkjjllhllkqnmm}H*).0,,,,+,0.-,++,(36m}wz|x|wv{}yzzz\#,*)%,,&,'+#%& !#/AwPH=(#&%&$&&''+(,+...22656Oz|~~~+.-----0/14122210///.0/0//01/3121103/2.-0..00034240.-/-./../--.--,--+-,+++/-),.+,/+/,,+,-+/*-,..++,+1& $$&**/,11+3/00.31335254355153794368666967;787::;<9C"$%($&"# ! 00,/,-,&-<>=>:;=<=?@B@B>@>?=?=A<>=@<<><@==>==>>?A=<<$% (&''')+)((&'&$57>C@AAAAC?BEABDHHMB[S?-&(++-./22514130.-'5>B@B=B>A>>>>===?>?=<=A:@?$!#&$&*)(*()+)''#.:>AAABB@ABDAAEBCHG(-/&%$,//02564622/.+)2@hdcgffhjkjhofonmknkssr0%'.,*)*++-/+**),1!8;xvxwzxx}{{~{{~}x~J('(*'(*()*)&&#!"&!+T>=@>>@A??@B>A??@<@?>?@?>?>>=?<=<;?=<>=A=#$%%%#)))*)**)''%-9=@DCB?FABACDGEHE$&!(")-/2355755522,46Ajfdhiijjkihjnjjnnkmoss{+%)-(+*,-++.-,+*+,$.<~}vu{{yz}wv|~{~{~E''-)+*++))'%%$$#!!1[~q=J)+ !#$"$$&(&(*+./01/44-3y~//-011*0,//,//.22,/.*021/0111111233424222244222264412/-.3,-.,,--)+..,*.++**.-,,,/,-.2,/0*---,,-,.-,,*0 !%')*++.0,021/23.-36/137452756348749877568::7:9:=:9(#%'$##"#! !#/32./,1)0>:;=>A>@@BA:@>A?A=B=<>=AB@<>>AB?>8=<>=<=;>="'&$$%'/'*&',(-)#05?@CA@DBADCBDIHA/#48!+,.3635635432*6/Glfgefhlhkiklmnnmonknowz*+-,-.+--,++-,/*')1Fzzs~{|yw}|z}}|}||,%'&&+()%(%&%'%#"!(/a~g9A( "$"%!#&$'%+),-,00143)A}--+/--0.*..+/,./0//0,.110022222241/411/,412234344331,.0-,/,0,,-,,(-,*+(+++*,,*,,.-../-,+++*,*)+,-,*+..##('(,--...2-1)101/1014344433441434445;868::::<:;<,##&#! ! $/00.///*,;?<==>>??A@A@>?:A?>>????>A==?=@?@><=@9 %%%&&"+))&(,##)!37>A>@BBAAABEBGK5",'!$.2448984562.7/Hphhhglkjlhmklnommsonouy#(.**-/.+),-+,+,**)8Kwwz{|}y}yz}}{x|zz{{~1$&+%*%%'*$$#&&"!-0_VC:(%"$!"#&$&&%(*,+,-,012J}~/-*///---+/,.+./.0/2312001322221100332212012863332312/..,0)1,,+*),+*+,'-,+++,),,--.,-.+)+--(++,.,--++/% "%&(*+,/.../101240164444524464556666648::7:88;:<<*$#&$!  *42/0//++;?;>>??>=??>A;?>@@9>7>8<>=@@A@:@??DBBACGBG6#$(#)06685;55842;.Olmkkhmnlkkmmmopnqsqoo{v ,+/,..)*-,.,++,.,)5T|x{z{}y{{y{}w~{{}x'(#'%'''&''&'%!!!+4m~~KD:$'##!$!"$*#)(*,+-/.356_.1.0-/././0//0/0///2331232201224123511.020221134222201.0,./----,)+*++++,-**,0+.--,-*..,*-,+,,+,.--+,+0' !#&'(*,././00/0224347645340345466635679988:;99:;;=.###""  $+02/101)-=B>A>A??>????<@?@?@=;A?>>??@>AAA>@?@@?@AC><"%&&%$%+,*)','',%3;;DA>?CCACDHC@>?A<@?=A@>C>E?;C=>???<@?=A<=>C;$$($)'$&,,,*)('*(3;=CB?CAGBFCH>"$#",34674466-B-Zoiljmjjojmmmmppnpqqtpn $,,)++(+.*++..+*. /5]zwx{|~v~{y~}}|z~}l %",+%''+%'")&#$& 1>{~?G*'$" " %+')++2/2024.'}~}..,..././.-0-,1.-,11230.2201.24203121/003.41.20401130-.,.---./,-++,*,)'+()(*-+**-,,,,.,.)*,*'))+*'*+*.* "%''(+(++--,-.0/.404023333536555768655573786:;88:>4#$%&%" !-3533+1()?C=>;A@<@?>?>A>@==D9D@?<=>?>><>??=><<=:>=>7($'*!(+)()(())'&8:;C>A??ABII<% $#%*1475554.@+Xqmnnimlllomononjotrtszk)&,0&&)+,,+-+)+-'-9bxx{}~v|{~}|}|{c%#&(&)*%&'(&&%#$"+L{~~r/H%$%$! 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For more information, refer to the file LICENSE % that accompanied this distribution. function smoothOriHist(hist,n) % Function: Smooth orientation histogram for i = 1:n if (i==1) prev = hist(n); next = hist(2); elseif (i==n) prev = hist(n-1); next = hist(1); else prev = hist(i-1); next = hist(i+1); end hist(i) = 0.25*prev + 0.5*hist(i) + 0.25*next; end end ================================================ FILE: swSift.m ================================================ % % Copyright (C) 2016 Starsky Wong % % Note: The SIFT algorithm is patented in the United States and cannot be % used in commercial products without a license from the University of % British Columbia. For more information, refer to the file LICENSE % that accompanied this distribution. clear tic img1 = imread('scene.pgm'); img2 = imread('book.pgm'); [des1,loc1] = getFeatures(img1); [des2,loc2] = getFeatures(img2); matched = match(des1,des2); drawFeatures(img1,loc1); drawFeatures(img2,loc2); drawMatched(matched,img1,img2,loc1,loc2); toc