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points_lepetit — Detect points of interest using the Lepetit operator.
points_lepetit(Image : : Radius, CheckNeighbor, MinCheckNeighborDiff, MinScore, Subpix : Row, Column)
points_lepetit extracts points of interest like corners or blob-like structures from Image. The Image is first smoothed with a median of size 3x3. Then, all the gray values on a circle with radius Radius around an interest point candidate (m) are examined. The absolute differences of two diagonally opposed gray values (m1,m2) on the circle to the central pixel m is computed. At least one of these differences has to be larger than MinCheckNeighborDiff. All diagonally opposed pixels on the circle must fulfill that condition. To suppress detection of points at edges that have a small curvature (aliasing), it is possible to compute CheckNeighbor further differences of circle point neighbors of m1 and m2 to the center, that as well fulfill the above criteria. By computing all gray value differences of the circle points to the center, a mean gray value difference is determined. That value has to be larger than MinScore and allows to restrict the results to points with high contrast. By computing the score of all eight neighbors of m, it is possible to fit a quadratic equation to that. The maxima of that equation determines a subpixel accurate interest point position. By setting the parameter Subpix to 'true' or 'false' (default), it is possible to turn that refinement step on or off. The resulting points are returned in Row and Column. The operator points_lepetit can especially be used for very fast interest point extraction. The results are however less robust than points extracted by points_harris for example.
Input image.
Radius of the circle.
Default value: 3
List of values: 3, 5, 6, 7, 8, 9, 10, 15
Number of checked neighbors on the circle.
Default value: 1
List of values: 1, 2, 3, 5
Threshold of grayvalue difference to each circle point.
Default value: 15
List of values: 10, 15, 20, 25, 30, 35, 40, 45, 60, 80
Threshold of grayvalue difference to all circle points.
Default value: 30
List of values: 5, 10, 15, 20, 25, 30
Subpixel accuracy of point coordinates.
Default value: 'interpolation'
List of values: 'none', 'interpolation'
Row-coordinates of the detected points.
Column-coordinates of the detected points.
points_foerstner, points_harris, points_harris_binomial, points_sojka
Foundation
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| HALCON Reference Manual 10.0.2 | Copyright © 1996-2011 MVTec Software GmbH |