image-js/lib/featureMatching/keypoints/getOrientedFastKeypoints.js

Image processing and manipulation in JavaScript

import { getClockwiseAngle } from '../../maskAnalysis/utils/getAngle.js';
import { toDegrees } from '../../utils/geometry/angles.js';
import { getRadius } from '../../utils/getRadius.js';
import { checkBorderDistance } from '../utils/checkBorderDistance.js';
import { getFastKeypoints } from './getFastKeypoints.js';
import { getPatchIntensityCentroid } from './getPatchIntensityCentroid.js';
/**
 * Find the oriented FAST features in a GREY image.
 * How to add orientation to FAST is described in: http://www.gwylab.com/download/ORB_2012.pdf
 * Basically, the intensity centroid of the window around the corner is computed and the
 * orientation is given by the vector from the center to the intensity centroid.
 * @param image - The image to process.
 * @param options - Get oriented FAST keypoints options.
 * @returns The oriented FAST keypoints.
 */
export function getOrientedFastKeypoints(image, options = {}) {
    const { centroidPatchDiameter: windowSize = 7 } = options;
    const fastKeypoints = getFastKeypoints(image, options);
    const radius = getRadius(windowSize);
    // handle edge cases: remove keypoints too close to border
    const keypoints = [];
    for (const keypoint of fastKeypoints) {
        if (checkBorderDistance(image, keypoint.origin, radius)) {
            keypoints.push(keypoint);
        }
    }
    const orientedFastKeypoints = [];
    for (const keypoint of keypoints) {
        const centroid = getPatchIntensityCentroid(image, {
            center: keypoint.origin,
            radius,
        })[0];
        const angle = toDegrees(getClockwiseAngle({ column: 0, row: 0 }, centroid));
        orientedFastKeypoints.push({ ...keypoint, angle });
    }
    return orientedFastKeypoints;
}
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