Commited original SURF V1.0.9 to Github

CHANGES

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+V1.0.9
+------
+ - Minor bugfix in interest point detection
+ - Windows version updated as well
+
+V1.0.8
+------
+ - Fixed PGM loading routine to work with all PGM file varieties
+ - Added -nl option to output descriptor without Laplacian
+ - P1 interest point loading option: too small scales could result in NaN for descriptor
+ - Fixed rare segmentation fault
+ - Included sample matching application to demonstrate use of Laplacian
+ - Sample matching also provides image output for visual testing of detection/matching result
+ - Compiler changed to v4.0.2 (problems with Pentium 3 compatibility of 4.0.0)
+
+V1.0.7
+------
+ - Fixed SIGSEGV occuring for some pictures
+ - Changed compiler to g++ v4.0.0. To compile against library, same compiled has to be used.
+ - Windows DLL available as well
+
+V1.0.6
+------
+ - Subpixel offset was not rotated w.r.t. dominant direction---fixed (thanks to Geert Willems)
+ - Surf is now a shared library, surflib.h provides an interface to the library
+ - Option to load interest points, verbose output flag (thanks to Bastian Leibe)
+Internal:
+ - Makefile updated to actually react to changes in source code
+ - Changed data structure for interest points to vector<>, removed unnecessary indirections
+ - Removed unnecessary allocation/deallocation in many places
+ - Slight speed up (about 10%)

LICENSE

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+LICENSE CONDITIONS
+
+Copyright (2006): ETH Zurich, Switzerland
+Katholieke Universiteit Leuven, Belgium
+All rights reserved.
+
+For details, see the paper:
+Herbert Bay,  Tinne Tuytelaars,  Luc Van Gool,
+ "SURF: Speeded Up Robust Features"
+Proceedings of the ninth European Conference on Computer Vision, May 2006
+
+Permission to use, copy, modify, and distribute this software and
+its documentation for educational, research, and non-commercial
+purposes, without fee and without a signed licensing agreement, is
+hereby granted, provided that the above copyright notice and this
+paragraph appear in all copies modifications, and distributions.
+
+Any commercial use or any redistribution of this software
+requires a license from one of the above mentioned establishments.
+
+For further details, contact Andreas Ess (aess@vision.ee.ethz.ch).

Makefile

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+
+# ------------------ Compilation options ------------------------
+
+# Loads math library.  
+LIBS = -lm
+GET = get
+CFLAGS = -Wall -O3 -DNO_DEBUG -march=pentium4 -mfpmath=sse -mmmx -msse -msse2 -msse3 -ansi
+DEPEND= makedepend $(CFLAGS)
+
+CC = g++-4.0.2
+CXX = g++-4.0.2
+
+# --------------------- Code modules ----------------------------
+
+# Source files
+SRCS = main.cpp imload.cpp os_mapping.cpp
+# Object files
+OBJ = main.o imload.o os_mapping.o
+# Definitions
+DEFS = image.h fasthessian.h ipoint.h surf.h imload.h
+
+# ------------------------ Rules --------------------------------
+#$(SRCS):
+#        $(GET) $@
+
+# Link against static library
+surf.ln: ${OBJ} libSurf.so
+	${CC} -o $@ ${CFLAGS} main.o imload.o os_mapping.o -static libSurf.a ${LIBS}
+
+# Small matching demo application
+
+match.ln: match.cpp imload.o 
+	${CC} -o $@ ${CFLAGS} imload.o match.cpp -static libSurf.a -lm
+
+# To link against a shared library, use
+#surf.ln: ${OBJ} libSurf.so
+#	${CC} -o $@ ${CFLAGS} main.o imload.o -L. -lSurf ${LIBS}
+# Note to set LD_LIBRARY_PATH environment variable before running surf.ln
+
+clean:
+	-rm *.o surf.ln match.ln
+
+#depend: $(SRCS)
+#        $(DEPEND) $(SRCS)

README.md

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+#SURF - Speeded Up Robust Features
+
+##Requirements
+
+The library has been compiled using g++, version 4.0.2, for usage on
+a machine Pentium 4 or better. To use the library in your program,
+you need to use the same compiler version.
+
+If you require the library to be compiled using another compiler, or
+another platform (such as Athlon XP), please contact us.
+
+##Usage
+
+Execute surf.ln without any argument in order to get more
+information concerning the usage and possible parameters.
+
+Use "make match.ln" to compile the matching demo application.
+
+##Data Format
+
+The output format of SURF is as follows:
+
+ (1 + length of descriptor)
+ number of points
+ x y a b c l des
+ x y a b c l des
+ ...
+
+ x, y = position of interest point
+ a, b, c = [a b; b c] entries of second moment matrix.
+   SURF only has circular regions, hence b = 0; a = c -> radius = 1 / a^2
+ l = sign of laplacian (-1 or 1)
+ des = descriptor vector itself
+
+##Data Input Format
+
+If only the SURF descriptor should be computed, the -p1 command can
+be used. As an argument, it takes a file of the following format:
+
+ (dummy byte)
+ number of points
+ x y a b c
+ x y a b c
+
+Where, as above, [a b; b c] forms the second moment matrix. Note that
+SURF uses circular regions. Hence, a = c and b = 0.
+
+##Licensing conditions
+
+This software is being made available for research purposes only.  It
+is necessary to obtain a license (see LICENSE file) for commercial
+applications.

fasthessian.h

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+/*
+ * Speeded-Up Robust Features (SURF)
+ * http://people.ee.ethz.ch/~surf
+ *
+ * Authors: Herbert Bay, Andreas Ess, Geert Willems
+ * Windows port by Stefan Saur
+ *
+ * Copyright (2006): ETH Zurich, Switzerland
+ * Katholieke Universiteit Leuven, Belgium
+ * All rights reserved.
+ *
+ * For details, see the paper:
+ * Herbert Bay,  Tinne Tuytelaars,  Luc Van Gool,
+ *  "SURF: Speeded Up Robust Features"
+ * Proceedings of the ninth European Conference on Computer Vision, May 2006
+ *
+ * Permission to use, copy, modify, and distribute this software and
+ * its documentation for educational, research, and non-commercial
+ * purposes, without fee and without a signed licensing agreement, is
+ * hereby granted, provided that the above copyright notice and this
+ * paragraph appear in all copies modifications, and distributions.
+ *
+ * Any commercial use or any redistribution of this software
+ * requires a license from one of the above mentioned establishments.
+ *
+ * For further details, contact Andreas Ess (aess@vision.ee.ethz.ch).
+ */
+
+#ifndef __FASTHESSIAN_H
+#define __FASTHESSIAN_H
+
+#include <vector>
+
+namespace surf {
+
+class Ipoint;
+class Image;
+
+class FastHessian {
+  public:
+    //! Destructor
+    ~FastHessian();
+
+    //! Constructor with parameters
+    FastHessian(Image *im, std::vector< Ipoint >& ip, double thres = 0.2, bool doub = false, 
+                short int initMasksize = 9, short int samplingStep = 2,
+                short int octaves = 4);
+
+    //! Pass the integral image
+    void setIimage( Image *iim );
+
+    //! Detect the interest Points, write into ipts
+    void getInterestPoints();
+
+    //! Create a new ipoint at location (x, y),  at a certain scale 
+    //! and corner response strength
+    void makeIpoint(double x, double y, double scale, double strength=0);
+
+  protected:
+    //! Allocate scale layers for one octave
+    void allocateOctave();
+
+    //! Fast non-maximum-suppression
+    void findMaximum(int *borders, int o, int octave);
+    void interpFeature(int s, int row, int col, Image *map,
+                       int o, int octave, int movesRemain,
+                       int *borders);
+    int fitQuadrat(int s, int r, int c, double &res);
+
+  private:
+    //! Integral image
+    Image *_Iimage;
+
+    //! Octaves
+    Image **_scaleLevel;
+
+    //! Vector of variables
+    int _vas[9];
+
+    //! Threshold for interest point detection
+    double _threshold;
+
+    //! Indicates whether the image size was doubled or not
+    //! default is false
+    bool _doubled;
+
+    //! Reference to vector of interest points passed from outside
+    std::vector< Ipoint >& _ipts;
+
+    //! Initial lobe size for the second derivative in one direction
+    //! default is 3
+    short int _initLobe;
+
+    //! Number scales
+    short int _maxScales;
+
+    //! Number octaves
+    short int _maxOctaves;
+
+    //! The sampling step
+    short int _sampling;
+
+    //! Integral image dimensions
+    int _width;
+    int _height;
+
+    //! Result of fitting quadratic
+    double _offset[3];
+};
+
+}
+
+#endif // FASTHESSIAN_H

image.h

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+/*
+ * Speeded-Up Robust Features (SURF)
+ * http://people.ee.ethz.ch/~surf
+ *
+ * Authors: Herbert Bay, Andreas Ess, Geert Willems
+ * Windows port by Stefan Saur
+ *
+ * Copyright (2006): ETH Zurich, Switzerland
+ * Katholieke Universiteit Leuven, Belgium
+ * All rights reserved.
+ *
+ * For details, see the paper:
+ * Herbert Bay,  Tinne Tuytelaars,  Luc Van Gool,
+ *  "SURF: Speeded Up Robust Features"
+ * Proceedings of the ninth European Conference on Computer Vision, May 2006
+ *
+ * Permission to use, copy, modify, and distribute this software and
+ * its documentation for educational, research, and non-commercial
+ * purposes, without fee and without a signed licensing agreement, is
+ * hereby granted, provided that the above copyright notice and this
+ * paragraph appear in all copies modifications, and distributions.
+ *
+ * Any commercial use or any redistribution of this software
+ * requires a license from one of the above mentioned establishments.
+ *
+ * For further details, contact Andreas Ess (aess@vision.ee.ethz.ch).
+ */
+
+#ifndef __IMAGE_H
+#define __IMAGE_H
+
+namespace surf {
+
+class Image {
+
+  public:
+    //! Constructor
+    Image(const int w, const int h);
+
+    //! Destructor
+    ~Image();
+
+    //! Constructor from existing double array
+    Image(double **pixels, int w, int h);
+
+    //! constructor for integral image
+    Image(Image *im, bool doubleImSize=false);
+
+    //! Pass a single frame to the (pre-initialized) structure
+    void setFrame(unsigned char *im);
+    void setFrame(Image *im);
+
+    //! Divide the image size by two
+    Image *HalfImage();
+
+    //! Get Hessian response at a certain point
+    double getHessian(int *x);
+
+    //! Get Trace of the Hessian
+    int getTrace(int *x);
+
+    //! Get the pointer to the image pixels
+    double **getPixels() const;
+
+    //! Get the pixel intensity at location (\a x, \a y)
+    double getPix(const int x, const int y) const {
+      return _pixels[y][x];
+    }
+
+    //! Overload of getPix returning the reference
+    double &getPix(const int x, const int y) {
+      return _pixels[y][x];
+    }
+
+    //! Set the Pixel at location (\a x, \a y) to the value "\a val"
+    void setPix(const int x, const int y, const double val) {
+      _pixels[y][x] = val;
+    }
+
+    //! get width
+    int getWidth();
+
+    //! get height
+    int getHeight();
+
+    //! set width
+    void setWidth(int wi);
+
+    //! set height
+    void setHeight(int hi);
+
+  protected:
+    //! Allocate 2D array of image pixels
+    void allocPixels(int w, int h);
+
+  private:
+    //! Actual image buffer
+    double *_buf;
+
+    //! 2D array of image pixels
+    double **_pixels;
+
+    //! Image height and width
+    int _height, _width;
+
+    //! Original image height
+    int _orihi;
+
+    //! Flag if this image is just a reference
+    bool _ref;
+};
+
+}
+
+#endif //IMAGE_H