转：求sift特征代码

转自： http://blog.csdn.net/v_JULY_v 作者：July

改了点代码让它在VS2010上可以跑了，这么有营养的代码慢慢啃，慢慢分析~~ July真牛！

#ifdef _CH_   
#pragma package <opencv>   
#endif   
  
#ifndef _EiC   
#include <stdio.h>   
  
#include "stdlib.h"   
#include "string.h"    
#include "malloc.h"    
#include "math.h"    
#include <assert.h>   
#include <ctype.h>   
#include <time.h>   
#include <cv.h>   
#include <cxcore.h>   
#include <highgui.h>   
#include <vector>   
#include <minmax.h>
#endif   
  
#ifdef _EiC   
#define WIN32   
#endif

#define NUMSIZE 2   
#define GAUSSKERN 3.5   
#define PI 3.14159265358979323846   
  
//Sigma of base image -- See D.L.'s paper.   
#define INITSIGMA 0.5   
//Sigma of each octave -- See D.L.'s paper.   
#define SIGMA sqrt(3)//1.6//   
  
//Number of scales per octave.  See D.L.'s paper.   
#define SCALESPEROCTAVE 2   
#define MAXOCTAVES 4   
int     numoctaves;  
  
#define CONTRAST_THRESHOLD   0.02   
#define CURVATURE_THRESHOLD  10.0   
#define DOUBLE_BASE_IMAGE_SIZE 1   
#define peakRelThresh 0.8   
#define LEN 128   
  
// temporary storage   
CvMemStorage* storage = 0;   

//Data structure for a float image.   
typedef struct ImageSt {        /*金字塔每一层*/  
   
 float levelsigma;  
 int levelsigmalength;  
 float absolute_sigma;  
 CvMat *Level;       //CvMat是OPENCV的矩阵类，其元素可以是图像的象素值          
} ImageLevels;  
  
typedef struct ImageSt1 {      /*金字塔每一阶梯*/  
 int row, col;          //Dimensions of image.    
 float subsample;  
 ImageLevels *Octave;                
} ImageOctaves;  
  
ImageOctaves *DOGoctaves;        
//DOG pyr，DOG算子计算简单，是尺度归一化的LoG算子的近似。   
    
ImageOctaves *mag_thresh ;  
ImageOctaves *mag_pyr ;  
ImageOctaves *grad_pyr ;  
  
//keypoint数据结构，Lists of keypoints are linked by the "next" field.   
typedef struct KeypointSt   
{  
 float row, col; /* 反馈回原图像大小，特征点的位置 */  
 float sx,sy;    /* 金字塔中特征点的位置*/  
 int octave,level;/*金字塔中，特征点所在的阶梯、层次*/  
   
 float scale, ori,mag; /*所在层的尺度sigma,主方向orientation (range [-PI,PI])，以及幅值*/  
 float *descrip;       /*特征描述字指针：128维或32维等*/  
 struct KeypointSt *next;/* Pointer to next keypoint in list. */  
} *Keypoint;  
  
//定义特征点具体变量   
Keypoint keypoints=NULL;      //用于临时存储特征点的位置等   
Keypoint keyDescriptors=NULL; //用于最后的确定特征点以及特征描述字  

CvMat * halfSizeImage(CvMat * im);     //缩小图像：下采样   
CvMat * doubleSizeImage(CvMat * im);   //扩大图像：最近临方法   
CvMat * doubleSizeImage2(CvMat * im);  //扩大图像：线性插值   
float getPixelBI(CvMat * im, float col, float row);//双线性插值函数   
void normalizeVec(float* vec, int dim);//向量归一化     
CvMat* GaussianKernel2D(float sigma);  //得到2维高斯核   
void normalizeMat(CvMat* mat) ;        //矩阵归一化   
float* GaussianKernel1D(float sigma, int dim) ; //得到1维高斯核   
  
//在具体像素处宽度方向进行高斯卷积   
float ConvolveLocWidth(float* kernel, int dim, CvMat * src, int x, int y) ;    
//在整个图像宽度方向进行1D高斯卷积   
void Convolve1DWidth(float* kern, int dim, CvMat * src, CvMat * dst) ;         
//在具体像素处高度方向进行高斯卷积   
float ConvolveLocHeight(float* kernel, int dim, CvMat * src, int x, int y) ;   
//在整个图像高度方向进行1D高斯卷积   
void Convolve1DHeight(float* kern, int dim, CvMat * src, CvMat * dst);       
//用高斯函数模糊图像     
int BlurImage(CvMat * src, CvMat * dst, float sigma) ;            

//SIFT算法第一步：图像预处理   
CvMat *ScaleInitImage(CvMat * im) ;                  //金字塔初始化   
  
//SIFT算法第二步：建立高斯金字塔函数   
ImageOctaves* BuildGaussianOctaves(CvMat * image) ;  //建立高斯金字塔   
  
//SIFT算法第三步：特征点位置检测，最后确定特征点的位置   
int DetectKeypoint(int numoctaves, ImageOctaves *GaussianPyr);  
void DisplayKeypointLocation(IplImage* image, ImageOctaves *GaussianPyr);  
  
//SIFT算法第四步：计算高斯图像的梯度方向和幅值，计算各个特征点的主方向   
void ComputeGrad_DirecandMag(int numoctaves, ImageOctaves *GaussianPyr);  
  
int FindClosestRotationBin (int binCount, float angle);  //进行方向直方图统计   
void AverageWeakBins (double* bins, int binCount);       //对方向直方图滤波   
//确定真正的主方向   
bool InterpolateOrientation (double left, double middle,double right, double *degreeCorrection, double *peakValue);  
//确定各个特征点处的主方向函数   
void AssignTheMainOrientation(int numoctaves, ImageOctaves *GaussianPyr,ImageOctaves *mag_pyr,ImageOctaves *grad_pyr);  
//显示主方向   
void DisplayOrientation (IplImage* image, ImageOctaves *GaussianPyr);  
  
//SIFT算法第五步：抽取各个特征点处的特征描述字   
void ExtractFeatureDescriptors(int numoctaves, ImageOctaves *GaussianPyr);  
  
//为了显示图象金字塔，而作的图像水平、垂直拼接   
CvMat* MosaicHorizen( CvMat* im1, CvMat* im2 );  
CvMat* MosaicVertical( CvMat* im1, CvMat* im2 );  
  
//特征描述点，网格     
#define GridSpacing 4  
//SIFT算法第一步：图像预处理
CvMat *ScaleInitImage(CvMat * im) ;                  //金字塔初始化

//SIFT算法第二步：建立高斯金字塔函数
ImageOctaves* BuildGaussianOctaves(CvMat * image) ;  //建立高斯金字塔

//SIFT算法第三步：特征点位置检测，最后确定特征点的位置
int DetectKeypoint(int numoctaves, ImageOctaves *GaussianPyr);
void DisplayKeypointLocation(IplImage* image, ImageOctaves *GaussianPyr);

//SIFT算法第四步：计算高斯图像的梯度方向和幅值，计算各个特征点的主方向
void ComputeGrad_DirecandMag(int numoctaves, ImageOctaves *GaussianPyr);

int FindClosestRotationBin (int binCount, float angle);  //进行方向直方图统计
void AverageWeakBins (double* bins, int binCount);       //对方向直方图滤波
//确定真正的主方向
bool InterpolateOrientation (double left, double middle,double right, double *degreeCorrection, double *peakValue);
//确定各个特征点处的主方向函数
void AssignTheMainOrientation(int numoctaves, ImageOctaves *GaussianPyr,ImageOctaves *mag_pyr,ImageOctaves *grad_pyr);
//显示主方向
void DisplayOrientation (IplImage* image, ImageOctaves *GaussianPyr);

//SIFT算法第五步：抽取各个特征点处的特征描述字
void ExtractFeatureDescriptors(int numoctaves, ImageOctaves *GaussianPyr);

//为了显示图象金字塔，而作的图像水平、垂直拼接
CvMat* MosaicHorizen( CvMat* im1, CvMat* im2 );
CvMat* MosaicVertical( CvMat* im1, CvMat* im2 );

//特征描述点，网格  
#define GridSpacing 4 



int main( void )  
{  
 //声明当前帧IplImage指针   
 IplImage* src = NULL;   
 IplImage* image1 = NULL;   
 IplImage* grey_im1 = NULL;   
 IplImage* DoubleSizeImage = NULL;  
   
 IplImage* mosaic1 = NULL;   
 IplImage* mosaic2 = NULL;   
   
 CvMat* mosaicHorizen1 = NULL;  
 CvMat* mosaicHorizen2 = NULL;  
 CvMat* mosaicVertical1 = NULL;  
   
 CvMat* image1Mat = NULL;  
 CvMat* tempMat=NULL;  
   
 ImageOctaves *Gaussianpyr;  
 int rows,cols;  
  
#define Im1Mat(ROW,COL) ((float *)(image1Mat->data.fl + image1Mat->step/sizeof(float) *(ROW)))[(COL)]   
   
 //灰度图象像素的数据结构   
#define Im1B(ROW,COL) ((uchar*)(image1->imageData + image1->widthStep*(ROW)))[(COL)*3]   
#define Im1G(ROW,COL) ((uchar*)(image1->imageData + image1->widthStep*(ROW)))[(COL)*3+1]   
#define Im1R(ROW,COL) ((uchar*)(image1->imageData + image1->widthStep*(ROW)))[(COL)*3+2]   
   
 storage = cvCreateMemStorage(0);   
   
 //读取图片   
 if( (src = cvLoadImage( "C:\\lena.jpg", 1)) == 0 )  // test1.jpg einstein.pgm back1.bmp   
  return -1;  
  
 //为图像分配内存    
 image1 = cvCreateImage(cvSize(src->width, src->height),  IPL_DEPTH_8U,3);  
 grey_im1 = cvCreateImage(cvSize(src->width, src->height),  IPL_DEPTH_8U,1);  
 DoubleSizeImage = cvCreateImage(cvSize(2*(src->width), 2*(src->height)),  IPL_DEPTH_8U,3);  
  
 //为图像阵列分配内存，假设两幅图像的大小相同，tempMat跟随image1的大小   
 image1Mat = cvCreateMat(src->height, src->width, CV_32FC1);  
 //转化成单通道图像再处理   
 cvCvtColor(src, grey_im1, CV_BGR2GRAY);  
 //转换进入Mat数据结构,图像操作使用的是浮点型操作   
 cvConvert(grey_im1, image1Mat);  
   
 double t = (double)cvGetTickCount();  
 //图像归一化   
 cvConvertScale( image1Mat, image1Mat, 1.0/255, 0 );  
   
 int dim = min(image1Mat->rows, image1Mat->cols);  
 numoctaves = (int) (log((double) dim) / log(2.0)) - 2;    //金字塔阶数   
 numoctaves = min(numoctaves, MAXOCTAVES);  
  
 //SIFT算法第一步，预滤波除噪声，建立金字塔底层   
 tempMat = ScaleInitImage(image1Mat) ;  
 //SIFT算法第二步，建立Guassian金字塔和DOG金字塔   
 Gaussianpyr = BuildGaussianOctaves(tempMat) ;  
   
 t = (double)cvGetTickCount() - t;  
 printf( "the time of build Gaussian pyramid and DOG pyramid is %.1f/n", t/(cvGetTickFrequency()*1000.) );  
   
#define ImLevels(OCTAVE,LEVEL,ROW,COL) ((float *)(Gaussianpyr[(OCTAVE)].Octave[(LEVEL)].Level->data.fl + Gaussianpyr[(OCTAVE)].Octave[(LEVEL)].Level->step/sizeof(float) *(ROW)))[(COL)]   
 //显示高斯金字塔   
 for (int i=0; i<numoctaves;i++)  
 {  
  if (i==0)  
  {  
   mosaicHorizen1=MosaicHorizen( (Gaussianpyr[0].Octave)[0].Level, (Gaussianpyr[0].Octave)[1].Level );  
   for (int j=2;j<SCALESPEROCTAVE+3;j++)  
    mosaicHorizen1=MosaicHorizen( mosaicHorizen1, (Gaussianpyr[0].Octave)[j].Level );  
   for (int j=0;j<NUMSIZE;j++)  
    mosaicHorizen1=halfSizeImage(mosaicHorizen1);  
  }  
  else if (i==1)  
  {  
   mosaicHorizen2=MosaicHorizen( (Gaussianpyr[1].Octave)[0].Level, (Gaussianpyr[1].Octave)[1].Level );  
   for (int j=2;j<SCALESPEROCTAVE+3;j++)  
    mosaicHorizen2=MosaicHorizen( mosaicHorizen2, (Gaussianpyr[1].Octave)[j].Level );  
   for (int j=0;j<NUMSIZE;j++)  
    mosaicHorizen2=halfSizeImage(mosaicHorizen2);  
   mosaicVertical1=MosaicVertical( mosaicHorizen1, mosaicHorizen2 );  
  }  
  else  
  {  
   mosaicHorizen1=MosaicHorizen( (Gaussianpyr[i].Octave)[0].Level, (Gaussianpyr[i].Octave)[1].Level );  
   for (int j=2;j<SCALESPEROCTAVE+3;j++)  
    mosaicHorizen1=MosaicHorizen( mosaicHorizen1, (Gaussianpyr[i].Octave)[j].Level );  
   for (int j=0;j<NUMSIZE;j++)  
    mosaicHorizen1=halfSizeImage(mosaicHorizen1);  
   mosaicVertical1=MosaicVertical( mosaicVertical1, mosaicHorizen1 );  
  }  
 }  
 mosaic1 = cvCreateImage(cvSize(mosaicVertical1->width, mosaicVertical1->height),  IPL_DEPTH_8U,1);  
 cvConvertScale( mosaicVertical1, mosaicVertical1, 255.0, 0 );  
 cvConvertScaleAbs( mosaicVertical1, mosaic1, 1, 0 );  
   
 //  cvSaveImage("GaussianPyramid of me.jpg",mosaic1);   
 cvNamedWindow("mosaic1",1);  
 cvShowImage("mosaic1", mosaic1);  
 cvWaitKey(0);  
 cvDestroyWindow("mosaic1");  
 //显示DOG金字塔   
 for (int i=0; i<numoctaves;i++)  
 {  
  if (i==0)  
  {  
   mosaicHorizen1=MosaicHorizen( (DOGoctaves[0].Octave)[0].Level, (DOGoctaves[0].Octave)[1].Level );  
   for (int j=2;j<SCALESPEROCTAVE+2;j++)  
    mosaicHorizen1=MosaicHorizen( mosaicHorizen1, (DOGoctaves[0].Octave)[j].Level );  
   for (int j=0;j<NUMSIZE;j++)  
    mosaicHorizen1=halfSizeImage(mosaicHorizen1);  
  }  
  else if (i==1)  
  {  
   mosaicHorizen2=MosaicHorizen( (DOGoctaves[1].Octave)[0].Level, (DOGoctaves[1].Octave)[1].Level );  
   for (int j=2;j<SCALESPEROCTAVE+2;j++)  
    mosaicHorizen2=MosaicHorizen( mosaicHorizen2, (DOGoctaves[1].Octave)[j].Level );  
   for (int j=0;j<NUMSIZE;j++)  
    mosaicHorizen2=halfSizeImage(mosaicHorizen2);  
   mosaicVertical1=MosaicVertical( mosaicHorizen1, mosaicHorizen2 );  
  }  
  else  
  {  
   mosaicHorizen1=MosaicHorizen( (DOGoctaves[i].Octave)[0].Level, (DOGoctaves[i].Octave)[1].Level );  
   for (int j=2;j<SCALESPEROCTAVE+2;j++)  
    mosaicHorizen1=MosaicHorizen( mosaicHorizen1, (DOGoctaves[i].Octave)[j].Level );  
   for (int j=0;j<NUMSIZE;j++)  
    mosaicHorizen1=halfSizeImage(mosaicHorizen1);  
   mosaicVertical1=MosaicVertical( mosaicVertical1, mosaicHorizen1 );  
  }  
 }  
 //考虑到DOG金字塔各层图像都会有正负，所以，必须寻找最负的，以将所有图像抬高一个台阶去显示   
 double min_val=0;  
 double max_val=0;  
 cvMinMaxLoc( mosaicVertical1, &min_val, &max_val,NULL, NULL, NULL );  
 if ( min_val<0.0 )  
  cvAddS( mosaicVertical1, cvScalarAll( (-1.0)*min_val ), mosaicVertical1, NULL );  
 mosaic2 = cvCreateImage(cvSize(mosaicVertical1->width, mosaicVertical1->height),  IPL_DEPTH_8U,1);  
 cvConvertScale( mosaicVertical1, mosaicVertical1, 255.0/(max_val-min_val), 0 );  
 cvConvertScaleAbs( mosaicVertical1, mosaic2, 1, 0 );  
   
 //  cvSaveImage("DOGPyramid of me.jpg",mosaic2);   
 cvNamedWindow("mosaic1",1);  
 cvShowImage("mosaic1", mosaic2);  
 cvWaitKey(0);  
   
 //SIFT算法第三步：特征点位置检测，最后确定特征点的位置   
 int keycount=DetectKeypoint(numoctaves, Gaussianpyr);  
 printf("the keypoints number are %d ;/n", keycount);  
 cvCopy(src,image1,NULL);  
 DisplayKeypointLocation( image1 ,Gaussianpyr);  
   
 cvPyrUp( image1, DoubleSizeImage, CV_GAUSSIAN_5x5 );  
 cvNamedWindow("image1",1);  
 cvShowImage("image1", DoubleSizeImage);  
 cvWaitKey(0);    
 cvDestroyWindow("image1");  
   
 //SIFT算法第四步：计算高斯图像的梯度方向和幅值，计算各个特征点的主方向   
 ComputeGrad_DirecandMag(numoctaves, Gaussianpyr);  
 AssignTheMainOrientation( numoctaves, Gaussianpyr,mag_pyr,grad_pyr);  
 cvCopy(src,image1,NULL);  
 DisplayOrientation ( image1, Gaussianpyr);  
   
 //  cvPyrUp( image1, DoubleSizeImage, CV_GAUSSIAN_5x5 );   
 cvNamedWindow("image1",1);  
 //  cvResizeWindow("image1", 2*(image1->width), 2*(image1->height) );   
 cvShowImage("image1", image1);  
 cvWaitKey(0);  
   
 //SIFT算法第五步：抽取各个特征点处的特征描述字   
 ExtractFeatureDescriptors( numoctaves, Gaussianpyr);  
 cvWaitKey(0);  
   
 //销毁窗口   
 cvDestroyWindow("image1");  
 cvDestroyWindow("mosaic1");  
 //释放图像   
 cvReleaseImage(&image1);  
 cvReleaseImage(&grey_im1);  
 cvReleaseImage(&mosaic1);  
 cvReleaseImage(&mosaic2);  
 return 0;  
}  


//下采样原来的图像，返回缩小2倍尺寸的图像   
CvMat * halfSizeImage(CvMat * im)   
{  
 unsigned int i,j;  
 int w = im->cols/2;  
 int h = im->rows/2;   
 CvMat *imnew = cvCreateMat(h, w, CV_32FC1);  
   
#define Im(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]   
#define Imnew(ROW,COL) ((float *)(imnew->data.fl + imnew->step/sizeof(float) *(ROW)))[(COL)]   
 for ( j = 0; j < h; j++)   
  for ( i = 0; i < w; i++)   
   Imnew(j,i)=Im(j*2, i*2);  
  return imnew;  
}  
  
//上采样原来的图像，返回放大2倍尺寸的图像   
CvMat * doubleSizeImage(CvMat * im)   
{  
 unsigned int i,j;  
 int w = im->cols*2;  
 int h = im->rows*2;   
 CvMat *imnew = cvCreateMat(h, w, CV_32FC1);  
   
#define Im(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]   
#define Imnew(ROW,COL) ((float *)(imnew->data.fl + imnew->step/sizeof(float) *(ROW)))[(COL)]   
   
 for ( j = 0; j < h; j++)   
  for ( i = 0; i < w; i++)   
   Imnew(j,i)=Im(j/2, i/2);  
    
  return imnew;  
}  
  
//上采样原来的图像，返回放大2倍尺寸的线性插值图像   
CvMat * doubleSizeImage2(CvMat * im)   
{  
 unsigned int i,j;  
 int w = im->cols*2;  
 int h = im->rows*2;   
 CvMat *imnew = cvCreateMat(h, w, CV_32FC1);  
   
#define Im(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]   
#define Imnew(ROW,COL) ((float *)(imnew->data.fl + imnew->step/sizeof(float) *(ROW)))[(COL)]   
   
 // fill every pixel so we don't have to worry about skipping pixels later   
 for ( j = 0; j < h; j++)   
 {  
  for ( i = 0; i < w; i++)   
  {  
   Imnew(j,i)=Im(j/2, i/2);  
  }  
 }  
 /* 
 A B C 
 E F G 
 H I J 
 pixels A C H J are pixels from original image 
 pixels B E G I F are interpolated pixels 
 */  
 // interpolate pixels B and I   
 for ( j = 0; j < h; j += 2)  
  for ( i = 1; i < w - 1; i += 2)  
   Imnew(j,i)=0.5*(Im(j/2, i/2)+Im(j/2, i/2+1));  
  // interpolate pixels E and G   
  for ( j = 1; j < h - 1; j += 2)  
   for ( i = 0; i < w; i += 2)  
    Imnew(j,i)=0.5*(Im(j/2, i/2)+Im(j/2+1, i/2));  
   // interpolate pixel F   
   for ( j = 1; j < h - 1; j += 2)  
    for ( i = 1; i < w - 1; i += 2)  
     Imnew(j,i)=0.25*(Im(j/2, i/2)+Im(j/2+1, i/2)+Im(j/2, i/2+1)+Im(j/2+1, i/2+1));  
    return imnew;  
}  
  
//双线性插值，返回像素间的灰度值   
float getPixelBI(CvMat * im, float col, float row)   
{  
 int irow, icol;  
 float rfrac, cfrac;  
 float row1 = 0, row2 = 0;  
 int width=im->cols;  
 int height=im->rows;  
#define ImMat(ROW,COL) ((float *)(im->data.fl + im->step/sizeof(float) *(ROW)))[(COL)]   
   
 irow = (int) row;  
 icol = (int) col;  
   
 if (irow < 0 || irow >= height  
  || icol < 0 || icol >= width)  
  return 0;  
 if (row > height - 1)  
  row = height - 1;  
 if (col > width - 1)  
  col = width - 1;  
 rfrac = 1.0 - (row - (float) irow);  
 cfrac = 1.0 - (col - (float) icol);  
 if (cfrac < 1)   
 {  
  row1 = cfrac * ImMat(irow,icol) + (1.0 - cfrac) * ImMat(irow,icol+1);  
 }   
 else   
 {  
  row1 = ImMat(irow,icol);  
 }  
 if (rfrac < 1)   
 {  
  if (cfrac < 1)   
  {  
   row2 = cfrac * ImMat(irow+1,icol) + (1.0 - cfrac) * ImMat(irow+1,icol+1);  
  } else   
  {  
   row2 = ImMat(irow+1,icol);  
  }  
 }  
 return rfrac * row1 + (1.0 - rfrac) * row2;  
}  
  
//矩阵归一化   
void normalizeMat(CvMat* mat)   
{  
#define Mat(ROW,COL) ((float *)(mat->data.fl + mat->step/sizeof(float) *(ROW)))[(COL)]   
 float sum = 0;  
   
 for (unsigned int j = 0; j < mat->rows; j++)   
  for (unsigned int i = 0; i < mat->cols; i++)   
   sum += Mat(j,i);  
  for (unsigned int j = 0; j < mat->rows; j++)   
   for (unsigned int i = 0; i < mat->rows; i++)   
    Mat(j,i) /= sum;  
}  
  
//向量归一化   
void normalizeVec(float* vec, int dim)   
{  
    unsigned int i;  
 float sum = 0;  
 for ( i = 0; i < dim; i++)  
  sum += vec[i];  
 for ( i = 0; i < dim; i++)  
  vec[i] /= sum;  
}  
  
//得到向量的欧式长度，2-范数   
float GetVecNorm( float* vec, int dim )  
{  
 float sum=0.0;  
 for (unsigned int i=0;i<dim;i++)  
  sum+=vec[i]*vec[i];  
    return sqrt(sum);  
}  
  
//产生1D高斯核   
float* GaussianKernel1D(float sigma, int dim)   
{  
   
 unsigned int i;  
 //printf("GaussianKernel1D(): Creating 1x%d vector for sigma=%.3f gaussian kernel/n", dim, sigma);   
   
 float *kern=(float*)malloc( dim*sizeof(float) );  
 float s2 = sigma * sigma;  
 int c = dim / 2;  
 float m= 1.0/(sqrt(2.0 * CV_PI) * sigma);  
    double v;   
 for ( i = 0; i < (dim + 1) / 2; i++)   
 {  
  v = m * exp(-(1.0*i*i)/(2.0 * s2)) ;  
  kern[c+i] = v;  
  kern[c-i] = v;  
 }  
 //   normalizeVec(kern, dim);   
 // for ( i = 0; i < dim; i++)   
 //  printf("%f  ", kern[i]);   
 //  printf("/n");   
 return kern;  
}  
  
//产生2D高斯核矩阵   
CvMat* GaussianKernel2D(float sigma)   
{  
 // int dim = (int) max(3.0f, GAUSSKERN * sigma);   
    int dim = (int) max(3.0f, 2.0 * GAUSSKERN *sigma + 1.0f);  
 // make dim odd   
 if (dim % 2 == 0)  
  dim++;  
 //printf("GaussianKernel(): Creating %dx%d matrix for sigma=%.3f gaussian/n", dim, dim, sigma);   
 CvMat* mat=cvCreateMat(dim, dim, CV_32FC1);  
#define Mat(ROW,COL) ((float *)(mat->data.fl + mat->step/sizeof(float) *(ROW)))[(COL)]   
 float s2 = sigma * sigma;  
 int c = dim / 2;  
 //printf("%d %d/n", mat.size(), mat[0].size());   
    float m= 1.0/(sqrt(2.0 * CV_PI) * sigma);  
 for (int i = 0; i < (dim + 1) / 2; i++)   
 {  
  for (int j = 0; j < (dim + 1) / 2; j++)   
  {  
   //printf("%d %d %d/n", c, i, j);   
   float v = m * exp(-(1.0*i*i + 1.0*j*j) / (2.0 * s2));  
   Mat(c+i,c+j) =v;  
   Mat(c-i,c+j) =v;  
   Mat(c+i,c-j) =v;  
   Mat(c-i,c-j) =v;  
  }  
 }  
 // normalizeMat(mat);   
 return mat;  
}  
  
//x方向像素处作卷积   
float ConvolveLocWidth(float* kernel, int dim, CvMat * src, int x, int y)   
{  
#define Src(ROW,COL) ((float *)(src->data.fl + src->step/sizeof(float) *(ROW)))[(COL)]   
    unsigned int i;  
 float pixel = 0;  
    int col;  
 int cen = dim / 2;  
 //printf("ConvolveLoc(): Applying convoluation at location (%d, %d)/n", x, y);   
 for ( i = 0; i < dim; i++)   
 {  
  col = x + (i - cen);  
  if (col < 0)  
   col = 0;  
  if (col >= src->cols)  
   col = src->cols - 1;  
  pixel += kernel[i] * Src(y,col);  
 }  
 if (pixel > 1)  
  pixel = 1;  
 return pixel;  
}  
  
//x方向作卷积   
void Convolve1DWidth(float* kern, int dim, CvMat * src, CvMat * dst)   
{  
#define DST(ROW,COL) ((float *)(dst->data.fl + dst->step/sizeof(float) *(ROW)))[(COL)]   
 unsigned int i,j;  
   
 for ( j = 0; j < src->rows; j++)   
 {  
  for ( i = 0; i < src->cols; i++)   
  {  
   //printf("%d, %d/n", i, j);   
   DST(j,i) = ConvolveLocWidth(kern, dim, src, i, j);  
  }  
 }  
}  
  
//y方向像素处作卷积   
float ConvolveLocHeight(float* kernel, int dim, CvMat * src, int x, int y)   
{  
#define Src(ROW,COL) ((float *)(src->data.fl + src->step/sizeof(float) *(ROW)))[(COL)]   
    unsigned int j;  
 float pixel = 0;  
 int cen = dim / 2;  
 //printf("ConvolveLoc(): Applying convoluation at location (%d, %d)/n", x, y);   
 for ( j = 0; j < dim; j++)   
 {  
  int row = y + (j - cen);  
  if (row < 0)  
   row = 0;  
  if (row >= src->rows)  
   row = src->rows - 1;  
  pixel += kernel[j] * Src(row,x);  
 }  
 if (pixel > 1)  
  pixel = 1;  
 return pixel;  
}  
  
//y方向作卷积   
void Convolve1DHeight(float* kern, int dim, CvMat * src, CvMat * dst)   
{  
#define Dst(ROW,COL) ((float *)(dst->data.fl + dst->step/sizeof(float) *(ROW)))[(COL)]   
    unsigned int i,j;  
 for ( j = 0; j < src->rows; j++)   
 {  
  for ( i = 0; i < src->cols; i++)   
  {  
   //printf("%d, %d/n", i, j);   
   Dst(j,i) = ConvolveLocHeight(kern, dim, src, i, j);  
  }  
 }  
}  
  
//卷积模糊图像   
int BlurImage(CvMat * src, CvMat * dst, float sigma)   
{  
 float* convkernel;  
 int dim = (int) max(3.0f, 2.0 * GAUSSKERN * sigma + 1.0f);  
    CvMat *tempMat;  
 // make dim odd   
 if (dim % 2 == 0)  
  dim++;  
 tempMat = cvCreateMat(src->rows, src->cols, CV_32FC1);  
 convkernel = GaussianKernel1D(sigma, dim);  
   
 Convolve1DWidth(convkernel, dim, src, tempMat);  
 Convolve1DHeight(convkernel, dim, tempMat, dst);  
 cvReleaseMat(&tempMat);  
 return dim;  
}  

CvMat *ScaleInitImage(CvMat * im)   
{  
    double sigma,preblur_sigma;  
 CvMat *imMat;  
 CvMat * dst;  
 CvMat *tempMat;  
 //首先对图像进行平滑滤波，抑制噪声   
 imMat = cvCreateMat(im->rows, im->cols, CV_32FC1);  
    BlurImage(im, imMat, INITSIGMA);  
 //针对两种情况分别进行处理：初始化放大原始图像或者在原图像基础上进行后续操作   
 //建立金字塔的最底层   
 if (DOUBLE_BASE_IMAGE_SIZE)   
 {  
  tempMat = doubleSizeImage2(imMat);//对扩大两倍的图像进行二次采样，采样率为0.5，采用线性插值   
#define TEMPMAT(ROW,COL) ((float *)(tempMat->data.fl + tempMat->step/sizeof(float) * (ROW)))[(COL)]   
    
  dst = cvCreateMat(tempMat->rows, tempMat->cols, CV_32FC1);  
  preblur_sigma = 1.0;//sqrt(2 - 4*INITSIGMA*INITSIGMA);   
        BlurImage(tempMat, dst, preblur_sigma);   
    
  // The initial blurring for the first image of the first octave of the pyramid.   
        sigma = sqrt( (4*INITSIGMA*INITSIGMA) + preblur_sigma * preblur_sigma );  
  //  sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA * 4);   
  //printf("Init Sigma: %f/n", sigma);   
  BlurImage(dst, tempMat, sigma);       //得到金字塔的最底层-放大2倍的图像   
  cvReleaseMat( &dst );   
  return tempMat;  
 }   
 else   
 {  
  dst = cvCreateMat(im->rows, im->cols, CV_32FC1);  
  //sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA);   
  preblur_sigma = 1.0;//sqrt(2 - 4*INITSIGMA*INITSIGMA);   
  sigma = sqrt( (4*INITSIGMA*INITSIGMA) + preblur_sigma * preblur_sigma );  
  //printf("Init Sigma: %f/n", sigma);   
  BlurImage(imMat, dst, sigma);        //得到金字塔的最底层：原始图像大小   
  return dst;  
 }   
}  

//SIFT算法第二步   
ImageOctaves* BuildGaussianOctaves(CvMat * image)   
{  
    ImageOctaves *octaves;  
 CvMat *tempMat;  
    CvMat *dst;  
 CvMat *temp;  
   
 int i,j;  
 double k = pow(2, 1.0/((float)SCALESPEROCTAVE));  //方差倍数   
 float preblur_sigma, initial_sigma , sigma1,sigma2,sigma,absolute_sigma,sigma_f;  
 //计算金字塔的阶梯数目   
 int dim = min(image->rows, image->cols);  
    int numoctaves = (int) (log((double) dim) / log(2.0)) - 2;    //金字塔阶数   
 //限定金字塔的阶梯数   
 numoctaves = min(numoctaves, MAXOCTAVES);  
 //为高斯金塔和DOG金字塔分配内存   
 octaves=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );  
    DOGoctaves=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );  
   
 printf("BuildGaussianOctaves(): Base image dimension is %dx%d/n", (int)(0.5*(image->cols)), (int)(0.5*(image->rows)) );  
 printf("BuildGaussianOctaves(): Building %d octaves/n", numoctaves);  
   
    // start with initial source image   
 tempMat=cvCloneMat( image );  
 // preblur_sigma = 1.0;//sqrt(2 - 4*INITSIGMA*INITSIGMA);   
    initial_sigma = sqrt(2.0);//sqrt( (4*INITSIGMA*INITSIGMA) + preblur_sigma * preblur_sigma );   
 //   initial_sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA * 4);   
      
 //在每一阶金字塔图像中建立不同的尺度图像   
 for ( i = 0; i < numoctaves; i++)   
 {     
  //首先建立金字塔每一阶梯的最底层，其中0阶梯的最底层已经建立好   
  printf("Building octave %d of dimesion (%d, %d)/n", i, tempMat->cols,tempMat->rows);  
        //为各个阶梯分配内存   
  octaves[i].Octave= (ImageLevels*) malloc( (SCALESPEROCTAVE + 3) * sizeof(ImageLevels) );  
  DOGoctaves[i].Octave= (ImageLevels*) malloc( (SCALESPEROCTAVE + 2) * sizeof(ImageLevels) );  
  //存储各个阶梯的最底层   
  (octaves[i].Octave)[0].Level=tempMat;  
    
  octaves[i].col=tempMat->cols;  
  octaves[i].row=tempMat->rows;  
  DOGoctaves[i].col=tempMat->cols;  
  DOGoctaves[i].row=tempMat->rows;  
  if (DOUBLE_BASE_IMAGE_SIZE)  
            octaves[i].subsample=pow(2.0,i)*0.5;  
  else  
            octaves[i].subsample=pow(2.0,i);  
    
  if(i==0)       
  {  
   (octaves[0].Octave)[0].levelsigma = initial_sigma;  
   (octaves[0].Octave)[0].absolute_sigma = initial_sigma;  
   printf("0 scale and blur sigma : %f /n", (octaves[0].subsample) * ((octaves[0].Octave)[0].absolute_sigma));  
  }  
  else  
  {  
   (octaves[i].Octave)[0].levelsigma = (octaves[i-1].Octave)[SCALESPEROCTAVE].levelsigma;  
            (octaves[i].Octave)[0].absolute_sigma = (octaves[i-1].Octave)[SCALESPEROCTAVE].absolute_sigma;  
   printf( "0 scale and blur sigma : %f /n", ((octaves[i].Octave)[0].absolute_sigma) );  
  }  
  sigma = initial_sigma;  
        //建立本阶梯其他层的图像   
  for ( j =  1; j < SCALESPEROCTAVE + 3; j++)   
  {  
   dst = cvCreateMat(tempMat->rows, tempMat->cols, CV_32FC1);//用于存储高斯层   
   temp = cvCreateMat(tempMat->rows, tempMat->cols, CV_32FC1);//用于存储DOG层   
   // 2 passes of 1D on original   
   //   if(i!=0)   
   //   {   
   //       sigma1 = pow(k, j - 1) * ((octaves[i-1].Octave)[j-1].levelsigma);   
   //          sigma2 = pow(k, j) * ((octaves[i].Octave)[j-1].levelsigma);   
   //       sigma = sqrt(sigma2*sigma2 - sigma1*sigma1);   
   sigma_f= sqrt(k*k-1)*sigma;  
   //   }   
   //   else   
   //   {   
   //       sigma = sqrt(SIGMA * SIGMA - INITSIGMA * INITSIGMA * 4)*pow(k,j);   
   //   }     
            sigma = k*sigma;  
   absolute_sigma = sigma * (octaves[i].subsample);  
   printf("%d scale and Blur sigma: %f  /n", j, absolute_sigma);  
     
   (octaves[i].Octave)[j].levelsigma = sigma;  
            (octaves[i].Octave)[j].absolute_sigma = absolute_sigma;  
            //产生高斯层   
   int length=BlurImage((octaves[i].Octave)[j-1].Level, dst, sigma_f);//相应尺度   
            (octaves[i].Octave)[j].levelsigmalength = length;  
   (octaves[i].Octave)[j].Level=dst;  
            //产生DOG层   
            cvSub( ((octaves[i].Octave)[j]).Level, ((octaves[i].Octave)[j-1]).Level, temp, 0 );  
   //         cvAbsDiff( ((octaves[i].Octave)[j]).Level, ((octaves[i].Octave)[j-1]).Level, temp );   
            ((DOGoctaves[i].Octave)[j-1]).Level=temp;  
  }  
  // halve the image size for next iteration   
  tempMat  = halfSizeImage( ( (octaves[i].Octave)[SCALESPEROCTAVE].Level ) );  
 }  
 return octaves;  
}  

//SIFT算法第三步，特征点位置检测，   
int DetectKeypoint(int numoctaves, ImageOctaves *GaussianPyr)  
{  
    //计算用于DOG极值点检测的主曲率比的阈值   
 double curvature_threshold;  
 curvature_threshold= ((CURVATURE_THRESHOLD + 1)*(CURVATURE_THRESHOLD + 1))/CURVATURE_THRESHOLD;  
#define ImLevels(OCTAVE,LEVEL,ROW,COL) ((float *)(DOGoctaves[(OCTAVE)].Octave[(LEVEL)].Level->data.fl + DOGoctaves[(OCTAVE)].Octave[(LEVEL)].Level->step/sizeof(float) *(ROW)))[(COL)]   
   
 int   keypoint_count = 0;     
 for (int i=0; i<numoctaves; i++)    
 {          
  for(int j=1;j<SCALESPEROCTAVE+1;j++)//取中间的scaleperoctave个层   
  {    
   //在图像的有效区域内寻找具有显著性特征的局部最大值   
   //float sigma=(GaussianPyr[i].Octave)[j].levelsigma;   
   //int dim = (int) (max(3.0f, 2.0*GAUSSKERN *sigma + 1.0f)*0.5);   
   int dim = (int)(0.5*((GaussianPyr[i].Octave)[j].levelsigmalength)+0.5);  
   for (int m=dim;m<((DOGoctaves[i].row)-dim);m++)   
    for(int n=dim;n<((DOGoctaves[i].col)-dim);n++)  
    {       
     if ( fabs(ImLevels(i,j,m,n))>= CONTRAST_THRESHOLD )  
     {  
        
      if ( ImLevels(i,j,m,n)!=0.0 )  //1、首先是非零   
      {  
       float inf_val=ImLevels(i,j,m,n);  
       if(( (inf_val <= ImLevels(i,j-1,m-1,n-1))&&  
        (inf_val <= ImLevels(i,j-1,m  ,n-1))&&  
        (inf_val <= ImLevels(i,j-1,m+1,n-1))&&  
        (inf_val <= ImLevels(i,j-1,m-1,n  ))&&  
        (inf_val <= ImLevels(i,j-1,m  ,n  ))&&  
        (inf_val <= ImLevels(i,j-1,m+1,n  ))&&  
        (inf_val <= ImLevels(i,j-1,m-1,n+1))&&  
        (inf_val <= ImLevels(i,j-1,m  ,n+1))&&  
        (inf_val <= ImLevels(i,j-1,m+1,n+1))&&    //底层的小尺度9   
          
        (inf_val <= ImLevels(i,j,m-1,n-1))&&  
        (inf_val <= ImLevels(i,j,m  ,n-1))&&  
        (inf_val <= ImLevels(i,j,m+1,n-1))&&  
        (inf_val <= ImLevels(i,j,m-1,n  ))&&  
        (inf_val <= ImLevels(i,j,m+1,n  ))&&  
        (inf_val <= ImLevels(i,j,m-1,n+1))&&  
        (inf_val <= ImLevels(i,j,m  ,n+1))&&  
        (inf_val <= ImLevels(i,j,m+1,n+1))&&     //当前层8   
          
        (inf_val <= ImLevels(i,j+1,m-1,n-1))&&  
        (inf_val <= ImLevels(i,j+1,m  ,n-1))&&  
        (inf_val <= ImLevels(i,j+1,m+1,n-1))&&  
        (inf_val <= ImLevels(i,j+1,m-1,n  ))&&  
        (inf_val <= ImLevels(i,j+1,m  ,n  ))&&  
        (inf_val <= ImLevels(i,j+1,m+1,n  ))&&  
        (inf_val <= ImLevels(i,j+1,m-1,n+1))&&  
        (inf_val <= ImLevels(i,j+1,m  ,n+1))&&  
        (inf_val <= ImLevels(i,j+1,m+1,n+1))     //下一层大尺度9           
        ) ||   
        ( (inf_val >= ImLevels(i,j-1,m-1,n-1))&&  
        (inf_val >= ImLevels(i,j-1,m  ,n-1))&&  
        (inf_val >= ImLevels(i,j-1,m+1,n-1))&&  
        (inf_val >= ImLevels(i,j-1,m-1,n  ))&&  
        (inf_val >= ImLevels(i,j-1,m  ,n  ))&&  
        (inf_val >= ImLevels(i,j-1,m+1,n  ))&&  
        (inf_val >= ImLevels(i,j-1,m-1,n+1))&&  
        (inf_val >= ImLevels(i,j-1,m  ,n+1))&&  
        (inf_val >= ImLevels(i,j-1,m+1,n+1))&&  
          
        (inf_val >= ImLevels(i,j,m-1,n-1))&&  
        (inf_val >= ImLevels(i,j,m  ,n-1))&&  
        (inf_val >= ImLevels(i,j,m+1,n-1))&&  
        (inf_val >= ImLevels(i,j,m-1,n  ))&&  
        (inf_val >= ImLevels(i,j,m+1,n  ))&&  
        (inf_val >= ImLevels(i,j,m-1,n+1))&&  
        (inf_val >= ImLevels(i,j,m  ,n+1))&&  
        (inf_val >= ImLevels(i,j,m+1,n+1))&&   
          
        (inf_val >= ImLevels(i,j+1,m-1,n-1))&&  
        (inf_val >= ImLevels(i,j+1,m  ,n-1))&&  
        (inf_val >= ImLevels(i,j+1,m+1,n-1))&&  
        (inf_val >= ImLevels(i,j+1,m-1,n  ))&&  
        (inf_val >= ImLevels(i,j+1,m  ,n  ))&&  
        (inf_val >= ImLevels(i,j+1,m+1,n  ))&&  
        (inf_val >= ImLevels(i,j+1,m-1,n+1))&&  
        (inf_val >= ImLevels(i,j+1,m  ,n+1))&&  
        (inf_val >= ImLevels(i,j+1,m+1,n+1))   
        ) )      //2、满足26个中极值点   
       {     
        //此处可存储   
        //然后必须具有明显的显著性，即必须大于CONTRAST_THRESHOLD=0.02   
        if ( fabs(ImLevels(i,j,m,n))>= CONTRAST_THRESHOLD )  
        {  
         //最后显著处的特征点必须具有足够的曲率比，CURVATURE_THRESHOLD=10.0，首先计算Hessian矩阵   
         // Compute the entries of the Hessian matrix at the extrema location.   
         /* 
         1   0   -1 
         0   0   0 
         -1   0   1         *0.25 
         */  
         // Compute the trace and the determinant of the Hessian.   
         //Tr_H = Dxx + Dyy;   
         //Det_H = Dxx*Dyy - Dxy^2;   
         float Dxx,Dyy,Dxy,Tr_H,Det_H,curvature_ratio;  
         Dxx = ImLevels(i,j,m,n-1) + ImLevels(i,j,m,n+1)-2.0*ImLevels(i,j,m,n);  
         Dyy = ImLevels(i,j,m-1,n) + ImLevels(i,j,m+1,n)-2.0*ImLevels(i,j,m,n);  
         Dxy = ImLevels(i,j,m-1,n-1) + ImLevels(i,j,m+1,n+1) - ImLevels(i,j,m+1,n-1) - ImLevels(i,j,m-1,n+1);  
         Tr_H = Dxx + Dyy;  
         Det_H = Dxx*Dyy - Dxy*Dxy;  
         // Compute the ratio of the principal curvatures.   
         curvature_ratio = (1.0*Tr_H*Tr_H)/Det_H;  
         if ( (Det_H>=0.0) && (curvature_ratio <= curvature_threshold) )  //最后得到最具有显著性特征的特征点   
         {  
          //将其存储起来，以计算后面的特征描述字   
          keypoint_count++;  
          Keypoint k;  
          /* Allocate memory for the keypoint. */  
          k = (Keypoint) malloc(sizeof(struct KeypointSt));  
          k->next = keypoints;  
          keypoints = k;  
          k->row = m*(GaussianPyr[i].subsample);  
          k->col =n*(GaussianPyr[i].subsample);  
          k->sy = m;    //行   
          k->sx = n;    //列   
          k->octave=i;  
          k->level=j;  
          k->scale = (GaussianPyr[i].Octave)[j].absolute_sigma;        
         }//if >curvature_thresh   
        }//if >contrast   
       }//if inf value   
     }//if non zero   
     }//if >contrast   
    }  //for concrete image level col   
  }//for levels   
 }//for octaves   
 return keypoint_count;  
}  
  
//在图像中，显示SIFT特征点的位置   
void DisplayKeypointLocation(IplImage* image, ImageOctaves *GaussianPyr)  
{  
   
    Keypoint p = keypoints; // p指向第一个结点   
 while(p) // 没到表尾   
 {     
  cvLine( image, cvPoint((int)((p->col)-3),(int)(p->row)),   
   cvPoint((int)((p->col)+3),(int)(p->row)), CV_RGB(255,255,0),  
   1, 8, 0 );  
        cvLine( image, cvPoint((int)(p->col),(int)((p->row)-3)),   
   cvPoint((int)(p->col),(int)((p->row)+3)), CV_RGB(255,255,0),  
   1, 8, 0 );  
  //  cvCircle(image,cvPoint((uchar)(p->col),(uchar)(p->row)),   
  //   (int)((GaussianPyr[p->octave].Octave)[p->level].absolute_sigma),   
  //   CV_RGB(255,0,0),1,8,0);   
  p=p->next;  
 }   
}  
  
// Compute the gradient direction and magnitude of the gaussian pyramid images   
void ComputeGrad_DirecandMag(int numoctaves, ImageOctaves *GaussianPyr)  
{  
 // ImageOctaves *mag_thresh ;   
    mag_pyr=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );  
 grad_pyr=(ImageOctaves*) malloc( numoctaves * sizeof(ImageOctaves) );  
 // float sigma=( (GaussianPyr[0].Octave)[SCALESPEROCTAVE+2].absolute_sigma ) / GaussianPyr[0].subsample;   
 // int dim = (int) (max(3.0f, 2 * GAUSSKERN *sigma + 1.0f)*0.5+0.5);   
#define ImLevels(OCTAVE,LEVEL,ROW,COL) ((float *)(GaussianPyr[(OCTAVE)].Octave[(LEVEL)].Level->data.fl + GaussianPyr[(OCTAVE)].Octave[(LEVEL)].Level->step/sizeof(float) *(ROW)))[(COL)]   
 for (int i=0; i<numoctaves; i++)    
 {          
  mag_pyr[i].Octave= (ImageLevels*) malloc( (SCALESPEROCTAVE) * sizeof(ImageLevels) );  
        grad_pyr[i].Octave= (ImageLevels*) malloc( (SCALESPEROCTAVE) * sizeof(ImageLevels) );  
  for(int j=1;j<SCALESPEROCTAVE+1;j++)//取中间的scaleperoctave个层   
  {    
            CvMat *Mag = cvCreateMat(GaussianPyr[i].row, GaussianPyr[i].col, CV_32FC1);  
   CvMat *Ori = cvCreateMat(GaussianPyr[i].row, GaussianPyr[i].col, CV_32FC1);  
   CvMat *tempMat1 = cvCreateMat(GaussianPyr[i].row, GaussianPyr[i].col, CV_32FC1);  
   CvMat *tempMat2 = cvCreateMat(GaussianPyr[i].row, GaussianPyr[i].col, CV_32FC1);  
   cvZero(Mag);  
   cvZero(Ori);  
   cvZero(tempMat1);  
   cvZero(tempMat2);   
#define MAG(ROW,COL) ((float *)(Mag->data.fl + Mag->step/sizeof(float) *(ROW)))[(COL)]      
#define ORI(ROW,COL) ((float *)(Ori->data.fl + Ori->step/sizeof(float) *(ROW)))[(COL)]     
#define TEMPMAT1(ROW,COL) ((float *)(tempMat1->data.fl + tempMat1->step/sizeof(float) *(ROW)))[(COL)]   
#define TEMPMAT2(ROW,COL) ((float *)(tempMat2->data.fl + tempMat2->step/sizeof(float) *(ROW)))[(COL)]   
   for (int m=1;m<(GaussianPyr[i].row-1);m++)   
    for(int n=1;n<(GaussianPyr[i].col-1);n++)  
    {  
     //计算幅值   
     TEMPMAT1(m,n) = 0.5*( ImLevels(i,j,m,n+1)-ImLevels(i,j,m,n-1) );  //dx   
                    TEMPMAT2(m,n) = 0.5*( ImLevels(i,j,m+1,n)-ImLevels(i,j,m-1,n) );  //dy   
                    MAG(m,n) = sqrt(TEMPMAT1(m,n)*TEMPMAT1(m,n)+TEMPMAT2(m,n)*TEMPMAT2(m,n));  //mag   
     //计算方向   
     ORI(m,n) =atan( TEMPMAT2(m,n)/TEMPMAT1(m,n) );  
                    if (ORI(m,n)==CV_PI)  
      ORI(m,n)=-CV_PI;  
    }  
    ((mag_pyr[i].Octave)[j-1]).Level=Mag;  
    ((grad_pyr[i].Octave)[j-1]).Level=Ori;  
    cvReleaseMat(&tempMat1);  
    cvReleaseMat(&tempMat2);  
  }//for levels   
 }//for octaves   
}  

//SIFT算法第四步：计算各个特征点的主方向，确定主方向   
void AssignTheMainOrientation(int numoctaves, ImageOctaves *GaussianPyr,ImageOctaves *mag_pyr,ImageOctaves *grad_pyr)  
{  
    // Set up the histogram bin centers for a 36 bin histogram.   
    int num_bins = 36;  
    float hist_step = 2.0*PI/num_bins;  
    float hist_orient[36];  
    for (int i=0;i<36;i++)  
  hist_orient[i]=-PI+i*hist_step;  
    float sigma1=( ((GaussianPyr[0].Octave)[SCALESPEROCTAVE].absolute_sigma) ) / (GaussianPyr[0].subsample);//SCALESPEROCTAVE+2   
 int zero_pad = (int) (max(3.0f, 2 * GAUSSKERN *sigma1 + 1.0f)*0.5+0.5);  
    //Assign orientations to the keypoints.   
#define ImLevels(OCTAVES,LEVELS,ROW,COL) ((float *)((GaussianPyr[(OCTAVES)].Octave[(LEVELS)].Level)->data.fl + (GaussianPyr[(OCTAVES)].Octave[(LEVELS)].Level)->step/sizeof(float) *(ROW)))[(COL)]   
   
    int keypoint_count = 0;  
 Keypoint p = keypoints; // p指向第一个结点   
   
 while(p) // 没到表尾   
 {  
  int i=p->octave;  
  int j=p->level;  
  int m=p->sy;   //行   
  int n=p->sx;   //列   
  if ((m>=zero_pad)&&(m<GaussianPyr[i].row-zero_pad)&&  
   (n>=zero_pad)&&(n<GaussianPyr[i].col-zero_pad) )  
  {  
   float sigma=( ((GaussianPyr[i].Octave)[j].absolute_sigma) ) / (GaussianPyr[i].subsample);  
   //产生二维高斯模板   
            CvMat* mat = GaussianKernel2D( sigma );           
   int dim=(int)(0.5 * (mat->rows));  
   //分配用于存储Patch幅值和方向的空间   
#define MAT(ROW,COL) ((float *)(mat->data.fl + mat->step/sizeof(float) *(ROW)))[(COL)]   
     
   //声明方向直方图变量   
   double* orienthist = (double *) malloc(36 * sizeof(double));  
   for ( int sw = 0 ; sw < 36 ; ++sw)   
   {  
    orienthist[sw]=0.0;    
   }  
   //在特征点的周围统计梯度方向   
            for (int x=m-dim,mm=0;x<=(m+dim);x++,mm++)   
    for(int y=n-dim,nn=0;y<=(n+dim);y++,nn++)  
    {       
     //计算特征点处的幅值   
     double dx = 0.5*(ImLevels(i,j,x,y+1)-ImLevels(i,j,x,y-1));  //dx   
     double dy = 0.5*(ImLevels(i,j,x+1,y)-ImLevels(i,j,x-1,y));  //dy   
     double mag = sqrt(dx*dx+dy*dy);  //mag   
     //计算方向   
     double Ori =atan( 1.0*dy/dx );  
     int binIdx = FindClosestRotationBin(36, Ori);                   //得到离现有方向最近的直方块   
     orienthist[binIdx] = orienthist[binIdx] + 1.0* mag * MAT(mm,nn);//利用高斯加权累加进直方图相应的块   
    }  
    // Find peaks in the orientation histogram using nonmax suppression.   
    AverageWeakBins (orienthist, 36);  
    // find the maximum peak in gradient orientation   
    double maxGrad = 0.0;  
    int maxBin = 0;  
    for (int b = 0 ; b < 36 ; ++b)   
    {  
     if (orienthist[b] > maxGrad)   
     {  
      maxGrad = orienthist[b];  
      maxBin = b;  
     }  
    }  
    // First determine the real interpolated peak high at the maximum bin   
    // position, which is guaranteed to be an absolute peak.   
    double maxPeakValue=0.0;  
    double maxDegreeCorrection=0.0;  
    if ( (InterpolateOrientation ( orienthist[maxBin == 0 ? (36 - 1) : (maxBin - 1)],  
                    orienthist[maxBin], orienthist[(maxBin + 1) % 36],  
                    &maxDegreeCorrection, &maxPeakValue)) == false)  
     printf("BUG: Parabola fitting broken");  
      
    // Now that we know the maximum peak value, we can find other keypoint   
    // orientations, which have to fulfill two criterias:   
    //   
    //  1. They must be a local peak themselves. Else we might add a very   
    //     similar keypoint orientation twice (imagine for example the   
    //     values: 0.4 1.0 0.8, if 1.0 is maximum peak, 0.8 is still added   
    //     with the default threshhold, but the maximum peak orientation   
    //     was already added).   
    //  2. They must have at least peakRelThresh times the maximum peak   
    //     value.   
    bool binIsKeypoint[36];  
    for (int b = 0 ; b < 36 ; ++b)   
    {  
     binIsKeypoint[b] = false;  
     // The maximum peak of course is   
     if (b == maxBin)   
     {  
      binIsKeypoint[b] = true;  
      continue;  
     }  
     // Local peaks are, too, in case they fulfill the threshhold   
     if (orienthist[b] < (peakRelThresh * maxPeakValue))  
      continue;  
     int leftI = (b == 0) ? (36 - 1) : (b - 1);  
     int rightI = (b + 1) % 36;  
     if (orienthist[b] <= orienthist[leftI] || orienthist[b] <= orienthist[rightI])  
      continue; // no local peak   
     binIsKeypoint[b] = true;  
    }  
    // find other possible locations   
    double oneBinRad = (2.0 * PI) / 36;  
    for (int b = 0 ; b < 36 ; ++b)   
    {  
     if (binIsKeypoint[b] == false)  
      continue;  
     int bLeft = (b == 0) ? (36 - 1) : (b - 1);  
     int bRight = (b + 1) % 36;  
     // Get an interpolated peak direction and value guess.   
     double peakValue;  
     double degreeCorrection;  
       
     double maxPeakValue, maxDegreeCorrection;                
     if (InterpolateOrientation ( orienthist[maxBin == 0 ? (36 - 1) : (maxBin - 1)],  
      orienthist[maxBin], orienthist[(maxBin + 1) % 36],  
      &degreeCorrection, &peakValue) == false)  
     {  
      printf("BUG: Parabola fitting broken");  
     }  
       
     double degree = (b + degreeCorrection) * oneBinRad - PI;  
     if (degree < -PI)  
      degree += 2.0 * PI;  
     else if (degree > PI)  
      degree -= 2.0 * PI;  
     //存储方向，可以直接利用检测到的链表进行该步主方向的指定;   
     //分配内存重新存储特征点   
     Keypoint k;  
     /* Allocate memory for the keypoint Descriptor. */  
     k = (Keypoint) malloc(sizeof(struct KeypointSt));  
     k->next = keyDescriptors;  
     keyDescriptors = k;  
     k->descrip = (float*)malloc(LEN * sizeof(float));  
     k->row = p->row;  
     k->col = p->col;  
     k->sy = p->sy;    //行   
     k->sx = p->sx;    //列   
     k->octave = p->octave;  
     k->level = p->level;  
     k->scale = p->scale;        
     k->ori = degree;  
     k->mag = peakValue;    
    }//for   
    free(orienthist);  
  }  
  p=p->next;  
 }   
}  
  
//寻找与方向直方图最近的柱，确定其index    
int FindClosestRotationBin (int binCount, float angle)  
{  
 angle += CV_PI;  
 angle /= 2.0 * CV_PI;  
 // calculate the aligned bin   
 angle *= binCount;  
 int idx = (int) angle;  
 if (idx == binCount)  
  idx = 0;  
 return (idx);  
}  
  
// Average the content of the direction bins.   
void AverageWeakBins (double* hist, int binCount)  
{  
 // TODO: make some tests what number of passes is the best. (its clear   
 // one is not enough, as we may have something like   
 // ( 0.4, 0.4, 0.3, 0.4, 0.4 ))   
 for (int sn = 0 ; sn < 2 ; ++sn)   
 {  
  double firstE = hist[0];  
  double last = hist[binCount-1];  
  for (int sw = 0 ; sw < binCount ; ++sw)   
  {  
   double cur = hist[sw];  
   double next = (sw == (binCount - 1)) ? firstE : hist[(sw + 1) % binCount];  
   hist[sw] = (last + cur + next) / 3.0;  
   last = cur;  
  }  
 }  
}  
  
// Fit a parabol to the three points (-1.0 ; left), (0.0 ; middle) and   
// (1.0 ; right).   
// Formulas:   
// f(x) = a (x - c)^2 + b   
// c is the peak offset (where f'(x) is zero), b is the peak value.   
// In case there is an error false is returned, otherwise a correction   
// value between [-1 ; 1] is returned in 'degreeCorrection', where -1   
// means the peak is located completely at the left vector, and -0.5 just   
// in the middle between left and middle and > 0 to the right side. In   
// 'peakValue' the maximum estimated peak value is stored.   
bool InterpolateOrientation (double left, double middle,double right, double *degreeCorrection, double *peakValue)  
{  
 double a = ((left + right) - 2.0 * middle) / 2.0;   //抛物线捏合系数a   
 // degreeCorrection = peakValue = Double.NaN;   
   
 // Not a parabol   
 if (a == 0.0)  
  return false;  
 double c = (((left - middle) / a) - 1.0) / 2.0;  
 double b = middle - c * c * a;  
 if (c < -0.5 || c > 0.5)  
  return false;  
 *degreeCorrection = c;  
 *peakValue = b;  
 return true;  
}  
  
//显示特征点处的主方向   
void DisplayOrientation (IplImage* image, ImageOctaves *GaussianPyr)  
{  
 Keypoint p = keyDescriptors; // p指向第一个结点   
 while(p) // 没到表尾   
 {  
  float scale=(GaussianPyr[p->octave].Octave)[p->level].absolute_sigma;  
  float autoscale = 3.0;   
  float uu=autoscale*scale*cos(p->ori);  
  float vv=autoscale*scale*sin(p->ori);  
  float x=(p->col)+uu;  
  float y=(p->row)+vv;  
  cvLine( image, cvPoint((int)(p->col),(int)(p->row)),   
   cvPoint((int)x,(int)y), CV_RGB(255,255,0),  
   1, 8, 0 );  
  // Arrow head parameters   
        float alpha = 0.33; // Size of arrow head relative to the length of the vector   
        float beta = 0.33;  // Width of the base of the arrow head relative to the length   
    
  float xx0= (p->col)+uu-alpha*(uu+beta*vv);  
        float yy0= (p->row)+vv-alpha*(vv-beta*uu);  
        float xx1= (p->col)+uu-alpha*(uu-beta*vv);  
        float yy1= (p->row)+vv-alpha*(vv+beta*uu);  
        cvLine( image, cvPoint((int)xx0,(int)yy0),   
   cvPoint((int)x,(int)y), CV_RGB(255,255,0),  
   1, 8, 0 );  
  cvLine( image, cvPoint((int)xx1,(int)yy1),   
   cvPoint((int)x,(int)y), CV_RGB(255,255,0),  
   1, 8, 0 );  
  p=p->next;  
 }   }

 void ExtractFeatureDescriptors(int numoctaves, ImageOctaves *GaussianPyr)  
{  
 // The orientation histograms have 8 bins   
 float orient_bin_spacing = PI/4;  
    float orient_angles[8]={-PI,-PI+orient_bin_spacing,-PI*0.5, -orient_bin_spacing,  
  0.0, orient_bin_spacing, PI*0.5,  PI+orient_bin_spacing};  
    //产生描述字中心各点坐标   
    float *feat_grid=(float *) malloc( 2*16 * sizeof(float));  
 for (int i=0;i<GridSpacing;i++)  
 {  
        for (int j=0;j<2*GridSpacing;++j,++j)  
  {  
   feat_grid[i*2*GridSpacing+j]=-6.0+i*GridSpacing;  
   feat_grid[i*2*GridSpacing+j+1]=-6.0+0.5*j*GridSpacing;  
  }  
 }  
    //产生网格   
 float *feat_samples=(float *) malloc( 2*256 * sizeof(float));  
    for (int i=0;i<4*GridSpacing;i++)  
 {  
        for (int j=0;j<8*GridSpacing;j+=2)  
  {  
   feat_samples[i*8*GridSpacing+j]=-(2*GridSpacing-0.5)+i;  
   feat_samples[i*8*GridSpacing+j+1]=-(2*GridSpacing-0.5)+0.5*j;  
  }  
 }  
 float feat_window = 2*GridSpacing;  
 Keypoint p = keyDescriptors; // p指向第一个结点   
 while(p) // 没到表尾   
 {  
  float scale=(GaussianPyr[p->octave].Octave)[p->level].absolute_sigma;  
          
  float sine = sin(p->ori);  
  float cosine = cos(p->ori);    
        //计算中心点坐标旋转之后的位置   
  float *featcenter=(float *) malloc( 2*16 * sizeof(float));  
  for (int i=0;i<GridSpacing;i++)  
  {  
            for (int j=0;j<2*GridSpacing;j+=2)  
   {  
    float x=feat_grid[i*2*GridSpacing+j];  
    float y=feat_grid[i*2*GridSpacing+j+1];  
    featcenter[i*2*GridSpacing+j]=((cosine * x + sine * y) + p->sx);  
    featcenter[i*2*GridSpacing+j+1]=((-sine * x + cosine * y) + p->sy);  
   }  
  }  
  // calculate sample window coordinates (rotated along keypoint)   
  float *feat=(float *) malloc( 2*256 * sizeof(float));  
  for (int i=0;i<64*GridSpacing;i++,i++)  
  {  
   float x=feat_samples[i];  
   float y=feat_samples[i+1];  
   feat[i]=((cosine * x + sine * y) + p->sx);  
   feat[i+1]=((-sine * x + cosine * y) + p->sy);  
  }  
  //Initialize the feature descriptor.   
        float *feat_desc = (float *) malloc( 128 * sizeof(float));  
        for (int i=0;i<128;i++)  
  {  
   feat_desc[i]=0.0;  
   // printf("%f  ",feat_desc[i]);     
  }  
        //printf("/n");   
  for (int i=0;i<512;++i,++i)  
  {  
            float x_sample = feat[i];  
            float y_sample = feat[i+1];  
            // Interpolate the gradient at the sample position   
      /* 
      0   1   0 
      1   *   1 
      0   1   0   具体插值策略如图示 
   */  
   float sample12=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample, y_sample-1);  
   float sample21=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample-1, y_sample);   
   float sample22=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample, y_sample);   
   float sample23=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample+1, y_sample);   
   float sample32=getPixelBI(((GaussianPyr[p->octave].Octave)[p->level]).Level, x_sample, y_sample+1);   
   //float diff_x = 0.5*(sample23 - sample21);   
            //float diff_y = 0.5*(sample32 - sample12);   
   float diff_x = sample23 - sample21;  
            float diff_y = sample32 - sample12;  
            float mag_sample = sqrt( diff_x*diff_x + diff_y*diff_y );  
            float grad_sample = atan( diff_y / diff_x );  
            if(grad_sample == CV_PI)  
    grad_sample = -CV_PI;  
            // Compute the weighting for the x and y dimensions.   
            float *x_wght=(float *) malloc( GridSpacing * GridSpacing * sizeof(float));  
            float *y_wght=(float *) malloc( GridSpacing * GridSpacing * sizeof(float));  
   float *pos_wght=(float *) malloc( 8*GridSpacing * GridSpacing * sizeof(float));;  
   for (int m=0;m<32;++m,++m)  
   {  
                float x=featcenter[m];  
    float y=featcenter[m+1];  
    x_wght[m/2] = max(1 - (fabs(x - x_sample)*1.0/GridSpacing), 0);  
                y_wght[m/2] = max(1 - (fabs(y - y_sample)*1.0/GridSpacing), 0);   
      
   }  
   for (int m=0;m<16;++m)  
                for (int n=0;n<8;++n)  
     pos_wght[m*8+n]=x_wght[m]*y_wght[m];  
    free(x_wght);  
    free(y_wght);  
    //计算方向的加权，首先旋转梯度场到主方向，然后计算差异    
    float diff[8],orient_wght[128];  
    for (int m=0;m<8;++m)  
    {   
     float angle = grad_sample-(p->ori)-orient_angles[m]+CV_PI;  
     float temp = angle / (2.0 * CV_PI);  
     angle -= (int)(temp) * (2.0 * CV_PI);  
     diff[m]= angle - CV_PI;  
    }  
    // Compute the gaussian weighting.   
    float x=p->sx;  
    float y=p->sy;  
    float g = exp(-((x_sample-x)*(x_sample-x)+(y_sample-y)*(y_sample-y))/(2*feat_window*feat_window))/(2*CV_PI*feat_window*feat_window);  
      
    for (int m=0;m<128;++m)  
    {  
     orient_wght[m] = max((1.0 - 1.0*fabs(diff[m%8])/orient_bin_spacing),0);  
     feat_desc[m] = feat_desc[m] + orient_wght[m]*pos_wght[m]*g*mag_sample;  
    }  
    free(pos_wght);     
  }  
  free(feat);  
  free(featcenter);  
  float norm=GetVecNorm( feat_desc, 128);  
  for (int m=0;m<128;m++)  
  {  
   feat_desc[m]/=norm;  
   if (feat_desc[m]>0.2)  
    feat_desc[m]=0.2;  
  }  
        norm=GetVecNorm( feat_desc, 128);  
        for (int m=0;m<128;m++)  
  {  
   feat_desc[m]/=norm;  
   printf("%f  ",feat_desc[m]);    
  }  
  printf("/n");  
  p->descrip = feat_desc;  
  p=p->next;  
 }  
 free(feat_grid);  
    free(feat_samples);  
}  
  
//为了显示图象金字塔，而作的图像水平拼接   
CvMat* MosaicHorizen( CvMat* im1, CvMat* im2 )  
{  
 int row,col;  
 CvMat *mosaic = cvCreateMat( max(im1->rows,im2->rows),(im1->cols+im2->cols),CV_32FC1);  
#define Mosaic(ROW,COL) ((float*)(mosaic->data.fl + mosaic->step/sizeof(float)*(ROW)))[(COL)]   
#define Im11Mat(ROW,COL) ((float *)(im1->data.fl + im1->step/sizeof(float) *(ROW)))[(COL)]   
#define Im22Mat(ROW,COL) ((float *)(im2->data.fl + im2->step/sizeof(float) *(ROW)))[(COL)]   
 cvZero(mosaic);  
 /* Copy images into mosaic1. */  
 for ( row = 0; row < im1->rows; row++)  
  for ( col = 0; col < im1->cols; col++)  
   Mosaic(row,col)=Im11Mat(row,col) ;  
  for (  row = 0; row < im2->rows; row++)  
   for (  col = 0; col < im2->cols; col++)  
    Mosaic(row, (col+im1->cols) )= Im22Mat(row,col) ;  
   return mosaic;  
}  
  
//为了显示图象金字塔，而作的图像垂直拼接   
CvMat* MosaicVertical( CvMat* im1, CvMat* im2 )  
{  
 int row,col;  
 CvMat *mosaic = cvCreateMat(im1->rows+im2->rows,max(im1->cols,im2->cols), CV_32FC1);  
#define Mosaic(ROW,COL) ((float*)(mosaic->data.fl + mosaic->step/sizeof(float)*(ROW)))[(COL)]   
#define Im11Mat(ROW,COL) ((float *)(im1->data.fl + im1->step/sizeof(float) *(ROW)))[(COL)]   
#define Im22Mat(ROW,COL) ((float *)(im2->data.fl + im2->step/sizeof(float) *(ROW)))[(COL)]   
 cvZero(mosaic);  
   
 /* Copy images into mosaic1. */  
 for ( row = 0; row < im1->rows; row++)  
  for ( col = 0; col < im1->cols; col++)  
   Mosaic(row,col)= Im11Mat(row,col) ;  
  for ( row = 0; row < im2->rows; row++)  
   for ( col = 0; col < im2->cols; col++)  
    Mosaic((row+im1->rows),col)=Im22Mat(row,col) ;  
     
   return mosaic;  
}