/**
* Processes the image and extracts SIFT features
*
* @param input input image
*/
public void process(ImageFloat32 input) {
features.reset();
featureScales.reset();
featureAngles.reset();
location.reset();
ss.constructPyramid(input);
ss.computeFeatureIntensity();
ss.computeDerivatives();
detector.process(ss);
orientation.setScaleSpace(ss);
describe.setScaleSpace(ss);
FastQueue<ScalePoint> found = detector.getFoundPoints();
for (int i = 0; i < found.size; i++) {
ScalePoint sp = found.data[i];
orientation.process(sp.x, sp.y, sp.scale);
GrowQueue_F64 angles = orientation.getOrientations();
int imageIndex = orientation.getImageIndex();
double pixelScale = orientation.getPixelScale();
for (int j = 0; j < angles.size; j++) {
SurfFeature desc = features.grow();
double yaw = angles.data[j];
describe.process(sp.x, sp.y, sp.scale, yaw, imageIndex, pixelScale, desc);
desc.laplacianPositive = sp.white;
featureScales.push(sp.scale);
featureAngles.push(yaw);
location.grow().set(sp.x, sp.y);
}
}
}
