% PHASECONG3 - Computes edge and corner phase congruency in an image.
%
% This function calculates the PC_2 measure of phase congruency.
% This function supersedes PHASECONG2 and PHASECONG being faster and requires
% less memory
%
% There are potentially many arguments, here is the full usage:
%
% [M m or ft pc EO, T] = phasecong3(im, nscale, norient, minWaveLength, ...
% mult, sigmaOnf, k, cutOff, g, noiseMethod)
%
% However, apart from the image, all parameters have defaults and the
% usage can be as simple as:
%
% M = phasecong3(im);
%
% Arguments:
% Default values Description
%
% nscale 4 - Number of wavelet scales, try values 3-6
% norient 6 - Number of filter orientations.
% minWaveLength 3 - Wavelength of smallest scale filter.
% mult 2.1 - Scaling factor between successive filters.
% sigmaOnf 0.55 - Ratio of the standard deviation of the Gaussian
% describing the log Gabor filter's transfer function
% in the frequency domain to the filter center frequency.
% k 2.0 - No of standard deviations of the noise energy beyond
% the mean at which we set the noise threshold point.
% You may want to vary this up to a value of 10 or
% 20 for noisy images
% cutOff 0.5 - The fractional measure of frequency spread
% below which phase congruency values get penalized.
% g 10 - Controls the sharpness of the transition in
% the sigmoid function used to weight phase
% congruency for frequency spread.
% noiseMethod -1 - Parameter specifies method used to determine
% noise statistics.
% -1 use median of smallest scale filter responses
% -2 use mode of smallest scale filter responses
% 0+ use noiseMethod value as the fixed noise threshold
%
% Returned values:
% M - Maximum moment of phase congruency covariance.
% This is used as a indicator of edge strength.
% m - Minimum moment of phase congruency covariance.
% This is used as a indicator of corner strength.
% or - Orientation image in integer degrees 0-180,
% positive anticlockwise.
% 0 corresponds to a vertical edge, 90 is horizontal.
% ft - Local weighted mean phase angle at every point in the
% image. A value of pi/2 corresponds to a bright line, 0
% corresponds to a step and -pi/2 is a dark line.
% pc - Cell array of phase congruency images (values between 0 and 1)
% for each orientation
% EO - A 2D cell array of complex valued convolution result
% T - Calculated noise threshold (can be useful for
% diagnosing noise characteristics of images). Once you know
% this you can then specify fixed thresholds and save some
% computation time.
%
% EO{s,o} = convolution result for scale s and orientation o. The real part
% is the result of convolving with the even symmetric filter, the imaginary
% part is the result from convolution with the odd symmetric filter.
%
% Hence:
% abs(EO{s,o}) returns the magnitude of the convolution over the
% image at scale s and orientation o.
% angle(EO{s,o}) returns the phase angles.
%
% Notes on specifying parameters:
%
% The parameters can be specified as a full list eg.
% >> [M m or ft pc EO] = phasecong3(im, 5, 6, 3, 2.5, 0.55, 2.0, 0.4, 10);
%
% or as a partial list with unspecified parameters taking on default values
% >> [M m or ft pc EO] = phasecong3(im, 5, 6, 3);
%
% or as a partial list of parameters followed by some parameters specified via a
% keyword-value pair, remaining parameters are set to defaults, for example:
% >> [M m or ft pc EO] = phasecong3(im, 5, 6, 3, 'cutOff', 0.3, 'k', 2.5);
%
% The convolutions are done via the FFT. Many of the parameters relate to the
% specification of the filters in the frequency plane. The values do not seem
% to be very critical and the defaults are usually fine. You may want to
% experiment with the values of 'nscales' and 'k', the noise compensation factor.
%
% Notes on filter settings to obtain even coverage of the spectrum
% sigmaOnf .85 mult 1.3
% sigmaOnf .75 mult 1.6 (filter bandwidth ~1 octave)
% sigmaOnf .65 mult 2.1
% sigmaOnf .55 mult 3 (filter bandwidth ~2 octaves)
%
% See Also: PHASECONG, PHASECONG2, PHASESYM, GABORCONVOLVE, PLOTGABORFILTERS
% References:
%
% Peter Kovesi, "Image Features From Phase Congruency". Videre: A
% Journal of Computer Vision Research. MIT Press. Volume 1, Number 3,
% Summer 1999 http://mitpress.mit.edu/e-journals/Videre/001/v13.html
%
% Peter Kovesi, "Phase Congruency Detects Corners and
% Edges". Proceedings DICTA 2003, Sydney Dec 10-12
% April 1996 Original Version written
% August 1998 Noise compensation corrected.
% October 1998 Noise compensation corrected. - Again!!!
% September 1999 Modified to operate on non-square images of arbitrary size.
% May 2001 Modified to return feature type image.
% July 2003 Altered to calculate 'corner' points.
% October 2003 Speed improvements and refinements.
% July 2005 Better argument handling, changed order of return values
% August 2005 Made Octave compatible
% May 2006 Bug in checkargs fixed
% Jan 2007 Bug in setting radius to 0 for odd sized images fixed.
% April 2009 Scaling of covariance values fixed. (Negligible change to results)
% May 2009 Noise compensation simplified reducing memory and
% computation overhead. Spread function changed to a cosine,
% eliminating parameter dThetaOnSigma and ensuring even
% angular coverage. Frequency width measure slightly
% improved.
% November 2010 Cosine angular spread function corrected (it was 2x as wide
% as it should have been)
% Copyright (c) 1996-2010 Peter Kovesi
% Centre for Exploration Targeting
% The University of Western Australia
% peter.kovesi at uwa edu au
%
% Permission is hereby granted, free of charge, to any person obtaining a copy
% of this software and associated documentation files (the "Software"), to deal
% in the Software without restriction, subject to the following conditions:
%
% The above copyright notice and this permission notice shall be included in
% all copies or substantial portions of the Software.
%
% The Software is provided "as is", without warranty of any kind.
function [M, m, or, featType, PC, EO, T, pcSum] = phasecong3(varargin)
% Get arguments and/or default values
[im, nscale, norient, minWaveLength, mult, sigmaOnf, ...
k, cutOff, g, noiseMethod] = checkargs(varargin(:));
epsilon = .0001; % Used to prevent division by zero.
[rows,cols] = size(im);
imagefft = fft2(im); % Fourier transform of image
zero = zeros(rows,cols);
EO = cell(nscale, norient); % Array of convolution results.
PC = cell(norient,1);
covx2 = zero; % Matrices for covariance data
covy2 = zero;
covxy = zero;
EnergyV = zeros(rows,cols,3); % Matrix for accumulating total energy
% vector, used for feature orientation
% and type calculation
pcSum = zeros(rows,cols);
% Pre-compute some stuff to speed up filter construction
% Set up X and Y matrices with ranges normalised to +/- 0.5
% The following code adjusts things appropriately for odd and even values
% of rows and columns.
if mod(cols,2)
xrange = [-(cols-1)/2:(cols-1)/2]/(cols-1);
else
xrange = [-cols/2:(cols/2-1)]/cols;
end
if mod(rows,2)
yrange = [-(rows-1)/2:(rows-1)/2]/(rows-1);
else
yrange = [-rows/2:(rows/2-1)]/rows;
end
[x,y] = meshgrid(xrange, yrange);
radius = sqrt(x.^2 + y.^2); % Matrix values contain *normalised* radius from centre.
theta = atan2(-y,x); % Matrix values contain polar angle.
% (note -ve y is used to give +ve
% anti-clockwise angles)
radius = ifftshift(radius); % Quadrant shift radius and theta so that filters
theta = ifftshift(theta); % are constructed with 0 frequency at the corners.
radius(1,1) = 1; % Get rid of the 0 radius value at the 0
% frequency point (now at top-left corner)
% so that taking the log of the radius will
% not cause trouble.
sintheta = sin(theta);
costheta = cos(theta);
clear x; clear y; clear theta; % save a little memory
% Filters are constructed in terms of two components.
% 1) The radial component, which controls the frequency band that the filter
% responds to
% 2) The angular component, which controls the orientation that the filter
% responds to.
% The two components are multiplied together to construct the overall filter.
% Construct the radial filter components...
% First construct a low-pass filter that is as large as possible, yet falls
% away to zero at the boundaries. All log Gabor filters are multiplied by
% this to ensure no extra frequencies at the 'corners' of the FFT are
% incorporated as this seems to upset the normalisation process when
% calculating phase congrunecy.
lp = lowpassfilter([rows,cols],.45,15); % Radius .45, 'sharpness' 15
logGabor = cell(1,nscale);
for s = 1:nscale
wavelength = minWaveLength*mult^(s-1);
fo = 1.0/wavelength; % Centre frequency of filter.
logGabor{s} = exp((-(log(radius/fo)).^2) / (2 * log(sigmaOnf)^2));
logGabor{s} = logGabor{s}.*lp; % Apply low-pass filter
logGabor{s}(1,1) = 0; % Set the value at the 0 frequency point of the filter
% back to zero (undo the radius fudge).
end
%% The main loop...
for o = 1:norient % For each orientation...
% Construct the angular filter spread function
angl = (o-1)*pi/norient; % Filter angle.
% For each point in the filter matrix calculate the angular distance from
% the specified filter orientation. To overcome the angular wrap-around
% problem sine difference and cosine difference values are first computed
% and then the atan2 function is used to determine angular distance.
ds = sintheta * cos(angl) - costheta * sin(angl); % Difference in sine.
dc = costheta * cos(angl) + sintheta * sin(angl); % Difference in cosine.
dtheta = abs(atan2(ds,dc)); % Absolute angular distance.
% Scale theta so that cosine spread function has the right wavelength and clamp to pi
dtheta = min(dtheta*norient/2,pi);
% The spread function is cos(dtheta) between -pi and pi. We add 1,
% and then divide by 2 so that the value ranges 0-1
spread = (cos(dtheta)+1)/2;
sumE_ThisOrient = zero; % Initialize accumulator matrices.
sumO_ThisOrient = zero;
sumAn_ThisOrient = zero;
Energy = zero;
for s = 1:nscale, % For each scale...
filter = logGabor{s} .* spread; % Multiply radial and angular
% components to get the filter.
% Convolve image with even and odd filters returning the result in EO
EO{s,o} = ifft2(imagefft .* filter);
An = abs(EO{s,o}); % Amplitude of even & odd filter response.
sumAn_ThisOrient = sumAn_ThisOrient + An; % Sum of amplitude responses.
sumE_ThisOrient = sumE_ThisOrient + real(EO{s,o}); % Sum of even filter convolution results.
sumO_ThisOrient = sumO_ThisOrient + imag(EO{s,o}); % Sum of odd filter convolution results.
% At the smallest scale estimate noise characteristics from the
% distribution of the filter amplitude responses stored in sumAn.
% tau is the Rayleigh parameter that is used to describe the
% distribution.
if s == 1
if noiseMethod == -1 % Use median to estimate noise statistics
tau = median(sumAn_ThisOrient(:))/sqrt(log(4));
elseif noiseMethod == -2 % Use mode to estimate noise statistics
tau = rayleighmode(sumAn_ThisOrient(:));
end
maxAn = An;
else
% Record maximum amplitude of components across scales. This is needed
% to determine the frequency spread weighting.
maxAn = max(maxAn,An);
end
end % ... and process the next scale
% Accumulate total 3D energy vector data, this will be used to
% determine overall feature orientation and feature phase/type
EnergyV(:,:,1) = EnergyV(:,:,1) + sumE_ThisOrient;
EnergyV(:,:,2) = EnergyV(:,:,2) + cos(angl)*sumO_ThisOrient;
EnergyV(:,:,3) = EnergyV(:,:,3) + sin(angl)*sumO_ThisOrient;
% Get weighted mean filter response vector, this gives the weighted mean
% phase angle.
XEnergy = sqrt(sumE_ThisOrient.^2 + sumO_ThisOrient.^2) + epsilon;
MeanE = sumE_ThisOrient ./ XEnergy;
MeanO = sumO_ThisOrient ./ XEnergy;
% Now calculate An(cos(phase_deviation) - | sin(phase_deviation)) | by
% using dot and cross products between the weighted mean filter response
% vector and the individual filter response vectors at each scale. This
% quantity is phase congruency multiplied by An, which we call energy.
for s = 1:nscale,
E = real(EO{s,o}); O = imag(EO{s,o}); % Extract even and odd
% convolution results.
Energy = Energy + E.*MeanE + O.*MeanO - abs(E.*MeanO - O.*MeanE);
end
%% Automatically determine noise threshold
%
% Assuming the noise is Gaussian the response of the filters to noise will
% form Rayleigh distribution. We use the filter responses at the smallest
% scale as a guide to the underlying noise level because the smallest scale
% filters spend most of their time responding to noise, and only
% occasionally responding to features. Either the median, or the mode, of
% the distribution of filter responses can be used as a robust statistic to
% estimate the distribution mean and standard deviation as these are related
% to the median or mode by fixed constants. The response of the larger
% scale filters to noise can then be estimated from the smallest scale
% filter response according to their relative bandwidths.
%
% This code assumes that the expected reponse to noise on the phase congruency
% calculation is simply the sum of the expected noise responses of each of
% the filters. This is a simplistic overestimate, however these two
% quantities should be related by some constant that will depend on the
% filter bank being used. Appropriate tuning of the parameter 'k' will
% allow you to produce the desired output.
if noiseMethod >= 0 % We are using a fixed noise threshold
T = noiseMethod; % use supplied noiseMethod value as the threshold
else
% Estimate the effect of noise on the sum of the filter responses as
% the sum of estimated individual responses (this is a simplistic
% overestimate). As the estimated noise response at succesive scales
% is scaled inversely proportional to bandwidth we have a simple
% geometric sum.
totalTau = tau * (1 - (1/mult)^nscale)/(1-(1/mult));
% Calculate mean and std dev from tau using fixed relationship
% between these parameters and tau. See
% http://mathworld.wolfram.com/RayleighDistribution.html
EstNoiseEnergyMean = totalTau*sqrt(pi/2); % Expected mean and std
EstNoiseEnergySigma = totalTau*sqrt((4-pi)/2); % values of noise energy
T = EstNoiseEnergyMean + k*EstNoiseEnergySigma; % Noise threshold
end
% Apply noise threshold, this is effectively wavelet denoising via
% soft thresholding.
Energy = max(Energy - T, 0);
% Form weighting that penalizes frequency distributions that are
% particularly narrow. Calculate fractional 'width' of the frequencies
% present by taking the sum of the filter response amplitudes and dividing
% by the maximum amplitude at each point on the image. If
% there is only one non-zero component width takes on a value of 0, if
% all components are equal width is 1.
width = (sumAn_ThisOrient./(maxAn + epsilon) - 1) / (nscale-1);
% Now calculate the sigmoidal weighting function for this orientation.
weight = 1.0 ./ (1 + exp( (cutOff - width)*g));
% Apply weighting to energy and then calculate phase congruency
PC{o} = weight.*Energy./sumAn_ThisOrient; % Phase congruency for this orientatio
pcSum = pcSum+PC{o};
% Build up covariance data for every point
covx = PC{o}*cos(angl);
covy = PC{o}*sin(angl);
covx2 = covx2 + covx.^2;
covy2 = covy2 + covy.^2;
covxy = covxy + covx.*covy;
end % For each orientation
%% Edge and Corner calculations
% The following is optimised code to calculate principal vector
% of the phase congruency covariance data and to calculate
% the minimumum and maximum moments - these correspond to
% the singular values.
% First normalise covariance values by the number of orientations/2
covx2 = covx2/(norient/2);
covy2 = covy2/(norient/2);
covxy = 4*covxy/norient; % This gives us 2*covxy/(norient/2)
denom = sqrt(covxy.^2 + (covx2-covy2).^2)+epsilon;
M = (covy2+covx2 + denom)/2; % Maximum moment
m = (covy2+covx2 - denom)/2; % ... and minimum moment
% Orientation and feature phase/type computation
or = atan2(EnergyV(:,:,3), EnergyV(:,:,2));
or(or<0) = or(or<0)+pi; % Wrap angles -pi..0 to 0..pi
or = round(or*180/pi); % Orientation in degrees between 0 and 180
OddV = sqrt(EnergyV(:,:,2).^2 + EnergyV(:,:,3).^2);
featType = atan2(EnergyV(:,:,1), OddV); % Feature phase pi/2 <-> white line,
% 0 <-> step, -pi/2 <-> black line
%%------------------------------------------------------------------
% CHECKARGS
%
% Function to process the arguments that have been supplied, assign
% default values as needed and perform basic checks.
function [im, nscale, norient, minWaveLength, mult, sigmaOnf, ...
k, cutOff, g, noiseMethod] = checkargs(arg)
nargs = length(arg);
if nargs < 1
error('No image supplied as an argument');
end
% Set up default values for all arguments and then overwrite them
% with with any new values that may be supplied
im = [];
nscale = 4; % Number of wavelet scales.
norient = 6; % Number of filter orientations.
minWaveLength = 3; % Wavelength of smallest scale filter.
mult = 2.1; % Scaling factor between successive filters.
sigmaOnf = 0.55; % Ratio of the standard deviation of the
% Gaussian describing the log Gabor filter's
% transfer function in the frequency domain
% to the filter center frequency.
k = 2.0; % No of standard deviations of the noise
% energy beyond the mean at which we set the
% noise threshold point.
cutOff = 0.5; % The fractional measure of frequency spread
% below which phase congruency values get penalized.
g = 10; % Controls the sharpness of the transition in
% the sigmoid function used to weight phase
% congruency for frequency spread.
noiseMethod = -1; % Choice of noise compensation method.
% Allowed argument reading states
allnumeric = 1; % Numeric argument values in predefined order
keywordvalue = 2; % Arguments in the form of string keyword
% followed by numeric value
readstate = allnumeric; % Start in the allnumeric state
if readstate == allnumeric
for n = 1:nargs
if isa(arg{n},'char')
readstate = keywordvalue;
break;
else
if n == 1, im = arg{n};
elseif n == 2, nscale = arg{n};
elseif n == 3, norient = arg{n};
elseif n == 4, minWaveLength = arg{n};
elseif n == 5, mult = arg{n};
elseif n == 6, sigmaOnf = arg{n};
elseif n == 7, k = arg{n};
elseif n == 8, cutOff = arg{n};
elseif n == 9, g = arg{n};
elseif n == 10,noiseMethod = arg{n};
end
end
end
end
% Code to handle parameter name - value pairs
if readstate == keywordvalue
while n < nargs
if ~isa(arg{n},'char') || ~isa(arg{n+1}, 'double')
error('There should be a parameter name - value pair');
end
if strncmpi(arg{n},'im' ,2), im = arg{n+1};
elseif strncmpi(arg{n},'nscale' ,2), nscale = arg{n+1};
elseif strncmpi(arg{n},'norient' ,4), norient = arg{n+1};
elseif strncmpi(arg{n},'minWaveLength',2), minWaveLength = arg{n+1};
elseif strncmpi(arg{n},'mult' ,2), mult = arg{n+1};
elseif strncmpi(arg{n},'sigmaOnf',2), sigmaOnf = arg{n+1};
elseif strncmpi(arg{n},'k' ,1), k = arg{n+1};
elseif strncmpi(arg{n},'cutOff' ,2), cutOff = arg{n+1};
elseif strncmpi(arg{n},'g' ,1), g = arg{n+1};
elseif strncmpi(arg{n},'noiseMethod' ,4), noiseMethod = arg{n+1};
else error('Unrecognised parameter name');
end
n = n+2;
if n == nargs
error('Unmatched parameter name - value pair');
end
end
end
if isempty(im)
error('No image argument supplied');
end
if ndims(im) == 3
warning('Colour image supplied: converting image to greyscale...')
im = double(rgb2gray(im));
end
if ~isa(im, 'double')
im = double(im);
end
if nscale < 1
error('nscale must be an integer >= 1');
end
if norient < 1
error('norient must be an integer >= 1');
end
if minWaveLength < 2
error('It makes little sense to have a wavelength < 2');
end
if cutOff < 0 || cutOff > 1
error('Cut off value must be between 0 and 1');
end
%%-------------------------------------------------------------------------
% RAYLEIGHMODE
%
% Computes mode of a vector/matrix of data that is assumed to come from a
% Rayleigh distribution.
%
% Usage: rmode = rayleighmode(data, nbins)
%
% Arguments: data - data assumed to come from a Rayleigh distribution
% nbins - Optional number of bins to use when forming histogram
% of the data to determine the mode.
%
% Mode is computed by forming a histogram of the data over 50 bins and then
% finding the maximum value in the histogram. Mean and standard deviation
% can then be calculated from the mode as they are related by fixed
% constants.
%
% mean = mode * sqrt(pi/2)
% std dev = mode * sqrt((4-pi)/2)
%
% See
% http://mathworld.wolfram.com/RayleighDistribution.html
% http://en.wikipedia.org/wiki/Rayleigh_distribution
%
function rmode = rayleighmode(data, nbins)
if nargin == 1
nbins = 50; % Default number of histogram bins to use
end
mx = max(data(:));
edges = 0:mx/nbins:mx;
n = histc(data(:),edges);
[dum,ind] = max(n); % Find maximum and index of maximum in histogram
rmode = (edges(ind)+edges(ind+1))/2;