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Open Source Computer Vision Library
https://opencv.org/
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1578 lines
54 KiB
1578 lines
54 KiB
15 years ago
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include <stdio.h>
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namespace cv
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{
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/*
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The code below implements keypoint detector, fern-based point classifier and a planar object detector.
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References:
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1. Mustafa Özuysal, Michael Calonder, Vincent Lepetit, Pascal Fua,
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"Fast KeyPoint Recognition Using Random Ferns,"
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IEEE Transactions on Pattern Analysis and Machine Intelligence, 15 Jan. 2009.
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2. Vincent Lepetit, Pascal Fua,
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13 years ago
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"Towards Recognizing Feature Points Using Classification Trees,"
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15 years ago
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Technical Report IC/2004/74, EPFL, 2004.
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*/
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const int progressBarSize = 50;
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//////////////////////////// Patch Generator //////////////////////////////////
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static const double DEFAULT_BACKGROUND_MIN = 0;
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static const double DEFAULT_BACKGROUND_MAX = 256;
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static const double DEFAULT_NOISE_RANGE = 5;
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static const double DEFAULT_LAMBDA_MIN = 0.6;
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static const double DEFAULT_LAMBDA_MAX = 1.5;
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static const double DEFAULT_THETA_MIN = -CV_PI;
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static const double DEFAULT_THETA_MAX = CV_PI;
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static const double DEFAULT_PHI_MIN = -CV_PI;
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static const double DEFAULT_PHI_MAX = CV_PI;
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PatchGenerator::PatchGenerator()
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: backgroundMin(DEFAULT_BACKGROUND_MIN), backgroundMax(DEFAULT_BACKGROUND_MAX),
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noiseRange(DEFAULT_NOISE_RANGE), randomBlur(true), lambdaMin(DEFAULT_LAMBDA_MIN),
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lambdaMax(DEFAULT_LAMBDA_MAX), thetaMin(DEFAULT_THETA_MIN),
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thetaMax(DEFAULT_THETA_MAX), phiMin(DEFAULT_PHI_MIN),
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phiMax(DEFAULT_PHI_MAX)
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{
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}
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PatchGenerator::PatchGenerator(double _backgroundMin, double _backgroundMax,
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double _noiseRange, bool _randomBlur,
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double _lambdaMin, double _lambdaMax,
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double _thetaMin, double _thetaMax,
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double _phiMin, double _phiMax )
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: backgroundMin(_backgroundMin), backgroundMax(_backgroundMax),
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noiseRange(_noiseRange), randomBlur(_randomBlur),
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lambdaMin(_lambdaMin), lambdaMax(_lambdaMax),
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thetaMin(_thetaMin), thetaMax(_thetaMax),
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phiMin(_phiMin), phiMax(_phiMax)
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{
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}
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void PatchGenerator::generateRandomTransform(Point2f srcCenter, Point2f dstCenter,
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Mat& transform, RNG& rng, bool inverse) const
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{
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double lambda1 = rng.uniform(lambdaMin, lambdaMax);
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double lambda2 = rng.uniform(lambdaMin, lambdaMax);
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double theta = rng.uniform(thetaMin, thetaMax);
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double phi = rng.uniform(phiMin, phiMax);
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// Calculate random parameterized affine transformation A,
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// A = T(patch center) * R(theta) * R(phi)' *
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// S(lambda1, lambda2) * R(phi) * T(-pt)
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double st = sin(theta);
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double ct = cos(theta);
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double sp = sin(phi);
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double cp = cos(phi);
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double c2p = cp*cp;
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double s2p = sp*sp;
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double A = lambda1*c2p + lambda2*s2p;
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double B = (lambda2 - lambda1)*sp*cp;
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double C = lambda1*s2p + lambda2*c2p;
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double Ax_plus_By = A*srcCenter.x + B*srcCenter.y;
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double Bx_plus_Cy = B*srcCenter.x + C*srcCenter.y;
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transform.create(2, 3, CV_64F);
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Mat_<double>& T = (Mat_<double>&)transform;
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T(0,0) = A*ct - B*st;
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T(0,1) = B*ct - C*st;
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T(0,2) = -ct*Ax_plus_By + st*Bx_plus_Cy + dstCenter.x;
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T(1,0) = A*st + B*ct;
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T(1,1) = B*st + C*ct;
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T(1,2) = -st*Ax_plus_By - ct*Bx_plus_Cy + dstCenter.y;
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if( inverse )
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invertAffineTransform(T, T);
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}
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void PatchGenerator::operator ()(const Mat& image, Point2f pt, Mat& patch, Size patchSize, RNG& rng) const
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{
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double buffer[6];
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Mat_<double> T(2, 3, buffer);
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generateRandomTransform(pt, Point2f((patchSize.width-1)*0.5f, (patchSize.height-1)*0.5f), T, rng);
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(*this)(image, T, patch, patchSize, rng);
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}
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void PatchGenerator::operator ()(const Mat& image, const Mat& T,
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Mat& patch, Size patchSize, RNG& rng) const
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{
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patch.create( patchSize, image.type() );
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if( backgroundMin != backgroundMax )
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{
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rng.fill(patch, RNG::UNIFORM, Scalar::all(backgroundMin), Scalar::all(backgroundMax));
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warpAffine(image, patch, T, patchSize, INTER_LINEAR, BORDER_TRANSPARENT);
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}
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else
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warpAffine(image, patch, T, patchSize, INTER_LINEAR, BORDER_CONSTANT, Scalar::all(backgroundMin));
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int ksize = randomBlur ? (unsigned)rng % 9 - 5 : 0;
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if( ksize > 0 )
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{
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ksize = ksize*2 + 1;
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GaussianBlur(patch, patch, Size(ksize, ksize), 0, 0);
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}
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if( noiseRange > 0 )
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{
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AutoBuffer<uchar> _noiseBuf( patchSize.width*patchSize.height*image.elemSize() );
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Mat noise(patchSize, image.type(), (uchar*)_noiseBuf);
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int delta = image.depth() == CV_8U ? 128 : image.depth() == CV_16U ? 32768 : 0;
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rng.fill(noise, RNG::NORMAL, Scalar::all(delta), Scalar::all(noiseRange));
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if( backgroundMin != backgroundMax )
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addWeighted(patch, 1, noise, 1, -delta, patch);
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else
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{
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for( int i = 0; i < patchSize.height; i++ )
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{
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uchar* prow = patch.ptr<uchar>(i);
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const uchar* nrow = noise.ptr<uchar>(i);
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for( int j = 0; j < patchSize.width; j++ )
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if( prow[j] != backgroundMin )
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prow[j] = saturate_cast<uchar>(prow[j] + nrow[j] - delta);
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}
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}
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}
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}
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void PatchGenerator::warpWholeImage(const Mat& image, Mat& matT, Mat& buf,
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Mat& warped, int border, RNG& rng) const
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{
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Mat_<double> T = matT;
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Rect roi(INT_MAX, INT_MAX, INT_MIN, INT_MIN);
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for( int k = 0; k < 4; k++ )
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{
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Point2f pt0, pt1;
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pt0.x = (float)(k == 0 || k == 3 ? 0 : image.cols);
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pt0.y = (float)(k < 2 ? 0 : image.rows);
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pt1.x = (float)(T(0,0)*pt0.x + T(0,1)*pt0.y + T(0,2));
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pt1.y = (float)(T(1,0)*pt0.x + T(1,1)*pt0.y + T(1,2));
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roi.x = std::min(roi.x, cvFloor(pt1.x));
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roi.y = std::min(roi.y, cvFloor(pt1.y));
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roi.width = std::max(roi.width, cvCeil(pt1.x));
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roi.height = std::max(roi.height, cvCeil(pt1.y));
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}
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roi.width -= roi.x - 1;
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roi.height -= roi.y - 1;
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int dx = border - roi.x;
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int dy = border - roi.y;
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if( (roi.width+border*2)*(roi.height+border*2) > buf.cols )
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buf.create(1, (roi.width+border*2)*(roi.height+border*2), image.type());
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warped = Mat(roi.height + border*2, roi.width + border*2,
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image.type(), buf.data);
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T(0,2) += dx;
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T(1,2) += dy;
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(*this)(image, T, warped, warped.size(), rng);
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if( T.data != matT.data )
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T.convertTo(matT, matT.type());
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}
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// Params are assumed to be symmetrical: lambda w.r.t. 1, theta and phi w.r.t. 0
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void PatchGenerator::setAffineParam(double lambda, double theta, double phi)
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{
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lambdaMin = 1. - lambda;
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lambdaMax = 1. + lambda;
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thetaMin = -theta;
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thetaMax = theta;
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phiMin = -phi;
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phiMax = phi;
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}
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/////////////////////////////////////// LDetector //////////////////////////////////////////////
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LDetector::LDetector() : radius(7), threshold(20), nOctaves(3), nViews(1000),
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verbose(false), baseFeatureSize(32), clusteringDistance(2)
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{
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}
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LDetector::LDetector(int _radius, int _threshold, int _nOctaves, int _nViews,
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double _baseFeatureSize, double _clusteringDistance)
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: radius(_radius), threshold(_threshold), nOctaves(_nOctaves), nViews(_nViews),
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verbose(false), baseFeatureSize(_baseFeatureSize), clusteringDistance(_clusteringDistance)
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{
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}
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static void getDiscreteCircle(int R, vector<Point>& circle, vector<int>& filledHCircle)
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{
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int x = R, y = 0;
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for( ;;y++ )
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{
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x = cvRound(std::sqrt((double)R*R - y*y));
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if( x < y )
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break;
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circle.push_back(Point(x,y));
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if( x == y )
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break;
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}
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int i, n8 = (int)circle.size() - (x == y), n8_ = n8 - (x != y), n4 = n8 + n8_, n = n4*4;
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CV_Assert(n8 > 0);
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circle.resize(n);
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for( i = 0; i < n8; i++ )
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{
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Point p = circle[i];
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circle[i+n4] = Point(-p.y, p.x);
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circle[i+n4*2] = Point(-p.x, -p.y);
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circle[i+n4*3] = Point(p.y, -p.x);
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}
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for( i = n8; i < n4; i++ )
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{
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Point p = circle[n4 - i], q = Point(p.y, p.x);
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circle[i] = q;
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circle[i+n4] = Point(-q.y, q.x);
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circle[i+n4*2] = Point(-q.x, -q.y);
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circle[i+n4*3] = Point(q.y, -q.x);
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}
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// the filled upper half of the circle is encoded as sequence of integers,
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// i-th element is the coordinate of right-most circle point in each horizontal line y=i.
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// the left-most point will be -filledHCircle[i].
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for( i = 0, y = -1; i < n4; i++ )
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{
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Point p = circle[i];
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if( p.y != y )
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{
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filledHCircle.push_back(p.x);
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y = p.y;
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if( y == R )
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break;
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}
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}
|
||
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}
|
||
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|
|
struct CmpKeypointScores
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||
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{
|
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bool operator ()(const KeyPoint& a, const KeyPoint& b) const { return std::abs(a.response) > std::abs(b.response); }
|
||
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};
|
||
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void LDetector::getMostStable2D(const Mat& image, vector<KeyPoint>& keypoints,
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||
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int maxPoints, const PatchGenerator& _patchGenerator) const
|
||
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{
|
||
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PatchGenerator patchGenerator = _patchGenerator;
|
||
|
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patchGenerator.backgroundMin = patchGenerator.backgroundMax = 128;
|
||
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Mat warpbuf, warped;
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Mat matM(2, 3, CV_64F), _iM(2, 3, CV_64F);
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double *M = (double*)matM.data, *iM = (double*)_iM.data;
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RNG& rng = theRNG();
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int i, k;
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vector<KeyPoint> tempKeypoints;
|
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double d2 = clusteringDistance*clusteringDistance;
|
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keypoints.clear();
|
||
|
|
|
||
|
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// TODO: this loop can be run in parallel, for that we need
|
||
|
|
// a separate accumulator keypoint lists for different threads.
|
||
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for( i = 0; i < nViews; i++ )
|
||
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|
{
|
||
|
|
// 1. generate random transform
|
||
|
|
// 2. map the source image corners and compute the ROI in canvas
|
||
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// 3. select the ROI in canvas, adjust the transformation matrix
|
||
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// 4. apply the transformation
|
||
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// 5. run keypoint detector in pyramids
|
||
|
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// 6. map each point back and update the lists of most stable points
|
||
|
|
|
||
|
|
if(verbose && (i+1)*progressBarSize/nViews != i*progressBarSize/nViews)
|
||
|
|
putchar('.');
|
||
|
|
|
||
|
|
if( i > 0 )
|
||
|
|
patchGenerator.generateRandomTransform(Point2f(), Point2f(), matM, rng);
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// identity transformation
|
||
|
|
M[0] = M[4] = 1;
|
||
|
|
M[1] = M[3] = M[2] = M[5] = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
patchGenerator.warpWholeImage(image, matM, warpbuf, warped, cvCeil(baseFeatureSize*0.5+radius), rng);
|
||
|
|
(*this)(warped, tempKeypoints, maxPoints*3);
|
||
|
|
invertAffineTransform(matM, _iM);
|
||
|
|
|
||
|
|
int j, sz0 = (int)tempKeypoints.size(), sz1;
|
||
|
|
for( j = 0; j < sz0; j++ )
|
||
|
|
{
|
||
|
|
KeyPoint kpt1 = tempKeypoints[j];
|
||
|
|
KeyPoint kpt0((float)(iM[0]*kpt1.pt.x + iM[1]*kpt1.pt.y + iM[2]),
|
||
|
|
(float)(iM[3]*kpt1.pt.x + iM[4]*kpt1.pt.y + iM[5]),
|
||
|
|
kpt1.size, -1.f, 1.f, kpt1.octave);
|
||
|
|
float r = kpt1.size*0.5f;
|
||
|
|
if( kpt0.pt.x < r || kpt0.pt.x >= image.cols - r ||
|
||
|
|
kpt0.pt.y < r || kpt0.pt.y >= image.rows - r )
|
||
|
|
continue;
|
||
|
|
|
||
|
|
sz1 = (int)keypoints.size();
|
||
|
|
for( k = 0; k < sz1; k++ )
|
||
|
|
{
|
||
|
|
KeyPoint kpt = keypoints[k];
|
||
|
|
if( kpt.octave != kpt0.octave )
|
||
|
|
continue;
|
||
|
|
double dx = kpt.pt.x - kpt0.pt.x, dy = kpt.pt.y - kpt0.pt.y;
|
||
|
|
if( dx*dx + dy*dy <= d2*(1 << kpt.octave*2) )
|
||
|
|
{
|
||
|
|
keypoints[k] = KeyPoint((kpt.pt.x*kpt.response + kpt0.pt.x)/(kpt.response+1),
|
||
|
|
(kpt.pt.y*kpt.response + kpt0.pt.y)/(kpt.response+1),
|
||
|
|
kpt.size, -1.f, kpt.response + 1, kpt.octave);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if( k == sz1 )
|
||
|
|
keypoints.push_back(kpt0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if( verbose )
|
||
|
|
putchar('\n');
|
||
|
|
|
||
|
|
if( (int)keypoints.size() > maxPoints )
|
||
|
|
{
|
||
|
|
sort(keypoints, CmpKeypointScores());
|
||
|
|
keypoints.resize(maxPoints);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static inline int computeLResponse(const uchar* ptr, const int* cdata, int csize)
|
||
|
|
{
|
||
|
|
int i, csize2 = csize/2, sum = -ptr[0]*csize;
|
||
|
|
for( i = 0; i < csize2; i++ )
|
||
|
|
{
|
||
|
|
int ofs = cdata[i];
|
||
|
|
sum += ptr[ofs] + ptr[-ofs];
|
||
|
|
}
|
||
|
|
return sum;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static Point2f adjustCorner(const float* fval, float& fvaln)
|
||
|
|
{
|
||
|
|
double bx = (fval[3] - fval[5])*0.5;
|
||
|
|
double by = (fval[2] - fval[7])*0.5;
|
||
|
|
double Axx = fval[3] - fval[4]*2 + fval[5];
|
||
|
|
double Axy = (fval[0] - fval[2] - fval[6] + fval[8])*0.25;
|
||
|
|
double Ayy = fval[1] - fval[4]*2 + fval[7];
|
||
|
|
double D = Axx*Ayy - Axy*Axy;
|
||
|
|
D = D != 0 ? 1./D : 0;
|
||
|
|
double dx = (bx*Ayy - by*Axy)*D;
|
||
|
|
double dy = (by*Axx - bx*Axy)*D;
|
||
|
|
dx = std::min(std::max(dx, -1.), 1.);
|
||
|
|
dy = std::min(std::max(dy, -1.), 1.);
|
||
|
|
fvaln = (float)(fval[4] + (bx*dx + by*dy)*0.5);
|
||
|
|
if(fvaln*fval[4] < 0 || std::abs(fvaln) < std::abs(fval[4]))
|
||
|
|
fvaln = fval[4];
|
||
|
|
|
||
|
|
return Point2f((float)dx, (float)dy);
|
||
|
|
}
|
||
|
|
|
||
|
|
void LDetector::operator()(const Mat& image, vector<KeyPoint>& keypoints, int maxCount, bool scaleCoords) const
|
||
|
|
{
|
||
|
|
vector<Mat> pyr;
|
||
|
|
buildPyramid(image, pyr, std::max(nOctaves-1, 0));
|
||
|
|
(*this)(pyr, keypoints, maxCount, scaleCoords);
|
||
|
|
}
|
||
|
|
|
||
|
|
void LDetector::operator()(const vector<Mat>& pyr, vector<KeyPoint>& keypoints, int maxCount, bool scaleCoords) const
|
||
|
|
{
|
||
|
|
const int lthreshold = 3;
|
||
|
|
int L, x, y, i, j, k, tau = lthreshold;
|
||
|
|
Mat scoreBuf(pyr[0].size(), CV_16S), maskBuf(pyr[0].size(), CV_8U);
|
||
|
15 years ago
|
int scoreElSize = (int)scoreBuf.elemSize();
|
||
|
15 years ago
|
vector<Point> circle0;
|
||
|
|
vector<int> fhcircle0, circle, fcircle_s, fcircle;
|
||
|
|
getDiscreteCircle(radius, circle0, fhcircle0);
|
||
|
|
CV_Assert(fhcircle0.size() == (size_t)(radius+1) && circle0.size() % 2 == 0);
|
||
|
|
keypoints.clear();
|
||
|
|
|
||
|
|
for( L = 0; L < nOctaves; L++ )
|
||
|
|
{
|
||
|
|
// Pyramidal keypoint detector body:
|
||
|
|
// 1. build next pyramid layer
|
||
|
|
// 2. scan points, check the circular neighborhood, compute the score
|
||
|
|
// 3. do non-maxima suppression
|
||
|
|
// 4. adjust the corners (sub-pix)
|
||
|
|
double cscale = scaleCoords ? 1 << L : 1;
|
||
|
|
Size layerSize = pyr[L].size();
|
||
|
|
if( layerSize.width < radius*2 + 3 || layerSize.height < radius*2 + 3 )
|
||
|
|
break;
|
||
|
|
Mat scoreLayer(layerSize, scoreBuf.type(), scoreBuf.data);
|
||
|
|
Mat maskLayer(layerSize, maskBuf.type(), maskBuf.data);
|
||
|
|
const Mat& pyrLayer = pyr[L];
|
||
|
15 years ago
|
int sstep = (int)(scoreLayer.step/sizeof(short));
|
||
|
|
int mstep = (int)maskLayer.step;
|
||
|
15 years ago
|
|
||
|
|
int csize = (int)circle0.size(), csize2 = csize/2;
|
||
|
|
circle.resize(csize*3);
|
||
|
|
for( i = 0; i < csize; i++ )
|
||
|
15 years ago
|
circle[i] = circle[i+csize] = circle[i+csize*2] = (int)((-circle0[i].y)*pyrLayer.step + circle0[i].x);
|
||
|
15 years ago
|
fcircle.clear();
|
||
|
|
fcircle_s.clear();
|
||
|
|
for( i = -radius; i <= radius; i++ )
|
||
|
|
{
|
||
|
|
x = fhcircle0[std::abs(i)];
|
||
|
|
for( j = -x; j <= x; j++ )
|
||
|
|
{
|
||
|
|
fcircle_s.push_back(i*sstep + j);
|
||
|
15 years ago
|
fcircle.push_back((int)(i*pyrLayer.step + j));
|
||
|
15 years ago
|
}
|
||
|
|
}
|
||
|
|
int nsize = (int)fcircle.size();
|
||
|
|
const int* cdata = &circle[0];
|
||
|
|
const int* ndata = &fcircle[0];
|
||
|
|
const int* ndata_s = &fcircle_s[0];
|
||
|
|
|
||
|
|
for( y = 0; y < radius; y++ )
|
||
|
|
{
|
||
|
|
memset( scoreLayer.ptr<short>(y), 0, layerSize.width*scoreElSize );
|
||
|
|
memset( scoreLayer.ptr<short>(layerSize.height-y-1), 0, layerSize.width*scoreElSize );
|
||
|
|
memset( maskLayer.ptr<uchar>(y), 0, layerSize.width );
|
||
|
|
memset( maskLayer.ptr<uchar>(layerSize.height-y-1), 0, layerSize.width );
|
||
|
|
}
|
||
|
|
|
||
|
15 years ago
|
int vradius = (int)(radius*pyrLayer.step);
|
||
|
15 years ago
|
|
||
|
|
for( y = radius; y < layerSize.height - radius; y++ )
|
||
|
|
{
|
||
|
|
const uchar* img = pyrLayer.ptr<uchar>(y) + radius;
|
||
|
|
short* scores = scoreLayer.ptr<short>(y);
|
||
|
|
uchar* mask = maskLayer.ptr<uchar>(y);
|
||
|
|
|
||
|
|
for( x = 0; x < radius; x++ )
|
||
|
|
{
|
||
|
|
scores[x] = scores[layerSize.width - 1 - x] = 0;
|
||
|
|
mask[x] = mask[layerSize.width - 1 - x] = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
for( x = radius; x < layerSize.width - radius; x++, img++ )
|
||
|
|
{
|
||
|
|
int val0 = *img;
|
||
|
|
if( (std::abs(val0 - img[radius]) < tau && std::abs(val0 - img[-radius]) < tau) ||
|
||
|
|
(std::abs(val0 - img[vradius]) < tau && std::abs(val0 - img[-vradius]) < tau))
|
||
|
|
{
|
||
|
|
scores[x] = 0;
|
||
|
|
mask[x] = 0;
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
for( k = 0; k < csize; k++ )
|
||
|
|
{
|
||
|
|
if( std::abs(val0 - img[cdata[k]]) < tau &&
|
||
|
|
(std::abs(val0 - img[cdata[k + csize2]]) < tau ||
|
||
|
|
std::abs(val0 - img[cdata[k + csize2 - 1]]) < tau ||
|
||
|
|
std::abs(val0 - img[cdata[k + csize2 + 1]]) < tau ||
|
||
|
|
std::abs(val0 - img[cdata[k + csize2 - 2]]) < tau ||
|
||
|
|
std::abs(val0 - img[cdata[k + csize2 + 2]]) < tau/* ||
|
||
|
|
std::abs(val0 - img[cdata[k + csize2 - 3]]) < tau ||
|
||
|
|
std::abs(val0 - img[cdata[k + csize2 + 3]]) < tau*/) )
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if( k < csize )
|
||
|
|
{
|
||
|
|
scores[x] = 0;
|
||
|
|
mask[x] = 0;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
scores[x] = (short)computeLResponse(img, cdata, csize);
|
||
|
|
mask[x] = 1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
for( y = radius+1; y < layerSize.height - radius-1; y++ )
|
||
|
|
{
|
||
|
|
const uchar* img = pyrLayer.ptr<uchar>(y) + radius+1;
|
||
|
|
short* scores = scoreLayer.ptr<short>(y) + radius+1;
|
||
|
|
const uchar* mask = maskLayer.ptr<uchar>(y) + radius+1;
|
||
|
|
|
||
|
|
for( x = radius+1; x < layerSize.width - radius-1; x++, img++, scores++, mask++ )
|
||
|
|
{
|
||
|
|
int val0 = *scores;
|
||
|
|
if( !*mask || std::abs(val0) < lthreshold ||
|
||
|
|
(mask[-1] + mask[1] + mask[-mstep-1] + mask[-mstep] + mask[-mstep+1]+
|
||
|
|
mask[mstep-1] + mask[mstep] + mask[mstep+1] < 3))
|
||
|
|
continue;
|
||
|
|
bool recomputeZeroScores = radius*2 < y && y < layerSize.height - radius*2 &&
|
||
|
|
radius*2 < x && x < layerSize.width - radius*2;
|
||
|
|
|
||
|
|
if( val0 > 0 )
|
||
|
|
{
|
||
|
|
for( k = 0; k < nsize; k++ )
|
||
|
|
{
|
||
|
|
int val = scores[ndata_s[k]];
|
||
|
|
if( val == 0 && recomputeZeroScores )
|
||
|
|
scores[ndata_s[k]] = (short)(val =
|
||
|
|
computeLResponse(img + ndata[k], cdata, csize));
|
||
|
|
if( val0 < val )
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
for( k = 0; k < nsize; k++ )
|
||
|
|
{
|
||
|
|
int val = scores[ndata_s[k]];
|
||
|
|
if( val == 0 && recomputeZeroScores )
|
||
|
|
scores[ndata_s[k]] = (short)(val =
|
||
|
|
computeLResponse(img + ndata[k], cdata, csize));
|
||
|
|
if( val0 > val )
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if( k < nsize )
|
||
|
|
continue;
|
||
|
|
float fval[9], fvaln = 0;
|
||
|
|
for( int i1 = -1; i1 <= 1; i1++ )
|
||
|
|
for( int j1 = -1; j1 <= 1; j1++ )
|
||
|
|
{
|
||
|
|
fval[(i1+1)*3 + j1 + 1] = (float)(scores[sstep*i1+j1] ? scores[sstep*i1+j1] :
|
||
|
|
computeLResponse(img + pyrLayer.step*i1 + j1, cdata, csize));
|
||
|
|
}
|
||
|
|
Point2f pt = adjustCorner(fval, fvaln);
|
||
|
|
pt.x += x;
|
||
|
|
pt.y += y;
|
||
|
|
keypoints.push_back(KeyPoint((float)(pt.x*cscale), (float)(pt.y*cscale),
|
||
|
|
(float)(baseFeatureSize*cscale), -1, fvaln, L));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if( maxCount > 0 && keypoints.size() > (size_t)maxCount )
|
||
|
|
{
|
||
|
|
sort(keypoints, CmpKeypointScores());
|
||
|
|
keypoints.resize(maxCount);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void LDetector::read(const FileNode& objnode)
|
||
|
|
{
|
||
|
|
radius = (int)objnode["radius"];
|
||
|
|
threshold = (int)objnode["threshold"];
|
||
|
|
nOctaves = (int)objnode["noctaves"];
|
||
|
|
nViews = (int)objnode["nviews"];
|
||
|
|
baseFeatureSize = (int)objnode["base-feature-size"];
|
||
|
|
clusteringDistance = (int)objnode["clustering-distance"];
|
||
|
|
}
|
||
|
|
|
||
|
|
void LDetector::write(FileStorage& fs, const String& name) const
|
||
|
|
{
|
||
|
|
WriteStructContext ws(fs, name, CV_NODE_MAP);
|
||
|
|
|
||
|
|
fs << "radius" << radius
|
||
|
|
<< "threshold" << threshold
|
||
|
|
<< "noctaves" << nOctaves
|
||
|
|
<< "nviews" << nViews
|
||
|
|
<< "base-feature-size" << baseFeatureSize
|
||
|
|
<< "clustering-distance" << clusteringDistance;
|
||
|
|
}
|
||
|
|
|
||
|
|
void LDetector::setVerbose(bool _verbose)
|
||
|
|
{
|
||
|
|
verbose = _verbose;
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////// FernClassifier ////////////////////////////////////////////
|
||
|
|
|
||
|
|
FernClassifier::FernClassifier()
|
||
|
|
{
|
||
|
|
verbose = false;
|
||
|
|
clear();
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
FernClassifier::FernClassifier(const FileNode& node)
|
||
|
|
{
|
||
|
|
verbose = false;
|
||
|
|
clear();
|
||
|
|
read(node);
|
||
|
|
}
|
||
|
|
|
||
|
|
FernClassifier::~FernClassifier()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int FernClassifier::getClassCount() const
|
||
|
|
{
|
||
|
|
return nclasses;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int FernClassifier::getStructCount() const
|
||
|
|
{
|
||
|
|
return nstructs;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int FernClassifier::getStructSize() const
|
||
|
|
{
|
||
|
|
return structSize;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int FernClassifier::getSignatureSize() const
|
||
|
|
{
|
||
|
|
return signatureSize;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int FernClassifier::getCompressionMethod() const
|
||
|
|
{
|
||
|
|
return compressionMethod;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
Size FernClassifier::getPatchSize() const
|
||
|
|
{
|
||
|
|
return patchSize;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
15 years ago
|
FernClassifier::FernClassifier(const vector<vector<Point2f> >& points,
|
||
|
|
const vector<Mat>& refimgs,
|
||
|
|
const vector<vector<int> >& labels,
|
||
|
15 years ago
|
int _nclasses, int _patchSize,
|
||
|
|
int _signatureSize, int _nstructs,
|
||
|
|
int _structSize, int _nviews, int _compressionMethod,
|
||
|
|
const PatchGenerator& patchGenerator)
|
||
|
|
{
|
||
|
|
verbose = false;
|
||
|
|
clear();
|
||
|
|
train(points, refimgs, labels, _nclasses, _patchSize,
|
||
|
|
_signatureSize, _nstructs, _structSize, _nviews,
|
||
|
|
_compressionMethod, patchGenerator);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void FernClassifier::write(FileStorage& fs, const String& objname) const
|
||
|
|
{
|
||
|
|
WriteStructContext ws(fs, objname, CV_NODE_MAP);
|
||
|
|
|
||
|
|
cv::write(fs, "nstructs", nstructs);
|
||
|
|
cv::write(fs, "struct-size", structSize);
|
||
|
|
cv::write(fs, "nclasses", nclasses);
|
||
|
|
cv::write(fs, "signature-size", signatureSize);
|
||
|
|
cv::write(fs, "compression-method", compressionMethod);
|
||
|
|
cv::write(fs, "patch-size", patchSize.width);
|
||
|
|
{
|
||
|
|
WriteStructContext wsf(fs, "features", CV_NODE_SEQ + CV_NODE_FLOW);
|
||
|
|
int i, nfeatures = (int)features.size();
|
||
|
|
for( i = 0; i < nfeatures; i++ )
|
||
|
|
{
|
||
|
|
cv::write(fs, features[i].y1*patchSize.width + features[i].x1);
|
||
|
|
cv::write(fs, features[i].y2*patchSize.width + features[i].x2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
WriteStructContext wsp(fs, "posteriors", CV_NODE_SEQ + CV_NODE_FLOW);
|
||
|
|
cv::write(fs, posteriors);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void FernClassifier::read(const FileNode& objnode)
|
||
|
|
{
|
||
|
|
clear();
|
||
|
|
|
||
|
|
nstructs = (int)objnode["nstructs"];
|
||
|
|
structSize = (int)objnode["struct-size"];
|
||
|
|
nclasses = (int)objnode["nclasses"];
|
||
|
|
signatureSize = (int)objnode["signature-size"];
|
||
|
|
compressionMethod = (int)objnode["compression-method"];
|
||
|
|
patchSize.width = patchSize.height = (int)objnode["patch-size"];
|
||
|
|
leavesPerStruct = 1 << structSize;
|
||
|
|
|
||
|
|
FileNode _nodes = objnode["features"];
|
||
|
|
int i, nfeatures = structSize*nstructs;
|
||
|
|
features.resize(nfeatures);
|
||
|
|
FileNodeIterator it = _nodes.begin(), it_end = _nodes.end();
|
||
|
|
for( i = 0; i < nfeatures && it != it_end; i++ )
|
||
|
|
{
|
||
|
|
int ofs1, ofs2;
|
||
|
|
it >> ofs1 >> ofs2;
|
||
|
|
features[i] = Feature(ofs1%patchSize.width, ofs1/patchSize.width,
|
||
|
|
ofs2%patchSize.width, ofs2/patchSize.width);
|
||
|
|
}
|
||
|
|
|
||
|
|
FileNode _posteriors = objnode["posteriors"];
|
||
|
|
int psz = leavesPerStruct*nstructs*signatureSize;
|
||
|
|
posteriors.reserve(psz);
|
||
|
|
_posteriors >> posteriors;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void FernClassifier::clear()
|
||
|
|
{
|
||
|
|
signatureSize = nclasses = nstructs = structSize = compressionMethod = leavesPerStruct = 0;
|
||
|
|
vector<Feature>().swap(features);
|
||
|
|
vector<float>().swap(posteriors);
|
||
|
|
}
|
||
|
|
|
||
|
14 years ago
|
bool FernClassifier::empty() const
|
||
|
|
{
|
||
|
|
return features.empty();
|
||
|
|
}
|
||
|
15 years ago
|
|
||
|
|
int FernClassifier::getLeaf(int fern, const Mat& _patch) const
|
||
|
|
{
|
||
|
|
assert( 0 <= fern && fern < nstructs );
|
||
|
|
size_t fofs = fern*structSize, idx = 0;
|
||
|
|
const Mat_<uchar>& patch = (const Mat_<uchar>&)_patch;
|
||
|
|
|
||
|
|
for( int i = 0; i < structSize; i++ )
|
||
|
|
{
|
||
|
|
const Feature& f = features[fofs + i];
|
||
|
|
idx = (idx << 1) + f(patch);
|
||
|
|
}
|
||
|
|
|
||
|
15 years ago
|
return (int)(fern*leavesPerStruct + idx);
|
||
|
15 years ago
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void FernClassifier::prepare(int _nclasses, int _patchSize, int _signatureSize,
|
||
|
|
int _nstructs, int _structSize,
|
||
|
|
int _nviews, int _compressionMethod)
|
||
|
|
{
|
||
|
|
clear();
|
||
|
|
|
||
|
|
CV_Assert( _nclasses > 1 && _patchSize >= 5 && _nstructs > 0 &&
|
||
|
|
_nviews > 0 && _structSize > 0 &&
|
||
|
|
(_compressionMethod == COMPRESSION_NONE ||
|
||
|
|
_compressionMethod == COMPRESSION_RANDOM_PROJ ||
|
||
|
|
_compressionMethod == COMPRESSION_PCA) );
|
||
|
|
|
||
|
|
nclasses = _nclasses;
|
||
|
|
patchSize = Size(_patchSize, _patchSize);
|
||
|
|
nstructs = _nstructs;
|
||
|
|
structSize = _structSize;
|
||
|
14 years ago
|
signatureSize = _compressionMethod == COMPRESSION_NONE ? nclasses : std::min(_signatureSize, nclasses);
|
||
|
15 years ago
|
compressionMethod = signatureSize == nclasses ? COMPRESSION_NONE : _compressionMethod;
|
||
|
|
|
||
|
|
leavesPerStruct = 1 << structSize;
|
||
|
|
|
||
|
|
int i, nfeatures = structSize*nstructs;
|
||
|
|
|
||
|
|
features = vector<Feature>( nfeatures );
|
||
|
|
posteriors = vector<float>( leavesPerStruct*nstructs*nclasses, 1.f );
|
||
|
|
classCounters = vector<int>( nclasses, leavesPerStruct );
|
||
|
|
|
||
|
|
CV_Assert( patchSize.width <= 256 && patchSize.height <= 256 );
|
||
|
|
RNG& rng = theRNG();
|
||
|
|
|
||
|
|
for( i = 0; i < nfeatures; i++ )
|
||
|
|
{
|
||
|
|
int x1 = (unsigned)rng % patchSize.width;
|
||
|
|
int y1 = (unsigned)rng % patchSize.height;
|
||
|
|
int x2 = (unsigned)rng % patchSize.width;
|
||
|
|
int y2 = (unsigned)rng % patchSize.height;
|
||
|
|
features[i] = Feature(x1, y1, x2, y2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
15 years ago
|
static int calcNumPoints( const vector<vector<Point2f> >& points )
|
||
|
|
{
|
||
|
14 years ago
|
size_t count = 0;
|
||
|
15 years ago
|
for( size_t i = 0; i < points.size(); i++ )
|
||
|
|
count += points[i].size();
|
||
|
14 years ago
|
return (int)count;
|
||
|
15 years ago
|
}
|
||
|
15 years ago
|
|
||
|
15 years ago
|
void FernClassifier::train(const vector<vector<Point2f> >& points,
|
||
|
|
const vector<Mat>& refimgs,
|
||
|
|
const vector<vector<int> >& labels,
|
||
|
15 years ago
|
int _nclasses, int _patchSize,
|
||
|
|
int _signatureSize, int _nstructs,
|
||
|
|
int _structSize, int _nviews, int _compressionMethod,
|
||
|
|
const PatchGenerator& patchGenerator)
|
||
|
|
{
|
||
|
15 years ago
|
CV_Assert( points.size() == refimgs.size() );
|
||
|
|
int numPoints = calcNumPoints( points );
|
||
|
|
_nclasses = (!labels.empty() && _nclasses>0) ? _nclasses : numPoints;
|
||
|
15 years ago
|
CV_Assert( labels.empty() || labels.size() == points.size() );
|
||
|
|
|
||
|
15 years ago
|
|
||
|
15 years ago
|
prepare(_nclasses, _patchSize, _signatureSize, _nstructs,
|
||
|
|
_structSize, _nviews, _compressionMethod);
|
||
|
|
|
||
|
|
// pass all the views of all the samples through the generated trees and accumulate
|
||
|
|
// the statistics (posterior probabilities) in leaves.
|
||
|
|
Mat patch;
|
||
|
|
RNG& rng = theRNG();
|
||
|
|
|
||
|
15 years ago
|
int globalPointIdx = 0;
|
||
|
|
for( size_t imgIdx = 0; imgIdx < points.size(); imgIdx++ )
|
||
|
15 years ago
|
{
|
||
|
15 years ago
|
const Point2f* imgPoints = &points[imgIdx][0];
|
||
|
|
const int* imgLabels = labels.empty() ? 0 : &labels[imgIdx][0];
|
||
|
|
for( size_t pointIdx = 0; pointIdx < points[imgIdx].size(); pointIdx++, globalPointIdx++ )
|
||
|
15 years ago
|
{
|
||
|
15 years ago
|
Point2f pt = imgPoints[pointIdx];
|
||
|
|
const Mat& src = refimgs[imgIdx];
|
||
|
|
int classId = imgLabels==0 ? globalPointIdx : imgLabels[pointIdx];
|
||
|
|
if( verbose && (globalPointIdx+1)*progressBarSize/numPoints != globalPointIdx*progressBarSize/numPoints )
|
||
|
|
putchar('.');
|
||
|
|
CV_Assert( 0 <= classId && classId < nclasses );
|
||
|
|
classCounters[classId] += _nviews;
|
||
|
|
for( int v = 0; v < _nviews; v++ )
|
||
|
|
{
|
||
|
|
patchGenerator(src, pt, patch, patchSize, rng);
|
||
|
|
for( int f = 0; f < nstructs; f++ )
|
||
|
|
posteriors[getLeaf(f, patch)*nclasses + classId]++;
|
||
|
|
}
|
||
|
15 years ago
|
}
|
||
|
|
}
|
||
|
|
if( verbose )
|
||
|
|
putchar('\n');
|
||
|
|
|
||
|
|
finalize(rng);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void FernClassifier::trainFromSingleView(const Mat& image,
|
||
|
|
const vector<KeyPoint>& keypoints,
|
||
|
|
int _patchSize, int _signatureSize,
|
||
|
|
int _nstructs, int _structSize,
|
||
|
|
int _nviews, int _compressionMethod,
|
||
|
|
const PatchGenerator& patchGenerator)
|
||
|
|
{
|
||
|
|
prepare((int)keypoints.size(), _patchSize, _signatureSize, _nstructs,
|
||
|
|
_structSize, _nviews, _compressionMethod);
|
||
|
|
int i, j, k, nsamples = (int)keypoints.size(), maxOctave = 0;
|
||
|
|
for( i = 0; i < nsamples; i++ )
|
||
|
|
{
|
||
|
|
classCounters[i] = _nviews;
|
||
|
|
maxOctave = std::max(maxOctave, keypoints[i].octave);
|
||
|
|
}
|
||
|
|
|
||
|
|
double maxScale = patchGenerator.lambdaMax*2;
|
||
|
|
Mat canvas(cvRound(std::max(image.cols,image.rows)*maxScale + patchSize.width*2 + 10),
|
||
|
|
cvRound(std::max(image.cols,image.rows)*maxScale + patchSize.width*2 + 10), image.type());
|
||
|
|
Mat noisebuf;
|
||
|
|
vector<Mat> pyrbuf(maxOctave+1), pyr(maxOctave+1);
|
||
|
|
Point2f center0((image.cols-1)*0.5f, (image.rows-1)*0.5f),
|
||
|
|
center1((canvas.cols - 1)*0.5f, (canvas.rows - 1)*0.5f);
|
||
|
|
Mat matM(2, 3, CV_64F);
|
||
|
|
double *M = (double*)matM.data;
|
||
|
|
RNG& rng = theRNG();
|
||
|
|
|
||
|
|
Mat patch(patchSize, CV_8U);
|
||
|
|
|
||
|
|
for( i = 0; i < _nviews; i++ )
|
||
|
|
{
|
||
|
|
patchGenerator.generateRandomTransform(center0, center1, matM, rng);
|
||
|
|
|
||
|
|
CV_Assert(matM.type() == CV_64F);
|
||
|
|
Rect roi(INT_MAX, INT_MAX, INT_MIN, INT_MIN);
|
||
|
|
|
||
|
|
for( k = 0; k < 4; k++ )
|
||
|
|
{
|
||
|
|
Point2f pt0, pt1;
|
||
|
|
pt0.x = (float)(k == 0 || k == 3 ? 0 : image.cols);
|
||
|
|
pt0.y = (float)(k < 2 ? 0 : image.rows);
|
||
|
|
pt1.x = (float)(M[0]*pt0.x + M[1]*pt0.y + M[2]);
|
||
|
|
pt1.y = (float)(M[3]*pt0.x + M[4]*pt0.y + M[5]);
|
||
|
|
|
||
|
|
roi.x = std::min(roi.x, cvFloor(pt1.x));
|
||
|
|
roi.y = std::min(roi.y, cvFloor(pt1.y));
|
||
|
|
roi.width = std::max(roi.width, cvCeil(pt1.x));
|
||
|
|
roi.height = std::max(roi.height, cvCeil(pt1.y));
|
||
|
|
}
|
||
|
|
|
||
|
|
roi.width -= roi.x + 1;
|
||
|
|
roi.height -= roi.y + 1;
|
||
|
|
|
||
|
|
Mat canvas_roi(canvas, roi);
|
||
|
|
M[2] -= roi.x;
|
||
|
|
M[5] -= roi.y;
|
||
|
|
|
||
|
|
Size size = canvas_roi.size();
|
||
|
|
rng.fill(canvas_roi, RNG::UNIFORM, Scalar::all(0), Scalar::all(256));
|
||
|
|
warpAffine( image, canvas_roi, matM, size, INTER_LINEAR, BORDER_TRANSPARENT);
|
||
|
|
|
||
|
|
pyr[0] = canvas_roi;
|
||
|
|
for( j = 1; j <= maxOctave; j++ )
|
||
|
|
{
|
||
|
|
size = Size((size.width+1)/2, (size.height+1)/2);
|
||
|
|
if( pyrbuf[j].cols < size.width*size.height )
|
||
|
|
pyrbuf[j].create(1, size.width*size.height, image.type());
|
||
|
|
pyr[j] = Mat(size, image.type(), pyrbuf[j].data);
|
||
|
|
pyrDown(pyr[j-1], pyr[j]);
|
||
|
|
}
|
||
|
|
|
||
|
|
if( patchGenerator.noiseRange > 0 )
|
||
|
|
{
|
||
|
|
const int noiseDelta = 128;
|
||
|
|
if( noisebuf.cols < pyr[0].cols*pyr[0].rows )
|
||
|
|
noisebuf.create(1, pyr[0].cols*pyr[0].rows, image.type());
|
||
|
|
for( j = 0; j <= maxOctave; j++ )
|
||
|
|
{
|
||
|
|
Mat noise(pyr[j].size(), image.type(), noisebuf.data);
|
||
|
|
rng.fill(noise, RNG::UNIFORM, Scalar::all(-patchGenerator.noiseRange + noiseDelta),
|
||
|
|
Scalar::all(patchGenerator.noiseRange + noiseDelta));
|
||
|
|
addWeighted(pyr[j], 1, noise, 1, -noiseDelta, pyr[j]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
for( j = 0; j < nsamples; j++ )
|
||
|
|
{
|
||
|
|
KeyPoint kpt = keypoints[j];
|
||
|
|
float scale = 1.f/(1 << kpt.octave);
|
||
|
|
Point2f pt((float)((M[0]*kpt.pt.x + M[1]*kpt.pt.y + M[2])*scale),
|
||
|
|
(float)((M[3]*kpt.pt.x + M[4]*kpt.pt.y + M[5])*scale));
|
||
|
|
getRectSubPix(pyr[kpt.octave], patchSize, pt, patch, patch.type());
|
||
|
|
for( int f = 0; f < nstructs; f++ )
|
||
|
|
posteriors[getLeaf(f, patch)*nclasses + j]++;
|
||
|
|
}
|
||
|
|
|
||
|
|
if( verbose && (i+1)*progressBarSize/_nviews != i*progressBarSize/_nviews )
|
||
|
|
putchar('.');
|
||
|
|
}
|
||
|
|
if( verbose )
|
||
|
|
putchar('\n');
|
||
|
|
|
||
|
|
finalize(rng);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int FernClassifier::operator()(const Mat& img, Point2f pt, vector<float>& signature) const
|
||
|
|
{
|
||
|
|
Mat patch;
|
||
|
|
getRectSubPix(img, patchSize, pt, patch, img.type());
|
||
|
|
return (*this)(patch, signature);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int FernClassifier::operator()(const Mat& patch, vector<float>& signature) const
|
||
|
|
{
|
||
|
|
if( posteriors.empty() )
|
||
|
|
CV_Error(CV_StsNullPtr,
|
||
|
|
"The descriptor has not been trained or "
|
||
|
|
"the floating-point posteriors have been deleted");
|
||
|
|
CV_Assert(patch.size() == patchSize);
|
||
|
|
|
||
|
|
int i, j, sz = signatureSize;
|
||
|
|
signature.resize(sz);
|
||
|
|
float* s = &signature[0];
|
||
|
|
|
||
|
|
for( j = 0; j < sz; j++ )
|
||
|
|
s[j] = 0;
|
||
|
|
|
||
|
|
for( i = 0; i < nstructs; i++ )
|
||
|
|
{
|
||
|
|
int lf = getLeaf(i, patch);
|
||
|
|
const float* ldata = &posteriors[lf*signatureSize];
|
||
|
|
for( j = 0; j <= sz - 4; j += 4 )
|
||
|
|
{
|
||
|
|
float t0 = s[j] + ldata[j];
|
||
|
|
float t1 = s[j+1] + ldata[j+1];
|
||
|
|
s[j] = t0; s[j+1] = t1;
|
||
|
|
t0 = s[j+2] + ldata[j+2];
|
||
|
|
t1 = s[j+3] + ldata[j+3];
|
||
|
|
s[j+2] = t0; s[j+3] = t1;
|
||
|
|
}
|
||
|
|
for( ; j < sz; j++ )
|
||
|
|
s[j] += ldata[j];
|
||
|
|
}
|
||
|
|
|
||
|
|
j = 0;
|
||
|
|
if( signatureSize == nclasses && compressionMethod == COMPRESSION_NONE )
|
||
|
|
{
|
||
|
|
for( i = 1; i < nclasses; i++ )
|
||
|
|
if( s[j] < s[i] )
|
||
|
|
j = i;
|
||
|
|
}
|
||
|
|
return j;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void FernClassifier::finalize(RNG&)
|
||
|
|
{
|
||
|
|
int i, j, k, n = nclasses;
|
||
|
|
vector<double> invClassCounters(n);
|
||
|
|
Mat_<double> _temp(1, n);
|
||
|
|
double* temp = &_temp(0,0);
|
||
|
|
|
||
|
|
for( i = 0; i < n; i++ )
|
||
|
|
invClassCounters[i] = 1./classCounters[i];
|
||
|
|
|
||
|
|
for( i = 0; i < nstructs; i++ )
|
||
|
|
{
|
||
|
|
for( j = 0; j < leavesPerStruct; j++ )
|
||
|
|
{
|
||
|
|
float* P = &posteriors[(i*leavesPerStruct + j)*nclasses];
|
||
|
|
double sum = 0;
|
||
|
|
for( k = 0; k < n; k++ )
|
||
|
|
sum += P[k]*invClassCounters[k];
|
||
|
|
sum = 1./sum;
|
||
|
|
for( k = 0; k < n; k++ )
|
||
|
|
temp[k] = P[k]*invClassCounters[k]*sum;
|
||
|
|
log(_temp, _temp);
|
||
|
|
for( k = 0; k < n; k++ )
|
||
|
|
P[k] = (float)temp[k];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
// do the first pass over the data.
|
||
|
|
if( compressionMethod == COMPRESSION_RANDOM_PROJ )
|
||
|
|
{
|
||
|
|
// In case of random projection
|
||
|
|
// we generate a random m x n matrix consisting of -1's and 1's
|
||
|
|
// (called Bernoulli matrix) and multiply it by each vector
|
||
|
|
// of posterior probabilities.
|
||
|
|
// the product is stored back into the same input vector.
|
||
|
|
|
||
|
|
Mat_<uchar> csmatrix;
|
||
|
|
if( m < n )
|
||
|
|
{
|
||
|
|
// generate random Bernoulli matrix:
|
||
|
|
// -1's are replaced with 0's and 1's stay 1's.
|
||
|
|
csmatrix.create(m, n);
|
||
|
|
rng.fill(csmatrix, RNG::UNIFORM, Scalar::all(0), Scalar::all(2));
|
||
|
|
}
|
||
|
|
vector<float> dst(m);
|
||
|
|
|
||
|
|
for( i = 0; i < totalLeaves; i++ )
|
||
|
|
{
|
||
|
|
int S = sampleCounters[i];
|
||
|
|
if( S == 0 )
|
||
|
|
continue;
|
||
|
|
|
||
|
|
float scale = 1.f/(S*(m < n ? std::sqrt((float)m) : 1.f));
|
||
|
|
const int* leaf = (const int*)&posteriors[i*n];
|
||
|
|
float* out_leaf = (float*)&posteriors[i*m];
|
||
|
|
|
||
|
|
for( j = 0; j < m; j++ )
|
||
|
|
{
|
||
|
|
float val = 0;
|
||
|
|
if( m < n )
|
||
|
|
{
|
||
|
|
const uchar* csrow = csmatrix.ptr(j);
|
||
|
|
// Because -1's in the Bernoulli matrix are encoded as 0's,
|
||
|
|
// the real dot product value will be
|
||
|
|
// A - B, where A is the sum of leaf[j]'s for which csrow[j]==1 and
|
||
|
|
// B is the sum of leaf[j]'s for which csrow[j]==0.
|
||
|
|
// since A + B = S, then A - B = A - (S - A) = 2*A - S.
|
||
|
|
int A = 0;
|
||
|
|
for( k = 0; k < n; k++ )
|
||
|
|
A += leaf[k] & -(int)csrow[k];
|
||
|
|
val = (A*2 - S)*scale;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
val = leaf[j]*scale;
|
||
|
|
dst[j] = val;
|
||
|
|
}
|
||
|
|
|
||
|
|
// put the vector back (since it's shorter than the original, we can do it in-place)
|
||
|
|
for( j = 0; j < m; j++ )
|
||
|
|
out_leaf[j] = dst[j];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if( compressionMethod == COMPRESSION_PCA )
|
||
|
|
{
|
||
|
|
// In case of PCA we do 3 passes over the data:
|
||
|
|
// first, we compute the mean vector
|
||
|
|
// second, we compute the covariation matrix
|
||
|
|
// then we do eigen decomposition of the matrix and construct the PCA
|
||
|
|
// projection matrix
|
||
|
|
// and on the third pass we actually do PCA compression.
|
||
|
|
|
||
|
|
int nonEmptyLeaves = 0;
|
||
|
|
Mat_<double> _mean(1, n), _vec(1, n), _dvec(m, 1),
|
||
|
|
_cov(n, n), _evals(n, 1), _evects(n, n);
|
||
|
|
_mean = 0.;
|
||
|
|
double* mean = &_mean(0,0);
|
||
|
|
double* vec = &_vec(0,0);
|
||
|
|
double* dvec = &_dvec(0,0);
|
||
|
|
|
||
|
|
for( i = 0; i < totalLeaves; i++ )
|
||
|
|
{
|
||
|
|
int S = sampleCounters[i];
|
||
|
|
if( S == 0 )
|
||
|
|
continue;
|
||
|
|
float invS = 1.f/S;
|
||
|
|
const int* leaf = (const int*)&posteriors[0] + i*n;
|
||
|
|
float* out_leaf = (float*)&posteriors[0] + i*n;
|
||
|
|
|
||
|
|
for( j = 0; j < n; j++ )
|
||
|
|
{
|
||
|
|
float t = leaf[j]*invS;
|
||
|
|
out_leaf[j] = t;
|
||
|
|
mean[j] += t;
|
||
|
|
}
|
||
|
|
nonEmptyLeaves++;
|
||
|
|
}
|
||
|
|
|
||
|
|
CV_Assert( nonEmptyLeaves >= ntrees );
|
||
|
|
_mean *= 1./nonEmptyLeaves;
|
||
|
|
|
||
|
|
for( i = 0; i < totalLeaves; i++ )
|
||
|
|
{
|
||
|
|
int S = sampleCounters[i];
|
||
|
|
if( S == 0 )
|
||
|
|
continue;
|
||
|
|
const float* leaf = (const float*)&posteriors[0] + i*n;
|
||
|
|
for( j = 0; j < n; j++ )
|
||
|
|
vec[j] = leaf[j] - mean[j];
|
||
|
|
gemm(_vec, _vec, 1, _cov, 1, _cov, GEMM_1_T);
|
||
|
|
}
|
||
|
|
|
||
|
|
_cov *= 1./nonEmptyLeaves;
|
||
|
|
eigen(_cov, _evals, _evects);
|
||
|
|
// use the first m eigenvectors (stored as rows of the eigenvector matrix)
|
||
|
|
// as the projection matrix in PCA
|
||
|
|
_evects = _evects(Range(0, m), Range::all());
|
||
|
|
|
||
|
|
for( i = 0; i < totalLeaves; i++ )
|
||
|
|
{
|
||
|
|
int S = sampleCounters[i];
|
||
|
|
if( S == 0 )
|
||
|
|
continue;
|
||
|
|
const float* leaf = (const float*)&posteriors[0] + i*n;
|
||
|
|
float* out_leaf = (float*)&posteriors[0] + i*m;
|
||
|
|
|
||
|
|
for( j = 0; j < n; j++ )
|
||
|
|
vec[j] = leaf[j] - mean[j];
|
||
|
|
gemm(_evects, _vec, 1, Mat(), 0, _dvec, GEMM_2_T);
|
||
|
|
|
||
|
|
for( j = 0; j < m; j++ )
|
||
|
|
out_leaf[j] = (float)dvec[j];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
CV_Error( CV_StsBadArg,
|
||
|
|
"Unknown compression method; use COMPRESSION_RANDOM_PROJ or COMPRESSION_PCA" );
|
||
|
|
|
||
|
|
// and shrink the vector
|
||
|
|
posteriors.resize(totalLeaves*m);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
void FernClassifier::setVerbose(bool _verbose)
|
||
|
|
{
|
||
|
|
verbose = _verbose;
|
||
|
|
}
|
||
|
13 years ago
|
|
||
|
|
|
||
|
|
/****************************************************************************************\
|
||
|
|
* FernDescriptorMatcher *
|
||
|
|
\****************************************************************************************/
|
||
|
|
FernDescriptorMatcher::Params::Params( int _nclasses, int _patchSize, int _signatureSize,
|
||
|
|
int _nstructs, int _structSize, int _nviews, int _compressionMethod,
|
||
|
|
const PatchGenerator& _patchGenerator ) :
|
||
|
|
nclasses(_nclasses), patchSize(_patchSize), signatureSize(_signatureSize),
|
||
|
|
nstructs(_nstructs), structSize(_structSize), nviews(_nviews),
|
||
|
|
compressionMethod(_compressionMethod), patchGenerator(_patchGenerator)
|
||
|
|
{}
|
||
|
|
|
||
|
|
FernDescriptorMatcher::Params::Params( const string& _filename )
|
||
|
|
{
|
||
|
|
filename = _filename;
|
||
|
|
}
|
||
|
|
|
||
|
|
FernDescriptorMatcher::FernDescriptorMatcher( const Params& _params )
|
||
|
|
{
|
||
|
|
prevTrainCount = 0;
|
||
|
|
params = _params;
|
||
|
|
if( !params.filename.empty() )
|
||
|
|
{
|
||
|
|
classifier = new FernClassifier;
|
||
|
|
FileStorage fs(params.filename, FileStorage::READ);
|
||
|
|
if( fs.isOpened() )
|
||
|
|
classifier->read( fs.getFirstTopLevelNode() );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
FernDescriptorMatcher::~FernDescriptorMatcher()
|
||
|
|
{}
|
||
|
|
|
||
|
|
void FernDescriptorMatcher::clear()
|
||
|
|
{
|
||
|
|
GenericDescriptorMatcher::clear();
|
||
|
|
|
||
|
|
classifier.release();
|
||
|
|
prevTrainCount = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
void FernDescriptorMatcher::train()
|
||
|
|
{
|
||
|
|
if( classifier.empty() || prevTrainCount < (int)trainPointCollection.keypointCount() )
|
||
|
|
{
|
||
|
|
assert( params.filename.empty() );
|
||
|
|
|
||
|
|
vector<vector<Point2f> > points( trainPointCollection.imageCount() );
|
||
|
|
for( size_t imgIdx = 0; imgIdx < trainPointCollection.imageCount(); imgIdx++ )
|
||
|
|
KeyPoint::convert( trainPointCollection.getKeypoints((int)imgIdx), points[imgIdx] );
|
||
|
|
|
||
|
|
classifier = new FernClassifier( points, trainPointCollection.getImages(), vector<vector<int> >(), 0, // each points is a class
|
||
|
|
params.patchSize, params.signatureSize, params.nstructs, params.structSize,
|
||
|
|
params.nviews, params.compressionMethod, params.patchGenerator );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
bool FernDescriptorMatcher::isMaskSupported()
|
||
|
|
{
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
void FernDescriptorMatcher::calcBestProbAndMatchIdx( const Mat& image, const Point2f& pt,
|
||
|
|
float& bestProb, int& bestMatchIdx, vector<float>& signature )
|
||
|
|
{
|
||
|
|
(*classifier)( image, pt, signature);
|
||
|
|
|
||
|
|
bestProb = -FLT_MAX;
|
||
|
|
bestMatchIdx = -1;
|
||
|
|
for( int ci = 0; ci < classifier->getClassCount(); ci++ )
|
||
|
|
{
|
||
|
|
if( signature[ci] > bestProb )
|
||
|
|
{
|
||
|
|
bestProb = signature[ci];
|
||
|
|
bestMatchIdx = ci;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void FernDescriptorMatcher::knnMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
|
||
|
|
vector<vector<DMatch> >& matches, int knn,
|
||
|
|
const vector<Mat>& /*masks*/, bool /*compactResult*/ )
|
||
|
|
{
|
||
|
|
train();
|
||
|
|
|
||
|
|
matches.resize( queryKeypoints.size() );
|
||
|
|
vector<float> signature( (size_t)classifier->getClassCount() );
|
||
|
|
|
||
|
|
for( size_t queryIdx = 0; queryIdx < queryKeypoints.size(); queryIdx++ )
|
||
|
|
{
|
||
|
|
(*classifier)( queryImage, queryKeypoints[queryIdx].pt, signature);
|
||
|
|
|
||
|
|
for( int k = 0; k < knn; k++ )
|
||
|
|
{
|
||
|
|
DMatch bestMatch;
|
||
|
|
size_t best_ci = 0;
|
||
|
|
for( size_t ci = 0; ci < signature.size(); ci++ )
|
||
|
|
{
|
||
|
|
if( -signature[ci] < bestMatch.distance )
|
||
|
|
{
|
||
|
|
int imgIdx = -1, trainIdx = -1;
|
||
|
|
trainPointCollection.getLocalIdx( (int)ci , imgIdx, trainIdx );
|
||
|
|
bestMatch = DMatch( (int)queryIdx, trainIdx, imgIdx, -signature[ci] );
|
||
|
|
best_ci = ci;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if( bestMatch.trainIdx == -1 )
|
||
|
|
break;
|
||
|
|
signature[best_ci] = -std::numeric_limits<float>::max();
|
||
|
|
matches[queryIdx].push_back( bestMatch );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void FernDescriptorMatcher::radiusMatchImpl( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
|
||
|
|
vector<vector<DMatch> >& matches, float maxDistance,
|
||
|
|
const vector<Mat>& /*masks*/, bool /*compactResult*/ )
|
||
|
|
{
|
||
|
|
train();
|
||
|
|
matches.resize( queryKeypoints.size() );
|
||
|
|
vector<float> signature( (size_t)classifier->getClassCount() );
|
||
|
|
|
||
|
|
for( size_t i = 0; i < queryKeypoints.size(); i++ )
|
||
|
|
{
|
||
|
|
(*classifier)( queryImage, queryKeypoints[i].pt, signature);
|
||
|
|
|
||
|
|
for( int ci = 0; ci < classifier->getClassCount(); ci++ )
|
||
|
|
{
|
||
|
|
if( -signature[ci] < maxDistance )
|
||
|
|
{
|
||
|
|
int imgIdx = -1, trainIdx = -1;
|
||
|
|
trainPointCollection.getLocalIdx( ci , imgIdx, trainIdx );
|
||
|
|
matches[i].push_back( DMatch( (int)i, trainIdx, imgIdx, -signature[ci] ) );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void FernDescriptorMatcher::read( const FileNode &fn )
|
||
|
|
{
|
||
|
|
params.nclasses = fn["nclasses"];
|
||
|
|
params.patchSize = fn["patchSize"];
|
||
|
|
params.signatureSize = fn["signatureSize"];
|
||
|
|
params.nstructs = fn["nstructs"];
|
||
|
|
params.structSize = fn["structSize"];
|
||
|
|
params.nviews = fn["nviews"];
|
||
|
|
params.compressionMethod = fn["compressionMethod"];
|
||
|
|
|
||
|
|
//classifier->read(fn);
|
||
|
|
}
|
||
|
|
|
||
|
|
void FernDescriptorMatcher::write( FileStorage& fs ) const
|
||
|
|
{
|
||
|
|
fs << "nclasses" << params.nclasses;
|
||
|
|
fs << "patchSize" << params.patchSize;
|
||
|
|
fs << "signatureSize" << params.signatureSize;
|
||
|
|
fs << "nstructs" << params.nstructs;
|
||
|
|
fs << "structSize" << params.structSize;
|
||
|
|
fs << "nviews" << params.nviews;
|
||
|
|
fs << "compressionMethod" << params.compressionMethod;
|
||
|
|
|
||
|
|
// classifier->write(fs);
|
||
|
|
}
|
||
|
|
|
||
|
|
bool FernDescriptorMatcher::empty() const
|
||
|
|
{
|
||
|
|
return classifier.empty() || classifier->empty();
|
||
|
|
}
|
||
|
|
|
||
|
|
Ptr<GenericDescriptorMatcher> FernDescriptorMatcher::clone( bool emptyTrainData ) const
|
||
|
|
{
|
||
|
|
FernDescriptorMatcher* matcher = new FernDescriptorMatcher( params );
|
||
|
|
if( !emptyTrainData )
|
||
|
|
{
|
||
|
|
CV_Error( CV_StsNotImplemented, "deep clone dunctionality is not implemented, because "
|
||
|
|
"FernClassifier has not copy constructor or clone method ");
|
||
|
|
|
||
|
|
//matcher->classifier;
|
||
|
|
matcher->params = params;
|
||
|
|
matcher->prevTrainCount = prevTrainCount;
|
||
|
|
matcher->trainPointCollection = trainPointCollection;
|
||
|
|
}
|
||
|
|
return matcher;
|
||
|
|
}
|
||
|
|
|
||
|
|
////////////////////////////////////// Planar Object Detector ////////////////////////////////////
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|
|
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|
PlanarObjectDetector::PlanarObjectDetector()
|
||
|
|
{
|
||
|
|
}
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||
|
|
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||
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|
PlanarObjectDetector::PlanarObjectDetector(const FileNode& node)
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||
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|
{
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||
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|
read(node);
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||
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|
}
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|
|
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||
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|
PlanarObjectDetector::PlanarObjectDetector(const vector<Mat>& pyr, int npoints,
|
||
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|
int patchSize, int nstructs, int structSize,
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||
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|
int nviews, const LDetector& detector,
|
||
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|
const PatchGenerator& patchGenerator)
|
||
|
|
{
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||
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|
train(pyr, npoints, patchSize, nstructs,
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||
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|
structSize, nviews, detector, patchGenerator);
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||
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|
}
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||
|
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|
PlanarObjectDetector::~PlanarObjectDetector()
|
||
|
|
{
|
||
|
|
}
|
||
|
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|
||
|
|
vector<KeyPoint> PlanarObjectDetector::getModelPoints() const
|
||
|
|
{
|
||
|
|
return modelPoints;
|
||
|
|
}
|
||
|
|
|
||
|
|
void PlanarObjectDetector::train(const vector<Mat>& pyr, int npoints,
|
||
|
|
int patchSize, int nstructs, int structSize,
|
||
|
|
int nviews, const LDetector& detector,
|
||
|
|
const PatchGenerator& patchGenerator)
|
||
|
|
{
|
||
|
|
modelROI = Rect(0, 0, pyr[0].cols, pyr[0].rows);
|
||
|
|
ldetector = detector;
|
||
|
|
ldetector.setVerbose(verbose);
|
||
|
|
ldetector.getMostStable2D(pyr[0], modelPoints, npoints, patchGenerator);
|
||
|
|
|
||
|
|
npoints = (int)modelPoints.size();
|
||
|
|
fernClassifier.setVerbose(verbose);
|
||
|
|
fernClassifier.trainFromSingleView(pyr[0], modelPoints,
|
||
|
|
patchSize, (int)modelPoints.size(), nstructs, structSize, nviews,
|
||
|
|
FernClassifier::COMPRESSION_NONE, patchGenerator);
|
||
|
|
}
|
||
|
|
|
||
|
|
void PlanarObjectDetector::train(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
|
||
|
|
int patchSize, int nstructs, int structSize,
|
||
|
|
int nviews, const LDetector& detector,
|
||
|
|
const PatchGenerator& patchGenerator)
|
||
|
|
{
|
||
|
|
modelROI = Rect(0, 0, pyr[0].cols, pyr[0].rows);
|
||
|
|
ldetector = detector;
|
||
|
|
ldetector.setVerbose(verbose);
|
||
|
|
modelPoints.resize(keypoints.size());
|
||
|
|
std::copy(keypoints.begin(), keypoints.end(), modelPoints.begin());
|
||
|
|
|
||
|
|
fernClassifier.setVerbose(verbose);
|
||
|
|
fernClassifier.trainFromSingleView(pyr[0], modelPoints,
|
||
|
|
patchSize, (int)modelPoints.size(), nstructs, structSize, nviews,
|
||
|
|
FernClassifier::COMPRESSION_NONE, patchGenerator);
|
||
|
|
}
|
||
|
|
|
||
|
|
void PlanarObjectDetector::read(const FileNode& node)
|
||
|
|
{
|
||
|
|
FileNodeIterator it = node["model-roi"].begin(), it_end;
|
||
|
|
it >> modelROI.x >> modelROI.y >> modelROI.width >> modelROI.height;
|
||
|
|
ldetector.read(node["detector"]);
|
||
|
|
fernClassifier.read(node["fern-classifier"]);
|
||
|
|
cv::read(node["model-points"], modelPoints);
|
||
|
|
CV_Assert(modelPoints.size() == (size_t)fernClassifier.getClassCount());
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void PlanarObjectDetector::write(FileStorage& fs, const String& objname) const
|
||
|
|
{
|
||
|
|
WriteStructContext ws(fs, objname, CV_NODE_MAP);
|
||
|
|
|
||
|
|
{
|
||
|
|
WriteStructContext wsroi(fs, "model-roi", CV_NODE_SEQ + CV_NODE_FLOW);
|
||
|
|
cv::write(fs, modelROI.x);
|
||
|
|
cv::write(fs, modelROI.y);
|
||
|
|
cv::write(fs, modelROI.width);
|
||
|
|
cv::write(fs, modelROI.height);
|
||
|
|
}
|
||
|
|
ldetector.write(fs, "detector");
|
||
|
|
cv::write(fs, "model-points", modelPoints);
|
||
|
|
fernClassifier.write(fs, "fern-classifier");
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
bool PlanarObjectDetector::operator()(const Mat& image, Mat& H, vector<Point2f>& corners) const
|
||
|
|
{
|
||
|
|
vector<Mat> pyr;
|
||
|
|
buildPyramid(image, pyr, ldetector.nOctaves - 1);
|
||
|
|
vector<KeyPoint> keypoints;
|
||
|
|
ldetector(pyr, keypoints);
|
||
|
|
|
||
|
|
return (*this)(pyr, keypoints, H, corners);
|
||
|
|
}
|
||
|
|
|
||
|
|
bool PlanarObjectDetector::operator()(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
|
||
|
|
Mat& matH, vector<Point2f>& corners, vector<int>* pairs) const
|
||
|
|
{
|
||
|
|
int i, j, m = (int)modelPoints.size(), n = (int)keypoints.size();
|
||
|
|
vector<int> bestMatches(m, -1);
|
||
|
|
vector<float> maxLogProb(m, -FLT_MAX);
|
||
|
|
vector<float> signature;
|
||
|
|
vector<Point2f> fromPt, toPt;
|
||
|
|
|
||
|
|
for( i = 0; i < n; i++ )
|
||
|
|
{
|
||
|
|
KeyPoint kpt = keypoints[i];
|
||
|
|
CV_Assert(0 <= kpt.octave && kpt.octave < (int)pyr.size());
|
||
|
|
kpt.pt.x /= (float)(1 << kpt.octave);
|
||
|
|
kpt.pt.y /= (float)(1 << kpt.octave);
|
||
|
|
int k = fernClassifier(pyr[kpt.octave], kpt.pt, signature);
|
||
|
|
if( k >= 0 && (bestMatches[k] < 0 || signature[k] > maxLogProb[k]) )
|
||
|
|
{
|
||
|
|
maxLogProb[k] = signature[k];
|
||
|
|
bestMatches[k] = i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if(pairs)
|
||
|
|
pairs->resize(0);
|
||
|
|
|
||
|
|
for( i = 0; i < m; i++ )
|
||
|
|
if( bestMatches[i] >= 0 )
|
||
|
|
{
|
||
|
|
fromPt.push_back(modelPoints[i].pt);
|
||
|
|
toPt.push_back(keypoints[bestMatches[i]].pt);
|
||
|
|
}
|
||
|
|
|
||
|
|
if( fromPt.size() < 4 )
|
||
|
|
return false;
|
||
|
|
|
||
|
|
vector<uchar> mask;
|
||
|
|
matH = findHomography(fromPt, toPt, RANSAC, 10, mask);
|
||
|
|
if( matH.data )
|
||
|
|
{
|
||
|
|
const Mat_<double>& H = matH;
|
||
|
|
corners.resize(4);
|
||
|
|
for( i = 0; i < 4; i++ )
|
||
|
|
{
|
||
|
|
Point2f pt((float)(modelROI.x + (i == 0 || i == 3 ? 0 : modelROI.width)),
|
||
|
|
(float)(modelROI.y + (i <= 1 ? 0 : modelROI.height)));
|
||
|
|
double w = 1./(H(2,0)*pt.x + H(2,1)*pt.y + H(2,2));
|
||
|
|
corners[i] = Point2f((float)((H(0,0)*pt.x + H(0,1)*pt.y + H(0,2))*w),
|
||
|
|
(float)((H(1,0)*pt.x + H(1,1)*pt.y + H(1,2))*w));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if( pairs )
|
||
|
|
{
|
||
|
|
for( i = j = 0; i < m; i++ )
|
||
|
|
if( bestMatches[i] >= 0 && mask[j++] )
|
||
|
|
{
|
||
|
|
pairs->push_back(i);
|
||
|
|
pairs->push_back(bestMatches[i]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return matH.data != 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void PlanarObjectDetector::setVerbose(bool _verbose)
|
||
|
|
{
|
||
|
|
verbose = _verbose;
|
||
|
|
}
|
||
|
15 years ago
|
|
||
|
|
}
|