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ok; all the tests now pass

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pull/3339/head
Vadim Pisarevsky 10 years ago
parent c5261ea3d2
commit 25a7d023dd
3 changed files with 260 additions and 923 deletions
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  1. 9
      modules/features2d/include/opencv2/features2d.hpp
  2. 495
      modules/features2d/src/mser.cpp
  3. 679
      modules/features2d/test/test_keypoints.cpp

9
modules/features2d/include/opencv2/features2d.hpp
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@ -195,12 +195,9 @@ public:
int _max_evolution=200, double _area_threshold=1.01,
double _min_margin=0.003, int _edge_blur_size=5 );
CV_WRAP virtual int detectAndLabel( InputArray image, OutputArray label,
OutputArray stats=noArray() ) = 0;
CV_WRAP virtual void detectAndStore( InputArray image,
std::vector<std::vector<Point> >& msers,
OutputArray stats=noArray() ) = 0;
CV_WRAP virtual void detectRegions( InputArray image,
std::vector<std::vector<Point> >& msers,
std::vector<Rect>& bboxes ) = 0;
};
//! detects corners using FAST algorithm by E. Rosten

495
modules/features2d/src/mser.cpp
Unescape View File

@ -53,23 +53,22 @@ class MSER_Impl : public MSER
public:
struct Params
{
explicit Params( int _delta=5, double _maxVariation=0.25,
int _minArea=60, int _maxArea=14400,
double _minDiversity=.2, int _maxEvolution=200,
double _areaThreshold=1.01,
double _minMargin=0.003, int _edgeBlurSize=5 )
Params( int _delta=5, int _min_area=60, int _max_area=14400,
double _max_variation=0.25, double _min_diversity=.2,
int _max_evolution=200, double _area_threshold=1.01,
double _min_margin=0.003, int _edge_blur_size=5 )
{
delta = _delta;
minArea = _minArea;
maxArea = _maxArea;
maxVariation = _maxVariation;
minDiversity = _minDiversity;
pass2Only = false;
maxEvolution = _maxEvolution;
areaThreshold = _areaThreshold;
minMargin = _minMargin;
edgeBlurSize = _edgeBlurSize;
minArea = _min_area;
maxArea = _max_area;
maxVariation = _max_variation;
minDiversity = _min_diversity;
maxEvolution = _max_evolution;
areaThreshold = _area_threshold;
minMargin = _min_margin;
edgeBlurSize = _edge_blur_size;
}
int delta;
int minArea;
int maxArea;
@ -269,11 +268,10 @@ public:
}
// convert the point set to CvSeq
Rect label( Mat& labels, int lval, const Pixel* pix0, int step ) const
Rect capture( const Pixel* pix0, int step, vector<Point>& region ) const
{
int* lptr = labels.ptr<int>();
int lstep = labels.step/sizeof(lptr[0]);
int xmin = INT_MAX, ymin = INT_MAX, xmax = INT_MIN, ymax = INT_MIN;
region.clear();
for( PPixel pix = head; pix != 0; pix = pix0[pix].getNext() )
{
@ -285,7 +283,7 @@ public:
ymin = std::min(ymin, y);
ymax = std::max(ymax, y);
lptr[lstep*y + x] = lval;
region.push_back(Point(x, y));
}
return Rect(xmin, ymin, xmax - xmin + 1, ymax - ymin + 1);
@ -300,10 +298,9 @@ public:
bool dvar; // the derivative of last var
};
int detectAndLabel( InputArray _src, OutputArray _labels, OutputArray _bboxes );
void detectAndStore( InputArray image,
std::vector<std::vector<Point> >& msers,
OutputArray stats );
void detectRegions( InputArray image,
std::vector<std::vector<Point> >& msers,
std::vector<Rect>& bboxes );
void detect( InputArray _src, vector<KeyPoint>& keypoints, InputArray _mask );
void preprocess1( const Mat& img, int* level_size )
@ -359,7 +356,7 @@ public:
}
}
void pass( const Mat& img, Mat& labels, int& lval, vector<Rect>& bboxvec,
void pass( const Mat& img, vector<vector<Point> >& msers, vector<Rect>& bboxvec,
Size size, const int* level_size, int mask )
{
CompHistory* histptr = &histbuf[0];
@ -452,7 +449,10 @@ public:
// check the stablity and push a new history, increase the grey level
if( comptr->isStable(params) )
{
Rect box = comptr->label( labels, lval++, ptr0, step );
msers.push_back(vector<Point>());
vector<Point>& mser = msers.back();
Rect box = comptr->capture( ptr0, step, mser );
bboxvec.push_back(box);
}
comptr->growHistory( histptr++ );
@ -472,7 +472,10 @@ public:
// check the stablity here otherwise it wouldn't be an ER
if( comptr->isStable(params) )
{
Rect box = comptr->label( labels, lval++, ptr0, step );
msers.push_back(vector<Point>());
vector<Point>& mser = msers.back();
Rect box = comptr->capture( ptr0, step, mser );
bboxvec.push_back(box);
}
comptr->growHistory( histptr++ );
@ -607,7 +610,6 @@ static const float chitab3[]=
3.98692f, 4.2776f, 4.77167f, 133.333f
};
struct MSCRNode;
struct TempMSCR
@ -620,56 +622,6 @@ struct TempMSCR
struct MSCRNode
{
// the stable mscr should be:
// bigger than minArea and smaller than maxArea
// differ from its ancestor more than minDiversity
bool isStable( const MSER_Impl::Params& params ) const
{
if( size <= params.minArea || size >= params.maxArea )
return 0;
if( gmsr == NULL )
return 1;
double div = (double)(size - gmsr->size)/(double)size;
return div > params.minDiversity;
}
void init( int _index )
{
gmsr = tmsr = NULL;
reinit = 0xffff;
rank = 0;
sizei = size = 1;
prev = next = shortcut = this;
index = _index;
}
// to find the root of one region
MSCRNode* findRoot()
{
MSCRNode* x = this;
MSCRNode* _prev = x;
MSCRNode* _next;
for(;;)
{
_next = x->shortcut;
x->shortcut = _prev;
if( _next == x )
break;
_prev = x;
x = _next;
}
MSCRNode* root = x;
for(;;)
{
_prev = x->shortcut;
x->shortcut = root;
if( _prev == x )
break;
x = _prev;
}
return root;
}
MSCRNode* shortcut;
// to make the finding of root less painful
MSCRNode* prev;
@ -690,85 +642,175 @@ struct MSCRNode
struct MSCREdge
{
double init(float _chi, MSCRNode* _left, MSCRNode* _right)
{
chi = _chi;
left = _left;
right = _right;
return chi;
}
float chi;
double chi;
MSCRNode* left;
MSCRNode* right;
};
static float ChiSquaredDistance( const uchar* x, const uchar* y )
static double ChiSquaredDistance( const uchar* x, const uchar* y )
{
return (float)((x[0]-y[0])*(x[0]-y[0]))/(float)(x[0]+y[0]+FLT_EPSILON)+
(float)((x[1]-y[1])*(x[1]-y[1]))/(float)(x[1]+y[1]+FLT_EPSILON)+
(float)((x[2]-y[2])*(x[2]-y[2]))/(float)(x[2]+y[2]+FLT_EPSILON);
return (double)((x[0]-y[0])*(x[0]-y[0]))/(double)(x[0]+y[0]+1e-10)+
(double)((x[1]-y[1])*(x[1]-y[1]))/(double)(x[1]+y[1]+1e-10)+
(double)((x[2]-y[2])*(x[2]-y[2]))/(double)(x[2]+y[2]+1e-10);
}
static void initMSCRNode( MSCRNode* node )
{
node->gmsr = node->tmsr = NULL;
node->reinit = 0xffff;
node->rank = 0;
node->sizei = node->size = 1;
node->prev = node->next = node->shortcut = node;
}
// the preprocess to get the edge list with proper gaussian blur
static int preprocessMSER_8UC3( MSCRNode* node, MSCREdge* edge,
double& total, const Mat& src,
Mat& dx, Mat& dy, int Ne, int edgeBlurSize )
static int preprocessMSER_8uC3( MSCRNode* node,
MSCREdge* edge,
double* total,
const Mat& src,
Mat& dx,
Mat& dy,
int Ne,
int edgeBlurSize )
{
int nch = src.channels();
int i, j, nrows = src.rows, ncols = src.cols;
float* dxptr = 0;
float* dyptr = 0;
for( i = 0; i < nrows; i++ )
int srccpt = src.step-src.cols*3;
const uchar* srcptr = src.ptr();
const uchar* lastptr = srcptr+3;
double* dxptr = dx.ptr<double>();
for ( int i = 0; i < src.rows; i++ )
{
const uchar* srcptr = src.ptr(i);
const uchar* nextsrc = src.ptr(std::min(i+1, nrows-1));
dxptr = dx.ptr<float>(i);
dyptr = dy.ptr<float>(i);
for( j = 0; j < ncols-1; j++ )
for ( int j = 0; j < src.cols-1; j++ )
{
dxptr[j] = ChiSquaredDistance( srcptr + j*nch, srcptr + (j+1)*nch );
dyptr[j] = ChiSquaredDistance( srcptr + j*nch, nextsrc + j*nch );
*dxptr = ChiSquaredDistance( srcptr, lastptr );
dxptr++;
srcptr += 3;
lastptr += 3;
}
dyptr[ncols-1] = ChiSquaredDistance( srcptr + (ncols-1)*nch, nextsrc + (ncols-1)*nch );
srcptr += srccpt+3;
lastptr += srccpt+3;
}
srcptr = src.ptr();
lastptr = srcptr+src.step;
double* dyptr = dy.ptr<double>();
for ( int i = 0; i < src.rows-1; i++ )
{
for ( int j = 0; j < src.cols; j++ )
{
*dyptr = ChiSquaredDistance( srcptr, lastptr );
dyptr++;
srcptr += 3;
lastptr += 3;
}
srcptr += srccpt;
lastptr += srccpt;
}
// get dx and dy and blur it
if( edgeBlurSize >= 1 )
if ( edgeBlurSize >= 1 )
{
GaussianBlur(dx, dx, Size(edgeBlurSize, edgeBlurSize), 0);
GaussianBlur(dy, dy, Size(edgeBlurSize, edgeBlurSize), 0);
GaussianBlur( dx, dx, Size(edgeBlurSize, edgeBlurSize), 0 );
GaussianBlur( dy, dy, Size(edgeBlurSize, edgeBlurSize), 0 );
}
dxptr = dx.ptr<float>();
dyptr = dy.ptr<float>();
dxptr = dx.ptr<double>();
dyptr = dy.ptr<double>();
// assian dx, dy to proper edge list and initialize mscr node
// the nasty code here intended to avoid extra loops
MSCRNode* nodeptr = node;
for( j = 0; j < ncols-1; j++ )
initMSCRNode( nodeptr );
nodeptr->index = 0;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
for ( int i = 1; i < src.cols-1; i++ )
{
nodeptr[j].init(j);
total += edge[j].init(dxptr[j], nodeptr+j, nodeptr+j+1);
initMSCRNode( nodeptr );
nodeptr->index = i;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
}
dxptr += ncols - 1;
edge += ncols - 1;
nodeptr[ncols-1].init(ncols - 1);
nodeptr += ncols;
for( i = 1; i < nrows; i++ )
initMSCRNode( nodeptr );
nodeptr->index = src.cols-1;
nodeptr++;
for ( int i = 1; i < src.rows-1; i++ )
{
for( j = 0; j < ncols-1; j++ )
initMSCRNode( nodeptr );
nodeptr->index = i<<16;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src.cols;
edge->right = nodeptr;
edge++;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
for ( int j = 1; j < src.cols-1; j++ )
{
nodeptr[j].init( (i<<16)|j );
total += edge[j*2].init(dyptr[j], nodeptr + j - ncols, nodeptr + j);
total += edge[j*2+1].init(dxptr[j], nodeptr + j, nodeptr + j + 1);
initMSCRNode( nodeptr );
nodeptr->index = (i<<16)|j;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src.cols;
edge->right = nodeptr;
edge++;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
}
nodeptr[ncols-1].init((i<<16)|(ncols - 1));
total += edge[(ncols-1)*2].init(dyptr[ncols-1], nodeptr - 1, nodeptr + ncols-1);
dxptr += ncols-1;
dyptr += ncols;
edge += 2*ncols - 1;
nodeptr += ncols;
initMSCRNode( nodeptr );
nodeptr->index = (i<<16)|(src.cols-1);
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src.cols;
edge->right = nodeptr;
edge++;
nodeptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = (src.rows-1)<<16;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src.cols;
edge->right = nodeptr;
edge++;
nodeptr++;
for ( int i = 1; i < src.cols-1; i++ )
{
initMSCRNode( nodeptr );
nodeptr->index = ((src.rows-1)<<16)|i;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src.cols;
edge->right = nodeptr;
edge++;
nodeptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = ((src.rows-1)<<16)|(src.cols-1);
*total += edge->chi = *dyptr;
edge->left = nodeptr-src.cols;
edge->right = nodeptr;
return Ne;
}
@ -779,37 +821,63 @@ public:
bool operator()(const MSCREdge& a, const MSCREdge& b) const { return a.chi < b.chi; }
};
// to find the root of one region
static MSCRNode* findMSCR( MSCRNode* x )
{
MSCRNode* prev = x;
MSCRNode* next;
for ( ; ; )
{
next = x->shortcut;
x->shortcut = prev;
if ( next == x ) break;
prev= x;
x = next;
}
MSCRNode* root = x;
for ( ; ; )
{
prev = x->shortcut;
x->shortcut = root;
if ( prev == x ) break;
x = prev;
}
return root;
}
// the stable mscr should be:
// bigger than minArea and smaller than maxArea
// differ from its ancestor more than minDiversity
static bool MSCRStableCheck( MSCRNode* x, const MSER_Impl::Params& params )
{
if ( x->size <= params.minArea || x->size >= params.maxArea )
return false;
if ( x->gmsr == NULL )
return true;
double div = (double)(x->size-x->gmsr->size)/(double)x->size;
return div > params.minDiversity;
}
static void
extractMSER_8uC3( const Mat& src, Mat& labels,
extractMSER_8uC3( const Mat& src,
vector<vector<Point> >& msers,
vector<Rect>& bboxvec,
const MSER_Impl::Params& params )
{
int npixels = src.cols*src.rows;
int currlabel = 0;
int* lptr = labels.ptr<int>();
int lstep = (int)(labels.step/sizeof(int));
vector<MSCRNode> mapvec(npixels);
MSCRNode* map = &mapvec[0];
int Ne = npixels*2 - src.cols - src.rows;
vector<MSCREdge> edgevec(Ne+1);
MSCREdge* edge = &edgevec[0];
vector<TempMSCR> mscrvec(npixels);
TempMSCR* mscr = &mscrvec[0];
bboxvec.clear();
MSCRNode* map = (MSCRNode*)cvAlloc( src.cols*src.rows*sizeof(map[0]) );
int Ne = src.cols*src.rows*2-src.cols-src.rows;
MSCREdge* edge = (MSCREdge*)cvAlloc( Ne*sizeof(edge[0]) );
TempMSCR* mscr = (TempMSCR*)cvAlloc( src.cols*src.rows*sizeof(mscr[0]) );
double emean = 0;
Mat dx( src.rows, src.cols-1, CV_32FC1 );
Mat dy( src.rows, src.cols, CV_32FC1 );
Ne = preprocessMSER_8UC3( map, edge, emean, src, dx, dy, Ne, params.edgeBlurSize );
Mat dx( src.rows, src.cols-1, CV_64FC1 );
Mat dy( src.rows-1, src.cols, CV_64FC1 );
Ne = preprocessMSER_8uC3( map, edge, &emean, src, dx, dy, Ne, params.edgeBlurSize );
emean = emean / (double)Ne;
std::sort(edge, edge + Ne, LessThanEdge());
MSCREdge* edge_ub = edge+Ne;
MSCREdge* edgeptr = edge;
TempMSCR* mscrptr = mscr;
// the evolution process
for ( int i = 0; i < params.maxEvolution; i++ )
{
@ -818,24 +886,23 @@ extractMSER_8uC3( const Mat& src, Mat& labels,
double reminder = k-ti;
double thres = emean*(chitab3[ti]*(1-reminder)+chitab3[ti+1]*reminder);
// to process all the edges in the list that chi < thres
while( edgeptr < edge_ub && edgeptr->chi < thres )
while ( edgeptr < edge_ub && edgeptr->chi < thres )
{
MSCRNode* lr = edgeptr->left->findRoot();
MSCRNode* rr = edgeptr->right->findRoot();
MSCRNode* lr = findMSCR( edgeptr->left );
MSCRNode* rr = findMSCR( edgeptr->right );
// get the region root (who is responsible)
if ( lr != rr )
{
MSCRNode* tmp;
// rank idea take from: N-tree Disjoint-Set Forests for Maximally Stable Extremal Regions
if ( rr->rank > lr->rank )
{
MSCRNode* tmp;
CV_SWAP( lr, rr, tmp );
}
else if ( lr->rank == rr->rank )
{
} else if ( lr->rank == rr->rank ) {
// at the same rank, we will compare the size
if( lr->size > rr->size )
if ( lr->size > rr->size )
{
MSCRNode* tmp;
CV_SWAP( lr, rr, tmp );
}
lr->rank++;
@ -867,7 +934,7 @@ extractMSER_8uC3( const Mat& src, Mat& labels,
if ( s < lr->s )
{
// skip the first one and check stablity
if ( i > lr->reinit+1 && lr->isStable( params ) )
if ( i > lr->reinit+1 && MSCRStableCheck( lr, params ) )
{
if ( lr->tmsr == NULL )
{
@ -888,55 +955,51 @@ extractMSER_8uC3( const Mat& src, Mat& labels,
if ( edgeptr >= edge_ub )
break;
}
for( TempMSCR* ptr = mscr; ptr < mscrptr; ptr++ )
{
for ( TempMSCR* ptr = mscr; ptr < mscrptr; ptr++ )
// to prune area with margin less than minMargin
if( ptr->m > params.minMargin )
if ( ptr->m > params.minMargin )
{
int xmin = INT_MAX, ymin = INT_MAX, xmax = INT_MIN, ymax = INT_MIN;
currlabel++;
MSCRNode* lpt = ptr->head;
for( int i = 0; i < ptr->size; i++ )
{
int x = (lpt->index)&0xffff;
int y = (lpt->index)>>16;
lpt = lpt->next;
int xmin = INT_MAX, ymin = INT_MAX, xmax = INT_MIN, ymax = INT_MIN;
msers.push_back(vector<Point>());
vector<Point>& mser = msers.back();
xmin = std::min(xmin, x);
xmax = std::max(xmax, x);
ymin = std::min(ymin, y);
ymax = std::max(ymax, y);
for ( int i = 0; i < ptr->size; i++ )
{
Point pt;
pt.x = (lpt->index)&0xffff;
pt.y = (lpt->index)>>16;
xmin = std::min(xmin, pt.x);
xmax = std::max(xmax, pt.x);
ymin = std::min(ymin, pt.y);
ymax = std::max(ymax, pt.y);
lptr[lstep*y + x] = currlabel;
lpt = lpt->next;
mser.push_back(pt);
}
bboxvec.push_back(Rect(xmin, ymin, xmax - xmin + 1, ymax - ymin + 1));
}
}
cvFree( &mscr );
cvFree( &edge );
cvFree( &map );
}
int MSER_Impl::detectAndLabel( InputArray _src, OutputArray _labels, OutputArray _bboxes )
void MSER_Impl::detectRegions( InputArray _src, vector<vector<Point> >& msers, vector<Rect>& bboxes )
{
Mat src = _src.getMat();
size_t npix = src.total();
vector<Rect> bboxvec;
msers.clear();
bboxes.clear();
if( npix == 0 )
{
_labels.release();
return 0;
}
return;
Size size = src.size();
_labels.create( size, CV_32S );
Mat labels = _labels.getMat();
labels.setTo(Scalar::all(0));
if( src.type() == CV_8U )
{
int level_size[256];
int lval = 1;
if( !src.isContinuous() )
{
src.copyTo(tempsrc);
@ -946,77 +1009,33 @@ int MSER_Impl::detectAndLabel( InputArray _src, OutputArray _labels, OutputArray
// darker to brighter (MSER+)
preprocess1( src, level_size );
if( !params.pass2Only )
pass( src, labels, lval, bboxvec, size, level_size, 0 );
pass( src, msers, bboxes, size, level_size, 0 );
// brighter to darker (MSER-)
preprocess2( src, level_size );
pass( src, labels, lval, bboxvec, size, level_size, 255 );
pass( src, msers, bboxes, size, level_size, 255 );
}
else
{
CV_Assert( src.type() == CV_8UC3 || src.type() == CV_8UC4 );
extractMSER_8uC3( src, labels, bboxvec, params );
extractMSER_8uC3( src, msers, bboxes, params );
}
if( _bboxes.needed() )
Mat(bboxvec).copyTo(_bboxes);
return (int)bboxvec.size();
}
void MSER_Impl::detectAndStore( InputArray image,
std::vector<std::vector<Point> >& msers,
OutputArray stats )
{
vector<Rect> bboxvec;
Mat labels;
int i, x, y, nregs = detectAndLabel(image, labels, bboxvec);
msers.resize(nregs);
for( i = 0; i < nregs; i++ )
{
Rect r = bboxvec[i];
vector<Point>& msers_i = msers[i];
msers_i.clear();
for( y = r.y; y < r.y + r.height; y++ )
{
const int* lptr = labels.ptr<int>(y);
for( x = r.x; x < r.x + r.width; x++ )
{
if( lptr[x] == i+1 )
msers_i.push_back(Point(x, y));
}
}
}
if( stats.needed() )
Mat(bboxvec).copyTo(stats);
}
void MSER_Impl::detect( InputArray _image, vector<KeyPoint>& keypoints, InputArray _mask )
{
vector<Rect> bboxes;
vector<Point> reg;
Mat labels, mask = _mask.getMat();
vector<vector<Point> > msers;
Mat mask = _mask.getMat();
int i, x, y, ncomps = detectAndLabel(_image, labels, bboxes);
CV_Assert( ncomps == (int)bboxes.size() );
detectRegions(_image, msers, bboxes);
int i, ncomps = (int)msers.size();
keypoints.clear();
for( i = 0; i < ncomps; i++ )
{
Rect r = bboxes[i];
reg.reserve(r.area());
reg.clear();
for( y = r.y; y < r.y + r.height; y++ )
{
const int* lptr = labels.ptr<int>(y);
for( x = r.x; x < r.x + r.width; x++ )
{
if( lptr[x] == i+1 )
reg.push_back(Point(x, y));
}
}
// TODO check transformation from MSER region to KeyPoint
RotatedRect rect = fitEllipse(Mat(reg));
RotatedRect rect = fitEllipse(Mat(msers[i]));
float diam = std::sqrt(rect.size.height*rect.size.width);
if( diam > std::numeric_limits<float>::epsilon() && r.contains(rect.center) &&

679
modules/features2d/test/test_keypoints.cpp
Unescape View File

@ -49,683 +49,6 @@ using namespace cv;
const string FEATURES2D_DIR = "features2d";
const string IMAGE_FILENAME = "tsukuba.png";
const int TABLE_SIZE = 400;
static const float chitab3[]=
{
0.f, 0.0150057f, 0.0239478f, 0.0315227f,
0.0383427f, 0.0446605f, 0.0506115f, 0.0562786f,
0.0617174f, 0.0669672f, 0.0720573f, 0.0770099f,
0.081843f, 0.0865705f, 0.0912043f, 0.0957541f,
0.100228f, 0.104633f, 0.108976f, 0.113261f,
0.117493f, 0.121676f, 0.125814f, 0.12991f,
0.133967f, 0.137987f, 0.141974f, 0.145929f,
0.149853f, 0.15375f, 0.15762f, 0.161466f,
0.165287f, 0.169087f, 0.172866f, 0.176625f,
0.180365f, 0.184088f, 0.187794f, 0.191483f,
0.195158f, 0.198819f, 0.202466f, 0.2061f,
0.209722f, 0.213332f, 0.216932f, 0.220521f,
0.2241f, 0.22767f, 0.231231f, 0.234783f,
0.238328f, 0.241865f, 0.245395f, 0.248918f,
0.252435f, 0.255947f, 0.259452f, 0.262952f,
0.266448f, 0.269939f, 0.273425f, 0.276908f,
0.280386f, 0.283862f, 0.287334f, 0.290803f,
0.29427f, 0.297734f, 0.301197f, 0.304657f,
0.308115f, 0.311573f, 0.315028f, 0.318483f,
0.321937f, 0.32539f, 0.328843f, 0.332296f,
0.335749f, 0.339201f, 0.342654f, 0.346108f,
0.349562f, 0.353017f, 0.356473f, 0.35993f,
0.363389f, 0.366849f, 0.37031f, 0.373774f,
0.377239f, 0.380706f, 0.384176f, 0.387648f,
0.391123f, 0.3946f, 0.39808f, 0.401563f,
0.405049f, 0.408539f, 0.412032f, 0.415528f,
0.419028f, 0.422531f, 0.426039f, 0.429551f,
0.433066f, 0.436586f, 0.440111f, 0.44364f,
0.447173f, 0.450712f, 0.454255f, 0.457803f,
0.461356f, 0.464915f, 0.468479f, 0.472049f,
0.475624f, 0.479205f, 0.482792f, 0.486384f,
0.489983f, 0.493588f, 0.4972f, 0.500818f,
0.504442f, 0.508073f, 0.511711f, 0.515356f,
0.519008f, 0.522667f, 0.526334f, 0.530008f,
0.533689f, 0.537378f, 0.541075f, 0.54478f,
0.548492f, 0.552213f, 0.555942f, 0.55968f,
0.563425f, 0.56718f, 0.570943f, 0.574715f,
0.578497f, 0.582287f, 0.586086f, 0.589895f,
0.593713f, 0.597541f, 0.601379f, 0.605227f,
0.609084f, 0.612952f, 0.61683f, 0.620718f,
0.624617f, 0.628526f, 0.632447f, 0.636378f,
0.64032f, 0.644274f, 0.648239f, 0.652215f,
0.656203f, 0.660203f, 0.664215f, 0.668238f,
0.672274f, 0.676323f, 0.680384f, 0.684457f,
0.688543f, 0.692643f, 0.696755f, 0.700881f,
0.70502f, 0.709172f, 0.713339f, 0.717519f,
0.721714f, 0.725922f, 0.730145f, 0.734383f,
0.738636f, 0.742903f, 0.747185f, 0.751483f,
0.755796f, 0.760125f, 0.76447f, 0.768831f,
0.773208f, 0.777601f, 0.782011f, 0.786438f,
0.790882f, 0.795343f, 0.799821f, 0.804318f,
0.808831f, 0.813363f, 0.817913f, 0.822482f,
0.827069f, 0.831676f, 0.836301f, 0.840946f,
0.84561f, 0.850295f, 0.854999f, 0.859724f,
0.864469f, 0.869235f, 0.874022f, 0.878831f,
0.883661f, 0.888513f, 0.893387f, 0.898284f,
0.903204f, 0.908146f, 0.913112f, 0.918101f,
0.923114f, 0.928152f, 0.933214f, 0.938301f,
0.943413f, 0.94855f, 0.953713f, 0.958903f,
0.964119f, 0.969361f, 0.974631f, 0.979929f,
0.985254f, 0.990608f, 0.99599f, 1.0014f,
1.00684f, 1.01231f, 1.01781f, 1.02335f,
1.02891f, 1.0345f, 1.04013f, 1.04579f,
1.05148f, 1.05721f, 1.06296f, 1.06876f,
1.07459f, 1.08045f, 1.08635f, 1.09228f,
1.09826f, 1.10427f, 1.11032f, 1.1164f,
1.12253f, 1.1287f, 1.1349f, 1.14115f,
1.14744f, 1.15377f, 1.16015f, 1.16656f,
1.17303f, 1.17954f, 1.18609f, 1.19269f,
1.19934f, 1.20603f, 1.21278f, 1.21958f,
1.22642f, 1.23332f, 1.24027f, 1.24727f,
1.25433f, 1.26144f, 1.26861f, 1.27584f,
1.28312f, 1.29047f, 1.29787f, 1.30534f,
1.31287f, 1.32046f, 1.32812f, 1.33585f,
1.34364f, 1.3515f, 1.35943f, 1.36744f,
1.37551f, 1.38367f, 1.39189f, 1.4002f,
1.40859f, 1.41705f, 1.42561f, 1.43424f,
1.44296f, 1.45177f, 1.46068f, 1.46967f,
1.47876f, 1.48795f, 1.49723f, 1.50662f,
1.51611f, 1.52571f, 1.53541f, 1.54523f,
1.55517f, 1.56522f, 1.57539f, 1.58568f,
1.59611f, 1.60666f, 1.61735f, 1.62817f,
1.63914f, 1.65025f, 1.66152f, 1.67293f,
1.68451f, 1.69625f, 1.70815f, 1.72023f,
1.73249f, 1.74494f, 1.75757f, 1.77041f,
1.78344f, 1.79669f, 1.81016f, 1.82385f,
1.83777f, 1.85194f, 1.86635f, 1.88103f,
1.89598f, 1.91121f, 1.92674f, 1.94257f,
1.95871f, 1.97519f, 1.99201f, 2.0092f,
2.02676f, 2.04471f, 2.06309f, 2.08189f,
2.10115f, 2.12089f, 2.14114f, 2.16192f,
2.18326f, 2.2052f, 2.22777f, 2.25101f,
2.27496f, 2.29966f, 2.32518f, 2.35156f,
2.37886f, 2.40717f, 2.43655f, 2.46709f,
2.49889f, 2.53206f, 2.56673f, 2.60305f,
2.64117f, 2.6813f, 2.72367f, 2.76854f,
2.81623f, 2.86714f, 2.92173f, 2.98059f,
3.04446f, 3.1143f, 3.19135f, 3.27731f,
3.37455f, 3.48653f, 3.61862f, 3.77982f,
3.98692f, 4.2776f, 4.77167f, 133.333f
};
struct MSCRNode;
struct TempMSCR
{
MSCRNode* head;
MSCRNode* tail;
double m; // the margin used to prune area later
int size;
};
struct MSCRNode
{
MSCRNode* shortcut;
// to make the finding of root less painful
MSCRNode* prev;
MSCRNode* next;
// a point double-linked list
TempMSCR* tmsr;
// the temporary msr (set to NULL at every re-initialise)
TempMSCR* gmsr;
// the global msr (once set, never to NULL)
int index;
// the index of the node, at this point, it should be x at the first 16-bits, and y at the last 16-bits.
int rank;
int reinit;
int size, sizei;
double dt, di;
double s;
};
struct MSCREdge
{
double chi;
MSCRNode* left;
MSCRNode* right;
};
static double ChiSquaredDistance( uchar* x, uchar* y )
{
return (double)((x[0]-y[0])*(x[0]-y[0]))/(double)(x[0]+y[0]+1e-10)+
(double)((x[1]-y[1])*(x[1]-y[1]))/(double)(x[1]+y[1]+1e-10)+
(double)((x[2]-y[2])*(x[2]-y[2]))/(double)(x[2]+y[2]+1e-10);
}
static void initMSCRNode( MSCRNode* node )
{
node->gmsr = node->tmsr = NULL;
node->reinit = 0xffff;
node->rank = 0;
node->sizei = node->size = 1;
node->prev = node->next = node->shortcut = node;
}
// the preprocess to get the edge list with proper gaussian blur
static int preprocessMSER_8UC3( MSCRNode* node,
MSCREdge* edge,
double* total,
CvMat* src,
CvMat* mask,
CvMat* dx,
CvMat* dy,
int Ne,
int edgeBlurSize )
{
int srccpt = src->step-src->cols*3;
uchar* srcptr = src->data.ptr;
uchar* lastptr = src->data.ptr+3;
double* dxptr = dx->data.db;
for ( int i = 0; i < src->rows; i++ )
{
for ( int j = 0; j < src->cols-1; j++ )
{
*dxptr = ChiSquaredDistance( srcptr, lastptr );
dxptr++;
srcptr += 3;
lastptr += 3;
}
srcptr += srccpt+3;
lastptr += srccpt+3;
}
srcptr = src->data.ptr;
lastptr = src->data.ptr+src->step;
double* dyptr = dy->data.db;
for ( int i = 0; i < src->rows-1; i++ )
{
for ( int j = 0; j < src->cols; j++ )
{
*dyptr = ChiSquaredDistance( srcptr, lastptr );
dyptr++;
srcptr += 3;
lastptr += 3;
}
srcptr += srccpt;
lastptr += srccpt;
}
// get dx and dy and blur it
if ( edgeBlurSize >= 1 )
{
Mat _dx(dx->rows, dx->cols, dx->type, dx->data.ptr, dx->step);
Mat _dy(dy->rows, dy->cols, dy->type, dy->data.ptr, dy->step);
GaussianBlur( _dx, _dx, Size(edgeBlurSize, edgeBlurSize), 0 );
GaussianBlur( _dy, _dy, Size(edgeBlurSize, edgeBlurSize), 0 );
}
dxptr = dx->data.db;
dyptr = dy->data.db;
// assian dx, dy to proper edge list and initialize mscr node
// the nasty code here intended to avoid extra loops
if ( mask )
{
Ne = 0;
int maskcpt = mask->step-mask->cols+1;
uchar* maskptr = mask->data.ptr;
MSCRNode* nodeptr = node;
initMSCRNode( nodeptr );
nodeptr->index = 0;
*total += edge->chi = *dxptr;
if ( maskptr[0] && maskptr[1] )
{
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
Ne++;
}
dxptr++;
nodeptr++;
maskptr++;
for ( int i = 1; i < src->cols-1; i++ )
{
initMSCRNode( nodeptr );
nodeptr->index = i;
if ( maskptr[0] && maskptr[1] )
{
*total += edge->chi = *dxptr;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
Ne++;
}
dxptr++;
nodeptr++;
maskptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = src->cols-1;
nodeptr++;
maskptr += maskcpt;
for ( int i = 1; i < src->rows-1; i++ )
{
initMSCRNode( nodeptr );
nodeptr->index = i<<16;
if ( maskptr[0] )
{
if ( maskptr[-mask->step] )
{
*total += edge->chi = *dyptr;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
Ne++;
}
if ( maskptr[1] )
{
*total += edge->chi = *dxptr;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
Ne++;
}
}
dyptr++;
dxptr++;
nodeptr++;
maskptr++;
for ( int j = 1; j < src->cols-1; j++ )
{
initMSCRNode( nodeptr );
nodeptr->index = (i<<16)|j;
if ( maskptr[0] )
{
if ( maskptr[-mask->step] )
{
*total += edge->chi = *dyptr;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
Ne++;
}
if ( maskptr[1] )
{
*total += edge->chi = *dxptr;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
Ne++;
}
}
dyptr++;
dxptr++;
nodeptr++;
maskptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = (i<<16)|(src->cols-1);
if ( maskptr[0] && maskptr[-mask->step] )
{
*total += edge->chi = *dyptr;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
Ne++;
}
dyptr++;
nodeptr++;
maskptr += maskcpt;
}
initMSCRNode( nodeptr );
nodeptr->index = (src->rows-1)<<16;
if ( maskptr[0] )
{
if ( maskptr[1] )
{
*total += edge->chi = *dxptr;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
Ne++;
}
if ( maskptr[-mask->step] )
{
*total += edge->chi = *dyptr;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
Ne++;
}
}
dxptr++;
dyptr++;
nodeptr++;
maskptr++;
for ( int i = 1; i < src->cols-1; i++ )
{
initMSCRNode( nodeptr );
nodeptr->index = ((src->rows-1)<<16)|i;
if ( maskptr[0] )
{
if ( maskptr[1] )
{
*total += edge->chi = *dxptr;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
Ne++;
}
if ( maskptr[-mask->step] )
{
*total += edge->chi = *dyptr;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
Ne++;
}
}
dxptr++;
dyptr++;
nodeptr++;
maskptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = ((src->rows-1)<<16)|(src->cols-1);
if ( maskptr[0] && maskptr[-mask->step] )
{
*total += edge->chi = *dyptr;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
Ne++;
}
} else {
MSCRNode* nodeptr = node;
initMSCRNode( nodeptr );
nodeptr->index = 0;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
for ( int i = 1; i < src->cols-1; i++ )
{
initMSCRNode( nodeptr );
nodeptr->index = i;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = src->cols-1;
nodeptr++;
for ( int i = 1; i < src->rows-1; i++ )
{
initMSCRNode( nodeptr );
nodeptr->index = i<<16;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
for ( int j = 1; j < src->cols-1; j++ )
{
initMSCRNode( nodeptr );
nodeptr->index = (i<<16)|j;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
nodeptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = (i<<16)|(src->cols-1);
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
nodeptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = (src->rows-1)<<16;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
nodeptr++;
for ( int i = 1; i < src->cols-1; i++ )
{
initMSCRNode( nodeptr );
nodeptr->index = ((src->rows-1)<<16)|i;
*total += edge->chi = *dxptr;
dxptr++;
edge->left = nodeptr;
edge->right = nodeptr+1;
edge++;
*total += edge->chi = *dyptr;
dyptr++;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
edge++;
nodeptr++;
}
initMSCRNode( nodeptr );
nodeptr->index = ((src->rows-1)<<16)|(src->cols-1);
*total += edge->chi = *dyptr;
edge->left = nodeptr-src->cols;
edge->right = nodeptr;
}
return Ne;
}
class LessThanEdge
{
public:
bool operator()(const MSCREdge& a, const MSCREdge& b) const { return a.chi < b.chi; }
};
// to find the root of one region
static MSCRNode* findMSCR( MSCRNode* x )
{
MSCRNode* prev = x;
MSCRNode* next;
for ( ; ; )
{
next = x->shortcut;
x->shortcut = prev;
if ( next == x ) break;
prev= x;
x = next;
}
MSCRNode* root = x;
for ( ; ; )
{
prev = x->shortcut;
x->shortcut = root;
if ( prev == x ) break;
x = prev;
}
return root;
}
struct MSERParams
{
MSERParams( int _delta=5, int _min_area=60, int _max_area=14400,
double _max_variation=0.25, double _min_diversity=.2,
int _max_evolution=200, double _area_threshold=1.01,
double _min_margin=0.003, int _edge_blur_size=5 )
{
delta = _delta;
minArea = _min_area;
maxArea = _max_area;
maxVariation = _max_variation;
minDiversity = _min_diversity;
maxEvolution = _max_evolution;
areaThreshold = _area_threshold;
minMargin = _min_margin;
edgeBlurSize = _edge_blur_size;
}
int delta;
int minArea;
int maxArea;
double maxVariation;
double minDiversity;
int maxEvolution;
double areaThreshold;
double minMargin;
int edgeBlurSize;
};
// the stable mscr should be:
// bigger than minArea and smaller than maxArea
// differ from its ancestor more than minDiversity
static bool MSCRStableCheck( MSCRNode* x, MSERParams params )
{
if ( x->size <= params.minArea || x->size >= params.maxArea )
return 0;
if ( x->gmsr == NULL )
return 1;
double div = (double)(x->size-x->gmsr->size)/(double)x->size;
return div > params.minDiversity;
}
static void
extractMSER_8UC3( CvMat* src,
CvMat* mask,
vector<vector<Point> >& msers,
MSERParams params )
{
msers.clear();
MSCRNode* map = (MSCRNode*)cvAlloc( src->cols*src->rows*sizeof(map[0]) );
int Ne = src->cols*src->rows*2-src->cols-src->rows;
MSCREdge* edge = (MSCREdge*)cvAlloc( Ne*sizeof(edge[0]) );
TempMSCR* mscr = (TempMSCR*)cvAlloc( src->cols*src->rows*sizeof(mscr[0]) );
double emean = 0;
CvMat* dx = cvCreateMat( src->rows, src->cols-1, CV_64FC1 );
CvMat* dy = cvCreateMat( src->rows-1, src->cols, CV_64FC1 );
Ne = preprocessMSER_8UC3( map, edge, &emean, src, mask, dx, dy, Ne, params.edgeBlurSize );
emean = emean / (double)Ne;
std::sort(edge, edge + Ne, LessThanEdge());
MSCREdge* edge_ub = edge+Ne;
MSCREdge* edgeptr = edge;
TempMSCR* mscrptr = mscr;
// the evolution process
for ( int i = 0; i < params.maxEvolution; i++ )
{
double k = (double)i/(double)params.maxEvolution*(TABLE_SIZE-1);
int ti = cvFloor(k);
double reminder = k-ti;
double thres = emean*(chitab3[ti]*(1-reminder)+chitab3[ti+1]*reminder);
// to process all the edges in the list that chi < thres
while ( edgeptr < edge_ub && edgeptr->chi < thres )
{
MSCRNode* lr = findMSCR( edgeptr->left );
MSCRNode* rr = findMSCR( edgeptr->right );
// get the region root (who is responsible)
if ( lr != rr )
{
// rank idea take from: N-tree Disjoint-Set Forests for Maximally Stable Extremal Regions
if ( rr->rank > lr->rank )
{
MSCRNode* tmp;
CV_SWAP( lr, rr, tmp );
} else if ( lr->rank == rr->rank ) {
// at the same rank, we will compare the size
if ( lr->size > rr->size )
{
MSCRNode* tmp;
CV_SWAP( lr, rr, tmp );
}
lr->rank++;
}
rr->shortcut = lr;
lr->size += rr->size;
// join rr to the end of list lr (lr is a endless double-linked list)
lr->prev->next = rr;
lr->prev = rr->prev;
rr->prev->next = lr;
rr->prev = lr;
// area threshold force to reinitialize
if ( lr->size > (lr->size-rr->size)*params.areaThreshold )
{
lr->sizei = lr->size;
lr->reinit = i;
if ( lr->tmsr != NULL )
{
lr->tmsr->m = lr->dt-lr->di;
lr->tmsr = NULL;
}
lr->di = edgeptr->chi;
lr->s = 1e10;
}
lr->dt = edgeptr->chi;
if ( i > lr->reinit )
{
double s = (double)(lr->size-lr->sizei)/(lr->dt-lr->di);
if ( s < lr->s )
{
// skip the first one and check stablity
if ( i > lr->reinit+1 && MSCRStableCheck( lr, params ) )
{
if ( lr->tmsr == NULL )
{
lr->gmsr = lr->tmsr = mscrptr;
mscrptr++;
}
lr->tmsr->size = lr->size;
lr->tmsr->head = lr;
lr->tmsr->tail = lr->prev;
lr->tmsr->m = 0;
}
lr->s = s;
}
}
}
edgeptr++;
}
if ( edgeptr >= edge_ub )
break;
}
for ( TempMSCR* ptr = mscr; ptr < mscrptr; ptr++ )
// to prune area with margin less than minMargin
if ( ptr->m > params.minMargin )
{
vector<Point> mser;
MSCRNode* lpt = ptr->head;
for ( int i = 0; i < ptr->size; i++ )
{
Point pt;
pt.x = (lpt->index)&0xffff;
pt.y = (lpt->index)>>16;
lpt = lpt->next;
mser.push_back(pt);
}
msers.push_back(mser);
}
cvReleaseMat( &dx );
cvReleaseMat( &dy );
cvFree( &mscr );
cvFree( &edge );
cvFree( &map );
}
/****************************************************************************************\
* Test for KeyPoint *
\****************************************************************************************/
@ -755,8 +78,6 @@ protected:
vector<vector<Point> > msers;
CvMat src = image;
extractMSER_8UC3( &src, 0, msers, MSERParams());
detector->detect(image, keypoints);
if(keypoints.empty())

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