mirror of https://github.com/opencv/opencv.git
Open Source Computer Vision Library
https://opencv.org/
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
387 lines
13 KiB
387 lines
13 KiB
/* |
|
* This sample demonstrates the use of the function |
|
* findTransformECC that implements the image alignment ECC algorithm |
|
* |
|
* |
|
* The demo loads an image (defaults to ../data/fruits.jpg) and it artificially creates |
|
* a template image based on the given motion type. When two images are given, |
|
* the first image is the input image and the second one defines the template image. |
|
* In the latter case, you can also parse the warp's initialization. |
|
* |
|
* Input and output warp files consist of the raw warp (transform) elements |
|
* |
|
* Authors: G. Evangelidis, INRIA, Grenoble, France |
|
* M. Asbach, Fraunhofer IAIS, St. Augustin, Germany |
|
*/ |
|
#include <opencv2/imgcodecs.hpp> |
|
#include <opencv2/highgui.hpp> |
|
#include <opencv2/video.hpp> |
|
#include <opencv2/imgproc.hpp> |
|
#include <opencv2/core/utility.hpp> |
|
|
|
#include <stdio.h> |
|
#include <string> |
|
#include <time.h> |
|
#include <iostream> |
|
#include <fstream> |
|
|
|
using namespace cv; |
|
using namespace std; |
|
|
|
static void help(void); |
|
static int readWarp(string iFilename, Mat& warp, int motionType); |
|
static int saveWarp(string fileName, const Mat& warp, int motionType); |
|
static void draw_warped_roi(Mat& image, const int width, const int height, Mat& W); |
|
|
|
#define HOMO_VECTOR(H, x, y)\ |
|
H.at<float>(0,0) = (float)(x);\ |
|
H.at<float>(1,0) = (float)(y);\ |
|
H.at<float>(2,0) = 1.; |
|
|
|
#define GET_HOMO_VALUES(X, x, y)\ |
|
(x) = static_cast<float> (X.at<float>(0,0)/X.at<float>(2,0));\ |
|
(y) = static_cast<float> (X.at<float>(1,0)/X.at<float>(2,0)); |
|
|
|
|
|
const std::string keys = |
|
"{@inputImage | ../data/fruits.jpg | input image filename }" |
|
"{@templateImage | | template image filename (optional)}" |
|
"{@inputWarp | | input warp (matrix) filename (optional)}" |
|
"{n numOfIter | 50 | ECC's iterations }" |
|
"{e epsilon | 0.0001 | ECC's convergence epsilon }" |
|
"{o outputWarp | outWarp.ecc | output warp (matrix) filename }" |
|
"{m motionType | affine | type of motion (translation, euclidean, affine, homography) }" |
|
"{v verbose | 0 | display initial and final images }" |
|
"{w warpedImfile | warpedECC.png | warped input image }" |
|
; |
|
|
|
|
|
static void help(void) |
|
{ |
|
|
|
cout << "\nThis file demostrates the use of the ECC image alignment algorithm. When one image" |
|
" is given, the template image is artificially formed by a random warp. When both images" |
|
" are given, the initialization of the warp by command line parsing is possible. " |
|
"If inputWarp is missing, the identity transformation initializes the algorithm. \n" << endl; |
|
|
|
cout << "\nUsage example (one image): \n./ecc ../data/fruits.jpg -o=outWarp.ecc " |
|
"-m=euclidean -e=1e-6 -N=70 -v=1 \n" << endl; |
|
|
|
cout << "\nUsage example (two images with initialization): \n./ecc yourInput.png yourTemplate.png " |
|
"yourInitialWarp.ecc -o=outWarp.ecc -m=homography -e=1e-6 -N=70 -v=1 -w=yourFinalImage.png \n" << endl; |
|
|
|
} |
|
|
|
static int readWarp(string iFilename, Mat& warp, int motionType){ |
|
|
|
// it reads from file a specific number of raw values: |
|
// 9 values for homography, 6 otherwise |
|
CV_Assert(warp.type()==CV_32FC1); |
|
int numOfElements; |
|
if (motionType==MOTION_HOMOGRAPHY) |
|
numOfElements=9; |
|
else |
|
numOfElements=6; |
|
|
|
int i; |
|
int ret_value; |
|
|
|
ifstream myfile(iFilename.c_str()); |
|
if (myfile.is_open()){ |
|
float* matPtr = warp.ptr<float>(0); |
|
for(i=0; i<numOfElements; i++){ |
|
myfile >> matPtr[i]; |
|
} |
|
ret_value = 1; |
|
} |
|
else { |
|
cout << "Unable to open file " << iFilename.c_str() << endl; |
|
ret_value = 0; |
|
} |
|
return ret_value; |
|
} |
|
|
|
static int saveWarp(string fileName, const Mat& warp, int motionType) |
|
{ |
|
// it saves the raw matrix elements in a file |
|
CV_Assert(warp.type()==CV_32FC1); |
|
|
|
const float* matPtr = warp.ptr<float>(0); |
|
int ret_value; |
|
|
|
ofstream outfile(fileName.c_str()); |
|
if( !outfile ) { |
|
cerr << "error in saving " |
|
<< "Couldn't open file '" << fileName.c_str() << "'!" << endl; |
|
ret_value = 0; |
|
} |
|
else {//save the warp's elements |
|
outfile << matPtr[0] << " " << matPtr[1] << " " << matPtr[2] << endl; |
|
outfile << matPtr[3] << " " << matPtr[4] << " " << matPtr[5] << endl; |
|
if (motionType==MOTION_HOMOGRAPHY){ |
|
outfile << matPtr[6] << " " << matPtr[7] << " " << matPtr[8] << endl; |
|
} |
|
ret_value = 1; |
|
} |
|
return ret_value; |
|
|
|
} |
|
|
|
|
|
static void draw_warped_roi(Mat& image, const int width, const int height, Mat& W) |
|
{ |
|
Point2f top_left, top_right, bottom_left, bottom_right; |
|
|
|
Mat H = Mat (3, 1, CV_32F); |
|
Mat U = Mat (3, 1, CV_32F); |
|
|
|
Mat warp_mat = Mat::eye (3, 3, CV_32F); |
|
|
|
for (int y = 0; y < W.rows; y++) |
|
for (int x = 0; x < W.cols; x++) |
|
warp_mat.at<float>(y,x) = W.at<float>(y,x); |
|
|
|
//warp the corners of rectangle |
|
|
|
// top-left |
|
HOMO_VECTOR(H, 1, 1); |
|
gemm(warp_mat, H, 1, 0, 0, U); |
|
GET_HOMO_VALUES(U, top_left.x, top_left.y); |
|
|
|
// top-right |
|
HOMO_VECTOR(H, width, 1); |
|
gemm(warp_mat, H, 1, 0, 0, U); |
|
GET_HOMO_VALUES(U, top_right.x, top_right.y); |
|
|
|
// bottom-left |
|
HOMO_VECTOR(H, 1, height); |
|
gemm(warp_mat, H, 1, 0, 0, U); |
|
GET_HOMO_VALUES(U, bottom_left.x, bottom_left.y); |
|
|
|
// bottom-right |
|
HOMO_VECTOR(H, width, height); |
|
gemm(warp_mat, H, 1, 0, 0, U); |
|
GET_HOMO_VALUES(U, bottom_right.x, bottom_right.y); |
|
|
|
// draw the warped perimeter |
|
line(image, top_left, top_right, Scalar(255,0,255)); |
|
line(image, top_right, bottom_right, Scalar(255,0,255)); |
|
line(image, bottom_right, bottom_left, Scalar(255,0,255)); |
|
line(image, bottom_left, top_left, Scalar(255,0,255)); |
|
} |
|
|
|
int main (const int argc, const char * argv[]) |
|
{ |
|
|
|
CommandLineParser parser(argc, argv, keys); |
|
parser.about("ECC demo"); |
|
|
|
if (argc<2) { |
|
parser.printMessage(); |
|
help(); |
|
return 1; |
|
} |
|
|
|
string imgFile = parser.get<string>(0); |
|
string tempImgFile = parser.get<string>(1); |
|
string inWarpFile = parser.get<string>(2); |
|
|
|
int number_of_iterations = parser.get<int>("n"); |
|
double termination_eps = parser.get<double>("e"); |
|
string warpType = parser.get<string>("m"); |
|
int verbose = parser.get<int>("v"); |
|
string finalWarp = parser.get<string>("o"); |
|
string warpedImFile = parser.get<string>("w"); |
|
|
|
if (!(warpType == "translation" || warpType == "euclidean" |
|
|| warpType == "affine" || warpType == "homography")) |
|
{ |
|
cerr << "Invalid motion transformation" << endl; |
|
return -1; |
|
} |
|
|
|
int mode_temp; |
|
if (warpType == "translation") |
|
mode_temp = MOTION_TRANSLATION; |
|
else if (warpType == "euclidean") |
|
mode_temp = MOTION_EUCLIDEAN; |
|
else if (warpType == "affine") |
|
mode_temp = MOTION_AFFINE; |
|
else |
|
mode_temp = MOTION_HOMOGRAPHY; |
|
|
|
Mat inputImage = imread(imgFile,0); |
|
if (inputImage.empty()) |
|
{ |
|
cerr << "Unable to load the inputImage" << endl; |
|
return -1; |
|
} |
|
|
|
Mat target_image; |
|
Mat template_image; |
|
|
|
if (tempImgFile!="") { |
|
inputImage.copyTo(target_image); |
|
template_image = imread(tempImgFile,0); |
|
if (template_image.empty()){ |
|
cerr << "Unable to load the template image" << endl; |
|
return -1; |
|
} |
|
|
|
} |
|
else{ //apply random waro to input image |
|
resize(inputImage, target_image, Size(216, 216)); |
|
Mat warpGround; |
|
cv::RNG rng; |
|
double angle; |
|
switch (mode_temp) { |
|
case MOTION_TRANSLATION: |
|
warpGround = (Mat_<float>(2,3) << 1, 0, (rng.uniform(10.f, 20.f)), |
|
0, 1, (rng.uniform(10.f, 20.f))); |
|
warpAffine(target_image, template_image, warpGround, |
|
Size(200,200), INTER_LINEAR + WARP_INVERSE_MAP); |
|
break; |
|
case MOTION_EUCLIDEAN: |
|
angle = CV_PI/30 + CV_PI*rng.uniform((double)-2.f, (double)2.f)/180; |
|
|
|
warpGround = (Mat_<float>(2,3) << cos(angle), -sin(angle), (rng.uniform(10.f, 20.f)), |
|
sin(angle), cos(angle), (rng.uniform(10.f, 20.f))); |
|
warpAffine(target_image, template_image, warpGround, |
|
Size(200,200), INTER_LINEAR + WARP_INVERSE_MAP); |
|
break; |
|
case MOTION_AFFINE: |
|
|
|
warpGround = (Mat_<float>(2,3) << (1-rng.uniform(-0.05f, 0.05f)), |
|
(rng.uniform(-0.03f, 0.03f)), (rng.uniform(10.f, 20.f)), |
|
(rng.uniform(-0.03f, 0.03f)), (1-rng.uniform(-0.05f, 0.05f)), |
|
(rng.uniform(10.f, 20.f))); |
|
warpAffine(target_image, template_image, warpGround, |
|
Size(200,200), INTER_LINEAR + WARP_INVERSE_MAP); |
|
break; |
|
case MOTION_HOMOGRAPHY: |
|
warpGround = (Mat_<float>(3,3) << (1-rng.uniform(-0.05f, 0.05f)), |
|
(rng.uniform(-0.03f, 0.03f)), (rng.uniform(10.f, 20.f)), |
|
(rng.uniform(-0.03f, 0.03f)), (1-rng.uniform(-0.05f, 0.05f)),(rng.uniform(10.f, 20.f)), |
|
(rng.uniform(0.0001f, 0.0003f)), (rng.uniform(0.0001f, 0.0003f)), 1.f); |
|
warpPerspective(target_image, template_image, warpGround, |
|
Size(200,200), INTER_LINEAR + WARP_INVERSE_MAP); |
|
break; |
|
} |
|
} |
|
|
|
|
|
const int warp_mode = mode_temp; |
|
|
|
// initialize or load the warp matrix |
|
Mat warp_matrix; |
|
if (warpType == "homography") |
|
warp_matrix = Mat::eye(3, 3, CV_32F); |
|
else |
|
warp_matrix = Mat::eye(2, 3, CV_32F); |
|
|
|
if (inWarpFile!=""){ |
|
int readflag = readWarp(inWarpFile, warp_matrix, warp_mode); |
|
if ((!readflag) || warp_matrix.empty()) |
|
{ |
|
cerr << "-> Check warp initialization file" << endl << flush; |
|
return -1; |
|
} |
|
} |
|
else { |
|
|
|
printf("\n ->Perfomarnce Warning: Identity warp ideally assumes images of " |
|
"similar size. If the deformation is strong, the identity warp may not " |
|
"be a good initialization. \n"); |
|
|
|
} |
|
|
|
if (number_of_iterations > 200) |
|
cout << "-> Warning: too many iterations " << endl; |
|
|
|
if (warp_mode != MOTION_HOMOGRAPHY) |
|
warp_matrix.rows = 2; |
|
|
|
// start timing |
|
const double tic_init = (double) getTickCount (); |
|
double cc = findTransformECC (template_image, target_image, warp_matrix, warp_mode, |
|
TermCriteria (TermCriteria::COUNT+TermCriteria::EPS, |
|
number_of_iterations, termination_eps)); |
|
|
|
if (cc == -1) |
|
{ |
|
cerr << "The execution was interrupted. The correlation value is going to be minimized." << endl; |
|
cerr << "Check the warp initialization and/or the size of images." << endl << flush; |
|
} |
|
|
|
// end timing |
|
const double toc_final = (double) getTickCount (); |
|
const double total_time = (toc_final-tic_init)/(getTickFrequency()); |
|
if (verbose){ |
|
cout << "Alignment time (" << warpType << " transformation): " |
|
<< total_time << " sec" << endl << flush; |
|
// cout << "Final correlation: " << cc << endl << flush; |
|
|
|
} |
|
|
|
// save the final warp matrix |
|
saveWarp(finalWarp, warp_matrix, warp_mode); |
|
|
|
if (verbose){ |
|
cout << "\nThe final warp has been saved in the file: " << finalWarp << endl << flush; |
|
} |
|
|
|
// save the final warped image |
|
Mat warped_image = Mat(template_image.rows, template_image.cols, CV_32FC1); |
|
if (warp_mode != MOTION_HOMOGRAPHY) |
|
warpAffine (target_image, warped_image, warp_matrix, warped_image.size(), |
|
INTER_LINEAR + WARP_INVERSE_MAP); |
|
else |
|
warpPerspective (target_image, warped_image, warp_matrix, warped_image.size(), |
|
INTER_LINEAR + WARP_INVERSE_MAP); |
|
|
|
//save the warped image |
|
imwrite(warpedImFile, warped_image); |
|
|
|
// display resulting images |
|
if (verbose) |
|
{ |
|
|
|
cout << "The warped image has been saved in the file: " << warpedImFile << endl << flush; |
|
|
|
namedWindow ("image", WINDOW_AUTOSIZE); |
|
namedWindow ("template", WINDOW_AUTOSIZE); |
|
namedWindow ("warped image", WINDOW_AUTOSIZE); |
|
namedWindow ("error (black: no error)", WINDOW_AUTOSIZE); |
|
|
|
moveWindow ("template", 350, 350); |
|
moveWindow ("warped image", 600, 300); |
|
moveWindow ("error (black: no error)", 900, 300); |
|
|
|
// draw boundaries of corresponding regions |
|
Mat identity_matrix = Mat::eye(3,3,CV_32F); |
|
|
|
draw_warped_roi (target_image, template_image.cols-2, template_image.rows-2, warp_matrix); |
|
draw_warped_roi (template_image, template_image.cols-2, template_image.rows-2, identity_matrix); |
|
|
|
Mat errorImage; |
|
subtract(template_image, warped_image, errorImage); |
|
double max_of_error; |
|
minMaxLoc(errorImage, NULL, &max_of_error); |
|
|
|
// show images |
|
cout << "Press any key to exit the demo (you might need to click on the images before)." << endl << flush; |
|
|
|
imshow ("image", target_image); |
|
waitKey (200); |
|
imshow ("template", template_image); |
|
waitKey (200); |
|
imshow ("warped image", warped_image); |
|
waitKey(200); |
|
imshow ("error (black: no error)", abs(errorImage)*255/max_of_error); |
|
waitKey(0); |
|
|
|
} |
|
|
|
// done |
|
return 0; |
|
}
|
|
|