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synth-detection.cpp
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/*------------------------------------------------------*/
/* Copyright 2013, Dmytro Mishkin ducha.aiki@gmail.com */
/*------------------------------------------------------*/
#undef __STRICT_ANSI__
#include "synth-detection.hpp"
#include "detectors/helpers.h"
#include "matching/siftdesc.h"
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
//
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include "opensurf/surflib.h"
//
#include "detectors/mser/extrema/extrema.h"
//
//#define AREA_INTERP
#ifdef _OPENMP
#include <omp.h>
#endif
const double k_sigma = 2 * 3.0 * sqrt(3.0);//to compare ellipses in 3*sigma size
const double eps1 = 0.01;
using namespace std;
#define VERBOSE 0
#define VERTICAL 1
#define HORIZONTAL 0
//#define ADD_UP_IS_UP
const int MAX_HEIGHT = 10000;
const int MAX_WIDTH = 10000;
const double COS_PI_2 = cos(M_PI/2);
const double SIN_PI_2 = sin(M_PI/2);
void rectifyTransformation(double &a11, double &a12, double &a21, double &a22)
{
double a = a11, b = a12, c = a21, d = a22;
double det = sqrt(fabs(a*d-b*c));
double b2a2 = sqrt(b*b + a*a);
a11 = b2a2/det;
a12 = 0;
a21 = (d*b+c*a)/(b2a2*det);
a22 = det/b2a2;
}
bool HIsEye(double* H) {
return (fabs(H[0] - 1.0) + fabs(H[1]) + fabs(H[2])
+ fabs(H[3]) + fabs(H[4] - 1.0) + fabs(H[5]) +
fabs(H[6]) + fabs(H[7]) + fabs(H[8] - 1.0) < eps1);
}
int ReprojectRegionsAndRemoveTouchBoundary(AffineRegionList &keypoints, double *H, int orig_w, int orig_h, const double mrSize) {
int old_size = keypoints.size();
cv::Mat H1(3, 3, CV_64F, H);
cv::Mat Hinv(3, 3, CV_64F);
cv::invert(H1, Hinv, cv::DECOMP_LU);
double *HinvPtr = (double *) Hinv.data;
AffineRegionList::iterator ptr = keypoints.begin();
if (HIsEye(H)) {
for (unsigned i = 0; i < keypoints.size(); i++, ptr++) {
ptr->reproj_kp = ptr->det_kp;
}
} else {
for (unsigned i = 0; i < keypoints.size(); i++, ptr++) {
ptr->reproj_kp = ptr->det_kp;
ReprojectByH(ptr->det_kp, ptr->reproj_kp, HinvPtr);
}
}
AffineRegionList temp_keypoints;
temp_keypoints.reserve(keypoints.size());
ptr = keypoints.begin();
for (unsigned int i=0; i < keypoints.size(); i++, ptr++)
{
if ( (ptr->reproj_kp.x < orig_w) && (ptr->reproj_kp.y < orig_h)
&& (ptr->reproj_kp.x > 0) && (ptr->reproj_kp.y > 0)) { //center is inside
if ( !interpolateCheckBorders(orig_w, orig_h,
ptr->reproj_kp.x, ptr->reproj_kp.y,
ptr->reproj_kp.a11, ptr->reproj_kp.a12,
ptr->reproj_kp.a21, ptr->reproj_kp.a22,
mrSize * ptr->reproj_kp.s,
mrSize * ptr->reproj_kp.s)) {
temp_keypoints.push_back(keypoints[i]);
}
}
}
keypoints = temp_keypoints;
std::cout << old_size << " , become " << keypoints.size() << std::endl;
return (int)keypoints.size();
}
int SetVSPars(const std::vector <double> &scale_set,
const std::vector <double> &tilt_set,
const double phi_base,
const std::vector <double> &FGINNThreshold,
const std::vector <double> &DistanceThreshold,
const std::vector <std::string> descriptors,
std::vector<ViewSynthParameters> &par,
std::vector<ViewSynthParameters> &prev_par,
const double InitSigma,
const int doBlur,
const int dsplevels,
const double minSigma, const double maxSigma)
{
par.clear();
std::vector<ViewSynthParameters> prev_par_tmp(prev_par);
std::vector<ViewSynthParameters> pars_tmp;
if ((scale_set.size() ==0) || (tilt_set.size() == 0))
{
ViewSynthParameters temp_par;
temp_par.phi = 0;
temp_par.tilt = 0;
temp_par.zoom = 0;
temp_par.InitSigma = InitSigma;
temp_par.doBlur = 0;
temp_par.DSPlevels = dsplevels;
temp_par.descriptors = descriptors;
for (unsigned int desc=0; desc<descriptors.size(); desc++)
{
temp_par.DistanceThreshold[descriptors[desc]]=DistanceThreshold[desc];
temp_par.FGINNThreshold[descriptors[desc]]=FGINNThreshold[desc];
}
pars_tmp.push_back(temp_par);
}
for (unsigned int sc=0; sc < scale_set.size(); sc++)
for (unsigned int t=0; t < tilt_set.size(); t++)
{
if (fabs(tilt_set[t] - 1) > eps1)
{
int n_rot1 = floor(180.0*tilt_set[t]/phi_base);
double delta_phi = M_PI/n_rot1;
if (n_rot1 < 0) { //no rotation mode if negative, add vertical tilt
n_rot1 = 1;
delta_phi = 0;
double phi = 0;
assert (phi >= 0);
ViewSynthParameters temp_par;
temp_par.phi = phi;
temp_par.tilt = -tilt_set[t];
temp_par.zoom = scale_set[sc];
temp_par.InitSigma = InitSigma;
temp_par.doBlur = doBlur;
temp_par.DSPlevels = dsplevels;
temp_par.minSigma = minSigma;
temp_par.maxSigma = maxSigma;
temp_par.descriptors = descriptors;
for (unsigned int desc=0; desc<descriptors.size(); desc++)
{
temp_par.DistanceThreshold[descriptors[desc]]=DistanceThreshold[desc];
temp_par.FGINNThreshold[descriptors[desc]]=FGINNThreshold[desc];
}
pars_tmp.push_back(temp_par);
}
for (int r=0 ; r<n_rot1; r++)
{
double phi = delta_phi * r;
assert (phi >= 0);
ViewSynthParameters temp_par;
temp_par.phi = phi;
temp_par.tilt = tilt_set[t];
temp_par.zoom = scale_set[sc];
temp_par.InitSigma = InitSigma;
temp_par.doBlur = doBlur;
temp_par.DSPlevels = dsplevels;
temp_par.minSigma = minSigma;
temp_par.maxSigma = maxSigma;
temp_par.descriptors = descriptors;
for (unsigned int desc=0; desc<descriptors.size(); desc++)
{
temp_par.DistanceThreshold[descriptors[desc]]=DistanceThreshold[desc];
temp_par.FGINNThreshold[descriptors[desc]]=FGINNThreshold[desc];
}
pars_tmp.push_back(temp_par);
}
}
else
{
ViewSynthParameters temp_par;
temp_par.phi = 0;
temp_par.tilt = tilt_set[t];
temp_par.zoom = scale_set[sc];
temp_par.InitSigma = InitSigma;
temp_par.doBlur = doBlur;
temp_par.DSPlevels = dsplevels;
temp_par.minSigma = minSigma;
temp_par.maxSigma = maxSigma;
temp_par.descriptors = descriptors;
for (unsigned int desc=0; desc<descriptors.size(); desc++)
{
temp_par.DistanceThreshold[descriptors[desc]]=DistanceThreshold[desc];
temp_par.FGINNThreshold[descriptors[desc]]=FGINNThreshold[desc];
}
pars_tmp.push_back(temp_par);
continue;
}
}
std::vector<char> isUnique(pars_tmp.size());
for (unsigned int i=0; i<pars_tmp.size(); i++)
isUnique[i]=1;
for (unsigned int i=0; i<pars_tmp.size(); i++)
for (unsigned int j=0; j<prev_par_tmp.size(); j++)
if ((fabs(pars_tmp[i].zoom - prev_par_tmp[j].zoom) <= eps1) &&
(fabs(pars_tmp[i].tilt - prev_par_tmp[j].tilt) <= eps1) &&
(fabs(pars_tmp[i].phi - prev_par_tmp[j].phi) <= eps1))
{
isUnique[i]=0;
break;
}
std::vector<ViewSynthParameters>::iterator ptr = pars_tmp.begin();
for (unsigned int i=0; i<pars_tmp.size(); i++, ptr++)
if (isUnique[i]) par.push_back(*ptr);
for (unsigned int i=0; i<par.size(); i++)
prev_par_tmp.push_back(par[i]);
prev_par = prev_par_tmp;
return (int)par.size();
}
void GenerateSynthImageCorr(const cv::Mat &in_img,
SynthImage &out_img,
const std::string in_img_name,
double tilt,
const double phi,
const double zoom,
const double InitSigma,
const int doBlur,
const int img_id,
const bool convert2gray)
{
int zoomed=0;
bool vertical_tilt = false;
if (tilt < 0) { // vertical tilt
tilt = -tilt;
vertical_tilt = true;
}
if (fabs(zoom-1.0f)>=0.05) zoomed = 1;
cv::Mat temp_img;
cv::Mat gray_in_img;
if ((in_img.channels() == 3) && (convert2gray))
{
std::vector<cv::Mat> RGB_planes(3);
cv::Mat in_32f;
in_img.convertTo(in_32f,CV_32FC3);
cv::split(in_32f, RGB_planes);
gray_in_img = (RGB_planes[0] + RGB_planes[1] + RGB_planes[2]) / 3.0 ;
} else
{
gray_in_img = in_img;
}
double sigma_aa, sigma_aa_2, sigma_x,sigma_y;
int wS1=0, hS1=0;
int w =in_img.cols;
int h = in_img.rows;
double phi_deg = phi*180/M_PI;
out_img.OrigImgName= in_img_name;
wS1 = (int) (w * zoom);
hS1 = (int) (h * zoom);
if ((fabs(tilt - 1.) <=0.1) && (abs(phi) <= 0.2) && (fabs(zoom - 1.) <=0.1)) //original image
{ out_img.rotation= 0.0;
out_img.tilt= 1.0;
out_img.zoom= 1.0;
out_img.id = 0;
out_img.H[0]=1.0; out_img.H[1]=0; out_img.H[2]=0;
out_img.H[3]=0; out_img.H[4]=1.0; out_img.H[5]=0;
out_img.H[6]=0; out_img.H[7]=0; out_img.H[8]=1.0;
out_img.pixels = gray_in_img;//.clone();
// std::cerr << "No image synth, original image cloned" << std::endl;
return;
}
// else {
out_img.id = img_id;
/// Affine transfromation matrix
double d,d2,w_new,h_new;
double kV=1.;
double kH=1.;
if (zoomed){
kV = (double)w/(double)wS1;
kH = (double)h/(double)hS1;
};
if (vertical_tilt) {
if ((phi>=0) && (phi<M_PI/2))
{
w_new=floor((0.5+cos(phi)*w+sin(phi)*h)/(kH));
h_new=floor((0.5+sin(phi)*w+cos(phi)*h)/(tilt*kV));
out_img.H[0]= cos(phi)/kH; out_img.H[1]= sin(phi)/kH; out_img.H[2]= 0;
out_img.H[3]=-sin(phi)/(tilt*kV); out_img.H[4] = cos(phi)/(tilt*kV); out_img.H[5]=floor(0.5+sin(phi)*w/(tilt*kV));
out_img.H[6]= 0; out_img.H[7]=0; out_img.H[8]=1;
}
else
{
w_new=floor((0.5-cos(phi)*w+sin(phi)*h)/(kH));
h_new=floor((0.5+sin(phi)*w-cos(phi)*h)/(tilt*kV));
d=-floor(cos(phi)*w/kH);
d2=floor(0.5+(sin(phi)*w-cos(phi)*h)/(tilt*kV));
out_img.H[0]=cos(phi)/kH; out_img.H[1]=sin(phi)/kH; out_img.H[2]=d;
out_img.H[3]=-sin(phi)/(tilt*kV); out_img.H[4]=cos(phi)/(tilt*kV); out_img.H[5]=d2;
out_img.H[6]= 0; out_img.H[7]=0; out_img.H[8]=1;
};
} else {
if ((phi>=0) && (phi<M_PI/2))
{
w_new=floor((0.5+cos(phi)*w+sin(phi)*h)/(tilt*kH));
h_new=floor((0.5+sin(phi)*w+cos(phi)*h)/(kV));
out_img.H[0]= cos(phi)/(tilt*kH); out_img.H[1]= sin(phi)/(tilt*kH); out_img.H[2]= 0;
out_img.H[3]=-sin(phi)/kV; out_img.H[4] = cos(phi)/kV; out_img.H[5]=floor(0.5+sin(phi)*w/kV);
out_img.H[6]= 0; out_img.H[7]=0; out_img.H[8]=1;
}
else
{
w_new=floor((0.5-cos(phi)*w+sin(phi)*h)/(tilt*kH));
h_new=floor((0.5+sin(phi)*w-cos(phi)*h)/(kV));
d=-floor(cos(phi)*w/(tilt*kH));
d2=floor(0.5+(sin(phi)*w-cos(phi)*h)/kV);
out_img.H[0]=cos(phi)/(tilt*kH); out_img.H[1]=sin(phi)/(tilt*kH); out_img.H[2]=d;
out_img.H[3]=-sin(phi)/kV; out_img.H[4]=cos(phi)/kV; out_img.H[5]=d2;
out_img.H[6]= 0; out_img.H[7]=0; out_img.H[8]=1;
};
}
out_img.rotation=phi_deg;
out_img.tilt=tilt;
out_img.zoom = zoom;
/// Anti-aliasing filtering
if (zoomed)
sigma_aa_2 = InitSigma / (4.0*zoom);
else
sigma_aa_2 = InitSigma / 2.0;
sigma_aa = InitSigma * tilt / (2.0*zoom);
if (vertical_tilt) {
sigma_x = sigma_aa_2;
sigma_y = sigma_aa;
} else {
sigma_x = sigma_aa;
sigma_y = sigma_aa_2;
}
int w_new_rot;
int h_new_rot;
double warpRot[6];
if ((phi>=0) && (phi<M_PI/2))
{
w_new_rot=floor((0.5+cos(phi)*w+sin(phi)*h));
h_new_rot=floor((0.5+sin(phi)*w+cos(phi)*h));
warpRot[0]= cos(phi); warpRot[1]= sin(phi); warpRot[2]= 0;
warpRot[3]=-sin(phi); warpRot[4]= cos(phi); warpRot[5]=floor(0.5+sin(phi)*w);
}
else
{
w_new_rot=floor((0.5-cos(phi)*w+sin(phi)*h));
h_new_rot=floor((0.5+sin(phi)*w-cos(phi)*h));
d=-floor(cos(phi)*w);
d2=floor(0.5+(sin(phi)*w-cos(phi)*h));
warpRot[0]=cos(phi); warpRot[1]=sin(phi); warpRot[2]=d;
warpRot[3]=-sin(phi); warpRot[4]=cos(phi); warpRot[5]=d2;
};
cv::Mat warpMatrixRot(2,3,CV_64F,warpRot);
cv::warpAffine(gray_in_img, temp_img, warpMatrixRot,
cv::Size(w_new_rot,h_new_rot),cv::INTER_LINEAR, cv::BORDER_CONSTANT,cv::Scalar(128,128,128));
#ifdef AREA_INTERP
/// simulate a tilt-zoom
double warp_tilt_zoom[6];
warp_tilt_zoom[0]=1.0/(tilt*kH); warp_tilt_zoom[1]=0; warp_tilt_zoom[2]=0;
warp_tilt_zoom[3]=0; warp_tilt_zoom[4]=1.0/kV; warp_tilt_zoom[5]=0;
cv::Mat warpMatrix(2,3,CV_64F,warp_tilt_zoom);
cv::warpAffine(temp_img, out_img.pixels, warpMatrix,
cv::Size(w_new,h_new),cv::INTER_AREA, cv::BORDER_CONSTANT,cv::Scalar(128,128,128));
#else
if (doBlur)
{
int k_size_x = floor(2.0 * 3.0 * sigma_x + 1.0);
if (k_size_x % 2 == 0)
k_size_x++;
if (k_size_x < 3) k_size_x = 3;
int k_size_y = floor(2.0 * 3.0 * sigma_y + 1.0);
if (k_size_y % 2 == 0)
k_size_y++;
if (k_size_y < 3) k_size_y = 3;
cv::GaussianBlur(temp_img,temp_img,cv::Size(k_size_x, k_size_y),sigma_x,sigma_y);
}
/// simulate a tilt-zoom
double warp_tilt_zoom[6];
if (vertical_tilt) {
warp_tilt_zoom[0]=1.0/kH; warp_tilt_zoom[1]=0; warp_tilt_zoom[2]=0;
warp_tilt_zoom[3]=0; warp_tilt_zoom[4]=1.0/(tilt*kV); warp_tilt_zoom[5]=0;
} else {
warp_tilt_zoom[0]=1.0/(tilt*kH); warp_tilt_zoom[1]=0; warp_tilt_zoom[2]=0;
warp_tilt_zoom[3]=0; warp_tilt_zoom[4]=1.0/kV; warp_tilt_zoom[5]=0;
}
cv::Mat warpMatrix(2,3,CV_64F,warp_tilt_zoom);
cv::warpAffine(temp_img, out_img.pixels, warpMatrix,
cv::Size(w_new,h_new),cv::INTER_LINEAR, cv::BORDER_CONSTANT,cv::Scalar(128,128,128));
#endif
// }
}
void GenerateSynthImageByH(const cv::Mat &in_img, SynthImage &out_img,const double* H,const double InitSigma,const int doBlur, const int img_id)
{
cv::Mat temp_img;
/// Anti-aliasing filtering
double sigma_aa_2 = InitSigma / (4.0);
double sigma_aa = InitSigma / (4.0);
double sigma_x = sigma_aa;
double sigma_y = sigma_aa_2;
double xmin,xmax,ymin,ymax;
if (doBlur)
{
int k_size_x = floor(2.0 * 4.0 * sigma_x + 1.0);
if (k_size_x % 2 == 0)
k_size_x++;
if (k_size_x < 3) k_size_x = 3;
int k_size_y = floor(2.0 * 4.0 * sigma_y + 1.0);
if (k_size_y % 2 == 0)
k_size_y++;
if (k_size_y < 3) k_size_y = 3;
cv::GaussianBlur(in_img,temp_img,cv::Size(k_size_x, k_size_y),sigma_x,sigma_y,cv::BORDER_DEFAULT);
}
else temp_img=in_img;
/// simulate a tilt-roration-zoom
for (int i=0; i<9; i++)
out_img.H[i] = H[i];
out_img.id = img_id;
double bx1=0,by1=0,bx2=in_img.cols,by2=in_img.rows;
cv::Point p1,p2,p3,p4;
p1.x=(H[0]*bx1+H[1]*by1+H[2]) /(H[6]*bx1+H[7]*by1+H[8]);
p1.y=(H[3]*bx1+H[4]*by1+H[5]) /(H[6]*bx1+H[7]*by1+H[8]);
p2.x=(H[0]*bx1+H[1]*by2+H[2]) /(H[6]*bx1+H[7]*by2+H[8]);
p2.y=(H[3]*bx1+H[4]*by2+H[5]) /(H[6]*bx1+H[7]*by2+H[8]);
p3.x=(H[0]*bx2+H[1]*by1+H[2]) /(H[6]*bx2+H[7]*by1+H[8]);
p3.y=(H[3]*bx2+H[4]*by1+H[5]) /(H[6]*bx2+H[7]*by1+H[8]);
p4.x=(H[0]*bx2+H[1]*by2+H[2]) /(H[6]*bx2+H[7]*by2+H[8]);
p4.y=(H[3]*bx2+H[4]*by2+H[5]) /(H[6]*bx2+H[7]*by2+H[8]);
xmin = min(min(p1.x,p2.x),min(p3.x,p4.x));
ymin = min(min(p1.y,p2.y),min(p3.y,p4.y));
xmax = max(max(p1.x,p2.x),max(p3.x,p4.x));
ymax = max(max(p1.y,p2.y),max(p3.y,p4.y));
int dx, dy;
dx = (int)floor(xmax);
dy = (int)floor(ymax);
if (dx > MAX_WIDTH) dx = MAX_WIDTH;
if (dy > MAX_HEIGHT) dy = MAX_HEIGHT;
cv::Mat warpMatrix(3,3,CV_64F,out_img.H);
cv::warpPerspective(temp_img, out_img.pixels, warpMatrix,
cv::Size(dx,dy),cv::INTER_LINEAR, cv::BORDER_CONSTANT,cv::Scalar(128,128,128));
}
void ReprojectByH(AffineKeypoint in_kp, AffineKeypoint &out_kp, double* H) //For H=[h11 h12 h13; h21 h22 h23; 0 0 1];
{
out_kp.x=(H[0]*in_kp.x+H[1]*in_kp.y+H[2]);// /(H[6]*in_kp.x+H[7]*in_kp.y+H[8]);
out_kp.y=(H[3]*in_kp.x+H[4]*in_kp.y+H[5]);// /(H[6]*in_kp.x+H[7]*in_kp.y+H[8]);
out_kp.a11=(H[0]*in_kp.a11+H[1]*in_kp.a21);
out_kp.a12=(H[0]*in_kp.a12+H[1]*in_kp.a22);
out_kp.a21=(H[3]*in_kp.a11+H[4]*in_kp.a21);
out_kp.a22=(H[3]*in_kp.a12+H[4]*in_kp.a22);
}
void ReprojectByHReal(AffineKeypoint in_kp, AffineKeypoint &out_kp, double* H) //For H=[h11 h12 h13; h21 h22 h23; 0 0 1];
{
out_kp.x=(H[0]*in_kp.x+H[1]*in_kp.y+H[2]) /(H[6]*in_kp.x+H[7]*in_kp.y+H[8]);
out_kp.y=(H[3]*in_kp.x+H[4]*in_kp.y+H[5]) /(H[6]*in_kp.x+H[7]*in_kp.y+H[8]);
double Hlin[4];
linH(in_kp.x, in_kp.y, H, Hlin);
// linH(out_kp.x, out_kp.y, H, Hlin);
out_kp.a11=(Hlin[0]*in_kp.a11+Hlin[1]*in_kp.a21);
out_kp.a12=(Hlin[0]*in_kp.a12+Hlin[1]*in_kp.a22);
out_kp.a21=(Hlin[2]*in_kp.a11+Hlin[3]*in_kp.a21);
out_kp.a22=(Hlin[2]*in_kp.a12+Hlin[3]*in_kp.a22);
}
int ReprojectRegionsBackReal(AffineRegionList &keypoints, double *H, const int width2, const int height2) {
AffineRegionList::iterator ptr = keypoints.begin();
AffineRegionList reproj_keypoints;
reproj_keypoints.reserve(keypoints.size());
for ( unsigned int i=0; i<keypoints.size(); i++, ptr++)
{
ptr->det_kp = ptr->reproj_kp;
ReprojectByHReal(ptr->reproj_kp, ptr->det_kp, H);
}
ptr = keypoints.begin();
for (unsigned int i=0; i < keypoints.size(); i++, ptr++)
{
if ( (ptr->det_kp.x < width2) && (ptr->det_kp.y < height2)
&& (ptr->det_kp.x > 0) && (ptr->det_kp.y > 0)) { //center is inside
if ( !interpolateCheckBorders(width2, height2,
ptr->det_kp.x, ptr->det_kp.y,
ptr->det_kp.a11, ptr->det_kp.a12,
ptr->det_kp.a21, ptr->det_kp.a22,
k_sigma * ptr->det_kp.s,
k_sigma * ptr->det_kp.s)) {
reproj_keypoints.push_back(*ptr);
}
}
}
keypoints = reproj_keypoints;
}
int ReprojectRegions(AffineRegionList &keypoints, double *H, int orig_w, int orig_h) {
double k;//3 sigma
cv::Mat H1(3, 3, CV_64F, H);
cv::Mat Hinv(3, 3, CV_64F);
cv::invert(H1, Hinv, cv::DECOMP_LU);
double *HinvPtr = (double *) Hinv.data;
AffineRegionList::iterator ptr = keypoints.begin();
if (HIsEye(H)) {
for (unsigned i = 0; i < keypoints.size(); i++, ptr++) {
ptr->reproj_kp = ptr->det_kp;
}
} else {
for (unsigned i = 0; i < keypoints.size(); i++, ptr++) {
ptr->reproj_kp = ptr->det_kp;
ReprojectByH(ptr->det_kp, ptr->reproj_kp, HinvPtr);
}
}
AffineRegionList temp_keypoints;
temp_keypoints.reserve(keypoints.size());
ptr = keypoints.begin();
// const int bound_size=2;
// const int bound_w = orig_w - bound_size;
// const int bound_h = orig_h - bound_size;
for (unsigned int i=0; i < keypoints.size(); i++, ptr++)
{
if ( (ptr->reproj_kp.x < orig_w) && (ptr->reproj_kp.y < orig_h)
&& (ptr->reproj_kp.x > 0) && (ptr->reproj_kp.y > 0)) { //center is inside
if ( !interpolateCheckBorders(orig_w, orig_h,
ptr->reproj_kp.x, ptr->reproj_kp.y,
ptr->reproj_kp.a11, ptr->reproj_kp.a12,
ptr->reproj_kp.a21, ptr->reproj_kp.a22,
k_sigma * ptr->reproj_kp.s,
k_sigma * ptr->reproj_kp.s)) {
temp_keypoints.push_back(keypoints[i]);
// std::cerr << "Passed " << std::endl;
}
// k=k_sigma*ptr->reproj_kp.s;
// double tangx = ptr->reproj_kp.a12 / ptr->reproj_kp.a11 ;
// double tangx2;
// if (ptr->reproj_kp.a21 !=0) tangx2 = ptr->reproj_kp.a22 / ptr->reproj_kp.a21; // else tangx2 = tangx;
//
// double den = sqrt(1.0+tangx*tangx);
// double den2 = sqrt(1.0+tangx2*tangx2);
//
// double cs = 1.0/den;
// double si = tangx/den;
//
// double cs2 = 1.0/den2;
// double si2 = tangx2/den2;
//
// double delta_x =k*fabs((ptr->reproj_kp.a11*cs + ptr->reproj_kp.a12 * si));
// double delta_y =k*fabs((ptr->reproj_kp.a21*cs2 + ptr->reproj_kp.a22 * si2));
//// double delta_x =k*fabs((ptr->reproj_kp.a11 + ptr->reproj_kp.a12 ));
//// double delta_y =k*fabs((ptr->reproj_kp.a21 + ptr->reproj_kp.a22 ));
//
// double xmin=ptr->reproj_kp.x - delta_x;
// double xmax=ptr->reproj_kp.x + delta_x;
// double ymin=ptr->reproj_kp.y - delta_y;
// double ymax=ptr->reproj_kp.y + delta_y;
// if ((xmin > bound_size) && (ymin > bound_size) && (xmax < bound_w) && (ymax < bound_h)) { //is Inside
// temp_keypoints.push_back(keypoints[i]);
// }
// else
// {
// // temp_keypoints.push_back(keypoints[i]);
// // std::cerr << "reprojected region is outside. Deleted" << std::endl;
// }
}
}
keypoints = temp_keypoints;
return (int)keypoints.size();
}
double ellipseOverlapPrep(AffineKeypoint ref_kp, AffineKeypoint test_kp, const double max_error)
{
double diff, dist, x1,y1,x2,y2;
double APtr[4]= {ref_kp.a11, ref_kp.a12,
ref_kp.a21, ref_kp.a22
};
x1 = ref_kp.x;
y1 = ref_kp.y;
x2 = (APtr[0]*(double)test_kp.x+APtr[1]*(double)test_kp.y);
y2 = (APtr[2]*(double)test_kp.x+APtr[3]*(double)test_kp.y);
dist=(x2-x1)*(x2-x1)+(y2-y1)*(y2-y1); //distance between ellipse centers in canonical coordinate frame
if (dist>max_error) return dist; //speed-up
double B1Ptr[4]= {test_kp.a11, test_kp.a12,
test_kp.a21, test_kp.a22
};
cv::Mat B1(2,2,CV_64F, B1Ptr);
cv::Mat A(2,2,CV_64F, APtr);
rectifyTransformation(B1Ptr[0], B1Ptr[1],B1Ptr[2], B1Ptr[3]);
cv::gemm(A,k_sigma*test_kp.s*B1,1, B1,0,A);
rectifyTransformation(APtr[0], APtr[1],APtr[2], APtr[3]);
diff = 0.5*((1 - APtr[0])*(1 - APtr[0]) + APtr[1]* APtr[1] + APtr[2]* APtr[2]+ (1-APtr[3])*(1-APtr[3]));
//distance between ellipse shapes in canonical coordinate frame
return (diff+dist);
}
double ellipseOverlap(AffineKeypoint ref_kp, AffineKeypoint test_kp, const double max_error)
{
double diff, dist;
double B1Ptr[4]= {test_kp.a11, test_kp.a12,
test_kp.a21, test_kp.a22
};
cv::Mat B1(2,2,CV_64F, B1Ptr);
double A1Ptr[4]= {ref_kp.a11, ref_kp.a12,
ref_kp.a21, ref_kp.a22
};
rectifyTransformation(A1Ptr[0], A1Ptr[1],A1Ptr[2], A1Ptr[3]); //to make no difference of point orientation
cv::Mat A1(2,2,CV_64F, A1Ptr);
cv::Mat Ainv(2,2,CV_64F);
cv::invert(k_sigma*ref_kp.s*A1,Ainv, cv::DECOMP_LU); //inverting A
double* AinvPtr = (double*)Ainv.data;
double x1 = (AinvPtr[0]*(double)ref_kp.x+AinvPtr[1]*(double)ref_kp.y);
double y1 = (AinvPtr[2]*(double)ref_kp.x+AinvPtr[3]*(double)ref_kp.y);
double x2 = (AinvPtr[0]*(double)test_kp.x+AinvPtr[1]*(double)test_kp.y);
double y2 = (AinvPtr[2]*(double)test_kp.x+AinvPtr[3]*(double)test_kp.y);
dist=(x2-x1)*(x2-x1)+(y2-y1)*(y2-y1); //distance between ellipse centers in canonical coordinate frame
if (dist>max_error) return dist; //speed-up
cv::gemm(Ainv,k_sigma*test_kp.s*B1,1, B1,0,Ainv);
rectifyTransformation(AinvPtr[0], AinvPtr[1],AinvPtr[2], AinvPtr[3]);
diff = 0.5*((1 - AinvPtr[0])*(1 - AinvPtr[0]) + AinvPtr[1]* AinvPtr[1] + AinvPtr[2]* AinvPtr[2]+ (1-AinvPtr[3])*(1-AinvPtr[3]));
//distance between ellipse shapes in canonical coordinate frame
return (diff+dist);
}
void AddRegionsToList(AffineRegionList &kp_list, AffineRegionList &new_kps)
{
int size = (int)kp_list.size();
unsigned int new_size = size + new_kps.size();
AffineRegionList::iterator ptr = new_kps.begin();
for (unsigned int i=size; i< new_size; i++, ptr++)
{
AffineRegion temp_reg = *ptr;
temp_reg.id += size;
temp_reg.parent_id +=size;
kp_list.push_back(temp_reg);
}
}
void AddRegionsToListByType(AffineRegionList &kp_list, AffineRegionList &new_kps,int type)
{
int size = (int)kp_list.size();
AffineRegionList::iterator ptr =new_kps.begin();
unsigned int new_size = size + new_kps.size();
for (unsigned int i=size; i< new_size; i++, ptr++)
{
if (ptr->type == type)
{
AffineRegion temp_reg = *ptr;
temp_reg.id += size;
temp_reg.parent_id +=size;
kp_list.push_back(temp_reg);
}
}
}
template <int bins>
void smoothCircularBuffer(float *hist)
{
float first = hist[0], prev = hist[bins-1];
for (int i = 0; i < bins - 1; i++)
{
float cur = hist[i];
hist[i] = prev + cur + hist[i+1];
prev = cur;
}
hist[bins-1] = prev + hist[bins-1] + first;
}
template <int bins>
inline void addPeakAngle(const float *hist, vector<float> &angles, int a, int b, int c,
float threshold, vector<float> &peak_values)
{
if (hist[b] >= threshold && hist[b] > hist[a] && hist[b] > hist[c])
{
float pp = (hist[a] - hist[c]) / (hist[a] - 2.0f * hist[b] + hist[c]) / 2.0f;
angles.push_back(2.0f * float(M_PI) * (b + 0.5f + pp) / bins - float(M_PI));
peak_values.push_back(hist[b]);
}
}
struct EstimateDominantAnglesFunctor
{
private:
cv::Mat gmag;
cv::Mat gori;
cv::Mat orimask;
int pS;
double magThresh;
int doHalfSIFT;
public:
EstimateDominantAnglesFunctor(int patchSize,const int doHalfSIFT1 = 0) : pS(patchSize),doHalfSIFT(doHalfSIFT1)
{
gmag = cv::Mat (pS, pS, CV_32FC1, cv::Scalar(0));
gori = cv::Mat (pS, pS, CV_32FC1, cv::Scalar(0));
orimask = cv::Mat(pS, pS, CV_32FC1);
computeCircularGaussMask(orimask, pS/3.0f);
}
void operator()(const cv::Mat &img, vector<float> &angles1,
const double max_th=0.8, int maxAngles= -1)
{
if (maxAngles == 0) {
angles1.clear();
return;
}
const int bins = 36;
float hist[bins+1];
vector<float> peak_values;
for (int i = 0; i<bins; i++) hist[i] = 0.0f;
computeGradientMagnitudeAndOrientation(img, gmag, gori);
float *maskptr = orimask.ptr<float>(1);
float *pmag = gmag.ptr<float>(1), *pori = gori.ptr<float>(1);
const int maskPixels = orimask.cols * (orimask.rows-2);
for (int i = 0; i < maskPixels; ++i)
{
if (*maskptr > 0 && *pmag > 1.0)
{
int bin = (int) (bins * (*pori/float(M_PI) + 1.0f) / 2.0f);
assert(bin >= 0 && bin <= bins);
hist[bin] += (*pmag) * (*maskptr);
}
pmag++;
pori++;
maskptr++;
}
for (int i = 0; i < 6; i++)
smoothCircularBuffer<bins>(hist);
float thresh = 0.0;
for (int i = 0; i < bins; i++)
if (hist[i] > thresh) thresh = hist[i];
thresh *= max_th;
if (doHalfSIFT) {
int halfbins = bins / 2;
for (int i = 0; i < halfbins; i++)
{
hist[i] += hist[i+halfbins];
hist[i+halfbins] = 0;
}
}
// output all local maxima above threshold
angles1.clear();
addPeakAngle<bins>(hist, angles1, bins-1, 0, 1, thresh,peak_values);
for (int i = 1; i < bins-1; i++)
addPeakAngle<bins>(hist, angles1, i-1, i, i+1, thresh,peak_values);
addPeakAngle<bins>(hist, angles1, bins-2, bins-1, 0, thresh,peak_values);
if (maxAngles == -1) {
maxAngles = 100000000;
}
maxAngles = min(maxAngles, (int)peak_values.size());
if (maxAngles > 0) {
vector<float> peak_values_sorted = peak_values;
std::sort(peak_values_sorted.begin(), peak_values_sorted.end());
vector<float> ang_tmp;
for (int ang = 0; ang < maxAngles; ang++)
{
if (peak_values[ang] >= thresh) {
ang_tmp.push_back(angles1[ang]);
} else {
break;
}
}
angles1 = ang_tmp;
} else {
angles1.clear();
}
}
};
int DetectOrientation(AffineRegionList &in_kp_list,
AffineRegionList &out_kp_list,
SynthImage &img,
const double mrSize,
const int patchSize,
const int doHalfSIFT,
const int maxAngNum,
const double th,
const bool addUpRight) {
AffineRegionList temp_kp_list;
temp_kp_list.reserve(in_kp_list.size());
AffineRegion temp_region, const_temp_region;
unsigned int count = 0;
//unsigned int i;
double mrScale = (double)mrSize; // half patch size in pixels of image
int patchImageSize = 2*int(mrScale)+1; // odd size
vector<float> angles1;//, angles2;
// angles1.reserve(5);
// angles2.reserve(5);
double imageToPatchScale = double(patchImageSize) / (double)patchSize;
// patch size in the image / patch size -> amount of down/up sampling
cv::Mat patch(patchSize,patchSize,CV_32FC1);
cv::Mat H1(3,3,CV_64F,img.H);
cv::Mat Hinv(3,3,CV_64F);
cv::invert(H1,Hinv, cv::DECOMP_LU);
EstimateDominantAnglesFunctor EstDomOri(patchSize,doHalfSIFT);
for (int i=0; i < in_kp_list.size(); i++)
{
const_temp_region=in_kp_list[i];
angles1.clear();
float curr_sc = imageToPatchScale*const_temp_region.det_kp.s;
if (interpolateCheckBorders(img.pixels.cols,img.pixels.rows,
(float) in_kp_list[i].det_kp.x,
(float) in_kp_list[i].det_kp.y,
(float) in_kp_list[i].det_kp.a11,
(float) in_kp_list[i].det_kp.a12,
(float) in_kp_list[i].det_kp.a21,
(float) in_kp_list[i].det_kp.a22,
k_sigma * in_kp_list[i].det_kp.s,
k_sigma * in_kp_list[i].det_kp.s) ) {
continue;
}
if (maxAngNum > 0) {
const_temp_region.id = count; //because we add new orientations not to the end of the list, we have to renumerate next regions.
// float curr_sc = imageToPatchScale*const_temp_region.det_kp.s;
interpolate(img.pixels,(float)const_temp_region.det_kp.x,
(float)const_temp_region.det_kp.y,
(float)const_temp_region.det_kp.a11*curr_sc,
(float)const_temp_region.det_kp.a12*curr_sc,
(float)const_temp_region.det_kp.a21*curr_sc,
(float)const_temp_region.det_kp.a22*curr_sc,
patch);
EstDomOri(patch,angles1,th,maxAngNum);
for (size_t j = 0; j < angles1.size(); j++)
{
double ci = cos(-angles1[j]);
double si = sin(-angles1[j]);
temp_region=const_temp_region;
temp_region.det_kp.a11 = const_temp_region.det_kp.a11*ci-const_temp_region.det_kp.a12*si;
temp_region.det_kp.a12 = const_temp_region.det_kp.a11*si+const_temp_region.det_kp.a12*ci;
temp_region.det_kp.a21 = const_temp_region.det_kp.a21*ci-const_temp_region.det_kp.a22*si;
temp_region.det_kp.a22 = const_temp_region.det_kp.a21*si+const_temp_region.det_kp.a22*ci;
temp_kp_list.push_back(temp_region);
}
}
if (addUpRight) {
temp_kp_list.push_back(const_temp_region);
}
}
out_kp_list=temp_kp_list;
return (int)temp_kp_list.size();
}
int DetectAffineShape(AffineRegionList &in_kp_list,
AffineRegionList &out_kp_list,
SynthImage &img,
const AffineShapeParams par) {
out_kp_list.clear();
int kp_size = in_kp_list.size();
const float initialSigma = 1.6;
cv::Mat gmag, gori, orimask;
// std::vector<unsigned char> workspace;
cv::Mat mask, patch, imgHes, fx, fy;
gmag = cv::Mat(par.patchSize, par.patchSize, CV_32FC1);
gori = cv::Mat(par.patchSize, par.patchSize, CV_32FC1);
orimask = cv::Mat(par.patchSize, par.patchSize, CV_32FC1);
mask = cv::Mat(par.smmWindowSize, par.smmWindowSize, CV_32FC1);
patch = cv::Mat(par.smmWindowSize, par.smmWindowSize, CV_32FC1);
fx = cv::Mat(par.smmWindowSize, par.smmWindowSize, CV_32FC1);
fy = cv::Mat(par.smmWindowSize, par.smmWindowSize, CV_32FC1);
computeGaussMask(mask);
computeCircularGaussMask(orimask, par.smmWindowSize);
for (int kp_num=0; kp_num < kp_size; kp_num++)
{
AffineRegion temp_region = in_kp_list[kp_num];
float eigen_ratio_act = 0.0f, eigen_ratio_bef = 0.0f;
float u11 = 1.0f, u12 = 0.0f, u21 = 0.0f, u22 = 1.0f, l1 = 1.0f, l2 = 1.0f;
float lx = temp_region.det_kp.x, ly = temp_region.det_kp.y;
float ratio = temp_region.det_kp.s / (initialSigma);
cv::Mat U, V, d, Au, Ap, D;
const int maskPixels = par.smmWindowSize * par.smmWindowSize;
if (interpolateCheckBorders(img.pixels.cols,img.pixels.rows,
(float) temp_region.det_kp.x,
(float) temp_region.det_kp.y,
(float) temp_region.det_kp.a11,
(float) temp_region.det_kp.a12,
(float) temp_region.det_kp.a21,
(float) temp_region.det_kp.a22,
2*5.0*ratio,
2*5.0*ratio) ) {
continue;
}
for (int l = 0; l < par.maxIterations; l++)
{
float a = 0, b = 0, c = 0;
if (par.affBmbrgMethod == AFF_BMBRG_SMM) {
// warp input according to current shape matrix
interpolate(img.pixels, lx, ly, u11*ratio, u12*ratio, u21*ratio, u22*ratio, patch);
// std::cerr << "after interp ok" << std::endl;
// compute SMM on the warped patch
float *maskptr = mask.ptr<float>(0);
float *pfx = fx.ptr<float>(0), *pfy = fy.ptr<float>(0);
computeGradient(patch, fx, fy);
// estimate SMM
for (int i = 0; i < maskPixels; ++i)
{
const float v = (*maskptr);
const float gxx = *pfx;
const float gyy = *pfy;
const float gxy = gxx * gyy;
a += gxx * gxx * v;
b += gxy * v;
c += gyy * gyy * v;
pfx++;
pfy++;
maskptr++;
}
a /= maskPixels;
b /= maskPixels;
c /= maskPixels;
// compute inverse sqrt of the SMM
invSqrt(a, b, c, l1, l2);
if ((a != a) || (b != b) || (c !=c)){ //check for nan
break;