#include <string.h>
#include "affine.inc"
+#include "bccmodels.h"
#include "bchash.inc"
#include "filexml.inc"
#include "keyframe.inc"
-#include "findobjectwindow.inc"
+#include "findobject.inc"
#include "overlayframe.inc"
#include "pluginvclient.h"
#include "vframe.inc"
-#include "opencv2/core/core_c.h"
-#include "opencv2/objdetect/objdetect.hpp"
+#include "opencv2/core/types.hpp"
#include "opencv2/core/mat.hpp"
-#include "opencv2/imgproc/types_c.h"
#include "opencv2/imgproc/imgproc.hpp"
-#include "opencv2/legacy/blobtrack.hpp"
+#include "opencv2/xfeatures2d.hpp"
+#include "opencv2/calib3d.hpp"
+#include "opencv2/flann/defines.h"
+#include "opencv2/flann/params.h"
-class FindObjectMain;
-class FindObjectWindow;
+#include <vector>
+using namespace std;
using namespace cv;
+using namespace cv::xfeatures2d;
+using namespace cvflann;
-
-
+// enabled detectors
+#define _SIFT
+#define _SURF
+#define _ORB
+#define _AKAZE
+#define _BRISK
// Limits of global range in percent
#define MIN_RADIUS 1
#define MIN_BLEND 1
#define MAX_BLEND 100
-// Sizes must be quantized a certain amount for OpenCV
-#define QUANTIZE 8
-
-// Storage for results
-#define FINDOBJECT_FILE "/tmp/findobject"
-
-#define MIN_CAMSHIFT 0
-#define MAX_CAMSHIFT 256
-
-
#define NO_ALGORITHM 0
-#if HAVE_OPENCV_SURF
-#define ALGORITHM_SURF 1
-#endif
-#define ALGORITHM_CAMSHIFT 2
-#define ALGORITHM_BLOB 3
+#define ALGORITHM_SIFT 1
+#define ALGORITHM_SURF 2
+#define ALGORITHM_ORB 3
+#define ALGORITHM_AKAZE 4
+#define ALGORITHM_BRISK 5
class FindObjectConfig
{
int equivalent(FindObjectConfig &that);
void copy_from(FindObjectConfig &that);
- void interpolate(FindObjectConfig &prev,
- FindObjectConfig &next,
- int64_t prev_frame,
- int64_t next_frame,
- int64_t current_frame);
+ void interpolate(FindObjectConfig &prev, FindObjectConfig &next,
+ int64_t prev_frame, int64_t next_frame, int64_t current_frame);
void boundaries();
- int global_range_w;
- int global_range_h;
-// Block size as percent of image size
-// Object must be a rectangle for the algorithm to work,
-// so no oblique edges unless we also do an affine transform.
- float global_block_w;
- float global_block_h;
-// Block position in percentage 0 - 100
- float block_x;
- float block_y;
-// Draw key points
+ int algorithm, use_flann;
+ float object_x, object_y, object_w, object_h;
+ float scene_x, scene_y, scene_w, scene_h;
+
int draw_keypoints;
-// Draw border over object in scene layer
int draw_border;
-// Draw transparency over object in object layer
int replace_object;
-// Draw border over object
int draw_object_border;
-// Which layer is the object 0 or 1
int object_layer;
-// Which layer replaces the object
int replace_layer;
-// Which layer is the object searched for in
int scene_layer;
-
- int algorithm;
-// Camshift parameters
- int vmin, vmax, smin;
-// Amount to blend new object position in
int blend;
};
-
-
-
class FindObjectMain : public PluginVClient
{
public:
FindObjectMain(PluginServer *server);
~FindObjectMain();
- int process_buffer(VFrame **frame,
- int64_t start_position,
- double frame_rate);
+ int process_buffer(VFrame **frame, int64_t start_position, double frame_rate);
+#ifdef _SIFT
+ void set_sift();
+#endif
+#ifdef _SURF
+ void set_surf();
+#endif
+#ifdef _ORB
+ void set_orb();
+#endif
+#ifdef _AKAZE
+ void set_akaze();
+#endif
+#ifdef _BRISK
+ void set_brisk();
+#endif
+ void process_match();
+
void draw_vectors(VFrame *frame);
int is_multichannel();
int is_realtime();
void save_data(KeyFrame *keyframe);
void read_data(KeyFrame *keyframe);
void update_gui();
-// Calculate frame to copy from and frame to move
- void calculate_pointers(VFrame **frame, VFrame **src, VFrame **dst);
- void allocate_temp(int w, int h, int color_model);
PLUGIN_CLASS_MEMBERS2(FindObjectConfig)
-
AffineEngine *affine;
-// Temporary for affine overlay
- VFrame *temp;
OverlayFrame *overlayer;
+ VFrame *object, *scene, *replace;
+
+ static void draw_line(VFrame *vframe, int x1, int y1, int x2, int y2);
+ static void draw_rect(VFrame *vframe, int x1, int y1, int x2, int y2);
+ static void draw_circle(VFrame *vframe, int x, int y, int r);
+
+ int object_x, object_y, object_w, object_h;
+ int scene_x, scene_y, scene_w, scene_h;
- static void draw_pixel(VFrame *frame, int x, int y);
- static void draw_line(VFrame *frame, int x1, int y1, int x2, int y2);
- static void draw_rect(VFrame *frame, int x1, int y1, int x2, int y2);
-
- void grey_crop(unsigned char *dst,
- VFrame *src,
- int x1,
- int y1,
- int x2,
- int y2,
- int dst_w,
- int dst_h);
-
-
-
- void process_surf();
- void process_camshift();
- void process_blob();
-
-
-
-// clamped coordinates
- int object_w;
- int object_h;
- int object_x1;
- int object_y1;
- int object_x2;
- int object_y2;
- int scene_w;
- int scene_h;
- int scene_x1;
- int scene_y1;
- int scene_x2;
- int scene_y2;
-// input frame size
int w, h;
-// clamped layers
int object_layer;
int scene_layer;
int replace_layer;
// Latest coordinates of object in scene
- int border_x1;
- int border_y1;
- int border_x2;
- int border_y2;
- int border_x3;
- int border_y3;
- int border_x4;
- int border_y4;
+ int border_x1, border_y1;
+ int border_x2, border_y2;
+ int border_x3, border_y3;
+ int border_x4, border_y4;
// Coordinates of object in scene with blending
- float border_x1_accum;
- float border_y1_accum;
- float border_x2_accum;
- float border_y2_accum;
- float border_x3_accum;
- float border_y3_accum;
- float border_x4_accum;
- float border_y4_accum;
+ float obj_x1, obj_y1;
+ float obj_x2, obj_y2;
+ float obj_x3, obj_y3;
+ float obj_x4, obj_y4;
int init_border;
-
- IplImage *object_image;
- IplImage *scene_image;
-
-
-// Comparison with current object_image
- unsigned char *prev_object;
-// Quantized sizes
- int object_image_w;
- int object_image_h;
- int scene_image_w;
- int scene_image_h;
- CvSeq *object_keypoints;
- CvSeq *object_descriptors;
- CvSeq *scene_keypoints;
- CvSeq *scene_descriptors;
- CvMemStorage *storage;
-
-// camshift
-// object histogram
- Mat hist;
- Rect trackWindow;
-
-
-// Blob
- int blob_initialized;
- CvBlobTrackerAutoParam1 blob_param;
- CvBlobTrackerAuto* blob_pTracker;
-
-
+//opencv
+ typedef vector<DMatch> DMatchV;
+ typedef vector<DMatchV> DMatches;
+ typedef vector<KeyPoint> KeyPointV;
+ typedef vector<Point2f> ptV;
+
+ BC_CModel cvmodel;
+ Mat object_mat, scene_mat;
+ Mat obj_descrs; KeyPointV obj_keypts;
+ Mat scn_descrs; KeyPointV scn_keypts;
+ DMatches pairs;
+
+ static void to_mat(Mat &mat, int mcols, int mrows,
+ VFrame *inp, int ix,int iy, BC_CModel mcolor_model);
+ void detect(Mat &mat, KeyPointV &keypts, Mat &descrs);
+ void match();
+ void filter_matches(ptV &p1, ptV &p2, double ratio=0.75);
+
+ Ptr<Feature2D> detector;
+ Ptr<DescriptorMatcher> matcher;
+ Ptr<DescriptorMatcher> flann_kdtree_matcher();
+ Ptr<DescriptorMatcher> flann_lshidx_matcher();
+ Ptr<DescriptorMatcher> bf_matcher_norm_l2();
+ Ptr<DescriptorMatcher> bf_matcher_norm_hamming();
};
-
-
-
-
-
-
-
-
-
#endif
-
-
-
-
-
-
projects / goodguy / history.git / blobdiff