+++ /dev/null
-#include "surfscan.h"
-#include "opencv2/calib3d/calib3d.hpp"
-#include "opencv2/objdetect/objdetect.hpp"
-#include "opencv2/features2d/features2d.hpp"
-
-
-#include <iostream>
-#include <vector>
-#include <stdio.h>
-#include <stdlib.h>
-
-
-
-
-using namespace std;
-
-
-// define whether to use approximate nearest-neighbor search
-#define USE_FLANN
-
-
-double
-compareSURFDescriptors( const float* d1, const float* d2, double best, int length )
-{
- double total_cost = 0;
- assert( length % 4 == 0 );
- for( int i = 0; i < length; i += 4 )
- {
- double t0 = d1[i ] - d2[i ];
- double t1 = d1[i+1] - d2[i+1];
- double t2 = d1[i+2] - d2[i+2];
- double t3 = d1[i+3] - d2[i+3];
- total_cost += t0*t0 + t1*t1 + t2*t2 + t3*t3;
- if( total_cost > best )
- break;
- }
- return total_cost;
-}
-
-
-int
-naiveNearestNeighbor( const float* vec, int laplacian,
- const CvSeq* model_keypoints,
- const CvSeq* model_descriptors )
-{
- int length = (int)(model_descriptors->elem_size/sizeof(float));
- int i, neighbor = -1;
- double d, dist1 = 1e6, dist2 = 1e6;
- CvSeqReader reader, kreader;
- cvStartReadSeq( model_keypoints, &kreader, 0 );
- cvStartReadSeq( model_descriptors, &reader, 0 );
-
- for( i = 0; i < model_descriptors->total; i++ )
- {
- const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr;
- const float* mvec = (const float*)reader.ptr;
- CV_NEXT_SEQ_ELEM( kreader.seq->elem_size, kreader );
- CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
- if( laplacian != kp->laplacian )
- continue;
- d = compareSURFDescriptors( vec, mvec, dist2, length );
- if( d < dist1 )
- {
- dist2 = dist1;
- dist1 = d;
- neighbor = i;
- }
- else if ( d < dist2 )
- dist2 = d;
- }
- if ( dist1 < 0.6*dist2 )
- return neighbor;
- return -1;
-}
-
-void
-findPairs( const CvSeq* objectKeypoints, const CvSeq* objectDescriptors,
- const CvSeq* imageKeypoints, const CvSeq* imageDescriptors, vector<int>& ptpairs )
-{
- int i;
- CvSeqReader reader, kreader;
- cvStartReadSeq( objectKeypoints, &kreader );
- cvStartReadSeq( objectDescriptors, &reader );
- ptpairs.clear();
-
- for( i = 0; i < objectDescriptors->total; i++ )
- {
- const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr;
- const float* descriptor = (const float*)reader.ptr;
- CV_NEXT_SEQ_ELEM( kreader.seq->elem_size, kreader );
- CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
- int nearest_neighbor = naiveNearestNeighbor( descriptor, kp->laplacian, imageKeypoints, imageDescriptors );
- if( nearest_neighbor >= 0 )
- {
- ptpairs.push_back(i);
- ptpairs.push_back(nearest_neighbor);
- }
- }
-}
-
-
-void
-flannFindPairs( const CvSeq*,
- const CvSeq* objectDescriptors,
- const CvSeq*,
- const CvSeq* imageDescriptors,
- vector<int>& ptpairs )
-{
- int length = (int)(objectDescriptors->elem_size/sizeof(float));
-
- cv::Mat m_object(objectDescriptors->total, length, CV_32F);
- cv::Mat m_image(imageDescriptors->total, length, CV_32F);
-
-
- // copy descriptors
- CvSeqReader obj_reader;
- float* obj_ptr = m_object.ptr<float>(0);
- cvStartReadSeq( objectDescriptors, &obj_reader );
- for(int i = 0; i < objectDescriptors->total; i++ )
- {
- const float* descriptor = (const float*)obj_reader.ptr;
- CV_NEXT_SEQ_ELEM( obj_reader.seq->elem_size, obj_reader );
- memcpy(obj_ptr, descriptor, length*sizeof(float));
- obj_ptr += length;
- }
- CvSeqReader img_reader;
- float* img_ptr = m_image.ptr<float>(0);
- cvStartReadSeq( imageDescriptors, &img_reader );
- for(int i = 0; i < imageDescriptors->total; i++ )
- {
- const float* descriptor = (const float*)img_reader.ptr;
- CV_NEXT_SEQ_ELEM( img_reader.seq->elem_size, img_reader );
- memcpy(img_ptr, descriptor, length*sizeof(float));
- img_ptr += length;
- }
-
- // find nearest neighbors using FLANN
- cv::Mat m_indices(objectDescriptors->total, 2, CV_32S);
- cv::Mat m_dists(objectDescriptors->total, 2, CV_32F);
- cv::flann::Index flann_index(m_image, cv::flann::KDTreeIndexParams(4)); // using 4 randomized kdtrees
- flann_index.knnSearch(m_object, m_indices, m_dists, 2, cv::flann::SearchParams(64) ); // maximum number of leafs checked
-
- int* indices_ptr = m_indices.ptr<int>(0);
- float* dists_ptr = m_dists.ptr<float>(0);
-//printf("flannFindPairs %d m_indices.rows=%d\n", __LINE__, m_indices.rows);
- for (int i = 0; i < m_indices.rows; ++i)
- {
-//printf("flannFindPairs %d dists=%f %f\n", __LINE__, dists_ptr[2 * i], 0.6 * dists_ptr[2 * i + 1]);
- if (dists_ptr[2 * i] < 0.6 * dists_ptr[2 * i + 1])
- {
-//printf("flannFindPairs %d pairs=%d\n", __LINE__, ptpairs.size());
- ptpairs.push_back(i);
- ptpairs.push_back(indices_ptr[2*i]);
- }
- }
-}
-
-
-/* a rough implementation for object location */
-int
-locatePlanarObject(const CvSeq* objectKeypoints,
- const CvSeq* objectDescriptors,
- const CvSeq* imageKeypoints,
- const CvSeq* imageDescriptors,
- const CvPoint src_corners[4],
- CvPoint dst_corners[4],
- int *(*point_pairs),
- int (*total_pairs))
-{
- double h[9];
- CvMat _h = cvMat(3, 3, CV_64F, h);
- vector<int> ptpairs;
- vector<CvPoint2D32f> pt1, pt2;
- CvMat _pt1, _pt2;
- int i, n;
-
- (*point_pairs) = 0;
- (*total_pairs) = 0;
-
-#ifdef USE_FLANN
- flannFindPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
-#else
- findPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
-#endif
-
-
-// Store keypoints
- (*point_pairs) = (int*)calloc(ptpairs.size(), sizeof(int));
- (*total_pairs) = ptpairs.size() / 2;
-
-
- for(int i = 0; i < (int)ptpairs.size(); i++)
- {
- (*point_pairs)[i] = ptpairs[i];
- }
-
-
-
- n = (int)(ptpairs.size()/2);
- if( n < 4 )
- return 0;
-
- pt1.resize(n);
- pt2.resize(n);
- for( i = 0; i < n; i++ )
- {
- pt1[i] = ((CvSURFPoint*)cvGetSeqElem(objectKeypoints,ptpairs[i*2]))->pt;
- pt2[i] = ((CvSURFPoint*)cvGetSeqElem(imageKeypoints,ptpairs[i*2+1]))->pt;
- }
-
- _pt1 = cvMat(1, n, CV_32FC2, &pt1[0] );
- _pt2 = cvMat(1, n, CV_32FC2, &pt2[0] );
- if( !cvFindHomography( &_pt1, &_pt2, &_h, CV_RANSAC, 5 ))
- return 0;
-
- for( i = 0; i < 4; i++ )
- {
- double x = src_corners[i].x, y = src_corners[i].y;
- double Z = 1./(h[6]*x + h[7]*y + h[8]);
- double X = (h[0]*x + h[1]*y + h[2])*Z;
- double Y = (h[3]*x + h[4]*y + h[5])*Z;
- dst_corners[i] = cvPoint(cvRound(X), cvRound(Y));
- }
-
- return 1;
-}
-
-
-void locate_points(const CvSeq* objectKeypoints,
- const CvSeq* objectDescriptors,
- const CvSeq* imageKeypoints,
- const CvSeq* imageDescriptors,
- int *(*points),
- int *(*sizes),
- int (*total_points))
-{
- vector<int> ptpairs;
-
-#ifdef USE_FLANN
- flannFindPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
-#else
- findPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
-#endif
-
- (*points) = (int*)calloc(ptpairs.size(), sizeof(int) * 2);
- (*sizes) = (int*)calloc(ptpairs.size(), sizeof(int));
- (*total_points) = ptpairs.size();
-
-
- for(int i = 0; i < (int)ptpairs.size(); i += 2 )
- {
- CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, ptpairs[i] );
- CvSURFPoint* r2 = (CvSURFPoint*)cvGetSeqElem( imageKeypoints, ptpairs[i+1] );
-
-
- (*points)[i * 2] = r2->pt.x;
- (*points)[i * 2 + 1] = r2->pt.y;
- (*sizes)[i] = r2->size;
- }
-}
-
-
-
-
projects / goodguy / history.git / blobdiff