--- /dev/null
+/*
+ * CINELERRA
+ * Copyright (C) 1997-2012 Adam Williams <broadcast at earthling dot net>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+
+
+#include "opencvwrapper.h"
+#include "vframe.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
+
+// Sizes must be quantized a certain amount for OpenCV
+#define QUANTIZE 8
+
+
+
+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 OpenCVWrapper::locatePlanarObject(const CvSeq* objectKeypoints,
+ const CvSeq* objectDescriptors,
+ const CvSeq* imageKeypoints,
+ const CvSeq* imageDescriptors,
+ const CvPoint src_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 * 2] = X;
+ dst_corners[i * 2 + 1] = Y;
+ }
+
+ return 1;
+}
+
+
+
+
+OpenCVWrapper::OpenCVWrapper()
+{
+ object_image = 0;
+ scene_image = 0;
+ object_image_w = 0;
+ object_image_h = 0;
+ scene_image_w = 0;
+ scene_image_h = 0;
+ storage = 0;
+ object_keypoints = 0;
+ object_descriptors = 0;
+ scene_keypoints = 0;
+ scene_descriptors = 0;
+ point_pairs = 0;
+ total_pairs = 0;
+}
+
+
+
+
+
+
+OpenCVWrapper::~OpenCVWrapper()
+{
+// This releases all the arrays
+ if(storage) cvReleaseMemStorage(&storage);
+ if(object_image) cvReleaseImage(&object_image);
+ if(scene_image) cvReleaseImage(&scene_image);
+ if(point_pairs) free(point_pairs);
+}
+
+
+
+
+
+int OpenCVWrapper::scan(VFrame *object_frame,
+ VFrame *scene_frame,
+ int object_x1,
+ int object_y1,
+ int object_x2,
+ int object_y2,
+ int scene_x1,
+ int scene_y1,
+ int scene_x2,
+ int scene_y2)
+{
+ int result = 0;
+ int object_w = object_x2 - object_x1;
+ int object_h = object_y2 - object_y1;
+ int scene_w = scene_x2 - scene_x1;
+ int scene_h = scene_y2 - scene_y1;
+
+
+//object_frame->write_png("/tmp/object.png");
+//scene_frame->write_png("/tmp/scene.png");
+
+// Get quantized sizes
+ int object_image_w = object_w;
+ int object_image_h = object_h;
+ int scene_image_w = scene_w;
+ int scene_image_h = scene_h;
+ if(object_w % QUANTIZE) object_image_w += QUANTIZE - (object_w % QUANTIZE);
+ if(object_h % QUANTIZE) object_image_h += QUANTIZE - (object_h % QUANTIZE);
+ if(scene_w % QUANTIZE) scene_image_w += QUANTIZE - (scene_w % QUANTIZE);
+ if(scene_h % QUANTIZE) scene_image_h += QUANTIZE - (scene_h % QUANTIZE);
+
+ if(object_image &&
+ (object_image_w != this->object_image_w ||
+ object_image_h != this->object_image_h))
+ {
+ cvReleaseImage(&object_image);
+ object_image = 0;
+ }
+ this->object_image_w = object_image_w;
+ this->object_image_h = object_image_h;
+
+ if(scene_image &&
+ (scene_image_w != this->scene_image_w ||
+ scene_image_h != this->scene_image_h))
+ {
+ cvReleaseImage(&scene_image);
+ scene_image = 0;
+ }
+ this->scene_image_w = scene_image_w;
+ this->scene_image_h = scene_image_h;
+
+
+ if(!object_image)
+ {
+// Only does greyscale
+ object_image = cvCreateImage(
+ cvSize(object_image_w, object_image_h),
+ 8,
+ 1);
+ }
+
+ if(!scene_image)
+ {
+// Only does greyscale
+ scene_image = cvCreateImage(
+ cvSize(scene_image_w, scene_image_h),
+ 8,
+ 1);
+ }
+
+// Select only region with image size
+// Does this do anything?
+ cvSetImageROI( object_image, cvRect( 0, 0, object_w, object_h ) );
+ cvSetImageROI( scene_image, cvRect( 0, 0, scene_w, scene_h ) );
+
+ grey_crop((unsigned char*)scene_image->imageData,
+ scene_frame,
+ scene_x1,
+ scene_y1,
+ scene_x2,
+ scene_y2,
+ scene_image_w,
+ scene_image_h);
+ grey_crop((unsigned char*)object_image->imageData,
+ object_frame,
+ object_x1,
+ object_y1,
+ object_x2,
+ object_y2,
+ object_image_w,
+ object_image_h);
+
+
+ if(!storage) storage = cvCreateMemStorage(0);
+ CvSURFParams params = cvSURFParams(500, 1);
+
+
+//printf("OpenCVWrapper::process_buffer %d\n", __LINE__);
+
+// TODO: make the surf data persistent & check for image changes instead
+ if(object_keypoints) cvClearSeq(object_keypoints);
+ if(object_descriptors) cvClearSeq(object_descriptors);
+ if(scene_keypoints) cvClearSeq(scene_keypoints);
+ if(scene_descriptors) cvClearSeq(scene_descriptors);
+ object_keypoints = 0;
+ object_descriptors = 0;
+ scene_keypoints = 0;
+ scene_descriptors = 0;
+
+// Free the image structures
+ if(point_pairs) free(point_pairs);
+ point_pairs = 0;
+
+
+ cvExtractSURF(object_image,
+ 0,
+ &object_keypoints,
+ &object_descriptors,
+ storage,
+ params,
+ 0);
+
+//printf("OpenCVWrapper::scan %d object keypoints=%d\n", __LINE__, object_keypoints->total);
+// Draw the keypoints
+// for(int i = 0; i < object_keypoints->total; i++)
+// {
+// CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( object_keypoints, i );
+// int size = r1->size / 4;
+// draw_rect(frame[object_layer],
+// r1->pt.x + object_x1 - size,
+// r1->pt.y + object_y1 - size,
+// r1->pt.x + object_x1 + size,
+// r1->pt.y + object_y1 + size);
+// }
+
+
+//printf("OpenCVWrapper::process_buffer %d\n", __LINE__);
+
+ cvExtractSURF(scene_image,
+ 0,
+ &scene_keypoints,
+ &scene_descriptors,
+ storage,
+ params,
+ 0);
+
+// Draw the keypoints
+// for(int i = 0; i < scene_keypoints->total; i++)
+// {
+// CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( scene_keypoints, i );
+// int size = r1->size / 4;
+// draw_rect(frame[scene_layer],
+// r1->pt.x + scene_x1 - size,
+// r1->pt.y + scene_y1 - size,
+// r1->pt.x + scene_x1 + size,
+// r1->pt.y + scene_y1 + size);
+// }
+
+// printf("OpenCVWrapper::scan %d %d %d scene keypoints=%d\n",
+// __LINE__,
+// scene_w,
+// scene_h,
+// scene_keypoints->total);
+
+ CvPoint src_corners[4] =
+ {
+ { 0, 0 },
+ { object_w, 0 },
+ { object_w, object_h },
+ { 0, object_h }
+ };
+
+ for(int i = 0; i < 8; i++)
+ {
+ dst_corners[i] = 0;
+ }
+
+
+
+//printf("OpenCVWrapper::process_buffer %d\n", __LINE__);
+ if(scene_keypoints->total &&
+ object_keypoints->total &&
+ locatePlanarObject(object_keypoints,
+ object_descriptors,
+ scene_keypoints,
+ scene_descriptors,
+ src_corners,
+ &point_pairs,
+ &total_pairs))
+ {
+ result = 1;
+ }
+
+
+ return result;
+}
+
+
+
+
+
+
+// Convert to greyscale & crop
+void OpenCVWrapper::grey_crop(unsigned char *dst,
+ VFrame *src,
+ int x1,
+ int y1,
+ int x2,
+ int y2,
+ int dst_w,
+ int dst_h)
+{
+// Dimensions of dst frame
+ int w = x2 - x1;
+ int h = y2 - y1;
+
+ bzero(dst, dst_w * dst_h);
+
+//printf("OpenCVWrapper::grey_crop %d %d %d\n", __LINE__, w, h);
+ for(int i = 0; i < h; i++)
+ {
+ switch(src->get_color_model())
+ {
+ case BC_RGB888:
+ break;
+
+ case BC_YUV888:
+ {
+ unsigned char *input = src->get_rows()[i + y1] + x1 * 3;
+ unsigned char *output = dst + i * dst_w;
+
+ for(int j = 0; j < w; j++)
+ {
+// Y channel only
+ *output = *input;
+ input += 3;
+ output++;
+ }
+ break;
+ }
+ }
+ }
+}
+
+
+float OpenCVWrapper::get_dst_x(int number)
+{
+ return dst_corners[number * 2];
+}
+
+float OpenCVWrapper::get_dst_y(int number)
+{
+ return dst_corners[number * 2 + 1];
+}
+
+
+
+
+
projects / goodguy / history.git / blobdiff