+++ /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 / cinelerra.git / blobdiff