//
//M*/
-#ifndef __CVAUX_HPP__
-#define __CVAUX_HPP__
+#ifndef __OPENCV_AUX_HPP__
+#define __OPENCV_AUX_HPP__
#ifdef __cplusplus
+#include <iosfwd>
+
+class CV_EXPORTS CvImage
+{
+public:
+ CvImage() : image(0), refcount(0) {}
+ CvImage( CvSize size, int depth, int channels )
+ {
+ image = cvCreateImage( size, depth, channels );
+ refcount = image ? new int(1) : 0;
+ }
+
+ CvImage( IplImage* img ) : image(img)
+ {
+ refcount = image ? new int(1) : 0;
+ }
+
+ CvImage( const CvImage& img ) : image(img.image), refcount(img.refcount)
+ {
+ if( refcount ) ++(*refcount);
+ }
+
+ CvImage( const char* filename, const char* imgname=0, int color=-1 ) : image(0), refcount(0)
+ { load( filename, imgname, color ); }
+
+ CvImage( CvFileStorage* fs, const char* mapname, const char* imgname ) : image(0), refcount(0)
+ { read( fs, mapname, imgname ); }
+
+ CvImage( CvFileStorage* fs, const char* seqname, int idx ) : image(0), refcount(0)
+ { read( fs, seqname, idx ); }
+
+ ~CvImage()
+ {
+ if( refcount && !(--*refcount) )
+ {
+ cvReleaseImage( &image );
+ delete refcount;
+ }
+ }
+
+ CvImage clone() { return CvImage(image ? cvCloneImage(image) : 0); }
+
+ void create( CvSize size, int depth, int channels )
+ {
+ if( !image || !refcount ||
+ image->width != size.width || image->height != size.height ||
+ image->depth != depth || image->nChannels != channels )
+ attach( cvCreateImage( size, depth, channels ));
+ }
+
+ void release() { detach(); }
+ void clear() { detach(); }
+
+ void attach( IplImage* img, bool use_refcount=true )
+ {
+ if( refcount && --*refcount == 0 )
+ {
+ cvReleaseImage( &image );
+ delete refcount;
+ }
+ image = img;
+ refcount = use_refcount && image ? new int(1) : 0;
+ }
+
+ void detach()
+ {
+ if( refcount && --*refcount == 0 )
+ {
+ cvReleaseImage( &image );
+ delete refcount;
+ }
+ image = 0;
+ refcount = 0;
+ }
+
+ bool load( const char* filename, const char* imgname=0, int color=-1 );
+ bool read( CvFileStorage* fs, const char* mapname, const char* imgname );
+ bool read( CvFileStorage* fs, const char* seqname, int idx );
+ void save( const char* filename, const char* imgname, const int* params=0 );
+ void write( CvFileStorage* fs, const char* imgname );
+
+ void show( const char* window_name );
+ bool is_valid() { return image != 0; }
+
+ int width() const { return image ? image->width : 0; }
+ int height() const { return image ? image->height : 0; }
+
+ CvSize size() const { return image ? cvSize(image->width, image->height) : cvSize(0,0); }
+
+ CvSize roi_size() const
+ {
+ return !image ? cvSize(0,0) :
+ !image->roi ? cvSize(image->width,image->height) :
+ cvSize(image->roi->width, image->roi->height);
+ }
+
+ CvRect roi() const
+ {
+ return !image ? cvRect(0,0,0,0) :
+ !image->roi ? cvRect(0,0,image->width,image->height) :
+ cvRect(image->roi->xOffset,image->roi->yOffset,
+ image->roi->width,image->roi->height);
+ }
+
+ int coi() const { return !image || !image->roi ? 0 : image->roi->coi; }
+
+ void set_roi(CvRect roi) { cvSetImageROI(image,roi); }
+ void reset_roi() { cvResetImageROI(image); }
+ void set_coi(int coi) { cvSetImageCOI(image,coi); }
+ int depth() const { return image ? image->depth : 0; }
+ int channels() const { return image ? image->nChannels : 0; }
+ int pix_size() const { return image ? ((image->depth & 255)>>3)*image->nChannels : 0; }
+
+ uchar* data() { return image ? (uchar*)image->imageData : 0; }
+ const uchar* data() const { return image ? (const uchar*)image->imageData : 0; }
+ int step() const { return image ? image->widthStep : 0; }
+ int origin() const { return image ? image->origin : 0; }
+
+ uchar* roi_row(int y)
+ {
+ assert(0<=y);
+ assert(!image ?
+ 1 : image->roi ?
+ y<image->roi->height : y<image->height);
+
+ return !image ? 0 :
+ !image->roi ?
+ (uchar*)(image->imageData + y*image->widthStep) :
+ (uchar*)(image->imageData + (y+image->roi->yOffset)*image->widthStep +
+ image->roi->xOffset*((image->depth & 255)>>3)*image->nChannels);
+ }
+
+ const uchar* roi_row(int y) const
+ {
+ assert(0<=y);
+ assert(!image ?
+ 1 : image->roi ?
+ y<image->roi->height : y<image->height);
+
+ return !image ? 0 :
+ !image->roi ?
+ (const uchar*)(image->imageData + y*image->widthStep) :
+ (const uchar*)(image->imageData + (y+image->roi->yOffset)*image->widthStep +
+ image->roi->xOffset*((image->depth & 255)>>3)*image->nChannels);
+ }
+
+ operator const IplImage* () const { return image; }
+ operator IplImage* () { return image; }
+
+ CvImage& operator = (const CvImage& img)
+ {
+ if( img.refcount )
+ ++*img.refcount;
+ if( refcount && !(--*refcount) )
+ cvReleaseImage( &image );
+ image=img.image;
+ refcount=img.refcount;
+ return *this;
+ }
+
+protected:
+ IplImage* image;
+ int* refcount;
+};
+
+
+class CV_EXPORTS CvMatrix
+{
+public:
+ CvMatrix() : matrix(0) {}
+ CvMatrix( int rows, int cols, int type )
+ { matrix = cvCreateMat( rows, cols, type ); }
+
+ CvMatrix( int rows, int cols, int type, CvMat* hdr,
+ void* data=0, int step=CV_AUTOSTEP )
+ { matrix = cvInitMatHeader( hdr, rows, cols, type, data, step ); }
+
+ CvMatrix( int rows, int cols, int type, CvMemStorage* storage, bool alloc_data=true );
+
+ CvMatrix( int rows, int cols, int type, void* data, int step=CV_AUTOSTEP )
+ { matrix = cvCreateMatHeader( rows, cols, type );
+ cvSetData( matrix, data, step ); }
+
+ CvMatrix( CvMat* m )
+ { matrix = m; }
+
+ CvMatrix( const CvMatrix& m )
+ {
+ matrix = m.matrix;
+ addref();
+ }
+
+ CvMatrix( const char* filename, const char* matname=0, int color=-1 ) : matrix(0)
+ { load( filename, matname, color ); }
+
+ CvMatrix( CvFileStorage* fs, const char* mapname, const char* matname ) : matrix(0)
+ { read( fs, mapname, matname ); }
+
+ CvMatrix( CvFileStorage* fs, const char* seqname, int idx ) : matrix(0)
+ { read( fs, seqname, idx ); }
+
+ ~CvMatrix()
+ {
+ release();
+ }
+
+ CvMatrix clone() { return CvMatrix(matrix ? cvCloneMat(matrix) : 0); }
+
+ void set( CvMat* m, bool add_ref )
+ {
+ release();
+ matrix = m;
+ if( add_ref )
+ addref();
+ }
+
+ void create( int rows, int cols, int type )
+ {
+ if( !matrix || !matrix->refcount ||
+ matrix->rows != rows || matrix->cols != cols ||
+ CV_MAT_TYPE(matrix->type) != type )
+ set( cvCreateMat( rows, cols, type ), false );
+ }
+
+ void addref() const
+ {
+ if( matrix )
+ {
+ if( matrix->hdr_refcount )
+ ++matrix->hdr_refcount;
+ else if( matrix->refcount )
+ ++*matrix->refcount;
+ }
+ }
+
+ void release()
+ {
+ if( matrix )
+ {
+ if( matrix->hdr_refcount )
+ {
+ if( --matrix->hdr_refcount == 0 )
+ cvReleaseMat( &matrix );
+ }
+ else if( matrix->refcount )
+ {
+ if( --*matrix->refcount == 0 )
+ cvFree( &matrix->refcount );
+ }
+ matrix = 0;
+ }
+ }
+
+ void clear()
+ {
+ release();
+ }
+
+ bool load( const char* filename, const char* matname=0, int color=-1 );
+ bool read( CvFileStorage* fs, const char* mapname, const char* matname );
+ bool read( CvFileStorage* fs, const char* seqname, int idx );
+ void save( const char* filename, const char* matname, const int* params=0 );
+ void write( CvFileStorage* fs, const char* matname );
+
+ void show( const char* window_name );
+
+ bool is_valid() { return matrix != 0; }
+
+ int rows() const { return matrix ? matrix->rows : 0; }
+ int cols() const { return matrix ? matrix->cols : 0; }
+
+ CvSize size() const
+ {
+ return !matrix ? cvSize(0,0) : cvSize(matrix->rows,matrix->cols);
+ }
+
+ int type() const { return matrix ? CV_MAT_TYPE(matrix->type) : 0; }
+ int depth() const { return matrix ? CV_MAT_DEPTH(matrix->type) : 0; }
+ int channels() const { return matrix ? CV_MAT_CN(matrix->type) : 0; }
+ int pix_size() const { return matrix ? CV_ELEM_SIZE(matrix->type) : 0; }
+
+ uchar* data() { return matrix ? matrix->data.ptr : 0; }
+ const uchar* data() const { return matrix ? matrix->data.ptr : 0; }
+ int step() const { return matrix ? matrix->step : 0; }
+
+ void set_data( void* data, int step=CV_AUTOSTEP )
+ { cvSetData( matrix, data, step ); }
+
+ uchar* row(int i) { return !matrix ? 0 : matrix->data.ptr + i*matrix->step; }
+ const uchar* row(int i) const
+ { return !matrix ? 0 : matrix->data.ptr + i*matrix->step; }
+
+ operator const CvMat* () const { return matrix; }
+ operator CvMat* () { return matrix; }
+
+ CvMatrix& operator = (const CvMatrix& _m)
+ {
+ _m.addref();
+ release();
+ matrix = _m.matrix;
+ return *this;
+ }
+
+protected:
+ CvMat* matrix;
+};
+
/****************************************************************************************\
-* Image class *
+* CamShiftTracker *
\****************************************************************************************/
class CV_EXPORTS CvCamShiftTracker
IplImage* m_mask;
};
-class CvAdaptiveSkinDetector
+/****************************************************************************************\
+* Adaptive Skin Detector *
+\****************************************************************************************/
+
+class CV_EXPORTS CvAdaptiveSkinDetector
{
private:
enum {
GSD_INTENSITY_UT = 250
};
- class Histogram
+ class CV_EXPORTS Histogram
{
private:
enum {
};
+/****************************************************************************************\
+* Fuzzy MeanShift Tracker *
+\****************************************************************************************/
+
+class CV_EXPORTS CvFuzzyPoint {
+public:
+ double x, y, value;
+
+ CvFuzzyPoint(double _x, double _y);
+};
+
+class CV_EXPORTS CvFuzzyCurve {
+private:
+ std::vector<CvFuzzyPoint> points;
+ double value, centre;
+
+ bool between(double x, double x1, double x2);
+
+public:
+ CvFuzzyCurve();
+ ~CvFuzzyCurve();
+
+ void setCentre(double _centre);
+ double getCentre();
+ void clear();
+ void addPoint(double x, double y);
+ double calcValue(double param);
+ double getValue();
+ void setValue(double _value);
+};
+
+class CV_EXPORTS CvFuzzyFunction {
+public:
+ std::vector<CvFuzzyCurve> curves;
+
+ CvFuzzyFunction();
+ ~CvFuzzyFunction();
+ void addCurve(CvFuzzyCurve *curve, double value = 0);
+ void resetValues();
+ double calcValue();
+ CvFuzzyCurve *newCurve();
+};
+
+class CV_EXPORTS CvFuzzyRule {
+private:
+ CvFuzzyCurve *fuzzyInput1, *fuzzyInput2;
+ CvFuzzyCurve *fuzzyOutput;
+public:
+ CvFuzzyRule();
+ ~CvFuzzyRule();
+ void setRule(CvFuzzyCurve *c1, CvFuzzyCurve *c2, CvFuzzyCurve *o1);
+ double calcValue(double param1, double param2);
+ CvFuzzyCurve *getOutputCurve();
+};
+
+class CV_EXPORTS CvFuzzyController {
+private:
+ std::vector<CvFuzzyRule*> rules;
+public:
+ CvFuzzyController();
+ ~CvFuzzyController();
+ void addRule(CvFuzzyCurve *c1, CvFuzzyCurve *c2, CvFuzzyCurve *o1);
+ double calcOutput(double param1, double param2);
+};
+
+class CV_EXPORTS CvFuzzyMeanShiftTracker
+{
+private:
+ class FuzzyResizer
+ {
+ private:
+ CvFuzzyFunction iInput, iOutput;
+ CvFuzzyController fuzzyController;
+ public:
+ FuzzyResizer();
+ int calcOutput(double edgeDensity, double density);
+ };
+
+ class SearchWindow
+ {
+ public:
+ FuzzyResizer *fuzzyResizer;
+ int x, y;
+ int width, height, maxWidth, maxHeight, ellipseHeight, ellipseWidth;
+ int ldx, ldy, ldw, ldh, numShifts, numIters;
+ int xGc, yGc;
+ long m00, m01, m10, m11, m02, m20;
+ double ellipseAngle;
+ double density;
+ unsigned int depthLow, depthHigh;
+ int verticalEdgeLeft, verticalEdgeRight, horizontalEdgeTop, horizontalEdgeBottom;
+
+ SearchWindow();
+ ~SearchWindow();
+ void setSize(int _x, int _y, int _width, int _height);
+ void initDepthValues(IplImage *maskImage, IplImage *depthMap);
+ bool shift();
+ void extractInfo(IplImage *maskImage, IplImage *depthMap, bool initDepth);
+ void getResizeAttribsEdgeDensityLinear(int &resizeDx, int &resizeDy, int &resizeDw, int &resizeDh);
+ void getResizeAttribsInnerDensity(int &resizeDx, int &resizeDy, int &resizeDw, int &resizeDh);
+ void getResizeAttribsEdgeDensityFuzzy(int &resizeDx, int &resizeDy, int &resizeDw, int &resizeDh);
+ bool meanShift(IplImage *maskImage, IplImage *depthMap, int maxIteration, bool initDepth);
+ };
+
+public:
+ enum TrackingState
+ {
+ tsNone = 0,
+ tsSearching = 1,
+ tsTracking = 2,
+ tsSetWindow = 3,
+ tsDisabled = 10
+ };
+
+ enum ResizeMethod {
+ rmEdgeDensityLinear = 0,
+ rmEdgeDensityFuzzy = 1,
+ rmInnerDensity = 2
+ };
+
+ enum {
+ MinKernelMass = 1000
+ };
+
+ SearchWindow kernel;
+ int searchMode;
+
+private:
+ enum
+ {
+ MaxMeanShiftIteration = 5,
+ MaxSetSizeIteration = 5
+ };
+
+ void findOptimumSearchWindow(SearchWindow &searchWindow, IplImage *maskImage, IplImage *depthMap, int maxIteration, int resizeMethod, bool initDepth);
+
+public:
+ CvFuzzyMeanShiftTracker();
+ ~CvFuzzyMeanShiftTracker();
+
+ void track(IplImage *maskImage, IplImage *depthMap, int resizeMethod, bool resetSearch, int minKernelMass = MinKernelMass);
+};
+
+
namespace cv
{
-class CV_EXPORTS OctTree
+class CV_EXPORTS Octree
{
public:
struct Node
int children[8];
};
- OctTree();
- Oct
Tree( const Vector<Point3f>& points, int maxLevels = 10, int minPoints = 20 );
- virtual ~OctTree();
+ Octree();
+ Oct
ree( const vector<Point3f>& points, int maxLevels = 10, int minPoints = 20 );
+ virtual ~Octree();
- virtual void buildTree( const
Vector<Point3f>& points, int maxLevels = 10, int minPoints = 20 );
+ virtual void buildTree( const
vector<Point3f>& points, int maxLevels = 10, int minPoints = 20 );
virtual void getPointsWithinSphere( const Point3f& center, float radius,
-
Vector<Point3f>& points ) const;
- const Vector<Node>& getNodes() const { return nodes; }
+
vector<Point3f>& points ) const;
+ const vector<Node>& getNodes() const { return nodes; }
private:
int minPoints;
-
Vector<Point3f> points;
- Vector<Node> nodes;
+
vector<Point3f> points;
+ vector<Node> nodes;
- virtual void buildNext(Node& node);
+ virtual void buildNext(size_t node_ind);
};
-CV_EXPORTS void computeNormals( const OctTree& octtree,
- const Vector<Point3f>& centers,
- Vector<Point3f>& normals,
- Vector<uchar>& mask,
- float normalRadius,
- int minNeighbors = 20);
+class CV_EXPORTS Mesh3D
+{
+public:
+ struct EmptyMeshException {};
-CV_EXPORTS void computeSpinImages( const OctTree& octtree,
- const Vector<Point3f>& points,
- const Vector<Point3f>& normals,
- Vector<uchar>& mask,
- Mat& spinImages,
- float support,
- float pixelsPerMeter );
+ Mesh3D();
+ Mesh3D(const vector<Point3f>& vtx);
+ ~Mesh3D();
-struct CV_EXPORTS HOGParams
+ void buildOctree();
+ void clearOctree();
+ float estimateResolution(float tryRatio = 0.1f);
+ void computeNormals(float normalRadius, int minNeighbors = 20);
+ void computeNormals(const vector<int>& subset, float normalRadius, int minNeighbors = 20);
+
+ void writeAsVrml(const String& file, const vector<Scalar>& colors = vector<Scalar>()) const;
+
+ vector<Point3f> vtx;
+ vector<Point3f> normals;
+ float resolution;
+ Octree octree;
+
+ const static Point3f allzero;
+};
+
+class CV_EXPORTS SpinImageModel
{
- HOGParams();
- HOGParams( int cell_n, int cell_x, int cell_y,
- int bin_num, int stride_x, int stride_y );
+public:
+
+ /* model parameters, leave unset for default or auto estimate */
+ float normalRadius;
+ int minNeighbors;
+
+ float binSize;
+ int imageWidth;
+
+ float lambda;
+ float gamma;
+
+ float T_GeometriccConsistency;
+ float T_GroupingCorespondances;
+
+ /* public interface */
+ SpinImageModel();
+ explicit SpinImageModel(const Mesh3D& mesh);
+ ~SpinImageModel();
+
+ void setLogger(std::ostream* log);
+ void selectRandomSubset(float ratio);
+ void setSubset(const vector<int>& subset);
+ void compute();
+
+ void match(const SpinImageModel& scene, vector< vector<Vec2i> >& result);
+
+ Mat packRandomScaledSpins(bool separateScale = false, size_t xCount = 10, size_t yCount = 10) const;
- int histSize() const { return cellN * cellN * nbins; }
+ size_t getSpinCount() const { return spinImages.rows; }
+ Mat getSpinImage(size_t index) const { return spinImages.row(index); }
+ const Point3f& getSpinVertex(size_t index) const { return mesh.vtx[subset[index]]; }
+ const Point3f& getSpinNormal(size_t index) const { return mesh.normals[subset[index]]; }
+
+ const Mesh3D& getMesh() const { return mesh; }
+ Mesh3D& getMesh() { return mesh; }
+
+ /* static utility functions */
+ static bool spinCorrelation(const Mat& spin1, const Mat& spin2, float lambda, float& result);
+
+ static Point2f calcSpinMapCoo(const Point3f& point, const Point3f& vertex, const Point3f& normal);
+
+ static float geometricConsistency(const Point3f& pointScene1, const Point3f& normalScene1,
+ const Point3f& pointModel1, const Point3f& normalModel1,
+ const Point3f& pointScene2, const Point3f& normalScene2,
+ const Point3f& pointModel2, const Point3f& normalModel2);
+
+ static float groupingCreteria(const Point3f& pointScene1, const Point3f& normalScene1,
+ const Point3f& pointModel1, const Point3f& normalModel1,
+ const Point3f& pointScene2, const Point3f& normalScene2,
+ const Point3f& pointModel2, const Point3f& normalModel2,
+ float gamma);
+protected:
+ void defaultParams();
+
+ void matchSpinToModel(const Mat& spin, vector<int>& indeces,
+ vector<float>& corrCoeffs, bool useExtremeOutliers = true) const;
+
+ void repackSpinImages(const vector<uchar>& mask, Mat& spinImages, bool reAlloc = true) const;
+
+ vector<int> subset;
+ Mesh3D mesh;
+ Mat spinImages;
+ std::ostream* out;
+};
+
+class CV_EXPORTS TickMeter
+{
+public:
+ TickMeter();
+ void start();
+ void stop();
+
+ int64 getTimeTicks() const;
+ double getTimeMicro() const;
+ double getTimeMilli() const;
+ double getTimeSec() const;
+ int64 getCounter() const;
+
+ void reset();
+private:
+ int64 counter;
+ int64 sumTime;
+ int64 startTime;
+};
+
+CV_EXPORTS std::ostream& operator<<(std::ostream& out, const TickMeter& tm);
+
+/****************************************************************************************\
+* HOG (Histogram-of-Oriented-Gradients) Descriptor and Object Detector *
+\****************************************************************************************/
+
+struct CV_EXPORTS HOGDescriptor
+{
+public:
+ enum { L2Hys=0 };
+
+ HOGDescriptor() : winSize(64,128), blockSize(16,16), blockStride(8,8),
+ cellSize(8,8), nbins(9), derivAperture(1), winSigma(-1),
+ histogramNormType(L2Hys), L2HysThreshold(0.2), gammaCorrection(true)
+ {}
+
+ HOGDescriptor(Size _winSize, Size _blockSize, Size _blockStride,
+ Size _cellSize, int _nbins, int _derivAperture=1, double _winSigma=-1,
+ int _histogramNormType=L2Hys, double _L2HysThreshold=0.2, bool _gammaCorrection=false)
+ : winSize(_winSize), blockSize(_blockSize), blockStride(_blockStride), cellSize(_cellSize),
+ nbins(_nbins), derivAperture(_derivAperture), winSigma(_winSigma),
+ histogramNormType(_histogramNormType), L2HysThreshold(_L2HysThreshold),
+ gammaCorrection(_gammaCorrection)
+ {}
+
+ HOGDescriptor(const String& filename)
+ {
+ load(filename);
+ }
- int cellN; // each block will have cell_n * cell_n cells;
- int cellX; // cell width in pixels
- int cellY; // cell height in pixels
+ virtual ~HOGDescriptor() {}
- int nbins; // number of histogram bins per cell
- int strideX; // horizontal block shift
- int strideY; // vertical block shift
+ size_t getDescriptorSize() const;
+ bool checkDetectorSize() const;
+ double getWinSigma() const;
+
+ virtual void setSVMDetector(const vector<float>& _svmdetector);
+
+ virtual bool load(const String& filename, const String& objname=String());
+ virtual void save(const String& filename, const String& objname=String()) const;
+
+ virtual void compute(const Mat& img,
+ vector<float>& descriptors,
+ Size winStride=Size(), Size padding=Size(),
+ const vector<Point>& locations=vector<Point>()) const;
+ virtual void detect(const Mat& img, vector<Point>& foundLocations,
+ double hitThreshold=0, Size winStride=Size(),
+ Size padding=Size(),
+ const vector<Point>& searchLocations=vector<Point>()) const;
+ virtual void detectMultiScale(const Mat& img, vector<Rect>& foundLocations,
+ double hitThreshold=0, Size winStride=Size(),
+ Size padding=Size(), double scale=1.05,
+ int groupThreshold=2) const;
+ virtual void computeGradient(const Mat& img, Mat& grad, Mat& angleOfs,
+ Size paddingTL=Size(), Size paddingBR=Size()) const;
+
+ static vector<float> getDefaultPeopleDetector();
+
+ Size winSize;
+ Size blockSize;
+ Size blockStride;
+ Size cellSize;
+ int nbins;
+ int derivAperture;
+ double winSigma;
+ int histogramNormType;
+ double L2HysThreshold;
+ bool gammaCorrection;
+ vector<float> svmDetector;
+};
+
+
+class CV_EXPORTS SelfSimDescriptor
+{
+public:
+ SelfSimDescriptor();
+ SelfSimDescriptor(int _ssize, int _lsize,
+ int _startDistanceBucket=DEFAULT_START_DISTANCE_BUCKET,
+ int _numberOfDistanceBuckets=DEFAULT_NUM_DISTANCE_BUCKETS,
+ int _nangles=DEFAULT_NUM_ANGLES);
+ SelfSimDescriptor(const SelfSimDescriptor& ss);
+ virtual ~SelfSimDescriptor();
+ SelfSimDescriptor& operator = (const SelfSimDescriptor& ss);
+
+ size_t getDescriptorSize() const;
+ Size getGridSize( Size imgsize, Size winStride ) const;
+
+ virtual void compute(const Mat& img, vector<float>& descriptors, Size winStride=Size(),
+ const vector<Point>& locations=vector<Point>()) const;
+ virtual void computeLogPolarMapping(Mat& mappingMask) const;
+ virtual void SSD(const Mat& img, Point pt, Mat& ssd) const;
+
+ int smallSize;
+ int largeSize;
+ int startDistanceBucket;
+ int numberOfDistanceBuckets;
+ int numberOfAngles;
+
+ enum { DEFAULT_SMALL_SIZE = 5, DEFAULT_LARGE_SIZE = 41,
+ DEFAULT_NUM_ANGLES = 20, DEFAULT_START_DISTANCE_BUCKET = 3,
+ DEFAULT_NUM_DISTANCE_BUCKETS = 7 };
+};
+
+
+class CV_EXPORTS PatchGenerator
+{
+public:
+ PatchGenerator();
+ PatchGenerator(double _backgroundMin, double _backgroundMax,
+ double _noiseRange, bool _randomBlur=true,
+ double _lambdaMin=0.6, double _lambdaMax=1.5,
+ double _thetaMin=-CV_PI, double _thetaMax=CV_PI,
+ double _phiMin=-CV_PI, double _phiMax=CV_PI );
+ void operator()(const Mat& image, Point2f pt, Mat& patch, Size patchSize, RNG& rng) const;
+ void operator()(const Mat& image, const Mat& transform, Mat& patch,
+ Size patchSize, RNG& rng) const;
+ void warpWholeImage(const Mat& image, Mat& matT, Mat& buf,
+ Mat& warped, int border, RNG& rng) const;
+ void generateRandomTransform(Point2f srcCenter, Point2f dstCenter,
+ Mat& transform, RNG& rng, bool inverse=false) const;
+ double backgroundMin, backgroundMax;
+ double noiseRange;
+ bool randomBlur;
+ double lambdaMin, lambdaMax;
+ double thetaMin, thetaMax;
+ double phiMin, phiMax;
+};
+
+
+class CV_EXPORTS LDetector
+{
+public:
+ LDetector();
+ LDetector(int _radius, int _threshold, int _nOctaves,
+ int _nViews, double _baseFeatureSize, double _clusteringDistance);
+ void operator()(const Mat& image, vector<KeyPoint>& keypoints, int maxCount=0, bool scaleCoords=true) const;
+ void operator()(const vector<Mat>& pyr, vector<KeyPoint>& keypoints, int maxCount=0, bool scaleCoords=true) const;
+ void getMostStable2D(const Mat& image, vector<KeyPoint>& keypoints,
+ int maxCount, const PatchGenerator& patchGenerator) const;
+ void setVerbose(bool verbose);
+
+ void read(const FileNode& node);
+ void write(FileStorage& fs, const String& name=String()) const;
+
+ int radius;
+ int threshold;
+ int nOctaves;
+ int nViews;
+ bool verbose;
+
+ double baseFeatureSize;
+ double clusteringDistance;
};
-CV_EXPORTS void extractHOG( const Mat& image, Mat& hogs,
- const HOGParams& params = HOGParams());
+typedef LDetector YAPE;
+
+class CV_EXPORTS FernClassifier
+{
+public:
+ FernClassifier();
+ FernClassifier(const FileNode& node);
+ FernClassifier(const vector<Point2f>& points,
+ const vector<Ptr<Mat> >& refimgs,
+ const vector<int>& labels=vector<int>(),
+ int _nclasses=0, int _patchSize=PATCH_SIZE,
+ int _signatureSize=DEFAULT_SIGNATURE_SIZE,
+ int _nstructs=DEFAULT_STRUCTS,
+ int _structSize=DEFAULT_STRUCT_SIZE,
+ int _nviews=DEFAULT_VIEWS,
+ int _compressionMethod=COMPRESSION_NONE,
+ const PatchGenerator& patchGenerator=PatchGenerator());
+ virtual ~FernClassifier();
+ virtual void read(const FileNode& n);
+ virtual void write(FileStorage& fs, const String& name=String()) const;
+ virtual void trainFromSingleView(const Mat& image,
+ const vector<KeyPoint>& keypoints,
+ int _patchSize=PATCH_SIZE,
+ int _signatureSize=DEFAULT_SIGNATURE_SIZE,
+ int _nstructs=DEFAULT_STRUCTS,
+ int _structSize=DEFAULT_STRUCT_SIZE,
+ int _nviews=DEFAULT_VIEWS,
+ int _compressionMethod=COMPRESSION_NONE,
+ const PatchGenerator& patchGenerator=PatchGenerator());
+ virtual void train(const vector<Point2f>& points,
+ const vector<Ptr<Mat> >& refimgs,
+ const vector<int>& labels=vector<int>(),
+ int _nclasses=0, int _patchSize=PATCH_SIZE,
+ int _signatureSize=DEFAULT_SIGNATURE_SIZE,
+ int _nstructs=DEFAULT_STRUCTS,
+ int _structSize=DEFAULT_STRUCT_SIZE,
+ int _nviews=DEFAULT_VIEWS,
+ int _compressionMethod=COMPRESSION_NONE,
+ const PatchGenerator& patchGenerator=PatchGenerator());
+ virtual int operator()(const Mat& img, Point2f kpt, vector<float>& signature) const;
+ virtual int operator()(const Mat& patch, vector<float>& signature) const;
+ virtual void clear();
+ void setVerbose(bool verbose);
+
+ int getClassCount() const;
+ int getStructCount() const;
+ int getStructSize() const;
+ int getSignatureSize() const;
+ int getCompressionMethod() const;
+ Size getPatchSize() const;
+
+ struct Feature
+ {
+ uchar x1, y1, x2, y2;
+ Feature() : x1(0), y1(0), x2(0), y2(0) {}
+ Feature(int _x1, int _y1, int _x2, int _y2)
+ : x1((uchar)_x1), y1((uchar)_y1), x2((uchar)_x2), y2((uchar)_y2)
+ {}
+ template<typename _Tp> bool operator ()(const Mat_<_Tp>& patch) const
+ { return patch(y1,x1) > patch(y2, x2); }
+ };
+
+ enum
+ {
+ PATCH_SIZE = 31,
+ DEFAULT_STRUCTS = 50,
+ DEFAULT_STRUCT_SIZE = 9,
+ DEFAULT_VIEWS = 5000,
+ DEFAULT_SIGNATURE_SIZE = 176,
+ COMPRESSION_NONE = 0,
+ COMPRESSION_RANDOM_PROJ = 1,
+ COMPRESSION_PCA = 2,
+ DEFAULT_COMPRESSION_METHOD = COMPRESSION_NONE
+ };
+
+protected:
+ virtual void prepare(int _nclasses, int _patchSize, int _signatureSize,
+ int _nstructs, int _structSize,
+ int _nviews, int _compressionMethod);
+ virtual void finalize(RNG& rng);
+ virtual int getLeaf(int fidx, const Mat& patch) const;
+
+ bool verbose;
+ int nstructs;
+ int structSize;
+ int nclasses;
+ int signatureSize;
+ int compressionMethod;
+ int leavesPerStruct;
+ Size patchSize;
+ vector<Feature> features;
+ vector<int> classCounters;
+ vector<float> posteriors;
+};
+
+class CV_EXPORTS PlanarObjectDetector
+{
+public:
+ PlanarObjectDetector();
+ PlanarObjectDetector(const FileNode& node);
+ PlanarObjectDetector(const vector<Mat>& pyr, int _npoints=300,
+ int _patchSize=FernClassifier::PATCH_SIZE,
+ int _nstructs=FernClassifier::DEFAULT_STRUCTS,
+ int _structSize=FernClassifier::DEFAULT_STRUCT_SIZE,
+ int _nviews=FernClassifier::DEFAULT_VIEWS,
+ const LDetector& detector=LDetector(),
+ const PatchGenerator& patchGenerator=PatchGenerator());
+ virtual ~PlanarObjectDetector();
+ virtual void train(const vector<Mat>& pyr, int _npoints=300,
+ int _patchSize=FernClassifier::PATCH_SIZE,
+ int _nstructs=FernClassifier::DEFAULT_STRUCTS,
+ int _structSize=FernClassifier::DEFAULT_STRUCT_SIZE,
+ int _nviews=FernClassifier::DEFAULT_VIEWS,
+ const LDetector& detector=LDetector(),
+ const PatchGenerator& patchGenerator=PatchGenerator());
+ virtual void train(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
+ int _patchSize=FernClassifier::PATCH_SIZE,
+ int _nstructs=FernClassifier::DEFAULT_STRUCTS,
+ int _structSize=FernClassifier::DEFAULT_STRUCT_SIZE,
+ int _nviews=FernClassifier::DEFAULT_VIEWS,
+ const LDetector& detector=LDetector(),
+ const PatchGenerator& patchGenerator=PatchGenerator());
+ Rect getModelROI() const;
+ vector<KeyPoint> getModelPoints() const;
+ const LDetector& getDetector() const;
+ const FernClassifier& getClassifier() const;
+ void setVerbose(bool verbose);
+
+ void read(const FileNode& node);
+ void write(FileStorage& fs, const String& name=String()) const;
+ bool operator()(const Mat& image, Mat& H, vector<Point2f>& corners) const;
+ bool operator()(const vector<Mat>& pyr, const vector<KeyPoint>& keypoints,
+ Mat& H, vector<Point2f>& corners, vector<int>* pairs=0) const;
+
+protected:
+ bool verbose;
+ Rect modelROI;
+ vector<KeyPoint> modelPoints;
+ LDetector ldetector;
+ FernClassifier fernClassifier;
+};
+
+
+
+
+// detect corners using FAST algorithm
+CV_EXPORTS void FAST( const Mat& image, vector<KeyPoint>& keypoints, int threshold, bool nonmax_supression=true );
+
+
+class CV_EXPORTS LevMarqSparse
+{
+public:
+ LevMarqSparse();
+ LevMarqSparse(int npoints, // number of points
+ int ncameras, // number of cameras
+ int nPointParams, // number of params per one point (3 in case of 3D points)
+ int nCameraParams, // number of parameters per one camera
+ int nErrParams, // number of parameters in measurement vector
+ // for 1 point at one camera (2 in case of 2D projections)
+ Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
+ // 1 - point is visible for the camera, 0 - invisible
+ Mat& P0, // starting vector of parameters, first cameras then points
+ Mat& X, // measurements, in order of visibility. non visible cases are skipped
+ TermCriteria criteria, // termination criteria
+
+ // callback for estimation of Jacobian matrices
+ void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
+ Mat& cam_params, Mat& A, Mat& B, void* data),
+ // callback for estimation of backprojection errors
+ void (CV_CDECL * func)(int i, int j, Mat& point_params,
+ Mat& cam_params, Mat& estim, void* data),
+ void* data // user-specific data passed to the callbacks
+ );
+ virtual ~LevMarqSparse();
+
+ virtual void run( int npoints, // number of points
+ int ncameras, // number of cameras
+ int nPointParams, // number of params per one point (3 in case of 3D points)
+ int nCameraParams, // number of parameters per one camera
+ int nErrParams, // number of parameters in measurement vector
+ // for 1 point at one camera (2 in case of 2D projections)
+ Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
+ // 1 - point is visible for the camera, 0 - invisible
+ Mat& P0, // starting vector of parameters, first cameras then points
+ Mat& X, // measurements, in order of visibility. non visible cases are skipped
+ TermCriteria criteria, // termination criteria
+
+ // callback for estimation of Jacobian matrices
+ void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
+ Mat& cam_params, Mat& A, Mat& B, void* data),
+ // callback for estimation of backprojection errors
+ void (CV_CDECL * func)(int i, int j, Mat& point_params,
+ Mat& cam_params, Mat& estim, void* data),
+ void* data // user-specific data passed to the callbacks
+ );
+
+ virtual void clear();
+
+ // useful function to do simple bundle adjastment tasks
+ static void bundleAdjust(vector<Point3d>& points, //positions of points in global coordinate system (input and output)
+ const vector<vector<Point2d> >& imagePoints, //projections of 3d points for every camera
+ const vector<vector<int> >& visibility, //visibility of 3d points for every camera
+ vector<Mat>& cameraMatrix, //intrinsic matrices of all cameras (input and output)
+ vector<Mat>& R, //rotation matrices of all cameras (input and output)
+ vector<Mat>& T, //translation vector of all cameras (input and output)
+ vector<Mat>& distCoeffs, //distortion coefficients of all cameras (input and output)
+ const TermCriteria& criteria=
+ TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON));
+
+protected:
+ virtual void optimize(); //main function that runs minimization
+
+ //iteratively asks for measurement for visible camera-point pairs
+ void ask_for_proj();
+ //iteratively asks for Jacobians for every camera_point pair
+ void ask_for_projac();
+
+ CvMat* err; //error X-hX
+ double prevErrNorm, errNorm;
+ double lambda;
+ CvTermCriteria criteria;
+ int iters;
+
+ CvMat** U; //size of array is equal to number of cameras
+ CvMat** V; //size of array is equal to number of points
+ CvMat** inv_V_star; //inverse of V*
+
+ CvMat* A;
+ CvMat* B;
+ CvMat* W;
+
+ CvMat* X; //measurement
+ CvMat* hX; //current measurement extimation given new parameter vector
+
+ CvMat* prevP; //current already accepted parameter.
+ CvMat* P; // parameters used to evaluate function with new params
+ // this parameters may be rejected
+
+ CvMat* deltaP; //computed increase of parameters (result of normal system solution )
+
+ CvMat** ea; // sum_i AijT * e_ij , used as right part of normal equation
+ // length of array is j = number of cameras
+ CvMat** eb; // sum_j BijT * e_ij , used as right part of normal equation
+ // length of array is i = number of points
+
+ CvMat** Yj; //length of array is i = num_points
+
+ CvMat* S; //big matrix of block Sjk , each block has size num_cam_params x num_cam_params
+
+ CvMat* JtJ_diag; //diagonal of JtJ, used to backup diagonal elements before augmentation
+
+ CvMat* Vis_index; // matrix which element is index of measurement for point i and camera j
+
+ int num_cams;
+ int num_points;
+ int num_err_param;
+ int num_cam_param;
+ int num_point_param;
+
+ //target function and jacobian pointers, which needs to be initialized
+ void (*fjac)(int i, int j, Mat& point_params, Mat& cam_params, Mat& A, Mat& B, void* data);
+ void (*func)(int i, int j, Mat& point_params, Mat& cam_params, Mat& estim, void* data );
+
+ void* data;
+};
+
+struct DefaultRngAuto
+{
+ const static uint64 def_state = (uint64)-1;
+ const uint64 old_state;
+
+ DefaultRngAuto() : old_state(theRNG().state) { theRNG().state = def_state; }
+ ~DefaultRngAuto() { theRNG().state = old_state; }
+
+ DefaultRngAuto& operator=(const DefaultRngAuto&);
+};
+
+ /****************************************************************************************\
+ * Calonder Descriptor *
+ \****************************************************************************************/
+ /*!
+ A pseudo-random number generator usable with std::random_shuffle.
+ */
+ typedef cv::RNG CalonderRng;
+ typedef unsigned int int_type;
+
+ //----------------------------
+ //randomized_tree.h
+
+ //class RTTester;
+
+ //namespace features {
+ static const size_t DEFAULT_REDUCED_NUM_DIM = 176;
+ static const float LOWER_QUANT_PERC = .03f;
+ static const float UPPER_QUANT_PERC = .92f;
+ static const int PATCH_SIZE = 32;
+ static const int DEFAULT_DEPTH = 9;
+ static const int DEFAULT_VIEWS = 5000;
+ struct RTreeNode;
+
+ struct BaseKeypoint
+ {
+ int x;
+ int y;
+ IplImage* image;
+
+ BaseKeypoint()
+ : x(0), y(0), image(NULL)
+ {}
+
+ BaseKeypoint(int x, int y, IplImage* image)
+ : x(x), y(y), image(image)
+ {}
+ };
+
+ class CSMatrixGenerator {
+ public:
+ typedef enum { PDT_GAUSS=1, PDT_BERNOULLI, PDT_DBFRIENDLY } PHI_DISTR_TYPE;
+ ~CSMatrixGenerator();
+ static float* getCSMatrix(int m, int n, PHI_DISTR_TYPE dt); // do NOT free returned pointer
+
+
+ private:
+ static float *cs_phi_; // matrix for compressive sensing
+ static int cs_phi_m_, cs_phi_n_;
+ };
+
+ class CV_EXPORTS RandomizedTree
+ {
+ public:
+ friend class RTreeClassifier;
+ //friend class ::RTTester;
+
+
+ RandomizedTree();
+ ~RandomizedTree();
+
+ void train(std::vector<BaseKeypoint> const& base_set, cv::RNG &rng,
+ int depth, int views, size_t reduced_num_dim, int num_quant_bits);
+ void train(std::vector<BaseKeypoint> const& base_set, cv::RNG &rng,
+ PatchGenerator &make_patch, int depth, int views, size_t reduced_num_dim,
+ int num_quant_bits);
+
+ // following two funcs are EXPERIMENTAL (do not use unless you know exactly what you do)
+ static void quantizeVector(float *vec, int dim, int N, float bnds[2], int clamp_mode=0);
+ static void quantizeVector(float *src, int dim, int N, float bnds[2], uchar *dst);
+
+ // patch_data must be a 32x32 array (no row padding)
+ float* getPosterior(uchar* patch_data);
+ const float* getPosterior(uchar* patch_data) const;
+ uchar* getPosterior2(uchar* patch_data);
+
+ void read(const char* file_name, int num_quant_bits);
+ void read(std::istream &is, int num_quant_bits);
+ void write(const char* file_name) const;
+ void write(std::ostream &os) const;
+
+ int classes() { return classes_; }
+ int depth() { return depth_; }
+
+ //void setKeepFloatPosteriors(bool b) { keep_float_posteriors_ = b; }
+ void discardFloatPosteriors() { freePosteriors(1); }
+
+ inline void applyQuantization(int num_quant_bits) { makePosteriors2(num_quant_bits); }
+
+ // debug
+ void savePosteriors(std::string url, bool append=false);
+ void savePosteriors2(std::string url, bool append=false);
+
+ private:
+ int classes_;
+ int depth_;
+ int num_leaves_;
+ std::vector<RTreeNode> nodes_;
+ float **posteriors_; // 16-bytes aligned posteriors
+ uchar **posteriors2_; // 16-bytes aligned posteriors
+ std::vector<int> leaf_counts_;
+
+ void createNodes(int num_nodes, cv::RNG &rng);
+ void allocPosteriorsAligned(int num_leaves, int num_classes);
+ void freePosteriors(int which); // which: 1=posteriors_, 2=posteriors2_, 3=both
+ void init(int classes, int depth, cv::RNG &rng);
+ void addExample(int class_id, uchar* patch_data);
+ void finalize(size_t reduced_num_dim, int num_quant_bits);
+ int getIndex(uchar* patch_data) const;
+ inline float* getPosteriorByIndex(int index);
+ inline uchar* getPosteriorByIndex2(int index);
+ inline const float* getPosteriorByIndex(int index) const;
+ //void makeRandomMeasMatrix(float *cs_phi, PHI_DISTR_TYPE dt, size_t reduced_num_dim);
+ void convertPosteriorsToChar();
+ void makePosteriors2(int num_quant_bits);
+ void compressLeaves(size_t reduced_num_dim);
+ void estimateQuantPercForPosteriors(float perc[2]);
+ };
+
+ struct RTreeNode
+ {
+ short offset1, offset2;
+
+ RTreeNode() {}
+
+ RTreeNode(uchar x1, uchar y1, uchar x2, uchar y2)
+ : offset1(y1*PATCH_SIZE + x1),
+ offset2(y2*PATCH_SIZE + x2)
+ {}
+
+ //! Left child on 0, right child on 1
+ inline bool operator() (uchar* patch_data) const
+ {
+ return patch_data[offset1] > patch_data[offset2];
+ }
+ };
+
+
+
+ //} // namespace features
+ //----------------------------
+ //rtree_classifier.h
+ //class RTTester;
+
+ //namespace features {
+
+ class CV_EXPORTS RTreeClassifier
+ {
+ public:
+ //friend class ::RTTester;
+ static const int DEFAULT_TREES = 48;
+ static const size_t DEFAULT_NUM_QUANT_BITS = 4;
+
+ RTreeClassifier();
+
+ //modified
+ void train(std::vector<BaseKeypoint> const& base_set,
+ cv::RNG &rng,
+ int num_trees = RTreeClassifier::DEFAULT_TREES,
+ int depth = DEFAULT_DEPTH,
+ int views = DEFAULT_VIEWS,
+ size_t reduced_num_dim = DEFAULT_REDUCED_NUM_DIM,
+ int num_quant_bits = DEFAULT_NUM_QUANT_BITS, bool print_status = true);
+ void train(std::vector<BaseKeypoint> const& base_set,
+ cv::RNG &rng,
+ PatchGenerator &make_patch,
+ int num_trees = RTreeClassifier::DEFAULT_TREES,
+ int depth = DEFAULT_DEPTH,
+ int views = DEFAULT_VIEWS,
+ size_t reduced_num_dim = DEFAULT_REDUCED_NUM_DIM,
+ int num_quant_bits = DEFAULT_NUM_QUANT_BITS, bool print_status = true);
+
+ // sig must point to a memory block of at least classes()*sizeof(float|uchar) bytes
+ void getSignature(IplImage *patch, uchar *sig);
+ void getSignature(IplImage *patch, float *sig);
+ void getSparseSignature(IplImage *patch, float *sig, float thresh);
+ // TODO: deprecated in favor of getSignature overload, remove
+ void getFloatSignature(IplImage *patch, float *sig) { getSignature(patch, sig); }
+
+ static int countNonZeroElements(float *vec, int n, double tol=1e-10);
+ static inline void safeSignatureAlloc(uchar **sig, int num_sig=1, int sig_len=176);
+ static inline uchar* safeSignatureAlloc(int num_sig=1, int sig_len=176);
+
+ inline int classes() { return classes_; }
+ inline int original_num_classes() { return original_num_classes_; }
+
+ void setQuantization(int num_quant_bits);
+ void discardFloatPosteriors();
+
+ void read(const char* file_name);
+ void read(std::istream &is);
+ void write(const char* file_name) const;
+ void write(std::ostream &os) const;
+
+ // experimental and debug
+ void saveAllFloatPosteriors(std::string file_url);
+ void saveAllBytePosteriors(std::string file_url);
+ void setFloatPosteriorsFromTextfile_176(std::string url);
+ float countZeroElements();
+
+ std::vector<RandomizedTree> trees_;
+
+ private:
+ int classes_;
+ int num_quant_bits_;
+ uchar **posteriors_;
+ ushort *ptemp_;
+ int original_num_classes_;
+ bool keep_floats_;
+ };
+
+CV_EXPORTS bool find4QuadCornerSubpix(const Mat& img, std::vector<Point2f>& corners, Size region_size);
+
+
+class CV_EXPORTS BackgroundSubtractor
+{
+public:
+ virtual ~BackgroundSubtractor();
+ virtual void operator()(const Mat& image, Mat& fgmask, double learningRate=0);
+};
+
+
+class CV_EXPORTS BackgroundSubtractorMOG : public BackgroundSubtractor
+{
+public:
+ BackgroundSubtractorMOG();
+ BackgroundSubtractorMOG(int history, int nmixtures, double backgroundRatio, double noiseSigma=0);
+ virtual ~BackgroundSubtractorMOG();
+ virtual void operator()(const Mat& image, Mat& fgmask, double learningRate=0);
+
+ virtual void initialize(Size frameSize, int frameType);
+
+ Size frameSize;
+ int frameType;
+ Mat bgmodel;
+ int nframes;
+ int history;
+ int nmixtures;
+ double varThreshold;
+ double backgroundRatio;
+ double noiseSigma;
+};
+
+
+// CvAffinePose: defines a parameterized affine transformation of an image patch.
+// An image patch is rotated on angle phi (in degrees), then scaled lambda1 times
+// along horizontal and lambda2 times along vertical direction, and then rotated again
+// on angle (theta - phi).
+class CV_EXPORTS CvAffinePose
+{
+public:
+ float phi;
+ float theta;
+ float lambda1;
+ float lambda2;
+};
+
+
+class CV_EXPORTS OneWayDescriptor
+{
+public:
+ OneWayDescriptor();
+ ~OneWayDescriptor();
+
+ // allocates memory for given descriptor parameters
+ void Allocate(int pose_count, CvSize size, int nChannels);
+
+ // GenerateSamples: generates affine transformed patches with averaging them over small transformation variations.
+ // If external poses and transforms were specified, uses them instead of generating random ones
+ // - pose_count: the number of poses to be generated
+ // - frontal: the input patch (can be a roi in a larger image)
+ // - norm: if nonzero, normalizes the output patch so that the sum of pixel intensities is 1
+ void GenerateSamples(int pose_count, IplImage* frontal, int norm = 0);
+
+ // GenerateSamplesFast: generates affine transformed patches with averaging them over small transformation variations.
+ // Uses precalculated transformed pca components.
+ // - frontal: the input patch (can be a roi in a larger image)
+ // - pca_hr_avg: pca average vector
+ // - pca_hr_eigenvectors: pca eigenvectors
+ // - pca_descriptors: an array of precomputed descriptors of pca components containing their affine transformations
+ // pca_descriptors[0] corresponds to the average, pca_descriptors[1]-pca_descriptors[pca_dim] correspond to eigenvectors
+ void GenerateSamplesFast(IplImage* frontal, CvMat* pca_hr_avg,
+ CvMat* pca_hr_eigenvectors, OneWayDescriptor* pca_descriptors);
+
+ // sets the poses and corresponding transforms
+ void SetTransforms(CvAffinePose* poses, CvMat** transforms);
+
+ // Initialize: builds a descriptor.
+ // - pose_count: the number of poses to build. If poses were set externally, uses them rather than generating random ones
+ // - frontal: input patch. Can be a roi in a larger image
+ // - feature_name: the feature name to be associated with the descriptor
+ // - norm: if 1, the affine transformed patches are normalized so that their sum is 1
+ void Initialize(int pose_count, IplImage* frontal, const char* feature_name = 0, int norm = 0);
+
+ // InitializeFast: builds a descriptor using precomputed descriptors of pca components
+ // - pose_count: the number of poses to build
+ // - frontal: input patch. Can be a roi in a larger image
+ // - feature_name: the feature name to be associated with the descriptor
+ // - pca_hr_avg: average vector for PCA
+ // - pca_hr_eigenvectors: PCA eigenvectors (one vector per row)
+ // - pca_descriptors: precomputed descriptors of PCA components, the first descriptor for the average vector
+ // followed by the descriptors for eigenvectors
+ void InitializeFast(int pose_count, IplImage* frontal, const char* feature_name,
+ CvMat* pca_hr_avg, CvMat* pca_hr_eigenvectors, OneWayDescriptor* pca_descriptors);
+
+ // ProjectPCASample: unwarps an image patch into a vector and projects it into PCA space
+ // - patch: input image patch
+ // - avg: PCA average vector
+ // - eigenvectors: PCA eigenvectors, one per row
+ // - pca_coeffs: output PCA coefficients
+ void ProjectPCASample(IplImage* patch, CvMat* avg, CvMat* eigenvectors, CvMat* pca_coeffs) const;
+
+ // InitializePCACoeffs: projects all warped patches into PCA space
+ // - avg: PCA average vector
+ // - eigenvectors: PCA eigenvectors, one per row
+ void InitializePCACoeffs(CvMat* avg, CvMat* eigenvectors);
+
+ // EstimatePose: finds the closest match between an input patch and a set of patches with different poses
+ // - patch: input image patch
+ // - pose_idx: the output index of the closest pose
+ // - distance: the distance to the closest pose (L2 distance)
+ void EstimatePose(IplImage* patch, int& pose_idx, float& distance) const;
+
+ // EstimatePosePCA: finds the closest match between an input patch and a set of patches with different poses.
+ // The distance between patches is computed in PCA space
+ // - patch: input image patch
+ // - pose_idx: the output index of the closest pose
+ // - distance: distance to the closest pose (L2 distance in PCA space)
+ // - avg: PCA average vector. If 0, matching without PCA is used
+ // - eigenvectors: PCA eigenvectors, one per row
+ void EstimatePosePCA(CvArr* patch, int& pose_idx, float& distance, CvMat* avg, CvMat* eigenvalues) const;
+
+ // GetPatchSize: returns the size of each image patch after warping (2 times smaller than the input patch)
+ CvSize GetPatchSize() const
+ {
+ return m_patch_size;
+ }
+
+ // GetInputPatchSize: returns the required size of the patch that the descriptor is built from
+ // (2 time larger than the patch after warping)
+ CvSize GetInputPatchSize() const
+ {
+ return cvSize(m_patch_size.width*2, m_patch_size.height*2);
+ }
+
+ // GetPatch: returns a patch corresponding to specified pose index
+ // - index: pose index
+ // - return value: the patch corresponding to specified pose index
+ IplImage* GetPatch(int index);
+
+ // GetPose: returns a pose corresponding to specified pose index
+ // - index: pose index
+ // - return value: the pose corresponding to specified pose index
+ CvAffinePose GetPose(int index) const;
+
+ // Save: saves all patches with different poses to a specified path
+ void Save(const char* path);
+
+ // ReadByName: reads a descriptor from a file storage
+ // - fs: file storage
+ // - parent: parent node
+ // - name: node name
+ // - return value: 1 if succeeded, 0 otherwise
+ int ReadByName(CvFileStorage* fs, CvFileNode* parent, const char* name);
+
+ // Write: writes a descriptor into a file storage
+ // - fs: file storage
+ // - name: node name
+ void Write(CvFileStorage* fs, const char* name);
+
+ // GetFeatureName: returns a name corresponding to a feature
+ const char* GetFeatureName() const;
+
+ // GetCenter: returns the center of the feature
+ CvPoint GetCenter() const;
+
+ void SetPCADimHigh(int pca_dim_high) {m_pca_dim_high = pca_dim_high;};
+ void SetPCADimLow(int pca_dim_low) {m_pca_dim_low = pca_dim_low;};
+
+ int GetPCADimLow() const;
+ int GetPCADimHigh() const;
+
+ CvMat** GetPCACoeffs() const {return m_pca_coeffs;}
+
+protected:
+ int m_pose_count; // the number of poses
+ CvSize m_patch_size; // size of each image
+ IplImage** m_samples; // an array of length m_pose_count containing the patch in different poses
+ IplImage* m_input_patch;
+ IplImage* m_train_patch;
+ CvMat** m_pca_coeffs; // an array of length m_pose_count containing pca decomposition of the patch in different poses
+ CvAffinePose* m_affine_poses; // an array of poses
+ CvMat** m_transforms; // an array of affine transforms corresponding to poses
+
+ std::string m_feature_name; // the name of the feature associated with the descriptor
+ CvPoint m_center; // the coordinates of the feature (the center of the input image ROI)
+
+ int m_pca_dim_high; // the number of descriptor pca components to use for generating affine poses
+ int m_pca_dim_low; // the number of pca components to use for comparison
+};
+
+
+// OneWayDescriptorBase: encapsulates functionality for training/loading a set of one way descriptors
+// and finding the nearest closest descriptor to an input feature
+class CV_EXPORTS OneWayDescriptorBase
+{
+public:
+
+ // creates an instance of OneWayDescriptor from a set of training files
+ // - patch_size: size of the input (large) patch
+ // - pose_count: the number of poses to generate for each descriptor
+ // - train_path: path to training files
+ // - pca_config: the name of the file that contains PCA for small patches (2 times smaller
+ // than patch_size each dimension
+ // - pca_hr_config: the name of the file that contains PCA for large patches (of patch_size size)
+ // - pca_desc_config: the name of the file that contains descriptors of PCA components
+ OneWayDescriptorBase(CvSize patch_size, int pose_count, const char* train_path = 0, const char* pca_config = 0,
+ const char* pca_hr_config = 0, const char* pca_desc_config = 0, int pyr_levels = 1,
+ int pca_dim_high = 100, int pca_dim_low = 100);
+
+ ~OneWayDescriptorBase();
+
+ // Allocate: allocates memory for a given number of descriptors
+ void Allocate(int train_feature_count);
+
+ // AllocatePCADescriptors: allocates memory for pca descriptors
+ void AllocatePCADescriptors();
+
+ // returns patch size
+ CvSize GetPatchSize() const {return m_patch_size;};
+ // returns the number of poses for each descriptor
+ int GetPoseCount() const {return m_pose_count;};
+
+ // returns the number of pyramid levels
+ int GetPyrLevels() const {return m_pyr_levels;};
+
+ // returns the number of descriptors
+ int GetDescriptorCount() const {return m_train_feature_count;};
+
+ // CreateDescriptorsFromImage: creates descriptors for each of the input features
+ // - src: input image
+ // - features: input features
+ // - pyr_levels: the number of pyramid levels
+ void CreateDescriptorsFromImage(IplImage* src, const std::vector<cv::KeyPoint>& features);
+
+ // CreatePCADescriptors: generates descriptors for PCA components, needed for fast generation of feature descriptors
+ void CreatePCADescriptors();
+
+ // returns a feature descriptor by feature index
+ const OneWayDescriptor* GetDescriptor(int desc_idx) const {return &m_descriptors[desc_idx];};
+
+ // FindDescriptor: finds the closest descriptor
+ // - patch: input image patch
+ // - desc_idx: output index of the closest descriptor to the input patch
+ // - pose_idx: output index of the closest pose of the closest descriptor to the input patch
+ // - distance: distance from the input patch to the closest feature pose
+ // - _scales: scales of the input patch for each descriptor
+ // - scale_ranges: input scales variation (float[2])
+ void FindDescriptor(IplImage* patch, int& desc_idx, int& pose_idx, float& distance, float* _scale = 0, float* scale_ranges = 0) const;
+
+ // - patch: input image patch
+ // - n: number of the closest indexes
+ // - desc_idxs: output indexes of the closest descriptor to the input patch (n)
+ // - pose_idx: output indexes of the closest pose of the closest descriptor to the input patch (n)
+ // - distances: distance from the input patch to the closest feature pose (n)
+ // - _scales: scales of the input patch
+ // - scale_ranges: input scales variation (float[2])
+ void FindDescriptor(IplImage* patch, int n, std::vector<int>& desc_idxs, std::vector<int>& pose_idxs,
+ std::vector<float>& distances, std::vector<float>& _scales, float* scale_ranges = 0) const;
+
+ // FindDescriptor: finds the closest descriptor
+ // - src: input image
+ // - pt: center of the feature
+ // - desc_idx: output index of the closest descriptor to the input patch
+ // - pose_idx: output index of the closest pose of the closest descriptor to the input patch
+ // - distance: distance from the input patch to the closest feature pose
+ void FindDescriptor(IplImage* src, cv::Point2f pt, int& desc_idx, int& pose_idx, float& distance) const;
+
+ // InitializePoses: generates random poses
+ void InitializePoses();
+
+ // InitializeTransformsFromPoses: generates 2x3 affine matrices from poses (initializes m_transforms)
+ void InitializeTransformsFromPoses();
+
+ // InitializePoseTransforms: subsequently calls InitializePoses and InitializeTransformsFromPoses
+ void InitializePoseTransforms();
+
+ // InitializeDescriptor: initializes a descriptor
+ // - desc_idx: descriptor index
+ // - train_image: image patch (ROI is supported)
+ // - feature_label: feature textual label
+ void InitializeDescriptor(int desc_idx, IplImage* train_image, const char* feature_label);
+
+ void InitializeDescriptor(int desc_idx, IplImage* train_image, const cv::KeyPoint& keypoint, const char* feature_label);
+
+ // InitializeDescriptors: load features from an image and create descriptors for each of them
+ void InitializeDescriptors(IplImage* train_image, const vector<cv::KeyPoint>& features,
+ const char* feature_label = "", int desc_start_idx = 0);
+
+ // LoadPCADescriptors: loads PCA descriptors from a file
+ // - filename: input filename
+ int LoadPCADescriptors(const char* filename);
+
+ // SavePCADescriptors: saves PCA descriptors to a file
+ // - filename: output filename
+ void SavePCADescriptors(const char* filename);
+
+ // SetPCAHigh: sets the high resolution pca matrices (copied to internal structures)
+ void SetPCAHigh(CvMat* avg, CvMat* eigenvectors);
+
+ // SetPCALow: sets the low resolution pca matrices (copied to internal structures)
+ void SetPCALow(CvMat* avg, CvMat* eigenvectors);
+
+ int GetLowPCA(CvMat** avg, CvMat** eigenvectors)
+ {
+ *avg = m_pca_avg;
+ *eigenvectors = m_pca_eigenvectors;
+ return m_pca_dim_low;
+ };
+
+ void ConvertDescriptorsArrayToTree(); // Converting pca_descriptors array to KD tree
+
+
+protected:
+ CvSize m_patch_size; // patch size
+ int m_pose_count; // the number of poses for each descriptor
+ int m_train_feature_count; // the number of the training features
+ OneWayDescriptor* m_descriptors; // array of train feature descriptors
+ CvMat* m_pca_avg; // PCA average Vector for small patches
+ CvMat* m_pca_eigenvectors; // PCA eigenvectors for small patches
+ CvMat* m_pca_hr_avg; // PCA average Vector for large patches
+ CvMat* m_pca_hr_eigenvectors; // PCA eigenvectors for large patches
+ OneWayDescriptor* m_pca_descriptors; // an array of PCA descriptors
+
+ cv::flann::Index* m_pca_descriptors_tree;
+ CvMat* m_pca_descriptors_matrix;
+
+ CvAffinePose* m_poses; // array of poses
+ CvMat** m_transforms; // array of affine transformations corresponding to poses
+
+ int m_pca_dim_high;
+ int m_pca_dim_low;
+
+ int m_pyr_levels;
+
+};
+
+class OneWayDescriptorObject : public OneWayDescriptorBase
+{
+public:
+ // creates an instance of OneWayDescriptorObject from a set of training files
+ // - patch_size: size of the input (large) patch
+ // - pose_count: the number of poses to generate for each descriptor
+ // - train_path: path to training files
+ // - pca_config: the name of the file that contains PCA for small patches (2 times smaller
+ // than patch_size each dimension
+ // - pca_hr_config: the name of the file that contains PCA for large patches (of patch_size size)
+ // - pca_desc_config: the name of the file that contains descriptors of PCA components
+ OneWayDescriptorObject(CvSize patch_size, int pose_count, const char* train_path, const char* pca_config,
+ const char* pca_hr_config = 0, const char* pca_desc_config = 0, int pyr_levels = 1);
+
+ ~OneWayDescriptorObject();
+
+ // Allocate: allocates memory for a given number of features
+ // - train_feature_count: the total number of features
+ // - object_feature_count: the number of features extracted from the object
+ void Allocate(int train_feature_count, int object_feature_count);
+
+
+ void SetLabeledFeatures(const vector<cv::KeyPoint>& features) {m_train_features = features;};
+ vector<cv::KeyPoint>& GetLabeledFeatures() {return m_train_features;};
+ const vector<cv::KeyPoint>& GetLabeledFeatures() const {return m_train_features;};
+ vector<cv::KeyPoint> _GetLabeledFeatures() const;
+
+ // IsDescriptorObject: returns 1 if descriptor with specified index is positive, otherwise 0
+ int IsDescriptorObject(int desc_idx) const;
+
+ // MatchPointToPart: returns the part number of a feature if it matches one of the object parts, otherwise -1
+ int MatchPointToPart(CvPoint pt) const;
+
+ // GetDescriptorPart: returns the part number of the feature corresponding to a specified descriptor
+ // - desc_idx: descriptor index
+ int GetDescriptorPart(int desc_idx) const;
+
+
+ void InitializeObjectDescriptors(IplImage* train_image, const vector<cv::KeyPoint>& features,
+ const char* feature_label, int desc_start_idx = 0, float scale = 1.0f,
+ int is_background = 0);
+
+ // GetObjectFeatureCount: returns the number of object features
+ int GetObjectFeatureCount() const {return m_object_feature_count;};
+
+protected:
+ int* m_part_id; // contains part id for each of object descriptors
+ vector<cv::KeyPoint> m_train_features; // train features
+ int m_object_feature_count; // the number of the positive features
+
+};
+
}
projects / opencv.git / blobdiff