Ferns object detector sample was added

git-svn-id: https://code.ros.org/svn/opencv/trunk@2835 73c94f0f-984f-4a5f-82bc-2d8db8d8ee08

diff --git a/opencv/samples/c/CMakeLists.txt b/opencv/samples/c/CMakeLists.txt
index 18a183e8b4b8a147dc8da6416e4dcac785c01511..ffc241ca0f933cebaedc2755f20218c988d4747c 100644 (file)
--- a/opencv/samples/c/CMakeLists.txt
+++ b/opencv/samples/c/CMakeLists.txt
@@ -69,7 +69,8 @@ if (BUILD_EXAMPLES)
     MY_DEFINE_EXAMPLE(calibration      calibration.cpp)\r
     MY_DEFINE_EXAMPLE(calibration_artificial calibration_artificial.cpp)\r
     MY_DEFINE_EXAMPLE(mser mser_sample.cpp)\r
-    MY_DEFINE_EXAMPLE(calonder calonder_sample.cpp)\r
+    MY_DEFINE_EXAMPLE(find_obj_calonder find_obj_calonder.cpp)\r
+    MY_DEFINE_EXAMPLE(find_obj_ferns find_obj_ferns.cpp)\r
 endif(BUILD_EXAMPLES)\r
 \r
 if (INSTALL_C_EXAMPLES AND NOT WIN32)\r

diff --git a/opencv/samples/c/calonder_sample.cpp b/opencv/samples/c/find_obj_calonder.cpp
similarity index 100%
rename from opencv/samples/c/calonder_sample.cpp
rename to opencv/samples/c/find_obj_calonder.cpp

diff --git a/opencv/samples/c/find_obj_ferns.cpp b/opencv/samples/c/find_obj_ferns.cpp
new file mode 100644 (file)
index 0000000..2d3c48d
--- /dev/null
+++ b/opencv/samples/c/find_obj_ferns.cpp
@@ -0,0 +1,143 @@
+#include <cv.h>
+#include <cvaux.h>
+#include <highgui.h>
+
+#include <algorithm>
+#include <iostream>
+#include <vector>
+
+using namespace cv;
+
+int main(int argc, char** argv)
+{
+    const char* object_filename = argc > 1 ? argv[1] : "box.png";
+    const char* scene_filename = argc > 2 ? argv[2] : "box_in_scene.png";
+    int i;
+    
+    cvNamedWindow("Object", 1);
+    cvNamedWindow("Image", 1);
+    cvNamedWindow("Object Correspondence", 1);
+    
+    Mat object = imread( object_filename, CV_LOAD_IMAGE_GRAYSCALE );
+    Mat image;
+    
+    double imgscale = 1;
+#if 1
+    Mat _image = imread( scene_filename, CV_LOAD_IMAGE_GRAYSCALE );
+    resize(_image, image, Size(), 1./imgscale, 1./imgscale, INTER_CUBIC);
+#else
+    image.create(cvRound(object.rows*2), cvRound(object.cols*2), CV_8U);
+    Mat M = getRotationMatrix2D(Point2f(object.cols*0.5f, object.rows*0.5f), -30, imgscale);
+    ((double*)M.data)[2] += (image.cols - object.cols)*0.5f;
+    ((double*)M.data)[5] += (image.rows - object.rows)*0.5f;
+    warpAffine(object, image, M, image.size(), INTER_LINEAR, BORDER_TRANSPARENT);
+#endif
+
+    if( !object.data || !image.data )
+    {
+        fprintf( stderr, "Can not load %s and/or %s\n"
+                "Usage: find_obj [<object_filename> <scene_filename>]\n",
+                object_filename, scene_filename );
+        exit(-1);
+    }
+
+    Size patchSize(32, 32);
+    LDetector ldetector(7, 20, 2, 2000, patchSize.width, 2);
+    ldetector.setVerbose(true);
+    PlanarObjectDetector detector;
+    
+    vector<Mat> objpyr, imgpyr;
+    int blurKSize = 3;
+    double sigma = 0;
+    GaussianBlur(object, object, Size(blurKSize, blurKSize), sigma, sigma);
+    GaussianBlur(image, image, Size(blurKSize, blurKSize), sigma, sigma);
+    buildPyramid(object, objpyr, ldetector.nOctaves-1);
+    buildPyramid(image, imgpyr, ldetector.nOctaves-1);
+    
+    vector<KeyPoint> objKeypoints, imgKeypoints;
+   // PatchGenerator gen(0,256,15,true,0.6,1.5,-CV_PI,CV_PI,-CV_PI,CV_PI);
+       PatchGenerator gen(0,256,5,true,0.8,1.2,-CV_PI/2,CV_PI/2,-CV_PI/2,CV_PI/2);
+    
+    FileStorage fs("outlet_model.xml", FileStorage::READ);
+    if( fs.isOpened() )
+    {
+        detector.read(fs.getFirstTopLevelNode());
+        FileStorage fs2("outlet_model_copy.xml", FileStorage::WRITE);
+        detector.write(fs2, "outlet-detector");
+    }
+    else
+    {
+        ldetector.setVerbose(true);
+        ldetector.getMostStable2D(object, objKeypoints, 100, gen);
+        detector.setVerbose(true);
+    
+        detector.train(objpyr, objKeypoints, patchSize.width, 100, 11, 10000, ldetector, gen);
+        if( fs.open("outlet_model.xml", FileStorage::WRITE) )
+            detector.write(fs, "outlet-detector");
+    }
+    fs.release();
+        
+    vector<Point2f> dst_corners;
+    Mat correspond( object.rows + image.rows, std::max(object.cols, image.cols), CV_8UC3);
+    correspond = Scalar(0.);
+    Mat part(correspond, Rect(0, 0, object.cols, object.rows));
+    cvtColor(object, part, CV_GRAY2BGR);
+    part = Mat(correspond, Rect(0, object.rows, image.cols, image.rows));
+    cvtColor(image, part, CV_GRAY2BGR);
+
+#if 1    
+    vector<int> pairs;
+    Mat H;
+    
+    double t = (double)getTickCount();
+    objKeypoints = detector.getModelPoints();
+//     ldetector(imgpyr, imgKeypoints, 3000);
+    ldetector(imgpyr, imgKeypoints, 300);
+    
+    std::cout << "Object keypoints: " << objKeypoints.size() << "\n";
+    std::cout << "Image keypoints: " << imgKeypoints.size() << "\n";
+    bool found = detector(imgpyr, imgKeypoints, H, dst_corners, &pairs);
+    t = (double)getTickCount() - t;
+    printf("%gms\n", t*1000/getTickFrequency());
+    
+    if( found )
+    {
+        for( i = 0; i < 4; i++ )
+        {
+            Point r1 = dst_corners[i%4];
+            Point r2 = dst_corners[(i+1)%4];
+            line( correspond, Point(r1.x, r1.y+object.rows),
+                 Point(r2.x, r2.y+object.rows), Scalar(0,0,255) );
+        }
+    }
+    
+    for( i = 0; i < (int)pairs.size(); i += 2 )
+    {
+        line( correspond, objKeypoints[pairs[i]].pt,
+             imgKeypoints[pairs[i+1]].pt + Point2f(0,object.rows),
+             Scalar(0,255,0) );
+    }
+#endif
+    
+    imshow( "Object Correspondence", correspond );
+    Mat objectColor;
+    cvtColor(object, objectColor, CV_GRAY2BGR);
+    for( i = 0; i < (int)objKeypoints.size(); i++ )
+    {
+        circle( objectColor, objKeypoints[i].pt, 2, Scalar(0,0,255), -1 );
+        circle( objectColor, objKeypoints[i].pt, (1 << objKeypoints[i].octave)*15, Scalar(0,255,0), 1 );
+    }
+    Mat imageColor;
+    cvtColor(image, imageColor, CV_GRAY2BGR);
+    for( i = 0; i < (int)imgKeypoints.size(); i++ )
+    {
+        circle( imageColor, imgKeypoints[i].pt, 2, Scalar(0,0,255), -1 );
+        circle( imageColor, imgKeypoints[i].pt, (1 << imgKeypoints[i].octave)*15, Scalar(0,255,0), 1 );
+    }
+    imwrite("correspond.png", correspond );
+    imshow( "Object", objectColor );
+    imshow( "Image", imageColor );
+    
+    waitKey(0);
+    return 0;
+}