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removed contrib, legacy and softcsscade modules; removed latentsvm and datamatrix detector from objdetect. removed haartraining and sft apps.

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some of the stuff will be moved to opencv_contrib module.
in order to make this PR pass buildbot, please, comment off opencv_legacy, opencv_contrib and opencv_softcascade test runs.
This commit is contained in:
Vadim Pisarevsky
2014-06-24 19:18:51 +04:00
parent 6d4c4dcd94
commit 3858f2291d
398 changed files with 12 additions and 150885 deletions
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6
samples/cpp/CMakeLists.txt
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@@ -3,9 +3,9 @@
#
# ----------------------------------------------------------------------------
SET(OPENCV_CPP_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc
opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_photo opencv_nonfree opencv_softcascade
opencv_features2d opencv_calib3d opencv_legacy opencv_contrib opencv_stitching opencv_videostab opencv_shape)
SET(OPENCV_CPP_SAMPLES_REQUIRED_DEPS opencv_core opencv_imgproc opencv_flann
opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_photo opencv_nonfree
opencv_features2d opencv_calib3d opencv_stitching opencv_videostab opencv_shape)
ocv_check_dependencies(${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})

12
samples/cpp/Qt_sample/CMakeLists.txt
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#http://www.cmake.org/cmake/help/cmake2.6docs.html
cmake_minimum_required (VERSION 2.6)
project (OpenGL_Qt_Binding)
FIND_PACKAGE( OpenCV REQUIRED )
find_package (OpenGL REQUIRED)
ADD_EXECUTABLE(OpenGL_Qt_Binding qt_opengl.cpp)
TARGET_LINK_LIBRARIES(OpenGL_Qt_Binding ${OpenCV_LIBS} ${OPENGL_LIBRARIES} )
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cube4.avi ${CMAKE_CURRENT_BINARY_DIR}/cube4.avi COPYONLY)

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samples/cpp/Qt_sample/qt_opengl.cpp
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// Yannick Verdie 2010
// --- Please read help() below: ---
#include <iostream>
#include <vector>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/calib3d/calib3d_c.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/legacy/compat.hpp>
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif
using namespace std;
using namespace cv;
static void help()
{
cout << "This demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
"and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
"It works off of the video: cube4.avi\n"
"Using OpenCV version " << CV_VERSION << "\n\n"
" 1) This demo is mainly based on work from Javier Barandiaran Martirena\n"
" See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n"
" 2) This is a demo to illustrate how to use **OpenGL Callback**.\n"
" 3) You need Qt binding to compile this sample with OpenGL support enabled.\n"
" 4) The features' detection is very basic and could highly be improved\n"
" (basic thresholding tuned for the specific video) but 2).\n"
" 5) Thanks to Google Summer of Code 2010 for supporting this work!\n" << endl;
}
#define FOCAL_LENGTH 600
#define CUBE_SIZE 0.5
static void renderCube(float size)
{
glBegin(GL_QUADS);
// Front Face
glNormal3f( 0.0f, 0.0f, 1.0f);
glVertex3f( 0.0f, 0.0f, 0.0f);
glVertex3f( size, 0.0f, 0.0f);
glVertex3f( size, size, 0.0f);
glVertex3f( 0.0f, size, 0.0f);
// Back Face
glNormal3f( 0.0f, 0.0f,-1.0f);
glVertex3f( 0.0f, 0.0f, size);
glVertex3f( 0.0f, size, size);
glVertex3f( size, size, size);
glVertex3f( size, 0.0f, size);
// Top Face
glNormal3f( 0.0f, 1.0f, 0.0f);
glVertex3f( 0.0f, size, 0.0f);
glVertex3f( size, size, 0.0f);
glVertex3f( size, size, size);
glVertex3f( 0.0f, size, size);
// Bottom Face
glNormal3f( 0.0f,-1.0f, 0.0f);
glVertex3f( 0.0f, 0.0f, 0.0f);
glVertex3f( 0.0f, 0.0f, size);
glVertex3f( size, 0.0f, size);
glVertex3f( size, 0.0f, 0.0f);
// Right face
glNormal3f( 1.0f, 0.0f, 0.0f);
glVertex3f( size, 0.0f, 0.0f);
glVertex3f( size, 0.0f, size);
glVertex3f( size, size, size);
glVertex3f( size, size, 0.0f);
// Left Face
glNormal3f(-1.0f, 0.0f, 0.0f);
glVertex3f( 0.0f, 0.0f, 0.0f);
glVertex3f( 0.0f, size, 0.0f);
glVertex3f( 0.0f, size, size);
glVertex3f( 0.0f, 0.0f, size);
glEnd();
}
static void on_opengl(void* param)
{
//Draw the object with the estimated pose
glLoadIdentity();
glScalef( 1.0f, 1.0f, -1.0f);
glMultMatrixf( (float*)param );
glEnable( GL_LIGHTING );
glEnable( GL_LIGHT0 );
glEnable( GL_BLEND );
glBlendFunc(GL_SRC_ALPHA, GL_ONE);
renderCube( CUBE_SIZE );
glDisable(GL_BLEND);
glDisable( GL_LIGHTING );
}
static void initPOSIT(std::vector<CvPoint3D32f> * modelPoints)
{
// Create the model pointss
modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); // The first must be (0, 0, 0)
modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));
modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
}
static void foundCorners(vector<CvPoint2D32f> * srcImagePoints, const Mat & source, Mat & grayImage)
{
cvtColor(source, grayImage, COLOR_RGB2GRAY);
GaussianBlur(grayImage, grayImage, Size(11, 11), 0, 0);
normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
Mat MgrayImage = grayImage;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
Point p;
vector<CvPoint2D32f> srcImagePoints_temp(4, cvPoint2D32f(0, 0));
if (contours.size() == srcImagePoints_temp.size())
{
for (size_t i = 0; i < contours.size(); i++ )
{
p.x = p.y = 0;
for (size_t j = 0 ; j < contours[i].size(); j++)
p += contours[i][j];
srcImagePoints_temp.at(i) = cvPoint2D32f(float(p.x) / contours[i].size(), float(p.y) / contours[i].size());
}
// Need to keep the same order
// > y = 0
// > x = 1
// < x = 2
// < y = 3
// get point 0;
size_t index = 0;
for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
index = i;
srcImagePoints->at(0) = srcImagePoints_temp.at(index);
// get point 1;
index = 0;
for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
index = i;
srcImagePoints->at(1) = srcImagePoints_temp.at(index);
// get point 2;
index = 0;
for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
index = i;
srcImagePoints->at(2) = srcImagePoints_temp.at(index);
// get point 3;
index = 0;
for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
index = i;
srcImagePoints->at(3) = srcImagePoints_temp.at(index);
Mat Msource = source;
stringstream ss;
for (size_t i = 0; i<srcImagePoints_temp.size(); i++ )
{
ss << i;
circle(Msource, srcImagePoints->at(i), 5, Scalar(0, 0, 255));
putText(Msource, ss.str(), srcImagePoints->at(i), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255));
ss.str("");
// new coordinate system in the middle of the frame and reversed (camera coordinate system)
srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x - source.cols / 2,
source.rows / 2 - srcImagePoints_temp.at(i).y);
}
}
}
static void createOpenGLMatrixFrom(float * posePOSIT, const CvMatr32f & rotationMatrix,
const CvVect32f & translationVector)
{
// coordinate system returned is relative to the first 3D input point
for (int f = 0; f < 3; f++)
for (int c = 0; c < 3; c++)
posePOSIT[c * 4 + f] = rotationMatrix[f * 3 + c]; // transposed
posePOSIT[3] = translationVector[0];
posePOSIT[7] = translationVector[1];
posePOSIT[11] = translationVector[2];
posePOSIT[12] = 0.0f;
posePOSIT[13] = 0.0f;
posePOSIT[14] = 0.0f;
posePOSIT[15] = 1.0f;
}
int main(void)
{
help();
string fileName = "cube4.avi";
VideoCapture video(fileName);
if (!video.isOpened())
{
cerr << "Video file " << fileName << " could not be opened" << endl;
return EXIT_FAILURE;
}
Mat source, grayImage;
video >> source;
namedWindow("Original", WINDOW_AUTOSIZE | WINDOW_FREERATIO);
namedWindow("POSIT", WINDOW_OPENGL | WINDOW_FREERATIO);
resizeWindow("POSIT", source.cols, source.rows);
displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear).\n"
"This demo is only to illustrate how to use OpenGL callback.\n"
" -- Press ESC to exit.", 10000);
float OpenGLMatrix[] = { 0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0 };
setOpenGlContext("POSIT");
setOpenGlDrawCallback("POSIT", on_opengl, OpenGLMatrix);
vector<CvPoint3D32f> modelPoints;
initPOSIT(&modelPoints);
// Create the POSIT object with the model points
CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size());
CvMatr32f rotation_matrix = new float[9];
CvVect32f translation_vector = new float[3];
CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1e-4f);
vector<CvPoint2D32f> srcImagePoints(4, cvPoint2D32f(0, 0));
while (waitKey(33) != 27)
{
video >> source;
if (source.empty())
break;
imshow("Original", source);
foundCorners(&srcImagePoints, source, grayImage);
cvPOSIT(positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector);
createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector);
updateWindow("POSIT");
if (video.get(CAP_PROP_POS_AVI_RATIO) > 0.99)
video.set(CAP_PROP_POS_AVI_RATIO, 0);
}
setOpenGlDrawCallback("POSIT", NULL, NULL);
destroyAllWindows();
cvReleasePOSITObject(&positObject);
delete[]rotation_matrix;
delete[]translation_vector;
return EXIT_SUCCESS;
}

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samples/cpp/bagofwords_classification.cpp
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#include "opencv2/features2d/features2d.hpp"
#include "opencv2/nonfree/nonfree.hpp"
#include "opencv2/ml/ml.hpp"
#ifdef HAVE_OPENCV_OCL
#define _OCL_SVM_ 1 //select whether using ocl::svm method or not, default is using
#include "opencv2/ocl/ocl.hpp"
#endif
#include <fstream>
#include <iostream>
@@ -2378,15 +2374,9 @@ static void setSVMTrainAutoParams( CvParamGrid& c_grid, CvParamGrid& gamma_grid,
degree_grid.step = 0;
}
#if defined HAVE_OPENCV_OCL && _OCL_SVM_
static void trainSVMClassifier( cv::ocl::CvSVM_OCL& svm, const SVMTrainParamsExt& svmParamsExt, const string& objClassName, VocData& vocData,
Ptr<BOWImgDescriptorExtractor>& bowExtractor, const Ptr<FeatureDetector>& fdetector,
const string& resPath )
#else
static void trainSVMClassifier( CvSVM& svm, const SVMTrainParamsExt& svmParamsExt, const string& objClassName, VocData& vocData,
Ptr<BOWImgDescriptorExtractor>& bowExtractor, const Ptr<FeatureDetector>& fdetector,
const string& resPath )
#endif
{
/* first check if a previously trained svm for the current class has been saved to file */
string svmFilename = resPath + svmsDir + "/" + objClassName + ".xml.gz";
@@ -2459,15 +2449,9 @@ static void trainSVMClassifier( CvSVM& svm, const SVMTrainParamsExt& svmParamsEx
}
}
#if defined HAVE_OPENCV_OCL && _OCL_SVM_
static void computeConfidences( cv::ocl::CvSVM_OCL& svm, const string& objClassName, VocData& vocData,
Ptr<BOWImgDescriptorExtractor>& bowExtractor, const Ptr<FeatureDetector>& fdetector,
const string& resPath )
#else
static void computeConfidences( CvSVM& svm, const string& objClassName, VocData& vocData,
Ptr<BOWImgDescriptorExtractor>& bowExtractor, const Ptr<FeatureDetector>& fdetector,
const string& resPath )
#endif
{
cout << "*** CALCULATING CONFIDENCES FOR CLASS " << objClassName << " ***" << endl;
cout << "CALCULATING BOW VECTORS FOR TEST SET OF " << objClassName << "..." << endl;
@@ -2606,11 +2590,7 @@ int main(int argc, char** argv)
for( size_t classIdx = 0; classIdx < objClasses.size(); ++classIdx )
{
// Train a classifier on train dataset
#if defined HAVE_OPENCV_OCL && _OCL_SVM_
cv::ocl::CvSVM_OCL svm;
#else
CvSVM svm;
#endif
trainSVMClassifier( svm, svmTrainParamsExt, objClasses[classIdx], vocData,
bowExtractor, featureDetector, resPath );

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samples/cpp/brief_match_test.cpp
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/*
* matching_test.cpp
*
* Created on: Oct 17, 2010
* Author: ethan
*/
#include "opencv2/core.hpp"
#include <opencv2/core/utility.hpp>
#include "opencv2/calib3d.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include <vector>
#include <iostream>
using namespace cv;
using namespace std;
//Copy (x,y) location of descriptor matches found from KeyPoint data structures into Point2f vectors
static void matches2points(const vector<DMatch>& matches, const vector<KeyPoint>& kpts_train,
const vector<KeyPoint>& kpts_query, vector<Point2f>& pts_train, vector<Point2f>& pts_query)
{
pts_train.clear();
pts_query.clear();
pts_train.reserve(matches.size());
pts_query.reserve(matches.size());
for (size_t i = 0; i < matches.size(); i++)
{
const DMatch& match = matches[i];
pts_query.push_back(kpts_query[match.queryIdx].pt);
pts_train.push_back(kpts_train[match.trainIdx].pt);
}
}
static double match(const vector<KeyPoint>& /*kpts_train*/, const vector<KeyPoint>& /*kpts_query*/, DescriptorMatcher& matcher,
const Mat& train, const Mat& query, vector<DMatch>& matches)
{
double t = (double)getTickCount();
matcher.match(query, train, matches); //Using features2d
return ((double)getTickCount() - t) / getTickFrequency();
}
static void help()
{
cout << "This program shows how to use BRIEF descriptor to match points in features2d" << endl <<
"It takes in two images, finds keypoints and matches them displaying matches and final homography warped results" << endl <<
"Usage: " << endl <<
"image1 image2 " << endl <<
"Example: " << endl <<
"box.png box_in_scene.png " << endl;
}
const char* keys =
{
"{@first_image | box.png | the first image}"
"{@second_image | box_in_scene.png | the second image}"
};
int main(int argc, const char ** argv)
{
help();
CommandLineParser parser(argc, argv, keys);
string im1_name = parser.get<string>(0);
string im2_name = parser.get<string>(1);
Mat im1 = imread(im1_name, IMREAD_GRAYSCALE);
Mat im2 = imread(im2_name, IMREAD_GRAYSCALE);
if (im1.empty() || im2.empty())
{
cout << "could not open one of the images..." << endl;
cout << "the cmd parameters have next current value: " << endl;
parser.printMessage();
return 1;
}
double t = (double)getTickCount();
FastFeatureDetector detector(50);
BriefDescriptorExtractor extractor(32); //this is really 32 x 8 matches since they are binary matches packed into bytes
vector<KeyPoint> kpts_1, kpts_2;
detector.detect(im1, kpts_1);
detector.detect(im2, kpts_2);
t = ((double)getTickCount() - t) / getTickFrequency();
cout << "found " << kpts_1.size() << " keypoints in " << im1_name << endl << "fount " << kpts_2.size()
<< " keypoints in " << im2_name << endl << "took " << t << " seconds." << endl;
Mat desc_1, desc_2;
cout << "computing descriptors..." << endl;
t = (double)getTickCount();
extractor.compute(im1, kpts_1, desc_1);
extractor.compute(im2, kpts_2, desc_2);
t = ((double)getTickCount() - t) / getTickFrequency();
cout << "done computing descriptors... took " << t << " seconds" << endl;
//Do matching using features2d
cout << "matching with BruteForceMatcher<Hamming>" << endl;
BFMatcher matcher_popcount(extractor.defaultNorm());
vector<DMatch> matches_popcount;
double pop_time = match(kpts_1, kpts_2, matcher_popcount, desc_1, desc_2, matches_popcount);
cout << "done BruteForceMatcher<Hamming> matching. took " << pop_time << " seconds" << endl;
vector<Point2f> mpts_1, mpts_2;
matches2points(matches_popcount, kpts_1, kpts_2, mpts_1, mpts_2); //Extract a list of the (x,y) location of the matches
vector<char> outlier_mask;
Mat H = findHomography(mpts_2, mpts_1, RANSAC, 1, outlier_mask);
Mat outimg;
drawMatches(im2, kpts_2, im1, kpts_1, matches_popcount, outimg, Scalar::all(-1), Scalar::all(-1), outlier_mask);
imshow("matches - popcount - outliers removed", outimg);
Mat warped;
Mat diff;
warpPerspective(im2, warped, H, im1.size());
imshow("warped", warped);
absdiff(im1,warped,diff);
imshow("diff", diff);
waitKey();
return 0;
}

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#include "opencv2/core.hpp"
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/highgui.hpp"
#include <map>
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
using namespace cv;
using namespace std;
static void help()
{
printf("\nSigh: This program is not complete/will be replaced. \n"
"So: Use this just to see hints of how to use things like Rodrigues\n"
" conversions, finding the fundamental matrix, using descriptor\n"
" finding and matching in features2d and using camera parameters\n"
"Usage: build3dmodel -i <intrinsics_filename>\n"
"\t[-d <detector>] [-de <descriptor_extractor>] -m <model_name>\n\n");
return;
}
static bool readCameraMatrix(const string& filename,
Mat& cameraMatrix, Mat& distCoeffs,
Size& calibratedImageSize )
{
FileStorage fs(filename, FileStorage::READ);
fs["image_width"] >> calibratedImageSize.width;
fs["image_height"] >> calibratedImageSize.height;
fs["distortion_coefficients"] >> distCoeffs;
fs["camera_matrix"] >> cameraMatrix;
if( distCoeffs.type() != CV_64F )
distCoeffs = Mat_<double>(distCoeffs);
if( cameraMatrix.type() != CV_64F )
cameraMatrix = Mat_<double>(cameraMatrix);
return true;
}
static bool readModelViews( const string& filename, vector<Point3f>& box,
vector<string>& imagelist,
vector<Rect>& roiList, vector<Vec6f>& poseList )
{
imagelist.resize(0);
roiList.resize(0);
poseList.resize(0);
box.resize(0);
FileStorage fs(filename, FileStorage::READ);
if( !fs.isOpened() )
return false;
fs["box"] >> box;
FileNode all = fs["views"];
if( all.type() != FileNode::SEQ )
return false;
FileNodeIterator it = all.begin(), it_end = all.end();
for(; it != it_end; ++it)
{
FileNode n = *it;
imagelist.push_back((string)n["image"]);
FileNode nr = n["roi"];
roiList.push_back(Rect((int)nr[0], (int)nr[1], (int)nr[2], (int)nr[3]));
FileNode np = n["pose"];
poseList.push_back(Vec6f((float)np[0], (float)np[1], (float)np[2],
(float)np[3], (float)np[4], (float)np[5]));
}
return true;
}
struct PointModel
{
vector<Point3f> points;
vector<vector<int> > didx;
Mat descriptors;
string name;
};
static void writeModel(const string& modelFileName, const string& modelname,
const PointModel& model)
{
FileStorage fs(modelFileName, FileStorage::WRITE);
fs << modelname << "{" <<
"points" << "[:" << model.points << "]" <<
"idx" << "[:";
for( size_t i = 0; i < model.didx.size(); i++ )
fs << "[:" << model.didx[i] << "]";
fs << "]" << "descriptors" << model.descriptors;
}
static void unpackPose(const Vec6f& pose, Mat& R, Mat& t)
{
Mat rvec = (Mat_<double>(3,1) << pose[0], pose[1], pose[2]);
t = (Mat_<double>(3,1) << pose[3], pose[4], pose[5]);
Rodrigues(rvec, R);
}
static Mat getFundamentalMat( const Mat& R1, const Mat& t1,
const Mat& R2, const Mat& t2,
const Mat& cameraMatrix )
{
Mat_<double> R = R2*R1.t(), t = t2 - R*t1;
double tx = t.at<double>(0,0), ty = t.at<double>(1,0), tz = t.at<double>(2,0);
Mat E = (Mat_<double>(3,3) << 0, -tz, ty, tz, 0, -tx, -ty, tx, 0)*R;
Mat iK = cameraMatrix.inv();
Mat F = iK.t()*E*iK;
#if 0
static bool checked = false;
if(!checked)
{
vector<Point3f> objpoints(100);
Mat O(objpoints);
randu(O, Scalar::all(-10), Scalar::all(10));
vector<Point2f> imgpoints1, imgpoints2;
projectPoints(Mat(objpoints), R1, t1, cameraMatrix, Mat(), imgpoints1);
projectPoints(Mat(objpoints), R2, t2, cameraMatrix, Mat(), imgpoints2);
double* f = (double*)F.data;
for( size_t i = 0; i < objpoints.size(); i++ )
{
Point2f p1 = imgpoints1[i], p2 = imgpoints2[i];
double diff = p2.x*(f[0]*p1.x + f[1]*p1.y + f[2]) +
p2.y*(f[3]*p1.x + f[4]*p1.y + f[5]) +
f[6]*p1.x + f[7]*p1.y + f[8];
CV_Assert(fabs(diff) < 1e-3);
}
checked = true;
}
#endif
return F;
}
static void findConstrainedCorrespondences(const Mat& _F,
const vector<KeyPoint>& keypoints1,
const vector<KeyPoint>& keypoints2,
const Mat& descriptors1,
const Mat& descriptors2,
vector<Vec2i>& matches,
double eps, double ratio)
{
float F[9]={0};
int dsize = descriptors1.cols;
Mat Fhdr = Mat(3, 3, CV_32F, F);
_F.convertTo(Fhdr, CV_32F);
matches.clear();
for( int i = 0; i < (int)keypoints1.size(); i++ )
{
Point2f p1 = keypoints1[i].pt;
double bestDist1 = DBL_MAX, bestDist2 = DBL_MAX;
int bestIdx1 = -1;//, bestIdx2 = -1;
const float* d1 = descriptors1.ptr<float>(i);
for( int j = 0; j < (int)keypoints2.size(); j++ )
{
Point2f p2 = keypoints2[j].pt;
double e = p2.x*(F[0]*p1.x + F[1]*p1.y + F[2]) +
p2.y*(F[3]*p1.x + F[4]*p1.y + F[5]) +
F[6]*p1.x + F[7]*p1.y + F[8];
if( fabs(e) > eps )
continue;
const float* d2 = descriptors2.ptr<float>(j);
double dist = 0;
int k = 0;
for( ; k <= dsize - 8; k += 8 )
{
float t0 = d1[k] - d2[k], t1 = d1[k+1] - d2[k+1];
float t2 = d1[k+2] - d2[k+2], t3 = d1[k+3] - d2[k+3];
float t4 = d1[k+4] - d2[k+4], t5 = d1[k+5] - d2[k+5];
float t6 = d1[k+6] - d2[k+6], t7 = d1[k+7] - d2[k+7];
dist += t0*t0 + t1*t1 + t2*t2 + t3*t3 +
t4*t4 + t5*t5 + t6*t6 + t7*t7;
if( dist >= bestDist2 )
break;
}
if( dist < bestDist2 )
{
for( ; k < dsize; k++ )
{
float t = d1[k] - d2[k];
dist += t*t;
}
if( dist < bestDist1 )
{
bestDist2 = bestDist1;
//bestIdx2 = bestIdx1;
bestDist1 = dist;
bestIdx1 = (int)j;
}
else if( dist < bestDist2 )
{
bestDist2 = dist;
//bestIdx2 = (int)j;
}
}
}
if( bestIdx1 >= 0 && bestDist1 < bestDist2*ratio )
{
Point2f p2 = keypoints1[bestIdx1].pt;
double e = p2.x*(F[0]*p1.x + F[1]*p1.y + F[2]) +
p2.y*(F[3]*p1.x + F[4]*p1.y + F[5]) +
F[6]*p1.x + F[7]*p1.y + F[8];
if( e > eps*0.25 )
continue;
double threshold = bestDist1/ratio;
const float* d22 = descriptors2.ptr<float>(bestIdx1);
int i1 = 0;
for( ; i1 < (int)keypoints1.size(); i1++ )
{
if( i1 == i )
continue;
Point2f pt1 = keypoints1[i1].pt;
const float* d11 = descriptors1.ptr<float>(i1);
double dist = 0;
e = p2.x*(F[0]*pt1.x + F[1]*pt1.y + F[2]) +
p2.y*(F[3]*pt1.x + F[4]*pt1.y + F[5]) +
F[6]*pt1.x + F[7]*pt1.y + F[8];
if( fabs(e) > eps )
continue;
for( int k = 0; k < dsize; k++ )
{
float t = d11[k] - d22[k];
dist += t*t;
if( dist >= threshold )
break;
}
if( dist < threshold )
break;
}
if( i1 == (int)keypoints1.size() )
matches.push_back(Vec2i(i,bestIdx1));
}
}
}
static Point3f findRayIntersection(Point3f k1, Point3f b1, Point3f k2, Point3f b2)
{
float a[4], b[2], x[2];
a[0] = k1.dot(k1);
a[1] = a[2] = -k1.dot(k2);
a[3] = k2.dot(k2);
b[0] = k1.dot(b2 - b1);
b[1] = k2.dot(b1 - b2);
Mat_<float> A(2, 2, a), B(2, 1, b), X(2, 1, x);
solve(A, B, X);
float s1 = X.at<float>(0, 0);
float s2 = X.at<float>(1, 0);
return (k1*s1 + b1 + k2*s2 + b2)*0.5f;
}
static Point3f triangulatePoint(const vector<Point2f>& ps,
const vector<Mat>& Rs,
const vector<Mat>& ts,
const Mat& cameraMatrix)
{
Mat_<double> K(cameraMatrix);
/*if( ps.size() > 2 )
{
Mat_<double> L(ps.size()*3, 4), U, evalues;
Mat_<double> P(3,4), Rt(3,4), Rt_part1=Rt.colRange(0,3), Rt_part2=Rt.colRange(3,4);
for( size_t i = 0; i < ps.size(); i++ )
{
double x = ps[i].x, y = ps[i].y;
Rs[i].convertTo(Rt_part1, Rt_part1.type());
ts[i].convertTo(Rt_part2, Rt_part2.type());
P = K*Rt;
for( int k = 0; k < 4; k++ )
{
L(i*3, k) = x*P(2,k) - P(0,k);
L(i*3+1, k) = y*P(2,k) - P(1,k);
L(i*3+2, k) = x*P(1,k) - y*P(0,k);
}
}
eigen(L.t()*L, evalues, U);
CV_Assert(evalues(0,0) >= evalues(3,0));
double W = fabs(U(3,3)) > FLT_EPSILON ? 1./U(3,3) : 0;
return Point3f((float)(U(3,0)*W), (float)(U(3,1)*W), (float)(U(3,2)*W));
}
else*/
{
Mat_<float> iK = K.inv();
Mat_<float> R1t = Mat_<float>(Rs[0]).t();
Mat_<float> R2t = Mat_<float>(Rs[1]).t();
Mat_<float> m1 = (Mat_<float>(3,1) << ps[0].x, ps[0].y, 1);
Mat_<float> m2 = (Mat_<float>(3,1) << ps[1].x, ps[1].y, 1);
Mat_<float> K1 = R1t*(iK*m1), K2 = R2t*(iK*m2);
Mat_<float> B1 = -R1t*Mat_<float>(ts[0]);
Mat_<float> B2 = -R2t*Mat_<float>(ts[1]);
return findRayIntersection(*K1.ptr<Point3f>(), *B1.ptr<Point3f>(),
*K2.ptr<Point3f>(), *B2.ptr<Point3f>());
}
}
static void triangulatePoint_test(void)
{
int i, n = 100;
vector<Point3f> objpt(n), delta1(n), delta2(n);
Mat rvec1(3,1,CV_32F), tvec1(3,1,CV_64F);
Mat rvec2(3,1,CV_32F), tvec2(3,1,CV_64F);
Mat objptmat(objpt), deltamat1(delta1), deltamat2(delta2);
randu(rvec1, Scalar::all(-10), Scalar::all(10));
randu(tvec1, Scalar::all(-10), Scalar::all(10));
randu(rvec2, Scalar::all(-10), Scalar::all(10));
randu(tvec2, Scalar::all(-10), Scalar::all(10));
randu(objptmat, Scalar::all(-10), Scalar::all(10));
double eps = 1e-2;
randu(deltamat1, Scalar::all(-eps), Scalar::all(eps));
randu(deltamat2, Scalar::all(-eps), Scalar::all(eps));
vector<Point2f> imgpt1, imgpt2;
Mat_<float> cameraMatrix(3,3);
double fx = 1000., fy = 1010., cx = 400.5, cy = 300.5;
cameraMatrix << fx, 0, cx, 0, fy, cy, 0, 0, 1;
projectPoints(Mat(objpt)+Mat(delta1), rvec1, tvec1, cameraMatrix, Mat(), imgpt1);
projectPoints(Mat(objpt)+Mat(delta2), rvec2, tvec2, cameraMatrix, Mat(), imgpt2);
vector<Point3f> objptt(n);
vector<Point2f> pts(2);
vector<Mat> Rv(2), tv(2);
Rodrigues(rvec1, Rv[0]);
Rodrigues(rvec2, Rv[1]);
tv[0] = tvec1; tv[1] = tvec2;
for( i = 0; i < n; i++ )
{
pts[0] = imgpt1[i]; pts[1] = imgpt2[i];
objptt[i] = triangulatePoint(pts, Rv, tv, cameraMatrix);
}
double err = norm(Mat(objpt), Mat(objptt), NORM_INF);
CV_Assert(err < 1e-1);
}
typedef pair<int, int> Pair2i;
typedef map<Pair2i, int> Set2i;
struct EqKeypoints
{
EqKeypoints(const vector<int>* _dstart, const Set2i* _pairs)
: dstart(_dstart), pairs(_pairs) {}
bool operator()(const Pair2i& a, const Pair2i& b) const
{
return pairs->find(Pair2i(dstart->at(a.first) + a.second,
dstart->at(b.first) + b.second)) != pairs->end();
}
const vector<int>* dstart;
const Set2i* pairs;
};
template<typename _Tp, class _EqPredicate> static
int partition( const std::vector<_Tp>& _vec, std::vector<int>& labels,
_EqPredicate predicate=_EqPredicate())
{
int i, j, N = (int)_vec.size();
const _Tp* vec = &_vec[0];
const int PARENT=0;
const int RANK=1;
std::vector<int> _nodes(N*2);
int (*nodes)[2] = (int(*)[2])&_nodes[0];
// The first O(N) pass: create N single-vertex trees
for(i = 0; i < N; i++)
{
nodes[i][PARENT]=-1;
nodes[i][RANK] = 0;
}
// The main O(N^2) pass: merge connected components
for( i = 0; i < N; i++ )
{
int root = i;
// find root
while( nodes[root][PARENT] >= 0 )
root = nodes[root][PARENT];
for( j = 0; j < N; j++ )
{
if( i == j || !predicate(vec[i], vec[j]))
continue;
int root2 = j;
while( nodes[root2][PARENT] >= 0 )
root2 = nodes[root2][PARENT];
if( root2 != root )
{
// unite both trees
int rank = nodes[root][RANK], rank2 = nodes[root2][RANK];
if( rank > rank2 )
nodes[root2][PARENT] = root;
else
{
nodes[root][PARENT] = root2;
nodes[root2][RANK] += rank == rank2;
root = root2;
}
CV_Assert( nodes[root][PARENT] < 0 );
int k = j, parent;
// compress the path from node2 to root
while( (parent = nodes[k][PARENT]) >= 0 )
{
nodes[k][PARENT] = root;
k = parent;
}
// compress the path from node to root
k = i;
while( (parent = nodes[k][PARENT]) >= 0 )
{
nodes[k][PARENT] = root;
k = parent;
}
}
}
}
// Final O(N) pass: enumerate classes
labels.resize(N);
int nclasses = 0;
for( i = 0; i < N; i++ )
{
int root = i;
while( nodes[root][PARENT] >= 0 )
root = nodes[root][PARENT];
// re-use the rank as the class label
if( nodes[root][RANK] >= 0 )
nodes[root][RANK] = ~nclasses++;
labels[i] = ~nodes[root][RANK];
}
return nclasses;
}
static void build3dmodel( const Ptr<FeatureDetector>& detector,
const Ptr<DescriptorExtractor>& descriptorExtractor,
const vector<Point3f>& /*modelBox*/,
const vector<string>& imageList,
const vector<Rect>& roiList,
const vector<Vec6f>& poseList,
const Mat& cameraMatrix,
PointModel& model )
{
int progressBarSize = 10;
const double Feps = 5;
const double DescriptorRatio = 0.7;
vector<vector<KeyPoint> > allkeypoints;
vector<int> dstart;
vector<float> alldescriptorsVec;
vector<Vec2i> pairwiseMatches;
vector<Mat> Rs, ts;
int descriptorSize = 0;
Mat descriptorbuf;
Set2i pairs, keypointsIdxMap;
model.points.clear();
model.didx.clear();
dstart.push_back(0);
size_t nimages = imageList.size();
size_t nimagePairs = (nimages - 1)*nimages/2 - nimages;
printf("\nComputing descriptors ");
// 1. find all the keypoints and all the descriptors
for( size_t i = 0; i < nimages; i++ )
{
Mat img = imread(imageList[i], 1), gray;
cvtColor(img, gray, COLOR_BGR2GRAY);
vector<KeyPoint> keypoints;
detector->detect(gray, keypoints);
descriptorExtractor->compute(gray, keypoints, descriptorbuf);
Point2f roiofs = roiList[i].tl();
for( size_t k = 0; k < keypoints.size(); k++ )
keypoints[k].pt += roiofs;
allkeypoints.push_back(keypoints);
Mat buf = descriptorbuf;
if( !buf.isContinuous() || buf.type() != CV_32F )
{
buf.release();
descriptorbuf.convertTo(buf, CV_32F);
}
descriptorSize = buf.cols;
size_t prev = alldescriptorsVec.size();
size_t delta = buf.rows*buf.cols;
alldescriptorsVec.resize(prev + delta);
std::copy(buf.ptr<float>(), buf.ptr<float>() + delta,
alldescriptorsVec.begin() + prev);
dstart.push_back(dstart.back() + (int)keypoints.size());
Mat R, t;
unpackPose(poseList[i], R, t);
Rs.push_back(R);
ts.push_back(t);
if( (i+1)*progressBarSize/nimages > i*progressBarSize/nimages )
{
putchar('.');
fflush(stdout);
}
}
Mat alldescriptors((int)alldescriptorsVec.size()/descriptorSize, descriptorSize, CV_32F,
&alldescriptorsVec[0]);
printf("\nOk. total images = %d. total keypoints = %d\n",
(int)nimages, alldescriptors.rows);
printf("\nFinding correspondences ");
int pairsFound = 0;
vector<Point2f> pts_k(2);
vector<Mat> Rs_k(2), ts_k(2);
//namedWindow("img1", 1);
//namedWindow("img2", 1);
// 2. find pairwise correspondences
for( size_t i = 0; i < nimages; i++ )
for( size_t j = i+1; j < nimages; j++ )
{
const vector<KeyPoint>& keypoints1 = allkeypoints[i];
const vector<KeyPoint>& keypoints2 = allkeypoints[j];
Mat descriptors1 = alldescriptors.rowRange(dstart[i], dstart[i+1]);
Mat descriptors2 = alldescriptors.rowRange(dstart[j], dstart[j+1]);
Mat F = getFundamentalMat(Rs[i], ts[i], Rs[j], ts[j], cameraMatrix);
findConstrainedCorrespondences( F, keypoints1, keypoints2,
descriptors1, descriptors2,
pairwiseMatches, Feps, DescriptorRatio );
//pairsFound += (int)pairwiseMatches.size();
//Mat img1 = imread(format("%s/frame%04d.jpg", model.name.c_str(), (int)i), 1);
//Mat img2 = imread(format("%s/frame%04d.jpg", model.name.c_str(), (int)j), 1);
//double avg_err = 0;
for( size_t k = 0; k < pairwiseMatches.size(); k++ )
{
int i1 = pairwiseMatches[k][0], i2 = pairwiseMatches[k][1];
pts_k[0] = keypoints1[i1].pt;
pts_k[1] = keypoints2[i2].pt;
Rs_k[0] = Rs[i]; Rs_k[1] = Rs[j];
ts_k[0] = ts[i]; ts_k[1] = ts[j];
Point3f objpt = triangulatePoint(pts_k, Rs_k, ts_k, cameraMatrix);
vector<Point3f> objpts;
objpts.push_back(objpt);
vector<Point2f> imgpts1, imgpts2;
projectPoints(Mat(objpts), Rs_k[0], ts_k[0], cameraMatrix, Mat(), imgpts1);
projectPoints(Mat(objpts), Rs_k[1], ts_k[1], cameraMatrix, Mat(), imgpts2);
double e1 = norm(imgpts1[0] - keypoints1[i1].pt);
double e2 = norm(imgpts2[0] - keypoints2[i2].pt);
if( e1 + e2 > 5 )
continue;
pairsFound++;
//model.points.push_back(objpt);
pairs[Pair2i(i1+dstart[i], i2+dstart[j])] = 1;
pairs[Pair2i(i2+dstart[j], i1+dstart[i])] = 1;
keypointsIdxMap[Pair2i((int)i,i1)] = 1;
keypointsIdxMap[Pair2i((int)j,i2)] = 1;
//CV_Assert(e1 < 5 && e2 < 5);
//Scalar color(rand()%256,rand()%256, rand()%256);
//circle(img1, keypoints1[i1].pt, 2, color, -1, CV_AA);
//circle(img2, keypoints2[i2].pt, 2, color, -1, CV_AA);
}
//printf("avg err = %g\n", pairwiseMatches.size() ? avg_err/(2*pairwiseMatches.size()) : 0.);
//imshow("img1", img1);
//imshow("img2", img2);
//waitKey();
if( (i+1)*progressBarSize/nimagePairs > i*progressBarSize/nimagePairs )
{
putchar('.');
fflush(stdout);
}
}
printf("\nOk. Total pairs = %d\n", pairsFound );
// 3. build the keypoint clusters
vector<Pair2i> keypointsIdx;
Set2i::iterator kpidx_it = keypointsIdxMap.begin(), kpidx_end = keypointsIdxMap.end();
for( ; kpidx_it != kpidx_end; ++kpidx_it )
keypointsIdx.push_back(kpidx_it->first);
printf("\nClustering correspondences ");
vector<int> labels;
int nclasses = partition( keypointsIdx, labels, EqKeypoints(&dstart, &pairs) );
printf("\nOk. Total classes (i.e. 3d points) = %d\n", nclasses );
model.descriptors.create((int)keypointsIdx.size(), descriptorSize, CV_32F);
model.didx.resize(nclasses);
model.points.resize(nclasses);
vector<vector<Pair2i> > clusters(nclasses);
for( size_t i = 0; i < keypointsIdx.size(); i++ )
clusters[labels[i]].push_back(keypointsIdx[i]);
// 4. now compute 3D points corresponding to each cluster and fill in the model data
printf("\nComputing 3D coordinates ");
int globalDIdx = 0;
for( int k = 0; k < nclasses; k++ )
{
int i, n = (int)clusters[k].size();
pts_k.resize(n);
Rs_k.resize(n);
ts_k.resize(n);
model.didx[k].resize(n);
for( i = 0; i < n; i++ )
{
int imgidx = clusters[k][i].first, ptidx = clusters[k][i].second;
Mat dstrow = model.descriptors.row(globalDIdx);
alldescriptors.row(dstart[imgidx] + ptidx).copyTo(dstrow);
model.didx[k][i] = globalDIdx++;
pts_k[i] = allkeypoints[imgidx][ptidx].pt;
Rs_k[i] = Rs[imgidx];
ts_k[i] = ts[imgidx];
}
Point3f objpt = triangulatePoint(pts_k, Rs_k, ts_k, cameraMatrix);
model.points[k] = objpt;
if( (i+1)*progressBarSize/nclasses > i*progressBarSize/nclasses )
{
putchar('.');
fflush(stdout);
}
}
Mat img(768, 1024, CV_8UC3);
vector<Point2f> imagePoints;
namedWindow("Test", 1);
// visualize the cloud
for( size_t i = 0; i < nimages; i++ )
{
img = imread(format("%s/frame%04d.jpg", model.name.c_str(), (int)i), 1);
projectPoints(Mat(model.points), Rs[i], ts[i], cameraMatrix, Mat(), imagePoints);
for( int k = 0; k < (int)imagePoints.size(); k++ )
circle(img, imagePoints[k], 2, Scalar(0,255,0), -1, LINE_AA, 0);
imshow("Test", img);
int c = waitKey();
if( c == 'q' || c == 'Q' )
break;
}
}
int main(int argc, char** argv)
{
const char* intrinsicsFilename = 0;
const char* modelName = 0;
const char* detectorName = "SURF";
const char* descriptorExtractorName = "SURF";
vector<Point3f> modelBox;
vector<string> imageList;
vector<Rect> roiList;
vector<Vec6f> poseList;
if(argc < 3)
{
help();
return -1;
}
for( int i = 1; i < argc; i++ )
{
if( strcmp(argv[i], "-i") == 0 )
intrinsicsFilename = argv[++i];
else if( strcmp(argv[i], "-m") == 0 )
modelName = argv[++i];
else if( strcmp(argv[i], "-d") == 0 )
detectorName = argv[++i];
else if( strcmp(argv[i], "-de") == 0 )
descriptorExtractorName = argv[++i];
else
{
help();
printf("Incorrect option\n");
return -1;
}
}
if( !intrinsicsFilename || !modelName )
{
printf("Some of the required parameters are missing\n");
help();
return -1;
}
triangulatePoint_test();
Mat cameraMatrix, distCoeffs;
Size calibratedImageSize;
readCameraMatrix(intrinsicsFilename, cameraMatrix, distCoeffs, calibratedImageSize);
Ptr<FeatureDetector> detector = FeatureDetector::create(detectorName);
Ptr<DescriptorExtractor> descriptorExtractor = DescriptorExtractor::create(descriptorExtractorName);
string modelIndexFilename = format("%s_segm/frame_index.yml", modelName);
if(!readModelViews( modelIndexFilename, modelBox, imageList, roiList, poseList))
{
printf("Can not read the model. Check the parameters and the working directory\n");
help();
return -1;
}
PointModel model;
model.name = modelName;
build3dmodel( detector, descriptorExtractor, modelBox,
imageList, roiList, poseList, cameraMatrix, model );
string outputModelName = format("%s_model.yml.gz", modelName);
printf("\nDone! Now saving the model ...\n");
writeModel(outputModelName, modelName, model);
return 0;
}

334
samples/cpp/calibration_artificial.cpp
View File

@@ -1,334 +0,0 @@
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <vector>
#include <algorithm>
#include <iterator>
#include <stdio.h>
using namespace cv;
using namespace std;
static void help()
{
printf( "\nThis code generates an artificial camera and artificial chessboard images,\n"
"and then calibrates. It is basically test code for calibration that shows\n"
"how to package calibration points and then calibrate the camera.\n"
"Usage:\n"
"./calibration_artificial\n\n");
}
namespace cv
{
/* copy of class defines int tests/cv/chessboardgenerator.h */
class ChessBoardGenerator
{
public:
double sensorWidth;
double sensorHeight;
size_t squareEdgePointsNum;
double min_cos;
mutable double cov;
Size patternSize;
int rendererResolutionMultiplier;
ChessBoardGenerator(const Size& patternSize = Size(8, 6));
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
Size cornersSize() const;
private:
void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const;
Mat generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const;
void generateBasis(Point3f& pb1, Point3f& pb2) const;
Point3f generateChessBoardCenter(const Mat& camMat, const Size& imgSize) const;
Mat rvec, tvec;
};
}
const Size imgSize(800, 600);
const Size brdSize(8, 7);
const size_t brds_num = 20;
template<class T> ostream& operator<<(ostream& out, const Mat_<T>& mat)
{
for(int j = 0; j < mat.rows; ++j)
for(int i = 0; i < mat.cols; ++i)
out << mat(j, i) << " ";
return out;
}
int main()
{
help();
cout << "Initializing background...";
Mat background(imgSize, CV_8UC3);
randu(background, Scalar::all(32), Scalar::all(255));
GaussianBlur(background, background, Size(5, 5), 2);
cout << "Done" << endl;
cout << "Initializing chess board generator...";
ChessBoardGenerator cbg(brdSize);
cbg.rendererResolutionMultiplier = 4;
cout << "Done" << endl;
/* camera params */
Mat_<double> camMat(3, 3);
camMat << 300., 0., background.cols/2., 0, 300., background.rows/2., 0., 0., 1.;
Mat_<double> distCoeffs(1, 5);
distCoeffs << 1.2, 0.2, 0., 0., 0.;
cout << "Generating chessboards...";
vector<Mat> boards(brds_num);
vector<Point2f> tmp;
for(size_t i = 0; i < brds_num; ++i)
cout << (boards[i] = cbg(background, camMat, distCoeffs, tmp), i) << " ";
cout << "Done" << endl;
vector<Point3f> chessboard3D;
for(int j = 0; j < cbg.cornersSize().height; ++j)
for(int i = 0; i < cbg.cornersSize().width; ++i)
chessboard3D.push_back(Point3i(i, j, 0));
/* init points */
vector< vector<Point3f> > objectPoints;
vector< vector<Point2f> > imagePoints;
cout << endl << "Finding chessboards' corners...";
for(size_t i = 0; i < brds_num; ++i)
{
cout << i;
namedWindow("Current chessboard"); imshow("Current chessboard", boards[i]); waitKey(100);
bool found = findChessboardCorners(boards[i], cbg.cornersSize(), tmp);
if (found)
{
imagePoints.push_back(tmp);
objectPoints.push_back(chessboard3D);
cout<< "-found ";
}
else
cout<< "-not-found ";
drawChessboardCorners(boards[i], cbg.cornersSize(), Mat(tmp), found);
imshow("Current chessboard", boards[i]); waitKey(1000);
}
cout << "Done" << endl;
destroyAllWindows();
Mat camMat_est;
Mat distCoeffs_est;
vector<Mat> rvecs, tvecs;
cout << "Calibrating...";
double rep_err = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs, tvecs);
cout << "Done" << endl;
cout << endl << "Average Reprojection error: " << rep_err/brds_num/cbg.cornersSize().area() << endl;
cout << "==================================" << endl;
cout << "Original camera matrix:\n" << camMat << endl;
cout << "Original distCoeffs:\n" << distCoeffs << endl;
cout << "==================================" << endl;
cout << "Estimated camera matrix:\n" << (Mat_<double>&)camMat_est << endl;
cout << "Estimated distCoeffs:\n" << (Mat_<double>&)distCoeffs_est << endl;
return 0;
}
/////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////
// Copy of tests/cv/src/chessboardgenerator code. Just do not want to add dependency.
ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24),
squareEdgePointsNum(200), min_cos(std::sqrt(2.f)*0.5f), cov(0.5),
patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F))
{
Rodrigues(Mat::eye(3, 3, CV_32F), rvec);
}
void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const
{
Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
for(size_t n = 0; n < squareEdgePointsNum; ++n)
out.push_back( p1 + step * (float)n);
}
Size cv::ChessBoardGenerator::cornersSize() const
{
return Size(patternSize.width-1, patternSize.height-1);
}
struct Mult
{
float m;
Mult(int mult) : m((float)mult) {}
Point2f operator()(const Point2f& p)const { return p * m; }
};
void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const
{
RNG& rng = theRNG();
Vec3f n;
for(;;)
{
n[0] = rng.uniform(-1.f, 1.f);
n[1] = rng.uniform(-1.f, 1.f);
n[2] = rng.uniform(-1.f, 1.f);
float len = (float)norm(n);
n[0]/=len;
n[1]/=len;
n[2]/=len;
if (fabs(n[2]) > min_cos)
break;
}
Vec3f n_temp = n; n_temp[0] += 100;
Vec3f b1 = n.cross(n_temp);
Vec3f b2 = n.cross(b1);
float len_b1 = (float)norm(b1);
float len_b2 = (float)norm(b2);
pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1);
pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2);
}
Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
float sqWidth, float sqHeight, const vector<Point3f>& whole,
vector<Point2f>& corners) const
{
vector< vector<Point> > squares_black;
for(int i = 0; i < patternSize.width; ++i)
for(int j = 0; j < patternSize.height; ++j)
if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
{
vector<Point3f> pts_square3d;
vector<Point2f> pts_square2d;
Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
generateEdge(p1, p2, pts_square3d);
generateEdge(p2, p3, pts_square3d);
generateEdge(p3, p4, pts_square3d);
generateEdge(p4, p1, pts_square3d);
projectPoints( Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d);
squares_black.resize(squares_black.size() + 1);
vector<Point2f> temp;
approxPolyDP(Mat(pts_square2d), temp, 1.0, true);
transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
}
/* calculate corners */
vector<Point3f> corners3d;
for(int j = 0; j < patternSize.height - 1; ++j)
for(int i = 0; i < patternSize.width - 1; ++i)
corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2);
corners.clear();
projectPoints( Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners);
vector<Point3f> whole3d;
vector<Point2f> whole2d;
generateEdge(whole[0], whole[1], whole3d);
generateEdge(whole[1], whole[2], whole3d);
generateEdge(whole[2], whole[3], whole3d);
generateEdge(whole[3], whole[0], whole3d);
projectPoints( Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d);
vector<Point2f> temp_whole2d;
approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true);
vector< vector<Point > > whole_contour(1);
transform(temp_whole2d.begin(), temp_whole2d.end(),
back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
Mat result;
if (rendererResolutionMultiplier == 1)
{
result = bg.clone();
drawContours(result, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
drawContours(result, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
}
else
{
Mat tmp;
resize(bg, tmp, bg.size() * rendererResolutionMultiplier);
drawContours(tmp, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
drawContours(tmp, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
}
return result;
}
Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const
{
cov = std::min(cov, 0.8);
double fovx, fovy, focalLen;
Point2d principalPoint;
double aspect;
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
fovx, fovy, focalLen, principalPoint, aspect);
RNG& rng = theRNG();
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180);
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
Point3f p;
p.z = cos(ah) * d1;
p.x = sin(ah) * d1;
p.y = p.z * tan(av);
Point3f pb1, pb2;
generateBasis(pb1, pb2);
float cbHalfWidth = static_cast<float>(norm(p) * sin( std::min(fovx, fovy) * 0.5 * CV_PI / 180));
float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
vector<Point3f> pts3d(4);
vector<Point2f> pts2d(4);
for(;;)
{
pts3d[0] = p + pb1 * cbHalfWidth + cbHalfHeight * pb2;
pts3d[1] = p + pb1 * cbHalfWidth - cbHalfHeight * pb2;
pts3d[2] = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
pts3d[3] = p - pb1 * cbHalfWidth + cbHalfHeight * pb2;
/* can remake with better perf */
projectPoints( Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d);
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0;
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0;
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0;
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0;
if ( inrect1 && inrect2 && inrect3 && inrect4)
break;
cbHalfWidth*=0.8f;
cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
}
cbHalfWidth *= static_cast<float>(patternSize.width)/(patternSize.width + 1);
cbHalfHeight *= static_cast<float>(patternSize.height)/(patternSize.height + 1);
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
float sqWidth = 2 * cbHalfWidth/patternSize.width;
float sqHeight = 2 * cbHalfHeight/patternSize.height;
return generageChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
}

75
samples/cpp/chamfer.cpp
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@@ -1,75 +0,0 @@
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/contrib.hpp"
#include <iostream>
using namespace cv;
using namespace std;
static void help()
{
cout << "\nThis program demonstrates Chamfer matching -- computing a distance between an \n"
"edge template and a query edge image.\n"
"Usage: \n"
"./chamfer <image edge map> <template edge map>,"
" By default the inputs are logo_in_clutter.png logo.png\n";
}
const char* keys =
{
"{@logo1 |logo_in_clutter.png |image edge map }"
"{@logo2 |logo.png |template edge map}"
};
int main( int argc, const char** argv )
{
help();
CommandLineParser parser(argc, argv, keys);
string image = parser.get<string>(0);
string templ = parser.get<string>(1);
Mat img = imread(image.c_str(), 0);
Mat tpl = imread(templ.c_str(), 0);
if (img.empty() || tpl.empty())
{
cout << "Could not read image file " << image << " or " << templ << "." << endl;
return -1;
}
Mat cimg;
cvtColor(img, cimg, COLOR_GRAY2BGR);
// if the image and the template are not edge maps but normal grayscale images,
// you might want to uncomment the lines below to produce the maps. You can also
// run Sobel instead of Canny.
// Canny(img, img, 5, 50, 3);
// Canny(tpl, tpl, 5, 50, 3);
vector<vector<Point> > results;
vector<float> costs;
int best = chamerMatching( img, tpl, results, costs );
if( best < 0 )
{
cout << "matching not found" << endl;
return -1;
}
size_t i, n = results[best].size();
for( i = 0; i < n; i++ )
{
Point pt = results[best][i];
if( pt.inside(Rect(0, 0, cimg.cols, cimg.rows)) )
cimg.at<Vec3b>(pt) = Vec3b(0, 255, 0);
}
imshow("result", cimg);
waitKey();
return 0;
}

104
samples/cpp/dbt_face_detection.cpp
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@@ -1,104 +0,0 @@
#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
#include <opencv2/imgproc/imgproc.hpp> // Gaussian Blur
#include <opencv2/core/core.hpp> // Basic OpenCV structures (cv::Mat, Scalar)
#include <opencv2/highgui/highgui.hpp> // OpenCV window I/O
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/contrib/detection_based_tracker.hpp>
#include <stdio.h>
#include <string>
#include <vector>
using namespace std;
using namespace cv;
const string WindowName = "Face Detection example";
class CascadeDetectorAdapter: public DetectionBasedTracker::IDetector
{
public:
CascadeDetectorAdapter(cv::Ptr<cv::CascadeClassifier> detector):
IDetector(),
Detector(detector)
{
CV_Assert(detector);
}
void detect(const cv::Mat &Image, std::vector<cv::Rect> &objects)
{
Detector->detectMultiScale(Image, objects, scaleFactor, minNeighbours, 0, minObjSize, maxObjSize);
}
virtual ~CascadeDetectorAdapter()
{}
private:
CascadeDetectorAdapter();
cv::Ptr<cv::CascadeClassifier> Detector;
};
int main(int , char** )
{
namedWindow(WindowName);
VideoCapture VideoStream(0);
if (!VideoStream.isOpened())
{
printf("Error: Cannot open video stream from camera\n");
return 1;
}
std::string cascadeFrontalfilename = "../../data/lbpcascades/lbpcascade_frontalface.xml";
cv::Ptr<cv::CascadeClassifier> cascade = makePtr<cv::CascadeClassifier>(cascadeFrontalfilename);
cv::Ptr<DetectionBasedTracker::IDetector> MainDetector = makePtr<CascadeDetectorAdapter>(cascade);
cascade = makePtr<cv::CascadeClassifier>(cascadeFrontalfilename);
cv::Ptr<DetectionBasedTracker::IDetector> TrackingDetector = makePtr<CascadeDetectorAdapter>(cascade);
DetectionBasedTracker::Parameters params;
DetectionBasedTracker Detector(MainDetector, TrackingDetector, params);
if (!Detector.run())
{
printf("Error: Detector initialization failed\n");
return 2;
}
Mat ReferenceFrame;
Mat GrayFrame;
vector<Rect> Faces;
while(true)
{
VideoStream >> ReferenceFrame;
cvtColor(ReferenceFrame, GrayFrame, COLOR_RGB2GRAY);
Detector.process(GrayFrame);
Detector.getObjects(Faces);
for (size_t i = 0; i < Faces.size(); i++)
{
rectangle(ReferenceFrame, Faces[i], Scalar(0,255,0));
}
imshow(WindowName, ReferenceFrame);
if (waitKey(30) >= 0) break;
}
Detector.stop();
return 0;
}
#else
#include <stdio.h>
int main()
{
printf("This sample works for UNIX or ANDROID only\n");
return 0;
}
#endif

193
samples/cpp/detection_based_tracker_sample.cpp
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@@ -1,193 +0,0 @@
#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/objdetect.hpp>
#include "opencv2/contrib/detection_based_tracker.hpp"
#include <vector>
#include <iostream>
#include <stdio.h>
#define DEBUGLOGS 1
#ifdef ANDROID
#include <android/log.h>
#define LOG_TAG "DETECTIONBASEDTRACKER__TEST_APPLICAT"
#define LOGD0(...) ((void)__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__))
#define LOGI0(...) ((void)__android_log_print(ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__))
#define LOGW0(...) ((void)__android_log_print(ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__))
#define LOGE0(...) ((void)__android_log_print(ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__))
#else
#include <stdio.h>
#define LOGD0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
#define LOGI0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
#define LOGW0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
#define LOGE0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
#endif
#if DEBUGLOGS
#define LOGD(_str, ...) LOGD0(_str , ## __VA_ARGS__)
#define LOGI(_str, ...) LOGI0(_str , ## __VA_ARGS__)
#define LOGW(_str, ...) LOGW0(_str , ## __VA_ARGS__)
#define LOGE(_str, ...) LOGE0(_str , ## __VA_ARGS__)
#else
#define LOGD(...) do{} while(0)
#define LOGI(...) do{} while(0)
#define LOGW(...) do{} while(0)
#define LOGE(...) do{} while(0)
#endif
using namespace cv;
using namespace std;
#define ORIGINAL 0
#define SHOULD_USE_EXTERNAL_BUFFERS 1
static void usage()
{
LOGE0("usage: filepattern outfilepattern cascadefile");
LOGE0("\t where ");
LOGE0("\t filepattern --- pattern for the paths to the source images");
LOGE0("\t (e.g.\"./Videos/FACESJPG2/Faces2_%%08d.jpg\" ");
LOGE0("\t outfilepattern --- pattern for the paths for images which will be generated");
LOGE0("\t (e.g.\"./resFaces2_%%08d.jpg\" ");
LOGE0("\t cascadefile --- path to the cascade file");
LOGE0("\t (e.g.\"opencv/data/lbpcascades/lbpcascade_frontalface.xml\" ");
}
class CascadeDetectorAdapter: public DetectionBasedTracker::IDetector
{
public:
CascadeDetectorAdapter(cv::Ptr<cv::CascadeClassifier> detector):
Detector(detector)
{
CV_Assert(detector);
}
void detect(const cv::Mat &Image, std::vector<cv::Rect> &objects)
{
Detector->detectMultiScale(Image, objects, 1.1, 3, 0, minObjSize, maxObjSize);
}
virtual ~CascadeDetectorAdapter()
{}
private:
CascadeDetectorAdapter();
cv::Ptr<cv::CascadeClassifier> Detector;
};
static int test_FaceDetector(int argc, char *argv[])
{
if (argc < 4)
{
usage();
return -1;
}
const char* filepattern=argv[1];
const char* outfilepattern=argv[2];
const char* cascadefile=argv[3];
LOGD0("filepattern='%s'", filepattern);
LOGD0("outfilepattern='%s'", outfilepattern);
LOGD0("cascadefile='%s'", cascadefile);
vector<Mat> images;
{
char filename[256];
for(int n=1; ; n++)
{
snprintf(filename, sizeof(filename), filepattern, n);
LOGD("filename='%s'", filename);
Mat m0;
m0=imread(filename);
if (m0.empty())
{
LOGI0("Cannot read the file --- break");
break;
}
images.push_back(m0);
}
LOGD("read %d images", (int)images.size());
}
std::string cascadeFrontalfilename=cascadefile;
cv::Ptr<cv::CascadeClassifier> cascade = makePtr<cv::CascadeClassifier>(cascadeFrontalfilename);
cv::Ptr<DetectionBasedTracker::IDetector> MainDetector = makePtr<CascadeDetectorAdapter>(cascade);
cascade = makePtr<cv::CascadeClassifier>(cascadeFrontalfilename);
cv::Ptr<DetectionBasedTracker::IDetector> TrackingDetector = makePtr<CascadeDetectorAdapter>(cascade);
DetectionBasedTracker::Parameters params;
DetectionBasedTracker fd(MainDetector, TrackingDetector, params);
fd.run();
Mat gray;
Mat m;
int64 tprev=getTickCount();
double freq=getTickFrequency();
int num_images=images.size();
for(int n=1; n <= num_images; n++)
{
int64 tcur=getTickCount();
int64 dt=tcur-tprev;
tprev=tcur;
double t_ms=((double)dt)/freq * 1000.0;
LOGD("\n\nSTEP n=%d from prev step %f ms\n", n, t_ms);
m=images[n-1];
CV_Assert(! m.empty());
cvtColor(m, gray, COLOR_BGR2GRAY);
fd.process(gray);
vector<Rect> result;
fd.getObjects(result);
for(size_t i=0; i < result.size(); i++)
{
Rect r=result[i];
CV_Assert(r.area() > 0);
Point tl=r.tl();
Point br=r.br();
Scalar color=Scalar(0, 250, 0);
rectangle(m, tl, br, color, 3);
}
}
char outfilename[256];
for(int n=1; n <= num_images; n++)
{
snprintf(outfilename, sizeof(outfilename), outfilepattern, n);
LOGD("outfilename='%s'", outfilename);
m=images[n-1];
imwrite(outfilename, m);
}
fd.stop();
return 0;
}
int main(int argc, char *argv[])
{
return test_FaceDetector(argc, argv);
}
#else // #if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
#include <stdio.h>
int main()
{
printf("This sample works for UNIX or ANDROID only\n");
return 0;
}
#endif

983
samples/cpp/detector_descriptor_evaluation.cpp
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@@ -1,983 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/legacy.hpp"
#include <limits>
#include <cstdio>
#include <iostream>
#include <fstream>
using namespace std;
using namespace cv;
string data_path;
/****************************************************************************************\
* Functions to evaluate affine covariant detectors and descriptors. *
\****************************************************************************************/
static inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
{
double z = H(2,0)*pt.x + H(2,1)*pt.y + H(2,2);
if( z )
{
double w = 1./z;
return Point2f( (float)((H(0,0)*pt.x + H(0,1)*pt.y + H(0,2))*w),
(float)((H(1,0)*pt.x + H(1,1)*pt.y + H(1,2))*w) );
}
return Point2f( numeric_limits<float>::max(), numeric_limits<float>::max() );
}
static inline void linearizeHomographyAt( const Mat_<double>& H, const Point2f& pt, Mat_<double>& A )
{
A.create(2,2);
double p1 = H(0,0)*pt.x + H(0,1)*pt.y + H(0,2),
p2 = H(1,0)*pt.x + H(1,1)*pt.y + H(1,2),
p3 = H(2,0)*pt.x + H(2,1)*pt.y + H(2,2),
p3_2 = p3*p3;
if( p3 )
{
A(0,0) = H(0,0)/p3 - p1*H(2,0)/p3_2; // fxdx
A(0,1) = H(0,1)/p3 - p1*H(2,1)/p3_2; // fxdy
A(1,0) = H(1,0)/p3 - p2*H(2,0)/p3_2; // fydx
A(1,1) = H(1,1)/p3 - p2*H(2,1)/p3_2; // fydx
}
else
A.setTo(Scalar::all(numeric_limits<double>::max()));
}
static void calcKeyPointProjections( const vector<KeyPoint>& src, const Mat_<double>& H, vector<KeyPoint>& dst )
{
if( !src.empty() )
{
CV_Assert( !H.empty() && H.cols == 3 && H.rows == 3);
dst.resize(src.size());
vector<KeyPoint>::const_iterator srcIt = src.begin();
vector<KeyPoint>::iterator dstIt = dst.begin();
for( ; srcIt != src.end(); ++srcIt, ++dstIt )
{
Point2f dstPt = applyHomography(H, srcIt->pt);
float srcSize2 = srcIt->size * srcIt->size;
Mat_<double> M(2, 2);
M(0,0) = M(1,1) = 1./srcSize2;
M(1,0) = M(0,1) = 0;
Mat_<double> invM; invert(M, invM);
Mat_<double> Aff; linearizeHomographyAt(H, srcIt->pt, Aff);
Mat_<double> dstM; invert(Aff*invM*Aff.t(), dstM);
Mat_<double> eval; eigen( dstM, eval );
CV_Assert( eval(0,0) && eval(1,0) );
float dstSize = (float)pow(1./(eval(0,0)*eval(1,0)), 0.25);
// TODO: check angle projection
float srcAngleRad = (float)(srcIt->angle*CV_PI/180);
Point2f vec1(cos(srcAngleRad), sin(srcAngleRad)), vec2;
vec2.x = (float)(Aff(0,0)*vec1.x + Aff(0,1)*vec1.y);
vec2.y = (float)(Aff(1,0)*vec1.x + Aff(0,1)*vec1.y);
float dstAngleGrad = fastAtan2(vec2.y, vec2.x);
*dstIt = KeyPoint( dstPt, dstSize, dstAngleGrad, srcIt->response, srcIt->octave, srcIt->class_id );
}
}
}
static void filterKeyPointsByImageSize( vector<KeyPoint>& keypoints, const Size& imgSize )
{
if( !keypoints.empty() )
{
vector<KeyPoint> filtered;
filtered.reserve(keypoints.size());
Rect r(0, 0, imgSize.width, imgSize.height);
vector<KeyPoint>::const_iterator it = keypoints.begin();
for( int i = 0; it != keypoints.end(); ++it, i++ )
if( r.contains(it->pt) )
filtered.push_back(*it);
keypoints.assign(filtered.begin(), filtered.end());
}
}
/****************************************************************************************\
* Detectors evaluation *
\****************************************************************************************/
const int DATASETS_COUNT = 8;
const int TEST_CASE_COUNT = 5;
const string IMAGE_DATASETS_DIR = "detectors_descriptors_evaluation/images_datasets/";
const string DETECTORS_DIR = "detectors_descriptors_evaluation/detectors/";
const string DESCRIPTORS_DIR = "detectors_descriptors_evaluation/descriptors/";
const string KEYPOINTS_DIR = "detectors_descriptors_evaluation/keypoints_datasets/";
const string PARAMS_POSTFIX = "_params.xml";
const string RES_POSTFIX = "_res.xml";
const string REPEAT = "repeatability";
const string CORRESP_COUNT = "correspondence_count";
string DATASET_NAMES[DATASETS_COUNT] = { "bark", "bikes", "boat", "graf", "leuven", "trees", "ubc", "wall"};
string DEFAULT_PARAMS = "default";
string IS_ACTIVE_PARAMS = "isActiveParams";
string IS_SAVE_KEYPOINTS = "isSaveKeypoints";
class BaseQualityEvaluator
{
public:
BaseQualityEvaluator( const char* _algName, const char* _testName ) : algName(_algName), testName(_testName)
{
//TODO: change this
isWriteGraphicsData = true;
}
void run();
virtual ~BaseQualityEvaluator(){}
protected:
virtual string getRunParamsFilename() const = 0;
virtual string getResultsFilename() const = 0;
virtual string getPlotPath() const = 0;
virtual void calcQualityClear( int datasetIdx ) = 0;
virtual bool isCalcQualityEmpty( int datasetIdx ) const = 0;
void readAllDatasetsRunParams();
virtual void readDatasetRunParams( FileNode& fn, int datasetIdx ) = 0;
void writeAllDatasetsRunParams() const;
virtual void writeDatasetRunParams( FileStorage& fs, int datasetIdx ) const = 0;
void setDefaultAllDatasetsRunParams();
virtual void setDefaultDatasetRunParams( int datasetIdx ) = 0;
virtual void readDefaultRunParams( FileNode& /*fn*/ ) {}
virtual void writeDefaultRunParams( FileStorage& /*fs*/ ) const {}
bool readDataset( const string& datasetName, vector<Mat>& Hs, vector<Mat>& imgs );
virtual void readAlgorithm() {}
virtual void processRunParamsFile() {}
virtual void runDatasetTest( const vector<Mat>& /*imgs*/, const vector<Mat>& /*Hs*/, int /*di*/, int& /*progress*/ ) {}
virtual void processResults( int datasetIdx );
virtual void processResults();
virtual void writePlotData( int /*datasetIdx*/ ) const {}
string algName, testName;
bool isWriteParams, isWriteGraphicsData;
};
void BaseQualityEvaluator::readAllDatasetsRunParams()
{
string filename = getRunParamsFilename();
FileStorage fs( filename, FileStorage::READ );
if( !fs.isOpened() )
{
isWriteParams = true;
setDefaultAllDatasetsRunParams();
printf("All runParams are default.\n");
}
else
{
isWriteParams = false;
FileNode topfn = fs.getFirstTopLevelNode();
FileNode pfn = topfn[DEFAULT_PARAMS];
readDefaultRunParams(pfn);
for( int i = 0; i < DATASETS_COUNT; i++ )
{
FileNode fn = topfn[DATASET_NAMES[i]];
if( fn.empty() )
{
printf( "%d-runParams is default.\n", i);
setDefaultDatasetRunParams(i);
}
else
readDatasetRunParams(fn, i);
}
}
}
void BaseQualityEvaluator::writeAllDatasetsRunParams() const
{
string filename = getRunParamsFilename();
FileStorage fs( filename, FileStorage::WRITE );
if( fs.isOpened() )
{
fs << "run_params" << "{"; // top file node
fs << DEFAULT_PARAMS << "{";
writeDefaultRunParams(fs);
fs << "}";
for( int i = 0; i < DATASETS_COUNT; i++ )
{
fs << DATASET_NAMES[i] << "{";
writeDatasetRunParams(fs, i);
fs << "}";
}
fs << "}";
}
else
printf( "File %s for writing run params can not be opened.\n", filename.c_str() );
}
void BaseQualityEvaluator::setDefaultAllDatasetsRunParams()
{
for( int i = 0; i < DATASETS_COUNT; i++ )
setDefaultDatasetRunParams(i);
}
bool BaseQualityEvaluator::readDataset( const string& datasetName, vector<Mat>& Hs, vector<Mat>& imgs )
{
Hs.resize( TEST_CASE_COUNT );
imgs.resize( TEST_CASE_COUNT+1 );
string dirname = data_path + IMAGE_DATASETS_DIR + datasetName + "/";
for( int i = 0; i < (int)Hs.size(); i++ )
{
stringstream filename; filename << "H1to" << i+2 << "p.xml";
FileStorage fs( dirname + filename.str(), FileStorage::READ );
if( !fs.isOpened() )
{
cout << "filename " << dirname + filename.str() << endl;
FileStorage fs2( dirname + filename.str(), FileStorage::READ );
return false;
}
fs.getFirstTopLevelNode() >> Hs[i];
}
for( int i = 0; i < (int)imgs.size(); i++ )
{
stringstream filename; filename << "img" << i+1 << ".png";
imgs[i] = imread( dirname + filename.str(), 0 );
if( imgs[i].empty() )
{
cout << "filename " << filename.str() << endl;
return false;
}
}
return true;
}
void BaseQualityEvaluator::processResults( int datasetIdx )
{
if( isWriteGraphicsData )
writePlotData( datasetIdx );
}
void BaseQualityEvaluator::processResults()
{
if( isWriteParams )
writeAllDatasetsRunParams();
}
void BaseQualityEvaluator::run()
{
readAlgorithm ();
processRunParamsFile ();
int notReadDatasets = 0;
int progress = 0;
FileStorage runParamsFS( getRunParamsFilename(), FileStorage::READ );
isWriteParams = (! runParamsFS.isOpened());
FileNode topfn = runParamsFS.getFirstTopLevelNode();
FileNode defaultParams = topfn[DEFAULT_PARAMS];
readDefaultRunParams (defaultParams);
cout << testName << endl;
for(int di = 0; di < DATASETS_COUNT; di++ )
{
cout << "Dataset " << di << " [" << DATASET_NAMES[di] << "] " << flush;
vector<Mat> imgs, Hs;
if( !readDataset( DATASET_NAMES[di], Hs, imgs ) )
{
calcQualityClear (di);
printf( "Images or homography matrices of dataset named %s can not be read\n",
DATASET_NAMES[di].c_str());
notReadDatasets++;
continue;
}
FileNode fn = topfn[DATASET_NAMES[di]];
readDatasetRunParams(fn, di);
runDatasetTest (imgs, Hs, di, progress);
processResults( di );
cout << endl;
}
if( notReadDatasets == DATASETS_COUNT )
{
printf( "All datasets were not be read\n");
exit(-1);
}
else
processResults();
runParamsFS.release();
}
class DetectorQualityEvaluator : public BaseQualityEvaluator
{
public:
DetectorQualityEvaluator( const char* _detectorName, const char* _testName ) : BaseQualityEvaluator( _detectorName, _testName )
{
calcQuality.resize(DATASETS_COUNT);
isSaveKeypoints.resize(DATASETS_COUNT);
isActiveParams.resize(DATASETS_COUNT);
isSaveKeypointsDefault = false;
isActiveParamsDefault = false;
}
protected:
virtual string getRunParamsFilename() const;
virtual string getResultsFilename() const;
virtual string getPlotPath() const;
virtual void calcQualityClear( int datasetIdx );
virtual bool isCalcQualityEmpty( int datasetIdx ) const;
virtual void readDatasetRunParams( FileNode& fn, int datasetIdx );
virtual void writeDatasetRunParams( FileStorage& fs, int datasetIdx ) const;
virtual void setDefaultDatasetRunParams( int datasetIdx );
virtual void readDefaultRunParams( FileNode &fn );
virtual void writeDefaultRunParams( FileStorage &fs ) const;
virtual void writePlotData( int di ) const;
void openToWriteKeypointsFile( FileStorage& fs, int datasetIdx );
virtual void readAlgorithm();
virtual void processRunParamsFile() {}
virtual void runDatasetTest( const vector<Mat> &imgs, const vector<Mat> &Hs, int di, int &progress );
Ptr<FeatureDetector> specificDetector;
Ptr<FeatureDetector> defaultDetector;
struct Quality
{
float repeatability;
int correspondenceCount;
};
vector<vector<Quality> > calcQuality;
vector<bool> isSaveKeypoints;
vector<bool> isActiveParams;
bool isSaveKeypointsDefault;
bool isActiveParamsDefault;
};
string DetectorQualityEvaluator::getRunParamsFilename() const
{
return data_path + DETECTORS_DIR + algName + PARAMS_POSTFIX;
}
string DetectorQualityEvaluator::getResultsFilename() const
{
return data_path + DETECTORS_DIR + algName + RES_POSTFIX;
}
string DetectorQualityEvaluator::getPlotPath() const
{
return data_path + DETECTORS_DIR + "plots/";
}
void DetectorQualityEvaluator::calcQualityClear( int datasetIdx )
{
calcQuality[datasetIdx].clear();
}
bool DetectorQualityEvaluator::isCalcQualityEmpty( int datasetIdx ) const
{
return calcQuality[datasetIdx].empty();
}
void DetectorQualityEvaluator::readDefaultRunParams (FileNode &fn)
{
if (! fn.empty() )
{
isSaveKeypointsDefault = (int)fn[IS_SAVE_KEYPOINTS] != 0;
defaultDetector->read (fn);
}
}
void DetectorQualityEvaluator::writeDefaultRunParams (FileStorage &fs) const
{
fs << IS_SAVE_KEYPOINTS << isSaveKeypointsDefault;
defaultDetector->write (fs);
}
void DetectorQualityEvaluator::readDatasetRunParams( FileNode& fn, int datasetIdx )
{
isActiveParams[datasetIdx] = (int)fn[IS_ACTIVE_PARAMS] != 0;
if (isActiveParams[datasetIdx])
{
isSaveKeypoints[datasetIdx] = (int)fn[IS_SAVE_KEYPOINTS] != 0;
specificDetector->read (fn);
}
else
{
setDefaultDatasetRunParams(datasetIdx);
}
}
void DetectorQualityEvaluator::writeDatasetRunParams( FileStorage& fs, int datasetIdx ) const
{
fs << IS_ACTIVE_PARAMS << isActiveParams[datasetIdx];
fs << IS_SAVE_KEYPOINTS << isSaveKeypoints[datasetIdx];
defaultDetector->write (fs);
}
void DetectorQualityEvaluator::setDefaultDatasetRunParams( int datasetIdx )
{
isSaveKeypoints[datasetIdx] = isSaveKeypointsDefault;
isActiveParams[datasetIdx] = isActiveParamsDefault;
}
void DetectorQualityEvaluator::writePlotData(int di ) const
{
int imgXVals[] = { 2, 3, 4, 5, 6 }; // if scale, blur or light changes
int viewpointXVals[] = { 20, 30, 40, 50, 60 }; // if viewpoint changes
int jpegXVals[] = { 60, 80, 90, 95, 98 }; // if jpeg compression
int* xVals = 0;
if( !DATASET_NAMES[di].compare("ubc") )
{
xVals = jpegXVals;
}
else if( !DATASET_NAMES[di].compare("graf") || !DATASET_NAMES[di].compare("wall") )
{
xVals = viewpointXVals;
}
else
xVals = imgXVals;
stringstream rFilename, cFilename;
rFilename << getPlotPath() << algName << "_" << DATASET_NAMES[di] << "_repeatability.csv";
cFilename << getPlotPath() << algName << "_" << DATASET_NAMES[di] << "_correspondenceCount.csv";
ofstream rfile(rFilename.str().c_str()), cfile(cFilename.str().c_str());
for( int ci = 0; ci < TEST_CASE_COUNT; ci++ )
{
rfile << xVals[ci] << ", " << calcQuality[di][ci].repeatability << endl;
cfile << xVals[ci] << ", " << calcQuality[di][ci].correspondenceCount << endl;
}
}
void DetectorQualityEvaluator::openToWriteKeypointsFile( FileStorage& fs, int datasetIdx )
{
string filename = data_path + KEYPOINTS_DIR + algName + "_"+ DATASET_NAMES[datasetIdx] + ".xml.gz" ;
fs.open(filename, FileStorage::WRITE);
if( !fs.isOpened() )
printf( "keypoints can not be written in file %s because this file can not be opened\n", filename.c_str() );
}
inline void writeKeypoints( FileStorage& fs, const vector<KeyPoint>& keypoints, int imgIdx )
{
if( fs.isOpened() )
{
stringstream imgName; imgName << "img" << imgIdx;
write( fs, imgName.str(), keypoints );
}
}
inline void readKeypoints( FileStorage& fs, vector<KeyPoint>& keypoints, int imgIdx )
{
CV_Assert( fs.isOpened() );
stringstream imgName; imgName << "img" << imgIdx;
read( fs[imgName.str()], keypoints);
}
void DetectorQualityEvaluator::readAlgorithm ()
{
defaultDetector = FeatureDetector::create( algName );
specificDetector = FeatureDetector::create( algName );
if( !defaultDetector )
{
printf( "Algorithm can not be read\n" );
exit(-1);
}
}
static int update_progress( const string& /*name*/, int progress, int test_case_idx, int count, double dt )
{
int width = 60 /*- (int)name.length()*/;
if( count > 0 )
{
int t = cvRound( ((double)test_case_idx * width)/count );
if( t > progress )
{
cout << "." << flush;
progress = t;
}
}
else if( cvRound(dt) > progress )
{
cout << "." << flush;
progress = cvRound(dt);
}
return progress;
}
void DetectorQualityEvaluator::runDatasetTest (const vector<Mat> &imgs, const vector<Mat> &Hs, int di, int &progress)
{
Ptr<FeatureDetector> detector = isActiveParams[di] ? specificDetector : defaultDetector;
FileStorage keypontsFS;
if( isSaveKeypoints[di] )
openToWriteKeypointsFile( keypontsFS, di );
calcQuality[di].resize(TEST_CASE_COUNT);
vector<KeyPoint> keypoints1;
detector->detect( imgs[0], keypoints1 );
writeKeypoints( keypontsFS, keypoints1, 0);
int progressCount = DATASETS_COUNT*TEST_CASE_COUNT;
for( int ci = 0; ci < TEST_CASE_COUNT; ci++ )
{
progress = update_progress( testName, progress, di*TEST_CASE_COUNT + ci + 1, progressCount, 0 );
vector<KeyPoint> keypoints2;
float rep;
evaluateFeatureDetector( imgs[0], imgs[ci+1], Hs[ci], &keypoints1, &keypoints2,
rep, calcQuality[di][ci].correspondenceCount,
detector );
calcQuality[di][ci].repeatability = rep == -1 ? rep : 100.f*rep;
writeKeypoints( keypontsFS, keypoints2, ci+1);
}
}
// static void testLog( bool isBadAccuracy )
// {
// if( isBadAccuracy )
// printf(" bad accuracy\n");
// else
// printf("\n");
// }
/****************************************************************************************\
* Descriptors evaluation *
\****************************************************************************************/
const string RECALL = "recall";
const string PRECISION = "precision";
const string KEYPOINTS_FILENAME = "keypointsFilename";
const string PROJECT_KEYPOINTS_FROM_1IMAGE = "projectKeypointsFrom1Image";
const string MATCH_FILTER = "matchFilter";
const string RUN_PARAMS_IS_IDENTICAL = "runParamsIsIdentical";
const string ONE_WAY_TRAIN_DIR = "detectors_descriptors_evaluation/one_way_train_images/";
const string ONE_WAY_IMAGES_LIST = "one_way_train_images.txt";
class DescriptorQualityEvaluator : public BaseQualityEvaluator
{
public:
enum{ NO_MATCH_FILTER = 0 };
DescriptorQualityEvaluator( const char* _descriptorName, const char* _testName, const char* _matcherName = 0 ) :
BaseQualityEvaluator( _descriptorName, _testName )
{
calcQuality.resize(DATASETS_COUNT);
calcDatasetQuality.resize(DATASETS_COUNT);
commRunParams.resize(DATASETS_COUNT);
commRunParamsDefault.projectKeypointsFrom1Image = true;
commRunParamsDefault.matchFilter = NO_MATCH_FILTER;
commRunParamsDefault.isActiveParams = false;
if( _matcherName )
matcherName = _matcherName;
}
protected:
virtual string getRunParamsFilename() const;
virtual string getResultsFilename() const;
virtual string getPlotPath() const;
virtual void calcQualityClear( int datasetIdx );
virtual bool isCalcQualityEmpty( int datasetIdx ) const;
virtual void readDatasetRunParams( FileNode& fn, int datasetIdx ); //
virtual void writeDatasetRunParams( FileStorage& fs, int datasetIdx ) const;
virtual void setDefaultDatasetRunParams( int datasetIdx );
virtual void readDefaultRunParams( FileNode &fn );
virtual void writeDefaultRunParams( FileStorage &fs ) const;
virtual void readAlgorithm();
virtual void processRunParamsFile() {}
virtual void runDatasetTest( const vector<Mat> &imgs, const vector<Mat> &Hs, int di, int &progress );
virtual void writePlotData( int di ) const;
void calculatePlotData( vector<vector<DMatch> > &allMatches, vector<vector<uchar> > &allCorrectMatchesMask, int di );
struct Quality
{
float recall;
float precision;
};
vector<vector<Quality> > calcQuality;
vector<vector<Quality> > calcDatasetQuality;
struct CommonRunParams
{
string keypontsFilename;
bool projectKeypointsFrom1Image;
int matchFilter; // not used now
bool isActiveParams;
};
vector<CommonRunParams> commRunParams;
Ptr<GenericDescriptorMatch> specificDescMatcher;
Ptr<GenericDescriptorMatch> defaultDescMatcher;
CommonRunParams commRunParamsDefault;
string matcherName;
};
string DescriptorQualityEvaluator::getRunParamsFilename() const
{
return data_path + DESCRIPTORS_DIR + algName + PARAMS_POSTFIX;
}
string DescriptorQualityEvaluator::getResultsFilename() const
{
return data_path + DESCRIPTORS_DIR + algName + RES_POSTFIX;
}
string DescriptorQualityEvaluator::getPlotPath() const
{
return data_path + DESCRIPTORS_DIR + "plots/";
}
void DescriptorQualityEvaluator::calcQualityClear( int datasetIdx )
{
calcQuality[datasetIdx].clear();
}
bool DescriptorQualityEvaluator::isCalcQualityEmpty( int datasetIdx ) const
{
return calcQuality[datasetIdx].empty();
}
void DescriptorQualityEvaluator::readDefaultRunParams (FileNode &fn)
{
if (! fn.empty() )
{
commRunParamsDefault.projectKeypointsFrom1Image = (int)fn[PROJECT_KEYPOINTS_FROM_1IMAGE] != 0;
commRunParamsDefault.matchFilter = (int)fn[MATCH_FILTER];
defaultDescMatcher->read (fn);
}
}
void DescriptorQualityEvaluator::writeDefaultRunParams (FileStorage &fs) const
{
fs << PROJECT_KEYPOINTS_FROM_1IMAGE << commRunParamsDefault.projectKeypointsFrom1Image;
fs << MATCH_FILTER << commRunParamsDefault.matchFilter;
defaultDescMatcher->write (fs);
}
void DescriptorQualityEvaluator::readDatasetRunParams( FileNode& fn, int datasetIdx )
{
commRunParams[datasetIdx].isActiveParams = (int)fn[IS_ACTIVE_PARAMS] != 0;
if (commRunParams[datasetIdx].isActiveParams)
{
commRunParams[datasetIdx].keypontsFilename = (string)fn[KEYPOINTS_FILENAME];
commRunParams[datasetIdx].projectKeypointsFrom1Image = (int)fn[PROJECT_KEYPOINTS_FROM_1IMAGE] != 0;
commRunParams[datasetIdx].matchFilter = (int)fn[MATCH_FILTER];
specificDescMatcher->read (fn);
}
else
{
setDefaultDatasetRunParams(datasetIdx);
}
}
void DescriptorQualityEvaluator::writeDatasetRunParams( FileStorage& fs, int datasetIdx ) const
{
fs << IS_ACTIVE_PARAMS << commRunParams[datasetIdx].isActiveParams;
fs << KEYPOINTS_FILENAME << commRunParams[datasetIdx].keypontsFilename;
fs << PROJECT_KEYPOINTS_FROM_1IMAGE << commRunParams[datasetIdx].projectKeypointsFrom1Image;
fs << MATCH_FILTER << commRunParams[datasetIdx].matchFilter;
defaultDescMatcher->write (fs);
}
void DescriptorQualityEvaluator::setDefaultDatasetRunParams( int datasetIdx )
{
commRunParams[datasetIdx] = commRunParamsDefault;
commRunParams[datasetIdx].keypontsFilename = "SURF_" + DATASET_NAMES[datasetIdx] + ".xml.gz";
}
void DescriptorQualityEvaluator::writePlotData( int di ) const
{
stringstream filename;
filename << getPlotPath() << algName << "_" << DATASET_NAMES[di] << ".csv";
FILE *file = fopen (filename.str().c_str(), "w");
size_t size = calcDatasetQuality[di].size();
for (size_t i=0;i<size;i++)
{
fprintf( file, "%f, %f\n", 1 - calcDatasetQuality[di][i].precision, calcDatasetQuality[di][i].recall);
}
fclose( file );
}
void DescriptorQualityEvaluator::readAlgorithm( )
{
defaultDescMatcher = GenericDescriptorMatcher::create( algName );
specificDescMatcher = GenericDescriptorMatcher::create( algName );
if( !defaultDescMatcher )
{
Ptr<DescriptorExtractor> extractor = DescriptorExtractor::create( algName );
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create( matcherName );
defaultDescMatcher = makePtr<VectorDescriptorMatch>( extractor, matcher );
specificDescMatcher = makePtr<VectorDescriptorMatch>( extractor, matcher );
if( !extractor || !matcher )
{
printf("Algorithm can not be read\n");
exit(-1);
}
}
}
void DescriptorQualityEvaluator::calculatePlotData( vector<vector<DMatch> > &allMatches, vector<vector<uchar> > &allCorrectMatchesMask, int di )
{
vector<Point2f> recallPrecisionCurve;
computeRecallPrecisionCurve( allMatches, allCorrectMatchesMask, recallPrecisionCurve );
calcDatasetQuality[di].clear();
const float resultPrecision = 0.5;
bool isResultCalculated = false;
const double eps = 1e-2;
Quality initQuality;
initQuality.recall = 0;
initQuality.precision = 0;
calcDatasetQuality[di].push_back( initQuality );
for( size_t i=0;i<recallPrecisionCurve.size();i++ )
{
Quality quality;
quality.recall = recallPrecisionCurve[i].y;
quality.precision = 1 - recallPrecisionCurve[i].x;
Quality back = calcDatasetQuality[di].back();
if( fabs( quality.recall - back.recall ) < eps && fabs( quality.precision - back.precision ) < eps )
continue;
calcDatasetQuality[di].push_back( quality );
if( !isResultCalculated && quality.precision < resultPrecision )
{
for(int ci=0;ci<TEST_CASE_COUNT;ci++)
{
calcQuality[di][ci].recall = quality.recall;
calcQuality[di][ci].precision = quality.precision;
}
isResultCalculated = true;
}
}
}
void DescriptorQualityEvaluator::runDatasetTest (const vector<Mat> &imgs, const vector<Mat> &Hs, int di, int &progress)
{
FileStorage keypontsFS( data_path + KEYPOINTS_DIR + commRunParams[di].keypontsFilename, FileStorage::READ );
if( !keypontsFS.isOpened())
{
calcQuality[di].clear();
printf( "keypoints from file %s can not be read\n", commRunParams[di].keypontsFilename.c_str() );
return;
}
Ptr<GenericDescriptorMatcher> descMatch = commRunParams[di].isActiveParams ? specificDescMatcher : defaultDescMatcher;
calcQuality[di].resize(TEST_CASE_COUNT);
vector<KeyPoint> keypoints1;
readKeypoints( keypontsFS, keypoints1, 0);
int progressCount = DATASETS_COUNT*TEST_CASE_COUNT;
vector<vector<DMatch> > allMatches1to2;
vector<vector<uchar> > allCorrectMatchesMask;
for( int ci = 0; ci < TEST_CASE_COUNT; ci++ )
{
progress = update_progress( testName, progress, di*TEST_CASE_COUNT + ci + 1, progressCount, 0 );
vector<KeyPoint> keypoints2;
if( commRunParams[di].projectKeypointsFrom1Image )
{
// TODO need to test function calcKeyPointProjections
calcKeyPointProjections( keypoints1, Hs[ci], keypoints2 );
filterKeyPointsByImageSize( keypoints2, imgs[ci+1].size() );
}
else
readKeypoints( keypontsFS, keypoints2, ci+1 );
// TODO if( commRunParams[di].matchFilter )
vector<vector<DMatch> > matches1to2;
vector<vector<uchar> > correctMatchesMask;
vector<Point2f> recallPrecisionCurve; // not used because we need recallPrecisionCurve for
// all images in dataset
evaluateGenericDescriptorMatcher( imgs[0], imgs[ci+1], Hs[ci], keypoints1, keypoints2,
&matches1to2, &correctMatchesMask, recallPrecisionCurve,
descMatch );
allMatches1to2.insert( allMatches1to2.end(), matches1to2.begin(), matches1to2.end() );
allCorrectMatchesMask.insert( allCorrectMatchesMask.end(), correctMatchesMask.begin(), correctMatchesMask.end() );
}
calculatePlotData( allMatches1to2, allCorrectMatchesMask, di );
}
//--------------------------------- Calonder descriptor test --------------------------------------------
class CalonderDescriptorQualityEvaluator : public DescriptorQualityEvaluator
{
public:
CalonderDescriptorQualityEvaluator() :
DescriptorQualityEvaluator( "Calonder", "quality-descriptor-calonder") {}
virtual void readAlgorithm( )
{
string classifierFile = data_path + "/features2d/calonder_classifier.rtc";
Ptr<DescriptorExtractor> extractor = makePtr<CalonderDescriptorExtractor<float> >( classifierFile );
defaultDescMatcher = makePtr<VectorDescriptorMatch>(
extractor,
makePtr<BFMatcher>(extractor->defaultNorm()));
specificDescMatcher = defaultDescMatcher;
}
};
//--------------------------------- One Way descriptor test --------------------------------------------
class OneWayDescriptorQualityTest : public DescriptorQualityEvaluator
{
public:
OneWayDescriptorQualityTest() :
DescriptorQualityEvaluator("ONEWAY", "quality-descriptor-one-way")
{
}
protected:
virtual void processRunParamsFile ();
virtual void writeDatasetRunParams( FileStorage& fs, int datasetIdx ) const;
};
void OneWayDescriptorQualityTest::processRunParamsFile ()
{
string filename = getRunParamsFilename();
FileStorage fs = FileStorage (filename, FileStorage::READ);
FileNode fn = fs.getFirstTopLevelNode();
fn = fn[DEFAULT_PARAMS];
string pcaFilename = data_path + (string)fn["pcaFilename"];
string trainPath = data_path + (string)fn["trainPath"];
string trainImagesList = (string)fn["trainImagesList"];
int patch_width = fn["patchWidth"];
int patch_height = fn["patchHeight"];
Size patchSize = cvSize (patch_width, patch_height);
int poseCount = fn["poseCount"];
if (trainImagesList.length () == 0 )
return;
fs.release ();
readAllDatasetsRunParams();
Ptr<OneWayDescriptorBase> base(
new OneWayDescriptorBase(patchSize, poseCount, pcaFilename,
trainPath, trainImagesList));
Ptr<OneWayDescriptorMatch> match = makePtr<OneWayDescriptorMatch>();
match->initialize( OneWayDescriptorMatch::Params (), base );
defaultDescMatcher = match;
writeAllDatasetsRunParams();
}
void OneWayDescriptorQualityTest::writeDatasetRunParams( FileStorage& fs, int datasetIdx ) const
{
fs << IS_ACTIVE_PARAMS << commRunParams[datasetIdx].isActiveParams;
fs << KEYPOINTS_FILENAME << commRunParams[datasetIdx].keypontsFilename;
fs << PROJECT_KEYPOINTS_FROM_1IMAGE << commRunParams[datasetIdx].projectKeypointsFrom1Image;
fs << MATCH_FILTER << commRunParams[datasetIdx].matchFilter;
}
int main( int argc, char** argv )
{
if( argc != 2 )
{
cout << "Format: " << argv[0] << " testdata path (path to testdata/cv)" << endl;
return -1;
}
data_path = argv[1];
#ifdef WIN32
if( *data_path.rbegin() != '\\' )
data_path = data_path + "\\";
#else
if( *data_path.rbegin() != '/' )
data_path = data_path + "/";
#endif
Ptr<BaseQualityEvaluator> evals[] =
{
makePtr<DetectorQualityEvaluator>( "FAST", "quality-detector-fast" ),
makePtr<DetectorQualityEvaluator>( "GFTT", "quality-detector-gftt" ),
makePtr<DetectorQualityEvaluator>( "HARRIS", "quality-detector-harris" ),
makePtr<DetectorQualityEvaluator>( "MSER", "quality-detector-mser" ),
makePtr<DetectorQualityEvaluator>( "STAR", "quality-detector-star" ),
makePtr<DetectorQualityEvaluator>( "SIFT", "quality-detector-sift" ),
makePtr<DetectorQualityEvaluator>( "SURF", "quality-detector-surf" ),
makePtr<DescriptorQualityEvaluator>( "SIFT", "quality-descriptor-sift", "BruteForce" ),
makePtr<DescriptorQualityEvaluator>( "SURF", "quality-descriptor-surf", "BruteForce" ),
makePtr<DescriptorQualityEvaluator>( "FERN", "quality-descriptor-fern"),
makePtr<CalonderDescriptorQualityEvaluator>()
};
for( size_t i = 0; i < sizeof(evals)/sizeof(evals[0]); i++ )
{
evals[i]->run();
cout << endl;
}
}

346
samples/cpp/detector_descriptor_matcher_evaluation.cpp
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@@ -1,346 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "opencv2/core/utility.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/features2d.hpp"
#include <stdlib.h>
#include <stdio.h>
#include <sys/stat.h>
#include <limits>
#include <cstdio>
#include <iostream>
#include <fstream>
using namespace std;
using namespace cv;
/*
The algorithm:
for each tested combination of detector+descriptor+matcher:
create detector, descriptor and matcher,
load their params if they are there, otherwise use the default ones and save them
for each dataset:
load reference image
detect keypoints in it, compute descriptors
for each transformed image:
load the image
load the transformation matrix
detect keypoints in it too, compute descriptors
find matches
transform keypoints from the first image using the ground-truth matrix
compute the number of matched keypoints, i.e. for each pair (i,j) found by a matcher compare
j-th keypoint from the second image with the transformed i-th keypoint. If they are close, +1.
so, we have:
N - number of keypoints in the first image that are also visible
(after transformation) on the second image
N1 - number of keypoints in the first image that have been matched.
n - number of the correct matches found by the matcher
n/N1 - precision
n/N - recall (?)
we store (N, n/N1, n/N) (where N is stored primarily for tuning the detector's thresholds,
in order to semi-equalize their keypoints counts)
*/
typedef Vec3f TVec; // (N, n/N1, n/N) - see above
static void saveloadDDM( const string& params_filename,
Ptr<FeatureDetector>& detector,
Ptr<DescriptorExtractor>& descriptor,
Ptr<DescriptorMatcher>& matcher )
{
FileStorage fs(params_filename, FileStorage::READ);
if( fs.isOpened() )
{
detector->read(fs["detector"]);
descriptor->read(fs["descriptor"]);
matcher->read(fs["matcher"]);
}
else
{
fs.open(params_filename, FileStorage::WRITE);
fs << "detector" << "{";
detector->write(fs);
fs << "}" << "descriptor" << "{";
descriptor->write(fs);
fs << "}" << "matcher" << "{";
matcher->write(fs);
fs << "}";
}
}
static Mat loadMat(const string& fsname)
{
FileStorage fs(fsname, FileStorage::READ);
Mat m;
fs.getFirstTopLevelNode() >> m;
return m;
}
static void transformKeypoints( const vector<KeyPoint>& kp,
vector<vector<Point2f> >& contours,
const Mat& H )
{
const float scale = 256.f;
size_t i, n = kp.size();
contours.resize(n);
vector<Point> temp;
for( i = 0; i < n; i++ )
{
ellipse2Poly(Point2f(kp[i].pt.x*scale, kp[i].pt.y*scale),
Size2f(kp[i].size*scale, kp[i].size*scale),
0, 0, 360, 12, temp);
Mat(temp).convertTo(contours[i], CV_32F, 1./scale);
perspectiveTransform(contours[i], contours[i], H);
}
}
static TVec proccessMatches( Size imgsize,
const vector<DMatch>& matches,
const vector<vector<Point2f> >& kp1t_contours,
const vector<vector<Point2f> >& kp_contours,
double overlapThreshold )
{
const double visibilityThreshold = 0.6;
// 1. [preprocessing] find bounding rect for each element of kp1t_contours and kp_contours.
// 2. [cross-check] for each DMatch (iK, i1)
// update best_match[i1] using DMatch::distance.
// 3. [compute overlapping] for each i1 (keypoint from the first image) do:
// if i1-th keypoint is outside of image, skip it
// increment N
// if best_match[i1] is initialized, increment N1
// if kp_contours[best_match[i1]] and kp1t_contours[i1] overlap by overlapThreshold*100%,
// increment n. Use bounding rects to speedup this step
int i, size1 = (int)kp1t_contours.size(), size = (int)kp_contours.size(), msize = (int)matches.size();
vector<DMatch> best_match(size1);
vector<Rect> rects1(size1), rects(size);
// proprocess
for( i = 0; i < size1; i++ )
rects1[i] = boundingRect(kp1t_contours[i]);
for( i = 0; i < size; i++ )
rects[i] = boundingRect(kp_contours[i]);
// cross-check
for( i = 0; i < msize; i++ )
{
DMatch m = matches[i];
int i1 = m.trainIdx, iK = m.queryIdx;
CV_Assert( 0 <= i1 && i1 < size1 && 0 <= iK && iK < size );
if( best_match[i1].trainIdx < 0 || best_match[i1].distance > m.distance )
best_match[i1] = m;
}
int N = 0, N1 = 0, n = 0;
// overlapping
for( i = 0; i < size1; i++ )
{
int i1 = i, iK = best_match[i].queryIdx;
if( iK >= 0 )
N1++;
Rect r = rects1[i] & Rect(0, 0, imgsize.width, imgsize.height);
if( r.area() < visibilityThreshold*rects1[i].area() )
continue;
N++;
if( iK < 0 || (rects1[i1] & rects[iK]).area() == 0 )
continue;
double n_area = intersectConvexConvex(kp1t_contours[i1], kp_contours[iK], noArray(), true);
if( n_area == 0 )
continue;
double area1 = contourArea(kp1t_contours[i1], false);
double area = contourArea(kp_contours[iK], false);
double ratio = n_area/(area1 + area - n_area);
n += ratio >= overlapThreshold;
}
return TVec((float)N, (float)n/std::max(N1, 1), (float)n/std::max(N, 1));
}
static void saveResults(const string& dir, const string& name, const string& dsname,
const vector<TVec>& results, const int* xvals)
{
string fname1 = format("%s%s_%s_precision.csv", dir.c_str(), name.c_str(), dsname.c_str());
string fname2 = format("%s%s_%s_recall.csv", dir.c_str(), name.c_str(), dsname.c_str());
FILE* f1 = fopen(fname1.c_str(), "wt");
FILE* f2 = fopen(fname2.c_str(), "wt");
for( size_t i = 0; i < results.size(); i++ )
{
fprintf(f1, "%d, %.1f\n", xvals[i], results[i][1]*100);
fprintf(f2, "%d, %.1f\n", xvals[i], results[i][2]*100);
}
fclose(f1);
fclose(f2);
}
int main(int argc, char** argv)
{
static const char* ddms[] =
{
"ORBX_BF", "ORB", "ORB", "BruteForce-Hamming",
//"ORB_BF", "ORB", "ORB", "BruteForce-Hamming",
//"ORB3_BF", "ORB", "ORB", "BruteForce-Hamming(2)",
//"ORB4_BF", "ORB", "ORB", "BruteForce-Hamming(2)",
//"ORB_LSH", "ORB", "ORB", "LSH"
//"SURF_BF", "SURF", "SURF", "BruteForce",
0
};
static const char* datasets[] =
{
"bark", "bikes", "boat", "graf", "leuven", "trees", "ubc", "wall", 0
};
static const int imgXVals[] = { 2, 3, 4, 5, 6 }; // if scale, blur or light changes
static const int viewpointXVals[] = { 20, 30, 40, 50, 60 }; // if viewpoint changes
static const int jpegXVals[] = { 60, 80, 90, 95, 98 }; // if jpeg compression
const double overlapThreshold = 0.6;
vector<vector<vector<TVec> > > results; // indexed as results[ddm][dataset][testcase]
string dataset_dir = string(getenv("OPENCV_TEST_DATA_PATH")) +
"/cv/detectors_descriptors_evaluation/images_datasets";
string dir=argc > 1 ? argv[1] : ".";
if( dir[dir.size()-1] != '\\' && dir[dir.size()-1] != '/' )
dir += "/";
int result = system(("mkdir " + dir).c_str());
CV_Assert(result == 0);
for( int i = 0; ddms[i*4] != 0; i++ )
{
const char* name = ddms[i*4];
const char* detector_name = ddms[i*4+1];
const char* descriptor_name = ddms[i*4+2];
const char* matcher_name = ddms[i*4+3];
string params_filename = dir + string(name) + "_params.yml";
cout << "Testing " << name << endl;
Ptr<FeatureDetector> detector = FeatureDetector::create(detector_name);
Ptr<DescriptorExtractor> descriptor = DescriptorExtractor::create(descriptor_name);
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create(matcher_name);
saveloadDDM( params_filename, detector, descriptor, matcher );
results.push_back(vector<vector<TVec> >());
for( int j = 0; datasets[j] != 0; j++ )
{
const char* dsname = datasets[j];
cout << "\ton " << dsname << " ";
cout.flush();
const int* xvals = strcmp(dsname, "ubc") == 0 ? jpegXVals :
strcmp(dsname, "graf") == 0 || strcmp(dsname, "wall") == 0 ? viewpointXVals : imgXVals;
vector<KeyPoint> kp1, kp;
vector<DMatch> matches;
vector<vector<Point2f> > kp1t_contours, kp_contours;
Mat desc1, desc;
Mat img1 = imread(format("%s/%s/img1.png", dataset_dir.c_str(), dsname), 0);
CV_Assert( !img1.empty() );
detector->detect(img1, kp1);
descriptor->compute(img1, kp1, desc1);
results[i].push_back(vector<TVec>());
for( int k = 2; ; k++ )
{
cout << ".";
cout.flush();
Mat imgK = imread(format("%s/%s/img%d.png", dataset_dir.c_str(), dsname, k), 0);
if( imgK.empty() )
break;
detector->detect(imgK, kp);
descriptor->compute(imgK, kp, desc);
matcher->match( desc, desc1, matches );
Mat H = loadMat(format("%s/%s/H1to%dp.xml", dataset_dir.c_str(), dsname, k));
transformKeypoints( kp1, kp1t_contours, H );
transformKeypoints( kp, kp_contours, Mat::eye(3, 3, CV_64F));
TVec r = proccessMatches( imgK.size(), matches, kp1t_contours, kp_contours, overlapThreshold );
results[i][j].push_back(r);
}
saveResults(dir, name, dsname, results[i][j], xvals);
cout << endl;
}
}
}

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samples/cpp/em.cpp
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@@ -1,5 +1,5 @@
#include "opencv2/highgui.hpp"
#include "opencv2/legacy.hpp"
#include "opencv2/ml.hpp"
using namespace cv;
@@ -19,8 +19,6 @@ int main( int /*argc*/, char** /*argv*/ )
Mat labels;
Mat img = Mat::zeros( Size( 500, 500 ), CV_8UC3 );
Mat sample( 1, 2, CV_32FC1 );
CvEM em_model;
CvEMParams params;
samples = samples.reshape(2, 0);
for( i = 0; i < N; i++ )
@@ -35,37 +33,10 @@ int main( int /*argc*/, char** /*argv*/ )
}
samples = samples.reshape(1, 0);
// initialize model parameters
params.covs = NULL;
params.means = NULL;
params.weights = NULL;
params.probs = NULL;
params.nclusters = N;
params.cov_mat_type = CvEM::COV_MAT_SPHERICAL;
params.start_step = CvEM::START_AUTO_STEP;
params.term_crit.max_iter = 300;
params.term_crit.epsilon = 0.1;
params.term_crit.type = TermCriteria::COUNT|TermCriteria::EPS;
// cluster the data
em_model.train( samples, Mat(), params, &labels );
EM em_model(N, EM::COV_MAT_SPHERICAL, TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 300, 0.1));
em_model.train( samples, noArray(), labels, noArray() );
#if 0
// the piece of code shows how to repeatedly optimize the model
// with less-constrained parameters
//(COV_MAT_DIAGONAL instead of COV_MAT_SPHERICAL)
// when the output of the first stage is used as input for the second one.
CvEM em_model2;
params.cov_mat_type = CvEM::COV_MAT_DIAGONAL;
params.start_step = CvEM::START_E_STEP;
params.means = em_model.get_means();
params.covs = em_model.get_covs();
params.weights = em_model.get_weights();
em_model2.train( samples, Mat(), params, &labels );
// to use em_model2, replace em_model.predict()
// with em_model2.predict() below
#endif
// classify every image pixel
for( i = 0; i < img.rows; i++ )
{
@@ -73,7 +44,7 @@ int main( int /*argc*/, char** /*argv*/ )
{
sample.at<float>(0) = (float)j;
sample.at<float>(1) = (float)i;
int response = cvRound(em_model.predict( sample ));
int response = cvRound(em_model.predict( sample )[1]);
Scalar c = colors[response];
circle( img, Point(j, i), 1, c*0.75, FILLED );

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samples/cpp/fabmap_sample.cpp
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@@ -1,216 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
// This file originates from the openFABMAP project:
// [http://code.google.com/p/openfabmap/]
//
// For published work which uses all or part of OpenFABMAP, please cite:
// [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6224843]
//
// Original Algorithm by Mark Cummins and Paul Newman:
// [http://ijr.sagepub.com/content/27/6/647.short]
// [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5613942]
// [http://ijr.sagepub.com/content/30/9/1100.abstract]
//
// License Agreement
//
// Copyright (C) 2012 Arren Glover [aj.glover@qut.edu.au] and
// Will Maddern [w.maddern@qut.edu.au], all rights reserved.
//
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include <iostream>
#include "opencv2/contrib.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/nonfree.hpp"
using namespace cv;
using namespace std;
int main(int argc, char * argv[]) {
/*
Note: the vocabulary and training data is specifically made for this openCV
example. It is not reccomended for use with other datasets as it is
intentionally small to reduce baggage in the openCV project.
A new vocabulary can be generated using the supplied BOWMSCtrainer (or other
clustering method such as K-means
New training data can be generated by extracting bag-of-words using the
openCV BOWImgDescriptorExtractor class.
vocabulary, chow-liu tree, training data, and test data can all be saved and
loaded using openCV's FileStorage class and it is not necessary to generate
data each time as done in this example
*/
cout << "This sample program demonstrates the FAB-MAP image matching "
"algorithm" << endl << endl;
string dataDir;
if (argc == 1) {
dataDir = "fabmap/";
} else if (argc == 2) {
dataDir = string(argv[1]);
dataDir += "/";
} else {
//incorrect arguments
cout << "Usage: fabmap_sample <sample data directory>" <<
endl;
return -1;
}
FileStorage fs;
//load/generate vocab
cout << "Loading Vocabulary: " <<
dataDir + string("vocab_small.yml") << endl << endl;
fs.open(dataDir + string("vocab_small.yml"), FileStorage::READ);
Mat vocab;
fs["Vocabulary"] >> vocab;
if (vocab.empty()) {
cerr << "Vocabulary not found" << endl;
return -1;
}
fs.release();
//load/generate training data
cout << "Loading Training Data: " <<
dataDir + string("train_data_small.yml") << endl << endl;
fs.open(dataDir + string("train_data_small.yml"), FileStorage::READ);
Mat trainData;
fs["BOWImageDescs"] >> trainData;
if (trainData.empty()) {
cerr << "Training Data not found" << endl;
return -1;
}
fs.release();
//create Chow-liu tree
cout << "Making Chow-Liu Tree from training data" << endl <<
endl;
of2::ChowLiuTree treeBuilder;
treeBuilder.add(trainData);
Mat tree = treeBuilder.make();
//generate test data
cout << "Extracting Test Data from images" << endl <<
endl;
Ptr<FeatureDetector> detector(
new DynamicAdaptedFeatureDetector(
AdjusterAdapter::create("STAR"), 130, 150, 5));
Ptr<DescriptorExtractor> extractor(
new SurfDescriptorExtractor(1000, 4, 2, false, true));
Ptr<DescriptorMatcher> matcher =
DescriptorMatcher::create("FlannBased");
BOWImgDescriptorExtractor bide(extractor, matcher);
bide.setVocabulary(vocab);
vector<string> imageNames;
imageNames.push_back(string("stlucia_test_small0000.jpeg"));
imageNames.push_back(string("stlucia_test_small0001.jpeg"));
imageNames.push_back(string("stlucia_test_small0002.jpeg"));
imageNames.push_back(string("stlucia_test_small0003.jpeg"));
imageNames.push_back(string("stlucia_test_small0004.jpeg"));
imageNames.push_back(string("stlucia_test_small0005.jpeg"));
imageNames.push_back(string("stlucia_test_small0006.jpeg"));
imageNames.push_back(string("stlucia_test_small0007.jpeg"));
imageNames.push_back(string("stlucia_test_small0008.jpeg"));
imageNames.push_back(string("stlucia_test_small0009.jpeg"));
Mat testData;
Mat frame;
Mat bow;
vector<KeyPoint> kpts;
for(size_t i = 0; i < imageNames.size(); i++) {
cout << dataDir + imageNames[i] << endl;
frame = imread(dataDir + imageNames[i]);
if(frame.empty()) {
cerr << "Test images not found" << endl;
return -1;
}
detector->detect(frame, kpts);
bide.compute(frame, kpts, bow);
testData.push_back(bow);
drawKeypoints(frame, kpts, frame);
imshow(imageNames[i], frame);
waitKey(10);
}
//run fabmap
cout << "Running FAB-MAP algorithm" << endl <<
endl;
Ptr<of2::FabMap> fabmap;
fabmap.reset(new of2::FabMap2(tree, 0.39, 0, of2::FabMap::SAMPLED |
of2::FabMap::CHOW_LIU));
fabmap->addTraining(trainData);
vector<of2::IMatch> matches;
fabmap->compare(testData, matches, true);
//display output
Mat result_small = Mat::zeros(10, 10, CV_8UC1);
vector<of2::IMatch>::iterator l;
for(l = matches.begin(); l != matches.end(); l++) {
if(l->imgIdx < 0) {
result_small.at<char>(l->queryIdx, l->queryIdx) =
(char)(l->match*255);
} else {
result_small.at<char>(l->queryIdx, l->imgIdx) =
(char)(l->match*255);
}
}
Mat result_large(100, 100, CV_8UC1);
resize(result_small, result_large, Size(500, 500), 0, 0, INTER_NEAREST);
cout << endl << "Press any key to exit" << endl;
imshow("Confusion Matrix", result_large);
waitKey();
return 0;
}

281
samples/cpp/facedetect.cpp Normal file
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@@ -0,0 +1,281 @@
#include "opencv2/objdetect.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/highgui/highgui_c.h"
#include <cctype>
#include <iostream>
#include <iterator>
#include <stdio.h>
using namespace std;
using namespace cv;
static void help()
{
cout << "\nThis program demonstrates the cascade recognizer. Now you can use Haar or LBP features.\n"
"This classifier can recognize many kinds of rigid objects, once the appropriate classifier is trained.\n"
"It's most known use is for faces.\n"
"Usage:\n"
"./facedetect [--cascade=<cascade_path> this is the primary trained classifier such as frontal face]\n"
" [--nested-cascade[=nested_cascade_path this an optional secondary classifier such as eyes]]\n"
" [--scale=<image scale greater or equal to 1, try 1.3 for example>]\n"
" [--try-flip]\n"
" [filename|camera_index]\n\n"
"see facedetect.cmd for one call:\n"
"./facedetect --cascade=\"../../data/haarcascades/haarcascade_frontalface_alt.xml\" --nested-cascade=\"../../data/haarcascades/haarcascade_eye.xml\" --scale=1.3\n\n"
"During execution:\n\tHit any key to quit.\n"
"\tUsing OpenCV version " << CV_VERSION << "\n" << endl;
}
void detectAndDraw( Mat& img, CascadeClassifier& cascade,
CascadeClassifier& nestedCascade,
double scale, bool tryflip );
string cascadeName = "../../data/haarcascades/haarcascade_frontalface_alt.xml";
string nestedCascadeName = "../../data/haarcascades/haarcascade_eye_tree_eyeglasses.xml";
int main( int argc, const char** argv )
{
CvCapture* capture = 0;
Mat frame, frameCopy, image;
const string scaleOpt = "--scale=";
size_t scaleOptLen = scaleOpt.length();
const string cascadeOpt = "--cascade=";
size_t cascadeOptLen = cascadeOpt.length();
const string nestedCascadeOpt = "--nested-cascade";
size_t nestedCascadeOptLen = nestedCascadeOpt.length();
const string tryFlipOpt = "--try-flip";
size_t tryFlipOptLen = tryFlipOpt.length();
string inputName;
bool tryflip = false;
help();
CascadeClassifier cascade, nestedCascade;
double scale = 1;
for( int i = 1; i < argc; i++ )
{
cout << "Processing " << i << " " << argv[i] << endl;
if( cascadeOpt.compare( 0, cascadeOptLen, argv[i], cascadeOptLen ) == 0 )
{
cascadeName.assign( argv[i] + cascadeOptLen );
cout << " from which we have cascadeName= " << cascadeName << endl;
}
else if( nestedCascadeOpt.compare( 0, nestedCascadeOptLen, argv[i], nestedCascadeOptLen ) == 0 )
{
if( argv[i][nestedCascadeOpt.length()] == '=' )
nestedCascadeName.assign( argv[i] + nestedCascadeOpt.length() + 1 );
if( !nestedCascade.load( nestedCascadeName ) )
cerr << "WARNING: Could not load classifier cascade for nested objects" << endl;
}
else if( scaleOpt.compare( 0, scaleOptLen, argv[i], scaleOptLen ) == 0 )
{
if( !sscanf( argv[i] + scaleOpt.length(), "%lf", &scale ) || scale < 1 )
scale = 1;
cout << " from which we read scale = " << scale << endl;
}
else if( tryFlipOpt.compare( 0, tryFlipOptLen, argv[i], tryFlipOptLen ) == 0 )
{
tryflip = true;
cout << " will try to flip image horizontally to detect assymetric objects\n";
}
else if( argv[i][0] == '-' )
{
cerr << "WARNING: Unknown option %s" << argv[i] << endl;
}
else
inputName.assign( argv[i] );
}
if( !cascade.load( cascadeName ) )
{
cerr << "ERROR: Could not load classifier cascade" << endl;
help();
return -1;
}
if( inputName.empty() || (isdigit(inputName.c_str()[0]) && inputName.c_str()[1] == '\0') )
{
capture = cvCaptureFromCAM( inputName.empty() ? 0 : inputName.c_str()[0] - '0' );
int c = inputName.empty() ? 0 : inputName.c_str()[0] - '0' ;
if(!capture) cout << "Capture from CAM " << c << " didn't work" << endl;
}
else if( inputName.size() )
{
image = imread( inputName, 1 );
if( image.empty() )
{
capture = cvCaptureFromAVI( inputName.c_str() );
if(!capture) cout << "Capture from AVI didn't work" << endl;
}
}
else
{
image = imread( "lena.jpg", 1 );
if(image.empty()) cout << "Couldn't read lena.jpg" << endl;
}
cvNamedWindow( "result", 1 );
if( capture )
{
cout << "In capture ..." << endl;
for(;;)
{
IplImage* iplImg = cvQueryFrame( capture );
frame = cv::cvarrToMat(iplImg);
if( frame.empty() )
break;
if( iplImg->origin == IPL_ORIGIN_TL )
frame.copyTo( frameCopy );
else
flip( frame, frameCopy, 0 );
detectAndDraw( frameCopy, cascade, nestedCascade, scale, tryflip );
if( waitKey( 10 ) >= 0 )
goto _cleanup_;
}
waitKey(0);
_cleanup_:
cvReleaseCapture( &capture );
}
else
{
cout << "In image read" << endl;
if( !image.empty() )
{
detectAndDraw( image, cascade, nestedCascade, scale, tryflip );
waitKey(0);
}
else if( !inputName.empty() )
{
/* assume it is a text file containing the
list of the image filenames to be processed - one per line */
FILE* f = fopen( inputName.c_str(), "rt" );
if( f )
{
char buf[1000+1];
while( fgets( buf, 1000, f ) )
{
int len = (int)strlen(buf), c;
while( len > 0 && isspace(buf[len-1]) )
len--;
buf[len] = '\0';
cout << "file " << buf << endl;
image = imread( buf, 1 );
if( !image.empty() )
{
detectAndDraw( image, cascade, nestedCascade, scale, tryflip );
c = waitKey(0);
if( c == 27 || c == 'q' || c == 'Q' )
break;
}
else
{
cerr << "Aw snap, couldn't read image " << buf << endl;
}
}
fclose(f);
}
}
}
cvDestroyWindow("result");
return 0;
}
void detectAndDraw( Mat& img, CascadeClassifier& cascade,
CascadeClassifier& nestedCascade,
double scale, bool tryflip )
{
int i = 0;
double t = 0;
vector<Rect> faces, faces2;
const static Scalar colors[] = { CV_RGB(0,0,255),
CV_RGB(0,128,255),
CV_RGB(0,255,255),
CV_RGB(0,255,0),
CV_RGB(255,128,0),
CV_RGB(255,255,0),
CV_RGB(255,0,0),
CV_RGB(255,0,255)} ;
Mat gray, smallImg( cvRound (img.rows/scale), cvRound(img.cols/scale), CV_8UC1 );
cvtColor( img, gray, COLOR_BGR2GRAY );
resize( gray, smallImg, smallImg.size(), 0, 0, INTER_LINEAR );
equalizeHist( smallImg, smallImg );
t = (double)cvGetTickCount();
cascade.detectMultiScale( smallImg, faces,
1.1, 2, 0
//|CASCADE_FIND_BIGGEST_OBJECT
//|CASCADE_DO_ROUGH_SEARCH
|CASCADE_SCALE_IMAGE
,
Size(30, 30) );
if( tryflip )
{
flip(smallImg, smallImg, 1);
cascade.detectMultiScale( smallImg, faces2,
1.1, 2, 0
//|CASCADE_FIND_BIGGEST_OBJECT
//|CASCADE_DO_ROUGH_SEARCH
|CASCADE_SCALE_IMAGE
,
Size(30, 30) );
for( vector<Rect>::const_iterator r = faces2.begin(); r != faces2.end(); r++ )
{
faces.push_back(Rect(smallImg.cols - r->x - r->width, r->y, r->width, r->height));
}
}
t = (double)cvGetTickCount() - t;
printf( "detection time = %g ms\n", t/((double)cvGetTickFrequency()*1000.) );
for( vector<Rect>::const_iterator r = faces.begin(); r != faces.end(); r++, i++ )
{
Mat smallImgROI;
vector<Rect> nestedObjects;
Point center;
Scalar color = colors[i%8];
int radius;
double aspect_ratio = (double)r->width/r->height;
if( 0.75 < aspect_ratio && aspect_ratio < 1.3 )
{
center.x = cvRound((r->x + r->width*0.5)*scale);
center.y = cvRound((r->y + r->height*0.5)*scale);
radius = cvRound((r->width + r->height)*0.25*scale);
circle( img, center, radius, color, 3, 8, 0 );
}
else
rectangle( img, cvPoint(cvRound(r->x*scale), cvRound(r->y*scale)),
cvPoint(cvRound((r->x + r->width-1)*scale), cvRound((r->y + r->height-1)*scale)),
color, 3, 8, 0);
if( nestedCascade.empty() )
continue;
smallImgROI = smallImg(*r);
nestedCascade.detectMultiScale( smallImgROI, nestedObjects,
1.1, 2, 0
//|CASCADE_FIND_BIGGEST_OBJECT
//|CASCADE_DO_ROUGH_SEARCH
//|CASCADE_DO_CANNY_PRUNING
|CASCADE_SCALE_IMAGE
,
Size(30, 30) );
for( vector<Rect>::const_iterator nr = nestedObjects.begin(); nr != nestedObjects.end(); nr++ )
{
center.x = cvRound((r->x + nr->x + nr->width*0.5)*scale);
center.y = cvRound((r->y + nr->y + nr->height*0.5)*scale);
radius = cvRound((nr->width + nr->height)*0.25*scale);
circle( img, center, radius, color, 3, 8, 0 );
}
}
cv::imshow( "result", img );
}

400
samples/cpp/facerec_at_t.txt
View File

@@ -1,400 +0,0 @@
/path/to/at/s13/2.pgm;12
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163
samples/cpp/facerec_demo.cpp
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/*
* Copyright (c) 2011. Philipp Wagner <bytefish[at]gmx[dot]de>.
* Released to public domain under terms of the BSD Simplified license.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the organization nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* See <http://www.opensource.org/licenses/bsd-license>
*/
#include "opencv2/core.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/contrib.hpp"
#include <iostream>
#include <fstream>
#include <sstream>
using namespace cv;
using namespace std;
static Mat toGrayscale(InputArray _src) {
Mat src = _src.getMat();
// only allow one channel
if(src.channels() != 1) {
CV_Error(Error::StsBadArg, "Only Matrices with one channel are supported");
}
// create and return normalized image
Mat dst;
cv::normalize(_src, dst, 0, 255, NORM_MINMAX, CV_8UC1);
return dst;
}
static void read_csv(const string& filename, vector<Mat>& images, vector<int>& labels, char separator = ';') {
std::ifstream file(filename.c_str(), ifstream::in);
if (!file) {
string error_message = "No valid input file was given, please check the given filename.";
CV_Error(Error::StsBadArg, error_message);
}
string line, path, classlabel;
while (getline(file, line)) {
stringstream liness(line);
getline(liness, path, separator);
getline(liness, classlabel);
if(!path.empty() && !classlabel.empty()) {
images.push_back(imread(path, 0));
labels.push_back(atoi(classlabel.c_str()));
}
}
}
int main(int argc, const char *argv[]) {
// Check for valid command line arguments, print usage
// if no arguments were given.
if (argc != 2) {
cout << "usage: " << argv[0] << " <csv.ext>" << endl;
exit(1);
}
// Get the path to your CSV.
string fn_csv = string(argv[1]);
// These vectors hold the images and corresponding labels.
vector<Mat> images;
vector<int> labels;
// Read in the data. This can fail if no valid
// input filename is given.
try {
read_csv(fn_csv, images, labels);
} catch (cv::Exception& e) {
cerr << "Error opening file \"" << fn_csv << "\". Reason: " << e.msg << endl;
// nothing more we can do
exit(1);
}
// Quit if there are not enough images for this demo.
if(images.size() <= 1) {
string error_message = "This demo needs at least 2 images to work. Please add more images to your data set!";
CV_Error(Error::StsError, error_message);
}
// Get the height from the first image. We'll need this
// later in code to reshape the images to their original
// size:
int height = images[0].rows;
// The following lines simply get the last images from
// your dataset and remove it from the vector. This is
// done, so that the training data (which we learn the
// cv::FaceRecognizer on) and the test data we test
// the model with, do not overlap.
Mat testSample = images[images.size() - 1];
int testLabel = labels[labels.size() - 1];
images.pop_back();
labels.pop_back();
// The following lines create an Eigenfaces model for
// face recognition and train it with the images and
// labels read from the given CSV file.
// This here is a full PCA, if you just want to keep
// 10 principal components (read Eigenfaces), then call
// the factory method like this:
//
// cv::createEigenFaceRecognizer(10);
//
// If you want to create a FaceRecognizer with a
// confidennce threshold, call it with:
//
// cv::createEigenFaceRecognizer(10, 123.0);
//
Ptr<FaceRecognizer> model = createEigenFaceRecognizer();
model->train(images, labels);
// The following line predicts the label of a given
// test image:
int predictedLabel = model->predict(testSample);
//
// To get the confidence of a prediction call the model with:
//
// int predictedLabel = -1;
// double confidence = 0.0;
// model->predict(testSample, predictedLabel, confidence);
//
string result_message = format("Predicted class = %d / Actual class = %d.", predictedLabel, testLabel);
cout << result_message << endl;
// Sometimes you'll need to get/set internal model data,
// which isn't exposed by the public cv::FaceRecognizer.
// Since each cv::FaceRecognizer is derived from a
// cv::Algorithm, you can query the data.
//
// First we'll use it to set the threshold of the FaceRecognizer
// to 0.0 without retraining the model. This can be useful if
// you are evaluating the model:
//
model->set("threshold", 0.0);
// Now the threshold of this model is set to 0.0. A prediction
// now returns -1, as it's impossible to have a distance below
// it
predictedLabel = model->predict(testSample);
cout << "Predicted class = " << predictedLabel << endl;
// Here is how to get the eigenvalues of this Eigenfaces model:
Mat eigenvalues = model->getMat("eigenvalues");
// And we can do the same to display the Eigenvectors (read Eigenfaces):
Mat W = model->getMat("eigenvectors");
// From this we will display the (at most) first 10 Eigenfaces:
for (int i = 0; i < min(10, W.cols); i++) {
string msg = format("Eigenvalue #%d = %.5f", i, eigenvalues.at<double>(i));
cout << msg << endl;
// get eigenvector #i
Mat ev = W.col(i).clone();
// Reshape to original size & normalize to [0...255] for imshow.
Mat grayscale = toGrayscale(ev.reshape(1, height));
// Show the image & apply a Jet colormap for better sensing.
Mat cgrayscale;
applyColorMap(grayscale, cgrayscale, COLORMAP_JET);
imshow(format("%d", i), cgrayscale);
}
waitKey(0);
return 0;
}

10
samples/cpp/fern_params.xml
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<?xml version="1.0"?>
<opencv_storage>
<nclasses>0</nclasses>
<patchSize>31</patchSize>
<signatureSize>INT_MAX</signatureSize>
<nstructs>50</nstructs>
<structSize>9</structSize>
<nviews>1000</nviews>
<compressionMethod>0</compressionMethod>
</opencv_storage>

128
samples/cpp/freak_demo.cpp
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// demo.cpp
//
// Here is an example on how to use the descriptor presented in the following paper:
// A. Alahi, R. Ortiz, and P. Vandergheynst. FREAK: Fast Retina Keypoint. In IEEE Conference on Computer Vision and Pattern Recognition, 2012.
// CVPR 2012 Open Source Award winner
//
// Copyright (C) 2011-2012 Signal processing laboratory 2, EPFL,
// Kirell Benzi (kirell.benzi@epfl.ch),
// Raphael Ortiz (raphael.ortiz@a3.epfl.ch),
// Alexandre Alahi (alexandre.alahi@epfl.ch)
// and Pierre Vandergheynst (pierre.vandergheynst@epfl.ch)
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
#include <iostream>
#include <string>
#include <vector>
#include <opencv2/core.hpp>
#include "opencv2/core/utility.hpp"
#include <opencv2/highgui.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/nonfree.hpp>
using namespace cv;
static void help( char** argv )
{
std::cout << "\nUsage: " << argv[0] << " [path/to/image1] [path/to/image2] \n"
<< "This is an example on how to use the keypoint descriptor presented in the following paper: \n"
<< "A. Alahi, R. Ortiz, and P. Vandergheynst. FREAK: Fast Retina Keypoint. \n"
<< "In IEEE Conference on Computer Vision and Pattern Recognition, 2012. CVPR 2012 Open Source Award winner \n"
<< std::endl;
}
int main( int argc, char** argv ) {
// check http://docs.opencv.org/doc/tutorials/features2d/table_of_content_features2d/table_of_content_features2d.html
// for OpenCV general detection/matching framework details
if( argc != 3 ) {
help(argv);
return -1;
}
// Load images
Mat imgA = imread(argv[1], IMREAD_GRAYSCALE );
if( !imgA.data ) {
std::cout<< " --(!) Error reading image " << argv[1] << std::endl;
return -1;
}
Mat imgB = imread(argv[2], IMREAD_GRAYSCALE );
if( !imgB.data ) {
std::cout << " --(!) Error reading image " << argv[2] << std::endl;
return -1;
}
std::vector<KeyPoint> keypointsA, keypointsB;
Mat descriptorsA, descriptorsB;
std::vector<DMatch> matches;
// DETECTION
// Any openCV detector such as
SurfFeatureDetector detector(2000,4);
// DESCRIPTOR
// Our proposed FREAK descriptor
// (rotation invariance, scale invariance, pattern radius corresponding to SMALLEST_KP_SIZE,
// number of octaves, optional vector containing the selected pairs)
// FREAK extractor(true, true, 22, 4, std::vector<int>());
FREAK extractor;
// MATCHER
// The standard Hamming distance can be used such as
// BFMatcher matcher(NORM_HAMMING);
// or the proposed cascade of hamming distance using SSSE3
BFMatcher matcher(extractor.defaultNorm());
// detect
double t = (double)getTickCount();
detector.detect( imgA, keypointsA );
detector.detect( imgB, keypointsB );
t = ((double)getTickCount() - t)/getTickFrequency();
std::cout << "detection time [s]: " << t/1.0 << std::endl;
// extract
t = (double)getTickCount();
extractor.compute( imgA, keypointsA, descriptorsA );
extractor.compute( imgB, keypointsB, descriptorsB );
t = ((double)getTickCount() - t)/getTickFrequency();
std::cout << "extraction time [s]: " << t << std::endl;
// match
t = (double)getTickCount();
matcher.match(descriptorsA, descriptorsB, matches);
t = ((double)getTickCount() - t)/getTickFrequency();
std::cout << "matching time [s]: " << t << std::endl;
// Draw matches
Mat imgMatch;
drawMatches(imgA, keypointsA, imgB, keypointsB, matches, imgMatch);
namedWindow("matches", WINDOW_KEEPRATIO);
imshow("matches", imgMatch);
waitKey(0);
}

36
samples/cpp/gencolors.cpp
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#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/contrib/contrib.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <cstdio>
#include <iostream>
#include <ctime>
using namespace cv;
using namespace std;
int main(int argc, char** argv)
{
if( argc != 2 )
{
cout << "Colors count should be passed." << endl;
return -1;
}
int colorsCount = atoi(argv[1]);
vector<Scalar> colors;
theRNG() = (uint64)time(0);
generateColors( colors, colorsCount );
int stripWidth = 20;
Mat strips(300, colorsCount*stripWidth, CV_8UC3);
for( int i = 0; i < colorsCount; i++ )
{
strips.colRange(i*stripWidth, (i+1)*stripWidth) = colors[i];
}
imshow( "strips", strips );
waitKey();
return 0;
}

94
samples/cpp/generic_descriptor_match.cpp
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#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/nonfree/nonfree.hpp"
#include <cstdio>
using namespace std;
using namespace cv;
static void help()
{
printf("Use the SURF descriptor for matching keypoints between 2 images\n");
printf("Format: \n./generic_descriptor_match <image1> <image2> <algorithm> <XML params>\n");
printf("For example: ./generic_descriptor_match ../c/scene_l.bmp ../c/scene_r.bmp FERN fern_params.xml\n");
}
Mat DrawCorrespondences(const Mat& img1, const vector<KeyPoint>& features1, const Mat& img2,
const vector<KeyPoint>& features2, const vector<DMatch>& desc_idx);
int main(int argc, char** argv)
{
if (argc != 5)
{
help();
return 0;
}
std::string img1_name = std::string(argv[1]);
std::string img2_name = std::string(argv[2]);
std::string alg_name = std::string(argv[3]);
std::string params_filename = std::string(argv[4]);
Ptr<GenericDescriptorMatcher> descriptorMatcher = GenericDescriptorMatcher::create(alg_name, params_filename);
if( !descriptorMatcher )
{
printf ("Cannot create descriptor\n");
return 0;
}
//printf("Reading the images...\n");
Mat img1 = imread(img1_name, IMREAD_GRAYSCALE);
Mat img2 = imread(img2_name, IMREAD_GRAYSCALE);
// extract keypoints from the first image
SURF surf_extractor(5.0e3);
vector<KeyPoint> keypoints1;
// printf("Extracting keypoints\n");
surf_extractor(img1, Mat(), keypoints1);
printf("Extracted %d keypoints from the first image\n", (int)keypoints1.size());
vector<KeyPoint> keypoints2;
surf_extractor(img2, Mat(), keypoints2);
printf("Extracted %d keypoints from the second image\n", (int)keypoints2.size());
printf("Finding nearest neighbors... \n");
// find NN for each of keypoints2 in keypoints1
vector<DMatch> matches2to1;
descriptorMatcher->match( img2, keypoints2, img1, keypoints1, matches2to1 );
printf("Done\n");
Mat img_corr = DrawCorrespondences(img1, keypoints1, img2, keypoints2, matches2to1);
imshow("correspondences", img_corr);
waitKey(0);
}
Mat DrawCorrespondences(const Mat& img1, const vector<KeyPoint>& features1, const Mat& img2,
const vector<KeyPoint>& features2, const vector<DMatch>& desc_idx)
{
Mat part, img_corr(Size(img1.cols + img2.cols, MAX(img1.rows, img2.rows)), CV_8UC3);
img_corr = Scalar::all(0);
part = img_corr(Rect(0, 0, img1.cols, img1.rows));
cvtColor(img1, part, COLOR_GRAY2RGB);
part = img_corr(Rect(img1.cols, 0, img2.cols, img2.rows));
cvtColor(img1, part, COLOR_GRAY2RGB);
for (size_t i = 0; i < features1.size(); i++)
{
circle(img_corr, features1[i].pt, 3, Scalar(0, 0, 255));
}
for (size_t i = 0; i < features2.size(); i++)
{
Point pt(cvRound(features2[i].pt.x + img1.cols), cvRound(features2[i].pt.y));
circle(img_corr, pt, 3, Scalar(0, 0, 255));
line(img_corr, features1[desc_idx[i].trainIdx].pt, pt, Scalar(0, 255, 0));
}
return img_corr;
}

182
samples/cpp/hybridtrackingsample.cpp
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@@ -1,182 +0,0 @@
/*
*
* Hybrid Tracking in OpenCV
* Usage: ./hybridtrackingsample live
*
* For Benchmarking against the Bonn benchmark dataset
* wget http://www.iai.uni-bonn.de/~kleind/tracking/datasets/seqG.zip
* unzip seqG.zip -d ./seqG
* ffmpeg -i seqG/Vid_G_rubikscube.avi seqG/%04d.png
* ./hytrack seqG/Vid_G_rubikscube.txt
*
*/
#include <stdio.h>
#include <time.h>
#include <iostream>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/contrib/hybridtracker.hpp"
#ifndef _CRT_SECURE_NO_WARNINGS
# define _CRT_SECURE_NO_WARNINGS
#endif
using namespace cv;
using namespace std;
Mat frame, image;
Rect selection;
Point origin;
bool selectObject = false;
int trackObject = 0;
int live = 1;
static void drawRectangle(Mat* img, Rect win) {
rectangle(*img, Point(win.x, win.y), Point(win.x + win.width, win.y
+ win.height), Scalar(0, 255, 0), 2, CV_AA);
}
static void onMouse(int event, int x, int y, int, void*) {
if (selectObject) {
selection.x = MIN(x, origin.x);
selection.y = MIN(y, origin.y);
selection.width = std::abs(x - origin.x);
selection.height = std::abs(y - origin.y);
selection &= Rect(0, 0, image.cols, image.rows);
}
switch (event) {
case EVENT_LBUTTONDOWN:
origin = Point(x, y);
selection = Rect(x, y, 0, 0);
selectObject = true;
break;
case EVENT_LBUTTONUP:
selectObject = false;
trackObject = -1;
break;
}
}
static void help()
{
printf("Usage: ./hytrack live or ./hytrack <test_file> \n\
For Live View or Benchmarking. Read documentation is source code.\n\n");
}
int main(int argc, char** argv)
{
if(argc != 2) {
help();
return 1;
}
FILE* f = 0;
VideoCapture cap;
char test_file[20] = "";
if (strcmp(argv[1], "live") != 0)
{
sprintf(test_file, "%s", argv[1]);
f = fopen(test_file, "r");
char vid[20];
int values_read = fscanf(f, "%s\n", vid);
CV_Assert(values_read == 1);
cout << "Benchmarking against " << vid << endl;
live = 0;
}
else
{
cap.open(0);
if (!cap.isOpened())
{
cout << "Failed to open camera" << endl;
return 0;
}
cout << "Opened camera" << endl;
cap.set(CAP_PROP_FRAME_WIDTH, 640);
cap.set(CAP_PROP_FRAME_HEIGHT, 480);
cap >> frame;
}
HybridTrackerParams params;
// motion model params
params.motion_model = CvMotionModel::LOW_PASS_FILTER;
params.low_pass_gain = 0.1f;
// mean shift params
params.ms_tracker_weight = 0.8f;
params.ms_params.tracking_type = CvMeanShiftTrackerParams::HS;
// feature tracking params
params.ft_tracker_weight = 0.2f;
params.ft_params.feature_type = CvFeatureTrackerParams::OPTICAL_FLOW;
params.ft_params.window_size = 0;
HybridTracker tracker(params);
char img_file[20] = "seqG/0001.png";
char img_file_num[10];
namedWindow("Win", 1);
setMouseCallback("Win", onMouse, 0);
int i = 0;
float w[4];
for(;;)
{
i++;
if (live)
{
cap >> frame;
if( frame.empty() )
break;
frame.copyTo(image);
}
else
{
int values_read = fscanf(f, "%d %f %f %f %f\n", &i, &w[0], &w[1], &w[2], &w[3]);
CV_Assert(values_read == 5);
sprintf(img_file, "seqG/%04d.png", i);
image = imread(img_file, IMREAD_COLOR);
if (image.empty())
break;
selection = Rect(cvRound(w[0]*image.cols), cvRound(w[1]*image.rows),
cvRound(w[2]*image.cols), cvRound(w[3]*image.rows));
}
sprintf(img_file_num, "Frame: %d", i);
putText(image, img_file_num, Point(10, image.rows-20), FONT_HERSHEY_PLAIN, 0.75, Scalar(255, 255, 255));
if (!image.empty())
{
if (trackObject < 0)
{
tracker.newTracker(image, selection);
trackObject = 1;
}
if (trackObject)
{
tracker.updateTracker(image);
drawRectangle(&image, tracker.getTrackingWindow());
}
if (selectObject && selection.width > 0 && selection.height > 0)
{
Mat roi(image, selection);
bitwise_not(roi, roi);
}
drawRectangle(&image, Rect(cvRound(w[0]*image.cols), cvRound(w[1]*image.rows),
cvRound(w[2]*image.cols), cvRound(w[3]*image.rows)));
imshow("Win", image);
waitKey(100);
}
else
i = 0;
}
fclose(f);
return 0;
}

2
samples/cpp/image.cpp
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@@ -2,12 +2,10 @@
#include <iostream>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/flann/miniflann.hpp>
#include <opencv2/core/utility.hpp>
using namespace cv; // all the new API is put into "cv" namespace. Export its content
using namespace std;
using namespace cv::flann;
static void help()
{

23
samples/cpp/intrinsics.yml Normal file
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@@ -0,0 +1,23 @@
%YAML:1.0
M1: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 5.3480326845051309e+02, 0., 3.3568643204394891e+02, 0.,
5.3480326845051309e+02, 2.4066183054066337e+02, 0., 0., 1. ]
D1: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 2.9589439552724328e-01, -1.0354662043042675e+00, 0., 0., 0. ]
M2: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 5.3480326845051309e+02, 0., 3.3455744527912015e+02, 0.,
5.3480326845051309e+02, 2.4205324573376600e+02, 0., 0., 1. ]
D2: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -1.6916358306948096e-01, -1.1214173641213163e-01, 0., 0., 0. ]

165
samples/cpp/latentsvm_multidetect.cpp
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@@ -1,165 +0,0 @@
#include <iostream>
#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/contrib/contrib.hpp"
#if defined(WIN32) || defined(_WIN32)
#include <io.h>
#else
#include <dirent.h>
#endif
using namespace std;
using namespace cv;
static void help()
{
cout << "This program demonstrated the use of the latentSVM detector." << endl <<
"It reads in a trained object models and then uses them to detect the objects in an images." << endl <<
endl <<
"Call:" << endl <<
"./latentsvm_multidetect <imagesFolder> <modelsFolder> [<overlapThreshold>][<threadsNumber>]" << endl <<
"<overlapThreshold> - threshold for the non-maximum suppression algorithm." << endl <<
"Example of <modelsFolder> is opencv_extra/testdata/cv/latentsvmdetector/models_VOC2007" << endl <<
endl <<
"Keys:" << endl <<
"'n' - to go to the next image;" << endl <<
"'esc' - to quit." << endl <<
endl;
}
static void detectAndDrawObjects( Mat& image, LatentSvmDetector& detector, const vector<Scalar>& colors, float overlapThreshold, int numThreads )
{
vector<LatentSvmDetector::ObjectDetection> detections;
TickMeter tm;
tm.start();
detector.detect( image, detections, overlapThreshold, numThreads);
tm.stop();
cout << "Detection time = " << tm.getTimeSec() << " sec" << endl;
const vector<String> classNames = detector.getClassNames();
CV_Assert( colors.size() == classNames.size() );
for( size_t i = 0; i < detections.size(); i++ )
{
const LatentSvmDetector::ObjectDetection& od = detections[i];
rectangle( image, od.rect, colors[od.classID], 3 );
}
// put text over the all rectangles
for( size_t i = 0; i < detections.size(); i++ )
{
const LatentSvmDetector::ObjectDetection& od = detections[i];
putText( image, classNames[od.classID], Point(od.rect.x+4,od.rect.y+13), FONT_HERSHEY_SIMPLEX, 0.55, colors[od.classID], 2 );
}
}
static void readDirectory( const string& directoryName, vector<String>& filenames, bool addDirectoryName=true )
{
filenames.clear();
#if defined(WIN32) | defined(_WIN32)
struct _finddata_t s_file;
string str = directoryName + "\\*.*";
intptr_t h_file = _findfirst( str.c_str(), &s_file );
if( h_file != static_cast<intptr_t>(-1.0) )
{
do
{
if( addDirectoryName )
filenames.push_back(directoryName + "\\" + s_file.name);
else
filenames.push_back((string)s_file.name);
}
while( _findnext( h_file, &s_file ) == 0 );
}
_findclose( h_file );
#else
DIR* dir = opendir( directoryName.c_str() );
if( dir != NULL )
{
struct dirent* dent;
while( (dent = readdir(dir)) != NULL )
{
if( addDirectoryName )
filenames.push_back( directoryName + "/" + string(dent->d_name) );
else
filenames.push_back( string(dent->d_name) );
}
closedir( dir );
}
#endif
sort( filenames.begin(), filenames.end() );
}
int main(int argc, char* argv[])
{
help();
string images_folder, models_folder;
float overlapThreshold = 0.2f;
int numThreads = -1;
if( argc > 2 )
{
images_folder = argv[1];
models_folder = argv[2];
if( argc > 3 ) overlapThreshold = (float)atof(argv[3]);
if( overlapThreshold < 0 || overlapThreshold > 1)
{
cout << "overlapThreshold must be in interval (0,1)." << endl;
exit(-1);
}
if( argc > 4 ) numThreads = atoi(argv[4]);
}
vector<String> images_filenames, models_filenames;
readDirectory( images_folder, images_filenames );
readDirectory( models_folder, models_filenames );
LatentSvmDetector detector( models_filenames );
if( detector.empty() )
{
cout << "Models cann't be loaded" << endl;
exit(-1);
}
const vector<String>& classNames = detector.getClassNames();
cout << "Loaded " << classNames.size() << " models:" << endl;
for( size_t i = 0; i < classNames.size(); i++ )
{
cout << i << ") " << classNames[i] << "; ";
}
cout << endl;
cout << "overlapThreshold = " << overlapThreshold << endl;
vector<Scalar> colors;
generateColors( colors, detector.getClassNames().size() );
for( size_t i = 0; i < images_filenames.size(); i++ )
{
Mat image = imread( images_filenames[i] );
if( image.empty() ) continue;
cout << "Process image " << images_filenames[i] << endl;
detectAndDrawObjects( image, detector, colors, overlapThreshold, numThreads );
imshow( "result", image );
for(;;)
{
int c = waitKey();
if( (char)c == 'n')
break;
else if( (char)c == '\x1b' )
exit(0);
}
}
return 0;
}

84
samples/cpp/logpolar_bsm.cpp
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@@ -1,84 +0,0 @@
/*Authors
* Manuela Chessa, Fabio Solari, Fabio Tatti, Silvio P. Sabatini
*
* manuela.chessa@unige.it, fabio.solari@unige.it
*
* PSPC-lab - University of Genoa
*/
#include "opencv2/contrib.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
#include <cmath>
using namespace cv;
using namespace std;
static void help()
{
cout << "LogPolar Blind Spot Model sample.\nShortcuts:"
"\n\tn for nearest pixel technique"
"\n\tb for bilinear interpolation technique"
"\n\to for overlapping circular receptive fields"
"\n\ta for adjacent receptive fields"
"\n\tq or ESC quit\n";
}
int main(int argc, char** argv)
{
Mat img = imread(argc > 1 ? argv[1] : "lena.jpg",1); // open the image
if(img.empty()) // check if we succeeded
{
cout << "can not load image\n";
return 0;
}
help();
Size s=img.size();
int w=s.width, h=s.height;
int ro0=3; //radius of the blind spot
int R=120; //number of rings
//Creation of the four different objects that implement the four log-polar transformations
//Off-line computation
Point2i center(w/2,h/2);
LogPolar_Interp nearest(w, h, center, R, ro0, INTER_NEAREST);
LogPolar_Interp bilin(w,h, center,R,ro0);
LogPolar_Overlapping overlap(w,h,center,R,ro0);
LogPolar_Adjacent adj(w,h,center,R,ro0,0.25);
namedWindow("Cartesian",1);
namedWindow("retinal",1);
namedWindow("cortical",1);
int wk='n';
Mat Cortical, Retinal;
//On-line computation
for(;;)
{
if(wk=='n'){
Cortical=nearest.to_cortical(img);
Retinal=nearest.to_cartesian(Cortical);
}else if (wk=='b'){
Cortical=bilin.to_cortical(img);
Retinal=bilin.to_cartesian(Cortical);
}else if (wk=='o'){
Cortical=overlap.to_cortical(img);
Retinal=overlap.to_cartesian(Cortical);
}else if (wk=='a'){
Cortical=adj.to_cortical(img);
Retinal=adj.to_cartesian(Cortical);
}
imshow("Cartesian", img);
imshow("cortical", Cortical);
imshow("retinal", Retinal);
int c=waitKey(15);
if (c>0) wk=c;
if(wk =='q' || (wk & 255) == 27) break;
}
return 0;
}

59
samples/cpp/matcher_simple.cpp
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@@ -1,59 +0,0 @@
#include <stdio.h>
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/nonfree/nonfree.hpp"
using namespace std;
using namespace cv;
static void help()
{
printf("\nThis program demonstrates using features2d detector, descriptor extractor and simple matcher\n"
"Using the SURF desriptor:\n"
"\n"
"Usage:\n matcher_simple <image1> <image2>\n");
}
int main(int argc, char** argv)
{
if(argc != 3)
{
help();
return -1;
}
Mat img1 = imread(argv[1], IMREAD_GRAYSCALE);
Mat img2 = imread(argv[2], IMREAD_GRAYSCALE);
if(img1.empty() || img2.empty())
{
printf("Can't read one of the images\n");
return -1;
}
// detecting keypoints
SurfFeatureDetector detector(400);
vector<KeyPoint> keypoints1, keypoints2;
detector.detect(img1, keypoints1);
detector.detect(img2, keypoints2);
// computing descriptors
SurfDescriptorExtractor extractor;
Mat descriptors1, descriptors2;
extractor.compute(img1, keypoints1, descriptors1);
extractor.compute(img2, keypoints2, descriptors2);
// matching descriptors
BFMatcher matcher(extractor.defaultNorm());
vector<DMatch> matches;
matcher.match(descriptors1, descriptors2, matches);
// drawing the results
namedWindow("matches", 1);
Mat img_matches;
drawMatches(img1, keypoints1, img2, keypoints2, matches, img_matches);
imshow("matches", img_matches);
waitKey(0);
return 0;
}

262
samples/cpp/matching_to_many_images.cpp
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@@ -1,262 +0,0 @@
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/contrib/contrib.hpp"
#include <iostream>
#include <fstream>
using namespace cv;
using namespace std;
const string defaultDetectorType = "SURF";
const string defaultDescriptorType = "SURF";
const string defaultMatcherType = "FlannBased";
const string defaultQueryImageName = "../../opencv/samples/cpp/matching_to_many_images/query.png";
const string defaultFileWithTrainImages = "../../opencv/samples/cpp/matching_to_many_images/train/trainImages.txt";
const string defaultDirToSaveResImages = "../../opencv/samples/cpp/matching_to_many_images/results";
static void printPrompt( const string& applName )
{
cout << "/*\n"
<< " * This is a sample on matching descriptors detected on one image to descriptors detected in image set.\n"
<< " * So we have one query image and several train images. For each keypoint descriptor of query image\n"
<< " * the one nearest train descriptor is found the entire collection of train images. To visualize the result\n"
<< " * of matching we save images, each of which combines query and train image with matches between them (if they exist).\n"
<< " * Match is drawn as line between corresponding points. Count of all matches is equel to count of\n"
<< " * query keypoints, so we have the same count of lines in all set of result images (but not for each result\n"
<< " * (train) image).\n"
<< " */\n" << endl;
cout << endl << "Format:\n" << endl;
cout << "./" << applName << " [detectorType] [descriptorType] [matcherType] [queryImage] [fileWithTrainImages] [dirToSaveResImages]" << endl;
cout << endl;
cout << "\nExample:" << endl
<< "./" << applName << " " << defaultDetectorType << " " << defaultDescriptorType << " " << defaultMatcherType << " "
<< defaultQueryImageName << " " << defaultFileWithTrainImages << " " << defaultDirToSaveResImages << endl;
}
static void maskMatchesByTrainImgIdx( const vector<DMatch>& matches, int trainImgIdx, vector<char>& mask )
{
mask.resize( matches.size() );
fill( mask.begin(), mask.end(), 0 );
for( size_t i = 0; i < matches.size(); i++ )
{
if( matches[i].imgIdx == trainImgIdx )
mask[i] = 1;
}
}
static void readTrainFilenames( const string& filename, string& dirName, vector<string>& trainFilenames )
{
trainFilenames.clear();
ifstream file( filename.c_str() );
if ( !file.is_open() )
return;
size_t pos = filename.rfind('\\');
char dlmtr = '\\';
if (pos == string::npos)
{
pos = filename.rfind('/');
dlmtr = '/';
}
dirName = pos == string::npos ? "" : filename.substr(0, pos) + dlmtr;
while( !file.eof() )
{
string str; getline( file, str );
if( str.empty() ) break;
trainFilenames.push_back(str);
}
file.close();
}
static bool createDetectorDescriptorMatcher( const string& detectorType, const string& descriptorType, const string& matcherType,
Ptr<FeatureDetector>& featureDetector,
Ptr<DescriptorExtractor>& descriptorExtractor,
Ptr<DescriptorMatcher>& descriptorMatcher )
{
cout << "< Creating feature detector, descriptor extractor and descriptor matcher ..." << endl;
featureDetector = FeatureDetector::create( detectorType );
descriptorExtractor = DescriptorExtractor::create( descriptorType );
descriptorMatcher = DescriptorMatcher::create( matcherType );
cout << ">" << endl;
bool isCreated = featureDetector && descriptorExtractor && descriptorMatcher;
if( !isCreated )
cout << "Can not create feature detector or descriptor extractor or descriptor matcher of given types." << endl << ">" << endl;
return isCreated;
}
static bool readImages( const string& queryImageName, const string& trainFilename,
Mat& queryImage, vector <Mat>& trainImages, vector<string>& trainImageNames )
{
cout << "< Reading the images..." << endl;
queryImage = imread( queryImageName, IMREAD_GRAYSCALE);
if( queryImage.empty() )
{
cout << "Query image can not be read." << endl << ">" << endl;
return false;
}
string trainDirName;
readTrainFilenames( trainFilename, trainDirName, trainImageNames );
if( trainImageNames.empty() )
{
cout << "Train image filenames can not be read." << endl << ">" << endl;
return false;
}
int readImageCount = 0;
for( size_t i = 0; i < trainImageNames.size(); i++ )
{
string filename = trainDirName + trainImageNames[i];
Mat img = imread( filename, IMREAD_GRAYSCALE );
if( img.empty() )
cout << "Train image " << filename << " can not be read." << endl;
else
readImageCount++;
trainImages.push_back( img );
}
if( !readImageCount )
{
cout << "All train images can not be read." << endl << ">" << endl;
return false;
}
else
cout << readImageCount << " train images were read." << endl;
cout << ">" << endl;
return true;
}
static void detectKeypoints( const Mat& queryImage, vector<KeyPoint>& queryKeypoints,
const vector<Mat>& trainImages, vector<vector<KeyPoint> >& trainKeypoints,
Ptr<FeatureDetector>& featureDetector )
{
cout << endl << "< Extracting keypoints from images..." << endl;
featureDetector->detect( queryImage, queryKeypoints );
featureDetector->detect( trainImages, trainKeypoints );
cout << ">" << endl;
}
static void computeDescriptors( const Mat& queryImage, vector<KeyPoint>& queryKeypoints, Mat& queryDescriptors,
const vector<Mat>& trainImages, vector<vector<KeyPoint> >& trainKeypoints, vector<Mat>& trainDescriptors,
Ptr<DescriptorExtractor>& descriptorExtractor )
{
cout << "< Computing descriptors for keypoints..." << endl;
descriptorExtractor->compute( queryImage, queryKeypoints, queryDescriptors );
descriptorExtractor->compute( trainImages, trainKeypoints, trainDescriptors );
int totalTrainDesc = 0;
for( vector<Mat>::const_iterator tdIter = trainDescriptors.begin(); tdIter != trainDescriptors.end(); tdIter++ )
totalTrainDesc += tdIter->rows;
cout << "Query descriptors count: " << queryDescriptors.rows << "; Total train descriptors count: " << totalTrainDesc << endl;
cout << ">" << endl;
}
static void matchDescriptors( const Mat& queryDescriptors, const vector<Mat>& trainDescriptors,
vector<DMatch>& matches, Ptr<DescriptorMatcher>& descriptorMatcher )
{
cout << "< Set train descriptors collection in the matcher and match query descriptors to them..." << endl;
TickMeter tm;
tm.start();
descriptorMatcher->add( trainDescriptors );
descriptorMatcher->train();
tm.stop();
double buildTime = tm.getTimeMilli();
tm.start();
descriptorMatcher->match( queryDescriptors, matches );
tm.stop();
double matchTime = tm.getTimeMilli();
CV_Assert( queryDescriptors.rows == (int)matches.size() || matches.empty() );
cout << "Number of matches: " << matches.size() << endl;
cout << "Build time: " << buildTime << " ms; Match time: " << matchTime << " ms" << endl;
cout << ">" << endl;
}
static void saveResultImages( const Mat& queryImage, const vector<KeyPoint>& queryKeypoints,
const vector<Mat>& trainImages, const vector<vector<KeyPoint> >& trainKeypoints,
const vector<DMatch>& matches, const vector<string>& trainImagesNames, const string& resultDir )
{
cout << "< Save results..." << endl;
Mat drawImg;
vector<char> mask;
for( size_t i = 0; i < trainImages.size(); i++ )
{
if( !trainImages[i].empty() )
{
maskMatchesByTrainImgIdx( matches, (int)i, mask );
drawMatches( queryImage, queryKeypoints, trainImages[i], trainKeypoints[i],
matches, drawImg, Scalar(255, 0, 0), Scalar(0, 255, 255), mask );
string filename = resultDir + "/res_" + trainImagesNames[i];
if( !imwrite( filename, drawImg ) )
cout << "Image " << filename << " can not be saved (may be because directory " << resultDir << " does not exist)." << endl;
}
}
cout << ">" << endl;
}
int main(int argc, char** argv)
{
string detectorType = defaultDetectorType;
string descriptorType = defaultDescriptorType;
string matcherType = defaultMatcherType;
string queryImageName = defaultQueryImageName;
string fileWithTrainImages = defaultFileWithTrainImages;
string dirToSaveResImages = defaultDirToSaveResImages;
if( argc != 7 && argc != 1 )
{
printPrompt( argv[0] );
return -1;
}
if( argc != 1 )
{
detectorType = argv[1]; descriptorType = argv[2]; matcherType = argv[3];
queryImageName = argv[4]; fileWithTrainImages = argv[5];
dirToSaveResImages = argv[6];
}
Ptr<FeatureDetector> featureDetector;
Ptr<DescriptorExtractor> descriptorExtractor;
Ptr<DescriptorMatcher> descriptorMatcher;
if( !createDetectorDescriptorMatcher( detectorType, descriptorType, matcherType, featureDetector, descriptorExtractor, descriptorMatcher ) )
{
printPrompt( argv[0] );
return -1;
}
Mat queryImage;
vector<Mat> trainImages;
vector<string> trainImagesNames;
if( !readImages( queryImageName, fileWithTrainImages, queryImage, trainImages, trainImagesNames ) )
{
printPrompt( argv[0] );
return -1;
}
vector<KeyPoint> queryKeypoints;
vector<vector<KeyPoint> > trainKeypoints;
detectKeypoints( queryImage, queryKeypoints, trainImages, trainKeypoints, featureDetector );
Mat queryDescriptors;
vector<Mat> trainDescriptors;
computeDescriptors( queryImage, queryKeypoints, queryDescriptors,
trainImages, trainKeypoints, trainDescriptors,
descriptorExtractor );
vector<DMatch> matches;
matchDescriptors( queryDescriptors, trainDescriptors, matches, descriptorMatcher );
saveResultImages( queryImage, queryKeypoints, trainImages, trainKeypoints,
matches, trainImagesNames, dirToSaveResImages );
return 0;
}

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samples/cpp/meanshift_segmentation.cpp
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#include "opencv2/highgui/highgui.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
using namespace cv;
using namespace std;
static void help(char** argv)
{
cout << "\nDemonstrate mean-shift based color segmentation in spatial pyramid.\n"
<< "Call:\n " << argv[0] << " image\n"
<< "This program allows you to set the spatial and color radius\n"
<< "of the mean shift window as well as the number of pyramid reduction levels explored\n"
<< endl;
}
//This colors the segmentations
static void floodFillPostprocess( Mat& img, const Scalar& colorDiff=Scalar::all(1) )
{
CV_Assert( !img.empty() );
RNG rng = theRNG();
Mat mask( img.rows+2, img.cols+2, CV_8UC1, Scalar::all(0) );
for( int y = 0; y < img.rows; y++ )
{
for( int x = 0; x < img.cols; x++ )
{
if( mask.at<uchar>(y+1, x+1) == 0 )
{
Scalar newVal( rng(256), rng(256), rng(256) );
floodFill( img, mask, Point(x,y), newVal, 0, colorDiff, colorDiff );
}
}
}
}
string winName = "meanshift";
int spatialRad, colorRad, maxPyrLevel;
Mat img, res;
static void meanShiftSegmentation( int, void* )
{
cout << "spatialRad=" << spatialRad << "; "
<< "colorRad=" << colorRad << "; "
<< "maxPyrLevel=" << maxPyrLevel << endl;
pyrMeanShiftFiltering( img, res, spatialRad, colorRad, maxPyrLevel );
floodFillPostprocess( res, Scalar::all(2) );
imshow( winName, res );
}
int main(int argc, char** argv)
{
if( argc !=2 )
{
help(argv);
return -1;
}
img = imread( argv[1] );
if( img.empty() )
return -1;
spatialRad = 10;
colorRad = 10;
maxPyrLevel = 1;
namedWindow( winName, WINDOW_AUTOSIZE );
createTrackbar( "spatialRad", winName, &spatialRad, 80, meanShiftSegmentation );
createTrackbar( "colorRad", winName, &colorRad, 60, meanShiftSegmentation );
createTrackbar( "maxPyrLevel", winName, &maxPyrLevel, 5, meanShiftSegmentation );
meanShiftSegmentation(0, 0);
waitKey();
return 0;
}

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#include "opencv2/video/tracking_c.h"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/highgui/highgui_c.h"
#include <time.h>
#include <stdio.h>
#include <ctype.h>
static void help(void)
{
printf(
"\nThis program demonstrated the use of motion templates -- basically using the gradients\n"
"of thresholded layers of decaying frame differencing. New movements are stamped on top with floating system\n"
"time code and motions too old are thresholded away. This is the 'motion history file'. The program reads from the camera of your choice or from\n"
"a file. Gradients of motion history are used to detect direction of motoin etc\n"
"Usage :\n"
"./motempl [camera number 0-n or file name, default is camera 0]\n"
);
}
// various tracking parameters (in seconds)
const double MHI_DURATION = 1;
const double MAX_TIME_DELTA = 0.5;
const double MIN_TIME_DELTA = 0.05;
// number of cyclic frame buffer used for motion detection
// (should, probably, depend on FPS)
const int N = 4;
// ring image buffer
IplImage **buf = 0;
int last = 0;
// temporary images
IplImage *mhi = 0; // MHI
IplImage *orient = 0; // orientation
IplImage *mask = 0; // valid orientation mask
IplImage *segmask = 0; // motion segmentation map
CvMemStorage* storage = 0; // temporary storage
// parameters:
// img - input video frame
// dst - resultant motion picture
// args - optional parameters
static void update_mhi( IplImage* img, IplImage* dst, int diff_threshold )
{
double timestamp = (double)clock()/CLOCKS_PER_SEC; // get current time in seconds
CvSize size = cvSize(img->width,img->height); // get current frame size
int i, idx1 = last, idx2;
IplImage* silh;
CvSeq* seq;
CvRect comp_rect;
double count;
double angle;
CvPoint center;
double magnitude;
CvScalar color;
// allocate images at the beginning or
// reallocate them if the frame size is changed
if( !mhi || mhi->width != size.width || mhi->height != size.height ) {
if( buf == 0 ) {
buf = (IplImage**)malloc(N*sizeof(buf[0]));
memset( buf, 0, N*sizeof(buf[0]));
}
for( i = 0; i < N; i++ ) {
cvReleaseImage( &buf[i] );
buf[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
cvZero( buf[i] );
}
cvReleaseImage( &mhi );
cvReleaseImage( &orient );
cvReleaseImage( &segmask );
cvReleaseImage( &mask );
mhi = cvCreateImage( size, IPL_DEPTH_32F, 1 );
cvZero( mhi ); // clear MHI at the beginning
orient = cvCreateImage( size, IPL_DEPTH_32F, 1 );
segmask = cvCreateImage( size, IPL_DEPTH_32F, 1 );
mask = cvCreateImage( size, IPL_DEPTH_8U, 1 );
}
cvCvtColor( img, buf[last], CV_BGR2GRAY ); // convert frame to grayscale
idx2 = (last + 1) % N; // index of (last - (N-1))th frame
last = idx2;
silh = buf[idx2];
cvAbsDiff( buf[idx1], buf[idx2], silh ); // get difference between frames
cvThreshold( silh, silh, diff_threshold, 1, CV_THRESH_BINARY ); // and threshold it
cvUpdateMotionHistory( silh, mhi, timestamp, MHI_DURATION ); // update MHI
// convert MHI to blue 8u image
cvCvtScale( mhi, mask, 255./MHI_DURATION,
(MHI_DURATION - timestamp)*255./MHI_DURATION );
cvZero( dst );
cvMerge( mask, 0, 0, 0, dst );
// calculate motion gradient orientation and valid orientation mask
cvCalcMotionGradient( mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3 );
if( !storage )
storage = cvCreateMemStorage(0);
else
cvClearMemStorage(storage);
// segment motion: get sequence of motion components
// segmask is marked motion components map. It is not used further
seq = cvSegmentMotion( mhi, segmask, storage, timestamp, MAX_TIME_DELTA );
// iterate through the motion components,
// One more iteration (i == -1) corresponds to the whole image (global motion)
for( i = -1; i < seq->total; i++ ) {
if( i < 0 ) { // case of the whole image
comp_rect = cvRect( 0, 0, size.width, size.height );
color = CV_RGB(255,255,255);
magnitude = 100;
}
else { // i-th motion component
comp_rect = ((CvConnectedComp*)cvGetSeqElem( seq, i ))->rect;
if( comp_rect.width + comp_rect.height < 100 ) // reject very small components
continue;
color = CV_RGB(255,0,0);
magnitude = 30;
}
// select component ROI
cvSetImageROI( silh, comp_rect );
cvSetImageROI( mhi, comp_rect );
cvSetImageROI( orient, comp_rect );
cvSetImageROI( mask, comp_rect );
// calculate orientation
angle = cvCalcGlobalOrientation( orient, mask, mhi, timestamp, MHI_DURATION);
angle = 360.0 - angle; // adjust for images with top-left origin
count = cvNorm( silh, 0, CV_L1, 0 ); // calculate number of points within silhouette ROI
cvResetImageROI( mhi );
cvResetImageROI( orient );
cvResetImageROI( mask );
cvResetImageROI( silh );
// check for the case of little motion
if( count < comp_rect.width*comp_rect.height * 0.05 )
continue;
// draw a clock with arrow indicating the direction
center = cvPoint( (comp_rect.x + comp_rect.width/2),
(comp_rect.y + comp_rect.height/2) );
cvCircle( dst, center, cvRound(magnitude*1.2), color, 3, CV_AA, 0 );
cvLine( dst, center, cvPoint( cvRound( center.x + magnitude*cos(angle*CV_PI/180)),
cvRound( center.y - magnitude*sin(angle*CV_PI/180))), color, 3, CV_AA, 0 );
}
}
int main(int argc, char** argv)
{
IplImage* motion = 0;
CvCapture* capture = 0;
help();
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromFile( argv[1] );
if( capture )
{
cvNamedWindow( "Motion", 1 );
for(;;)
{
IplImage* image = cvQueryFrame( capture );
if( !image )
break;
if( !motion )
{
motion = cvCreateImage( cvSize(image->width,image->height), 8, 3 );
cvZero( motion );
motion->origin = image->origin;
}
update_mhi( image, motion, 30 );
cvShowImage( "Motion", motion );
if( cvWaitKey(10) >= 0 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow( "Motion" );
}
return 0;
}
#ifdef _EiC
main(1,"motempl.c");
#endif

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#include "opencv2/core/core_c.h"
#include "opencv2/ml/ml.hpp"
#include <stdio.h>
static void help()
{
printf("\nThis program demonstrated the use of OpenCV's decision tree function for learning and predicting data\n"
"Usage :\n"
"./mushroom <path to agaricus-lepiota.data>\n"
"\n"
"The sample demonstrates how to build a decision tree for classifying mushrooms.\n"
"It uses the sample base agaricus-lepiota.data from UCI Repository, here is the link:\n"
"\n"
"Newman, D.J. & Hettich, S. & Blake, C.L. & Merz, C.J. (1998).\n"
"UCI Repository of machine learning databases\n"
"[http://www.ics.uci.edu/~mlearn/MLRepository.html].\n"
"Irvine, CA: University of California, Department of Information and Computer Science.\n"
"\n"
"// loads the mushroom database, which is a text file, containing\n"
"// one training sample per row, all the input variables and the output variable are categorical,\n"
"// the values are encoded by characters.\n\n");
}
static int mushroom_read_database( const char* filename, CvMat** data, CvMat** missing, CvMat** responses )
{
const int M = 1024;
FILE* f = fopen( filename, "rt" );
CvMemStorage* storage;
CvSeq* seq;
char buf[M+2], *ptr;
float* el_ptr;
CvSeqReader reader;
int i, j, var_count = 0;
if( !f )
return 0;
// read the first line and determine the number of variables
if( !fgets( buf, M, f ))
{
fclose(f);
return 0;
}
for( ptr = buf; *ptr != '\0'; ptr++ )
var_count += *ptr == ',';
assert( ptr - buf == (var_count+1)*2 );
// create temporary memory storage to store the whole database
el_ptr = new float[var_count+1];
storage = cvCreateMemStorage();
seq = cvCreateSeq( 0, sizeof(*seq), (var_count+1)*sizeof(float), storage );
for(;;)
{
for( i = 0; i <= var_count; i++ )
{
int c = buf[i*2];
el_ptr[i] = c == '?' ? -1.f : (float)c;
}
if( i != var_count+1 )
break;
cvSeqPush( seq, el_ptr );
if( !fgets( buf, M, f ) || !strchr( buf, ',' ) )
break;
}
fclose(f);
// allocate the output matrices and copy the base there
*data = cvCreateMat( seq->total, var_count, CV_32F );
*missing = cvCreateMat( seq->total, var_count, CV_8U );
*responses = cvCreateMat( seq->total, 1, CV_32F );
cvStartReadSeq( seq, &reader );
for( i = 0; i < seq->total; i++ )
{
const float* sdata = (float*)reader.ptr + 1;
float* ddata = data[0]->data.fl + var_count*i;
float* dr = responses[0]->data.fl + i;
uchar* dm = missing[0]->data.ptr + var_count*i;
for( j = 0; j < var_count; j++ )
{
ddata[j] = sdata[j];
dm[j] = sdata[j] < 0;
}
*dr = sdata[-1];
CV_NEXT_SEQ_ELEM( seq->elem_size, reader );
}
cvReleaseMemStorage( &storage );
delete [] el_ptr;
return 1;
}
static CvDTree* mushroom_create_dtree( const CvMat* data, const CvMat* missing,
const CvMat* responses, float p_weight )
{
CvDTree* dtree;
CvMat* var_type;
int i, hr1 = 0, hr2 = 0, p_total = 0;
float priors[] = { 1, p_weight };
var_type = cvCreateMat( data->cols + 1, 1, CV_8U );
cvSet( var_type, cvScalarAll(CV_VAR_CATEGORICAL) ); // all the variables are categorical
dtree = new CvDTree;
dtree->train( data, CV_ROW_SAMPLE, responses, 0, 0, var_type, missing,
CvDTreeParams( 8, // max depth
10, // min sample count
0, // regression accuracy: N/A here
true, // compute surrogate split, as we have missing data
15, // max number of categories (use sub-optimal algorithm for larger numbers)
10, // the number of cross-validation folds
true, // use 1SE rule => smaller tree
true, // throw away the pruned tree branches
priors // the array of priors, the bigger p_weight, the more attention
// to the poisonous mushrooms
// (a mushroom will be judjed to be poisonous with bigger chance)
));
// compute hit-rate on the training database, demonstrates predict usage.
for( i = 0; i < data->rows; i++ )
{
CvMat sample, mask;
cvGetRow( data, &sample, i );
cvGetRow( missing, &mask, i );
double r = dtree->predict( &sample, &mask )->value;
int d = fabs(r - responses->data.fl[i]) >= FLT_EPSILON;
if( d )
{
if( r != 'p' )
hr1++;
else
hr2++;
}
p_total += responses->data.fl[i] == 'p';
}
printf( "Results on the training database:\n"
"\tPoisonous mushrooms mis-predicted: %d (%g%%)\n"
"\tFalse-alarms: %d (%g%%)\n", hr1, (double)hr1*100/p_total,
hr2, (double)hr2*100/(data->rows - p_total) );
cvReleaseMat( &var_type );
return dtree;
}
static const char* var_desc[] =
{
"cap shape (bell=b,conical=c,convex=x,flat=f)",
"cap surface (fibrous=f,grooves=g,scaly=y,smooth=s)",
"cap color (brown=n,buff=b,cinnamon=c,gray=g,green=r,\n\tpink=p,purple=u,red=e,white=w,yellow=y)",
"bruises? (bruises=t,no=f)",
"odor (almond=a,anise=l,creosote=c,fishy=y,foul=f,\n\tmusty=m,none=n,pungent=p,spicy=s)",
"gill attachment (attached=a,descending=d,free=f,notched=n)",
"gill spacing (close=c,crowded=w,distant=d)",
"gill size (broad=b,narrow=n)",
"gill color (black=k,brown=n,buff=b,chocolate=h,gray=g,\n\tgreen=r,orange=o,pink=p,purple=u,red=e,white=w,yellow=y)",
"stalk shape (enlarging=e,tapering=t)",
"stalk root (bulbous=b,club=c,cup=u,equal=e,rhizomorphs=z,rooted=r)",
"stalk surface above ring (ibrous=f,scaly=y,silky=k,smooth=s)",
"stalk surface below ring (ibrous=f,scaly=y,silky=k,smooth=s)",
"stalk color above ring (brown=n,buff=b,cinnamon=c,gray=g,orange=o,\n\tpink=p,red=e,white=w,yellow=y)",
"stalk color below ring (brown=n,buff=b,cinnamon=c,gray=g,orange=o,\n\tpink=p,red=e,white=w,yellow=y)",
"veil type (partial=p,universal=u)",
"veil color (brown=n,orange=o,white=w,yellow=y)",
"ring number (none=n,one=o,two=t)",
"ring type (cobwebby=c,evanescent=e,flaring=f,large=l,\n\tnone=n,pendant=p,sheathing=s,zone=z)",
"spore print color (black=k,brown=n,buff=b,chocolate=h,green=r,\n\torange=o,purple=u,white=w,yellow=y)",
"population (abundant=a,clustered=c,numerous=n,\n\tscattered=s,several=v,solitary=y)",
"habitat (grasses=g,leaves=l,meadows=m,paths=p\n\turban=u,waste=w,woods=d)",
0
};
static void print_variable_importance( CvDTree* dtree )
{
const CvMat* var_importance = dtree->get_var_importance();
int i;
char input[1000];
if( !var_importance )
{
printf( "Error: Variable importance can not be retrieved\n" );
return;
}
printf( "Print variable importance information? (y/n) " );
int values_read = scanf( "%1s", input );
CV_Assert(values_read == 1);
if( input[0] != 'y' && input[0] != 'Y' )
return;
for( i = 0; i < var_importance->cols*var_importance->rows; i++ )
{
double val = var_importance->data.db[i];
char buf[100];
int len = (int)(strchr( var_desc[i], '(' ) - var_desc[i] - 1);
strncpy( buf, var_desc[i], len );
buf[len] = '\0';
printf( "%s", buf );
printf( ": %g%%\n", val*100. );
}
}
static void interactive_classification( CvDTree* dtree )
{
char input[1000];
const CvDTreeNode* root;
CvDTreeTrainData* data;
if( !dtree )
return;
root = dtree->get_root();
data = dtree->get_data();
for(;;)
{
const CvDTreeNode* node;
printf( "Start/Proceed with interactive mushroom classification (y/n): " );
int values_read = scanf( "%1s", input );
CV_Assert(values_read == 1);
if( input[0] != 'y' && input[0] != 'Y' )
break;
printf( "Enter 1-letter answers, '?' for missing/unknown value...\n" );
// custom version of predict
node = root;
for(;;)
{
CvDTreeSplit* split = node->split;
int dir = 0;
if( !node->left || node->Tn <= dtree->get_pruned_tree_idx() || !node->split )
break;
for( ; split != 0; )
{
int vi = split->var_idx, j;
int count = data->cat_count->data.i[vi];
const int* map = data->cat_map->data.i + data->cat_ofs->data.i[vi];
printf( "%s: ", var_desc[vi] );
values_read = scanf( "%1s", input );
CV_Assert(values_read == 1);
if( input[0] == '?' )
{
split = split->next;
continue;
}
// convert the input character to the normalized value of the variable
for( j = 0; j < count; j++ )
if( map[j] == input[0] )
break;
if( j < count )
{
dir = (split->subset[j>>5] & (1 << (j&31))) ? -1 : 1;
if( split->inversed )
dir = -dir;
break;
}
else
printf( "Error: unrecognized value\n" );
}
if( !dir )
{
printf( "Impossible to classify the sample\n");
node = 0;
break;
}
node = dir < 0 ? node->left : node->right;
}
if( node )
printf( "Prediction result: the mushroom is %s\n",
node->class_idx == 0 ? "EDIBLE" : "POISONOUS" );
printf( "\n-----------------------------\n" );
}
}
int main( int argc, char** argv )
{
CvMat *data = 0, *missing = 0, *responses = 0;
CvDTree* dtree;
const char* base_path = argc >= 2 ? argv[1] : "agaricus-lepiota.data";
help();
if( !mushroom_read_database( base_path, &data, &missing, &responses ) )
{
printf( "\nUnable to load the training database\n\n");
help();
return -1;
}
dtree = mushroom_create_dtree( data, missing, responses,
10 // poisonous mushrooms will have 10x higher weight in the decision tree
);
cvReleaseMat( &data );
cvReleaseMat( &missing );
cvReleaseMat( &responses );
print_variable_importance( dtree );
interactive_classification( dtree );
delete dtree;
return 0;
}

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#include <opencv2/core/utility.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/objdetect.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/softcascade.hpp>
#include <iostream>
#include <vector>
#include <string>
#include <fstream>
void filter_rects(const std::vector<cv::Rect>& candidates, std::vector<cv::Rect>& objects);
int main(int argc, char** argv)
{
const std::string keys =
"{help h usage ? | | print this message and exit }"
"{cascade c | | path to cascade xml, if empty HOG detector will be executed }"
"{frame f | | wildchart pattern to frame source}"
"{min_scale |0.4 | minimum scale to detect }"
"{max_scale |5.0 | maxamum scale to detect }"
"{total_scales |55 | prefered number of scales between min and max }"
"{write_file wf |0 | write to .txt. Disabled by default.}"
"{write_image wi |0 | write to image. Disabled by default.}"
"{show_image si |1 | show image. Enabled by default.}"
"{threshold thr |-1 | detection threshold. Detections with score less then threshold will be ignored.}"
;
cv::CommandLineParser parser(argc, argv, keys);
parser.about("Soft cascade training application.");
if (parser.has("help"))
{
parser.printMessage();
return 0;
}
if (!parser.check())
{
parser.printErrors();
return 1;
}
int wf = parser.get<int>("write_file");
if (wf) std::cout << "resulte will be stored to .txt file with the same name as image." << std::endl;
int wi = parser.get<int>("write_image");
if (wi) std::cout << "resulte will be stored to image with the same name as input plus dt." << std::endl;
int si = parser.get<int>("show_image");
float minScale = parser.get<float>("min_scale");
float maxScale = parser.get<float>("max_scale");
int scales = parser.get<int>("total_scales");
int thr = parser.get<int>("threshold");
cv::HOGDescriptor hog;
cv::softcascade::Detector cascade;
bool useHOG = false;
std::string cascadePath = parser.get<std::string>("cascade");
if (cascadePath.empty())
{
useHOG = true;
hog.setSVMDetector(cv::HOGDescriptor::getDefaultPeopleDetector());
std::cout << "going to use HOG detector." << std::endl;
}
else
{
cv::FileStorage fs(cascadePath, cv::FileStorage::READ);
if( !fs.isOpened())
{
std::cout << "Soft Cascade file " << cascadePath << " can't be opened." << std::endl << std::flush;
return 1;
}
cascade = cv::softcascade::Detector(minScale, maxScale, scales, cv::softcascade::Detector::DOLLAR);
if (!cascade.load(fs.getFirstTopLevelNode()))
{
std::cout << "Soft Cascade can't be parsed." << std::endl << std::flush;
return 1;
}
}
std::string src = parser.get<std::string>("frame");
std::vector<cv::String> frames;
cv::glob(parser.get<std::string>("frame"), frames);
std::cout << "collected " << src << " " << frames.size() << " frames." << std::endl;
for (int i = 0; i < (int)frames.size(); ++i)
{
std::string frame_sourse = frames[i];
cv::Mat frame = cv::imread(frame_sourse);
if(frame.empty())
{
std::cout << "Frame source " << frame_sourse << " can't be opened." << std::endl << std::flush;
continue;
}
std::ofstream myfile;
if (wf)
myfile.open((frame_sourse.replace(frame_sourse.end() - 3, frame_sourse.end(), "txt")).c_str(), std::ios::out);
////
if (useHOG)
{
std::vector<cv::Rect> found, found_filtered;
// run the detector with default parameters. to get a higher hit-rate
// (and more false alarms, respectively), decrease the hitThreshold and
// groupThreshold (set groupThreshold to 0 to turn off the grouping completely).
hog.detectMultiScale(frame, found, 0, cv::Size(8,8), cv::Size(32,32), 1.05, 2);
filter_rects(found, found_filtered);
std::cout << "collected: " << (int)found_filtered.size() << " detections." << std::endl;
for (size_t ff = 0; ff < found_filtered.size(); ++ff)
{
cv::Rect r = found_filtered[ff];
cv::rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
if (wf) myfile << r.x << "," << r.y << "," << r.width << "," << r.height << "," << 0.f << "\n";
}
}
else
{
std::vector<cv::softcascade::Detection> objects;
cascade.detect(frame, cv::noArray(), objects);
std::cout << "collected: " << (int)objects.size() << " detections." << std::endl;
for (int obj = 0; obj < (int)objects.size(); ++obj)
{
cv::softcascade::Detection d = objects[obj];
if(d.confidence > thr)
{
float b = d.confidence * 1.5f;
std::stringstream conf(std::stringstream::in | std::stringstream::out);
conf << d.confidence;
cv::rectangle(frame, cv::Rect((int)d.x, (int)d.y, (int)d.w, (int)d.h), cv::Scalar(b, 0, 255 - b, 255), 2);
cv::putText(frame, conf.str() , cv::Point((int)d.x + 10, (int)d.y - 5),1, 1.1, cv::Scalar(25, 133, 255, 0), 1, cv::LINE_AA);
if (wf)
myfile << d.x << "," << d.y << "," << d.w << "," << d.h << "," << d.confidence << "\n";
}
}
}
if (wi) cv::imwrite(frame_sourse + ".dt.png", frame);
if (wf) myfile.close();
if (si)
{
cv::imshow("pedestrian detector", frame);
cv::waitKey(10);
}
}
if (si) cv::waitKey(0);
return 0;
}
void filter_rects(const std::vector<cv::Rect>& candidates, std::vector<cv::Rect>& objects)
{
size_t i, j;
for (i = 0; i < candidates.size(); ++i)
{
cv::Rect r = candidates[i];
for (j = 0; j < candidates.size(); ++j)
if (j != i && (r & candidates[j]) == r)
break;
if (j == candidates.size())
objects.push_back(r);
}
}

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#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/highgui/highgui_c.h"
#include <ctype.h>
#include <stdio.h>
static void help( void )
{
printf("\nThis program illustrates Linear-Polar and Log-Polar image transforms\n"
"Usage :\n"
"./polar_transforms [[camera number -- Default 0],[AVI path_filename]]\n\n"
);
}
int main( int argc, char** argv )
{
CvCapture* capture = 0;
IplImage* log_polar_img = 0;
IplImage* lin_polar_img = 0;
IplImage* recovered_img = 0;
help();
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromAVI( argv[1] );
if( !capture )
{
fprintf(stderr,"Could not initialize capturing...\n");
fprintf(stderr,"Usage: %s <CAMERA_NUMBER> , or \n %s <VIDEO_FILE>\n",argv[0],argv[0]);
help();
return -1;
}
cvNamedWindow( "Linear-Polar", 0 );
cvNamedWindow( "Log-Polar", 0 );
cvNamedWindow( "Recovered image", 0 );
cvMoveWindow( "Linear-Polar", 20,20 );
cvMoveWindow( "Log-Polar", 700,20 );
cvMoveWindow( "Recovered image", 20,700 );
for(;;)
{
IplImage* frame = 0;
frame = cvQueryFrame( capture );
if( !frame )
break;
if( !log_polar_img )
{
log_polar_img = cvCreateImage( cvSize(frame->width,frame->height), IPL_DEPTH_8U, frame->nChannels );
lin_polar_img = cvCreateImage( cvSize(frame->width,frame->height), IPL_DEPTH_8U, frame->nChannels );
recovered_img = cvCreateImage( cvSize(frame->width,frame->height), IPL_DEPTH_8U, frame->nChannels );
}
cvLogPolar(frame,log_polar_img,cvPoint2D32f(frame->width >> 1,frame->height >> 1),70, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS);
cvLinearPolar(frame,lin_polar_img,cvPoint2D32f(frame->width >> 1,frame->height >> 1),70, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS);
#if 0
cvLogPolar(log_polar_img,recovered_img,cvPoint2D32f(frame->width >> 1,frame->height >> 1),70, CV_WARP_INVERSE_MAP+CV_INTER_LINEAR);
#else
cvLinearPolar(lin_polar_img,recovered_img,cvPoint2D32f(frame->width >> 1,frame->height >> 1),70, CV_WARP_INVERSE_MAP+CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS);
#endif
cvShowImage("Log-Polar", log_polar_img );
cvShowImage("Linear-Polar", lin_polar_img );
cvShowImage("Recovered image", recovered_img );
if( cvWaitKey(10) >= 0 )
break;
}
cvReleaseCapture( &capture );
cvDestroyWindow("Linear-Polar");
cvDestroyWindow("Log-Polar");
cvDestroyWindow("Recovered image");
return 0;
}
#ifdef _EiC
main(1,"laplace.c");
#endif

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#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/contrib/contrib.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <cstdio>
#include <iostream>
#include <ctime>
using namespace cv;
using namespace std;
static
void cvtDepth2Cloud( const Mat& depth, Mat& cloud, const Mat& cameraMatrix )
{
const float inv_fx = 1.f/cameraMatrix.at<float>(0,0);
const float inv_fy = 1.f/cameraMatrix.at<float>(1,1);
const float ox = cameraMatrix.at<float>(0,2);
const float oy = cameraMatrix.at<float>(1,2);
cloud.create( depth.size(), CV_32FC3 );
for( int y = 0; y < cloud.rows; y++ )
{
Point3f* cloud_ptr = (Point3f*)cloud.ptr(y);
const float* depth_prt = (const float*) depth.ptr(y);
for( int x = 0; x < cloud.cols; x++ )
{
float z = depth_prt[x];
cloud_ptr[x].x = (x - ox) * z * inv_fx;
cloud_ptr[x].y = (y - oy) * z * inv_fy;
cloud_ptr[x].z = z;
}
}
}
template<class ImageElemType>
static void warpImage( const Mat& image, const Mat& depth,
const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff,
Mat& warpedImage )
{
const Rect rect = Rect(0, 0, image.cols, image.rows);
vector<Point2f> points2d;
Mat cloud, transformedCloud;
cvtDepth2Cloud( depth, cloud, cameraMatrix );
perspectiveTransform( cloud, transformedCloud, Rt );
projectPoints( transformedCloud.reshape(3,1), Mat::eye(3,3,CV_64FC1), Mat::zeros(3,1,CV_64FC1), cameraMatrix, distCoeff, points2d );
Mat pointsPositions( points2d );
pointsPositions = pointsPositions.reshape( 2, image.rows );
warpedImage.create( image.size(), image.type() );
warpedImage = Scalar::all(0);
Mat zBuffer( image.size(), CV_32FC1, FLT_MAX );
for( int y = 0; y < image.rows; y++ )
{
for( int x = 0; x < image.cols; x++ )
{
const Point3f p3d = transformedCloud.at<Point3f>(y,x);
const Point p2d = pointsPositions.at<Point2f>(y,x);
if( !cvIsNaN(cloud.at<Point3f>(y,x).z) && cloud.at<Point3f>(y,x).z > 0 &&
rect.contains(p2d) && zBuffer.at<float>(p2d) > p3d.z )
{
warpedImage.at<ImageElemType>(p2d) = image.at<ImageElemType>(y,x);
zBuffer.at<float>(p2d) = p3d.z;
}
}
}
}
int main(int argc, char** argv)
{
float vals[] = {525., 0., 3.1950000000000000e+02,
0., 525., 2.3950000000000000e+02,
0., 0., 1.};
const Mat cameraMatrix = Mat(3,3,CV_32FC1,vals);
const Mat distCoeff(1,5,CV_32FC1,Scalar(0));
if( argc != 5 && argc != 6 )
{
cout << "Format: image0 depth0 image1 depth1 [transformationType]" << endl;
cout << "Depth file must be 16U image stored depth in mm." << endl;
cout << "Transformation types:" << endl;
cout << " -rbm - rigid body motion (default)" << endl;
cout << " -r - rotation rotation only" << endl;
cout << " -t - translation only" << endl;
return -1;
}
Mat colorImage0 = imread( argv[1] );
Mat depth0 = imread( argv[2], -1 );
Mat colorImage1 = imread( argv[3] );
Mat depth1 = imread( argv[4], -1 );
if( colorImage0.empty() || depth0.empty() || colorImage1.empty() || depth1.empty() )
{
cout << "Data (rgb or depth images) is empty.";
return -1;
}
int transformationType = RIGID_BODY_MOTION;
if( argc == 6 )
{
string ttype = argv[5];
if( ttype == "-rbm" )
{
transformationType = RIGID_BODY_MOTION;
}
else if ( ttype == "-r")
{
transformationType = ROTATION;
}
else if ( ttype == "-t")
{
transformationType = TRANSLATION;
}
else
{
cout << "Unsupported transformation type." << endl;
return -1;
}
}
Mat grayImage0, grayImage1, depthFlt0, depthFlt1/*in meters*/;
cvtColor( colorImage0, grayImage0, COLOR_BGR2GRAY );
cvtColor( colorImage1, grayImage1, COLOR_BGR2GRAY );
depth0.convertTo( depthFlt0, CV_32FC1, 1./1000 );
depth1.convertTo( depthFlt1, CV_32FC1, 1./1000 );
TickMeter tm;
Mat Rt;
vector<int> iterCounts(4);
iterCounts[0] = 7;
iterCounts[1] = 7;
iterCounts[2] = 7;
iterCounts[3] = 10;
vector<float> minGradMagnitudes(4);
minGradMagnitudes[0] = 12;
minGradMagnitudes[1] = 5;
minGradMagnitudes[2] = 3;
minGradMagnitudes[3] = 1;
const float minDepth = 0.f; //in meters
const float maxDepth = 4.f; //in meters
const float maxDepthDiff = 0.07f; //in meters
tm.start();
bool isFound = cv::RGBDOdometry( Rt, Mat(),
grayImage0, depthFlt0, Mat(),
grayImage1, depthFlt1, Mat(),
cameraMatrix, minDepth, maxDepth, maxDepthDiff,
iterCounts, minGradMagnitudes, transformationType );
tm.stop();
cout << "Rt = " << Rt << endl;
cout << "Time = " << tm.getTimeSec() << " sec." << endl;
if( !isFound )
{
cout << "Rigid body motion cann't be estimated for given RGBD data." << endl;
return -1;
}
Mat warpedImage0;
warpImage<Point3_<uchar> >( colorImage0, depthFlt0, Rt, cameraMatrix, distCoeff, warpedImage0 );
imshow( "image0", colorImage0 );
imshow( "warped_image0", warpedImage0 );
imshow( "image1", colorImage1 );
waitKey();
return 0;
}

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#include "opencv2/objdetect.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/highgui/highgui_c.h"
#include <cctype>
#include <iostream>
#include <iterator>
#include <stdio.h>
using namespace std;
using namespace cv;
static void help()
{
cout << "\nThis program demonstrates the smile detector.\n"
"Usage:\n"
"./smiledetect [--cascade=<cascade_path> this is the frontal face classifier]\n"
" [--smile-cascade=[<smile_cascade_path>]]\n"
" [--scale=<image scale greater or equal to 1, try 2.0 for example. The larger the faster the processing>]\n"
" [--try-flip]\n"
" [video_filename|camera_index]\n\n"
"Example:\n"
"./smiledetect --cascade=\"../../data/haarcascades/haarcascade_frontalface_alt.xml\" --smile-cascade=\"../../data/haarcascades/haarcascade_smile.xml\" --scale=2.0\n\n"
"During execution:\n\tHit any key to quit.\n"
"\tUsing OpenCV version " << CV_VERSION << "\n" << endl;
}
void detectAndDraw( Mat& img, CascadeClassifier& cascade,
CascadeClassifier& nestedCascade,
double scale, bool tryflip );
string cascadeName = "../../data/haarcascades/haarcascade_frontalface_alt.xml";
string nestedCascadeName = "../../data/haarcascades/haarcascade_smile.xml";
int main( int argc, const char** argv )
{
CvCapture* capture = 0;
Mat frame, frameCopy, image;
const string scaleOpt = "--scale=";
size_t scaleOptLen = scaleOpt.length();
const string cascadeOpt = "--cascade=";
size_t cascadeOptLen = cascadeOpt.length();
const string nestedCascadeOpt = "--smile-cascade";
size_t nestedCascadeOptLen = nestedCascadeOpt.length();
const string tryFlipOpt = "--try-flip";
size_t tryFlipOptLen = tryFlipOpt.length();
string inputName;
bool tryflip = false;
help();
CascadeClassifier cascade, nestedCascade;
double scale = 1;
for( int i = 1; i < argc; i++ )
{
cout << "Processing " << i << " " << argv[i] << endl;
if( cascadeOpt.compare( 0, cascadeOptLen, argv[i], cascadeOptLen ) == 0 )
{
cascadeName.assign( argv[i] + cascadeOptLen );
cout << " from which we have cascadeName= " << cascadeName << endl;
}
else if( nestedCascadeOpt.compare( 0, nestedCascadeOptLen, argv[i], nestedCascadeOptLen ) == 0 )
{
if( argv[i][nestedCascadeOpt.length()] == '=' )
nestedCascadeName.assign( argv[i] + nestedCascadeOpt.length() + 1 );
}
else if( scaleOpt.compare( 0, scaleOptLen, argv[i], scaleOptLen ) == 0 )
{
if( !sscanf( argv[i] + scaleOpt.length(), "%lf", &scale ) || scale < 1 )
scale = 1;
cout << " from which we read scale = " << scale << endl;
}
else if( tryFlipOpt.compare( 0, tryFlipOptLen, argv[i], tryFlipOptLen ) == 0 )
{
tryflip = true;
cout << " will try to flip image horizontally to detect assymetric objects\n";
}
else if( argv[i][0] == '-' )
{
cerr << "WARNING: Unknown option " << argv[i] << endl;
}
else
inputName.assign( argv[i] );
}
if( !cascade.load( cascadeName ) )
{
cerr << "ERROR: Could not load face cascade" << endl;
help();
return -1;
}
if( !nestedCascade.load( nestedCascadeName ) )
{
cerr << "ERROR: Could not load smile cascade" << endl;
help();
return -1;
}
if( inputName.empty() || (isdigit(inputName.c_str()[0]) && inputName.c_str()[1] == '\0') )
{
capture = cvCaptureFromCAM( inputName.empty() ? 0 : inputName.c_str()[0] - '0' );
int c = inputName.empty() ? 0 : inputName.c_str()[0] - '0' ;
if(!capture) cout << "Capture from CAM " << c << " didn't work" << endl;
}
else if( inputName.size() )
{
capture = cvCaptureFromAVI( inputName.c_str() );
if(!capture) cout << "Capture from AVI didn't work" << endl;
}
cvNamedWindow( "result", 1 );
if( capture )
{
cout << "In capture ..." << endl;
cout << endl << "NOTE: Smile intensity will only be valid after a first smile has been detected" << endl;
for(;;)
{
IplImage* iplImg = cvQueryFrame( capture );
frame = cv::cvarrToMat(iplImg);
if( frame.empty() )
break;
if( iplImg->origin == IPL_ORIGIN_TL )
frame.copyTo( frameCopy );
else
flip( frame, frameCopy, 0 );
detectAndDraw( frameCopy, cascade, nestedCascade, scale, tryflip );
if( waitKey( 10 ) >= 0 )
goto _cleanup_;
}
waitKey(0);
_cleanup_:
cvReleaseCapture( &capture );
}
else
{
cerr << "ERROR: Could not initiate capture" << endl;
help();
return -1;
}
cvDestroyWindow("result");
return 0;
}
void detectAndDraw( Mat& img, CascadeClassifier& cascade,
CascadeClassifier& nestedCascade,
double scale, bool tryflip)
{
int i = 0;
vector<Rect> faces, faces2;
const static Scalar colors[] = { CV_RGB(0,0,255),
CV_RGB(0,128,255),
CV_RGB(0,255,255),
CV_RGB(0,255,0),
CV_RGB(255,128,0),
CV_RGB(255,255,0),
CV_RGB(255,0,0),
CV_RGB(255,0,255)} ;
Mat gray, smallImg( cvRound (img.rows/scale), cvRound(img.cols/scale), CV_8UC1 );
cvtColor( img, gray, COLOR_BGR2GRAY );
resize( gray, smallImg, smallImg.size(), 0, 0, INTER_LINEAR );
equalizeHist( smallImg, smallImg );
cascade.detectMultiScale( smallImg, faces,
1.1, 2, 0
//|CASCADE_FIND_BIGGEST_OBJECT
//|CASCADE_DO_ROUGH_SEARCH
|CASCADE_SCALE_IMAGE
,
Size(30, 30) );
if( tryflip )
{
flip(smallImg, smallImg, 1);
cascade.detectMultiScale( smallImg, faces2,
1.1, 2, 0
//|CASCADE_FIND_BIGGEST_OBJECT
//|CASCADE_DO_ROUGH_SEARCH
|CASCADE_SCALE_IMAGE
,
Size(30, 30) );
for( vector<Rect>::const_iterator r = faces2.begin(); r != faces2.end(); r++ )
{
faces.push_back(Rect(smallImg.cols - r->x - r->width, r->y, r->width, r->height));
}
}
for( vector<Rect>::iterator r = faces.begin(); r != faces.end(); r++, i++ )
{
Mat smallImgROI;
vector<Rect> nestedObjects;
Point center;
Scalar color = colors[i%8];
int radius;
double aspect_ratio = (double)r->width/r->height;
if( 0.75 < aspect_ratio && aspect_ratio < 1.3 )
{
center.x = cvRound((r->x + r->width*0.5)*scale);
center.y = cvRound((r->y + r->height*0.5)*scale);
radius = cvRound((r->width + r->height)*0.25*scale);
circle( img, center, radius, color, 3, 8, 0 );
}
else
rectangle( img, cvPoint(cvRound(r->x*scale), cvRound(r->y*scale)),
cvPoint(cvRound((r->x + r->width-1)*scale), cvRound((r->y + r->height-1)*scale)),
color, 3, 8, 0);
const int half_height=cvRound((float)r->height/2);
r->y=r->y + half_height;
r->height = half_height;
smallImgROI = smallImg(*r);
nestedCascade.detectMultiScale( smallImgROI, nestedObjects,
1.1, 0, 0
//|CASCADE_FIND_BIGGEST_OBJECT
//|CASCADE_DO_ROUGH_SEARCH
//|CASCADE_DO_CANNY_PRUNING
|CASCADE_SCALE_IMAGE
,
Size(30, 30) );
// The number of detected neighbors depends on image size (and also illumination, etc.). The
// following steps use a floating minimum and maximum of neighbors. Intensity thus estimated will be
//accurate only after a first smile has been displayed by the user.
const int smile_neighbors = (int)nestedObjects.size();
static int max_neighbors=-1;
static int min_neighbors=-1;
if (min_neighbors == -1) min_neighbors = smile_neighbors;
max_neighbors = MAX(max_neighbors, smile_neighbors);
// Draw rectangle on the left side of the image reflecting smile intensity
float intensityZeroOne = ((float)smile_neighbors - min_neighbors) / (max_neighbors - min_neighbors + 1);
int rect_height = cvRound((float)img.rows * intensityZeroOne);
CvScalar col = CV_RGB((float)255 * intensityZeroOne, 0, 0);
rectangle(img, cvPoint(0, img.rows), cvPoint(img.cols/10, img.rows - rect_height), col, -1);
}
cv::imshow( "result", img );
}

20
samples/cpp/stereo_match.cpp
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@@ -10,7 +10,6 @@
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/contrib/contrib.hpp"
#include "opencv2/core/utility.hpp"
#include <stdio.h>
@@ -20,7 +19,7 @@ using namespace cv;
static void print_help()
{
printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n");
printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh|var] [--blocksize=<block_size>]\n"
printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n"
"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
"[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
}
@@ -69,7 +68,6 @@ int main(int argc, char** argv)
Ptr<StereoBM> bm = createStereoBM(16,9);
Ptr<StereoSGBM> sgbm = createStereoSGBM(0,16,3);
StereoVar var;
for( int i = 1; i < argc; i++ )
{
@@ -249,19 +247,6 @@ int main(int argc, char** argv)
sgbm->setDisp12MaxDiff(1);
sgbm->setMode(alg == STEREO_HH ? StereoSGBM::MODE_HH : StereoSGBM::MODE_SGBM);
var.levels = 3; // ignored with USE_AUTO_PARAMS
var.pyrScale = 0.5; // ignored with USE_AUTO_PARAMS
var.nIt = 25;
var.minDisp = -numberOfDisparities;
var.maxDisp = 0;
var.poly_n = 3;
var.poly_sigma = 0.0;
var.fi = 15.0f;
var.lambda = 0.03f;
var.penalization = var.PENALIZATION_TICHONOV; // ignored with USE_AUTO_PARAMS
var.cycle = var.CYCLE_V; // ignored with USE_AUTO_PARAMS
var.flags = var.USE_SMART_ID | var.USE_AUTO_PARAMS | var.USE_INITIAL_DISPARITY | var.USE_MEDIAN_FILTERING ;
Mat disp, disp8;
//Mat img1p, img2p, dispp;
//copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
@@ -270,9 +255,6 @@ int main(int argc, char** argv)
int64 t = getTickCount();
if( alg == STEREO_BM )
bm->compute(img1, img2, disp);
else if( alg == STEREO_VAR ) {
var(img1, img2, disp);
}
else if( alg == STEREO_SGBM || alg == STEREO_HH )
sgbm->compute(img1, img2, disp);
t = getTickCount() - t;

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samples/cpp/tree_engine.cpp Normal file
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#include "opencv2/ml/ml.hpp"
#include "opencv2/core/core_c.h"
#include "opencv2/core/utility.hpp"
#include <stdio.h>
#include <map>
static void help()
{
printf(
"\nThis sample demonstrates how to use different decision trees and forests including boosting and random trees:\n"
"CvDTree dtree;\n"
"CvBoost boost;\n"
"CvRTrees rtrees;\n"
"CvERTrees ertrees;\n"
"CvGBTrees gbtrees;\n"
"Call:\n\t./tree_engine [-r <response_column>] [-c] <csv filename>\n"
"where -r <response_column> specified the 0-based index of the response (0 by default)\n"
"-c specifies that the response is categorical (it's ordered by default) and\n"
"<csv filename> is the name of training data file in comma-separated value format\n\n");
}
static int count_classes(CvMLData& data)
{
cv::Mat r = cv::cvarrToMat(data.get_responses());
std::map<int, int> rmap;
int i, n = (int)r.total();
for( i = 0; i < n; i++ )
{
float val = r.at<float>(i);
int ival = cvRound(val);
if( ival != val )
return -1;
rmap[ival] = 1;
}
return (int)rmap.size();
}
static void print_result(float train_err, float test_err, const CvMat* _var_imp)
{
printf( "train error %f\n", train_err );
printf( "test error %f\n\n", test_err );
if (_var_imp)
{
cv::Mat var_imp = cv::cvarrToMat(_var_imp), sorted_idx;
cv::sortIdx(var_imp, sorted_idx, CV_SORT_EVERY_ROW + CV_SORT_DESCENDING);
printf( "variable importance:\n" );
int i, n = (int)var_imp.total();
int type = var_imp.type();
CV_Assert(type == CV_32F || type == CV_64F);
for( i = 0; i < n; i++)
{
int k = sorted_idx.at<int>(i);
printf( "%d\t%f\n", k, type == CV_32F ? var_imp.at<float>(k) : var_imp.at<double>(k));
}
}
printf("\n");
}
int main(int argc, char** argv)
{
if(argc < 2)
{
help();
return 0;
}
const char* filename = 0;
int response_idx = 0;
bool categorical_response = false;
for(int i = 1; i < argc; i++)
{
if(strcmp(argv[i], "-r") == 0)
sscanf(argv[++i], "%d", &response_idx);
else if(strcmp(argv[i], "-c") == 0)
categorical_response = true;
else if(argv[i][0] != '-' )
filename = argv[i];
else
{
printf("Error. Invalid option %s\n", argv[i]);
help();
return -1;
}
}
printf("\nReading in %s...\n\n",filename);
CvDTree dtree;
CvBoost boost;
CvRTrees rtrees;
CvERTrees ertrees;
CvGBTrees gbtrees;
CvMLData data;
CvTrainTestSplit spl( 0.5f );
if ( data.read_csv( filename ) == 0)
{
data.set_response_idx( response_idx );
if(categorical_response)
data.change_var_type( response_idx, CV_VAR_CATEGORICAL );
data.set_train_test_split( &spl );
printf("======DTREE=====\n");
dtree.train( &data, CvDTreeParams( 10, 2, 0, false, 16, 0, false, false, 0 ));
print_result( dtree.calc_error( &data, CV_TRAIN_ERROR), dtree.calc_error( &data, CV_TEST_ERROR ), dtree.get_var_importance() );
if( categorical_response && count_classes(data) == 2 )
{
printf("======BOOST=====\n");
boost.train( &data, CvBoostParams(CvBoost::DISCRETE, 100, 0.95, 2, false, 0));
print_result( boost.calc_error( &data, CV_TRAIN_ERROR ), boost.calc_error( &data, CV_TEST_ERROR ), 0 ); //doesn't compute importance
}
printf("======RTREES=====\n");
rtrees.train( &data, CvRTParams( 10, 2, 0, false, 16, 0, true, 0, 100, 0, CV_TERMCRIT_ITER ));
print_result( rtrees.calc_error( &data, CV_TRAIN_ERROR), rtrees.calc_error( &data, CV_TEST_ERROR ), rtrees.get_var_importance() );
printf("======ERTREES=====\n");
ertrees.train( &data, CvRTParams( 18, 2, 0, false, 16, 0, true, 0, 100, 0, CV_TERMCRIT_ITER ));
print_result( ertrees.calc_error( &data, CV_TRAIN_ERROR), ertrees.calc_error( &data, CV_TEST_ERROR ), ertrees.get_var_importance() );
printf("======GBTREES=====\n");
if (categorical_response)
gbtrees.train( &data, CvGBTreesParams(CvGBTrees::DEVIANCE_LOSS, 100, 0.1f, 0.8f, 5, false));
else
gbtrees.train( &data, CvGBTreesParams(CvGBTrees::SQUARED_LOSS, 100, 0.1f, 0.8f, 5, false));
print_result( gbtrees.calc_error( &data, CV_TRAIN_ERROR), gbtrees.calc_error( &data, CV_TEST_ERROR ), 0 ); //doesn't compute importance
}
else
printf("File can not be read");
return 0;
}

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samples/cpp/video_dmtx.cpp
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/*
* starter_video.cpp
*
* Created on: Nov 23, 2010
* Author: Ethan Rublee
*
* A starter sample for using opencv, get a video stream and display the images
* Use http://datamatrix.kaywa.com/ to generate datamatrix images using strings of length 3 or less.
* easy as CV_PI right?
*/
#include "opencv2/highgui/highgui.hpp"
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>
#include <vector>
#include <stdio.h>
using namespace cv;
using namespace std;
//hide the local functions in an anon namespace
namespace
{
void help(char** av)
{
cout << "\nThis program justs gets you started reading images from video\n"
"Usage:\n./" << av[0] << " <video device number>\n" << "q,Q,esc -- quit\n"
<< "space -- save frame\n\n"
<< "\tThis is a starter sample, to get you up and going in a copy pasta fashion\n"
<< "\tThe program captures frames from a camera connected to your computer.\n"
<< "\tTo find the video device number, try ls /dev/video* \n"
<< "\tYou may also pass a video file, like my_vide.avi instead of a device number"
<< "\n"
<< "DATA:\n"
<< "Generate a datamatrix from from http://datamatrix.kaywa.com/ \n"
<< " NOTE: This only handles strings of len 3 or less\n"
<< " Resize the screen to be large enough for your camera to see, and it should find an read it.\n\n"
<< endl;
}
int process(VideoCapture& capture)
{
int n = 0;
char filename[200];
string window_name = "video | q or esc to quit";
cout << "press space to save a picture. q or esc to quit" << endl;
namedWindow(window_name, WINDOW_KEEPRATIO); //resizable window;
Mat frame;
for (;;)
{
capture >> frame;
if (frame.empty())
break;
cv::Mat gray;
cv::cvtColor(frame,gray,COLOR_RGB2GRAY);
vector<String> codes;
Mat corners;
findDataMatrix(gray, codes, corners);
drawDataMatrixCodes(frame, codes, corners);
imshow(window_name, frame);
char key = (char) waitKey(5); //delay N millis, usually long enough to display and capture input
switch (key)
{
case 'q':
case 'Q':
case 27: //escape key
return 0;
case ' ': //Save an image
sprintf(filename, "filename%.3d.jpg", n++);
imwrite(filename, frame);
cout << "Saved " << filename << endl;
break;
default:
break;
}
}
return 0;
}
}
int main(int ac, char** av)
{
if (ac != 2)
{
help(av);
return 1;
}
std::string arg = av[1];
VideoCapture capture(arg); //try to open string, this will attempt to open it as a video file
if (!capture.isOpened()) //if this fails, try to open as a video camera, through the use of an integer param
capture.open(atoi(arg.c_str()));
if (!capture.isOpened())
{
cerr << "Failed to open a video device or video file!\n" << endl;
help(av);
return 1;
}
return process(capture);
}

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