Putting definitions of SCD and SCDMatcher separated from sc_dis.cpp file
This commit is contained in:
Juan Manuel Perez
Vadim Pisarevsky
parent
4672a70c1f
commit
f6fc39ce8f
@ -46,27 +46,285 @@
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*/
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*/
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#include "precomp.hpp"
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#include "precomp.hpp"
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#include "opencv2/core.hpp"
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#include "opencv2/core.hpp"
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/*
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#include "scd_def.hpp"
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* ShapeContextDescriptor class
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*/
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namespace cv
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class SCD
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{
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class ShapeContextDistanceExtractorImpl : public ShapeContextDistanceExtractor
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{
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{
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public:
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public:
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//! the full constructor taking all the necessary parameters
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/* Constructors */
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explicit SCD(int _nAngularBins=12, int _nRadialBins=5,
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ShapeContextDistanceExtractorImpl(int _nAngularBins, int _nRadialBins, float _innerRadius, float _outerRadius, int _iterations,
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double _innerRadius=0.1, double _outerRadius=1, bool _rotationInvariant=false)
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const Ptr<HistogramCostExtractor> &_comparer, const Ptr<ShapeTransformer> &_transformer)
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{
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{
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setAngularBins(_nAngularBins);
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nAngularBins=_nAngularBins;
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setRadialBins(_nRadialBins);
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nRadialBins=_nRadialBins;
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setInnerRadius(_innerRadius);
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innerRadius=_innerRadius;
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setOuterRadius(_outerRadius);
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outerRadius=_outerRadius;
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setRotationInvariant(_rotationInvariant);
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rotationInvariant=false;
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comparer=_comparer;
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iterations=_iterations;
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transformer=_transformer;
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bendingEnergyWeight=0.3;
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imageAppearanceWeight=0.0;
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shapeContextWeight=1.0;
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sigma=10;
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name_ = "ShapeDistanceExtractor.SCD";
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}
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}
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void extractSCD(cv::Mat& contour, cv::Mat& descriptors,
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/* Destructor */
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const std::vector<int>& queryInliers=std::vector<int>(),
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~ShapeContextDistanceExtractorImpl()
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const float _meanDistance=-1)
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{
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{
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}
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virtual AlgorithmInfo* info() const { return 0; }
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//! the main operator
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virtual float computeDistance(InputArray contour1, InputArray contour2);
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//! Setters/Getters
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virtual void setAngularBins(int _nAngularBins){CV_Assert(_nAngularBins>0); nAngularBins=_nAngularBins;}
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virtual int getAngularBins() const {return nAngularBins;}
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virtual void setRadialBins(int _nRadialBins){CV_Assert(_nRadialBins>0); nRadialBins=_nRadialBins;}
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virtual int getRadialBins() const {return nRadialBins;}
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virtual void setInnerRadius(float _innerRadius) {CV_Assert(_innerRadius>0); innerRadius=_innerRadius;}
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virtual float getInnerRadius() const {return innerRadius;}
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virtual void setOuterRadius(float _outerRadius) {CV_Assert(_outerRadius>0); outerRadius=_outerRadius;}
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virtual float getOuterRadius() const {return outerRadius;}
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virtual void setRotationInvariant(bool _rotationInvariant) {rotationInvariant=_rotationInvariant;}
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virtual bool getRotationInvariant() const {return rotationInvariant;}
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virtual void setCostExtractor(Ptr<HistogramCostExtractor> _comparer) { comparer = _comparer; }
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virtual Ptr<HistogramCostExtractor> getCostExtractor() const { return comparer; }
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virtual void setShapeContextWeight(float _shapeContextWeight) {shapeContextWeight=_shapeContextWeight;}
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virtual float getShapeContextWeight() const {return shapeContextWeight;}
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virtual void setImageAppearanceWeight(float _imageAppearanceWeight) {imageAppearanceWeight=_imageAppearanceWeight;}
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virtual float getImageAppearanceWeight() const {return imageAppearanceWeight;}
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virtual void setBendingEnergyWeight(float _bendingEnergyWeight) {bendingEnergyWeight=_bendingEnergyWeight;}
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virtual float getBendingEnergyWeight() const {return bendingEnergyWeight;}
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virtual void setStdDev(float _sigma) {sigma=_sigma;}
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virtual float getStdDev() const {return sigma;}
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virtual void setImages(InputArray _image1, InputArray _image2)
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{
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Mat image1_=_image1.getMat(), image2_=_image2.getMat();
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CV_Assert((image1_.depth()==0) && (image2_.depth()==0));
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image1=image1_;
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image2=image2_;
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}
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virtual void getImages(OutputArray _image1, OutputArray _image2) const
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{
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CV_Assert((!image1.empty()) && (!image2.empty()));
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_image1.create(image1.size(), image1.type());
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_image2.create(image2.size(), image2.type());
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_image1.getMat()=image1;
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_image2.getMat()=image2;
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}
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virtual void setIterations(int _iterations) {CV_Assert(_iterations>0); iterations=_iterations;}
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virtual int getIterations() const {return iterations;}
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virtual void setTransformAlgorithm(Ptr<ShapeTransformer> _transformer) {transformer=_transformer;}
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virtual Ptr<ShapeTransformer> getTransformAlgorithm() const {return transformer;}
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//! write/read
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virtual void write(FileStorage& fs) const
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{
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fs << "name" << name_
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<< "nRads" << nRadialBins
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<< "nAngs" << nAngularBins
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<< "iters" << iterations
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<< "img_1" << image1
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<< "img_2" << image2
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<< "beWei" << bendingEnergyWeight
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<< "scWei" << shapeContextWeight
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<< "iaWei" << imageAppearanceWeight
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<< "costF" << costFlag
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<< "rotIn" << rotationInvariant
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<< "sigma" << sigma;
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}
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virtual void read(const FileNode& fn)
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{
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CV_Assert( (String)fn["name"] == name_ );
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nRadialBins = (int)fn["nRads"];
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nAngularBins = (int)fn["nAngs"];
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iterations = (int)fn["iters"];
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bendingEnergyWeight = (float)fn["beWei"];
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shapeContextWeight = (float)fn["scWei"];
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imageAppearanceWeight = (float)fn["iaWei"];
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costFlag = (int)fn["costF"];
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sigma = (float)fn["sigma"];
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}
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private:
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int nAngularBins;
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int nRadialBins;
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float innerRadius;
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float outerRadius;
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bool rotationInvariant;
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int costFlag;
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int iterations;
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Ptr<ShapeTransformer> transformer;
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Ptr<HistogramCostExtractor> comparer;
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Mat image1;
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Mat image2;
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float bendingEnergyWeight;
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float imageAppearanceWeight;
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float shapeContextWeight;
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float sigma;
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protected:
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String name_;
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};
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float ShapeContextDistanceExtractorImpl::computeDistance(InputArray contour1, InputArray contour2)
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{
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// Checking //
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Mat sset1=contour1.getMat(), sset2=contour2.getMat(), set1, set2;
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if (set1.type() != CV_32F)
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sset1.convertTo(set1, CV_32F);
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else
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sset1.copyTo(set1);
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if (set2.type() != CV_32F)
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sset2.convertTo(set2, CV_32F);
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else
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sset1.copyTo(set2);
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CV_Assert((set1.channels()==2) && (set1.cols>0));
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CV_Assert((set2.channels()==2) && (set2.cols>0));
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if (imageAppearanceWeight!=0)
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{
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CV_Assert((!image1.empty()) && (!image2.empty()));
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}
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// Initializing Extractor, Descriptor structures and Matcher //
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SCD set1SCE(nAngularBins, nRadialBins, innerRadius, outerRadius, rotationInvariant);
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Mat set1SCD;
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SCD set2SCE(nAngularBins, nRadialBins, innerRadius, outerRadius, rotationInvariant);
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Mat set2SCD;
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SCDMatcher matcher;
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std::vector<DMatch> matches;
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// Distance components (The output is a linear combination of these 3) //
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float sDistance=0, bEnergy=0, iAppearance=0;
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float beta;
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// Initializing some variables //
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std::vector<int> inliers1, inliers2;
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Ptr<ThinPlateSplineShapeTransformer> transDown = transformer.dynamicCast<ThinPlateSplineShapeTransformer>();
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Mat warpedImage;
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for (int ii=0; ii<iterations; ii++)
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{
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// Extract SCD descriptor in the set1 //
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set1SCE.extractSCD(set1, set1SCD, inliers1);
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// Extract SCD descriptor of the set2 (TARGET) //
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set2SCE.extractSCD(set2, set2SCD, inliers2, set1SCE.getMeanDistance());
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// regularization parameter with annealing rate annRate //
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beta=std::pow(set1SCE.getMeanDistance(),2);
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// match //
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matcher.matchDescriptors(set1SCD, set2SCD, matches, comparer, inliers1, inliers2);
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// apply TPS transform //
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if ( !transDown.empty() )
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transDown->setRegularizationParameter(beta);
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transformer->estimateTransformation(set1, set2, matches);
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bEnergy += transformer->applyTransformation(set1, set1);
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// Image appearance //
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if (imageAppearanceWeight!=0)
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{
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// Have to accumulate the transformation along all the iterations
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if (ii==0)
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{
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if ( !transDown.empty() )
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{
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image2.copyTo(warpedImage);
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}
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else
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{
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image1.copyTo(warpedImage);
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}
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}
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transformer->warpImage(warpedImage, warpedImage);
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}
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}
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Mat gaussWindow, diffIm;
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if (imageAppearanceWeight!=0)
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{
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// compute appearance cost
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if ( !transDown.empty() )
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{
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resize(warpedImage, warpedImage, image1.size());
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Mat temp=(warpedImage-image1);
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multiply(temp, temp, diffIm);
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}
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else
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{
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resize(warpedImage, warpedImage, image2.size());
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Mat temp=(warpedImage-image2);
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multiply(temp, temp, diffIm);
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}
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gaussWindow = Mat::zeros(warpedImage.rows, warpedImage.cols, CV_32F);
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for (int pt=0; pt<sset1.cols; pt++)
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{
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for (int ii=0; ii<diffIm.rows; ii++)
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{
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for (int jj=0; jj<diffIm.cols; jj++)
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{
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float xx = sset1.at<Point2f>(0,pt).x;
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float yy = sset1.at<Point2f>(0,pt).y;
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float val = float(std::exp( -float( (xx-jj)*(xx-jj) + (yy-ii)*(yy-ii) )/(2*sigma*sigma) ) / (sigma*sigma*2*CV_PI));
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gaussWindow.at<float>(ii,jj) += val;
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}
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}
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}
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Mat appIm(diffIm.rows, diffIm.cols, CV_32F);
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for (int ii=0; ii<diffIm.rows; ii++)
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{
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for (int jj=0; jj<diffIm.cols; jj++)
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{
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float elema=float( diffIm.at<uchar>(ii,jj) )/255;
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float elemb=gaussWindow.at<float>(ii,jj);
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appIm.at<float>(ii,jj) = elema*elemb;
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}
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}
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iAppearance = float(cv::sum(appIm)[0]/sset1.cols);
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}
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sDistance = matcher.getMatchingCost();
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return (sDistance*shapeContextWeight+bEnergy*bendingEnergyWeight+iAppearance*imageAppearanceWeight);
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}
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Ptr <ShapeContextDistanceExtractor> createShapeContextDistanceExtractor(int nAngularBins, int nRadialBins, float innerRadius, float outerRadius, int iterations,
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const Ptr<HistogramCostExtractor> &comparer, const Ptr<ShapeTransformer> &transformer)
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{
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return Ptr <ShapeContextDistanceExtractor> ( new ShapeContextDistanceExtractorImpl(nAngularBins, nRadialBins, innerRadius,
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outerRadius, iterations, comparer, transformer) );
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}
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} // cv
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//! SCD
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void SCD::extractSCD(cv::Mat &contour, cv::Mat &descriptors, const std::vector<int> &queryInliers, const float _meanDistance)
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{
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cv::Mat contourMat = contour;
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cv::Mat contourMat = contour;
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cv::Mat disMatrix = cv::Mat::zeros(contourMat.cols, contourMat.cols, CV_32F);
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cv::Mat disMatrix = cv::Mat::zeros(contourMat.cols, contourMat.cols, CV_32F);
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cv::Mat angleMatrix = cv::Mat::zeros(contourMat.cols, contourMat.cols, CV_32F);
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cv::Mat angleMatrix = cv::Mat::zeros(contourMat.cols, contourMat.cols, CV_32F);
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@ -114,32 +372,10 @@ public:
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}
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}
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}
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}
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}
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}
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}
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}
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int descriptorSize() {return nAngularBins*nRadialBins;}
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void SCD::logarithmicSpaces(std::vector<double> &vecSpaces) const
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void setAngularBins(int angularBins) { nAngularBins=angularBins; }
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{
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void setRadialBins(int radialBins) { nRadialBins=radialBins; }
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void setInnerRadius(double _innerRadius) { innerRadius=_innerRadius; }
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void setOuterRadius(double _outerRadius) { outerRadius=_outerRadius; }
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void setRotationInvariant(bool _rotationInvariant) { rotationInvariant=_rotationInvariant; }
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int getAngularBins() const { return nAngularBins; }
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int getRadialBins() const { return nRadialBins; }
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double getInnerRadius() const { return innerRadius; }
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double getOuterRadius() const { return outerRadius; }
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bool getRotationInvariant() const { return rotationInvariant; }
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float getMeanDistance() const { return meanDistance; }
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private:
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int nAngularBins;
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int nRadialBins;
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double innerRadius;
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double outerRadius;
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bool rotationInvariant;
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float meanDistance;
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protected:
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void logarithmicSpaces(std::vector<double>& vecSpaces) const
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{
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double logmin=log10(innerRadius);
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double logmin=log10(innerRadius);
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double logmax=log10(outerRadius);
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double logmax=log10(outerRadius);
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double delta=(logmax-logmin)/(nRadialBins-1);
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double delta=(logmax-logmin)/(nRadialBins-1);
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vecSpaces.push_back(val);
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vecSpaces.push_back(val);
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accdelta += delta;
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accdelta += delta;
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}
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}
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}
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}
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void angularSpaces(std::vector<double>& vecSpaces) const
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void SCD::angularSpaces(std::vector<double> &vecSpaces) const
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{
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{
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double delta=2*CV_PI/nAngularBins;
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double delta=2*CV_PI/nAngularBins;
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double val=0;
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double val=0;
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@ -163,12 +399,10 @@ protected:
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val += delta;
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val += delta;
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vecSpaces.push_back(val);
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vecSpaces.push_back(val);
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}
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}
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}
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}
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void buildNormalizedDistanceMatrix(cv::Mat& contour,
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void SCD::buildNormalizedDistanceMatrix(cv::Mat &contour, cv::Mat &disMatrix, const std::vector<int> &queryInliers, const float _meanDistance)
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cv::Mat& disMatrix, const std::vector<int> &queryInliers,
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{
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const float _meanDistance=-1)
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{
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cv::Mat contourMat = contour;
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cv::Mat contourMat = contour;
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cv::Mat mask(disMatrix.rows, disMatrix.cols, CV_8U);
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cv::Mat mask(disMatrix.rows, disMatrix.cols, CV_8U);
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|
||||||
@ -200,11 +434,10 @@ protected:
|
|||||||
meanDistance=_meanDistance;
|
meanDistance=_meanDistance;
|
||||||
}
|
}
|
||||||
disMatrix/=meanDistance+FLT_EPSILON;
|
disMatrix/=meanDistance+FLT_EPSILON;
|
||||||
}
|
}
|
||||||
|
|
||||||
void buildAngleMatrix(cv::Mat& contour,
|
void SCD::buildAngleMatrix(cv::Mat &contour, cv::Mat &angleMatrix) const
|
||||||
cv::Mat& angleMatrix) const
|
{
|
||||||
{
|
|
||||||
cv::Mat contourMat = contour;
|
cv::Mat contourMat = contour;
|
||||||
|
|
||||||
// if descriptor is rotationInvariant compute massCenter //
|
// if descriptor is rotationInvariant compute massCenter //
|
||||||
@ -240,28 +473,15 @@ protected:
|
|||||||
angleMatrix.at<float>(i,j) -= refAngle;
|
angleMatrix.at<float>(i,j) -= refAngle;
|
||||||
}
|
}
|
||||||
angleMatrix.at<float>(i,j) = float(fmod(double(angleMatrix.at<float>(i,j)+(double)FLT_EPSILON),2*CV_PI)+CV_PI);
|
angleMatrix.at<float>(i,j) = float(fmod(double(angleMatrix.at<float>(i,j)+(double)FLT_EPSILON),2*CV_PI)+CV_PI);
|
||||||
//angleMatrix.at<float>(i,j) = 1+floor( angleMatrix.at<float>(i,j)*nAngularBins/(2*CV_PI) );
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
};
|
|
||||||
|
|
||||||
/*
|
//! SCDMatcher
|
||||||
* Matcher
|
void SCDMatcher::matchDescriptors(cv::Mat &descriptors1, cv::Mat &descriptors2, std::vector<cv::DMatch> &matches,
|
||||||
*/
|
cv::Ptr<cv::HistogramCostExtractor> &comparer, std::vector<int> &inliers1, std::vector<int> &inliers2)
|
||||||
class SCDMatcher
|
|
||||||
{
|
{
|
||||||
public:
|
|
||||||
// the full constructor
|
|
||||||
SCDMatcher()
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
// the matcher function using Hungarian method
|
|
||||||
void matchDescriptors(cv::Mat& descriptors1, cv::Mat& descriptors2, std::vector<cv::DMatch>& matches, cv::Ptr<cv::HistogramCostExtractor>& comparer,
|
|
||||||
std::vector<int>& inliers1, std::vector<int> &inliers2)
|
|
||||||
{
|
|
||||||
matches.clear();
|
matches.clear();
|
||||||
|
|
||||||
// Build the cost Matrix between descriptors //
|
// Build the cost Matrix between descriptors //
|
||||||
@ -270,24 +490,17 @@ public:
|
|||||||
|
|
||||||
// Solve the matching problem using the hungarian method //
|
// Solve the matching problem using the hungarian method //
|
||||||
hungarian(costMat, matches, inliers1, inliers2, descriptors1.rows, descriptors2.rows);
|
hungarian(costMat, matches, inliers1, inliers2, descriptors1.rows, descriptors2.rows);
|
||||||
}
|
}
|
||||||
|
|
||||||
// matching cost
|
void SCDMatcher::buildCostMatrix(const cv::Mat &descriptors1, const cv::Mat &descriptors2,
|
||||||
float getMatchingCost() const {return minMatchCost;}
|
cv::Mat &costMatrix, cv::Ptr<cv::HistogramCostExtractor> &comparer) const
|
||||||
|
{
|
||||||
private:
|
|
||||||
float minMatchCost;
|
|
||||||
float betaAdditional;
|
|
||||||
protected:
|
|
||||||
void buildCostMatrix(const cv::Mat& descriptors1, const cv::Mat& descriptors2,
|
|
||||||
cv::Mat& costMatrix, cv::Ptr<cv::HistogramCostExtractor>& comparer) const
|
|
||||||
{
|
|
||||||
comparer->buildCostMatrix(descriptors1, descriptors2, costMatrix);
|
comparer->buildCostMatrix(descriptors1, descriptors2, costMatrix);
|
||||||
}
|
}
|
||||||
|
|
||||||
void hungarian(cv::Mat& costMatrix, std::vector<cv::DMatch>& outMatches, std::vector<int> &inliers1,
|
void SCDMatcher::hungarian(cv::Mat &costMatrix, std::vector<cv::DMatch> &outMatches, std::vector<int> &inliers1,
|
||||||
std::vector<int> &inliers2, int sizeScd1=0, int sizeScd2=0)
|
std::vector<int> &inliers2, int sizeScd1, int sizeScd2)
|
||||||
{
|
{
|
||||||
std::vector<int> free(costMatrix.rows, 0), collist(costMatrix.rows, 0);
|
std::vector<int> free(costMatrix.rows, 0), collist(costMatrix.rows, 0);
|
||||||
std::vector<int> matches(costMatrix.rows, 0), colsol(costMatrix.rows), rowsol(costMatrix.rows);
|
std::vector<int> matches(costMatrix.rows, 0), colsol(costMatrix.rows), rowsol(costMatrix.rows);
|
||||||
std::vector<float> d(costMatrix.rows), pred(costMatrix.rows), v(costMatrix.rows);
|
std::vector<float> d(costMatrix.rows), pred(costMatrix.rows), v(costMatrix.rows);
|
||||||
@ -565,284 +778,4 @@ protected:
|
|||||||
else
|
else
|
||||||
inliers2[kc]=0;
|
inliers2[kc]=0;
|
||||||
}
|
}
|
||||||
}
|
|
||||||
|
|
||||||
};
|
|
||||||
|
|
||||||
/*
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
|
|
||||||
namespace cv
|
|
||||||
{
|
|
||||||
class ShapeContextDistanceExtractorImpl : public ShapeContextDistanceExtractor
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
/* Constructors */
|
|
||||||
ShapeContextDistanceExtractorImpl(int _nAngularBins, int _nRadialBins, float _innerRadius, float _outerRadius, int _iterations,
|
|
||||||
const Ptr<HistogramCostExtractor> &_comparer, const Ptr<ShapeTransformer> &_transformer)
|
|
||||||
{
|
|
||||||
nAngularBins=_nAngularBins;
|
|
||||||
nRadialBins=_nRadialBins;
|
|
||||||
innerRadius=_innerRadius;
|
|
||||||
outerRadius=_outerRadius;
|
|
||||||
rotationInvariant=false;
|
|
||||||
comparer=_comparer;
|
|
||||||
iterations=_iterations;
|
|
||||||
transformer=_transformer;
|
|
||||||
bendingEnergyWeight=0.3;
|
|
||||||
imageAppearanceWeight=0.0;
|
|
||||||
shapeContextWeight=1.0;
|
|
||||||
sigma=10;
|
|
||||||
name_ = "ShapeDistanceExtractor.SCD";
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Destructor */
|
|
||||||
~ShapeContextDistanceExtractorImpl()
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual AlgorithmInfo* info() const { return 0; }
|
|
||||||
|
|
||||||
//! the main operator
|
|
||||||
virtual float computeDistance(InputArray contour1, InputArray contour2);
|
|
||||||
|
|
||||||
//! Setters/Getters
|
|
||||||
virtual void setAngularBins(int _nAngularBins){CV_Assert(_nAngularBins>0); nAngularBins=_nAngularBins;}
|
|
||||||
virtual int getAngularBins() const {return nAngularBins;}
|
|
||||||
|
|
||||||
virtual void setRadialBins(int _nRadialBins){CV_Assert(_nRadialBins>0); nRadialBins=_nRadialBins;}
|
|
||||||
virtual int getRadialBins() const {return nRadialBins;}
|
|
||||||
|
|
||||||
virtual void setInnerRadius(float _innerRadius) {CV_Assert(_innerRadius>0); innerRadius=_innerRadius;}
|
|
||||||
virtual float getInnerRadius() const {return innerRadius;}
|
|
||||||
|
|
||||||
virtual void setOuterRadius(float _outerRadius) {CV_Assert(_outerRadius>0); outerRadius=_outerRadius;}
|
|
||||||
virtual float getOuterRadius() const {return outerRadius;}
|
|
||||||
|
|
||||||
virtual void setRotationInvariant(bool _rotationInvariant) {rotationInvariant=_rotationInvariant;}
|
|
||||||
virtual bool getRotationInvariant() const {return rotationInvariant;}
|
|
||||||
|
|
||||||
virtual void setCostExtractor(Ptr<HistogramCostExtractor> _comparer) { comparer = _comparer; }
|
|
||||||
virtual Ptr<HistogramCostExtractor> getCostExtractor() const { return comparer; }
|
|
||||||
|
|
||||||
virtual void setShapeContextWeight(float _shapeContextWeight) {shapeContextWeight=_shapeContextWeight;}
|
|
||||||
virtual float getShapeContextWeight() const {return shapeContextWeight;}
|
|
||||||
|
|
||||||
virtual void setImageAppearanceWeight(float _imageAppearanceWeight) {imageAppearanceWeight=_imageAppearanceWeight;}
|
|
||||||
virtual float getImageAppearanceWeight() const {return imageAppearanceWeight;}
|
|
||||||
|
|
||||||
virtual void setBendingEnergyWeight(float _bendingEnergyWeight) {bendingEnergyWeight=_bendingEnergyWeight;}
|
|
||||||
virtual float getBendingEnergyWeight() const {return bendingEnergyWeight;}
|
|
||||||
|
|
||||||
virtual void setStdDev(float _sigma) {sigma=_sigma;}
|
|
||||||
virtual float getStdDev() const {return sigma;}
|
|
||||||
|
|
||||||
virtual void setImages(InputArray _image1, InputArray _image2)
|
|
||||||
{
|
|
||||||
Mat image1_=_image1.getMat(), image2_=_image2.getMat();
|
|
||||||
CV_Assert((image1_.depth()==0) && (image2_.depth()==0));
|
|
||||||
image1=image1_;
|
|
||||||
image2=image2_;
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual void getImages(OutputArray _image1, OutputArray _image2) const
|
|
||||||
{
|
|
||||||
CV_Assert((!image1.empty()) && (!image2.empty()));
|
|
||||||
_image1.create(image1.size(), image1.type());
|
|
||||||
_image2.create(image2.size(), image2.type());
|
|
||||||
_image1.getMat()=image1;
|
|
||||||
_image2.getMat()=image2;
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual void setIterations(int _iterations) {CV_Assert(_iterations>0); iterations=_iterations;}
|
|
||||||
virtual int getIterations() const {return iterations;}
|
|
||||||
|
|
||||||
virtual void setTransformAlgorithm(Ptr<ShapeTransformer> _transformer) {transformer=_transformer;}
|
|
||||||
virtual Ptr<ShapeTransformer> getTransformAlgorithm() const {return transformer;}
|
|
||||||
|
|
||||||
//! write/read
|
|
||||||
virtual void write(FileStorage& fs) const
|
|
||||||
{
|
|
||||||
fs << "name" << name_
|
|
||||||
<< "nRads" << nRadialBins
|
|
||||||
<< "nAngs" << nAngularBins
|
|
||||||
<< "iters" << iterations
|
|
||||||
<< "img_1" << image1
|
|
||||||
<< "img_2" << image2
|
|
||||||
<< "beWei" << bendingEnergyWeight
|
|
||||||
<< "scWei" << shapeContextWeight
|
|
||||||
<< "iaWei" << imageAppearanceWeight
|
|
||||||
<< "costF" << costFlag
|
|
||||||
<< "rotIn" << rotationInvariant
|
|
||||||
<< "sigma" << sigma;
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual void read(const FileNode& fn)
|
|
||||||
{
|
|
||||||
CV_Assert( (String)fn["name"] == name_ );
|
|
||||||
nRadialBins = (int)fn["nRads"];
|
|
||||||
nAngularBins = (int)fn["nAngs"];
|
|
||||||
iterations = (int)fn["iters"];
|
|
||||||
bendingEnergyWeight = (float)fn["beWei"];
|
|
||||||
shapeContextWeight = (float)fn["scWei"];
|
|
||||||
imageAppearanceWeight = (float)fn["iaWei"];
|
|
||||||
costFlag = (int)fn["costF"];
|
|
||||||
sigma = (float)fn["sigma"];
|
|
||||||
}
|
|
||||||
|
|
||||||
private:
|
|
||||||
int nAngularBins;
|
|
||||||
int nRadialBins;
|
|
||||||
float innerRadius;
|
|
||||||
float outerRadius;
|
|
||||||
bool rotationInvariant;
|
|
||||||
int costFlag;
|
|
||||||
int iterations;
|
|
||||||
Ptr<ShapeTransformer> transformer;
|
|
||||||
Ptr<HistogramCostExtractor> comparer;
|
|
||||||
Mat image1;
|
|
||||||
Mat image2;
|
|
||||||
float bendingEnergyWeight;
|
|
||||||
float imageAppearanceWeight;
|
|
||||||
float shapeContextWeight;
|
|
||||||
float sigma;
|
|
||||||
|
|
||||||
protected:
|
|
||||||
String name_;
|
|
||||||
};
|
|
||||||
|
|
||||||
float ShapeContextDistanceExtractorImpl::computeDistance(InputArray contour1, InputArray contour2)
|
|
||||||
{
|
|
||||||
// Checking //
|
|
||||||
Mat sset1=contour1.getMat(), sset2=contour2.getMat(), set1, set2;
|
|
||||||
if (set1.type() != CV_32F)
|
|
||||||
sset1.convertTo(set1, CV_32F);
|
|
||||||
else
|
|
||||||
sset1.copyTo(set1);
|
|
||||||
|
|
||||||
if (set2.type() != CV_32F)
|
|
||||||
sset2.convertTo(set2, CV_32F);
|
|
||||||
else
|
|
||||||
sset1.copyTo(set2);
|
|
||||||
|
|
||||||
CV_Assert((set1.channels()==2) && (set1.cols>0));
|
|
||||||
CV_Assert((set2.channels()==2) && (set2.cols>0));
|
|
||||||
if (imageAppearanceWeight!=0)
|
|
||||||
{
|
|
||||||
CV_Assert((!image1.empty()) && (!image2.empty()));
|
|
||||||
}
|
|
||||||
|
|
||||||
// Initializing Extractor, Descriptor structures and Matcher //
|
|
||||||
SCD set1SCE(nAngularBins, nRadialBins, innerRadius, outerRadius, false);
|
|
||||||
Mat set1SCD;
|
|
||||||
SCD set2SCE(nAngularBins, nRadialBins, innerRadius, outerRadius, false);
|
|
||||||
Mat set2SCD;
|
|
||||||
SCDMatcher matcher;
|
|
||||||
std::vector<DMatch> matches;
|
|
||||||
|
|
||||||
// Distance components (The output is a linear combination of these 3) //
|
|
||||||
float sDistance=0, bEnergy=0, iAppearance=0;
|
|
||||||
float beta;
|
|
||||||
|
|
||||||
// Initializing some variables //
|
|
||||||
std::vector<int> inliers1, inliers2;
|
|
||||||
|
|
||||||
Ptr<ThinPlateSplineShapeTransformer> transDown = transformer.dynamicCast<ThinPlateSplineShapeTransformer>();
|
|
||||||
|
|
||||||
Mat warpedImage;
|
|
||||||
for (int ii=0; ii<iterations; ii++)
|
|
||||||
{
|
|
||||||
// Extract SCD descriptor in the set1 //
|
|
||||||
set1SCE.extractSCD(set1, set1SCD, inliers1);
|
|
||||||
|
|
||||||
// Extract SCD descriptor of the set2 (TARGET) //
|
|
||||||
set2SCE.extractSCD(set2, set2SCD, inliers2, set1SCE.getMeanDistance());
|
|
||||||
|
|
||||||
// regularization parameter with annealing rate annRate //
|
|
||||||
beta=std::pow(set1SCE.getMeanDistance(),2);
|
|
||||||
|
|
||||||
// match //
|
|
||||||
matcher.matchDescriptors(set1SCD, set2SCD, matches, comparer, inliers1, inliers2);
|
|
||||||
|
|
||||||
// apply TPS transform //
|
|
||||||
if ( !transDown.empty() )
|
|
||||||
transDown->setRegularizationParameter(beta);
|
|
||||||
transformer->estimateTransformation(set1, set2, matches);
|
|
||||||
bEnergy += transformer->applyTransformation(set1, set1);
|
|
||||||
|
|
||||||
// Image appearance //
|
|
||||||
if (imageAppearanceWeight!=0)
|
|
||||||
{
|
|
||||||
// Have to accumulate the transformation along all the iterations
|
|
||||||
if (ii==0)
|
|
||||||
{
|
|
||||||
if ( !transDown.empty() )
|
|
||||||
{
|
|
||||||
image2.copyTo(warpedImage);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
image1.copyTo(warpedImage);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
transformer->warpImage(warpedImage, warpedImage);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
Mat gaussWindow, diffIm;
|
|
||||||
if (imageAppearanceWeight!=0)
|
|
||||||
{
|
|
||||||
// compute appearance cost
|
|
||||||
if ( !transDown.empty() )
|
|
||||||
{
|
|
||||||
resize(warpedImage, warpedImage, image1.size());
|
|
||||||
Mat temp=(warpedImage-image1);
|
|
||||||
multiply(temp, temp, diffIm);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
resize(warpedImage, warpedImage, image2.size());
|
|
||||||
Mat temp=(warpedImage-image2);
|
|
||||||
multiply(temp, temp, diffIm);
|
|
||||||
}
|
|
||||||
gaussWindow = Mat::zeros(warpedImage.rows, warpedImage.cols, CV_32F);
|
|
||||||
for (int pt=0; pt<sset1.cols; pt++)
|
|
||||||
{
|
|
||||||
for (int ii=0; ii<diffIm.rows; ii++)
|
|
||||||
{
|
|
||||||
for (int jj=0; jj<diffIm.cols; jj++)
|
|
||||||
{
|
|
||||||
float xx = sset1.at<Point2f>(0,pt).x;
|
|
||||||
float yy = sset1.at<Point2f>(0,pt).y;
|
|
||||||
float val = float(std::exp( -float( (xx-jj)*(xx-jj) + (yy-ii)*(yy-ii) )/(2*sigma*sigma) ) / (sigma*sigma*2*CV_PI));
|
|
||||||
gaussWindow.at<float>(ii,jj) += val;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
Mat appIm(diffIm.rows, diffIm.cols, CV_32F);
|
|
||||||
for (int ii=0; ii<diffIm.rows; ii++)
|
|
||||||
{
|
|
||||||
for (int jj=0; jj<diffIm.cols; jj++)
|
|
||||||
{
|
|
||||||
float elema=float( diffIm.at<uchar>(ii,jj) )/255;
|
|
||||||
float elemb=gaussWindow.at<float>(ii,jj);
|
|
||||||
appIm.at<float>(ii,jj) = elema*elemb;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
iAppearance = float(cv::sum(appIm)[0]/sset1.cols);
|
|
||||||
}
|
|
||||||
sDistance = matcher.getMatchingCost();
|
|
||||||
|
|
||||||
return (sDistance*shapeContextWeight+bEnergy*bendingEnergyWeight+iAppearance*imageAppearanceWeight);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
Ptr <ShapeContextDistanceExtractor> createShapeContextDistanceExtractor(int nAngularBins, int nRadialBins, float innerRadius, float outerRadius, int iterations,
|
|
||||||
const Ptr<HistogramCostExtractor> &comparer, const Ptr<ShapeTransformer> &transformer)
|
|
||||||
{
|
|
||||||
return Ptr <ShapeContextDistanceExtractor> ( new ShapeContextDistanceExtractorImpl(nAngularBins, nRadialBins, innerRadius,
|
|
||||||
outerRadius, iterations, comparer, transformer) );
|
|
||||||
}
|
|
||||||
|
|
||||||
} // cv
|
|
||||||
|
|||||||
128
modules/shape/src/scd_def.hpp
Normal file
128
modules/shape/src/scd_def.hpp
Normal file
@ -0,0 +1,128 @@
|
|||||||
|
/*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.
|
||||||
|
//
|
||||||
|
//
|
||||||
|
// License Agreement
|
||||||
|
// For Open Source Computer Vision Library
|
||||||
|
//
|
||||||
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||||
|
// Copyright (C) 2009, Willow Garage Inc., 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 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 <stdlib.h>
|
||||||
|
#include <math.h>
|
||||||
|
#include <vector>
|
||||||
|
|
||||||
|
/*
|
||||||
|
* ShapeContextDescriptor class
|
||||||
|
*/
|
||||||
|
class SCD
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
//! the full constructor taking all the necessary parameters
|
||||||
|
explicit SCD(int _nAngularBins=12, int _nRadialBins=5,
|
||||||
|
double _innerRadius=0.1, double _outerRadius=1, bool _rotationInvariant=false)
|
||||||
|
{
|
||||||
|
setAngularBins(_nAngularBins);
|
||||||
|
setRadialBins(_nRadialBins);
|
||||||
|
setInnerRadius(_innerRadius);
|
||||||
|
setOuterRadius(_outerRadius);
|
||||||
|
setRotationInvariant(_rotationInvariant);
|
||||||
|
}
|
||||||
|
|
||||||
|
void extractSCD(cv::Mat& contour, cv::Mat& descriptors,
|
||||||
|
const std::vector<int>& queryInliers=std::vector<int>(),
|
||||||
|
const float _meanDistance=-1);
|
||||||
|
|
||||||
|
int descriptorSize() {return nAngularBins*nRadialBins;}
|
||||||
|
void setAngularBins(int angularBins) { nAngularBins=angularBins; }
|
||||||
|
void setRadialBins(int radialBins) { nRadialBins=radialBins; }
|
||||||
|
void setInnerRadius(double _innerRadius) { innerRadius=_innerRadius; }
|
||||||
|
void setOuterRadius(double _outerRadius) { outerRadius=_outerRadius; }
|
||||||
|
void setRotationInvariant(bool _rotationInvariant) { rotationInvariant=_rotationInvariant; }
|
||||||
|
int getAngularBins() const { return nAngularBins; }
|
||||||
|
int getRadialBins() const { return nRadialBins; }
|
||||||
|
double getInnerRadius() const { return innerRadius; }
|
||||||
|
double getOuterRadius() const { return outerRadius; }
|
||||||
|
bool getRotationInvariant() const { return rotationInvariant; }
|
||||||
|
float getMeanDistance() const { return meanDistance; }
|
||||||
|
|
||||||
|
private:
|
||||||
|
int nAngularBins;
|
||||||
|
int nRadialBins;
|
||||||
|
double innerRadius;
|
||||||
|
double outerRadius;
|
||||||
|
bool rotationInvariant;
|
||||||
|
float meanDistance;
|
||||||
|
|
||||||
|
protected:
|
||||||
|
void logarithmicSpaces(std::vector<double>& vecSpaces) const;
|
||||||
|
void angularSpaces(std::vector<double>& vecSpaces) const;
|
||||||
|
|
||||||
|
void buildNormalizedDistanceMatrix(cv::Mat& contour,
|
||||||
|
cv::Mat& disMatrix, const std::vector<int> &queryInliers,
|
||||||
|
const float _meanDistance=-1);
|
||||||
|
|
||||||
|
void buildAngleMatrix(cv::Mat& contour,
|
||||||
|
cv::Mat& angleMatrix) const;
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Matcher
|
||||||
|
*/
|
||||||
|
class SCDMatcher
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
// the full constructor
|
||||||
|
SCDMatcher()
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
// the matcher function using Hungarian method
|
||||||
|
void matchDescriptors(cv::Mat& descriptors1, cv::Mat& descriptors2, std::vector<cv::DMatch>& matches, cv::Ptr<cv::HistogramCostExtractor>& comparer,
|
||||||
|
std::vector<int>& inliers1, std::vector<int> &inliers2);
|
||||||
|
|
||||||
|
// matching cost
|
||||||
|
float getMatchingCost() const {return minMatchCost;}
|
||||||
|
|
||||||
|
private:
|
||||||
|
float minMatchCost;
|
||||||
|
float betaAdditional;
|
||||||
|
protected:
|
||||||
|
void buildCostMatrix(const cv::Mat& descriptors1, const cv::Mat& descriptors2,
|
||||||
|
cv::Mat& costMatrix, cv::Ptr<cv::HistogramCostExtractor>& comparer) const;
|
||||||
|
void hungarian(cv::Mat& costMatrix, std::vector<cv::DMatch>& outMatches, std::vector<int> &inliers1,
|
||||||
|
std::vector<int> &inliers2, int sizeScd1=0, int sizeScd2=0);
|
||||||
|
|
||||||
|
};
|
||||||
Loading…
x
Reference in New Issue
Block a user