381 lines
13 KiB
C++
381 lines
13 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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namespace cv
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{
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void crossCorr( const Mat& img, const Mat& _templ, Mat& corr,
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Size corrsize, int ctype,
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Point anchor, double delta, int borderType )
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{
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const double blockScale = 4.5;
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const int minBlockSize = 256;
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std::vector<uchar> buf;
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Mat templ = _templ;
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int depth = img.depth(), cn = img.channels();
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int tdepth = templ.depth(), tcn = templ.channels();
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int cdepth = CV_MAT_DEPTH(ctype), ccn = CV_MAT_CN(ctype);
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CV_Assert( img.dims <= 2 && templ.dims <= 2 && corr.dims <= 2 );
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if( depth != tdepth && tdepth != std::max(CV_32F, depth) )
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{
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_templ.convertTo(templ, std::max(CV_32F, depth));
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tdepth = templ.depth();
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}
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CV_Assert( depth == tdepth || tdepth == CV_32F);
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CV_Assert( corrsize.height <= img.rows + templ.rows - 1 &&
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corrsize.width <= img.cols + templ.cols - 1 );
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CV_Assert( ccn == 1 || delta == 0 );
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corr.create(corrsize, ctype);
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int maxDepth = depth > CV_8S ? CV_64F : std::max(std::max(CV_32F, tdepth), cdepth);
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Size blocksize, dftsize;
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blocksize.width = cvRound(templ.cols*blockScale);
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blocksize.width = std::max( blocksize.width, minBlockSize - templ.cols + 1 );
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blocksize.width = std::min( blocksize.width, corr.cols );
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blocksize.height = cvRound(templ.rows*blockScale);
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blocksize.height = std::max( blocksize.height, minBlockSize - templ.rows + 1 );
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blocksize.height = std::min( blocksize.height, corr.rows );
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dftsize.width = std::max(getOptimalDFTSize(blocksize.width + templ.cols - 1), 2);
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dftsize.height = getOptimalDFTSize(blocksize.height + templ.rows - 1);
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if( dftsize.width <= 0 || dftsize.height <= 0 )
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CV_Error( CV_StsOutOfRange, "the input arrays are too big" );
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// recompute block size
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blocksize.width = dftsize.width - templ.cols + 1;
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blocksize.width = MIN( blocksize.width, corr.cols );
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blocksize.height = dftsize.height - templ.rows + 1;
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blocksize.height = MIN( blocksize.height, corr.rows );
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Mat dftTempl( dftsize.height*tcn, dftsize.width, maxDepth );
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Mat dftImg( dftsize, maxDepth );
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int i, k, bufSize = 0;
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if( tcn > 1 && tdepth != maxDepth )
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bufSize = templ.cols*templ.rows*CV_ELEM_SIZE(tdepth);
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if( cn > 1 && depth != maxDepth )
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bufSize = std::max( bufSize, (blocksize.width + templ.cols - 1)*
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(blocksize.height + templ.rows - 1)*CV_ELEM_SIZE(depth));
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if( (ccn > 1 || cn > 1) && cdepth != maxDepth )
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bufSize = std::max( bufSize, blocksize.width*blocksize.height*CV_ELEM_SIZE(cdepth));
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buf.resize(bufSize);
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// compute DFT of each template plane
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for( k = 0; k < tcn; k++ )
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{
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int yofs = k*dftsize.height;
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Mat src = templ;
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Mat dst(dftTempl, Rect(0, yofs, dftsize.width, dftsize.height));
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Mat dst1(dftTempl, Rect(0, yofs, templ.cols, templ.rows));
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if( tcn > 1 )
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{
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src = tdepth == maxDepth ? dst1 : Mat(templ.size(), tdepth, &buf[0]);
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int pairs[] = {k, 0};
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mixChannels(&templ, 1, &src, 1, pairs, 1);
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}
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if( dst1.data != src.data )
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src.convertTo(dst1, dst1.depth());
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if( dst.cols > templ.cols )
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{
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Mat part(dst, Range(0, templ.rows), Range(templ.cols, dst.cols));
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part = Scalar::all(0);
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}
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dft(dst, dst, 0, templ.rows);
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}
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int tileCountX = (corr.cols + blocksize.width - 1)/blocksize.width;
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int tileCountY = (corr.rows + blocksize.height - 1)/blocksize.height;
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int tileCount = tileCountX * tileCountY;
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Size wholeSize = img.size();
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Point roiofs(0,0);
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Mat img0 = img;
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if( !(borderType & BORDER_ISOLATED) )
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{
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img.locateROI(wholeSize, roiofs);
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img0.adjustROI(roiofs.y, wholeSize.height-img.rows-roiofs.y,
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roiofs.x, wholeSize.width-img.cols-roiofs.x);
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}
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borderType |= BORDER_ISOLATED;
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// calculate correlation by blocks
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for( i = 0; i < tileCount; i++ )
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{
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int x = (i%tileCountX)*blocksize.width;
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int y = (i/tileCountX)*blocksize.height;
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Size bsz(std::min(blocksize.width, corr.cols - x),
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std::min(blocksize.height, corr.rows - y));
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Size dsz(bsz.width + templ.cols - 1, bsz.height + templ.rows - 1);
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int x0 = x - anchor.x + roiofs.x, y0 = y - anchor.y + roiofs.y;
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int x1 = std::max(0, x0), y1 = std::max(0, y0);
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int x2 = std::min(img0.cols, x0 + dsz.width);
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int y2 = std::min(img0.rows, y0 + dsz.height);
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Mat src0(img0, Range(y1, y2), Range(x1, x2));
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Mat dst(dftImg, Rect(0, 0, dsz.width, dsz.height));
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Mat dst1(dftImg, Rect(x1-x0, y1-y0, x2-x1, y2-y1));
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Mat cdst(corr, Rect(x, y, bsz.width, bsz.height));
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for( k = 0; k < cn; k++ )
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{
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Mat src = src0;
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dftImg = Scalar::all(0);
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if( cn > 1 )
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{
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src = depth == maxDepth ? dst1 : Mat(y2-y1, x2-x1, depth, &buf[0]);
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int pairs[] = {k, 0};
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mixChannels(&src0, 1, &src, 1, pairs, 1);
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}
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if( dst1.data != src.data )
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src.convertTo(dst1, dst1.depth());
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if( x2 - x1 < dsz.width || y2 - y1 < dsz.height )
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copyMakeBorder(dst1, dst, y1-y0, dst.rows-dst1.rows-(y1-y0),
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x1-x0, dst.cols-dst1.cols-(x1-x0), borderType);
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dft( dftImg, dftImg, 0, dsz.height );
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Mat dftTempl1(dftTempl, Rect(0, tcn > 1 ? k*dftsize.height : 0,
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dftsize.width, dftsize.height));
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mulSpectrums(dftImg, dftTempl1, dftImg, 0, true);
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dft( dftImg, dftImg, DFT_INVERSE + DFT_SCALE, bsz.height );
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src = dftImg(Rect(0, 0, bsz.width, bsz.height));
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if( ccn > 1 )
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{
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if( cdepth != maxDepth )
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{
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Mat plane(bsz, cdepth, &buf[0]);
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src.convertTo(plane, cdepth, 1, delta);
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src = plane;
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}
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int pairs[] = {0, k};
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mixChannels(&src, 1, &cdst, 1, pairs, 1);
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}
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else
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{
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if( k == 0 )
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src.convertTo(cdst, cdepth, 1, delta);
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else
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{
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if( maxDepth != cdepth )
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{
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Mat plane(bsz, cdepth, &buf[0]);
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src.convertTo(plane, cdepth);
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src = plane;
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}
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add(src, cdst, cdst);
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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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void cv::matchTemplate( InputArray _img, InputArray _templ, OutputArray _result, int method )
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{
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CV_Assert( CV_TM_SQDIFF <= method && method <= CV_TM_CCOEFF_NORMED );
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int numType = method == CV_TM_CCORR || method == CV_TM_CCORR_NORMED ? 0 :
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method == CV_TM_CCOEFF || method == CV_TM_CCOEFF_NORMED ? 1 : 2;
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bool isNormed = method == CV_TM_CCORR_NORMED ||
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method == CV_TM_SQDIFF_NORMED ||
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method == CV_TM_CCOEFF_NORMED;
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Mat img = _img.getMat(), templ = _templ.getMat();
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if( img.rows < templ.rows || img.cols < templ.cols )
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std::swap(img, templ);
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CV_Assert( (img.depth() == CV_8U || img.depth() == CV_32F) &&
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img.type() == templ.type() );
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Size corrSize(img.cols - templ.cols + 1, img.rows - templ.rows + 1);
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_result.create(corrSize, CV_32F);
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Mat result = _result.getMat();
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int cn = img.channels();
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crossCorr( img, templ, result, result.size(), result.type(), Point(0,0), 0, 0);
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if( method == CV_TM_CCORR )
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return;
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double invArea = 1./((double)templ.rows * templ.cols);
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Mat sum, sqsum;
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Scalar templMean, templSdv;
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double *q0 = 0, *q1 = 0, *q2 = 0, *q3 = 0;
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double templNorm = 0, templSum2 = 0;
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if( method == CV_TM_CCOEFF )
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{
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integral(img, sum, CV_64F);
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templMean = mean(templ);
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}
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else
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{
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integral(img, sum, sqsum, CV_64F);
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meanStdDev( templ, templMean, templSdv );
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templNorm = CV_SQR(templSdv[0]) + CV_SQR(templSdv[1]) +
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CV_SQR(templSdv[2]) + CV_SQR(templSdv[3]);
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if( templNorm < DBL_EPSILON && method == CV_TM_CCOEFF_NORMED )
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{
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result = Scalar::all(1);
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return;
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}
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templSum2 = templNorm +
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CV_SQR(templMean[0]) + CV_SQR(templMean[1]) +
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CV_SQR(templMean[2]) + CV_SQR(templMean[3]);
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if( numType != 1 )
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{
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templMean = Scalar::all(0);
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templNorm = templSum2;
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}
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templSum2 /= invArea;
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templNorm = sqrt(templNorm);
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templNorm /= sqrt(invArea); // care of accuracy here
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q0 = (double*)sqsum.data;
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q1 = q0 + templ.cols*cn;
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q2 = (double*)(sqsum.data + templ.rows*sqsum.step);
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q3 = q2 + templ.cols*cn;
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}
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double* p0 = (double*)sum.data;
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double* p1 = p0 + templ.cols*cn;
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double* p2 = (double*)(sum.data + templ.rows*sum.step);
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double* p3 = p2 + templ.cols*cn;
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int sumstep = sum.data ? (int)(sum.step / sizeof(double)) : 0;
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int sqstep = sqsum.data ? (int)(sqsum.step / sizeof(double)) : 0;
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int i, j, k;
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for( i = 0; i < result.rows; i++ )
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{
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float* rrow = (float*)(result.data + i*result.step);
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int idx = i * sumstep;
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int idx2 = i * sqstep;
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for( j = 0; j < result.cols; j++, idx += cn, idx2 += cn )
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{
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double num = rrow[j], t;
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double wndMean2 = 0, wndSum2 = 0;
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if( numType == 1 )
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{
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for( k = 0; k < cn; k++ )
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{
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t = p0[idx+k] - p1[idx+k] - p2[idx+k] + p3[idx+k];
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wndMean2 += CV_SQR(t);
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num -= t*templMean[k];
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}
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wndMean2 *= invArea;
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}
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if( isNormed || numType == 2 )
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{
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for( k = 0; k < cn; k++ )
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{
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t = q0[idx2+k] - q1[idx2+k] - q2[idx2+k] + q3[idx2+k];
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wndSum2 += t;
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}
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if( numType == 2 )
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num = wndSum2 - 2*num + templSum2;
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}
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if( isNormed )
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{
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t = sqrt(MAX(wndSum2 - wndMean2,0))*templNorm;
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if( fabs(num) < t )
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num /= t;
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else if( fabs(num) < t*1.125 )
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num = num > 0 ? 1 : -1;
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else
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num = method != CV_TM_SQDIFF_NORMED ? 0 : 1;
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}
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rrow[j] = (float)num;
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}
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}
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}
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CV_IMPL void
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cvMatchTemplate( const CvArr* _img, const CvArr* _templ, CvArr* _result, int method )
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{
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cv::Mat img = cv::cvarrToMat(_img), templ = cv::cvarrToMat(_templ),
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result = cv::cvarrToMat(_result);
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CV_Assert( result.size() == cv::Size(std::abs(img.cols - templ.cols) + 1,
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std::abs(img.rows - templ.rows) + 1) &&
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result.type() == CV_32F );
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matchTemplate(img, templ, result, method);
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}
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/* End of file. */
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