void load()
{
vector<string> file_name_vec = list_files_in_directory(pose_database_path);
for (string& name_current : file_name_vec)
{
string name_without_num = "";
for(char& c : name_current)
{
string char_str = "";
char_str += c;
if (char_str != "0" && atoi(char_str.c_str()) == 0)
name_without_num += c;
else
break;
}
vector<string> name_extension_vec = split_string(name_current, ".");
if (name_extension_vec.size() > 1 && name_extension_vec[1] == "nrocinunerrad")
{
const string path = pose_database_path + slash + name_current;
vector<string> data = read_text_file(path);
vector<Point> points;
for (string& str : data)
{
vector<string> str_pair = split_string(str, "!");
int x = atoi(str_pair[0].c_str());
int y = atoi(str_pair[1].c_str());
points.push_back(Point(x, y));
}
string pose_name_loaded = name_extension_vec[0];
int num_count = 0;
for (char& c : pose_name_loaded)
{
string char_str = "";
char_str += c;
if (atoi(char_str.c_str()) != 0 || char_str == "0")
++num_count;
}
for (int i = 0; i < num_count; ++i)
pose_name_loaded.pop_back();
points_collection.push_back(points);
names_collection.push_back(pose_name_loaded);
const string label_path = pose_database_path + slash + "labels" + slash + name_current;
vector<string> label_data = read_text_file(label_path);
vector<Point> labels;
for (String& str : label_data)
{
vector<string> str_pair = split_string(str, "!");
labels.push_back(Point(atoi(str_pair[0].c_str()), atoi(str_pair[1].c_str())));
}
labels_collection.push_back(labels);
}
else if (name_extension_vec.size() > 1 && name_extension_vec[1] == "png")
{
const string path = pose_database_path + slash + name_current;
Mat image_loaded = imread(path);
}
}
}
bool ObjPatchMatcher::MatchViewPatch(const Mat& cimg, const Mat& dmap_raw) {
// compute feature map
Mat gray_img, gray_img_float;
cvtColor(cimg, gray_img, CV_BGR2GRAY);
gray_img.convertTo(gray_img_float, CV_32F);
waitKey(10);
// gradient
Mat grad_x, grad_y, grad_mag;
Sobel(gray_img_float, grad_x, CV_32F, 1, 0);
Sobel(gray_img_float, grad_y, CV_32F, 0, 1);
magnitude(grad_x, grad_y, grad_mag);
// depth
// do search
Mat score_map = Mat::zeros(cimg.rows, cimg.cols, CV_32F);
Mat feat;
int topK = 1;
map<float, ImgWin> top_det;
cout<<"Start match..."<<endl;
float max_dist = 0;
double start_t = getTickCount();
//#pragma omp parallel for
for(int r=patch_size.height/2; r<gray_img.rows-patch_size.height/2; r++) {
for(int c=patch_size.width/2; c<gray_img.cols-patch_size.width/2; c++) {
Rect box(c-patch_size.width/2, r-patch_size.height/2, patch_size.width, patch_size.height);
MatFeatureSet featset;
grad_mag(box).copyTo(featset["gradient"]);
ComputePatchFeat(featset, feat);
vector<DMatch> matches;
MatchPatch(feat, topK, matches);
for(size_t i=0; i<topK; i++) {
score_map.at<float>(r,c) += matches[i].distance;
}
score_map.at<float>(r,c) /= topK;
ImgWin best_match = box;
best_match.score = matches[0].trainIdx;
top_det[matches[0].distance] = best_match;
max_dist = MAX(max_dist, score_map.at<float>(r,c));
}
}
cv::imshow("color", cimg);
ImgVisualizer::DrawFloatImg("scoremap", score_map);
cv::waitKey(0);
int cnt = 0;
Mat disp_img = cimg.clone();
for(auto pi=top_det.begin(); pi!=top_det.end(); pi++) {
cout<<pi->first<<endl;
rectangle(disp_img, pi->second, CV_RGB(255,0,0), 2);
Mat db_view = imread(patch_meta.objects[pi->second.score].meta_data.img_path);
resize(db_view, db_view, patch_size);
Mat test_win;
resize(cimg(pi->second), test_win, patch_size);
ImgVisualizer::DrawFloatImg("db grad", patch_meta.objects[pi->second.score].visual_data.img_desc);
ImgVisualizer::DrawFloatImg("test grad", grad_mag(pi->second));
imshow("db view", db_view);
imshow("color", disp_img);
waitKey(0);
if(++cnt == 100) break;
}
return true;
}
void ICFDetector::train(const vector<string>& image_filenames,
const vector< vector<Rect> >& labelling,
ICFDetectorParams params)
{
Size model_size(params.model_n_cols, params.model_n_rows);
vector<Mat> samples; /* positive samples + negative samples */
Mat sample, resized_sample;
int pos_count = 0;
for( size_t i = 0; i < image_filenames.size(); ++i, ++pos_count )
{
Mat img = imread(String(image_filenames[i].c_str()));
for( size_t j = 0; j < labelling[i].size(); ++j )
{
Rect r = labelling[i][j];
if( r.x > img.cols || r.y > img.rows )
continue;
sample = img.colRange(max(r.x, 0), min(r.width, img.cols))
.rowRange(max(r.y, 0), min(r.height, img.rows));
resize(sample, resized_sample, model_size);
samples.push_back(resized_sample);
}
}
int neg_count = 0;
RNG rng;
for( size_t i = 0; i < image_filenames.size(); ++i )
{
Mat img = imread(String(image_filenames[i].c_str()));
for( int j = 0; j < (int)(pos_count / image_filenames.size() + 1); )
{
Rect r;
r.x = rng.uniform(0, img.cols);
r.width = rng.uniform(r.x + 1, img.cols);
r.y = rng.uniform(0, img.rows);
r.height = rng.uniform(r.y + 1, img.rows);
if( !overlap(r, labelling[i]) )
{
sample = img.colRange(r.x, r.width).rowRange(r.y, r.height);
//resize(sample, resized_sample);
samples.push_back(resized_sample);
++neg_count;
++j;
}
}
}
Mat_<int> labels(1, pos_count + neg_count);
for( int i = 0; i < pos_count; ++i)
labels(0, i) = 1;
for( int i = pos_count; i < pos_count + neg_count; ++i )
labels(0, i) = -1;
vector<Point3i> features = generateFeatures(model_size);
Ptr<ACFFeatureEvaluator> feature_evaluator = createACFFeatureEvaluator(features);
Mat_<int> data((int)features.size(), (int)samples.size());
Mat_<int> feature_col;
vector<Mat> channels;
for( int i = 0; i < (int)samples.size(); ++i )
{
computeChannels(samples[i], channels);
feature_evaluator->setChannels(channels);
feature_evaluator->evaluateAll(feature_col);
for( int j = 0; j < feature_col.rows; ++j )
data(i, j) = feature_col(0, j);
}
WaldBoostParams wparams;
wparams.weak_count = params.weak_count;
wparams.alpha = 0.001f;
Ptr<WaldBoost> waldboost = createWaldBoost(wparams);
waldboost->train(data, labels);
}
const Mat DirectoryImageSource::getImage() const
{
if (index < 0 || index >= files.size())
return Mat();
return imread(files[index].string(), CV_LOAD_IMAGE_COLOR);
}
bool ObjPatchMatcher::Match(const Mat& cimg, const Mat& dmap_raw, Mat& mask_map) {
/*
* precompute feature maps
*/
// gradient
Mat gray_img, gray_img_float, edge_map;
cvtColor(cimg, gray_img, CV_BGR2GRAY);
gray_img.convertTo(gray_img_float, CV_32F, 1.f/255);
Canny(gray_img, edge_map, 10, 50);
cv::imshow("edge", edge_map);
cv::imshow("color", cimg);
cv::waitKey(10);
Mat grad_x, grad_y, grad_mag;
Sobel(gray_img_float, grad_x, CV_32F, 1, 0);
Sobel(gray_img_float, grad_y, CV_32F, 0, 1);
magnitude(grad_x, grad_y, grad_mag);
// depth
Mat dmap_float, pts3d, normal_map;
if( use_depth ) {
Feature3D feat3d;
dmap_raw.convertTo(dmap_float, CV_32F);
Mat cmp_mask;
compare(dmap_float, 800, cmp_mask, CMP_LT);
dmap_float.setTo(800, cmp_mask);
compare(dmap_float, 7000, cmp_mask, CMP_GT);
dmap_float.setTo(7000, cmp_mask);
dmap_float = (dmap_float-800)/(7000-800);
feat3d.ComputeKinect3DMap(dmap_float, pts3d, false);
feat3d.ComputeNormalMap(pts3d, normal_map);
}
/*
* start searching
*/
// init searcher
//searcher.Build(patch_data, BruteForce_L2); // opencv bfmatcher has size limit: maximum 2^31
LSHCoder lsh_coder;
if(use_code) {
lsh_coder.Load();
}
Mat score_map = Mat::zeros(edge_map.rows, edge_map.cols, CV_32F);
Mat mask_vote_map = Mat::zeros(cimg.rows, cimg.cols, CV_32F);
mask_map = Mat::zeros(cimg.rows, cimg.cols, CV_32F);
Mat mask_count = Mat::zeros(cimg.rows, cimg.cols, CV_32S); // number of mask overlapped on each pixel
Mat feat;
int topK = 40;
int total_cnt = countNonZero(edge_map);
vector<VisualObject> query_patches;
query_patches.reserve(total_cnt);
cout<<"Start match..."<<endl;
float max_dist = 0;
int cnt = 0;
char str[30];
double start_t = getTickCount();
//#pragma omp parallel for
for(int r=patch_size.height/2; r<gray_img.rows-patch_size.height/2; r+=3) {
for(int c=patch_size.width/2; c<gray_img.cols-patch_size.width/2; c+=3) {
/*int rand_r = rand()%gray_img.rows;
int rand_c = rand()%gray_img.cols;
if(rand_r < patch_size.height/2 || rand_r > gray_img.rows-patch_size.height/2 ||
rand_c < patch_size.width/2 || rand_c > gray_img.cols-patch_size.width/2) continue;*/
int rand_r = r, rand_c = c;
if(edge_map.at<uchar>(rand_r, rand_c) > 0)
{
cnt++;
destroyAllWindows();
Rect box(rand_c-patch_size.width/2, rand_r-patch_size.height/2, patch_size.width, patch_size.height);
MatFeatureSet featset;
gray_img_float(box).copyTo(featset["gray"]);
//grad_mag(box).copyTo(featset["gradient"]);
if(use_depth)
{
normal_map(box).copyTo(featset["normal"]);
dmap_float(box).copyTo(featset["depth"]);
}
ComputePatchFeat(featset, feat);
vector<DMatch> matches;
if(use_code)
{
BinaryCodes codes;
HashKey key_val;
lsh_coder.ComputeCodes(feat, codes);
HashingTools<HashKeyType>::CodesToKey(codes, key_val);
MatchCode(key_val, topK, matches);
}
else
{
MatchPatch(feat, topK, matches);
}
if(matches[0].distance < 0 || matches[0].distance > 1000) {
cout<<"match dist: "<<matches[0].distance<<endl;
double minv, maxv;
cout<<norm(feat, patch_data.row(matches[0].trainIdx), NORM_L2)<<endl;
minMaxLoc(feat, &minv, &maxv);
cout<<minv<<" "<<maxv<<endl;
cout<<feat<<endl<<endl;
minMaxLoc(patch_data.row(matches[0].trainIdx), &minv, &maxv);
cout<<minv<<" "<<maxv<<endl;
cout<<patch_data.row(matches[0].trainIdx)<<endl;
imshow("cimg", cimg);
waitKey(0);
}
vector<vector<Mat>> pixel_mask_vals(patch_size.height, vector<Mat>(patch_size.width, Mat::zeros(1, topK, CV_32F)));
VisualObject cur_query;
cur_query.visual_data.bbox = box;
cur_query.visual_data.mask = Mat::zeros(patch_size.height, patch_size.width, CV_32F);
for(size_t i=0; i<topK; i++) {
score_map.at<float>(rand_r,rand_c) += matches[i].distance;
cur_query.visual_data.mask += patch_meta.objects[matches[i].trainIdx].visual_data.mask;
for(int mr=0; mr<patch_size.height; mr++) for(int mc=0; mc<patch_size.width; mc++) {
pixel_mask_vals[mr][mc].at<float>(i) =
patch_meta.objects[matches[i].trainIdx].visual_data.mask.at<float>(mr, mc);
}
}
score_map.at<float>(rand_r,rand_c) /= topK;
cur_query.visual_data.mask /= topK; // average returned mask
// compute mask quality
Scalar mean_, std_;
/*ofstream out("pixel_mask_std_100.txt", ios::app);
for(int mr=0; mr<patch_size.height; mr++) for(int mc=0; mc<patch_size.width; mc++) {
meanStdDev(pixel_mask_vals[mr][mc], mean_, std_);
out<<std_.val[0]<<" ";
}
out<<endl;*/
meanStdDev(cur_query.visual_data.mask, mean_, std_);
cur_query.visual_data.scores.push_back(mean_.val[0]);
cur_query.visual_data.scores.push_back(std_.val[0]);
Mat align_mask = Mat::zeros(cimg.rows, cimg.cols, CV_8U);
int gt_mask_id = patch_meta.objects[matches[0].trainIdx].meta_data.category_id;
if(gt_mask_id != -1) {
Mat nn_mask = gt_obj_masks[gt_mask_id];
//imshow("gt mask", nn_mask*255);
//waitKey(10);
Rect gt_box = patch_meta.objects[matches[0].trainIdx].visual_data.bbox;
Rect align_box = AlignBox(box, gt_box, cimg.cols, cimg.rows);
vector<ImgWin> boxes; boxes.push_back(align_box);
//ImgVisualizer::DrawWinsOnImg("alignbox", cimg, boxes);
//waitKey(10);
Rect target_box = Rect(box.x-(gt_box.x-align_box.x), box.y-(gt_box.y-align_box.y), align_box.width, align_box.height);
cout<<target_box<<endl;
nn_mask(align_box).copyTo(align_mask(target_box));
}
align_mask.convertTo(align_mask, CV_32F);
mask_map += align_mask * matches[0].distance; //*score_map.at<float>(r,c);
//mask_count(box) = mask_count(box) + 1;
//cout<<score_map.at<float>(r,c)<<endl;
max_dist = MAX(max_dist, matches[0].distance);
query_patches.push_back(cur_query);
// vote object regions
/*Point3f line_ori;
int obj_pt_sign;
ComputeDominantLine(cur_query.visual_desc.mask, box.tl(), line_ori, obj_pt_sign);
for(int rr=0; rr<cimg.rows; rr++) for(int cc=0; cc<cimg.cols; cc++) {
float line_val = line_ori.x*cc+line_ori.y*rr+line_ori.z;
if((line_val>0?1:-1)==obj_pt_sign) mask_vote_map.at<float>(rr, cc)++;
}*/
#ifdef VERBOSE
// current patch
Mat disp, patch_gray, patch_grad, patch_normal, patch_depth;
disp = cimg.clone();
rectangle(disp, box, CV_RGB(255,0,0), 2);
resize(gray_img(box), patch_gray, Size(50,50));
resize(grad_mag(box), patch_grad, Size(50,50));
Mat cur_mask;
resize(cur_query.visual_desc.mask, cur_mask, Size(50,50));
if(use_depth)
{
resize(normal_map(box), patch_normal, Size(50,50));
normalize(dmap_float(box), patch_depth, 1, 0, NORM_MINMAX);
patch_depth.convertTo(patch_depth, CV_8U, 255);
//dmap_float(box).convertTo(patch_depth, CV_8U, 255);
resize(patch_depth, patch_depth, Size(50,50));
}
Mat onormal;
sprintf_s(str, "query_gray_%d.jpg", cnt);
imshow(str, patch_gray);
imwrite(str, patch_gray);
/*sprintf_s(str, "query_grad_%d.jpg", cnt);
ImgVisualizer::DrawFloatImg(str, patch_grad, onormal, true);
imwrite(str, onormal);*/
sprintf_s(str, "query_depth_%d.jpg", cnt);
imshow(str, patch_depth);
imwrite(str, patch_depth);
sprintf_s(str, "query_normal_%d.jpg", cnt);
ImgVisualizer::DrawNormals(str, patch_normal, onormal, true);
imwrite(str, onormal);
sprintf_s(str, "query_box_%d.jpg", cnt);
imshow(str, disp);
imwrite(str, disp);
//imshow("align mask", align_mask*255);
cur_mask.convertTo(cur_mask, CV_8U, 255);
sprintf_s(str, "query_tmask_%d.jpg", cnt);
imshow(str, cur_mask);
imwrite(str, cur_mask);
// show match results
vector<Mat> res_imgs(topK);
vector<Mat> res_gradients(topK);
vector<Mat> res_normals(topK);
vector<Mat> res_depth(topK);
vector<Mat> db_boxes(topK);
vector<Mat> res_masks(topK);
for(size_t i=0; i<topK; i++) {
VisualObject& cur_obj = patch_meta.objects[matches[i].trainIdx];
// mask
cur_obj.visual_desc.mask.convertTo(res_masks[i], CV_8U, 255);
// gray
cur_obj.visual_desc.extra_features["gray"].convertTo(res_imgs[i], CV_8U, 255);
// gradient
//ImgVisualizer::DrawFloatImg("", cur_obj.visual_desc.extra_features["gradient"], res_gradients[i], false);
// 3D
if(use_depth)
{
// normal
tools::ImgVisualizer::DrawNormals("", cur_obj.visual_desc.extra_features["normal"], res_normals[i]);
// depth
normalize(cur_obj.visual_desc.extra_features["depth"], res_depth[i], 1, 0, NORM_MINMAX);
res_depth[i].convertTo(res_depth[i], CV_8U, 255);
//cur_obj.visual_desc.extra_features["depth"].convertTo(res_depth[i], CV_8U, 255);
}
// box on image
db_boxes[i] = imread(patch_meta.objects[matches[i].trainIdx].imgpath);
resize(db_boxes[i], db_boxes[i], Size(cimg.cols, cimg.rows));
rectangle(db_boxes[i], patch_meta.objects[matches[i].trainIdx].visual_desc.box, CV_RGB(255,0,0), 2);
}
Mat out_img;
sprintf_s(str, "res_gray_%d.jpg", cnt);
ImgVisualizer::DrawImgCollection(str, res_imgs, topK, Size(50,50), out_img);
imwrite(str, out_img);
sprintf_s(str, "res_normal_%d.jpg", cnt);
ImgVisualizer::DrawImgCollection(str, res_normals, topK, Size(50,50), out_img);
imwrite(str, out_img);
sprintf_s(str, "res_depth_%d.jpg", cnt);
ImgVisualizer::DrawImgCollection(str, res_depth, topK, Size(50,50), out_img);
imwrite(str, out_img);
/*sprintf_s(str, "res_gradient_%d.jpg", cnt);
tools::ImgVisualizer::DrawImgCollection(str, res_gradients, topK, Size(50,50), out_img);
imwrite(str, out_img);*/
sprintf_s(str, "res_mask_%d.jpg", cnt);
tools::ImgVisualizer::DrawImgCollection(str, res_masks, topK, Size(50,50), out_img);
imwrite(str, out_img);
sprintf_s(str, "res_box_%d.jpg", cnt);
tools::ImgVisualizer::DrawImgCollection(str, db_boxes, topK/2, Size(200, 200), out_img);
imwrite(str, out_img);
waitKey(0);
#endif
cout<<total_cnt--<<endl;
}
}
}
cout<<"match done. Time cost: "<<(getTickCount()-start_t)/getTickFrequency()<<"s."<<endl;
//score_map(Rect(patch_size.width/2, patch_size.height/2, score_map.cols-patch_size.width/2, score_map.rows-patch_size.height/2)).copyTo(score_map);
//score_map.setTo(max_dist, 255-edge_map);
normalize(score_map, score_map, 1, 0, NORM_MINMAX);
score_map = 1-score_map;
//tools::ImgVisualizer::DrawFloatImg("bmap", score_map);
mask_map /= max_dist;
cout<<max_dist<<endl;
normalize(mask_map, mask_map, 1, 0, NORM_MINMAX);
//tools::ImgVisualizer::DrawFloatImg("maskmap", mask_map);
//normalize(mask_vote_map, mask_vote_map, 1, 0, NORM_MINMAX);
//ImgVisualizer::DrawFloatImg("vote map", mask_vote_map);
//waitKey(0);
return true;
// pick top weighted points to see if they are inside objects
// try graph-cut for region proposal
// among all retrieved mask patch, select most discriminative one and do graph-cut
sort(query_patches.begin(), query_patches.end(), [](const VisualObject& a, const VisualObject& b) {
return a.visual_data.scores[1] > b.visual_data.scores[1]; });
for(size_t i=0; i<query_patches.size(); i++) {
Mat disp_img = cimg.clone();
rectangle(disp_img, query_patches[i].visual_data.bbox, CV_RGB(255,0,0));
imshow("max std box", disp_img);
Mat big_mask;
resize(query_patches[i].visual_data.mask, big_mask, Size(50,50));
ImgVisualizer::DrawFloatImg("max std mask", big_mask);
waitKey(0);
// use mask to do graph-cut
Mat fg_mask(cimg.rows, cimg.cols, CV_8U);
fg_mask.setTo(cv::GC_PR_FGD);
Mat th_mask;
threshold(query_patches[i].visual_data.mask, th_mask, query_patches[i].visual_data.scores[0], 1, CV_THRESH_BINARY);
th_mask.convertTo(th_mask, CV_8U);
fg_mask(query_patches[i].visual_data.bbox).setTo(cv::GC_FGD, th_mask);
th_mask = 1-th_mask;
fg_mask(query_patches[i].visual_data.bbox).setTo(cv::GC_BGD, th_mask);
cv::grabCut(cimg, fg_mask, Rect(0,0,1,1), Mat(), Mat(), 3, cv::GC_INIT_WITH_MASK);
fg_mask = fg_mask & 1;
disp_img.setTo(Vec3b(0,0,0));
cimg.copyTo(disp_img, fg_mask);
cv::imshow("cut", disp_img);
cv::waitKey(0);
}
float ths[] = {0.9f, 0.8f, 0.7f, 0.6f, 0.5f, 0.4f, 0.3f, 0.2f};
for(size_t i=0; i<8; i++) {
Mat th_mask;
threshold(mask_map, th_mask, ths[i], 1, CV_THRESH_BINARY);
char str[30];
sprintf_s(str, "%f", ths[i]);
ImgVisualizer::DrawFloatImg(str, th_mask);
waitKey(0);
}
return true;
}
void hogTrain(char* trainFileList, vector<string>& labels) {
ifstream fs;
fs.open(trainFileList);
if (fs == NULL) {
cerr << "Error: training file list \"" << trainFileList<< "\" does not exist\n";
exit(-1);
}
HOGDescriptor hog(hogWinSize, hogBlockSize, hogBlockStride, hogCellSize, hogNBins);
DEBUGMODE {
cout << "HOG descriptor length = " << hog.getDescriptorSize() << endl;
}
string label, imgpath;
ofstream dataFile;
string dataFilePath;
dataFilePath.append(ROOT_DIR).append(FEATURES_DIR).append(trainDataFileName);
dataFile.open(dataFilePath.c_str());
cout << "Extracting HOG features ...\n";
while (fs >> label) {
int catnum = hasCategory(labels, label);
if (catnum < 0) {
labels.push_back(label);
catnum = (int) labels.size() - 1;
}
fs >> imgpath;
DEBUGMODE {
cout << "Extracting HOG features for " << imgpath << endl;
}
Mat img = imread(imgpath);
assert(img.data); // image should not be empty
Mat resizedImg = Mat::zeros(hogWinSize.width, hogWinSize.height, CV_8UC3);
vector<float> featVec;
resize(img, resizedImg, hogWinSize, 0, 0, INTER_CUBIC);
hog.compute(resizedImg, featVec, hogWinStride); // compute HOG feature
// Store features into files following the libsvm dataset format:
// <label> 1:<feat_1> 2:<feat_2> ... d:<feat_d>
// where d is the number of features (i.e. dimensionality).
dataFile << catnum << " "; // write label
for (int i = 0; i < featVec.size(); i++) { // write data
dataFile << i+1 << ":" << featVec[i] << " ";
}
dataFile << endl;
}
fs.close();
dataFile.close();
string svmScaleFilePath, scaledDataFilePath, svmModelFilePath;
svmScaleFilePath.append(ROOT_DIR).append(FEATURES_DIR).append(svmScaleRangeFileName);
scaledDataFilePath.append(ROOT_DIR).append(FEATURES_DIR).append(scaledTrainDataFileName);
svmModelFilePath.append(ROOT_DIR).append(FEATURES_DIR).append(svmModelFileName);
string command; // UNIX command
// scale data to range [-1 1]
command.append(ROOT_DIR).append(LIBSVM_DIR).append("svm-scale -l -1 -u 1 -s ").append(svmScaleFilePath).append(" ").append(dataFilePath).append(" > ").append(scaledDataFilePath);
cout << "Scaling training data ... \n";
DEBUGMODE {
cout << command << endl;
}
system(command.c_str()); // execute UNIX command
// train SVM classifier
command.clear();
svmTrainRoutine.append(svmParam);
DEBUGMODE {} else svmTrainRoutine.append("-q ");
void Model3D::recursiveTextureLoad(const struct aiScene *sc, const struct aiNode* nd) {
int i;
unsigned int n = 0, t;
struct aiMatrix4x4 m = nd->mTransformation;
// update transform
aiTransposeMatrix4(&m);
glPushMatrix();
glMultMatrixf((float*) &m);
// draw all meshes assigned to this node
for (; n < nd->mNumMeshes; ++n) {
const struct aiMesh* mesh = sc->mMeshes[nd->mMeshes[n]];
unsigned int cont = aiGetMaterialTextureCount(sc->mMaterials[mesh->mMaterialIndex], aiTextureType_AMBIENT);
struct aiString* str = (aiString*) malloc(sizeof(struct aiString));
if (cont > 0) {
//aiGetMaterialString(sc->mMaterials[mesh->mMaterialIndex],AI_MATKEY_TEXTURE_DIFFUSE(0),str);
aiGetMaterialTexture(sc->mMaterials[mesh->mMaterialIndex], aiTextureType_AMBIENT, 0, str, 0, 0, 0, 0, 0, 0);
// See if another mesh is already using this texture, if so, just copy GLuint instead of remaking entire texture
bool newTextureToBeLoaded = true;
for (int x = 0; x < texturesAndPaths.size(); x++) {
if (texturesAndPaths[x].pathName == *str) {
TextureAndPath reusedTexture;
reusedTexture.hTexture = texturesAndPaths[x].hTexture;
reusedTexture.pathName = *str;
//printf("%s pathnm \n", reusedTexture.pathName.data);
texturesAndPaths.push_back(reusedTexture);
newTextureToBeLoaded = false;
std::cout << "Texture reused." << std::endl;
break;
}
}
if (newTextureToBeLoaded) {
texturename.clear();
texturename.append(foldername.c_str());
texturename.append(str->data);
std::cout << texturename.c_str() << " strname \n";
Mat imagen=imread(texturename.c_str());
int w = imagen.cols;
int h = imagen.rows;
int dataSize=imagen.cols*imagen.rows*3;
unsigned char* data=new unsigned char[dataSize];
int j=0;
for( int y = 0; y < imagen.rows; y++ )
{
for( int x = 0; x < imagen.cols; x++ )
{
for( int c = 0; c < 3; c++ )
{
data[j] = imagen.at<Vec3b>(y,x)[c];
j++;
}
}
}
//Now generate the OpenGL texture object
TextureAndPath newTexture;
newTexture.pathName = *str;
glGenTextures(1, &newTexture.hTexture);
glBindTexture(GL_TEXTURE_2D, newTexture.hTexture);
//glTexImage2D(GL_TEXTURE_2D,0,GL_RGBA, w, h, 0, GL_BGR,GL_UNSIGNED_BYTE,(GLvoid*)pixeles );
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
gluBuild2DMipmaps(GL_TEXTURE_2D, 3, imagen.cols, imagen.rows, GL_BGR, GL_UNSIGNED_BYTE, data);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glBindTexture(GL_TEXTURE_2D, newTexture.hTexture);
GLenum huboError = glGetError();
if (huboError) {
std::cout << "There was an error loading the texture" << std::endl;
}
std::cout << "texture loaded." << std::endl;
texturesAndPaths.push_back(newTexture);
}
}
}
// Get textures from all children
for (n = 0; n < nd->mNumChildren; ++n)
recursiveTextureLoad(sc, nd->mChildren[n]);
}
#include "opencv2/core/core.hpp"
Mat img1 = imread(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
Mat img2 = imread(argv[2], CV_LOAD_IMAGE_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
BruteForceMatcher<L2<float> > matcher;
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);
ImageFace::ImageFace()
{
Mat load_image = imread("img/face_pic_1.jpg");
load_image.copyTo(image_ROI);
}
Xulyanh::Xulyanh(string filename)
{
source = imread(filename, CV_LOAD_IMAGE_COLOR);
}
void GrabCutMF::Demo(CStr &wkDir, float w1, float w2, float w3, float alpha, float beta, float gama, float mu)
{
CStr imgDir = wkDir + "Imgs/", salDir = wkDir + "Sal4N/", iluDir = wkDir + "Ilu4N/";
vecS namesNE;
int imgNum = CmFile::GetNamesNE(imgDir + "*.jpg", namesNE);
CmFile::MkDir(salDir);
CmFile::MkDir(iluDir);
printf("w1 = %g, w2 = %g, w3 = %g, alpha = %g, beta = %g, gama = %g, mu = %g\n", w1, w2, w3, alpha, beta, gama, mu);
// Number of labels
//const int M = 2;
CmTimer tm("Time"), tmIni("TimeIni"), tmRef("TimeRef");
double maxWeight = 2; // 2: 0.958119, 1: 0.953818,
tm.Start();
#pragma omp parallel for
for (int i = 0; i < imgNum; i++){
printf("Processing %d/%d: %s%s.jpg%20s\r\n", i, imgNum, _S(imgDir), _S(namesNE[i]), "");
CmFile::Copy(imgDir + namesNE[i] + ".jpg", salDir + namesNE[i] + ".jpg");
//CmFile::Copy(imgDir + namesNE[i] + ".png", salDir + namesNE[i] + "_GT.png");
Mat _imMat3u = imread(imgDir + namesNE[i] + ".jpg"), imMat3f, imMat3u, gt1u;
Mat _gt1u = imread(imgDir + namesNE[i] + ".png", CV_LOAD_IMAGE_GRAYSCALE);
if(_gt1u.rows == 0 && _gt1u.cols == 0) {
cout<<"Error: unable to open "<<(imgDir + namesNE[i] + ".png")<<endl;
continue;
}
blur(_gt1u, _gt1u, Size(3,3));
Mat _res1u = Mat::zeros(_imMat3u.size(), CV_8U);
Rect wkRect = CmCv::GetMaskRange(_gt1u, 30, 200);
_imMat3u(wkRect).copyTo(imMat3u);
_gt1u(wkRect).copyTo(gt1u);
imMat3u.convertTo(imMat3f, CV_32FC3, 1/255.0);
Rect rect = CmCv::GetMaskRange(gt1u, 5, 128);
Mat edge1u; // Use an edge map to expand the background mask in flat (no edge) region
CmCv::CannySimpleRGB(imMat3u, edge1u, 120, 1200, 5);
dilate(edge1u, edge1u, Mat(), Point(-1, -1), 3);
Mat borderMask1u(imMat3u.size(), CV_8U), tmpMask;
memset(borderMask1u.data, 255, borderMask1u.step.p[0] * borderMask1u.rows);
borderMask1u(rect) = Scalar(0);
getGrabMask(edge1u, borderMask1u);
//* The Mean field based GrabCut
//tmIni.Start();
GrabCutMF cutMF(imMat3f, imMat3u, salDir + namesNE[i], w1, w2, w3, alpha, beta, gama, mu);
//Mat borderMask1u = CmCv::getGrabMask(imMat3u, rect), tmpMask;
imwrite(salDir + namesNE[i] + "_BM.png", borderMask1u);
imwrite(salDir + namesNE[i] + ".jpg", imMat3u);
//imwrite(salDir + namesNE[i] + "_GT.png", gt1u);
cutMF.initialize(rect, borderMask1u, (float)maxWeight, true);
//cutMF.setGrabReg(rect, CmCv::getGrabMask(imMat3u, rect));
//tmIni.Stop();
//tmRef.Start();
cutMF.refine();
//tmRef.Stop();
Mat res1u = cutMF.drawResult(), invRes1u;
res1u.copyTo(_res1u(wkRect));
imwrite(salDir + namesNE[i] + "_GCMF1.png", _res1u);
//if (sum(res1u).val[0] < EPS){
// printf("%s.jpg don't contains a salient object\n", _S(namesNE[i]));
// continue;
//}
dilate(res1u(rect), tmpMask, Mat(), Point(-1, -1), 10);
bitwise_not(tmpMask, borderMask1u(rect));
getGrabMask(edge1u, borderMask1u);
//blur(res1u, invRes1u, Size(3, 3));
//
//PointSeti hullPnts;
//convexHullOfMask(invRes1u, hullPnts);
//fillConvexPoly(invRes1u, hullPnts, 255);
//bitwise_not(invRes1u, invRes1u);
//bitwise_or(invRes1u, borderMask1u, borderMask1u);
imwrite(salDir + namesNE[i] + "_MB2.png", borderMask1u);
//double w = maxWeight - (maxWeight-1)*sum(res1u).val[0]/(borderMask1u.rows*borderMask1u.cols*255 - sum(borderMask1u).val[0]);
cutMF.initialize(rect, borderMask1u, 2);
cutMF.refine();
//printf("weight = %g\n", w);
//imshow("Result", res1u);
//imshow("Possible", borderMask1u);
//imshow("Image", imMat3f);
//waitKey(0);
res1u = cutMF.drawResult();
Rect rectRes = CmCv::GetMaskRange(res1u, 5, 128);
if (rectRes.width * 1.1 < rect.width || rectRes.height * 1.1 < rect.height){ // Too short result
printf("%s.jpg contains a small object\n", _S(namesNE[i]));
memset(borderMask1u.data, 255, borderMask1u.step.p[0] * borderMask1u.rows);
borderMask1u(rect) = Scalar(0);
cutMF.initialize(rect, borderMask1u, 2);
cutMF.refine();
res1u = cutMF.drawResult();
imwrite(salDir + namesNE[i] + "_MB2.png", borderMask1u);
CmFile::Copy2Dir(salDir + namesNE[i] + "*.*", iluDir);
imwrite(iluDir + namesNE[i] + "_GCMF.png", _res1u);
}
res1u.copyTo(_res1u(wkRect));
imwrite(salDir + namesNE[i] + "_GCMF.png", _res1u);
}
tm.Stop();
double avgTime = tm.TimeInSeconds()/imgNum;
printf("Speed: %gs, %gfps\t\t\n", avgTime, 1/avgTime);
//tmIni.Report();
//tmRef.Report();
//CmEvaluation::EvalueMask(imgDir + "*.png", salDir, ".png", "_GC.png");
char* pDes[] = { "GCMF1", "GCMF"}; //, "CudaG4", "Onecut", "GC", "CudaH",
vecS des = charPointers2StrVec (pDes);
CStr rootDir = CmFile::GetFatherFolder(wkDir), dbName = CmFile::GetNameNE(wkDir.substr(0, wkDir.size() - 1));
CmEvaluation::EvalueMask(imgDir + "*.png", salDir, des, wkDir.substr(0, wkDir.size() - 1) + "Res.m", 0.3, false, "", dbName);
}
///////////////////////////////////////////////////////
// Panel::CalibrateCamera() Description
///////////////////////////////////////////////////////
void Panel::CalibrateCamera(string sFilePath)
{
help();
//! [file_read]
Settings s;
const string inputSettingsFile = sFilePath;
FileStorage fs(inputSettingsFile, FileStorage::READ); // Read the settings
if (!fs.isOpened())
{
cout << "Could not open the configuration file: \"" << inputSettingsFile << "\"" << endl;
// return -1;
}
fs["Settings"] >> s;
fs.release(); // close Settings file
//! [file_read]
//FileStorage fout("settings.yml", FileStorage::WRITE); // write config as YAML
//fout << "Settings" << s;
if (!s.goodInput)
{
cout << "Invalid input detected. Application stopping. " << endl;
// return -1;
}
vector<vector<Point2f> > imagePoints;
Mat cameraMatrix, distCoeffs;
Size imageSize;
int mode = s.inputType == Settings::IMAGE_LIST ? CAPTURING : DETECTION;
clock_t prevTimestamp = 0;
const Scalar RED(0, 0, 255), GREEN(0, 255, 0);
const char ESC_KEY = 27;
int counter = 1;
//! [get_input]
for (;;)
{
Mat view;
bool blinkOutput = false;
view = s.nextImage();
//----- If no more image, or got enough, then stop calibration and show result -------------
if (mode == CAPTURING && imagePoints.size() >= (size_t)s.nrFrames)
{
if (runCalibrationAndSave(s, imageSize, cameraMatrix, distCoeffs, imagePoints))
mode = CALIBRATED;
else
mode = DETECTION;
}
if (view.empty()) // If there are no more images stop the loop
{
// if calibration threshold was not reached yet, calibrate now
if (mode != CALIBRATED && !imagePoints.empty())
runCalibrationAndSave(s, imageSize, cameraMatrix, distCoeffs, imagePoints);
break;
}
//! [get_input]
imageSize = view.size(); // Format input image.
if (s.flipVertical) flip(view, view, 0);
//! [find_pattern]
vector<Point2f> pointBuf;
bool found;
switch (s.calibrationPattern) // Find feature points on the input format
{
case Settings::CHESSBOARD:
found = findChessboardCorners(view, s.boardSize, pointBuf,
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
break;
case Settings::CIRCLES_GRID:
found = findCirclesGrid(view, s.boardSize, pointBuf);
break;
case Settings::ASYMMETRIC_CIRCLES_GRID:
found = findCirclesGrid(view, s.boardSize, pointBuf, CALIB_CB_ASYMMETRIC_GRID);
break;
default:
found = false;
break;
}
//! [find_pattern]
//! [pattern_found]
if (found) // If done with success,
{
// improve the found corners' coordinate accuracy for chessboard
if (s.calibrationPattern == Settings::CHESSBOARD)
{
Mat viewGray;
cvtColor(view, viewGray, COLOR_BGR2GRAY);
cornerSubPix(viewGray, pointBuf, Size(11, 11),
Size(-1, -1), TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.1));
}
if (mode == CAPTURING && // For camera only take new samples after delay time
(!s.inputCapture.isOpened() || clock() - prevTimestamp > s.delay*1e-3*CLOCKS_PER_SEC))
{
imagePoints.push_back(pointBuf);
prevTimestamp = clock();
blinkOutput = s.inputCapture.isOpened();
}
// Draw the corners.
drawChessboardCorners(view, s.boardSize, Mat(pointBuf), found);
}
//! [pattern_found]
//----------------------------- Output Text ------------------------------------------------
//! [output_text]
string msg = (mode == CAPTURING) ? "100/100" :
mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
int baseLine = 0;
Size textSize = getTextSize(msg, 1, 1, 1, &baseLine);
Point textOrigin(view.cols - 2 * textSize.width - 10, view.rows - 2 * baseLine - 10);
if (mode == CAPTURING)
{
if (s.showUndistorsed)
msg = format("%d/%d Undist", (int)imagePoints.size(), s.nrFrames);
else
msg = format("%d/%d", (int)imagePoints.size(), s.nrFrames);
}
putText(view, msg, textOrigin, 1, 1, mode == CALIBRATED ? GREEN : RED);
if (blinkOutput)
bitwise_not(view, view);
//! [output_text]
//------------------------- Video capture output undistorted ------------------------------
//! [output_undistorted]
if (mode == CALIBRATED && s.showUndistorsed)
{
Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs);
}
//! [output_undistorted]
//------------------------------ Show image and check for input commands -------------------
//! [await_input]
namedWindow("Image View" + to_string(counter), WINDOW_NORMAL);
resizeWindow("Image View" + to_string(counter), 640, 480);
imshow("Image View" + to_string(counter), view);
char key = (char)waitKey(s.inputCapture.isOpened() ? 50 : s.delay);
cout << "Image " << to_string(counter) << " Completed" << endl;
counter++;
if (key == ESC_KEY)
break;
if (key == 'u' && mode == CALIBRATED)
s.showUndistorsed = !s.showUndistorsed;
if (s.inputCapture.isOpened() && key == 'g')
{
mode = CAPTURING;
imagePoints.clear();
}
//! [await_input]
}
// -----------------------Show the undistorted image for the image list ------------------------
//! [show_results]
if (s.inputType == Settings::IMAGE_LIST && s.showUndistorsed)
{
Mat view, rview, map1, map2;
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
m_mainMap1 = map1;
m_mainMap2 = map2;
for (size_t i = 0; i < s.imageList.size(); i++)
{
view = imread(s.imageList[i], 1);
if (view.empty())
continue;
remap(view, rview, map1, map2, INTER_LINEAR);
imshow("Image View", rview);
char c = (char)waitKey();
if (c == ESC_KEY || c == 'q' || c == 'Q')
break;
}
}
//! [show_results]
// return 0;
}
///////////////////////////////////////////////////////
// Panel::PixelsToLength()
// Description: Not currently used: Calculates the
// ratio of cm to pixels from one checkerboard image
///////////////////////////////////////////////////////
void Panel::PixelsToLength(string sImgPath)
{
cout << "Pixels to Length" << endl << endl;
m_pPanel->m_Image = imread(sImgPath);
Point2f corner1;
Point2f corner2;
Point2f corner3;
Point2f corner4;
bool found = false;
found = findChessboardCorners(m_pPanel->m_Image, Size(9, 6), m_pPanel->corners,
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
Mat imgGray;
cvtColor(m_pPanel->m_Image, imgGray, COLOR_BGR2GRAY);
cornerSubPix(imgGray, m_pPanel->corners, Size(11, 11), Size(-1, -1),
TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
corner1.x = m_pPanel->corners[45].x;
corner1.y = m_pPanel->corners[45].y;
corner2.x = m_pPanel->corners[0].x;
corner2.y = m_pPanel->corners[0].y;
corner3.x = m_pPanel->corners[8].x;
corner3.y = m_pPanel->corners[8].y;
corner4.x = m_pPanel->corners[53].x;
corner4.y = m_pPanel->corners[53].y;
// Draw rectangle around checkerboard
line(m_pPanel->m_Image, corner1, corner2, CV_RGB(0, 0, 255), 2);
line(m_pPanel->m_Image, corner2, corner3, CV_RGB(0, 0, 255), 2);
line(m_pPanel->m_Image, corner3, corner4, CV_RGB(0, 0, 255), 2);
line(m_pPanel->m_Image, corner4, corner1, CV_RGB(0, 0, 255), 2);
circle(m_pPanel->m_Image, corner1, 10, CV_RGB(0, 0, 255), 2);
circle(m_pPanel->m_Image, corner2, 10, CV_RGB(0, 255, 0), 2);
circle(m_pPanel->m_Image, corner3, 10, CV_RGB(255, 0, 0), 2);
circle(m_pPanel->m_Image, corner4, 10, CV_RGB(100, 100, 100), 2);
double pixel_length = 0;
double pixel_width = 0;
double pixel_width1 = norm(corner1 - corner2);
double pixel_length1 = norm(corner2 - corner3);
double pixel_width2 = norm(corner3 - corner4);
double pixel_length2 = norm(corner4 - corner1);
if (pixel_length1 >= pixel_length2)
pixel_length = pixel_length1;
else
pixel_length = pixel_length2;
if (pixel_width1 >= pixel_width2)
pixel_width = pixel_width1;
else
pixel_width = pixel_width2;
double ratio = (m_pPanel->m_boardLength - 1.0) / (m_pPanel->m_boardWidth - 1.0);
if (pixel_length >= (pixel_width * ratio)){
m_pPanel->m_cmPerPixel = (m_pPanel->m_squareSize * (float)(m_pPanel->m_boardLength - 1)) / pixel_length;
}
else
m_pPanel->m_cmPerPixel = (m_pPanel->m_squareSize * (float)(m_pPanel->m_boardWidth - 1)) / pixel_width;
cout << "cm per pixel : " << m_pPanel->m_cmPerPixel << endl;
// Perspective Transform
// double ratio = 8.0 / 5.0;
// double length = ratio * pixel_width;
//
// vector<Point2f> panel_pts;
// vector<Point2f> rect_pts;
// panel_pts.push_back(corner1);
// panel_pts.push_back(corner2);
// panel_pts.push_back(corner3);
// panel_pts.push_back(corner4);
// rect_pts.push_back(Point2f(0, 0));
// rect_pts.push_back(Point2f((float)width, 0));
// rect_pts.push_back(Point2f((float)width, (float)length));
// rect_pts.push_back(Point2f(0, (float)length));
//
// // Draw new rectangle
// line(m_pPanel->m_Image, rect_pts[0], rect_pts[1], CV_RGB(255, 0, 0), 2);
// line(m_pPanel->m_Image, rect_pts[1], rect_pts[2], CV_RGB(255, 0, 0), 2);
// line(m_pPanel->m_Image, rect_pts[2], rect_pts[3], CV_RGB(255, 0, 0), 2);
// line(m_pPanel->m_Image, rect_pts[3], rect_pts[0], CV_RGB(255, 0, 0), 2);
//
// // Perspective Transorm
// Mat transmtx = getPerspectiveTransform(panel_pts, rect_pts);
// int offsetSize = 500;
// Mat transformed = Mat::zeros(m_pPanel->m_Image.cols + offsetSize, m_pPanel->m_Image.rows + offsetSize, CV_8UC3);
// warpPerspective(m_pPanel->m_Image, transformed, transmtx, transformed.size());
//
//// Mat subImg(transformed, Rect(corner1.x, corner1.y, width, length));
//
// namedWindow("Original", WINDOW_NORMAL);
// imshow("Original", m_pPanel->m_Image);
// namedWindow("Warped", WINDOW_AUTOSIZE);
// imshow("Warped", transformed);
}
//./Sp_demo -i <img_filename> -n <nPixels_on_side> --i_std <i_std>
int main( int argc, char** argv )
{
// get the image filename, nPixels_in_square_side and i_std
// the defaults
String filename = "image/2.jpg";
int nPixels_in_square_side = 15;
int i_std = 20;
for (int i = 1; i < argc; ++i) {
std::string arg = argv[i];
if ((arg == "-h") || (arg == "--help")) {
show_usage(argv[0]);
return 0;
}
else if ((arg == "-i") || (arg == "--img_filename")) {
if (i + 1 < argc) {
i++;
filename = argv[i];
} else {
std::cerr << "--img_filename option requires one argument." << std::endl;
return 1;
}
}
else if ((arg == "-n") || (arg == "--nPixels_on_side")) {
if (i + 1 < argc) {
i++;
nPixels_in_square_side = atoi (argv[i]);
if (nPixels_in_square_side<3) {
std::cerr << "--nPixels_in_square_side option requires nPixels_in_square_side >= 3." << std::endl;
return 1;
}
} else {
std::cerr << "--nPixels_on_side option requires one argument." << std::endl;
return 1;
}
}
else if (arg == "--i_std") {
if (i + 1 < argc) {
i++;
i_std = atoi (argv[i]);
if (i_std<5 || i_std>40) {
std::cerr << "--i_std option requires 5<= value <=40." << std::endl;
return 1;
}
} else {
std::cerr << "--i_std option requires a number." << std::endl;
return 1;
}
}else{
}
}
cout << "finish reading the arguments" << endl;
Mat image = imread(filename, CV_LOAD_IMAGE_COLOR);
// Check for invalid input
if(! image.data ){
cout << "Could not open or find the image" << std::endl ;
return -1;
}
cout << "finish reading the image" << endl;
//Part 1: Specify the parameters:
superpixel_options spoptions = get_sp_options(nPixels_in_square_side, i_std);
// Part 2 : prepare for segmentation
int dimy = image.rows;
int dimx = image.cols;
Superpixels sp = Superpixels(dimx, dimy, spoptions);
//cout << "finish init sp" << endl;
cudaDeviceSynchronize();
sp.load_img((unsigned char*)(image.data));
//cout << "finish loading the image" << endl;
// Part 3: Do the superpixel segmentation
clock_t start,finish;
start = clock();
sp.calc_seg();
cudaDeviceSynchronize();
sp.gpu2cpu();
cudaError_t err_t = cudaDeviceSynchronize();
if (err_t){
std::cerr << "CUDA error after cudaDeviceSynchronize. " << std::endl;
return 0;
}
finish = clock();
cout<< "Segmentation takes " << ((double)(finish-start)/CLOCKS_PER_SEC) << " sec" << endl;
// Part 4: Save the mean/boundary image
Mat border_img = sp.get_img_overlaid();
String fname_res_border = "image/result/img_border.png";
imwrite(fname_res_border, border_img);
cout << "saved " << fname_res_border << endl;
Mat mean_img = sp.get_img_cartoon();
String fname_res_mean = "image/result/img_mean.png";
imwrite(fname_res_mean, mean_img);
cout << "saving " << fname_res_mean << endl;
return 0;
}
int Detector::batchDetect(const string &src_image_folder, const string &dst_image_folder)
{
if (access(src_image_folder.c_str(), 0) == -1)
{
return 0;
}
if (access(dst_image_folder.c_str(), 0) == -1)
{
_mkdir(dst_image_folder.c_str());
}
const int MAX_DETECTION = 500;
CB_RectT rects[MAX_DETECTION];
_chdir(src_image_folder.c_str());
CFileFind file_finder;
bool is_working = file_finder.FindFile();
int count = 0;
while (is_working)
{
is_working = file_finder.FindNextFile();
string file_name = file_finder.GetFileName();
string file_path = file_finder.GetFilePath();
if (file_name == "." || file_name == ".."|| file_name == "Thumbs.db")
{
continue;
}
printf("%s\n", file_path.c_str());
Mat image = imread(file_path, CV_LOAD_IMAGE_GRAYSCALE);
if (image.data == NULL)
{
continue;
}
double ratio = 1.0;
if (param.resize_w > 0 && param.resize_h > 0)
{
int w = param.resize_w;
int h = image.rows * w / image.cols;
ratio = (double)image.cols / w;
Size size(w, h);
resize(image, image, size);
}
param.hot_rect.top *= (image.rows / 100);
param.hot_rect.bottom *= (image.rows / 100);
param.hot_rect.left *= (image.cols / 100);
param.hot_rect.right = (image.cols / 100);
int subwin_count;
int num = detect(image, MAX_DETECTION, rects, subwin_count);
Mat dst_image = imread(file_path, CV_LOAD_IMAGE_COLOR);
file_path = dst_image_folder + "\\" + file_name;
drawRects(dst_image, num, rects, Scalar(0, 255, 0), 3, ratio);
num = merger.merge(num, rects);
drawRects(dst_image, num, rects, Scalar(0, 0, 255), 7, ratio);
imwrite(file_path, dst_image);
count++;
}
return 1;
}
void Build_Vocabulary::extract(String filename, double threshold ,double thresholdCorner){
clock_t start, finish;
double elapsed_time;
string dir = "Validation/" + filename, filepath;
DIR *dp;
struct dirent *dirp;
struct stat filestat;
dp = opendir( dir.c_str() );
// detecting keypoints
SiftFeatureDetector detector(threshold, thresholdCorner);
vector<KeyPoint> keypoints;
// computing descriptors
//SiftDescriptorExtractor() extractor;
Ptr<DescriptorExtractor > extractor(
new OpponentColorDescriptorExtractor(
Ptr<DescriptorExtractor>(new SiftDescriptorExtractor())
)
);
Mat descriptors;
Mat training_descriptors;
Mat img;
cout << "------- Build Vocabulary ---------\n";
int count = 0;
cout << "Extract descriptors.."<<endl;
start=time(NULL);
while ((dirp = readdir( dp )))
{
filepath = dir + "/" + dirp->d_name;
// If the file is a directory (or is in some way invalid) we'll skip it
if (stat( filepath.c_str(), &filestat )) continue;
if (S_ISDIR( filestat.st_mode )) continue;
img = imread(filepath);
if (!img.data) {
continue;
}
detector.detect(img, keypoints);
{
Mat out; img.copyTo(out);
drawKeypoints(img, keypoints, out, Scalar(255));
imshow("fg",img);
imshow("keypoints", out);
finish=time(NULL);
elapsed_time = finish-start;
int hours = (int) elapsed_time / 3600;
int minutes = (int) (elapsed_time - hours * 3600) / 60;
int seconds = (int) elapsed_time - hours * 3600 - minutes * 60;
cout << "Elapsed Time: " << hours << ":" << minutes << ":" << seconds << endl;
waitKey(0);
}
extractor->compute(img, keypoints, descriptors);
training_descriptors.push_back(descriptors);
cout << ".";
count++;
}
cout << endl;
closedir( dp );
cout << "Total Images Input: " << count << endl;
cout << "Total descriptors: " << training_descriptors.rows << endl;
finish=time(NULL);
elapsed_time = finish-start;
int hours = (int) elapsed_time / 3600;
int minutes = (int) (elapsed_time - hours * 3600) / 60;
int seconds = (int) elapsed_time - hours * 3600 - minutes * 60;
cout << "Elapsed Time for Extracting: " << hours << ":" << minutes << ":" << seconds << endl << endl;
FileStorage fs("training_descriptors_" + filename + "_color.txt", FileStorage::WRITE);
fs << "training_descriptors" << training_descriptors;
fs.release();
}
void execute(string fname)
{
const unsigned mem_size = 4096;
int v, u, t;
char next_dir, dir = 'r';
unsigned char mem[mem_size];
unsigned char * pnt = mem;
Mat src;
Vec3b color, next_color;
memset(mem, 0, sizeof(unsigned char) * mem_size);
src = imread(fname);
throw_null(src.data);
v = 0;
u = 0;
do
{
color = src.at<Vec3b>(v, u);
if((color[0] == 0x00) && (color[1] == 0xFF) && (color[2] == 0x00))
(* pnt)++;
else if((color[0] == 0x00) && (color[1] == 0x80) && (color[2] == 0x00))
(* pnt)--;
else if((color[0] == 0xFF) && (color[1] == 0x00) && (color[2] == 0x00))
{
pnt++;
throw_if((mem + mem_size <= pnt))
}
else if((color[0] == 0x80) && (color[1] == 0x00) && (color[2] == 0x00))
{
pnt--;
throw_if((pnt < mem));
}
else if((color[0] == 0xFF) && (color[1] == 0xFF) && (color[2] == 0x00))
{
if((* pnt) <= 0)
{
t = 0;
next_color[0] = 0x80;
next_color[1] = 0x80;
next_color[2] = 0x00;
do
{
throw_if(step(dir, v, u, src.size()));
if(src.at<Vec3b>(v, u) == color)
t++;
else if(src.at<Vec3b>(v, u) == next_color)
t--;
}
while(t >= 0);
}
}
else if((color[0] == 0x80) && (color[1] == 0x80) && (color[2] == 0x00))
{
switch(dir)
{
case 'r':
{
next_dir = 'l';
break;
}
case 'l':
{
next_dir = 'r';
break;
}
case 't':
{
next_dir = 'b';
break;
}
case 'b':
{
next_dir = 't';
break;
}
}
t = 0;
next_color[0] = 0xFF;
next_color[1] = 0xFF;
next_color[2] = 0x00;
do
{
throw_if(step(next_dir, v, u, src.size()));
if(src.at<Vec3b>(v, u) == color)
t++;
else if(src.at<Vec3b>(v, u) == next_color)
t--;
}
while(t >= 0);
step(next_dir, v, u, src.size());
}
else if((color[0] == 0x00) && (color[1] == 0x00) && (color[2] == 0xFF))
printf("%c", * pnt);
else if((color[0] == 0x00) && (color[1] == 0x00) && (color[2] == 0x80))
scanf("%c\n", pnt);
else if((color[0] == 0x00) && (color[1] == 0xFF) && (color[2] == 0xFF))
{
// Поворот против часовой стрелки
switch(dir)
{
case 'r':
{
next_dir = 't';
break;
}
case 'l':
{
next_dir = 'b';
break;
}
case 't':
{
next_dir = 'l';
break;
}
case 'b':
{
next_dir = 'r';
break;
}
}
dir = next_dir;
}
else if((color[0] == 0x00) && (color[1] == 0x80) && (color[2] == 0x80))
{
// Поворот по часовой стрелке
switch(dir)
{
case 'r':
{
next_dir = 't';
break;
}
case 'l':
{
next_dir = 't';
break;
}
case 't':
{
next_dir = 'r';
break;
}
case 'b':
{
next_dir = 'l';
break;
}
}
dir = next_dir;
}
else
throw_if(1);
}
Calib::Calib()
{
Size boardSize(6,5); // Chessboard' size in corners with both color (nb of squares -1)
int widthSquare = 40; // Width of a square in mm
int heightSquare = 27;
vector <Mat> images;
// Getting the four images of the chessboard
string imageFileName = "../src/mire1.jpg";
images.push_back(imread(imageFileName, 1));
imageFileName = "../src/mire2.jpg";
images.push_back(imread(imageFileName, 1));
imageFileName = "../src/mire3.jpg";
images.push_back(imread(imageFileName, 1));
imageFileName = "../src/mire4.jpg";
images.push_back(imread(imageFileName, 1));
Size imageSize = images.at(0).size();
// Find chessboard's corners in the scene for the 4 images
vector<vector<Point2f> > cornersScene(1);
vector<Mat> imagesGray;
imagesGray.resize(4);
for (int i=0; i<4; i++)
{
if(images.at(i).empty())
{
cerr << "Image not read correctly!" << endl;
exit(-1);
}
bool patternFound = findChessboardCorners(images.at(i), boardSize, cornersScene[0]);
if(!patternFound)
{
cerr << "Could not find chess board!" << endl;
exit(-1);
}
// Improve corner's coordinate accuracy
cvtColor(images.at(i), imagesGray.at(i), CV_RGB2GRAY);
cornerSubPix(imagesGray.at(i), cornersScene[0], Size(3,2), Size(-1,-1), TermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1));
// Drawing the corners
drawChessboardCorners(images.at(i), boardSize, Mat(cornersScene[0]), patternFound );
imshow("Corners find", images.at(i));
int keyPressed;
/*do
{
keyPressed = waitKey(0);
} while (keyPressed != 27);*/
}
// Getting the chessboard's corners on the mire's image
vector<vector<Point3f> > cornersMire(1);
for( int y = 0; y < boardSize.height; y++ )
{
for( int x = 0; x < boardSize.width; x++ )
{
cornersMire[0].push_back(cv::Point3f(float(x*widthSquare),
float(y*heightSquare), 0));
}
}
// Getting the camera's parameters
Mat distortionCoefficients = Mat::zeros(8, 1, CV_64F);
Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
calibrateCamera(cornersMire, cornersScene, imageSize, cameraMatrix,
distortionCoefficients, rotationVectors, translationVectors);
//cout << "Camera matrix: " << cameraMatrix << endl;
//cout << "Distortion _coefficients: " << distortionCoefficients << endl;
cout << rotationVectors.at(0) << endl;
cout << translationVectors.at(0) << endl;
}
void extractImages::processTask(extractImages& self,const vector<string>& sourcesImages,const vector<string>& templatesImages)
{
utils & u = utils::i();
fileOp * op = new fileOp();
while(self.leftToProcess)
{
mtxExtract.lock();
if(self.leftToProcess==0) break;
self.leftToProcess--;
string sourceImage = sourcesImages[self.currentToProcess++];
mtxExtract.unlock();
Mat img = imread(sourceImage);
computeImages * ll = new computeImages(img, u.VERBOSE);
string pageCourante;
int imagesCount = 0;
stringstream output;
try{
pageCourante = op->getFilename(sourceImage);
// if(u.VERBOSE)output << "Traitement de la source : "<<sourceImage << " ( " << pageCourante << " )" <<endl;
if(u.VERBOSE)output << pageCourante << " ::";
vector<templateArea> foundTemplate;
//On recupere en premier lieu les zones matchées par les templates afin de les ordonner
for(int j=0 ; j < templatesImages.size() ; j++)
{
if(imagesCount ==MAXIMAGETTE)break;
string templateCourante = op->getFilename(templatesImages[j]);
stringstream currentNameStream ; currentNameStream <<pageCourante << "-" << templateCourante << "-" << imagesCount;
string s = currentNameStream.str();s.resize(17, ' ');
// if(u.VERBOSE)output << "\t template ( " << s << " ) : ";
Mat templ = imread(templatesImages[j]);
if(ll->findTemplArea(templ, currentNameStream.str(), false))
{
//on enregistre les zones a traiter
templateArea curr;
curr.image = ll->getTemplArea().clone();;
curr.position = ll->getPositionY();
curr.name = templateCourante;
foundTemplate.push_back(curr);
imagesCount++;
//on supprime la zone deja matchée...
ll->removeZone();
//if(VERBOSE)ll->showFinalImage(currentNameStream.str());
//on recommence avec le meme template afin de voir s'il existe le meme template à une autre position
j--;
}
// if(u.VERBOSE) cout << endl ;
}
int totalImagettes =0;
if(foundTemplate.size() >0){
// if(u.VERBOSE) output << "saving... " <<endl;;
stringstream ss;
// on reordonne les zones matchées
sort(foundTemplate.begin(), foundTemplate.end() , compareStruct);
// pour chaque zone
for(int ligne=0 ; ligne < foundTemplate.size() ; ligne++)
{
//if(VERBOSE) cout << "recuperation de ligne potentielles... pour " << foundTemplate[ligne].name<<endl;;
//on récupère les lignes étant potentiellement nos imagettes à enregistrer
vector<Vec4i> res = ll->findLines(foundTemplate[ligne].image);
//if(VERBOSE) cout << "recuperation des imagettes... " <<endl;;
//on récupère les imagettes
vector<Mat> result = ll->findImages(res, foundTemplate[ligne].image);
//pour chaque image on enregistre le .jpg + txt avec les informations correspondantes
for (int col =0 ; col < result.size(); col++) {
op->writeTxtFile(foundTemplate[ligne].name, pageCourante, ligne, col, result[col]);
}
if(u.VERBOSE){
stringstream sgs; sgs <<result.size() << "/5";
ss<< "\t "<< ligne+1 <<" : " << niceOutput(sgs.str(), result.size() == 5) ;;
}
totalImagettes += result.size();
}
// if(u.VERBOSE) output << endl;
if(u.VERBOSE){
stringstream sgs; sgs <<totalImagettes << "/35";
output << " found : " << imagesCount << "/7 templates => imagettes : "
<< ss.str() << " \t total : " << niceOutput(sgs.str(), totalImagettes == 35) << endl;
}
}else{
if(u.VERBOSE)cout << niceOutput(" Error, image rejected", false) << endl; //sort templ avec position
self.nErroImg++;
}
self.nTotalImg += totalImagettes;
}catch(Exception e){
output << "error with image : " << pageCourante << endl;;
output << " " << e.what()<< endl;;
}
delete ll;
mtxOutput.lock();
// if(u.RESULT)cout << "End : " << sourceImage <<endl;
if(u.VERBOSE )cout << output.str()<<endl;
cout<< flush;
mtxOutput.unlock();
}
delete op;
}
int Classifier::loadData(string testConf, string pathToSil)
{
// Open file with testing configuration
ifstream tcStream(testConf.c_str());
if (!tcStream.is_open())
{
fprintf (stderr, "Could not open %s\n", testConf.c_str());
return 1;
}
string classId;
string folderName;
set<string> testImgsNames;
while (tcStream.good())
{
// Skip comments and empty lines
string line;
getline(tcStream, line);
if (!hasData(line))
continue;
else
{
folderName = line; // Get folder name
classId = getClassId(folderName); // Get classId
testImgsNames.clear();
while (tcStream.good()) // Get names of test images
{
getline(tcStream, line);
if(!hasData(line)) break;
testImgsNames.insert(line);
}
}
// Get pictures from folder
string dirPath = pathToSil + folderName;
const vector<string>& filenames = getFilesFromFolder(dirPath);
#ifdef WIN32
dirPath += "\\";
#else
dirPath += "/";
#endif
for (int i = 0; i < (int) filenames.size(); i++)
{
// Store image to corresponding set (test or learning)
string imgName = filenames[i];
string imgPath = dirPath + imgName;
Mat imgMat = imread(imgPath, 1);
if (inSet(imgName, testImgsNames))
{
testData[classId].push_back(imgMat);
}
else
{
learningData[classId].push_back(imgMat);
}
}
if (testData[classId].size() != testImgsNames.size())
fprintf(stderr, "Warning: Test set for %s is badly defined!\n", classId.c_str());
}
// Everything went ok
return 0;
}
Mat Puppets(){ //this is where the magic happens! Sort of.
if(!clmModel._clm._plocal.empty()){ //Just in case there's nothing there...
Mat localShape;
Mat newshape;
Mat globalShape;
double mouth = 100.0;
double eyebrows = 100.0;
double smile = 100.0; //weight of expression parameters
double headmovement = 1.0;
Mat oldshape;
clmModel._clm._plocal.copyTo(localShape);
clmModel._clm._pglobl.copyTo(globalShape);
globalShape.db(1,0) *= headmovement;
globalShape.db(2,0) *= headmovement;
globalShape.db(3,0) *= headmovement;
clmModel._clm._pdm.CalcShape2D(oldshape, localShape, globalShape); //calculate old shape
localShape.db(0,0) *= (mouth/100.0);
localShape.db(1,0) *= (eyebrows/100.0);
localShape.db(2,0) *= (smile/100.0);
clmModel._clm._pdm.CalcShape2D(newshape, localShape, globalShape); //calculate new shape
ParseToPAW(newshape, localShape, globalShape);
Mat teethimg;
cvtColor(faceimg, teethimg, CV_RGB2BGR);
cv::Mat neutralshape(newshape.rows, 1, CV_64FC1);
Vec3d orientation;
orientation(0) = globalShape.at<double>(1);
orientation(1) = globalShape.at<double>(2);
orientation(2) = globalShape.at<double>(3);
int viewid = clmModel._det_valid.GetViewId(orientation);
bool toggleERI = ERIon;
if(viewid != 0){
toggleERI = 1;
}
sendOptions(writeToFile,toggleERI, choiceavatar); //send writeto and usesave to avatar
clmModel._det_valid._fcheck[viewid]._paw.WarpToNeutral(faceimg, newshape, neutralshape); //warp to neutral (in CLM/PAW.cc)
//***************//
if(avatarWarpedHead2.empty()){
string imagefileloc, filelocleft, filelocright;
if(avatarfile2.empty()){
avatarfile2 = "../images/shape_central.yml";
}
cout << "avatar file " << avatarfile2 << endl;
FileStorage fs(avatarfile2, FileStorage::READ);
fs["shape"] >> avatarS2;
fs["filename"] >> imagefileloc;
fs["fileleft"] >> filelocleft;
fs["fileright"] >> filelocright;
fs.release();
avatarWarpedHead2 = imread( imagefileloc);
cvtColor(avatarWarpedHead2, avatarWarpedHead2, CV_RGB2BGR);
//warp to neutral on read of a new face, not every loop: so you only have to do it once
clmModel._det_valid._fcheck[0]._paw.WarpToNeutral(avatarWarpedHead2, avatarS2, neutralshape);
}
void *affine_loop(void *number)
{
/*
if(set_single_core_affinity()!=EXIT_SUCCESS)
{
perror("Core Affinity");
}
*/
int block_size;
int max_files;
int i=0;
int section=0;
float pos[8]={0,0,1,0,0,1,1,1};
Point2f srcTri[4];
Point2f dstTri[4];
max_files=3601;
block_size=max_files/4;
Mat rot_mat( 2, 3, CV_32FC1 );
Mat warp_mat( 2, 3, CV_32FC1 );
// Output variables
Mat src, warp_dst, warp_rotate_dst;
struct thread_limits *ptr_obj = (struct thread_limits *) number;
int start_loop = ptr_obj->start_no;
int stop_loop = ptr_obj->stop_no;
/*------------------------- Starting the loop --------------------------*/
for (i=start_loop; i<=stop_loop; i++)
{
/*------------------------- Loading the Image --------------------------*/
if(option==1)
{
// Select the right frame
sprintf(frame_name2,"Sobel_frame_no_%05u.ppm",i);
// Load the Image
src = imread( frame_name2, 1 );
}
else
{
sprintf(frame_name,"Frame_no_%05u.ppm",i);
src = imread( frame_name, 1 );
}
/*---------------------- Affine Transform : Warp -----------------------*/
// Setting up the output image parameters
warp_dst = Mat::zeros( src.rows, src.cols, src.type() );
/*---------------------- Change the parameter values ----------------------*/
switch(section)
{
case 0:
{
pos[1]=pos[1]+0.001;
pos[2]=pos[2]-0.001;
pos[4]=pos[4]+0.001;
pos[7]=pos[7]-0.001;
// Setting parameters for matrix computation
srcTri[0] = Point2f( 0,0 );
srcTri[1] = Point2f( src.cols - 1, 0 );
srcTri[2] = Point2f( 0, src.rows - 1 );
srcTri[3] = Point2f( src.cols - 1, src.rows - 1 );
dstTri[0] = Point2f( src.cols*pos[0], src.rows*pos[1] );
dstTri[1] = Point2f( src.cols*pos[2], src.rows*pos[3] );
dstTri[2] = Point2f( src.cols*pos[4], src.rows*pos[5] );
dstTri[3] = Point2f( src.cols*pos[6], src.rows*pos[7] );
section=i/block_size;
//printf("Case 0: %u\t %f %f %f %f %f %f %f %f\n",i,pos[0],pos[1],pos[2],pos[3],pos[4],pos[5],pos[6],pos[7]);
break;
}
case 1:
{
pos[0]=pos[0]+0.001;
pos[3]=pos[3]+0.001;
pos[5]=pos[5]-0.001;
pos[6]=pos[6]-0.001;
// Setting parameters for matrix computation
srcTri[0] = Point2f( 0,0 );
srcTri[1] = Point2f( src.cols - 1, 0 );
srcTri[2] = Point2f( 0, src.rows - 1 );
srcTri[3] = Point2f( src.cols - 1, src.rows - 1 );
dstTri[0] = Point2f( src.cols*pos[0], src.rows*pos[1] );
dstTri[1] = Point2f( src.cols*pos[2], src.rows*pos[3] );
dstTri[2] = Point2f( src.cols*pos[4], src.rows*pos[5] );
dstTri[3] = Point2f( src.cols*pos[6], src.rows*pos[7] );
section=i/block_size;
//printf("Case 1: %u\t %f %f %f %f %f %f %f %f\n",i,pos[0],pos[1],pos[2],pos[3],pos[4],pos[5],pos[6],pos[7]);
break;
}
case 2:
{
pos[1]=pos[1]-0.001;
pos[2]=pos[2]+0.001;
pos[4]=pos[4]-0.001;
pos[7]=pos[7]+0.001;
// Setting parameters for matrix computation
srcTri[0] = Point2f( 0,0 );
srcTri[1] = Point2f( src.cols - 1, 0 );
srcTri[2] = Point2f( 0, src.rows - 1 );
srcTri[3] = Point2f( src.cols - 1, src.rows - 1 );
dstTri[0] = Point2f( src.cols*pos[0], src.rows*pos[1] );
dstTri[1] = Point2f( src.cols*pos[2], src.rows*pos[3] );
dstTri[2] = Point2f( src.cols*pos[4], src.rows*pos[5] );
dstTri[3] = Point2f( src.cols*pos[6], src.rows*pos[7] );
section=i/block_size;
//printf("Case 2: %u\t %f %f %f %f %f %f %f %f\n",i,pos[0],pos[1],pos[2],pos[3],pos[4],pos[5],pos[6],pos[7]);
break;
}
case 3:
{
pos[0]=pos[0]-0.001;
pos[3]=pos[3]-0.001;
pos[5]=pos[5]+0.001;
pos[6]=pos[6]+0.001;
// Setting parameters for matrix computation
srcTri[0] = Point2f( 0,0 );
srcTri[1] = Point2f( src.cols - 1, 0 );
srcTri[2] = Point2f( 0, src.rows - 1 );
srcTri[3] = Point2f( src.cols - 1, src.rows - 1 );
dstTri[0] = Point2f( src.cols*pos[0], src.rows*pos[1] );
dstTri[1] = Point2f( src.cols*pos[2], src.rows*pos[3] );
dstTri[2] = Point2f( src.cols*pos[4], src.rows*pos[5] );
dstTri[3] = Point2f( src.cols*pos[6], src.rows*pos[7] );
section=i/block_size;
//printf("Case 3: %u\t %f %f %f %f %f %f %f %f\n",i,pos[0],pos[1],pos[2],pos[3],pos[4],pos[5],pos[6],pos[7]);
break;
}
default:
{
//printf("Value: %d\n",section);
//perror("Default switch() case");
break;
}
}
// Calculate the Affine Transform matrix
warp_mat = getAffineTransform( srcTri, dstTri );
// Applying the Affine Transform to the src image
warpAffine( src, warp_dst, warp_mat, warp_dst.size() );
/*-------------------- Affine Transform : Rotate -----------------------*/
// Compute the Rotation Matrix Parameters
Point center = Point( warp_dst.cols/2, warp_dst.rows/2 );
double angle = ROTATION_ANGLE;
double scale = ISOTROPIC_SCALE_FACTOR;
// Generate the Rotation Matrix
rot_mat = getRotationMatrix2D( center, angle, scale );
// Rotate the Image
warpAffine( warp_dst, warp_rotate_dst, rot_mat, warp_dst.size() );
/*------------------------- Storing the Image ---------------------------*/
sprintf(frame_name3,"Affine_frame_no_%05u.ppm",i);
// Storing the Image
imwrite(frame_name3, warp_dst);
}
// End of 'for' loop
return NULL;
}
int main(int argc, char** argv)
{
long totaltime, intTime, intTime_o, colTime, colTime_o , orTime, orTime_o;
if(argc != 2)
{
cout << "No image"<<endl;
return -1;
}
cout<<"Loading Image: ";
cout<< argv[1]<<endl;
Mat inputImage = imread(argv[1], CV_LOAD_IMAGE_COLOR);
if(!inputImage.data)
{
cout <<"Invalid Image"<<endl;
}
Mat IntensityImg, finalImage;
for(int counter = 0; counter < 1; counter++)
{
totaltime = timestamp();
intTime = timestamp();
IntensityImg = Get_Intensity_Image(inputImage);
vector<Mat> Intensity_Maps = Pyr_CenSur(IntensityImg);
Mat AggInt = aggregateMaps(Intensity_Maps);
normalize(AggInt, AggInt, 0, 255, NORM_MINMAX, -1);
intTime_o = timestamp() - intTime;
colTime = timestamp();
vector<Mat> color_map;
color_map = Normalize_color(inputImage, IntensityImg);
vector<Mat> RGBYMap(6);
for(int i = 0; i<6; i++)
addWeighted(color_map[i], 0.5, color_map[i+6], 0.5, 0, RGBYMap[i], -1);
Mat AggColor = aggregateMaps(RGBYMap);
normalize(AggColor, AggColor, 0, 255, NORM_MINMAX, -1);
colTime_o = timestamp() - colTime;
orTime = timestamp();
Mat AggOr;
AggOr = getGaborImage(IntensityImg);
normalize(AggOr, AggOr, 0, 255, NORM_MINMAX, -1);
orTime_o = timestamp() - orTime;
finalImage = (AggInt + AggColor + AggOr) /3;
normalize(finalImage, finalImage, 0, 255, NORM_MINMAX, -1);
for(int bCtr = 0; bCtr<4; bCtr++)
{
pyrUp(finalImage, finalImage);
}
cout <<"Intensity Time: "<< (intTime_o) << "\n";
cout <<"Color Time: "<< (colTime_o) << "\n";
cout <<"Orientation Time: "<< (orTime_o) << "\n";
cout <<"Total Time: "<< (timestamp() - totaltime) << "\n";
}
Mat contImg;
inRange(finalImage, 160, 230, contImg);
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
findContours(contImg, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
for(int i = 0; i>=0; i =hierarchy[i][0])
{
Scalar color(rand()&255, rand()&255, rand()&255);
drawContours(inputImage, contours, i, color, 3, 8, hierarchy);
}
imwrite("Salient_Image.jpg" , inputImage);
waitKey(0);
return 0;
}
void *sobel_loop(void *number)
{
/* if(set_single_core_affinity()!=EXIT_SUCCESS)
{
perror("Core Affinity");
}
*/
int i=0;
Mat sobel_src, src_gray, s_src;
Mat grad;
struct thread_limits *ptr_obj = (struct thread_limits *) number;
int start_loop = ptr_obj->start_no;
int stop_loop = ptr_obj->stop_no;
for (i=start_loop; i<=stop_loop; i++)
{
/*------------------------- Loading the Image --------------------------*/
// Select the right frame
sprintf(frame_name,"Frame_no_%05u.ppm",i);
// Load the Image
sobel_src = imread( frame_name,1 );
if( !sobel_src.data )
{
perror("Reading from file");
}
// Apply Gaussian Blur function
GaussianBlur( sobel_src, s_src, Size(3,3), 0, 0, BORDER_DEFAULT );
// Convert Color image to gray
//printf("cvtcolor\n");
cvtColor( s_src, src_gray, CV_RGB2GRAY );
//printf("after cvtcolor\n");
// Generate x and y matrix
Mat sobel_x, sobel_y;
Mat sobel_abs_x, sobel_abs_y;
// Gradient X
Sobel( src_gray, sobel_x, SOBEL_DEPTH, 1, 0, 3, SOBEL_SCALE, SOBEL_DELTA, BORDER_DEFAULT );
convertScaleAbs( sobel_x, sobel_abs_x );
// Gradient Y
Sobel( src_gray, sobel_y, SOBEL_DEPTH, 0, 1, 3, SOBEL_SCALE, SOBEL_DELTA, BORDER_DEFAULT );
convertScaleAbs( sobel_y, sobel_abs_y );
// Total Gradient
addWeighted( sobel_abs_x, 0.5, sobel_abs_y, 0.5, 0, grad );
/*------------------------- Storing the Image ---------------------------*/
// Storing the Image
sprintf(frame_name2,"Sobel_frame_no_%05u.ppm",i);
imwrite(frame_name2, grad);
}
// End of 'for' loop
return (NULL);
}
// extract patches from database images
bool ObjPatchMatcher::PreparePatchDB(DatasetName db_name) {
patch_meta.objects.clear();
cout<<patch_meta.objects.max_size()<<endl;
DataManagerInterface* db_man = NULL;
if(db_name == DB_NYU2_RGBD)
db_man = new NYUDepth2DataMan;
if(db_name == DB_SALIENCY_RGBD)
db_man = new RGBDECCV14;
srand(time(0));
FileInfos imgfns, dmapfns;
db_man->GetImageList(imgfns);
random_shuffle(imgfns.begin(), imgfns.end());
imgfns.erase(imgfns.begin()+30, imgfns.end());
db_man->GetDepthmapList(imgfns, dmapfns);
map<string, vector<VisualObject>> gt_masks;
db_man->LoadGTMasks(imgfns, gt_masks);
int gt_obj_cnt = 0;
gt_obj_masks.clear();
for(size_t i=0; i<imgfns.size(); i++) {
// color
Mat cimg = imread(imgfns[i].filepath);
Size newsz(400, 400);
//tools::ToolFactory::compute_downsample_ratio(Size(cimg.cols, cimg.rows), 400, newsz);
resize(cimg, cimg, newsz);
// depth
Mat dmap_float;
db_man->LoadDepthData(dmapfns[i].filepath, dmap_float);
resize(dmap_float, dmap_float, newsz);
dmap_float.convertTo(dmap_float, CV_32F, 1000);
Mat cmp_mask;
compare(dmap_float, 800, cmp_mask, CMP_LT);
dmap_float.setTo(800, cmp_mask);
compare(dmap_float, 7000, cmp_mask, CMP_GT);
dmap_float.setTo(7000, cmp_mask);
dmap_float = (dmap_float-800)/(7000-800);
// get label image
Mat lable_mask = Mat::zeros(newsz.height, newsz.width, CV_8U);
Mat label_id_mask = Mat::zeros(newsz.height, newsz.width, CV_32S)-1;
vector<VisualObject>& gt_objs = gt_masks[imgfns[i].filename];
for(auto& cur_gt : gt_objs) {
//if( !valid_cls[cur_gt.category_id] ) continue;
resize(cur_gt.visual_data.mask, cur_gt.visual_data.mask, newsz);
label_id_mask.setTo(gt_obj_cnt++, cur_gt.visual_data.mask);
gt_obj_masks.push_back(cur_gt.visual_data.mask);
lable_mask.setTo(1, cur_gt.visual_data.mask);
}
imshow("color", cimg);
ImgVisualizer::DrawFloatImg("depth", dmap_float);
imshow("label", lable_mask*255);
waitKey(10);
// do edge detection to locate boundary point quickly
Mat gray_img, edge_map, gray_img_float;
cvtColor(cimg, gray_img, CV_BGR2GRAY);
gray_img.convertTo(gray_img_float, CV_32F, 1.f/255);
Canny(gray_img, edge_map, 10, 50);
Mat grad_x, grad_y, grad_mag;
Sobel(gray_img_float, grad_x, CV_32F, 1, 0);
Sobel(gray_img_float, grad_y, CV_32F, 0, 1);
magnitude(grad_x, grad_y, grad_mag);
Mat pts3d, normal_map;
if(use_depth) {
Feature3D feat3d;
feat3d.ComputeKinect3DMap(dmap_float, pts3d, false);
feat3d.ComputeNormalMap(pts3d, normal_map);
}
// selected patch indicator, avoid very close duplicate patches
Mat picked_patch_mask = Mat::zeros(lable_mask.rows, lable_mask.cols, CV_8U);
// extract patches
for(int r=patch_size.height/2; r<edge_map.rows-patch_size.height/2; r+=3) {
for(int c=patch_size.width/2; c<edge_map.cols-patch_size.width/2; c+=3) {
if( edge_map.at<uchar>(r,c) == 0 ) continue;
// only use perfect boundary points
Point center_pt(c, r), left_pt(c-1, r), right_pt(c+1, r), top_pt(c, r-1), bottom_pt(c, r+1);
if(lable_mask.at<uchar>(center_pt) == lable_mask.at<uchar>(left_pt) &&
lable_mask.at<uchar>(center_pt) == lable_mask.at<uchar>(right_pt) &&
lable_mask.at<uchar>(center_pt) == lable_mask.at<uchar>(top_pt) &&
lable_mask.at<uchar>(center_pt) == lable_mask.at<uchar>(bottom_pt) );
//continue;
// set picked
picked_patch_mask.at<uchar>(center_pt) = 1;
VisualObject cur_patch;
cur_patch.meta_data.img_path = imgfns[i].filepath;
Rect box(c-patch_size.width/2, r-patch_size.height/2, patch_size.width, patch_size.height);
cur_patch.visual_data.bbox = box;
// find which object is dominant
map<int, int> obj_label_cnt;
int max_num = 0;
cur_patch.meta_data.category_id = -1;
for(int rr=box.y; rr<box.br().y; rr++) for(int cc=box.x; cc<box.br().x; cc++) {
int cur_id = label_id_mask.at<int>(rr,cc);
if(cur_id != -1)
{
obj_label_cnt[cur_id]++;
if(obj_label_cnt[cur_id] > max_num)
{
max_num = obj_label_cnt[cur_id];
cur_patch.meta_data.category_id= cur_id;
}
}
}
/*vector<ImgWin> boxes; boxes.push_back(box);
ImgVisualizer::DrawWinsOnImg("", cimg, boxes);
if(cur_patch.category_id != -1) {
imshow("mask", gt_obj_masks[cur_patch.category_id]*255);
waitKey(0);
}*/
lable_mask(box).convertTo(cur_patch.visual_data.mask, CV_32F);
// extract feature vector
gray_img_float(box).copyTo( cur_patch.visual_data.custom_feats["gray"] );
//grad_mag(box).copyTo( cur_patch.visual_desc.extra_features["gradient"] );
if(use_depth) {
normal_map(box).copyTo( cur_patch.visual_data.custom_feats["normal"] );
dmap_float(box).copyTo( cur_patch.visual_data.custom_feats["depth"] );
/*ImgVisualizer::DrawFloatImg("depthmask", cur_patch.visual_desc.extra_features["depth"]);
cout<<"new box"<<endl;
waitKey(0);*/
}
Mat feat;
ComputePatchFeat(cur_patch.visual_data.custom_feats, feat);
patch_data.push_back(feat);
patch_meta.objects.push_back(cur_patch);
}
//}
//}
}
cout<<"finished image: "<<i<<"/"<<imgfns.size()<<endl;
cout<<"db size: "<<patch_data.rows<<endl;
}
cout<<"total patch number: "<<patch_data.rows<<endl;
if(use_code) {
// compress to codes
LSHCoder lsh_coder;
if( !lsh_coder.LearnOptimalCodes(patch_data, 64, patch_keys) ) {
return false;
}
}
return true;
}
Mat imcvLoadImages(char *filename, uint8 opentype)
{
return (imread(filename,opentype));
}
// CMYTEST2Doc 命令
BOOL CMYTEST2Doc::OnOpenDocument(LPCTSTR lpszPathName)
{
if (!CDocument::OnOpenDocument(lpszPathName))
return FALSE;
if(GetFileExt(lpszPathName).CompareNoCase(_T("")) == 0) // 打开数据文件
{
CDlgRawData Dlg;
if(Dlg.DoModal()==IDOK)
{
switch((ImageType)Dlg.m_ImageType)
{
case IMAGE_TYPE_8BITS:
m_srcType = CV_8UC1;
break;
case IMAGE_TYPE_16BITS:
m_srcType = CV_16UC1;
break;
default:
break;
}
m_srcWidth=Dlg.m_width;
m_srcHeight=Dlg.m_height;
LONGLONG m_nGap=Dlg.m_nGap;
LONGLONG m_nOffset=Dlg.m_nOffset;
BOOL LittleEndian=Dlg.LittleEndian;
bWhiteZero=Dlg.WhiteZero;
m_nMaxCurrentFrm=Dlg.m_nFrame;
CFile pFile;
if(pFile.Open(lpszPathName, CFile::modeRead |CFile::typeBinary)==FALSE)
{
MessageBox(NULL, TEXT("Wrong file!"), TEXT("Open"), MB_OK);
return FALSE;
}
if (m_srcRGB.empty()==false) // 如果img已分配空间
{
if (m_srcRGB.cols!=m_srcWidth || m_srcRGB.rows!=m_srcHeight || m_srcRGB.type()!=m_srcType)
{
m_srcRGB.release(); // 如果宽高或类型不相符，删除重新分配
m_srcRGB.create(m_srcHeight, m_srcWidth, m_srcType); // 创建图像缓存
}
}
else
m_srcRGB.create(m_srcHeight, m_srcWidth, m_srcType); // 创建缓存
// 图像像素数
UINT nPixel = m_srcHeight*m_srcWidth;
UINT i, j;
// 指向帧数据位置
LONGLONG pos = m_nOffset+m_nCurrentFrm*(m_nGap+nPixel*sizeof(ushort)); // 首帧前的偏移+当前帧数*(帧间隔区+每帧大小)
LONGLONG sizebuff = pFile.Seek(pos, CFile::begin);//文件移动到特定的偏移量
ushort *pSource = new ushort[nPixel];
pFile.Read(pSource,nPixel*sizeof(ushort));
// 医学图像大部分在0——4096之间
m_srcMaxValue = 4096;
m_srcMinValue = 0;
// 将数据导入Mat中
for (i=0; i<m_srcHeight; i++)
{
ushort *ps = m_srcRGB.ptr<ushort>(i);
for (j=0 ; j<m_srcWidth; j++)
{
ps[j] = ushort(pSource[i*m_srcWidth+j]);
}
}
delete []pSource;
pFile.Close();
if (m_srcRGB.empty())
{
MessageBox(NULL, TEXT("装载图像文件失败!"), TEXT("Open"), MB_OK);
return FALSE;
}
Mat m_dstRGB=m_srcRGB;
Dst=m_srcRGB;
//保存至CImage中供显示
m_pPic.Destroy();
Mat16bToCImage(m_srcMaxValue, m_srcMinValue,m_dstRGB,bWhiteZero); // 专用于16bit数据文件
}
}
else // 打开普通图像
{
string pathname = CString2StdString(lpszPathName);
m_srcRGB = imread(pathname);
if (m_srcRGB.empty())
{
MessageBox(NULL, TEXT("装载图像文件失败!"), TEXT("Open"), MB_OK);
return FALSE;
}
//保存至CImage中供显示
m_pPic.Destroy();
Mat8bToCImage(); // 用于8bit普通图像
}
return TRUE;
}
int main(int argc, char **argv)
{
char c;
char *filepath;
int cut_horizontal = 0;
int cut_vertical = 0;
int timed = 0;
int show = 0;
while ((c = getopt(argc, argv, "f:h:v:ts")) != -1) {
switch (c) {
case 'f': filepath = optarg; break;
case 'h': cut_horizontal = (int)strtol(optarg, NULL, 10); break;
case 'v': cut_vertical = (int)strtol(optarg, NULL, 10); break;
case 't': timed = 1; break;
case 's': show = 1; break;
default: exit(1);
}
}
// OpenCL boilerplate
std::string ..._kernel_str;
std::string ..._name_str = std::string("...");
std::string ..._kernel_file = std::string("...");
cl_vars_t cv;
cl_kernel ...;
readFile(..._kernel_file, ..._kernel_str);
initialize_ocl(cv);
compile_ocl_program(..., cv, ..._kernel_str.c_str(), ..._name_str.c_str());
// Read image
Mat_<Vec3b> image = imread(filepath);
if (!image.data) {
cout << "Invalid input";
image.release();
return -1;
}
if (show) {
imshow("Original Image", image);
}
SeamCarver s(image);
// imshow("Gradient", s.energy);
// Mat tmp = s.energy/195075.0*255.0;
// s.energy.convertTo(tmp,CV_8U,-1);
// imwrite("bench_gradient.jpg", tmp);
// vector<uint> sm = s.findVerticalSeam();
// s.showVerticalSeam(sm);
// Carving happens here
double start = get_time();
...;
double elapsed = get_time() - start;
// --------------------
// double start = get_time();
// for (int i = 0; i < cut_horizontal; ++i) {
// vector<uint> seam = s.findHorizontalSeam();
// // s.showHorizontalSeam(seam);
// s.removeHorizontalSeam(seam);
// }
// for (int i = 0; i < cut_vertical; ++i) {
// vector<uint> seam = s.findVerticalSeam();
// // s.showVerticalSeam(seam);
// s.removeVerticalSeam(seam);
// }
// double elapsed = get_time() - start;
if (timed) {
printf("Elapsed time: %.3lf seconds\n", elapsed);
}
Mat_<Vec3b> output = s.getImage();
imwrite("scarved.jpg", output);
if (show) {
imshow("Carved Image", output);
while (waitKey(20) != 27);
}
// cout << "Seam Length: " << seam.size() << endl;
// s.showImage();
// s.showEnergy();
// imwrite("bench_carved.jpg", s.getImage());
// for (int i = 0; i < 5; ++i) {
// for (int j = 0; j < 5; ++j) {
// cout << s.energy.at<uint32_t>(i,j) << " ";
// }
// cout << endl;
// }
uninitialize_ocl(cv);
...;
clReleaseMemObject(...);
image.release();
return 0;
}
void ObjectTester::TestObjectRanking(const DatasetName& dbname)
{
// load dataset
FileInfos img_fns;
FileInfos dmap_fns;
map<string, vector<ImgWin>> rawgtwins;
NYUDepth2DataMan nyudata;
Berkeley3DDataManager berkeleydata;
if(dbname == DB_NYU2_RGBD)
{
nyudata.GetImageList(img_fns);
nyudata.GetDepthmapList(dmap_fns);
if(img_fns.size() != dmap_fns.size())
return;
nyudata.LoadGTWins(img_fns, rawgtwins);
}
if(dbname == DB_BERKELEY3D)
{
berkeleydata.GetImageList(img_fns);
berkeleydata.GetDepthmapList(dmap_fns);
if(img_fns.size() != dmap_fns.size())
return;
berkeleydata.LoadGTWins(img_fns, rawgtwins);
}
GenericObjectDetector detector;
if( !detector.InitBingObjectness() )
return;
SalientRegionDetector saldet;
SalientRGBDRegionDetector salrgbd;
DepthSaliency depth_sal;
vector<vector<ImgWin>> objdetwins(img_fns.size()), saldetwins(img_fns.size()), depthdetwins;
vector<vector<ImgWin>> gtwins(img_fns.size());
#pragma omp parallel for
for (int i=0; i<img_fns.size(); i++)
{
// read image
Mat curimg = imread(img_fns[i].filepath);
if(curimg.empty())
continue;
// read depth
Mat curdmap;
if(dbname == DB_NYU2_RGBD)
if( !nyudata.LoadDepthData(dmap_fns[i].filepath, curdmap) )
continue;
if(dbname == DB_BERKELEY3D)
if( !berkeleydata.LoadDepthData(dmap_fns[i].filepath, curdmap) )
continue;
//#define VERBOSE
#ifdef VERBOSE
// show gt
visualsearch::ImgVisualizer::DrawImgWins("gt", curimg, rawgtwins[img_fns[i].filename]);
visualsearch::ImgVisualizer::DrawFloatImg("dmap", curdmap, Mat());
#endif
// normalize to image
//normalize(curdmap, curdmap, 0, 255, NORM_MINMAX);
//curdmap.convertTo(curdmap, CV_8U);
//cvtColor(curdmap, curdmap, CV_GRAY2BGR);
//imshow("depthimg", curdmap);
//waitKey(10);
//visualsearch::ImgVisualizer::DrawImgWins("b3d", curimg, rawgtwins[img_fns[i].filename]);
//waitKey(0);
// resize
Size newsz;
//ToolFactory::compute_downsample_ratio(Size(curimg.cols, curimg.rows), 300, newsz);
//resize(curimg, curimg, newsz);
double start_t = getTickCount();
// get objectness windows
vector<ImgWin> objboxes;
detector.GetObjectsFromBing(curimg, objboxes, 1000);
//visualsearch::ImgVisualizer::DrawImgWins("objectness", curimg, objboxes);
cout<<"objectness: "<<(double)(getTickCount()-start_t) / getTickFrequency()<<endl;
start_t = getTickCount();
// rank
normalize(curdmap, curdmap, 0, 255, NORM_MINMAX);
vector<ImgWin> salboxes = objboxes;
int saltype = SAL_COLOR | SAL_DEPTH;
salrgbd.Init(saltype, curimg, curdmap);
salrgbd.RankWins(salboxes);
//depth_sal.RankWins(curdmap, salboxes);
cout<<"Depth ranking: "<<(double)(getTickCount()-start_t) / getTickFrequency()<<endl;
#ifdef VERBOSE
vector<Mat> imgs(50);
for (int i=0; i<50; i++)
{
imgs[i] = curimg(salboxes[i]);
}
Mat dispimg;
visualsearch::ImgVisualizer::DrawImgCollection("objectness", imgs, 50, 15, dispimg);
imshow("objectness", dispimg);
visualsearch::ImgVisualizer::DrawImgWins("saldet", curimg, salboxes);
waitKey(0);
#endif
/*saldet.g_para.segThresholdK = 200;
saldet.Init(curdmap);
saldet.RankWins(salboxes);*/
//visualsearch::ImgVisualizer::DrawImgWins("sal", curimg, salboxes);
//waitKey(0);
// add to collection
objdetwins[i] = objboxes;
saldetwins[i] = salboxes;
gtwins[i] = rawgtwins[img_fns[i].filename];
cout<<"Finish detection on "<<i<<"/"<<img_fns.size()<<endl;
}
// evaluation
WindowEvaluator eval;
vector<Point2f> objprvals, salprvals, depthprvals;
int topnum[] = {1, 5, 10, 50, 100, 200, 500, 800, 1000};
for(int i=0; i<9; i++)
{
Point2f curpr = eval.ComputePR(objdetwins, gtwins, topnum[i]);
objprvals.push_back(curpr);
curpr = eval.ComputePR(saldetwins, gtwins, topnum[i]);
salprvals.push_back(curpr);
}
// save to file
ofstream out1("nyu_objpr.txt");
for (size_t i=0; i<objprvals.size(); i++) out1<<objprvals[i].x<<" "<<objprvals[i].y<<endl;
ofstream out2("nyu_rgbdpr.txt");
for (size_t i=0; i<salprvals.size(); i++) out2<<salprvals[i].x<<" "<<salprvals[i].y<<endl;
cout<<"Finish evaluation"<<endl;
}
int _tmain(int argc, _TCHAR* argv[])
{
// initModule_nonfree();//if use SIFT or SURF
// Ptr<FeatureDetector> detector = FeatureDetector::create( "SIFT" );
// Ptr<DescriptorExtractor> descriptor_extractor = DescriptorExtractor::create( "SIFT" );
// Ptr<DescriptorMatcher> descriptor_matcher = DescriptorMatcher::create( "BruteForce" );
// if( detector.empty() || descriptor_extractor.empty() )
// throw runtime_error("fail to create detector!");
//
// Mat img1 = imread("E:\\DayBreakZcs\\ImageProcessing\\source\\test3.jpg");
// Mat img2 = imread("E:\\DayBreakZcs\\ImageProcessing\\source\\test2.jpg");
//
// //detect keypoints;
// vector<KeyPoint> keypoints1,keypoints2;
// detector->detect( img1, keypoints1 );
// detector->detect( img2, keypoints2 );
// cout <<"img1:"<< keypoints1.size() << " points img2:" <<keypoints2.size()
// << " points" << endl << ">" << endl;
//
// //compute descriptors for keypoints;
// cout << "< Computing descriptors for keypoints from images..." << endl;
// Mat descriptors1,descriptors2;
// descriptor_extractor->compute( img1, keypoints1, descriptors1 );
// descriptor_extractor->compute( img2, keypoints2, descriptors2 );
//
// cout<<endl<<"Descriptors Size: "<<descriptors2.size()<<" >"<<endl;
// cout<<endl<<"Descriptor's Column: "<<descriptors2.cols<<endl
// <<"Descriptor's Row: "<<descriptors2.rows<<endl;
// cout << ">" << endl;
//
// //Draw And Match img1,img2 keypoints
// Mat img_keypoints1,img_keypoints2;
// drawKeypoints(img1,keypoints1,img_keypoints1,Scalar::all(-1),0);
// drawKeypoints(img2,keypoints2,img_keypoints2,Scalar::all(-1),0);
// imshow("Box_in_scene keyPoints",img_keypoints1);
// imshow("Box keyPoints",img_keypoints2);
//
// descriptor_extractor->compute( img1, keypoints1, descriptors1 );
// vector<DMatch> matches;
// descriptor_matcher->match( descriptors1, descriptors2, matches );
//
// Mat img_matches;
// drawMatches(img1,keypoints1,img2,keypoints2,matches,img_matches,Scalar::all(-1),CV_RGB(255,255,255),Mat(),4);
//
// imshow("Mathc",img_matches);
// waitKey(0);
// return 0;
// return 0;
Mat image = imread("E:\\DayBreakZcs\\ImageProcessing\\source\\test4.jpg");
Mat descriptors;
vector<KeyPoint> keypoints;
SimpleBlobDetector::Params params;
params.minThreshold = 10;
params.maxThreshold = 100;
params.thresholdStep = 10;
params.minArea = 10;
params.minConvexity = 0.3;
params.minInertiaRatio = 0.01;
params.maxArea = 8000;
params.maxConvexity = 10;
params.filterByColor = false;
params.filterByCircularity = false;
SimpleBlobDetector blobDetector( params );
blobDetector.create("SimpleBlob");
blobDetector.detect( image, keypoints );
drawKeypoints(image, keypoints, image, Scalar(255,0,0));
imshow("Mathc",image);
waitKey(0);
}