int camCopy(CamImage* source, CamImage* dest) { int x,y,i,n,c,special=0; int width,height; CAM_PIXEL *srcptr,*cpsrcptr; CAM_PIXEL_DST *dstptr,*cpdstptr; CamROI roi,roi2,*tmp,*tmp2; #ifdef CAM_SATURATE int valpix; int valmin=0, valmax=255; #endif CamRun *run; int startx,endx; CamInternalROIPolicyStruct iROI; if (dest->imageData) { // Special cases : // Grey to color conversion : source is one channel, and dest is several channels (3 or 4) if (((source->nChannels==1)||((source->roi)&&(source->roi->coi))) &&(dest->nChannels!=1)&&((dest->roi==NULL)||(dest->roi->coi==0))) special=1; // 3 to 4 channels conversion : RGB->RGBA. Adding an alpha channel else if ((source->nChannels==3)&&(dest->nChannels==4)&& ((source->roi==NULL)||(source->roi->coi==0))&& ((dest->roi==NULL)||(dest->roi->coi==0))) special=2; // 4 to 3 channels conversion : RGBA -> RGB. Removing an alpha channel else if ((source->nChannels==4)&&(dest->nChannels==3)&& ((source->roi==NULL)||(source->roi->coi==0))&& ((dest->roi==NULL)||(dest->roi->coi==0))) special=2; } if (special) { tmp=dest->roi; if (dest->roi) { roi=*tmp; } else { camSetMaxROI(&roi,dest); } dest->roi=&roi; roi.coi=1; n=dest->nChannels; if (n==4) n=3; // Doesn't copy to the alpha channel if (special==2) { tmp2=source->roi; if (source->roi) { roi2=*tmp2; } else { camSetMaxROI(&roi2,source); } source->roi=&roi2; roi2.coi=1; } } else n=1; for (c=0;c<n;c++) { // ROI (Region Of Interest) management CAM_CHECK(camCopy,camInternalROIPolicy(source, dest, &iROI, 1)); CAM_CHECK_ARGS(camCopy,(source->depth&CAM_DEPTH_MASK)<=(sizeof(CAM_PIXEL)*8)); CAM_CHECK_ARGS(camCopy,(source->depth&CAM_DEPTH_MASK)>=8); CAM_CHECK_ARGS(camCopy,(dest->depth&CAM_DEPTH_MASK)<=(sizeof(CAM_PIXEL_DST)*8)); CAM_CHECK_ARGS(camCopy,(dest->depth&CAM_DEPTH_MASK)>=8); CAM_CHECK_ARGS(camCopy,(source->depth&CAM_DEPTH_SIGN)==(dest->depth&CAM_DEPTH_SIGN)); width=iROI.srcroi.width; height=iROI.srcroi.height; srcptr=(CAM_PIXEL*)iROI.srcptr; dstptr=(CAM_PIXEL_DST*)iROI.dstptr; INIT_MASK_MANAGEMENT; if (source->dataOrder==CAM_DATA_ORDER_PIXEL) { if (dest->dataOrder==CAM_DATA_ORDER_PIXEL) { for (y=0;y<height;y++) { cpsrcptr=srcptr; cpdstptr=dstptr; BEGIN_MASK_MANAGEMENT( \ srcptr=cpsrcptr+startx*iROI.srcinc;\ dstptr=cpdstptr+startx*iROI.dstinc;\ ) #if CAM_FAST==8 if ((iROI.srcinc==iROI.dstinc)&&(iROI.srcinc==iROI.nChannels)) { memcpy(dstptr,srcptr,(endx-startx)*iROI.nChannels); } else #else #if CAM_FAST==16 if ((iROI.srcinc==iROI.dstinc)&&(iROI.srcinc==iROI.nChannels)) { memcpy(dstptr,srcptr,((endx-startx)*iROI.nChannels)<<1); } else #endif #endif { for (x=startx;x<endx;x++) { for (i=0;i<iROI.nChannels;i++) { #ifdef CAM_SATURATE valpix=*(srcptr+i); if (valpix<valmin) valpix=valmin; else if (valpix>valmax) valpix=valmax; *(dstptr+i)=valpix; #else *(dstptr+i)=(CAM_PIXEL_DST)*(srcptr+i); #endif } srcptr+=iROI.srcinc; dstptr+=iROI.dstinc; } } END_MASK_MANAGEMENT; srcptr=(CAM_PIXEL*)(((char*)cpsrcptr)+source->widthStep); dstptr=(CAM_PIXEL_DST*)(((char*)cpdstptr)+dest->widthStep); } } else { for (y=0;y<height;y++) { cpsrcptr=srcptr; cpdstptr=dstptr; BEGIN_MASK_MANAGEMENT( \ srcptr=cpsrcptr+startx*iROI.srcinc;\ dstptr=cpdstptr+startx; ) for (x=startx;x<endx;x++) { for (i=0;i<iROI.nChannels;i++) { #ifdef CAM_SATURATE valpix=*(srcptr+i); if (valpix<valmin) valpix=valmin; else if (valpix>valmax) valpix=valmax; *(dstptr+i*iROI.dstpinc)=valpix; #else *(dstptr+i*iROI.dstpinc)=(CAM_PIXEL_DST)*(srcptr+i); #endif } srcptr+=iROI.srcinc; dstptr++; } END_MASK_MANAGEMENT; srcptr=(CAM_PIXEL*)(((char*)cpsrcptr)+source->widthStep); dstptr=(CAM_PIXEL_DST*)(((char*)cpdstptr)+dest->widthStep); } }
int camKeypointsRecursiveDetector(CamImage *source, CamImage *integral, CamKeypoints *points, int nb_max_keypoints, int options) { CamImage filter; CamInternalROIPolicyStruct iROI; CamROI *roi, roix; int i, width, height; CamKeypointShort *keypoints; int pnb_keypoints; int nb_keypoints = 0; unsigned int *abs_value_lines[2]; int *value_lines[2]; unsigned char *scale_lines[2]; unsigned char *lmax_lines[2]; unsigned int *lmax[2], nblmax[2]; int widthStep; camPatchSizeParam = 16; //32 * 2 / 3; // Equivalent optimal value wrt SURF (the descriptor can partially lie outside screen) // Parameters checking CAM_CHECK(camKeypointsRecursiveDetector, camInternalROIPolicy(source, NULL, &iROI, 1)); CAM_CHECK_ARGS(camKeypointsRecursiveDetector, (source->depth & CAM_DEPTH_MASK) >= 8); CAM_CHECK_ARGS(camKeypointsRecursiveDetector, points->allocated >= 0); CAM_CHECK_ARGS(camKeypointsRecursiveDetector, source->nChannels == 1 || ((source->nChannels == 3) && (source->dataOrder == CAM_DATA_ORDER_PLANE))); width = iROI.srcroi.width; height = iROI.srcroi.height; if (!integral) { // Compute integral image integral = (CamImage*)malloc(sizeof(CamImage)); integral->imageData = NULL; roi = source->roi; camSetMaxROI(&roix, source); roix.coi = 1; source->roi = &roix; camIntegralImage(source, integral); // Computed on the whole frame, not only on ROI integral->roi = &iROI.srcroi; source->roi = roi; } widthStep = integral->widthStep / 4; // Allocate temp memory for keypoints keypoints = (CamKeypointShort*)malloc(CAM_MAX_KEYPOINTS * sizeof(CamKeypointShort)); points->nbPoints = 0; // Allocate value and scale lines for (i = 0; i < 2; i++) { scale_lines[i] = (unsigned char*)malloc(width * sizeof(unsigned char)); value_lines[i] = (int*)malloc(width * sizeof(int)); abs_value_lines[i] = (unsigned int*)malloc(width * sizeof(unsigned int)); lmax_lines[i] = (unsigned char*)malloc(width * sizeof(unsigned char)); lmax[i] = (unsigned int*)malloc(width * sizeof(unsigned int)); nblmax[i] = 0; } // Go ! { int y; int max_scale_y; unsigned int *abs_current_value_line, *abs_previous_value_line; int *current_value_line, *previous_value_line; unsigned char *current_scale_line, *previous_scale_line; unsigned char *current_lmax_line, *previous_lmax_line; unsigned int *current_lmax, *previous_lmax; unsigned int current_nblmax, previous_nblmax; current_value_line = value_lines[0]; previous_value_line = value_lines[1]; abs_current_value_line = abs_value_lines[0]; abs_previous_value_line = abs_value_lines[1]; current_scale_line = scale_lines[0]; previous_scale_line = scale_lines[1]; current_lmax_line = lmax_lines[0]; previous_lmax_line = lmax_lines[1]; current_lmax = lmax[0]; previous_lmax = lmax[1]; // Fill the previous value line with a dummy value for (i = 0; i < width; i++) { abs_previous_value_line[i] = 0; previous_value_line[i] = 0; previous_scale_line[i] = 1; previous_lmax_line[i] = 0; } current_nblmax = 0; previous_nblmax = 0; for (y = 0; y < height; y++) { int x, v; // max_scale is the biggest scale we may apply. It must be more than 0, otherwise we can't do any image processing max_scale_y = (y + iROI.srcroi.yOffset) >> 1; // The preceding formula comes from : // - When iROI.yOffset is 0, max_scale should be 1 when y is 2 (1 pixel margin due to integral image) // - When iROI.yOffset is 0, max_scale should be 1 when y is 3 (1 pixel margin due to integral image) // - When iROI.yOffset is 0, max_scale should be 2 when y is 4 (1 pixel margin due to integral image) // Check max_scale with the bottom line v = (source->height - 1 - (y + iROI.srcroi.yOffset)) >> 1; // The preceding formula comes from "When iROI.yOffset is 0, max_scale should be 1 when y is equal to source->height - 3 if (v < max_scale_y) max_scale_y = v; if (max_scale_y < 1) { // We can't compute anything for that line for (i = 0; i < width; i++) { current_value_line[i] = 0; current_scale_line[i] = 1; } } else { int scale_up = 1; int current_value = 0; unsigned int abs_current_value = 0; int current_scale = 1; unsigned int *ptr = ((unsigned int*)(integral->imageData + (y + iROI.srcroi.yOffset) * integral->widthStep)) + iROI.srcroi.xOffset; int s1, s2; for (x = 0; x < width; x++, ptr++) { int first_scale = current_scale; int max_scale = max_scale_y; // Check max_scale with the left side of the frame v = (x + iROI.srcroi.xOffset) >> 1; if (v < max_scale) max_scale = v; // Check max_scale with the right side of the frame v = (source->width -1 - (x + iROI.srcroi.xOffset)) >> 1; if (v < max_scale) max_scale = v; // We need a scale margin in order to compute the descriptor max_scale -= CAM_SCALE_MARGIN; // Choose the first scale to evaluate, depending on upper and left results if (abs_previous_value_line[x] > abs_current_value) first_scale = previous_scale_line[x]; if (first_scale <= max_scale) { // Evaluate at first scale int scale = first_scale; // alias int yoffset = scale * widthStep; int value; #define CAM_RECURSIVE_PATTERN \ { \ unsigned int *ptrAi = ptr - (yoffset + scale); \ unsigned int *ptrDi = ptr + (yoffset + scale); \ unsigned int *ptrBi = ptr - (yoffset - scale); \ unsigned int *ptrCi = ptr + (yoffset - scale); \ unsigned int valin = *ptrDi - *ptrBi - *ptrCi + *ptrAi; \ unsigned int *ptrAo = ptr - ((yoffset + scale) << 1); \ unsigned int *ptrDo = ptr + ((yoffset + scale) << 1); \ unsigned int *ptrBo = ptr - ((yoffset - scale) << 1); \ unsigned int *ptrCo = ptr + ((yoffset - scale) << 1); \ unsigned int valout = *ptrDo - *ptrBo - *ptrCo + *ptrAo; \ value = valout - (valin << 2); \ } CAM_RECURSIVE_PATTERN; current_scale = scale; current_value = value; abs_current_value = abs(value); // Let's see if we go upscale or not... if (scale_up && scale < max_scale) { // OK. Let's test the upscale scale++; yoffset += widthStep; CAM_RECURSIVE_PATTERN; s1 = current_scale * current_scale; s2 = scale * scale; if (((CAM_INT64)abs(value)) * s1 > (CAM_INT64)abs_current_value * s2) { // Yes. That was a good hint current_scale = scale; current_value = value; abs_current_value = abs(value); // Let's test again at higher scale if (scale < max_scale) { scale++; yoffset += widthStep; CAM_RECURSIVE_PATTERN; s1 = current_scale * current_scale; s2 = scale * scale; if (((CAM_INT64)abs(value)) * s1 > (CAM_INT64)abs_current_value * s2) { // Even better current_scale = scale; current_value = value; abs_current_value = abs(value); // And we stop there, satisfied... } } } else { // Oh, oh... Apparently, that was not a good hint to go upscale... // Let's try to downscale then... scale -= 2; if (scale > 0 && scale <= max_scale) { yoffset -= widthStep << 1; CAM_RECURSIVE_PATTERN; s1 = current_scale * current_scale; s2 = scale * scale; if (((CAM_INT64)abs(value)) * s1 > (CAM_INT64)abs_current_value * s2) { // Yes. It's better scale_up = 0; // This is the hint for next time current_scale = scale; current_value = value; abs_current_value = abs(value); } // And we stop there, satisfied... } } } else { // OK. Let's test the downscale scale--; if (scale > 0 && scale <= max_scale) { yoffset -= widthStep; CAM_RECURSIVE_PATTERN; if (((CAM_INT64)abs(value)) * current_scale * current_scale > (CAM_INT64)abs_current_value * scale * scale) { // Yes. That was a good hint. current_scale = scale; current_value = value; abs_current_value = abs(value); // Let's test again at lower scale scale--; if (scale > 0 && scale <= max_scale) { yoffset -= widthStep; CAM_RECURSIVE_PATTERN; s1 = current_scale * current_scale; s2 = scale * scale; if (((CAM_INT64)abs(value)) * s1 > (CAM_INT64)abs_current_value * s2) { // Even better current_scale = scale; current_value = value; abs_current_value = abs(value); // And we stop there, satisfied... } } } else { // Oh, oh... Apparently, that was not a good hint to go downscale... // Let's try to upscale then... scale += 2; if (scale > 0 && scale <= max_scale) { yoffset += widthStep << 1; CAM_RECURSIVE_PATTERN; s1 = current_scale * current_scale; s2 = scale * scale; if (((CAM_INT64)abs(value)) * s1 > (CAM_INT64)abs_current_value * s2) { // Yes. It's better scale_up = 1; // This is the hint for next time current_scale = scale; current_value = value; abs_current_value = abs(value); } // And we stop there, satisfied... } } } else { // Oh, oh... Apparently, that was not a good hint to go downscale... // Let's try to upscale then... scale += 2; if (scale > 0 && scale <= max_scale) { yoffset += widthStep; CAM_RECURSIVE_PATTERN; s1 = current_scale * current_scale; s2 = scale * scale; if (((CAM_INT64)abs(value)) * s1 > (CAM_INT64)abs_current_value * s2) { // Yes. It's better scale_up = 1; // This is the hint for next time current_scale = scale; current_value = value; abs_current_value = abs(value); } // And we stop there, satisfied... } } } } else { // Skip this pixel and go back to small scale current_value = 0; abs_current_value = 0; current_scale = 1; scale_up = 1; } current_value = (current_value << 4) / (current_scale * current_scale); abs_current_value = abs(current_value); // Now, we do have the current_value, current_scale and abs_current_value // Let's check whether it is a local maximum or not { // If the current value is strictly greater than all the other values, then this is a local maximum and // the other pixels are marked as NOT being local maxima // If the current value is greater or equal to all neighbours, then this ia marked to be a local maximum // but the other pixels are kept as local maxima // If the current value is greater than any neighbour, this neighbour is marked as not being a local maximum int local_maximum = 1; if (x > 0) { // Compare to the left and upper-left pixel if (abs_current_value_line[x - 1] > abs_current_value) local_maximum = 0; else current_lmax_line[x - 1] = 0; if (abs_previous_value_line[x - 1] > abs_current_value) local_maximum = 0; else previous_lmax_line[x - 1] = 0; } // Compare to pixel above if (abs_previous_value_line[x] > abs_current_value) local_maximum = 0; else previous_lmax_line[x] = 0; if (x < width - 1) { // Compare to the upper right pixel if (abs_previous_value_line[x + 1] > abs_current_value) local_maximum = 0; else previous_lmax_line[x + 1] = 0; } if (local_maximum && abs_current_value > 0) { current_lmax[current_nblmax++] = x; current_lmax_line[x] = 1; } } // Record the data for next line evaluation current_value_line[x] = current_value; abs_current_value_line[x] = abs_current_value; current_scale_line[x] = current_scale; //if (y == 100) { //printf("y=%d x=%d value=%d abs=%d scale=%d\n", y, x, current_value, abs_current_value, current_scale); //} } } // Check the local maxima on the previous line, and record the keypoints IF they are local maxima for (i = 0; i != previous_nblmax; i++) { if (previous_lmax_line[previous_lmax[i]]) { int scale = previous_scale_line[previous_lmax[i]]; if (scale >= CAM_MIN_SCALE) { // Yes, we have definitely a local maximum // Record the keypoint keypoints[nb_keypoints].x = previous_lmax[i]; keypoints[nb_keypoints].y = y - 1; keypoints[nb_keypoints].scale = scale; keypoints[nb_keypoints].value = previous_value_line[previous_lmax[i]]; nb_keypoints++; } } } // Switch previous and current lines { unsigned char *tmp; tmp = current_scale_line; current_scale_line = previous_scale_line; previous_scale_line = tmp; }{ unsigned int *tmp; tmp = abs_current_value_line; abs_current_value_line = abs_previous_value_line; abs_previous_value_line = tmp; }{ int *tmp; tmp = current_value_line; current_value_line = previous_value_line; previous_value_line = tmp; }{ unsigned char *tmp; tmp = current_lmax_line; current_lmax_line = previous_lmax_line; previous_lmax_line = tmp; }{ unsigned int *tmp; tmp = current_lmax; current_lmax = previous_lmax; previous_lmax = tmp; } previous_nblmax = current_nblmax; current_nblmax = 0; } } for (i = 0; i < 2; i++) { free(value_lines[i]); free(abs_value_lines[i]); free(scale_lines[i]); free(lmax_lines[i]); free(lmax[i]); } // Post-processing : remove keypoints in a given neighborhood (proportionnal to scale) for (i = 1; i < nb_keypoints; i++) { CamKeypointShort *keypoint = &keypoints[i]; int j = i - 1; int neighborhood = keypoint->scale >> 2; while (j >= 0 && keypoints[j].y >= keypoint->y - neighborhood) { CamKeypointShort *keypoint2 = &keypoints[j]; if (keypoint2->x >= keypoint->x - neighborhood && keypoint2->x <= keypoint->x + neighborhood) { // They are next to each other... if (abs(keypoint2->value) > abs(keypoint->value)) keypoint->scale = 0; // Let's get rid of this one... It has a lower value else keypoint2->scale = 0; } j--; } } for (i = 0; i < nb_keypoints; i++) if (!keypoints[i].scale) keypoints[i].value = 0; if (options & CAM_UPRIGHT) { // Remove keypoints the descriptor of which would be outside the frame boundaries for (i = 0; i < nb_keypoints; i++) { if (keypoints[i].scale) { int scale = keypoints[i].scale; // Save the scale keypoints[i].scale = (scale << 2) + 1; if (!camKeypointDescriptorCheckBounds(&keypoints[i], integral)) keypoints[i].value = 0; keypoints[i].scale = scale; } } } // Sort the features according to value qsort(keypoints, nb_keypoints, sizeof(CamKeypointShort), camSortKeypointsShort); for (i = 0; i < nb_keypoints; i++) if (keypoints[i].value == 0) break; nb_keypoints = i; if (nb_keypoints > nb_max_keypoints) nb_keypoints = nb_max_keypoints; /* Interpolation : * Maxima : solve([y1=a*(x1-p)^2+b,y2=a*(-p)^2+b,y3=a*(x3-p)^2+b],[a,b,p]) * Maxima yields the following formula for parabolic interpolation 2 2 2 2 x1 y3 + (x3 - x1 ) y2 - x3 y1 p = ------------------------------------ 2 x1 y3 + (2 x3 - 2 x1) y2 - 2 x3 y1 */ // Scale super-resolution for (i = 0; i < nb_keypoints; i++) { CamKeypointShort *keypoint = &keypoints[i]; #if 1 int x = keypoint->x, y = keypoint->y; int v, max_scale; max_scale = (y + iROI.srcroi.yOffset) >> 1; v = (source->height - 1 - (y + iROI.srcroi.yOffset)) >> 1; if (v < max_scale) max_scale = v; v = (x + iROI.srcroi.xOffset) >> 1; if (v < max_scale) max_scale = v; v = (source->width -1 - (x + iROI.srcroi.xOffset)) >> 1; if (v < max_scale) max_scale = v; max_scale -= CAM_SCALE_MARGIN; if (keypoint->scale < max_scale) { unsigned int *ptr = ((unsigned int*)(integral->imageData + (y + iROI.srcroi.yOffset) * integral->widthStep)) + iROI.srcroi.xOffset + x; int scale = keypoint->scale - 1; int yoffset = scale * widthStep; int value, num, den, x1, x3, y1, y2, y3; x1 = -1; x3 = 1; y2 = keypoint->value; CAM_RECURSIVE_PATTERN; y1 = (value << 4) / (scale * scale); if (y1 > y2) keypoint->scale <<= 2; // This is a problem : this is not a local maximum in scale... else { int found = 0; scale = keypoint->scale + 1; do { yoffset = scale * widthStep; CAM_RECURSIVE_PATTERN; y3 = (value << 4) / (scale * scale); if (y3 <= y2) { num = (x1 * x1 * y3 + (x3 * x3 - x1 * x1) * y2 - x3 * x3 * y1); den = x1 * y3 + (x3 - x1) * y2 - x3 * y1; if (den == 0) keypoint->scale <<= 2; else { int p = (num << 1) / den; // shift only by 1, because den is shifted by 2 keypoint->scale = p + ((scale - 1) << 2); found = 1; } break; } y1 = y2; y2 = y3; scale++; } while (scale <= max_scale); if (!found) keypoint->scale <<= 2; } } else #endif keypoint->scale <<= 2; } // Angle if (options & CAM_UPRIGHT) { for (i = 0; i < nb_keypoints; i++) { keypoints[i].angle = 0; } } else { camAllocateImage(&filter, CAM_ORIENTATION_STAMP_SIZE, CAM_ORIENTATION_STAMP_SIZE, CAM_DEPTH_16S); camBuildGaussianFilter(&filter, camSigmaParam); pnb_keypoints = nb_keypoints; if (pnb_keypoints > nb_max_keypoints) pnb_keypoints = nb_max_keypoints; for (i = 0; i < pnb_keypoints; i++) { nb_keypoints += camKeypointOrientation(source, &keypoints[i], &filter, &keypoints[nb_keypoints]); } camDeallocateImage(&filter); } // Sort again the features according to value qsort(keypoints, nb_keypoints, sizeof(CamKeypointShort), camSortKeypointsShort); // Keypoints allocation pnb_keypoints = nb_keypoints; if (pnb_keypoints > nb_max_keypoints) pnb_keypoints = nb_max_keypoints; if (points->allocated == 0) { camAllocateKeypoints(points, pnb_keypoints); } else if (points->allocated < pnb_keypoints) { camFreeKeypoints(points); camAllocateKeypoints(points, pnb_keypoints); } if (points->bag == NULL) { #ifdef __SSE2__ points->bag = (CamKeypoint*)_mm_malloc(sizeof(CamKeypoint) * pnb_keypoints, 16); #else points->bag = (CamKeypoint*)malloc(sizeof(CamKeypoint) * pnb_keypoints); #endif } for (i = 0; i < pnb_keypoints; i++) { points->keypoint[i] = &points->bag[i]; points->keypoint[i]->x = keypoints[i].x + iROI.srcroi.xOffset; points->keypoint[i]->y = keypoints[i].y + iROI.srcroi.yOffset; points->keypoint[i]->scale = keypoints[i].scale; points->keypoint[i]->value = keypoints[i].value; points->keypoint[i]->angle = keypoints[i].angle; } points->nbPoints = pnb_keypoints; free(keypoints); if (options & CAM_UPRIGHT) { camKeypointsDescriptor(points, integral, options); } else { camKeypointsDescriptor(points, source, options); } // Finally, set the points' set for (i = 0; i < points->nbPoints; i++) { points->keypoint[i]->set = points; } // Integral Image is now useless camInternalROIPolicyExit(&iROI); return 1; }