static PyObject *sift(PyObject *self, PyObject *args, PyObject *kwargs)
{
PyObject *input, *input_frames = NULL;
PyArrayObject *matin, *out_descr, *out_frames;
/* Input arguments */
static char *kwlist[] = {"input", "Octave", "Levels", "FirstOctave", "Frames",
"PeakThresh", "EdgeThresh", "NormThresh", "Orientations", "Verbose", NULL};
enum {IN_I=0,IN_END} ;
enum {OUT_FRAMES=0, OUT_DESCRIPTORS} ;
int verbose = 0 ;
int opt ;
int next = IN_END ;
int nout = 2;
vl_sift_pix const *data ;
int M, N ;
int O = - 1 ;
int S = 3 ;
int o_min = 0 ;
double edge_thresh = -1 ;
double peak_thresh = -1 ;
double norm_thresh = -1 ;
PyArrayObject *ikeys_array = 0 ;
double *ikeys = 0 ;
int nikeys = -1 ;
vl_bool force_orientations = 0 ;
// VL_USE_MATLAB_ENV ;
/* Parse Python tuples into their appropriate variables */
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "O|iiiOiiiii", kwlist, &matin, &O, &S, &o_min, &input_frames,
&peak_thresh, &edge_thresh, &norm_thresh, &force_orientations, &verbose))
return NULL;
// matin = (PyArrayObject *) PyArray_ContiguousFromObject(input, PyArray_FLOAT, 2, 2);
//if (matin == NULL)
// return NULL;
/* -----------------------------------------------------------------
* Check the arguments
* -------------------------------------------------------------- */
if (matin->nd != 2 || matin->descr->type_num != PyArray_FLOAT) {
printf("I must be a 2d matrix of dtype float32\n") ;
return NULL;
}
// Pointer to the data array in matin
//data = (vl_sift_pix *) pyvector_to_Carrayptrs(matin);
// vl_sift_pix is float!
data = (vl_sift_pix *) matin->data;
M = matin->dimensions[0];
N = matin->dimensions[1];
if (input_frames != NULL) {
ikeys_array = (PyArrayObject *) PyArray_ContiguousFromObject(input_frames, PyArray_FLOAT, 2, 2);
if (ikeys_array->dimensions[0] != 4) {
printf("'Frames' must be a 4 x N matrix.x\n");
return NULL;
}
nikeys = ikeys_array->dimensions[1];
ikeys = (double *) ikeys_array->data;
qsort (ikeys, nikeys, 4 * sizeof(double), korder);
}
/* -----------------------------------------------------------------
* Do job
* -------------------------------------------------------------- */
{
VlSiftFilt *filt ;
vl_bool first ;
double *frames = 0 ;
vl_uint8 *descr = 0 ;
int nframes = 0, reserved = 0, i,j,q ;
/* create a filter to process the image */
filt = vl_sift_new (M, N, O, S, o_min) ;
if (peak_thresh >= 0) vl_sift_set_peak_thresh (filt, peak_thresh) ;
if (edge_thresh >= 0) vl_sift_set_edge_thresh (filt, edge_thresh) ;
if (norm_thresh >= 0) vl_sift_set_norm_thresh (filt, norm_thresh) ;
if (verbose) {
printf("siftmx: filter settings:\n") ;
printf("siftpy: octaves (O) = %d\n",
vl_sift_get_octave_num (filt)) ;
printf("siftpy: levels (S) = %d\n",
vl_sift_get_level_num (filt)) ;
printf("siftpy: first octave (o_min) = %d\n",
vl_sift_get_octave_first (filt)) ;
printf("siftpy: edge thresh = %g\n",
vl_sift_get_edge_thresh (filt)) ;
printf("siftpy: peak thresh = %g\n",
vl_sift_get_peak_thresh (filt)) ;
printf("siftpy: norm thresh = %g\n",
vl_sift_get_norm_thresh (filt)) ;
printf("siftpy: will force orientations? %s\n",
force_orientations ? "yes" : "no") ;
}
Py_BEGIN_ALLOW_THREADS
/* ...............................................................
* Process each octave
* ............................................................ */
i = 0 ;
first = 1 ;
while (1) {
int err ;
VlSiftKeypoint const *keys = 0 ;
int nkeys = 0 ;
if (verbose) {
printf ("siftpy: processing octave %d\n",
vl_sift_get_octave_index (filt)) ;
}
/* Calculate the GSS for the next octave .................... */
if (first) {
err = vl_sift_process_first_octave (filt, data) ;
first = 0 ;
} else {
err = vl_sift_process_next_octave (filt) ;
}
if (err) break ;
if (verbose > 1) {
printf("siftpy: GSS octave %d computed\n",
vl_sift_get_octave_index (filt));
}
/* Run detector ............................................. */
if (nikeys < 0) {
vl_sift_detect (filt) ;
keys = vl_sift_get_keypoints (filt) ;
nkeys = vl_sift_get_keypoints_num (filt) ;
i = 0 ;
if (verbose > 1) {
printf ("siftpy: detected %d (unoriented) keypoints\n", nkeys) ;
}
} else {
nkeys = nikeys ;
}
/* For each keypoint ........................................ */
for (; i < nkeys ; ++i) {
double angles [4] ;
int nangles ;
VlSiftKeypoint ik ;
VlSiftKeypoint const *k ;
/* Obtain keypoint orientations ........................... */
if (nikeys >= 0) {
vl_sift_keypoint_init (filt, &ik,
ikeys [4 * i + 1] - 1,
ikeys [4 * i + 0] - 1,
ikeys [4 * i + 2]) ;
if (ik.o != vl_sift_get_octave_index (filt)) {
break ;
}
k = &ik ;
/* optionally compute orientations too */
if (force_orientations) {
nangles = vl_sift_calc_keypoint_orientations
(filt, angles, k) ;
} else {
angles [0] = VL_PI / 2 - ikeys [4 * i + 3] ;
nangles = 1 ;
}
} else {
k = keys + i ;
nangles = vl_sift_calc_keypoint_orientations
(filt, angles, k) ;
}
/* For each orientation ................................... */
for (q = 0 ; q < nangles ; ++q) {
vl_sift_pix buf [128] ;
vl_sift_pix rbuf [128] ;
/* compute descriptor (if necessary) */
if (nout > 1) {
vl_sift_calc_keypoint_descriptor
(filt, buf, k, angles [q]) ;
transpose_descriptor (rbuf, buf) ;
}
/* make enough room for all these keypoints and more */
if (reserved < nframes + 1) {
reserved += 2 * nkeys ;
frames = malloc (4 * sizeof(double) * reserved) ;
if (nout > 1) {
descr = malloc (128 * sizeof(vl_uint8) * reserved) ;
}
}
/* Save back with MATLAB conventions. Notice tha the input
* image was the transpose of the actual image. */
frames [4 * nframes + 0] = k -> y + 1 ;
frames [4 * nframes + 1] = k -> x + 1 ;
frames [4 * nframes + 2] = k -> sigma ;
frames [4 * nframes + 3] = VL_PI / 2 - angles [q] ;
if (nout > 1) {
for (j = 0 ; j < 128 ; ++j) {
double x = 512.0 * rbuf [j] ;
x = (x < 255.0) ? x : 255.0 ;
descr [128 * nframes + j] = (vl_uint8) (x) ;
}
}
++ nframes ;
} /* next orientation */
} /* next keypoint */
} /* next octave */
if (verbose) {
printf ("siftpy: found %d keypoints\n", nframes) ;
}
/* ...............................................................
* Save back
* ............................................................ */
Py_END_ALLOW_THREADS
{
int dims [2] ;
/* create an empty array */
dims [0] = nframes ;
dims [1] = 4 ;
// We are allocating new memory here because its the only way to make
// sure that it will get free()ed when there are no more references
out_frames = (PyArrayObject*) PyArray_FromDims(2, dims, PyArray_DOUBLE);
memcpy((double*) out_frames->data, frames, 4 * nframes * sizeof(double));
dims [0] = nframes ; // Numpy Array uses row format, Matlab uses column format
dims [1] = 128 ;
out_descr = (PyArrayObject*) PyArray_FromDims(2, dims, PyArray_UBYTE);
memcpy((vl_uint8 *) out_descr->data, descr, 128 * nframes * sizeof(vl_uint8) );
}
/* cleanup */
vl_sift_delete (filt) ;
free(frames);
free(descr);
} /* end: do job */
return Py_BuildValue("(OO)",PyArray_Return(out_frames), PyArray_Return(out_descr));
}
void
mexFunction(int nout, mxArray *out[],
int nin, const mxArray *in[])
{
enum {IN_I=0,IN_END} ;
enum {OUT_FRAMES=0, OUT_DESCRIPTORS} ;
int verbose = 0 ;
int opt ;
int next = IN_END ;
mxArray const *optarg ;
vl_sift_pix const *data ;
int M, N ;
int O = - 1 ;
int S = 3 ;
int o_min = 0 ;
double edge_thresh = -1 ;
double peak_thresh = -1 ;
double norm_thresh = -1 ;
mxArray *ikeys_array = 0 ;
double *ikeys = 0 ;
int nikeys = -1 ;
vl_bool force_orientations = 0 ;
VL_USE_MATLAB_ENV ;
/* -----------------------------------------------------------------
* Check the arguments
* -------------------------------------------------------------- */
if (nin < 1) {
mexErrMsgTxt("One argument required.") ;
} else if (nout > 2) {
mexErrMsgTxt("Too many output arguments.");
}
if (mxGetNumberOfDimensions (in[IN_I]) != 2 ||
mxGetClassID (in[IN_I]) != mxSINGLE_CLASS ) {
mexErrMsgTxt("I must be a matrix of class SINGLE") ;
}
data = (vl_sift_pix*) mxGetData (in[IN_I]) ;
M = mxGetM (in[IN_I]) ;
N = mxGetN (in[IN_I]) ;
while ((opt = uNextOption(in, nin, options, &next, &optarg)) >= 0) {
switch (opt) {
case opt_verbose :
++ verbose ;
break ;
case opt_octaves :
if (!uIsRealScalar(optarg) || (O = (int) *mxGetPr(optarg)) < 0) {
mexErrMsgTxt("'Octaves' must be a positive integer.") ;
}
break ;
case opt_levels :
if (! uIsRealScalar(optarg) || (S = (int) *mxGetPr(optarg)) < 1) {
mexErrMsgTxt("'Levels' must be a positive integer.") ;
}
break ;
case opt_first_octave :
if (!uIsRealScalar(optarg)) {
mexErrMsgTxt("'FirstOctave' must be an integer") ;
}
o_min = (int) *mxGetPr(optarg) ;
break ;
case opt_edge_thresh :
if (!uIsRealScalar(optarg) || (edge_thresh = *mxGetPr(optarg)) < 1) {
mexErrMsgTxt("'EdgeThresh' must be not smaller than 1.") ;
}
break ;
case opt_peak_thresh :
if (!uIsRealScalar(optarg) || (peak_thresh = *mxGetPr(optarg)) < 0) {
mexErrMsgTxt("'PeakThresh' must be a non-negative real.") ;
}
break ;
case opt_norm_thresh :
if (!uIsRealScalar(optarg) || (norm_thresh = *mxGetPr(optarg)) < 0) {
mexErrMsgTxt("'NormThresh' must be a non-negative real.") ;
}
break ;
case opt_frames :
if (!uIsRealMatrix(optarg, 4, -1)) {
mexErrMsgTxt("'Frames' must be a 4 x N matrix.x") ;
}
ikeys_array = mxDuplicateArray (optarg) ;
nikeys = mxGetN (optarg) ;
ikeys = mxGetPr (ikeys_array) ;
if (! check_sorted (ikeys, nikeys)) {
qsort (ikeys, nikeys, 4 * sizeof(double), korder) ;
}
break ;
case opt_orientations :
force_orientations = 1 ;
break ;
default :
assert(0) ;
break ;
}
}
/* -----------------------------------------------------------------
* Do job
* -------------------------------------------------------------- */
{
VlSiftFilt *filt ;
vl_bool first ;
double *frames = 0 ;
vl_uint8 *descr = 0 ;
int nframes = 0, reserved = 0, i,j,q ;
/* create a filter to process the image */
filt = vl_sift_new (M, N, O, S, o_min) ;
if (peak_thresh >= 0) vl_sift_set_peak_thresh (filt, peak_thresh) ;
if (edge_thresh >= 0) vl_sift_set_edge_thresh (filt, edge_thresh) ;
if (norm_thresh >= 0) vl_sift_set_norm_thresh (filt, norm_thresh) ;
if (verbose) {
mexPrintf("siftmx: filter settings:\n") ;
mexPrintf("siftmx: octaves (O) = %d\n",
vl_sift_get_octave_num (filt)) ;
mexPrintf("siftmx: levels (S) = %d\n",
vl_sift_get_level_num (filt)) ;
mexPrintf("siftmx: first octave (o_min) = %d\n",
vl_sift_get_octave_first (filt)) ;
mexPrintf("siftmx: edge thresh = %g\n",
vl_sift_get_edge_thresh (filt)) ;
mexPrintf("siftmx: peak thresh = %g\n",
vl_sift_get_peak_thresh (filt)) ;
mexPrintf("siftmx: norm thresh = %g\n",
vl_sift_get_norm_thresh (filt)) ;
mexPrintf((nikeys >= 0) ?
"siftmx: will source frames? yes (%d)\n" :
"siftmx: will source frames? no\n", nikeys) ;
mexPrintf("siftmx: will force orientations? %s\n",
force_orientations ? "yes" : "no") ;
}
/* ...............................................................
* Process each octave
* ............................................................ */
i = 0 ;
first = 1 ;
while (true) {
int err ;
VlSiftKeypoint const *keys = 0 ;
int nkeys = 0 ;
if (verbose) {
mexPrintf ("siftmx: processing octave %d\n",
vl_sift_get_octave_index (filt)) ;
}
/* Calculate the GSS for the next octave .................... */
if (first) {
err = vl_sift_process_first_octave (filt, data) ;
first = 0 ;
} else {
err = vl_sift_process_next_octave (filt) ;
}
if (err) break ;
if (verbose > 1) {
printf("siftmx: GSS octave %d computed\n",
vl_sift_get_octave_index (filt));
}
/* Run detector ............................................. */
if (nikeys < 0) {
vl_sift_detect (filt) ;
keys = vl_sift_get_keypoints (filt) ;
nkeys = vl_sift_get_keypoints_num (filt) ;
i = 0 ;
if (verbose > 1) {
printf ("siftmx: detected %d (unoriented) keypoints\n", nkeys) ;
}
} else {
nkeys = nikeys ;
}
/* For each keypoint ........................................ */
for (; i < nkeys ; ++i) {
double angles [4] ;
int nangles ;
VlSiftKeypoint ik ;
VlSiftKeypoint const *k ;
/* Obtain keypoint orientations ........................... */
if (nikeys >= 0) {
vl_sift_keypoint_init (filt, &ik,
ikeys [4 * i + 1] - 1,
ikeys [4 * i + 0] - 1,
ikeys [4 * i + 2]) ;
if (ik.o != vl_sift_get_octave_index (filt)) {
break ;
}
k = &ik ;
/* optionally compute orientations too */
if (force_orientations) {
nangles = vl_sift_calc_keypoint_orientations
(filt, angles, k) ;
} else {
angles [0] = VL_PI / 2 - ikeys [4 * i + 3] ;
nangles = 1 ;
}
} else {
k = keys + i ;
nangles = vl_sift_calc_keypoint_orientations
(filt, angles, k) ;
}
/* For each orientation ................................... */
for (q = 0 ; q < nangles ; ++q) {
vl_sift_pix buf [128] ;
vl_sift_pix rbuf [128] ;
/* compute descriptor (if necessary) */
if (nout > 1) {
vl_sift_calc_keypoint_descriptor
(filt, buf, k, angles [q]) ;
transpose_descriptor (rbuf, buf) ;
}
/* make enough room for all these keypoints and more */
if (reserved < nframes + 1) {
reserved += 2 * nkeys ;
frames = mxRealloc (frames, 4 * sizeof(double) * reserved) ;
if (nout > 1) {
descr = mxRealloc (descr, 128 * sizeof(double) * reserved) ;
}
}
/* Save back with MATLAB conventions. Notice tha the input
* image was the transpose of the actual image. */
frames [4 * nframes + 0] = k -> y + 1 ;
frames [4 * nframes + 1] = k -> x + 1 ;
frames [4 * nframes + 2] = k -> sigma ;
frames [4 * nframes + 3] = VL_PI / 2 - angles [q] ;
if (nout > 1) {
for (j = 0 ; j < 128 ; ++j) {
double x = 512.0 * rbuf [j] ;
x = (x < 255.0) ? x : 255.0 ;
descr [128 * nframes + j] = (vl_uint8) (x) ;
}
}
++ nframes ;
} /* next orientation */
} /* next keypoint */
} /* next octave */
if (verbose) {
mexPrintf ("siftmx: found %d keypoints\n", nframes) ;
}
/* ...............................................................
* Save back
* ............................................................ */
{
int dims [2] ;
/* create an empty array */
dims [0] = 0 ;
dims [1] = 0 ;
out[OUT_FRAMES] = mxCreateNumericArray
(2, dims, mxDOUBLE_CLASS, mxREAL) ;
/* set array content to be the frames buffer */
dims [0] = 4 ;
dims [1] = nframes ;
mxSetDimensions (out[OUT_FRAMES], dims, 2) ;
mxSetPr (out[OUT_FRAMES], frames) ;
if (nout > 1) {
/* create an empty array */
dims [0] = 0 ;
dims [1] = 0 ;
out[OUT_DESCRIPTORS]= mxCreateNumericArray
(2, dims, mxUINT8_CLASS, mxREAL) ;
/* set array content to be the descriptors buffer */
dims [0] = 128 ;
dims [1] = nframes ;
mxSetDimensions (out[OUT_DESCRIPTORS], dims, 2) ;
mxSetData (out[OUT_DESCRIPTORS], descr) ;
}
}
/* cleanup */
vl_sift_delete (filt) ;
if (ikeys_array)
mxDestroyArray(ikeys_array) ;
} /* end: do job */
}
