//TO DO---------------------------------------------------------------------
//Loop through the image to compute the harris corner values as described in class
// srcImage: grayscale of original image
// harrisImage: populate the harris values per pixel in this image
void computeHarrisValues(CFloatImage &srcImage, CFloatImage &harrisImage)
{
int h = srcImage.Shape().height;
int w = srcImage.Shape().width;
CFloatImage A(srcImage.Shape());
CFloatImage B(srcImage.Shape());
CFloatImage C(srcImage.Shape());
GetHarrisComponents(srcImage, A, B, C);
for (int y = 0; y < h; y++) {
for (int x = 0; x < w; x++) {
double determinant = A.Pixel(x, y, 0) * C.Pixel(x, y, 0) - B.Pixel(x, y, 0)* B.Pixel(x, y, 0);
double trace = A.Pixel(x, y, 0) + C.Pixel(x, y, 0);
float *pixel = &harrisImage.Pixel(x, y, 0);
if (trace == 0)
{
*pixel = 0;
}
else
{
*pixel = determinant / trace;
}
}
}
}
// Convert CFloatImage to CByteImage.
void convertToByteImage(CFloatImage &floatImage, CByteImage &byteImage) {
CShape sh = floatImage.Shape();
//printf("%d\n", floatImage.Shape().nBands);
//printf("%d\n", byteImage.Shape().nBands);
assert(floatImage.Shape().nBands == min(byteImage.Shape().nBands, 3));
for (int y=0; y<sh.height; y++) {
for (int x=0; x<sh.width; x++) {
for (int c=0; c<sh.nBands; c++) {
float value = floor(255*floatImage.Pixel(x,y,c) + 0.5f);
if (value < byteImage.MinVal()) {
value = byteImage.MinVal();
}
else if (value > byteImage.MaxVal()) {
value = byteImage.MaxVal();
}
// We have to flip the image and reverse the color
// channels to get it to come out right. How silly!
byteImage.Pixel(x,sh.height-y-1,sh.nBands-c-1) = (uchar) value;
}
}
}
}
void rotation()
{
CFloatImage matrixImage = GetImageFromMatrix((float *)featureMatrix, 10, 10);
CTransform3x3 translationNegative;
CTransform3x3 translationPositive;
CTransform3x3 rotation;
CFloatImage postHomography;
Feature f;
f.x = 6;
f.y = 5;
f.angleRadians = PI;
translationNegative = translationNegative.Translation(f.x,f.y);
translationPositive = translationPositive.Translation(-f.x,-f.y);
rotation = rotation.Rotation(-f.angleRadians * 180/ PI);
WarpGlobal(matrixImage, postHomography, translationNegative*rotation*translationPositive, eWarpInterpLinear, eWarpInterpNearest);
for (int i = 0; i < postHomography.Shape().height; i++)
{
for (int j = 0; j < postHomography.Shape().width; j++)
{
printf("%.0f\t", postHomography.Pixel(j, i, 0));
}
printf("\n");
}
}
static
void ConvolveRow2D(CFloatImage& buffer, CFloatImage& kernel, float dst[],
int n)
{
CShape kShape = kernel.Shape();
int kX = kShape.width;
int kY = kShape.height;
CShape bShape = buffer.Shape();
int nB = bShape.nBands;
for (int i = 0; i < n; i++)
{
for (int b = 0; b < nB; b++)
{
float sum = 0.0f;
for (int k = 0; k < kY; k++)
{
float* kPtr = &kernel.Pixel(0, k, 0);
float* bPtr = &buffer.Pixel(i, k, b);
for (int l = 0; l < kX; l++, bPtr += nB)
sum += kPtr[l] * bPtr[0];
}
*dst++ = sum;
}
}
}
/******************* TO DO 5 *********************
* NormalizeBlend:
* INPUT:
* acc: input image whose alpha channel (4th channel) contains
* normalizing weight values
* img: where output image will be stored
* OUTPUT:
* normalize r,g,b values (first 3 channels) of acc and store it into img
*/
static void NormalizeBlend(CFloatImage& acc, CByteImage& img)
{
// *** BEGIN TODO ***
// fill in this routine..
int width = acc.Shape().width;
int height = acc.Shape().height;
for (int i=0;i<width;i++){
for (int j=0;j<height;j++){
float w = acc.Pixel(i,j,3);
img.Pixel(i,j,3) = 255;
if (w > 0){
img.Pixel(i,j,0) = acc.Pixel(i,j,0) / w;
img.Pixel(i,j,1) = acc.Pixel(i,j,1) / w;
img.Pixel(i,j,2) = acc.Pixel(i,j,2) / w;
} else {
img.Pixel(i,j,0) = 0;
img.Pixel(i,j,1) = 0;
img.Pixel(i,j,2) = 0;
}
}
}
// *** END TODO ***
}
void ComputeHarrisFeatures(CFloatImage &image, FeatureSet &features)
{
//Create grayscale image used for Harris detection
CFloatImage grayImage=ConvertToGray(image);
//Create image to store Harris values
CFloatImage harrisImage(image.Shape().width,image.Shape().height,1);
//Create image to store local maximum harris values as 1, other pixels 0
CByteImage harrisMaxImage(image.Shape().width,image.Shape().height,1);
//compute Harris values puts harris values at each pixel position in harrisImage.
//You'll need to implement this function.
computeHarrisValues(grayImage, harrisImage);
// Threshold the harris image and compute local maxima. You'll need to implement this function.
computeLocalMaxima(harrisImage,harrisMaxImage);
// Prints out the harris image for debugging purposes
CByteImage tmp(harrisImage.Shape());
convertToByteImage(harrisImage, tmp);
WriteFile(tmp, "harris.tga");
// TO DO--------------------------------------------------------------------
//Loop through feature points in harrisMaxImage and fill in information needed for
//descriptor computation for each point above a threshold. We fill in id, type,
//x, y, and angle.
CFloatImage A(grayImage.Shape());
CFloatImage B(grayImage.Shape());
CFloatImage C(grayImage.Shape());
CFloatImage partialX(grayImage.Shape());
CFloatImage partialY(grayImage.Shape());
GetHarrisComponents(grayImage, A, B, C, &partialX, &partialY);
int featureCount = 0;
for (int y=0;y<harrisMaxImage.Shape().height;y++) {
for (int x=0;x<harrisMaxImage.Shape().width;x++) {
// Skip over non-maxima
if (harrisMaxImage.Pixel(x, y, 0) == 0)
continue;
//TO DO---------------------------------------------------------------------
// Fill in feature with descriptor data here.
Feature f;
f.type = 2;
f.id = featureCount++;
f.x = x;
f.y = y;
f.angleRadians = GetCanonicalOrientation(x, y, A, B, C, partialX, partialY);
//atan(partialY.Pixel(x, y, 0)/partialX.Pixel(x, y, 0));
// Add the feature to the list of features
features.push_back(f);
}
}
}
/******************* TO DO 5 *********************
* NormalizeBlend:
* INPUT:
* acc: input image whose alpha channel (4th channel) contains
* normalizing weight values
* img: where output image will be stored
* OUTPUT:
* normalize r,g,b values (first 3 channels) of acc and store it into img
*/
static void NormalizeBlend(CFloatImage& acc, CByteImage& img)
{
// BEGIN TODO
// fill in this routine..
// divide the total weight for every pixel
CShape shacc=acc.Shape();
int widthacc=shacc.width;
int heightacc=shacc.height;
for (int ii=0;ii<widthacc;ii++)
{
for (int jj=0;jj<heightacc;jj++)
{
if (acc.Pixel(ii,jj,3)>0)
{
img.Pixel(ii,jj,0)=(int)(acc.Pixel(ii,jj,0)/acc.Pixel(ii,jj,3));
img.Pixel(ii,jj,1)=(int)(acc.Pixel(ii,jj,1)/acc.Pixel(ii,jj,3));
img.Pixel(ii,jj,2)=(int)(acc.Pixel(ii,jj,2)/acc.Pixel(ii,jj,3));
}
else
{
img.Pixel(ii,jj,0)=0;
img.Pixel(ii,jj,1)=0;
img.Pixel(ii,jj,2)=0;
}
}
}
// END TODO
}
// convert float disparity image into a color image using jet colormap
void float2color(CFloatImage fimg, CByteImage &img, float dmin, float dmax)
{
CShape sh = fimg.Shape();
int width = sh.width, height = sh.height;
sh.nBands = 3;
img.ReAllocate(sh);
float scale = 1.0 / (dmax - dmin);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
float f = fimg.Pixel(x, y, 0);
int r = 0;
int g = 0;
int b = 0;
if (f != INFINITY) {
float val = scale * (f - dmin);
jet(val, r, g, b);
}
img.Pixel(x, y, 0) = b;
img.Pixel(x, y, 1) = g;
img.Pixel(x, y, 2) = r;
}
}
}
void Convolve(CImageOf<T> src, CImageOf<T>& dst,
CFloatImage kernel)
{
// Determine the shape of the kernel and source image
CShape kShape = kernel.Shape();
CShape sShape = src.Shape();
// Allocate the result, if necessary
dst.ReAllocate(sShape, false);
if (sShape.width * sShape.height * sShape.nBands == 0)
return;
// Do the convolution
for (int y = 0; y < sShape.height; y++)
for (int x = 0; x < sShape.width; x++)
for (int c = 0; c < sShape.nBands; c++)
{
double sum = 0;
for (int kx = 0; kx < kShape.width; kx++)
for (int ky = 0; ky < kShape.height; ky++)
if ((x-kernel.origin[0]+kx >= 0) && (x-kernel.origin[0]+kx < sShape.width) && (y-kernel.origin[1]+ky >= 0) && (y-kernel.origin[1]+ky < sShape.height))
sum += kernel.Pixel(kx,ky,0) * src.Pixel(x-kernel.origin[0]+kx,y-kernel.origin[1]+ky,c);
dst.Pixel(x,y,c) = (T) __max(dst.MinVal(), __min(dst.MaxVal(), sum));
}
}
// Compute silly example features. This doesn't do anything
// meaningful, but may be useful to use as an example.
void dummyComputeFeatures(CFloatImage &image, FeatureSet &features) {
CShape sh = image.Shape();
Feature f;
for (int y=0; y<sh.height; y++) {
for (int x=0; x<sh.width; x++) {
double r = image.Pixel(x,y,0);
double g = image.Pixel(x,y,1);
double b = image.Pixel(x,y,2);
if ((int)(255*(r+g+b)+0.5) % 100 == 1) {
// If the pixel satisfies this meaningless criterion,
// make it a feature.
f.type = 1;
f.id += 1;
f.x = x;
f.y = y;
f.data.resize(1);
f.data[0] = r + g + b;
features.push_back(f);
}
}
}
}
void ConvolveRow(CImageOf<T> buffer, CFloatImage kernel, T* dst,
int n, T minVal, T maxVal)
{
CShape kShape = kernel.Shape();
int kX = kShape.width;
int kY = kShape.height;
CShape bShape = buffer.Shape();
int nB = bShape.nBands;
for (int i = 0; i < n; i++)
{
for (int b = 0; b < nB; b++)
{
float sum = 0.0f;
for (int k = 0; k < kY; k++)
{
float* kPtr = &kernel.Pixel(0, k, 0);
T* bPtr = &buffer.Pixel(i, k, b);
for (int l = 0; l < kX; l++, bPtr += nB)
sum += kPtr[l] * bPtr[0];
}
*dst++ = (T) __max(minVal, __min(maxVal, sum));
}
}
}
void ConvolveSeparable(CImageOf<T> src, CImageOf<T>& dst,
CFloatImage x_kernel, CFloatImage y_kernel,
float scale, float offset,
int decimate, int interpolate)
{
// Allocate the result, if necessary
CShape dShape = src.Shape();
if (decimate > 1)
{
dShape.width = (dShape.width + decimate-1) / decimate;
dShape.height = (dShape.height + decimate-1) / decimate;
}
dst.ReAllocate(dShape, false);
// Allocate the intermediate images
CImageOf<T> tmpImg1(src.Shape());
CImageOf<T> tmpImg2(src.Shape());
// Create a proper vertical convolution kernel
CFloatImage v_kernel(1, y_kernel.Shape().width, 1);
for (int k = 0; k < y_kernel.Shape().width; k++)
v_kernel.Pixel(0, k, 0) = y_kernel.Pixel(k, 0, 0);
v_kernel.origin[1] = y_kernel.origin[0];
// Perform the two convolutions
Convolve(src, tmpImg1, x_kernel, 1.0f, 0.0f);
Convolve(tmpImg1, tmpImg2, v_kernel, scale, offset);
// Downsample or copy
for (int y = 0; y < dShape.height; y++)
{
T* sPtr = &tmpImg2.Pixel(0, y * decimate, 0);
T* dPtr = &dst.Pixel(0, y, 0);
int nB = dShape.nBands;
for (int x = 0; x < dShape.width; x++)
{
for (int b = 0; b < nB; b++)
dPtr[b] = sPtr[b];
sPtr += decimate * nB;
dPtr += nB;
}
}
interpolate++; // to get rid of "unused parameter" warning
}
// TO DO---------------------------------------------------------------------
// Loop through the harrisImage to threshold and compute the local maxima in a neighborhood
// srcImage: image with Harris values
// destImage: Assign 1 to a pixel if it is above a threshold and is the local maximum in 3x3 window, 0 otherwise.
// You'll need to find a good threshold to use.
void computeLocalMaxima(CFloatImage &srcImage,CByteImage &destImage)
{
int width = srcImage.Shape().width;
int height = srcImage.Shape().height;
double mean, stdDev;
double sum = 0;
double squareSum = 0;
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
float pixel = srcImage.Pixel(x, y, 0);
if (!(pixel >= 0 || pixel < 0))
{
auto error = "TRUE";
}
sum += srcImage.Pixel(x, y, 0);
}
}
mean = sum / (float)(width * height);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
squareSum += pow((srcImage.Pixel(x, y, 0) - mean), 2.);
}
}
stdDev = sqrt(squareSum / (float)(width * height - 1));
int count = 0;
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
unsigned char *pixel = &destImage.Pixel(x, y, 0);
if (srcImage.Pixel(x, y, 0) >= 3.*stdDev + mean && isLocalMax(srcImage, x, y))
{
count++;
*pixel = 1;
}
else
{
*pixel = 0;
}
}
}
}
void GetHarrisComponents(CFloatImage &srcImage, CFloatImage &A, CFloatImage &B, CFloatImage &C, CFloatImage *partialX, CFloatImage *partialY)
{
int w = srcImage.Shape().width;
int h = srcImage.Shape().height;
CFloatImage *partialXPtr;
CFloatImage *partialYPtr;
if (partialX != nullptr && partialY != nullptr)
{
partialXPtr = partialX;
partialYPtr = partialY;
}
else
{
partialXPtr = new CFloatImage(srcImage.Shape());
partialYPtr = new CFloatImage(srcImage.Shape());
}
CFloatImage partialXX(srcImage.Shape());
CFloatImage partialYY(srcImage.Shape());
CFloatImage partialXY(srcImage.Shape());
CFloatImage gaussianImage = GetImageFromMatrix((float *)gaussian5x5Float, 5, 5);
Convolve(srcImage, *partialXPtr, ConvolveKernel_SobelX);
Convolve(srcImage, *partialYPtr, ConvolveKernel_SobelY);
for (int y = 0; y < h; y++) {
for (int x = 0; x < w; x++) {
float *xxPixel = &partialXX.Pixel(x, y, 0);
float *yyPixel = &partialYY.Pixel(x, y, 0);
float *xyPixel = &partialXY.Pixel(x, y, 0);
// The 1/8 factor is to do the scaling inherent in sobel filtering
*xxPixel = pow((double)(1./8. *8. * partialXPtr->Pixel(x, y, 0)), 2.);
*yyPixel = pow((double)(1./8. *8. * partialYPtr->Pixel(x, y, 0)), 2.);
*xyPixel = pow(1./8. *8., 2.) * partialXPtr->Pixel(x, y, 0) * partialYPtr->Pixel(x, y, 0);
}
}
Convolve(partialXX, A, gaussianImage);
Convolve(partialXY, B, gaussianImage);
Convolve(partialYY, C, gaussianImage);
}
//Loop through the image to determine suitable feature points
// srcImage: image with Harris values
// destImage: Assign 1 to local maximum in 3x3 window that are above a given
// threshold, 0 otherwise
void computeLocalMaxima(CFloatImage &srcImage,CByteImage &destImage)
{
int w = srcImage.Shape().width; // image width
int h = srcImage.Shape().height; // image height
//float threshold = .024;
float threshold = .01; // threshold value for identifying features
// Declare additional variables
float max; // harris value to check as local max
int newX, newY; // (x,y) coordinate for pixel in 5x5 sliding window
int j; // int for iterating through 5x5 window
// Loop through 'srcImage' and determine suitable feature points that
// fit the following criteria:
// - harris value c is greater than a predefined threshold
// - c is a local maximum in a 5x5 neighborhood
for (int y = 0; y < h; y++) {
for (int x = 0; x < w; x++) {
max = srcImage.Pixel(x,y,0);
// If harris value is greater than a predefined threshold check
// if value is a local maximum in a 5x5 neighborhood.
if (max > threshold) {
for (j = 0; j < 25; j++) {
find5x5Index(x,y,j,&newX,&newY);
if(srcImage.Shape().InBounds(newX, newY) && srcImage.Pixel(newX, newY, 0) > max) {
destImage.Pixel(x,y,0) = 0;
break;
}
}
if (j != 25)
continue;
destImage.Pixel(x,y,0) = 1;
} else {
destImage.Pixel(x,y,0) = 0;
}
}
}
}
void ConvolveSeparable(CImageOf<T> src, CImageOf<T>& dst,
CFloatImage x_kernel, CFloatImage y_kernel,
int subsample)
{
// Allocate the result, if necessary
CShape dShape = src.Shape();
if (subsample > 1)
{
dShape.width = (dShape.width + subsample-1) / subsample;
dShape.height = (dShape.height + subsample-1) / subsample;
}
dst.ReAllocate(dShape, false);
// Allocate the intermediate images
CImageOf<T> tmpImg1(src.Shape());
CImageOf<T> tmpImg2(src.Shape());
// Create a proper vertical convolution kernel
CFloatImage v_kernel(1, y_kernel.Shape().width, 1);
for (int k = 0; k < y_kernel.Shape().width; k++)
v_kernel.Pixel(0, k, 0) = y_kernel.Pixel(k, 0, 0);
v_kernel.origin[1] = y_kernel.origin[0];
// Perform the two convolutions
Convolve(src, tmpImg1, x_kernel);
Convolve(tmpImg1, tmpImg2, v_kernel);
// Downsample or copy
for (int y = 0; y < dShape.height; y++)
{
T* sPtr = &tmpImg2.Pixel(0, y * subsample, 0);
T* dPtr = &dst.Pixel(0, y, 0);
int nB = dShape.nBands;
for (int x = 0; x < dShape.width; x++)
{
for (int b = 0; b < nB; b++)
dPtr[b] = sPtr[b];
sPtr += subsample * nB;
dPtr += nB;
}
}
}
CFloatImage GetXWindowAroundPixel(CFloatImage srcImage, int x, int y, int size)
{
float *matrix = new float[size * size];
for(int row=(y-(size-1)/2); row<=(y+(size-1)/2); row++)
{
for(int col=(x-(size-1)/2);col<=(x+(size-1)/2);col++)
{
if(row<0 || row>=srcImage.Shape().height || col<0 || col>=srcImage.Shape().width)
{
matrix[(row-(y-(size-1)/2))*size + (col-(x-(size-1)/2))] = 0.;
}
else
{
matrix[(row-(y-(size-1)/2))*size + (col-(x-(size-1)/2))] = srcImage.Pixel(col, row, 0);
}
}
}
return GetImageFromMatrix(matrix, size, size);
}
void Convolve(CImageOf<T> src, CImageOf<T>& dst,
CFloatImage kernel,
float scale, float offset)
{
// Determine the shape of the kernel and row buffer
CShape kShape = kernel.Shape();
CShape sShape = src.Shape();
CShape bShape(sShape.width + kShape.width, kShape.height, sShape.nBands);
int bWidth = bShape.width * bShape.nBands;
// Allocate the result, if necessary, and the row buffer
dst.ReAllocate(sShape, false);
CFloatImage buffer(bShape);
if (sShape.width * sShape.height * sShape.nBands == 0)
return;
CFloatImage output(CShape(sShape.width, 1, sShape.nBands));
// Fill up the row buffer initially
for (int k = 0; k < kShape.height; k++)
FillRowBuffer(&buffer.Pixel(0, k, 0), src, kernel, k, bWidth);
// Determine if clipping is required
// (we assume up-conversion to float never requires clipping, i.e.,
// floats have the highest dynamic range)
T minVal = dst.MinVal();
T maxVal = dst.MaxVal();
if (minVal <= buffer.MinVal() && maxVal >= buffer.MaxVal())
minVal = maxVal = 0;
// Process each row
for (int y = 0; y < sShape.height; y++)
{
// Do the convolution
ConvolveRow2D(buffer, kernel, &output.Pixel(0, 0, 0),
sShape.width);
// Scale, offset, and type convert
ScaleAndOffsetLine(&output.Pixel(0, 0, 0), &dst.Pixel(0, y, 0),
sShape.width * sShape.nBands,
scale, offset, minVal, maxVal);
// Shift up the row buffer and fill the last line
if (y < sShape.height-1)
{
int k;
for (k = 0; k < kShape.height-1; k++)
memcpy(&buffer.Pixel(0, k, 0), &buffer.Pixel(0, k+1, 0),
bWidth * sizeof(float));
FillRowBuffer(&buffer.Pixel(0, k, 0), src, kernel, y+k+1, bWidth);
}
}
}
void WarpLocal(CImageOf<T> src, CImageOf<T>& dst,
CFloatImage uv, bool relativeCoords,
EWarpInterpolationMode interp, float cubicA)
{
// Check that dst is of the right shape
CShape sh(uv.Shape().width, uv.Shape().height, src.Shape().nBands);
dst.ReAllocate(sh);
// Allocate a row buffer for coordinates
int n = sh.width;
std::vector<float> rowBuf;
rowBuf.resize(n*2);
// Precompute the cubic interpolant
if (interp == eWarpInterpCubic)
InitializeCubicLUT(cubicA);
// Process each row
for (int y = 0; y < sh.height; y++)
{
float *uvP = &uv .Pixel(0, y, 0);
float *xyP = (relativeCoords) ? &rowBuf[0] : uvP;
T *dstP = &dst.Pixel(0, y, 0);
// Convert to absolute coordinates if necessary
if (relativeCoords)
{
for (int x = 0; x < n; x++)
{
xyP[2*x+0] = x + uvP[2*x+0];
xyP[2*x+1] = y + uvP[2*x+1];
}
}
// Resample the line
WarpLine(src, dstP, xyP, n, sh.nBands, interp, src.MinVal(), src.MaxVal());
}
}
void MotionToColor(CFloatImage motim, CByteImage &colim, float maxmotion)
{
CShape sh = motim.Shape();
int width = sh.width, height = sh.height;
colim.ReAllocate(CShape(width, height, 3));
int x, y;
// determine motion range:
float maxx = -999, maxy = -999;
float minx = 999, miny = 999;
float maxrad = -1;
for (y = 0; y < height; y++) {
for (x = 0; x < width; x++) {
float fx = motim.Pixel(x, y, 0);
float fy = motim.Pixel(x, y, 1);
if (unknown_flow(fx, fy))
continue;
maxx = __max(maxx, fx);
maxy = __max(maxy, fy);
minx = __min(minx, fx);
miny = __min(miny, fy);
float rad = sqrt(fx * fx + fy * fy);
maxrad = __max(maxrad, rad);
}
}
printf("max motion: %.4f motion range: u = %.3f .. %.3f; v = %.3f .. %.3f\n",
maxrad, minx, maxx, miny, maxy);
if (maxmotion > 0) // i.e., specified on commandline
maxrad = maxmotion;
if (maxrad == 0) // if flow == 0 everywhere
maxrad = 1;
if (verbose)
fprintf(stderr, "normalizing by %g\n", maxrad);
for (y = 0; y < height; y++) {
for (x = 0; x < width; x++) {
float fx = motim.Pixel(x, y, 0);
float fy = motim.Pixel(x, y, 1);
uchar *pix = &colim.Pixel(x, y, 0);
if (unknown_flow(fx, fy)) {
pix[0] = pix[1] = pix[2] = 0;
} else {
computeColor(fx/maxrad, fy/maxrad, pix);
}
}
}
}
cv::Mat FlowIOOpenCVWrapper::read(std::string path) {
CFloatImage flow;
ReadFlowFile(flow, path.c_str());
int rows = flow.Shape().height;
int cols = flow.Shape().width;
assert(rows > 0);
assert(cols > 0);
assert(flow.Shape().nBands == 2);
cv::Mat matFlow(rows, cols, CV_32FC2, cv::Scalar(0, 0));
for (int i = 0; i < rows; i++) {
for (int j = 0; j < cols; j++) {
matFlow.at<cv::Vec2f>(i, j)[0] = flow.Pixel(j, i, 0);
matFlow.at<cv::Vec2f>(i, j)[1] = flow.Pixel(j, i, 1);
}
}
return matFlow;
}
void makeNonoccMask(CFloatImage disp0, CFloatImage disp0y, CFloatImage disp1,
int dir, float thresh, CByteImage &mask)
{
CShape sh = disp0.Shape();
int width = sh.width, height = sh.height;
if (sh != disp1.Shape())
throw CError("shapes differ");
int ydisps = (sh == disp0y.Shape());
mask.ReAllocate(sh);
mask.ClearPixels();
int x, y;
for (y = 0; y < height; y++) {
for (x = 0; x < width; x++) {
float dx = disp0.Pixel(x, y, 0);
float dy = (ydisps ? disp0y.Pixel(x, y, 0) : 0.0);
if (dx == INFINITY) // unknown
continue;
mask.Pixel(x, y, 0) = 128; // occluded
// find nonocc
int x1 = (int)round(x + dir * dx);
int y1 = (int)round(y + dy);
if (x1 < 0 || x1 >= width || y1 < 0 || y1 >= height)
continue;
float dx1 = disp1.Pixel(x1, y1, 0);
float diff = dx - dx1;
if (fabs(diff) > thresh)
continue; // fails cross checking -- occluded
mask.Pixel(x, y, 0) = 255; // cross-checking OK
}
}
}
bool isLocalMax(CFloatImage srcImage, int x, int y)
{
int width = srcImage.Shape().width;
int height = srcImage.Shape().height;
float centerPixel = srcImage.Pixel(x, y, 0);
for (int row = 0; row < 5; row++)
{
for (int col = 0; col < 5; col++)
{
int xOffset = x - 2 + col;
int yOffset = y - 2 + row;
if (xOffset == x && yOffset == y)
{
continue;
}
float pixelAtOffset;
if (xOffset < 0 || yOffset < 0 || xOffset >= width || yOffset >= height)
{
pixelAtOffset = 0.;
}
else
{
pixelAtOffset = srcImage.Pixel(xOffset, yOffset, 0);
}
if (pixelAtOffset >= centerPixel)
{
return false;
}
}
}
return true;
}
// get min and max (non-INF) values
void getMinMax(CFloatImage fimg, float& vmin, float& vmax)
{
CShape sh = fimg.Shape();
int width = sh.width, height = sh.height;
vmin = INFINITY;
vmax = -INFINITY;
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
float f = fimg.Pixel(x, y, 0);
if (f == INFINITY)
continue;
vmin = min(f, vmin);
vmax = max(f, vmax);
}
}
}
// Compute features using Harris corner detection method
void ComputeHarrisFeatures(CFloatImage &image, FeatureSet &features)
{
// Create grayscale image used for Harris detection
CFloatImage grayImage = ConvertToGray(image);
// Create image to store Harris values
CFloatImage harrisImage(image.Shape().width,image.Shape().height,1);
// Create image to store local maximum harris values as 1, other pixels 0
CByteImage harrisMaxImage(image.Shape().width,image.Shape().height,1);
// Create image to store orientation values
CFloatImage orientationImage(image.Shape().width, image.Shape().height, 1);
// Compute the harris score at each pixel position, storing the result in in harrisImage.
computeHarrisValues(grayImage, harrisImage, orientationImage);
// Threshold the harris image and compute local maxima.
computeLocalMaxima(harrisImage,harrisMaxImage);
// Save images
CByteImage tmp(harrisImage.Shape());
CByteImage tmp2(harrisImage.Shape());
convertToByteImage(harrisImage, tmp);
convertToByteImage(grayImage, tmp2);
WriteFile(tmp2, "grayImg.tga");
WriteFile(tmp, "harris.tga");
WriteFile(harrisMaxImage, "harrisMax.tga");
// Loop through feature points in harrisMaxImage and fill in id, type, x, y, and angle
// information needed for descriptor computation for each feature point, then add them
// to feature set
int id = 0;
for (int y=0; y < harrisMaxImage.Shape().height; y++) {
for (int x=0; x < harrisMaxImage.Shape().width; x++) {
if (harrisMaxImage.Pixel(x, y, 0) == 1) {
Feature f;
f.id = id;
f.type = 2;
f.x = x;
f.y = y;
f.angleRadians = orientationImage.Pixel(x,y,0);
features.push_back(f);
id++;
}
}
}
}
void subsample(Feature* f, int imgSize, CFloatImage gaussianImage)
{
vector<double, std::allocator<double>>::iterator it;
CFloatImage img = featureToImage(*f, imgSize, imgSize);
CFloatImage blurredImg(img.Shape());
Convolve(img, blurredImg, gaussianImage);
featuresFromImage(f,blurredImg,imgSize,imgSize);
int count = 0;
for(int y=0; y<imgSize; y++)
{
for(int x=0; x<imgSize; x++)
{
if(x%2 == 0 || y%2 == 0)
{
f->data.erase(f->data.begin() + count);
}
else
{
count++;
}
}
}
}
void ConvolveSeparable(CImageOf<T> src, CImageOf<T>& dst,
CFloatImage x_kernel, CFloatImage y_kernel,
float scale, float offset,
int decimate, int interpolate)
{
// Allocate the result, if necessary
CShape dShape = src.Shape();
if (decimate > 1)
{
dShape.width = (dShape.width + decimate-1) / decimate;
dShape.height = (dShape.height + decimate-1) / decimate;
}
dst.ReAllocate(dShape, false);
// Allocate the intermediate images
CImageOf<T> tmpImg1(src.Shape());
//CImageOf<T> tmpImgCUDA(src.Shape());
CImageOf<T> tmpImg2(src.Shape());
// Create a proper vertical convolution kernel
CFloatImage v_kernel(1, y_kernel.Shape().width, 1);
for (int k = 0; k < y_kernel.Shape().width; k++)
v_kernel.Pixel(0, k, 0) = y_kernel.Pixel(k, 0, 0);
v_kernel.origin[1] = y_kernel.origin[0];
#ifdef RUN_ON_GPU
// Modifications for integrating CUDA kernels
BinomialFilterType type;
profilingTimer->startTimer();
// CUDA Convolve
switch (x_kernel.Shape().width)
{
case 3:
type = BINOMIAL6126;
break;
case 5:
type = BINOMIAL14641;
break;
default:
// Unsupported kernel case
throw CError("Convolution kernel Unknown");
assert(false);
}
// Skip copy if decimation is not required
if (decimate != 1) CudaConvolveXY(src, tmpImg2, type);
else CudaConvolveXY(src, dst, type);
printf("\nGPU convolution time = %f ms\n", profilingTimer->stopAndGetTimerValue());
#else
profilingTimer->startTimer();
//VerifyComputedData(&tmpImg2.Pixel(0, 0, 0), &tmpImgCUDA.Pixel(0, 0, 0), 7003904);
// Perform the two convolutions
Convolve(src, tmpImg1, x_kernel, 1.0f, 0.0f);
Convolve(tmpImg1, tmpImg2, v_kernel, scale, offset);
printf("\nCPU Convolution time = %f ms\n", profilingTimer->stopAndGetTimerValue());
#endif
profilingTimer->startTimer();
// Downsample or copy
// Skip decimate and recopy if not required
#ifdef RUN_ON_GPU
if (decimate != 1)
{
#endif
for (int y = 0; y < dShape.height; y++)
{
T* sPtr = &tmpImg2.Pixel(0, y * decimate, 0);
T* dPtr = &dst.Pixel(0, y, 0);
int nB = dShape.nBands;
for (int x = 0; x < dShape.width; x++)
{
for (int b = 0; b < nB; b++)
dPtr[b] = sPtr[b];
sPtr += decimate * nB;
dPtr += nB;
}
}
#ifdef RUN_ON_GPU
}
#endif
printf("\nDecimate/Recopy took = %f ms\n", profilingTimer->stopAndGetTimerValue());
}
/******************* TO DO 4 *********************
* AccumulateBlend:
* INPUT:
* img: a new image to be added to acc
* acc: portion of the accumulated image where img is to be added
* M: translation matrix for calculating a bounding box
* blendWidth: width of the blending function (horizontal hat function;
* try other blending functions for extra credit)
* OUTPUT:
* add a weighted copy of img to the subimage specified in acc
* the first 3 band of acc records the weighted sum of pixel colors
* the fourth band of acc records the sum of weight
*/
static void AccumulateBlend(CByteImage& img, CFloatImage& acc, CTransform3x3 M, float blendWidth)
{
/* Compute the bounding box of the image of the image */
int bb_min_x, bb_min_y, bb_max_x, bb_max_y;
ImageBoundingBox(img, M, bb_min_x, bb_min_y, bb_max_x, bb_max_y);
int imgWidth = img.Shape().width;
int imgHeight = img.Shape().height;
CTransform3x3 Minv = M.Inverse();
for (int y = bb_min_y; y <= bb_max_y; y++) {
for (int x = bb_min_x; x < bb_max_x; x++) {
/* Check bounds in destination */
if (x < 0 || x >= acc.Shape().width ||
y < 0 || y >= acc.Shape().height)
continue;
/* Compute source pixel and check bounds in source */
CVector3 p_dest, p_src;
p_dest[0] = x;
p_dest[1] = y;
p_dest[2] = 1.0;
p_src = Minv * p_dest;
float x_src = (float) (p_src[0] / p_src[2]);
float y_src = (float) (p_src[1] / p_src[2]);
if (x_src < 0.0 || x_src >= img.Shape().width - 1 ||
y_src < 0.0 || y_src >= img.Shape().height - 1)
continue;
int xf = (int) floor(x_src);
int yf = (int) floor(y_src);
int xc = xf + 1;
int yc = yf + 1;
/* Skip black pixels */
if (img.Pixel(xf, yf, 0) == 0x0 &&
img.Pixel(xf, yf, 1) == 0x0 &&
img.Pixel(xf, yf, 2) == 0x0)
continue;
if (img.Pixel(xc, yf, 0) == 0x0 &&
img.Pixel(xc, yf, 1) == 0x0 &&
img.Pixel(xc, yf, 2) == 0x0)
continue;
if (img.Pixel(xf, yc, 0) == 0x0 &&
img.Pixel(xf, yc, 1) == 0x0 &&
img.Pixel(xf, yc, 2) == 0x0)
continue;
if (img.Pixel(xc, yc, 0) == 0x0 &&
img.Pixel(xc, yc, 1) == 0x0 &&
img.Pixel(xc, yc, 2) == 0x0)
continue;
double weight = 1.0;
// *** BEGIN TODO ***
// set weight properly
//(see mosaics lecture slide on "feathering") P455 on notebook
//Q：How to find the invalid distance ? ->
double distance = ((imgWidth - x - 1)*(imgWidth - x - 1) + (imgHeight - y - 1)*(imgHeight - y - 1));
if (distance < blendWidth)
{
weight = distance / blendWidth;
}
// *** END TODO ***
acc.Pixel(x, y, 0) += (float) (weight * img.PixelLerp(x_src, y_src, 0));
acc.Pixel(x, y, 1) += (float) (weight * img.PixelLerp(x_src, y_src, 1));
acc.Pixel(x, y, 2) += (float) (weight * img.PixelLerp(x_src, y_src, 2));
acc.Pixel(x, y, 3) += (float) weight;
}
}
}
void evaldisp(CFloatImage disp, CFloatImage gtdisp, CByteImage mask, float badthresh, int maxdisp, int rounddisp)
{
CShape sh = gtdisp.Shape();
CShape sh2 = disp.Shape();
CShape msh = mask.Shape();
int width = sh.width, height = sh.height;
int width2 = sh2.width, height2 = sh2.height;
int scale = width / width2;
if ((!(scale == 1 || scale == 2 || scale == 4))
|| (scale * width2 != width)
|| (scale * height2 != height)) {
printf(" disp size = %4d x %4d\n", width2, height2);
printf("GT disp size = %4d x %4d\n", width, height);
throw CError("GT disp size must be exactly 1, 2, or 4 * disp size");
}
int usemask = (msh.width > 0 && msh.height > 0);
if (usemask && (msh != sh))
throw CError("mask image must have same size as GT\n");
int n = 0;
int bad = 0;
int invalid = 0;
float serr = 0;
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
float gt = gtdisp.Pixel(x, y, 0);
if (gt == INFINITY) // unknown
continue;
float d = scale * disp.Pixel(x / scale, y / scale, 0);
float maxd = scale * maxdisp; // max disp range
int valid = (d != INFINITY && d <= maxd * 1000);
if (valid) {
d = __max(0, __min(maxd, d)); // clip disps to max disp range
}
if (valid && rounddisp)
d = round(d);
float err = fabs(d - gt);
if (usemask && mask.Pixel(x, y, 0) != 255) { // don't evaluate pixel
} else {
n++;
if (valid) {
serr += err;
if (err > badthresh) {
bad++;
}
} else {// invalid (i.e. hole in sparse disp map)
invalid++;
}
}
}
}
float badpercent = 100.0*bad/n;
float invalidpercent = 100.0*invalid/n;
float totalbadpercent = 100.0*(bad+invalid)/n;
float avgErr = serr / (n - invalid); // CHANGED 10/14/2014 -- was: serr / n
//printf("mask bad%.1f invalid totbad avgErr\n", badthresh);
printf("%4.1f %6.2f %6.2f %6.2f %6.2f\n", 100.0*n/(width * height),
badpercent, invalidpercent, totalbadpercent, avgErr);
}
/******************* TO DO *********************
* AccumulateBlend:
* INPUT:
* img: a new image to be added to acc
* acc: portion of the accumulated image where img is to be added
* M: the transformation mapping the input image 'img' into the output panorama 'acc'
* blendWidth: width of the blending function (horizontal hat function;
* try other blending functions for extra credit)
* OUTPUT:
* add a weighted copy of img to the subimage specified in acc
* the first 3 band of acc records the weighted sum of pixel colors
* the fourth band of acc records the sum of weight
*/
static void AccumulateBlend(CByteImage& img, CFloatImage& acc, CTransform3x3 M, float blendWidth)
{
// BEGIN TODO
// Fill in this routine
// get shape of acc and img
CShape sh = img.Shape();
int width = sh.width;
int height = sh.height;
CShape shacc = acc.Shape();
int widthacc = shacc.width;
int heightacc = shacc.height;
// get the bounding box of img in acc
int min_x, min_y, max_x, max_y;
ImageBoundingBox(img, M, min_x, min_y, max_x, max_y);
CVector3 p;
double newx, newy;
// Exposure Compensation
double lumaScale = 1.0;
double lumaAcc = 0.0;
double lumaImg = 0.0;
int cnt = 0;
for (int ii = min_x; ii < max_x; ii++)
for (int jj = min_y; jj < max_y; jj++)
{
// flag: current pixel black or not
bool flag = false;
p[0] = ii; p[1] = jj; p[2] = 1;
p = M.Inverse() * p;
newx = p[0] / p[2];
newy = p[1] / p[2];
// If in the overlapping region
if (newx >=0 && newx < width && newy >=0 && newy < height)
{
if (acc.Pixel(ii,jj,0) == 0 &&
acc.Pixel(ii,jj,1) == 0 &&
acc.Pixel(ii,jj,2) == 0)
flag = true;
if (img.PixelLerp(newx,newy,0) == 0 &&
img.PixelLerp(newx,newy,1) == 0 &&
img.PixelLerp(newx,newy,2) == 0)
flag = true;
if (!flag)
{
// Compute Y using RGB (RGB -> YUV)
lumaAcc = 0.299 * acc.Pixel(ii,jj,0) +
0.587 * acc.Pixel(ii,jj,1) +
0.114 * acc.Pixel(ii,jj,2);
lumaImg = 0.299 * img.PixelLerp(newx,newy,0) +
0.587 * img.PixelLerp(newx,newy,1) +
0.114 * img.PixelLerp(newx,newy,2);
if (lumaImg != 0)
{
double scale = lumaAcc / lumaImg;
if (scale > 0.5 && scale < 2)
{
lumaScale += lumaAcc / lumaImg;
cnt++;
}
}
}
}
}
if (cnt != 0)
lumaScale = lumaScale / (double)cnt;
else lumaScale = 1.0;
// add every pixel in img to acc, feather the region withing blendwidth to the bounding box,
// pure black pixels (caused by warping) are not added
double weight;
for (int ii = min_x; ii < max_x; ii++)
for (int jj = min_y; jj < max_y; jj++)
{
p[0] = ii; p[1] = jj; p[2] = 1;
p = M.Inverse() * p;
newx = p[0] / p[2];
newy = p[1] / p[2];
if ((newx >= 0) && (newx < width-1) && (newy >= 0) && (newy < height-1))
{
weight = 1.0;
if ( (ii >= min_x) && (ii < (min_x+blendWidth)) )
weight = (ii-min_x) / blendWidth;
if ( (ii <= max_x) && (ii > (max_x-blendWidth)) )
weight = (max_x-ii) / blendWidth;
if (img.Pixel(iround(newx),iround(newy),0) == 0 &&
img.Pixel(iround(newx),iround(newy),1) == 0 &&
img.Pixel(iround(newx),iround(newy),2) == 0)
weight = 0.0;
double LerpR = img.PixelLerp(newx, newy, 0);
double LerpG = img.PixelLerp(newx, newy, 1);
double LerpB = img.PixelLerp(newx, newy, 2);
double r = LerpR*lumaScale > 255.0 ? 255.0 : LerpR*lumaScale;
double g = LerpG*lumaScale > 255.0 ? 255.0 : LerpG*lumaScale;
double b = LerpB*lumaScale > 255.0 ? 255.0 : LerpB*lumaScale;
acc.Pixel(ii,jj,0) += r * weight;
acc.Pixel(ii,jj,1) += g * weight;
acc.Pixel(ii,jj,2) += b * weight;
acc.Pixel(ii,jj,3) += weight;
}
}
printf("AccumulateBlend\n");
// END TODO
}