int camDrawRectangle(CamImage *image, int x1, int y1, int x2, int y2, int color)
{
camDrawLine(image,x1,y1,x2,y1,color);
camDrawLine(image,x2,y1,x2,y2,color);
camDrawLine(image,x2,y2,x1,y2,color);
camDrawLine(image,x1,y2,x1,y1,color);
return 1;
}
int camPlot(CamImage *image, int x, int y, int color, int kind)
{
if (kind&1) {
camDrawLine(image,x,y,x,y,color);
}
if (kind&2) {
camDrawLine(image,x-2,y-2,x+2,y+2,color);
camDrawLine(image,x+2,y-2,x-2,y+2,color);
}
if (kind&4) {
camDrawCircle(image,x,y,2,color);
}
return 1;
}
int main()
{
CamImage imodel[3], image, color_image;
CamKeypoints points[3], points2;
int i, j;
CamKeypointsMatches matches;
char filename[256];
char *model_images[] = {"edog5", "dvd", "mrpotato4"};
#define DISPLAYED_MODEL 2
#define NB_SCENES 5
char *test_images[NB_SCENES] = {"scene1", "scene3", "scene4", "scene5", "scene7"};
const int cx[3] = {450, 390, 550};
const int cy[3] = {340, 510, 450};
const int width[3] = {720, 690, 500};
const int height[3] = {640, 910, 500};
CamAffineTransform t;
int error, c, x1, y1, x2, y2, score, nbFeatures;
CamPoint xy[7], uv[7];
CamImage dimage;
CamROI roi;
const int nb_keypoints = 500;
for (i = 0; i < 3; i++) {
sprintf(filename, "resources/photos/%s.bmp", model_images[i]);
printf("Feature point detection on %s ...\n", model_images[i]);
imodel[i].imageData = NULL;
camLoadBMP(&imodel[i], filename);
/*
camAllocateImage(&image, imodel[i].width, imodel[i].height, CAM_DEPTH_8U);
camRGB2Y(&imodel[i], &image);
*/
camAllocateYUVImage(&image, imodel[i].width, imodel[i].height);
camRGB2YUV(&imodel[i], &image);
camAllocateKeypoints(&points[i], 0);
points[i].id = i;
camFastHessianDetector(&image, &points[i], 100, CAM_UPRIGHT);
/*
camDrawKeypoints(&points[i], &image, 128);
sprintf(filename, "output/%s.pgm", model_images[i]);
camSavePGM(&image, filename);
*/
camDeallocateImage(&image);
}
camAllocateRGBImage(&dimage, imodel[0].width, imodel[0].height * 2);
camSetROI(&roi, 0, 0, imodel[0].height, imodel[0].width, imodel[0].height);
camAllocateKeypointsMatches(&matches, 2048);
nbFeatures = 0;
score = 0;
for (i = 0; i < NB_SCENES; i++) {
sprintf(filename, "resources/photos/%s.bmp", test_images[i]);
printf("Feature point detection on %s ...\n", test_images[i]);
color_image.imageData = NULL;
camLoadBMP(&color_image, filename);
/*
camAllocateImage(&image, color_image.width, color_image.height, CAM_DEPTH_8U);
camRGB2Y(&color_image, &image);
*/
camAllocateYUVImage(&image, color_image.width, color_image.height);
camRGB2YUV(&color_image, &image);
camAllocateKeypoints(&points2, 0);
camFastHessianDetector(&image, &points2, nb_keypoints, CAM_UPRIGHT);
printf("# features = %d\n", points2.nbPoints);
nbFeatures += points2.nbPoints;
// Create result image
dimage.roi = NULL;
camCopy(&imodel[DISPLAYED_MODEL], &dimage);
dimage.roi = &roi;
camCopy(&color_image, &dimage);
dimage.roi = NULL;
camDrawKeypoints(&points[DISPLAYED_MODEL], &dimage, 128);
for (j = 0; j < 3; j++) {
camKeypointsMatching2(&points[j], &points2, &matches);
// Find affine parameters
if (camFindAffineTransform2(&matches, &t, &error)) {
score += matches.nbMatches - matches.nbOutliers;
if (j == DISPLAYED_MODEL) {
// Draw lines between model and target
for (c = 0; c < matches.nbMatches; c++) {
if (matches.pairs[c].mark != -1) {
camDrawKeypoint(matches.pairs[c].p1, &dimage, CAM_RGB(255, 0, 0));
x1 = matches.pairs[c].p1->x;
y1 = matches.pairs[c].p1->y;
x2 = matches.pairs[c].p2->x;
y2 = matches.pairs[c].p2->y;
y2 += image.height;
camDrawLine(&dimage, x1, y1, x2, y2, CAM_RGB(0, 255, 0));
}
}
for (c = 0; c < matches.nbMatches; c++) {
matches.pairs[c].p2->y += image.height;
camDrawKeypoint(matches.pairs[c].p2, &dimage, 128);
}
}
// Draw box on model and target
xy[0].x = xy[3].x = cx[j] - width[j] / 2;
xy[0].y = xy[1].y = cy[j] - height[j] / 2;
xy[1].x = xy[2].x = cx[j] + width[j] / 2;
xy[2].y = xy[3].y = cy[j] + height[j] / 2;
xy[4].x = xy[5].x = cx[j];
xy[4].y = xy[6].y = cy[j];
xy[5].y = cy[j] - height[j] / 4;
xy[6].x = cx[j] + width[j] / 4;
for (c = 0; c < 7; c++) {
camApplyAffineTransform(&xy[c], &uv[c], &t);
uv[c].y += image.height;
}
if (j == DISPLAYED_MODEL) {
camDrawLine(&dimage, xy[0].x, xy[0].y, xy[1].x, xy[1].y, 0);
camDrawLine(&dimage, xy[2].x, xy[2].y, xy[1].x, xy[1].y, 0);
camDrawLine(&dimage, xy[2].x, xy[2].y, xy[3].x, xy[3].y, 0);
camDrawLine(&dimage, xy[0].x, xy[0].y, xy[3].x, xy[3].y, 0);
camDrawLine(&dimage, xy[4].x, xy[4].y, xy[5].x, xy[5].y, 0);
camDrawLine(&dimage, xy[6].x, xy[6].y, xy[4].x, xy[4].y, 0);
}
camDrawLine(&dimage, uv[0].x, uv[0].y, uv[1].x, uv[1].y, 0);
camDrawLine(&dimage, uv[2].x, uv[2].y, uv[1].x, uv[1].y, 0);
camDrawLine(&dimage, uv[2].x, uv[2].y, uv[3].x, uv[3].y, 0);
camDrawLine(&dimage, uv[0].x, uv[0].y, uv[3].x, uv[3].y, 0);
camDrawLine(&dimage, uv[4].x, uv[4].y, uv[5].x, uv[5].y, 0);
camDrawLine(&dimage, uv[6].x, uv[6].y, uv[4].x, uv[4].y, 0);
}
}
sprintf(filename, "output/%s.bmp", test_images[i]);
camSaveBMP(&dimage, filename);
camDeallocateImage(&image);
camDeallocateImage(&color_image);
camFreeKeypoints(&points2);
}
for (i = 0; i < 3; i++) {
camDeallocateImage(&imodel[i]);
camFreeKeypoints(&points[i]);
}
camDeallocateImage(&dimage);
camFreeKeypointsMatches(&matches);
printf("# features in scenes = %d\n", nbFeatures);
printf("# matching features = %d (%lg%%)\n", score, score*100.0/nbFeatures);
}
int camDrawText16s(CamImage *image, char *text, int x, int y, int cwidth, int cheight, int orientation, int color)
{
static const int characters_table[][16]={
{1,1,1,1,1,1,1,1,0,0,1,0,0,0,1,0}, /* 0 */
{1,0,0,0,1,1,0,0,0,1,0,0,0,1,0,0}, /* {0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0}, */
{1,1,1,0,1,1,1,0,0,0,0,1,0,0,0,1},
{1,1,1,1,1,1,0,0,0,0,0,1,0,0,0,0},
{0,0,0,0,0,0,0,1,0,1,0,1,0,1,0,1},
{1,1,0,1,1,1,0,1,0,0,0,1,0,0,0,1},
{1,1,0,1,1,1,1,1,0,0,0,1,0,0,0,1},
{1,1,0,0,0,0,0,0,0,0,1,0,0,0,1,0},
{1,1,1,1,1,1,1,1,0,0,0,1,0,0,0,1},
{1,1,1,1,1,1,0,1,0,0,0,1,0,0,0,1}, /* 9 */
{1,1,1,1,0,0,1,1,0,0,0,1,0,0,0,1}, /* A */
{1,1,1,1,1,1,0,0,0,1,0,1,0,1,0,0},
{1,1,0,0,1,1,1,1,0,0,0,0,0,0,0,0},
{1,1,1,1,1,1,0,0,0,1,0,0,0,1,0,0},
{1,1,0,0,1,1,1,1,0,0,0,0,0,0,0,1},
{1,1,0,0,0,0,1,1,0,0,0,0,0,0,0,1},
{1,1,0,1,1,1,1,1,0,0,0,1,0,0,0,0},
{0,0,1,1,0,0,1,1,0,0,0,1,0,0,0,1},
{0,0,0,0,0,0,0,0,0,1,0,0,0,1,0,0},
{0,0,1,1,1,1,1,0,0,0,0,0,0,0,0,0},
{0,0,0,0,0,0,1,1,0,0,1,0,1,0,0,1},
{0,0,0,0,1,1,1,1,0,0,0,0,0,0,0,0},
{0,0,1,1,0,0,1,1,1,0,1,0,0,0,0,0},
{0,0,1,1,0,0,1,1,1,0,0,0,1,0,0,0},
{1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0},
{1,1,1,0,0,0,1,1,0,0,0,1,0,0,0,1},
{1,1,1,1,1,1,1,1,0,0,0,0,1,0,0,0},
{1,1,1,0,0,0,1,1,0,0,0,1,1,0,0,1},
{1,1,0,1,1,1,0,1,0,0,0,1,0,0,0,1},
{1,1,0,0,0,0,0,0,0,1,0,0,0,1,0,0},
{0,0,1,1,1,1,1,1,0,0,0,0,0,0,0,0},
{0,0,0,0,0,0,1,1,0,0,1,0,0,0,1,0},
{0,0,1,1,0,0,1,1,0,0,0,0,1,0,1,0},
{0,0,0,0,0,0,0,0,1,0,1,0,1,0,1,0},
{0,0,0,0,0,0,0,0,1,0,1,0,0,1,0,0},
{1,1,0,0,1,1,0,0,0,0,1,0,0,0,1,0}, /* Z */
{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}};
static const int segments[16][4]={
{0,0,1,0},{1,0,2,0},{2,0,2,1},{2,1,2,2},
{1,2,2,2},{0,2,1,2},{0,1,0,2},{0,0,0,1},
{0,0,1,1},{1,0,1,1},{2,0,1,1},{2,1,1,1},
{2,2,1,1},{1,2,1,1},{0,2,1,1},{0,1,1,1}
};
int i,j,l;
int xp[3],yp[3];
const int *character;
int special_character;
char carac;
CAM_CHECK_ARGS(camDrawText16s,image->imageData!=NULL);
if (orientation) {
xp[0]=0; xp[1]=2*cwidth/5; xp[2]=4*cwidth/5;
yp[0]=cheight; yp[1]=cheight-cheight/3; yp[2]=cheight-2*cheight/3;
} else {
xp[0]=0; xp[1]=cwidth/3; xp[2]=2*cwidth/3;
yp[0]=0; yp[1]=2*cheight/5; yp[2]=4*cheight/5;
}
l=strlen(text);
for (i=0;i<l;i++) {
if (orientation) {
carac=text[l-1-i];
} else {
carac=text[i];
}
special_character=0;
if ((carac>='0')&&(carac<='9')) {
character=characters_table[carac-'0'];
} else if ((carac>='A')&&(carac<='Z')) {
character=characters_table[carac-'A'+10];
} else if ((carac>='a')&&(carac<='z')) {
character=characters_table[carac-'a'+10];
} else if (carac==' ') {
/* Space character */
special_character=1;
} else if (carac==':') {
special_character=1;
if (orientation) {
camDrawLine(image,x+xp[1],y+yp[1],x+xp[1],y+yp[1],color);
camDrawLine(image,x+xp[2],y+yp[1],x+xp[2],y+yp[1],color);
} else {
camDrawLine(image,x+xp[1],y+yp[1],x+xp[1],y+yp[1],color);
camDrawLine(image,x+xp[1],y+yp[2],x+xp[1],y+yp[2],color);
}
} else if (carac=='.') {
special_character=1;
if (orientation) {
camDrawLine(image,x+xp[2],y+yp[1],x+xp[2],y+yp[1],color);
} else {
camDrawLine(image,x+xp[1],y+yp[2],x+xp[1],y+yp[2],color);
}
} else if (carac=='=') {
special_character=1;
if (orientation) {
camDrawLine(image,x+xp[1],y+yp[0],x+xp[1],y+yp[2],color);
camDrawLine(image,x+xp[2],y+yp[0],x+xp[2],y+yp[2],color);
} else {
camDrawLine(image,x+xp[0],y+yp[1],x+xp[2],y+yp[1],color);
camDrawLine(image,x+xp[0],y+yp[2],x+xp[2],y+yp[2],color);
}
} else if (carac=='-') {
special_character=1;
if (orientation) {
camDrawLine(image,x+xp[1],y+yp[0],x+xp[1],y+yp[2],color);
} else {
camDrawLine(image,x+xp[0],y+yp[1],x+xp[2],y+yp[1],color);
}
}
if (!special_character) {
if (orientation) {
for (j=0;j<16;j++) {
if (character[j]) {
camDrawLine(image,x+xp[segments[j][1]],y+yp[segments[j][0]],x+xp[segments[j][3]],y+yp[segments[j][2]],color);
}
}
} else {
for (j=0;j<16;j++) {
if (character[j]) {
camDrawLine(image,x+xp[segments[j][0]],y+yp[segments[j][1]],x+xp[segments[j][2]],y+yp[segments[j][3]],color);
}
}
}
}
if (orientation) {
y+=cheight;
} else {
x+=cwidth;
}
}
return 1;
}
void test_camRecursiveKeypoints()
{
CamImage image, dest;
CamKeypoints points;
int i;
const int x = 8;
int angle;
double costheta;
double sintheta;
const int xp[4] = {-1, 1, 1, -1};
const int yp[4] = {-1, -1, 1, 1};
CamWarpingParams params;
printf("Recursive keypoints detection :\n");
camAllocateImage(&image, 256, 256, CAM_DEPTH_8U);
camAllocateKeypoints(&points, 100);
camSet(&image, 0);
// camDrawRectangle(&image, 102, 120, 156, 152, 128);
// camFillColor(&image, 103, 121, 128, -1);
camDrawRectangle(&image, 120, 50, 150, 70, 28);
camDrawRectangle(&image, 100, 35, 180, 90, 180);
// camFillColor(&image, 123, 36, 128, -1);
//
// camDrawCircle(&image, 50, 50, 10, 128);
// camFillColor(&image, 50, 50, 128, -1);
// camDrawCircle(&image, 80, 50, 5, 128);
// camFillColor(&image, 80, 50, 128, -1);
// camDrawCircle(&image, 100, 50, 3, 128);
// camFillColor(&image, 100, 50, 128, -1);
#if 1
angle = 20;
costheta = cos(angle * 2 * M_PI / 360);
sintheta = sin(angle * 2 * M_PI / 360);
for (i = 0; i < 4; i++) {
params.p[i].x = (int)floor((costheta * xp[i] - sintheta * yp[i]) * 15 + 0.5);
params.p[i].y = (int)floor((sintheta * xp[i] + costheta * yp[i]) * 15 + 0.5);
params.p[i].x += 192;
params.p[i].y += 192;
}
for (i = 0; i < 4; i++) {
camDrawLine(&image, params.p[i].x, params.p[i].y, params.p[(i+1)%4].x, params.p[(i+1)%4].y, 128);
}
camFillColor(&image, 192, 192, 128, -1);
angle = 30;
costheta = cos(angle * 2 * M_PI / 360);
sintheta = sin(angle * 2 * M_PI / 360);
for (i = 0; i < 4; i++) {
params.p[i].x = (int)floor((costheta * xp[i] - sintheta * yp[i]) * 10 + 0.5);
params.p[i].y = (int)floor((sintheta * xp[i] + costheta * yp[i]) * 10 + 0.5);
params.p[i].x += 50;
params.p[i].y += 192;
}
for (i = 0; i < 4; i++) {
camDrawLine(&image, params.p[i].x, params.p[i].y, params.p[(i+1)%4].x, params.p[(i+1)%4].y, 128);
}
camFillColor(&image, 50, 192, 128, -1);
#endif
dest.imageData = NULL;
camKeypointsRecursiveDetector(&image, NULL, &points, 20, 0);
for (i = 0; i < points.nbPoints; i++) {
printf("x=%d y=%d value=%d scale=%d size=%d angle=%d\n", points.keypoint[i]->x, points.keypoint[i]->y, points.keypoint[i]->value, points.keypoint[i]->scale, points.keypoint[i]->size, points.keypoint[i]->angle);
}
camDrawKeypoints(&points, &image, 192);
camSavePGM(&image, "output/keypoints_recursive.pgm");
camDeallocateImage(&image);
camDeallocateImage(&dest);
camFreeKeypoints(&points);
}
