/***
* Convertions between cv::Keypoint and KAZE::Ipoint
*/
static inline void convertPoint(const cv::KeyPoint& kp, Ipoint& aux)
{
aux.xf = kp.pt.x;
aux.yf = kp.pt.y;
aux.x = fRound(aux.xf);
aux.y = fRound(aux.yf);
//cout << "SURF size: " << kpts_surf1_[i].size*.5 << endl;
aux.octave = kp.octave;
// Get the radius for visualization
aux.scale = kp.size*.2; // Updated by Yuhua Zou
aux.angle = DEGREE_TO_RADIAN(kp.angle);
//aux.descriptor_size = 64;
}
//! Get the upright descriptor vector of the provided Ipoint
void Surf::getUprightDescriptor()
{
int y, x, count=0;
float scale, *desc, dx, dy, mdx, mdy;
float gauss, rx, ry, len = 0.f;
Ipoint *ipt = &ipts.at(index);
scale = ipt->scale;
y = fRound(ipt->y);
x = fRound(ipt->x);
desc = ipt->descriptor;
// Calculate descriptor for this interest point
for (int i = -10; i < 10; i+=5)
{
for (int j = -10; j < 10; j+=5)
{
dx=dy=mdx=mdy=0;
for (int k = i; k < i + 5; ++k)
{
for (int l = j; l < j + 5; ++l)
{
// get Gaussian weighted x and y responses
gauss = static_cast<float>(gauss33[abs(k)][abs(l)]);
rx = gauss * haarX(fRound(k*scale+y), fRound(l*scale+x), 2*fRound(scale));
ry = gauss * haarY(fRound(k*scale+y), fRound(l*scale+x), 2*fRound(scale));
dx += rx;
dy += ry;
mdx += fabs(rx);
mdy += fabs(ry);
}
}
// add the values to the descriptor vector
desc[count++] = dx;
desc[count++] = dy;
desc[count++] = mdx;
desc[count++] = mdy;
// store the current length^2 of the vector
len += dx*dx + dy*dy + mdx*mdx + mdy*mdy;
}
}
// convert to unit vector
len = sqrt(len);
for (int i = 0; i < 64; i++)
desc[i] /= len;
}
void ofxOpenSurf :: drawPoints ( int x, int y, float scale, vector<Ipoint> &ipts, int tailSize )
{
glPushMatrix();
glTranslatef( x, y, 0 );
glScalef( scale, scale, 1 );
Ipoint* ipt;
float s,o;
int r1,c1,r2,c2,lap;
for( int i=0; i<ipts.size(); i++ )
{
ipt = &ipts.at( i );
s = ( ( 9.0f / 1.2f ) * ipt->scale ) / 3.0f;
o = ipt->orientation;
lap = ipt->laplacian;
r1 = fRound( ipt->y );
c1 = fRound( ipt->x );
c2 = fRound( s * cos( o ) ) + c1;
r2 = fRound( s * sin( o ) ) + r1;
if( o ) //green line = orientation
{
ofSetColor( ofColor :: green );
ofLine( c1, r1, c2, r2 );
}
else //green dot = upright conversion
{
ofSetColor( ofColor :: green );
ofCircle( c1, r1, 1 );
}
if( lap >= 0 ) //blue circle = dark blob on light
{
ofNoFill();
ofSetColor( ofColor :: blue );
ofCircle( c1, r1, fRound( s ) );
}
else // red circle = light blob on dark
{
ofNoFill();
ofSetColor( ofColor :: red );
ofCircle( c1, r1, fRound( s ) );
}
if( tailSize ) //draw motion ipoint dx dy
{
ofSetColor( ofColor :: white );
ofLine( c1, r1, (int)( c1 + ipt->dx * tailSize ), (int)( r1 + ipt->dy * tailSize ) );
}
}
glPopMatrix();
}
UINT64 CWaveformTransmitter::u64GetCurrAmplitude(int CurrItr,
sWaveformInfo& ouCurrSig)
{
float Result = 0.0;
switch (ouCurrSig.m_eSignalWaveType)
{
case eWave_SINE:
{
Result = ouCurrSig.m_fAmplitude * sin(CurrItr * ouCurrSig.m_fGranularity);
}
break;
case eWave_COS:
{
Result = ouCurrSig.m_fAmplitude * cos(CurrItr * ouCurrSig.m_fGranularity);
}
break;
case eWave_TRIANGLE:
{
float Val = CurrItr * ouCurrSig.m_fGranularity;
Result = (sin(Val) - sin(3 * Val) / 9 + sin(5 * Val) / 25
- sin(7 * Val) / 49 + sin(9 * Val) / 81) * SINE_COEFF;
Result *= ouCurrSig.m_fAmplitude;
}
break;
default:
ASSERT(FALSE);
}
//ArunKumar K: Currently using the Peak to Peak Amplitude as 0 to 2*Amplitude
//instead of -Amplitude to +Amplitude
Result += ouCurrSig.m_fAmplitude;
if(Result!=0)
{
Result = fRound(Result, 0);
}
return (UINT64) Result;
}
void ofxDrawIpoints(int x, int y, float sz, std::vector<Ipoint> &ipts, int tailSize) {
glPushMatrix();
glTranslatef(x,y,0);
glScalef(sz,sz,1);
Ipoint * ipt;
float s,o;
int r1,c1,r2,c2,lap;
for(unsigned int i=0; i<ipts.size(); i++) {
ipt = &ipts.at(i);
s = ((9.0f/1.2f) * ipt->scale) / 3.0f;
o = ipt->orientation;
lap = ipt->laplacian;
r1 = fRound(ipt->y);
c1 = fRound(ipt->x);
c2 = fRound(s * cos(o)) + c1;
r2 = fRound(s * sin(o)) + r1;
if(o) { //green line = orientation
ofSetColor(0x00ff00);
ofLine(c1,r1,c2,r2);
} else { //green dot = upright conversion
ofSetColor(0x00ff00);
ofCircle(c1,r1,1);
}
if(lap>=0) { //blue circle = dark blob on light
ofSetColor(0x0000ff);
ofNoFill();
ofCircle(c1,r1,fRound(s));
} else { // red circle = light blob on dark
ofSetColor(0xff0000);
ofNoFill();
ofCircle(c1,r1,fRound(s));
}
if(tailSize) { //draw motion ipoint dx dy
ofSetColor(0xffffff);
ofLine(c1,r1,int(c1+ipt->dx*tailSize),int(r1+ipt->dy*tailSize));
}
}
glPopMatrix();
}
/*
This is the main workhorse of the QGridLayout. It portions out
available space to the chain's children.
The calculation is done in fixed point: "fixed" variables are
scaled by a factor of 256.
If the layout runs "backwards" (i.e. RightToLeft or Up) the layout
is computed mirror-reversed, and it's the caller's responsibility
do reverse the values before use.
chain contains input and output parameters describing the geometry.
count is the count of items in the chain; pos and space give the
interval (relative to parentWidget topLeft).
*/
Q_EXPORT void qGeomCalc( QMemArray<QLayoutStruct> &chain, int start, int count,
int pos, int space, int spacer )
{
typedef int fixed;
int cHint = 0;
int cMin = 0;
int cMax = 0;
int sumStretch = 0;
int spacerCount = 0;
bool wannaGrow = FALSE; // anyone who really wants to grow?
// bool canShrink = FALSE; // anyone who could be persuaded to shrink?
int i;
for ( i = start; i < start + count; i++ ) {
chain[i].done = FALSE;
cHint += chain[i].smartSizeHint();
cMin += chain[i].minimumSize;
cMax += chain[i].maximumSize;
sumStretch += chain[i].stretch;
if ( !chain[i].empty )
spacerCount++;
wannaGrow = wannaGrow || chain[i].expansive || chain[i].stretch > 0;
}
int extraspace = 0;
if ( spacerCount )
spacerCount--; // only spacers between things
if ( space < cMin + spacerCount * spacer ) {
for ( i = start; i < start+count; i++ ) {
chain[i].size = chain[i].minimumSize;
chain[i].done = TRUE;
}
} else if ( space < cHint + spacerCount*spacer ) {
/*
Less space than smartSizeHint(), but more than minimumSize.
Currently take space equally from each, as in Qt 2.x.
Commented-out lines will give more space to stretchier
items.
*/
int n = count;
int space_left = space - spacerCount*spacer;
int overdraft = cHint - space_left;
// first give to the fixed ones:
for ( i = start; i < start + count; i++ ) {
if ( !chain[i].done
&& chain[i].minimumSize >= chain[i].smartSizeHint() ) {
chain[i].size = chain[i].smartSizeHint();
chain[i].done = TRUE;
space_left -= chain[i].smartSizeHint();
// sumStretch -= chain[i].stretch;
n--;
}
}
bool finished = n == 0;
while ( !finished ) {
finished = TRUE;
fixed fp_over = toFixed( overdraft );
fixed fp_w = 0;
for ( i = start; i < start+count; i++ ) {
if ( chain[i].done )
continue;
// if ( sumStretch <= 0 )
fp_w += fp_over / n;
// else
// fp_w += (fp_over * chain[i].stretch) / sumStretch;
int w = fRound( fp_w );
chain[i].size = chain[i].smartSizeHint() - w;
fp_w -= toFixed( w ); // give the difference to the next
if ( chain[i].size < chain[i].minimumSize ) {
chain[i].done = TRUE;
chain[i].size = chain[i].minimumSize;
finished = FALSE;
overdraft -= ( chain[i].smartSizeHint()
- chain[i].minimumSize );
// sumStretch -= chain[i].stretch;
n--;
break;
}
}
}
} else { // extra space
int n = count;
int space_left = space - spacerCount*spacer;
// first give to the fixed ones, and handle non-expansiveness
for ( i = start; i < start + count; i++ ) {
if ( !chain[i].done
&& (chain[i].maximumSize <= chain[i].smartSizeHint()
|| (wannaGrow && !chain[i].expansive && chain[i].stretch == 0)) ) {
chain[i].size = chain[i].smartSizeHint();
chain[i].done = TRUE;
space_left -= chain[i].smartSizeHint();
sumStretch -= chain[i].stretch;
n--;
}
}
extraspace = space_left;
/*
Do a trial distribution and calculate how much it is off.
If there are more deficit pixels than surplus pixels, give
the minimum size items what they need, and repeat.
Otherwise give to the maximum size items, and repeat.
Paul Olav Tvete has a wonderful mathematical proof of the
correctness of this principle, but unfortunately this
comment is too small to contain it.
*/
int surplus, deficit;
do {
surplus = deficit = 0;
fixed fp_space = toFixed( space_left );
fixed fp_w = 0;
for ( i = start; i < start+count; i++ ) {
if ( chain[i].done )
continue;
extraspace = 0;
if ( sumStretch <= 0 )
fp_w += fp_space / n;
else
fp_w += (fp_space * chain[i].stretch) / sumStretch;
int w = fRound( fp_w );
chain[i].size = w;
fp_w -= toFixed( w ); // give the difference to the next
if ( w < chain[i].smartSizeHint() ) {
deficit += chain[i].smartSizeHint() - w;
} else if ( w > chain[i].maximumSize ) {
surplus += w - chain[i].maximumSize;
}
}
if ( deficit > 0 && surplus <= deficit ) {
// give to the ones that have too little
for ( i = start; i < start+count; i++ ) {
if ( !chain[i].done &&
chain[i].size < chain[i].smartSizeHint() ) {
chain[i].size = chain[i].smartSizeHint();
chain[i].done = TRUE;
space_left -= chain[i].smartSizeHint();
sumStretch -= chain[i].stretch;
n--;
}
}
}
if ( surplus > 0 && surplus >= deficit ) {
// take from the ones that have too much
for ( i = start; i < start+count; i++ ) {
if ( !chain[i].done &&
chain[i].size > chain[i].maximumSize ) {
chain[i].size = chain[i].maximumSize;
chain[i].done = TRUE;
space_left -= chain[i].maximumSize;
sumStretch -= chain[i].stretch;
n--;
}
}
}
} while ( n > 0 && surplus != deficit );
if ( n == 0 )
extraspace = space_left;
}
/*
As a last resort, we distribute the unwanted space equally
among the spacers (counting the start and end of the chain). We
could, but don't, attempt a sub-pixel allocation of the extra
space.
*/
int extra = extraspace / ( spacerCount + 2 );
int p = pos + extra;
for ( i = start; i < start+count; i++ ) {
chain[i].pos = p;
p = p + chain[i].size;
if ( !chain[i].empty )
p += spacer+extra;
}
}
/*
This is the main workhorse of the QGridLayout. It portions out
available space to the chain's children.
The calculation is done in fixed point: "fixed" variables are
scaled by a factor of 256.
If the layout runs "backwards" (i.e. RightToLeft or Up) the layout
is computed mirror-reversed, and it's the caller's responsibility
do reverse the values before use.
chain contains input and output parameters describing the geometry.
count is the count of items in the chain; pos and space give the
interval (relative to parentWidget topLeft).
*/
void qGeomCalc(QVector<QLayoutStruct> &chain, int start, int count,
int pos, int space, int spacer)
{
int cHint = 0;
int cMin = 0;
int cMax = 0;
int sumStretch = 0;
int sumSpacing = 0;
bool wannaGrow = false; // anyone who really wants to grow?
// bool canShrink = false; // anyone who could be persuaded to shrink?
bool allEmptyNonstretch = true;
int pendingSpacing = -1;
int spacerCount = 0;
int i;
for (i = start; i < start + count; i++) {
QLayoutStruct *data = &chain[i];
data->done = false;
cHint += data->smartSizeHint();
cMin += data->minimumSize;
cMax += data->maximumSize;
sumStretch += data->stretch;
if (!data->empty) {
/*
Using pendingSpacing, we ensure that the spacing for the last
(non-empty) item is ignored.
*/
if (pendingSpacing >= 0) {
sumSpacing += pendingSpacing;
++spacerCount;
}
pendingSpacing = data->effectiveSpacer(spacer);
}
wannaGrow = wannaGrow || data->expansive || data->stretch > 0;
allEmptyNonstretch = allEmptyNonstretch && !wannaGrow && data->empty;
}
int extraspace = 0;
if (space < cMin + sumSpacing) {
/*
Less space than minimumSize; take from the biggest first
*/
int minSize = cMin + sumSpacing;
// shrink the spacers proportionally
if (spacer >= 0) {
spacer = minSize > 0 ? spacer * space / minSize : 0;
sumSpacing = spacer * spacerCount;
}
QList<int> list;
for (i = start; i < start + count; i++)
list << chain.at(i).minimumSize;
qSort(list);
int space_left = space - sumSpacing;
int sum = 0;
int idx = 0;
int space_used=0;
int current = 0;
while (idx < count && space_used < space_left) {
current = list.at(idx);
space_used = sum + current * (count - idx);
sum += current;
++idx;
}
--idx;
int deficit = space_used - space_left;
int items = count - idx;
/*
* If we truncate all items to "current", we would get "deficit" too many pixels. Therefore, we have to remove
* deficit/items from each item bigger than maxval. The actual value to remove is deficitPerItem + remainder/items
* "rest" is the accumulated error from using integer arithmetic.
*/
int deficitPerItem = deficit/items;
int remainder = deficit % items;
int maxval = current - deficitPerItem;
int rest = 0;
for (i = start; i < start + count; i++) {
int maxv = maxval;
rest += remainder;
if (rest >= items) {
maxv--;
rest-=items;
}
QLayoutStruct *data = &chain[i];
data->size = qMin(data->minimumSize, maxv);
data->done = true;
}
} else if (space < cHint + sumSpacing) {
/*
Less space than smartSizeHint(), but more than minimumSize.
Currently take space equally from each, as in Qt 2.x.
Commented-out lines will give more space to stretchier
items.
*/
int n = count;
int space_left = space - sumSpacing;
int overdraft = cHint - space_left;
// first give to the fixed ones:
for (i = start; i < start + count; i++) {
QLayoutStruct *data = &chain[i];
if (!data->done
&& data->minimumSize >= data->smartSizeHint()) {
data->size = data->smartSizeHint();
data->done = true;
space_left -= data->smartSizeHint();
// sumStretch -= data->stretch;
n--;
}
}
bool finished = n == 0;
while (!finished) {
finished = true;
Fixed64 fp_over = toFixed(overdraft);
Fixed64 fp_w = 0;
for (i = start; i < start+count; i++) {
QLayoutStruct *data = &chain[i];
if (data->done)
continue;
// if (sumStretch <= 0)
fp_w += fp_over / n;
// else
// fp_w += (fp_over * data->stretch) / sumStretch;
int w = fRound(fp_w);
data->size = data->smartSizeHint() - w;
fp_w -= toFixed(w); // give the difference to the next
if (data->size < data->minimumSize) {
data->done = true;
data->size = data->minimumSize;
finished = false;
overdraft -= data->smartSizeHint() - data->minimumSize;
// sumStretch -= data->stretch;
n--;
break;
}
}
}
} else { // extra space
int n = count;
int space_left = space - sumSpacing;
// first give to the fixed ones, and handle non-expansiveness
for (i = start; i < start + count; i++) {
QLayoutStruct *data = &chain[i];
if (!data->done
&& (data->maximumSize <= data->smartSizeHint()
|| (wannaGrow && !data->expansive && data->stretch == 0)
|| (!allEmptyNonstretch && data->empty &&
!data->expansive && data->stretch == 0))) {
data->size = data->smartSizeHint();
data->done = true;
space_left -= data->size;
sumStretch -= data->stretch;
n--;
}
}
extraspace = space_left;
/*
Do a trial distribution and calculate how much it is off.
If there are more deficit pixels than surplus pixels, give
the minimum size items what they need, and repeat.
Otherwise give to the maximum size items, and repeat.
Paul Olav Tvete has a wonderful mathematical proof of the
correctness of this principle, but unfortunately this
comment is too small to contain it.
*/
int surplus, deficit;
do {
surplus = deficit = 0;
Fixed64 fp_space = toFixed(space_left);
Fixed64 fp_w = 0;
for (i = start; i < start + count; i++) {
QLayoutStruct *data = &chain[i];
if (data->done)
continue;
extraspace = 0;
if (sumStretch <= 0)
fp_w += fp_space / n;
else
fp_w += (fp_space * data->stretch) / sumStretch;
int w = fRound(fp_w);
data->size = w;
fp_w -= toFixed(w); // give the difference to the next
if (w < data->smartSizeHint()) {
deficit += data->smartSizeHint() - w;
} else if (w > data->maximumSize) {
surplus += w - data->maximumSize;
}
}
if (deficit > 0 && surplus <= deficit) {
// give to the ones that have too little
for (i = start; i < start+count; i++) {
QLayoutStruct *data = &chain[i];
if (!data->done && data->size < data->smartSizeHint()) {
data->size = data->smartSizeHint();
data->done = true;
space_left -= data->smartSizeHint();
sumStretch -= data->stretch;
n--;
}
}
}
if (surplus > 0 && surplus >= deficit) {
// take from the ones that have too much
for (i = start; i < start + count; i++) {
QLayoutStruct *data = &chain[i];
if (!data->done && data->size > data->maximumSize) {
data->size = data->maximumSize;
data->done = true;
space_left -= data->maximumSize;
sumStretch -= data->stretch;
n--;
}
}
}
} while (n > 0 && surplus != deficit);
if (n == 0)
extraspace = space_left;
}
/*
As a last resort, we distribute the unwanted space equally
among the spacers (counting the start and end of the chain). We
could, but don't, attempt a sub-pixel allocation of the extra
space.
*/
int extra = extraspace / (spacerCount + 2);
int p = pos + extra;
for (i = start; i < start+count; i++) {
QLayoutStruct *data = &chain[i];
data->pos = p;
p += data->size;
if (!data->empty)
p += data->effectiveSpacer(spacer) + extra;
}
#ifdef QLAYOUT_EXTRA_DEBUG
qDebug() << "qGeomCalc" << "start" << start << "count" << count << "pos" << pos
<< "space" << space << "spacer" << spacer;
for (i = start; i < start + count; ++i) {
qDebug() << i << ":" << chain[i].minimumSize << chain[i].smartSizeHint()
<< chain[i].maximumSize << "stretch" << chain[i].stretch
<< "empty" << chain[i].empty << "expansive" << chain[i].expansive
<< "spacing" << chain[i].spacing;
qDebug() << "result pos" << chain[i].pos << "size" << chain[i].size;
}
#endif
}
//! Get the descriptor vector of the provided Ipoint
void Surf::getDescriptor()
{
int y, x, sample_x, sample_y, count=0;
float scale, *desc, dx, dy, mdx, mdy, co, si;
float gauss, rx, ry, rrx, rry, len=0;
Ipoint *ipt = &ipts.at(index);
scale = ipt->scale;
x = fRound(ipt->x);
y = fRound(ipt->y);
co = cos(ipt->orientation);
si = sin(ipt->orientation);
desc = ipt->descriptor;
// Calculate descriptor for this interest point
for (int i = -10; i < 10; i+=5)
{
for (int j = -10; j < 10; j+=5)
{
dx=dy=mdx=mdy=0;
for (int k = i; k < i + 5; ++k)
{
for (int l = j; l < j + 5; ++l)
{
// Get coords of sample point on the rotated axis
sample_x = fRound(x + (-l*scale*si + k*scale*co));
sample_y = fRound(y + ( l*scale*co + k*scale*si));
// Get the gaussian weighted x and y responses
gauss = static_cast<float>(gauss33[abs(k)][abs(l)]);
rx = gauss * haarX(sample_y, sample_x, 2*fRound(scale));
ry = gauss * haarY(sample_y, sample_x, 2*fRound(scale));
// Get the gaussian weighted x and y responses on rotated axis
rrx = -rx*si + ry*co;
rry = rx*co + ry*si;
dx += rrx;
dy += rry;
mdx += fabs(rrx);
mdy += fabs(rry);
}
}
// add the values to the descriptor vector
desc[count++] = dx;
desc[count++] = dy;
desc[count++] = mdx;
desc[count++] = mdy;
// store the current length^2 of the vector
len += dx*dx + dy*dy + mdx*mdx + mdy*mdy;
}
}
// convert to unit vector
len = sqrt(len);
for (int i = 0; i < 64; i++)
desc[i] /= len;
}
//! Assign the supplied Ipoint an orientation
void Surf::getOrientation()
{
Ipoint *ipt = &ipts.at(index);
float gauss, scale = ipt->scale;
int s = fRound(scale), r = fRound(ipt->y), c = fRound(ipt->x);
std::vector<float> resX, resY, Ang;
// calculate haar responses for points within radius of 6*scale
for (int i = -6; i <= 6; ++i)
{
for (int j = -6; j <= 6; ++j)
{
if (i*i + j*j < 36)
{
gauss = static_cast<float>(gauss25[abs(i)][abs(j)]);
resX.push_back( gauss * haarX(r+j*s, c+i*s, 4*s) );
resY.push_back( gauss * haarY(r+j*s, c+i*s, 4*s) );
Ang.push_back(getAngle(resX.back(), resY.back()));
}
}
}
// calculate the dominant direction
float sumX, sumY;
float max=0, old_max = 0, orientation = 0, old_orientation = 0;
float ang1, ang2, ang;
// loop slides pi/3 window around feature point
for (ang1 = 0; ang1 < 2*pi; ang1+=0.15f)
{
ang2 = ( ang1+pi/3.0f > 2*pi ? ang1-5.0f*pi/3.0f : ang1+pi/3.0f);
sumX = sumY = 0;
for (unsigned int k = 0; k < Ang.size(); k++)
{
// get angle from the x-axis of the sample point
ang = Ang.at(k);
// determine whether the point is within the window
if (ang1 < ang2 && ang1 < ang && ang < ang2)
{
sumX+=resX.at(k);
sumY+=resY.at(k);
}
else if (ang2 < ang1 &&
((ang > 0 && ang < ang2) || (ang > ang1 && ang < 2*pi) ))
{
sumX+=resX.at(k);
sumY+=resY.at(k);
}
}
// if the vector produced from this window is longer than all
// previous vectors then this forms the new dominant direction
if (sumX*sumX + sumY*sumY > max)
{
// store largest orientation
max = sumX*sumX + sumY*sumY;
orientation = getAngle(sumX, sumY);
}
}
// assign orientation of the dominant response vector
ipt->orientation = orientation;
}
IT("tries to cast lazy expressions to booleans")
initializeGlobals();
expr = newExpressionLaz(newExpressionStr(newString(strDup("-10"))));
result = castToBoo(expr);
SHOULD_EQUAL(result->ev.intval, 1)
freeExpr(result);
freeExpr(expr);
freeGlobals();
END_IT
END_DESCRIBE
DESCRIBE(fRound, "expression* fRound (double result, int digits)")
expression* expr;
IT("rounds floats to integers")
expr = fRound(101.3, -1);
SHOULD_EQUAL(expr->ev.intval, 101)
freeExpr(expr);
expr = fRound(34.5, -1);
SHOULD_EQUAL(expr->ev.intval, 34)
freeExpr(expr);
expr = fRound(35.5, -1);
SHOULD_EQUAL(expr->ev.intval, 36)
freeExpr(expr);
END_IT
IT("rounds floats to arbitrary precisions")
expr = fRound(203.45, 1);
SHOULD_EQUAL(expr->ev.floval, 203.4)
freeExpr(expr);
expr = fRound(-0.5689, 3);
//! Assign the supplied Ipoint an orientation
void Surf::getOrientation()
{
Ipoint *ipt = &ipts[index];
float gauss = 0.f, scale = ipt->scale;
const int s = fRound(scale), r = fRound(ipt->y), c = fRound(ipt->x);
std::vector<float> resX(109), resY(109), Ang(109);
const int id[] = {6,5,4,3,2,1,0,1,2,3,4,5,6};
int idx = 0;
// calculate haar responses for points within radius of 6*scale
for(int i = -6; i <= 6; ++i)
{
for(int j = -6; j <= 6; ++j)
{
if(i*i + j*j < 36)
{
gauss = static_cast<float>(gauss25[id[i+6]][id[j+6]]);
resX[idx] = gauss * haarX(r+j*s, c+i*s, 4*s);
resY[idx] = gauss * haarY(r+j*s, c+i*s, 4*s);
Ang[idx] = getAngle(resX[idx], resY[idx]);
++idx;
}
}
}
// calculate the dominant direction
float sumX=0.f, sumY=0.f;
float max=0.f, orientation = 0.f;
float ang1=0.f, ang2=0.f;
// loop slides pi/3 window around feature point
for(ang1 = 0; ang1 < 2*pi; ang1+=0.15f) {
ang2 = ( ang1+pi/3.0f > 2*pi ? ang1-5.0f*pi/3.0f : ang1+pi/3.0f);
sumX = sumY = 0.f;
for(unsigned int k = 0; k < Ang.size(); ++k)
{
// get angle from the x-axis of the sample point
const float & ang = Ang[k];
// determine whether the point is within the window
if (ang1 < ang2 && ang1 < ang && ang < ang2)
{
sumX+=resX[k];
sumY+=resY[k];
}
else if (ang2 < ang1 &&
((ang > 0 && ang < ang2) || (ang > ang1 && ang < 2*pi) ))
{
sumX+=resX[k];
sumY+=resY[k];
}
}
// if the vector produced from this window is longer than all
// previous vectors then this forms the new dominant direction
if (sumX*sumX + sumY*sumY > max)
{
// store largest orientation
max = sumX*sumX + sumY*sumY;
orientation = getAngle(sumX, sumY);
}
}
// assign orientation of the dominant response vector
ipt->orientation = orientation;
}
//! Get the modified descriptor. See Agrawal ECCV 08
//! Modified descriptor contributed by Pablo Fernandez
void Surf::getDescriptor(bool bUpright)
{
int y, x, sample_x, sample_y, count=0;
int i = 0, ix = 0, j = 0, jx = 0, xs = 0, ys = 0;
float scale, *desc, dx, dy, mdx, mdy, co, si;
float gauss_s1 = 0.f, gauss_s2 = 0.f;
float rx = 0.f, ry = 0.f, rrx = 0.f, rry = 0.f, len = 0.f;
float cx = -0.5f, cy = 0.f; //Subregion centers for the 4x4 gaussian weighting
Ipoint *ipt = &ipts[index];
scale = ipt->scale;
x = fRound(ipt->x);
y = fRound(ipt->y);
desc = ipt->descriptor;
if (bUpright)
{
co = 1;
si = 0;
}
else
{
co = cos(ipt->orientation);
si = sin(ipt->orientation);
}
i = -8;
//Calculate descriptor for this interest point
while(i < 12)
{
j = -8;
i = i-4;
cx += 1.f;
cy = -0.5f;
while(j < 12)
{
dx=dy=mdx=mdy=0.f;
cy += 1.f;
j = j - 4;
ix = i + 5;
jx = j + 5;
xs = fRound(x + ( -jx*scale*si + ix*scale*co));
ys = fRound(y + ( jx*scale*co + ix*scale*si));
for (int k = i; k < i + 9; ++k)
{
for (int l = j; l < j + 9; ++l)
{
//Get coords of sample point on the rotated axis
sample_x = fRound(x + (-l*scale*si + k*scale*co));
sample_y = fRound(y + ( l*scale*co + k*scale*si));
//Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs-sample_x,ys-sample_y,2.5f*scale);
rx = haarX(sample_y, sample_x, 2*fRound(scale));
ry = haarY(sample_y, sample_x, 2*fRound(scale));
//Get the gaussian weighted x and y responses on rotated axis
rrx = gauss_s1*(-rx*si + ry*co);
rry = gauss_s1*(rx*co + ry*si);
dx += rrx;
dy += rry;
mdx += fabs(rrx);
mdy += fabs(rry);
}
}
//Add the values to the descriptor vector
gauss_s2 = gaussian(cx-2.0f,cy-2.0f,1.5f);
desc[count++] = dx*gauss_s2;
desc[count++] = dy*gauss_s2;
desc[count++] = mdx*gauss_s2;
desc[count++] = mdy*gauss_s2;
len += (dx*dx + dy*dy + mdx*mdx + mdy*mdy) * gauss_s2*gauss_s2;
j += 9;
}
i += 9;
}
//Convert to Unit Vector
len = sqrt(len);
for(int i = 0; i < 64; ++i)
desc[i] /= len;
}
void SURF::eval(unsigned char *in, float *out, int xres, int yres,float scale,float orientation)
{
img = in;
float co,si;
this->xres = xres;
this->yres = yres;
co = cos(orientation);
si = sin(orientation);
#pragma omp parallel for
for(int y = 0; y < yres; y ++)
{
int sample_x, sample_y, count;
int i, ix, j, jx, xs, ys;
#ifdef SURF_128
float dx1, dx2, dx3, dx4, dy1, dy2, dy3, dy4;
#else
float dx, dy, mdx, mdy;
#endif
float gauss_s1, gauss_s2;
float rx, ry, rrx, rry, len;
float cx,cy; //Subregion centers for the 4x4 gaussian weighting
for(int x = 0; x < xres; x ++)
{
#ifdef SURF_128
float *desc = out+(x+y*xres)*128;
#else
float *desc = out+(x+y*xres)*64;
#endif
count = 0;
len = 0;
cx = -0.5f;
i = -8;
//Calculate descriptor
while(i < 12)
{
j = -8;
i = i-4;
cx += 1.f;
cy = -0.5f;
while(j < 12)
{
#ifdef SURF_128
dx1 = dx2 = dx3 = dx4 = dy1 = dy2 = dy3 = dy4 = 0.f;
#else
dx=dy=mdx=mdy=0.f;
#endif
cy += 1.f;
j = j - 4;
ix = i + 5;
jx = j + 5;
xs = fRound(x + ( -jx*scale*si + ix*scale*co));
ys = fRound(y + ( jx*scale*co + ix*scale*si));
for (int k = i; k < i + 9; ++k)
{
for (int l = j; l < j + 9; ++l)
{
//Get coords of sample point on the rotated axis
sample_x = fRound(x + (-l*scale*si + k*scale*co));
sample_y = fRound(y + ( l*scale*co + k*scale*si));
//Get the gaussian weighted x and y responses
gauss_s1 = gaussian(xs-sample_x,ys-sample_y,2.5f*scale);
rx = haarX(sample_y, sample_x, 2*fRound(scale));
ry = haarY(sample_y, sample_x, 2*fRound(scale));
//Get the gaussian weighted x and y responses on rotated axis
rrx = gauss_s1*(-rx*si + ry*co);
rry = gauss_s1*(rx*co + ry*si);
#ifdef SURF_128
if(rry > 0)
if(rrx > 0)
{
dx1 += rrx;
dy1 += rry;
}
else
{
dx2 -= rrx;
dy2 += rry;
}
else
if(rrx < 0)
{
dx3 -= rrx;
dy3 -= rry;
}
else
{
dx4 += rrx;
dy4 -= rry;
}
#else
dx += rrx;
dy += rry;
mdx += fabs(rrx);
mdy += fabs(rry);
#endif
}
}
//Add the values to the descriptor vector
gauss_s2 = gaussian(cx-2.0f,cy-2.0f,1.5f);
#ifdef SURF_128
desc[count++] = dx1*gauss_s2;
desc[count++] = dy1*gauss_s2;
desc[count++] = dx2*gauss_s2;
desc[count++] = dy2*gauss_s2;
desc[count++] = dx3*gauss_s2;
desc[count++] = dy3*gauss_s2;
desc[count++] = dx4*gauss_s2;
desc[count++] = dy4*gauss_s2;
len += (dx1*dx1 +
dy1*dy1 +
dx2*dx2 +
dy2*dy2 +
dx3*dx3 +
dy3*dy3 +
dx4*dx4 +
dy4*dy4 ) * gauss_s2*gauss_s2;
#else
desc[count++] = dx*gauss_s2;
desc[count++] = dy*gauss_s2;
desc[count++] = mdx*gauss_s2;
desc[count++] = mdy*gauss_s2;
len += (dx*dx + dy*dy + mdx*mdx + mdy*mdy) * gauss_s2*gauss_s2;
#endif
j += 9;
}
i += 9;
}
//Convert to Unit Vector
len = sqrt(len);
#ifdef SURF_128
for(int i = 0; i < 128; ++i)
#else
for(int i = 0; i < 64; ++i)
#endif
desc[i] /= len;
}
}
}
