Mat PyramidsVl::extractFeatures(const Mat &im, vector<KeyPoint> &keypoints, int step)
{
Q_UNUSED(step);
Mat features(0, 128, CV_32F);
double magnif = 6;
QList<int> sizes;
sizes << 4;
sizes << 6;
sizes << 8;
sizes << 10;
/* convert to float array */
assert(im.type() == CV_8U);
float *imdata = new float[im.rows * im.cols];
for (int i = 0; i < im.rows; i++)
for (int j = 0; j < im.cols; j++)
imdata[i * im.cols + j] = im.row(i).data[j];
float *smoothed = new float[im.rows * im.cols];
for (int i = 0; i < sizes.size(); i++) {
int step = sizes[i];
/* smoothing step */
double sigma = step / magnif;
vl_imsmooth_f(smoothed, im.cols, imdata, im.cols, im.rows, im.cols, sigma, sigma);
memcpy(smoothed, imdata, im.rows * im.cols * 4);
/* denset sift */
VlDsiftFilter *dsift = vl_dsift_new_basic(im.cols, im.rows, step, 8);
vl_dsift_process(dsift, smoothed);
int cnt = vl_dsift_get_keypoint_num(dsift);
const float *descs = vl_dsift_get_descriptors(dsift);
const VlDsiftKeypoint *kpts = vl_dsift_get_keypoints(dsift);
for (int i = 0; i < cnt; i++) {
Mat ft(1, 128, CV_32F);
for (int j = 0; j < 128; j++)
ft.at<float>(0, j) = qMin(descs[i * 128 + j] * 512, float(255));
features.push_back(ft);
KeyPoint kpt;
kpt.pt.x = kpts[i].x;
kpt.pt.y = kpts[i].y;
keypoints.push_back(kpt);
}
vl_dsift_delete(dsift);
}
delete [] imdata;
delete [] smoothed;
return features;
}
bool VLFeat::CalculateCommon(int f, bool all, int l) {
string msg = "VLFeat::CalculateCommon("+ToStr(f)+","+ToStr(all)+","+
ToStr(l)+") : ";
// if (!do_fisher && !do_vlad) {
// cerr << msg
// << "either encoding=fisher or encoding=vlad should be specified"
// << endl;
// return false;
// }
if (!gmm && !kmeans) {
cerr << msg << "either gmm=xxx or kmeans=xxx option should be given"
<< endl;
return false;
}
cox::tictac::func tt(tics, "VLFeat::CalculateCommon");
// obs! only some parameters here, should be in ProcessOptionsAndRemove()
// too, also scales and geometry should be made specifiable...
bool normalizeSift = false, renormalize = true, flat_window = true;
size_t step = 3, binsize = 8;
EnsureImage();
int width = Width(true), height = Height(true);
if (FrameVerbose())
cout << msg+"wxh="
<< width << "x" << height << "=" << width*height << endl;
vector<float> rgbcoeff { 0.2989, 0.5870, 0.1140 };
imagedata idata = CurrentFrame();
idata.convert(imagedata::pixeldata_float);
idata.force_one_channel(rgbcoeff);
vector<float> dsift;
size_t descr_size_orig = 0, descr_size_final = 0;
vector<float> scales { 1.0000, 0.7071, 0.5000, 0.3536, 0.2500 };
// vector<float> scales { 1.0000 };
for (size_t i=0; i<scales.size(); i++) {
if (KeyPointVerbose())
cout << "Starting vl_dsift_process() in scale " << scales[i] << endl;
imagedata simg = idata;
if (scales[i]!=1) {
scalinginfo si(simg.width(), simg.height(),
(int)floor(scales[i]*simg.width()+0.5),
(int)floor(scales[i]*simg.height()+0.5));
simg.rescale(si, 1);
}
// VlDsiftFilter *sf = vl_dsift_new(simg.width(), simg.height());
VlDsiftFilter *sf = vl_dsift_new_basic(simg.width(), simg.height(),
step, binsize);
// opts.scales = logspace(log10(1), log10(.25), 5) ;
// void vl_dsift_set_bounds ( VlDsiftFilter * self,
// int minX,
// int minY,
// int maxX,
// int maxY
// );
// VlDsiftDescriptorGeometry geom = { 8, 4, 4, 0, 0 };
// vl_dsift_set_geometry(sf, &geom);
//vl_dsift_set_steps(sf, 3, 3);
//vl_dsift_set_window_size(sf, 8);
vl_dsift_set_flat_window(sf, flat_window); // aka fast in matlab
vector<float> imgvec = simg.get_float();
const float *img_fp = &imgvec[0];
// cout << "IMAGE = " << img_fp[0] << " " << img_fp[1] << " "
// << img_fp[2] << " ... " << img_fp[41] << endl;
vl_dsift_process(sf, img_fp);
// if opts.rootSift // false
// descrs{si} = sqrt(descrs{si}) ;
// end
// if opts.normalizeSift //true
// descrs{si} = snorm(descrs{si}) ;
// end
descr_size_orig = sf->descrSize;
size_t nf = sf->numFrames;
const VlDsiftKeypoint *k = sf->frames;
float *d = sf->descrs;
if (KeyPointVerbose())
cout << " found " << sf->numFrames << " 'frames' in "
<< simg.info() << endl
<< " descriptor dim " << descr_size_orig << endl;
if (PixelVerbose())
for (size_t i=0; i<nf; i++) {
cout << " i=" << i << " x=" << k[i].x << " y=" << k[i].y
<< " s=" << k[i].s << " norm=" << k[i].norm;
if (FullVerbose()) {
cout << " RAW";
for (size_t j=0; j<descr_size_orig; j++)
cout << " " << d[i*descr_size_orig+j];
}
cout << endl;
}
if (normalizeSift) {
for (size_t i=0; i<nf; i++) {
if (PixelVerbose())
cout << " i=" << i << " x=" << k[i].x << " y=" << k[i].y
<< " s=" << k[i].s << " norm=" << k[i].norm;
double mul = 0.0;
for (size_t j=0; j<descr_size_orig; j++)
mul += d[i*descr_size_orig+j]*d[i*descr_size_orig+j];
if (mul)
mul = 1.0/sqrt(mul);
if (FullVerbose())
cout << " NORM";
for (size_t j=0; j<descr_size_orig; j++) {
d[i*descr_size_orig+j] *= mul;
if (FullVerbose())
cout << " " << d[i*descr_size_orig+j];
}
if (PixelVerbose())
cout << endl;
}
}
if (!pca.vector_length()) {
dsift.insert(dsift.end(), d, d+nf*descr_size_orig);
descr_size_final = descr_size_orig;
} else {
for (size_t i=0; i<nf; i++) {
vector<float> vin(d+i*descr_size_orig, d+(i+1)*descr_size_orig);
vector<float> vout = pca.projection_coeff(vin);
dsift.insert(dsift.end(), vout.begin(), vout.end());
}
descr_size_final = pca.base_size();
}
vl_dsift_delete(sf);
}
size_t numdata = dsift.size()/descr_size_final;
const float *datain = &dsift[0];
vector<float> enc((do_fisher?2:1)*descriptor_dim()*nclusters());
float *dataout = &enc[0];
if (do_fisher) {
if (FrameVerbose())
cout << msg << "fisher encoding " << numdata
<< " descriptors of size " << descr_size_orig
<< " => " << descr_size_final
<< " with gmm dimensionality " << descriptor_dim()
<< endl;
if (descr_size_final!=descriptor_dim()) {
cerr << msg << "dimensionality mismatch descr_size_final="
<< descr_size_final << " descriptor_dim()=" << descriptor_dim()
<< endl;
return false;
}
vl_fisher_encode(dataout, VL_TYPE_FLOAT, means(), descriptor_dim(),
nclusters(), covariances(), priors(),
datain, numdata, VL_FISHER_FLAG_IMPROVED) ;
}
if (do_vlad) {
//obs! correct use of pca?
if (FrameVerbose())
cout << msg << "vlad encoding " << numdata
<< " descriptors of size " << descr_size_final << endl;
vector<vl_uint32> indexes(numdata);
vector<float> distances(numdata);
if (kdtree)
vl_kdforest_query_with_array(kdtree, &indexes[0], 1, numdata, &distances[0], datain);
else
vl_kmeans_quantize(kmeans, &indexes[0], &distances[0], datain, numdata);
vector<float> assignments(numdata*nclusters());
for (size_t i=0; i<numdata; i++)
assignments[i * nclusters() + indexes[i]] = 1;
int vlad_flags = VL_VLAD_FLAG_SQUARE_ROOT|VL_VLAD_FLAG_NORMALIZE_COMPONENTS;
vl_vlad_encode(dataout, VL_TYPE_FLOAT, means(), descriptor_dim(),
nclusters(), datain, numdata, &assignments[0],
vlad_flags);
}
if (renormalize) {
if (PixelVerbose())
cout << " RENORM:";
double mul = 0.0;
for (size_t j=0; j<enc.size(); j++)
mul += enc[j]*enc[j];
if (mul)
mul = 1.0/sqrt(mul);
for (size_t j=0; j<enc.size(); j++) {
if (PixelVerbose())
cout << " " << enc[j];
enc[j] *= mul;
if (PixelVerbose())
cout << "->" << enc[j];
}
if (PixelVerbose())
cout << endl;
}
((VectorData*)GetData(0))->setVector(enc);
return true;
}
/** ------------------------------------------------------------------
** @brief Python entry point
**/
PyObject * vl_dsift_python(
PyArrayObject & pyArray,
int opt_step,
PyArrayObject & opt_bounds,
int opt_size,
bool opt_fast,
bool opt_verbose,
bool opt_norm)
{
// check data type
assert(pyArray.descr->type_num == PyArray_FLOAT);
assert(pyArray.flags & NPY_FORTRAN);
assert(opt_bounds.descr->type_num == PyArray_FLOAT);
int verbose = 0;
int opt;
float const *data;
int M, N;
int step = 1;
int size = 3;
vl_bool norm = 0;
vl_bool useFlatWindow = VL_FALSE;
double *bounds = NULL;
double boundBuffer[4];
/* -----------------------------------------------------------------
* Check the arguments
* -------------------------------------------------------------- */
data = (float*) pyArray.data;
M = pyArray.dimensions[0];
N = pyArray.dimensions[1];
if (opt_verbose)
++verbose;
if (opt_fast)
useFlatWindow = 1;
if (opt_norm)
norm = 1;
if (opt_bounds.nd == 1 && opt_bounds.dimensions[0] == 4) {
double * tmp = (double *) opt_bounds.data;
bounds = boundBuffer;
for (int i = 0; i < 4; i++)
bounds[i] = tmp[i];
}
if (opt_size >= 0)
size = opt_size;
if (opt_step >= 0)
step = opt_step;
// create PyTuple for outputs
PyObject * tuple = PyTuple_New(2);
/* -----------------------------------------------------------------
* Do job
* -------------------------------------------------------------- */
{
int numFrames;
int descrSize;
VlDsiftKeypoint const *frames;
VlDsiftDescriptorGeometry const *geom;
float const *descrs;
int k, i;
VlDsiftFilter *dsift;
dsift = vl_dsift_new_basic(M, N, step, size);
if (bounds) {
vl_dsift_set_bounds(dsift, VL_MAX(bounds[0], 0), VL_MAX(
bounds[1], 0), VL_MIN(bounds[2], M - 1), VL_MIN(bounds[3], N
- 1));
}
vl_dsift_set_flat_window(dsift, useFlatWindow);
numFrames = vl_dsift_get_keypoint_num (dsift) ;
descrSize = vl_dsift_get_descriptor_size (dsift) ;
geom = vl_dsift_get_geometry(dsift);
if (verbose) {
int stepX;
int stepY;
int minX;
int minY;
int maxX;
int maxY;
vl_bool useFlatWindow;
vl_dsift_get_steps(dsift, &stepX, &stepY);
vl_dsift_get_bounds(dsift, &minX, &minY, &maxX, &maxY);
useFlatWindow = vl_dsift_get_flat_window(dsift);
printf("dsift: image size: %d x %d\n", N, M);
printf(
" bounds: [%d, %d, %d, %d]\n", minY, minX,
maxY, maxX);
printf(" subsampling steps: %d, %d\n", stepY, stepX);
printf(
" num bins: [%d, %d, %d]\n", geom->numBinT,
geom->numBinX, geom->numBinY);
printf(" descriptor size: %d\n", descrSize);
printf(
" bin sizes: [%d, %d]\n", geom->binSizeX,
geom->binSizeY);
printf(" flat window: %s\n", VL_YESNO(useFlatWindow));
printf(" number of frames: %d\n", numFrames);
}
vl_dsift_process(dsift, data);
frames = vl_dsift_get_keypoints(dsift);
descrs = vl_dsift_get_descriptors(dsift);
/* ---------------------------------------------------------------
* Create output arrays
* ------------------------------------------------------------ */
npy_intp dims[2];
dims[0] = descrSize;
dims[1] = numFrames;
// allocate PyArray objects
PyArrayObject * _descriptors = (PyArrayObject *) PyArray_NewFromDescr(
&PyArray_Type, PyArray_DescrFromType(PyArray_UINT8),
2, dims, NULL, NULL, NPY_F_CONTIGUOUS, NULL);
if (norm)
dims[0] = 3;
else
dims[0] = 2;
PyArrayObject * _frames = (PyArrayObject*) PyArray_NewFromDescr(
&PyArray_Type, PyArray_DescrFromType(PyArray_DOUBLE),
2, dims, NULL, NULL, NPY_F_CONTIGUOUS, NULL);
// put PyArray objects in PyTuple
PyTuple_SetItem(tuple, 0, PyArray_Return(_frames));
PyTuple_SetItem(tuple, 1, PyArray_Return(_descriptors));
/* ---------------------------------------------------------------
* Copy back
* ------------------------------------------------------------ */
{
float *tmpDescr = (float*) vl_malloc(sizeof(float) * descrSize);
double *outFrameIter = (double*) _frames->data;
vl_uint8 *outDescrIter = (vl_uint8 *) _descriptors->data;
for (k = 0; k < numFrames; ++k) {
*outFrameIter++ = frames[k].y;
*outFrameIter++ = frames[k].x;
/* We have an implied / 2 in the norm, because of the clipping
below */
if (norm)
*outFrameIter++ = frames[k].norm;
vl_dsift_transpose_descriptor(
tmpDescr, descrs + descrSize * k, geom->numBinT,
geom->numBinX, geom->numBinY);
for (i = 0; i < descrSize; ++i) {
*outDescrIter++ = (vl_uint8) (VL_MIN(
512.0F * tmpDescr[i], 255.0F));
}
}
vl_free(tmpDescr);
}
vl_dsift_delete(dsift);
}
return tuple;
}