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 ; float const *data ; int M, N ; int step [2] = {1,1} ; vl_bool norm = 0 ; vl_bool floatDescriptors = VL_FALSE ; vl_bool useFlatWindow = VL_FALSE ; double windowSize = -1.0 ; double *bounds = NULL ; double boundBuffer [4] ; VlDsiftDescriptorGeometry geom ; VL_USE_MATLAB_ENV ; geom.numBinX = 4 ; geom.numBinY = 4 ; geom.numBinT = 8 ; geom.binSizeX = 3 ; geom.binSizeY = 3 ; /* ----------------------------------------------------------------- * Check the arguments * -------------------------------------------------------------- */ if (nin < 1) { vlmxError(vlmxErrNotEnoughInputArguments, NULL) ; } else if (nout > 2) { vlmxError(vlmxErrTooManyOutputArguments, NULL) ; } if (mxGetNumberOfDimensions (in[IN_I]) != 2 || mxGetClassID (in[IN_I]) != mxSINGLE_CLASS ) { vlmxError(vlmxErrInvalidArgument, "I must be a matrix of class SINGLE.") ; } data = (float*) mxGetData (in[IN_I]) ; M = mxGetM (in[IN_I]) ; N = mxGetN (in[IN_I]) ; while ((opt = vlmxNextOption (in, nin, options, &next, &optarg)) >= 0) { switch (opt) { case opt_verbose : ++ verbose ; break ; case opt_fast : useFlatWindow = 1 ; break ; case opt_norm : norm = 1 ; break ; case opt_bounds : if (!vlmxIsPlainVector(optarg, 4)) { mexErrMsgTxt("BOUNDS must be a 4-dimensional vector.") ; } bounds = boundBuffer ; bounds [0] = mxGetPr(optarg)[0] - 1 ; bounds [1] = mxGetPr(optarg)[1] - 1 ; bounds [2] = mxGetPr(optarg)[2] - 1 ; bounds [3] = mxGetPr(optarg)[3] - 1 ; break ; case opt_size : if (!vlmxIsPlainVector(optarg,-1)) { vlmxError(vlmxErrInvalidArgument,"SIZE is not a plain vector.") ; } if (mxGetNumberOfElements(optarg) == 1) { geom.binSizeX = (int) mxGetPr(optarg)[0] ; geom.binSizeY = (int) mxGetPr(optarg)[0] ; } else if (mxGetNumberOfElements(optarg) == 2) { geom.binSizeX = (int) mxGetPr(optarg)[1] ; geom.binSizeY = (int) mxGetPr(optarg)[0] ; } else { vlmxError(vlmxErrInvalidArgument,"SIZE is neither a scalar or a 2D vector.") ; } if (geom.binSizeX < 1 || geom.binSizeY < 1) { vlmxError(vlmxErrInvalidArgument,"SIZE value is invalid.") ; } break ; case opt_step : if (!vlmxIsPlainVector(optarg,-1)) { vlmxError(vlmxErrInvalidArgument,"STEP is not a plain vector.") ; } if (mxGetNumberOfElements(optarg) == 1) { step[0] = (int) mxGetPr(optarg)[0] ; step[1] = (int) mxGetPr(optarg)[0] ; } else if (mxGetNumberOfElements(optarg) == 2) { step[0] = (int) mxGetPr(optarg)[1] ; step[1] = (int) mxGetPr(optarg)[0] ; } else { vlmxError(vlmxErrInvalidArgument,"STEP is neither a scalar or a 2D vector.") ; } if (step[0] < 1 || step[1] < 1) { vlmxError(vlmxErrInvalidArgument,"STEP value is invalid.") ; } break ; case opt_window_size : if (!vlmxIsPlainScalar(optarg) || (windowSize = *mxGetPr(optarg)) < 0) { vlmxError(vlmxErrInvalidArgument,"WINDOWSIZE is not a scalar or it is negative.") ; } break ; case opt_float_descriptors : floatDescriptors = VL_TRUE ; break ; case opt_geometry : if (!vlmxIsPlainVector(optarg,3)) { vlmxError(vlmxErrInvalidArgument, "GEOMETRY is not a 3D vector.") ; } geom.numBinY = (int)mxGetPr(optarg)[0] ; geom.numBinX = (int)mxGetPr(optarg)[1] ; geom.numBinT = (int)mxGetPr(optarg)[2] ; if (geom.numBinX < 1 || geom.numBinY < 1 || geom.numBinT < 1) { vlmxError(vlmxErrInvalidArgument, "GEOMETRY value is invalid.") ; } break ; default : abort() ; } } /* ----------------------------------------------------------------- * Do job * -------------------------------------------------------------- */ { int numFrames ; int descrSize ; VlDsiftKeypoint const *frames ; float const *descrs ; int k, i ; VlDsiftFilter *dsift ; /* note that the image received from MATLAB is transposed */ dsift = vl_dsift_new (M, N) ; vl_dsift_set_geometry(dsift, &geom) ; vl_dsift_set_steps(dsift, step[0], step[1]) ; if (bounds) { vl_dsift_set_bounds(dsift, VL_MAX(bounds[1], 0), VL_MAX(bounds[0], 0), VL_MIN(bounds[3], M - 1), VL_MIN(bounds[2], N - 1)); } vl_dsift_set_flat_window(dsift, useFlatWindow) ; if (windowSize >= 0) { vl_dsift_set_window_size(dsift, windowSize) ; } 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, &stepY, &stepX) ; vl_dsift_get_bounds (dsift, &minY, &minX, &maxY, &maxX) ; useFlatWindow = vl_dsift_get_flat_window(dsift) ; mexPrintf("vl_dsift: image size [W, H] = [%d, %d]\n", N, M) ; mexPrintf("vl_dsift: bounds: [minX,minY,maxX,maxY] = [%d, %d, %d, %d]\n", minX+1, minY+1, maxX+1, maxY+1) ; mexPrintf("vl_dsift: subsampling steps: stepX=%d, stepY=%d\n", stepX, stepY) ; mexPrintf("vl_dsift: num bins: [numBinT, numBinX, numBinY] = [%d, %d, %d]\n", geom.numBinT, geom.numBinX, geom.numBinY) ; mexPrintf("vl_dsift: descriptor size: %d\n", descrSize) ; mexPrintf("vl_dsift: bin sizes: [binSizeX, binSizeY] = [%d, %d]\n", geom.binSizeX, geom.binSizeY) ; mexPrintf("vl_dsift: flat window: %s\n", VL_YESNO(useFlatWindow)) ; mexPrintf("vl_dsift: window size: %g\n", vl_dsift_get_window_size(dsift)) ; mexPrintf("vl_dsift: num of features: %d\n", numFrames) ; } vl_dsift_process (dsift, data) ; frames = vl_dsift_get_keypoints (dsift) ; descrs = vl_dsift_get_descriptors (dsift) ; /* --------------------------------------------------------------- * Create output arrays * ------------------------------------------------------------ */ { mwSize dims [2] ; dims [0] = descrSize ; dims [1] = numFrames ; if (floatDescriptors) { out[OUT_DESCRIPTORS] = mxCreateNumericArray (2, dims, mxSINGLE_CLASS, mxREAL) ; } else { out[OUT_DESCRIPTORS] = mxCreateNumericArray (2, dims, mxUINT8_CLASS, mxREAL) ; } dims [0] = norm ? 3 : 2 ; out[OUT_FRAMES] = mxCreateNumericArray (2, dims, mxDOUBLE_CLASS, mxREAL) ; } /* --------------------------------------------------------------- * Copy back * ------------------------------------------------------------ */ { float *tmpDescr = mxMalloc(sizeof(float) * descrSize) ; double *outFrameIter = mxGetPr(out[OUT_FRAMES]) ; void *outDescrIter = mxGetData(out[OUT_DESCRIPTORS]) ; for (k = 0 ; k < numFrames ; ++k) { *outFrameIter++ = frames[k].y + 1 ; *outFrameIter++ = frames[k].x + 1 ; /* 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) ; if (floatDescriptors) { for (i = 0 ; i < descrSize ; ++i) { float * pt = (float*) outDescrIter ; *pt++ = VL_MIN(512.0F * tmpDescr[i], 255.0F) ; outDescrIter = pt ; } } else { for (i = 0 ; i < descrSize ; ++i) { vl_uint8 * pt = (vl_uint8*) outDescrIter ; *pt++ = (vl_uint8) (VL_MIN(512.0F * tmpDescr[i], 255.0F)) ; outDescrIter = pt ; } } } mxFree(tmpDescr) ; } vl_dsift_delete (dsift) ; } }
void DSift::Extract(const float* gray_img, const uint32_t width, const uint32_t height, vector<VlDsiftKeypoint>* frames, vector<float>* descrs, uint32_t* dim) { if (frames != NULL) frames->clear(); if (descrs == NULL || dim == NULL) { cerr << "NULL pointer for descriptors and dim" << endl; exit(-1); } descrs->clear(); *dim = 0; const uint32_t max_sz = *(std::max_element(sizes_.begin(), sizes_.end())); const uint32_t len_img = width * height; if (!has_setup_) SetUp(width, height); else { if (width != width_ || height != height_) { cerr << "ERROR: Image size not matching!" << endl; exit(-1); } } for (size_t i = 0; i < sizes_.size(); ++i) { const uint32_t sz = sizes_[i]; const int off = std::floor(1.5 * (max_sz - sz)); vl_dsift_set_bounds(dsift_model_, bound_minx_ + std::max(0, off), bound_miny_ + std::max(0, off), std::min((int) width - 1, bound_maxx_), std::min((int) height - 1, bound_maxy_)); VlDsiftDescriptorGeometry geom; geom.numBinX = DEFAULT_NUM_BIN_X; geom.numBinY = DEFAULT_NUM_BIN_Y; geom.numBinT = DEFAULT_NUM_BIN_T; geom.binSizeX = sz; geom.binSizeY = sz; vl_dsift_set_geometry(dsift_model_, &geom); /* { int stepX; int stepY; int minX; int minY; int maxX; int maxY; vl_bool useFlatWindow; int numFrames = vl_dsift_get_keypoint_num(dsift_model_); int descrSize = vl_dsift_get_descriptor_size(dsift_model_); VlDsiftDescriptorGeometry g = *vl_dsift_get_geometry(dsift_model_); vl_dsift_get_steps(dsift_model_, &stepY, &stepX); vl_dsift_get_bounds(dsift_model_, &minY, &minX, &maxY, &maxX); useFlatWindow = vl_dsift_get_flat_window(dsift_model_); printf( "vl_dsift: bounds: [minX,minY,maxX,maxY] = [%d, %d, %d, %d]\n", minX + 1, minY + 1, maxX + 1, maxY + 1); printf("vl_dsift: subsampling steps: stepX=%d, stepY=%d\n", stepX, stepY); printf( "vl_dsift: num bins: [numBinT, numBinX, numBinY] = [%d, %d, %d]\n", g.numBinT, g.numBinX, g.numBinY); printf("vl_dsift: descriptor size: %d\n", descrSize); printf("vl_dsift: bin sizes: [binSizeX, binSizeY] = [%d, %d]\n", g.binSizeX, g.binSizeY); printf("vl_dsift: flat window: %s\n", VL_YESNO(useFlatWindow)); printf("vl_dsift: window size: %g\n", vl_dsift_get_window_size(dsift_model_)); printf("vl_dsift: num of features: %d\n", numFrames); } */ const float sigma = 1.0 * sz / magnif_; float* smooth_img = (float*) malloc(sizeof(float) * len_img); memset(smooth_img, 0, sizeof(float) * len_img); vl_imsmooth_f(smooth_img, width, gray_img, width, height, width, sigma, sigma); vl_dsift_process(dsift_model_, smooth_img); free(smooth_img); const int num_key_pts = vl_dsift_get_keypoint_num(dsift_model_); const VlDsiftKeypoint* key_points = vl_dsift_get_keypoints(dsift_model_); *dim = vl_dsift_get_descriptor_size(dsift_model_); const float* features = vl_dsift_get_descriptors(dsift_model_); float* f = (float*) malloc(sizeof(float) * num_key_pts * (*dim)); cblas_scopy(num_key_pts * (*dim), features, 1, f, 1); cblas_sscal(num_key_pts * (*dim), 512.0f, f, 1); for (uint32_t d = 0; d < num_key_pts; ++d) { const float norm = (key_points + d)->norm; if (norm < contr_thrd_) { // remove low contrast memset(f + d * (*dim), 0, sizeof(float) * (*dim)); } else { for (uint32_t j = d * (*dim); j < (d + 1) * (*dim); ++j) { float tmp = VL_MIN(f[j], 255.0); if (!float_desc_) tmp = (int) tmp; f[j] = tmp; } } } if (i == 0) { if (frames != NULL) frames->reserve(num_key_pts * sizes_.size()); descrs->reserve(num_key_pts * sizes_.size() * (*dim)); } if (frames != NULL) frames->insert(frames->end(), key_points, key_points + num_key_pts); descrs->insert(descrs->end(), f, f + num_key_pts * (*dim)); free(f); } }
/** ------------------------------------------------------------------ ** @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; }