static void
icvCalcFMM(const CvMat *f, CvMat *t, CvPriorityQueueFloat *Heap, bool negate) {
int i, j, ii = 0, jj = 0, q;
float dist;
while (Heap->Pop(&ii,&jj)) {
unsigned known=(negate)?CHANGE:KNOWN;
CV_MAT_ELEM(*f,uchar,ii,jj) = (uchar)known;
for (q=0; q<4; q++) {
i=0; j=0;
if (q==0) {i=ii-1; j=jj;}
else if(q==1) {i=ii; j=jj-1;}
else if(q==2) {i=ii+1; j=jj;}
else {i=ii; j=jj+1;}
if ((i<=0)||(j<=0)||(i>f->rows)||(j>f->cols)) continue;
if (CV_MAT_ELEM(*f,uchar,i,j)==INSIDE) {
dist = min4(FastMarching_solve(i-1,j,i,j-1,f,t),
FastMarching_solve(i+1,j,i,j-1,f,t),
FastMarching_solve(i-1,j,i,j+1,f,t),
FastMarching_solve(i+1,j,i,j+1,f,t));
CV_MAT_ELEM(*t,float,i,j) = dist;
CV_MAT_ELEM(*f,uchar,i,j) = BAND;
Heap->Push(i,j,dist);
}
}
}
void compose_grabcut_seedmatrix2(CvMat* output, CvRect facebox, IplImage* seeds, gboolean confidence)
{
cvSet(output, cvScalar(GCS_PR_BGD), NULL);
double a=(confidence) ? 0.85 : 0.55; //extra growing of body box region
double A=1.20; // body bbox is lower than face bbox (neck)
double b=1+a;
int bodyx0 = ((facebox.x-facebox.width* a) < 0 ) ? 0 : (facebox.x-facebox.width* a);
int bodyy0 = ((facebox.y+facebox.height * A) > output->rows) ? output->rows : (facebox.y+facebox.height*A );
int bodyx1 = ((facebox.x+facebox.width* b) > output->cols) ? output->cols : (facebox.x+facebox.width*b);
int bodyy1 = (output->rows);
double c=-0.10; //extra growing of face bbox region, horizontal axis
double C= 0.00; //extra growing of face bbox region, vertical axis
double d= 1+c;
double D= 4+C;
int facex0 = ((facebox.x-facebox.width *c) < 0 ) ? 0 : (facebox.x - facebox.width *c);
int facey0 = ((facebox.y-facebox.height *C) < 0) ? 0 : (facebox.y - facebox.height*C);
int facex1 = ((facebox.x+facebox.width *d) > output->cols) ? output->cols : (facebox.x+facebox.width *d);
int facey1 = ((facebox.y+facebox.height *D) > output->rows) ? output->rows : (facebox.y+facebox.height*D);
int x, y;
for( x = 0; x < output->cols; x++ ){
for( y = 0; y < output->rows; y++ ){
// large bbox around face
if( ( x >= facex0 ) && ( x <= facex1) && ( y >= facey0 ) && ( y <= facey1))
CV_MAT_ELEM(*output, uchar, y, x) = GCS_PR_FGD;
// body bbox: ONLY IF WE DONT GET IT FROM CLUSTERING COLOURS (K-MEANS)
#ifndef KMEANS
#if 0
if( ( x >= bodyx0) && ( x <= bodyx1) && ( y >= bodyy0) && ( y <= bodyy1))
CV_MAT_ELEM(*output, uchar, y, x) = GCS_PR_FGD;
#else
double delta= 0.30 * facebox.width;
int bodyxdelta = (delta)*(y-bodyy0)/(bodyy1-bodyy0); //pyramid-like shape
if( ( x >= bodyx0-bodyxdelta) && ( x <= bodyx1+bodyxdelta) &&
( y >= bodyy0) && ( y <= bodyy1))
CV_MAT_ELEM(*output, uchar, y, x) = GCS_PR_FGD;
#endif
#endif //!KMEANS
// seeds, usually coming from movement, could also be skin or a combination
if( seeds && ( (cvGetReal2D( seeds, y, x) > 10) ) )
CV_MAT_ELEM(*output, uchar, y, x) = GCS_PR_FGD ;
}
}
}
/* Member function( private )
* Draws the calculated optical flow on the canvas
*/
void airGest::drawFlowMap( void )
{
int x, y;
CvMat flowMat = flowMap;
for( y = FEATURE_STEP/2; y < canvas.rows; y += FEATURE_STEP ) {
for( x = FEATURE_STEP/2; x < canvas.cols; x += FEATURE_STEP ) {
CvPoint2D32f fxy = CV_MAT_ELEM( flowMat, CvPoint2D32f, y, x);
line( canvas,
Point(x,y),
Point(cvRound(x+fxy.x), cvRound(y+fxy.y)),
COLOR_FLOWMAP, 1, 8, 0 );
}
}
//CvMat accFlowMat = accFlow;
//std::cout << "dim( accFlow ) = " << accFlow.rows << "x" << accFlow.cols << "\n";
//for( y = FEATURE_STEP/2; y < canvas.rows; y += FEATURE_STEP ) {
//for( x = FEATURE_STEP/2; x < canvas.cols; x += FEATURE_STEP ) {
//CvPoint2D32f fxy = CV_MAT_ELEM( accFlowMat, CvPoint2D32f, y/FEATURE_STEP, x/FEATURE_STEP );
//line( accCanvas,
//Point( x, y ),
//Point( cvRound( x + fxy.x ), cvRound( y + fxy.y ) ),
//COLOR_FLOWMAP, 1, 8, 0 );
//std::cout << "(x,y) = " << x << "," << y << std::endl;
//}
//}
}
bool Init( const CvMat* f )
{
int i,j;
for( i = num = 0; i < f->rows; i++ )
{
for( j = 0; j < f->cols; j++ )
num += CV_MAT_ELEM(*f,uchar,i,j)!=0;
}
if (num<=0) return false;
mem = (CvHeapElem*)cvAlloc((num+2)*sizeof(CvHeapElem));
if (mem==NULL) return false;
head = mem;
head->i = head->j = -1;
head->prev = NULL;
head->next = mem+1;
head->T = -FLT_MAX;
empty = mem+1;
for (i=1; i<=num; i++) {
mem[i].prev = mem+i-1;
mem[i].next = mem+i+1;
mem[i].i = mem[i].i = -1;
mem[i].T = FLT_MAX;
}
tail = mem+i;
tail->i = tail->j = -1;
tail->prev = mem+i-1;
tail->next = NULL;
tail->T = FLT_MAX;
return true;
}
ofPoint ofxOpticalFlowFarneback::getVelAtPixel(int x, int y) {
x = ofClamp(x, 0, flow->width - 1);
y = ofClamp(y, 0, flow->height - 1);
ofPoint p;
CvPoint2D32f fxy = CV_MAT_ELEM(*flow, CvPoint2D32f, y, x);
p.x = fxy.x;
p.y = fxy.y;
return p;
}
bool Add(const CvMat* f) {
int i,j;
for (i=0; i<f->rows; i++) {
for (j=0; j<f->cols; j++) {
if (CV_MAT_ELEM(*f,uchar,i,j)!=0) {
if (!Push(i,j,0)) return false;
}
}
}
return true;
}
void ReAllocKernel(int w, int h) {
int x, y;
float x0 = 0.5f * (w - 1);
float y0 = 0.5f * (h - 1);
assert(w > 0);
assert(h > 0);
m_ObjSize = cvSize(w, h);
if (m_KernelHist) { cvReleaseMat(&m_KernelHist); }
if (m_KernelMeanShift) { cvReleaseMat(&m_KernelMeanShift); }
m_KernelHist = cvCreateMat(h, w, DefHistTypeMat);
m_KernelMeanShift = cvCreateMat(h, w, DefHistTypeMat);
for (y = 0; y < h; ++y) for (x = 0; x < w; ++x) {
double r2 = ((x - x0) * (x - x0) / (x0 * x0) + (y - y0) * (y - y0) / (y0 * y0));
// double r2 = ((x-x0)*(x-x0)+(y-y0)*(y-y0))/((y0*y0)+(x0*x0));
CV_MAT_ELEM(m_KernelHist[0], DefHistType, y, x) = (DefHistType)GetKernelHist(r2);
CV_MAT_ELEM(m_KernelMeanShift[0], DefHistType, y, x) = (DefHistType)GetKernelMeanShift(r2);
}
}
float FastMarching_solve(int i1,int j1,int i2,int j2, const CvMat* f, const CvMat* t)
{
double sol, a11, a22, m12;
a11=CV_MAT_ELEM(*t,float,i1,j1);
a22=CV_MAT_ELEM(*t,float,i2,j2);
m12=MIN(a11,a22);
if( CV_MAT_ELEM(*f,uchar,i1,j1) != INSIDE )
if( CV_MAT_ELEM(*f,uchar,i2,j2) != INSIDE )
if( fabs(a11-a22) >= 1.0 )
sol = 1+m12;
else
sol = (a11+a22+sqrt((double)(2-(a11-a22)*(a11-a22))))*0.5;
else
sol = 1+a11;
else if( CV_MAT_ELEM(*f,uchar,i2,j2) != INSIDE )
sol = 1+a22;
else
sol = 1+m12;
return (float)sol;
}
void drawOptFlowMap(const CvMat* flow, CvMat* cflowmap, int step,
double scale, CvScalar color)
{
int x, y;
for( y = 0; y < cflowmap->rows; y += step)
for( x = 0; x < cflowmap->cols; x += step)
{
CvPoint2D32f fxy = CV_MAT_ELEM(*flow, CvPoint2D32f, y, x);
cvLine(cflowmap, cvPoint(x,y), cvPoint(cvRound(x+fxy.x), cvRound(y+fxy.y)),
color, 1, 8, 0);
cvCircle(cflowmap, cvPoint(x,y), 2, color, -1, 8, 0);
}
}
void compose_grabcut_seedmatrix3(CvMat* output, IplImage* ghost , IplImage* seeds)
{
cvSet(output, cvScalar(GCS_PR_BGD), NULL);
int x, y;
float val;
for( x = 0; x < output->cols; x++ ){
for( y = 0; y < output->rows; y++ ){
val = cvGetReal2D( ghost, y, x);
CV_MAT_ELEM(*output, uchar, y, x) =
(val < 100 ) ? GCS_BGD : \
(val < 150 ) ? GCS_PR_BGD : \
(val < 200 ) ? GCS_PR_FGD : \
GCS_FGD ;
// seeds, usually coming from movement, could also be skin or a combination
if( seeds && ( (cvGetReal2D( seeds, y, x) > 10) ) )
CV_MAT_ELEM(*output, uchar, y, x) = (CV_MAT_ELEM(*output, uchar, y, x)== GCS_FGD) ? GCS_FGD : GCS_PR_FGD ;
}
}
}
void calcKernelEpanechnikov(CvMat* pK)
{ /* Allocate kernel for histogramm creation: */
int x,y;
int w = pK->width;
int h = pK->height;
float x0 = 0.5f*(w-1);
float y0 = 0.5f*(h-1);
for(y=0; y<h; ++y) for(x=0; x<w; ++x)
{
// float r2 = ((x-x0)*(x-x0)/(x0*x0)+(y-y0)*(y-y0)/(y0*y0));
float r2 = ((x-x0)*(x-x0)+(y-y0)*(y-y0))/((x0*x0)+(y0*y0));
CV_MAT_ELEM(pK[0],DefHistType, y, x) = (DefHistType)((r2<1)?(1-r2):0);
}
} /* Allocate kernel for histogram creation. */
void icvWriteVecSample( FILE* file, CvArr* sample )
{
CvMat* mat, stub;
int r, c;
short tmp;
uchar chartmp;
mat = cvGetMat( sample, &stub );
chartmp = 0;
fwrite( &chartmp, sizeof( chartmp ), 1, file );
for( r = 0; r < mat->rows; r++ )
{
for( c = 0; c < mat->cols; c++ )
{
tmp = (short) (CV_MAT_ELEM( *mat, uchar, r, c ));
fwrite( &tmp, sizeof( tmp ), 1, file );
}
}
}
float motionfactor(const CvMat* fback_flow_map, CvMat* cflowmap, int step) {
int x, y;
float totalx = 0;
float totaly = 0;
float dx = 0;
float dy = 0;
float overall_total = 0;
for( y = 0; y < cflowmap->rows; y += step) {
for( x = 0; x < cflowmap->cols; x += step) {
CvPoint2D32f fxy = CV_MAT_ELEM(*fback_flow_map, CvPoint2D32f, y, x);
//if the value is negative (as values are vector velocity changes between image pixels)
//then make it positive only want scalar values to calculate totals.
if(fxy.x < 0) {
dx = (fxy.x * -1);
}else{
dx = fxy.x;
}
if(fxy.y < 0)
{
dy = (fxy.y * -1);
}else{
dy = fxy.y;
}
totalx = totalx+dx;
totaly = totaly+dy;
}
}
overall_total = totalx + totaly;
return overall_total;
}
int opticaltri( CvMat * &clean_texture, int verts )
{
char * im1fname = "conhull-dirty-thresh.jpg";
char * im2fname = "conhull-clean-thresh.jpg";
int count = MAX_COUNT;
char * status;
CvPoint2D32f * source_points;
CvPoint2D32f * dest_points;
CvPoint2D32f * delaunay_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
// count = opticalflow( im1fname, im2fname, source_points, dest_points, status );
count = findsiftpoints( "conhull-dirty.jpg", "conhull-clean.jpg", source_points, dest_points, status );
IplImage * image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
CvMemStorage * storage = cvCreateMemStorage(0);
CvSubdiv2D * delaunay = cvCreateSubdivDelaunay2D( cvRect(0,0,image1->width,image1->height), storage);
IplImage * image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
std::map<CvPoint, CvPoint> point_lookup_map;
std::vector<std::pair<CvPoint, CvPoint> > point_lookup;
int num_matches = 0;
int num_out_matches = 0;
int max_dist = 50;
int offset = 200;
// put corners in the point lookup as going to themselves
point_lookup_map[cvPoint(0,0)] = cvPoint(0,0);
point_lookup_map[cvPoint(0,image1->height-1)] = cvPoint(0,image1->height-1);
point_lookup_map[cvPoint(image1->width-1,0)] = cvPoint(image1->width-1,0);
point_lookup_map[cvPoint(image1->width-1,image1->height-1)] = cvPoint(image1->width-1,image1->height-1);
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,0), cvPoint(0,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,image1->height-1), cvPoint(0,image1->height-1)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,0), cvPoint(image1->width-1,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,image1->height-1), cvPoint(image1->width-1,image1->height-1)));
printf("Inserting corners...");
// put corners in the Delaunay subdivision
for(unsigned int i = 0; i < point_lookup.size(); i++) {
cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(point_lookup[i].first) );
}
printf("done.\n");
CvSubdiv2DEdge proxy_edge;
for(int i = 0; i < count; i++) {
if(status[i]) {
CvPoint source = cvPointFrom32f(source_points[i]);
CvPoint dest = cvPointFrom32f(dest_points[i]);
if((((int)fabs((double)(source.x - dest.x))) > max_dist) ||
(((int)fabs((double)(source.y - dest.y))) > max_dist)) {
num_out_matches++;
}
else if((dest.x >= 0) && (dest.y >= 0) && (dest.x < (image1->width)) && (dest.y < (image1->height))) {
if(point_lookup_map.find(source) == point_lookup_map.end()) {
num_matches++;
point_lookup_map[source] = dest;
point_lookup.push_back(std::pair<CvPoint,CvPoint>(source,dest));
// delaunay_points[i] =
(cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(source) ))->pt;
cvSetImageROI( image1, cvRect(source.x-8,source.y-8,8*2,8*2) );
cvResetImageROI( image2 );
cvGetRectSubPix( image2, image1, dest_points[i] );
}
/*
cvSet2D( image1, source.y, source.x, cvGet2D( image2, dest.y, dest.x ) );
cvSet2D( image1, source.y, source.x+1, cvGet2D( image2, dest.y, dest.x+1 ) );
cvSet2D( image1, source.y, source.x-1, cvGet2D( image2, dest.y, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x, cvGet2D( image2, dest.y+1, dest.x ) );
cvSet2D( image1, source.y-1, source.x, cvGet2D( image2, dest.y-1, dest.x ) );
cvSet2D( image1, source.y+1, source.x+1, cvGet2D( image2, dest.y+1, dest.x+1 ) );
cvSet2D( image1, source.y-1, source.x-1, cvGet2D( image2, dest.y-1, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x-1, cvGet2D( image2, dest.y+1, dest.x-1 ) );
cvSet2D( image1, source.y-1, source.x+1, cvGet2D( image2, dest.y-1, dest.x+1 ) );
*/
// cvCircle( image1, source, 4, CV_RGB(255,0,0), 2, CV_AA );
// cvCircle( image2, dest, 4, CV_RGB(255,0,0), 2, CV_AA );
}
/*
cvSetImageROI( image1, cvRect(source.x-offset,source.y-offset,offset*2,offset*2) );
cvSetImageROI( image2, cvRect(dest.x-offset,dest.y-offset,offset*2,offset*2) );
cvNamedWindow("image1",0);
cvNamedWindow("image2",0);
cvShowImage("image1",image1);
cvShowImage("image2",image2);
printf("%d,%d -> %d,%d\n",source.x,source.y,dest.x,dest.y);
cvWaitKey(0);
cvDestroyAllWindows();
*/
}
}
printf("%d %d\n",num_matches,num_out_matches);
printf("%d lookups\n",point_lookup_map.size());
cvResetImageROI( image1 );
cvSaveImage("sparse.jpg", image1);
cvReleaseImage(&image1);
image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
printf("Warping image...");
CvSeqReader reader;
int total = delaunay->edges->total;
int elem_size = delaunay->edges->elem_size;
std::vector<Triangle> trivec;
std::vector<CvMat *> baryinvvec;
for( int i = 0; i < total*2; i++ ) {
if((i == 0) || (i == total)) {
cvStartReadSeq( (CvSeq*)(delaunay->edges), &reader, 0 );
}
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge )) {
CvSubdiv2DEdge curedge = (CvSubdiv2DEdge)edge;
CvSubdiv2DEdge t = curedge;
Triangle temptri;
int count = 0;
// construct a triangle from this edge
do {
CvSubdiv2DPoint* pt = cvSubdiv2DEdgeOrg( t );
if(count < 3) {
pt->pt.x = pt->pt.x >= image1->width ? image1->width-1 : pt->pt.x;
pt->pt.y = pt->pt.y >= image1->height ? image1->height-1 : pt->pt.y;
pt->pt.x = pt->pt.x < 0 ? 0 : pt->pt.x;
pt->pt.y = pt->pt.y < 0 ? 0 : pt->pt.y;
temptri.points[count] = cvPointFrom32f( pt->pt );
}
else {
printf("More than 3 edges\n");
}
count++;
if(i < total)
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_LEFT );
else
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_RIGHT );
} while( t != curedge );
// check that triangle is not already in
if( std::find(trivec.begin(), trivec.end(), temptri) == trivec.end() ) {
// push triangle in and draw
trivec.push_back(temptri);
cvLine( image1, temptri.points[0], temptri.points[1], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[1], temptri.points[2], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[2], temptri.points[0], CV_RGB(255,0,0), 1, CV_AA, 0 );
// compute barycentric computation vector for this triangle
CvMat * barycen = cvCreateMat( 3, 3, CV_32FC1 );
CvMat * baryceninv = cvCreateMat( 3, 3, CV_32FC1 );
barycen->data.fl[3*0+0] = temptri.points[0].x;
barycen->data.fl[3*0+1] = temptri.points[1].x;
barycen->data.fl[3*0+2] = temptri.points[2].x;
barycen->data.fl[3*1+0] = temptri.points[0].y;
barycen->data.fl[3*1+1] = temptri.points[1].y;
barycen->data.fl[3*1+2] = temptri.points[2].y;
barycen->data.fl[3*2+0] = 1;
barycen->data.fl[3*2+1] = 1;
barycen->data.fl[3*2+2] = 1;
cvInvert( barycen, baryceninv, CV_LU );
baryinvvec.push_back(baryceninv);
cvReleaseMat( &barycen );
}
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
printf("%d triangles...", trivec.size());
cvSaveImage("triangles.jpg", image1);
cvSet( image1, cvScalarAll(255) );
IplImage * clean_nonthresh = cvLoadImage( "conhull-clean.jpg", CV_LOAD_IMAGE_COLOR );
// for each triangle
for(unsigned int i = 0; i < trivec.size(); i++) {
Triangle curtri = trivec[i];
CvMat * curpoints = cvCreateMat( 1, 3, CV_32SC2 );
Triangle target;
std::map<CvPoint,CvPoint>::iterator piter[3];
printf("Triangle %d / %d\n",i,trivec.size());
int is_corner = 0;
for(int j = 0; j < 3; j++) {
/*
curpoints->data.i[2*j+0] = curtri.points[j].x;
curpoints->data.i[2*j+1] = curtri.points[j].y;
*/
CV_MAT_ELEM( *curpoints, CvPoint, 0, j ) = curtri.points[j];
printf("%d,%d\n",curtri.points[j].x,curtri.points[j].y);
if((curtri.points[j] == cvPoint(0,0)) || (curtri.points[j] == cvPoint(0,image1->height - 1)) ||(curtri.points[j] == cvPoint(image1->width - 1,0)) ||(curtri.points[j] == cvPoint(image1->width - 1,image1->height - 1))) {
is_corner++;
}
for(unsigned int k = 0; k < point_lookup.size(); k++) {
std::pair<CvPoint,CvPoint> thispair = point_lookup[k];
if(thispair.first == curtri.points[j]) {
target.points[j] = thispair.second;
break;
}
}
/*
piter[j] = point_lookup_map.find(curtri.points[j]);
if(piter[j] != point_lookup_map.end() ) {
target.points[j] = piter[j]->second;
}
*/
}
// if((piter[0] != point_lookup_map.end()) && (piter[1] != point_lookup_map.end()) && (piter[2] != point_lookup_map.end())) {
if(is_corner < 3) {
CvMat * newcorners = cvCreateMat( 3, 3, CV_32FC1 );
newcorners->data.fl[3*0+0] = target.points[0].x;
newcorners->data.fl[3*0+1] = target.points[1].x;
newcorners->data.fl[3*0+2] = target.points[2].x;
newcorners->data.fl[3*1+0] = target.points[0].y;
newcorners->data.fl[3*1+1] = target.points[1].y;
newcorners->data.fl[3*1+2] = target.points[2].y;
newcorners->data.fl[3*2+0] = 1;
newcorners->data.fl[3*2+1] = 1;
newcorners->data.fl[3*2+2] = 1;
CvContour hdr;
CvSeqBlock blk;
CvRect trianglebound = cvBoundingRect( cvPointSeqFromMat(CV_SEQ_KIND_CURVE+CV_SEQ_FLAG_CLOSED, curpoints, &hdr, &blk), 1 );
printf("Bounding box: %d,%d,%d,%d\n",trianglebound.x,trianglebound.y,trianglebound.width,trianglebound.height);
for(int y = trianglebound.y; (y < (trianglebound.y + trianglebound.height)) && ( y < image1->height); y++) {
for(int x = trianglebound.x; (x < (trianglebound.x + trianglebound.width)) && (x < image1->width); x++) {
// check to see if we're inside this triangle
/*
CvPoint v0 = cvPoint( curtri.points[2].x - curtri.points[0].x, curtri.points[2].y - curtri.points[0].y );
CvPoint v1 = cvPoint( curtri.points[1].x - curtri.points[0].x, curtri.points[1].y - curtri.points[0].y );
CvPoint v2 = cvPoint( x - curtri.points[0].x, y - curtri.points[0].y );
int dot00 = v0.x * v0.x + v0.y * v0. y;
int dot01 = v0.x * v1.x + v0.y * v1. y;
int dot02 = v0.x * v2.x + v0.y * v2. y;
int dot11 = v1.x * v1.x + v1.y * v1. y;
int dot12 = v1.x * v2.x + v1.y * v2. y;
double invDenom = 1.0 / (double)(dot00 * dot11 - dot01 * dot01);
double u = (double)(dot11 * dot02 - dot01 * dot12) * invDenom;
double v = (double)(dot00 * dot12 - dot01 * dot02) * invDenom;
*/
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
cvMatMul( baryinvvec[i], curp, result );
// double u = result->data.fl[0]/result->data.fl[2];
// double v = result->data.fl[1]/result->data.fl[2];
/*
if((i == 3019) && (y == 1329) && (x > 2505) && (x < 2584)) {
printf("Range %d: %f, %f, %f\t%f, %f, %f\n",x,result->data.fl[0],result->data.fl[1],result->data.fl[2],
sourcepoint->data.fl[0],sourcepoint->data.fl[1],sourcepoint->data.fl[2]);
}
*/
if( (result->data.fl[0] > MIN_VAL) && (result->data.fl[1] > MIN_VAL) && (result->data.fl[2] > MIN_VAL) && (fabs(1.0 - (result->data.fl[0]+result->data.fl[1]+result->data.fl[2])) <= 0.01) ) {
// if((u > 0) || (v > 0) /*&& ((u +v) < 1)*/ )
// printf("Barycentric: %f %f %f\n", result->data.fl[0], result->data.fl[1], result->data.fl[2]);
// this point is inside this triangle
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
CvMat * sourcepoint = cvCreateMat(3, 1, CV_32FC1);
cvMatMul( newcorners, result, sourcepoint );
double sourcex = sourcepoint->data.fl[0]/*/sourcepoint->data.fl[2]*/;
double sourcey = sourcepoint->data.fl[1]/*/sourcepoint->data.fl[2]*/;
if((sourcex >= 0) && (sourcey >= 0) && (sourcex < (image1->width)) && (sourcey < (image1->height))) {
// printf("%d,%d %d,%d\n",x,y,(int)sourcex,(int)sourcey);
cvSet2D( image1, y, x, cvGet2D( clean_nonthresh, (int)sourcey, (int)sourcex ) );
}
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
cvReleaseMat( &sourcepoint );
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
}
for(int k = 0; k < verts; k++) {
double x = clean_texture->data.fl[2*k+0];
double y = clean_texture->data.fl[2*k+1];
// check to see if we're inside this triangle
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
cvMatMul( baryinvvec[i], curp, result );
if( (result->data.fl[0] > MIN_VAL) && (result->data.fl[1] > MIN_VAL) && (result->data.fl[2] > MIN_VAL) && (fabs(1.0 - (result->data.fl[0]+result->data.fl[1]+result->data.fl[2])) <= 0.01) ) {
CvMat * sourcepoint = cvCreateMat(3, 1, CV_32FC1);
cvMatMul( newcorners, result, sourcepoint );
double sourcex = sourcepoint->data.fl[0]/*/sourcepoint->data.fl[2]*/;
double sourcey = sourcepoint->data.fl[1]/*/sourcepoint->data.fl[2]*/;
if((sourcex >= 0) && (sourcey >= 0) && (sourcex < (image1->width)) && (sourcey < (image1->height))) {
clean_texture->data.fl[2*k+0] = sourcex;
clean_texture->data.fl[2*k+1] = sourcey;
// cvSet2D( image1, y, x, cvGet2D( clean_nonthresh, (int)sourcey, (int)sourcex ) );
}
cvReleaseMat( &sourcepoint );
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
cvReleaseMat( &newcorners );
}
cvReleaseMat( &curpoints );
}
cvReleaseImage( &clean_nonthresh );
printf("done.\n");
cvSaveImage("fullwarp.jpg", image1);
printf("Drawing subdivisions on warped image...");
draw_subdiv( image1, delaunay, NULL, NULL, 0, NULL );
// draw_subdiv( image1, delaunay, delaunay_points, source_points, count, status );
printf("done.\n");
cvSaveImage("edgeswarp.jpg", image1);
cvReleaseImage(&image2);
image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
// cvCreateImage( cvGetSize(image2), IPL_DEPTH_8U, 3 );
// cvCalcSubdivVoronoi2D( delaunay );
printf("Drawing subdivisions on unwarped image...");
// draw_subdiv( image2, delaunay, delaunay_points, dest_points, count, status );
// draw_subdiv( image2, delaunay, NULL, NULL, 0, NULL );
printf("done.\n");
cvSaveImage("edges.jpg",image2);
cvReleaseImage(&image1);
cvFree(&source_points);
cvFree(&dest_points);
cvFree(&status);
cvReleaseMemStorage(&storage);
cvFree(&delaunay_points);
cvReleaseImage(&image2);
return 0;
}
void mcvGetIPM(const CvMat* inImage, CvMat* outImage,
IPMInfo *ipmInfo, const CameraInfo *cameraInfo,
list<CvPoint> *outPoints)
{
//check input images types
//CvMat inMat, outMat;
//cvGetMat(inImage, &inMat);
//cvGetMat(outImage, &outMat);
//cout << CV_MAT_TYPE(inImage->type) << " " << CV_MAT_TYPE(FLOAT_MAT_TYPE) << " " << CV_MAT_TYPE(INT_MAT_TYPE)<<"\n";
if (!(CV_ARE_TYPES_EQ(inImage, outImage) &&
(CV_MAT_TYPE(inImage->type)==CV_MAT_TYPE(FLOAT_MAT_TYPE) ||
(CV_MAT_TYPE(inImage->type)==CV_MAT_TYPE(INT_MAT_TYPE)))))
{
if(CV_ARE_TYPES_EQ(inImage, outImage)){
cerr << "Types are equal" << CV_MAT_TYPE(inImage->type);
}else{
cerr << "Types are NOT equal" << CV_MAT_TYPE(inImage->type);
}
cerr << "Unsupported image types in mcvGetIPM";
exit(1);
}
//get size of input image
FLOAT u, v;
v = inImage->height;
u = inImage->width;
//get the vanishing point
FLOAT_POINT2D vp;
vp = mcvGetVanishingPoint(cameraInfo);
vp.y = MAX(0, vp.y);
//vp.y = 30;
//get extent of the image in the xfyf plane
FLOAT_MAT_ELEM_TYPE eps = ipmInfo->vpPortion * v;//VP_PORTION*v;
ipmInfo->ipmLeft = MAX(0, ipmInfo->ipmLeft);
ipmInfo->ipmRight = MIN(u-1, ipmInfo->ipmRight);
ipmInfo->ipmTop = MAX(vp.y+eps, ipmInfo->ipmTop);
ipmInfo->ipmBottom = MIN(v-1, ipmInfo->ipmBottom);
FLOAT_MAT_ELEM_TYPE uvLimitsp[] = {vp.x,
ipmInfo->ipmRight, ipmInfo->ipmLeft, vp.x,
ipmInfo->ipmTop, ipmInfo->ipmTop, ipmInfo->ipmTop, ipmInfo->ipmBottom};
//{vp.x, u, 0, vp.x,
//vp.y+eps, vp.y+eps, vp.y+eps, v};
CvMat uvLimits = cvMat(2, 4, FLOAT_MAT_TYPE, uvLimitsp);
//get these points on the ground plane
CvMat * xyLimitsp = cvCreateMat(2, 4, FLOAT_MAT_TYPE);
CvMat xyLimits = *xyLimitsp;
mcvTransformImage2Ground(&uvLimits, &xyLimits,cameraInfo);
//SHOW_MAT(xyLimitsp, "xyLImits");
//get extent on the ground plane
CvMat row1, row2;
cvGetRow(&xyLimits, &row1, 0);
cvGetRow(&xyLimits, &row2, 1);
double xfMax, xfMin, yfMax, yfMin;
cvMinMaxLoc(&row1, (double*)&xfMin, (double*)&xfMax, 0, 0, 0);
cvMinMaxLoc(&row2, (double*)&yfMin, (double*)&yfMax, 0, 0, 0);
INT outRow = outImage->height;
INT outCol = outImage->width;
FLOAT_MAT_ELEM_TYPE stepRow = (yfMax-yfMin)/outRow;
FLOAT_MAT_ELEM_TYPE stepCol = (xfMax-xfMin)/outCol;
//construct the grid to sample
CvMat *xyGrid = cvCreateMat(2, outRow*outCol, FLOAT_MAT_TYPE);
INT i, j;
FLOAT_MAT_ELEM_TYPE x, y;
//fill it with x-y values on the ground plane in world frame
for (i=0, y=yfMax-.5*stepRow; i<outRow; i++, y-=stepRow)
for (j=0, x=xfMin+.5*stepCol; j<outCol; j++, x+=stepCol)
{
CV_MAT_ELEM(*xyGrid, FLOAT_MAT_ELEM_TYPE, 0, i*outCol+j) = x;
CV_MAT_ELEM(*xyGrid, FLOAT_MAT_ELEM_TYPE, 1, i*outCol+j) = y;
}
//get their pixel values in image frame
CvMat *uvGrid = cvCreateMat(2, outRow*outCol, FLOAT_MAT_TYPE);
mcvTransformGround2Image(xyGrid, uvGrid, cameraInfo);
//now loop and find the nearest pixel value for each position
//that's inside the image, otherwise put it zero
//generic loop to work for both float and int matrix types
if (CV_MAT_TYPE(inImage->type)==FLOAT_MAT_TYPE)
{
//test<int>();
//MCV_GET_IPM(FLOAT_MAT_ELEM_TYPE)
interpolation<FLOAT_MAT_ELEM_TYPE>(inImage, outImage, uvGrid,outCol, outRow, ipmInfo);
}
else
{
//test<double>();
//MCV_GET_IPM(INT_MAT_ELEM_TYPE)
interpolation<INT_MAT_ELEM_TYPE>(inImage, outImage, uvGrid,outCol, outRow, ipmInfo);
}
//return the ipm info
ipmInfo->xLimits[0] = CV_MAT_ELEM(*xyGrid, FLOAT_MAT_ELEM_TYPE, 0, 0);
ipmInfo->xLimits[1] =
CV_MAT_ELEM(*xyGrid, FLOAT_MAT_ELEM_TYPE, 0, (outRow-1)*outCol+outCol-1);
ipmInfo->yLimits[1] = CV_MAT_ELEM(*xyGrid, FLOAT_MAT_ELEM_TYPE, 1, 0);
ipmInfo->yLimits[0] =
CV_MAT_ELEM(*xyGrid, FLOAT_MAT_ELEM_TYPE, 1, (outRow-1)*outCol+outCol-1);
ipmInfo->xScale = 1/stepCol;
ipmInfo->yScale = 1/stepRow;
ipmInfo->width = outCol;
ipmInfo->height = outRow;
//clean
cvReleaseMat(&xyLimitsp);
cvReleaseMat(&xyGrid);
cvReleaseMat(&uvGrid);
}
void interpolation(const CvMat *inImage, CvMat *outImage, CvMat *uvGrid, int outCol, int outRow,const IPMInfo *ipmInfo, list<CvPoint>* outPoints){
FLOAT_MAT_ELEM_TYPE ui, vi;
//get mean of the input image
CvScalar means = cvAvg(inImage);
double mean = means.val[0];
for (int i=0; i<outRow; i++)
for (int j=0; j<outCol; j++)
{
/*get pixel coordiantes*/
ui = CV_MAT_ELEM(*uvGrid, FLOAT_MAT_ELEM_TYPE, 0, i*outCol+j);
vi = CV_MAT_ELEM(*uvGrid, FLOAT_MAT_ELEM_TYPE, 1, i*outCol+j);
if(i*outCol+j > uvGrid->cols || i*outCol+j < 0)
{
cout << "PROBLEM 1" <<endl;
}
if(isnan(ui)){
ui = 0;
}
if(isnan(vi)){
vi=0;
}
/*check if out-of-bounds*/ \
/*if (ui<0 || ui>u-1 || vi<0 || vi>v-1) \*/ \
if (ui < ipmInfo->ipmLeft || ui > ipmInfo->ipmRight ||
vi < ipmInfo->ipmTop || vi > ipmInfo->ipmBottom)
{
CV_MAT_ELEM(*outImage, T, i, j) = (T)mean;
}
/*not out of bounds, then get nearest neighbor*/
else
{
/*Bilinear interpolation*/
if (ipmInfo->ipmInterpolation == 0)
{
int x1 = int(ui), x2 = int(ui+1);
int y1 = int(vi), y2 = int(vi+1);
float x = ui - x1, y = vi - y1;
float val = CV_MAT_ELEM(*inImage, T, y1, x1) * (1-x) * (1-y) +
CV_MAT_ELEM(*inImage, T, y1, x2) * x * (1-y) +
CV_MAT_ELEM(*inImage, T, y2, x1) * (1-x) * y +
CV_MAT_ELEM(*inImage, T, y2, x2) * x * y;
CV_MAT_ELEM(*outImage, T, i, j) = (T)val;
}
/*nearest-neighbor interpolation*/
else
{
if(vi+.5 < inImage->rows && ui +.5 < inImage->cols)
{
CV_MAT_ELEM(*outImage, T, i, j) =
CV_MAT_ELEM(*inImage, T, int(vi+.5), int(ui+.5));
}
else
cout << "vi+.5 " << (vi+.5) << " inImage->rows " << inImage->rows << " ui +.5 "
<< (ui +.5) << " inImage->cols " << inImage->cols <<endl;
}
}
if (outPoints &&
(ui<ipmInfo->ipmLeft+10 || ui>ipmInfo->ipmRight-10 ||
vi<ipmInfo->ipmTop || vi>ipmInfo->ipmBottom-2) )
outPoints->push_back(cvPoint(j, i));
}
}
void ProjectionModel::calculateProjection()
{
if(intrinsic_matrix != 0 && distortion_coeffs != 0)
{
int corner_count = Chessboard::board_total;
cvCvtColor(sourceImg, gray_image, CV_RGB2GRAY);
int found = cvFindChessboardCorners(gray_image,
board_sz,
corners,
&corner_count,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
if(!found)
{
return;
}
cvFindCornerSubPix(gray_image,
corners,
corner_count,
cvSize(11,11),
cvSize(-1,-1),
cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1));
objPts[0].x = 0;
objPts[0].y = 0;
objPts[1].x = Chessboard::board_w - 1;
objPts[1].y = 0;
objPts[2].x = 0;
objPts[2].y = Chessboard::board_h - 1;
objPts[3].x = Chessboard::board_w - 1;
objPts[3].y = Chessboard::board_h - 1;
imgPts[3] = corners[0];
imgPts[2] = corners[Chessboard::board_w - 1];
imgPts[1] = corners[(Chessboard::board_h - 1) * Chessboard::board_w];
imgPts[0] = corners[(Chessboard::board_h - 1) * Chessboard::board_w + Chessboard::board_w - 1];
cvGetPerspectiveTransform(objPts, imgPts, H);
for(int i = 0; i < 4; ++i)
{
CV_MAT_ELEM(*image_points, CvPoint2D32f, i, 0) = imgPts[i];
CV_MAT_ELEM(*object_points, CvPoint3D32f, i, 0) = cvPoint3D32f(objPts[i].x, objPts[i].y, 0);
}
cvFindExtrinsicCameraParams2(object_points,
image_points,
intrinsic_matrix,
distortion_coeffs,
rotation_vector,
translation_vector);
cvRodrigues2(rotation_vector, rotation_matrix);
for(int f = 0; f < 3; f++)
{
for(int c = 0; c < 3; c++)
{
fullMatrix[c * 4 + f] = rotation_matrix->data.fl[f * 3 + c]; //transposed
}
}
fullMatrix[3] = 0.0;
fullMatrix[7] = 0.0;
fullMatrix[11] = 0.0;
fullMatrix[12] = translation_vector->data.fl[0];
fullMatrix[13] = translation_vector->data.fl[1];
fullMatrix[14] = translation_vector->data.fl[2];
fullMatrix[15] = 1.0;
}
}
void deblur_image(int image_num, int n, IplImage *result, IplImage *result_luck)
{
cvSetZero(result);
cvSetZero(result_luck);
IplImage *trans[MAX_IMAGE];//转换后的结果？
IplImage *trans_luck[MAX_IMAGE];
IplImage *blur[MAX_IMAGE];
for (int i = 0; i < image_num; ++i)
{
trans[i] = cvCreateImage(image_size, IPL_DEPTH_8U, 3);
cvWarpPerspective(images[i], trans[i], hom[i][n], CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
//对图像进行透视变换得到trans后的图像
trans_luck[i] = cvCreateImage(image_size, IPL_DEPTH_32F, 4);
cvWarpPerspective(images_luck[i], trans_luck[i], hom[i][n], CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
//images_luck 是每一帧各个点的luckiness指数
blur[i] = cvCreateImage(image_size, IPL_DEPTH_8U, 3);
blur_function(trans[i], blur[i], hom[n-1][n], hom[n][n+1]);
}
for (int i = 0; i < image_num; ++i)
{
char wname[16];
sprintf(wname, "Homography%d", i);
cvNamedWindow(wname, CV_WINDOW_AUTOSIZE);
cvMoveWindow(wname, i*50, i*50);
cvShowImage(wname, trans[i]);
sprintf(wname, "Blurred%d", i);
cvNamedWindow(wname, CV_WINDOW_AUTOSIZE);
cvMoveWindow(wname, i*50+100, i*50);
cvShowImage(wname, blur[i]);
}
cvWaitKey(0);
cvDestroyAllWindows();
int grid_r = (image_size.height-PATCH_SIZE/2-1) / (PATCH_SIZE/2);
int grid_c = (image_size.width-PATCH_SIZE/2-1) / (PATCH_SIZE/2);
if (grid_r > 0 && grid_c > 0)
{
CvMat *patch = cvCreateMat(grid_r, grid_c, CV_64FC4);
for (int i = 0; i < grid_r; ++i)
{
int y = (i+1)*(PATCH_SIZE/2);
int t1 = clock();
for (int j = 0; j < grid_c; ++j)
{
CvScalar res;
int x = (j+1)*(PATCH_SIZE/2);
if (deblur_patch(blur, trans_luck, image_num, n, x, y, &res) != 0)
{
printf("deblur_patch: %d:%d,%d failed.\n", n, x, y);
res.val[0] = n;
res.val[1] = x;
res.val[2] = y;
res.val[3] = 0;
//copy_pixel(result, x, y, images[n], x, y);
}
/*
res.val[0] = 2;
res.val[1] = x;
res.val[2] = y;
res.val[3] = 100000;*/
res.val[3] = exp(-res.val[3]/(2*SIGMA_W*SIGMA_W));
CV_MAT_ELEM(*patch, CvScalar, i, j) = res;
}
int t2 = clock();
printf("y:%d/%d %d ms\n", y, image_size.height, (t2-t1)*1000/CLOCKS_PER_SEC);
}
cvNamedWindow("origin", CV_WINDOW_AUTOSIZE);
cvShowImage("origin", images[n]);
cvNamedWindow("result", CV_WINDOW_AUTOSIZE);
// 中心部分
for (int i = 1; i < grid_r; ++i)
{
int miny = i*(PATCH_SIZE/2);
for (int j = 1; j < grid_c; ++j)
{
CvScalar pres1 = CV_MAT_ELEM(*patch, CvScalar, i-1, j-1);
CvScalar pres2 = CV_MAT_ELEM(*patch, CvScalar, i-1, j);
CvScalar pres3 = CV_MAT_ELEM(*patch, CvScalar, i, j-1);
CvScalar pres4 = CV_MAT_ELEM(*patch, CvScalar, i, j);
int minx = j*(PATCH_SIZE/2);
for (int y = 0; y < PATCH_SIZE/2; ++y)
for (int x = 0; x < PATCH_SIZE/2; ++x)
{
CvScalar v[4];
v[0] = cvGet2D(trans[(int)pres1.val[0]], (int)pres1.val[2]+y, (int)pres1.val[1]+x);
v[1] = cvGet2D(trans[(int)pres2.val[0]], (int)pres2.val[2]+y, (int)pres2.val[1]+x-PATCH_SIZE/2);
v[2] = cvGet2D(trans[(int)pres3.val[0]], (int)pres3.val[2]+y-PATCH_SIZE/2, (int)pres3.val[1]+x);
v[3] = cvGet2D(trans[(int)pres4.val[0]], (int)pres4.val[2]+y-PATCH_SIZE/2, (int)pres4.val[1]+x-PATCH_SIZE/2);
double w[4] = {pres1.val[3], pres2.val[3], pres3.val[3], pres4.val[3]};
CvScalar pv = weighted_average(v, w, 4);
cvSet2D(result, y+miny, x+minx, pv);
/*
printf("p %d %d\n", y+miny, x+minx);
for (int a = 0; a < 4; ++a)
{
printf("v%d: %f %f %f w %g\n", a, v[a].val[0], v[a].val[1], v[a].val[2], w[a]);
}
printf("pv: %f %f %f\n", pv.val[0], pv.val[1], pv.val[2]);
*/
}
}
cvShowImage("result", result);
cvWaitKey(20);
}
// 四周特殊情况
for (int y = 0; y < PATCH_SIZE/2; ++y)
for (int x = 0; x < PATCH_SIZE/2; ++x)
{
CvScalar pres = CV_MAT_ELEM(*patch, CvScalar, 0, 0);
CvScalar pv = cvGet2D(trans[(int)pres.val[0]], (int)pres.val[2]+y-PATCH_SIZE/2, (int)pres.val[1]+x-PATCH_SIZE/2);
cvSet2D(result, y, x, pv);
pres = CV_MAT_ELEM(*patch, CvScalar, 0, grid_c-1);
pv = cvGet2D(trans[(int)pres.val[0]], (int)pres.val[2]+y-PATCH_SIZE/2, (int)pres.val[1]+x);
cvSet2D(result, y, grid_c*(PATCH_SIZE/2)+x, pv);
pres = CV_MAT_ELEM(*patch, CvScalar, grid_r-1, 0);
pv = cvGet2D(trans[(int)pres.val[0]], (int)pres.val[2]+y, (int)pres.val[1]+x-PATCH_SIZE/2);
cvSet2D(result, grid_r*(PATCH_SIZE/2)+y, x, pv);
pres = CV_MAT_ELEM(*patch, CvScalar, grid_r-1, grid_c-1);
pv = cvGet2D(trans[(int)pres.val[0]], (int)pres.val[2]+y, (int)pres.val[1]+x);
cvSet2D(result, grid_r*(PATCH_SIZE/2)+y, grid_c*(PATCH_SIZE/2)+x, pv);
}
for (int j = 1; j < grid_c; ++j)
{
CvScalar pres1 = CV_MAT_ELEM(*patch, CvScalar, 0, j-1);
CvScalar pres2 = CV_MAT_ELEM(*patch, CvScalar, 0, j);
CvScalar pres3 = CV_MAT_ELEM(*patch, CvScalar, grid_r-1, j-1);
CvScalar pres4 = CV_MAT_ELEM(*patch, CvScalar, grid_r-1, j);
int minx = j*(PATCH_SIZE/2);
for (int y = 0; y < PATCH_SIZE/2; ++y)
for (int x = 0; x < PATCH_SIZE/2; ++x)
{
CvScalar v[2];
v[0] = cvGet2D(trans[(int)pres1.val[0]], (int)pres1.val[2]+y-PATCH_SIZE/2, (int)pres1.val[1]+x);
v[1] = cvGet2D(trans[(int)pres2.val[0]], (int)pres2.val[2]+y-PATCH_SIZE/2, (int)pres2.val[1]+x-PATCH_SIZE/2);
double w[2] = {pres1.val[3], pres2.val[3]};
CvScalar pv = weighted_average(v, w, 2);
cvSet2D(result, y, minx+x, pv);
v[0] = cvGet2D(trans[(int)pres3.val[0]], (int)pres3.val[2]+y, (int)pres3.val[1]+x);
v[1] = cvGet2D(trans[(int)pres4.val[0]], (int)pres4.val[2]+y, (int)pres4.val[1]+x-PATCH_SIZE/2);
w[0] = pres3.val[3];
w[0] = pres4.val[3];
pv = weighted_average(v, w, 2);
cvSet2D(result, grid_r*(PATCH_SIZE/2)+y, minx+x, pv);
}
}
for (int i = 1; i < grid_r; ++i)
{
CvScalar pres1 = CV_MAT_ELEM(*patch, CvScalar, i-1, 0);
CvScalar pres2 = CV_MAT_ELEM(*patch, CvScalar, i, 0);
CvScalar pres3 = CV_MAT_ELEM(*patch, CvScalar, i-1, grid_c-1);
CvScalar pres4 = CV_MAT_ELEM(*patch, CvScalar, i, grid_c-1);
int miny = i*(PATCH_SIZE/2);
for (int y = 0; y < PATCH_SIZE/2; ++y)
for (int x = 0; x < PATCH_SIZE/2; ++x)
{
CvScalar v[2];
v[0] = cvGet2D(trans[(int)pres1.val[0]], (int)pres1.val[2]+y, (int)pres1.val[1]+x-PATCH_SIZE/2);
v[1] = cvGet2D(trans[(int)pres2.val[0]], (int)pres2.val[2]+y-PATCH_SIZE/2, (int)pres2.val[1]+x-PATCH_SIZE/2);
double w[2] = {pres1.val[3], pres2.val[3]};
CvScalar pv = weighted_average(v, w, 2);
cvSet2D(result, miny+y, x, pv);
v[0] = cvGet2D(trans[(int)pres3.val[0]], (int)pres3.val[2]+y, (int)pres3.val[1]+x);
v[1] = cvGet2D(trans[(int)pres4.val[0]], (int)pres4.val[2]+y-PATCH_SIZE/2, (int)pres4.val[1]+x);
w[0] = pres3.val[3];
w[0] = pres4.val[3];
pv = weighted_average(v, w, 2);
cvSet2D(result, miny+y, grid_c*(PATCH_SIZE/2)+x, pv);
}
}
cvShowImage("result", result);
/*
IplImage *res_diff = cvCreateImage(image_size, IPL_DEPTH_8U, 3);
cvAbsDiff(result, images[n], res_diff);
cvNamedWindow("diff", CV_WINDOW_AUTOSIZE);
cvShowImage("diff", res_diff);*/
char name[16];
sprintf(name, "result%d.png", n);
cvSaveImage(name, result, NULL);
sprintf(name, "origin%d.png", n);
cvSaveImage(name, images[n], NULL);
cvReleaseMat(&patch);
}
for (int i = 0; i < image_num; ++i)
{
cvReleaseImage(&trans[i]);
cvReleaseImage(&trans_luck[i]);
cvReleaseImage(&blur[i]);
}
}
int main(int argc, char * argv[])
{
if(argc < 2) {
fprintf(stderr, "%s image1 image2\n", argv[0]);
return 1;
}
char * im1fname = argv[1];
char * im2fname = argv[2];
IplImage * image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_GRAYSCALE);
IplImage * eigenvalues = cvCreateImage(cvGetSize(image1), 32, 1);
IplImage * temp = cvCreateImage(cvGetSize(image1), 32, 1);
int count = MAX_COUNT;
double quality = 0.5;
// double min_distance = 2;
double min_distance = 50;
int block_size = 7;
int use_harris = 0;
int win_size = 10;
int flags = 0;
CvPoint2D32f * source_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
CvPoint2D32f * dest_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
CvPoint2D32f * delaunay_points = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(CvPoint2D32f));
cvGoodFeaturesToTrack( image1, eigenvalues, temp, source_points, &count,
quality, min_distance, 0, block_size, use_harris, 0.04 );
printf("%d features\n",count);
setbuf(stdout, NULL);
printf("Finding corner subpix...");
cvFindCornerSubPix( image1, source_points, count,
cvSize(win_size,win_size), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03));
printf("done.\n");
cvReleaseImage(&eigenvalues);
cvReleaseImage(&temp);
IplImage * image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_GRAYSCALE);
char * status = (char*)cvAlloc(sizeof(char)*MAX_COUNT);
IplImage * pyramid = cvCreateImage( cvGetSize(image1), IPL_DEPTH_8U, 1 );
IplImage * second_pyramid = cvCreateImage( cvGetSize(image2), IPL_DEPTH_8U, 1 );
printf("Computing optical flow...");
cvCalcOpticalFlowPyrLK(image1, image2, pyramid, second_pyramid, source_points,
dest_points, count, cvSize(win_size,win_size), 4, status, 0,
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03),
flags);
printf("done.\n");
int num_matches = 0;
int num_out_matches = 0;
int max_dist = 30;
int offset = 200;
CvMemStorage * storage = cvCreateMemStorage(0);
CvSubdiv2D * delaunay = cvCreateSubdivDelaunay2D( cvRect(0,0,image1->width,image1->height), storage);
cvReleaseImage(&image1);
cvReleaseImage(&image2);
image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
std::map<CvPoint, CvPoint> point_lookup_map;
std::vector<std::pair<CvPoint, CvPoint> > point_lookup;
// put corners in the point lookup as going to themselves
point_lookup_map[cvPoint(0,0)] = cvPoint(0,0);
point_lookup_map[cvPoint(0,image1->height-1)] = cvPoint(0,image1->height-1);
point_lookup_map[cvPoint(image1->width-1,0)] = cvPoint(image1->width-1,0);
point_lookup_map[cvPoint(image1->width-1,image1->height-1)] = cvPoint(image1->width-1,image1->height-1);
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,0), cvPoint(0,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(0,image1->height-1), cvPoint(0,image1->height-1)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,0), cvPoint(image1->width-1,0)));
point_lookup.push_back(std::pair<CvPoint,CvPoint>(cvPoint(image1->width-1,image1->height-1), cvPoint(image1->width-1,image1->height-1)));
printf("Inserting corners...");
// put corners in the Delaunay subdivision
for(unsigned int i = 0; i < point_lookup.size(); i++) {
cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(point_lookup[i].first) );
}
printf("done.\n");
CvSubdiv2DEdge proxy_edge;
for(int i = 0; i < count; i++) {
if(status[i]) {
CvPoint source = cvPointFrom32f(source_points[i]);
CvPoint dest = cvPointFrom32f(dest_points[i]);
if((((int)fabs((double)(source.x - dest.x))) > max_dist) ||
(((int)fabs((double)(source.y - dest.y))) > max_dist)) {
num_out_matches++;
}
else if((dest.x >= 0) && (dest.y >= 0) && (dest.x < (image1->width)) && (dest.y < (image1->height))) {
if(point_lookup_map.find(source) == point_lookup_map.end()) {
num_matches++;
point_lookup_map[source] = dest;
point_lookup.push_back(std::pair<CvPoint,CvPoint>(source,dest));
delaunay_points[i] = (cvSubdivDelaunay2DInsert( delaunay, cvPointTo32f(source) ))->pt;
cvSetImageROI( image1, cvRect(source.x-8,source.y-8,8*2,8*2) );
cvResetImageROI( image2 );
cvGetRectSubPix( image2, image1, dest_points[i] );
}
/*
cvSet2D( image1, source.y, source.x, cvGet2D( image2, dest.y, dest.x ) );
cvSet2D( image1, source.y, source.x+1, cvGet2D( image2, dest.y, dest.x+1 ) );
cvSet2D( image1, source.y, source.x-1, cvGet2D( image2, dest.y, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x, cvGet2D( image2, dest.y+1, dest.x ) );
cvSet2D( image1, source.y-1, source.x, cvGet2D( image2, dest.y-1, dest.x ) );
cvSet2D( image1, source.y+1, source.x+1, cvGet2D( image2, dest.y+1, dest.x+1 ) );
cvSet2D( image1, source.y-1, source.x-1, cvGet2D( image2, dest.y-1, dest.x-1 ) );
cvSet2D( image1, source.y+1, source.x-1, cvGet2D( image2, dest.y+1, dest.x-1 ) );
cvSet2D( image1, source.y-1, source.x+1, cvGet2D( image2, dest.y-1, dest.x+1 ) );
*/
// cvCircle( image1, source, 4, CV_RGB(255,0,0), 2, CV_AA );
// cvCircle( image2, dest, 4, CV_RGB(255,0,0), 2, CV_AA );
}
/*
cvSetImageROI( image1, cvRect(source.x-offset,source.y-offset,offset*2,offset*2) );
cvSetImageROI( image2, cvRect(dest.x-offset,dest.y-offset,offset*2,offset*2) );
cvNamedWindow("image1",0);
cvNamedWindow("image2",0);
cvShowImage("image1",image1);
cvShowImage("image2",image2);
printf("%d,%d -> %d,%d\n",source.x,source.y,dest.x,dest.y);
cvWaitKey(0);
cvDestroyAllWindows();
*/
}
}
printf("%d %d\n",num_matches,num_out_matches);
printf("%d lookups\n",point_lookup_map.size());
cvResetImageROI( image1 );
cvSaveImage("sparse.jpg", image1);
cvReleaseImage(&image1);
image1 = cvLoadImage(im1fname, CV_LOAD_IMAGE_COLOR);
cvSet( image1, cvScalarAll(255) );
printf("Warping image...");
CvSeqReader reader;
int total = delaunay->edges->total;
int elem_size = delaunay->edges->elem_size;
cvStartReadSeq( (CvSeq*)(delaunay->edges), &reader, 0 );
std::vector<Triangle> trivec;
std::vector<CvMat *> baryinvvec;
for( int i = 0; i < total; i++ ) {
CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
if( CV_IS_SET_ELEM( edge )) {
CvSubdiv2DEdge curedge = (CvSubdiv2DEdge)edge;
CvSubdiv2DEdge t = curedge;
Triangle temptri;
int count = 0;
// construct a triangle from this edge
do {
CvSubdiv2DPoint* pt = cvSubdiv2DEdgeOrg( t );
if(count < 3) {
pt->pt.x = pt->pt.x >= image1->width ? image1->width-1 : pt->pt.x;
pt->pt.y = pt->pt.y >= image1->height ? image1->height-1 : pt->pt.y;
pt->pt.x = pt->pt.x < 0 ? 0 : pt->pt.x;
pt->pt.y = pt->pt.y < 0 ? 0 : pt->pt.y;
temptri.points[count] = cvPointFrom32f( pt->pt );
}
else {
printf("More than 3 edges\n");
}
count++;
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_LEFT );
} while( t != curedge );
// check that triangle is not already in
if( std::find(trivec.begin(), trivec.end(), temptri) == trivec.end() ) {
// push triangle in and draw
trivec.push_back(temptri);
cvLine( image1, temptri.points[0], temptri.points[1], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[1], temptri.points[2], CV_RGB(255,0,0), 1, CV_AA, 0 );
cvLine( image1, temptri.points[2], temptri.points[0], CV_RGB(255,0,0), 1, CV_AA, 0 );
// compute barycentric computation vector for this triangle
CvMat * barycen = cvCreateMat( 3, 3, CV_32FC1 );
CvMat * baryceninv = cvCreateMat( 3, 3, CV_32FC1 );
barycen->data.fl[3*0+0] = temptri.points[0].x;
barycen->data.fl[3*0+1] = temptri.points[1].x;
barycen->data.fl[3*0+2] = temptri.points[2].x;
barycen->data.fl[3*1+0] = temptri.points[0].y;
barycen->data.fl[3*1+1] = temptri.points[1].y;
barycen->data.fl[3*1+2] = temptri.points[2].y;
barycen->data.fl[3*2+0] = 1;
barycen->data.fl[3*2+1] = 1;
barycen->data.fl[3*2+2] = 1;
cvInvert( barycen, baryceninv, CV_LU );
baryinvvec.push_back(baryceninv);
cvReleaseMat( &barycen );
}
}
CV_NEXT_SEQ_ELEM( elem_size, reader );
}
printf("%d triangles...", trivec.size());
cvSaveImage("triangles.jpg", image1);
cvSet( image1, cvScalarAll(255) );
IplImage * clean_nonthresh = cvLoadImage( "conhull-clean.jpg", CV_LOAD_IMAGE_COLOR );
// for each triangle
for(unsigned int i = 0; i < trivec.size(); i++) {
Triangle curtri = trivec[i];
CvMat * curpoints = cvCreateMat( 1, 3, CV_32SC2 );
Triangle target;
std::map<CvPoint,CvPoint>::iterator piter[3];
printf("Triangle %d / %d\n",i,trivec.size());
bool is_corner = false;
for(int j = 0; j < 3; j++) {
/*
curpoints->data.i[2*j+0] = curtri.points[j].x;
curpoints->data.i[2*j+1] = curtri.points[j].y;
*/
CV_MAT_ELEM( *curpoints, CvPoint, 0, j ) = curtri.points[j];
printf("%d,%d\n",curtri.points[j].x,curtri.points[j].y);
/*
if((curtri.points[j] == cvPoint(0,0)) || (curtri.points[j] == cvPoint(0,image1->height)) ||(curtri.points[j] == cvPoint(image1->width,0)) ||(curtri.points[j] == cvPoint(image1->width,image1->height))) {
is_corner = true;
break;
}
*/
for(unsigned int k = 0; k < point_lookup.size(); k++) {
std::pair<CvPoint,CvPoint> thispair = point_lookup[k];
if(thispair.first == curtri.points[j]) {
target.points[j] = thispair.second;
break;
}
}
/*
piter[j] = point_lookup_map.find(curtri.points[j]);
if(piter[j] != point_lookup_map.end() ) {
target.points[j] = piter[j]->second;
}
*/
}
// if((piter[0] != point_lookup_map.end()) && (piter[1] != point_lookup_map.end()) && (piter[2] != point_lookup_map.end())) {
if(!is_corner) {
CvMat * newcorners = cvCreateMat( 3, 3, CV_32FC1 );
newcorners->data.fl[3*0+0] = target.points[0].x;
newcorners->data.fl[3*0+1] = target.points[1].x;
newcorners->data.fl[3*0+2] = target.points[2].x;
newcorners->data.fl[3*1+0] = target.points[0].y;
newcorners->data.fl[3*1+1] = target.points[1].y;
newcorners->data.fl[3*1+2] = target.points[2].y;
newcorners->data.fl[3*2+0] = 1;
newcorners->data.fl[3*2+1] = 1;
newcorners->data.fl[3*2+2] = 1;
CvContour hdr;
CvSeqBlock blk;
CvRect trianglebound = cvBoundingRect( cvPointSeqFromMat(CV_SEQ_KIND_CURVE+CV_SEQ_FLAG_CLOSED, curpoints, &hdr, &blk), 1 );
printf("Bounding box: %d,%d,%d,%d\n",trianglebound.x,trianglebound.y,trianglebound.width,trianglebound.height);
for(int y = trianglebound.y; (y < (trianglebound.y + trianglebound.height)) && ( y < image1->height); y++) {
for(int x = trianglebound.x; (x < (trianglebound.x + trianglebound.width)) && (x < image1->width); x++) {
// check to see if we're inside this triangle
/*
CvPoint v0 = cvPoint( curtri.points[2].x - curtri.points[0].x, curtri.points[2].y - curtri.points[0].y );
CvPoint v1 = cvPoint( curtri.points[1].x - curtri.points[0].x, curtri.points[1].y - curtri.points[0].y );
CvPoint v2 = cvPoint( x - curtri.points[0].x, y - curtri.points[0].y );
int dot00 = v0.x * v0.x + v0.y * v0. y;
int dot01 = v0.x * v1.x + v0.y * v1. y;
int dot02 = v0.x * v2.x + v0.y * v2. y;
int dot11 = v1.x * v1.x + v1.y * v1. y;
int dot12 = v1.x * v2.x + v1.y * v2. y;
double invDenom = 1.0 / (double)(dot00 * dot11 - dot01 * dot01);
double u = (double)(dot11 * dot02 - dot01 * dot12) * invDenom;
double v = (double)(dot00 * dot12 - dot01 * dot02) * invDenom;
*/
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
cvMatMul( baryinvvec[i], curp, result );
// double u = result->data.fl[0]/result->data.fl[2];
// double v = result->data.fl[1]/result->data.fl[2];
if( (result->data.fl[0] > 0) && (result->data.fl[1] > 0) && (fabs(1.0 - (result->data.fl[0]+result->data.fl[1]+result->data.fl[2])) <= 0.01) ) {
// if((u > 0) || (v > 0) /*&& ((u +v) < 1)*/ ) {
// printf("Barycentric: %f %f %f\n", result->data.fl[0], result->data.fl[1], result->data.fl[2]);
// this point is inside this triangle
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
CvMat * sourcepoint = cvCreateMat(3, 1, CV_32FC1);
cvMatMul( newcorners, result, sourcepoint );
double sourcex = sourcepoint->data.fl[0]/*/sourcepoint->data.fl[2]*/;
double sourcey = sourcepoint->data.fl[1]/*/sourcepoint->data.fl[2]*/;
if((sourcex >= 0) && (sourcey >= 0) && (sourcex < (image1->width)) && (sourcey < (image1->height))) {
// printf("%d,%d %d,%d\n",x,y,(int)sourcex,(int)sourcey);
cvSet2D( image1, y, x, cvGet2D( clean_nonthresh, (int)sourcey, (int)sourcex ) );
}
/*
if((i == 143) && (y == 3577) && (x > 2055) && (x < 2087)) {
printf("%d: %f, %f, %f\t%f, %f, %f\n",x,result->data.fl[0],result->data.fl[1],result->data.fl[2],
sourcepoint->data.fl[0],sourcepoint->data.fl[1],sourcepoint->data.fl[2]);
}
*/
cvReleaseMat( &sourcepoint );
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
}
cvReleaseMat( &newcorners );
}
cvReleaseMat( &curpoints );
}
/*
for(int y = 0; y < image1->height; y++) {
for(int x = 0; x < image1->width; x++) {
CvMat * curp = cvCreateMat(3, 1, CV_32FC1);
CvMat * result = cvCreateMat(3, 1, CV_32FC1);
curp->data.fl[0] = x;
curp->data.fl[1] = y;
curp->data.fl[2] = 1;
for(unsigned int i = 0; i < baryinvvec.size(); i++) {
cvMatMul( baryinvvec[i], curp, result );
double u = result->data.fl[0]/result->data.fl[2];
double v = result->data.fl[1]/result->data.fl[2];
if((u > 0) && (v > 0) && (u + v < 1)) {
// printf("Point %d,%d inside %d,%d %d,%d %d,%d\n",x,y,trivec[i].points[0].x,trivec[i].points[0].y,
// trivec[i].points[1].x,trivec[i].points[1].y,trivec[i].points[2].x,trivec[i].points[2].y);
break;
}
}
cvReleaseMat( &result );
cvReleaseMat( &curp );
}
}
*/
cvReleaseImage( &clean_nonthresh );
#ifdef OLD_BUSTED
for(int y = 0; y < image1->height; y++) {
for(int x = 0; x < image1->width; x++) {
CvSubdiv2DPointLocation locate_result;
CvSubdiv2DEdge on_edge;
CvSubdiv2DPoint * on_vertex;
CvPoint curpoint = cvPoint( x, y );
locate_result = cvSubdiv2DLocate( delaunay, cvPointTo32f( curpoint ),
&on_edge, &on_vertex );
if( (locate_result != CV_PTLOC_OUTSIDE_RECT) && (locate_result != CV_PTLOC_ERROR) ) {
if( locate_result == CV_PTLOC_VERTEX ) { // this point is on a vertex
for(int i = 0; i < count; i++) {
if(((on_vertex->pt).x == delaunay_points[i].x) && ((on_vertex->pt).y == delaunay_points[i].y)) {
cvSet2D( image1, y, x, cvGet2D( image2, cvPointFrom32f(dest_points[i]).y, cvPointFrom32f(dest_points[i]).x ) );
break;
}
}
}
else if( locate_result == CV_PTLOC_ON_EDGE ) { // this point is on an edge
CvSubdiv2DPoint* org_pt;
CvSubdiv2DPoint* dst_pt;
CvPoint org_pt_warp;
CvPoint dst_pt_warp;
org_pt = cvSubdiv2DEdgeOrg(on_edge);
dst_pt = cvSubdiv2DEdgeDst(on_edge);
for(int i = 0; i < count; i++) {
if(((org_pt->pt).x == delaunay_points[i].x) && ((org_pt->pt).y == delaunay_points[i].y)) {
org_pt_warp = cvPointFrom32f(dest_points[i]);
}
if(((dst_pt->pt).x == delaunay_points[i].x) && ((dst_pt->pt).y == delaunay_points[i].y)) {
dst_pt_warp = cvPointFrom32f(dest_points[i]);
}
}
// compute vector length of original edge and current point
double original_length;
double cur_length;
if( (int)((org_pt->pt).x) == curpoint.x ) { // vertical line
original_length = fabs((org_pt->pt).y - (dst_pt->pt).y);
cur_length = fabs((org_pt->pt).y - curpoint.y);
}
else if( (int)((org_pt->pt).y) == curpoint.y ) { // horizontal line
original_length = fabs((org_pt->pt).x - (dst_pt->pt).x);
cur_length = fabs((org_pt->pt).x - curpoint.x);
}
else { // sloped line
original_length = sqrt(pow((org_pt->pt).x - (dst_pt->pt).x, 2.0) + pow((org_pt->pt).y - (dst_pt->pt).y, 2.0));
cur_length = sqrt(pow((org_pt->pt).x - curpoint.x, 2.0) + pow((org_pt->pt).y - curpoint.y, 2.0));
}
// compute ratio of this point on the edge
double ratio = cur_length / original_length;
// copy this point from the destination edge
CvPoint point_in_original;
int warped_x = (int)(org_pt_warp.x - dst_pt_warp.x);
int warped_y = (int)(org_pt_warp.y - dst_pt_warp.y);
if( org_pt_warp.x == curpoint.x ) { // vertical line
point_in_original.y = (int)(org_pt_warp.y + (ratio * (org_pt_warp.y - dst_pt_warp.y)));
point_in_original.x = org_pt_warp.x;
}
else if(org_pt_warp.y == curpoint.y) { // horizontal line
point_in_original.x = (int)(org_pt_warp.x + (ratio * (org_pt_warp.x - dst_pt_warp.x)));
point_in_original.y = org_pt_warp.y;
}
else { // sloped line
double destination_length = sqrt(pow((org_pt_warp).x - (dst_pt_warp).x, 2.0) + pow((org_pt_warp).y - (dst_pt_warp).y, 2.0));
double scaled_length = ratio * destination_length;
double dest_angle = atan(fabs( (double)warped_y / (double)warped_x ));
double xdist = scaled_length * cos(dest_angle);
double ydist = scaled_length * sin(dest_angle);
xdist = warped_x > 0 ? xdist : xdist * -1;
ydist = warped_y > 0 ? ydist : ydist * -1;
point_in_original.x = (int)( org_pt_warp.x + xdist);
point_in_original.y = (int)( org_pt_warp.y + ydist);
}
if((point_in_original.x >= 0) && (point_in_original.y >= 0) && (point_in_original.x < (image1->width)) && (point_in_original.y < (image1->height))) {
cvSet2D( image1, y, x, cvGet2D( image2, point_in_original.y, point_in_original.x ) );
}
else {
printf("Edge point outside image\n");
}
// cvSet2D( image1, y, x, cvGet2D( image2, (int)(org_pt_warp.x + (ratio * (org_pt_warp.x - dst_pt_warp.x))),
// (int)(org_pt_warp.y + (ratio * (org_pt_warp.y - dst_pt_warp.y))) ) );
}
else if( locate_result == CV_PTLOC_INSIDE ) { // this point is inside a facet (triangle)
/*
printf("Point inside facet: %d, %d\n",curpoint.x,curpoint.y);
int count = 0;
CvPoint * origins = (CvPoint*)malloc(sizeof(CvPoint)*3);
CvSubdiv2DEdge t = on_edge;
// count number of edges
do {
CvSubdiv2DPoint* pt = cvSubdiv2DEdgeOrg( t );
if(count < 3) {
origins[count] = cvPoint( cvRound(pt->pt.x), cvRound(pt->pt.y));
printf("%d,%d\t",origins[count].x,origins[count].y);
}
count++;
t = cvSubdiv2DGetEdge( t, CV_NEXT_AROUND_LEFT );
} while(t != on_edge);
printf("\n");
free(origins);
*/
}
}
}
}
#endif // OLD_BUSTED
printf("done.\n");
cvSaveImage("fullwarp.jpg", image1);
printf("Drawing subdivisions on warped image...");
draw_subdiv( image1, delaunay, NULL, NULL, 0, NULL );
// draw_subdiv( image1, delaunay, delaunay_points, source_points, count, status );
printf("done.\n");
cvSaveImage("edgeswarp.jpg", image1);
cvReleaseImage(&image2);
image2 = cvLoadImage(im2fname, CV_LOAD_IMAGE_COLOR);
// cvCreateImage( cvGetSize(image2), IPL_DEPTH_8U, 3 );
// cvCalcSubdivVoronoi2D( delaunay );
printf("Drawing subdivisions on unwarped image...");
draw_subdiv( image2, delaunay, delaunay_points, dest_points, count, status );
// draw_subdiv( image2, delaunay, NULL, NULL, 0, NULL );
printf("done.\n");
cvSaveImage("edges.jpg",image2);
cvReleaseImage(&image1);
cvFree(&source_points);
cvFree(&dest_points);
cvFree(&status);
cvReleaseMemStorage(&storage);
cvFree(&delaunay_points);
cvReleaseImage(&image2);
return 0;
}
int main(int argc, char *argv[])
{
if (argc != 6) {
printf("\nERROR: too few parameters\n");
help();
return -1;
}
help();
//INPUT PARAMETERS:
int board_w = atoi(argv[1]);
int board_h = atoi(argv[2]);
int board_n = board_w * board_h;
CvSize board_sz = cvSize(board_w, board_h);
CvMat *intrinsic = (CvMat *) cvLoad(argv[3]);
CvMat *distortion = (CvMat *) cvLoad(argv[4]);
IplImage *image = 0, *gray_image = 0;
if ((image = cvLoadImage(argv[5])) == 0) {
printf("Error: Couldn't load %s\n", argv[5]);
return -1;
}
gray_image = cvCreateImage(cvGetSize(image), 8, 1);
cvCvtColor(image, gray_image, CV_BGR2GRAY);
//UNDISTORT OUR IMAGE
IplImage *mapx = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
IplImage *mapy = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
cvInitUndistortMap(intrinsic, distortion, mapx, mapy);
IplImage *t = cvCloneImage(image);
cvRemap(t, image, mapx, mapy);
//GET THE CHECKERBOARD ON THE PLANE
cvNamedWindow("Checkers");
CvPoint2D32f *corners = new CvPoint2D32f[board_n];
int corner_count = 0;
int found = cvFindChessboardCorners(image,
board_sz,
corners,
&corner_count,
CV_CALIB_CB_ADAPTIVE_THRESH |
CV_CALIB_CB_FILTER_QUADS);
if (!found) {
printf
("Couldn't aquire checkerboard on %s, only found %d of %d corners\n",
argv[5], corner_count, board_n);
return -1;
}
//Get Subpixel accuracy on those corners
cvFindCornerSubPix(gray_image, corners, corner_count,
cvSize(11, 11), cvSize(-1, -1),
cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30,
0.1));
//GET THE IMAGE AND OBJECT POINTS:
//Object points are at (r,c): (0,0), (board_w-1,0), (0,board_h-1), (board_w-1,board_h-1)
//That means corners are at: corners[r*board_w + c]
CvPoint2D32f objPts[4], imgPts[4];
objPts[0].x = 0;
objPts[0].y = 0;
objPts[1].x = board_w - 1;
objPts[1].y = 0;
objPts[2].x = 0;
objPts[2].y = board_h - 1;
objPts[3].x = board_w - 1;
objPts[3].y = board_h - 1;
imgPts[0] = corners[0];
imgPts[1] = corners[board_w - 1];
imgPts[2] = corners[(board_h - 1) * board_w];
imgPts[3] = corners[(board_h - 1) * board_w + board_w - 1];
//DRAW THE POINTS in order: B,G,R,YELLOW
cvCircle(image, cvPointFrom32f(imgPts[0]), 9, CV_RGB(0, 0, 255), 3);
cvCircle(image, cvPointFrom32f(imgPts[1]), 9, CV_RGB(0, 255, 0), 3);
cvCircle(image, cvPointFrom32f(imgPts[2]), 9, CV_RGB(255, 0, 0), 3);
cvCircle(image, cvPointFrom32f(imgPts[3]), 9, CV_RGB(255, 255, 0), 3);
//DRAW THE FOUND CHECKERBOARD
cvDrawChessboardCorners(image, board_sz, corners, corner_count, found);
cvShowImage("Checkers", image);
//FIND THE HOMOGRAPHY
CvMat *H = cvCreateMat(3, 3, CV_32F);
CvMat *H_invt = cvCreateMat(3, 3, CV_32F);
cvGetPerspectiveTransform(objPts, imgPts, H);
//LET THE USER ADJUST THE Z HEIGHT OF THE VIEW
float Z = 25;
int key = 0;
IplImage *birds_image = cvCloneImage(image);
cvNamedWindow("Birds_Eye");
while (key != 27) { //escape key stops
CV_MAT_ELEM(*H, float, 2, 2) = Z;
// cvInvert(H,H_invt); //If you want to invert the homography directly
// cvWarpPerspective(image,birds_image,H_invt,CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS );
//USE HOMOGRAPHY TO REMAP THE VIEW
cvWarpPerspective(image, birds_image, H,
CV_INTER_LINEAR + CV_WARP_INVERSE_MAP +
CV_WARP_FILL_OUTLIERS);
cvShowImage("Birds_Eye", birds_image);
key = cvWaitKey();
if (key == 'u')
Z += 0.5;
if (key == 'd')
Z -= 0.5;
}
//SHOW ROTATION AND TRANSLATION VECTORS
CvMat *image_points = cvCreateMat(4, 1, CV_32FC2);
CvMat *object_points = cvCreateMat(4, 1, CV_32FC3);
for (int i = 0; i < 4; ++i) {
CV_MAT_ELEM(*image_points, CvPoint2D32f, i, 0) = imgPts[i];
CV_MAT_ELEM(*object_points, CvPoint3D32f, i, 0) =
cvPoint3D32f(objPts[i].x, objPts[i].y, 0);
}
CvMat *RotRodrigues = cvCreateMat(3, 1, CV_32F);
CvMat *Rot = cvCreateMat(3, 3, CV_32F);
CvMat *Trans = cvCreateMat(3, 1, CV_32F);
cvFindExtrinsicCameraParams2(object_points, image_points,
intrinsic, distortion, RotRodrigues, Trans);
cvRodrigues2(RotRodrigues, Rot);
//SAVE AND EXIT
cvSave("Rot.xml", Rot);
cvSave("Trans.xml", Trans);
cvSave("H.xml", H);
cvInvert(H, H_invt);
cvSave("H_invt.xml", H_invt); //Bottom row of H invert is horizon line
return 0;
}
void airGest::filterFlow( void ) {
//~ std::cout << "in filterFlow " << ", ";
float xFlow, yFlow;
Mat currFlow = Mat( OPTFLW_FRAME_WIDTH/FEATURE_STEP,
OPTFLW_FRAME_HEIGHT/FEATURE_STEP,
CV_32FC2 );
vector<Mat> sampledChannels;
split( currFlow, sampledChannels );
CvMat flowMat = flowMap;
float xMin = CV_MAT_ELEM( flowMat, CvPoint2D32f, FEATURE_STEP/2, FEATURE_STEP/2).x;
float xMax = CV_MAT_ELEM( flowMat, CvPoint2D32f, FEATURE_STEP/2, FEATURE_STEP/2).x;
float yMin = CV_MAT_ELEM( flowMat, CvPoint2D32f, FEATURE_STEP/2, FEATURE_STEP/2).y;
float yMax = CV_MAT_ELEM( flowMat, CvPoint2D32f, FEATURE_STEP/2, FEATURE_STEP/2).y;
for( int y = FEATURE_STEP/2; y < canvas.rows; y += FEATURE_STEP ) {
for( int x = FEATURE_STEP/2; x < canvas.cols; x += FEATURE_STEP ) {
CvPoint2D32f fxy = CV_MAT_ELEM( flowMat, CvPoint2D32f, y, x);
fxy.x = ( ( fxy.x > -2.0 && fxy.x < 2.0 ) || ( fxy.x != fxy.x ) )? 0.00: fxy.x;
fxy.y = ( ( fxy.y > -2.0 && fxy.y < 2.0 ) || ( fxy.y != fxy.y ) )? 0.00: fxy.y;
sampledChannels[PLANE_XCMP].at<float>( x/FEATURE_STEP, y/FEATURE_STEP ) = fxy.x;
sampledChannels[PLANE_YCMP].at<float>( y/FEATURE_STEP, y/FEATURE_STEP ) = fxy.y;
if( fxy.x < xMin ) xMin = fxy.x;
else if( fxy.x > xMax ) xMax = fxy.x;
if( fxy.y < yMin ) yMin = fxy.y;
else if( fxy.y > yMax ) yMax = fxy.y;
}
}
float xAbsMax = ( xMax > -xMin )? xMax: -xMin;
float yAbsMax = ( yMax > -yMin )? yMax: -yMin;
//std::cout << "Filter : xMax/yMax -- ["
// << xMin << ", " << xMax << ", "
// << yMin << ", " << yMax << "] => "
// << xAbsMax << "," << yAbsMax << "\t\t";
//std::cout << sampledChannels[PLANE_XCMP] << "\n"
// << sampledChannels[PLANE_YCMP] << "\n";
vector<Mat> hAccFlow;
split( accFlow, hAccFlow );
hAccFlow[PLANE_XCMP] += sampledChannels[PLANE_XCMP];
hAccFlow[PLANE_YCMP] += sampledChannels[PLANE_YCMP];
flowHistory.push_back( sampledChannels[PLANE_XCMP] ); //first push X
flowHistory.push_back( sampledChannels[PLANE_YCMP] ); //then push Y
if( flowHistory.size() > 2 * QUEUESIZE_FLOWHIST ) {
//now remove the first element
hAccFlow[PLANE_XCMP] -= flowHistory[0]; //substract the first element X_CMP from AccFlow
hAccFlow[PLANE_YCMP] -= flowHistory[1]; //substract the second element Y_CMP from AccFlow
//remove those planes from history
flowHistory.pop_front();
flowHistory.pop_front();
}
merge( hAccFlow, accFlow );
//std::cout << "historySize#" << flowHistory.size() << "\n";
//std::cout << "history = \n" << accFlow;
Mat motionDir = Mat( OPTFLW_FRAME_WIDTH/FEATURE_STEP,
OPTFLW_FRAME_HEIGHT/FEATURE_STEP,
CV_32FC1 );
//~ float xMotion[OPTFLW_FRAME_HEIGHT/FEATURE_STEP][OPTFLW_FRAME_WIDTH/FEATURE_STEP];
Mat xMotion( OPTFLW_FRAME_HEIGHT/FEATURE_STEP, OPTFLW_FRAME_WIDTH/FEATURE_STEP, CV_32FC1, Scalar( 0 ));
xMotion = hAccFlow[PLANE_XCMP];
for( int y = 0; y < accFlow.rows; y++ ) {
for( int x = 0; x < accFlow.cols; x++ ) {
//~ float angle = atan2f( hAccFlow[PLANE_YCMP].at<float>( y, x ),
//~ hAccFlow[PLANE_XCMP].at<float>( y, x ) );
//~ float tmp = hAccFlow[PLANE_XCMP].at<float>( y, x );
//~ xMotion.at<float>( y, x ) = tmp;
//~ angle = ( angle < 0 )? 2.0*22.0/7.0 + angle: angle;
//~ if( angle != angle ) angle = 0.00; //avoid nan
//~ motionDir.at<float>( y, x ) = angle;
}
}
//~ std::cout << "::calculating decision::" << ", ";
decision = 0.00;
for( int y = 0; y < OPTFLW_FRAME_HEIGHT/FEATURE_STEP; y++ ) {
for( int x = 0; x < OPTFLW_FRAME_WIDTH/FEATURE_STEP; x++ ) {
// decision += xMotionWeights[y][x] * xMotion[y][x];
//~ decision += (*xMotionWeights[y*OPTFLW_FRAME_WIDTH/FEATURE_STEP+x]) * xMotion.at<float>(y,x);//[y][x];
decision += *(xMotionWeights+y*OPTFLW_FRAME_WIDTH/FEATURE_STEP+x) * xMotion.at<float>(y,x);//[y][x];
// std::cout << xMotion[y][x] << ", ";
}
//std::cout << "\n";
}
std::cout << "decision = " << decision << "\t";
decision = ( decision < -50.00 ) ? -1.00:
( decision > +50.00 ) ? +1.00: 0.00;
std::cout << "actual decision = " << decision << "\t";;
Mat sampledVector = Mat( 1, motionDir.rows * motionDir.cols, CV_32FC1 );
for( int rowId = 0; rowId < motionDir.rows; rowId++ ) {
sampledVector.colRange( rowId*motionDir.cols, rowId*motionDir.cols+motionDir.cols ) = motionDir.rowRange( rowId, rowId );
}
//std::cout << "Sampled vector : " << sampledVector << "\n";
}
static void
cvTsCalcHist( IplImage** _images, CvHistogram* hist, IplImage* _mask, int* channels )
{
int x, y, k, cdims;
union
{
float* fl;
uchar* ptr;
}
plane[CV_MAX_DIM];
int nch[CV_MAX_DIM];
int dims[CV_MAX_DIM];
int uniform = CV_IS_UNIFORM_HIST(hist);
CvSize img_size = cvGetSize(_images[0]);
CvMat images[CV_MAX_DIM], mask = cvMat(1,1,CV_8U);
int img_depth = _images[0]->depth;
cdims = cvGetDims( hist->bins, dims );
cvZero( hist->bins );
for( k = 0; k < cdims; k++ )
{
cvGetMat( _images[k], &images[k] );
nch[k] = _images[k]->nChannels;
}
if( _mask )
cvGetMat( _mask, &mask );
for( y = 0; y < img_size.height; y++ )
{
const uchar* mptr = _mask ? &CV_MAT_ELEM(mask, uchar, y, 0 ) : 0;
if( img_depth == IPL_DEPTH_8U )
for( k = 0; k < cdims; k++ )
plane[k].ptr = &CV_MAT_ELEM(images[k], uchar, y, 0 ) + channels[k];
else
for( k = 0; k < cdims; k++ )
plane[k].fl = &CV_MAT_ELEM(images[k], float, y, 0 ) + channels[k];
for( x = 0; x < img_size.width; x++ )
{
float val[CV_MAX_DIM];
int idx[CV_MAX_DIM];
if( mptr && !mptr[x] )
continue;
if( img_depth == IPL_DEPTH_8U )
for( k = 0; k < cdims; k++ )
val[k] = plane[k].ptr[x*nch[k]];
else
for( k = 0; k < cdims; k++ )
val[k] = plane[k].fl[x*nch[k]];
idx[cdims-1] = -1;
if( uniform )
{
for( k = 0; k < cdims; k++ )
{
double v = val[k], lo = hist->thresh[k][0], hi = hist->thresh[k][1];
idx[k] = cvFloor((v - lo)*dims[k]/(hi - lo));
if( idx[k] < 0 || idx[k] >= dims[k] )
break;
}
}
else
{
for( k = 0; k < cdims; k++ )
{
float v = val[k];
float* t = hist->thresh2[k];
int j, n = dims[k];
for( j = 0; j <= n; j++ )
if( v < t[j] )
break;
if( j <= 0 || j > n )
break;
idx[k] = j-1;
}
}
if( k < cdims )
continue;
(*(float*)cvPtrND( hist->bins, idx ))++;
}
}
}
