int main()
{
CamImage imodel[3], image, color_image;
CamKeypoints points[3], points2;
int i, j;
CamKeypointsMatches matches;
char filename[256];
char *model_images[] = {"edog5", "dvd", "mrpotato4"};
#define DISPLAYED_MODEL 2
#define NB_SCENES 5
char *test_images[NB_SCENES] = {"scene1", "scene3", "scene4", "scene5", "scene7"};
const int cx[3] = {450, 390, 550};
const int cy[3] = {340, 510, 450};
const int width[3] = {720, 690, 500};
const int height[3] = {640, 910, 500};
CamAffineTransform t;
int error, c, x1, y1, x2, y2, score, nbFeatures;
CamPoint xy[7], uv[7];
CamImage dimage;
CamROI roi;
const int nb_keypoints = 500;
for (i = 0; i < 3; i++) {
sprintf(filename, "resources/photos/%s.bmp", model_images[i]);
printf("Feature point detection on %s ...\n", model_images[i]);
imodel[i].imageData = NULL;
camLoadBMP(&imodel[i], filename);
/*
camAllocateImage(&image, imodel[i].width, imodel[i].height, CAM_DEPTH_8U);
camRGB2Y(&imodel[i], &image);
*/
camAllocateYUVImage(&image, imodel[i].width, imodel[i].height);
camRGB2YUV(&imodel[i], &image);
camAllocateKeypoints(&points[i], 0);
points[i].id = i;
camFastHessianDetector(&image, &points[i], 100, CAM_UPRIGHT);
/*
camDrawKeypoints(&points[i], &image, 128);
sprintf(filename, "output/%s.pgm", model_images[i]);
camSavePGM(&image, filename);
*/
camDeallocateImage(&image);
}
camAllocateRGBImage(&dimage, imodel[0].width, imodel[0].height * 2);
camSetROI(&roi, 0, 0, imodel[0].height, imodel[0].width, imodel[0].height);
camAllocateKeypointsMatches(&matches, 2048);
nbFeatures = 0;
score = 0;
for (i = 0; i < NB_SCENES; i++) {
sprintf(filename, "resources/photos/%s.bmp", test_images[i]);
printf("Feature point detection on %s ...\n", test_images[i]);
color_image.imageData = NULL;
camLoadBMP(&color_image, filename);
/*
camAllocateImage(&image, color_image.width, color_image.height, CAM_DEPTH_8U);
camRGB2Y(&color_image, &image);
*/
camAllocateYUVImage(&image, color_image.width, color_image.height);
camRGB2YUV(&color_image, &image);
camAllocateKeypoints(&points2, 0);
camFastHessianDetector(&image, &points2, nb_keypoints, CAM_UPRIGHT);
printf("# features = %d\n", points2.nbPoints);
nbFeatures += points2.nbPoints;
// Create result image
dimage.roi = NULL;
camCopy(&imodel[DISPLAYED_MODEL], &dimage);
dimage.roi = &roi;
camCopy(&color_image, &dimage);
dimage.roi = NULL;
camDrawKeypoints(&points[DISPLAYED_MODEL], &dimage, 128);
for (j = 0; j < 3; j++) {
camKeypointsMatching2(&points[j], &points2, &matches);
// Find affine parameters
if (camFindAffineTransform2(&matches, &t, &error)) {
score += matches.nbMatches - matches.nbOutliers;
if (j == DISPLAYED_MODEL) {
// Draw lines between model and target
for (c = 0; c < matches.nbMatches; c++) {
if (matches.pairs[c].mark != -1) {
camDrawKeypoint(matches.pairs[c].p1, &dimage, CAM_RGB(255, 0, 0));
x1 = matches.pairs[c].p1->x;
y1 = matches.pairs[c].p1->y;
x2 = matches.pairs[c].p2->x;
y2 = matches.pairs[c].p2->y;
y2 += image.height;
camDrawLine(&dimage, x1, y1, x2, y2, CAM_RGB(0, 255, 0));
}
}
for (c = 0; c < matches.nbMatches; c++) {
matches.pairs[c].p2->y += image.height;
camDrawKeypoint(matches.pairs[c].p2, &dimage, 128);
}
}
// Draw box on model and target
xy[0].x = xy[3].x = cx[j] - width[j] / 2;
xy[0].y = xy[1].y = cy[j] - height[j] / 2;
xy[1].x = xy[2].x = cx[j] + width[j] / 2;
xy[2].y = xy[3].y = cy[j] + height[j] / 2;
xy[4].x = xy[5].x = cx[j];
xy[4].y = xy[6].y = cy[j];
xy[5].y = cy[j] - height[j] / 4;
xy[6].x = cx[j] + width[j] / 4;
for (c = 0; c < 7; c++) {
camApplyAffineTransform(&xy[c], &uv[c], &t);
uv[c].y += image.height;
}
if (j == DISPLAYED_MODEL) {
camDrawLine(&dimage, xy[0].x, xy[0].y, xy[1].x, xy[1].y, 0);
camDrawLine(&dimage, xy[2].x, xy[2].y, xy[1].x, xy[1].y, 0);
camDrawLine(&dimage, xy[2].x, xy[2].y, xy[3].x, xy[3].y, 0);
camDrawLine(&dimage, xy[0].x, xy[0].y, xy[3].x, xy[3].y, 0);
camDrawLine(&dimage, xy[4].x, xy[4].y, xy[5].x, xy[5].y, 0);
camDrawLine(&dimage, xy[6].x, xy[6].y, xy[4].x, xy[4].y, 0);
}
camDrawLine(&dimage, uv[0].x, uv[0].y, uv[1].x, uv[1].y, 0);
camDrawLine(&dimage, uv[2].x, uv[2].y, uv[1].x, uv[1].y, 0);
camDrawLine(&dimage, uv[2].x, uv[2].y, uv[3].x, uv[3].y, 0);
camDrawLine(&dimage, uv[0].x, uv[0].y, uv[3].x, uv[3].y, 0);
camDrawLine(&dimage, uv[4].x, uv[4].y, uv[5].x, uv[5].y, 0);
camDrawLine(&dimage, uv[6].x, uv[6].y, uv[4].x, uv[4].y, 0);
}
}
sprintf(filename, "output/%s.bmp", test_images[i]);
camSaveBMP(&dimage, filename);
camDeallocateImage(&image);
camDeallocateImage(&color_image);
camFreeKeypoints(&points2);
}
for (i = 0; i < 3; i++) {
camDeallocateImage(&imodel[i]);
camFreeKeypoints(&points[i]);
}
camDeallocateImage(&dimage);
camFreeKeypointsMatches(&matches);
printf("# features in scenes = %d\n", nbFeatures);
printf("# matching features = %d (%lg%%)\n", score, score*100.0/nbFeatures);
}
int camLoadBitmapFont(CamBitmapFont *font, char *filename)
{
CamImage bitmap;
CamROI roi;
int delimiter_color,x,i,px;
unsigned char *ptr;
CamTable clusters,LUT;
CamRLEImage temp;
char s[256];
if (!camLoadBMP(&bitmap,filename)) {
sprintf(s,"Couldn't load bitmap file %s.",filename);
camError("camBitmapFontLoad",s);
return 0;
}
font->height=bitmap.height-1;
// Try to figure out how many letters are there in this font image
font->nb_chars=0;
font->first_char=33;
#define GET_COLOR_PIXEL(ptr) (((int)*(ptr))+(((int)*((ptr)+1))<<8)+(((int)*((ptr)+2))<<16))
ptr=bitmap.imageData;
delimiter_color=GET_COLOR_PIXEL(ptr);
for (x=0;x<bitmap.width;x++,ptr+=3) {
if (GET_COLOR_PIXEL(ptr)==delimiter_color) font->nb_chars++;
}
// OK, now we can allocate memory for these
font->masks=(CamRLEImage*)malloc(sizeof(CamRLEImage)*font->nb_chars);
font->letters=(CamImage*)malloc(sizeof(CamImage)*font->nb_chars);
// Let's prepare the data for font loading
ptr=bitmap.imageData;
px=0;
roi.coi=0;
bitmap.roi=&roi;
clusters.size=12;
for (i=0;i<6;i++) clusters.t[i*2]=clusters.t[i*2+1]=*(ptr+i);
i=0;
LUT.size=3;
LUT.t[0]=1; LUT.t[1]=0; LUT.t[2]=0;
camRLEAllocate(&temp,10000);
// Ready. Let's go for all the characters
for (x=1,ptr+=3;x<bitmap.width;x++,ptr+=3) {
if (GET_COLOR_PIXEL(ptr)==delimiter_color) {
// We've found the next character
camRLEAllocate(&font->masks[i],(x-px)*font->height+2);
camAllocateRGBImage(&font->letters[i],x-px,font->height);
roi.xOffset=px; roi.yOffset=1;
roi.width=x-px;
roi.height=font->height;
camCopy(&bitmap,&font->letters[i]);
camRLEEncodeColor(&bitmap,&temp,&clusters);
camRLEApplyLUT(&temp,&font->masks[i],&LUT);
px=x;
i++;
}
}
// We've found the last character
camRLEAllocate(&font->masks[i],(x-px)*font->height+2);
camAllocateRGBImage(&font->letters[i],x-px,font->height);
roi.xOffset=px; roi.yOffset=1;
roi.width=x-px;
roi.height=font->height;
camCopy(&bitmap,&font->letters[i]);
camRLEEncodeColor(&bitmap,&temp,&clusters);
camRLEApplyLUT(&temp,&font->masks[i],&LUT);
// Set the masks to all letters
for (i=0;i<font->nb_chars;i++) {
font->letters[i].mask=&font->masks[i];
}
camDeallocateImage(&bitmap);
camRLEDeallocate(&temp);
return 1;
}
