double EnsembleTracker::compareHisto(Mat& frame, Rect win)
{
Rect roi_win = win & Rect(0,0,frame.cols,frame.rows);
Mat roi(frame,roi_win);
Mat temp;
Mat mask_win=Mat::zeros(roi.size(),CV_8UC1);
ellipse(mask_win,Point((int)(0.5*mask_win.cols),(int)(0.5*mask_win.rows)),Size((int)(0.35*mask_win.cols),(int)(0.35*mask_win.rows)),0,0,360,Scalar(1),-1);
calcHist(&roi,1,channels,Mat(),temp,3,histSize,hRange);
normalize(temp,temp,1,0,NORM_L1);
return compareHist(hist,temp,CV_COMP_INTERSECT);
}
double FeatureHOG::prob(FeatureHOG& feature) {
double p = 1;
double bc[3];
for (int i = 0; i < 3; i++) {
bc[i] = compareHist(h[i], feature.h[i], CV_COMP_BHATTACHARYYA);
p *= exp(-1.0 * bc[i]);
}
return p;
}
double ColorMatch::compare(const Mat& target_image)
{
target_hist_ = hist_.getHistogram(target_image);
//to-do: allow different comparison methods:
// CV_COMP_CORRELL - correlation
// CV_COMP_CHISQR - chi-square
// CV_COMP_INTERSECT - intersection
// CV_COMP_BHATTACHARYYA - Bhattacharyya distance
//Official Documentaton:
// http://opencv.willowgarage.com/documentation/cpp/histograms.html#cv-comparehist
return compareHist(reference_hist_, target_hist_, CV_COMP_CORREL);
}
double ImageAnalysis::HistogramCompare(IplImage* n, IplImage *p)
{
//Сравнение гистограмм
Mat nw(n);
Mat pr(p);
Mat hvs_nw,hvs_pr;
/// Convert to HSV
cvtColor( nw, hvs_nw, COLOR_BGR2HSV );
cvtColor( pr, hvs_pr, COLOR_BGR2HSV );
int h_bins = 50; int s_bins = 60;
int histSize[] = { h_bins, s_bins };
// hue varies from 0 to 179, saturation from 0 to 255
float h_ranges[] = { 0, 180 };
float s_ranges[] = { 0, 256 };
const float* ranges[] = { h_ranges, s_ranges };
// Use the o-th and 1-st channels
int channels[] = { 0, 1 };
MatND hist_nw;
MatND hist_pr;
/// Calculate the histograms for the HSV images
calcHist( &hvs_nw, 1, channels, Mat(), hist_nw, 2, histSize, ranges, true, false );
normalize( hist_nw, hist_nw, 0, 1, NORM_MINMAX, -1, Mat() );
calcHist( &hvs_pr, 1, channels, Mat(), hist_pr, 2, histSize, ranges, true, false );
normalize( hist_pr, hist_pr, 0, 1, NORM_MINMAX, -1, Mat() );
double percent=compareHist( hist_nw, hist_pr, 0);//using Correlation method
nw.release();
pr.release();
hist_nw.release();
hist_pr.release();
hvs_nw.release();
hvs_pr.release();
return percent;
}
ImageData* DiffSamplingFilter::filter(ImageData* image)
{
if(prevImage == NULL)
{
prevImage = image;
return image;
}
Mat prev;
Mat current;
cvtColor(prevImage->image, prev, COLOR_BGR2HSV);
cvtColor(image->image, current, COLOR_BGR2HSV);
int h_bins = 50;
int s_bins = 60;
int histSize[] = {h_bins, s_bins};
float h_ranges[] = {0, 180};
float s_ranges[] = {0, 256};
const float* ranges[] = {h_ranges, s_ranges};
int channels[] = {0, 1};
MatND prevHist;
MatND currentHist;
calcHist(&prev, 1, channels, Mat(), prevHist, 2, histSize, ranges, true, false);
normalize(prevHist, prevHist, 0, 1, NORM_MINMAX, -1, Mat());
calcHist(¤t, 1, channels, Mat(), currentHist, 2, histSize, ranges, true, false);
normalize(prevHist, prevHist, 0, 1, NORM_MINMAX, -1, Mat());
double comparisonValue = compareHist(prevHist, currentHist, CV_COMP_BHATTACHARYYA);
prevImage = image;
if (comparisonValue > thresholdValue)
{
return image;
}
return NULL;
}
double HistogramSimilarityCalculator::calculate(Mat a, Mat b)
{
MatND hista, histb;
Mat a_hsv, b_hsv;
int histsize[] = { 64, 64 };
int channels[] = { 0, 1 };
float hrange[] = { 0, 180 };
float srange[] = { 0, 255 };
const float *ranges[] = { hrange, srange };
cvtColor(a, a_hsv, CV_BGR2HSV);
cvtColor(b, b_hsv, CV_BGR2HSV);
calcHist(&a_hsv, 1, channels, Mat(), hista, 2, histsize, ranges, true, false);
calcHist(&b_hsv, 1, channels, Mat(), histb, 2, histsize, ranges, true, false);
double similarity = compareHist(hista, histb, CV_COMP_INTERSECT) /((a.rows-1) * (a.cols-1));
return similarity;
}
double SameClassSemblanceVariance(int ClassNumber,int SampleNumber[],Mat SameClassHistogram[][10],double mean)
{
double Variance = 0.0;
for (int i=0;i<ClassNumber;i++)
{
double sum = 0.0;
for (int k=1;k<SampleNumber[i];k++)
{
for (int j=0;j<k-1;j++)
{
double dis = compareHist(SameClassHistogram[i][j],SameClassHistogram[i][k],CV_COMP_CHISQR);
double cha = dis - mean;
double temp = cha*cha;
sum += temp;
}
}
Variance += sum;
}
return Variance;
}
double SameClassMean(int ClassNumber,int SampleNumber[],Mat SameClassHistogram[][10])
{
double mean = 0.0;
double C_sum = 0.0;
for (int i=0;i<ClassNumber;i++)
{
double sum = 0.0;
for (int k=1;k<SampleNumber[i];k++)
{
for (int j=0;j<k-1;j++)
{
double dis = compareHist(SameClassHistogram[i][j],SameClassHistogram[i][k],CV_COMP_CHISQR);
sum+=dis;
}
}
double temp = (2*sum)/(SampleNumber[i]*(SampleNumber[i]-1));
C_sum+=temp;
}
mean = C_sum/ClassNumber;
return mean;
}
/*
inputImage input image as used by doSomethingThatMyTutorIsGonnaLike()
outputImage output image as created by doSomethingThatMyTutorIsGonnaLike()
*/
void Dip1::test_doSomethingThatMyTutorIsGonnaLike(Mat& inputImage, Mat& outputImage){
// ensure that input and output have equal number of channels
if ( (inputImage.channels() == 3) && (outputImage.channels() == 1) )
cvtColor(inputImage, inputImage, CV_BGR2GRAY);
// split (multi-channel) image into planes
vector<Mat> inputPlanes, outputPlanes;
split( inputImage, inputPlanes );
split( outputImage, outputPlanes );
// number of planes (1=grayscale, 3=color)
int numOfPlanes = inputPlanes.size();
// calculate and compare image histograms for each plane
Mat inputHist, outputHist;
// number of bins
int histSize = 100;
float range[] = { 0, 256 } ;
const float* histRange = { range };
bool uniform = true; bool accumulate = false;
double sim = 0;
for(int p = 0; p < numOfPlanes; p++){
// calculate histogram
calcHist( &inputPlanes[p], 1, 0, Mat(), inputHist, 1, &histSize, &histRange, uniform, accumulate );
calcHist( &outputPlanes[p], 1, 0, Mat(), outputHist, 1, &histSize, &histRange, uniform, accumulate );
// normalize
inputHist = inputHist / sum(inputHist).val[0];
outputHist = outputHist / sum(outputHist).val[0];
// similarity as histogram intersection
sim += compareHist(inputHist, outputHist, CV_COMP_INTERSECT);
}
sim /= numOfPlanes;
// check whether images are to similar after transformation
if (sim >= 0.8)
cout << "The input and output image seem to be quite similar (similarity = " << sim << " ). Are you sure your tutor is gonna like your work?" << endl;
}
void LBPH::predict(InputArray _src, Ptr<PredictCollector> collector) const {
if(_histograms.empty()) {
// throw error if no data (or simply return -1?)
String error_message = "This LBPH model is not computed yet. Did you call the train method?";
CV_Error(Error::StsBadArg, error_message);
}
Mat src = _src.getMat();
// get the spatial histogram from input image
Mat lbp_image = elbp(src, _radius, _neighbors);
Mat query = spatial_histogram(
lbp_image, /* lbp_image */
static_cast<int>(std::pow(2.0, static_cast<double>(_neighbors))), /* number of possible patterns */
_grid_x, /* grid size x */
_grid_y, /* grid size y */
true /* normed histograms */);
// find 1-nearest neighbor
collector->init((int)_histograms.size());
for (size_t sampleIdx = 0; sampleIdx < _histograms.size(); sampleIdx++) {
double dist = compareHist(_histograms[sampleIdx], query, HISTCMP_CHISQR_ALT);
int label = _labels.at<int>((int)sampleIdx);
if (!collector->collect(label, dist))return;
}
}
//Cập nhật hist
void EnsembleTracker::updateMatchHist(Mat& frame)
{
Rect roi_result=getResult();
Rect roi_result_bodysize = scaleWin(roi_result,1/TRACKING_TO_BODYSIZE_RATIO);
Rect win = roi_result_bodysize & Rect(0,0,frame.cols,frame.rows);
Mat roi(frame,win);
Mat temp;
Mat mask_win = Mat::zeros(roi.size(),CV_8UC1);
ellipse(mask_win,Point((int)(0.5*mask_win.cols),(int)(0.5*mask_win.rows)),Size((int)(0.35*mask_win.cols),(int)(0.35*mask_win.rows)),0,0,360,Scalar(1),-1);
calcHist(&roi,1,channels,mask_win,temp,3,histSize,hRange);
normalize(temp,temp,1,0,NORM_L1);
if (_result_history.size()==1)//Nếu là tracker mới
{
hist_match_score=1;
hist=temp;
return;
}
hist_match_score = compareHist(hist,temp,CV_COMP_INTERSECT);
hist += HIST_MATCH_UPDATE*temp;
normalize(hist,hist,1,0,NORM_L1);
}
void clusterHistograms(const std::vector<Mat> &hists, std::vector<cluster_t> &clusters, const cluster_vars &vars) {
// calculate hist distances
Mat dists = Mat::zeros((int)hists.size(), (int)hists.size(), CV_64FC1);
tbb::parallel_for(0, (int)hists.size()-1, 1,
[&hists, &dists](int i) {
tbb::parallel_for(i, (int)hists.size(), 1,
[&hists, &dists, &i](int j) {
double dist = compareHist(hists.at(i), hists.at(j), COMP_ALG);
dists.at<double>(i, j) = dist;
dists.at<double>(j, i) = dist;
}
);
}
);
// find optimal clusters
std::vector<idx_cluster_t> idxClusters;
find_optimal_clustering(dists, idxClusters, vars);
// calculate the cluster average for each cluster
for(size_t i = 0; i < idxClusters.size(); i++) {
idx_cluster_t cluster = idxClusters.at((int)i);
std::vector<Mat> clusterHists;
Mat clusterAvg;
for(size_t i = 0; i < cluster.size(); i++) {
//for(idx_cluster_t::const_iterator it = cluster.begin(); it != cluster.end(); it++) {
clusterHists.push_back(hists.at(cluster.at(i)));
}
averageHistograms(clusterHists, clusterAvg);
clusters.push_back(cluster_t(clusterAvg, cluster));
}
}
double DistinctClassMean(int ClassNumber,int SampleNumber[],Mat SameClassHistogram[][10])
{
double mean = 0.0;
double C_sum = 0.0;
for (int i=0;i<ClassNumber-1;i++)
{
for (int j=i+1;j<ClassNumber;j++)
{
double sum = 0.0;
for (int k=0;k<SampleNumber[i];k++)
{
for (int l=0;l<SampleNumber[j];k++)
{
double dis = compareHist(SameClassHistogram[i][k],SameClassHistogram[j][l],CV_COMP_CHISQR);
sum+= dis;
}
}
double temp = sum/(SampleNumber[i]*SampleNumber[j]);
C_sum+= temp;
}
}
mean = (C_sum*2)/(ClassNumber*(ClassNumber-1));
return mean;
}
void ParticleFilter::measurement(Mat_<double>& particles, Rect detection_new, Mat HSVinterpolated,vector<Mat>& MultiHSVInterpolated, Mat& image, int use_hist, int frame){
//! Measurement step of particle filter
/*!
*/
int x;
int y;
if (rely_detection) { // when no occlusion
x = (int)(detection_new.x + detection_new.width/2);
y = (int)(detection_new.y + detection_new.height/2);
}
else{ // when there is an occlusion
x = PFTrack.x + PFTrackVel.x;
y = PFTrack.y + PFTrackVel.y;
}
//detection term
double w_det;
vector<double> w_detm_temp(numParticles,0.0);
vector<double> w_detm(numParticles,0.0);
double w_sum = 0.0;
for (unsigned int index = 0; index < numParticles; index++) {
double x_term = pow(double(particles_new[index][X_POS]-x), 2)/(2*pow(sigma_measurement,2));
double y_term = pow(double(particles_new[index][Y_POS]-y), 2)/(2*pow(sigma_measurement,2));
w_det = (1/sqrt(2*PI*pow(sigma_measurement,2)))*exp(-1*(x_term+y_term));
w_det = w_det + 1e-99;
// w_sum += w_det;
w_detm_temp[index]=w_det;
}
// normalize weight
for (unsigned int index = 0; index < numParticles; index++) {
w_sum += w_detm_temp[index];
}
for (unsigned int index = 0; index < numParticles; index++) {
w_detm[index] = w_detm_temp[index]/w_sum;
}
//appearance term
double w_col;
w_sum = 0.0;
vector<double> w_colm(numParticles,0.0);
vector<double> w_colm_temp(numParticles,0.0);
Mat ibox;
for (unsigned int index = 0; index < numParticles; index++) {
// get the bounding box size
int xcbox = particles_new[index][X_POS]-(int)(width_tracker/2);
int ycbox = particles_new[index][Y_POS]-(int)(height_tracker/2);
Rect cbox(xcbox,ycbox,width_tracker,height_tracker);
if(use_hist==1) { // only take one regions
if ((cbox.x < 0) || (cbox.x+cbox.width > image.cols) || (cbox.y < 0) || (cbox.y+cbox.height > image.rows) )
{
w_col = 0.0000001;
}
else
{
Mat HSVCalc;
ibox = image(cbox);
computeHSVHist(ibox, HSVCalc);
w_col = compareHist(HSVinterpolated, HSVCalc, CV_COMP_CORREL);
HSVCalc.release();
}
w_sum += w_col;
w_colm_temp.push_back(w_col);
}
else if (use_hist==2){ // only take three regions
if ((cbox.x < 0) || (cbox.x+cbox.width > image.cols) || (cbox.y < 0) || (cbox.y+cbox.height > image.rows) )
{
w_col = 0.0000001;
}
else{
vector<Mat> HSVCalc;
ibox = image(cbox);
vector<Mat> MultiIMHSV;
Mat tempHSV;
int third = ibox.rows/3;
tempHSV = ibox.rowRange(0, third);
MultiIMHSV.push_back(tempHSV);
tempHSV = ibox.rowRange(third,third+third);
MultiIMHSV.push_back(tempHSV);
tempHSV = ibox.rowRange(third+third, ibox.rows);
MultiIMHSV.push_back(tempHSV);
for (unsigned int hs = 0; hs < MultiHSVTemplate.size(); hs++) {
Mat HSTemp;
computeHSVHist(MultiIMHSV[hs], HSTemp);
HSVCalc.push_back(HSTemp);
}
w_col = 0.0;
for (unsigned int hs = 0; hs < MultiHSVTemplate.size(); hs++) {
int wtemp = compareHist(MultiHSVInterpolated[hs], HSVCalc[hs], CV_COMP_INTERSECT);
w_col += wtemp;
}
}
w_sum += w_col;
w_colm_temp.push_back(w_col);
}
else if(use_hist == 3){ // divide into three regions and overlap
// if out of image bound
if ((cbox.x < 0) || (cbox.x+cbox.width > image.cols) || (cbox.y < 0) || (cbox.y+cbox.height > image.rows) )
{
w_col = 0.0000001;
}
else{
vector<Mat> HSVCalc(3);
ibox = image(cbox);
vector<Mat> MultiIMHSV(3);
int third = ibox.rows/3;
int half = ibox.rows/2;
// Partition step
MultiIMHSV.at(0) = ibox.rowRange(0, half);
MultiIMHSV.at(1) = ibox.rowRange(third,half+third);
MultiIMHSV.at(2) = ibox.rowRange(half, ibox.rows);
// Calculate histogran for every region
Mat HSTemp;
for (unsigned int hs = 0; hs < MultiHSVTemplate.size(); hs++) {
computeHSVHist(MultiIMHSV[hs], HSTemp);
normalize(HSTemp, HSTemp, 0, HSTemp.rows, NORM_MINMAX, -1, Mat() );
HSVCalc.at(hs) = HSTemp;
}
// calculate the weight by comparing them
w_col = 0.0;
for (unsigned int hs = 0; hs < MultiHSVTemplate.size(); hs++) {
double wtemp = compareHist(MultiHSVInterpolated[hs], HSVCalc[hs], CV_COMP_BHATTACHARYYA);
wtemp = 1.0 - wtemp;
w_col += wtemp;
w_col /= (int)(MultiHSVTemplate.size());
}
}
w_sum += w_col;
w_colm_temp.at(index) = w_col;
}
else if(use_hist==4){
}
else{
w_colm_temp.push_back(0.0);
w_sum = 1.0;
}
}
if (!rely_detection) { //dont rely on detection if there is an occlusion
c_det = m_c_det;
c_col = m_c_col;
}
// normalize weight
for (unsigned int index = 0; index < numParticles; index++) {
w_colm.at(index) = w_colm_temp.at(index)/w_sum; //diubah
}
//accumulate
for (unsigned int index = 0; index < numParticles; index++) {
w_det = w_detm.at(index) * c_det;
w_detm.at(index) = w_det;
}
for (unsigned int index = 0; index < numParticles; index++) {
w_col = w_colm.at(index) * c_col;
w_colm.at(index) = w_col;
}
// total weight
for (unsigned int index = 0; index < numParticles; index++) {
weight.at(index) = w_detm.at(index) + w_colm.at(index);
}
}
// pair selection algorithm from a set of training images and corresponding keypoints
std::vector<int> FREAK::selectPairs(const std::vector<Mat>& images
, std::vector<std::vector<KeyPoint> >& keypoints
, const double corrTresh
, bool verbose )
{
extAll = true;
// compute descriptors with all pairs
Mat descriptors;
if( verbose )
std::cout << "Number of images: " << images.size() << std::endl;
for( size_t i = 0;i < images.size(); ++i )
{
Mat descriptorsTmp;
computeImpl(images[i],keypoints[i],descriptorsTmp);
descriptors.push_back(descriptorsTmp);
}
if( verbose )
std::cout << "number of keypoints: " << descriptors.rows << std::endl;
//descriptor in floating point format (each bit is a float)
Mat descriptorsFloat = Mat::zeros(descriptors.rows, 903, CV_32F);
std::bitset<1024>* ptr = (std::bitset<1024>*) (descriptors.data+(descriptors.rows-1)*descriptors.step[0]);
for( int m = descriptors.rows; m--; )
{
for( int n = 903; n--; )
{
if( ptr->test(n) == true )
descriptorsFloat.at<float>(m,n)=1.0f;
}
--ptr;
}
std::vector<PairStat> pairStat;
for( int n = 903; n--; )
{
// the higher the variance, the better --> mean = 0.5
PairStat tmp = { fabs( mean(descriptorsFloat.col(n))[0]-0.5 ) ,n};
pairStat.push_back(tmp);
}
std::sort( pairStat.begin(),pairStat.end(), sortMean() );
std::vector<PairStat> bestPairs;
for( int m = 0; m < 903; ++m )
{
if( verbose )
std::cout << m << ":" << bestPairs.size() << " " << std::flush;
double corrMax(0);
for( size_t n = 0; n < bestPairs.size(); ++n )
{
int idxA = bestPairs[n].idx;
int idxB = pairStat[m].idx;
double corr(0);
// compute correlation between 2 pairs
corr = fabs(compareHist(descriptorsFloat.col(idxA), descriptorsFloat.col(idxB), HISTCMP_CORREL));
if( corr > corrMax )
{
corrMax = corr;
if( corrMax >= corrTresh )
break;
}
}
if( corrMax < corrTresh/*0.7*/ )
bestPairs.push_back(pairStat[m]);
if( bestPairs.size() >= 512 )
{
if( verbose )
std::cout << m << std::endl;
break;
}
}
std::vector<int> idxBestPairs;
if( (int)bestPairs.size() >= FREAK_NB_PAIRS )
{
for( int i = 0; i < FREAK_NB_PAIRS; ++i )
idxBestPairs.push_back(bestPairs[i].idx);
}
else
{
if( verbose )
std::cout << "correlation threshold too small (restrictive)" << std::endl;
CV_Error(Error::StsError, "correlation threshold too small (restrictive)");
}
extAll = false;
return idxBestPairs;
}
//Perform statistical comparison
int IMCSEngine::compare(const char* image_file2,
double& result,
int& result_type,
int& message_len,
char* message) {
//Check if prepared successfully
if (im_prepared == false) {
message_len = snprintf(message, message_len, "Invalid prepared state: %d", im_prepared);
return ST_INVALID_PARAMETERS;
}
//Read image file data
image2 = imread(image_file2, CV_LOAD_IMAGE_COLOR);
if (image2.empty() == true || image2.channels() != 3) {
message_len = snprintf(message, message_len, "Invalid image file: %s", image_file2);
return ST_INVALID_IMAGE;
}
//Reduce image colors
if (im_reduce_factor >= RF_MIN) {
colorReduce(image2, im_reduce_factor);
}
//Create image histogram
calcHistBGR(image2, image_histo2, im_dim_size);
#ifdef IMCS_DEBUG_TIMES
double tStart = getTimingStart(); //Start timing
#endif
double identity = 0.0; //Used only in IM_COMP_INTERSECT
switch (im_compare_method){
case COMP_CORREL:
result = compareHist(image_histo1, image_histo2, CV_COMP_CORREL); //Comparison result (1 is perfect)
result = (result > 0) ? result : 0; //Eliminate negative values
result_type = RES_TYPE_PERCENT;
break;
case COMP_CHISQR:
result = compareHist(image_histo1, image_histo2, CV_COMP_CHISQR); //Comparison result (0 is perfect)
result_type = RES_TYPE_VALUE;
break;
case COMP_INTERSECT:
identity = compareHist(image_histo1, image_histo1, CV_COMP_INTERSECT); //Calculate "identity" value for image1 histogram
result = compareHist(image_histo1, image_histo2, CV_COMP_INTERSECT); //Comparison result (higher score is better match)
result = (result / identity); //Express as identity fraction
result_type = RES_TYPE_PERCENT;
break;
case COMP_BHATTACHARYYA:
result = compareHist(image_histo1, image_histo2, CV_COMP_BHATTACHARYYA); //Comparison result (0 is perfect match)
result = (1.0 - result); //Invert scale (1 is perfect)
result_type = RES_TYPE_PERCENT;
break;
case COMP_EMD_L1:
calcEMDSig(image_histo2, emd_sig2, im_dim_size);
result = EMD(emd_sig1, emd_sig2, CV_DIST_L1); //Calculate distance (0 is perfect match)
result_type = RES_TYPE_VALUE;
break;
case COMP_EMD_L2:
calcEMDSig(image_histo2, emd_sig2, im_dim_size);
result = EMD(emd_sig1, emd_sig2, CV_DIST_L2); //Calculate distance (0 is perfect match)
result_type = RES_TYPE_VALUE;
break;
}
#ifdef IMCS_DEBUG_TIMES
double tElapsed = getTimingResult(tStart); //Get timing result
printf("image_compare_stat() exec time: %fms\n", tElapsed); //Display timing results
#endif
//Info message on success
if (result_type == RES_TYPE_PERCENT) {
message_len = snprintf(message, message_len, "Result: %f%% for compare method: %d", (result * 100), im_compare_method);
} else {
message_len = snprintf(message, message_len, "Result: %f for compare method: %d", result, im_compare_method);
}
//Success
return ST_OK;
}
