int main(int argc, char **argv)
{
// Setting default parameters
int n_hist = 4;
int n_ori = 8;
int n_bins = 36;
int meth_flag = 1;
float thresh = 0.6;
int verb_flag = 0;
char label[256];
strcpy(label, "extra");
// Parsing command line
int res = parse_options(argc, argv, &n_bins, &n_hist, &n_ori,
&meth_flag, &thresh, &verb_flag, label);
if (res == EXIT_FAILURE)
return EXIT_FAILURE;
// Memory allocation
struct sift_keypoints* k1 = sift_malloc_keypoints();
struct sift_keypoints* k2 = sift_malloc_keypoints();
struct sift_keypoints* out_k1 = sift_malloc_keypoints();
struct sift_keypoints* out_k2A = sift_malloc_keypoints();
struct sift_keypoints* out_k2B = sift_malloc_keypoints();
// Read input keypoint ASCII files
int readflag = verb_flag + 1;
sift_read_keypoints(k1, argv[1], n_hist, n_ori, n_bins, readflag);
sift_read_keypoints(k2, argv[2], n_hist, n_ori, n_bins, readflag);
debug("size read keys / k1 %i / k2 %i /", k1->size, k2->size);
// Matching
matching(k1, k2, out_k1, out_k2A, out_k2B, thresh, meth_flag);
// Print
print_pairs(out_k1, out_k2A);
char name[FILENAME_MAX];
if(verb_flag == 1){
save_pairs_extra("OUTmatches.txt", out_k1, out_k2A, out_k2B);
sprintf(name, "%s_im0.txt", label);
sift_save_keypoints(out_k1, name, 1);
sprintf(name, "%s_im1.txt", label);
sift_save_keypoints(out_k2A, name, 1);
}
// Free memory
sift_free_keypoints(k1);
sift_free_keypoints(k2);
sift_free_keypoints(out_k1);
sift_free_keypoints(out_k2A);
sift_free_keypoints(out_k2B);
return EXIT_SUCCESS;
}
struct sift_keypoint_std *sift_read_keyslocation_from_file(char *filename, int *n)
{
struct sift_parameters* p = sift_assign_default_parameters();
int n_ori = p->n_ori; // 8
int n_hist = p->n_hist; // 4
int l = n_hist*n_hist*n_ori;
int n_bins = p->n_bins;
// read keypoints locations from a file and
// save them into a sift_keypoints structure
struct sift_keypoints* keys = sift_malloc_keypoints();
int flag = 0; // read coordinates
sift_read_keypoints(keys, filename, n_hist, n_ori, n_bins, flag);
// translate the sift_keypoints structure into a flat list
*n = keys->size;
struct sift_keypoint_std* k = xmalloc((*n)*sizeof(struct sift_keypoint_std));
for(int i = 0; i < keys->size; i++){
k[i].x = keys->list[i]->x;
k[i].y = keys->list[i]->y;
k[i].scale = keys->list[i]->sigma;
k[i].orientation = keys->list[i]->theta; // 0
for(int j=0; j<l; j++){
k[i].descriptor[j] = keys->list[i]->descr[j]; // 0
}
}
sift_free_keypoints(keys);
return k;
}
struct sift_keypoints* sift_anatomy(const float* x, int w, int h, const struct sift_parameters* p,
struct sift_scalespace* ss[4],
struct sift_keypoints* kk[6])
{
// WARNING
// ss[2]: pointers to two scalespace structures for lates use (The Gaussian
// scale-space and the DoG scale-space).
// kk[6]: pointers to six keypoint lists structure for later use.
struct sift_keypoints* k = sift_malloc_keypoints();
// The number of octaves.
int n_oct = number_of_octaves(w, h, p);
// adapt the threshold to the scalespace discretization
float thresh = convert_threshold(p);
/** MEMORY ALLOCATION **/
/** scale-space structure */
struct sift_scalespace* s = sift_malloc_scalespace_lowe(n_oct,p->n_spo,w,h,p->delta_min,p->sigma_min);
struct sift_scalespace* d = sift_malloc_scalespace_dog_from_scalespace(s);
struct sift_scalespace* sx = sift_malloc_scalespace_from_model(s);
struct sift_scalespace* sy = sift_malloc_scalespace_from_model(s);
/** list-of-keypoints (Already allocated) */
struct sift_keypoints* kA = kk[0]; /* 3D (discrete) extrema */
struct sift_keypoints* kB = kk[1]; /* passing the threshold on DoG */
struct sift_keypoints* kC = kk[2]; /* interpolated 3D extrema (continuous) */
struct sift_keypoints* kD = kk[3]; /* passing the threshold on DoG */
struct sift_keypoints* kE = kk[4]; /* passing OnEdge filter */
struct sift_keypoints* kF = kk[5]; /* keypoints whose distance to image borders are sufficient */
/** KEYPOINT DETECTION ***************************************************/
scalespace_compute(s, x, w, h, p->sigma_in); /* Builds Lowe's scale-space */
scalespace_compute_dog(s,d);
keypoints_find_3d_discrete_extrema(d, kA, p->n_ori, p->n_hist, p->n_bins);
keypoints_discard_with_low_response(kA, kB, 0.8*thresh);
keypoints_interpolate_position(d, kB, kC, p->itermax);
keypoints_discard_with_low_response(kC, kD, thresh);
keypoints_compute_edge_response(d,kD);
keypoints_discard_on_edge(kD, kE, (p->C_edge+1)*(p->C_edge+1)/p->C_edge);
keypoints_discard_near_the_border(kE, kF, w, h, 1.0);
/** KEYPOINT DESCRIPTION *************************************************/
scalespace_compute_gradient(s,sx,sy); /* Pre-computes gradient scale-space */
keypoints_attribute_orientations(sx, sy, kF, k, p->n_bins,p->lambda_ori,p->t);
keypoints_attribute_descriptors(sx, sy, k, p->n_hist,p->n_ori,p->lambda_descr);
/** scalespace structures*/
ss[0] = s;
ss[1] = d;
ss[2] = sx;
ss[3] = sy;
return k;
}
/** @brief Extracts oriented keypoints (without description
*
*
*/
struct sift_keypoint_std* sift_compute_points(const float* x, int w, int h, int *n)
{
/** assign default parameters **/
struct sift_parameters* p = sift_assign_default_parameters();
/** Memory dynamic allocation */
// WARNING 5 lists of keypoints containing intermediary states of the algorithm
struct sift_keypoints **kk = xmalloc(5*sizeof(struct sift_keypoints*));
for(int i = 0; i < 5; i++){
kk[i] = sift_malloc_keypoints();
}
// WARNING 4 scalespace structure containing the DoG and Gaussian scalespace and the gradient
struct sift_scalespace **ss = xmalloc(2*sizeof(struct sift_scalespace*));
/** Algorithm */
struct sift_keypoints* keys = sift_anatomy_without_description(x, w, h, p, ss, kk);
/* Copy to a list of keypoints */
*n = keys->size;
struct sift_keypoint_std* k = xmalloc((*n)*sizeof(*k));
for(int i = 0; i < keys->size; i++){
k[i].x = keys->list[i]->x;
k[i].y = keys->list[i]->y;
k[i].scale = keys->list[i]->sigma;
k[i].orientation = keys->list[i]->theta;
for(int j = 0; j < 128; j++){
k[i].descriptor[j] = 0;
}
}
/* memory deallocation */
xfree(p);
sift_free_keypoints(keys);
for(int i = 0; i < 5; i++){
sift_free_keypoints(kk[i]);
}
xfree(kk);
for(int i = 0; i < 2; i++){
sift_free_scalespace(ss[i]);
}
xfree(ss);
return k;
}
static struct sift_keypoints* sift_translate_standard_into_anatomy(
const struct sift_keypoint_std* k,
int n)
{
// load the default parameters are required
struct sift_parameters* p = sift_assign_default_parameters();
float sigma_min = p->sigma_min; // 0.8
float delta_min = p->delta_min; // 0.5
int n_spo = p->n_spo; // 3
int n_ori = p->n_ori; // 8
int n_hist = p->n_hist; // 4
int n_bins = p->n_bins; // 36
struct sift_keypoints* keys = sift_malloc_keypoints();
for (int i = 0; i < n; i++) {
struct keypoint* key = sift_malloc_keypoint(n_ori, n_hist, n_bins);
/* reading the extremum continuous coordinates */
key->x = k[i].x;
key->y = k[i].y;
key->sigma = k[i].scale;
key->theta = k[i].orientation;
/* inferring the discrete coordinates in the scale-space grid */
// We look for the pair of integer (o,s) such that nspo*o+s is the nearest
// to alpha = nspo * log( k[i].scale / sigma_min) /M_LN2
// with the constraint s=1,2,..,nspo.
int o, s;
int a = (int) (round(n_spo * log( k[i].scale / sigma_min) / M_LN2));
o = (a - 1) / n_spo;
if (o > -1) {
s = (a - 1) % n_spo + 1;
}
else {
o = 0;
s = 0;
}
key->o = o;
key->s = s;
key->i = (int)( key->x / ( delta_min * exp( key->o * M_LN2)) + 0.5 );
key->j = (int)( key->y / ( delta_min * exp( key->o * M_LN2)) + 0.5 );
sift_add_keypoint_to_list(key,keys);
}
return keys;
}
int main(int argc, char **argv)
{
if((argc != 3)&&(argc != 5)){
print_usage();
return EXIT_FAILURE;
}
// Loading image
int w, h;
_myfloat* im = read_image_to_gray(argv[2], &w, &h);
// load standard method parameter
struct sift_parameters* p = sift_assign_default_parameters();
bool gauss_flag = true;
if (argc == 5){
p->lambda_descr = atof(argv[argc-2]);
gauss_flag = atoi(argv[argc-1]);
}
// load keypoints (ellipse)
struct sift_keypoints *l = sift_malloc_keypoints();
sift_read_ellipses(l, argv[1], p->n_hist, p->n_ori, p->n_bins, 0);
fprintf(stderr," after read");
estimate_scalespace_index(l, p);
fprintf(stderr," after estimate scalespace index");
// scalespace, gradient, orientation and description
ellipse_sift_anatomy_orientation_and_description(im, w, h, p, l, gauss_flag);
fprintf(stderr," after ellipse index");
// printing ellipses
fprintf_ellipses(stdout, l, 1);
// memory deallocation
sift_free_keypoints(l);
free(im);
return EXIT_SUCCESS;
}
int main(int c, char *v[])
{
// process input arguments
if (c < 2) {
print_help(v);
return 1;
}
// optional arguments
const char *output_file = pick_option(&c, &v, "o", "stdout");
bool binary = (bool) pick_option(&c, &v, "b", NULL);
bool verbose = (bool) pick_option(&c, &v, "-verbose", NULL);
int max_nb_pts = atoi(pick_option(&c, &v, "-max-nb-pts", "INT_MAX"));
float thresh_dog = atof(pick_option(&c, &v, "-thresh-dog", "0.0133"));
int ss_noct = atoi(pick_option(&c, &v, "-scale-space-noct", "8"));
int ss_nspo = atoi(pick_option(&c, &v, "-scale-space-nspo", "3"));
// initialise time
struct timespec ts; portable_gettime(&ts);
// define the rectangular region of interest (roi)
int x, y, w, h;
if (c == 2) {
x = 0;
y = 0;
} else if (c == 6) {
x = atoi(v[2]);
y = atoi(v[3]);
w = atoi(v[4]);
h = atoi(v[5]);
} else {
print_help(v);
return 1;
}
// read the roi in the input image
GDALDatasetH hDataset;
GDALAllRegister();
hDataset = GDALOpen( v[1], GA_ReadOnly );
if( hDataset == NULL )
{
fprintf(stderr, "ERROR : can't open %s\n", v[1]);
}
GDALRasterBandH hBand;
hBand = GDALGetRasterBand( hDataset, 1 );
float *roi;
roi = (float *) CPLMalloc(sizeof(float)*w*h);
GDALRasterIO( hBand, GF_Read, x, y, w, h,
roi, w, h, GDT_Float32,
0, 0 );
GDALClose(hBand);
GDALClose(hDataset);
if (verbose) print_elapsed_time(&ts, "read ROI", 35);
// prepare sift parameters
struct sift_parameters* p = sift_assign_default_parameters();
p->C_DoG = thresh_dog;
p->n_oct = ss_noct;
p->n_spo = ss_nspo;
// compute sift keypoints
struct sift_scalespace **ss = (struct sift_scalespace**) malloc(4 * sizeof(struct sift_scalespace*));
struct sift_keypoints **kk = (struct sift_keypoints**) malloc(6 * sizeof(struct sift_keypoints*));
for (int i = 0; i < 6; i++)
kk[i] = sift_malloc_keypoints();
struct sift_keypoints* kpts = sift_anatomy(roi, w, h, p, ss, kk);
if (verbose) print_elapsed_time(&ts, "run SIFT", 35);
// add (x, y) offset to keypoints coordinates
for (int i = 0; i < kpts->size; i++) {
kpts->list[i]->x += y; // in Ives' conventions x is the row index
kpts->list[i]->y += x;
}
if (verbose) print_elapsed_time(&ts, "add offset", 35);
// write to standard output
FILE *f = fopen(output_file, "w");
fprintf_keypoints(f, kpts, max_nb_pts, binary, 1);
fclose(f);
if (verbose) print_elapsed_time(&ts, "write output", 35);
// cleanup
CPLFree(roi);
sift_free_keypoints(kpts);
for (int i = 0; i < 6; i++)
sift_free_keypoints(kk[i]);
free(kk);
for (int i = 0; i < 4; i++)
sift_free_scalespace(ss[i]);
free(ss);
free(p);
return 0;
}
