// Compute Simple descriptors.
void ComputeSimpleDescriptors(CFloatImage &image, FeatureSet &features)
{
    //Create grayscale image used for Harris detection
    CFloatImage grayImage=ConvertToGray(image);

    vector<Feature>::iterator i = features.begin();
    while (i != features.end()) {
        Feature &f = *i;
		//these fields should already be set in the computeFeatures function
		int x = f.x;
		int y = f.y;

		// now get the 5x5 window surrounding the feature and store them in the features
		for(int row=(y-2); row<=(y+2); row++)
		{
			for(int col=(x-2); col<=(x+2); col++)
			{
				//if the pixel is out of bounds, assume it is black
				if(row<0 || row>=grayImage.Shape().height || col<0 || col>=grayImage.Shape().width)
				{
					f.data.push_back(0.0);
				}
				else
				{
					f.data.push_back(grayImage.Pixel(col,row,0));
				}
			}
		}
		printf("feature num %d\n", i->id);
        i++;
    }
}
Exemplo n.º 2
0
void CFeatureDrawer::DrawFadeFeaturesSet(FeatureSet& fadeFeatures, int modelType)
{
	for (FeatureSet::iterator fi = fadeFeatures.begin(); fi != fadeFeatures.end(); ) {
		const float cols[] = {1.0f, 1.0f, 1.0f, fi->second};

		if (modelType != MODELTYPE_3DO) {
			glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, cols);
		}

		// hack, sorting objects by distance would look better
		glAlphaFunc(GL_GREATER, fi->second / 2.0f);
		glColor4fv(cols);

		if (!DrawFeatureNow(fi->first, fi->second)) {
			fi = set_erase(fadeFeatures, fi);
		} else {
			++fi;
		}
	}
}
// Compute MOPs descriptors.
void ComputeMOPSDescriptors(CFloatImage &image, FeatureSet &features)
{
	CFloatImage grayImage=ConvertToGray(image);
	CFloatImage blurredImage;
	
	Convolve(grayImage, blurredImage, ConvolveKernel_7x7);

	CFloatImage postHomography = CFloatImage();
	CFloatImage gaussianImage = GetImageFromMatrix((float *)gaussian5x5Float, 5, 5);


	//first make the image invariant to changes in illumination by subtracting off the mean
	int grayHeight = grayImage.Shape().height;
	int grayWidth = grayImage.Shape().width;

	// now make this rotation invariant
    vector<Feature>::iterator featureIterator = features.begin();
    while (featureIterator != features.end()) {
		Feature &f = *featureIterator;

		CTransform3x3 scaleTransform = CTransform3x3();
		CTransform3x3 translationNegative;
		CTransform3x3 translationPositive;
		CTransform3x3 rotation;

		double scaleFactor = 41/8;
		scaleTransform[0][0] = scaleFactor;
		scaleTransform[1][1] = scaleFactor;

		translationNegative = translationNegative.Translation(f.x,f.y);
		translationPositive = translationPositive.Translation(-4, -4);
		rotation = rotation.Rotation(f.angleRadians * 180/ PI);
		
		CTransform3x3 finalTransformation = translationNegative * rotation * scaleTransform * translationPositive;
		//CFloatImage sample61x61Window = 
		//CFloatImage pixelWindow = GetXWindowAroundPixel(grayImage, f.x, f.y, 61);

		WarpGlobal(blurredImage, postHomography, finalTransformation, eWarpInterpLinear, 1.0f);

		//now we get the 41x41 box around the feature
		for(int row=0; row< 8; row++)
		{
			for(int col=0;col< 8;col++)
			{
				f.data.push_back(postHomography.Pixel(col, row, 0));
			}
		}
		/*
		// now we do the subsampling first round to reduce to a 20x20
		int imgSize = 41;
		subsample(&f, imgSize, gaussianImage);

		//second round of subsampling to get it to a 10x10
		imgSize = 20;
		subsample(&f, imgSize, gaussianImage);	

		imgSize = 10;
		CFloatImage img = featureToImage(f, imgSize, imgSize);
		CFloatImage blurredImg(img.Shape());
		Convolve(img, blurredImg, gaussianImage);
		featuresFromImage(&f,blurredImg,imgSize,imgSize);
		
		int count = 0;
		for(int y=0; y<imgSize; y++)
		{
			for(int x=0; x<imgSize; x++)
			{
				if(x == 3 || x == 7 || y == 3 || y == 7)
				{
					f.data.erase(f.data.begin() + count);
				}
				else
				{
					count++;
				}
			}
		}
		*/
		normalizeIntensities(&f, 8, 8);
		featureIterator++;

	}
}
Exemplo n.º 4
0
// Compute MOPs descriptors.
void ComputeMOPSDescriptors(CFloatImage &image, FeatureSet &features)
{
	int w = image.Shape().width;  // image width
	int h = image.Shape().height; // image height

	// Create grayscale image used for Harris detection
	CFloatImage grayImage=ConvertToGray(image);

	// Apply a 7x7 gaussian blur to the grayscale image
	CFloatImage blurImage(w,h,1);
	Convolve(grayImage, blurImage, ConvolveKernel_7x7);

	// Transform matrices
	CTransform3x3 xform;
	CTransform3x3 trans1;
	CTransform3x3 rotate;
	CTransform3x3 scale;
	CTransform3x3 trans2;

	// Declare additional variables
	float pxl;					// pixel value
	double mean, sq_sum, stdev; // variables for normailizing data set

	// This image represents the window around the feature you need to compute to store as the feature descriptor
	const int windowSize = 8;
	CFloatImage destImage(windowSize, windowSize, 1);

	for (vector<Feature>::iterator i = features.begin(); i != features.end(); i++) {
		Feature &f = *i;

		// Compute the transform from each pixel in the 8x8 image to sample from the appropriate 
		// pixels in the 40x40 rotated window surrounding the feature
		trans1 = CTransform3x3::Translation(f.x, f.y);						// translate window to feature point
		rotate = CTransform3x3::Rotation(f.angleRadians * 180.0 / PI);		// rotate window by angle
		scale = CTransform3x3::Scale(5.0);									// scale window by 5
		trans2 = CTransform3x3::Translation(-windowSize/2, -windowSize/2);	// translate window to origin

		// transform resulting from combining above transforms
		xform = trans1*scale*rotate*trans2;

		//Call the Warp Global function to do the mapping
		WarpGlobal(blurImage, destImage, xform, eWarpInterpLinear);

		// Resize data field for a 8x8 square window
		f.data.resize(windowSize * windowSize);	

		// Find mean of window
		mean = 0;
		for (int y = 0; y < windowSize; y++) {
			for (int x = 0; x < windowSize; x++) {
				pxl = destImage.Pixel(x, y, 0);
				f.data[y*windowSize + x] = pxl;
				mean += pxl/(windowSize*windowSize);
			}
		}

		// Find standard deviation of window
		sq_sum = 0;
		for (int k = 0; k < windowSize*windowSize; k++) {
			sq_sum += (mean - f.data[k]) * (mean - f.data[k]);
		}
		stdev = sqrt(sq_sum/(windowSize*windowSize));

		// Normalize window to have 0 mean and unit variance by subtracting
		// by mean and dividing by standard deviation
		for (int k = 0; k < windowSize*windowSize; k++) {
			f.data[k] = (f.data[k]-mean)/stdev;
		}
	}
}
Exemplo n.º 5
0
// Compute Simple descriptors.
void ComputeSimpleDescriptors(CFloatImage &image, FeatureSet &features)
{
	// Create grayscale image used for Harris detection
	CFloatImage grayImage=ConvertToGray(image);

	int w = grayImage.Shape().width;  // image width
	int h = grayImage.Shape().height; // image height

	// Declare additional variables
	int newX, newY;  // (x,y) coordinate for pixel in 5x5 sample window
	int padType = 0; // select variable for what type of padding to use: , 0->zero, 1->edge, 2->reflect

	// Iterate through feature set and store simple descriptors for each feature into
	// corresponding feature
	for (vector<Feature>::iterator i = features.begin(); i != features.end(); i++) {
		Feature &f = *i;

		// Set angle to 0 since simple descriptors do not include orientation 
		f.angleRadians = 0;

		// Resize data field for a 5x5 square window
		f.data.resize(5 * 5);

		// The descriptor is a 5x5 window of intensities sampled centered on the feature point
		for (int j = 0; j < 25; j++) {
			find5x5Index(f.x,f.y,j,&newX,&newY);
			if(grayImage.Shape().InBounds(newX, newY)) {
				f.data[j] = grayImage.Pixel(newX, newY, 0);
			} else {
				// Depending on value of padType, perform different types of border padding
				switch (padType) {
					case 1:
						// 1 -> replicate border values
						if (newX < 0) {
							newX = 0;
						} else if (newX >= w) {
							newX = w-1;
						}
				
						if (newY < 0) {
							newY = 0;
						} else if (newY >= h) {
							newY = h-1;
						}

						f.data[j] = grayImage.Pixel(newX, newY, 0);
						break;
					case 2:
						// 2 -> reflect border pixels
						if (newX < 0) {
							newX = -newX;
						} else if (newX >= w) {
							newX = w-(newX%w)-1;
						}
						if (newY < 0) {
							newY = -newY;
						} else if (newY >= h) {
							newY = h-(newY%h)-1;
						}
						
						f.data[j] = grayImage.Pixel(newX, newY, 0);
						break;
					default:
						// 0 -> zero padding
						f.data[j] = 0;
						break;
				}
			}
		}
	}
}