void opticalFlow::occMatpEst( Mat_<Vec2f> &flow12, Mat_<Vec2f> &flow21, Mat_<uchar>&occMap)
{
int iy, ix;
const float FLOW_PIXEL_THRESH = 2;
occMap.setTo(255);
for (iy=0; iy<height1; ++iy)
{
for (ix=0; ix<width1; ++ix)
{
Vec2f fFlow = flow12[iy][ix];
int ny, nx;
ny = floor(iy+fFlow[1]+0.5);
nx = floor(ix+fFlow[0]+0.5);
if (ny>=0 && ny<height1 && nx>=0 && nx<width1)
{
cv::Vec2f bFlow = flow21[ny][nx];
if (fabs(bFlow[1]+ny-iy)<FLOW_PIXEL_THRESH && fabs(bFlow[0]+nx-ix)<FLOW_PIXEL_THRESH)
{
continue;
}
}
occMap[iy][ix] = 0;
}
}
Mat bw = occMap;
Mat labelImage(occMap.size(), CV_32S);
int nLabels = connectedComponents(bw, labelImage, 8);
occMap[iy][ix] = 0;
vector<int> hist(nLabels,0);
for (iy=0; iy<height1; ++iy)
for (ix=0; ix<width1; ++ix)
hist[labelImage.at<int>(iy,ix)]++;
vector<int> rmv_list;
rmv_list.reserve(20);
for (int i=0;i<nLabels;++i){
if (hist[i]<50)
rmv_list.push_back(i);
}
for (iy=0; iy<height1; ++iy)
{
for (ix=0; ix<width1; ++ix)
{
for (int r=0; r<rmv_list.size(); ++r)
if(labelImage.at<int>(iy,ix) == rmv_list[r])
occMap[iy][ix] = 0;
}
}
}
/* Assigns Ix, Iy, It gradient values computed from imgA and imgB. */
void compute_derivatives(const Mat_<float>& imgA, const Mat_<float>& imgB,
Mat_<float>& Ix, Mat_<float>& Iy, Mat_<float>& It) {
int channels = 1; //assume grayscale images
int nRows = imgA.rows; //assume same size of imgA and imgB
int nCols = imgA.cols * channels;
Ix = Mat::zeros(imgA.size(), CV_32F);
Iy = Mat::zeros(imgA.size(), CV_32F);
It = Mat::zeros(imgA.size(), CV_32F);
float *p_a1, *p_a2, *p_b1, *p_b2;
float *p_ix, *p_iy, *p_it;
p_a1 = (float*)imgA.ptr<float>(0); //cast is needed (const uchar* to uchar*)
p_b1 = (float*)imgB.ptr<float>(0);
p_a2 = p_a1 + nCols;
p_b2 = p_b1 + nCols;
p_ix = Ix.ptr<float>(0);
p_iy = Iy.ptr<float>(0);
p_it = It.ptr<float>(0);
for ( int j = 0; j < nCols*(nRows-1); ++j)
{
//calculate spatiotemporal averages like Horn & Schunck //up at right-hand side x-boundary)
p_ix[j] = 0.25 * (p_a1[j+1] - p_a1[j]+p_a2[j+1]-p_a2[j]
+p_b1[j+1]-p_b1[j]+p_b2[j+1]-p_b2[j]);
p_iy[j] = 0.25 * (p_a2[j]-p_a1[j]+p_a2[j+1]-p_a1[j+1]
+p_b2[j]-p_b1[j]+p_b2[j+1]-p_b1[j+1]);
p_it[j] = 0.25 * (p_b1[j] - p_a1[j]+p_b1[j+1]-p_a1[j+1]
+p_b2[j]-p_a2[j]+p_b2[j+1]-p_a2[j+1]);
}
}
LaplacianBlending::LaplacianBlending(const Mat_<Vec3f>& _left, const Mat_<Vec3f>& _right, int _levels)://construct function, used in LaplacianBlending lb(l,r,m,4);
left(_left),right(_right),levels(_levels)
{
assert(_left.size() == _right.size());
buildPyramids(); //construct Laplacian Pyramid and Gaussian Pyramid
blendLapPyrs(); //blend left & right Pyramids into one Pyramid
};
LaplacianBlending::LaplacianBlending(const Mat_<Vec3f>& _left, const Mat_<Vec3f>& _right, const Mat_<float>& _leftMask, const Mat_<float>& _rightMask, int _levels):
left(_left),right(_right),rightMask(_rightMask),leftMask(_leftMask),levels(_levels)
{
assert(_left.size() == _right.size());
assert(_left.size() == _leftMask.size());
assert(_rightMask.size() == _leftMask.size());
buildPyramids();
blendLapPyrs();
};
SLAM::LineFeature::LineFeature(const Mat_<imtype> & im, const CameraState & state,
const Point2f & pt2d, int rx, int ry)
:descriptor(im(Range(max(0, iround(pt2d.y-ry)),
min(im.size().height, iround(pt2d.y+ry+1))),
Range(max(0, iround(pt2d.x-rx)),
min(im.size().width, iround(pt2d.x+rx+1)))).clone()),
cone(state.getLocalCoordinatesPoint(pt2d), state.t, 3.f, state.f, 5,
100, 20, 3) /*TODO: cone parameters*/,
timeSinceLastSeen(1) {
}
void regularize(Mat_<uchar> &gray,
BBox &bbox, Pose &P,
Mat_<double> &shape,
Mat_<uchar> &lEye,
Mat_<uchar> &rEye)
{
double w = bbox.w;
double h = bbox.h;
double scale = 1.5;
double minx = max(0.0, bbox.x - (scale - 1)*w / 2);
double miny = max(0.0, bbox.y - (scale - 1)*h / 2);
double maxx = min(gray.cols - 1.0, minx + scale*w);
double maxy = min(gray.rows - 1.0, miny + scale*h);
w = maxx - minx;
h = maxy - miny;
BBox oldbox(minx, miny, w, h);
BBox newbox(0, 0, w, h);
Mat_<uchar> faceImg = gray(Rect(minx, miny, w, h));
Mat_<uchar> regFace = Mat_<uchar>::zeros(faceImg.size());
Mat rotMat = getRotationMatrix2D(Point2f(w / 2.0, h / 2.0), P.roll, 1.0);
warpAffine(faceImg, regFace, rotMat, faceImg.size());
double cosa = rotMat.at<double>(0, 0);
double sina = rotMat.at<double>(0, 1);
Mat_<double> projShape = projectShape(shape, oldbox);
Mat_<double> newShape = Mat_<double>::zeros(shape.size());
for (int i = 0; i < shape.rows; i++) {
newShape(i, 0) = cosa*projShape(i, 0) + sina*projShape(i, 1);
newShape(i, 1) = -sina*projShape(i, 0) + cosa*projShape(i, 1);
}
newShape = reprojectShape(newShape, newbox);
// get eye images & data
Rect lRect = findEyeRect(regFace, newShape, LEFT_EYE);
Rect rRect = findEyeRect(regFace, newShape, RIGHT_EYE);
vector<Point> lCont = findEyeCont(lRect, newShape, LEFT_EYE);
vector<Point> rCont = findEyeCont(rRect, newShape, RIGHT_EYE);
lEye = regFace(lRect);
rEye = regFace(rRect);
// set mask and crop
Mat_<uchar> lMask = findEyeMask(lEye, lCont);
Mat_<uchar> rMask = findEyeMask(rEye, rCont);
//lEye.setTo(0, ~lMask);
//rEye.setTo(0, ~rMask);
normalize(lEye, lEye, 255, 0, NORM_MINMAX);
normalize(rEye, rEye, 255, 0, NORM_MINMAX);
// resize to proper size
resize(lEye, lEye, Size(64, 32));
resize(rEye, rEye, Size(64, 32));
}
Mat_< float > Saliency::assignFilter( const Mat_< Vec3b >& im, const Mat_< int >& seg, const vector< SuperpixelStatistic >& stat, const std::vector< float >& sal ) const {
std::vector< float > source_features( seg.size().area()*5 ), target_features( im.size().area()*5 );
Mat_< Vec2f > data( seg.size() );
// There is a type on the paper: alpha and beta are actually squared, or directly applied to the values
const float a = settings_.alpha_, b = settings_.beta_;
const int D = 5;
// Create the source features
for( int j=0,k=0; j<seg.rows; j++ )
for( int i=0; i<seg.cols; i++, k++ ) {
int id = seg(j,i);
data(j,i) = Vec2f( sal[id], 1 );
source_features[D*k+0] = a * i;
source_features[D*k+1] = a * j;
if (D == 5) {
source_features[D*k+2] = b * stat[id].mean_rgb_[0];
source_features[D*k+3] = b * stat[id].mean_rgb_[1];
source_features[D*k+4] = b * stat[id].mean_rgb_[2];
}
}
// Create the source features
for( int j=0,k=0; j<im.rows; j++ )
for( int i=0; i<im.cols; i++, k++ ) {
target_features[D*k+0] = a * i;
target_features[D*k+1] = a * j;
if (D == 5) {
target_features[D*k+2] = b * im(j,i)[0];
target_features[D*k+3] = b * im(j,i)[1];
target_features[D*k+4] = b * im(j,i)[2];
}
}
// Do the filtering [Filtering using the target features twice works slightly better, as the method described in our paper]
if (settings_.use_spix_color_) {
Filter filter( source_features.data(), seg.cols*seg.rows, target_features.data(), im.cols*im.rows, D );
filter.filter( data.ptr<float>(), data.ptr<float>(), 2 );
}
else {
Filter filter( target_features.data(), im.cols*im.rows, D );
filter.filter( data.ptr<float>(), data.ptr<float>(), 2 );
}
Mat_<float> r( im.size() );
for( int j=0; j<im.rows; j++ )
for( int i=0; i<im.cols; i++ )
r(j,i) = data(j,i)[0] / (data(j,i)[1] + 1e-10);
return r;
}
Mat_<uchar> transformModifiedLUX(Mat_<Vec3b> image_BGR)
{
Mat_<uchar> Ucap(image_BGR.size());
int B = 0, G = 0, R = 0, u_cap_int = 0;
double u_cap = 0.0;
for(int i = 0; i < image_BGR.rows; ++i)
{
for(int j = 0; j < image_BGR.cols; ++j)
{
B = image_BGR(i, j)[0];
G = image_BGR(i, j)[1];
R = image_BGR(i, j)[2];
if(R > G)
{
u_cap = (256*G) / R;
u_cap_int = round(u_cap);
Ucap.at<uchar>(i, j) = u_cap_int;
}
else
Ucap.at<uchar>(i, j) = 255;
}
}
return Ucap;
}
Mat_<uchar> transformLUX(Mat_<Vec3b> image_BGR)
{
Mat_<uchar> U(image_BGR.size());
int B = 0, G = 0, R = 0, L_int = 0, u_int = 0;
double L = 0.0, u = 0.0;
for(int i = 0; i < image_BGR.rows; ++i)
{
for(int j = 0; j < image_BGR.cols; ++j)
{
B = image_BGR(i, j)[0];
G = image_BGR(i, j)[1];
R = image_BGR(i, j)[2];
L = (pow(R+1, 0.3) * pow(G+1, 0.6) * pow(B+1, 0.1)) - 1;
L_int = round(L);
if(R > L_int)
{
u = (256 * (L_int+1)) / (R + 1);
u_int = round(u);
U.at<uchar>(i, j) = u_int;
}
else
U.at<uchar>(i, j) = 255;
}
}
return U;
}
void DetectionTool::getMove(const Mat_<Point2f>& flow, Mat& dst, float minmotion, int color)
{
dst.create(flow.size(), CV_8UC1);
dst.setTo(Scalar::all(0));
//Permet de ne pas calculer la racine carrée pour chaque longueur de vecteur de mouvement.
//Si minmotion <= 0, on veut sélectionner tous les mouvements.
if(minmotion > 0)
minmotion *= minmotion;
//Parcours de la matrice des mouvements
for (int y = 0; y < flow.rows; ++y)
{
for (int x = 0; x < flow.cols; ++x)
{
Point2f u = flow(y, x);
if (isFlowCorrect(u))
{
//la comparaison se fait sans la mise sous racine car on a élevé au carré minmotion
if(u.x * u.x + u.y * u.y > minmotion)
{
dst.at<char>(y, x) = color;
}
}
}
}
}
void add_feature(const Mat &image, const char *name)
{
assert (prediction.size() == image.size());
int found = 0;
string _name = string(name);
cout << "Got feature " << name << endl;
for (int wi = 0; wi < weak_learners.size(); wi++) {
if (weak_learners[wi].feature_name == _name) {
found = 1;
float *score_ptr = prediction.ptr<float>(0);
const float *feature_ptr = image.ptr<float>(0);
float thresh = weak_learners[wi].threshold;
float left_val = weak_learners[wi].left_val;
float right_val = weak_learners[wi].right_val;
for (int i = 0; i < prediction.total(); i++, feature_ptr++, score_ptr++)
*score_ptr += ((*feature_ptr <= thresh) ? left_val : right_val);
}
}
if (! found)
cout << "Didn't find any uses of feature " << name << endl;
// remove old weak learners from consideration
weak_learners.erase(remove(weak_learners.begin(), weak_learners.end(), name), weak_learners.end());
if (should_save(name))
write_feature(h5f, image, name);
}
void iterative_computation(Mat_<float>& u, Mat_<float>& v, const Mat_<float>& Ix,
const Mat_<float>& Iy, const Mat_<float>& It) {
if (METHOD == 0) { // Jacobi Methd
Mat_<float> f = (Mat_<float>(3,3) << 1.0/12.0, 1.0/6.0, 1.0/12.0, 1.0/6.0, 0.0, 1.0/6.0,
1.0/12.0, 1.0/6.0, 1.0/12.0);
Mat_<float> avg_u, avg_v;
filter2D(u, avg_u, -1 , f, Point(-1, -1), 0, BORDER_DEFAULT );
filter2D(v, avg_v, -1 , f, Point(-1, -1), 0, BORDER_DEFAULT );
Mat_<float> d1 = Ix.mul(avg_u) + Iy.mul(avg_v) + It;
Mat_<float> d2 = Mat::ones(u.size(), CV_32F) * ALPHA * ALPHA + Ix.mul(Ix) + Iy.mul(Iy);
Mat_<float> r = d1.mul(1 / d2);
u = avg_u - Ix.mul(r);
v = avg_v - Iy.mul(r);
}
else if (METHOD == 1) { // Gauss-Seidel method
for (int i = 1; i < u.rows - 1; i ++) {
for (int j = 1; j < u.cols - 1; j ++) {
float avg_u = 1.f / 6.f * (u.at<float>(i - 1, j) + u.at<float>(i, j + 1) +
u.at<float>(i + 1, j) + u.at<float>(i, j - 1)) +
1.f / 12.f * (u.at<float>(i - 1, j -1) + u.at<float>(i - 1, j + 1) +
u.at<float>(i + 1, j - 1) + u.at<float>(i + 1, j + 1));
float avg_v = 1.f / 6.f * (v.at<float>(i - 1, j) + v.at<float>(i, j + 1) +
v.at<float>(i + 1, j) + v.at<float>(i, j - 1)) +
1.f / 12.f * (v.at<float>(i - 1, j -1) + v.at<float>(i - 1, j + 1) +
v.at<float>(i + 1, j - 1) + v.at<float>(i + 1, j + 1));
float ix = Ix.at<float>(i, j);
float iy = Iy.at<float>(i, j);
float it = It.at<float>(i, j);
float r = (ix * avg_u + iy * avg_v + it) /
(ALPHA * ALPHA + ix * ix + iy * iy);
u.at<float>(i, j) = avg_u - ix * r;
v.at<float>(i, j) = avg_v - iy * r;
}
}
}
else if (METHOD == 2) { // Successive overrelaxation method
for (int i = 1; i < u.rows - 1; i ++) {
for (int j = 1; j < u.cols - 1; j ++) {
float avg_u = 1.f / 6.f * (u.at<float>(i - 1, j) + u.at<float>(i, j + 1) +
u.at<float>(i + 1, j) + u.at<float>(i, j - 1)) +
1.f / 12.f * (u.at<float>(i - 1, j -1) + u.at<float>(i - 1, j + 1) +
u.at<float>(i + 1, j - 1) + u.at<float>(i + 1, j + 1));
float avg_v = 1.f / 6.f * (v.at<float>(i - 1, j) + v.at<float>(i, j + 1) +
v.at<float>(i + 1, j) + v.at<float>(i, j - 1)) +
1.f / 12.f * (v.at<float>(i - 1, j -1) + v.at<float>(i - 1, j + 1) +
v.at<float>(i + 1, j - 1) + v.at<float>(i + 1, j + 1));
float ix = Ix.at<float>(i, j);
float iy = Iy.at<float>(i, j);
float it = It.at<float>(i, j);
float r = (ix * avg_u + iy * avg_v + it) /
(ALPHA * ALPHA + ix * ix + iy * iy);
u.at<float>(i, j) = (1 - WEIGHT) * u.at<float>(i, j) + WEIGHT * (avg_u - ix * r);
v.at<float>(i, j) = (1 - WEIGHT) * v.at<float>(i, j) + WEIGHT * (avg_v - iy * r);
}
}
}
}
void fft2(Mat_<float> src)
{
int x = getOptimalDFTSize(2* src.rows );
int y = getOptimalDFTSize(2* src.cols );
copyMakeBorder(src, src, 0, (x - src.rows), 0, (y - src.cols), BORDER_CONSTANT, Scalar::all(0));
// Get padded image size
const int wx = src.cols, wy = src.rows;
const int cx = wx/2, cy = wy/2;
//--------------------------------//
// DFT - performing //
cv::Mat_<float> imgs[] = {src.clone(), Mat::zeros(src.size(), CV_32F)};
cv::Mat_<cv::Vec2f> img_dft;
merge(imgs,2,img_dft);
dft(img_dft, img_dft);
split(img_dft,imgs);
cv::Mat_<float> magnitude, phase;
cartToPolar(imgs[0],imgs[1],magnitude,phase);
dftshift(magnitude);
magnitude = magnitude + 1.0f;
log(magnitude,magnitude);
normalize(magnitude,magnitude,0,1,CV_MINMAX);
namedWindow("img_dft",WINDOW_NORMAL);
imshow("img_dft",magnitude);
waitKey(0);
cout << "out" << endl;
}
int copyMakeBorder(/*const*/ Mat_<_Tp, chs>& src, Mat_<_Tp, chs>& dst, int top, int bottom, int left, int right, int borderType, const Scalar& value = Scalar())
{
FBC_Assert(top >= 0 && bottom >= 0 && left >= 0 && right >= 0);
if (src.isSubmatrix() && (borderType & BORDER_ISOLATED) == 0) {
Size wholeSize;
Point ofs;
src.locateROI(wholeSize, ofs);
int dtop = std::min(ofs.y, top);
int dbottom = std::min(wholeSize.height - src.rows - ofs.y, bottom);
int dleft = std::min(ofs.x, left);
int dright = std::min(wholeSize.width - src.cols - ofs.x, right);
src.adjustROI(dtop, dbottom, dleft, dright);
top -= dtop;
left -= dleft;
bottom -= dbottom;
right -= dright;
}
if (dst.empty() || dst.rows != (src.rows + top + bottom) || dst.cols != (src.cols + left + right)) {
dst.release();
dst = Mat_<_Tp, chs>(src.rows + top + bottom, src.cols + left + right);
}
if (top == 0 && left == 0 && bottom == 0 && right == 0) {
if (src.data != dst.data || src.step != dst.step)
src.copyTo(dst);
return 0;
}
borderType &= ~BORDER_ISOLATED;
if (borderType != BORDER_CONSTANT) {
copyMakeBorder_8u(src.ptr(), src.step, src.size(), dst.ptr(), dst.step, dst.size(), top, left, src.elemSize(), borderType);
} else {
int cn = src.channels, cn1 = cn;
AutoBuffer<double> buf(cn);
scalarToRawData<_Tp, chs>(value, buf, cn);
copyMakeConstBorder_8u(src.ptr(), src.step, src.size(), dst.ptr(), dst.step, dst.size(), top, left, (int)src.elemSize(), (uchar*)(double*)buf);
}
return 0;
}
Mat_< Vec3f > Superpixel::visualizeRandom( const Mat_< int >& segmentation ) const {
srand( segmentation.size().area() );
int n_label = nLabels( segmentation );
std::vector< Vec3f > colors;
for( int k=0; k<n_label; k++ )
colors.push_back( Vec3f( 1.0*rand()/RAND_MAX, 1.0*rand()/RAND_MAX, 1.0*rand()/RAND_MAX ) );
return assign( colors, segmentation );
}
Mat_< float > Saliency::saliency( const Mat_< Vec3b >& im ) const {
// Convert the image to the lab space
Mat_<Vec3f> rgbim, labim;
im.convertTo( rgbim, CV_32F, 1.0/255. );
cvtColor( rgbim, labim, CV_BGR2Lab );
// Superpixel superpixel_( 300, 50.0 );
// Do the abstraction
Mat_<int> segmentation = superpixel_.segment( labim );
std::vector< SuperpixelStatistic > stat = superpixel_.stat( labim, im, segmentation );
// Compute the uniqueness
std::vector<float> unique( stat.size(), 1 );
if (settings_.uniqueness_) {
if (settings_.filter_uniqueness_)
unique = uniquenessFilter( stat );
else
unique = uniqueness( stat );
}
// Compute the distribution
std::vector<float> dist( stat.size(), 0 );
if (settings_.distribution_) {
if (settings_.filter_distribution_)
dist = distributionFilter( stat );
else
dist = distribution( stat );
}
// Combine the two measures
std::vector<float> sp_saliency( stat.size() );
for( int i=0; i<stat.size(); i++ )
sp_saliency[i] = unique[i] * exp( - settings_.k_ * dist[i] );
// Upsampling
Mat_<float> r;
if (settings_.upsample_)
r = assignFilter( im, segmentation, stat, sp_saliency );
else
r = assign( segmentation, sp_saliency );
// Rescale the saliency to [0..1]
double mn, mx;
minMaxLoc( r, &mn, & mx );
r = (r - mn) / (mx - mn);
// Increase the saliency value until we are below the minimal threshold
double m_sal = settings_.min_saliency_ * r.size().area();
for( float sm = sum( r )[0]; sm < m_sal; sm = sum( r )[0] )
r = min( r*m_sal/sm, 1.0f );
return r;
}
// Extract the pseudo-hue plane
Mat_<uchar> transformPseudoHue(Mat_<Vec3b> image)
{
Mat_<double> pseudo_hue(image.size());
Mat_<uchar> pseudo_hue_norm(image.size());
int B = 0, G = 0, R = 0;
for(int i = 0; i < image.rows; ++i)
{
for(int j = 0; j < image.cols; ++j)
{
B = image(i, j)[0];
G = image(i, j)[1];
R = image(i, j)[2];
if(R == 0)
pseudo_hue.at<double>(i, j) = 0.0;
else
pseudo_hue.at<double>(i, j) = (double)R / (R + G);
}
}
std::pair<double, double> statistics = Stats(pseudo_hue);
double Hmin = statistics.first;
double Hmax = statistics.second;
double Hrange = (Hmax - Hmin);
for(int i = 0; i < image.rows; ++i)
{
for(int j = 0; j < image.cols; ++j)
{
double temp = (pseudo_hue.at<double>(i, j) - Hmin) / Hrange;
pseudo_hue_norm.at<uchar>(i, j) = round(temp * 255);
}
}
return pseudo_hue_norm;
}
/*
Given a sensor grid to draw on and a map co-ordinate locating the hit,
draws the patch centered at the proper grid index
if ADDITIVE is #defined, the gaussian patch is added to the occupancy grid
if ADDITIVE isnt #defined, the occupancy grid is set to the value in the patch unless it already has a higher value
*/
void drawHit(Mat_<uchar>& grid, Point2f hit) {
static int radius = static_cast<int>(fattening / gridRes * (1 << fixedPoints));
static Mat_<uchar> patch = patchInit();
Point center = pointToGridPoint(hit); //roi doesn't support subpixel precision
Rect roi_ = Rect(center.x-radius/2.0,center.y-radius/2.0, radius,radius); //rect bounding patch and centered on hit
Rect roi = roi_ & gridMatBounds; //intersection of roi and map boundary
if(roi.size() != roi_.size()) return; //do not draw patches if they don't entirely fit on the map because it is inconvenient to do so
Mat_<uchar> t(grid,roi);
if(t.size()!= patch.size()) return; //do not draw patches if they don't entirely fit on the map because it is inconvenient to do so
//ROS_INFO("drawing a hit"); //don't print this out because it is slow
if(ADDITIVE) t+=patch;
else t= max(t, patch);
}
/*
* Function: scan
* ----------------------------
* Scannt einen UPC Code, gibt die Zahl zurueck
*
* img: Bild mit dem Barcode
*
* returns: Barcode als Zahl
*/
deque<int> BarcodeScannerEAN::scan(Mat_<uchar> img)
{
Point currPos(0, img.size().height / 2);
int unitWidth = scanFirstGuard(img, currPos);
deque<int> codeNumbers;
bool oddParity[6] = {0, 0, 0, 0, 0, 0};
//Den linken Bereich auslesen
for (int i = 0; i < DIGIT_COUNT; ++i)
{
int num = readDigit(img, currPos, unitWidth, LEFT);
if (num <= 10)
{
oddParity[i] = 1;
}
codeNumbers.push_back(num % 10);
correctReaderPos(img, currPos, SPACE, BAR);
}
//Linken berech auf Kodierung ueberpruefen
for (int i = 0; i < 10; i++)
{
if (matchingParityPattern(oddParity, i))
{
codeNumbers.push_front(i);
}
}
//Den mittleren Bereich ueberspringen
for (int i = 0; i < 5; ++i)
{
skipPart(img, currPos);
}
//Den rechten Bereich auslesen
for (int i = 0; i < DIGIT_COUNT; ++i)
{
int num = readDigit(img, currPos, unitWidth, RIGHT);
codeNumbers.push_back(num);
correctReaderPos(img, currPos, BAR, SPACE);
}
return codeNumbers;
}
Mat_<uchar> binaryThresholding(const Mat_<uchar>& image, const std::pair<double, double>& stats)
{
Mat_<uchar> image_binary(image.size());
double Z = 0.9;
double threshold = stats.first + (Z * stats.second);
for(int i = 0; i < image.rows; ++i)
{
for(int j = 0; j < image.cols; ++j)
{
if(image.at<uchar>(i, j) >= threshold + std::numeric_limits<double>::epsilon())
image_binary.at<uchar>(i, j) = 255;
else
image_binary.at<uchar>(i, j) = 0;
}
}
return image_binary;
}
static Mat endpointError( const Mat_<Point2f>& flow1, const Mat_<Point2f>& flow2 )
{
Mat result(flow1.size(), CV_32FC1);
for ( int i = 0; i < flow1.rows; ++i )
{
for ( int j = 0; j < flow1.cols; ++j )
{
const Point2f u1 = flow1(i, j);
const Point2f u2 = flow2(i, j);
if ( isFlowCorrect(u1) && isFlowCorrect(u2) )
{
const Point2f diff = u1 - u2;
result.at<float>(i, j) = sqrt((float)diff.ddot(diff)); //distance
} else
result.at<float>(i, j) = std::numeric_limits<float>::quiet_NaN();
}
}
return result;
}
static Mat angularError( const Mat_<Point2f>& flow1, const Mat_<Point2f>& flow2 )
{
Mat result(flow1.size(), CV_32FC1);
for ( int i = 0; i < flow1.rows; ++i )
{
for ( int j = 0; j < flow1.cols; ++j )
{
const Point2f u1_2d = flow1(i, j);
const Point2f u2_2d = flow2(i, j);
const Point3f u1(u1_2d.x, u1_2d.y, 1);
const Point3f u2(u2_2d.x, u2_2d.y, 1);
if ( isFlowCorrect(u1) && isFlowCorrect(u2) )
result.at<float>(i, j) = acos((float)(u1.ddot(u2) / norm(u1) * norm(u2)));
else
result.at<float>(i, j) = std::numeric_limits<float>::quiet_NaN();
}
}
return result;
}
bool intersects(const vector<Point> &contour, const Mat_<uchar> &mask)
{
Mat_<uchar> c = Mat_<uchar>::zeros(mask.size());
fillConvexPoly(c, contour.data(), contour.size(), 255);
/*
Below is:
bitwise_and(mask, c, c);
return countNonZero(c);
optimized.
*/
auto it_m = mask.begin();
auto it_c = c.begin();
while (it_m != mask.end()) {
if (*it_m && *it_c) return true;
++it_m, ++it_c;
}
return false;
}
void getLaplacianPyramid(const Mat_<Vec3f>& image, vector<Mat_<Vec3f> >& laplacianPyramid,
int numLevels) {
//laplacianPyramid.push_back(image);
// Construct each level of the pyramid
Mat_<Vec3f> curImage;
//image.convertTo(curImage, CV_32FC3);
curImage = image;
for (int level = 0; level < numLevels; level++) {
if (level < numLevels - 1) {
Mat_<Vec3f> newLevel;
Mat_<Vec3f> down_tmp, up_tmp;
pyrDown(curImage, down_tmp);
pyrUp(down_tmp, up_tmp, curImage.size());
newLevel = curImage - up_tmp;
laplacianPyramid.push_back(newLevel);
curImage = down_tmp;
} else {
// Top level of laplacian pyramid is just a Gaussian-blurred
// image (not difference of gaussian/laplacian)
laplacianPyramid.push_back(curImage);
}
}
}
Mat optical_flow(const Mat_<float>& ImgA, const Mat_<float>& ImgB,
int num_it, float threshold) {
// Compute Gaussin Pyramid
int nl = 5;
float ds = 0.5;
stack<pair<Mat, Mat> > gp = compute_gaussian_pyramids(ImgA, ImgB, nl, ds);
Mat_<float> u = Mat::zeros(ImgA.size(), CV_32F);
Mat_<float> v = Mat::zeros(ImgA.size(), CV_32F);
while (!gp.empty()) {
Mat imgA = (gp.top()).first;
Mat imgB = (gp.top()).second;
// Warp the first image.
Mat_<float> imgBw = imgB.clone();
/* Compute warping here from u and v. */
imgBw = compute_warp(imgB, u, v, ds);
/* Compute the derivatives. */
Mat_<float> Ix, Iy, It;
compute_derivatives(imgBw, imgA, Ix, Iy, It); // papers
Mat_<float> du = Mat::zeros(imgA.size(), CV_32F);
Mat_<float> dv = Mat::zeros(imgA.size(), CV_32F);
for (int i = 0; i < 500; i ++)
iterative_computation(du, dv, Ix, Iy, It);
u = u - du;
v = v - dv;
gp.pop();
}
Mat Mflow = color_map(u, v);
return Mflow;
}
static void drawOpticalFlow(const Mat_<Point2f>& flow, Mat& dst, float maxmotion = -1)
{
dst.create(flow.size(), CV_8UC3);
dst.setTo(Scalar::all(0));
// determine motion range:
float maxrad = maxmotion;
if (maxmotion <= 0)
{
maxrad = 1;
for (int y = 0; y < flow.rows; ++y)
{
for (int x = 0; x < flow.cols; ++x)
{
Point2f u = flow(y, x);
if (!isFlowCorrect(u))
continue;
maxrad = max(maxrad, sqrt(u.x * u.x + u.y * u.y));
}
}
}
for (int y = 0; y < flow.rows; ++y)
{
for (int x = 0; x < flow.cols; ++x)
{
Point2f u = flow(y, x);
if (isFlowCorrect(u))
dst.at<Vec3b>(y, x) = computeColor(u.x / maxrad, u.y / maxrad);
}
}
}
// We are implementing SLIC here. I'm too lazy to enfoce the connectivity
Mat_< int > Superpixel::slic( const Mat_< Vec3f >& im ) const {
// Compute the spacing and grid size of the superpixels
double sp_area = 1.0 * im.cols * im.rows / K_;
int Kx = 0.5 + im.cols / sqrt( sp_area ), Ky = 0.5 + im.rows / sqrt( sp_area );
int K = Kx*Ky;
int win_sz = 1.0 * sqrt(sp_area) + 1;
// Initialize the seeds on a regular grid
std::vector< int64_t > cnt( K );
std::vector< Point2d > seedsd( K );
std::vector< Point > seeds( K );
for( int i=0,k=0; i<Kx; i++ )
for( int j=0; j<Ky; j++, k++ )
seeds[k] = Point( (i+0.5)*(im.cols-1)/Kx, (j+0.5)*(im.rows-1)/Ky );
// Run k-means
Mat_<float> dist( im.size() );
Mat_<int> label( im.size() );
for( int it=0; it<n_iter_; it++ ) {
// Assignment step
dist = std::numeric_limits<float>::max();
label = -1;
for( int k=0; k<K; k++ ) {
Vec3f c = im( seeds[k] );
for( int j=std::max(0,seeds[k].y-win_sz); j<im.rows && j<=seeds[k].y+win_sz; j++ )
for( int i=std::max(0,seeds[k].x-win_sz); i<im.cols && i<=seeds[k].x+win_sz; i++ ){
double d = (i-seeds[k].x) * (i-seeds[k].x) + (j-seeds[k].y) * (j-seeds[k].y);
double cd = ( im( j, i ) - c ).dot( im( j, i ) - c );
d += col_w_ * col_w_ * cd;
if( d < dist( j, i ) ) {
dist( j, i ) = d;
label( j, i ) = k;
}
}
}
// Update
for( int k=0; k<K; k++ ) {
seedsd[k] = Point2d(0,0);
cnt[k] = 0;
}
for( int j=0; j<im.rows; j++ )
for( int i=0; i<im.cols; i++ ) {
// Fix all the pixels we messed up!
if ( label( j, i ) < 0 ) {
// printf("Oops that wasn't very slick :(\n");
for( int k=0; k<K; k++ ){
Vec3f c = im( seeds[k] );
double d = (i-seeds[k].x) * (i-seeds[k].x) + (j-seeds[k].y) * (j-seeds[k].y);
double cd = ( im( j, i ) - c ).dot( im( j, i ) - c );
d += col_w_ * col_w_ * cd;
if( d < dist( j, i ) ) {
dist( j, i ) = d;
label( j, i ) = k;
}
}
}
seedsd[ label( j, i ) ] += Point2d( i, j );
cnt[ label( j, i ) ] += 1;
}
for( int k=0; k<K; k++ )
if (cnt[k] > 0)
seeds[k] = Point( 0.5 + seedsd[k].x / cnt[k], 0.5 + seedsd[k].y / cnt[k] );
}
return label;
}
Mat_< int > Superpixel::geodesicSegmentation( const Mat_< Vec3f >& im ) const {
//std::tr1::uniform_int<int> distribution(-2, 2);
//std::tr1::mt19937 engine; // Mersenne twister MT19937
//auto randint = std::tr1::bind(distribution, engine);
int s;
srand((unsigned)time(NULL));
s=rand()%4-2;
// Compute the spacing and grid size of the superpixels
double sp_area = 1.0 * im.cols * im.rows / K_;
int Kx = 0.5 + im.cols / sqrt( sp_area ), Ky = 0.5 + im.rows / sqrt( sp_area );
int K = Kx*Ky;
int win_sz = 1.0 * sqrt(sp_area) + 1;
// Initialize the seeds on a regular grid
std::vector< int64_t > cnt( K );
std::vector< Point2d > seedsd( K );
std::vector< Point > seeds( K );
for( int i=0,k=0; i<Kx; i++ )
for( int j=0; j<Ky; j++, k++ )
seeds[k] = Point( (i+0.5)*(im.cols-1)/Kx, (j+0.5)*(im.rows-1)/Ky ) + Point(rand()%4-2,rand()%4-2);/*Point( randint(), randint() );*/
Mat_<float> dx( im.size() ), dy( im.size() );
for( int j=0; j<im.rows; j++ )
for( int i=0; i<im.cols; i++ ) {
if (i)
dx(j,i-1) = col_w_*sqrt( (im(j,i)-im(j,i-1)).dot(im(j,i)-im(j,i-1)) ) + 1;
if (j)
dy(j-1,i) = col_w_*sqrt( (im(j-1,i)-im(j,i)).dot(im(j-1,i)-im(j,i)) ) + 1;
}
// Run k-means
Mat_<float> dist( im.size() );
Mat_<int> label( im.size() );
for( int it=0; it<n_iter_; it++ ) {
// Assignment step
dist = std::numeric_limits<float>::max();
label = -1;
for( int k=0; k<K; k++ ) {
dist( seeds[k] ) = 0;
label( seeds[k] ) = k;
}
for( int IT=0; IT<2; IT++ ){
for( int j=0; j<im.rows; j++ )
for( int i=0; i<im.cols; i++ ) {
if (i && dist(j,i-1) + dx(j,i-1) < dist(j,i)) {
dist(j,i) = dist(j,i-1) + dx(j,i-1);
label(j,i) = label(j,i-1);
}
if (j && dist(j-1,i) + dx(j-1,i) < dist(j,i)) {
dist(j,i) = dist(j-1,i) + dy(j-1,i);
label(j,i) = label(j-1,i);
}
}
for( int j=im.rows-1; j>=0; j-- )
for( int i=im.cols-1; i>=0; i-- ) {
if (i && dist(j,i) + dx(j,i-1) < dist(j,i-1)) {
dist(j,i-1) = dist(j,i) + dx(j,i-1);
label(j,i-1) = label(j,i);
}
if (j && dist(j,i) + dx(j-1,i) < dist(j-1,i)) {
dist(j-1,i) = dist(j,i) + dy(j-1,i);
label(j-1,i) = label(j,i);
}
}
}
for( int k=0; k<K; k++ ) {
Vec3f c = im( seeds[k] );
for( int j=std::max(0,seeds[k].y-win_sz); j<im.rows && j<=seeds[k].y+win_sz; j++ )
for( int i=std::max(0,seeds[k].x-win_sz); i<im.cols && i<=seeds[k].x+win_sz; i++ ){
double d = (i-seeds[k].x) * (i-seeds[k].x) + (j-seeds[k].y) * (j-seeds[k].y);
double cd = ( im( j, i ) - c ).dot( im( j, i ) - c );
d += col_w_ * col_w_ * cd;
if( d < dist( j, i ) ) {
dist( j, i ) = d;
label( j, i ) = k;
}
}
}
// Update
for( int k=0; k<K; k++ ) {
seedsd[k] = Point2d(0,0);
cnt[k] = 0;
}
for( int j=0; j<im.rows; j++ )
for( int i=0; i<im.cols; i++ ) {
// Fix all the pixels we messed up!
if ( label( j, i ) < 0 ) {
// printf("Oops that wasn't very slick :(\n");
for( int k=0; k<K; k++ ){
Vec3f c = im( seeds[k] );
double d = (i-seeds[k].x) * (i-seeds[k].x) + (j-seeds[k].y) * (j-seeds[k].y);
double cd = ( im( j, i ) - c ).dot( im( j, i ) - c );
d += col_w_ * col_w_ * cd;
if( d < dist( j, i ) ) {
dist( j, i ) = d;
label( j, i ) = k;
}
}
}
seedsd[ label( j, i ) ] += Point2d( i, j );
cnt[ label( j, i ) ] += 1;
}
for( int k=0; k<K; k++ )
if (cnt[k] > 0)
seeds[k] = Point( 0.5 + seedsd[k].x / cnt[k], 0.5 + seedsd[k].y / cnt[k] );
}
return label;
}
int main(int argc, char** argv)
{
/*Polynomial2 poly2;
poly2.kuu = -1;
poly2.kuv = 1;
poly2.kvv= -1;
poly2.ku = 0.25;
poly2.kv = 0.25;
poly2.k1 = 5;
CurveRasterizer<Polynomial2> raster(1, 1, -100, 100, poly2);
CurveRasterizer2<Polynomial2> raster2(1, 1, -100, 100, poly2);
auto tr0 = clock();
int x1 = 0;
int x2 = 0;
for (int i = 0; i < 10000000; i++)
{
raster.step();
x1 += raster.x;
}
auto tr1 = clock();
for (int i = 0; i < 10000000; i++)
{
raster2.step();
x2 += raster2.x;
}
auto tr2 = clock();
cout << "optimized " << double(tr1 - tr0) / CLOCKS_PER_SEC << endl;
cout << "simple " << double(tr2 - tr1) / CLOCKS_PER_SEC << endl;
cout << x1 << " " << x2 << endl;
return 0;*/
ifstream paramFile(argv[1]);
if (not paramFile.is_open())
{
cout << argv[1] << " : ERROR, file is not found" << endl;
return 0;
}
array<double, 6> params;
cout << "EU Camera model parameters :" << endl;
for (auto & p: params)
{
paramFile >> p;
cout << setw(15) << p;
}
cout << endl;
paramFile.ignore();
array<double, 6> cameraPose;
cout << "Camera pose wrt the robot :" << endl;
for (auto & e: cameraPose)
{
paramFile >> e;
cout << setw(15) << e;
}
cout << endl;
paramFile.ignore();
Transformation<double> TbaseCamera(cameraPose.data());
array<double, 6> planePose;
cout << "Plane pose :" << endl;
for (auto & e: cameraPose)
{
paramFile >> e;
cout << setw(15) << e;
}
cout << endl;
paramFile.ignore();
Transformation<double> TbasePlane(cameraPose.data());
StereoParameters stereoParams;
paramFile >> stereoParams.u0;
paramFile >> stereoParams.v0;
paramFile >> stereoParams.disparityMax;
paramFile >> stereoParams.blockSize;
paramFile.ignore();
string imageDir;
getline(paramFile, imageDir);
string imageInfo, imageName;
array<double, 6> robotPose1, robotPose2;
getline(paramFile, imageInfo);
istringstream imageStream(imageInfo);
imageStream >> imageName;
for (auto & x : robotPose1) imageStream >> x;
Mat8 img1 = imread(imageDir + imageName, 0);
int counter = 2;
while (getline(paramFile, imageInfo))
{
istringstream imageStream(imageInfo);
imageStream >> imageName;
for (auto & x : robotPose2) imageStream >> x;
Transformation<double> T01(robotPose1.data()), T02(robotPose2.data());
Transformation<double> TleftRight = T01.compose(TbaseCamera).inverseCompose(T02.compose(TbaseCamera));
Mat8 img2 = imread(imageDir + imageName, 0);
EnhancedStereo stereo(TleftRight, img1.cols, img1.rows, params.data(), params.data(), stereoParams);
cv::Mat_<uint8_t> res;
auto t2 = clock();
stereo.comuteStereo(img1, img2, res);
auto t3 = clock();
// cout << double(t3 - t2) / CLOCKS_PER_SEC << endl;
Mat_<float> distMat;
Mat_<float> planeMat;
stereo.computeDistance(distMat);
Transformation<double> T0Camera = T01.compose(TbaseCamera);
stereo.generatePlane(T0Camera.inverseCompose(TbasePlane), planeMat,
vector<Vector3d>{Vector3d(-0.1, -0.1, 0), Vector3d(-0.1 + 3 * 0.45, -0.1, 0),
Vector3d(-0.1 + 3 * 0.45, 0.5, 0), Vector3d(-0.1, 0.5, 0) } );
imshow("dist" + to_string(counter) , distMat);
imshow("plane" , planeMat);
imwrite("/home/bogdan/projects/plane.png", planeMat);
double err = 0;
double err2 = 0;
double dist = 0;
int N = 0;
int Nmax = 0;
Mat_<float> inlierMat(planeMat.size());
inlierMat.setTo(0);
for (int u = 0; u < distMat.cols; u++)
{
for (int v = 0; v < distMat.rows; v++)
{
if (planeMat(v, u) == 0) continue;
Nmax++;
dist += planeMat(v, u);
inlierMat(v, u) = 1;
if (distMat(v, u) == 0 or distMat(v, u) != distMat(v, u) or planeMat(v, u) != planeMat(v, u)) continue;
if (abs(distMat(v, u) - planeMat(v, u)) > 0.10) continue;
inlierMat(v, u) = 0;
err += distMat(v, u) - planeMat(v, u);
err2 += pow(distMat(v, u) - planeMat(v, u), 2);
N++;
}
}
// cout << (counter - 1) * 7 << " & " << dist/ Nmax * 1000 << " & " << err / N *1000 << " & " << sqrt(err2 / N)*1000
// << " & " << 100 * N / double(Nmax) << "\\\\" << endl << "\\hline" << endl;
cout << "avg err : " << err / N *1000 << " avg err2 : "
<< sqrt(err2 / N)*1000 << " number of inliers : " << 100 * N / double(Nmax) << endl;
imshow("diff" + to_string(counter), abs(planeMat - distMat));
imshow("inliers" + to_string(counter), inlierMat);
counter++;
}
waitKey();
return 0;
}
bool c_FourierTransfrom::ifftw_complex_3d(const Mat_<Vec6d> &_input,
Mat_<Vec6d> &_output)
{
size_t height = _input.rows;
size_t width = _input.cols;
size_t n_channels = _input.channels() / 2;
size_t n_pixels = height * width;
size_t n_data = n_pixels * n_channels;
fftw_complex *in, *out;
fftw_plan p;
in = (fftw_complex *)fftw_malloc(sizeof(fftw_complex) * n_data);
out = (fftw_complex *)fftw_malloc(sizeof(fftw_complex) * n_data);
p = fftw_plan_dft_3d(height, width, n_channels, in, out, FFTW_BACKWARD,
FFTW_ESTIMATE);
/*!< prepare the data */
for (size_t i_row = 0; i_row < height; ++i_row)
{
const Vec3d *p = _input.ptr<Vec3d>(i_row);
for (size_t i_col = 0; i_col < width; ++i_col)
{
size_t index = i_row * width + i_col;
for (size_t k = 0; k < n_channels; ++k)
{
in[n_pixels * k + index][0] = p[i_col][k];
in[n_pixels * k + index][1] = p[i_col][k + n_channels];
}
#if 0
in[index][0] = p[i_col][4];
in[index][1] = p[i_col][5];
in[n_pixels + index][0] = p[i_col][2];
in[n_pixels + index][1] = p[i_col][3];
in[n_pixels * 2 + index][0] = p[i_col][0];
in[n_pixels * 2 + index][1] = p[i_col][1];
#endif
}
}
fftw_execute(p);
/*!< write back data */
_output = Mat_<Vec6d>::zeros(_input.size());
for (size_t i_row = 0; i_row < height; ++i_row)
{
Vec6d *p = _output.ptr<Vec6d>(i_row);
for (size_t i_col = 0; i_col < width; ++i_col)
{
size_t index = i_row * width + i_col;
for (size_t k = 0; k < n_channels; ++k)
{
p[i_col][k] = out[n_pixels * k + index][0];
p[i_col][k + n_channels] = out[n_pixels * k + index][1];
}
#if 0
p[i_col][0] = out[n_pixels * 2 + index][0];
p[i_col][1] = out[n_pixels + index][0];
p[i_col][2] = out[index][0];
p[i_col][3] = out[n_pixels * 2 + index][1];
p[i_col][4] = out[n_pixels + index][1];
p[i_col][5] = out[index][1];
#endif
}
}
_output /= n_data;
fftw_destroy_plan(p);
fftw_free(in);
fftw_free(out);
return true;
}