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- /*********************************************************************
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2008-2010, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of the Willow Garage nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
- //
- // The original code was written by
- // Marius Muja
- // and later modified and prepared
- // for integration into OpenCV by
- // Antonella Cascitelli,
- // Marco Di Stefano and
- // Stefano Fabri
- // from Univ. of Rome
- //
- #include "stdafx.h"
- //#include "precomp.hpp"
- #include "imgproc.hpp"
- #include "opencv2/opencv_modules.hpp"
- #ifdef HAVE_OPENCV_HIGHGUI
- # include "opencv2/highgui/highgui.hpp"
- #endif
- #include <iostream>
- #include <queue>
- namespace cv
- {
- using std::queue;
- typedef std::pair<int,int> coordinate_t;
- typedef float orientation_t;
- typedef std::vector<coordinate_t> template_coords_t;
- typedef std::vector<orientation_t> template_orientations_t;
- typedef std::pair<Point, float> location_scale_t;
- class ChamferMatcher
- {
- private:
- class Matching;
- int max_matches_;
- float min_match_distance_;
- ///////////////////////// Image iterators ////////////////////////////
- class ImageIterator
- {
- public:
- virtual ~ImageIterator() {}
- virtual bool hasNext() const = 0;
- virtual location_scale_t next() = 0;
- };
- class ImageRange
- {
- public:
- virtual ImageIterator* iterator() const = 0;
- virtual ~ImageRange() {}
- };
- // Sliding window
- class SlidingWindowImageRange : public ImageRange
- {
- int width_;
- int height_;
- int x_step_;
- int y_step_;
- int scales_;
- float min_scale_;
- float max_scale_;
- public:
- SlidingWindowImageRange(int width, int height, int x_step = 3, int y_step = 3, int _scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
- width_(width), height_(height), x_step_(x_step),y_step_(y_step), scales_(_scales), min_scale_(min_scale), max_scale_(max_scale)
- {
- }
- ImageIterator* iterator() const;
- };
- class LocationImageRange : public ImageRange
- {
- const std::vector<Point>& locations_;
- int scales_;
- float min_scale_;
- float max_scale_;
- LocationImageRange(const LocationImageRange&);
- LocationImageRange& operator=(const LocationImageRange&);
- public:
- LocationImageRange(const std::vector<Point>& locations, int _scales = 5, float min_scale = 0.6, float max_scale = 1.6) :
- locations_(locations), scales_(_scales), min_scale_(min_scale), max_scale_(max_scale)
- {
- }
- ImageIterator* iterator() const
- {
- return new LocationImageIterator(locations_, scales_, min_scale_, max_scale_);
- }
- };
- class LocationScaleImageRange : public ImageRange
- {
- const std::vector<Point>& locations_;
- const std::vector<float>& scales_;
- LocationScaleImageRange(const LocationScaleImageRange&);
- LocationScaleImageRange& operator=(const LocationScaleImageRange&);
- public:
- LocationScaleImageRange(const std::vector<Point>& locations, const std::vector<float>& _scales) :
- locations_(locations), scales_(_scales)
- {
- assert(locations.size()==_scales.size());
- }
- ImageIterator* iterator() const
- {
- return new LocationScaleImageIterator(locations_, scales_);
- }
- };
- public:
- /**
- * Class that represents a template for chamfer matching.
- */
- class Template
- {
- friend class ChamferMatcher::Matching;
- friend class ChamferMatcher;
- public:
- std::vector<Template*> scaled_templates;
- std::vector<int> addr;
- int addr_width;
- float scale;
- template_coords_t coords;
- template_orientations_t orientations;
- Size size;
- Point center;
- public:
- Template() : addr_width(-1)
- {
- }
- Template(Mat& edge_image, float scale_ = 1);
- ~Template()
- {
- for (size_t i=0;i<scaled_templates.size();++i) {
- delete scaled_templates[i];
- }
- scaled_templates.clear();
- coords.clear();
- orientations.clear();
- }
- void show() const;
- private:
- /**
- * Resizes a template
- *
- * @param scale Scale to be resized to
- */
- Template* rescale(float scale);
- std::vector<int>& getTemplateAddresses(int width);
- };
- /**
- * Used to represent a matching result.
- */
- class Match
- {
- public:
- float cost;
- Point offset;
- const Template* tpl;
- };
- typedef std::vector<Match> Matches;
- private:
- /**
- * Implements the chamfer matching algorithm on images taking into account both distance from
- * the template pixels to the nearest pixels and orientation alignment between template and image
- * contours.
- */
- class Matching
- {
- float truncate_;
- bool use_orientation_;
- std::vector<Template*> templates;
- public:
- Matching(bool use_orientation = true, float _truncate = 10) : truncate_(_truncate), use_orientation_(use_orientation)
- {
- }
- ~Matching()
- {
- for (size_t i = 0; i<templates.size(); i++) {
- //delete templates[i];
- }
- }
- /**
- * Add a template to the detector from an edge image.
- * @param templ An edge image
- */
- void addTemplateFromImage(Mat& templ, float scale = 1.0);
- /**
- * Run matching using an edge image.
- * @param edge_img Edge image
- * @return a match object
- */
- ChamferMatcher::Matches* matchEdgeImage(Mat& edge_img, const ImageRange& range, float orientation_weight = 0.5, int max_matches = 20, float min_match_distance = 10.0);
- void addTemplate(Template& template_);
- private:
- float orientation_diff(float o1, float o2)
- {
- return fabs(o1-o2);
- }
- /**
- * Computes the chamfer matching cost for one position in the target image.
- * @param offset Offset where to compute cost
- * @param dist_img Distance transform image.
- * @param orientation_img Orientation image.
- * @param tpl Template
- * @param templ_orientations Orientations of the target points.
- * @return matching result
- */
- ChamferMatcher::Match* localChamferDistance(Point offset, Mat& dist_img, Mat& orientation_img, Template* tpl, float orientation_weight);
- private:
- /**
- * Matches all templates.
- * @param dist_img Distance transform image.
- * @param orientation_img Orientation image.
- */
- ChamferMatcher::Matches* matchTemplates(Mat& dist_img, Mat& orientation_img, const ImageRange& range, float orientation_weight);
- void computeDistanceTransform(Mat& edges_img, Mat& dist_img, Mat& annotate_img, float truncate_dt, float a, float b);
- void computeEdgeOrientations(Mat& edge_img, Mat& orientation_img);
- void fillNonContourOrientations(Mat& annotated_img, Mat& orientation_img);
- public:
- /**
- * Finds a contour in an edge image. The original image is altered by removing the found contour.
- * @param templ_img Edge image
- * @param coords Coordinates forming the contour.
- * @return True while a contour is still found in the image.
- */
- static bool findContour(Mat& templ_img, template_coords_t& coords);
- /**
- * Computes contour points orientations using the approach from:
- *
- * Matas, Shao and Kittler - Estimation of Curvature and Tangent Direction by
- * Median Filtered Differencing
- *
- * @param coords Contour points
- * @param orientations Contour points orientations
- */
- static void findContourOrientations(const template_coords_t& coords, template_orientations_t& orientations);
- /**
- * Computes the angle of a line segment.
- *
- * @param a One end of the line segment
- * @param b The other end.
- * @param dx
- * @param dy
- * @return Angle in radians.
- */
- static float getAngle(coordinate_t a, coordinate_t b, int& dx, int& dy);
- /**
- * Finds a point in the image from which to start contour following.
- * @param templ_img
- * @param p
- * @return
- */
- static bool findFirstContourPoint(Mat& templ_img, coordinate_t& p);
- /**
- * Method that extracts a single continuous contour from an image given a starting point.
- * When it extracts the contour it tries to maintain the same direction (at a T-join for example).
- *
- * @param templ_
- * @param coords
- * @param direction
- */
- static void followContour(Mat& templ_img, template_coords_t& coords, int direction);
- };
- class LocationImageIterator : public ImageIterator
- {
- const std::vector<Point>& locations_;
- size_t iter_;
- int scales_;
- float min_scale_;
- float max_scale_;
- float scale_;
- float scale_step_;
- int scale_cnt_;
- bool has_next_;
- LocationImageIterator(const LocationImageIterator&);
- LocationImageIterator& operator=(const LocationImageIterator&);
- public:
- LocationImageIterator(const std::vector<Point>& locations, int _scales, float min_scale, float max_scale);
- bool hasNext() const {
- return has_next_;
- }
- location_scale_t next();
- };
- class LocationScaleImageIterator : public ImageIterator
- {
- const std::vector<Point>& locations_;
- const std::vector<float>& scales_;
- size_t iter_;
- bool has_next_;
- LocationScaleImageIterator(const LocationScaleImageIterator&);
- LocationScaleImageIterator& operator=(const LocationScaleImageIterator&);
- public:
- LocationScaleImageIterator(const std::vector<Point>& locations, const std::vector<float>& _scales) :
- locations_(locations), scales_(_scales)
- {
- assert(locations.size()==_scales.size());
- reset();
- }
- void reset()
- {
- iter_ = 0;
- has_next_ = (locations_.size()==0 ? false : true);
- }
- bool hasNext() const {
- return has_next_;
- }
- location_scale_t next();
- };
- class SlidingWindowImageIterator : public ImageIterator
- {
- int x_;
- int y_;
- float scale_;
- float scale_step_;
- int scale_cnt_;
- bool has_next_;
- int width_;
- int height_;
- int x_step_;
- int y_step_;
- int scales_;
- float min_scale_;
- float max_scale_;
- public:
- SlidingWindowImageIterator(int width, int height, int x_step, int y_step, int scales, float min_scale, float max_scale);
- bool hasNext() const {
- return has_next_;
- }
- location_scale_t next();
- };
- int count;
- Matches matches;
- int pad_x;
- int pad_y;
- int scales;
- float minScale;
- float maxScale;
- float orientation_weight;
- float truncate;
- Matching * chamfer_;
- public:
- ChamferMatcher(int _max_matches = 20, float _min_match_distance = 1.0, int _pad_x = 3,
- int _pad_y = 3, int _scales = 5, float _minScale = 0.6, float _maxScale = 1.6,
- float _orientation_weight = 0.5, float _truncate = 20)
- {
- max_matches_ = _max_matches;
- min_match_distance_ = _min_match_distance;
- pad_x = _pad_x;
- pad_y = _pad_y;
- scales = _scales;
- minScale = _minScale;
- maxScale = _maxScale;
- orientation_weight = _orientation_weight;
- truncate = _truncate;
- count = 0;
- matches.resize(max_matches_);
- chamfer_ = new Matching(true);
- }
- ~ChamferMatcher()
- {
- delete chamfer_;
- }
- void showMatch(Mat& img, int index = 0);
- void showMatch(Mat& img, Match match_);
- const Matches& matching(Template&, Mat&);
- private:
- ChamferMatcher(const ChamferMatcher&);
- ChamferMatcher& operator=(const ChamferMatcher&);
- void addMatch(float cost, Point offset, const Template* tpl);
- };
- ///////////////////// implementation ///////////////////////////
- ChamferMatcher::SlidingWindowImageIterator::SlidingWindowImageIterator( int width,
- int height,
- int x_step = 3,
- int y_step = 3,
- int _scales = 5,
- float min_scale = 0.6,
- float max_scale = 1.6) :
- width_(width),
- height_(height),
- x_step_(x_step),
- y_step_(y_step),
- scales_(_scales),
- min_scale_(min_scale),
- max_scale_(max_scale)
- {
- x_ = 0;
- y_ = 0;
- scale_cnt_ = 0;
- scale_ = min_scale_;
- has_next_ = true;
- scale_step_ = (max_scale_-min_scale_)/scales_;
- }
- location_scale_t ChamferMatcher::SlidingWindowImageIterator::next()
- {
- location_scale_t next_val = std::make_pair(Point(x_,y_),scale_);
- x_ += x_step_;
- if (x_ >= width_) {
- x_ = 0;
- y_ += y_step_;
- if (y_ >= height_) {
- y_ = 0;
- scale_ += scale_step_;
- scale_cnt_++;
- if (scale_cnt_ == scales_) {
- has_next_ = false;
- scale_cnt_ = 0;
- scale_ = min_scale_;
- }
- }
- }
- return next_val;
- }
- ChamferMatcher::ImageIterator* ChamferMatcher::SlidingWindowImageRange::iterator() const
- {
- return new SlidingWindowImageIterator(width_, height_, x_step_, y_step_, scales_, min_scale_, max_scale_);
- }
- ChamferMatcher::LocationImageIterator::LocationImageIterator(const std::vector<Point>& locations,
- int _scales = 5,
- float min_scale = 0.6,
- float max_scale = 1.6) :
- locations_(locations),
- scales_(_scales),
- min_scale_(min_scale),
- max_scale_(max_scale)
- {
- iter_ = 0;
- scale_cnt_ = 0;
- scale_ = min_scale_;
- has_next_ = (locations_.size()==0 ? false : true);
- scale_step_ = (max_scale_-min_scale_)/scales_;
- }
- location_scale_t ChamferMatcher::LocationImageIterator:: next()
- {
- location_scale_t next_val = std::make_pair(locations_[iter_],scale_);
- iter_ ++;
- if (iter_==locations_.size()) {
- iter_ = 0;
- scale_ += scale_step_;
- scale_cnt_++;
- if (scale_cnt_ == scales_) {
- has_next_ = false;
- scale_cnt_ = 0;
- scale_ = min_scale_;
- }
- }
- return next_val;
- }
- location_scale_t ChamferMatcher::LocationScaleImageIterator::next()
- {
- location_scale_t next_val = std::make_pair(locations_[iter_],scales_[iter_]);
- iter_ ++;
- if (iter_==locations_.size()) {
- iter_ = 0;
- has_next_ = false;
- }
- return next_val;
- }
- bool ChamferMatcher::Matching::findFirstContourPoint(Mat& templ_img, coordinate_t& p)
- {
- for (int y=0;y<templ_img.rows;++y) {
- for (int x=0;x<templ_img.cols;++x) {
- if (templ_img.at<uchar>(y,x)!=0) {
- p.first = x;
- p.second = y;
- return true;
- }
- }
- }
- return false;
- }
- void ChamferMatcher::Matching::followContour(Mat& templ_img, template_coords_t& coords, int direction = -1)
- {
- const int dir[][2] = { {-1,-1}, {-1,0}, {-1,1}, {0,1}, {1,1}, {1,0}, {1,-1}, {0,-1} };
- coordinate_t next;
- unsigned char ptr;
- assert (direction==-1 || !coords.empty());
- coordinate_t crt = coords.back();
- // mark the current pixel as visited
- templ_img.at<uchar>(crt.second,crt.first) = 0;
- if (direction==-1) {
- for (int j = 0; j<7; ++j) {
- next.first = crt.first + dir[j][1];
- next.second = crt.second + dir[j][0];
- if (next.first >= 0 && next.first < templ_img.cols &&
- next.second >= 0 && next.second < templ_img.rows){
- ptr = templ_img.at<uchar>(next.second, next.first);
- if (ptr!=0) {
- coords.push_back(next);
- followContour(templ_img, coords,j);
- // try to continue contour in the other direction
- reverse(coords.begin(), coords.end());
- followContour(templ_img, coords, (j+4)%8);
- break;
- }
- }
- }
- }
- else {
- int k = direction;
- int k_cost = 3;
- next.first = crt.first + dir[k][1];
- next.second = crt.second + dir[k][0];
- if (next.first >= 0 && next.first < templ_img.cols &&
- next.second >= 0 && next.second < templ_img.rows){
- ptr = templ_img.at<uchar>(next.second, next.first);
- if (ptr!=0) {
- k_cost = std::abs(dir[k][1]) + std::abs(dir[k][0]);
- }
- int p = k;
- int n = k;
- for (int j = 0 ;j<3; ++j) {
- p = (p + 7) % 8;
- n = (n + 1) % 8;
- next.first = crt.first + dir[p][1];
- next.second = crt.second + dir[p][0];
- if (next.first >= 0 && next.first < templ_img.cols &&
- next.second >= 0 && next.second < templ_img.rows){
- ptr = templ_img.at<uchar>(next.second, next.first);
- if (ptr!=0) {
- int p_cost = std::abs(dir[p][1]) + std::abs(dir[p][0]);
- if (p_cost<k_cost) {
- k_cost = p_cost;
- k = p;
- }
- }
- next.first = crt.first + dir[n][1];
- next.second = crt.second + dir[n][0];
- if (next.first >= 0 && next.first < templ_img.cols &&
- next.second >= 0 && next.second < templ_img.rows){
- ptr = templ_img.at<uchar>(next.second, next.first);
- if (ptr!=0) {
- int n_cost = std::abs(dir[n][1]) + std::abs(dir[n][0]);
- if (n_cost<k_cost) {
- k_cost = n_cost;
- k = n;
- }
- }
- }
- }
- }
- if (k_cost!=3) {
- next.first = crt.first + dir[k][1];
- next.second = crt.second + dir[k][0];
- if (next.first >= 0 && next.first < templ_img.cols &&
- next.second >= 0 && next.second < templ_img.rows) {
- coords.push_back(next);
- followContour(templ_img, coords, k);
- }
- }
- }
- }
- }
- bool ChamferMatcher::Matching::findContour(Mat& templ_img, template_coords_t& coords)
- {
- coordinate_t start_point;
- bool found = findFirstContourPoint(templ_img,start_point);
- if (found) {
- coords.push_back(start_point);
- followContour(templ_img, coords);
- return true;
- }
- return false;
- }
- float ChamferMatcher::Matching::getAngle(coordinate_t a, coordinate_t b, int& dx, int& dy)
- {
- dx = b.first-a.first;
- dy = -(b.second-a.second); // in image coordinated Y axis points downward
- float angle = atan2((float)dy,(float)dx);
- if (angle<0) {
- angle+=(float)CV_PI;
- }
- return angle;
- }
- void ChamferMatcher::Matching::findContourOrientations(const template_coords_t& coords, template_orientations_t& orientations)
- {
- const int M = 5;
- int coords_size = (int)coords.size();
- std::vector<float> angles(2*M);
- orientations.insert(orientations.begin(), coords_size, float(-3*CV_PI)); // mark as invalid in the beginning
- if (coords_size<2*M+1) { // if contour not long enough to estimate orientations, abort
- return;
- }
- for (int i=M;i<coords_size-M;++i) {
- coordinate_t crt = coords[i];
- coordinate_t other;
- int k = 0;
- int dx, dy;
- // compute previous M angles
- for (int j=M;j>0;--j) {
- other = coords[i-j];
- angles[k++] = getAngle(other,crt, dx, dy);
- }
- // compute next M angles
- for (int j=1;j<=M;++j) {
- other = coords[i+j];
- angles[k++] = getAngle(crt, other, dx, dy);
- }
- // get the middle two angles
- std::nth_element(angles.begin(), angles.begin()+M-1, angles.end());
- std::nth_element(angles.begin()+M-1, angles.begin()+M, angles.end());
- // sort(angles.begin(), angles.end());
- // average them to compute tangent
- orientations[i] = (angles[M-1]+angles[M])/2;
- }
- }
- //////////////////////// Template /////////////////////////////////////
- ChamferMatcher::Template::Template(Mat& edge_image, float scale_) : addr_width(-1), scale(scale_)
- {
- template_coords_t local_coords;
- template_orientations_t local_orientations;
- while (ChamferMatcher::Matching::findContour(edge_image, local_coords)) {
- ChamferMatcher::Matching::findContourOrientations(local_coords, local_orientations);
- coords.insert(coords.end(), local_coords.begin(), local_coords.end());
- orientations.insert(orientations.end(), local_orientations.begin(), local_orientations.end());
- local_coords.clear();
- local_orientations.clear();
- }
- size = edge_image.size();
- Point min, max;
- min.x = size.width;
- min.y = size.height;
- max.x = 0;
- max.y = 0;
- center = Point(0,0);
- for (size_t i=0;i<coords.size();++i) {
- center.x += coords[i].first;
- center.y += coords[i].second;
- if (min.x>coords[i].first) min.x = coords[i].first;
- if (min.y>coords[i].second) min.y = coords[i].second;
- if (max.x<coords[i].first) max.x = coords[i].first;
- if (max.y<coords[i].second) max.y = coords[i].second;
- }
- size.width = max.x - min.x;
- size.height = max.y - min.y;
- int coords_size = (int)coords.size();
- center.x /= MAX(coords_size, 1);
- center.y /= MAX(coords_size, 1);
- for (int i=0;i<coords_size;++i) {
- coords[i].first -= center.x;
- coords[i].second -= center.y;
- }
- }
- vector<int>& ChamferMatcher::Template::getTemplateAddresses(int width)
- {
- if (addr_width!=width) {
- addr.resize(coords.size());
- addr_width = width;
- for (size_t i=0; i<coords.size();++i) {
- addr[i] = coords[i].second*width+coords[i].first;
- }
- }
- return addr;
- }
- /**
- * Resizes a template
- *
- * @param scale Scale to be resized to
- */
- ChamferMatcher::Template* ChamferMatcher::Template::rescale(float new_scale)
- {
- if (fabs(scale-new_scale)<1e-6) return this;
- for (size_t i=0;i<scaled_templates.size();++i) {
- if (fabs(scaled_templates[i]->scale-new_scale)<1e-6) {
- return scaled_templates[i];
- }
- }
- float scale_factor = new_scale/scale;
- Template* tpl = new Template();
- tpl->scale = new_scale;
- tpl->center.x = int(center.x*scale_factor+0.5);
- tpl->center.y = int(center.y*scale_factor+0.5);
- tpl->size.width = int(size.width*scale_factor+0.5);
- tpl->size.height = int(size.height*scale_factor+0.5);
- tpl->coords.resize(coords.size());
- tpl->orientations.resize(orientations.size());
- for (size_t i=0;i<coords.size();++i) {
- tpl->coords[i].first = int(coords[i].first*scale_factor+0.5);
- tpl->coords[i].second = int(coords[i].second*scale_factor+0.5);
- tpl->orientations[i] = orientations[i];
- }
- scaled_templates.push_back(tpl);
- return tpl;
- }
- void ChamferMatcher::Template::show() const
- {
- int pad = 50;
- //Attention size is not correct
- Mat templ_color (Size(size.width+(pad*2), size.height+(pad*2)), CV_8UC3);
- templ_color.setTo(0);
- for (size_t i=0;i<coords.size();++i) {
- int x = center.x+coords[i].first+pad;
- int y = center.y+coords[i].second+pad;
- templ_color.at<Vec3b>(y,x)[1]=255;
- //CV_PIXEL(unsigned char, templ_color,x,y)[1] = 255;
- if (i%3==0) {
- if (orientations[i] < -CV_PI) {
- continue;
- }
- Point p1;
- p1.x = x;
- p1.y = y;
- Point p2;
- p2.x = x + pad*(int)(sin(orientations[i])*100)/100;
- p2.y = y + pad*(int)(cos(orientations[i])*100)/100;
- line(templ_color, p1,p2, CV_RGB(255,0,0));
- }
- }
- circle(templ_color,Point(center.x + pad, center.y + pad),1,CV_RGB(0,255,0));
- #ifdef HAVE_OPENCV_HIGHGUI
- namedWindow("templ",1);
- imshow("templ",templ_color);
- cvWaitKey(0);
- #else
- CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without GUI support");
- #endif
- templ_color.release();
- }
- //////////////////////// Matching /////////////////////////////////////
- void ChamferMatcher::Matching::addTemplateFromImage(Mat& templ, float scale)
- {
- Template* cmt = new Template(templ, scale);
- templates.clear();
- templates.push_back(cmt);
- cmt->show();
- }
- void ChamferMatcher::Matching::addTemplate(Template& template_){
- templates.clear();
- templates.push_back(&template_);
- }
- /**
- * Alternative version of computeDistanceTransform, will probably be used to compute distance
- * transform annotated with edge orientation.
- */
- void ChamferMatcher::Matching::computeDistanceTransform(Mat& edges_img, Mat& dist_img, Mat& annotate_img, float truncate_dt, float a = 1.0, float b = 1.5)
- {
- int d[][2] = { {-1,-1}, { 0,-1}, { 1,-1},
- {-1,0}, { 1,0},
- {-1,1}, { 0,1}, { 1,1} };
- Size s = edges_img.size();
- int w = s.width;
- int h = s.height;
- // set distance to the edge pixels to 0 and put them in the queue
- std::queue<std::pair<int,int> > q;
- for (int y=0;y<h;++y) {
- for (int x=0;x<w;++x) {
- // initialize
- if (&annotate_img!=NULL) {
- annotate_img.at<Vec2i>(y,x)[0]=x;
- annotate_img.at<Vec2i>(y,x)[1]=y;
- }
- uchar edge_val = edges_img.at<uchar>(y,x);
- if( (edge_val!=0) ) {
- q.push(std::make_pair(x,y));
- dist_img.at<float>(y,x)= 0;
- }
- else {
- dist_img.at<float>(y,x)=-1;
- }
- }
- }
- // breadth first computation of distance transform
- std::pair<int,int> crt;
- while (!q.empty()) {
- crt = q.front();
- q.pop();
- int x = crt.first;
- int y = crt.second;
- float dist_orig = dist_img.at<float>(y,x);
- float dist;
- for (size_t i=0;i<sizeof(d)/sizeof(d[0]);++i) {
- int nx = x + d[i][0];
- int ny = y + d[i][1];
- if (nx<0 || ny<0 || nx>=w || ny>=h) continue;
- if (std::abs(d[i][0]+d[i][1])==1) {
- dist = (dist_orig)+a;
- }
- else {
- dist = (dist_orig)+b;
- }
- float dt = dist_img.at<float>(ny,nx);
- if (dt==-1 || dt>dist) {
- dist_img.at<float>(ny,nx) = dist;
- q.push(std::make_pair(nx,ny));
- if (&annotate_img!=NULL) {
- annotate_img.at<Vec2i>(ny,nx)[0]=annotate_img.at<Vec2i>(y,x)[0];
- annotate_img.at<Vec2i>(ny,nx)[1]=annotate_img.at<Vec2i>(y,x)[1];
- }
- }
- }
- }
- // truncate dt
- if (truncate_dt>0) {
- Mat dist_img_thr = dist_img.clone();
- threshold(dist_img, dist_img_thr, truncate_dt,0.0 ,THRESH_TRUNC);
- dist_img_thr.copyTo(dist_img);
- }
- }
- void ChamferMatcher::Matching::computeEdgeOrientations(Mat& edge_img, Mat& orientation_img)
- {
- Mat contour_img(edge_img.size(), CV_8UC1);
- orientation_img.setTo(3*(-CV_PI));
- template_coords_t coords;
- template_orientations_t orientations;
- while (ChamferMatcher::Matching::findContour(edge_img, coords)) {
- ChamferMatcher::Matching::findContourOrientations(coords, orientations);
- // set orientation pixel in orientation image
- for (size_t i = 0; i<coords.size();++i) {
- int x = coords[i].first;
- int y = coords[i].second;
- // if (orientations[i]>-CV_PI)
- // {
- //CV_PIXEL(unsigned char, contour_img, x, y)[0] = 255;
- contour_img.at<uchar>(y,x)=255;
- // }
- //CV_PIXEL(float, orientation_img, x, y)[0] = orientations[i];
- orientation_img.at<float>(y,x)=orientations[i];
- }
- coords.clear();
- orientations.clear();
- }
- //imwrite("contours.pgm", contour_img);
- }
- void ChamferMatcher::Matching::fillNonContourOrientations(Mat& annotated_img, Mat& orientation_img)
- {
- int cols = annotated_img.cols;
- int rows = annotated_img.rows;
- assert(orientation_img.cols==cols && orientation_img.rows==rows);
- for (int y=0;y<rows;++y) {
- for (int x=0;x<cols;++x) {
- int xorig = annotated_img.at<Vec2i>(y,x)[0];
- int yorig = annotated_img.at<Vec2i>(y,x)[1];
- if (x!=xorig || y!=yorig) {
- //orientation_img.at<float>(yorig,xorig)=orientation_img.at<float>(y,x);
- orientation_img.at<float>(y,x)=orientation_img.at<float>(yorig,xorig);
- }
- }
- }
- }
- ChamferMatcher::Match* ChamferMatcher::Matching::localChamferDistance(Point offset, Mat& dist_img, Mat& orientation_img,
- ChamferMatcher::Template* tpl, float alpha)
- {
- int x = offset.x;
- int y = offset.y;
- float beta = 1-alpha;
- std::vector<int>& addr = tpl->getTemplateAddresses(dist_img.cols);
- float* ptr = dist_img.ptr<float>(y)+x;
- float sum_distance = 0;
- for (size_t i=0; i<addr.size();++i) {
- if(addr[i] < (dist_img.cols*dist_img.rows) - (offset.y*dist_img.cols + offset.x)){
- sum_distance += *(ptr+addr[i]);
- }
- }
- float cost = (sum_distance/truncate_)/addr.size();
- if (&orientation_img!=NULL) {
- float* optr = orientation_img.ptr<float>(y)+x;
- float sum_orientation = 0;
- int cnt_orientation = 0;
- for (size_t i=0;i<addr.size();++i) {
- if(addr[i] < (orientation_img.cols*orientation_img.rows) - (offset.y*orientation_img.cols + offset.x)){
- if (tpl->orientations[i]>=-CV_PI && (*(optr+addr[i]))>=-CV_PI) {
- sum_orientation += orientation_diff(tpl->orientations[i], (*(optr+addr[i])));
- cnt_orientation++;
- }
- }
- }
- if (cnt_orientation>0) {
- cost = (float)(beta*cost+alpha*(sum_orientation/(2*CV_PI))/cnt_orientation);
- }
- }
- if(cost > 0){
- ChamferMatcher::Match* istance = new ChamferMatcher::Match();
- istance->cost = cost;
- istance->offset = offset;
- istance->tpl = tpl;
- return istance;
- }
- return NULL;
- }
- ChamferMatcher::Matches* ChamferMatcher::Matching::matchTemplates(Mat& dist_img, Mat& orientation_img, const ImageRange& range, float _orientation_weight)
- {
- ChamferMatcher::Matches* pmatches(new Matches());
- // try each template
- for(size_t i = 0; i < templates.size(); i++) {
- ImageIterator* it = range.iterator();
- while (it->hasNext()) {
- location_scale_t crt = it->next();
- Point loc = crt.first;
- float scale = crt.second;
- Template* tpl = templates[i]->rescale(scale);
- if (loc.x-tpl->center.x<0 || loc.x+tpl->size.width/2>=dist_img.cols) continue;
- if (loc.y-tpl->center.y<0 || loc.y+tpl->size.height/2>=dist_img.rows) continue;
- ChamferMatcher::Match* is = localChamferDistance(loc, dist_img, orientation_img, tpl, _orientation_weight);
- if(is)
- {
- pmatches->push_back(*is);
- delete is;
- }
- }
- delete it;
- }
- return pmatches;
- }
- /**
- * Run matching using an edge image.
- * @param edge_img Edge image
- * @return a match object
- */
- ChamferMatcher::Matches* ChamferMatcher::Matching::matchEdgeImage(Mat& edge_img, const ImageRange& range,
- float _orientation_weight, int /*max_matches*/, float /*min_match_distance*/)
- {
- CV_Assert(edge_img.channels()==1);
- Mat dist_img;
- Mat annotated_img;
- Mat orientation_img;
- annotated_img.create(edge_img.size(), CV_32SC2);
- dist_img.create(edge_img.size(),CV_32FC1);
- dist_img.setTo(0);
- // Computing distance transform
- computeDistanceTransform(edge_img,dist_img, annotated_img, truncate_);
- //orientation_img = NULL;
- if (use_orientation_) {
- orientation_img.create(edge_img.size(), CV_32FC1);
- orientation_img.setTo(0);
- Mat edge_clone = edge_img.clone();
- computeEdgeOrientations(edge_clone, orientation_img );
- edge_clone.release();
- fillNonContourOrientations(annotated_img, orientation_img);
- }
- // Template matching
- ChamferMatcher::Matches* pmatches = matchTemplates( dist_img,
- orientation_img,
- range,
- _orientation_weight);
- if (use_orientation_) {
- orientation_img.release();
- }
- dist_img.release();
- annotated_img.release();
- return pmatches;
- }
- void ChamferMatcher::addMatch(float cost, Point offset, const Template* tpl)
- {
- bool new_match = true;
- for (int i=0; i<count; ++i) {
- if (std::abs(matches[i].offset.x-offset.x)+std::abs(matches[i].offset.y-offset.y)<min_match_distance_) {
- // too close, not a new match
- new_match = false;
- // if better cost, replace existing match
- if (cost<matches[i].cost) {
- matches[i].cost = cost;
- matches[i].offset = offset;
- matches[i].tpl = tpl;
- }
- // re-bubble to keep ordered
- int k = i;
- while (k>0) {
- if (matches[k-1].cost>matches[k].cost) {
- std::swap(matches[k-1],matches[k]);
- }
- k--;
- }
- break;
- }
- }
- if (new_match) {
- // if we don't have enough matches yet, add it to the array
- if (count<max_matches_) {
- matches[count].cost = cost;
- matches[count].offset = offset;
- matches[count].tpl = tpl;
- count++;
- }
- // otherwise find the right position to insert it
- else {
- // if higher cost than the worst current match, just ignore it
- if (matches[count-1].cost<cost) {
- return;
- }
- int j = 0;
- // skip all matches better than current one
- while (matches[j].cost<cost) j++;
- // shift matches one position
- int k = count-2;
- while (k>=j) {
- matches[k+1] = matches[k];
- k--;
- }
- matches[j].cost = cost;
- matches[j].offset = offset;
- matches[j].tpl = tpl;
- }
- }
- }
- void ChamferMatcher::showMatch(Mat& img, int index)
- {
- if (index>=count) {
- std::cout << "Index too big.\n" << std::endl;
- }
- assert(img.channels()==3);
- Match match = matches[index];
- const template_coords_t& templ_coords = match.tpl->coords;
- int x, y;
- for (size_t i=0;i<templ_coords.size();++i) {
- x = match.offset.x + templ_coords[i].first;
- y = match.offset.y + templ_coords[i].second;
- if ( x > img.cols-1 || x < 0 || y > img.rows-1 || y < 0) continue;
- img.at<Vec3b>(y,x)[0]=0;
- img.at<Vec3b>(y,x)[2]=0;
- img.at<Vec3b>(y,x)[1]=255;
- }
- }
- void ChamferMatcher::showMatch(Mat& img, Match match)
- {
- assert(img.channels()==3);
- const template_coords_t& templ_coords = match.tpl->coords;
- for (size_t i=0;i<templ_coords.size();++i) {
- int x = match.offset.x + templ_coords[i].first;
- int y = match.offset.y + templ_coords[i].second;
- if ( x > img.cols-1 || x < 0 || y > img.rows-1 || y < 0) continue;
- img.at<Vec3b>(y,x)[0]=0;
- img.at<Vec3b>(y,x)[2]=0;
- img.at<Vec3b>(y,x)[1]=255;
- }
- match.tpl->show();
- }
- const ChamferMatcher::Matches& ChamferMatcher::matching(Template& tpl, Mat& image_){
- chamfer_->addTemplate(tpl);
- matches.clear();
- matches.resize(max_matches_);
- count = 0;
- Matches* matches_ = chamfer_->matchEdgeImage( image_,
- ChamferMatcher::
- SlidingWindowImageRange(image_.cols,
- image_.rows,
- pad_x,
- pad_y,
- scales,
- minScale,
- maxScale),
- orientation_weight,
- max_matches_,
- min_match_distance_);
- for(int i = 0; i < (int)matches_->size(); i++){
- addMatch(matches_->at(i).cost, matches_->at(i).offset, matches_->at(i).tpl);
- }
- matches_->clear();
- delete matches_;
- matches_ = NULL;
- matches.resize(count);
- return matches;
- }
- int chamferMatching2( Mat& img, Mat& templ,
- std::vector<std::vector<Point> >& results, std::vector<float>& costs,
- double templScale, int maxMatches, double minMatchDistance, int padX,
- int padY, int scales, double minScale, double maxScale,
- double orientationWeight, double truncate )
- {
- CV_Assert(img.type() == CV_8UC1 && templ.type() == CV_8UC1);
- ChamferMatcher matcher_(maxMatches, (float)minMatchDistance, padX, padY, scales,
- (float)minScale, (float)maxScale,
- (float)orientationWeight, (float)truncate);
- ChamferMatcher::Template template_(templ, (float)templScale);
- ChamferMatcher::Matches match_instances = matcher_.matching(template_, img);
- size_t i, nmatches = match_instances.size();
- results.resize(nmatches);
- costs.resize(nmatches);
- int bestIdx = -1;
- double minCost = DBL_MAX;
- for( i = 0; i < nmatches; i++ )
- {
- const ChamferMatcher::Match& match = match_instances[i];
- double cval = match.cost;
- if( cval < minCost)
- {
- minCost = cval;
- bestIdx = (int)i;
- }
- costs[i] = (float)cval;
- const template_coords_t& templ_coords = match.tpl->coords;
- std::vector<Point>& templPoints = results[i];
- size_t j, npoints = templ_coords.size();
- templPoints.resize(npoints);
- for (j = 0; j < npoints; j++ )
- {
- int x = match.offset.x + templ_coords[j].first;
- int y = match.offset.y + templ_coords[j].second;
- templPoints[j] = Point(x,y);
- }
- }
- std::cout << minCost;
- return bestIdx;
- }
- }
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