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571 lines
20 KiB
C++
571 lines
20 KiB
C++
//*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include <limits>
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using namespace cv;
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template<typename _Tp> static int solveQuadratic(_Tp a, _Tp b, _Tp c, _Tp& x1, _Tp& x2)
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{
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if( a == 0 )
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{
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if( b == 0 )
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{
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x1 = x2 = 0;
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return c == 0;
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}
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x1 = x2 = -c/b;
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return 1;
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}
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_Tp d = b*b - 4*a*c;
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if( d < 0 )
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{
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x1 = x2 = 0;
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return 0;
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}
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if( d > 0 )
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{
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d = std::sqrt(d);
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double s = 1/(2*a);
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x1 = (-b - d)*s;
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x2 = (-b + d)*s;
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if( x1 > x2 )
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std::swap(x1, x2);
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return 2;
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}
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x1 = x2 = -b/(2*a);
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return 1;
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}
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//for android ndk
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#undef _S
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static inline Point2f applyHomography( const Mat_<double>& H, const Point2f& pt )
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{
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double z = H(2,0)*pt.x + H(2,1)*pt.y + H(2,2);
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if( z )
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{
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double w = 1./z;
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return Point2f( (float)((H(0,0)*pt.x + H(0,1)*pt.y + H(0,2))*w), (float)((H(1,0)*pt.x + H(1,1)*pt.y + H(1,2))*w) );
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}
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return Point2f( std::numeric_limits<float>::max(), std::numeric_limits<float>::max() );
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}
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static inline void linearizeHomographyAt( const Mat_<double>& H, const Point2f& pt, Mat_<double>& A )
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{
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A.create(2,2);
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double p1 = H(0,0)*pt.x + H(0,1)*pt.y + H(0,2),
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p2 = H(1,0)*pt.x + H(1,1)*pt.y + H(1,2),
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p3 = H(2,0)*pt.x + H(2,1)*pt.y + H(2,2),
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p3_2 = p3*p3;
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if( p3 )
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{
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A(0,0) = H(0,0)/p3 - p1*H(2,0)/p3_2; // fxdx
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A(0,1) = H(0,1)/p3 - p1*H(2,1)/p3_2; // fxdy
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A(1,0) = H(1,0)/p3 - p2*H(2,0)/p3_2; // fydx
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A(1,1) = H(1,1)/p3 - p2*H(2,1)/p3_2; // fydx
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}
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else
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A.setTo(Scalar::all(std::numeric_limits<double>::max()));
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}
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class EllipticKeyPoint
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{
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public:
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EllipticKeyPoint();
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EllipticKeyPoint( const Point2f& _center, const Scalar& _ellipse );
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static void convert( const std::vector<KeyPoint>& src, std::vector<EllipticKeyPoint>& dst );
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static void convert( const std::vector<EllipticKeyPoint>& src, std::vector<KeyPoint>& dst );
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static Mat_<double> getSecondMomentsMatrix( const Scalar& _ellipse );
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Mat_<double> getSecondMomentsMatrix() const;
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void calcProjection( const Mat_<double>& H, EllipticKeyPoint& projection ) const;
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static void calcProjection( const std::vector<EllipticKeyPoint>& src, const Mat_<double>& H, std::vector<EllipticKeyPoint>& dst );
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Point2f center;
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Scalar ellipse; // 3 elements a, b, c: ax^2+2bxy+cy^2=1
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Size_<float> axes; // half length of ellipse axes
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Size_<float> boundingBox; // half sizes of bounding box which sides are parallel to the coordinate axes
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};
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EllipticKeyPoint::EllipticKeyPoint()
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{
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*this = EllipticKeyPoint(Point2f(0,0), Scalar(1, 0, 1) );
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}
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EllipticKeyPoint::EllipticKeyPoint( const Point2f& _center, const Scalar& _ellipse )
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{
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center = _center;
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ellipse = _ellipse;
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double a = ellipse[0], b = ellipse[1], c = ellipse[2];
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double ac_b2 = a*c - b*b;
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double x1, x2;
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solveQuadratic(1., -(a+c), ac_b2, x1, x2);
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axes.width = (float)(1/sqrt(x1));
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axes.height = (float)(1/sqrt(x2));
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boundingBox.width = (float)sqrt(ellipse[2]/ac_b2);
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boundingBox.height = (float)sqrt(ellipse[0]/ac_b2);
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}
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Mat_<double> EllipticKeyPoint::getSecondMomentsMatrix( const Scalar& _ellipse )
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{
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Mat_<double> M(2, 2);
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M(0,0) = _ellipse[0];
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M(1,0) = M(0,1) = _ellipse[1];
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M(1,1) = _ellipse[2];
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return M;
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}
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Mat_<double> EllipticKeyPoint::getSecondMomentsMatrix() const
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{
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return getSecondMomentsMatrix(ellipse);
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}
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void EllipticKeyPoint::calcProjection( const Mat_<double>& H, EllipticKeyPoint& projection ) const
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{
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Point2f dstCenter = applyHomography(H, center);
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Mat_<double> invM; invert(getSecondMomentsMatrix(), invM);
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Mat_<double> Aff; linearizeHomographyAt(H, center, Aff);
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Mat_<double> dstM; invert(Aff*invM*Aff.t(), dstM);
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projection = EllipticKeyPoint( dstCenter, Scalar(dstM(0,0), dstM(0,1), dstM(1,1)) );
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}
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void EllipticKeyPoint::convert( const std::vector<KeyPoint>& src, std::vector<EllipticKeyPoint>& dst )
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{
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CV_INSTRUMENT_REGION()
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if( !src.empty() )
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{
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dst.resize(src.size());
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for( size_t i = 0; i < src.size(); i++ )
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{
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float rad = src[i].size/2;
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CV_Assert( rad );
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float fac = 1.f/(rad*rad);
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dst[i] = EllipticKeyPoint( src[i].pt, Scalar(fac, 0, fac) );
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}
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}
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}
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void EllipticKeyPoint::convert( const std::vector<EllipticKeyPoint>& src, std::vector<KeyPoint>& dst )
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{
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CV_INSTRUMENT_REGION()
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if( !src.empty() )
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{
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dst.resize(src.size());
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for( size_t i = 0; i < src.size(); i++ )
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{
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Size_<float> axes = src[i].axes;
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float rad = sqrt(axes.height*axes.width);
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dst[i] = KeyPoint(src[i].center, 2*rad );
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}
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}
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}
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void EllipticKeyPoint::calcProjection( const std::vector<EllipticKeyPoint>& src, const Mat_<double>& H, std::vector<EllipticKeyPoint>& dst )
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{
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if( !src.empty() )
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{
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CV_Assert( !H.empty() && H.cols == 3 && H.rows == 3);
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dst.resize(src.size());
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std::vector<EllipticKeyPoint>::const_iterator srcIt = src.begin();
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std::vector<EllipticKeyPoint>::iterator dstIt = dst.begin();
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for( ; srcIt != src.end() && dstIt != dst.end(); ++srcIt, ++dstIt )
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srcIt->calcProjection(H, *dstIt);
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}
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}
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static void filterEllipticKeyPointsByImageSize( std::vector<EllipticKeyPoint>& keypoints, const Size& imgSize )
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{
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if( !keypoints.empty() )
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{
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std::vector<EllipticKeyPoint> filtered;
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filtered.reserve(keypoints.size());
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std::vector<EllipticKeyPoint>::const_iterator it = keypoints.begin();
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for( int i = 0; it != keypoints.end(); ++it, i++ )
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{
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if( it->center.x + it->boundingBox.width < imgSize.width &&
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it->center.x - it->boundingBox.width > 0 &&
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it->center.y + it->boundingBox.height < imgSize.height &&
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it->center.y - it->boundingBox.height > 0 )
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filtered.push_back(*it);
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}
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keypoints.assign(filtered.begin(), filtered.end());
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}
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}
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struct IntersectAreaCounter
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{
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IntersectAreaCounter( float _dr, int _minx,
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int _miny, int _maxy,
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const Point2f& _diff,
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const Scalar& _ellipse1, const Scalar& _ellipse2 ) :
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dr(_dr), bua(0), bna(0), minx(_minx), miny(_miny), maxy(_maxy),
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diff(_diff), ellipse1(_ellipse1), ellipse2(_ellipse2) {}
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IntersectAreaCounter( const IntersectAreaCounter& counter, Split )
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{
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*this = counter;
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bua = 0;
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bna = 0;
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}
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void operator()( const BlockedRange& range )
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{
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CV_Assert( miny < maxy );
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CV_Assert( dr > FLT_EPSILON );
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int temp_bua = bua, temp_bna = bna;
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for( int i = range.begin(); i != range.end(); i++ )
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{
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float rx1 = minx + i*dr;
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float rx2 = rx1 - diff.x;
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for( float ry1 = (float)miny; ry1 <= (float)maxy; ry1 += dr )
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{
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float ry2 = ry1 - diff.y;
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//compute the distance from the ellipse center
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float e1 = (float)(ellipse1[0]*rx1*rx1 + 2*ellipse1[1]*rx1*ry1 + ellipse1[2]*ry1*ry1);
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float e2 = (float)(ellipse2[0]*rx2*rx2 + 2*ellipse2[1]*rx2*ry2 + ellipse2[2]*ry2*ry2);
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//compute the area
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if( e1<1 && e2<1 ) temp_bna++;
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if( e1<1 || e2<1 ) temp_bua++;
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}
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}
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bua = temp_bua;
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bna = temp_bna;
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}
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void join( IntersectAreaCounter& ac )
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{
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bua += ac.bua;
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bna += ac.bna;
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}
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float dr;
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int bua, bna;
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int minx;
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int miny, maxy;
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Point2f diff;
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Scalar ellipse1, ellipse2;
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};
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struct SIdx
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{
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SIdx() : S(-1), i1(-1), i2(-1) {}
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SIdx(float _S, int _i1, int _i2) : S(_S), i1(_i1), i2(_i2) {}
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float S;
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int i1;
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int i2;
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bool operator<(const SIdx& v) const { return S > v.S; }
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struct UsedFinder
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{
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UsedFinder(const SIdx& _used) : used(_used) {}
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const SIdx& used;
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bool operator()(const SIdx& v) const { return (v.i1 == used.i1 || v.i2 == used.i2); }
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UsedFinder& operator=(const UsedFinder&);
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};
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};
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static void computeOneToOneMatchedOverlaps( const std::vector<EllipticKeyPoint>& keypoints1, const std::vector<EllipticKeyPoint>& keypoints2t,
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bool commonPart, std::vector<SIdx>& overlaps, float minOverlap )
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{
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CV_Assert( minOverlap >= 0.f );
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overlaps.clear();
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if( keypoints1.empty() || keypoints2t.empty() )
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return;
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overlaps.clear();
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overlaps.reserve(cvRound(keypoints1.size() * keypoints2t.size() * 0.01));
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for( size_t i1 = 0; i1 < keypoints1.size(); i1++ )
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{
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EllipticKeyPoint kp1 = keypoints1[i1];
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float maxDist = sqrt(kp1.axes.width*kp1.axes.height),
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fac = 30.f/maxDist;
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if( !commonPart )
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fac=3;
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maxDist = maxDist*4;
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fac = 1.f/(fac*fac);
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EllipticKeyPoint keypoint1a = EllipticKeyPoint( kp1.center, Scalar(fac*kp1.ellipse[0], fac*kp1.ellipse[1], fac*kp1.ellipse[2]) );
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for( size_t i2 = 0; i2 < keypoints2t.size(); i2++ )
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{
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EllipticKeyPoint kp2 = keypoints2t[i2];
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Point2f diff = kp2.center - kp1.center;
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if( norm(diff) < maxDist )
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{
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EllipticKeyPoint keypoint2a = EllipticKeyPoint( kp2.center, Scalar(fac*kp2.ellipse[0], fac*kp2.ellipse[1], fac*kp2.ellipse[2]) );
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//find the largest eigenvalue
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int maxx = (int)ceil(( keypoint1a.boundingBox.width > (diff.x+keypoint2a.boundingBox.width)) ?
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keypoint1a.boundingBox.width : (diff.x+keypoint2a.boundingBox.width));
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int minx = (int)floor((-keypoint1a.boundingBox.width < (diff.x-keypoint2a.boundingBox.width)) ?
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-keypoint1a.boundingBox.width : (diff.x-keypoint2a.boundingBox.width));
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int maxy = (int)ceil(( keypoint1a.boundingBox.height > (diff.y+keypoint2a.boundingBox.height)) ?
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keypoint1a.boundingBox.height : (diff.y+keypoint2a.boundingBox.height));
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int miny = (int)floor((-keypoint1a.boundingBox.height < (diff.y-keypoint2a.boundingBox.height)) ?
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-keypoint1a.boundingBox.height : (diff.y-keypoint2a.boundingBox.height));
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int mina = (maxx-minx) < (maxy-miny) ? (maxx-minx) : (maxy-miny) ;
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//compute the area
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float dr = (float)mina/50.f;
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int N = (int)floor((float)(maxx - minx) / dr);
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IntersectAreaCounter ac( dr, minx, miny, maxy, diff, keypoint1a.ellipse, keypoint2a.ellipse );
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parallel_reduce( BlockedRange(0, N+1), ac );
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if( ac.bna > 0 )
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{
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float ov = (float)ac.bna / (float)ac.bua;
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if( ov >= minOverlap )
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overlaps.push_back(SIdx(ov, (int)i1, (int)i2));
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}
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}
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}
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}
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std::sort( overlaps.begin(), overlaps.end() );
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typedef std::vector<SIdx>::iterator It;
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It pos = overlaps.begin();
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It end = overlaps.end();
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while(pos != end)
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{
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It prev = pos++;
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end = std::remove_if(pos, end, SIdx::UsedFinder(*prev));
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}
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overlaps.erase(pos, overlaps.end());
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}
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static void calculateRepeatability( const Mat& img1, const Mat& img2, const Mat& H1to2,
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const std::vector<KeyPoint>& _keypoints1, const std::vector<KeyPoint>& _keypoints2,
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float& repeatability, int& correspondencesCount,
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Mat* thresholdedOverlapMask=0 )
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{
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std::vector<EllipticKeyPoint> keypoints1, keypoints2, keypoints1t, keypoints2t;
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EllipticKeyPoint::convert( _keypoints1, keypoints1 );
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EllipticKeyPoint::convert( _keypoints2, keypoints2 );
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// calculate projections of key points
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EllipticKeyPoint::calcProjection( keypoints1, H1to2, keypoints1t );
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Mat H2to1; invert(H1to2, H2to1);
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EllipticKeyPoint::calcProjection( keypoints2, H2to1, keypoints2t );
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float overlapThreshold;
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bool ifEvaluateDetectors = thresholdedOverlapMask == 0;
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if( ifEvaluateDetectors )
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{
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overlapThreshold = 1.f - 0.4f;
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// remove key points from outside of the common image part
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Size sz1 = img1.size(), sz2 = img2.size();
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filterEllipticKeyPointsByImageSize( keypoints1, sz1 );
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filterEllipticKeyPointsByImageSize( keypoints1t, sz2 );
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filterEllipticKeyPointsByImageSize( keypoints2, sz2 );
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filterEllipticKeyPointsByImageSize( keypoints2t, sz1 );
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}
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else
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{
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overlapThreshold = 1.f - 0.5f;
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thresholdedOverlapMask->create( (int)keypoints1.size(), (int)keypoints2t.size(), CV_8UC1 );
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thresholdedOverlapMask->setTo( Scalar::all(0) );
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}
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size_t size1 = keypoints1.size(), size2 = keypoints2t.size();
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size_t minCount = MIN( size1, size2 );
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// calculate overlap errors
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std::vector<SIdx> overlaps;
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computeOneToOneMatchedOverlaps( keypoints1, keypoints2t, ifEvaluateDetectors, overlaps, overlapThreshold/*min overlap*/ );
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correspondencesCount = -1;
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repeatability = -1.f;
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if( overlaps.empty() )
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return;
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if( ifEvaluateDetectors )
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{
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// regions one-to-one matching
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correspondencesCount = (int)overlaps.size();
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repeatability = minCount ? (float)correspondencesCount / minCount : -1;
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}
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else
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|
{
|
|
for( size_t i = 0; i < overlaps.size(); i++ )
|
|
{
|
|
int y = overlaps[i].i1;
|
|
int x = overlaps[i].i2;
|
|
thresholdedOverlapMask->at<uchar>(y,x) = 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
void cv::evaluateFeatureDetector( const Mat& img1, const Mat& img2, const Mat& H1to2,
|
|
std::vector<KeyPoint>* _keypoints1, std::vector<KeyPoint>* _keypoints2,
|
|
float& repeatability, int& correspCount,
|
|
const Ptr<FeatureDetector>& _fdetector )
|
|
{
|
|
CV_INSTRUMENT_REGION()
|
|
|
|
Ptr<FeatureDetector> fdetector(_fdetector);
|
|
std::vector<KeyPoint> *keypoints1, *keypoints2, buf1, buf2;
|
|
keypoints1 = _keypoints1 != 0 ? _keypoints1 : &buf1;
|
|
keypoints2 = _keypoints2 != 0 ? _keypoints2 : &buf2;
|
|
|
|
if( (keypoints1->empty() || keypoints2->empty()) && !fdetector )
|
|
CV_Error( Error::StsBadArg, "fdetector must not be empty when keypoints1 or keypoints2 is empty" );
|
|
|
|
if( keypoints1->empty() )
|
|
fdetector->detect( img1, *keypoints1 );
|
|
if( keypoints2->empty() )
|
|
fdetector->detect( img2, *keypoints2 );
|
|
|
|
calculateRepeatability( img1, img2, H1to2, *keypoints1, *keypoints2, repeatability, correspCount );
|
|
}
|
|
|
|
struct DMatchForEvaluation : public DMatch
|
|
{
|
|
uchar isCorrect;
|
|
DMatchForEvaluation( const DMatch &dm ) : DMatch( dm ), isCorrect(0) {}
|
|
};
|
|
|
|
static inline float recall( int correctMatchCount, int correspondenceCount )
|
|
{
|
|
return correspondenceCount ? (float)correctMatchCount / (float)correspondenceCount : -1;
|
|
}
|
|
|
|
static inline float precision( int correctMatchCount, int falseMatchCount )
|
|
{
|
|
return correctMatchCount + falseMatchCount ? (float)correctMatchCount / (float)(correctMatchCount + falseMatchCount) : -1;
|
|
}
|
|
|
|
void cv::computeRecallPrecisionCurve( const std::vector<std::vector<DMatch> >& matches1to2,
|
|
const std::vector<std::vector<uchar> >& correctMatches1to2Mask,
|
|
std::vector<Point2f>& recallPrecisionCurve )
|
|
{
|
|
CV_INSTRUMENT_REGION()
|
|
|
|
CV_Assert( matches1to2.size() == correctMatches1to2Mask.size() );
|
|
|
|
std::vector<DMatchForEvaluation> allMatches;
|
|
int correspondenceCount = 0;
|
|
for( size_t i = 0; i < matches1to2.size(); i++ )
|
|
{
|
|
for( size_t j = 0; j < matches1to2[i].size(); j++ )
|
|
{
|
|
DMatchForEvaluation match = matches1to2[i][j];
|
|
match.isCorrect = correctMatches1to2Mask[i][j] ;
|
|
allMatches.push_back( match );
|
|
correspondenceCount += match.isCorrect != 0 ? 1 : 0;
|
|
}
|
|
}
|
|
|
|
std::sort( allMatches.begin(), allMatches.end() );
|
|
|
|
int correctMatchCount = 0, falseMatchCount = 0;
|
|
recallPrecisionCurve.resize( allMatches.size() );
|
|
for( size_t i = 0; i < allMatches.size(); i++ )
|
|
{
|
|
if( allMatches[i].isCorrect )
|
|
correctMatchCount++;
|
|
else
|
|
falseMatchCount++;
|
|
|
|
float r = recall( correctMatchCount, correspondenceCount );
|
|
float p = precision( correctMatchCount, falseMatchCount );
|
|
recallPrecisionCurve[i] = Point2f(1-p, r);
|
|
}
|
|
}
|
|
|
|
float cv::getRecall( const std::vector<Point2f>& recallPrecisionCurve, float l_precision )
|
|
{
|
|
CV_INSTRUMENT_REGION()
|
|
|
|
int nearestPointIndex = getNearestPoint( recallPrecisionCurve, l_precision );
|
|
|
|
float recall = -1.f;
|
|
|
|
if( nearestPointIndex >= 0 )
|
|
recall = recallPrecisionCurve[nearestPointIndex].y;
|
|
|
|
return recall;
|
|
}
|
|
|
|
int cv::getNearestPoint( const std::vector<Point2f>& recallPrecisionCurve, float l_precision )
|
|
{
|
|
CV_INSTRUMENT_REGION()
|
|
|
|
int nearestPointIndex = -1;
|
|
|
|
if( l_precision >= 0 && l_precision <= 1 )
|
|
{
|
|
float minDiff = FLT_MAX;
|
|
for( size_t i = 0; i < recallPrecisionCurve.size(); i++ )
|
|
{
|
|
float curDiff = std::fabs(l_precision - recallPrecisionCurve[i].x);
|
|
if( curDiff <= minDiff )
|
|
{
|
|
nearestPointIndex = (int)i;
|
|
minDiff = curDiff;
|
|
}
|
|
}
|
|
}
|
|
|
|
return nearestPointIndex;
|
|
}
|