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imagerepresentation.cpp
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imagerepresentation.cpp
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#include "imagerepresentation.h"
#include "synth-detection.hpp"
#include "detectors/mser/extrema/extrema.h"
#include <fstream>
#include <opencv2/features2d/features2d.hpp>
#include "cnpy/cnpy.h"
#ifdef _OPENMP
#include <omp.h>
#endif
#include <algorithm>
#include <iterator>
#define VERBOSE 1
#include <zmq.hpp>
inline static bool endsWith(const std::string& str, const std::string& suffix)
{
return str.size() >= suffix.size() && 0 == str.compare(str.size()-suffix.size(), suffix.size(), suffix);
}
std::vector<std::vector<float> > DescribeWithZmq(zmqDescriptorParams par,
AffineRegionVector &kps,
SynthImage &temp_img1){
int kp_size = kps.size() ;
std::vector<std::vector<float> > out;
int batch_size = 2000;
std::cout << kp_size << std::endl;
if (kp_size <= batch_size){
cv::Mat patches;
int odd_patch_size = par.patchSize ;
if (kps.size() > 0){
ExtractPatchesColumn(kps,temp_img1, patches,
par.mrSize,
odd_patch_size,
false,
false,
true);
std::vector<uchar> bufff1;
cv::imencode(".png",patches,bufff1);
zmq::context_t context (1);
int socket_mode = ZMQ_REQ;
zmq::socket_t socket(context, socket_mode);
socket.connect(par.port);
zmq::message_t mods_to_cnn(bufff1.size()) ;
memcpy ((void *) mods_to_cnn.data (), bufff1.data(), bufff1.size());
zmq::message_t cnn_to_mods;
#pragma omp critical
{
socket.send(mods_to_cnn);
// Get the reply.
socket.recv(&cnn_to_mods);
}
std::vector<float> inMsg(cnn_to_mods.size() / sizeof(float));
std::memcpy(inMsg.data(), cnn_to_mods.data(), cnn_to_mods.size());
const int desc_size = inMsg.size() /kps.size() ;
for (int img_num=0; img_num<kps.size(); img_num++)
{
std::vector<float> curr_desc(desc_size);
int offset = img_num*desc_size;
for (int i = 0; i < desc_size; ++i) {
const float v1 = inMsg[i+offset];
curr_desc[i] = v1;
}
out.push_back(curr_desc);
}
socket.close();
}
} else {
int num_batches = (kp_size / batch_size) + 1;
AffineRegionVector::const_iterator startIter(kps.cbegin());
AffineRegionVector::const_iterator endIter(kps.cbegin());
int num_done = 0;
int to_add = 0;
for (int bi = 0; bi < num_batches; bi++) {
num_done += batch_size;
if (num_done > kp_size) {
num_done -= batch_size;
to_add = kp_size - num_done;
} else {
to_add = batch_size;
}
std::advance(endIter, to_add);
AffineRegionVector current_kps(startIter, endIter);
std::vector<std::vector<float> > current_out = DescribeWithZmq(par,
current_kps,
temp_img1);
std::move(current_out.begin(), current_out.end(), std::back_inserter(out));
std::advance(startIter, to_add);
}
}
return out;
}
void saveKP(AffineKeypoint &ak, std::ostream &s) {
s << ak.x << " " << ak.y << " " << ak.a11 << " " << ak.a12 << " " << ak.a21 << " " << ak.a22 << " ";
s << ak.pyramid_scale << " " << ak.octave_number << " " << ak.s << " " << ak.sub_type << " ";
}
void saveKPBench(AffineKeypoint &ak, std::ostream &s) {
s << ak.x << " " << ak.y << " " << ak.s << " " << ak.a11 << " " << ak.a12 << " " << ak.a21 << " " << ak.a22;
}
void saveKP_KM_format(AffineKeypoint &ak, std::ostream &s) {
double sc = ak.s * sqrt(fabs(ak.a11*ak.a22 - ak.a12*ak.a21))*3.0*sqrt(3.0);
rectifyAffineTransformationUpIsUp(ak.a11,ak.a12,ak.a21,ak.a22);
Mat A = (Mat_<float>(2,2) << ak.a11, ak.a12, ak.a21, ak.a22);
SVD svd(A, SVD::FULL_UV);
float *d = (float *)svd.w.data;
d[0] = 1.0f/(d[0]*d[0]*sc*sc);
d[1] = 1.0f/(d[1]*d[1]*sc*sc);
A = svd.u * Mat::diag(svd.w) * svd.u.t();
s << ak.x << " " << ak.y << " " << A.at<float>(0,0) << " " << A.at<float>(0,1) << " " << A.at<float>(1,1) << " ";
}
void saveKPMichal(AffineKeypoint &ak, std::ostream &s) {
ak.s *= sqrt(fabs(ak.a11*ak.a22 - ak.a12*ak.a21))*3.0*sqrt(3.0);
rectifyAffineTransformationUpIsUp(ak.a11,ak.a12,ak.a21,ak.a22);
s << ak.x << " " << ak.y << " " << ak.s << " " << ak.a11 << " " << ak.a12 << " " << ak.a21 << " " << ak.a22 << " ";
s << ak.sub_type << " " << ak.response << " ";
}
void saveKPMichalBin(AffineKeypoint &ak, std::ostream &s) {
//float x, y, s, a11, a12, a21, a22, int type, float response, unsigned char desc[128]
ak.s *= sqrt(fabs(ak.a11*ak.a22 - ak.a12*ak.a21))*3.0*sqrt(3.0);
rectifyAffineTransformationUpIsUp(ak.a11,ak.a12,ak.a21,ak.a22);
float x = (float)ak.x;
s.write((char *)&x, sizeof(float));
float y = (float)ak.y;
s.write((char *)&y, sizeof(float));
//float scale = ak.s*mrSize;
float scale = (float)ak.s;
s.write((char *)&scale, sizeof(float));
float a11 = (float)ak.a11;
s.write((char *)&a11, sizeof(float));
float a12 = (float)ak.a12;
s.write((char *)&a12, sizeof(float));
float a21 = (float)ak.a21;
s.write((char *)&a21, sizeof(float));
float a22 = (float)ak.a22;
s.write((char *)&a22, sizeof(float));
s.write((char *)&ak.sub_type, sizeof(int));
float resp = (float)ak.response;
s.write((char *)&resp, sizeof(float));
}
void saveKP_KM_format_binary(AffineKeypoint &ak, std::ostream &s) {
double sc = ak.s * sqrt(fabs(ak.a11*ak.a22 - ak.a12*ak.a21))*3.0*sqrt(3.0);
rectifyAffineTransformationUpIsUp(ak.a11,ak.a12,ak.a21,ak.a22);
Mat A = (Mat_<float>(2,2) << ak.a11, ak.a12, ak.a21, ak.a22);
SVD svd(A, SVD::FULL_UV);
float *d = (float *)svd.w.data;
d[0] = 1.0f/(d[0]*d[0]*sc*sc);
d[1] = 1.0f/(d[1]*d[1]*sc*sc);
A = svd.u * Mat::diag(svd.w) * svd.u.t();
float x = (float)ak.x;
s.write((char *)&x, sizeof(float));
float y = (float)ak.y;
s.write((char *)&y, sizeof(float));
float a = (float)A.at<float>(0,0);
s.write((char *)&a, sizeof(float));
float b = (float)A.at<float>(0,1);
s.write((char *)&b, sizeof(float));
float c = (float)A.at<float>(1,1);
s.write((char *)&c, sizeof(float));
}
void saveAR(AffineRegion &ar, std::ostream &s) {
saveKPBench(ar.reproj_kp,s);
s << " " << ar.desc.vec.size() << " ";
for (unsigned int i = 0; i < ar.desc.vec.size(); ++i) {
s << ar.desc.vec[i] << " ";
}
}
void saveAR_KM_format(AffineRegion &ar, std::ostream &s) {
saveKP_KM_format(ar.reproj_kp,s);
for (unsigned int i = 0; i < ar.desc.vec.size(); i++) {
s << ar.desc.vec[i] << " ";
}
s << std::endl;
}
void saveARBench(AffineRegion &ar, std::ostream &s, std::ostream &s2) {
saveKPBench(ar.det_kp,s2);
saveKPBench(ar.reproj_kp,s);
}
void saveARMichal(AffineRegion &ar, std::ostream &s) {
saveKPMichal(ar.reproj_kp,s);
for (unsigned int i = 0; i < ar.desc.vec.size(); ++i) {
s << ar.desc.vec[i] << " ";
}
}
void saveARMichalBinary(AffineRegion &ar, std::ostream &s) {
saveKPMichalBin(ar.reproj_kp,s);
for (unsigned int i = 0; i < ar.desc.vec.size(); ++i) {
int desc = (int)MAX(0,MIN(ar.desc.vec[i], 255));
unsigned char desc1 = (unsigned char) (desc);
s.write((char *)&desc1, sizeof(unsigned char));
}
}
void saveARMikBinary(AffineRegion &ar, std::ostream &s) {
saveKP_KM_format_binary(ar.reproj_kp, s);
for (unsigned int i = 0; i < ar.desc.vec.size(); ++i) {
float desc = (float)MAX(0,MIN(ar.desc.vec[i], 255));
s.write((char *)&desc, sizeof(float));
}
}
void loadKP(AffineKeypoint &ak, std::istream &s) {
s >> ak.x >> ak.y >> ak.a11 >> ak.a12 >>ak.a21 >> ak.a22 >> ak.pyramid_scale >> ak.octave_number >> ak.s >> ak.sub_type;
}
void loadAR(AffineRegion &ar, std::istream &s) {
s >> ar.id >> ar.img_id >> ar.img_reproj_id;
s >> ar.parent_id;
loadKP(ar.det_kp,s);
loadKP(ar.reproj_kp,s);
// s >> ar.desc.type;
int size1;
s >> size1;
ar.desc.vec.resize(size1);
for (unsigned int i = 0; i < ar.desc.vec.size(); ++i) {
s >> ar.desc.vec[i];
}
}
void L2normalize(const float* input_arr, int size, std::vector<float> &output_vect)
{
double norm = 0.0;
for (int i = 0; i < size; ++i) {
norm+=input_arr[i] * input_arr[i];
}
const double norm_coef = 1.0/sqrt(norm + 1e-10);
for (int i = 0; i < size; ++i) {
const float v1 = norm_coef*input_arr[i] ;
output_vect[i] = v1;
}
}
void L1normalize(const float* input_arr, int size, std::vector<float> &output_vect)
{
double norm=0.0;
for (int i = 0; i < size; ++i) {
norm+=input_arr[i];
}
const double norm_coef = 1.0/norm;
for (int i = 0; i < size; ++i) {
const float v1 = floor(norm_coef*input_arr[i]);
output_vect[i] = v1;
}
}
void RootNormalize(const float* input_arr, int size, std::vector<float> &output_vect)
{
L2normalize(input_arr,size,output_vect);
double norm=0.0;
for (int i = 0; i < size; ++i) {
norm+=input_arr[i];
}
const double norm_coef = 1.0/norm;
for (int i = 0; i < size; ++i) {
const float v1 = sqrt(norm_coef*input_arr[i]);
output_vect[i] = v1;
}
}
ImageRepresentation::ImageRepresentation(cv::Mat _in_img, std::string _name)
{
if (_in_img.channels() ==3) {
_in_img.convertTo(OriginalImg,CV_32FC3);
} else {
_in_img.convertTo(OriginalImg,CV_32F);
}
Name = _name;
}
ImageRepresentation::ImageRepresentation()
{
}
ImageRepresentation::~ImageRepresentation()
{
RegionVectorMap.clear();
}
void ImageRepresentation::Clear()
{
RegionVectorMap.clear();
}
void ImageRepresentation::SetImg(cv::Mat _in_img, std::string _name)
{
if (_in_img.channels() ==3) {
_in_img.convertTo(OriginalImg,CV_32FC3);
} else {
_in_img.convertTo(OriginalImg,CV_32F);
}
Name = _name;
}
descriptor_type ImageRepresentation::GetDescriptorType(std::string desc_name)
{
for (unsigned int i=0; i< DescriptorNames.size(); i++)
if (DescriptorNames[i].compare(desc_name)==0)
return static_cast<descriptor_type>(i);
return DESC_UNKNOWN;
}
detector_type ImageRepresentation::GetDetectorType(std::string det_name)
{
for (unsigned int i=0; i< DetectorNames.size(); i++)
if (DetectorNames[i].compare(det_name)==0)
return static_cast<detector_type>(i);
return DET_UNKNOWN;
}
TimeLog ImageRepresentation::GetTimeSpent()
{
return TimeSpent;
}
int ImageRepresentation::GetRegionsNumber(std::string det_name)
{
int reg_number = 0;
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
if (det_name.compare("All") == 0)
{
for (regions_it = RegionVectorMap.begin();
regions_it != RegionVectorMap.end(); regions_it++)
{
AffineRegionVectorMap::iterator desc_it;
if ( (desc_it = regions_it->second.find("None")) != regions_it->second.end() )
reg_number += desc_it->second.size();
}
}
else
{
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
AffineRegionVectorMap::iterator desc_it;
if ( (desc_it = regions_it->second.find("None")) != regions_it->second.end() )
reg_number += desc_it->second.size();
}
}
return reg_number;
}
int ImageRepresentation::GetDescriptorsNumber(std::string desc_name, std::string det_name)
{
int reg_number = 0;
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
if (det_name.compare("All") == 0)
{
for (regions_it = RegionVectorMap.begin();
regions_it != RegionVectorMap.end(); regions_it++)
if (desc_name.compare("All") == 0)
{
for (desc_it = regions_it->second.begin();
desc_it != regions_it->second.end(); desc_it++)
reg_number += desc_it->second.size();
}
else
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
reg_number += desc_it->second.size();
}
}
else
{
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
if (desc_name.compare("All") == 0)
{
for (desc_it = regions_it->second.begin();
desc_it != regions_it->second.end(); desc_it++)
reg_number += desc_it->second.size();
}
else
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
reg_number += desc_it->second.size();
}
}
}
return reg_number;
}
int ImageRepresentation::GetDescriptorDimension(std::string desc_name)
{
int dim = 0;
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
for (regions_it = RegionVectorMap.begin();regions_it != RegionVectorMap.end(); regions_it++)
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
if (desc_it->second.size() > 0)
{
dim = desc_it->second[0].desc.vec.size();
break;
}
}
return dim;
}
cv::Mat ImageRepresentation::GetDescriptorsMatByDetDesc(const std::string desc_name,const std::string det_name)
{
unsigned int dim = GetDescriptorDimension(desc_name);
unsigned int n_descs = GetDescriptorsNumber(desc_name,det_name);
cv::Mat descriptors(dim, n_descs, CV_32F);
int reg_number = 0;
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
if (det_name.compare("All") == 0)
{
for (regions_it = RegionVectorMap.begin();
regions_it != RegionVectorMap.end(); regions_it++)
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
unsigned int curr_size = currentDescVector->size();
for (unsigned int i = 0; i<curr_size; i++, reg_number++)
{
float* Row = descriptors.ptr<float>(reg_number);
AffineRegion curr_region = (*currentDescVector)[i];
for (unsigned int j = 0; j<dim; j++)
Row[j] = curr_region.desc.vec[j];
}
}
}
}
else
{
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
unsigned int curr_size = currentDescVector->size();
for (unsigned int i = 0; i<curr_size; i++, reg_number++)
{
float* Row = descriptors.ptr<float>(reg_number);
AffineRegion curr_region = (*currentDescVector)[i];
for (unsigned int j = 0; j<dim; j++)
Row[j] = curr_region.desc.vec[j];
}
}
}
}
return descriptors;
}
cv::Mat ImageRepresentation::GetDescriptorsMatByDetDesc(std::vector<Point2f> &coordinates, const std::string desc_name,const std::string det_name)
{
unsigned int dim = GetDescriptorDimension(desc_name);
unsigned int n_descs = GetDescriptorsNumber(desc_name,det_name);
cv::Mat descriptors(dim, n_descs, CV_32F);
coordinates.clear();
coordinates.reserve(n_descs);
int reg_number = 0;
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
if (det_name.compare("All") == 0)
{
for (regions_it = RegionVectorMap.begin();
regions_it != RegionVectorMap.end(); regions_it++)
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
unsigned int curr_size = currentDescVector->size();
for (unsigned int i = 0; i<curr_size; i++, reg_number++)
{
float* Row = descriptors.ptr<float>(reg_number);
AffineRegion curr_region = (*currentDescVector)[i];
Point2f curr_point;
curr_point.x = curr_region.reproj_kp.x;
curr_point.y = curr_region.reproj_kp.y;
coordinates.push_back(curr_point);
for (unsigned int j = 0; j<dim; j++)
Row[j] = curr_region.desc.vec[j];
}
}
}
}
else
{
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
unsigned int curr_size = currentDescVector->size();
for (unsigned int i = 0; i<curr_size; i++, reg_number++)
{
float* Row = descriptors.ptr<float>(reg_number);
AffineRegion curr_region = (*currentDescVector)[i];
Point2f curr_point;
curr_point.x = curr_region.reproj_kp.x;
curr_point.y = curr_region.reproj_kp.y;
coordinates.push_back(curr_point);
for (unsigned int j = 0; j<dim; j++)
Row[j] = curr_region.desc.vec[j];
}
}
}
}
return descriptors;
}
AffineRegion ImageRepresentation::GetAffineRegion(std::string desc_name, std::string det_name, int idx)
{
AffineRegion curr_region;
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
curr_region = (*currentDescVector)[idx];
return curr_region;
}
}
return curr_region;
}
AffineRegionVector ImageRepresentation::GetAffineRegionVector(std::string desc_name, std::string det_name, std::vector<int> idxs)
{
unsigned int n_regs = idxs.size();
AffineRegionVector regions;
regions.reserve(n_regs);
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
for (unsigned int i = 0; i < n_regs; i++)
regions.push_back((*currentDescVector)[idxs[i]]);
}
}
return regions;
}
AffineRegionVector ImageRepresentation::GetAffineRegionVector(std::string desc_name, std::string det_name)
{
unsigned int n_regs = GetDescriptorsNumber(desc_name,det_name);
AffineRegionVector regions;
regions.reserve(n_regs);
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
if (det_name.compare("All") == 0) {
for (regions_it = RegionVectorMap.begin();
regions_it != RegionVectorMap.end(); regions_it++)
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
for (unsigned int i = 0; i < n_regs; i++)
regions.push_back((*currentDescVector)[i]);
}
}
}
else {
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
for (unsigned int i = 0; i < n_regs; i++)
regions.push_back((*currentDescVector)[i]);
}
}
}
return regions;
}
void ImageRepresentation::AddRegions(AffineRegionVector &RegionsToAdd, std::string det_name, std::string desc_name)
{
std::map<std::string, AffineRegionVectorMap>::iterator regions_it;
AffineRegionVectorMap::iterator desc_it;
regions_it = RegionVectorMap.find(det_name);
if ( regions_it != RegionVectorMap.end())
{
desc_it = regions_it->second.find(desc_name);
if (desc_it != regions_it->second.end() )
{
AffineRegionVector *currentDescVector = &(desc_it->second);
ImageRepresentation::AddRegionsToList(*currentDescVector,RegionsToAdd);
}
else
{
regions_it->second[desc_name] = RegionsToAdd;
}
}
else
{
std::map<std::string, AffineRegionVector> new_desc;
new_desc[desc_name] = RegionsToAdd;
RegionVectorMap[det_name] = new_desc;
}
}
void ImageRepresentation::AddRegions(AffineRegionVectorMap &RegionsMapToAdd, std::string det_name)
{
AffineRegionVectorMap::iterator desc_it;
for (desc_it = RegionsMapToAdd.begin();
desc_it != RegionsMapToAdd.end(); desc_it++)
AddRegions(desc_it->second,det_name,desc_it->first);
}
void ImageRepresentation::AddRegionsToList(AffineRegionList &kp_list, AffineRegionList &new_kps)
{
int size = (int)kp_list.size();
unsigned int new_size = size + new_kps.size();
AffineRegionList::iterator ptr = new_kps.begin();
for (unsigned int i=size; i< new_size; i++, ptr++)
{
AffineRegion temp_reg = *ptr;
temp_reg.id += size;
temp_reg.parent_id +=size;
kp_list.push_back(temp_reg);
}
}
void ImageRepresentation::SynthDetectDescribeKeypoints (IterationViewsynthesisParam &synth_par,
DetectorsParameters &det_par,
DescriptorsParameters &desc_par,
DominantOrientationParams &dom_ori_par)
{
double time1 = 0;
#ifdef _OPENMP
omp_set_nested(1);
#endif
#pragma omp parallel for schedule (dynamic,1)
for (unsigned int det=0; det < DetectorNames.size(); det++)
{
std::string curr_det = DetectorNames[det];
unsigned int n_synths = synth_par[curr_det].size();
std::vector<AffineRegionVectorMap> OneDetectorKeypointsMapVector;
OneDetectorKeypointsMapVector.resize(n_synths);
#pragma omp parallel for schedule (dynamic,1)
for (unsigned int synth=0; synth<n_synths; synth++)
{
///Synthesis
long s_time = getMilliSecs1();
AffineRegionVector temp_kp1;
AffineRegionVectorMap temp_kp_map;
SynthImage temp_img1;
GenerateSynthImageCorr(OriginalImg, temp_img1, Name.c_str(),
synth_par[curr_det][synth].tilt,
synth_par[curr_det][synth].phi,
synth_par[curr_det][synth].zoom,
synth_par[curr_det][synth].InitSigma,
synth_par[curr_det][synth].doBlur, synth);
bool doExternalAffineAdaptation = false;
time1 = ((double)(getMilliSecs1() - s_time))/1000;
TimeSpent.SynthTime += time1;
bool SIFT_like_desc = true;
bool HalfSIFT_like_desc = false;
for (unsigned int i_desc=0; i_desc < synth_par[curr_det][synth].descriptors.size();i_desc++) {
std::string curr_desc = synth_par[curr_det][synth].descriptors[i_desc];
if (curr_desc.find("Half") != std::string::npos) {
HalfSIFT_like_desc = true;
}
}
/// Detection
s_time = getMilliSecs1();
if (curr_det.compare("HessianAffine")==0)
{
doExternalAffineAdaptation = (det_par.BaumbergParam.external_command.size() > 0) || (det_par.BaumbergParam.useZMQ);
DetectAffineRegions(temp_img1, temp_kp1,det_par.HessParam,DET_HESSIAN,DetectAffineKeypoints);
}
else if (curr_det.compare("ReadAffs") == 0) {
if (endsWith(det_par.ReadAffsFromFileParam.fname,".npz")){
temp_kp1 = ImageRepresentation::PreLoadRegionsNPZ(det_par.ReadAffsFromFileParam.fname);
} else {
std::ifstream focikp(det_par.ReadAffsFromFileParam.fname);
if (focikp.is_open()) {
int kp_size;
focikp >> kp_size;
std::cerr << kp_size << std::endl;
temp_kp1.reserve(kp_size);
for (int kp_num = 0; kp_num < kp_size; kp_num++) {
AffineRegion temp_region;
temp_region.det_kp.pyramid_scale = -1;
temp_region.det_kp.octave_number = -1;
temp_region.det_kp.sub_type = 101;
focikp >> temp_region.det_kp.x;
focikp >> temp_region.det_kp.y;
focikp >> temp_region.det_kp.s;
focikp >> temp_region.det_kp.a11;
focikp >> temp_region.det_kp.a12;
focikp >> temp_region.det_kp.a21;
focikp >> temp_region.det_kp.a22;
temp_region.det_kp.response = 100;
temp_region.type = DET_READ;
temp_kp1.push_back(temp_region);
}
}
focikp.close();
}
}
else if (curr_det.compare("DoG")==0)
{
DetectAffineRegions(temp_img1, temp_kp1,det_par.DoGParam,DET_DOG,DetectAffineKeypoints);
}
else if (curr_det.compare("HarrisAffine")==0)
{
DetectAffineRegions(temp_img1, temp_kp1,det_par.HarrParam,DET_HARRIS,DetectAffineKeypoints);
}
else if (curr_det.compare("MSER")==0)
{
DetectAffineRegions(temp_img1, temp_kp1,det_par.MSERParam,DET_MSER,DetectMSERs);
}
//Baumberg iteration
if (doExternalAffineAdaptation) {
AffineRegionVector temp_kp_aff;
AffineShapeParams afShPar = det_par.BaumbergParam;
afShPar.affBmbrgMethod = det_par.HessParam.AffineShapePars.affBmbrgMethod;
// std::cout << "bmbg method: " << (int)afShPar.affBmbrgMethod;
if (temp_kp1.size() > 0) {
if (afShPar.external_command.size() > 0) {
DetectAffineShapeExt(temp_kp1,
temp_kp_aff,
temp_img1,
afShPar);
} else if (afShPar.useZMQ) {
//det_par.AffNetParam.mrSize = afShPar.mrSize;
std::vector<std::vector<float> > a11a21a22 = DescribeWithZmq(det_par.AffNetParam,
temp_kp1,
temp_img1);
AffineRegion temp_region, const_temp_region;
temp_kp_aff.clear();
temp_kp_aff.reserve(a11a21a22.size());
for (int kp_idx = 0; kp_idx < a11a21a22.size(); kp_idx ++) {
const_temp_region=temp_kp1[kp_idx];
temp_region=const_temp_region;
temp_region.det_kp.a11 = a11a21a22[kp_idx][0];
temp_region.det_kp.a12 = 0;
temp_region.det_kp.a21 = a11a21a22[kp_idx][1];
temp_region.det_kp.a22 = a11a21a22[kp_idx][2];
rectifyAffineTransformationUpIsUp(temp_region.det_kp.a11,
temp_region.det_kp.a12,
temp_region.det_kp.a21,
temp_region.det_kp.a22 );
float l1 = 1.0f, l2 = 1.0f;
if (!getEigenvalues(temp_region.det_kp.a11,
temp_region.det_kp.a12,
temp_region.det_kp.a21,
temp_region.det_kp.a22, l1, l2)) {
continue;
}
// leave on too high anisotropyb
if ((l1/l2>6) || (l2/l1>6)) {
continue;
}
if (interpolateCheckBorders(temp_img1.pixels.cols,temp_img1.pixels.rows,
(float) temp_region.det_kp.x,
(float) temp_region.det_kp.y,
(float) temp_region.det_kp.a11,
(float) temp_region.det_kp.a12 ,
(float) temp_region.det_kp.a21,
(float) temp_region.det_kp.a22 ,
det_par.AffNetParam.mrSize * temp_region.det_kp.s,
det_par.AffNetParam.mrSize * temp_region.det_kp.s) ) {
continue;
}
temp_kp_aff.push_back(temp_region);
}
}
else {
DetectAffineShape(temp_kp1,
temp_kp_aff,
temp_img1,
afShPar);
}
temp_kp1 = temp_kp_aff;
}
}
//
/// Orientation estimation
time1 = ((double)(getMilliSecs1() - s_time))/1000;
TimeSpent.DetectTime += time1;
s_time = getMilliSecs1();
AffineRegionVector temp_kp1_SIFT_like_desc;
AffineRegionVector temp_kp1_HalfSIFT_like_desc;
AffineRegionVector temp_kp1_upright;
ReprojectRegionsAndRemoveTouchBoundary(temp_kp1, temp_img1.H, OriginalImg.cols, OriginalImg.rows, desc_par.RootSIFTParam.PEParam.mrSize + 0.01 , true);
if (curr_det.compare("ReadAffs") == 0){
} else {
////////////!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Change it!s
if (SIFT_like_desc) {
if (dom_ori_par.external_command.size() > 0) {
DetectOrientationExt(temp_kp1, temp_kp1_SIFT_like_desc, temp_img1,
dom_ori_par.PEParam.mrSize, dom_ori_par.PEParam.patchSize,dom_ori_par.external_command);
} else if (dom_ori_par.useZMQ) {
std::vector<std::vector<float> > yx = DescribeWithZmq(det_par.OriNetParam,
temp_kp1,
temp_img1);
AffineRegion temp_region, const_temp_region;
temp_kp1_SIFT_like_desc.clear();
temp_kp1_SIFT_like_desc.reserve(yx.size());
for (int kp_idx = 0; kp_idx < yx.size(); kp_idx ++) {
const_temp_region=temp_kp1[kp_idx];
double angle = atan2(yx[kp_idx][0], yx[kp_idx][1]);
double ci = cos(angle);
double si = sin(angle);
temp_region=const_temp_region;
temp_region.det_kp.a11 = const_temp_region.det_kp.a11*ci-const_temp_region.det_kp.a12*si;
temp_region.det_kp.a12 = const_temp_region.det_kp.a11*si+const_temp_region.det_kp.a12*ci;
temp_region.det_kp.a21 = const_temp_region.det_kp.a21*ci-const_temp_region.det_kp.a22*si;
temp_region.det_kp.a22 = const_temp_region.det_kp.a21*si+const_temp_region.det_kp.a22*ci;
temp_kp1_SIFT_like_desc.push_back(temp_region);
}
} else
{
DetectOrientation(temp_kp1, temp_kp1_SIFT_like_desc, temp_img1,
dom_ori_par.PEParam.mrSize, dom_ori_par.PEParam.patchSize,
false, dom_ori_par.maxAngles,
dom_ori_par.threshold, false);
}
}
if (HalfSIFT_like_desc) {
DetectOrientation(temp_kp1, temp_kp1_HalfSIFT_like_desc, temp_img1,
dom_ori_par.PEParam.mrSize, dom_ori_par.PEParam.patchSize,
true, dom_ori_par.maxAngles,
dom_ori_par.threshold, false);
}
if (dom_ori_par.addUpRight) {
DetectOrientation(temp_kp1, temp_kp1_upright, temp_img1,
dom_ori_par.PEParam.mrSize, dom_ori_par.PEParam.patchSize,
false, 0, 1.0, true);
}
}
temp_kp_map["None"] = temp_kp1;
for (unsigned int i_desc=0; i_desc < synth_par[curr_det][synth].descriptors.size();i_desc++) {
std::string curr_desc = synth_par[curr_det][synth].descriptors[i_desc];
AffineRegionVector temp_kp1_desc;
AffineRegionVector dsp_desc;
if (dom_ori_par.addUpRight) {
temp_kp1_desc.insert(temp_kp1_desc.end(), temp_kp1_upright.begin(), temp_kp1_upright.end());
}
// ReprojectRegions(temp_kp1_desc, temp_img1.H, OriginalImg.cols, OriginalImg.rows);
if (curr_det.compare("ReadAffs") == 0) {
temp_kp1_desc.insert(temp_kp1_desc.end(), temp_kp1.begin(), temp_kp1.end());
std::cerr << "Read detections from provided file" << std::endl;
} else {
//Add oriented and upright keypoints if any
if (HalfSIFT_like_desc) {
temp_kp1_desc.insert(temp_kp1_desc.end(), temp_kp1_HalfSIFT_like_desc.begin(),
temp_kp1_HalfSIFT_like_desc.end());
}
if (SIFT_like_desc && (!HalfSIFT_like_desc)) {
temp_kp1_desc.insert(temp_kp1_desc.end(), temp_kp1_SIFT_like_desc.begin(),
temp_kp1_SIFT_like_desc.end());
}
if (!SIFT_like_desc) {
temp_kp1_desc.insert(temp_kp1_desc.end(), temp_kp1.begin(),
temp_kp1.end());
}
ReprojectRegions(temp_kp1_desc, temp_img1.H, OriginalImg.cols, OriginalImg.rows);
}
///Description
///
time1 = ((double) (getMilliSecs1() - s_time)) / 1000;
TimeSpent.OrientTime += time1;
s_time = getMilliSecs1();
if (curr_desc.compare("RootSIFT") == 0) //RootSIFT
{
SIFTDescriptor RootSIFTdesc(desc_par.RootSIFTParam);
DescribeRegions(temp_kp1_desc,
temp_img1, RootSIFTdesc,
desc_par.RootSIFTParam.PEParam.mrSize,
desc_par.RootSIFTParam.PEParam.patchSize,
desc_par.RootSIFTParam.PEParam.FastPatchExtraction,
desc_par.RootSIFTParam.PEParam.photoNorm);
}
else if (curr_desc.compare("HalfRootSIFT") == 0) //HalfRootSIFT
{
SIFTDescriptor HalfRootSIFTdesc(desc_par.HalfRootSIFTParam);
DescribeRegions(temp_kp1_desc,
temp_img1, HalfRootSIFTdesc,
desc_par.HalfRootSIFTParam.PEParam.mrSize,
desc_par.HalfRootSIFTParam.PEParam.patchSize,
desc_par.HalfRootSIFTParam.PEParam.FastPatchExtraction,
desc_par.HalfRootSIFTParam.PEParam.photoNorm);
}
else if (curr_desc.compare("HalfSIFT") == 0) //HalfSIFT
{
///Description
SIFTDescriptor HalfSIFTdesc(desc_par.HalfSIFTParam);
DescribeRegions(temp_kp1_desc,
temp_img1, HalfSIFTdesc,
desc_par.HalfSIFTParam.PEParam.mrSize,
desc_par.HalfSIFTParam.PEParam.patchSize,
desc_par.HalfSIFTParam.PEParam.FastPatchExtraction,
desc_par.HalfSIFTParam.PEParam.photoNorm);
}
else if (curr_desc.compare("ZMQ")==0)
{
if (temp_kp1_desc.size() > 0) {
std::vector<std::vector<float> > descrs = DescribeWithZmq(desc_par.zmqDescParam,
temp_kp1_desc,
temp_img1);
for (unsigned int kp_idx = 0; kp_idx < temp_kp1_desc.size(); kp_idx++) {
temp_kp1_desc[kp_idx].desc.vec.resize(descrs[kp_idx].size());
for (unsigned int di = 0; di < descrs[kp_idx].size(); di ++) {