File: cvsurf.cpp /**//* * An OpenCV Implementation of SURF * Further Information Refer to "SURF: Speed-Up Robust Feature" * Author: Liu Liu * liuliu.1987+opencv@gmail.com * * There are still serveral lacks for this experimental implementation: * 1.The interpolation of sub-pixel mentioned in article was not implemented yet; * 2.A comparision with original libSurf.so shows that the hessian detector is not a 100% match to their implementation; * 3.Due to above reasons, I recommanded the original one for study and reuse; * * However, the speed of this implementation is something comparable to original one. */ #include "cvsurf.h" #include <iostream> #define ScanOctave (3) #define FilterScale (4) #define SamplingStep (1) CV_INLINE CvSURFPoint cvSURFPoint( int x, int y, int laplacian, int size, int octave, int scale ) ...{ CvSURFPoint p; p.x = x; p.y = y; p.laplacian = laplacian; p.size = size; p.octave = octave; p.scale = scale; return p; } CV_INLINE double icvCalHaarPattern( int* origin, int* t, int widthStep ) ...{ double d = 0; int *p0 = 0, *p1 = 0, *p2 = 0, *p3 = 0; int n = t[0]; for ( int k = 0; k < n; k++ ) ...{ p0 = origin+t[1]+t[2]*widthStep; p1 = origin+t[1]+t[4]*widthStep; p2 = origin+t[3]+t[2]*widthStep; p3 = origin+t[3]+t[4]*widthStep; d += (double)((*p3-*p2-*p1+*p0)*t[6])/(double)(t[5]); t+=6; } return d; } CV_INLINE void icvResizeHaarPattern( int* t_s, int* t_d, int OldSize, int NewSize ) ...{ int n = t_d[0] = t_s[0]; for ( int k = 0; k < n; k++ ) ...{ t_d[1] = t_s[1]*NewSize/OldSize; t_d[2] = t_s[2]*NewSize/OldSize; t_d[3] = t_s[3]*NewSize/OldSize; t_d[4] = t_s[4]*NewSize/OldSize; t_d[5] = (t_d[3]-t_d[1]+1)*(t_d[4]-t_d[2]+1); t_d[6] = t_s[6]; t_d+=6; t_s+=6; } } template<typename Number> CV_INLINE int icvSign( Number x ) ...{ return (( x < 0 ) ? -1 : 1); } CvSeq* icvFastHessianDetector( const CvMat* sum, CvMemStorage* storage, double quality ) ...{ double t = (double)cvGetTickCount(); CvSeq* points = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSURFPoint), storage ); CvMat* hessians[ScanOctave*(FilterScale+2)]; CvMat* traces[ScanOctave*(FilterScale+2)]; int size, size_cache[ScanOctave*(FilterScale+2)]; int scale, scale_cache[ScanOctave*(FilterScale+2)]; double *hessian_ptr, *hessian_ptr_cache[ScanOctave*(FilterScale+2)]; double *trace_ptr, *trace_ptr_cache[ScanOctave*(FilterScale+2)]; int dx_s[] = ...{ 3, 0, 2, 3, 7, 0, 1, 3, 2, 6, 7, 0, -2, 6, 2, 9, 7, 0, 1 }; int dy_s[] = ...{ 3, 2, 0, 7, 3, 0, 1, 2, 3, 7, 6, 0, -2, 2, 6, 7, 9, 0, 1 }; int dxy_s[] = ...{ 4, 1, 1, 4, 4, 0, 1, 5, 1, 8, 4, 0, -1, 1, 5, 4, 8, 0, -1, 5, 5, 8, 8, 0, 1 }; int dx_t[] = ...{ 3, 0, 2, 3, 7, 0, 1, 3, 2, 6, 7, 0, -2, 6, 2, 9, 7, 0, 1 }; int dy_t[] = ...{ 3, 2, 0, 7, 3, 0, 1, 2, 3, 7, 6, 0, -2, 2, 6, 7, 9, 0, 1 }; int dxy_t[] = ...{ 4, 1, 1, 4, 4, 0, 1, 5, 1, 8, 4, 0, -1, 1, 5, 4, 8, 0, -1, 5, 5, 8, 8, 0, 1 }; double dx = 0, dy = 0, dxy = 0; int k = 0; int hessian_rows, hessian_rows_cache[ScanOctave*(FilterScale+2)]; int hessian_cols, hessian_cols_cache[ScanOctave*(FilterScale+2)]; /**//* hessian detector */ for ( int o = 0; o < ScanOctave; o++ ) ...{ t = (double)cvGetTickCount(); for ( int s = -1; s < FilterScale+1; s++ ) ...{ if ( s < 0 ) size_cache[k] = size = 7<<o; // gaussian scale 1.0; else size_cache[k] = size = (s*6+9)<<o; // gaussian scale size*1.2/9.; scale_cache[k] = scale = MAX( size, 9 )*SamplingStep; hessian_rows_cache[k] = hessian_rows = (sum->rows)*9/scale; hessian_cols_cache[k] = hessian_cols = (sum->cols)*9/scale; hessians[k] = cvCreateMat( hessian_rows, hessian_cols, CV_64FC1 ); traces[k] = cvCreateMat( hessian_rows, hessian_cols, CV_64FC1 ); int* sum_ptr = (int*)sum->data.ptr; icvResizeHaarPattern( dx_s, dx_t, 9, size ); icvResizeHaarPattern( dy_s, dy_t, 9, size ); icvResizeHaarPattern( dxy_s, dxy_t, 9, size ); hessian_ptr_cache[k] = hessian_ptr = (double*)hessians[k]->data.ptr; trace_ptr_cache[k] = trace_ptr = (double*)traces[k]->data.ptr; hessian_ptr+=4/SamplingStep+(4/SamplingStep)*hessian_cols; trace_ptr+=4/SamplingStep+(4/SamplingStep)*hessian_cols; int oy = 0, y = 0; for ( int j = 0; j < hessian_rows-9/SamplingStep; j++ ) ...{ int * sum_line_ptr = sum_ptr; double* trace_line_ptr = trace_ptr; double* hessian_line_ptr = hessian_ptr; int ox = 0, x = 0; for ( int i = 0; i < hessian_cols-9/SamplingStep; i++ ) ...{ dx = icvCalHaarPattern( sum_line_ptr, dx_t, sum->cols ); dy = icvCalHaarPattern( sum_line_ptr, dy_t, sum->cols ); dxy = icvCalHaarPattern( sum_line_ptr, dxy_t, sum->cols ); *hessian_line_ptr = (dx*dy-dxy*dxy*0.81); *trace_line_ptr = dx+dy; x = (i+1)*scale/9; sum_line_ptr+=x-ox; ox = x; trace_line_ptr++; hessian_line_ptr++; } y = (j+1)*scale/9; sum_ptr+=(y-oy)*sum->cols; oy = y; trace_ptr+=hessian_cols; hessian_ptr+=hessian_cols; } k++; } t = (double)cvGetTickCount()-t; printf( "octave time = %gms ", t/((double)cvGetTickFrequency()*1000.) ); } double min_accept = quality*300; //t = (double)cvGetTickCount()-t; //printf( "hessian filter time = %gms ", t/((double)cvGetTickFrequency()*1000.) ); t = (double)cvGetTickCount(); k = 0; for ( int o = 0; o < ScanOctave; o++ ) ...{ k++; for ( int s = 0; s < FilterScale; s++ ) ...{ size = size_cache[k]; scale = scale_cache[k]; hessian_rows = hessian_rows_cache[k]; hessian_cols = hessian_cols_cache[k]; int margin = (5/SamplingStep)*scale_cache[k+1]/scale; hessian_ptr = hessian_ptr_cache[k]+margin+margin*hessian_cols; trace_ptr = trace_ptr_cache[k]; for ( int j = margin; j < hessian_rows-margin; j++ ) ...{ double* hessian_line_ptr = hessian_ptr; for ( int i = margin; i < hessian_cols-margin; i++ ) ...{ if ( *hessian_line_ptr > min_accept ) ...{ bool suppressed = false; /**//* non-maxima suppression */ for ( int z = k-1; z < k+2; z++ ) ...{ double* temp_hessian_ptr = hessian_ptr_cache[z]+i*scale/scale_cache[z]-1+(j*scale/scale_cache[z]-1)*hessian_cols_cache[z]; for ( int y = 0; y < 3; y++ ) ...{ double* temp_hessian_line_ptr = temp_hessian_ptr; for ( int x = 0; x < 3; x++ ) ...{ if ((( z != k )||( y != 1 )||( x != 1 ))&&( *temp_hessian_line_ptr > *hessian_line_ptr )) ...{ suppressed = true; break; } temp_hessian_line_ptr++; } if ( suppressed ) break; temp_hessian_ptr+=hessian_cols_cache[z]; } if ( suppressed ) break; } if ( !suppressed ) ...{ CvSURFPoint point = cvSURFPoint( i*scale/9, j*scale/9, icvSign(trace_ptr[i+j*hessian_cols]), size_cache[k], o, s ); cvSeqPush( points, &point ); } } hessian_line_ptr++; } hessian_ptr+=hessian_cols; } k++; } k++; } k = 0; for ( int o = 0; o < ScanOctave; o++ ) for ( int s = -1; s < FilterScale+1; s++ ) ...{ cvReleaseMat( &hessians[k] ); cvReleaseMat( &traces[k] ); k++; } t = (double)cvGetTickCount()-t; printf( "hessian selector time = %gms ", t/((double)cvGetTickFrequency()*1000.) ); return points; } void icvSURFGaussian( CvMat* mat, double s ) ...{ int w = mat->cols; int h = mat->rows; double x, y; double c2 = 1./(s*s*2); double over_exp = 1./(3.14159*2*s*s); for ( int i = 0; i < w; i++ ) for ( int j = 0; j < h; j++ ) ...{ x = i-w/2.; y = j-h/2.; cvmSet( mat, j, i, exp(-(x*x+y*y)*c2)*over_exp ); } } CvMat* wrap = 0; IplImage* regions_cache[ScanOctave*FilterScale]; IplImage* region_cache; CvMat* dx_cache; CvMat* dy_cache; CvMat* gauss_kernel_cache; double CosCache[3600]; double SinCache[3600]; void cvSURFInitialize() ...{ wrap = cvCreateMat( 2, 3, CV_32FC1 ); int k = 0; for ( int o = 0; o < ScanOctave; o++ ) for ( int s = 0; s < FilterScale; s++ ) ...{ double scal = ((s*6+9)<<o)*1.2/9.; regions_cache[k] = cvCreateImage( cvSize(cvRound(21*scal), cvRound(21*scal)), 8, 1 ); k++; } region_cache = cvCreateImage( cvSize(21, 21), 8, 1 ); dx_cache = cvCreateMat( 20, 20, CV_64FC1 ); dy_cache = cvCreateMat( 20, 20, CV_64FC1 ); gauss_kernel_cache = cvCreateMat( 20, 20, CV_64FC1 ); icvSURFGaussian( gauss_kernel_cache, 3.3 ); for ( int i = 0; i < 3600; i++ ) ...{ CosCache[i] = cos(i*0.001745329); SinCache[i] = sin(i*0.001745329); } } void cvSURFFinalize() ...{ cvReleaseMat( &wrap ); int k = 0; for ( int o = 0; o < ScanOctave; o++ ) for ( int s = 0; s < FilterScale; s++ ) ...{ cvReleaseImage( ®ions_cache[k] ); k++; } cvReleaseImage( ®ion_cache ); cvReleaseMat( &dx_cache ); cvReleaseMat( &dy_cache ); cvReleaseMat( &gauss_kernel_cache ); } CvSeq* cvSURFDescriptor( const CvArr* _img, CvMemStorage* storage, double quality, int flags ) ...{ IplImage* img = (IplImage*)_img; CvMat* sum = 0; sum = cvCreateMat( img->height+1, img->width+1, CV_32SC1 ); cvIntegral( img, sum ); CvMemStorage* point_storage = cvCreateChildMemStorage( storage ); CvSeq* points = icvFastHessianDetector( sum, point_storage, quality ); double t = (double)cvGetTickCount(); CvSeq* descriptors = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSURFDescriptor), storage ); int dx_s[] = ...{2, 0, 0, 2, 4, 0, -1, 2, 0, 4, 4, 0, 1}; int dy_s[] = ...{2, 0, 0, 4, 2, 0, -1, 0, 2, 4, 4, 0, 1}; int dx_t[] = ...{2, 0, 0, 2, 4, 0, -1, 2, 0, 4, 4, 0, 1}; int dy_t[] = ...{2, 0, 0, 4, 2, 0, -1, 0, 2, 4, 4, 0, 1}; double x[81], *iter_x; double y[81], *iter_y; double angle[81], *iter_angle; double sumx, sumy; double temp_mod; int angle_n; for ( int k = 0; k < points->total; k++ ) ...{ CvSURFPoint* point = (CvSURFPoint*)cvGetSeqElem( points, k ); CvSURFDescriptor descriptor; descriptor.x = cvRound(point->x); descriptor.y = cvRound(point->y); descriptor.laplacian = point->laplacian; int size = point->size; int layer = point->octave*FilterScale+point->scale; descriptor.s = size*1.2/9.; descriptor.mod = 0; /**//* repeatable orientation */ iter_x = x; iter_y = y; iter_angle = angle; angle_n = 0; icvResizeHaarPattern( dx_s, dx_t, 9, size ); icvResizeHaarPattern( dy_s, dy_t, 9, size ); int* sum_ptr = (int*)sum->data.ptr; double c2 = 1./(descriptor.s*descriptor.s*2.5*2.5*2); double over_exp = 1./(3.14159*2*descriptor.s*descriptor.s*2.5*2.5); for ( int j = -6; j <=2; j++ ) ...{ int y = descriptor.y+j*size/9; if (( y >= 0 )&&( y < sum->rows-size )) ...{ double ry = j+2; for ( int i = -6; i <=2; i++ ) ...{ int x = descriptor.x+i*size/9; if (( x >= 0 )&&( x < sum->cols-size )) ...{ double rx = j+2; double radius = rx*rx+ry*ry; if ( radius <= 16 ) ...{ rx*=descriptor.s; ry*=descriptor.s; *iter_x = icvCalHaarPattern( sum_ptr+x+y*sum->cols, dx_t, sum->cols )*exp(-radius*c2)*over_exp; *iter_y = icvCalHaarPattern( sum_ptr+x+y*sum->cols, dy_t, sum->cols )*exp(-radius*c2)*over_exp; *iter_angle = cvFastArctan( *iter_y, *iter_x ); iter_x++; iter_y++; iter_angle++; angle_n++; } } } } } double bestx = 0; double besty = 0; for ( int i = 0; i < 360; i+=5 ) ...{ sumx = 0; sumy = 0; iter_x = x; iter_y = y; iter_angle = angle; for ( int j = 0; j < angle_n; j++ ) ...{ if ( ( ( *iter_angle < i+60 )&&( *iter_angle > i ) )|| ( ( (*iter_angle+360) < i+60 )&&( (*iter_angle+360) > i ) ) ) ...{ sumx+=*iter_x; sumy+=*iter_y; } iter_x++; iter_y++; iter_angle++; } temp_mod = sumx*sumx+sumy*sumy; if ( temp_mod > descriptor.mod ) ...{ descriptor.mod = temp_mod; bestx = sumx; besty = sumy; } } descriptor.dir = cvFastArctan( besty, bestx ); /**//* get sub-region (CV_INTER_AREA approximately retain the information of total image for haar feature while reduce the time consuming */ double cos_dir = CosCache[MAX(cvRound(descriptor.dir*10)+3600, 0)%3600]; double sin_dir = SinCache[MAX(cvRound(descriptor.dir*10)+3600, 0)%3600]; cvmSet( wrap, 0, 0, cos_dir ); cvmSet( wrap, 0, 1, -sin_dir ); cvmSet( wrap, 0, 2, descriptor.x ); cvmSet( wrap, 1, 0, sin_dir ); cvmSet( wrap, 1, 1, cos_dir ); cvmSet( wrap, 1, 2, descriptor.y ); cvGetQuadrangleSubPix( img, regions_cache[layer], wrap ); cvResize( regions_cache[layer], region_cache, CV_INTER_AREA ); uchar* region_d; int region_step; cvGetImageRawData( region_cache, ®ion_d, ®ion_step ); uchar* region_x = region_d+1; uchar* region_y = region_d+region_step; uchar* region_xy = region_d+1+region_step; region_step-=20; double* iter_dx = (double*)dx_cache->data.ptr; double* iter_dy = (double*)dy_cache->data.ptr; for ( int i = 0; i < 20; i++ ) ...{ for ( int j = 0; j < 20; j++ ) ...{ *iter_dx = *region_y-*region_d-*region_x+*region_xy; *iter_dy = *region_x-*region_d-*region_y+*region_xy; iter_dx++; iter_dy++; region_d++; region_x++; region_y++; region_xy++; } region_d+=region_step; region_x+=region_step; region_y+=region_step; region_xy+=region_step; } cvMul( gauss_kernel_cache, dx_cache, dx_cache ); cvMul( gauss_kernel_cache, dy_cache, dy_cache ); double tx, ty; double* iter_vector = descriptor.vector; if ( flags&CV_SURF_EXTENDED ) ...{ /**//* 128-bin descriptor */ for ( int i = 0; i < 4; i++ ) for ( int j = 0; j < 4; j++ ) ...{ iter_vector[0] = 0; iter_vector[1] = 0; iter_vector[2] = 0; iter_vector[3] = 0; iter_vector[4] = 0; iter_vector[5] = 0; iter_vector[6] = 0; iter_vector[7] = 0; for ( int x = i*5; x < i*5+5; x++ ) ...{ for ( int y = j*5; y < j*5+5; y++ ) ...{ tx = cvGetReal2D( dx_cache, x, y ); ty = cvGetReal2D( dy_cache, x, y ); if ( ty >= 0 ) ...{ iter_vector[0] += tx; iter_vector[1] += fabs(tx); } else ...{ iter_vector[2] += tx; iter_vector[3] += fabs(tx); } if ( tx >= 0 ) ...{ iter_vector[4] += ty; iter_vector[5] += fabs(ty); } else ...{ iter_vector[6] += ty; iter_vector[7] += fabs(ty); } } } /**//* unit vector is essential for contrast invariant */ double normalize = 0; for ( int k = 0; k < 8; k++ ) normalize+=iter_vector[k]*iter_vector[k]; normalize = sqrt(normalize); for ( int k = 0; k < 8; k++ ) iter_vector[k] = iter_vector[k]/normalize; iter_vector+=8; } } else ...{ /**//* 64-bin descriptor */ for ( int i = 0; i < 4; i++ ) for ( int j = 0; j < 4; j++ ) ...{ iter_vector[0] = 0; iter_vector[1] = 0; iter_vector[2] = 0; iter_vector[3] = 0; for ( int x = i*5; x < i*5+5; x++ ) ...{ for ( int y = j*5; y < j*5+5; y++ ) ...{ tx = cvGetReal2D( dx_cache, x, y ); ty = cvGetReal2D( dy_cache, x, y ); iter_vector[0] += tx; iter_vector[1] += ty; iter_vector[2] += fabs(tx); iter_vector[3] += fabs(ty); } } double normalize = 0; for ( int k = 0; k < 4; k++ ) normalize+=iter_vector[k]*iter_vector[k]; normalize = sqrt(normalize); for ( int k = 0; k < 4; k++ ) iter_vector[k] = iter_vector[k]/normalize; iter_vector+=4; } } cvSeqPush( descriptors, &descriptor ); } cvReleaseMemStorage( &point_storage ); cvReleaseMat( &sum ); t = (double)cvGetTickCount()-t; printf( "descriptor time = %gms ", t/((double)cvGetTickFrequency()*1000.) ); return descriptors; } inline double icvCompareSURFDescriptor( CvSURFDescriptor* descriptor1, CvSURFDescriptor* descriptor2, double best, int length = 64 ) ...{ double* iter_vector1 = descriptor1->vector; double* iter_vector2 = descriptor2->vector; double total_cost = 0; for ( int i = 0; i < length; i++ ) ...{ total_cost+=(*iter_vector1-*iter_vector2)*(*iter_vector1-*iter_vector2); if ( total_cost > best ) break; iter_vector1++; iter_vector2++; } return total_cost; } inline int icvNaiveNearestNeighbor( CvSURFDescriptor* descriptor, CvSeq* model_descriptors, int length ) ...{ int neighbor = -1; double d; double dist1 = 0xffffff, dist2 = 0xffffff; for ( int i = 0; i < model_descriptors->total; i++ ) ...{ CvSURFDescriptor* model_descriptor = (CvSURFDescriptor*)cvGetSeqElem( model_descriptors, i ); if ( descriptor->laplacian != model_descriptor->laplacian ) continue; d = icvCompareSURFDescriptor( descriptor, model_descriptor, dist2, length ); if ( d < dist1 ) ...{ dist2 = dist1; dist1 = d; neighbor = i; } else ...{ if ( d < dist2 ) dist2 = d; } } if ( dist1 < 0.6*dist2 ) return neighbor; return -1; } /**//* a rough implementation for object location */ bool cvSURFObjectLocate( CvSeq* ImageDescriptor, CvSeq* ObjectDescriptor, CvPoint* points, int flags ) ...{ CvSURFDescriptor* correspond = (CvSURFDescriptor*)malloc( sizeof(CvSURFDescriptor)*ObjectDescriptor->total*2 ); int length = ( flags&CV_SURF_EXTENDED ) ? 128 : 64; int chaos, correspond_total = 0; CvSURFDescriptor* correspond_ptr = correspond; for ( int i = 0; i < ObjectDescriptor->total; i++ ) ...{ CvSURFDescriptor* descriptor = (CvSURFDescriptor*)cvGetSeqElem( ObjectDescriptor, i ); int nearest_neighbor = icvNaiveNearestNeighbor( descriptor, ImageDescriptor, length ); if ( nearest_neighbor >= 0 ) ...{ *correspond_ptr = *descriptor; correspond_ptr++; *correspond_ptr = *(CvSURFDescriptor*)cvGetSeqElem( ImageDescriptor, nearest_neighbor ); correspond_ptr++; chaos+=nearest_neighbor; correspond_total++; } } int correspond_n = correspond_total; if ( correspond_n < 4 ) return 0; CvMat* correspond_points1; CvMat* correspond_points2; CvMat* homography_matrix; correspond_points1 = cvCreateMat( 4, 1, CV_32FC2 ); correspond_points2 = cvCreateMat( 4, 1, CV_32FC2 ); homography_matrix = cvCreateMat( 3, 3, CV_32FC1 ); CvRNG rng = cvRNG(chaos); double h11, h12, h13, h21, h22, h23, h31, h32, h33; double x, y, z, d; double best_d = 0xffffff; int best_clan = 0; int clan = 0; CvPoint corner[4]; for ( int k = 0; k < MIN( correspond_n*100, correspond_n*(correspond_n-1)*(correspond_n-2) ); k++ ) ...{ int selector[4]; for( int i = 0; i < 4; i++ ) ...{ while ( selector[i] = cvRandInt(&rng)%correspond_n ) ...{ bool recalc = false; for ( int j = 0; j < i; j++ ) if ( selector[i] == selector[j] ) recalc = true; if ( !recalc ) break; } CvSURFDescriptor* correspond_descriptor1 = correspond+(selector[i]<<1); CvSURFDescriptor* correspond_descriptor2 = correspond_descriptor1+1; cvSet2D( correspond_points1, i, 0, cvScalar( (float)correspond_descriptor1->x, (float)correspond_descriptor1->y ) ); cvSet2D( correspond_points2, i, 0, cvScalar( (float)correspond_descriptor2->x, (float)correspond_descriptor2->y ) ); } cvFindHomography( correspond_points1, correspond_points2, homography_matrix ); h11 = cvmGet( homography_matrix, 0, 0 ); h12 = cvmGet( homography_matrix, 0, 1 ); h13 = cvmGet( homography_matrix, 0, 2 ); h21 = cvmGet( homography_matrix, 1, 0 ); h22 = cvmGet( homography_matrix, 1, 1 ); h23 = cvmGet( homography_matrix, 1, 2 ); h31 = cvmGet( homography_matrix, 2, 0 ); h32 = cvmGet( homography_matrix, 2, 1 ); h33 = cvmGet( homography_matrix, 2, 2 ); d = 0; clan = 0; for ( int i = 0; i < correspond_n; i++ ) ...{ CvSURFDescriptor* correspond_descriptor1 = correspond+(i<<1); CvSURFDescriptor* correspond_descriptor2 = correspond_descriptor1+1; z = 1/(h31*correspond_descriptor1->x+h32*correspond_descriptor1->y+h33); x = (h11*correspond_descriptor1->x+h12*correspond_descriptor1->y+h13)*z-correspond_descriptor2->x; y = (h21*correspond_descriptor1->x+h22*correspond_descriptor1->y+h23)*z-correspond_descriptor2->y; if ( x*x+y*y < 256 ) ...{ d+=x*x+y*y; clan++; } } if ( ( clan >= best_clan )&&( d < best_d ) ) ...{ for ( int i = 0; i < 4; i++ ) ...{ z = 1./(points[i].x*h31+points[i].y*h32+h33); corner[i] = cvPoint( (int)((points[i].x*h11+points[i].y*h12+h13)*z), (int)((points[i].x*h21+points[i].y*h22+h23)*z) ); } bool err = false; char dir = 0; for ( int i = 0; i < 4; i++ ) ...{ int vx1 = corner[(i+1)%4].x-corner[i%4].x; int vy1 = corner[(i+1)%4].y-corner[i%4].y; int vx2 = corner[(i+2)%4].x-corner[(i+1)%4].x; int vy2 = corner[(i+2)%4].y-corner[(i+1)%4].y; char tmp_dir = ( vx2*vy1-vx1*vy2 > 0 ) ? 1 : -1; if ( dir != 0 ) ...{ if ( dir != tmp_dir ) ...{ err = true; break; } } else dir = tmp_dir; } if ( !err ) ...{ best_d = d; best_clan = clan; } } } cvReleaseMat( &homography_matrix ); cvReleaseMat( &correspond_points1 ); cvReleaseMat( &correspond_points2 ); free( correspond ); if ( best_clan < 4 ) return 0; for ( int i = 0; i < 4; i++ ) points[i] = corner[i]; return 1; } CvSeq* cvSURFFindPair( CvSeq* ImageDescriptor, CvSeq* ObjectDescriptor, CvMemStorage* storage, int flags ) ...{ CvSeq* correspond = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSURFDescriptor), storage ); int length = ( flags&CV_SURF_EXTENDED ) ? 128 : 64; int chaos; for ( int i = 0; i < ObjectDescriptor->total; i++ ) ...{ CvSURFDescriptor* descriptor = (CvSURFDescriptor*)cvGetSeqElem( ObjectDescriptor, i ); int nearest_neighbor = icvNaiveNearestNeighbor( descriptor, ImageDescriptor, length ); if ( nearest_neighbor >= 0 ) ...{ cvSeqPush( correspond, descriptor ); cvSeqPush( correspond, (CvSURFDescriptor*)cvGetSeqElem( ImageDescriptor, nearest_neighbor ) ); chaos += nearest_neighbor; } } return correspond; }
File: cvsurf.h #ifndef GUARD_cvsurf_h #define GUARD_cvsurf_h #include <cv.h> #define CV_SURF_EXTENDED (1) typedef struct CvSURFDescriptor ...{ int x; int y; int laplacian; double s; double dir; double mod; double vector[128]; } CvSURFDescriptor; typedef struct CvSURFPoint ...{ int x; int y; int laplacian; int size; int octave; int scale; } CvSURFPoint; CvSeq* cvSURFDescriptor( const CvArr* _img, CvMemStorage* storage, double quality, int flags = 0 ); void cvSURFInitialize(); void cvSURFFinalize(); bool cvSURFObjectLocate( CvSeq* ImageDescriptor, CvSeq* ObjectDescriptor, CvPoint* points, int flags = 0 ); CvSeq* cvSURFFindPair( CvSeq* ImageDescriptor, CvSeq* ObjectDescriptor, CvMemStorage* storage, int flags ); #endif
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