synthesizekeypoints.cpp
9.16 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* Copyright 2015 Noblis *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#include <opencv2/imgproc/imgproc.hpp>
#include "openbr/plugins/openbr_internal.h"
#include "openbr/core/qtutils.h"
#include "openbr/core/opencvutils.h"
#include "openbr/core/eigenutils.h"
#include "openbr/core/common.h"
#include <QString>
#include <Eigen/SVD>
#include <Eigen/Dense>
using namespace std;
using namespace cv;
using namespace Eigen;
namespace br
{
// SynthesizePointsTransform helper class
struct TriangleIndicies
{
int indicies[3];
TriangleIndicies()
{
indicies[0] = 0;
indicies[1] = 0;
indicies[2] = 0;
}
TriangleIndicies(QList<int> indexList)
{
assert(indexList.size() == 3);
qSort(indexList);
indicies[0] = indexList[0];
indicies[1] = indexList[1];
indicies[2] = indexList[2];
}
};
inline bool operator==(const TriangleIndicies &a, const TriangleIndicies &b)
{
return (a.indicies[0] == b.indicies[0]) && (a.indicies[1] == b.indicies[1]) && (a.indicies[2] == b.indicies[2]);
}
inline uint qHash(const TriangleIndicies &key)
{
return ::qHash(key.indicies[0]) ^ ::qHash(key.indicies[1]) ^ ::qHash(key.indicies[2]);
}
QDataStream &operator<<(QDataStream &stream, const TriangleIndicies &ti)
{
return stream << ti.indicies[0] << ti.indicies[1] << ti.indicies[2];
}
QDataStream &operator>>(QDataStream &stream, TriangleIndicies &ti)
{
return stream >> ti.indicies[0] >> ti.indicies[1] >> ti.indicies[2];
}
/*!
* \ingroup transforms
* \brief Synthesize additional points via triangulation.
* \author Josh Klontz \cite jklontz
*/
class SynthesizePointsTransform : public MetadataTransform
{
Q_OBJECT
Q_PROPERTY(float minRelativeDistance READ get_minRelativeDistance WRITE set_minRelativeDistance RESET reset_minRelativeDistance STORED false)
BR_PROPERTY(float, minRelativeDistance, 0) // [0, 1] range controlling whether or not to nearby synthetic points.
// 0 = keep all points, 1 = keep only the most distance point.
QList<TriangleIndicies> triangles;
static QRectF getBounds(const QList<QPointF> &points, int dstPadding)
{
float srcMinX = FLT_MAX;
float srcMinY = FLT_MAX;
float srcMaxX = -FLT_MAX;
float srcMaxY = -FLT_MAX;
foreach (const QPointF &point, points) {
if (point.x() < srcMinX) srcMinX = point.x();
if (point.y() < srcMinY) srcMinY = point.y();
if (point.x() > srcMaxX) srcMaxX = point.x();
if (point.y() > srcMaxY) srcMaxY = point.y();
}
const float padding = (srcMaxX - srcMinX) / 80 * dstPadding;
return QRectF(qRound(srcMinX - padding), qRound(srcMinY - padding), qRound(srcMaxX - srcMinX + 2 * padding), qRound(srcMaxY - srcMinY + 2 * padding));
}
static int getVertexIndex(const QPointF &trianglePts, const QList<QPointF> &pts)
{
for (int i = 0; i < pts.size(); i++)
// Check points using single precision accuracy to avoid potential rounding error
if ((float(trianglePts.x()) == float(pts[i].x())) && (float(trianglePts.y()) == float(pts[i].y())))
return i;
qFatal("Couldn't identify index of requested point!");
return -1;
}
static QList<QList<int> > getTriangulation(const QList<QPointF> &points, const QRectF &bound)
{
Subdiv2D subdiv(OpenCVUtils::toRect(bound));
foreach (const QPointF &point, points) {
if (!bound.contains(point))
return QList<QList<int> >();
subdiv.insert(OpenCVUtils::toPoint(point));
}
vector<Vec6f> triangleList;
subdiv.getTriangleList(triangleList);
QList<QList<int> > triangleIndices;
foreach (const Vec6f &triangle, triangleList) {
bool valid = true;
const QPointF vertices[3] = { QPointF(triangle[0], triangle[1]),
QPointF(triangle[2], triangle[3]),
QPointF(triangle[4], triangle[5]) };
for (int j = 0; j < 3; j++)
if (vertices[j].x() > bound.right() || vertices[j].y() > bound.bottom() || vertices[j].x() < bound.left() || vertices[j].y() < bound.top()) {
valid = false;
break;
}
if (valid) {
QList<int> tri;
for (int j = 0; j < 3; j++)
tri.append(getVertexIndex(vertices[j], points));
triangleIndices.append(tri);
}
}
return triangleIndices;
}
void train(const TemplateList &data)
{
// Because not all triangulations are the same, we have to decide on a canonical set of triangles at training time.
QHash<TriangleIndicies, int> counts;
foreach (const Template &datum, data) {
const QList<QPointF> points = datum.file.points();
if (points.size() <= 4)
continue;
const QList< QList<int> > triangulation = getTriangulation(points, getBounds(points, 10));
if (triangulation.empty())
continue;
foreach (const QList<int> &indicies, triangulation)
counts[TriangleIndicies(indicies)]++;
}
if (counts.empty())
return;
triangles.clear();
QHash<TriangleIndicies, int>::const_iterator i = counts.constBegin();
while (i != counts.constEnd()) {
if (3 * i.value() > data.size())
triangles.append(i.key()); // Keep triangles that occur in at least a third of the training instances
++i;
}
if (minRelativeDistance > 0) { // Discard relatively small triangles
QVector<float> averageMinDistances(triangles.size());
foreach (const Template &datum, data) {
File dst;
projectMetadata(datum.file, dst);
const QList<QPointF> points = dst.points();
QVector<float> minDistances(triangles.size());
for (int i=0; i<triangles.size(); i++) {
// Work backwards so that we can also consider distances between synthetic points
const QPointF &point = points[points.size()-1-i];
float minDistance = std::numeric_limits<float>::max();
for (int j=0; j<points.size()-1-i; j++)
minDistance = min(minDistance, sqrtf(powf(point.x() - points[j].x(), 2.f) + powf(point.y() - points[j].y(), 2.f)));
minDistances[triangles.size()-1-i] = minDistance;
}
const float maxMinDistance = Common::Max(minDistances);
for (int i=0; i<minDistances.size(); i++)
averageMinDistances[i] += (minDistances[i] / maxMinDistance);
}
const float maxAverageMinDistance = Common::Max(averageMinDistances);
for (int i=averageMinDistances.size()-1; i>=0; i--)
if (averageMinDistances[i] / maxAverageMinDistance < minRelativeDistance)
triangles.removeAt(i);
}
if (Globals->verbose)
qDebug() << "Kept" << triangles.size() << "of" << counts.size() << "triangles.";
}
void projectMetadata(const File &src, File &dst) const
{
QList<QPointF> points = src.points();
if (points.size() == 0) {
dst.fte = true;
return;
}
foreach (const TriangleIndicies &triangle, triangles) {
const QPointF &p0 = points[triangle.indicies[0]];
const QPointF &p1 = points[triangle.indicies[1]];
const QPointF &p2 = points[triangle.indicies[2]];
points.append((p0 + p1 + p2) / 3 /* append the centroid of the triangle */);
}
dst.setPoints(points);
}
void store(QDataStream &stream) const
{
stream << triangles;
}
void load(QDataStream &stream)
{
stream >> triangles;
}
};
BR_REGISTER(Transform, SynthesizePointsTransform)
} // namespace br
#include "synthesizekeypoints.moc"