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abstractdetector.cpp
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abstractdetector.cpp
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#include "abstractdetector.h"
#include "descpcasift.h"
#include "descasift.h"
#include "descsift.h"
#include "descljet.h"
#include "descspin.h"
#include "descrift.h"
#include "descfift.h"
///#include "descgloh.h"
#include "descsurf.h"
#include "descfind.h"
#include "desccm.h"
#include "scriptparser.h"
#include "kpdrawer.h"
#include "vstring.h"
#include "cleaner.h"
#include "filter.h"
#include "config.h"
#include "iotool.h"
#include "kernel.h"
#include "prjmat.h"
#include "vmath.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <dirent.h>
#include <iostream>
#include <algorithm>
#include <fstream>
#include <cstdio>
#include <ctime>
#include <cmath>
const int AbstractDetector::SCALESPEROCTAVE = 3;
const int AbstractDetector::MaxOctaves = 5;
const int AbstractDetector::BORDER = 4;
const int AbstractDetector::KNN = 9;
const float AbstractDetector::minDist = 3.0*1.415;
const int AbstractDetector::EPS = 0;
const float AbstractDetector::Ec = 0.90f;
const float AbstractDetector::El = 6.0f;
const float AbstractDetector::alpha = 0.06f;
const float AbstractDetector::deltaSc0 = 1.2f;
const float AbstractDetector::deltaSc1 = 0.1f;
const int AbstractDetector::kp_num0 = 750;
const int AbstractDetector::imgSzBound = 1500;
const int AbstractDetector::nOrient0 = 32;
const int AbstractDetector::nScale0 = 16;
const float AbstractDetector::PI0 = 3.1415926;
const float AbstractDetector::PI4 = 12.5663706;
const int AbstractDetector::KN0 = 8;
const int AbstractDetector::Ki0 = 8;
AbstractDetector::AbstractDetector()
{
INIT = false;
this->myDescriptor = NULL;
this->crntimg = NULL;
this->sel_option = TOPK;
for(int i = 0; i < 5; i++)
{
this->kp_property[i] = false;
}
this->AFF_OUT = false;
this->CIRCLE_OUT = false;
this->out_FMRT = _vireo_fmrt;
this->fix_kp_numb = AbstractDetector::kp_num0;
strcpy(detectorsID[0], "_hessian");
strcpy(detectorsID[1], "_dog");
strcpy(detectorsID[2], "_harris");
strcpy(detectorsID[3], "_non");
strcpy(detectorsID[4], "_log");
strcpy(detectorsID[5], "_harlap");
strcpy(detectorsID[6], "_hesslap");
strcpy(detectorsID[7], "_mser");
strcpy(detectorsID[8], "_dense");
strcpy(detectorsID[9], "_dsurf");
strcpy(detectorsID[10], "_msurf");
strcpy(detectorsID[11], "_corner");
strcpy(detectorsID[12], "_hesaff");
strcpy(detectorsID[13], "_hesaff");
}
bool AbstractDetector::Init(const char *scriptfn, const char *descOpt)
{
char tmp[20];
if(!strcmp(scriptfn, ""))
{
cout<<"Configure file is required (-c conf)!\n";
exit(0);
}
ScriptParser::getDtTask(this->paras, scriptfn);
this->sel_option = THRSH;
this->paramsCheck();
this->AFF_OUT = false;
if(this->paras.find("affine") != this->paras.end())
{
strcpy(tmp, paras["affine"]);
VString::toLower(tmp);
if(!strcmp(tmp, "yes"))
{
if(this->DETECTOR == hessian || this->DETECTOR == harlap || this->DETECTOR == hesslap ||
this->DETECTOR == _log)
{
cout<<"Affine adaption ......................... yes\n";
this->AFF_OUT= true;
}
}
}
this->RESIZE = false;
this->resize_rate = 1.0f;
if(!strcmp(descOpt, "SIFT"))
{
this->myDescriptor = new DescSIFT(SIFT);
this->mydesc = SIFT;
}
else if(!strcmp(descOpt, "NSIFT"))
{
this->myDescriptor = new DescSIFT(NSIFT);
this->mydesc = NSIFT;
}
else if(!strcmp(descOpt, "NLJET"))
{
this->myDescriptor = new DescLJet(NLJET);
this->mydesc = NLJET;
}
else if(!strcmp(descOpt, "LJET"))
{
this->myDescriptor = new DescLJet(LJET);
this->mydesc = LJET;
}
else if(!strcmp(descOpt, "PCAPATCH"))
{
this->myDescriptor = new DescPCASIFT(PCAPATCH, "");
this->mydesc = PCAPATCH;
}
else if(!strcmp(descOpt, "SPIN"))
{
this->myDescriptor = new DescSPIN(SPIN);
this->mydesc = SPIN;
}
else if(!strcmp(descOpt, "NSPIN"))
{
this->myDescriptor = new DescSPIN(NSPIN);
this->mydesc = NSPIN;
}
else if(!strcmp(descOpt, "ERIFT"))
{
this->myDescriptor = new DescRIFT(ERIFT);
this->mydesc = ERIFT;
}
else if(!strcmp(descOpt, "NERIFT"))
{
this->myDescriptor = new DescRIFT(NERIFT);
this->mydesc = NERIFT;
}
else if(!strcmp(descOpt, "RIFT"))
{
this->myDescriptor = new DescRIFT(RIFT);
this->mydesc = NERIFT;
}
else if(!strcmp(descOpt, "NRIFT"))
{
this->myDescriptor = new DescRIFT(NRIFT);
this->mydesc = NERIFT;
}
else if(!strcmp(descOpt, "FIFT"))
{
this->myDescriptor = new DescFIFT(FIFT);
this->mydesc = FIFT;
}
else if(!strcmp(descOpt, "NFIFT"))
{
this->myDescriptor = new DescFIFT(NFIFT);
this->mydesc = NFIFT;
}
else if(!strcmp(descOpt, "SURF"))
{
this->myDescriptor = new DescSURF(SURF);
this->mydesc = SURF;
}
else if(!strcmp(descOpt, "NSURF"))
{
this->myDescriptor = new DescSURF(NSURF);
this->mydesc = NSURF;
}
else if(!strcmp(descOpt, "ESURF"))
{
this->myDescriptor = new DescSURF(ESURF);
this->mydesc = ESURF;
}
else if(!strcmp(descOpt, "NESURF"))
{
this->myDescriptor = new DescSURF(NESURF);
this->mydesc = NESURF;
}
else if(!strcmp(descOpt, "AOD"))
{
this->myDescriptor = new DescSURF(AOD);
this->mydesc = AOD;
}
else if(!strcmp(descOpt, "NAOD"))
{
this->myDescriptor = new DescSURF(NAOD);
this->mydesc = NAOD;
}
else if(!strcmp(descOpt, "FIND"))
{
this->myDescriptor = new DescFIND(FIND);
this->mydesc = FIND;
}
else if(!strcmp(descOpt, "NFIND"))
{
this->myDescriptor = new DescFIND(NFIND);
this->mydesc = NFIND;
}
else if(!strcmp(descOpt, "ASIFT"))
{
this->myDescriptor = new DescASIFT(ASIFT);
this->mydesc = ASIFT;
}
else if(!strcmp(descOpt, "NASIFT"))
{
this->myDescriptor = new DescASIFT(NASIFT);
this->mydesc = NASIFT;
}
else
{
if(!strcmp(descOpt, ""))
{
cout<<"No descriptor selected!\n";
cout<<descOpt<<endl;
}
else
{
cout<<"Wrong Option of descriptor '"<<descOpt<<"'\n";
}
this->myDescriptor = NULL;
}
cout<<"Initilaizing ............................ start";
for(int i = 0; i < Numb_PROP; i++)
{
this->kp_property[i] = false;
}
this->kp_property[_scale_] = true;
this->kp_property[_angle_] = true;
this->kp_property[_flip_] = false;
this->CIRCLE_OUT = true;
if(this->paras.find("circle") != this->paras.end())
{
strcpy(tmp,paras["circle"]);
VString::toLower(tmp);
if(!strcmp(tmp,"yes"))
{
this->CIRCLE_OUT = true;
}
else
{
this->CIRCLE_OUT = false;
}
}
this->TIMEON = false;
if(paras.find("log") != paras.end())
{
strcpy(this->tm_logfn, paras["log"]);
if(VString::validatePath(this->tm_logfn))
{
cout<<"\nLog on processing ....................... on\n";
this->TIMEON = true;
}
else
{
cout<<"\nLog on processing ....................... off\n";
cout<<"Path of log file '"<<this->tm_logfn<<"' is invalid!\n";
this->TIMEON = false;
strcpy(this->tm_logfn, "");
}
}
else
{
cout<<"\nLog on processing ....................... off\n";
strcpy(this->tm_logfn, "");
this->TIMEON = false;
}
if(this->paras.find("format") != this->paras.end())
{
strcpy(tmp,paras["format"]);
VString::toLower(tmp);
if(!strcmp(tmp, "vgg"))
{
this->out_FMRT = _vgg_fmrt;
cout<<"Descriptor output ....................... format = vgg\n";
}
else if(!strcmp(tmp, "train"))
{
this->out_FMRT = _train_fmrt;
cout<<"Descriptor output ....................... format = train\n";
}
else
{
cout<<"Descriptor output ....................... format = vireo\n";
}
}
else
{
cout<<"Descriptor output ....................... format = vireo\n";
}
if(this->out_FMRT == _vgg_fmrt)
{
saveKpts = &AbstractDetector::saveKpVGG;
}
else
{
saveKpts = &AbstractDetector::saveKpVIREO;
}
if(this->myDescriptor != NULL)
{
this->myDescriptor->setOutFormat(this->kp_property, this->AFF_OUT, this->out_FMRT);
}
INIT = true;
cout<<"Initializing ............................ done.\n";
Cleaner::clearParas(paras);
return INIT;
}
void AbstractDetector::BuildOctaves(Image * image, GBlur blur_opt, vector<vector<Image *> > &Ggoctaves,
const float _SIGMA0, const int NUM_SCALES0)
{
assert(image);
int dim = min(image->height, image->width);
int numoctaves = int (log((double) dim) / log(2.0)) - 2;
numoctaves = numoctaves>MaxOctaves?MaxOctaves:numoctaves;
Image *timage = image->clone();
Image *simage = NULL;
vector<Image *> imgScales;
int i = 0;
for (i = 0; i < numoctaves; i++)
{
imgScales = BuildScales(timage, blur_opt, _SIGMA0, NUM_SCALES0);
Ggoctaves.push_back(imgScales);
Filter::BlurImage(timage, _SIGMA0);
simage = Image::halfSizeImage(timage);
delete timage;
timage = simage;
}
delete timage;
timage = NULL;
}
vector<Image*> AbstractDetector::BuildScales(Image * image, GBlur blur_opt,
const float _SIGMA0, const int NUM_SCALES0)
{
assert(image);
vector<Image*> Scales;
double k = pow(2, 1.0/(float)NUM_SCALES0);
float sigma1, sigma2, sigma;
Image *dggImg = NULL;
Image *tmpImg = NULL;
int Scales_Num;
Scales_Num = NUM_SCALES0 + 2;
vector<float> Gkern;
vector<float> dkern;
if(blur_opt == _Dxy_)
{
tmpImg = new Image(image->width, image->height);
}
for (int i = 1; i <= Scales_Num; i++)
{
dggImg = new Image(image->width, image->height);
sigma1 = pow(k, i - 1) *_SIGMA0;
sigma2 = pow(k, i) *_SIGMA0;
switch(blur_opt)
{
case _Conv2:
{
sigma = sqrt(sigma2*sigma2 - sigma1*sigma1);
if(Scales.size() == 0)
{
Filter::BlurImage(image, dggImg, sigma);
}
else
{
Filter::BlurImage(Scales[Scales.size()-1], dggImg, sigma);
}
break;
}
case _Dx_:
{
dkern = Filter::GaussianDxKernel1D(sigma2);
Filter::Convolve1DWidth(dkern, image, dggImg);
dkern.clear();
break;
}
case _Dy_:
{
dkern = Filter::GaussianDxKernel1D(sigma2);
Filter::Convolve1DHeight(dkern, image, dggImg);
dkern.clear();
break;
}
case _Dxx_:
{
dkern = Filter::GaussianDxxKernel1D(sigma2);
Filter::Convolve1DWidth(dkern, image, dggImg);
dkern.clear();
break;
}
case _Dyy_:
{
dkern = Filter::GaussianDxxKernel1D(sigma2);
Filter::Convolve1DHeight(dkern,image,dggImg);
dkern.clear();
break;
}
case _Dxy_:
{
dkern = Filter::GaussianDxKernel1D(sigma2);
Filter::Convolve1DWidth(dkern, image, tmpImg);
Filter::Convolve1DHeight(dkern, tmpImg, dggImg);
dkern.clear();
break;
}
}
Scales.push_back(dggImg);
}
if(blur_opt == _Dxy_)
{
delete tmpImg;
}
return Scales;
}
bool AbstractDetector::saveKpVIREO(vector<KeyPoint*> &kplst, const int kpnum, const char *dstfn,
const float resize_rate0, bool AFF_OUT)
{
FILE *fp = fopen(dstfn, "w");
if(fp == NULL)
{
cout<<"File '"<<dstfn<<"' cannot open!\n";
return false;
}
vector<KeyPoint*>::iterator it;
KeyPoint *crntPt;
int counter = 0, tmpx = 0, tmpy = 0;
for(it = kplst.begin(); it != kplst.end(); it++)
{
crntPt = *it;
if(crntPt->KP)
{
counter++;
}
}
if(AFF_OUT)
{
fprintf(fp,"%d 8\n",counter);
}
else
{
fprintf(fp,"%d 8\n",counter);
}
for(it = kplst.begin(); it != kplst.end(); it++)
{
crntPt = *it;
if(crntPt->KP)
{
tmpx = (int)round(crntPt->x*resize_rate0);
tmpy = (int)round(crntPt->y*resize_rate0);
if(AFF_OUT)
{
fprintf(fp,"%d %d %f %f %f %f %f %f\n"
,tmpx,tmpy, crntPt->a, crntPt->b, crntPt->c, crntPt->iscale, crntPt->ori, crntPt->funcVal);
}
else
{
fprintf(fp,"%d %d 1 0 1 %f %f %f\n"
,tmpx, tmpy, crntPt->iscale, crntPt->ori, crntPt->funcVal);
}
}
}
fclose(fp);
return true;
}
bool AbstractDetector::saveKpVGG(vector<KeyPoint*> &kplst, const int kpnum, const char *dstfn,
const float resize_rate0, bool AFF_OUT)
{
ofstream outStrm(dstfn);
if(!outStrm.is_open())
{
cout<<"File '"<<dstfn<<"' cannot open!\n";
return false;
}
int counter = 0, tmpx = 0, tmpy = 0;
vector<KeyPoint*>::iterator it;
KeyPoint *crntPt = NULL;
for(it = kplst.begin(); it != kplst.end(); it++)
{
crntPt = *it;
if(crntPt->KP)
{
counter++;
}
}
outStrm<<"1.0"<<endl;
outStrm<<counter<<endl;
float e;
for(it = kplst.begin(); it != kplst.end(); it++)
{
crntPt = *it;
if(crntPt->KP)
{
tmpx = (int)round(crntPt->x*resize_rate0);
tmpy = (int)round(crntPt->y*resize_rate0);
e = 1.0/crntPt->dscale;
e = e*e;
float sc = crntPt->iscale*crntPt->iscale;
outStrm<<crntPt->fx<<" "<<crntPt->fy<<" "<<crntPt->a<<" "<<crntPt->b<<" "<<crntPt->c<<endl;
}
}
outStrm.close();
return true;
}
bool AbstractDetector::topkSelect(vector<KeyPoint*> &kplst, const int topk)
{
KeyPoint *crntPt = NULL;
int i = 0;
vector<KeyPoint *>::iterator itpt;
stable_sort(kplst.begin(), kplst.end(), KeyPoint::keypCompF);
for(itpt = kplst.begin(); itpt != kplst.end(); itpt++)
{
i++;
crntPt = *itpt;
if(i > topk)
{
crntPt->KP = false;
}
///cout<<crntPt->KP<<endl;
}
return true;
}
bool AbstractDetector::topkEqDnSelect(vector<KeyPoint*> &kplst, const int w,const int h,const int topk)
{
float ratio = (w + 0.0f)/(h + 0.0f);
float area = w*h/topk;
float h1 = sqrt(area/ratio);
float w1 = ratio*h1;
int wbound = (int)floor(w / w1);
KeyPoint *crntPt;
int key, xkey, ykey;
map<int,vector<KeyPoint *>* >::iterator mit;
map<int,vector<KeyPoint *>* > grid_map;
vector<KeyPoint*>::iterator it;
vector<KeyPoint *> *crnt_lst;
for(it = kplst.begin(); it != kplst.end(); it++)
{
crntPt = *it;
xkey = (int)floor(crntPt->x/w1);
xkey = xkey > wbound?wbound:xkey;
ykey = (int)floor(crntPt->y/h1);
ykey = ykey > wbound?wbound:ykey;
key = wbound*ykey + xkey;
if(grid_map.find(key) == grid_map.end())
{
crnt_lst = new vector<KeyPoint*>;
crnt_lst->push_back(crntPt);
grid_map.insert(pair<int,vector<KeyPoint*>* >(key,crnt_lst));
}
else
{
crnt_lst = grid_map[key];
crnt_lst->push_back(crntPt);
grid_map[key] = crnt_lst;
}
}
///sort first
for(mit = grid_map.begin(); mit != grid_map.end(); mit++)
{
crnt_lst = mit->second;
stable_sort(crnt_lst->begin(),crnt_lst->end(),KeyPoint::keypCompF);
}
int n_blocks = grid_map.size();
int kp_num = kplst.size();
int i = 0;
int counter = 0;
unsigned int *cusors = new unsigned int[n_blocks];
memset(cusors, 0, sizeof(unsigned int)*n_blocks);
bool DONE = false;
///choose keypoints from block to block
do
{
i = 0;
for(mit = grid_map.begin(); mit != grid_map.end() && !DONE; mit++)
{
crnt_lst = mit->second;
if((cusors[i] +1) <= crnt_lst->size())
{
crntPt = (*crnt_lst)[cusors[i]];
crntPt->KP = true;
cusors[i] = cusors[i] + 1;
counter++;
if(counter == topk)
{
DONE = true;
}
}
i++;
}
}
while(!DONE && counter < kp_num);
delete [] cusors;
for(mit = grid_map.begin(); mit != grid_map.end(); mit++)
{
crnt_lst = mit->second;
crnt_lst->clear();
delete crnt_lst;
}
grid_map.clear();
return true;
}
bool AbstractDetector::detectKeyPoints(const char *srcdir, const char *kpdir, const char *drdir,
const char *descdir, const char *dvdir, bool ONE_MISSION)
{
char kpfn[FNLEN], drfn[FNLEN], dvfn[FNLEN];
char srcfn[FNLEN], fname[FNLEN], dstfn[FNLEN];
struct dirent *result = NULL, entry;
bool done = false;
char detID[10];
DIR *dp = NULL;
strcpy(detID, detectorsID[DETECTOR]);
int i = 0, fnlen, suf_len = 4;
KPDrawer *mydrawer = new KPDrawer(this->CIRCLE_OUT, this->DETECTOR);
if(this->DETECTOR == non)
{
if(!VString::existDir(kpdir))
{
cout<<"Keypoint files are required for 'non' detector!\n";
exit(0);
}
}
vector<KeyPoint*>::iterator it;
clock_t start = 0, finish = 0;
float tm_span = 0;
cout<<"Keypoints detection ..................... for '"<<srcdir<<"'\n";
if(descdir != NULL && strcmp(descdir,""))
{
IOTool::creatDIR(descdir);
}
if(kpdir != NULL && strcmp(kpdir, ""))
{
IOTool::creatDIR(kpdir);
}
if(drdir != NULL && strcmp(drdir, ""))
{
IOTool::creatDIR(drdir);
}
if(dvdir != NULL && strcmp(dvdir, ""))
{
IOTool::creatDIR(dvdir);
}
if(ONE_MISSION)
{
strcpy(srcfn, srcdir);
VString::parseFName(fname, srcdir);
if(!strcmp(fname,""))
{
cout<<"The input source image is not defined\n";
exit(0);
}
if(kpdir != NULL)
{
strcpy(kpfn, kpdir);
strcat(kpfn, fname);
strcat(kpfn, KP_SFIX);
}
else
{
strcpy(kpfn, "");
}
if(descdir == NULL)
{
strcpy(dstfn, "");
}
else
{
strcpy(dstfn, descdir);
strcat(dstfn, fname);
strcat(dstfn, KEY_SFIX);
}
if(dvdir == NULL)
{
strcpy(dvfn, "");
}
else
{
strcpy(dvfn, dvdir);
strcat(dvfn, fname);
strcat(dvfn, detID);
strcat(dvfn, DV_SFIX);
}
if(descdir != NULL && this->myDescriptor == NULL)
{
cout<<" Choose proper description with '-p' option!\n";
}
else
{
done = this->KeypointBuild(srcfn, kpfn, dstfn, dvfn);
if(drdir == NULL)
{
strcpy(drfn, "");
}
else
{
strcpy(drfn, drdir);
strcat(drfn, fname);
strcat(drfn, detID);
strcat(drfn, JPG_SFIX);
if(this->DETECTOR == dsurf)
{
mydrawer->draw_rects(this->kps, srcfn, this->resize_rate, drfn);
}
else
{
mydrawer->draw_shapes(this->kps, srcfn, this->resize_rate, drfn);
}
}
AbstractDetector::releaseKpList(this->kps);
}
return true;
}
if((dp = opendir(srcdir)) == NULL)
{
cout<<" Source directory '"<<srcdir<<"' do not exist!\n";
return false;
}
if(descdir != NULL && this->myDescriptor == NULL)
{
cout<<" Choose proper description with '-p' option!\n";
}
FILE *tm_fp = NULL;
if(this->TIMEON)
{
tm_fp = fopen(TMLOG, "a");
}
while (readdir_r(dp, &entry, &result) == 0 && result != NULL)
{
if(entry.d_type != DT_REG)
{
continue;
}
if((!VString::endWith(entry.d_name, "jpg"))&&(!VString::endWith(entry.d_name, "bmp"))
&&(!VString::endWith(entry.d_name, "pgm")) && (!VString::endWith(entry.d_name, "ppm"))
&&(!VString::endWith(entry.d_name, "png")))
continue;
strcpy(srcfn, srcdir);
fnlen = strlen(entry.d_name);
strcat(srcfn, entry.d_name);
if(!VString::validatePath(srcfn))
{
cout<<"Invalid file name: '"<<srcfn<<"'!!!\n";
continue;
}
strncpy(fname, entry.d_name, fnlen-suf_len);
fname[fnlen-suf_len] = '\0';
if(kpdir == NULL)
{
strcpy(kpfn,"");
}
else
{
strcpy(kpfn, kpdir);
strcat(kpfn, fname);
strcat(kpfn, KP_SFIX);
}
if(descdir == NULL)
{
strcpy(dstfn, "");
}
else
{
strcpy(dstfn, descdir);
strcat(dstfn, fname);
strcat(dstfn, KEY_SFIX);
}
if(dvdir == NULL)
{
strcpy(dvfn, "");
}
else
{
strcpy(dvfn, dvdir);
strcat(dvfn, fname);
strcat(dvfn, detID);
strcat(dvfn, DV_SFIX);
}
if(this->TIMEON)
{
start = clock();
}
done = this->KeypointBuild(srcfn, kpfn, dstfn, dvfn);
if(!done)
{
continue;
}
if(this->TIMEON)
{
finish = clock();
tm_span = finish-start;
tm_span = tm_span/CLOCKS_PER_SEC;
fprintf(tm_fp,"%s\t%f\n", fname, tm_span);
}
if(drdir == NULL)
{
strcpy(drfn, "");
}
else
{
strcpy(drfn, drdir);
strcat(drfn, fname);
strcat(drfn, detID);
strcat(drfn, JPG_SFIX);
if(this->DETECTOR == dsurf)
{
mydrawer->draw_rects(this->kps, srcfn, this->resize_rate, drfn);
}
else
{
mydrawer->draw_shapes(this->kps, srcfn, this->resize_rate, drfn);
}
}
AbstractDetector::releaseKpList(this->kps);
i++;
cout<<"\r\r\r\r\t"<<i;
//exit(0);
}
cout<<endl;
closedir(dp);
if(this->TIMEON)
{
fclose(tm_fp);
}
delete mydrawer;
return true;
}
bool AbstractDetector::mapPCA(const float *feats, const float *pcamat, vector<float> &means,
vector<float> &var, float *pcaft, const int dim, const int pdim)
{
int i = 0, k = 0, loc = 0;
assert(pcaft != NULL);
assert(feats != NULL);
assert(dim >= pdim);
memset(pcaft, 0, sizeof(float)*pdim);
for(i = 0; i < pdim; i++)
{
loc = i*dim;
for(k = 0; k < dim; k++)
{
pcaft[i] += pcamat[loc+k]*(feats[k] - means[k]);
}
pcaft[i] = pcaft[i]/var[i];
}
return true;
}
bool AbstractDetector::proj(const float *feats, const float *prjMat,
float *prjFt, const int dim, const int pdim)
{
int i = 0, k = 0, loc = 0;
assert(prjFt != NULL);
assert(feats != NULL);
assert(dim >= pdim);
memset(prjFt, 0, sizeof(float)*pdim);
for(i = 0; i < pdim; i++)
{
loc = i*dim;
for(k = 0; k < dim; k++)
{
prjFt[i] += prjMat[loc+k]*feats[k];
}
}
return true;
}
/**SURF's approach***/
void AbstractDetector::FindOrientation(vector<KeyPoint*> &keyps)
{
assert(this->intImg != NULL);
float weight = 0.f;
int s, r, c, i, j;
float resX[109], resY[109], Ang[109];
const int id[13] = {6, 5, 4, 3, 2, 1, 0, 1, 2, 3, 4, 5, 6};
unsigned int k, idx = 0;
float sumX = 0.0f, sumY = 0.f, mag = 0.0f;
float max = 0.0f, orientation = 0.f;
float ang1 = 0.0f, ang2 = 0.f, ang, deltA = PI/6.0;
vector<KeyPoint*>::iterator vit;
KeyPoint *crnt_kpt;
for(vit = keyps.begin(); vit != keyps.end(); vit++)
{
crnt_kpt = *vit;
memset(resX, 0, sizeof(float)*109);
memset(resY, 0, sizeof(float)*109);
memset(Ang, 0, sizeof(float)*109);
idx = 0;
s = round(crnt_kpt->dscale);
r = round(crnt_kpt->y);
c = round(crnt_kpt->x);