1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include <stdlib.h> 44 #include <math.h> 45 #include <vector> 46 47 namespace cv 48 { 49 /* 50 * ShapeContextDescriptor class 51 */ 52 class SCD 53 { 54 public: 55 //! the full constructor taking all the necessary parameters SCD(int _nAngularBins=12,int _nRadialBins=5,double _innerRadius=0.1,double _outerRadius=1,bool _rotationInvariant=false)56 explicit SCD(int _nAngularBins=12, int _nRadialBins=5, 57 double _innerRadius=0.1, double _outerRadius=1, bool _rotationInvariant=false) 58 { 59 setAngularBins(_nAngularBins); 60 setRadialBins(_nRadialBins); 61 setInnerRadius(_innerRadius); 62 setOuterRadius(_outerRadius); 63 setRotationInvariant(_rotationInvariant); 64 meanDistance = 0; 65 } 66 67 void extractSCD(cv::Mat& contour, cv::Mat& descriptors, 68 const std::vector<int>& queryInliers=std::vector<int>(), 69 const float _meanDistance=-1); 70 descriptorSize()71 int descriptorSize() {return nAngularBins*nRadialBins;} setAngularBins(int angularBins)72 void setAngularBins(int angularBins) { nAngularBins=angularBins; } setRadialBins(int radialBins)73 void setRadialBins(int radialBins) { nRadialBins=radialBins; } setInnerRadius(double _innerRadius)74 void setInnerRadius(double _innerRadius) { innerRadius=_innerRadius; } setOuterRadius(double _outerRadius)75 void setOuterRadius(double _outerRadius) { outerRadius=_outerRadius; } setRotationInvariant(bool _rotationInvariant)76 void setRotationInvariant(bool _rotationInvariant) { rotationInvariant=_rotationInvariant; } getAngularBins() const77 int getAngularBins() const { return nAngularBins; } getRadialBins() const78 int getRadialBins() const { return nRadialBins; } getInnerRadius() const79 double getInnerRadius() const { return innerRadius; } getOuterRadius() const80 double getOuterRadius() const { return outerRadius; } getRotationInvariant() const81 bool getRotationInvariant() const { return rotationInvariant; } getMeanDistance() const82 float getMeanDistance() const { return meanDistance; } 83 84 private: 85 int nAngularBins; 86 int nRadialBins; 87 double innerRadius; 88 double outerRadius; 89 bool rotationInvariant; 90 float meanDistance; 91 92 protected: 93 void logarithmicSpaces(std::vector<double>& vecSpaces) const; 94 void angularSpaces(std::vector<double>& vecSpaces) const; 95 96 void buildNormalizedDistanceMatrix(cv::Mat& contour, 97 cv::Mat& disMatrix, const std::vector<int> &queryInliers, 98 const float _meanDistance=-1); 99 100 void buildAngleMatrix(cv::Mat& contour, 101 cv::Mat& angleMatrix) const; 102 }; 103 104 /* 105 * Matcher 106 */ 107 class SCDMatcher 108 { 109 public: 110 // the full constructor SCDMatcher()111 SCDMatcher() : minMatchCost(0) 112 { 113 } 114 115 // the matcher function using Hungarian method 116 void matchDescriptors(cv::Mat& descriptors1, cv::Mat& descriptors2, std::vector<cv::DMatch>& matches, cv::Ptr<cv::HistogramCostExtractor>& comparer, 117 std::vector<int>& inliers1, std::vector<int> &inliers2); 118 119 // matching cost getMatchingCost() const120 float getMatchingCost() const {return minMatchCost;} 121 122 private: 123 float minMatchCost; 124 protected: 125 void buildCostMatrix(const cv::Mat& descriptors1, const cv::Mat& descriptors2, 126 cv::Mat& costMatrix, cv::Ptr<cv::HistogramCostExtractor>& comparer) const; 127 void hungarian(cv::Mat& costMatrix, std::vector<cv::DMatch>& outMatches, std::vector<int> &inliers1, 128 std::vector<int> &inliers2, int sizeScd1=0, int sizeScd2=0); 129 130 }; 131 132 } 133