JuniorHighClient/Identifier/Affine2DEstimator.cpp

#include "StdAfx.h"
#include "Affine2DEstimator.h"

double geterr(CvMat* _err, CvMat* _mask){
	int i, count = _err->rows*_err->cols;
	uchar* mask = _mask->data.ptr;
	const float* err = _err->data.fl;
	double result = 0;
	for (i = 0; i < count; i++)
		if (mask[i])result += err[i];
	return result;
}
int Affine2DEstimator::findInliers(const CvMat* m1, const CvMat* m2,
	const CvMat* model, CvMat* _err,
	CvMat* _mask, double threshold)
{
	int i, count = _err->rows*_err->cols, goodCount = 0;
	const float* err = _err->data.fl;
	uchar* mask = _mask->data.ptr;

	computeReprojError(m1, m2, model, _err);
	threshold *= threshold;
	for (i = 0; i < count; i++)
		goodCount += mask[i] = err[i] <= threshold;
	return goodCount;
}


void Affine2DEstimator::computeReprojError(const CvMat* m1, const CvMat* m2, const CvMat* model, CvMat* error)
{
	int count = m1->rows * m1->cols;
	const CvPoint2D64f* from = reinterpret_cast<const CvPoint2D64f*>(m1->data.ptr);
	const CvPoint2D64f* to = reinterpret_cast<const CvPoint2D64f*>(m2->data.ptr);
	const double* F = model->data.db;
	float* err = error->data.fl;

	for (int i = 0; i < count; i++)
	{
		const CvPoint2D64f& f = from[i];
		const CvPoint2D64f& t = to[i];

		double a = F[0] * f.x + F[1] * f.y + F[2] - t.x;
		double b = F[3] * f.x + F[4] * f.y + F[5] - t.y;

		err[i] = (float)sqrt(a*a + b*b);
	}
}

int Affine2DEstimator::runRANSAC(const CvMat* m1, const CvMat* m2, CvMat* model,
	CvMat* mask0, double reprojThreshold,
	double confidence, int maxIters)
{
	int result = 0;
	cv::Ptr<CvMat> mask = cvCloneMat(mask0);
	cv::Ptr<CvMat> models, err, tmask;
	cv::Ptr<CvMat> ms1, ms2;

	int iter, niters = maxIters;
	int count = m1->rows*m1->cols, maxGoodCount = 0;
	double min_err = 9999999;
	CV_Assert(CV_ARE_SIZES_EQ(m1, m2) && CV_ARE_SIZES_EQ(m1, mask));

	if (count < modelPoints)
		return false;

	models = cvCreateMat(modelSize.height*maxBasicSolutions, modelSize.width, CV_64FC1);
	err = cvCreateMat(1, count, CV_32FC1);
	tmask = cvCreateMat(1, count, CV_8UC1);

	if (count > modelPoints)
	{
		ms1 = cvCreateMat(1, modelPoints, m1->type);
		ms2 = cvCreateMat(1, modelPoints, m2->type);
	}
	else
	{
		niters = 1;
		ms1 = cvCloneMat(m1);
		ms2 = cvCloneMat(m2);
	}

	for (iter = 0; iter < niters || iter < 150; iter++)
	{
		int i, goodCount, nmodels;
		if (count > modelPoints)
		{
			bool found = getSubset(m1, m2, ms1, ms2, 300);
			if (!found)
			{
				if (iter == 0)
					return false;
				break;
			}
		}

		nmodels = runKernel(ms1, ms2, models);
		if (nmodels <= 0)
			continue;
		for (i = 0; i < nmodels; i++)
		{
			CvMat model_i;
			cvGetRows(models, &model_i, i*modelSize.height, (i + 1)*modelSize.height);
			goodCount = findInliers(m1, m2, &model_i, err, tmask, reprojThreshold);
			double _err = geterr(err, tmask);
			if (goodCount > MAX(maxGoodCount, modelPoints - 1) || (goodCount == MAX(maxGoodCount, modelPoints) && _err < min_err))
			{
				min_err = _err;
				std::swap(tmask, mask);
				cvCopy(&model_i, model);
				maxGoodCount = goodCount;
				niters = cvRANSACUpdateNumIters(confidence,
					(double)(count - goodCount) / count, modelPoints, niters);
			}
		}
	}

	if (maxGoodCount > 0)
	{
		if (mask != mask0)
			cvCopy(mask, mask0);
		result = maxGoodCount;
	}

	return result;
}
template<class Point > inline double distance(const Point& p1, const Point& p2){ return sqrt((p2.x - p1.x)*(p2.x - p1.x) + (p2.y - p1.y)*(p2.y - p1.y)); }

//±äÐÎÂÊ
double Affine2DEstimator::getMinHeight(const CvMat* m1, const CvMat* m2)
{
	const Point2d* from = reinterpret_cast<const Point2d*>(m1->data.ptr);
	const Point2d* to = reinterpret_cast<const Point2d*>(m2->data.ptr);
	double d1[10], d2[10];
	int count = 0;
	for (int i = 0; i < 3; i++)
	{
		for (int j = i + 1; j < 3; j++)
		{
			d1[count] = ::distance(from[i], from[j]);
			d2[count] = ::distance(to[i], to[j]);
			count++;
		}
	}
	double p = (d1[0] + d1[1] + d1[2]) / 2.0;
	double s = sqrt(p*(p - d1[0])*(p - d1[1])*(p - d1[2]));
	double h[3] = { d1[0] < 1 ? 0 : s * 2 / d1[0], d1[1] < 1 ? 0 : s * 2 / d1[1], d1[2] < 1 ? 0 : s * 2 / d1[2] };
	return min(min(h[0], h[1]), h[2]);
}

//±äÐÎÂÊ
double Affine2DEstimator::getDistortion(const CvMat* m1)
{
	CvPoint2D64f  from[] = { cvPoint2D64f(0, 0), cvPoint2D64f(10000, 0), cvPoint2D64f(0, 10000) };
	CvPoint2D64f to[] = {
		cvPoint2D64f(CV_MAT_ELEM(*m1, double, 0, 0)*from[0].x + CV_MAT_ELEM(*m1, double, 0, 1)*from[0].y + CV_MAT_ELEM(*m1, double, 0, 2), CV_MAT_ELEM(*m1, double, 1, 0)*from[0].x + CV_MAT_ELEM(*m1, double, 1, 1)*from[0].y + CV_MAT_ELEM(*m1, double, 1, 2)),
		cvPoint2D64f(CV_MAT_ELEM(*m1, double, 0, 0)*from[1].x + CV_MAT_ELEM(*m1, double, 0, 1)*from[1].y + CV_MAT_ELEM(*m1, double, 0, 2), CV_MAT_ELEM(*m1, double, 1, 0)*from[1].x + CV_MAT_ELEM(*m1, double, 1, 1)*from[1].y + CV_MAT_ELEM(*m1, double, 1, 2)),
		cvPoint2D64f(CV_MAT_ELEM(*m1, double, 0, 0)*from[2].x + CV_MAT_ELEM(*m1, double, 0, 1)*from[2].y + CV_MAT_ELEM(*m1, double, 0, 2), CV_MAT_ELEM(*m1, double, 1, 0)*from[2].x + CV_MAT_ELEM(*m1, double, 1, 1)*from[2].y + CV_MAT_ELEM(*m1, double, 1, 2))
	};
	double d1[10], d2[10];
	int count = 0;
	for (int i = 0; i < 3; i++)
	{
		for (int j = i + 1; j < 3; j++)
		{
			d1[count] = ::distance(from[i], from[j]);
			d2[count] = ::distance(to[i], to[j]);
			count++;
		}
	}
	double distortion[100];
	int count2 = 0;
	for (int i = 0; i < count; i++)
	{
		for (int j = 0; j < count; j++)
		{
			distortion[count2] = abs(1 - (d2[i] / d2[j]) / (d1[i] / d1[j]));
			count2++;
		}
	}
	double maxdistortion = distortion[0];
	for (int i = 0; i < count2; i++)
	{
		if (maxdistortion < distortion[i]){ maxdistortion = distortion[i]; }
	}
	return maxdistortion;
}
Mat getAffineTransform64f(const Point2d src[], const Point2d dst[])
{
	Mat M(2, 3, CV_64F), X(6, 1, CV_64F, M.data);
	double a[6 * 6], b[6];
	Mat A(6, 6, CV_64F, a), B(6, 1, CV_64F, b);

	for (int i = 0; i < 3; i++)
	{
		int j = i * 12;
		int k = i * 12 + 6;
		a[j] = a[k + 3] = src[i].x;
		a[j + 1] = a[k + 4] = src[i].y;
		a[j + 2] = a[k + 5] = 1;
		a[j + 3] = a[j + 4] = a[j + 5] = 0;
		a[k] = a[k + 1] = a[k + 2] = 0;
		b[i * 2] = dst[i].x;
		b[i * 2 + 1] = dst[i].y;
	}

	solve(A, B, X);
	return M;
}

int Affine2DEstimator::runKernel(const CvMat* m1, const CvMat* m2, CvMat* model)
{
	const Point2d* from = reinterpret_cast<const Point2d*>(m1->data.ptr);
	const Point2d* to = reinterpret_cast<const Point2d*>(m2->data.ptr);
	Mat M0 = cv::cvarrToMat(model);
	Mat M = getAffineTransform64f(from, to);
	CV_Assert(M.size() == M0.size());
	M.convertTo(M0, M0.type());

	return model != NULL ? 1 : 0;
}

int estimateAffine2D(InputArray _from, InputArray _to,
	OutputArray _out, OutputArray _inliers,
	double param1, double param2)
{
	Mat from = _from.getMat(), to = _to.getMat();
	int count = from.checkVector(2, CV_32F);

	CV_Assert(count >= 0 && to.checkVector(2, CV_32F) == count);

	_out.create(2, 3, CV_64F);
	Mat out = _out.getMat();

	//_inliers.create(count, 1, CV_8U, -1, true);
	_inliers.create(1, count, CV_8U, -1, true);
	Mat inliers = _inliers.getMat();
	inliers = Scalar::all(1);

	Mat dFrom, dTo;
	from.convertTo(dFrom, CV_64F);
	to.convertTo(dTo, CV_64F);

	CvMat F2x3 = out;
	CvMat mask = inliers;
	CvMat m1 = dFrom;
	CvMat m2 = dTo;

	const double epsilon = std::numeric_limits<double>::epsilon();
	param1 = param1 <= 0 ? 3 : param1;
	param2 = (param2 < epsilon) ? 0.99 : (param2 > 1 - epsilon) ? 0.99 : param2;

	return Affine2DEstimator().runRANSAC(&m1, &m2, &F2x3, &mask, param1, param2);
}

bool Affine2DEstimator::getSubset(const CvMat* m1, const CvMat* m2,
	CvMat* ms1, CvMat* ms2, int maxAttempts)
{
	cv::AutoBuffer<int> _idx(modelPoints);
	int* idx = _idx;
	int i = 0, j, k, idx_i, iters = 0;
	int type = CV_MAT_TYPE(m1->type), elemSize = CV_ELEM_SIZE(type);
	const int *m1ptr = m1->data.i, *m2ptr = m2->data.i;
	int *ms1ptr = ms1->data.i, *ms2ptr = ms2->data.i;
	int count = m1->cols*m1->rows;

	assert(CV_IS_MAT_CONT(m1->type & m2->type) && (elemSize % sizeof(int) == 0));
	elemSize /= sizeof(int);

	for (; iters < maxAttempts; iters++)
	{
		for (i = 0; i < modelPoints && iters < maxAttempts;)
		{
			idx[i] = idx_i = cvRandInt(&rng) % count;
			for (j = 0; j < i; j++)
				if (idx_i == idx[j])
					break;
			if (j < i)
				continue;
			for (k = 0; k < elemSize; k++)
			{
				ms1ptr[i*elemSize + k] = m1ptr[idx_i*elemSize + k];
				ms2ptr[i*elemSize + k] = m2ptr[idx_i*elemSize + k];
			}
			if (checkPartialSubsets && (!checkSubset(ms1, i + 1) || !checkSubset(ms2, i + 1)))
			{
				iters++;
				continue;
			}
			i++;
		}
		if (!checkPartialSubsets && i == modelPoints &&
			(!checkSubset(ms1, i) || !checkSubset(ms2, i)))
			continue;
		break;
	}

	return i == modelPoints && iters < maxAttempts;
}


bool Affine2DEstimator::checkSubset(const CvMat* ms1, int count)
{
	int j, k, i, i0, i1;
	CvPoint2D64f* ptr = (CvPoint2D64f*)ms1->data.ptr;

	assert(CV_MAT_TYPE(ms1->type) == CV_64FC2);

	if (checkPartialSubsets)
		i0 = i1 = count - 1;
	else
		i0 = 0, i1 = count - 1;

	for (i = i0; i <= i1; i++)
	{
		// check that the i-th selected point does not belong
		// to a line connecting some previously selected points
		for (j = 0; j < i; j++)
		{
			double dx1 = ptr[j].x - ptr[i].x;
			double dy1 = ptr[j].y - ptr[i].y;
			for (k = 0; k < j; k++)
			{
				double dx2 = ptr[k].x - ptr[i].x;
				double dy2 = ptr[k].y - ptr[i].y;
				if (fabs(dx2*dy1 - dy2*dx1) <= FLT_EPSILON*(fabs(dx1) + fabs(dy1) + fabs(dx2) + fabs(dy2)))
					break;
			}
			if (k < j)
				break;
		}
		if (j < i)
			break;
	}

	return i >= i1;
}

Affine2DEstimator::Affine2DEstimator() : modelPoints(3), modelSize(cvSize(3, 2)), maxBasicSolutions(1)
{
	checkPartialSubsets = true;
	rng = cvRNG(-1);
}