From d17b33131c14864bd1eae275f49a3f148e21cf29 Mon Sep 17 00:00:00 2001 From: Leo Chan Date: Thu, 22 Oct 2020 01:53:21 -0400 Subject: Squashed commit of the sb-vbs branch. Includes the SD-VBS benchmarks modified to: - Use libextra to loop as realtime jobs - Preallocate memory before starting their main computation - Accept input via stdin instead of via argc Does not include the SD-VBS matlab code. Fixes libextra execution in LITMUS^RT. --- SD-VBS/common/c/calcSobel_dX.c | 77 + SD-VBS/common/c/calcSobel_dY.c | 79 + SD-VBS/common/c/extra.h | 479 +++ SD-VBS/common/c/fCopy.c | 24 + SD-VBS/common/c/fDeepCopy.c | 24 + SD-VBS/common/c/fDeepCopyRange.c | 24 + SD-VBS/common/c/fDivide.c | 23 + SD-VBS/common/c/fFind3.c | 46 + SD-VBS/common/c/fFreeHandle.c | 16 + SD-VBS/common/c/fHorzcat.c | 40 + SD-VBS/common/c/fMallocHandle.c | 18 + SD-VBS/common/c/fMdivide.c | 27 + SD-VBS/common/c/fMinus.c | 21 + SD-VBS/common/c/fMtimes.c | 38 + SD-VBS/common/c/fPlus.c | 21 + SD-VBS/common/c/fResetArray.c | 19 + SD-VBS/common/c/fResetHandle.c | 19 + SD-VBS/common/c/fReshape.c | 27 + SD-VBS/common/c/fResortIndices.c | 77 + SD-VBS/common/c/fSelfCheck.c | 59 + SD-VBS/common/c/fSetArray.c | 22 + SD-VBS/common/c/fSort.c | 43 + SD-VBS/common/c/fSortIndices.c | 77 + SD-VBS/common/c/fSum.c | 55 + SD-VBS/common/c/fSum2.c | 56 + SD-VBS/common/c/fTimes.c | 21 + SD-VBS/common/c/fTranspose.c | 27 + SD-VBS/common/c/fWriteMatrix.c | 34 + SD-VBS/common/c/ffConv2.c | 47 + SD-VBS/common/c/ffConv2_dY.c | 52 + SD-VBS/common/c/ffDivide.c | 21 + SD-VBS/common/c/ffTimes.c | 21 + SD-VBS/common/c/ffVertcat.c | 36 + SD-VBS/common/c/ffiConv2.c | 54 + SD-VBS/common/c/fiConv2.c | 54 + SD-VBS/common/c/fiCopy.c | 23 + SD-VBS/common/c/fiDeepCopy.c | 23 + SD-VBS/common/c/horzcat.c | 48 + SD-VBS/common/c/iCheck.c | 18 + SD-VBS/common/c/iDeepCopy.c | 23 + SD-VBS/common/c/iDeepCopyRange.c | 23 + SD-VBS/common/c/iFreeHandle.c | 16 + SD-VBS/common/c/iHorzcat.c | 41 + SD-VBS/common/c/iMallocHandle.c | 20 + SD-VBS/common/c/iMinus.c | 21 + SD-VBS/common/c/iResetArray.c | 22 + SD-VBS/common/c/iReshape.c | 25 + SD-VBS/common/c/iSetArray.c | 22 + SD-VBS/common/c/iSort.c | 43 + SD-VBS/common/c/iSortIndices.c | 47 + SD-VBS/common/c/iTimes.c | 22 + SD-VBS/common/c/iTranspose.c | 26 + SD-VBS/common/c/iVertcat.c | 34 + SD-VBS/common/c/ifDeepCopy.c | 25 + SD-VBS/common/c/ifMtimes.c | 38 + SD-VBS/common/c/iiConv2.c | 55 + SD-VBS/common/c/imageBlur.c | 67 + SD-VBS/common/c/imageReblur.c | 67 + SD-VBS/common/c/imageResize.c | 78 + SD-VBS/common/c/isMinus.c | 23 + SD-VBS/common/c/isPlus.c | 22 + SD-VBS/common/c/photonEndTiming.c | 22 + SD-VBS/common/c/photonPrintTiming.c | 22 + SD-VBS/common/c/photonReportTiming.c | 28 + SD-VBS/common/c/photonStartTiming.c | 23 + SD-VBS/common/c/randWrapper.c | 30 + SD-VBS/common/c/randnWrapper.c | 40 + SD-VBS/common/c/readFile.c | 42 + SD-VBS/common/c/readImage.c | 112 + SD-VBS/common/c/sdvbs_common.h | 139 + SD-VBS/common/c/selfCheck.c | 65 + SD-VBS/common/c/timingUtils.h | 99 + SD-VBS/common/c/uiFreeHandle.c | 15 + SD-VBS/common/c/uiMallocHandle.c | 20 + SD-VBS/common/c/uiResetArray.c | 19 + SD-VBS/common/c/uiSetArray.c | 21 + SD-VBS/common/c/writeMatrix.c | 34 + SD-VBS/common/makefiles/Makefile.common | 134 + SD-VBS/common/makefiles/Makefile.include | 16 + SD-VBS/common/makefiles/Makefile.recurse | 41 + SD-VBS/common/support/buildTable.py | 54 + SD-VBS/common/support/buildTimeTable.py | 55 + SD-VBS/common/toolbox/MultiNcut/MNcut.m | 93 + SD-VBS/common/toolbox/MultiNcut/MNcutDemo.m | 34 + SD-VBS/common/toolbox/MultiNcut/README.tex | 9 + SD-VBS/common/toolbox/MultiNcut/a_times_b_cmplx.c | 405 +++ .../common/toolbox/MultiNcut/a_times_b_cmplx.dll | Bin 0 -> 7114 bytes .../toolbox/MultiNcut/a_times_b_cmplx.mexa64 | Bin 0 -> 10646 bytes .../toolbox/MultiNcut/a_times_b_cmplx.mexglx | Bin 0 -> 7896 bytes .../toolbox/MultiNcut/a_times_b_cmplx.mexmac | Bin 0 -> 13096 bytes SD-VBS/common/toolbox/MultiNcut/affinityic.c | 187 ++ SD-VBS/common/toolbox/MultiNcut/affinityic.dll | Bin 0 -> 7680 bytes SD-VBS/common/toolbox/MultiNcut/affinityic.mexa64 | Bin 0 -> 9755 bytes SD-VBS/common/toolbox/MultiNcut/affinityic.mexglx | Bin 0 -> 7775 bytes SD-VBS/common/toolbox/MultiNcut/batch_MNcut.m | 48 + SD-VBS/common/toolbox/MultiNcut/cimgnbmap.c | 198 ++ SD-VBS/common/toolbox/MultiNcut/cimgnbmap.dll | Bin 0 -> 7168 bytes SD-VBS/common/toolbox/MultiNcut/cimgnbmap.mexa64 | Bin 0 -> 9598 bytes SD-VBS/common/toolbox/MultiNcut/cimgnbmap.mexglx | Bin 0 -> 7824 bytes SD-VBS/common/toolbox/MultiNcut/cimgnbmap_cross.c | 197 ++ .../common/toolbox/MultiNcut/cimgnbmap_cross.dll | Bin 0 -> 7168 bytes .../toolbox/MultiNcut/cimgnbmap_cross.mexa64 | Bin 0 -> 9604 bytes .../toolbox/MultiNcut/cimgnbmap_cross.mexglx | Bin 0 -> 7830 bytes SD-VBS/common/toolbox/MultiNcut/cimgnbmap_star.c | 294 ++ SD-VBS/common/toolbox/MultiNcut/cimgnbmap_star.dll | Bin 0 -> 7680 bytes .../common/toolbox/MultiNcut/cimgnbmap_star.mexa64 | Bin 0 -> 9747 bytes .../common/toolbox/MultiNcut/cimgnbmap_star.mexglx | Bin 0 -> 7829 bytes SD-VBS/common/toolbox/MultiNcut/compileAll.m | 10 + SD-VBS/common/toolbox/MultiNcut/computeMultiW.m | 245 ++ SD-VBS/common/toolbox/MultiNcut/discretisation.m | 49 + .../MultiNcut/discretisationEigenVectorData.m | 12 + SD-VBS/common/toolbox/MultiNcut/doog1.m | 32 + SD-VBS/common/toolbox/MultiNcut/doog2.m | 38 + SD-VBS/common/toolbox/MultiNcut/eigSolve.m | 5 + SD-VBS/common/toolbox/MultiNcut/fft_filt_2.m | 29 + SD-VBS/common/toolbox/MultiNcut/gaussian.m | 31 + .../toolbox/MultiNcut/make_filterbank_even2.m | 45 + .../toolbox/MultiNcut/make_filterbank_odd2.m | 46 + .../common/toolbox/MultiNcut/mex_projection_QR.c | 82 + .../common/toolbox/MultiNcut/mex_projection_QR.dll | Bin 0 -> 10240 bytes .../toolbox/MultiNcut/mex_projection_QR.mexa64 | Bin 0 -> 13067 bytes .../toolbox/MultiNcut/mex_projection_QR.mexglx | Bin 0 -> 10165 bytes .../MultiNcut/mex_projection_QR_symmetric.c | 83 + .../MultiNcut/mex_projection_QR_symmetric.dll | Bin 0 -> 10240 bytes .../MultiNcut/mex_projection_QR_symmetric.mexa64 | Bin 0 -> 13093 bytes .../MultiNcut/mex_projection_QR_symmetric.mexglx | Bin 0 -> 10175 bytes .../MultiNcut/mex_w_times_x_symmetric.mexglx | Bin 0 -> 8713 bytes .../MultiNcut/mex_w_times_x_symmetric.mexmac | Bin 0 -> 13396 bytes SD-VBS/common/toolbox/MultiNcut/multiAffinityic.c | 216 ++ 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60 + SD-VBS/common/toolbox/MultiNcut/showmask.m | 65 + SD-VBS/common/toolbox/MultiNcut/sparsifyc.c | 232 ++ SD-VBS/common/toolbox/MultiNcut/sparsifyc.dll | Bin 0 -> 8704 bytes SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexa64 | Bin 0 -> 10322 bytes SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexglx | Bin 0 -> 8296 bytes SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexmac | Bin 0 -> 9004 bytes SD-VBS/common/toolbox/MultiNcut/spmtimesd.c | 141 + SD-VBS/common/toolbox/MultiNcut/spmtimesd.dll | Bin 0 -> 7168 bytes SD-VBS/common/toolbox/MultiNcut/spmtimesd.mexa64 | Bin 0 -> 9282 bytes SD-VBS/common/toolbox/MultiNcut/spmtimesd.mexglx | Bin 0 -> 7280 bytes SD-VBS/common/toolbox/MultiNcut/spmtimesd.mexmac | Bin 0 -> 8888 bytes SD-VBS/common/toolbox/MultiNcut/tim_eigs.m | 1084 +++++++ SD-VBS/common/toolbox/ikkjin/getANMS.m | 30 + SD-VBS/common/toolbox/ikkjin/getImgGrad.m | 7 + SD-VBS/common/toolbox/ikkjin/harris.m | 43 + SD-VBS/common/toolbox/lagrcv/Makefile | 21 + SD-VBS/common/toolbox/lagrcv/README.sxw | Bin 0 -> 5929 bytes SD-VBS/common/toolbox/lagrcv/calcGradientPyrMex.cc | 45 + .../toolbox/lagrcv/calcGradientPyrMex.mexa64 | Bin 0 -> 28391 bytes .../toolbox/lagrcv/calcGradientPyrMex.mexglx | Bin 0 -> 23141 bytes SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.cc | 30 + SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexa64 | Bin 0 -> 27799 bytes SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexglx | Bin 0 -> 22665 bytes SD-VBS/common/toolbox/lagrcv/calcOptFlowLKMex.cc | 85 + .../common/toolbox/lagrcv/calcOptFlowLKMex.mexa64 | Bin 0 -> 28499 bytes .../common/toolbox/lagrcv/calcOptFlowLKMex.mexglx | Bin 0 -> 23321 bytes .../common/toolbox/lagrcv/calcOptFlowLKPyrMex.cc | 99 + .../toolbox/lagrcv/calcOptFlowLKPyrMex.mexa64 | Bin 0 -> 28778 bytes .../toolbox/lagrcv/calcOptFlowLKPyrMex.mexglx | Bin 0 -> 23692 bytes .../common/toolbox/lagrcv/calcOptFlowLKPyrMex2.cc | 99 + .../toolbox/lagrcv/calcOptFlowLKPyrMex2.mexa64 | Bin 0 -> 28811 bytes 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.../common/toolbox/lagrcv/calcResizedImgMex.mexglx | Bin 0 -> 22704 bytes SD-VBS/common/toolbox/lagrcv/calcSobelMex.cc | 32 + SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexa64 | Bin 0 -> 27837 bytes SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexglx | Bin 0 -> 22699 bytes SD-VBS/common/toolbox/lagrcv/calcSobelPyrMex.cc | 44 + .../common/toolbox/lagrcv/calcSobelPyrMex.mexa64 | Bin 0 -> 28388 bytes .../common/toolbox/lagrcv/calcSobelPyrMex.mexglx | Bin 0 -> 23138 bytes .../common/toolbox/lagrcv/calcSubsampleAvgMex.cc | 33 + .../toolbox/lagrcv/calcSubsampleAvgMex.mexa64 | Bin 0 -> 27844 bytes .../toolbox/lagrcv/calcSubsampleAvgMex.mexglx | Bin 0 -> 22706 bytes SD-VBS/common/toolbox/lagrcv/calcTextureMex.cc | 53 + SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexa64 | Bin 0 -> 28273 bytes SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexglx | Bin 0 -> 23171 bytes SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.cc | 54 + .../common/toolbox/lagrcv/calcTexturePyrMex.mexa64 | Bin 0 -> 28392 bytes .../common/toolbox/lagrcv/calcTexturePyrMex.mexglx | Bin 0 -> 23226 bytes SD-VBS/common/toolbox/lagrcv/dummyMex.cc | 58 + SD-VBS/common/toolbox/lagrcv/dummyMex.mexa64 | Bin 0 -> 8245 bytes SD-VBS/common/toolbox/lagrcv/dummyMex.mexglx | Bin 0 -> 6329 bytes SD-VBS/common/toolbox/lagrcv/findCornerSubPix.cc | 39 + .../common/toolbox/lagrcv/goodFeaturesToTrack.cc | 62 + .../toolbox/lagrcv/goodFeaturesToTrack.mexglx | Bin 0 -> 6280 bytes SD-VBS/common/toolbox/lagrcv/lagrcv.cpp | 840 ++++++ SD-VBS/common/toolbox/lagrcv/lagrcv.h | 51 + SD-VBS/common/toolbox/lagrcv/liblagrcv.a | Bin 0 -> 26268 bytes SD-VBS/common/toolbox/lagrcv/lk_flow.cc | 76 + SD-VBS/common/toolbox/lagrcv/lk_flow.mexglx | Bin 0 -> 7224 bytes SD-VBS/common/toolbox/lagrcv/test.cc | 34 + SD-VBS/common/toolbox/lagrcv/test/getPyramid.m | 10 + SD-VBS/common/toolbox/lagrcv/test/img0.ppm | 3137 ++++++++++++++++++++ SD-VBS/common/toolbox/lagrcv/test/img1.ppm | 3100 +++++++++++++++++++ SD-VBS/common/toolbox/lagrcv/test/pathdef.m | 284 ++ SD-VBS/common/toolbox/lagrcv/test/test_lk.m | 74 + SD-VBS/common/toolbox/lagrcv/test/test_lk_disp.m | 49 + SD-VBS/common/toolbox/lagrcv/test/test_lk_opencv.m | 47 + SD-VBS/common/toolbox/mex_template.c | 58 + .../toolbox_basic/TOOLBOX_calib/Distor2Calib.m | 391 +++ .../toolbox_basic/TOOLBOX_calib/Rectangle2Square.m | 19 + .../toolbox_basic/TOOLBOX_calib/UnWarpPlane.m | 54 + .../toolbox_basic/TOOLBOX_calib/add_suppress.m | 98 + .../toolbox_basic/TOOLBOX_calib/analyse_error.m | 141 + .../toolbox_basic/TOOLBOX_calib/apply_distortion.m | 137 + .../toolbox_basic/TOOLBOX_calib/calib_gui.m | 117 + .../TOOLBOX_calib/check_active_images.m | 19 + .../TOOLBOX_calib/check_convergence.m | 48 + .../toolbox_basic/TOOLBOX_calib/check_directory.m | 97 + .../TOOLBOX_calib/check_extracted_images.m | 37 + .../toolbox_basic/TOOLBOX_calib/clear_windows.m | 4 + .../toolbox/toolbox_basic/TOOLBOX_calib/clearwin.m | 10 + .../toolbox_basic/TOOLBOX_calib/click_calib.m | 193 ++ 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+#include "sdvbs_common.h" + +F2D* calcSobel_dX(F2D* imageIn) +{ + int rows, cols; + F2D *kernel_1, *kernel_2; + float temp; + int kernelSize, startCol, endCol, halfKernel, startRow, endRow, i, j, kernelSum; + int k, kernelSum_1, kernelSum_2; + F2D *imageOut, *tempOut; + + rows = imageIn->height; + cols = imageIn->width; + + imageOut = fSetArray(rows, cols, 0); + tempOut = fSetArray(rows, cols, 0); + kernel_1 = fMallocHandle(1, 3); + kernel_2 = fMallocHandle(1, 3); + + asubsref(kernel_1,0) = 1; + asubsref(kernel_1,1) = 2; + asubsref(kernel_1,2) = 1; + + kernelSize = 3; + kernelSum_1 = 4; + + asubsref(kernel_2,0) = 1; + asubsref(kernel_2,1) = 0; + asubsref(kernel_2,2) = -1; + + kernelSum_2 = 2; + + startCol = 1; + endCol = cols - 1; + halfKernel = 1; + + startRow = 1; + endRow = rows - 1; + + for(i=startRow; iheight; + cols = imageIn->width; + + // level 1 is the base image. + + outputRows = rows; + outputCols = cols; + + imageOut = fSetArray(outputRows, outputCols, 0); + tempOut = fSetArray(outputRows, outputCols, 0); + kernel_1 = iMallocHandle(1, 3); + kernel_2 = iMallocHandle(1, 3); + + asubsref(kernel_1,0) = 1; + asubsref(kernel_1,1) = 0; + asubsref(kernel_1,2) = -1; + kernelSize = 3; + kernelSum_1 = 2.0; + + asubsref(kernel_2,0) = 1; + asubsref(kernel_2,1) = 2; + asubsref(kernel_2,2) = 1; + kernelSum_2 = 4; + + startCol = 1; + endCol = cols - 1; + halfKernel = 1; + + startRow = 1; + endRow = rows - 1; + + for(i=startRow; i // For O_CREAT and O_RDWR +#include // For sched_yield() +#include // For sem_{open, post, wait}() +#include +#include // For exit() +#include // For strlen() +#include // For mlockall() +#include // For ftruncate() +#include + +// This is only visible if _GNU_SOURCE is defined, and that define does not +// come along to places where this file is included. Address this by manually +// forcing it into the global namespace. +extern int sched_getcpu(); + +// These constants correspond to the imx6q-sabredb platform +#define LINE_SIZE 32 +#define L2_SIZE 16*2048*32 + +#if __arm__ +#include +#include +#endif + +#define LITMUS 1 +#define MC2 0 +#define MMDC_PROF 0 + +#if LITMUS +#include +#endif + +#if MMDC_PROF +#include "/media/speedy/litmus/tools/mmdc/mmdc.h" +#endif + +#if LITMUS +#define SET_UP LOAD_PARAMS SETUP_LITMUS +#else +#define SET_UP LOAD_PARAMS +#endif + +#if MMDC_PROF +#define LOAD_PARAMS LOAD_PARAMS_ITRL SETUP_MMDC +#else +#define LOAD_PARAMS LOAD_PARAMS_ITRL +#endif + +// Store state globally so that the job can be outside main() +// Arrays use float as a comprimise between overflow and size +// Paired arrays use long longs as precision is more important for those times +#ifdef PAIRED +long long *_rt_start_time; +long long *_rt_end_time; +#else +float *_rt_exec_time; +#endif +#if MMDC_PERF +float *_rt_mmdc_read; +float *_rt_mmdc_write; +#endif +long _rt_jobs_complete; +long _rt_max_jobs; +int _rt_core; +int _rt_will_output; +struct timespec _rt_start, _rt_end; + +char *_rt_run_id; +char *_rt_our_prog_name; +char *_rt_other_prog_name; +char *_rt_other_core; +#define _RT_FILENAME_LEN 64 +#define _BILLION (1000*1000*1000) +#ifdef PAIRED +char *_rt_barrier; +sem_t *_rt_first_sem, *_rt_second_sem; +int _rt_lock_id; +#endif + +static void _rt_load_params_itrl(int argc, char **argv) { +#ifdef PAIRED + if (argc != 8) { + fprintf(stderr, "Usage: %s ", argv[0]); + fprintf(stderr, " string for logging. Name of this task.\n"); + fprintf(stderr, " integer number of iterations. -1 for infinite.\n"); + fprintf(stderr, " UNUSED. Core is now auto-detected.\n"); + fprintf(stderr, " integer for logging. Core of paired task.\n"); + fprintf(stderr, " string for logging. Name of paired task.\n"); + fprintf(stderr, " string to append with .txt to yield output file name.\n"); + fprintf(stderr, " 1 to indicate this is pair member 1, otherwise pair member 2.\n"); + exit(1); + } +#else + if (argc != 6) { + fprintf(stderr, "Usage: %s \n", argv[0]); + fprintf(stderr, " string for logging. Name of this task.\n"); + fprintf(stderr, " integer number of iterations. -1 for infinite.\n"); + fprintf(stderr, " UNUSED. Core is now auto-detected.\n"); + fprintf(stderr, " string to append with .txt to yield output file name.\n"); + fprintf(stderr, " 1 to save results, 0 to discard.\n"); + exit(1); + } +#endif + _rt_our_prog_name = argv[1]; + _rt_max_jobs = atol(argv[2]); + _rt_core = sched_getcpu(); +#ifdef PAIRED + _rt_other_core = argv[4]; + _rt_other_prog_name = argv[5]; + _rt_run_id = argv[6]; + _rt_lock_id = atoi(argv[7]); + // The paired version doesn't support disabling output (legacy compatibility) + _rt_will_output = 1; +#else + _rt_other_core = "none"; + _rt_other_prog_name = "none"; + _rt_run_id = argv[4]; + _rt_will_output = atoi(argv[5]); +#endif /* PAIRED */ + if (_rt_max_jobs < 0 && _rt_will_output != 0) { + fprintf(stderr, "Infinite loops only supported when _rt_will_output is disabled!\n"); + exit(1); + } + if (strlen(_rt_run_id) + 5 > _RT_FILENAME_LEN) { + fprintf(stderr, "Run ID is too large! Keep it to less than %d characters.\n", _RT_FILENAME_LEN); + exit(1); + } +#ifdef PAIRED + _rt_start_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(long long)); + _rt_end_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(long long)); + if (!_rt_end_time || !_rt_start_time) { + perror("Unable to allocate buffers for execution times"); + exit(1); + } + _rt_first_sem = sem_open("/_libextra_first_sem", O_CREAT, 644, 0); + _rt_second_sem = sem_open("/_libextra_second_sem", O_CREAT, 644, 0); + if (_rt_first_sem == SEM_FAILED || _rt_second_sem == SEM_FAILED) { + perror("Error while creating semaphores"); + exit(1); + } + int barrier_file = shm_open("/_libextra_barrier", O_CREAT | O_RDWR, 644); + if (barrier_file == -1) { + perror("Error while creating shared memory for barrier synchronization"); + exit(1); + } + if (ftruncate(barrier_file, 1) == -1) { + perror("Error while setting size of shared memory for barrier synchronization"); + exit(1); + } + _rt_barrier = mmap(NULL, 1, PROT_WRITE, MAP_SHARED, barrier_file, 0); + if (_rt_barrier == MAP_FAILED) { + perror("Error while mapping shared memory for barrier synchronization"); + exit(1); + } + *_rt_barrier = 0; +#else + _rt_exec_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(float)); + if (!_rt_exec_time) { + perror("Unable to allocate buffer for execution times"); + exit(1); + } +#endif /* PAIRED */ + _rt_jobs_complete = 0; + mlockall(MCL_CURRENT || MCL_FUTURE); +} +#define LOAD_PARAMS_ITRL _rt_load_params_itrl(argc, argv); + +#define SETUP_MMDC \ + _rt_mmdc_read = calloc(_rt_max_jobs * _rt_will_output, sizeof(float));\ + _rt_mmdc_write = calloc(_rt_max_jobs * _rt_will_output, sizeof(float));\ + if (!_rt_mmdc_read || !_rt_mmdc_write) {\ + perror("Unable to allocate buffer for MMDC data");\ + exit(1);\ + }\ + MMDC_PROFILE_RES_t mmdc_res;\ + memset(&mmdc_res, 0, sizeof(MMDC_PROFILE_RES_t));\ + int fd = open("/dev/mem", O_RDWR, 0);\ + if (fd < 0) {\ + perror("Unable to open /dev/mem");\ + exit(1);\ + }\ + pMMDC_t mmdc = mmap(NULL, 0x4000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, MMDC_P0_IPS_BASE_ADDR);\ + if (mmdc == MAP_FAILED) {\ + perror("Unable to map MMDC address space");\ + exit(1);\ + }\ + mmdc->madpcr1 = axi_arm1;\ + msync(&(mmdc->madpcr1),4,MS_SYNC); + +#define SETUP_LITMUS \ + unsigned int wait = 0; \ + if (be_migrate_to_domain(_rt_core) < 0) { \ + perror("Unable to migrate to specified CPU"); \ + exit(1); \ + } \ + struct rt_task rt_param; \ + init_rt_task_param(&rt_param); \ + /* Supposedly the next two parameters are irrelevant when reservations are enabled, but I'm leaving them anyway... */ \ + rt_param.exec_cost = ms2ns(999); \ + rt_param.period = ms2ns(1000); \ + rt_param.priority = LITMUS_HIGHEST_PRIORITY; \ + rt_param.cls = RT_CLASS_HARD; \ + rt_param.release_policy = TASK_PERIODIC; \ + rt_param.budget_policy = NO_ENFORCEMENT; \ + rt_param.cpu = _rt_core; \ + if (set_rt_task_param(gettid(), &rt_param) < 0) { \ + perror("Unable to set real-time parameters"); \ + exit(1); \ + } \ + if (init_litmus() != 0) { \ + perror("init_litmus failed"); \ + exit(1); \ + } \ + MC2_SETUP \ + if (task_mode(LITMUS_RT_TASK) != 0) { \ + perror("Unable to become real-time task"); \ + exit(1); \ + } \ + if (wait && wait_for_ts_release() != 0) { \ + perror("Unable to wait for taskset release"); \ + exit(1); \ + } + +#if MC2 +#define MC2_SETUP \ + + set_page_color(rt_param.cpu); +#else +#define MC2_SETUP +#endif + +#define CLEANUP_LITMUS \ + if (task_mode(BACKGROUND_TASK) != 0) { \ + perror("Unable to become a real-time task"); \ + exit(1); \ + } \ + +#if __arm__ +// On ARM, manually flush the cache +#define FLUSH_CACHES \ + volatile uint8_t buffer[L2_SIZE * 4]; \ + for (uint32_t j = 0; j < 4; j++) \ + for (uint32_t i = 0; i < L2_SIZE * 4; i += LINE_SIZE) \ + buffer[i]++; +#else +// On x86 call the wbinvld instruction (it's in a kernel module due to it being ring-0) +#define FLUSH_CACHES \ + FILE *fp = fopen("/proc/wbinvd", "r");\ + if (fp == NULL) {\ + perror("Cache flush module interface cannot be opened");\ + exit(1);\ + }\ + char dummy;\ + if (fread(&dummy, 1, 1, fp) == 0) {\ + perror("Unable to access cache flush module interface");\ + exit(1);\ + }\ + fclose(fp); +#endif + +// This semaphore-based synchronization is from Sims +#define FIRST_UNLOCK \ + if (_rt_lock_id == 1) {\ + if (sem_post(_rt_second_sem) != 0) {\ + perror("Unable to unlock second semaphore");\ + exit(1);\ + }\ + } \ + else {\ + if (sem_post(_rt_first_sem) != 0) {\ + perror("Unable to unlock first semaphore");\ + exit(1);\ + }\ + } \ + +#define FIRST_LOCK \ + if (_rt_lock_id == 1) {\ + if (sem_wait(_rt_first_sem) != 0) {\ + perror("Unable to wait on first semaphore");\ + exit(1);\ + }\ + }\ + else {\ + if (sem_wait(_rt_second_sem) != 0) {\ + perror("Unable to wait on second semaphore");\ + exit(1);\ + }\ + } + +// This ensures a very low difference between pair member start times +#define BARRIER_SYNC \ + if (__sync_bool_compare_and_swap(_rt_barrier, 0, 1)) {\ + while (!__sync_bool_compare_and_swap(_rt_barrier, 0, 0)) {};\ + }\ + else {\ + __sync_bool_compare_and_swap(_rt_barrier, 1, 0);\ + } + +// Buffer timing result from a single job +static void _rt_save_job_result() { + if (_rt_jobs_complete >= _rt_max_jobs) { + fprintf(stderr, "Max jobs setting too small! Trying to record job #%ld when we only have space for %ld jobs. Exiting...\n", _rt_jobs_complete, _rt_max_jobs); + exit(1); + } + if (_rt_jobs_complete > -1 && _rt_will_output) { +#ifdef PAIRED + _rt_start_time[_rt_jobs_complete] = _rt_start.tv_sec; + _rt_start_time[_rt_jobs_complete] *= _BILLION; + _rt_start_time[_rt_jobs_complete] += _rt_start.tv_nsec; + _rt_end_time[_rt_jobs_complete] = _rt_end.tv_sec; + _rt_end_time[_rt_jobs_complete] *= _BILLION; + _rt_end_time[_rt_jobs_complete] += _rt_end.tv_nsec; +#else + _rt_exec_time[_rt_jobs_complete] = _rt_end.tv_sec - _rt_start.tv_sec; + _rt_exec_time[_rt_jobs_complete] *= _BILLION; + _rt_exec_time[_rt_jobs_complete] += _rt_end.tv_nsec - _rt_start.tv_nsec; +#endif /* PAIRED */ +#if MMDC_PROF + _rt_mmdc_read[_rt_jobs_complete] = mmdc_res.read_bytes; + _rt_mmdc_write[_rt_jobs_complete] = mmdc_res.write_bytes; +#endif + } +} + +// Save all buffered timing results to disk +static void _rt_write_to_file() { + char fileName[_RT_FILENAME_LEN]; + FILE *fp; + munlockall(); + if (!_rt_will_output) + goto out; + strcpy(fileName, _rt_run_id); + strcat(fileName, ".txt"); + fp = fopen(fileName, "a"); + if (fp == NULL) { + perror("Unable to open output file"); + exit(1); + } + // Baseline output uses a similar format with "none" for unused fields + for (int i = 0; i < _rt_jobs_complete; i++){ + fprintf(fp, "%s %s %u %s %ld", _rt_our_prog_name, _rt_other_prog_name, + _rt_core, _rt_other_core, _rt_max_jobs); +#ifdef PAIRED + // For unclear legacy reasons, paired tasks emit sec and ns separately + fprintf(fp, " %lld %lld %lld %lld", + _rt_start_time[i] / _BILLION, _rt_start_time[i] % _BILLION, + _rt_end_time[i] / _BILLION, _rt_end_time[i] % _BILLION); +#else + fprintf(fp, " %.f", _rt_exec_time[i]); +#endif /* PAIRED */ + fprintf(fp, " %s %d %.f %.f\n", _rt_run_id, i, +#if MMDC_PROF + _rt_mmdc_read[i], _rt_mmdc_write[i]); +#else + 0.0, 0.0); +#endif /* MMDC_PROF */ + } + fclose(fp); +out: +#if LITMUS + CLEANUP_LITMUS +#endif /* LITMUS */ +#ifdef PAIRED + munmap(_rt_barrier, 1); + shm_unlink("/_libextra_barrier"); + sem_unlink("/_libextra_first_sem"); + sem_unlink("/_libextra_second_sem"); + free(_rt_start_time); + free(_rt_end_time); +#else + free(_rt_exec_time); +#endif /* PAIRED */ +#if MMDC_PROF + free(_rt_mmdc_read); + free(_rt_mmdc_write); +#endif /* MMDC_PROF */ +} + +// Start a job +static void _rt_start_loop() { +#if LITMUS + if (sleep_next_period() != 0) { + perror("Unable to sleep for next period"); + } +#else + sched_yield(); +#endif /* LITMUS */ +#ifdef PAIRED + FIRST_UNLOCK + FIRST_LOCK +#endif /* PAIRED */ + FLUSH_CACHES +#ifdef PAIRED + BARRIER_SYNC +#endif /* PAIRED */ +#if MMDC_PROF + /* This disables profiling, resets the counters, clears the overflow bit, and enables profiling */ + start_mmdc_profiling(mmdc); +#endif /* MMDC_PROF */ + clock_gettime(CLOCK_MONOTONIC, &_rt_start); +} + +// Complete a job +static void _rt_stop_loop() { + clock_gettime(CLOCK_MONOTONIC, &_rt_end); +#if MMDC_PROF + /* This freezes the profiling and makes results available */ + pause_mmdc_profiling(mmdc); + get_mmdc_profiling_results(mmdc, &mmdc_res); +#endif /* MMDC_PROF */ + _rt_save_job_result(); + _rt_jobs_complete++; +} + +/****** New API ****** + * Intended structure: + * + * |int main(int argc, char **argv) { + * | SET_UP + * | ... + * | for_each_job { + * | tacleInit(); + * | tacleMain(); + * | } + * | WRITE_TO_FILE + * |} + * + * The main() function must call its parameters argc and argv for SET_UP to be + * able to read them. + * Only SET_UP necessarily has to be in main(). + * + * We use some niche C features, here's a quick explaination: + * 1. The && operator doesn't evaluate the right-hand side of the expression + * unless the left side evaluated to true. We use this to only execute + * _rt_start_loop() when the loop will actually run. + * 2. The comma operator executes the first expression and then throws away the + * result. We use this to call our void function from inside a comparison. + */ +#define for_each_job \ + for (; _rt_jobs_complete < _rt_max_jobs && (_rt_start_loop(),1); \ + _rt_stop_loop()) + +/****** Legacy API ****** + * Intended structure: + * + * |int main(int argc, char **argv) { + * | SET_UP + * | for (jobsComplete=0; jobsCompleteheight; + cols = in->width; + + //out = fMallocHandle(rows, cols); + + for(i=0; iheight; + cols = in->width; + + out = fMallocHandle(rows, cols); + + for(i=0; iheight; + cols = a->width; + + c = fMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + { + asubsref(c,i) = asubsref(a,i) / b; + } + + return c; +} diff --git a/SD-VBS/common/c/fFind3.c b/SD-VBS/common/c/fFind3.c new file mode 100644 index 0000000..a783bae --- /dev/null +++ b/SD-VBS/common/c/fFind3.c @@ -0,0 +1,46 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* fFind3(F2D* in) +{ + int r, k, y, x, i, j; + F2D *points; + + y = in->height; + x = in->width; + + r = 0; + for(i=0; i +#include +#include "sdvbs_common.h" + +void fFreeHandle(F2D* out) +{ + if(out != NULL) + free(out); + + return; +} + diff --git a/SD-VBS/common/c/fHorzcat.c b/SD-VBS/common/c/fHorzcat.c new file mode 100644 index 0000000..9845e7c --- /dev/null +++ b/SD-VBS/common/c/fHorzcat.c @@ -0,0 +1,40 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* fHorzcat(F2D* a, F2D* b) +{ + F2D* out_, *out, *c; + int rows=0, cols=0, i, j, k, c_1, c_2, r_3, c_3; + int r_1; + + r_1 = a->height; + c_1 = a->width; + cols += c_1; + c_2 = b->width; + cols += c_2; + rows = r_1; + + out = fMallocHandle(rows, cols); + + for(i=0; i +#include +#include "sdvbs_common.h" + +F2D* fMallocHandle(int rows, int cols) +{ + int i, j; + F2D* out; + + out = (F2D*)malloc(sizeof(F2D) + sizeof(float)*rows*cols); + out->height = rows; + out->width = cols; + return out; +} diff --git a/SD-VBS/common/c/fMdivide.c b/SD-VBS/common/c/fMdivide.c new file mode 100644 index 0000000..671e7d1 --- /dev/null +++ b/SD-VBS/common/c/fMdivide.c @@ -0,0 +1,27 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* fMdivide(F2D* a, F2D* b) +{ + F2D *c; + int i, j, rows, cols; + + rows = a->height; + cols = a->width; + + if(rows != b->height || cols != b->width) + { + printf("fMDivide Mismatch = \nrows: %d\t%d\ncols: %d\t%d\n", rows, b->height, cols, b->width); + return NULL; + } + + c = fMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) / asubsref(b,i); + + return c; +} diff --git a/SD-VBS/common/c/fMinus.c b/SD-VBS/common/c/fMinus.c new file mode 100644 index 0000000..6b4954e --- /dev/null +++ b/SD-VBS/common/c/fMinus.c @@ -0,0 +1,21 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* fMinus(F2D* a, F2D* b) +{ + F2D *c; + int i, j, rows, cols; + + rows = a->height; + cols = a->width; + + c = fMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) - asubsref(b,i); + + return c; +} diff --git a/SD-VBS/common/c/fMtimes.c b/SD-VBS/common/c/fMtimes.c new file mode 100644 index 0000000..c765d2f --- /dev/null +++ b/SD-VBS/common/c/fMtimes.c @@ -0,0 +1,38 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* fMtimes(F2D* a, F2D* b) +{ + F2D *out; + int m, p, p1, n, i, j, k; + float temp; + + m = a->height; + p = a->width; + + p1 = b->height; + n = b->width; + + out = fMallocHandle(m,n); + + for(i=0; iheight; + cols = a->width; + + c = fMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) { + asubsref(c,i) = asubsref(a,i) + asubsref(b,i); + } + return c; +} diff --git a/SD-VBS/common/c/fResetArray.c b/SD-VBS/common/c/fResetArray.c new file mode 100644 index 0000000..23a853a --- /dev/null +++ b/SD-VBS/common/c/fResetArray.c @@ -0,0 +1,19 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include +#include +#include "sdvbs_common.h" + +void fResetArray(F2D *out, int rows, int cols, float val) +{ + int i, j; + + for(i=0; i +#include +#include "sdvbs_common.h" + +F2D* fResetHandle(F2D* out, int rows, int cols) +{ + int i, j; + //F2D* out; + + //out = (F2D*)malloc(sizeof(F2D) + sizeof(float)*rows*cols); + out->height = rows; + out->width = cols; + //printf("fmalloc happened\n"); + return out; +} diff --git a/SD-VBS/common/c/fReshape.c b/SD-VBS/common/c/fReshape.c new file mode 100644 index 0000000..a078826 --- /dev/null +++ b/SD-VBS/common/c/fReshape.c @@ -0,0 +1,27 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* fReshape(F2D* in, int rows, int cols) +{ + F2D *out; + int i, j, k; + int r, c; + + r = in->height; + c = in->width; + + out = fMallocHandle(rows, cols); + + k = 0; + for(i=0; iheight; + cols = input->width; + + in = fCopy(input, in); + //ind = iMallocHandle(rows,cols); + + for(i=0; iheight; + c1 = in1->width; + + buffer = (float*)malloc(sizeof(float)*r1*c1); + + sprintf(file, "%s", path); + fd = fopen(file, "r"); + + if(fd == NULL) + { + printf("Error: Expected file not opened %s\n", file); + return -1; + } + + while(!feof(fd)) + { + fscanf(fd, "%f", &buffer[count]); + count++; + } + count--; + + if(count != (r1*c1)) + { + printf("Checking error: dimensions mismatch. Expected = %d, Observed = %d \n", count, (r1*c1)); + return -1; + } + + for(i=0; itol || (buffer[i]-inVal)>tol ) + { + printf("Mismatch %d: (%f, %f)\n", i, buffer[i], inVal); + return -1; + } + } + + fclose(fd); + printf("Verification\t\t- Successful\n"); + free(buffer); + return ret; +} + + diff --git a/SD-VBS/common/c/fSetArray.c b/SD-VBS/common/c/fSetArray.c new file mode 100644 index 0000000..cd8269b --- /dev/null +++ b/SD-VBS/common/c/fSetArray.c @@ -0,0 +1,22 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include +#include +#include "sdvbs_common.h" + +F2D* fSetArray(int rows, int cols, float val) +{ + int i, j; + F2D *out; + out = fMallocHandle(rows, cols); + + for(i=0; iheight; + cols = in->width; + + sorted = fDeepCopy(in); + + for(k=0; kheight; + cols = input->width; + + in = fDeepCopy(input); + ind = iMallocHandle(rows,cols); + + for(i=0; iheight; + cols = inMat->width; + + if(cols == 1 || rows == 1) + Rcols = 1; + else + Rcols = cols; + + outMat = fSetArray(1,Rcols,0); + + if( cols == 1) + { + temp = 0; + for( j=0; jheight; + cols = inMat->width; + + if(dir == 1) + { + newRow = 1; + newCols = cols; + } + else + { + newRow = rows; + newCols = 1; + } + + outMat = fSetArray(newRow,newCols,0); + + if(dir == 1) + { + for (i=0; iheight; + cols = a->width; + + c = fMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) * asubsref(b,i); + + return c; +} diff --git a/SD-VBS/common/c/fTranspose.c b/SD-VBS/common/c/fTranspose.c new file mode 100644 index 0000000..9611be2 --- /dev/null +++ b/SD-VBS/common/c/fTranspose.c @@ -0,0 +1,27 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* fTranspose(F2D* a) +{ + F2D *out; + int m, p, p1, n, i, j, k; + float temp; + + m = a->height; + n = a->width; + + out = fMallocHandle(n, m); + k = 0; + for(i=0; i +#include +#include "sdvbs_common.h" + +void fWriteMatrix(F2D* input, char* inpath) +{ + FILE* fp; + char im[100]; + int rows,cols, i, j; + + sprintf(im, "%s/expected_C.txt", inpath); + fp = fopen(im, "w"); + + rows = input->height; + cols = input->width; + + for(i=0; iheight; + na = a->width; + + mb = b->height; + nb = b->width; + + ci = ma; + cj = na; + + c = fSetArray(ci, cj, 0); + + r_index = mb/2; + c_index = nb/2; + + for(i=0; i=0 && ri < ma && ci >= 0 && ci < na) + subsref(c,i,j) += subsref(a,ri,ci) * subsref(b,mm,nn); + } + } + } + } + + return c; +} diff --git a/SD-VBS/common/c/ffConv2_dY.c b/SD-VBS/common/c/ffConv2_dY.c new file mode 100644 index 0000000..e480eaa --- /dev/null +++ b/SD-VBS/common/c/ffConv2_dY.c @@ -0,0 +1,52 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* ffConv2_dY(F2D* a, F2D* b) +{ + F2D *c, *out; + int ma, na, mb, nb, ci, cj, i, j, m, n; + int r_index, c_index; + + ma = a->height; + na = a->width; + + mb = b->height; + nb = b->width; + + r_index = ceil((mb + 1.0)/2.0); + c_index = ceil((nb + 1.0)/2.0); + + ci = ma+mb-1; + cj = na+nb-1; + + c = fSetArray(ci, cj, 0); + + for(i=0; i=0 && (j-n)>=0 && (i-m)height; + cols = a->width; + + c = fMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) / asubsref(b,i); + + return c; +} diff --git a/SD-VBS/common/c/ffTimes.c b/SD-VBS/common/c/ffTimes.c new file mode 100644 index 0000000..8ef84b8 --- /dev/null +++ b/SD-VBS/common/c/ffTimes.c @@ -0,0 +1,21 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* ffTimes(F2D* a, float b) +{ + F2D *c; + int i, j, rows, cols; + + rows = a->height; + cols = a->width; + + c = fMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) * b; + + return c; +} diff --git a/SD-VBS/common/c/ffVertcat.c b/SD-VBS/common/c/ffVertcat.c new file mode 100644 index 0000000..00fa74b --- /dev/null +++ b/SD-VBS/common/c/ffVertcat.c @@ -0,0 +1,36 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* ffVertcat(F2D* matrix1, F2D* matrix2) +{ + F2D *outMatrix; + int row1, col1, row2, col2, i, j, k; + + row1 = matrix1->height; + col1 = matrix1->width; + + row2 = matrix2->height; + col2 = matrix2->width; + + outMatrix = fMallocHandle(row1+row2, col1); + + for( i=0; iheight; + na = a->width; + + mb = b->height; + nb = b->width; + + r_index = ceil((mb + 1.0)/2.0); + c_index = ceil((nb + 1.0)/2.0); + + ci = ma+mb-1; + cj = na+nb-1; + + c = fSetArray(ci, cj, 0); + + for(i=0; i=0 && (j-n)>=0 && (i-m)height; + na = a->width; + + mb = b->height; + nb = b->width; + + r_index = ceil((mb + 1.0)/2.0); + c_index = ceil((nb + 1.0)/2.0); + + ci = ma+mb-1; + cj = na+nb-1; + + c = fSetArray(ci, cj, 0); + + for(i=0; i=0 && (j-n)>=0 && (i-m)height; + cols = in->width; + + //out = fMallocHandle(rows, cols); + + for(i=0; iheight; + cols = in->width; + + out = fMallocHandle(rows, cols); + + for(i=0; iwidth; + cols += c_1; + + c_2 = b->width; + cols += c_2; + + r_3 = c->height; + c_3 = c->width; + cols += c_3; + rows = r_3; + + out = fMallocHandle(rows, cols); + + for(i=0; iwidth != in2 -> width || in1->height != in2->height) return 0; + for(int i = 0; i < in1->width;i++){ + for(int j = 0; j < in1->height;j++){ + if(subsref(in1,i,j) != subsref(in2,i,j)) return 0; + } + } + return 1; + +} + + diff --git a/SD-VBS/common/c/iDeepCopy.c b/SD-VBS/common/c/iDeepCopy.c new file mode 100644 index 0000000..8d56680 --- /dev/null +++ b/SD-VBS/common/c/iDeepCopy.c @@ -0,0 +1,23 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +I2D* iDeepCopy(I2D* in) +{ + int i, j; + I2D* out; + int rows, cols; + + rows = in->height; + cols = in->width; + + out = iMallocHandle(rows, cols); + + for(i=0; i +#include +#include "sdvbs_common.h" + +void iFreeHandle(I2D* out) +{ + if(out != NULL) + free(out); + + return; +} + diff --git a/SD-VBS/common/c/iHorzcat.c b/SD-VBS/common/c/iHorzcat.c new file mode 100644 index 0000000..ac1c4ea --- /dev/null +++ b/SD-VBS/common/c/iHorzcat.c @@ -0,0 +1,41 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +I2D* iHorzcat(I2D* a, I2D* b) +{ + I2D *out, *c; + int rows=0, cols=0, i, j, k, c_1, c_2, r_3, c_3; + int r_1; + + r_1 = a->height; + c_1 = a->width; + cols += c_1; + + c_2 = b->width; + cols += c_2; + rows = r_1; + + out = iMallocHandle(rows, cols); + + for(i=0; i +#include +#include "sdvbs_common.h" + +I2D* iMallocHandle(int rows, int cols) +{ + int i, j; + I2D* out; + + out = (I2D*)malloc(sizeof(I2D) + sizeof(int)*rows*cols); + out->height = rows; + out->width = cols; + //printf("imalloc happened\n"); + return out; +} + diff --git a/SD-VBS/common/c/iMinus.c b/SD-VBS/common/c/iMinus.c new file mode 100644 index 0000000..a0ed908 --- /dev/null +++ b/SD-VBS/common/c/iMinus.c @@ -0,0 +1,21 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +I2D* iMinus(I2D* a, I2D* b) +{ + I2D *c; + int i, j, rows, cols; + + rows = a->height; + cols = a->width; + + c = iMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) - asubsref(b,i); + + return c; +} diff --git a/SD-VBS/common/c/iResetArray.c b/SD-VBS/common/c/iResetArray.c new file mode 100644 index 0000000..3659d15 --- /dev/null +++ b/SD-VBS/common/c/iResetArray.c @@ -0,0 +1,22 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include +#include +#include "sdvbs_common.h" + +void iResetArray(I2D* out, int rows, int cols, int val) +{ + int i, j; + //I2D *out; + //out = iMallocHandle(rows, cols); + + for(i=0; iheight; + c = in->width; + + out = iMallocHandle(rows, cols); + + k = 0; + for(i=0; i +#include +#include "sdvbs_common.h" + +I2D* iSetArray(int rows, int cols, int val) +{ + int i, j; + I2D *out; + out = iMallocHandle(rows, cols); + + for(i=0; iheight; + cols = in->width; + + sorted = iDeepCopy(in); + + for(k=0; kheight; + cols = in->width; + + sorted = iDeepCopy(in); + ind = iMallocHandle(rows, cols); + + for(i=0; iheight; + cols = a->width; + + c = iMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) * asubsref(b,i); + + return c; +} + diff --git a/SD-VBS/common/c/iTranspose.c b/SD-VBS/common/c/iTranspose.c new file mode 100644 index 0000000..79b65d2 --- /dev/null +++ b/SD-VBS/common/c/iTranspose.c @@ -0,0 +1,26 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +I2D* iTranspose(I2D* a) +{ + I2D *out; + int m, p, p1, n, i, j, k; + int temp; + + m = a->height; + n = a->width; + + out = iMallocHandle(n, m); + k = 0; + for(i=0; iheight; + col1 = matrix1->width; + + row2 = matrix2->height; + col2 = matrix2->width; + + outMatrix = iMallocHandle(row1+row2, col1); + + for( i=0; i +#include "sdvbs_common.h" + +I2D* ifDeepCopy(F2D* in) +{ + int i, j; + I2D *out; + int rows, cols; + + rows = in->height; + cols = in->width; + + out = iMallocHandle(rows, cols); + + for(i=0; iheight; + p = a->width; + + p1 = b->height; + n = b->width; + + out = fMallocHandle(m,n); + + for(i=0; iheight; + na = a->width; + + mb = b->height; + nb = b->width; + + r_index = ceil((mb + 1.0)/2.0); + c_index = ceil((nb + 1.0)/2.0); + + ci = ma+mb-1; + cj = na+nb-1; + + c = iSetArray(ci, cj, 0); + + for(i=0; i=0 && (j-n)>=0 && (i-m)height; + cols = imageIn->width; + + imageOut = fSetArray(rows, cols, 0); + tempOut = fSetArray(rows, cols, 0); + kernel = iMallocHandle(1, 5); + + asubsref(kernel,0) = 1; + asubsref(kernel,1) = 4; + asubsref(kernel,2) = 6; + asubsref(kernel,3) = 4; + asubsref(kernel,4) = 1; + kernelSize = 5; + kernelSum = 16; + + startCol = 2; + endCol = cols - 2; + halfKernel = 2; + + startRow = 2; + endRow = rows - 2; + + for(i=startRow; iheight; + cols = imageIn->width; + + fResetArray(imageOut, rows, cols, 0); + fResetArray(tempOut, rows, cols, 0); + //kernel = iMallocHandle(1, 5); + + asubsref(kernel,0) = 1; + asubsref(kernel,1) = 4; + asubsref(kernel,2) = 6; + asubsref(kernel,3) = 4; + asubsref(kernel,4) = 1; + kernelSize = 5; + kernelSum = 16; + + startCol = 2; + endCol = cols - 2; + halfKernel = 2; + + startRow = 2; + endRow = rows - 2; + + for(i=startRow; iheight; + cols = imageIn->width; + + // level 1 is the base image. + + outputRows = floor((rows+1)/2); + outputCols = floor((cols+1)/2); + + temp = fSetArray(rows, outputCols, 0); + imageOut = fSetArray(outputRows, outputCols, 0); + kernel = iMallocHandle(1, 5); + + asubsref(kernel,0) = 1; + asubsref(kernel,1) = 4; + asubsref(kernel,2) = 6; + asubsref(kernel,3) = 4; + asubsref(kernel,4) = 1; + kernelSize = 5; + kernelSum = 16; + + startCol = 2; + endCol = cols - 2; + halfKernel = 2; + + startRow = 2; + endRow = rows - 2; + + for(i=startRow; i +#include +#include "sdvbs_common.h" + +I2D* isMinus(I2D* a, int b) +{ + I2D *c; + int i, j, rows, cols; + + rows = a->height; + cols = a->width; + + c = iMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) - b; + + return c; +} diff --git a/SD-VBS/common/c/isPlus.c b/SD-VBS/common/c/isPlus.c new file mode 100644 index 0000000..9c7438f --- /dev/null +++ b/SD-VBS/common/c/isPlus.c @@ -0,0 +1,22 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +I2D* isPlus(I2D* a, int b) +{ + I2D *c; + int i, j, rows, cols; + + rows = a->height; + cols = a->width; + + c = iMallocHandle(rows, cols); + + for(i=0; i<(rows*cols); i++) + asubsref(c,i) = asubsref(a,i) + b; + + return c; +} + diff --git a/SD-VBS/common/c/photonEndTiming.c b/SD-VBS/common/c/photonEndTiming.c new file mode 100644 index 0000000..b15c4de --- /dev/null +++ b/SD-VBS/common/c/photonEndTiming.c @@ -0,0 +1,22 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +/** C File **/ +#include +#include +#include +#include +#include +#include "timingUtils.h" +#include "sdvbs_common.h" + +unsigned int * photonEndTiming() +{ + static unsigned int *array; + array = (unsigned int*)malloc(sizeof(unsigned int)*2); + + magic_timing_begin(array[0], array[1]); + return array; +} + diff --git a/SD-VBS/common/c/photonPrintTiming.c b/SD-VBS/common/c/photonPrintTiming.c new file mode 100644 index 0000000..06df530 --- /dev/null +++ b/SD-VBS/common/c/photonPrintTiming.c @@ -0,0 +1,22 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +/** C File **/ +#include +#include +#include +#include +#include +#include "timingUtils.h" +#include "sdvbs_common.h" + +void photonPrintTiming(unsigned int * elapsed) +{ + if(elapsed[1] == 0) + printf("Cycles elapsed\t\t- %u\n\n", elapsed[0]); + else + printf("Cycles elapsed\t\t- %u%u\n\n", elapsed[1], elapsed[0]); +} + +/** End of C Code **/ diff --git a/SD-VBS/common/c/photonReportTiming.c b/SD-VBS/common/c/photonReportTiming.c new file mode 100644 index 0000000..c41d103 --- /dev/null +++ b/SD-VBS/common/c/photonReportTiming.c @@ -0,0 +1,28 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +/** C File **/ +#include +#include +#include +#include +#include +#include "timingUtils.h" +#include "sdvbs_common.h" + +unsigned int * photonReportTiming(unsigned int* startCycles,unsigned int* endCycles) +{ + + static unsigned int *elapsed; + elapsed = (unsigned int*)malloc(sizeof(unsigned int)*2); + unsigned long long start = (((unsigned long long)0x0) | startCycles[0]) << 32 | startCycles[1]; + unsigned long long end = (((unsigned long long)0x0) | endCycles[0]) << 32 | endCycles[1]; + unsigned long long diff = end - start; + elapsed[0] = (unsigned int)(diff >> 32); + elapsed[1] = (unsigned int)(diff & 0xffffffff); + return elapsed; + +} + +/** End of C Code **/ diff --git a/SD-VBS/common/c/photonStartTiming.c b/SD-VBS/common/c/photonStartTiming.c new file mode 100644 index 0000000..0d0b2b1 --- /dev/null +++ b/SD-VBS/common/c/photonStartTiming.c @@ -0,0 +1,23 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +/** C File **/ +#include +#include +#include +#include +#include +#include "timingUtils.h" +#include "sdvbs_common.h" + +unsigned int* photonStartTiming() +{ + static unsigned int *array; + + array = (unsigned int*)malloc(sizeof(unsigned int)*2); + magic_timing_begin(array[0], array[1]); + return array; +} + +/** End of C Code **/ diff --git a/SD-VBS/common/c/randWrapper.c b/SD-VBS/common/c/randWrapper.c new file mode 100644 index 0000000..cadcc32 --- /dev/null +++ b/SD-VBS/common/c/randWrapper.c @@ -0,0 +1,30 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include "sdvbs_common.h" + +F2D* randWrapper(int m, int n) +{ + F2D *out; + float seed; + int i,j; + + out = fSetArray(m, n, 0); + seed = 0.9; + + for(i=0; i +F2D* randnWrapper(int m, int n) +{ + F2D *out; + float seed; + int i,j; + + out = fSetArray(m, n, 0); + seed = 0.9; + + for(i=0; i +#include +#include "sdvbs_common.h" + +I2D* readImage(const char* pathName) +{ + // Reading BMP image + char signature[2]; + int file_size; + short int reserved1; + short int reserved2; + int loc_of_bitmap; + + int size_of_infoheader; + int width; + int height; + short int number_of_planes; + short int bits_per_pixel; + + int compression_method; + int bytes_of_bitmap; + int hori_reso; + int vert_reso; + int no_of_colors; + int no_of_imp_colors; + + int nI,nJ; + int pixSize; + + unsigned char tempb,tempg,tempr,tempjunk[12]; + int ta; + I2D* srcImage; + + FILE *input; + input = fopen(pathName,"rb"); + if(input == NULL) + { + perror("File pointer error"); + return NULL; + } + else + { + //start of header information + fread(&signature,sizeof(signature),1,input); + fread(&file_size,sizeof(file_size),1,input); + fread(&reserved1,sizeof(reserved1),1,input); + fread(&reserved2,sizeof(reserved2),1,input); + fread(&loc_of_bitmap,sizeof(loc_of_bitmap),1,input); + + fread(&size_of_infoheader,sizeof(size_of_infoheader),1,input); + fread(&width,sizeof(width),1,input); // Reads the width of the image + fread(&height,sizeof(height),1,input); // Reads the height of the image + fread(&number_of_planes,sizeof(number_of_planes),1,input); + fread(&bits_per_pixel,sizeof(bits_per_pixel),1,input); + fread(&compression_method,sizeof(compression_method),1,input); + fread(&bytes_of_bitmap,sizeof(bytes_of_bitmap),1,input); + + fread(&hori_reso,sizeof(hori_reso),1,input); + fread(&vert_reso,sizeof(vert_reso),1,input); + fread(&no_of_colors,sizeof(no_of_colors),1,input); + fread(&no_of_imp_colors,sizeof(no_of_imp_colors),1,input); + //end of header information + + srcImage = iMallocHandle(height, width); + + // Conditions to check whether the BMP is interleaved and handling few exceptions + if(srcImage->height <= 0 || srcImage->width <= 0 || signature[0] != 'B' || signature[1] != 'M' || ( bits_per_pixel !=24 && bits_per_pixel !=8 ) ) + { + printf("ERROR in BMP read: The input file is not in standard BMP format"); + return NULL; + } + fseek(input,loc_of_bitmap,SEEK_SET); + + if (bits_per_pixel == 8) + { + for(nI = (height - 1); nI >= 0 ; nI--) + { + for(nJ = 0;nJ < width; nJ++) + { + fread(&tempg,sizeof(unsigned char),1,input); + subsref(srcImage,nI,nJ) = (int)tempg; + } + } + } + else if (bits_per_pixel == 24) + { + for(nI = (height - 1); nI >= 0 ; nI--) + { + for(nJ = 0;nJ < width; nJ++) + { + fread(&tempb,sizeof(unsigned char),1,input); + fread(&tempg,sizeof(unsigned char),1,input); + fread(&tempr,sizeof(unsigned char),1,input); + ta = (3*tempr + 6*tempg + tempb)/10; + ta = tempg; + subsref(srcImage,nI,nJ) = (int)ta; + } + } + } + else + { + return NULL; + } + + fclose(input); + return srcImage; + } +} diff --git a/SD-VBS/common/c/sdvbs_common.h b/SD-VBS/common/c/sdvbs_common.h new file mode 100644 index 0000000..14e28b2 --- /dev/null +++ b/SD-VBS/common/c/sdvbs_common.h @@ -0,0 +1,139 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#ifndef _SDVBS_COMMON_ +#define _SDVBS_COMMON_ + +#include +#include +#include + +typedef struct +{ + int width; + int height; + int data[]; +}I2D; + +typedef struct +{ + int width; + int height; + unsigned int data[]; +}UI2D; + +typedef struct +{ + int width; + int height; + float data[]; +}F2D; + +#define subsref(a,i,j) a->data[(i) * a->width + (j)] +#define asubsref(a,i) a->data[i] +#define arrayref(a,i) a[i] + +/** Image read and write **/ +I2D* readImage(const char* pathName);; +F2D* readFile(unsigned char* fileName); + + +/** Memory allocation functions **/ +I2D* iMallocHandle(int rows, int cols); +F2D* fMallocHandle(int rows, int cols); +F2D* fResetHandle(F2D* out, int rows, int cols); +UI2D* uiMallocHandle(int rows, int cols); + +void iFreeHandle(I2D* out); +void fFreeHandle(F2D* out); +void uiFreeHandle(UI2D* out); + +/** Memory copy/set function **/ +I2D* iSetArray(int rows, int cols, int val); +void iResetArray(I2D* out, int rows, int cols, int val); +F2D* fSetArray(int rows, int cols, float val); +void fResetArray(F2D* out, int rows, int cols, float val); +I2D* iDeepCopy(I2D* in); +F2D* fDeepCopy(F2D* in); +F2D* fCopy(F2D* in, F2D* out); +I2D* iDeepCopyRange(I2D* in, int startRow, int numberRows, int startCol, int numberCols); +F2D* fDeepCopyRange(F2D* in, int startRow, int numberRows, int startCol, int numberCols); +F2D* fiDeepCopy(I2D* in); +void fiCopy(F2D* out, I2D* in); +I2D* ifDeepCopy(F2D* in); + + +/** Matrix operations - concatenation, reshape **/ +F2D* ffVertcat(F2D* matrix1, F2D* matrix2); +I2D* iVertcat(I2D* matrix1, I2D* matrix2); +F2D* fHorzcat(F2D* a, F2D* b); +I2D* iHorzcat(I2D* a, I2D* b); +F2D* horzcat(F2D* a, F2D* b, F2D* c); +F2D* fTranspose(F2D* a); +I2D* iTranspose(I2D* a); +F2D* fReshape(F2D* in, int rows, int cols); +I2D* iReshape(I2D* in, int rows, int cols); + + +/** Binary Operations **/ +F2D* fDivide(F2D* a, float b); +F2D* fMdivide(F2D* a, F2D* b); +F2D* ffDivide(F2D* a, F2D* b); +F2D* ffTimes(F2D* a, float b); +F2D* fTimes(F2D* a, F2D* b); +I2D* iTimes(I2D* a, I2D* b); +F2D* fMtimes(F2D* a, F2D* b); +F2D* ifMtimes(I2D* a, F2D* b); +F2D* fMinus(F2D* a, F2D* b); +I2D* iMinus(I2D* a, I2D* b); +I2D* isMinus(I2D* a, int b); +F2D* fPlus(F2D* a, F2D* b); +I2D* isPlus(I2D* a, int b); + + +/** Filtering operations **/ +F2D* calcSobel_dX(F2D* imageIn); +F2D* calcSobel_dY(F2D* imageIn); +F2D* ffConv2(F2D* a, F2D* b); +F2D* fiConv2(I2D* a, F2D* b); +F2D* ffConv2_dY(F2D* a, F2D* b); +F2D* ffiConv2(F2D* a, I2D* b); +I2D* iiConv2(I2D* a, I2D* b); + + +/** Image Transformations - resize, integration etc **/ +F2D* imageResize(F2D* imageIn); +F2D* imageBlur(I2D* imageIn); +F2D* imageReblur(I2D* imageIn, F2D* imageOut, F2D* tempOut, I2D* kernel); + + +/** Support functions **/ +F2D* fFind3(F2D* in); +F2D* fSum2(F2D* inMat, int dir); +F2D* fSum(F2D* inMat); +I2D* iSort(I2D* in, int dim); +F2D* fSort(F2D* in, int dim); +I2D* iSortIndices(I2D* in, int dim); +I2D* fSortIndices(F2D* input, int dim); +I2D* fResortIndices(F2D* input, int dim, F2D* in, I2D* ind); +F2D* randnWrapper(int m, int n); +F2D* randWrapper(int m, int n); + + +/** Checking functions **/ +int selfCheck(I2D* in1, char* path, int tol); +int fSelfCheck(F2D* in1, char* path, float tol); +void writeMatrix(I2D* input, char* inpath); +void fWriteMatrix(F2D* input, char* inpath); +int iCheck(I2D* in1, I2D* in2); + +/** Timing functions **/ +unsigned int* photonEndTiming(); +unsigned int* photonStartTiming(); +unsigned int* photonReportTiming(unsigned int* startCycles,unsigned int* endCycles); +void photonPrintTiming(unsigned int * elapsed); + + +#endif + diff --git a/SD-VBS/common/c/selfCheck.c b/SD-VBS/common/c/selfCheck.c new file mode 100644 index 0000000..e79a6a4 --- /dev/null +++ b/SD-VBS/common/c/selfCheck.c @@ -0,0 +1,65 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include +#include +#include +#include "sdvbs_common.h" + +int selfCheck(I2D* in1, char* path, int tol) +{ + int r1, c1, ret=1; + FILE* fd; + int count=0, *buffer, i, j; + char file[100]; + int* data = in1->data; + + r1 = in1->height; + c1 = in1->width; + + buffer = (int*)malloc(sizeof(int)*r1*c1); + + sprintf(file, "%s", path); + fd = fopen(file, "r"); + if(fd == NULL) + { + printf("Error: Expected file not opened \n"); + return -1; + } + + while(!feof(fd)) + { + fscanf(fd, "%d", &buffer[count]); + count++; + } + count--; + + if(count < (r1*c1)) + { + printf("Checking error: dimensions mismatch. Expected = %d, Observed = %d \n", count, (r1*c1)); + return -1; + } + + for(i=0; itol || (abs(buffer[i])-abs(data[i]))>tol) + { + printf("Checking error: Values mismtach at %d element\n", i); + printf("Expected value = %d, observed = %d\n", buffer[i], data[i] ); + return -1; + } + } + + fclose(fd); + free(buffer); + printf("Verification\t\t- Successful\n"); + return ret; +} + + + + + + + diff --git a/SD-VBS/common/c/timingUtils.h b/SD-VBS/common/c/timingUtils.h new file mode 100644 index 0000000..818728f --- /dev/null +++ b/SD-VBS/common/c/timingUtils.h @@ -0,0 +1,99 @@ +#ifdef GCC +#define magic_timing_begin(cycleLo, cycleHi) {\ + asm volatile( "rdtsc": "=a" (cycleLo), "=d" (cycleHi)); \ +}\ + +#define magic_timing_end(cycleLo, cycleHi) {\ + unsigned tempCycleLo, tempCycleHi; \ + asm volatile( "rdtsc": "=a" (tempCycleLo), "=d" (tempCycleHi)); \ + cycleLo = tempCycleLo-cycleLo;\ + cycleHi = tempCycleHi - cycleHi;\ +}\ + + + +#define magic_timing_report(cycleLo, cycleHi) {\ + printf("Timing report: %d %d\n", cycleLo, cycleHi); \ +}\ + + + + +#endif + +#ifdef METRO + +#define magic_timing_begin(cycleLo, cycleHi) {\ + asm volatile( "mfsr $8, CYCLE_LO\n\t" \ + "mfsr $9, CYCLE_HI\n\t" \ + "addu %0, $8, $0\n\t" \ + "addu %1, $9, $0\n\t" \ + :"=r" (cycleLo), "=r" (cycleHi) \ + : \ + :"$8", "$9"\ + );\ +} + +#define magic_timing_end(cycleLo, cycleHi) {\ + asm volatile( \ + "mfsr $8, CYCLE_LO\n\t" \ + "mfsr $9, CYCLE_HI\n\t" \ + "subu %0, $8, %0\n\t" \ + "subu %1, $9, %1\n\t" \ + :"=r" (cycleLo), "=r" (cycleHi) \ + : \ + :"$8", "$9"\ + ); \ +} + +#define magic_timing_report(cycleLo, cycleHi) {\ + asm volatile( "addu $8, %0, $0\n\t" \ + "mtsr PASS $8\n\t" \ + "mtsr PASS $9\n\t" \ + : \ + :"r" (cycleLo), "r" (cycleHi) \ + : "$8", "$9" \ + );\ +} + +//#define metro_magic_timing_report(cycleLo, cycleHi) {\ +// asm volatile( "nop\n\t");\ +//} + +#endif + +#ifdef BTL + +#include "/u/kvs/raw/rawlib/archlib/include/raw.h" + +#define magic_timing_begin(cycleLo, cycleHi) {\ + raw_magic_timing_report_begin();\ +} + +#define magic_timing_end(cycleLo, cycleHi) {\ + raw_magic_timing_report_end(); \ +} + +#define magic_timing_report(cycleLo, cycleHi) {\ + raw_magic_timing_report_print(); \ +} + + +// +//void metro_magic_timing_begin(int cycleLo, int cycleHi) +//{ +// raw_magic_timing_report_begin(); +//} +// +//void metro_magic_timing_end(int cycleLo, int cycleHi) +//{ +// raw_magic_timing_report_end(); +//} +// +//void metro_magic_timing_report(int cycleLo, int cycleHi) +//{ +// raw_magic_timing_report_print(); +// return; +//} + +#endif diff --git a/SD-VBS/common/c/uiFreeHandle.c b/SD-VBS/common/c/uiFreeHandle.c new file mode 100644 index 0000000..ce64ad9 --- /dev/null +++ b/SD-VBS/common/c/uiFreeHandle.c @@ -0,0 +1,15 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include +#include +#include "sdvbs_common.h" + +void uiFreeHandle(UI2D* out) +{ + free(out); + + return; +} + diff --git a/SD-VBS/common/c/uiMallocHandle.c b/SD-VBS/common/c/uiMallocHandle.c new file mode 100644 index 0000000..ee26d4c --- /dev/null +++ b/SD-VBS/common/c/uiMallocHandle.c @@ -0,0 +1,20 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include +#include +#include "sdvbs_common.h" + +UI2D* uiMallocHandle(int rows, int cols) +{ + int i, j; + UI2D* out; + + out = malloc(sizeof(UI2D) + sizeof(unsigned int)*rows*cols); + out->height = rows; + out->width = cols; + printf("uimalloc here\n"); + return out; +} + diff --git a/SD-VBS/common/c/uiResetArray.c b/SD-VBS/common/c/uiResetArray.c new file mode 100644 index 0000000..249e570 --- /dev/null +++ b/SD-VBS/common/c/uiResetArray.c @@ -0,0 +1,19 @@ +/******************************** +Author: Sravanthi Kota Venkata +********************************/ + +#include +#include +#include "sdvbs_common.h" + +void uiResetArray(UI2D* out, int rows, int cols, int val) +{ + int i, j; + + + for(i=0; i +#include +#include "sdvbs_common.h" + +UI2D* uiSetArray(int rows, int cols, int val) +{ + int i, j; + UI2D *out; + out = uiMallocHandle(rows, cols); + + for(i=0; i +#include +#include "sdvbs_common.h" + +void writeMatrix(I2D* input, char* inpath) +{ + FILE* fp; + char im[100]; + int rows,cols, i, j; + + sprintf(im, "%s/expected_C.txt", inpath); + fp = fopen(im, "w"); + + rows = input->height; + cols = input->width; + + for(i=0; i1 input images =. + +# Variables exported from the benchmark specific Makefiles: +# BMARK +# INPUT - sqcif/qcif/cif + +# Matlab source, data and result directory + +M_DIR=$(BMARK_DIR)/src/matlab +M_DATA=$(BMARK_DIR)/data/$(INPUT) +M_RESULT=$(BMARK_DIR)/result + +# C source, data and result directory + +C_DIR=$(BMARK_DIR)/src/c +DATA_DIR=$(BMARK_DIR)/data/$(INPUT) +C_RESULT=$(M_RESULT) + +# Source files for C and Common folders + +C_SRC := $(wildcard $(C_DIR)/*.c) +COMMON_SRC := $(wildcard $(COMMON_DIR)/*.c) + +# RULES + +EXE = +INCLUDES = -I$(COMMON_DIR) -I$(C_DIR) -I${LIBLITMUS}/include -I${LIBLITMUS}/arch/arm/include +COMPILE_C = $(CC) $(CFLAGS) $(INCLUDES) -O2 +#COMPILE_C = $(CC) $(CFLAGS) -DGENERATE_OUTPUT -lm -O2 $(INCLUDES) +COMPILE_G = $(CC) $(CFLAGS) -g -lm $(INCLUDES) +COMPILE_PG = $(COMPILE_G) -pg + +preload-run: compile + @echo preloaded timing + @echo 3 | tee /proc/sys/vm/drop_caches + @find ./ -iname "*.bmp" -exec sh -c '$(TOOL_DIR)/preload {} &' \; + @find ./ -iname "*.txt" -exec sh -c '$(TOOL_DIR)/preload {} &' \; + mkdir -p $(PRELOAD_TIMES_DIR) + @echo -e "Data set\t\t- $(INPUT)" + (time ./$(BMARK)$(EXE) $(DATA_DIR)) |& tee $(PRELOAD_TIMES_DIR)/T_$(INPUT).txt + @kill -2 `pgrep preload` + +time-run: compile + mkdir -p $(TIMES_DIR) + @echo -e "Data set\t\t- $(INPUT)" + @echo 3 | tee /proc/sys/vm/drop_caches + (time ./$(BMARK)$(EXE) $(DATA_DIR)) |& tee $(TIMES_DIR)/T_$(INPUT).txt + +c-run: compile + @echo -e "Data set\t\t- $(INPUT)" + mkdir -p $(TIMING_DIR) + @./$(BMARK)$(EXE) $(DATA_DIR) $(C_RESULT) | tee $(TIMING_DIR)/C_$(INPUT).txt + +run: compile + @echo -e "Data set\t\t- $(INPUT)" + @./$(BMARK)$(EXE) $(DATA_DIR) $(C_RESULT) + +rt-run: compile + @echo -e "Data set\t\t- $(INPUT)" + @./$(BMARK)$(EXE) $(BMARK)-$(INPUT) 5 0 12345 1 + +debug: + @echo Running Debug C Version of the benchmark + @$(COMPILE_G) $(COMMON_SRC) $(C_SRC) -o $(BMARK)$(EXE) + @valgrind --leak-check=full ./$(BMARK)$(EXE) $(DATA_DIR) $(C_RESULT) + #@gdb ./$(BMARK)$(EXE) $(DATA_DIR) $(C_RESULT) + +profile: compile-prof + @echo -e "Data set\t\t- $(INPUT)" + @./$(BMARK)$(EXE) $(DATA_DIR) $(C_RESULT) + @gprof $(BMARK)$(EXE) + +compile-preload: + @$(COMPILE_C) $(TOOL_DIR)\preload.c -o $(TOOL_DIR)\preload + +compile: $(C_SRC) + @echo + @echo -e "Benchmark\t\t- $(BMARK)" + @$(COMPILE_C) $(COMMON_SRC) $(C_SRC) -lrt -L$(LIBLITMUS) -llitmus -lm -w -o $(BMARK)$(EXE) + +compile-prof: $(C_SRC) + @echo + @echo -e "Benchmark\t\t- $(BMARK)" + @$(COMPILE_PG) $(COMMON_SRC) $(C_SRC) -o $(BMARK)$(EXE) + +matlab-run: + @echo + @echo -e "Benchmark\t\t- $(BMARK)" + @echo -e "Data set\t\t- $(INPUT)" + @cd $(M_DIR); $(MATLAB_PATH) -glnx86 -nosplash -nodisplay -r "script_run_profile('$(M_DATA)', '$(M_RESULT)', '$(INPUT)', '$(M_COMMON)', '$(M_TOOLBOX)'); quit" | tee $(MTIMING_DIR)/Matlab_$(INPUT).txt + +mcc-run: + @echo Generating a C standalone application + cd $(M_DIR); $(MATLAB_PATH) -nosplash -nodesktop -r "mcc -m -v script_run_profile -d $(M_RESULT); quit" + +all: c-run matlab-run mcc-run + +clean: + @-rm $(BMARK) + + + + diff --git a/SD-VBS/common/makefiles/Makefile.include b/SD-VBS/common/makefiles/Makefile.include new file mode 100644 index 0000000..f1000b9 --- /dev/null +++ b/SD-VBS/common/makefiles/Makefile.include @@ -0,0 +1,16 @@ +find-dir-with = $(shell /usr/bin/perl -e 'chomp($$_ = `pwd`); while ($$_ ne "" && ! -e "$$_/$(1)") { m:(.*)/[^/]+/??:; $$_ = $$1; } print;') + +# define canonical directories in starsearch +ifndef TOP_DIR + export TOP_DIR := $(call find-dir-with,.SD-VBS) +endif + +export MAKEFILE_COMMON_DIR=$(TOP_DIR)/common/makefiles + +# backward compatibility + +ifeq ($(TOP_DIR),) +$(error file .SD-VBS not found -- try running 'gmake setup' at the top of your source tree) +endif + + diff --git a/SD-VBS/common/makefiles/Makefile.recurse b/SD-VBS/common/makefiles/Makefile.recurse new file mode 100644 index 0000000..ed575bb --- /dev/null +++ b/SD-VBS/common/makefiles/Makefile.recurse @@ -0,0 +1,41 @@ +# This file is included in the makefiles of the non-leaf nodes +# Thus the various targets in this file have to trickle down +# into the subdirectories +# List the subdirectories and call the target for each one of them + +################################################################ +# RECURSE +################################################################ +# Listing the subdirectories +SUBDIRS = $(patsubst %/Makefile,%,$(wildcard */Makefile)) + +RECURSE-DEPENDS = $(patsubst %,%.traverse,$(SUBDIRS)) + +all: recurse + +debug: recurse + +clean: recurse + +compile: recurse + +c-run: recurse + +matlab-run: recurse + +mcc-run: recurse + +recurse: $(RECURSE-DEPENDS) + +time-run: recurse + +preload-run: recurse + +run: recurse + +rt-run: recurse + +# MAKECMDGOALS contains the gmake target specified on the command line +# it is defined automatically by gmake +%.traverse: + $(MAKE) -C $* $(MAKECMDGOALS) diff --git a/SD-VBS/common/support/buildTable.py b/SD-VBS/common/support/buildTable.py new file mode 100644 index 0000000..1a1a6aa --- /dev/null +++ b/SD-VBS/common/support/buildTable.py @@ -0,0 +1,54 @@ +import re +import sys +import os + +def getExprName(fileName): + exprFileName = os.path.basename(fileName) + exprName = re.sub("\.txt", "", exprFileName) + exprName = re.sub("_","\t", exprName, 1) + exprName = re.sub("_", "", exprName) + return(exprName) + +def getBmrkName(fileName): + benchmarkDir = os.path.dirname(fileName) + benchmarkName = os.path.basename(benchmarkDir) + return(benchmarkName) + +def getCycleCountTup(fileName): + try: + inp = open(fileName, 'r') + except IOError, err: + print "ERROR: Could not open the inputFile:"+fileName + sys.exit(1) + globalTup = None + for currline in inp: + currline = currline.strip() + currline = currline.lower() + if(re.match("cycles elapsed", currline)): + valTup = re.findall("(\d+)", currline) + return(valTup) + + if(globalTup != None): + return(globalTup) + else: + print "ERROR: INVALID INPUT FILE:"+fileName + sys.exit(2) + +def main(): + if(len(sys.argv)<2): + print "USAGE: "+sys.argv[0]+" " + sys.exit(1) + + fileName = sys.argv[1] + exprName = getExprName(fileName) + benchmarkName = getBmrkName(fileName) + cycleCountTup = getCycleCountTup(fileName) + + print "%-20s %-20s %10s\n" % (benchmarkName,exprName,cycleCountTup[0]) + + + + + +if __name__=="__main__": + main() diff --git a/SD-VBS/common/support/buildTimeTable.py b/SD-VBS/common/support/buildTimeTable.py new file mode 100644 index 0000000..c718cb2 --- /dev/null +++ b/SD-VBS/common/support/buildTimeTable.py @@ -0,0 +1,55 @@ +import re +import sys +import os + +def getExprName(fileName): + exprFileName = os.path.basename(fileName) + exprName = re.sub("\.txt", "", exprFileName) + exprName = re.sub("_","\t", exprName, 1) + exprName = re.sub("_", "", exprName) + return(exprName) + +def getBmrkName(fileName): + benchmarkDir = os.path.dirname(fileName) + benchmarkName = os.path.basename(benchmarkDir) + return(benchmarkName) + +def getTimeTup(fileName): + try: + inp = open(fileName, 'r') + except IOError, err: + print "ERROR: Could not open the inputFile:"+fileName + sys.exit(1) + globalTup = None + for currline in inp: + currline = currline.strip() + currline = currline.lower() + if(re.match("real", currline)): + #valTup = re.findall("(\d+)", currline) + + return(currline[4:].strip()) + + if(globalTup != None): + return(globalTup) + else: + print "ERROR: INVALID INPUT FILE:"+fileName + sys.exit(2) + +def main(): + if(len(sys.argv)<2): + print "USAGE: "+sys.argv[0]+" " + sys.exit(1) + + fileName = sys.argv[1] + exprName = getExprName(fileName) + benchmarkName = getBmrkName(fileName) + timeTup = getTimeTup(fileName) + + print "%-20s %-20s %10s\n" % (benchmarkName,exprName,timeTup) + + + + + +if __name__=="__main__": + main() diff --git a/SD-VBS/common/toolbox/MultiNcut/MNcut.m b/SD-VBS/common/toolbox/MultiNcut/MNcut.m new file mode 100755 index 0000000..5486080 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/MNcut.m @@ -0,0 +1,93 @@ +function [NcutDiscretes,eigenVectors,eigenValues] = MNcut(I,nsegs); +% +% [NcutDiscrete,eigenVectors,eigenValues] = MNcut(I,nsegs); +% +% + +[nr,nc,nb] = size(I); + +max_image_size = max(nr,nc); + +% modified by song, 06/13/2005 +% test parameters +if (1) % original settings + if (max_image_size>120) & (max_image_size<=500), + % use 3 levels, + data.layers.number=3; + data.layers.dist=3; + data.layers.weight=[3000,4000,10000]; + data.W.scales=[1,2,3];%[1,2,3]; + data.W.radius=[2,3,7];%[2,3,7]; + elseif (max_image_size >500), + % use 4 levels, + data.layers.number=4; + data.layers.dist=3; + data.layers.weight=[3000,4000,10000,20000]; + data.W.scales=[1,2,3,3]; + data.W.radius=[2,3,4,6]; + elseif (max_image_size <=120) + data.layers.number=2; + data.layers.dist=3; + data.layers.weight=[3000,10000]; + data.W.scales=[1,2]; + data.W.radius=[2,6]; + end +else % test setting + if (max_image_size>200) & (max_image_size<=500), + % use 3 levels, + data.layers.number=3; + data.layers.dist=3; + data.layers.weight=[3000,4000,10000]; + data.W.scales=[1,2,3];%[1,2,3]; + data.W.radius=[2,3,7];%[2,3,7]; + elseif (max_image_size >500), + % use 4 levels, + data.layers.number=4; + data.layers.dist=3; + data.layers.weight=[3000,4000,10000,20000]; + data.W.scales=[1,2,3,3]; + data.W.radius=[2,3,4,6]; + elseif (max_image_size <=200) + data.layers.number=2; + data.layers.dist=3; + data.layers.weight=[3000,10000]; + data.W.scales=[1,2]; + data.W.radius=[2,4]; + end + +end; + + +data.W.edgeVariance=0.1; %0.1 +data.W.gridtype='square'; +data.W.sigmaI=0.12;%0.12 +data.W.sigmaX=1000; +data.W.mode='mixed'; +data.W.p=0; +data.W.q=0; + +%eigensolver +data.dataGraphCut.offset = 100;% 10; %valeur sur diagonale de W (mieux vaut 10 pour valeurs negatives de W) +data.dataGraphCut.maxiterations=50;% voir +data.dataGraphCut.eigsErrorTolerance=1e-2;%1e-6; +data.dataGraphCut.valeurMin=1e-6;%1e-5;% utilise pour tronquer des valeurs et sparsifier des matrices +data.dataGraphCut.verbose = 0; + +data.dataGraphCut.nbEigenValues=max(nsegs); + +disp('computeEdge'); +[multiWpp,ConstraintMat, Wind,data,emag,ephase]= computeMultiW (I,data); + +disp('Ncut'); +[eigenVectors,eigenValues]= eigSolve (multiWpp,ConstraintMat,data); + +%NcutDiscretes = zeros(nr,nc,length(nsegs)); +NcutDiscretes = zeros(nr,nc,(nsegs)); + +for j=1:length(nsegs), + nseg = nsegs(j); + [nr,nc,nb] = size(eigenVectors(:,:,1:nseg)); + [NcutDiscrete,evrotated] =discretisation(reshape(eigenVectors(:,:,1:nb),nr*nc,nb),nr,nc); + NcutDiscretes(:,:,j) = NcutDiscrete; +end + diff --git a/SD-VBS/common/toolbox/MultiNcut/MNcutDemo.m b/SD-VBS/common/toolbox/MultiNcut/MNcutDemo.m new file mode 100755 index 0000000..972a4eb --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/MNcutDemo.m @@ -0,0 +1,34 @@ +% MNcutDemo.m +% created by song, 06/13/2005 +% an exmaple of how to use and display MNcut + +num_segs = [20]; +imageSize = 800; + +img_filename = '/u/ikkjin/Benchmark/stitch/data/test/capitol/img1.jpg'; + +I=readimage(img_filename,imageSize); + +[SegLabel,eigenVectors,eigenValues]= MNcut(I,num_segs); + +for j=1:size(SegLabel,3), + [gx,gy] = gradient(SegLabel(:,:,j)); + bw = (abs(gx)>0.1) + (abs(gy) > 0.1); + + figure(1);clf; J1=showmask(double(I),bw); imagesc(J1);axis image; axis off; + set(gca, 'Position', [0 0 1 1]); + + % cm = sprintf('print -djpeg %s/file%.4d-%.2d.jpg',OutputDir,id,num_segs(j)); disp(cm);eval(cm); + + + % figure(10);imagesc(SegLabel(:,:,j));axis image; axis off; + % set(gca, 'Position', [0 0 1 1]); + % cm = sprintf('print -djpeg %s/Seg%.4d-%.2d.jpg',OutputDir,id,num_segs(j));disp(cm);eval(cm); + + % pause; +end + +% fname = files(id).name; +%cm = sprintf('save %s/SegLabl%.4d.mat I SegLabel fname',OutputDir,id); disp(cm); eval(cm); +%cm = sprintf('save %s/SegEig%.4d.mat eigenVectors eigenValues',OutputDir,id);disp(cm); eval(cm); + diff --git a/SD-VBS/common/toolbox/MultiNcut/README.tex b/SD-VBS/common/toolbox/MultiNcut/README.tex new file mode 100755 index 0000000..5970fb2 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/README.tex @@ -0,0 +1,9 @@ +1) You need to first compile the .c files,type + +>> compileAll('.'); + +2) the top level function is called MNcut.m + + + + diff --git a/SD-VBS/common/toolbox/MultiNcut/a_times_b_cmplx.c b/SD-VBS/common/toolbox/MultiNcut/a_times_b_cmplx.c new file mode 100755 index 0000000..25def92 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/a_times_b_cmplx.c @@ -0,0 +1,405 @@ +/*================================================================ +a_times_b_cmplx.c = used by a couple of mex functions +provide Matrix vector multiplications, +and solve triangular systems +(sparse matrix and full vector) + +CSC_CmplxVecMult_CAB_double, CSR_CmplxVecMult_CAB_double, +CSCsymm_CmplxVecMult_CAB_double added by Mirko Visontai (10/24/2003) + +*=================================================================*/ +# include "math.h" + + +/*C<-a*A*B+C*/ +void CSC_VecMult_CaABC_double( + const int m, const int k, const double alpha, + const double *val, const int *indx, + const int *pntrb, + const double *b, + double *c) +{ + int i,j,jb,je; + + for (i=0;i!=k;i++){ + jb = pntrb[i]; + je = pntrb[i+1]; + for (j=jb;j!=je;j++) + c[indx[j]] += alpha * b[i] * val[j]; + } +} + +/*C<-a*A'*B+C*/ +void CSR_VecMult_CaABC_double( + const int k, const int m, const double alpha, + const double *val, const int *indx, + const int *pntrb, + const double *b, + double *c) +{ + double t; + const double *pval; + int i,j,jb,je; + + pval = val; + for (i=0;i!=m;i++) { + t = 0; + jb = pntrb[i]; + je = pntrb[i+1]; + for (j=jb;j!=je;j++) + t += alpha * b[indx[j]] * (*pval++); + c[i] += t; + } +} + + +/*C<-A*b */ +void CSC_VecMult_CAB_double( + const int m, const int k, /*nb_rows, nb_columns*/ + const double *val, const int *indx, + const int *pntrb, + const double *b, + double *c + ) +{ + int i,j,jb,je; + double *pc=c; + for (i=0;i!=m;i++) *pc++ = 0; + + for (i=0;i!=k;i++){ + jb = pntrb[i]; + je = pntrb[i+1]; + for (j=jb;j!=je;j++) + c[indx[j]] += b[i] * val[j]; + } +} + +/*C<-A*b (complex)*/ +void CSC_CmplxVecMult_CAB_double( + const int m, const int k, + const double *valr, const double *vali, + const int *indx, + const int *pntrb, + const double *br, const double *bi, + double *cr, double *ci + ) +{ + int i,j,jb,je; + double *pcr=cr; + double *pci=ci; + for (i=0;i!=m;i++){ + *pcr++ = 0.0; + *pci++ = 0.0; + } + + for (i=0;i!=k;i++){ + jb = pntrb[i]; + je = pntrb[i+1]; + for (j=jb;j!=je;j++){ + cr[indx[j]] += (br[i] * valr[j]) - (bi[i] * vali[j]); + ci[indx[j]] += (br[i] * vali[j]) + (bi[i] * valr[j]); + } + } +} + +/*C<-A'*b + plus rapide que CSC_VecMult_CAB_double */ +void CSR_VecMult_CAB_double( + const int k, const int m, + const double *val, const int *indx, + const int *pntrb, + const double *b, + double *c + ) +{ + double t; + const double *pval; + double *pc=c; + int i,j,jb,je; + + for (i=0;i!=m;i++) *pc++ = 0; + + pval = val; + for (i=0;i!=m;i++) { + t = 0; + jb = pntrb[i]; + je = pntrb[i+1]; + for (j=jb;j!=je;j++) + t += b[indx[j]] * (*pval++); + c[i] += t; + } +} + +/*C<-A'*b (complex) + plus rapide que CSC_VecMult_CAB_double */ +void CSR_CmplxVecMult_CAB_double( + const int k, const int m, + const double *valr, const double *vali, + const int *indx, + const int *pntrb, + const double *br, const double *bi, + double *cr, double *ci + ) +{ + double tr, ti; + const double *pvalr; + const double *pvali; + double *pcr=cr; + double *pci=ci; + int i,j,jb,je; + + for (i=0;i!=m;i++){ + *pcr++ = 0.0; + *pci++ = 0.0; + } + + pvalr = valr; + pvali = vali; + for (i=0;i!=m;i++) { + tr = 0.0; + ti = 0.0; + jb = pntrb[i]; + je = pntrb[i+1]; + for (j=jb;j!=je;j++){ + tr += (br[indx[j]] * (*pvalr)) - (bi[indx[j]] * (*pvali)); + ti += (br[indx[j]] * (*pvali++)) + (bi[indx[j]] * (*pvalr++)); + } + cr[i] += tr; + ci[i] += ti; + } +} + + + +/* C<-A*b (A is symmetric) */ +void CSRsymm_VecMult_CAB_double( + const int k, const int m, + const double *val, const int *indx, + const int *pntrb, + const double *b, + double *c + ) +{ + const double *pval; + double *pc=c; + int i,j; + int jj; + int rpntrb, rpntre; + int index, nvals; + + + for (i=0;i!=m;i++) *pc++ = 0; + pval = val; + for (j=0;j!=k;j++){ + rpntrb = pntrb[j]; + rpntre = pntrb[j+1]; + for (jj=rpntrb;jj!=rpntre;jj++) { + index = indx[jj]; + if ( index == j ) { + c[j] += b[j] * (*pval++); + continue; + } + if ( index > j ) { + c[index] += b[j] * (*pval); + + c[j] += b[index] * (*pval++); + } + else { + pval++; + } + } + } +} + + +/* C<-A*b (A is symmetric and complex) */ +void CSRsymm_CmplxVecMult_CAB_double( + const int k, const int m, + const double *valr, const double *vali, + const int *indx, + const int *pntrb, + const double *br, const double *bi, + double *cr, double *ci + ) +{ + const double *pvalr, *pvali; + double *pcr=cr; + double *pci=ci; + int i,j; + int jj; + int rpntrb, rpntre; + int index, nvals; + + + for (i=0;i!=m;i++){ + *pcr++ = 0.0; + *pci++ = 0.0; + } + + pvalr = valr; + pvali = vali; + for (j=0;j!=k;j++){ + rpntrb = pntrb[j]; + rpntre = pntrb[j+1]; + for (jj=rpntrb;jj!=rpntre;jj++) { + index = indx[jj]; + if ( index == j ) { + cr[j] += (br[j] * (*pvalr)) - (bi[j] * (*pvali)); + ci[j] += (br[j] * (*pvali++)) + (bi[j] * (*pvalr++)); + continue; + } + if ( index > j ) { + cr[index] += (br[j] * (*pvalr)) - (bi[j] * (*pvali)); + ci[index] += (br[j] * (*pvali)) + (bi[j] * (*pvalr)); + + cr[j] += (br[index] * (*pvalr)) - (bi[index] * (*pvali)); + ci[j] += (br[index] * (*pvali++)) + (bi[index] * (*pvalr++)); + } + else { + pvalr++; + pvali++; + } + + } + } +} + + +/*C<-A\B; with Lower triangular A*/ +void CSC_VecTriangSlvLD_CAB_double( + const int m, + const double *val, + const int *indx, const int *pntrb, + const double *b, + double *c) +{ + int i, j, jb, je; + double *pc=c; + double z; + + for (i=0;i!=m;i++){ + *pc = b[i]; + pc++; + } + + pc=c; + for (i=0;i!=m;i++) { + jb = pntrb[i]; + je = pntrb[i+1]; + z = pc[i] / val[jb]; + pc[i] = z; + for (j=jb+1;j1) { + mexErrMsgTxt("Too many output arguments"); + } + + /* get edgel information */ + nr = mxGetM(in[0]); + nc = mxGetN(in[0]); + if ( nr*nc ==0 || nr != mxGetM(in[1]) || nc != mxGetN(in[1]) ) { + mexErrMsgTxt("Edge magnitude and phase shall be of the same image size"); + } + emag = mxGetPr(in[0]); + ephase = mxGetPr(in[1]); + np = nr * nc; + + /* get new index pair */ + if (!mxIsUint32(in[2]) | !mxIsUint32(in[3])) { + mexErrMsgTxt("Index pair shall be of type UINT32"); + } + if (mxGetM(in[3]) * mxGetN(in[3]) != np + 1) { + mexErrMsgTxt("Wrong index representation"); + } + pi = mxGetData(in[2]); + pj = mxGetData(in[3]); + + /* create output */ + out[0] = mxCreateSparse(np,np,pj[np],mxREAL); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough memory for the output matrix"); + } + w = mxGetPr(out[0]); + ir = mxGetIr(out[0]); + jc = mxGetJc(out[0]); + + /* find my sigma */ + if (nargin<5) { + sigma = 0; + for (k=0; ksigma) { sigma = emag[k]; } + } + sigma = sigma / 6; + /* printf("sigma = %6.5f",sigma); */ + } else { + sigma = mxGetScalar(in[4]); + } + a = 0.5 / (sigma * sigma); + + /* computation */ + total = 0; + for (j=0; j= abs(dj)) { + slope = dj / di; + step = (iy>=jy) ? 1 : -1; + + iip1 = jy; + jjp1 = jx; + + + for (ii=0;ii maxori){ + maxori = z; + } + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + + /* sample in j direction */ + } else { + slope = di / dj; + step = (ix>=jx) ? 1: -1; + + jjp1 = jx; + iip1 = jy; + + + for (jj=0;jj maxori){ + maxori = z; + } + + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + } + + maxori = 0.5 * maxori; + maxori = exp(-maxori * maxori * a); + } + ir[total] = i; + + w[total] = maxori; + total = total + 1; + + } /* i */ + } /* j */ + + jc[np] = total; +} diff --git a/SD-VBS/common/toolbox/MultiNcut/affinityic.dll b/SD-VBS/common/toolbox/MultiNcut/affinityic.dll new file mode 100755 index 0000000..67e4d64 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/affinityic.dll differ diff --git a/SD-VBS/common/toolbox/MultiNcut/affinityic.mexa64 b/SD-VBS/common/toolbox/MultiNcut/affinityic.mexa64 new file mode 100755 index 0000000..2648387 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/affinityic.mexa64 differ diff --git a/SD-VBS/common/toolbox/MultiNcut/affinityic.mexglx b/SD-VBS/common/toolbox/MultiNcut/affinityic.mexglx new file mode 100755 index 0000000..c296845 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/affinityic.mexglx differ diff --git a/SD-VBS/common/toolbox/MultiNcut/batch_MNcut.m b/SD-VBS/common/toolbox/MultiNcut/batch_MNcut.m new file mode 100755 index 0000000..d4dcb3c --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/batch_MNcut.m @@ -0,0 +1,48 @@ +data_dir = '/data/insecure/qihuizhu/baseball/Gray/train/'; +save_dir = '/home/songgang/project/MultiNcut/batch_result_MNcut'; + +num_segs = [20]; +imageSize = 200; + + +filelist = dir(fullfile(data_dir, '*.tif')); + +nb_file = max(size(filelist)); + + +tic; +for ii = 1:nb_file + fprintf(2, 'Segmenting image: %s ...\n', filelist(ii).name); + + img_filename = fullfile(data_dir, filelist(ii).name); + I=readimage(img_filename,imageSize); + + + [SegLabel,eigenVectors,eigenValues]= MNcut(I,num_segs); + + for j=1:size(SegLabel,3), + [gx,gy] = gradient(SegLabel(:,:,j)); + bw = (abs(gx)>0.1) + (abs(gy) > 0.1); + + figure(1);clf; J1=showmask(double(I),bw); imagesc(J1);axis image; axis off; + set(gca, 'Position', [0 0 1 1]); + set(gca, 'Position', [0 0 1 1]); + [PATHSTR,NAME,EXT,VERSN] = fileparts(filelist(ii).name); + print('-f1', '-djpeg90', fullfile(save_dir, sprintf('%s%s-%d.jpg', NAME,'-out', num_segs(j)))); + + + % cm = sprintf('print -djpeg %s/file%.4d-%.2d.jpg',OutputDir,id,num_segs(j)); disp(cm);eval(cm); + + + % figure(10);imagesc(SegLabel(:,:,j));axis image; axis off; + % set(gca, 'Position', [0 0 1 1]); + % cm = sprintf('print -djpeg %s/Seg%.4d-%.2d.jpg',OutputDir,id,num_segs(j));disp(cm);eval(cm); + +% keyboard; + end + + + +end; +toc; +fprintf(2, ' %d files done\n', nb_file); diff --git a/SD-VBS/common/toolbox/MultiNcut/cimgnbmap.c b/SD-VBS/common/toolbox/MultiNcut/cimgnbmap.c new file mode 100755 index 0000000..44af715 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/cimgnbmap.c @@ -0,0 +1,198 @@ +/*================================================================ +* function [i,j] = cimgnbmap([nr,nc], nb_r, sample_rate) +* computes the neighbourhood index matrix of an image, +* with each neighbourhood sampled. +* Input: +* [nr,nc] = image size +* nb_r = neighbourhood radius, could be [r_i,r_j] for i,j +* sample_rate = sampling rate, default = 1 +* Output: +* [i,j] = each is a column vector, give indices of neighbour pairs +* UINT32 type +* i is of total length of valid elements, 0 for first row +* j is of length nr * nc + 1 +* +* See also: imgnbmap.c, id2cind.m +* +* Examples: +* [i,j] = imgnbmap(10, 20); % [10,10] are assumed +* +* Stella X. Yu, Nov 12, 2001. + +% test sequence: +nr = 15; +nc = 15; +nbr = 1; +[i,j] = cimgnbmap([nr,nc], nbr); +mask = csparse(i,j,ones(length(i),1),nr*nc); +show_dist_w(rand(nr,nc),mask) + +*=================================================================*/ + +# include "mex.h" +# include "math.h" + +void mexFunction( + int nargout, + mxArray *out[], + int nargin, + const mxArray *in[] +) +{ + /* declare variables */ + int nr, nc, np, nb, total; + double *dim, sample_rate; + int r_i, r_j, a1, a2, b1, b2, self, neighbor; + int i, j, k, s, t, nsamp, th_rand, no_sample; + /* unsigned long *p, *qi, *qj; */ + unsigned int *p, *qi, *qj; + + /* check argument */ + if (nargin < 2) { + mexErrMsgTxt("Two input arguments required"); + } + if (nargout> 2) { + mexErrMsgTxt("Too many output arguments."); + } + + /* get image size */ + i = mxGetM(in[0]); + j = mxGetN(in[0]); + dim = mxGetData(in[0]); + nr = (int)dim[0]; + if (j>1 || i>1) { + nc = (int)dim[1]; + } else { + nc = nr; + } + np = nr * nc; + + /* get neighbourhood size */ + i = mxGetM(in[1]); + j = mxGetN(in[1]); + dim = mxGetData(in[1]); + r_i = (int)dim[0]; + if (j>1 || i>1) { + r_j = (int)dim[1]; + } else { + r_j = r_i; + } + if (r_i<0) { r_i = 0; } + if (r_j<0) { r_j = 0; } + + /* get sample rate */ + if (nargin==3) { + sample_rate = (mxGetM(in[2])==0) ? 1: mxGetScalar(in[2]); + } else { + sample_rate = 1; + } + /* prepare for random number generator */ + if (sample_rate<1) { + srand( (unsigned)time( NULL ) ); + th_rand = (int)ceil((double)RAND_MAX * sample_rate); + no_sample = 0; + } else { + sample_rate = 1; + th_rand = RAND_MAX; + no_sample = 1; + } + + /* figure out neighbourhood size */ + + nb = (r_i + r_i + 1) * (r_j + r_j + 1); + if (nb>np) { + nb = np; + } + nb = (int)ceil((double)nb * sample_rate); +/*printf("nb=%d\n",nb);*/ + /* intermediate data structure */ + /* p = mxCalloc(np * (nb+1), sizeof(unsigned long)); */ + p = mxCalloc(np * (nb+1), sizeof(unsigned int)); + if (p==NULL) { + mexErrMsgTxt("Not enough space for my computation."); + } + + /* computation */ + total = 0; + for (j=0; j=nc) { b2 = nc-1; } + + /* i range */ + a1 = i - r_i; + if (a1<0) { a1 = 0; } + a2 = i + r_i; + if (a2>=nr) { a2 = nr-1; } + + /* number of more samples needed */ + nsamp = nb - p[self]; + /*if (nsamp<0) + {printf("nsamp=%d\n",nsamp);}*/ + k = 0; + t = b1; + s = i + 1; + if (s>a2) { + s = a1; + t = t + 1; + } + + + while (ka2) { + s = a1; + t = t + 1; + } + } /* k */ + total = total + p[self]; + } /* i */ + + } /* j */ + + /* i, j */ + + out[0] = mxCreateNumericMatrix(total, 1, mxUINT32_CLASS, mxREAL); + out[1] = mxCreateNumericMatrix(np+1, 1, mxUINT32_CLASS, mxREAL); + qi = mxGetData(out[0]); + qj = mxGetData(out[1]); + + if (out[0]==NULL || out[1]==NULL) { + mexErrMsgTxt("Not enough space for the output matrix."); + } + + total = 0; + for (j=0; j 2) { + mexErrMsgTxt("Too many output arguments."); + } + + /* get image size */ + i = mxGetM(in[0]); + j = mxGetN(in[0]); + dim = mxGetData(in[0]); + nr = (int)dim[0]; + if (j>1 || i>1) { + nc = (int)dim[1]; + } else { + nc = nr; + } + np = nr * nc; + + /* get neighbourhood size */ + i = mxGetM(in[1]); + j = mxGetN(in[1]); + dim = mxGetData(in[1]); + r_i = (int)dim[0]; + if (j>1 || i>1) { + r_j = (int)dim[1]; + } else { + r_j = r_i; + } + if (r_i<0) { r_i = 0; } + if (r_j<0) { r_j = 0; } + + /* get sample rate */ + if (nargin==3) { + sample_rate = (mxGetM(in[2])==0) ? 1: mxGetScalar(in[2]); + } else { + sample_rate = 1; + } + /* prepare for random number generator */ + if (sample_rate<1) { + srand( (unsigned)time( NULL ) ); + th_rand = (int)ceil((double)RAND_MAX * sample_rate); + no_sample = 0; + } else { + sample_rate = 1; + th_rand = RAND_MAX; + no_sample = 1; + } + + /* figure out neighbourhood size */ + + nb = (r_i + r_i) * (r_j + r_j)+1; + if (nb>np) { + nb = np; + } + nb = (int)ceil((double)nb * sample_rate); +/*printf("nb=%d\n",nb);*/ + /* intermediate data structure */ + /* p = mxCalloc(np * (nb+1), sizeof(unsigned long)); */ + p = mxCalloc(np * (nb+1), sizeof(unsigned int)); + if (p==NULL) { + mexErrMsgTxt("Not enough space for my computation."); + } + + /* computation */ + total = 0; + for (j=0; j=nc) { b2 = nc-1; } + + /* i range */ + /*a1 = i - r_i; + if (a1<0) { a1 = 0; }*/ + a2 = i + r_i; + if (a2>=nr) { a2 = nr-1; } + + /* number of more samples needed */ + nsamp = nb - p[self]; + /*if (nsamp<0) + {printf("nsamp=%d\n",nsamp);}*/ + k = 0; + t = b1; + s = i + 1; + if (s>a2) { + s = i; + t = t + 1; + } + + + while (ka2) { s = i; t = t + 1; + } + } + else {t=t+1;} + } /* k */ + total = total + p[self]; + } /* i */ + + } /* j */ + + /* i, j */ + + out[0] = mxCreateNumericMatrix(total, 1, mxUINT32_CLASS, mxREAL); + out[1] = mxCreateNumericMatrix(np+1, 1, mxUINT32_CLASS, mxREAL); + qi = mxGetData(out[0]); + qj = mxGetData(out[1]); + + if (out[0]==NULL || out[1]==NULL) { + mexErrMsgTxt("Not enough space for the output matrix."); + } + + total = 0; + for (j=0; j 2) { + mexErrMsgTxt("Too many output arguments."); + } + + + /* get image size */ + + i = mxGetM(in[0]); + j = mxGetN(in[0]); + dim = mxGetData(in[0]); + nr = (int)dim[0]; + if (j>1 || i>1) { + nc = (int)dim[1]; + } else { + nc = nr; + } + np = nr * nc; + + + /* get neighbourhood size */ + i = mxGetM(in[1]); + j = mxGetN(in[1]); + dim = mxGetData(in[1]); + r_i = (int)dim[0]; + + if (j>1 || i>1) { + r_j = (int)dim[1]; + } else { + r_j = r_i; + } + + if (r_i<0) { r_i = 0; } + + if (r_j<0) { r_j = 0; } + + + + /* get sample rate */ + + if (nargin==3) { + + sample_rate = (mxGetM(in[2])==0) ? 1: mxGetScalar(in[2]); + + } else { + + sample_rate = 1; + + } + + /* prepare for random number generator */ + if (sample_rate<1) { + srand( (unsigned)time( NULL ) ); + + th_rand = (int)ceil((double)RAND_MAX * sample_rate); + no_sample = 0; + } else { + + sample_rate = 1; + th_rand = RAND_MAX; + no_sample = 1; + } + + + /* figure out neighbourhood size */ + + nb = (4*r_i) + (4*r_j)+1; + if (nb>np) { + nb = np; + } + nb = (int)ceil((double)nb * sample_rate); + +/*printf("nb=%d\n",nb);*/ + + /* intermediate data structure */ + + /* p = mxCalloc(np * (nb+1), sizeof(unsigned long));*/ + p = mxCalloc(np * (nb+1), sizeof(unsigned int)); + + if (p==NULL) { + + mexErrMsgTxt("Not enough space for my computation."); + + } + + + + /* computation */ + + total = 0; + for (j=0; j=nc) { b2 = nc-1; } + + + /* i range */ + /*a1 = i - r_i; + + if (a1<0) { a1 = 0; }*/ + a2 = i + r_i; + if (a2>=nr) { a2 = nr-1; } + + + /* number of more samples needed */ + + nsamp = nb - p[self]; + + /*if (nsamp<0) + {printf("nsamp=%d\n",nsamp);}*/ + k = 0; + t = b1; + s = i + 1; + + if (s>a2) { + s = i; + t = t + 1; + } + + + + while (ka2) { + t = t + 1; + if (i+j-t>=0) + {s = i+j-t;} + else + {s=i;} + } + } + else { + if (s==i+j-t) {s=i;} + else{ if (s==i && s+t-j=0) + {s = i+j-t;} + else + {s=i;} + } + + } + } + + } /* k */ + + total = total + p[self]; + } /* i */ + + } /* j */ + + + + /* i, j */ + + out[0] = mxCreateNumericMatrix(total, 1, mxUINT32_CLASS, mxREAL); + + out[1] = mxCreateNumericMatrix(np+1, 1, mxUINT32_CLASS, mxREAL); + + qi = mxGetData(out[0]); + + qj = mxGetData(out[1]); + + + if (out[0]==NULL || out[1]==NULL) { + + mexErrMsgTxt("Not enough space for the output matrix."); + + } + + + + total = 0; + + for (j=0; j1) + for j=i-1:-1:1 + Wpp{i}=[C{j,i}',Wpp{i}]; + end + end + if (i1) +% for j=i-1:-1:1 +% Wpp{i}=[sparse(p(i)*q(i),p(j)*q(j)),Wpp{i}]; +% end +% end +% if (i2 + for i=3:n + piqi=p(i)*q(i); + if i~=n + constraintMat=[constraintMat,[sparse(sum(p(1:i-2).*q(1:i-2)),piqi);-C{i-1,i};speye(piqi);sparse(pq-sum(p(2:i).*q(2:i)),piqi)]]; + else + constraintMat=[constraintMat,[sparse(sum(p(1:i-2).*q(1:i-2)),piqi);-C{i-1,i};speye(piqi)]]; + end + end + end + + % saving useful information + %subgrids, p and q + data.subgrid=subgrid; + data.p=p; + data.q=q; diff --git a/SD-VBS/common/toolbox/MultiNcut/discretisation.m b/SD-VBS/common/toolbox/MultiNcut/discretisation.m new file mode 100755 index 0000000..70b5650 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/discretisation.m @@ -0,0 +1,49 @@ +function [SegLabel,EigenVectors]=discretisation(EigenVectors,nr,nc) +% +% EigenvectorsDiscrete=discretisation(EigenVectors) +% +% Input: EigenVectors = continuous Ncut vector, size = ndata x nbEigenvectors +% Output EigenvectorsDiscrete = discrete Ncut vector, size = ndata x nbEigenvectors +% +% Timothee Cour, Stella Yu, Jianbo Shi, 2004 + +[n,k]=size(EigenVectors); + +vm = sqrt(sum(EigenVectors.*EigenVectors,2)); +EigenVectors = EigenVectors./repmat(vm,1,k); + +R=zeros(k); +R(:,1)=EigenVectors(1+round(rand(1)*(n-1)),:)'; +c=zeros(n,1); +for j=2:k + c=c+abs(EigenVectors*R(:,j-1)); + [minimum,i]=min(c); + R(:,j)=EigenVectors(i,:)'; +end + +lastObjectiveValue=0; +exitLoop=0; +nbIterationsDiscretisation = 0; +nbIterationsDiscretisationMax = 20;%voir +while exitLoop== 0 + nbIterationsDiscretisation = nbIterationsDiscretisation + 1 ; + EigenvectorsDiscrete = discretisationEigenVectorData(EigenVectors*R); + [U,S,V] = svd(EigenvectorsDiscrete'*EigenVectors,0); + NcutValue=2*(n-trace(S)); + + if abs(NcutValue-lastObjectiveValue) < eps | nbIterationsDiscretisation > nbIterationsDiscretisationMax + exitLoop=1; + else + lastObjectiveValue = NcutValue; + R=V*U'; + end +end + +%%%% + +SegLabel = zeros(nr,nc); +for j=1:size(EigenvectorsDiscrete,2), + SegLabel = SegLabel + j*reshape(EigenvectorsDiscrete(:,j),nr,nc); +end +EigenVectors = reshape(EigenVectors,nr,nc,size(EigenVectors,2)); + diff --git a/SD-VBS/common/toolbox/MultiNcut/discretisationEigenVectorData.m b/SD-VBS/common/toolbox/MultiNcut/discretisationEigenVectorData.m new file mode 100755 index 0000000..4626e3d --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/discretisationEigenVectorData.m @@ -0,0 +1,12 @@ +function Y = discretisationEigenVectorData(EigenVector) +% Y = discretisationEigenVectorData(EigenVector) +% +% discretizes previously rotated eigenvectors in discretisation +% Timothee Cour, Stella Yu, Jianbo Shi, 2004 + +[n,k]=size(EigenVector); + + +[Maximum,J]=max(EigenVector'); + +Y=sparse(1:n,J',1,n,k); diff --git a/SD-VBS/common/toolbox/MultiNcut/doog1.m b/SD-VBS/common/toolbox/MultiNcut/doog1.m new file mode 100755 index 0000000..dd8e87b --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/doog1.m @@ -0,0 +1,32 @@ +function H=doog1(sig,r,th,N); +% H=doog1(sig,r,th,N); + + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +phi=pi*th/180; +sigy=sig; +sigx=r*sig; +R=[cos(phi) -sin(phi); sin(phi) cos(phi)]; +C=R*diag([sigx,sigy])*R'; + +X=[x(:) y(:)]; + +Gb=gaussian(X,[0 0]',C); +Gb=reshape(Gb,N,N); + +m=R*[0 sig]'; + +a=1; +b=-1; + +% make odd-symmetric filter +Ga=gaussian(X,m/2,C); +Ga=reshape(Ga,N,N); +Gb=rot90(Ga,2); +H=a*Ga+b*Gb; + diff --git a/SD-VBS/common/toolbox/MultiNcut/doog2.m b/SD-VBS/common/toolbox/MultiNcut/doog2.m new file mode 100755 index 0000000..a0511cb --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/doog2.m @@ -0,0 +1,38 @@ +function G=doog2(sig,r,th,N); +% G=doog2(sig,r,th,N); +% Make difference of offset gaussians kernel +% theta is in degrees +% (see Malik & Perona, J. Opt. Soc. Amer., 1990) +% +% Example: +% >> imagesc(doog2(1,12,0,64,1)) +% >> colormap(gray) + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +phi=pi*th/180; +sigy=sig; +sigx=r*sig; +R=[cos(phi) -sin(phi); sin(phi) cos(phi)]; +C=R*diag([sigx,sigy])*R'; + +X=[x(:) y(:)]; + +Gb=gaussian(X,[0 0]',C); +Gb=reshape(Gb,N,N); + +m=R*[0 sig]'; +Ga=gaussian(X,m,C); +Ga=reshape(Ga,N,N); +Gc=rot90(Ga,2); + +a=-1; +b=2; +c=-1; + +G = a*Ga + b*Gb + c*Gc; + diff --git a/SD-VBS/common/toolbox/MultiNcut/eigSolve.m b/SD-VBS/common/toolbox/MultiNcut/eigSolve.m new file mode 100755 index 0000000..cfb64fc --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/eigSolve.m @@ -0,0 +1,5 @@ +function [eigenVectors,s]= eigSolve (multiWpp,ConstraintMat,data) + +[v,s] = quickNcutHardBiais2(multiWpp,ConstraintMat,data.dataGraphCut.nbEigenValues,data.dataGraphCut); +v=v(1:data.p(1)*data.q(1),:); +eigenVectors=reshape(v,data.p(1),data.q(1),data.dataGraphCut.nbEigenValues); diff --git a/SD-VBS/common/toolbox/MultiNcut/fft_filt_2.m b/SD-VBS/common/toolbox/MultiNcut/fft_filt_2.m new file mode 100755 index 0000000..9c84e96 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/fft_filt_2.m @@ -0,0 +1,29 @@ +function FI=fft_filt_2(V,FB,sf); +% FI=fft_filt_2(V,FB,sf); +% fft-based filtering +% requires image to be called "V" +% and filters to be in FB +% sf is the subsampling factor +% +% FI is the result + +[M1,M2,N3]=size(FB); +% prepare FFT of image for filtering +[N1,N2]=size(V); +I=zeros(size(V)+[M1-1 M2-1]); +I(1:N1,1:N2)=V; +N1s=length(1:sf:N1); +N2s=length(1:sf:N2); +IF=fft2(I); +FI=zeros(N1s,N2s,N3); + +% apply filters +for n=1:N3; + f=rot90(FB(:,:,n),2); + fF=fft2(f,N1+M1-1,N2+M2-1); + IfF=IF.*fF; + If=real(ifft2(IfF)); + If=If(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + FI(:,:,n)=If(1:sf:N1,1:sf:N2); +end + diff --git a/SD-VBS/common/toolbox/MultiNcut/gaussian.m b/SD-VBS/common/toolbox/MultiNcut/gaussian.m new file mode 100755 index 0000000..509b129 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/gaussian.m @@ -0,0 +1,31 @@ +function p=gaussian(x,m,C); +% p=gaussian(x,m,C); +% +% Evaluate the multi-variate density with mean vector m and covariance +% matrix C for the input vector x. +% +% p=gaussian(X,m,C); +% +% Vectorized version: Here X is a matrix of column vectors, and p is +% a vector of probabilities for each vector. + +d=length(m); + +if size(x,1)~=d + x=x'; +end +N=size(x,2); + +detC = det(C); +if rcond(C)0) { + ir[k] = mxGetIr(in[k]); + jc[k] = mxGetJc(in[k]); + } + } + + out[0] = mxCreateDoubleMatrix(m[1],1,mxREAL); + y = mxGetPr(out[0]); + + + y1 = mxCalloc(n[2], sizeof(double)); + y2 = mxCalloc(m[3], sizeof(double)); + y2bis = mxCalloc(m[3], sizeof(double)); + y3 = mxCalloc(m[1], sizeof(double)); + y4 = mxCalloc(m[1], sizeof(double)); + y5 = mxCalloc(n[2], sizeof(double)); + y5bis = mxCalloc(n[2], sizeof(double)); + y6 = mxCalloc(n[2], sizeof(double)); + + CSR_VecMult_CAB_double(m[2],n[2],pr[2],ir[2],jc[2],pr[0],y1); + CSR_VecTriangSlvLD_CAB_double(m[3],pr[3],ir[3],jc[3],y1,y2bis); + CSC_VecTriangSlvUD_CAB_double(m[3],pr[3],ir[3],jc[3],y2bis,y2); + for(k=0;k0) { + ir[k] = mxGetIr(in[k]); + jc[k] = mxGetJc(in[k]); + } + } + + out[0] = mxCreateDoubleMatrix(m[1],1,mxREAL); + y = mxGetPr(out[0]); + + + y1 = mxCalloc(n[2], sizeof(double)); + y2 = mxCalloc(m[3], sizeof(double)); + y2bis = mxCalloc(m[3], sizeof(double)); + y3 = mxCalloc(m[1], sizeof(double)); + y4 = mxCalloc(m[1], sizeof(double)); + y5 = mxCalloc(n[2], sizeof(double)); + y5bis = mxCalloc(n[2], sizeof(double)); + y6 = mxCalloc(n[2], sizeof(double)); + + CSR_VecMult_CAB_double(m[2],n[2],pr[2],ir[2],jc[2],pr[0],y1); + CSR_VecTriangSlvLD_CAB_double(m[3],pr[3],ir[3],jc[3],y1,y2bis); + CSC_VecTriangSlvUD_CAB_double(m[3],pr[3],ir[3],jc[3],y2bis,y2); + for(k=0;k1) { + mexErrMsgTxt("Too many output arguments"); + } + + /* get edgel information */ + nr = mxGetM(in[0]); + nc = mxGetN(in[0]); + if ( nr*nc ==0 || nr != mxGetM(in[1]) || nc != mxGetN(in[1]) ) { + mexErrMsgTxt("Edge magnitude and phase shall be of the same image size"); + } + emag = mxGetPr(in[0]); + ephase = mxGetPr(in[1]); + np = nr * nc; + + /*get subgrid information*/ + + tmp = mxGetData(in[5]); + nrSubgrid = (int)tmp[0]; + tmp = mxGetData(in[6]); + ncSubgrid = (int)tmp[0]; + + /* printf("nrSubgrid=%d\n",nrSubgrid); + printf("ncSubgrid=%d\n",ncSubgrid); */ + if (nrSubgrid* ncSubgrid != mxGetM(in[4])*mxGetN(in[4])) { + mexErrMsgTxt("Error in the size of the subgrid"); + } + subgrid = mxGetData(in[4]); + nW = nrSubgrid * ncSubgrid; + + /* get new index pair */ + if (!mxIsUint32(in[2]) | !mxIsUint32(in[3])) { + mexErrMsgTxt("Index pair shall be of type UINT32"); + } + if (mxGetM(in[3]) * mxGetN(in[3]) != nW + 1) { + mexErrMsgTxt("Wrong index representation"); + } + pi = mxGetData(in[2]); + pj = mxGetData(in[3]); + subpi = mxGetData(in[7]); + /*{printf("pi[50] = %d\n",pi[50]);} + {printf("subpi[5] = %d\n",subpi[5]);} + {printf("subpi[6] = %d\n",subpi[6]);} + {printf("subpi[4] = %d\n",subpi[4]);}*/ + + /* create output */ /*!!!!!!!!!!!!!!!!!!!!!!!changer taille output!!!!!!!!!!*/ + out[0] = mxCreateSparse(nW,nW,pj[nW],mxREAL); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough memory for the output matrix"); + } + w = mxGetPr(out[0]); + ir = mxGetIr(out[0]); + jc = mxGetJc(out[0]); + + /* find my sigma */ + if (nargin<9) { + sigma = 0; + for (k=0; ksigma) { sigma = emag[k]; } + } + sigma = sigma / 6; + printf("sigma = %6.5f",sigma); + } else { + sigma = mxGetScalar(in[8]); + } + a = 0.5 / (sigma * sigma); + + /* computation */ + total = 0; + + for (j=0; j= abs(dj)) { + slope = dj / di; + step = (iy>=jy) ? 1 : -1; + + iip1 = jy; + jjp1 = jx; + + + for (ii=0;ii maxori){ + maxori = z; + } + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + + /* sample in j direction */ + } else { + slope = di / dj; + step = (ix>=jx) ? 1: -1; + + jjp1 = jx; + iip1 = jy; + + + for (jj=0;jj maxori){ + maxori = z; + } + + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + } + + maxori = 0.5 * maxori; + maxori = exp(-maxori * maxori * a); + } + /*if (total<20) {printf("subpi[k] = %d\n",subpi[k]);}*/ + + ir[total] = (int)subpi[k]; +/*if (total<20) {printf("ir[total] = %d\n",ir[total]);}*/ + w[total] = maxori; + total = total + 1; + + } /* i */ + } /*j*/ + /*printf("total = %d\n",total);*/ + /*printf("ir[100] = %d\n",ir[100]);*/ + jc[nW] = total; +} diff --git a/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.dll b/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.dll new file mode 100755 index 0000000..f9b6bc9 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.dll differ diff --git a/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.mexa64 b/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.mexa64 new file mode 100755 index 0000000..9a2a3cc Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.mexa64 differ diff --git a/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.mexglx b/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.mexglx new file mode 100755 index 0000000..ec11a0e Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/multiAffinityic.mexglx differ diff --git a/SD-VBS/common/toolbox/MultiNcut/multiIntensityFirstLayer.c b/SD-VBS/common/toolbox/MultiNcut/multiIntensityFirstLayer.c new file mode 100755 index 0000000..0cae523 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/multiIntensityFirstLayer.c @@ -0,0 +1,126 @@ +/*================================================================ +* function w = intensityWppc(image,pi,pj,rMin,sigmaX,sigmaIntensite,valeurMinW ) +* Input: +* [pi,pj] = index pair representation for MALTAB sparse matrices +* Output: +* w = affinity with IC at [pi,pj] +* + +pixels i and j (corresponding to the sampling in pi,pj) are fully connected when d(i,j) <= rmin; + +% test sequence +f = synimg(10); +[i,j] = cimgnbmap(size(f),2); +[ex,ey,egx,egy] = quadedgep(f); +a = affinityic(ex,ey,egx,egy,i,j) +show_dist_w(f,a); + +* Stella X. Yu, Nov 19, 2001. +*=================================================================*/ + +# include "mex.h" +# include "math.h" + +void mexFunction( + int nargout, + mxArray *out[], + int nargin, + const mxArray *in[] +) +{ + /* declare variables */ + int nr, nc, np, total; + int i, j, k, ix, iy, jx, jy; + int *ir, *jc; + int squareDistance; + /* unsigned long *pi, *pj; */ +unsigned int *pi, *pj; + double *w; + + double temp,a1,a2,wij; + double rMin; + double sigmaX, sigmaIntensite,valeurMinW; + double *image; + + /* check argument */ + if (nargin<7) { + mexErrMsgTxt("Four input arguments required"); + } + if (nargout>1) { + mexErrMsgTxt("Too many output arguments"); + } + + /* get edgel information */ + nr = mxGetM(in[0]); + nc = mxGetN(in[0]); + np = nr * nc; + + image = mxGetPr(in[0]); + + + + /* get new index pair */ + if (!mxIsUint32(in[1]) | !mxIsUint32(in[2])) { + mexErrMsgTxt("Index pair shall be of type UINT32"); + } + if (mxGetM(in[2]) * mxGetN(in[2]) != np + 1) { + mexErrMsgTxt("Wrong index representation"); + } + pi = mxGetData(in[1]); + pj = mxGetData(in[2]); + + /* create output */ + out[0] = mxCreateSparse(np,np,pj[np],mxREAL); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough memory for the output matrix"); + } + w = mxGetPr(out[0]); + ir = mxGetIr(out[0]); + jc = mxGetJc(out[0]); + + rMin = mxGetScalar(in[3]); + sigmaX = mxGetScalar(in[4]); + sigmaIntensite= mxGetScalar(in[5]); + valeurMinW = mxGetScalar(in[6]); + + a1 = 1.0/ (sigmaX*sigmaX); + a2 = 1.0 / (sigmaIntensite*sigmaIntensite ); + + /* computation */ + total = 0; + for (j=0; j1) { + mexErrMsgTxt("Too many output arguments"); + } + + /* get edgel information */ + nr = mxGetM(in[0]); + nc = mxGetN(in[0]); + np = nr * nc; + /*printf("size: %d, %d, %d\n", nc, nr, np); */ + image = mxGetPr(in[0]); + + + /*get subgrid information*/ + + tmp = mxGetData(in[8]); + nrSubgrid = (int)tmp[0]; + + /* printf("image end = %f ", image[np-1]); */ + + tmp = mxGetData(in[9]); + ncSubgrid = (int)tmp[0]; + + if (nrSubgrid* ncSubgrid != mxGetM(in[7])*mxGetN(in[7])) { + mexErrMsgTxt("Error in the size of the subgrid"); + } + subgrid = mxGetData(in[7]); + nW = nrSubgrid * ncSubgrid; + + + + + /* get new index pair */ + if (!mxIsUint32(in[1]) | !mxIsUint32(in[2])) { + mexErrMsgTxt("Index pair shall be of type UINT32"); + } + if (mxGetM(in[2]) * mxGetN(in[2]) != nW + 1) { + mexErrMsgTxt("Wrong index representation"); + } + pi = mxGetData(in[1]); + pj = mxGetData(in[2]); + subpi = mxGetData(in[10]); + + /* create output */ + out[0] = mxCreateSparse(nW,nW,pj[nW],mxREAL); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough memory for the output matrix"); + } + + w = mxGetPr(out[0]); + ir = mxGetIr(out[0]); + jc = mxGetJc(out[0]); + + + rMin = mxGetScalar(in[3]); + sigmaX = mxGetScalar(in[4]); + sigmaIntensite= mxGetScalar(in[5]); + valeurMinW = mxGetScalar(in[6]); + + a1 = 1.0/ (sigmaX*sigmaX); + a2 = 1.0 / (sigmaIntensite*sigmaIntensite ); + + + + /* computation */ + total = 0; + for (j=0; jnp-1)) {printf("badddddd!");} + /* printf("t = %d\n",t); + printf("j = %d\n",j); */ + jc[j] = total; + jx = t / nr; /* col */ + jy = t % nr; /* row */ + /* printf("pj[j+1] = %d\n",pj[j+1]); */ + + for (k=pj[j]; k5000*5000 ) {printf("trouble! [%d,%d]\n",k,(int)subpi[k]);} */ + + w[total] = wij; + + total = total + 1; + + } /* i */ + + + } /* j */ + + jc[nW] = total; +} diff --git a/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.dll b/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.dll new file mode 100755 index 0000000..16146c1 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.dll differ diff --git a/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.mexa64 b/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.mexa64 new file mode 100755 index 0000000..525ca62 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.mexa64 differ diff --git a/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.mexglx b/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.mexglx new file mode 100755 index 0000000..a17fa03 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/multiIntensityWppc.mexglx differ diff --git a/SD-VBS/common/toolbox/MultiNcut/quadedgep2.m b/SD-VBS/common/toolbox/MultiNcut/quadedgep2.m new file mode 100755 index 0000000..5041377 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/quadedgep2.m @@ -0,0 +1,188 @@ +% function [xs,ys,gx,gy,par,threshold,mag,mage,g,FIe,FIo,mago] = quadedgep(I,par,threshold); +% Input: +% I = image +% par = vector for 4 parameters +% [number of filter orientations, number of scale, filter size, elongation] +% To use default values, put 0. +% threshold = threshold on edge strength +% Output: +% [x,y,gx,gy] = locations and gradients of an ordered list of edgels +% x,y could be horizontal or vertical or 45 between pixel sites +% but it is guaranteed that there [floor(y) + (floor(x)-1)*nr] +% is ordered and unique. In other words, each edgel has a unique pixel id. +% par = actual par used +% threshold = actual threshold used +% mag = edge magnitude +% mage = phase map +% g = gradient map at each pixel +% [FIe,FIo] = odd and even filter outputs +% mago = odd filter output of optimum orientation + +% Stella X. Yu, 2001 + +% This is the multi scale version of the filtering +% For the moment the parameters are defined by default. See line 34 + + +function [x,y,gx,gy,par,threshold,mag_s,mage,g,FIe,FIo,mago] = quadedgep2(I,par,data,threshold); + + +if nargin<4 | isempty(threshold), + threshold = 0.1; +end + +[r,c] = size(I); +def_par = [4,30,3]; + +display_on = 1; + +% take care of parameters, any missing value is substituted by a default value +if nargin<2 | isempty(par), + par = def_par; +end +% par(end+1:4)=0; +% par = par(:); +% j = (par>0); +% have_value = [ j, 1-j ]; +% j = 1; n_filter = have_value(j,:) * [par(j); def_par(j)]; +% j = 2; n_scale = have_value(j,:) * [par(j); def_par(j)]; +% j = 3; winsz = have_value(j,:) * [par(j); def_par(j)]; +% j = 4; enlong = have_value(j,:) * [par(j); def_par(j)]; + +n_ori = par(1); %if it doesn't work, par<-def_par + +winsz = par(2); +enlong = par(3); + +% always make filter size an odd number so that the results will not be skewed +j = winsz/2; +if not(j > fix(j) + 0.1), + winsz = winsz + 1; +end + +% filter the image with quadrature filters +if (isempty(data.W.scales)) + error ('no scales entered'); +end + +n_scale=length(data.W.scales); +filter_scales=data.W.scales; +% +% if strcmp(data.dataWpp.mode,'multiscale') +% n_scale=size((data.dataWpp.scales),2); +% filter_scales=data.dataWpp.scales; +% else +% filter_scales=data.dataWpp.scales(1); +% n_scale=1; +% end +% if n_scale>0&&strcmp(data.dataWpp.mode,'multiscale') +% if (~isempty(data.dataWpp.scales)) +% filter_scales=data.dataWpp.scales; +% else +% filter_scales=zeros(1,n_scale); +% +% for i=1:n_scale, +% filter_scales(i)=(sqrt(2))^(i-1); +% end +% data.dataWpp.scales=filter_scales; +% end +% else filter_scale=1; +% data.dataWpp.scales=filter_scales; +% end +% +% %%%%%%% juste pour que ca tourne +% if ~strcmp(data.dataWpp.mode,'multiscale') +% filter_scales=data.dataWpp.scales(1); +% n_scale=4; +% end +% %%%%%%%%%%%% + +FBo = make_filterbank_odd2(n_ori,filter_scales,winsz,enlong); +FBe = make_filterbank_even2(n_ori,filter_scales,winsz,enlong); +n = ceil(winsz/2); +f = [fliplr(I(:,2:n+1)), I, fliplr(I(:,c-n:c-1))]; +f = [flipud(f(2:n+1,:)); f; flipud(f(r-n:r-1,:))]; +FIo = fft_filt_2(f,FBo,1); +FIo = FIo(n+[1:r],n+[1:c],:); +FIe = fft_filt_2(f,FBe,1); +FIe = FIe(n+[1:r],n+[1:c],:); + +% compute the orientation energy and recover a smooth edge map +% pick up the maximum energy across scale and orientation +% even filter's output: as it is the second derivative, zero cross localize the edge +% odd filter's output: orientation + +[nr,nc,nb] = size(FIe); + +FIe = reshape(FIe, nr,nc,n_ori,length(filter_scales)); +FIo = reshape(FIo, nr,nc,n_ori,length(filter_scales)); + +mag_s = zeros(nr,nc,n_scale); +mag_a = zeros(nr,nc,n_ori); + +mage = zeros(nr,nc,n_scale); +mago = zeros(nr,nc,n_scale); +mage = zeros(nr,nc,n_scale); +mago = zeros(nr,nc,n_scale); + + + +for i = 1:n_scale, + mag_s(:,:,i) = sqrt(sum(FIo(:,:,:,i).^2,3)+sum(FIe(:,:,:,i).^2,3)); + mag_a = sqrt(FIo(:,:,:,i).^2+FIe(:,:,:,i).^2); + [tmp,max_id] = max(mag_a,[],3); + + base_size = nr * nc; + id = [1:base_size]'; + mage(:,:,i) = reshape(FIe(id+(max_id(:)-1)*base_size+(i-1)*base_size*n_ori),[nr,nc]); + mago(:,:,i) = reshape(FIo(id+(max_id(:)-1)*base_size+(i-1)*base_size*n_ori),[nr,nc]); + + mage(:,:,i) = (mage(:,:,i)>0) - (mage(:,:,i)<0); + + if display_on, + ori_incr=pi/n_ori; % to convert jshi's coords to conventional image xy + ori_offset=ori_incr/2; + theta = ori_offset+([1:n_ori]-1)*ori_incr; % orientation detectors + % [gx,gy] are image gradient in image xy coords, winner take all + + ori = theta(max_id); + ori = ori .* (mago(:,:,i)>0) + (ori + pi).*(mago(:,:,i)<0); + gy{i} = mag_s(:,:,i) .* cos(ori); + gx{i} = -mag_s(:,:,i) .* sin(ori); + g = cat(3,gx{i},gy{i}); + + % phase map: edges are where the phase changes + mag_th = max(max(mag_s(:,:,i))) * threshold; + eg = (mag_s(:,:,i)>mag_th); + h = eg & [(mage(2:r,:,i) ~= mage(1:r-1,:,i)); zeros(1,nc)]; + v = eg & [(mage(:,2:c,i) ~= mage(:,1:c-1,i)), zeros(nr,1)]; + [y{i},x{i}] = find(h | v); + k = y{i} + (x{i}-1) * nr; + h = h(k); + v = v(k); + y{i} = y{i} + h * 0.5; % i + x{i} = x{i} + v * 0.5; % j + t = h + v * nr; + gx{i} = g(k) + g(k+t); + k = k + (nr * nc); + gy{i} = g(k) + g(k+t); + +% figure(1); +% clf; +% imagesc(I);colormap(gray); +% hold on; +% quiver(x,y,gx,gy); hold off; +% title(sprintf('scale = %d, press return',i)); + + % pause; + 0; +else + x = []; + y = []; + gx = []; + gy =[]; + g= []; + end +end + + diff --git a/SD-VBS/common/toolbox/MultiNcut/quickNcutHardBiais2.m b/SD-VBS/common/toolbox/MultiNcut/quickNcutHardBiais2.m new file mode 100755 index 0000000..3ca1046 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/quickNcutHardBiais2.m @@ -0,0 +1,187 @@ +% function [v,s] = quickNcutHardBiais(W,U,nbEigenValues,dataGraphCut) +%ligne 35 : changement tim +%[v,s] = ncut(W,nbEigenValues,[],offset); +%devient : +%[v,s] = tim_ncut_rapide(W,nbEigenValues,[],offset); +%et eigs devient tim_eigs + +% Input: +% W = affinity matrix +% U = hard constraint matrix, could be a cell of partial grouping +% nbEigenValues = number of eigenvectors +% offset = regularization factor, default = 0 +% Output: +% v = eigenvector +% s = eigenvalue of (W,d), s.t. U' * x = 0. + +% call eigs using my own * operation + +% Stella X. Yu, Jan 2002. + +function [v,s] = quickNcutHardBiais2(W,U,nbEigenValues,dataGraphCut)%voir : rajouter sigma +n = size(W,1); +nbEigenValues = min(nbEigenValues,n); + +offset = dataGraphCut.offset; +%offset = 2; + +% degrees and regularization +d = sum(abs(W),2); +dr = 0.5 * (d - sum(W,2)); +d = d + offset * 2; +dr = dr + offset; +W = W + spdiags(dr,0,n,n); +clear dr + +% normalize +Dinvsqrt = 1./sqrt(d+eps); +P = spmtimesd(W,Dinvsqrt,Dinvsqrt); +clear W; + +% if max(max(P-P')) < 1e-10 %ou eps +% %S = sparse(1:n,1:n,0.5); +% P =max(P,P'); +% % P=S*(P+P'); +% %P=0.5*(P+P'); +% options.issym = 1; +% end +P = sparsifyc(P,dataGraphCut.valeurMin); +options.issym = 1; + +Ubar = spmtimesd(U,Dinvsqrt,[]); +%Ubar = sparsifyc(Ubar,dataGraphCut.valeurMin); %voir + +options.disp = dataGraphCut.verbose; +options.maxit = dataGraphCut.maxiterations; +options.tol = dataGraphCut.eigsErrorTolerance; + +options.v0 = ones(size(P,1),1);%voir + +options.p = max(35,2*nbEigenValues); %voir +options.p = min(options.p , n); + +% nouvelle idee : factorisation de Cholesky +C=Ubar'*Ubar; +%permutation = symamd(C); +%R = cholinc(C(permutation,permutation)); +t_chol_Ubar = cputime; +[R,ooo] = cholinc(C,'0'); +t_chol_Ubar = cputime - t_chol_Ubar; +%if error occurs, check if Ubar = sparsifyc(Ubar,dataGraphCut.valeurMin); +%sparsifies too much + + +% compute H = (Ubar'*Ubar)^(-1) +% t_inv_H = cputime; +% H = inv(sparsifyc(Ubar' * Ubar,dataGraphCut.valeurMin)); %changer +% t_inv_H = cputime - t_inv_H; +% H = sparsifyc(H,dataGraphCut.valeurMin); +% tEigs = cputime; +% if options.issym & max(max(H-H')) < 1e-10 +% [vbar,s,convergence] = tim_eigs(@mex_projection_inv_symmetric,n,nbEigenValues,'lm',options,triu(P),Ubar,triu(H)); +% else +% [vbar,s,convergence] = tim_eigs(@mex_projection_inv,n,nbEigenValues,'lm',options,P,Ubar,H); +% end +% tEigs = cputime - tEigs; +% + + + +R = sparsifyc(R,dataGraphCut.valeurMin); +tEigs = cputime; +if options.issym + [vbar,s,convergence] = tim_eigs(@mex_projection_QR_symmetric,n,nbEigenValues,'lm',options,tril(P),Ubar,R); +else + [vbar,s,convergence] = tim_eigs(@mex_projection_QR,n,nbEigenValues,'lm',options,P,Ubar,R); +end +tEigs = cputime - tEigs; + + +%afficheTexte(sprintf('\n\nTemps ecoule pendant eigs : %g',tEigs),dataGraphCut.verbose,2); +%afficheTexte(sprintf('\nTemps ecoule pendant chol(Ubar''*Ubar) : %g',t_chol_Ubar),dataGraphCut.verbose); +if convergence~=0 + afficheTexte(sprintf(' (Non-convergence)'),dataGraphCut.verbose); +end + + +%disp(sprintf('nnz(P) : %f\n',nnz(P))); +%disp(sprintf('nnz(Ubar) : %f\n',nnz(Ubar))); +%disp(sprintf('nnz(R) : %f\n',nnz(R))); +%disp(sprintf('nnz(global) : %f\n',nnz(P) + 4 * nnz(Ubar) + 4*nnz(R))); + + + +s = real(diag(s)); +[x,y] = sort(-s); +s = -x; +vbar = vbar(:,y); + + +v = spdiags(Dinvsqrt,0,n,n) * vbar; + +for i=1:size(v,2) + %v(:,i) = v(:,i) / max(abs(v(:,i))); + v(:,i) = (v(:,i) / norm(v(:,i)) )*norm(ones(n,1)); + if v(1,i)~=0 + v(:,i) = - v(:,i) * sign(v(1,i)); + end +end + +% % nouvelle idee : factorisation de Cholesky +% t_chol_Ubar = cputime; +% R = chol(Ubar' * Ubar); +% t_chol_Ubar = cputime - t_chol_Ubar; +% R = sparsifyc(R,dataGraphCut.valeurMin); +% tEigs = cputime; +% if options.issym +% [vbar,s,convergence] = tim_eigs(@mex_projection_QR_symmetric,n,nbEigenValues,'lm',options,triu(P),Ubar,R); +% else +% [vbar,s,convergence] = tim_eigs(@mex_projection_QR,n,nbEigenValues,'lm',options,P,Ubar,R); +% end +% tEigs = cputime - tEigs; + + +% % compute H = (Ubar'*Ubar)^(-1) +% t_inv_H = cputime; +% H = inv(sparsifyc(Ubar' * Ubar,dataGraphCut.valeurMin)); %changer +% t_inv_H = cputime - t_inv_H; +% H = sparsifyc(H,dataGraphCut.valeurMin); +% tEigs = cputime; +% if options.issym & max(max(H-H')) < 1e-10 +% [vbar,s,convergence] = tim_eigs(@mex_projection_inv_symmetric,n,nbEigenValues,'lm',options,triu(P),Ubar,triu(H)); +% else +% [vbar,s,convergence] = tim_eigs(@mex_projection_inv,n,nbEigenValues,'lm',options,P,Ubar,H); +% end +% tEigs = cputime - tEigs; + + + +% % idee de mon rapport... semble pas marcher car R = qr(Ubar,0) est plus +% % lent que H = inv(sparsifyc(Ubar' * Ubar,dataGraphCut.valeurMin)); +% t_qr_Ubar = cputime; +% R = qr(Ubar,0); +% t_qr_Ubar = cputime - t_qr_Ubar; +% R = sparsifyc(R,dataGraphCut.valeurMin); +% tEigs2 = cputime; +% if options.issym +% [vbar2,s2,convergence] = tim_eigs(@mex_projection_QR_symmetric,n,nbEigenValues,'lm',options,triu(P),Ubar,R); +% else +% [vbar2,s2,convergence] = tim_eigs(@mex_projection_QR,n,nbEigenValues,'lm',options,P,Ubar,R); +% end +% tEigs2 = cputime - tEigs2; + + + +% idee de Jianbo... semble pas marcher car on a besoin de prendre k maximal +% dans [A,S,B] = svds(Ubar,k); +% +% [A,S,B] = svds(Ubar,300); +% A = sparsifyc(A,dataGraphCut.valeurMin); +% tEigs = cputime; +% [vbar,s,convergence] = tim_eigs(@mex_projection_svd,n,nbEigenValues,'lm',options,P,A); + +% afficheTexte(sprintf('\ninv(H) : %g',t_inv_H),dataGraphCut.verbose); +% afficheTexte(sprintf('\n\nTemps ecoule pendant eigs : %g',tEigs2),dataGraphCut.verbose,2); +% afficheTexte(sprintf('\nqr(Ubar) : %g',t_qr_Ubar),dataGraphCut.verbose); +% disp(sprintf('nnz(H) : %f\n',nnz(H))); +% disp(sprintf('nnz(global) : %f\n',nnz(P) + 4 * nnz(Ubar) + 2*nnz(H))); diff --git a/SD-VBS/common/toolbox/MultiNcut/read_data.m b/SD-VBS/common/toolbox/MultiNcut/read_data.m new file mode 100755 index 0000000..c0929c0 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/read_data.m @@ -0,0 +1,13 @@ + +%fnames = dir('/home/jshi/Results_DLIB/SegLabl*.mat'); + +fnames = dir('/data/jshi/DLIB/Results/Results_DLIB/SegLabl*.mat'); + +for j=1:length(fnames), + cm = sprintf('load /data/jshi/DLIB/Results/Results_DLIB/%s',fnames(j).name); + disp(cm);eval(cm); +figure(1);imagesc(I); colormap(gray); axis image; +figure(2); imagesc(SegLabel); axis image; + +pause; +end diff --git a/SD-VBS/common/toolbox/MultiNcut/readimage.m b/SD-VBS/common/toolbox/MultiNcut/readimage.m new file mode 100755 index 0000000..e45fa19 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/readimage.m @@ -0,0 +1,15 @@ +function I = readimage(fn,maxSize); + +Io = imread(fn); +[nr,nc,nb] = size(Io); + +if nb>1, + I = rgb2gray(Io); +else + I= Io; +end + +%maxSize = 400; +if max(nr,nc) > maxSize, + I = imresize(I,maxSize/max(nr,nc)); +end diff --git a/SD-VBS/common/toolbox/MultiNcut/run_script.m b/SD-VBS/common/toolbox/MultiNcut/run_script.m new file mode 100755 index 0000000..3d2e8c6 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/run_script.m @@ -0,0 +1,60 @@ +%% set path for the MNcut code + +if 1, +% MNcutDir = '/home/jshi/Matlab/Toolbox/MultiNcut'; + MNcutDir = 'C:\qihuizhu\Checkout\Human\Source\MultiNcut_new\MultiNcut'; + path(path,MNcutDir); +end + +%% set the image input and output dir. +% imagedir = '/data/jshi/DLIB/image.cd'; +% imagedir = 'C:\qihuizhu\Checkout\Human\Source\Data\test'; +imagedir = 'C:\qihuizhu\Checkout\Human\Data\Current\baby_case5'; +% imageformat = 'ppm'; +imageformat = 'tif'; + +% OutputDir = '/home/jshi/Results_DLIB'; +% OutputDir = 'C:\qihuizhu\Checkout\Human\Source\Data\test'; +OutputDir = 'C:\qihuizhu\Checkout\Human\Result\Segmentation\MultiNcut_new_03.07'; + +a = dir(OutputDir); +if (length(a) == 0), + cm = sprintf('mkdir %s',OutputDir); + disp(cm); eval(cm); +end + +files = dir(sprintf('%s/*.%s',imagedir,imageformat)); + +%% image size definition +imageSize = 400; + +% for id =11:200, +for id = 1:length(files) + %for id = 19:19, + I=readimage(sprintf('%s/%s',imagedir,files(id).name),imageSize); + + num_segs = [10, 20]; + + tic + [SegLabel,eigenVectors,eigenValues]= MNcut(I,num_segs); + toc + + for j=1:size(SegLabel,3), + [gx,gy] = gradient(SegLabel(:,:,j)); + bw = (abs(gx)>0.1) + (abs(gy) > 0.1); + + figure(1);clf; J1=showmask(double(I),bw); imagesc(J1);axis image; + cm = sprintf('print -djpeg %s/file%.4d-%.2d.jpg',OutputDir,id,num_segs(j)); disp(cm);eval(cm); + + + figure(10);imagesc(SegLabel(:,:,j));axis image; + cm = sprintf('print -djpeg %s/Seg%.4d-%.2d.jpg',OutputDir,id,num_segs(j));disp(cm);eval(cm); + +% pause; + end + + fname = files(id).name; + %cm = sprintf('save %s/SegLabl%.4d.mat I SegLabel fname',OutputDir,id); disp(cm); eval(cm); + %cm = sprintf('save %s/SegEig%.4d.mat eigenVectors eigenValues',OutputDir,id);disp(cm); eval(cm); + +end diff --git a/SD-VBS/common/toolbox/MultiNcut/showmask.m b/SD-VBS/common/toolbox/MultiNcut/showmask.m new file mode 100755 index 0000000..6fd1142 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/showmask.m @@ -0,0 +1,65 @@ +% function RGB=showmask(V,M,hue); +% Input: +% V = image +% M = nonnegative mask +% hue = a number in [0,1], red,yellow,green,cyan,...,red +% a char, 'r','g','b','y','c','m' +% or a matrix of the same size of image +% eg. hue = mask1 * 0.7 + mask2 * 1; +% +% Output: +% RGB = an RGB image with V as shades and M as saturated hues +% If no output is required, this image is displayed. + +% Stella X. YU, 2000. Based on Jianbo Shi's version. + +function RGB=showmask(V,M,hue); + +if nargin<3 | isempty(hue), + hue = 0; +end +if ischar(hue), + switch hue, + case 'r', hue = 1.0; + case 'g', hue = 0.3; + case 'b', hue = 0.7; + case 'y', hue = 0.15; + case 'c', hue = 0.55; + case 'm', hue = 0.85; + end +end + + +V=V-min(V(:)); +V=V/max(V(:)); +V=.25+0.75*V; %brighten things up a bit + +M = double(M); +M = M-min(M(:)); +M = M/max(M(:)); + +H = hue+zeros(size(V)); +S = M; +RGB = hsv2rgb(H,S,V); + +if nargout>0, + return; +end + +hold off; image(RGB); axis('image'); +s = cell(1,2); +if isempty(inputname(1)), + s{1} = 'image'; +else + s{1} = inputname(1); +end +if isempty(inputname(2)), + s{2} = 'mask'; +else + s{2} = inputname(2); +end +title(sprintf('%s and colored %s',s{1},s{2})); + +if nargout==0, + clear RGB; +end diff --git a/SD-VBS/common/toolbox/MultiNcut/sparsifyc.c b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.c new file mode 100755 index 0000000..82fca98 --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.c @@ -0,0 +1,232 @@ +/*================================================================= +* syntax: SPMX = SPARSIFY(MX, THRES) +* +* SPARSIFY - sparsify the input matrix, i.e. ignore the values +* of the matrix which are below a threshold +* +* Input: - MX: m-by-n matrix (sparse or full) +* - THRES: threshold value (double) +* +* Output: - SPMX: m-by-n sparse matrix only with values +* whose absolut value is above the given threshold +* +* Written by Mirko Visontai (10/24/2003) +*=================================================================*/ + + +#include +#include "mex.h" + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) +{ + /* Declare variable */ + int i,m,n,nzmax,newnnz,col,processed,passed; + int starting_row_index, current_row_index, stopping_row_index; + double *in_pr,*in_pi,*out_pr,*out_pi; + int *in_ir,*in_jc,*out_ir,*out_jc; + double thres; + + /* Check for proper number of input and output arguments */ + if ((nlhs != 1) || (nrhs != 2)){ + mexErrMsgTxt("usage: SPMX = SPARSIFY(MX, THRES)."); + } + /* if matrix is complex threshold the norm of the numbers */ + if (mxIsComplex(prhs[0])){ + /* Check data type of input argument */ + if (mxIsSparse(prhs[0])){ + + /* read input */ + in_pr = mxGetPr(prhs[0]); + in_pi = mxGetPi(prhs[0]); + in_ir = mxGetIr(prhs[0]); + in_jc = mxGetJc(prhs[0]); + nzmax = mxGetNzmax(prhs[0]); + m = mxGetM(prhs[0]); + n = mxGetN(prhs[0]); + thres = mxGetScalar(prhs[1]); + + /* Count new nonzeros */ + newnnz=0; + for(i=0; ithres) {newnnz++;} + } + + if (newnnz>0){ + /* create output */ + plhs[0] = mxCreateSparse(m,n,newnnz,mxCOMPLEX); + if (plhs[0]==NULL) + mexErrMsgTxt("Could not allocate enough memory!\n"); + out_pr = mxGetPr(plhs[0]); + out_pi = mxGetPr(plhs[0]); + out_ir = mxGetIr(plhs[0]); + out_jc = mxGetJc(plhs[0]); + passed = 0; + out_jc[0] = 0; + for (col=0; col thres){ + + out_pr[passed]=in_pr[current_row_index]; + out_pi[passed]=in_pi[current_row_index]; + out_ir[passed]=in_ir[current_row_index]; + out_jc[col+1] = out_jc[col+1]+1; + passed++; + } + } + } + } + } + else{ + plhs[0] = mxCreateSparse(m,n,0,mxCOMPLEX); + } + } + else{ /* for full matrices */ + /* read input */ + in_pr = mxGetPr(prhs[0]); + in_pi = mxGetPr(prhs[0]); + m = mxGetM(prhs[0]); + n = mxGetN(prhs[0]); + thres = mxGetScalar(prhs[1]); + + /* Count new nonzeros */ + newnnz=0; + for(i=0; ithres) {newnnz++;} + } + + if (newnnz>0){ + /* create output */ + plhs[0] = mxCreateSparse(m,n,newnnz,mxCOMPLEX); + if (plhs[0]==NULL) + mexErrMsgTxt("Could not allocate enough memory!\n"); + out_pr = mxGetPr(plhs[0]); + out_pi = mxGetPi(plhs[0]); + out_ir = mxGetIr(plhs[0]); + out_jc = mxGetJc(plhs[0]); + passed = 0; + out_jc[0] = 0; + + for (col=0; col thres){ + + out_pr[passed]=in_pr[current_row_index+m*col]; + out_ir[passed]=current_row_index; + out_jc[col+1] = out_jc[col+1]+1; + passed++; + } + } + } + } + else{ + plhs[0] = mxCreateSparse(m,n,0,mxCOMPLEX); + } + } + } + else { + /* Check data type of input argument */ + if (mxIsSparse(prhs[0])){ + + /* read input */ + in_pr = mxGetPr(prhs[0]); + in_ir = mxGetIr(prhs[0]); + in_jc = mxGetJc(prhs[0]); + nzmax = mxGetNzmax(prhs[0]); + n = mxGetN(prhs[0]); + m = mxGetM(prhs[0]); + thres = mxGetScalar(prhs[1]); + + /* Count new nonzeros */ + newnnz=0; + for(i=0; ithres) {newnnz++;} + } + + if (newnnz>0){ + /* create output */ + plhs[0] = mxCreateSparse(m,n,newnnz,mxREAL); + if (plhs[0]==NULL) + mexErrMsgTxt("Could not allocate enough memory!\n"); + out_pr = mxGetPr(plhs[0]); + out_ir = mxGetIr(plhs[0]); + out_jc = mxGetJc(plhs[0]); + passed = 0; + out_jc[0] = 0; + for (col=0; colthres){ + out_pr[passed]=in_pr[current_row_index]; + out_ir[passed]=in_ir[current_row_index]; + out_jc[col+1] = out_jc[col+1]+1; + passed++; + } + } + } + } + } + else{ + plhs[0] = mxCreateSparse(m,n,0,mxREAL); + } + } + else{ /* for full matrices */ + /* read input */ + in_pr = mxGetPr(prhs[0]); + n = mxGetN(prhs[0]); + m = mxGetM(prhs[0]); + thres = mxGetScalar(prhs[1]); + + /* Count new nonzeros */ + newnnz=0; + for(i=0; ithres) {newnnz++;} + } + + if (newnnz>0){ + /* create output */ + plhs[0] = mxCreateSparse(m,n,newnnz,mxREAL); + if (plhs[0]==NULL) + mexErrMsgTxt("Could not allocate enough memory!\n"); + out_pr = mxGetPr(plhs[0]); + out_ir = mxGetIr(plhs[0]); + out_jc = mxGetJc(plhs[0]); + passed = 0; + out_jc[0] = 0; + + for (col=0; colthres){ + out_pr[passed]=in_pr[current_row_index+m*col]; + out_ir[passed]=current_row_index; + out_jc[col+1] = out_jc[col+1]+1; + passed++; + } + } + } + } + else{ + plhs[0] = mxCreateSparse(m,n,0,mxREAL); + } + } + } +} + diff --git a/SD-VBS/common/toolbox/MultiNcut/sparsifyc.dll b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.dll new file mode 100755 index 0000000..cf832a6 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.dll differ diff --git a/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexa64 b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexa64 new file mode 100755 index 0000000..2f5ed26 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexa64 differ diff --git a/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexglx b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexglx new file mode 100755 index 0000000..0ba41b6 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexglx differ diff --git a/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexmac b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexmac new file mode 100755 index 0000000..caa2306 Binary files /dev/null and b/SD-VBS/common/toolbox/MultiNcut/sparsifyc.mexmac differ diff --git a/SD-VBS/common/toolbox/MultiNcut/spmtimesd.c b/SD-VBS/common/toolbox/MultiNcut/spmtimesd.c new file mode 100755 index 0000000..a98dc0a --- /dev/null +++ b/SD-VBS/common/toolbox/MultiNcut/spmtimesd.c @@ -0,0 +1,141 @@ +/*================================================================ +* spmtimesd.c +* This routine computes a sparse matrix times a diagonal matrix +* whose diagonal entries are stored in a full vector. +* +* Examples: +* spmtimesd(m,d,[]) = diag(d) * m, +* spmtimesd(m,[],d) = m * diag(d) +* spmtimesd(m,d1,d2) = diag(d1) * m * diag(d2) +* m could be complex, but d is assumed real +* +* Stella X. Yu's first MEX function, Nov 9, 2001. + +% test sequence: + +m = 1000; +n = 2000; +a=sparse(rand(m,n)); +d1 = rand(m,1); +d2 = rand(n,1); +tic; b=spmtimesd(a,d1,d2); toc +tic; bb = spdiags(d1,0,m,m) * a * spdiags(d2,0,n,n); toc +e = (bb-b); +max(abs(e(:))) + +*=================================================================*/ + +# include "mex.h" + +void mexFunction( + int nargout, + mxArray *out[], + int nargin, + const mxArray *in[] +) +{ + /* declare variables */ + int i, j, k, m, n, nzmax, cmplx, xm, yn; + int *pir, *pjc, *qir, *qjc; + double *x, *y, *pr, *pi, *qr, *qi; + + /* check argument */ + if (nargin != 3) { + mexErrMsgTxt("Three input arguments required"); + } + if (nargout>1) { + mexErrMsgTxt("Too many output arguments."); + } + if (!(mxIsSparse(in[0]))) { + mexErrMsgTxt("Input argument #1 must be of type sparse"); + } + if ( mxIsSparse(in[1]) || mxIsSparse(in[2]) ) { + mexErrMsgTxt("Input argument #2 & #3 must be of type full"); + } + + /* computation starts */ + m = mxGetM(in[0]); + n = mxGetN(in[0]); + pr = mxGetPr(in[0]); + pi = mxGetPi(in[0]); + pir = mxGetIr(in[0]); + pjc = mxGetJc(in[0]); + + i = mxGetM(in[1]); + j = mxGetN(in[1]); + xm = ((i>j)? i: j); + + i = mxGetM(in[2]); + j = mxGetN(in[2]); + yn = ((i>j)? i: j); + + if ( xm>0 && xm != m) { + mexErrMsgTxt("Row multiplication dimension mismatch."); + } + if ( yn>0 && yn != n) { + mexErrMsgTxt("Column multiplication dimension mismatch."); + } + + + nzmax = mxGetNzmax(in[0]); + cmplx = (pi==NULL ? 0 : 1); + out[0] = mxCreateSparse(m,n,nzmax,cmplx); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough space for the output matrix."); + } + + qr = mxGetPr(out[0]); + qi = mxGetPi(out[0]); + qir = mxGetIr(out[0]); + qjc = mxGetJc(out[0]); + + /* left multiplication */ + x = mxGetPr(in[1]); + if (yn==0) { + for (j=0; j 3) + error('Too many output arguments.') +end + +% Process inputs and do error-checking +if isa(varargin{1},'double') + A = varargin{1}; + Amatrix = 1; +else + A = fcnchk(varargin{1}); + Amatrix = 0; +end + +isrealprob = 1; % isrealprob = isreal(A) & isreal(B) & isreal(sigma) +if Amatrix + isrealprob = isreal(A); +end + +issymA = 0; +if Amatrix + issymA = isequal(A,A'); +end + +if Amatrix + [m,n] = size(A); + if (m ~= n) + error('A must be a square matrix or a function which computes A*x.') + end +else + n = varargin{2}; + nstr = 'Size of problem, ''n'', must be a positive integer.'; + if ~isequal(size(n),[1,1]) | ~isreal(n) + error(nstr) + end + if (round(n) ~= n) + warning('MATLAB:eigs:NonIntegerSize',['%s\n ' ... + 'Rounding input size.'],nstr) + n = round(n); + end + if issparse(n) + n = full(n); + end +end + +Bnotthere = 0; +Bstr = sprintf(['Generalized matrix B must be the same size as A and' ... + ' either a symmetric positive (semi-)definite matrix or' ... + ' its Cholesky factor.']); +if (nargin < (3-Amatrix-Bnotthere)) + B = []; + Bnotthere = 1; +else + Bk = varargin{3-Amatrix-Bnotthere}; + if isempty(Bk) % allow eigs(A,[],k,sigma,opts); + B = Bk; + else + if isequal(size(Bk),[1,1]) & (n ~= 1) + B = []; + k = Bk; + Bnotthere = 1; + else % eigs(9,8,...) assumes A=9, B=8, ... NOT A=9, k=8, ... + B = Bk; + if ~isa(B,'double') | ~isequal(size(B),[n,n]) + error(Bstr) + end + isrealprob = isrealprob & isreal(B); + end + end +end + +if Amatrix & ((nargin - ~Bnotthere)>4) + error('Too many inputs.') +end + +if (nargin < (4-Amatrix-Bnotthere)) + k = min(n,6); +else + k = varargin{4-Amatrix-Bnotthere}; +end + +kstr = ['Number of eigenvalues requested, k, must be a' ... + ' positive integer <= n.']; +if ~isa(k,'double') | ~isequal(size(k),[1,1]) | ~isreal(k) | (k>n) + error(kstr) +end +if issparse(k) + k = full(k); +end +if (round(k) ~= k) + warning('MATLAB:eigs:NonIntegerEigQty',['%s\n ' ... + 'Rounding number of eigenvalues.'],kstr) + k = round(k); +end + +whchstr = sprintf(['Eigenvalue range sigma must be a valid 2-element string.']); +if (nargin < (5-Amatrix-Bnotthere)) + % default: eigs('LM') => ARPACK which='LM', sigma=0 + eigs_sigma = 'LM'; + whch = 'LM'; + sigma = 0; +else + eigs_sigma = varargin{5-Amatrix-Bnotthere}; + if isstr(eigs_sigma) + % eigs(string) => ARPACK which=string, sigma=0 + if ~isequal(size(eigs_sigma),[1,2]) + whchstr = [whchstr sprintf(['\nFor real symmetric A, the choices are ''%s'', ''%s'', ''%s'', ''%s'' or ''%s''.'], ... + 'LM','SM','LA','SA','BE')]; + whchstr = [whchstr sprintf(['\nFor non-symmetric or complex A, the choices are ''%s'', ''%s'', ''%s'', ''%s'', ''%s'' or ''%s''.\n'], ... + 'LM','SM','LR','SR','LI','SI')]; + error(whchstr) + end + eigs_sigma = upper(eigs_sigma); + if isequal(eigs_sigma,'SM') + % eigs('SM') => ARPACK which='LM', sigma=0 + whch = 'LM'; + else + % eigs(string), where string~='SM' => ARPACK which=string, sigma=0 + whch = eigs_sigma; + end + sigma = 0; + else + % eigs(scalar) => ARPACK which='LM', sigma=scalar + if ~isa(eigs_sigma,'double') | ~isequal(size(eigs_sigma),[1,1]) + error('Eigenvalue shift sigma must be a scalar.') + end + sigma = eigs_sigma; + if issparse(sigma) + sigma = full(sigma); + end + isrealprob = isrealprob & isreal(sigma); + whch = 'LM'; + end +end + +tol = eps; % ARPACK's minimum tolerance is eps/2 (DLAMCH's EPS) +maxit = []; +p = []; +info = int32(0); % use a random starting vector +display = 1; +cholB = 0; + +if (nargin >= (6-Amatrix-Bnotthere)) + opts = varargin{6-Amatrix-Bnotthere}; + if ~isa(opts,'struct') + error('Options argument must be a structure.') + end + + if isfield(opts,'issym') & ~Amatrix + issymA = opts.issym; + if (issymA ~= 0) & (issymA ~= 1) + error('opts.issym must be 0 or 1.') + end + end + + if isfield(opts,'isreal') & ~Amatrix + if (opts.isreal ~= 0) & (opts.isreal ~= 1) + error('opts.isreal must be 0 or 1.') + end + isrealprob = isrealprob & opts.isreal; + end + + if ~isempty(B) & (isfield(opts,'cholB') | isfield(opts,'permB')) + if isfield(opts,'cholB') + cholB = opts.cholB; + if (cholB ~= 0) & (cholB ~= 1) + error('opts.cholB must be 0 or 1.') + end + if isfield(opts,'permB') + if issparse(B) & cholB + permB = opts.permB; + if ~isequal(sort(permB),(1:n)) & ... + ~isequal(sort(permB),(1:n)') + error('opts.permB must be a permutation of 1:n.') + end + else + warning('MATLAB:eigs:IgnoredOptionPermB', ... + ['Ignoring opts.permB since B is not its sparse' ... + ' Cholesky factor.']) + end + else + permB = 1:n; + end + end + end + + if isfield(opts,'tol') + if ~isequal(size(opts.tol),[1,1]) | ~isreal(opts.tol) | (opts.tol<=0) + error(['Convergence tolerance opts.tol must be a strictly' ... + ' positive real scalar.']) + else + tol = full(opts.tol); + end + end + + if isfield(opts,'p') + p = opts.p; + pstr = ['Number of basis vectors opts.p must be a positive' ... + ' integer <= n.']; + if ~isequal(size(p),[1,1]) | ~isreal(p) | (p<=0) | (p>n) + error(pstr) + end + if issparse(p) + p = full(p); + end + if (round(p) ~= p) + warning('MATLAB:eigs:NonIntegerVecQty',['%s\n ' ... + 'Rounding number of basis vectors.'],pstr) + p = round(p); + end + end + + if isfield(opts,'maxit') + maxit = opts.maxit; + str = ['Maximum number of iterations opts.maxit must be' ... + ' a positive integer.']; + if ~isequal(size(maxit),[1,1]) | ~isreal(maxit) | (maxit<=0) + error(str) + end + if issparse(maxit) + maxit = full(maxit); + end + if (round(maxit) ~= maxit) + warning('MATLAB:eigs:NonIntegerIterationQty',['%s\n ' ... + 'Rounding number of iterations.'],str) + maxit = round(maxit); + end + end + + if isfield(opts,'v0') + if ~isequal(size(opts.v0),[n,1]) + error('Start vector opts.v0 must be n-by-1.') + end + if isrealprob + if ~isreal(opts.v0) + error(['Start vector opts.v0 must be real for real problems.']) + end + resid = full(opts.v0); + else + resid(1:2:(2*n-1),1) = full(real(opts.v0)); + resid(2:2:2*n,1) = full(imag(opts.v0)); + end + info = int32(1); % use resid as starting vector + end + + if isfield(opts,'disp') + display = opts.disp; + dispstr = 'Diagnostic level opts.disp must be an integer.'; + if (~isequal(size(display),[1,1])) | (~isreal(display)) | (display<0) + error(dispstr) + end + if (round(display) ~= display) + warning('MATLAB:eigs:NonIntegerDiagnosticLevel', ... + '%s\n Rounding diagnostic level.',dispstr) + display = round(display); + end + end + + if isfield(opts,'cheb') + warning('MATLAB:eigs:ObsoleteOptionCheb', ... + ['Ignoring polynomial acceleration opts.cheb' ... + ' (no longer an option).']); + end + if isfield(opts,'stagtol') + warning('MATLAB:eigs:ObsoleteOptionStagtol', ... + ['Ignoring stagnation tolerance opts.stagtol' ... + ' (no longer an option).']); + end + +end + +% Now we know issymA, isrealprob, cholB, and permB + +if isempty(p) + if isrealprob & ~issymA + p = min(max(2*k+1,20),n); + else + p = min(max(2*k,20),n); + end +end +if isempty(maxit) + maxit = max(300,ceil(2*n/max(p,1))); +end +if (info == int32(0)) + if isrealprob + resid = zeros(n,1); + else + resid = zeros(2*n,1); + end +end + +if ~isempty(B) % B must be symmetric (Hermitian) positive (semi-)definite + if cholB + if ~isequal(triu(B),B) + error(Bstr) + end + else + if ~isequal(B,B') + error(Bstr) + end + end +end + +useeig = 0; +if isrealprob & issymA + knstr = sprintf(['For real symmetric problems, must have number' ... + ' of eigenvalues k < n.\n']); +else + knstr = sprintf(['For nonsymmetric and complex problems, must have' ... + ' number of eigenvalues k < n-1.\n']); +end +if isempty(B) + knstr = [knstr sprintf(['Using eig(full(A)) instead.'])]; +else + knstr = [knstr sprintf(['Using eig(full(A),full(B)) instead.'])]; +end +if (k == 0) + useeig = 1; +end +if isrealprob & issymA + if (k > n-1) + if (n >= 6) + warning('MATLAB:eigs:TooManyRequestedEigsForRealSym', ... + '%s',knstr) + end + useeig = 1; + end +else + if (k > n-2) + if (n >= 7) + warning('MATLAB:eigs:TooManyRequestedEigsForComplexNonsym', ... + '%s',knstr) + end + useeig = 1; + end +end + +if isrealprob & issymA + if ~isreal(sigma) + error(['For real symmetric problems, eigenvalue shift sigma must' ... + ' be real.']) + end +else + if ~isrealprob & issymA & ~isreal(sigma) + warning('MATLAB:eigs:ComplexShiftForRealProblem', ... + ['Complex eigenvalue shift sigma on a Hermitian problem' ... + ' (all real eigenvalues).']) + end +end + +if isrealprob & issymA + if strcmp(whch,'LR') + whch = 'LA'; + warning('MATLAB:eigs:SigmaChangedToLA', ... + ['For real symmetric problems, sigma value ''LR''' ... + ' (Largest Real) is now ''LA'' (Largest Algebraic).']) + end + if strcmp(whch,'SR') + whch = 'SA'; + warning('MATLAB:eigs:SigmaChangedToSA', ... + ['For real symmetric problems, sigma value ''SR''' ... + ' (Smallest Real) is now ''SA'' (Smallest Algebraic).']) + end + if ~ismember(whch,{'LM', 'SM', 'LA', 'SA', 'BE'}) + whchstr = [whchstr sprintf(['\nFor real symmetric A, the choices are ''%s'', ''%s'', ''%s'', ''%s'' or ''%s''.'], ... + 'LM','SM','LA','SA','BE')]; + error(whchstr) + end +else + if strcmp(whch,'BE') + warning('MATLAB:eigs:SigmaChangedToLM', ... + ['Sigma value ''BE'' is now only available for real' ... + ' symmetric problems. Computing ''LM'' eigenvalues instead.']) + whch = 'LM'; + end + if ~ismember(whch,{'LM', 'SM', 'LR', 'SR', 'LI', 'SI'}) + whchstr = [whchstr sprintf(['\nFor non-symmetric or complex A, the choices are ''%s'', ''%s'', ''%s'', ''%s'', ''%s'' or ''%s''.\n'], ... + 'LM','SM','LR','SR','LI','SI')]; + error(whchstr) + end +end + +% Now have enough information to do early return on cases eigs does not handle +if useeig + if (nargout <= 1) + varargout{1} = eigs2(A,n,B,k,whch,sigma,cholB, ... + varargin{7-Amatrix-Bnotthere:end}); + else + [varargout{1},varargout{2}] = eigs2(A,n,B,k,whch,sigma,cholB, ... + varargin{7-Amatrix-Bnotthere:end}); + end + if (nargout == 3) + varargout{3} = 0; % flag indicates "convergence" + end + return +end + +if isrealprob & ~issymA + sigmar = real(sigma); + sigmai = imag(sigma); +end + +if isrealprob & issymA + if (p <= k) + error(['For real symmetric problems, must have number of' ... + ' basis vectors opts.p > k.']) + end +else + if (p <= k+1) + error(['For nonsymmetric and complex problems, must have number of' ... + ' basis vectors opts.p > k+1.']) + end +end + +if isequal(whch,'LM') & ~isequal(eigs_sigma,'LM') + % A*x = lambda*M*x, M symmetric (positive) semi-definite + % => OP = inv(A - sigma*M)*M and B = M + % => shift-and-invert mode + mode = 3; +elseif isempty(B) + % A*x = lambda*x + % => OP = A and B = I + mode = 1; +else % B is not empty + % Do not use mode=2. + % Use mode = 1 with OP = R'\(A*(R\x)) and B = I + % where R is B's upper triangular Cholesky factor: B = R'*R. + % Finally, V = R\V returns the actual generalized eigenvectors of A and B. + mode = 1; +end + +if cholB + pB = 0; + RB = B; + RBT = B'; +end + +if (mode == 3) & Amatrix % need lu(A-sigma*B) + if issparse(A) & (isempty(B) | issparse(B)) + if isempty(B) + AsB = A - sigma * speye(n); + else + if cholB + AsB = A - sigma * RBT * RB; + else + AsB = A - sigma * B; + end + end + [L,U,P,Q] = lu(AsB); + [perm,dummy] = find(Q); + else + if isempty(B) + AsB = A - sigma * eye(n); + else + if cholB + AsB = A - sigma * RBT * RB; + else + AsB = A - sigma * B; + end + end + [L,U,P] = lu(AsB); + end + dU = diag(U); + rcondestU = full(min(abs(dU)) / max(abs(dU))); + if (rcondestU < eps) + if isempty(B) + ds = sprintf(['(A-sigma*I) has small reciprocal condition' ... + ' estimate: %f\n'],rcondestU); + else + ds = sprintf(['(A-sigma*B) has small reciprocal condition' ... + ' estimate: %f\n'],rcondestU); + end + ds = [ds sprintf(['indicating that sigma is near an exact' ... + ' eigenvalue. The\nalgorithm may not converge unless' ... + ' you try a new value for sigma.\n'])]; + warning('MATLAB:eigs:SigmaNearExactEig',ds) + end +end + +if (mode == 1) & ~isempty(B) & ~cholB % need chol(B) + if issparse(B) + permB = symamd(B); + [RB,pB] = chol(B(permB,permB)); + else + [RB,pB] = chol(B); + end + if (pB == 0) + RBT = RB'; + else + error(Bstr) + end +end + +% Allocate outputs and ARPACK work variables +if isrealprob + if issymA % real and symmetric + prefix = 'ds'; + v = zeros(n,p); + ldv = int32(size(v,1)); + ipntr = int32(zeros(15,1)); + workd = zeros(n,3); + lworkl = p*(p+8); + workl = zeros(lworkl,1); + lworkl = int32(lworkl); + d = zeros(k,1); + else % real but not symmetric + prefix = 'dn'; + v = zeros(n,p); + ldv = int32(size(v,1)); + ipntr = int32(zeros(15,1)); + workd = zeros(n,3); + lworkl = 3*p*(p+2); + workl = zeros(lworkl,1); + lworkl = int32(lworkl); + workev = zeros(3*p,1); + d = zeros(k+1,1); + di = zeros(k+1,1); + end +else % complex + prefix = 'zn'; + zv = zeros(2*n*p,1); + ldv = int32(n); + ipntr = int32(zeros(15,1)); + workd = complex(zeros(n,3)); + zworkd = zeros(2*prod(size(workd)),1); + lworkl = 3*p^2+5*p; + workl = zeros(2*lworkl,1); + lworkl = int32(lworkl); + workev = zeros(2*2*p,1); + zd = zeros(2*(k+1),1); + rwork = zeros(p,1); +end + +ido = int32(0); % reverse communication parameter +if isempty(B) | (~isempty(B) & (mode == 1)) + bmat = 'I'; % standard eigenvalue problem +else + bmat = 'G'; % generalized eigenvalue problem +end +nev = int32(k); % number of eigenvalues requested +ncv = int32(p); % number of Lanczos vectors +iparam = int32(zeros(11,1)); +iparam([1 3 7]) = int32([1 maxit mode]); +select = int32(zeros(p,1)); + +cputms(1) = cputime - t0; % end timing pre-processing + +iter = 0; +ariter = 0; + + +%tim + + +indexArgumentsAfun = 7-Amatrix-Bnotthere:length(varargin); +nbArgumentsAfun = length(indexArgumentsAfun); +if nbArgumentsAfun >=1 + arguments_Afun = varargin{7-Amatrix-Bnotthere}; +end +if nbArgumentsAfun >=2 + arguments_Afun2 = varargin{7-Amatrix-Bnotthere+1}; +end +if nbArgumentsAfun >=3 + arguments_Afun3 = varargin{7-Amatrix-Bnotthere+2}; +end +%fin tim + + + +while (ido ~= 99) + + t0 = cputime; % start timing ARPACK calls **aupd + + if isrealprob + arpackc( [prefix 'aupd'], ido, ... + bmat, int32(n), whch, nev, tol, resid, ncv, ... + v, ldv, iparam, ipntr, workd, workl, lworkl, info); + else + zworkd(1:2:end-1) = real(workd); + zworkd(2:2:end) = imag(workd); + arpackc( 'znaupd', ido, ... + bmat, int32(n), whch, nev, tol, resid, ncv, zv, ... + ldv, iparam, ipntr, zworkd, workl, lworkl, ... + rwork, info ); + workd = reshape(complex(zworkd(1:2:end-1),zworkd(2:2:end)),[n,3]); + end + + if (info < 0) + es = sprintf('Error with ARPACK routine %saupd: info = %d',... + prefix,full(info)); + error(es) + end + + cputms(2) = cputms(2) + (cputime-t0); % end timing ARPACK calls **aupd + t0 = cputime; % start timing MATLAB OP(X) + + % Compute which columns of workd ipntr references + + + + + + %[row,col1] = ind2sub([n,3],double(ipntr(1))); + %tim + row = mod(double(ipntr(1))-1,n) + 1 ; + col1 = floor((double(ipntr(1))-1)/n) + 1; + + + if (row ~= 1) + str = sprintf(['ipntr(1)=%d does not refer to the start of a' ... + ' column of the %d-by-3 array workd.'],full(ipntr(1)),n); + error(str) + end + + + + %[row,col2] = ind2sub([n,3],double(ipntr(2))); + %tim + row = mod(double(ipntr(2))-1,n) + 1 ; + col2 = floor((double(ipntr(2))-1)/n) + 1; + + + + if (row ~= 1) + str = sprintf(['ipntr(2)=%d does not refer to the start of a' ... + ' column of the %d-by-3 array workd.'],full(ipntr(2)),n); + error(str) + end + if ~isempty(B) & (mode == 3) & (ido == 1) + [row,col3] = ind2sub([n,3],double(ipntr(3))); + if (row ~= 1) + str = sprintf(['ipntr(3)=%d does not refer to the start of a' ... + ' column of the %d-by-3 array workd.'],full(ipntr(3)),n); + error(str) + end + end + + switch (ido) + case {-1,1} + if Amatrix + if (mode == 1) + if isempty(B) + % OP = A*x + workd(:,col2) = A * workd(:,col1); + else + % OP = R'\(A*(R\x)) + if issparse(B) + workd(permB,col2) = RB \ workd(:,col1); + workd(:,col2) = A * workd(:,col2); + workd(:,col2) = RBT \ workd(permB,col2); + else + workd(:,col2) = RBT \ (A * (RB \ workd(:,col1))); + end + end + elseif (mode == 3) + if isempty(B) + if issparse(A) + workd(perm,col2) = U \ (L \ (P * workd(:,col1))); + else + workd(:,col2) = U \ (L \ (P * workd(:,col1))); + end + else % B is not empty + if (ido == -1) + if cholB + workd(:,col2) = RBT * (RB * workd(:,col1)); + else + workd(:,col2) = B * workd(:,col1); + end + if issparse(A) & issparse(B) + workd(perm,col2) = U \ (L \ (P * workd(:,col1))); + else + workd(:,col2) = U \ (L \ (P * workd(:,col1))); + end + elseif (ido == 1) + if issparse(A) & issparse(B) + workd(perm,col2) = U \ (L \ (P * workd(:,col3))); + else + workd(:,col2) = U \ (L \ (P * workd(:,col3))); + end + end + end + else % mode is not 1 or 3 + error(['Unknown mode returned from ' prefix 'aupd.']) + end + else % A is not a matrix + if (mode == 1) + if isempty(B) + % OP = A*x + %workd(:,col2) = feval(A,workd(:,col1),varargin{7-Amatrix-Bnotthere:end}); + + + + + + nombre_A_times_X = nombre_A_times_X + 1; + + + + pause(0); %voir + + if nbArgumentsAfun == 1 + workd(:,col2) = feval(A,workd(:,col1),arguments_Afun); + %workd(:,col2) = max(workd(:,col2),0); + elseif nbArgumentsAfun == 2 + workd(:,col2) = feval(A,workd(:,col1),arguments_Afun,arguments_Afun2); + elseif nbArgumentsAfun == 3 + workd(:,col2) = feval(A,workd(:,col1),arguments_Afun,arguments_Afun2,arguments_Afun3); + else + workd(:,col2) = feval(A,workd(:,col1),varargin{indexArgumentsAfun}); + end + %workd(:,col2) = tim_w_times_x_c(workd(:,col1),arguments_Afun); %slower + + else + % OP = R'\(A*(R\x)) + if issparse(B) + workd(permB,col2) = RB \ workd(:,col1); + workd(:,col2) = feval(A,workd(:,col2),arguments_Afun); + workd(:,col2) = RBT \ workd(permB,col2); + + else + workd(:,col2) = RBT \ feval(A,(RB\workd(:,col1)),arguments_Afun); + end + end + elseif (mode == 3) + if isempty(B) + workd(:,col2) = feval(A,workd(:,col1), arguments_Afun); + else + if (ido == -1) + if cholB + workd(:,col2) = RBT * (RB * workd(:,col1)); + else + workd(:,col2) = B * workd(:,col1); + end + workd(:,col2) = feval(A,workd(:,col2), arguments_Afun); + elseif (ido == 1) + workd(:,col2) = feval(A,workd(:,col3), arguments_Afun); + end + end + else % mode is not 1 or 3 + error(['Unknown mode returned from ' prefix 'aupd.']) + end + end % if Amatrix + case 2 + if (mode == 3) + if cholB + workd(:,col2) = RBT * (RB * workd(:,col1)); + else + workd(:,col2) = B * workd(:,col1); + end + else + error(['Unknown mode returned from ' prefix 'aupd.']) + end + case 3 + % setting iparam(1) = ishift = 1 ensures this never happens + warning('MATLAB:eigs:WorklShiftsUnsupported', ... + ['EIGS does not yet support computing the shifts in workl.' ... + ' Setting reverse communication parameter to 99 and returning.']) + ido = int32(99); + case 99 + otherwise + error(['Unknown value of reverse communication parameter' ... + ' returned from ' prefix 'aupd.']) + end + + cputms(3) = cputms(3) + (cputime-t0); % end timing MATLAB OP(X) + + %tim + if nombreIterations ~= double(ipntr(15)) + nombreIterations = double(ipntr(15)); + end + + if display >= 1 && display <=2 + iter = double(ipntr(15)); + if (iter > ariter) & (ido ~= 99) + ariter = iter; + ds = sprintf(['Iteration %d: a few Ritz values of the' ... + ' %d-by-%d matrix:'],iter,p,p); + disp(ds) + if isrealprob + if issymA + dispvec = [workl(double(ipntr(6))+(0:p-1))]; + if isequal(whch,'BE') + % roughly k Large eigenvalues and k Small eigenvalues + disp(dispvec(max(end-2*k+1,1):end)) + else + % k eigenvalues + disp(dispvec(max(end-k+1,1):end)) + end + else + dispvec = [complex(workl(double(ipntr(6))+(0:p-1)), ... + workl(double(ipntr(7))+(0:p-1)))]; + % k+1 eigenvalues (keep complex conjugate pairs together) + disp(dispvec(max(end-k,1):end)) + end + else + dispvec = [complex(workl(2*double(ipntr(6))-1+(0:2:2*(p-1))), ... + workl(2*double(ipntr(6))+(0:2:2*(p-1))))]; + disp(dispvec(max(end-k+1,1):end)) + end + end + end + +end % while (ido ~= 99) + +t0 = cputime; % start timing post-processing + +flag = 0; +if (info < 0) + es = sprintf('Error with ARPACK routine %saupd: info = %d',prefix,full(info)); + error(es) +else + if (nargout >= 2) + rvec = int32(1); % compute eigenvectors + else + rvec = int32(0); % do not compute eigenvectors + end + + if isrealprob + if issymA + arpackc( 'dseupd', rvec, 'A', select, ... + d, v, ldv, sigma, ... + bmat, int32(n), whch, nev, tol, resid, ncv, ... + v, ldv, iparam, ipntr, workd, workl, lworkl, info ); + if isequal(whch,'LM') | isequal(whch,'LA') + d = flipud(d); + if (rvec == 1) + v(:,1:k) = v(:,k:-1:1); + end + end + if ((isequal(whch,'SM') | isequal(whch,'SA')) & (rvec == 0)) + d = flipud(d); + end + else + arpackc( 'dneupd', rvec, 'A', select, ... + d, di, v, ldv, sigmar, sigmai, workev, ... + bmat, int32(n), whch, nev, tol, resid, ncv, ... + v, ldv, iparam, ipntr, workd, workl, lworkl, info ); + d = complex(d,di); + if rvec + d(k+1) = []; + else + zind = find(d == 0); + if isempty(zind) + d = d(k+1:-1:2); + else + d(max(zind)) = []; + d = flipud(d); + end + end + end + else + zsigma = [real(sigma); imag(sigma)]; + arpackc( 'zneupd', rvec, 'A', select, ... + zd, zv, ldv, zsigma, workev, ... + bmat, int32(n), whch, nev, tol, resid, ncv, zv, ... + ldv, iparam, ipntr, zworkd, workl, lworkl, ... + rwork, info ); + if issymA + d = zd(1:2:end-1); + else + d = complex(zd(1:2:end-1),zd(2:2:end)); + end + v = reshape(complex(zv(1:2:end-1),zv(2:2:end)),[n p]); + end + + if (info ~= 0) + es = ['Error with ARPACK routine ' prefix 'eupd: ']; + switch double(info) + case 2 + ss = sum(select); + if (ss < k) + es = [es ... + ' The logical variable select was only set with ' int2str(ss) ... + ' 1''s instead of nconv=' int2str(double(iparam(5))) ... + ' (k=' int2str(k) ').' ... + ' Please contact the ARPACK authors at arpack@caam.rice.edu.']; + else + es = [es ... + 'The LAPACK reordering routine ' prefix(1) ... + 'trsen did not return all ' int2str(k) ' eigenvalues.'] + end + case 1 + es = [es ... + 'The Schur form could not be reordered by the LAPACK routine ' ... + prefix(1) 'trsen.' ... + ' Please contact the ARPACK authors at arpack@caam.rice.edu.']; + case -14 + es = [es prefix ... + 'aupd did not find any eigenvalues to sufficient accuracy.']; + otherwise + es = [es sprintf('info = %d',full(info))]; + end + error(es) + else + nconv = double(iparam(5)); + if (nconv == 0) + if (nargout < 3) + warning('MATLAB:eigs:NoEigsConverged', ... + 'None of the %d requested eigenvalues converged.',k) + else + flag = 1; + end + elseif (nconv < k) + if (nargout < 3) + warning('MATLAB:eigs:NotAllEigsConverged', ... + 'Only %d of the %d requested eigenvalues converged.',nconv,k) + else + flag = 1; + end + end + end % if (info ~= 0) +end % if (info < 0) + +if (issymA) | (~isrealprob) + if (nargout <= 1) + if isrealprob + varargout{1} = d; + else + varargout{1} = d(k:-1:1,1); + end + else + varargout{1} = v(:,1:k); + varargout{2} = diag(d(1:k,1)); + if (nargout >= 3) + varargout{3} = flag; + end + end +else + if (nargout <= 1) + varargout{1} = d; + else + cplxd = find(di ~= 0); + % complex conjugate pairs of eigenvalues occur together + cplxd = cplxd(1:2:end); + v(:,[cplxd cplxd+1]) = [complex(v(:,cplxd),v(:,cplxd+1)) ... + complex(v(:,cplxd),-v(:,cplxd+1))]; + varargout{1} = v(:,1:k); + varargout{2} = diag(d); + if (nargout >= 3) + varargout{3} = flag; + end + end +end + +if (nargout >= 2) & (mode == 1) & ~isempty(B) + if issparse(B) + varargout{1}(permB,:) = RB \ varargout{1}; + else + varargout{1} = RB \ varargout{1}; + end +end + +cputms(4) = cputime-t0; % end timing post-processing + +cputms(5) = sum(cputms(1:4)); % total time + +if (display >= 2) %tim + if (mode == 1) + innerstr = sprintf(['Compute A*X:' ... + ' %f\n'],cputms(3)); + elseif (mode == 2) + innerstr = sprintf(['Compute A*X and solve B*X=Y for X:' ... + ' %f\n'],cputms(3)); + elseif (mode == 3) + if isempty(B) + innerstr = sprintf(['Solve (A-SIGMA*I)*X=Y for X:' ... + ' %f\n'],cputms(3)); + else + innerstr = sprintf(['Solve (A-SIGMA*B)*X=B*Y for X:' ... + ' %f\n'],cputms(3)); + end + end + if ((mode == 3) & (Amatrix)) + if isempty(B) + prepstr = sprintf(['Pre-processing, including lu(A-sigma*I):' ... + ' %f\n'],cputms(1)); + else + prepstr = sprintf(['Pre-processing, including lu(A-sigma*B):' ... + ' %f\n'],cputms(1)); + end + elseif ((mode == 2) & (~cholB)) + prepstr = sprintf(['Pre-processing, including chol(B):' ... + ' %f\n'],cputms(1)); + else + prepstr = sprintf(['Pre-processing:' ... + ' %f\n'],cputms(1)); + end + sstr = sprintf(['***********CPU Timing Results in seconds***********']); + ds = sprintf(['\n' sstr '\n' ... + prepstr ... + 'ARPACK''s %saupd: %f\n' ... + innerstr ... + 'Post-processing with ARPACK''s %seupd: %f\n' ... + '***************************************************\n' ... + 'Total: %f\n' ... + sstr '\n'], ... + prefix,cputms(2),prefix,cputms(4),cputms(5)); + disp(ds) + if nombre_A_times_X > 0 %tim + disp(sprintf('Number of iterations : %f\n',nombreIterations)); + disp(sprintf('Number of times A*X was computed : %f\n',nombre_A_times_X)); + disp(sprintf('Average time for A*X : %f\n',cputms(3)/nombre_A_times_X)); + end +end diff --git a/SD-VBS/common/toolbox/ikkjin/getANMS.m b/SD-VBS/common/toolbox/ikkjin/getANMS.m new file mode 100755 index 0000000..a40d50c --- /dev/null +++ b/SD-VBS/common/toolbox/ikkjin/getANMS.m @@ -0,0 +1,30 @@ +function [interestPnts]=getANMS(x, y, v, r, dataDir) +MAX_LIMIT=100000; +C_ROBUST=1; +r_sq=r^2; +points=[x y v]; +[n temp]=size(v); +[srtdV srtdVIdx]=sort(v,'descend'); +srtdPnts=points(srtdVIdx,:); + +interestPnts=zeros(0,3); + +suppressR=ones(n,1)*MAX_LIMIT; +supId=find(suppressR>r_sq); + +iter = 0; +while length(supId)>0 + + interestPnts=[interestPnts; srtdPnts(supId(1),:)]; + srtdPnts=srtdPnts(supId(2:end),:); + suppressR=suppressR(supId(2:end),:); + + suppressR=min(suppressR,... + (C_ROBUST*interestPnts(end,3)>=srtdPnts(:,3)).*... + ((srtdPnts(:,1)-interestPnts(end,1)).^2 + (srtdPnts(:,2)-interestPnts(end,2)).^2)... + +(C_ROBUST*interestPnts(end,3)r_sq); +end diff --git a/SD-VBS/common/toolbox/ikkjin/getImgGrad.m b/SD-VBS/common/toolbox/ikkjin/getImgGrad.m new file mode 100755 index 0000000..90fae28 --- /dev/null +++ b/SD-VBS/common/toolbox/ikkjin/getImgGrad.m @@ -0,0 +1,7 @@ +function Ig=getImgGrad(imgroi) +im = double(rgb2gray(imgroi)); +g1 = fspecial('gaussian', 9,1); % Gaussian with sigma_d +img1 = conv2(im,g1,'same'); % blur image with sigma_d +Ix = conv2(img1,[-1 0 1],'same'); % take x derivative +Iy = conv2(img1,[-1;0;1],'same'); % take y derivative +Ig=Ix.^2+Iy.^2; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/ikkjin/harris.m b/SD-VBS/common/toolbox/ikkjin/harris.m new file mode 100755 index 0000000..92a6543 --- /dev/null +++ b/SD-VBS/common/toolbox/ikkjin/harris.m @@ -0,0 +1,43 @@ + +% Sample code for detecting Harris corners, following +% Brown et al, CVPR 2005 +% by Alyosha Efros, so probably buggy... +% slightly modified by ikkjin + +function [x,y,v] = harris(imrgb); +[nr nc nb]=size(imrgb); +if nb==3 + im=rgb2gray(imrgb); +else + im=imrgb; +end + +im = im2double(im); +g1 = fspecial('gaussian', 9,1); % Gaussian with sigma_d +g2 = fspecial('gaussian', 11,1.5); % Gaussian with sigma_i +img1 = conv2(im,g1,'same'); % blur image with sigma_d +Ix = conv2(img1,[-1 0 1],'same'); % take x derivative +Iy = conv2(img1,[-1;0;1],'same'); % take y derivative + +% Compute elements of the Harris matrix H +%%% we can use blur instead of the summing window +Ix2 = conv2(Ix.*Ix,g2,'same'); +Iy2 = conv2(Iy.*Iy,g2,'same'); +IxIy = conv2(Ix.*Iy,g2,'same'); +R = (Ix2.*Iy2 - IxIy.*IxIy) ... % det(H) + ./ (Ix2 + Iy2 + eps); % trace(H) + epsilon + +% don't want corners close to image border +R([1:15, end-16:end], :) = 0; +R(:,[1:15,end-16:end]) = 0; + +% non-maxima supression within 3x3 windows +nonmax = inline('max(x)'); +Rmax = colfilt(R,[3 3],'sliding',nonmax); % find neighbrhood max +Rnm = R.*(R == Rmax); % supress non-max + +% extract all interest points +[y,x,v] = find(Rnm); + + + diff --git a/SD-VBS/common/toolbox/lagrcv/Makefile b/SD-VBS/common/toolbox/lagrcv/Makefile new file mode 100755 index 0000000..af7e8f5 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/Makefile @@ -0,0 +1,21 @@ +rm liblagrcv.a +gcc -c -fPIC lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a + +mex -O calcSubsampleAvgMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcSobelMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcImgBlurMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcOptFlowLKMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcResizedImgMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcTextureMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcGradientPyrMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcSobelPyrMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcTexturePyrMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcOptFlowLKPyrMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcOptFlowLKPyrMex2.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcOptFlowLKPyrWInitMex2.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcOptFlowLKPyrWInitMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O calcOptFlowLKPyrWInitSobelMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ +mex -O dummyMex.cc -L/u/ikkjin/Matlab/Toolbox/lagrcv -llagrcv -I/u/ikkjin/Matlab/Toolbox/lagrcv/ + diff --git a/SD-VBS/common/toolbox/lagrcv/README.sxw b/SD-VBS/common/toolbox/lagrcv/README.sxw new file mode 100755 index 0000000..9f20d14 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/README.sxw differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcGradientPyrMex.cc b/SD-VBS/common/toolbox/lagrcv/calcGradientPyrMex.cc new file mode 100755 index 0000000..d94130b --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcGradientPyrMex.cc @@ -0,0 +1,45 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [dxPye dyPyr] = + // calcGradientPyrMex(imagePyr) + + const int *cellDims = mxGetDimensions(prhs[0]); + double *image; + const mxArray* imgArray; + mxArray *dxArray, *dyArray; + double *dx, *dy; + const int *imdims; + + plhs[0] = mxCreateCellArray(1, cellDims); + plhs[1] = mxCreateCellArray(1, cellDims); + + for(int i=0; i +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [IBlur] = + // calcImgBlurMex(image) + + double *image, *retImg; + const int *imdims; + + image=(double*)mxGetPr(prhs[0]); + imdims = mxGetDimensions(prhs[0]); + + plhs[0] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + retImg=(double*)mxGetPr(plhs[0]); + + calcImgBlur(image, imdims[0], imdims[1], retImg); +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexa64 b/SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexa64 new file mode 100755 index 0000000..8f4bfea Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexa64 differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexglx b/SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexglx new file mode 100755 index 0000000..ade786d Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcImgBlurMex.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKMex.cc b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKMex.cc new file mode 100755 index 0000000..e22af8b --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKMex.cc @@ -0,0 +1,85 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +#ifndef MAX_LEVEL +# define MAX_LEVEL 5 +#endif +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [newFeaturePnt validFlag ] = + // calcOptFlowLKMex(I, Idx, Idy, J, c_xx, c_xy, c_yy, featurePnt, initialPnt, winSize, accuracy_th, max_iter) + // featurePnt 2xn int + // winSize c_level int + // c_xx c_xy c_yy: image size double* + // image must be double + + + const int* imdims; + const int *nFeatures; + double *imgI, *iDx, *iDy, *imgJ, *c_xx, *c_xy, *c_yy; + double *fPnt, *initPnt, *newFPnt; + char* valid; + double accuracy_th; + int winSize, max_iter; + + if (nrhs > 10) { + accuracy_th=(double)mxGetScalar(prhs[10]); + max_iter=(int)mxGetScalar(prhs[11]); + } + + winSize = (int)mxGetScalar(prhs[9]); + initPnt=(double*)mxGetPr(prhs[8]); + fPnt=(double*)mxGetPr(prhs[7]); + c_xx=(double*)mxGetPr(prhs[6]); + c_xy=(double*)mxGetPr(prhs[5]); + c_yy=(double*)mxGetPr(prhs[4]); + imgJ=(double*)mxGetPr(prhs[3]); + iDy=(double*)mxGetPr(prhs[2]); + iDx=(double*)mxGetPr(prhs[1]); + imgI=(double*)mxGetPr(prhs[0]); + nFeatures=mxGetDimensions(prhs[7]); + imdims=mxGetDimensions(prhs[0]); + + plhs[0] = mxCreateNumericMatrix(nFeatures[0], nFeatures[1], mxDOUBLE_CLASS, mxREAL); + plhs[1] = mxCreateNumericMatrix(1, nFeatures[1], mxUINT8_CLASS, mxREAL); + + newFPnt = (double*)mxGetPr(plhs[0]); + valid = (char*)mxGetPr(plhs[1]); + + //idx convert from matlab to c + for(int i=0; i10){ + calcLKTrack( imgI, iDx, iDy, imgJ, imdims, + c_xx, c_xy, c_yy, + fPnt, initPnt, nFeatures[1], winSize, + newFPnt, valid, accuracy_th, max_iter); + }else{ + calcLKTrack( imgI, iDx, iDy, imgJ, imdims, + c_xx, c_xy, c_yy, + fPnt, initPnt, nFeatures[1], winSize, + newFPnt, valid); + } + //idx convert from matlab to c + for(int i=0; i +#include + +#ifndef MAX_LEVEL +# define MAX_LEVEL 5 +#endif +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [newFeaturePnt validFlag ] = + // calcOptFlowPyrLKMex(Ipyr, IdxPyr, IdyPyr, Jpyr, featurePnt, winSize, accuracy_th, max_iter) + // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell. + // featurePnt 2xn int + // winSize c_level int + // c_xx c_xy c_yy: image size double* + // image must be double + + + const mxArray* imgArray; + int* imdims; + const int *curImgDims; + const int *nFeatures; + //double **iP, **iDxP, **iDyP, **jP; + double *iP[MAX_LEVEL], *iDxP[MAX_LEVEL], *iDyP[MAX_LEVEL], *jP[MAX_LEVEL]; + double *fPnt, *newFPnt; + char* valid; + double accuracy_th; + int winSize, max_iter; + const int *cellDims = mxGetDimensions(prhs[0]); + + if (nrhs > 6) { + accuracy_th=(double)mxGetScalar(prhs[6]); + max_iter=(int)mxGetScalar(prhs[7]); + } + + winSize = (int)mxGetScalar(prhs[5]); + fPnt=(double*)mxGetPr(prhs[4]); + nFeatures=mxGetDimensions(prhs[4]); + + imdims=(int*)malloc(sizeof(int)*cellDims[0]*2); + //iP=(double**)malloc(sizeof(double*)*cellDims[0]); + //iDxP=(double**)malloc(sizeof(double*)*cellDims[0]); + //iDyP=(double**)malloc(sizeof(double*)*cellDims[0]); + //jP=(double**)malloc(sizeof(double*)*cellDims[0]); + + for(int i=0; i6){ + calcPyrLKTrack( iP, iDxP, iDyP, jP, imdims, cellDims[0], fPnt, nFeatures[1], winSize, + newFPnt, valid, accuracy_th, max_iter); + }else{ + calcPyrLKTrack( iP, iDxP, iDyP, jP, imdims, cellDims[0], fPnt, nFeatures[1], winSize, + newFPnt, valid); + } + //idx convert from matlab to c + for(int i=0; i +#include + +#ifndef MAX_LEVEL +# define MAX_LEVEL 5 +#endif +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [newFeaturePnt validFlag ] = + // calcOptFlowPyrLKMex(Ipyr, IdxPyr, IdyPyr, Jpyr, featurePnt, winSize, accuracy_th, max_iter) + // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell. + // featurePnt 2xn int + // winSize c_level int + // c_xx c_xy c_yy: image size double* + // image must be double + + + const mxArray* imgArray; + int* imdims; + const int *curImgDims; + const int *nFeatures; + //double **iP, **iDxP, **iDyP, **jP; + double *iP[MAX_LEVEL], *iDxP[MAX_LEVEL], *iDyP[MAX_LEVEL], *jP[MAX_LEVEL]; + double *fPnt, *newFPnt; + char* valid; + double accuracy_th; + int winSize, max_iter; + const int *cellDims = mxGetDimensions(prhs[0]); + + if (nrhs > 6) { + accuracy_th=(double)mxGetScalar(prhs[6]); + max_iter=(int)mxGetScalar(prhs[7]); + } + + winSize = (int)mxGetScalar(prhs[5]); + fPnt=(double*)mxGetPr(prhs[4]); + nFeatures=mxGetDimensions(prhs[4]); + + imdims=(int*)malloc(sizeof(int)*cellDims[0]*2); + //iP=(double**)malloc(sizeof(double*)*cellDims[0]); + //iDxP=(double**)malloc(sizeof(double*)*cellDims[0]); + //iDyP=(double**)malloc(sizeof(double*)*cellDims[0]); + //jP=(double**)malloc(sizeof(double*)*cellDims[0]); + + for(int i=0; i6){ + calcPyrLKTrack( iP, iDxP, iDyP, jP, imdims, cellDims[0], fPnt, nFeatures[1], winSize, + newFPnt, valid, accuracy_th, max_iter); + }else{ + calcPyrLKTrack( iP, iDxP, iDyP, jP, imdims, cellDims[0], fPnt, nFeatures[1], winSize, + newFPnt, valid); + } + //idx convert from matlab to c + for(int i=0; i +#include + +#ifndef MAX_LEVEL +# define MAX_LEVEL 5 +#endif +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [newFeaturePnt validFlag ] = + // calcOptFlowLKPyrWInitMex2(Ipyr, IdxPyr, IdyPyr, Jpyr, featurePnt, winSize, accuracy_th, max_iter, initFPnt) + // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell. + // featurePnt 2xn int + // winSize c_level int + // c_xx c_xy c_yy: image size double* + // image must be double + + + const mxArray* imgArray; + int* imdims; + const int *curImgDims; + const int *nFeatures; + double *iP[MAX_LEVEL], *iDxP[MAX_LEVEL], *iDyP[MAX_LEVEL], *jP[MAX_LEVEL]; + double *fPnt, *newFPnt, *initFPnt; + char* valid; + double accuracy_th; + int winSize, max_iter; + const int *cellDims = mxGetDimensions(prhs[0]); + + accuracy_th=(double)mxGetScalar(prhs[6]); + max_iter=(int)mxGetScalar(prhs[7]); + initFPnt=(double*)mxGetPr(prhs[8]); + + winSize = (int)mxGetScalar(prhs[5]); + fPnt=(double*)mxGetPr(prhs[4]); + nFeatures=mxGetDimensions(prhs[4]); + + imdims=(int*)malloc(sizeof(int)*cellDims[0]*2); + + for(int i=0; i +#include + +#ifndef MAX_LEVEL +# define MAX_LEVEL 5 +#endif +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [newFeaturePnt validFlag ] = + // calcOptFlowLKPyrWInitMex2(Ipyr, IdxPyr, IdyPyr, Jpyr, featurePnt, winSize, accuracy_th, max_iter, initFPnt) + // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell. + // featurePnt 2xn int + // winSize c_level int + // c_xx c_xy c_yy: image size double* + // image must be double + + + const mxArray* imgArray; + int* imdims; + const int *curImgDims; + const int *nFeatures; + double *iP[MAX_LEVEL], *iDxP[MAX_LEVEL], *iDyP[MAX_LEVEL], *jP[MAX_LEVEL]; + double *fPnt, *newFPnt, *initFPnt; + char* valid; + double accuracy_th; + int winSize, max_iter; + const int *cellDims = mxGetDimensions(prhs[0]); + + accuracy_th=(double)mxGetScalar(prhs[6]); + max_iter=(int)mxGetScalar(prhs[7]); + initFPnt=(double*)mxGetPr(prhs[8]); + + winSize = (int)mxGetScalar(prhs[5]); + fPnt=(double*)mxGetPr(prhs[4]); + nFeatures=mxGetDimensions(prhs[4]); + + imdims=(int*)malloc(sizeof(int)*cellDims[0]*2); + + for(int i=0; i +#include + +#ifndef MAX_LEVEL +# define MAX_LEVEL 5 +#endif +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [newFeaturePnt validFlag ] = + // calcOptFlowLKPyrWInitMex2(Ipyr, Jpyr, featurePnt, winSize, accuracy_th, max_iter, initFPnt) + // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell. + // featurePnt 2xn int + // winSize c_level int + // c_xx c_xy c_yy: image size double* + // image must be double + + + const mxArray* imgArray; + int* imdims; + const int *curImgDims; + const int *nFeatures; + double *iP[MAX_LEVEL], *jP[MAX_LEVEL]; + double *fPnt, *newFPnt, *initFPnt; + char* valid; + double accuracy_th; + int winSize, max_iter; + const int *cellDims = mxGetDimensions(prhs[0]); + + accuracy_th=(double)mxGetScalar(prhs[4]); + max_iter=(int)mxGetScalar(prhs[5]); + initFPnt=(double*)mxGetPr(prhs[6]); + + winSize = (int)mxGetScalar(prhs[3]); + fPnt=(double*)mxGetPr(prhs[2]); + nFeatures=mxGetDimensions(prhs[2]); + + imdims=(int*)malloc(sizeof(int)*cellDims[0]*2); + + for(int i=0; i +#include + +#define WIN_SIZE 10 +#define PYR_LEVELS 3 + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ newpoints status pyr1 ] = + // calcOpticalFlowPyrLK(im1,im2,oldpoints,pyr1) + // images must be single-channel, 8-bit + // DO NOT PASS SAME IMAGE IN TWICE! + + char *im1_ptr = (char*)mxGetPr(prhs[0]); + char *im2_ptr = (char*)mxGetPr(prhs[1]); + const int *imdims = mxGetDimensions(prhs[0]); + int flags = 0; + int max_iter; + + if(nrhs>3){ + max_iter=(int)mxGetScalar(prhs[3]); + }else{ + max_iter=20; + } + + /* images */ + IplImage *im1 = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + IplImage *im2 = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + im1->imageData = im1_ptr; + im2->imageData = im2_ptr; + + /* coordinate arrays */ + CvPoint2D32f *oldpoints = (CvPoint2D32f*)mxGetPr(prhs[2]); + const int *pointsdim = mxGetDimensions(prhs[2]); + int npoints = pointsdim[1]; + plhs[0] = mxCreateNumericMatrix(2, npoints, mxSINGLE_CLASS, mxREAL); + CvPoint2D32f *newpoints = (CvPoint2D32f*)mxGetPr(plhs[0]); + + /* status array */ + plhs[1] = mxCreateNumericMatrix(1, npoints, mxUINT8_CLASS, mxREAL); + char *status = (char*)mxGetPr(plhs[1]); + + cvCalcOpticalFlowLK(im1, im2, + cvSize(WIN_SIZE, WIN_SIZE), velx, vely + status, + NULL, + cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,max_iter,0.03), + flags + ); +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.cc b/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.cc new file mode 100755 index 0000000..d4be5ff --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.cc @@ -0,0 +1,77 @@ + +/* compile with + mex calcOpticalFlowPyrLK.cc -I/usr/local/opencv/include -L/usr/local/opencv/lib -lcxcore -lcv +*/ + +#include "mex.h" +#include "opencv/cv.h" +#include "opencv/highgui.h" +#include +#include + +#define WIN_SIZE 8 +#define PYR_LEVELS 3 + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ newpoints status pyr1 ] = + // calcOpticalFlowPyrLK(im1,im2,oldpoints,pyr1) + // images must be single-channel, 8-bit + // DO NOT PASS SAME IMAGE IN TWICE! + + char *im1_ptr = (char*)mxGetPr(prhs[0]); + char *im2_ptr = (char*)mxGetPr(prhs[1]); + const int *imdims = mxGetDimensions(prhs[0]); + IplImage *pyr1 = 0, *pyr2 = 0; + int flags = 0; + bool clearPyr1 = false; + int max_iter; + + max_iter=30; + + /* images */ + IplImage *im1 = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + IplImage *im2 = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + im1->imageData = im1_ptr; + im2->imageData = im2_ptr; + + /* allocate pyramids */ + pyr1 = cvCreateImageHeader(cvSize(imdims[0],imdims[1]), IPL_DEPTH_8U, 1); + pyr2 = cvCreateImageHeader(cvSize(imdims[0],imdims[1]), IPL_DEPTH_8U, 1); + // reuse pyramid if given + if (nrhs > 3) { + pyr1->imageData = (char*)mxGetPr(prhs[3]); + flags |= CV_LKFLOW_PYR_A_READY; + } else { + clearPyr1 = true; + cvCreateData(pyr1); + } + + // pyr2 will be reused, so allocate in return value + plhs[2] = mxCreateNumericMatrix(imdims[0], imdims[1], mxUINT8_CLASS, mxREAL); + pyr2->imageData = (char*)mxGetPr(plhs[2]); + + /* coordinate arrays */ + CvPoint2D32f *oldpoints = (CvPoint2D32f*)mxGetPr(prhs[2]); + const int *pointsdim = mxGetDimensions(prhs[2]); + int npoints = pointsdim[1]; + plhs[0] = mxCreateNumericMatrix(2, npoints, mxSINGLE_CLASS, mxREAL); + CvPoint2D32f *newpoints = (CvPoint2D32f*)mxGetPr(plhs[0]); + + /* status array */ + plhs[1] = mxCreateNumericMatrix(1, npoints, mxUINT8_CLASS, mxREAL); + char *status = (char*)mxGetPr(plhs[1]); + + cvCalcOpticalFlowPyrLK(im1, im2, + pyr1, pyr2, + oldpoints, newpoints, npoints, + cvSize(WIN_SIZE, WIN_SIZE), PYR_LEVELS, + status, + NULL, + cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,max_iter,0.03), + flags + ); + if (clearPyr1) + cvReleaseImage(&pyr1); +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.mexglx b/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.mexglx new file mode 100755 index 0000000..ad5d0e9 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.cc b/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.cc new file mode 100755 index 0000000..9c1aed7 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.cc @@ -0,0 +1,33 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [dxPye dyPyr] = + // calcGradientPyrMex(imagePyr) + + double *image, *retImg; + int newSizeY, newSizeX; + const int *imdims; + + image=(double*)mxGetPr(prhs[0]); + imdims = mxGetDimensions(prhs[0]); + + newSizeY=(imdims[0]+1)/2; + newSizeX=(imdims[1]+1)/2; + plhs[0] = mxCreateNumericMatrix(newSizeY, newSizeX, mxDOUBLE_CLASS, mxREAL); + retImg=(double*)mxGetPr(plhs[0]); + + calcImgResize(image, imdims[0], imdims[1], retImg, newSizeY, newSizeX); +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.mexa64 b/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.mexa64 new file mode 100755 index 0000000..0f66793 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.mexa64 differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.mexglx b/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.mexglx new file mode 100755 index 0000000..192ea5a Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcResizedImgMex.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcSobelMex.cc b/SD-VBS/common/toolbox/lagrcv/calcSobelMex.cc new file mode 100755 index 0000000..8667ec4 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcSobelMex.cc @@ -0,0 +1,32 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [dx dy] = + // calcSobelMex(image) + + double *image, *dx, *dy; + const int *imdims; + + image=(double*)mxGetPr(prhs[0]); + imdims = mxGetDimensions(prhs[0]); + + plhs[0] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[1] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + dx=(double*)mxGetPr(plhs[0]); + dy=(double*)mxGetPr(plhs[1]); + + calcSobel(image, imdims[0], imdims[1], dx, dy); +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexa64 b/SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexa64 new file mode 100755 index 0000000..272563f Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexa64 differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexglx b/SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexglx new file mode 100755 index 0000000..9fc5d10 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcSobelMex.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcSobelPyrMex.cc b/SD-VBS/common/toolbox/lagrcv/calcSobelPyrMex.cc new file mode 100755 index 0000000..314c835 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcSobelPyrMex.cc @@ -0,0 +1,44 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [dxPye dyPyr] = + // calcGradientPyrMex(imagePyr) + + const int *cellDims = mxGetDimensions(prhs[0]); + double *image; + const mxArray* imgArray; + mxArray *dxArray, *dyArray; + double *dx, *dy; + const int *imdims; + + plhs[0] = mxCreateCellArray(2, cellDims); + plhs[1] = mxCreateCellArray(2, cellDims); + + for(int i=0; i +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [dxPye dyPyr] = + // calcGradientPyrMex(imagePyr) + + double *image, *retImg; + int newSizeY, newSizeX; + const int *imdims; + + image=(double*)mxGetPr(prhs[0]); + imdims = mxGetDimensions(prhs[0]); + + newSizeY=imdims[0]/2; + newSizeX=imdims[1]/2; + plhs[0] = mxCreateNumericMatrix(newSizeY, newSizeX, mxDOUBLE_CLASS, mxREAL); + retImg=(double*)mxGetPr(plhs[0]); + + calcSubSampleAvg(image, imdims[0], imdims[1], retImg, newSizeY, newSizeX); +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcSubsampleAvgMex.mexa64 b/SD-VBS/common/toolbox/lagrcv/calcSubsampleAvgMex.mexa64 new file mode 100755 index 0000000..6cf4f0e Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcSubsampleAvgMex.mexa64 differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcSubsampleAvgMex.mexglx b/SD-VBS/common/toolbox/lagrcv/calcSubsampleAvgMex.mexglx new file mode 100755 index 0000000..f8acfde Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcSubsampleAvgMex.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcTextureMex.cc b/SD-VBS/common/toolbox/lagrcv/calcTextureMex.cc new file mode 100755 index 0000000..f91d184 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcTextureMex.cc @@ -0,0 +1,53 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ lambda tr det c_xx c_xy c_yy] = + // goodFeaturesToTrack(image, winSize) + // image must be single-channel, 8-bit + + double *image; + int winSize = (int)mxGetScalar(prhs[1]); + double *lambda, *tr, *det, *c_xx, *c_xy, *c_yy; + const int *imdims; + //double dx[360000];//[MAX_IMAGE_SIZE_1D]; + //double dy[360000];//[MAX_IMAGE_SIZE_1D]; + double *dx, *dy; + + image = (double*)mxGetPr(prhs[0]); + imdims = mxGetDimensions(prhs[0]); + dx=(double*)malloc(sizeof(double)*imdims[0]*imdims[1]); + dy=(double*)malloc(sizeof(double)*imdims[0]*imdims[1]); + + plhs[0] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[1] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[2] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[3] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[4] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[5] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + + lambda = (double*)mxGetPr(plhs[0]); + tr = (double*)mxGetPr(plhs[1]); + det = (double*)mxGetPr(plhs[2]); + c_xx = (double*)mxGetPr(plhs[3]); + c_xy = (double*)mxGetPr(plhs[4]); + c_yy = (double*)mxGetPr(plhs[5]); + + calcSobel(image, imdims[0], imdims[1], dx, dy); + calcGoodFeature(dx, dy, imdims[0], imdims[1], winSize, + lambda, tr, det, c_xx, c_xy, c_yy); + free(dx); + free(dy); +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexa64 b/SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexa64 new file mode 100755 index 0000000..3c023ea Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexa64 differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexglx b/SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexglx new file mode 100755 index 0000000..f8e0c99 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcTextureMex.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.cc b/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.cc new file mode 100755 index 0000000..3c332ca --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.cc @@ -0,0 +1,54 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ lambda tr det c_xx c_xy c_yy] = + // calcTexturePyrMex(dxPyr, dyPyr, winSize, level) + // image is assumed to be double + // the lowest level is 1 + + const int *cellDims = mxGetDimensions(prhs[0]); + int level=0; + char winSize = (char )mxGetScalar(prhs[2]); + double *dx, *dy; + const mxArray* dxArray, * dyArray; + const int *imdims; + double *tr, *det, *lambda, *c_xx, *c_xy, *c_yy; + + if (nrhs > 3) level = (int)mxGetScalar(prhs[3])-1; + + dxArray= mxGetCell(prhs[0],level); + dyArray= mxGetCell(prhs[1],level); + dx=mxGetPr(dxArray); + dy=mxGetPr(dyArray); + imdims = mxGetDimensions(dxArray); + + plhs[0] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[1] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[2] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[3] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[4] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + plhs[5] = mxCreateNumericMatrix(imdims[0], imdims[1], mxDOUBLE_CLASS, mxREAL); + + lambda = (double*)mxGetPr(plhs[0]); + tr = (double*)mxGetPr(plhs[1]); + det = (double*)mxGetPr(plhs[2]); + c_xx = (double*)mxGetPr(plhs[3]); + c_xy = (double*)mxGetPr(plhs[4]); + c_yy = (double*)mxGetPr(plhs[5]); + + calcGoodFeature(dx, dy, imdims[0], imdims[1], winSize, lambda, tr, det, c_xx, c_xy, c_yy); + +} diff --git a/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.mexa64 b/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.mexa64 new file mode 100755 index 0000000..ebede53 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.mexa64 differ diff --git a/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.mexglx b/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.mexglx new file mode 100755 index 0000000..697ceec Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/calcTexturePyrMex.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/dummyMex.cc b/SD-VBS/common/toolbox/lagrcv/dummyMex.cc new file mode 100755 index 0000000..0799182 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/dummyMex.cc @@ -0,0 +1,58 @@ + +/* compile with +rm liblagrcv.a +gcc -c lagrcv.cpp +ar rc liblagrcv.a lagrcv.o +ranlib liblagrcv.a +mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [newFeaturePnt validFlag ] = + // calcOptFlowPyrLKMex(Ipyr, IdxPyr, IdyPyr, Jpyr, featurePnt, winSize, c_level, c_det, c_xx, c_xy, c_yy) + // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell. + // featurePnt 2xn int + // winSize c_level int + // c_xx c_xy c_yy: image size double* + // image must be single-channel, 8-bit + + + double* fPntDouble; + const int *nFeatures; + char* valid; + int *fPnt, *newFPnt; + + fPntDouble=(double*)mxGetPr(prhs[0]); + nFeatures=mxGetDimensions(prhs[0]); + fPnt=(int*)malloc(sizeof(int)*nFeatures[0]*nFeatures[1]); + + printf("nFeatures %d, %d", nFeatures[0], nFeatures[1]); + //plhs[0] = mxCreateNumericMatrix(nFeatures[0], nFeatures[1], mxINT32_CLASS, mxREAL); + plhs[0] = mxCreateNumericArray(2,nFeatures,mxINT32_CLASS, mxREAL); + //plhs[1] = mxCreateNumericMatrix(1, nFeatures[1], mxINT32_CLASS, mxREAL); + plhs[1] = mxCreateNumericArray(1,nFeatures+1,mxUINT8_CLASS, mxREAL); + + newFPnt = (int*)mxGetPr(plhs[0]); + valid = (char*)mxGetPr(plhs[1]); + + //idx convert from matlab to c + for(int i=0; i +#include + +//#define MAX_CORNERS 500 +#define WIN_SIZE 5 + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ features ] = + // findCornerSubPix(image, features) + // image must be single-channel, 8-bit + + char *image_pr = (char*)mxGetPr(prhs[0]); + const int *imdims = mxGetDimensions(prhs[0]); + IplImage *image = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + image->imageData = image_pr; + + const int *feature_dims = mxGetDimensions(prhs[1]); + int nfeatures = feature_dims[1]; + plhs[0] = mxCreateNumericMatrix(2, nfeatures, mxSINGLE_CLASS, mxREAL); + CvPoint2D32f *newfeatures = (CvPoint2D32f*)mxGetPr(plhs[0]); + CvPoint2D32f *oldfeatures = (CvPoint2D32f*)mxGetPr(prhs[1]); + // plhs[0] = mxDuplicateArray(prhs[1]); + // CvPoint2D32f *newfeatures = (CvPoint2D32f*)mxGetPr(plhs[0]); + memcpy(newfeatures, oldfeatures, sizeof(float)*2*nfeatures); + + cvFindCornerSubPix(image, newfeatures, nfeatures, + cvSize(WIN_SIZE,WIN_SIZE), + cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)); +} diff --git a/SD-VBS/common/toolbox/lagrcv/goodFeaturesToTrack.cc b/SD-VBS/common/toolbox/lagrcv/goodFeaturesToTrack.cc new file mode 100755 index 0000000..376a096 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/goodFeaturesToTrack.cc @@ -0,0 +1,62 @@ + +/* compile with + mex goodFeaturesToTrack.cc -I/usr/local/opencv/include -L/usr/local/opencv/lib -lcxcore -lcv +*/ + +#include "mex.h" +#include "opencv/cv.h" +#include "opencv/highgui.h" +#include +#include + +#define MAX_CORNERS 500 + +IplImage *eigtemp = NULL, *temp2 = NULL; + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ features numvalid ] = + // goodFeaturesToTrack(image, quality, mindist, mask) + // image must be single-channel, 8-bit + // quality = minimum acceptable ratio of eigenvalues + // mindist = minimum distance between corners + // mask (optional) = bitmap mask "region of interest" (MUST BE uint8 TYPE!) + + char *image_pr = (char*)mxGetPr(prhs[0]); + // int imdims[] = { (int)d_imdims[0], (int)d_imdims[1] }; + const int *imdims = mxGetDimensions(prhs[0]); + double quality = mxGetScalar(prhs[1]); + double mindist = mxGetScalar(prhs[2]); + bool use_roi = nrhs > 3; + + plhs[0] = mxCreateNumericMatrix(2, MAX_CORNERS, mxSINGLE_CLASS, mxREAL); + plhs[1] = mxCreateNumericMatrix(1, 1, mxINT32_CLASS, mxREAL); + + CvPoint2D32f *corner_coords = (CvPoint2D32f*)mxGetPr(plhs[0]); + int *corner_count = (int*)mxGetPr(plhs[1]); + *corner_count = MAX_CORNERS; + + if (eigtemp == NULL) { + eigtemp = cvCreateImage(cvSize(imdims[0],imdims[1]), IPL_DEPTH_32F, 1); + temp2 = cvCreateImage(cvSize(imdims[0],imdims[1]), IPL_DEPTH_32F, 1); + } + + IplImage *image = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + image->imageData = image_pr; + + IplImage *roimask = NULL; + if (use_roi) { + roimask = cvCreateImage(cvSize(imdims[0],imdims[1]), IPL_DEPTH_8U, 1); + roimask->imageData = (char*)mxGetPr(prhs[3]); + } + + cvGoodFeaturesToTrack(image, + eigtemp, temp2, + corner_coords, + corner_count, + quality, + mindist, + roimask + ); +} diff --git a/SD-VBS/common/toolbox/lagrcv/goodFeaturesToTrack.mexglx b/SD-VBS/common/toolbox/lagrcv/goodFeaturesToTrack.mexglx new file mode 100755 index 0000000..0fe9080 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/goodFeaturesToTrack.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/lagrcv.cpp b/SD-VBS/common/toolbox/lagrcv/lagrcv.cpp new file mode 100755 index 0000000..4f24b5d --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/lagrcv.cpp @@ -0,0 +1,840 @@ +#include "lagrcv.h" +/* +void calcImagePyr(char *src, int sizeY, int sizeX, int level, char *pyr){ + pyr=(char*) malloc(sizeof(char)*(int)sizeY*sizeX*4/3); + int i, startPnt, nX, nY; + + memcpy(pyr,src, sizeY*sizeX); + nY=sizeY; + nX=sizeX; + for(i=0; i> 1; + nX = (nX + 1) >> 1; + calcSubsample(pyr, sizeY, sizeX, pyr+sizeY*sizeX) + } + free(pyr); +} +*/ + +void calcSubSampleAvg(double *src, int sizeY, int sizeX, double *dest, int destSizeY, int destSizeX){ + int i, j, idx, + destI, destJ, idxDest; + for(i=0, destI=0; destI0)?sum[idx-1]:0) + + ((i>0)?sum[idx-sizeY]:0) + - ((i>0&&j>0)?sum[idx-sizeY-1]:0); + } + } +*/ + idxDelta[0]=halfSize*sizeY+halfSize; + idxDelta[1]=-halfSize*sizeY+halfSize; + idxDelta[2]=halfSize*sizeY-halfSize; + idxDelta[3]=-halfSize*sizeY-halfSize; + for(i=halfSize; i=0; level--){ + x+=x; y+=y; dX+=dX; dY+=dY; + imgSize[0]=imgDims[level*2+0]; //y,x + imgSize[1]=imgDims[level*2+1]; //y,x + + c_xx=c_xy=c_yy=0; + //when feature goes out to the boundary. + if((x-winSize-1)<0 || (y-winSize-1)<0 + || (y+winSize+1+1)>=imgSize[0] || (x+winSize+1+1)>=imgSize[1]){ + //winSize+1due to interpolation + //error or skip the level?? + valid[i]=0; + break; + } + + getInterpolatePatch(iP[level], imgSize, x, y, winSize+1, iPatch); //to calculate iDx, iDy + calcSobel(iPatch, (winSize+1)*2, (winSize+1)*2, iDxPatch, iDyPatch); + for(k=0; k <(winSize*2); k++ ){ + memcpy( iPatch + k*winSize*2, iPatch + (k+1)*(winSize+1)*2 + 1, winSize*2 ); + memcpy( iDxPatch + k*winSize*2, iDxPatch + (k+1)*(winSize+1)*2 + 1, winSize*2 ); + memcpy( iDyPatch + k*winSize*2, iDyPatch + (k+1)*(winSize+1)*2 + 1, winSize*2 ); + } + + for(idx=0; idx=imgSize[0] || (x+dX+winSize+1)>=imgSize[1]){ + //winSize+1due to interpolation + //error or skip the level?? + valid[i]=0; + break; + } + getInterpolatePatch(jP[level], imgSize, x+dX, y+dY, winSize, jPatch); + eX=eY=0; + for(idx=0;idx0 && (mX + prevMX) < 0.01 && (mX+prevMX) > -0.01 + && (mY + prevMY) < 0.01 && (mY+prevMY) > -0.01) + { + dX -= mX*0.5f; + dY -= mY*0.5f; + break; + } + prevMX=mX; + prevMY=mY; + } + if(k==max_iter){ + valid[i]=0; + } + } + newFPnt[i*2+0]=fPnt[i*2+0]+dX; + newFPnt[i*2+1]=fPnt[i*2+1]+dY; +/* + if(valid[i] + || (x+dX-winSize)<0 || (y+dY-winSize)<0 + || (y+dY+winSize+1)>=imgSize[0] || (x+dX+winSize+1)>=imgSize[1]){ + newFPnt[i*2+0]=fPnt[i*2+0]+dX; + newFPnt[i*2+1]=fPnt[i*2+1]+dY; + getInterpolatePatch(jP[0], imgSize, newFPnt[i*2+0], newFPnt[i*2+0], winSize, jPatch); + dIt=0; + for(idx=0;idxwinSizeSq*50000){ + valid[i]=0; + } + }else{ + newFPnt[i*2+0]=0; + newFPnt[i*2+1]=0; + } +*/ + } + free(iPatch); + free(jPatch); + free(iDxPatch); + free(iDyPatch); +} +void calcPyrLKTrackWInit(double** iP, double** iDxP, double** iDyP, double** jP, const int* imgDims, int pLevel, + double* fPnt, int nFeatures, int winSize, + double* newFPnt, double* initFPnt, + char* valid, double accuracy_th, int max_iter){ + + double x, y, eX, eY, dX, dY, mX, mY, prevMX, prevMY, c_xx, c_xy, c_yy, c_det, dIt; + double* iPatch, *jPatch, *iDxPatch, *iDyPatch; + int level, winSizeSq; + int i, k, idx; + int imgSize[2]; + + static const double rate[]={1, 0.5, 0.25, 0.125, 0.0625, 0.03125}; + winSizeSq=4*winSize*winSize; + + iPatch=(double*) malloc(sizeof(double)*winSizeSq); + jPatch=(double*) malloc(sizeof(double)*winSizeSq); + iDxPatch=(double*) malloc(sizeof(double)*winSizeSq); + iDyPatch=(double*) malloc(sizeof(double)*winSizeSq); + + for(i=0; i=0; level--){ + x+=x; y+=y; dX+=dX; dY+=dY; + imgSize[0]=imgDims[level*2+0]; //y,x + imgSize[1]=imgDims[level*2+1]; //y,x + + c_xx=c_xy=c_yy=0; + //when feature goes out to the boundary. + if((x-winSize)<0 || (y-winSize)<0 + || (y+winSize+1)>=imgSize[0] || (x+winSize+1)>=imgSize[1]){ + //winSize+1due to interpolation + //error or skip the level?? + valid[i]=0; + break; + } + + getInterpolatePatch(iP[level], imgSize, x, y, winSize, iPatch); + getInterpolatePatch(iDxP[level], imgSize, x, y, winSize, iDxPatch); + getInterpolatePatch(iDyP[level], imgSize, x, y, winSize, iDyPatch); + + for(idx=0; idx=imgSize[0] || (x+dX+winSize+1)>=imgSize[1]){ + //winSize+1due to interpolation + //error or skip the level?? + valid[i]=0; + break; + } + getInterpolatePatch(jP[level], imgSize, x+dX, y+dY, winSize, jPatch); + eX=eY=0; + for(idx=0;idx0 && (mX + prevMX) < 0.01 && (mX+prevMX) > -0.01 + && (mY + prevMY) < 0.01 && (mY+prevMY) > -0.01) + { + dX -= mX*0.5f; + dY -= mY*0.5f; + break; + } + prevMX=mX; + prevMY=mY; + } + if(k==max_iter){ + valid[i]=0; + } + } + newFPnt[i*2+0]=fPnt[i*2+0]+dX; + newFPnt[i*2+1]=fPnt[i*2+1]+dY; +/* + if(valid[i] + || (x+dX-winSize)<0 || (y+dY-winSize)<0 + || (y+dY+winSize+1)>=imgSize[0] || (x+dX+winSize+1)>=imgSize[1]){ + newFPnt[i*2+0]=fPnt[i*2+0]+dX; + newFPnt[i*2+1]=fPnt[i*2+1]+dY; + getInterpolatePatch(jP[0], imgSize, newFPnt[i*2+0], newFPnt[i*2+0], winSize, jPatch); + dIt=0; + for(idx=0;idxwinSizeSq*50000){ + valid[i]=0; + } + }else{ + newFPnt[i*2+0]=0; + newFPnt[i*2+1]=0; + } +*/ + } + free(iPatch); + free(jPatch); + free(iDxPatch); + free(iDyPatch); +} +void calcPyrLKTrack(double** iP, double** iDxP, double** iDyP, double** jP, const int* imgDims, int pLevel, + double* fPnt, int nFeatures, int winSize, + double* newFPnt, char* valid, double accuracy_th, int max_iter){ + + double x, y, eX, eY, dX, dY, mX, mY, c_xx, c_xy, c_yy, c_det, dIt; + double* iPatch, *jPatch, *iDxPatch, *iDyPatch; + int level, winSizeSq; + int i, k, idx; + int imgSize[2]; + + static const double rate[]={1, 0.5, 0.25, 0.125, 0.0625, 0.03125}; + winSizeSq=4*winSize*winSize; + + iPatch=(double*) malloc(sizeof(double)*winSizeSq); + jPatch=(double*) malloc(sizeof(double)*winSizeSq); + iDxPatch=(double*) malloc(sizeof(double)*winSizeSq); + iDyPatch=(double*) malloc(sizeof(double)*winSizeSq); + + for(i=0; i=0; level--){ + x+=x; y+=y; dX+=dX; dY+=dY; + imgSize[0]=imgDims[level*2+0]; //y,x + imgSize[1]=imgDims[level*2+1]; //y,x + + c_xx=c_xy=c_yy=0; + //when feature goes out to the boundary. + if((x-winSize)<0 || (y-winSize)<0 + || (y+winSize+1)>=imgSize[0] || (x+winSize+1)>=imgSize[1]){ + //winSize+1due to interpolation + //error or skip the level?? + valid[i]=0; + break; + } + + getInterpolatePatch(iP[level], imgSize, x, y, winSize, iPatch); + getInterpolatePatch(iDxP[level], imgSize, x, y, winSize, iDxPatch); + getInterpolatePatch(iDyP[level], imgSize, x, y, winSize, iDyPatch); + + for(idx=0; idx=imgSize[0] || (x+dX+winSize+1)>=imgSize[1]){ + //winSize+1due to interpolation + //error or skip the level?? + valid[i]=0; + break; + } + getInterpolatePatch(jP[level], imgSize, x+dX, y+dY, winSize, jPatch); + eX=eY=0; + for(idx=0;idx=imgSize[0] || (x+dX+winSize+1)>=imgSize[1]){ + newFPnt[i*2+0]=fPnt[i*2+0]+dX; + newFPnt[i*2+1]=fPnt[i*2+1]+dY; + getInterpolatePatch(jP[0], imgSize, newFPnt[i*2+0], newFPnt[i*2+0], winSize, jPatch); + dIt=0; + for(idx=0;idxwinSizeSq*50000){ + valid[i]=0; + } + }else{ + newFPnt[i*2+0]=0; + newFPnt[i*2+1]=0; + } +*/ + } + free(iPatch); + free(jPatch); + free(iDxPatch); + free(iDyPatch); +} +void getPatch(double* srcImg, const int* srcDims, double centerX, double centerY, int winSize, double** dstImg){ + int srcIdxX, srcIdxY, dstIdxX; + srcIdxY=(int)centerY-winSize; + for(int i=-winSize; i=imdims[0] || (x+winSize)>=imdims[1]){ + //error or skip the level?? + valid[i]=0; + continue; + } + + getPatch(imgI, imdims, x, y, winSize, iPatch); + getPatch(iDx, imdims, x, y, winSize, iDxPatch); + getPatch(iDy, imdims, x, y, winSize, iDyPatch); + + idx=(int)x*imdims[0]+(int)y; + c_det=c_xx[i]*c_yy[i]-c_xy[i]*c_xy[i]; + if(c_det/(c_xx[i]+c_yy[i]+0.00000001)=imdims[0] || (x+dX+winSize+1)>=imdims[1]){ + //winSize+1due to interpolation + //error or skip the level?? + valid[i]=0; + break; + } + getInterpolatePatch(imgJ, imgSize, x+dX, y+dY, winSize, jPatch); + eX=eY=0; + for(idxCol=0;idxCol<2*winSize;idxCol++){ + for(idxRow=0;idxRow<2*winSize;idxRow++){ + dIt=iPatch[idxCol][idxRow]-jPatch[idxCol*winSize*2+idxRow]; + eX+=dIt*iDxPatch[idxCol][idxRow]; + eY+=dIt*iDyPatch[idxCol][idxRow]; + } + } + mX=c_det*(eX*c_yy[i]-eY*c_xy[i]); + mY=c_det*(-eX*c_xy[i]+eY*c_xx[i]); + dX+=mX; + dY+=mY; + if((mX*mX+mY*mY) +#include +#include +#include +#include +#include +#include + +#define GOOD_FEATURE_LAMBDA_TH 10 +#define LK_ACCURACY_TH 0.03 +#define LK_MAX_ITER 20 +#define LK_MAX_WIN 25 +#define MAX_LEVEL 10 +#define MAX_IMAGE_SIZE_1D 1000000 + +void calcSubSampleAvg(double *src, int sizeY, int sizeX, double *dest, int destSizeY, int destSizeX); +void calcImgBlur(double *src, int sizeY, int sizeX, double *dest); +void calcImgResize(double *src, int sizeY, int sizeX, double *dest, int dstSizeY, int dstSizeX); +void calcGradient(double *src, int sizeY, int sizeX, double *dX, double *dY); +void calcGradient(char *src, int sizeY, int sizeX, char *dX, char *dY); +void calcSobel(double *src, int sizeX, int sizeY, double *dx, double *dy); +void calcGoodFeature(double *dX, double *dY, int sizeY, int sizeX, int winSize, double* lambda, double* tr, double* det, + double* c_xx, double* c_xy, double* c_yy); +void calcGoodFeature(char *dX, char *dY, int sizeY, int sizeX, int winSize, float* lambda, float* tr, float* det); +void calcMinEigenValue(char *dX, char *dY, int sizeY, int sizeX, float* lambda); +void calcAreaSum(int *src, int sizeY, int sizeX, int sizeSum, int *ret); +void calcAreaSum(double *src, int sizeY, int sizeX, int sizeSum, double *ret); +void calcPyrLKTrack(double** iP, double** iDxP, double** iDyP, double** jP, const int* imgDims, int pLevel, + double* fPnt, int nFeatures, int winSize, + double* newFPnt, char* valid); +void calcPyrLKTrack(double** iP, double** iDxP, double** iDyP, double** jP, const int* imgDims, int pLevel, + double* fPnt, int nFeatures, int winSize, + double* newFPnt, char* valid, + double accuracy_th, int iter); +void calcLKTrack(double* imgI, double* iDx, double* iDy, double* imgJ, const int* imdims, + double* c_xx, double* c_xy, double* c_yy, + double* fPnt, double* initPnt, int nFeatures, int winSize, + double* newFPnt, char* valid, + double accuracy_th, int max_iter); +void calcLKTrack(double* imgI, double* iDx, double* iDy, double* imgJ, const int* imdims, + double* c_xx, double* c_xy, double* c_yy, + double* fPnt, double* initPnt, int nFeatures, int winSize, + double* newFPnt, char* valid); +void calcPyrLKTrackWInit(double** iP, double** iDxP, double** iDyP, double** jP, const int* imgDims, int pLevel, + double* fPnt, int nFeatures, int winSize, + double* newFPnt, double* initFPnt, + char* valid, double accuracy_th, int max_iter); +void calcPyrLKTrackWInit(double** iP, double** jP, const int* imgDims, int pLevel, + double* fPnt, int nFeatures, int winSize, + double* newFPnt, double* initFPnt, + char* valid, double accuracy_th, int max_iter); diff --git a/SD-VBS/common/toolbox/lagrcv/liblagrcv.a b/SD-VBS/common/toolbox/lagrcv/liblagrcv.a new file mode 100755 index 0000000..a7a39ae Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/liblagrcv.a differ diff --git a/SD-VBS/common/toolbox/lagrcv/lk_flow.cc b/SD-VBS/common/toolbox/lagrcv/lk_flow.cc new file mode 100755 index 0000000..c083048 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/lk_flow.cc @@ -0,0 +1,76 @@ + +/* compile with + lk_flow.cc -I/usr/local/opencv/include -L/usr/local/opencv/lib -lcxcore -lcv +*/ + +#include "mex.h" +#include "opencv/cv.h" +#include "opencv/highgui.h" +#include +#include + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ velx vely ] = lk_flow(image1,image2,winsize) + // images must be single-channel, 8-bit + + const int *backwards_imdims = mxGetDimensions(prhs[0]); + int imdims[2] = { backwards_imdims[1], backwards_imdims[0] }; + int winsize = (int)mxGetScalar(prhs[2]); + plhs[0] = mxCreateNumericArray(2, imdims, mxSINGLE_CLASS, mxREAL); + plhs[1] = mxCreateNumericArray(2, imdims, mxSINGLE_CLASS, mxREAL); + + printf("imsize %d %d\n", imdims[0], imdims[1]); + + IplImage *im1 = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + IplImage *im2 = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1); + IplImage *flow_x = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_32F, 1); + IplImage *flow_y = + cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_32F, 1); + + im1->imageData = (char*)mxGetPr(prhs[0]); + im2->imageData = (char*)mxGetPr(prhs[1]); + flow_x->imageData = (char*)mxGetPr(plhs[0]); + flow_y->imageData = (char*)mxGetPr(plhs[1]); + + cvCalcOpticalFlowLK(im1, im2, cvSize(winsize,winsize), flow_x, flow_y); + + for (int row = 0; row < imdims[0]; row += 10) { + for (int col = 0; col < imdims[1]; col += 10) { + cvLine(im1, cvPoint(col,row), + cvPoint(int(col + flow_x->imageData[imdims[1] * row + col]), + int(row + flow_y->imageData[imdims[1] * row + col])), + CV_RGB(1,0,0), + 1, + CV_AA, + 0); + + } + } + + cvDestroyAllWindows(); + cvNamedWindow("imfoo",CV_WINDOW_AUTOSIZE); + // IplImage *myim = cvLoadImage("lena.jpg", -1); + cvShowImage("imfoo",im1); + // cvShowImage("imfoo",myim); + cvWaitKey(0); + + // cvCircle(flow_x, cvPoint( 40, 20), 15, CV_RGB(10,100,100), 5); + + /* + FILE* filefx = fopen("fx.pgm", "w"); + FILE* filefy = fopen("fy.pgm", "w"); + fprintf(filefx, "P5\n%d %d\n255\n", imdims[1], imdims[0]); + fprintf(filefy, "P5\n%d %d\n255\n", imdims[1], imdims[0]); + float *ptr = (float*)flow_x->imageData; + for (int i = 0; i < imdims[1] * imdims[0]; i++) { + // if (fabs(++ptr*) > 0.1) + if (fabs(*ptr++) > 0.1) fprintf(filefx, "1"); + else fprintf(filefx, "0"); + } + fclose(filefx); + fclose(filefy); + */ +} diff --git a/SD-VBS/common/toolbox/lagrcv/lk_flow.mexglx b/SD-VBS/common/toolbox/lagrcv/lk_flow.mexglx new file mode 100755 index 0000000..d6c1136 Binary files /dev/null and b/SD-VBS/common/toolbox/lagrcv/lk_flow.mexglx differ diff --git a/SD-VBS/common/toolbox/lagrcv/test.cc b/SD-VBS/common/toolbox/lagrcv/test.cc new file mode 100755 index 0000000..d18144c --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/test.cc @@ -0,0 +1,34 @@ + +/* compile with + mex goodFeaturesToTrack.cc -I/usr/local/opencv/include -L/usr/local/opencv/lib -lcxcore -lcv +mex test.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/ +*/ + +#include "mex.h" +#include "lagrcv.h" +#include +#include + +#define MAX_CORNERS 500 +#define MAX_SIZE 700 + +// TODO: add number of corners parameter +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + // usage: [ features numvalid ] = + // goodFeaturesToTrack(image, quality, mindist, mask) + // image must be single-channel, 8-bit + // quality = minimum acceptable ratio of eigenvalues + // mindist = minimum distance between corners + // mask (optional) = bitmap mask "region of interest" (MUST BE uint8 TYPE!) + + char *image = (char*)mxGetPr(prhs[0]); + char *sum; + // int imdims[] = { (int)d_imdims[0], (int)d_imdims[1] }; + const int *imdims = mxGetDimensions(prhs[0]); + + plhs[0] = mxCreateNumericMatrix(imdims[0], imdims[1], mxINT8_CLASS, mxREAL); + + sum = (char*)mxGetPr(plhs[0]); + + calcAreaSum(image, imdims[0], imdims[1], 8, sum); +} diff --git a/SD-VBS/common/toolbox/lagrcv/test/getPyramid.m b/SD-VBS/common/toolbox/lagrcv/test/getPyramid.m new file mode 100755 index 0000000..ecae078 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/test/getPyramid.m @@ -0,0 +1,10 @@ +function pyr=getPyramid(img, level) +kernel=[1/16 1/4 3/8 1/4 1/16]; +pyr=cell(level,1); +pyr{1}=double(img); +for i=2:level +% imgBlur=conv2(pyr{i-1}, kernel, 'same'); +% imgBlur=conv2(imgBlur, kernel, 'same'); +% pyr{i}=imgBlur(1:2:end, 1:2:end); + pyr{i}=calcResizedImgMex(pyr{i-1}); +end diff --git a/SD-VBS/common/toolbox/lagrcv/test/img0.ppm b/SD-VBS/common/toolbox/lagrcv/test/img0.ppm new file mode 100755 index 0000000..816e0ad --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/test/img0.ppm @@ -0,0 +1,3137 @@ +P6 +512 384 +255 + ó          +     +     + + + +  +    +   # + +       +          +        # "08%9+!5.(;(07.)2.#3*#+'&)!##).!%.")#%!!"$% "#   ! %)$32+):/, )$"%28)+&!$"&   ! %#('(%$!/!+&"1/34-1"6 5 *" !   +    !%       +   +  +'491F,<6($ "!%'!"*-#(   +  "2* # +#?64&DC$1$#./+2.)$ 0-"-A*&2$",/.?>::4@,5$/7A58T*37,%(("/72>,1-20>=):.8!2  % 5%;&6    +   +  " +  #'O$6L'CC:KTLri@Kf5QV(KHE<#E7,*#(+-FH2FB&?:0?C7CM8@<0JE*?F.99(-',?/6;?/@J2QY%W[!7O+3?8:H=?J7GKPdCP]IZmIWp`I]“YlÀvyyƒˆRxŠ@j€7a{8YgAA@[AKMTSHVZM[oXVbQJcL]lL]r^p‹ˆƒË±ÿÿ˜ÿÿ“ºÌ—œÿ—ÿÿüÿÿÿÿÿ±ÿÿ–ÿÿd÷ÿq®¬ÿ¨”ÿÊìÿËÿ¼ÿÿåÿÿŠýÿÍÿÿîÿÿøÿÿÎöÿ­ÿÿôÿÿÿÿÿÿÿÿÿÿÿÿÿÿ[Z]SIPZCOSKLULJRMQTPWSp ÅãÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÆÿÿÉÿÿ¬n~dYcQHWdA\mQceGHE31257=CNENI8>A;1;U3Bh9Mp,J—&G¢0<`4:J       +      +  + + +  +    +  +     +  $    +  "                 #"  .7 8, ,,)+)*+'%*#"&!#" &#&"!"'& %#"  !  # %).,*&-)#5).577 2?!5! ##"! *#$(!+))+-)&,#064'**$%!! 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that can be used as input to MATLABPATH +% in order to set the path. + + +% Copyright 1984-2002 The MathWorks, Inc. +% $Revision: 1.4.2.1 $ $Date: 2003/01/16 12:51:34 $ + + +% DO NOT MODIFY THIS FILE. IT IS AN AUTOGENERATED FILE. +% EDITING MAY CAUSE THE FILE TO BECOME UNREADABLE TO +% THE PATHTOOL AND THE INSTALLER. + +p = [... +%%% BEGIN ENTRIES %%% + '/u/ikkjin/Benchmark:', ... + '/u/ikkjin/Benchmark/viola_jones/src/test:', ... + '/u/ikkjin/Benchmark/viola_jones/src/test/distrib:', ... + '/u/ikkjin/Benchmark/viola_jones/src/test/src:', ... + '/u/ikkjin/Benchmark/Toolbox:', ... + '/u/ikkjin/Benchmark/Toolbox/Gang:', ... + '/u/ikkjin/Benchmark/Toolbox/MultiNcut:', ... + '/u/ikkjin/Benchmark/Toolbox/MultiNcut3D:', ... + '/u/ikkjin/Benchmark/Toolbox/QihuiTool:', ... + '/u/ikkjin/Benchmark/Toolbox/QihuiTool/NNMF:', ... + '/u/ikkjin/Benchmark/Toolbox/QihuiTool/RGB2Lab:', ... + '/u/ikkjin/Benchmark/Toolbox/QihuiTool/SIFT_toolbox:', ... + '/u/ikkjin/Benchmark/Toolbox/QihuiTool/SIFT_toolbox/images:', ... + '/u/ikkjin/Benchmark/Toolbox/ShapeContext:', ... + '/u/ikkjin/Benchmark/Toolbox/ShapeContext/lap:', ... + '/u/ikkjin/Benchmark/Toolbox/ShapeContext/lap/CVS:', ... + '/u/ikkjin/Benchmark/Toolbox/ikkjin:', ... + '/u/ikkjin/Benchmark/Toolbox/interContourCutsAffine:', ... + '/u/ikkjin/Benchmark/Toolbox/interContourCutsAffine/source:', ... + '/u/ikkjin/Benchmark/Toolbox/lagrcv:', ... + '/u/ikkjin/Benchmark/Toolbox/lagrcv/test:', ... + '/u/ikkjin/Benchmark/Toolbox/lagrcv/test/result:', ... + '/u/ikkjin/Benchmark/Toolbox/textons:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/TOOLBOX_calib:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/affine:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/calib:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/calib/TOOLBOX_calib:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/calib_bouguetj:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/calib_bouguetj2:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/common:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/disp:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/fact:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/filter:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/filter_hist:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/filtersQuad:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/io:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/matching:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/matching/pub:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/matching/pub/contrib:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/matching/pub/contrib/v5:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/matching/pub/contrib/v5/optim:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/ncut:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/pyramid:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/stella:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/tars:', ... + '/u/ikkjin/Benchmark/Toolbox/toolbox_basic/textons:', ... + '/u/ikkjin/Benchmark/color2gray:', ... + '/u/ikkjin/Benchmark/color2gray/src:', ... + '/u/ikkjin/Benchmark/color2gray/src/TestImages:', ... + '/u/ikkjin/Benchmark/color2gray/src/colorspaces:', ... + '/u/ikkjin/Benchmark/color2gray/src/helper:', ... + '/u/ikkjin/Benchmark/disparity:', ... + '/u/ikkjin/Benchmark/disparity/result:', ... + '/u/ikkjin/Benchmark/disparity/src:', ... + '/u/ikkjin/Benchmark/localization:', ... + '/u/ikkjin/Benchmark/localization/result:', ... + '/u/ikkjin/Benchmark/localization/src:', ... + '/u/ikkjin/Benchmark/registration:', ... + '/u/ikkjin/Benchmark/registration/result:', ... + '/u/ikkjin/Benchmark/registration/src:', ... + '/u/ikkjin/Benchmark/stitch:', ... + '/u/ikkjin/Benchmark/stitch/result:', ... + '/u/ikkjin/Benchmark/stitch/src:', ... + '/u/ikkjin/Benchmark/texture_synthesis:', ... + '/u/ikkjin/Benchmark/texture_synthesis/MEX:', ... + '/u/ikkjin/Benchmark/tracking:', ... + '/u/ikkjin/Benchmark/tracking/result:', ... + '/u/ikkjin/Benchmark/tracking/src:', ... + '/u/ikkjin/Benchmark/viola_jones:', ... + '/u/ikkjin/Benchmark/viola_jones/result:', ... + '/u/ikkjin/Benchmark/viola_jones/src:', ... + '/u/ikkjin/Benchmark/viola_jones/src/Additional Functions:', ... + '/u/ikkjin/Benchmark/viola_jones/src/Code:', ... + '/u/ikkjin/Benchmark/viola_jones/src/MatlabFaceDetect Files:', ... + matlabroot,'/toolbox/matlab/general:', ... + matlabroot,'/toolbox/matlab/ops:', ... + matlabroot,'/toolbox/matlab/lang:', ... + matlabroot,'/toolbox/matlab/elmat:', ... + matlabroot,'/toolbox/matlab/elfun:', ... + matlabroot,'/toolbox/matlab/specfun:', ... + matlabroot,'/toolbox/matlab/matfun:', ... + matlabroot,'/toolbox/matlab/datafun:', ... + matlabroot,'/toolbox/matlab/polyfun:', ... + matlabroot,'/toolbox/matlab/funfun:', ... + matlabroot,'/toolbox/matlab/sparfun:', ... + matlabroot,'/toolbox/matlab/scribe:', ... + matlabroot,'/toolbox/matlab/graph2d:', ... + matlabroot,'/toolbox/matlab/graph3d:', ... + matlabroot,'/toolbox/matlab/specgraph:', ... + matlabroot,'/toolbox/matlab/graphics:', ... + matlabroot,'/toolbox/matlab/uitools:', ... + matlabroot,'/toolbox/matlab/strfun:', ... + matlabroot,'/toolbox/matlab/imagesci:', ... + matlabroot,'/toolbox/matlab/iofun:', ... + matlabroot,'/toolbox/matlab/audiovideo:', ... + matlabroot,'/toolbox/matlab/timefun:', ... + matlabroot,'/toolbox/matlab/datatypes:', ... + matlabroot,'/toolbox/matlab/verctrl:', ... + matlabroot,'/toolbox/matlab/codetools:', ... + matlabroot,'/toolbox/matlab/helptools:', ... + matlabroot,'/toolbox/matlab/demos:', ... + matlabroot,'/toolbox/matlab/timeseries:', ... + matlabroot,'/toolbox/matlab/hds:', ... + matlabroot,'/toolbox/matlab/guide:', ... + matlabroot,'/toolbox/matlab/plottools:', ... + matlabroot,'/toolbox/local:', ... + matlabroot,'/toolbox/shared/controllib:', ... + matlabroot,'/toolbox/simulink/simulink:', ... + matlabroot,'/toolbox/simulink/blocks:', ... + matlabroot,'/toolbox/simulink/components:', ... + matlabroot,'/toolbox/simulink/fixedandfloat:', ... + matlabroot,'/toolbox/simulink/fixedandfloat/fxpdemos:', ... + matlabroot,'/toolbox/simulink/fixedandfloat/obsolete:', ... + matlabroot,'/toolbox/simulink/simdemos:', ... + matlabroot,'/toolbox/simulink/simdemos/aerospace:', ... + matlabroot,'/toolbox/simulink/simdemos/automotive:', ... + matlabroot,'/toolbox/simulink/simdemos/simfeatures:', ... + matlabroot,'/toolbox/simulink/simdemos/simgeneral:', ... + matlabroot,'/toolbox/simulink/dee:', ... + matlabroot,'/toolbox/shared/dastudio:', ... + matlabroot,'/toolbox/shared/glue:', ... + matlabroot,'/toolbox/stateflow/stateflow:', ... + matlabroot,'/toolbox/rtw/rtw:', ... + matlabroot,'/toolbox/simulink/simulink/modeladvisor:', ... + matlabroot,'/toolbox/simulink/simulink/modeladvisor/fixpt:', ... + matlabroot,'/toolbox/simulink/simulink/MPlayIO:', ... + matlabroot,'/toolbox/simulink/simulink/dataobjectwizard:', ... + matlabroot,'/toolbox/shared/fixedpointlib:', ... + matlabroot,'/toolbox/simulink/dataimportexport:', ... + matlabroot,'/toolbox/shared/hdlshared:', ... + matlabroot,'/toolbox/rtw/rtwdemos:', ... + matlabroot,'/toolbox/rtw/rtwdemos/rsimdemos:', ... + matlabroot,'/toolbox/rtw/targets/asap2/asap2:', ... + matlabroot,'/toolbox/rtw/targets/asap2/asap2/user:', ... + matlabroot,'/toolbox/rtw/targets/common/can/blocks:', ... + matlabroot,'/toolbox/rtw/targets/common/configuration/resource:', ... + matlabroot,'/toolbox/rtw/targets/common/tgtcommon:', ... + matlabroot,'/toolbox/stateflow/sfdemos:', ... + matlabroot,'/toolbox/stateflow/coder:', ... + matlabroot,'/toolbox/bioinfo/bioinfo:', ... + matlabroot,'/toolbox/bioinfo/biolearning:', ... + matlabroot,'/toolbox/bioinfo/microarray:', ... + matlabroot,'/toolbox/bioinfo/mass_spec:', ... + matlabroot,'/toolbox/bioinfo/proteins:', ... + matlabroot,'/toolbox/bioinfo/biomatrices:', ... + matlabroot,'/toolbox/bioinfo/biodemos:', ... + matlabroot,'/toolbox/bioinfo/graphtheory:', ... + matlabroot,'/toolbox/commblks/commblks:', ... + matlabroot,'/toolbox/commblks/commmasks:', ... + matlabroot,'/toolbox/commblks/commmex:', ... + matlabroot,'/toolbox/commblks/commblksdemos:', ... + matlabroot,'/toolbox/commblks/commblksobsolete/v3:', ... + matlabroot,'/toolbox/commblks/commblksobsolete/v2p5:', ... + matlabroot,'/toolbox/commblks/commblksobsolete/v2:', ... + matlabroot,'/toolbox/comm/comm:', ... + matlabroot,'/toolbox/comm/commdemos:', ... + matlabroot,'/toolbox/comm/commdemos/commdocdemos:', ... + matlabroot,'/toolbox/comm/commobsolete:', ... + matlabroot,'/toolbox/compiler:', ... + matlabroot,'/toolbox/control/control:', ... + matlabroot,'/toolbox/control/ctrlguis:', ... + matlabroot,'/toolbox/control/ctrlobsolete:', ... + matlabroot,'/toolbox/control/ctrlutil:', ... + matlabroot,'/toolbox/control/ctrldemos:', ... + matlabroot,'/toolbox/shared/slcontrollib:', ... + matlabroot,'/toolbox/curvefit/curvefit:', ... + matlabroot,'/toolbox/curvefit/cftoolgui:', ... + matlabroot,'/toolbox/shared/optimlib:', ... + matlabroot,'/toolbox/dspblks/dspblks:', ... + matlabroot,'/toolbox/dspblks/dspmasks:', ... + matlabroot,'/toolbox/dspblks/dspmex:', ... + matlabroot,'/toolbox/dspblks/dspdemos:', ... + matlabroot,'/toolbox/shared/filterdesignlib:', ... + matlabroot,'/toolbox/rtw/targets/ecoder:', ... + matlabroot,'/toolbox/rtw/targets/ecoder/ecoderdemos:', ... + matlabroot,'/toolbox/rtw/targets/mpt:', ... + matlabroot,'/toolbox/rtw/targets/mpt/mpt:', ... + matlabroot,'/toolbox/rtw/targets/mpt/user_specific:', ... + matlabroot,'/toolbox/fixedpoint/fixedpoint:', ... + matlabroot,'/toolbox/fixedpoint/fidemos:', ... + matlabroot,'/toolbox/fixedpoint/fimex:', ... + matlabroot,'/toolbox/fixpoint:', ... + matlabroot,'/toolbox/gads:', ... + matlabroot,'/toolbox/gads/gads:', ... + matlabroot,'/toolbox/gads/gadsdemos:', ... + matlabroot,'/toolbox/ident/ident:', ... + matlabroot,'/toolbox/ident/idobsolete:', ... + matlabroot,'/toolbox/ident/idguis:', ... + matlabroot,'/toolbox/ident/idutils:', ... + matlabroot,'/toolbox/ident/iddemos:', ... + matlabroot,'/toolbox/ident/idhelp:', ... + matlabroot,'/toolbox/images/images:', ... + matlabroot,'/toolbox/images/imuitools:', ... + matlabroot,'/toolbox/images/imdemos:', ... + matlabroot,'/toolbox/images/iptutils:', ... + matlabroot,'/toolbox/shared/imageslib:', ... + matlabroot,'/toolbox/images/medformats:', ... + matlabroot,'/toolbox/instrument/instrument:', ... + matlabroot,'/toolbox/instrument/instrumentdemos:', ... + matlabroot,'/toolbox/map/map:', ... + matlabroot,'/toolbox/map/mapdemos:', ... + matlabroot,'/toolbox/map/mapdisp:', ... + matlabroot,'/toolbox/map/mapformats:', ... + matlabroot,'/toolbox/map/mapproj:', ... + matlabroot,'/toolbox/shared/mapgeodesy:', ... + matlabroot,'/toolbox/slvnv/simcoverage:', ... + matlabroot,'/toolbox/nnet:', ... + matlabroot,'/toolbox/nnet/nncontrol:', ... + matlabroot,'/toolbox/nnet/nndemos:', ... + matlabroot,'/toolbox/nnet/nnet:', ... + matlabroot,'/toolbox/nnet/nnet/nnanalyze:', ... + matlabroot,'/toolbox/nnet/nnet/nncustom:', ... + matlabroot,'/toolbox/nnet/nnet/nndistance:', ... + matlabroot,'/toolbox/nnet/nnet/nnformat:', ... + matlabroot,'/toolbox/nnet/nnet/nninit:', ... + matlabroot,'/toolbox/nnet/nnet/nnlearn:', ... + matlabroot,'/toolbox/nnet/nnet/nnnetinput:', ... + matlabroot,'/toolbox/nnet/nnet/nnnetwork:', ... + matlabroot,'/toolbox/nnet/nnet/nnperformance:', ... + matlabroot,'/toolbox/nnet/nnet/nnplot:', ... + matlabroot,'/toolbox/nnet/nnet/nnprocess:', ... + matlabroot,'/toolbox/nnet/nnet/nnsearch:', ... + matlabroot,'/toolbox/nnet/nnet/nntopology:', ... + matlabroot,'/toolbox/nnet/nnet/nntrain:', ... + matlabroot,'/toolbox/nnet/nnet/nntransfer:', ... + matlabroot,'/toolbox/nnet/nnet/nnweight:', ... + matlabroot,'/toolbox/nnet/nnguis:', ... + matlabroot,'/toolbox/nnet/nnguis/nftool:', ... + matlabroot,'/toolbox/nnet/nnguis/nntool:', ... + matlabroot,'/toolbox/nnet/nnobsolete:', ... + matlabroot,'/toolbox/nnet/nnresource:', ... + matlabroot,'/toolbox/nnet/nnutils:', ... + matlabroot,'/toolbox/optim:', ... + matlabroot,'/toolbox/pde:', ... + matlabroot,'/toolbox/robust/robust:', ... + matlabroot,'/toolbox/robust/rctlmi:', ... + matlabroot,'/toolbox/robust/rctutil:', ... + matlabroot,'/toolbox/robust/rctdemos:', ... + matlabroot,'/toolbox/robust/rctobsolete/robust:', ... + matlabroot,'/toolbox/robust/rctobsolete/lmi:', ... + matlabroot,'/toolbox/robust/rctobsolete/mutools/commands:', ... + matlabroot,'/toolbox/robust/rctobsolete/mutools/subs:', ... + matlabroot,'/toolbox/signal/signal:', ... + matlabroot,'/toolbox/signal/sigtools:', ... + matlabroot,'/toolbox/signal/sptoolgui:', ... + matlabroot,'/toolbox/signal/sigdemos:', ... + matlabroot,'/toolbox/shared/spcuilib:', ... + matlabroot,'/toolbox/slcontrol/slcontrol:', ... + matlabroot,'/toolbox/slcontrol/slctrlguis:', ... + matlabroot,'/toolbox/slcontrol/slctrlutil:', ... + matlabroot,'/toolbox/slcontrol/slctrldemos:', ... + matlabroot,'/toolbox/splines:', ... + matlabroot,'/toolbox/stats:', ... + matlabroot,'/toolbox/vipblks/vipblks:', ... + matlabroot,'/toolbox/vipblks/vipmasks:', ... + matlabroot,'/toolbox/vipblks/vipmex:', ... + matlabroot,'/toolbox/vipblks/vipdemos:', ... + matlabroot,'/toolbox/wavelet/wavelet:', ... + matlabroot,'/toolbox/wavelet/wmultisig1d:', ... + matlabroot,'/toolbox/wavelet/wavedemo:', ... + matlabroot,'/work:', ... +%%% END ENTRIES %%% + ... +]; + +p = [userpath,p]; diff --git a/SD-VBS/common/toolbox/lagrcv/test/test_lk.m b/SD-VBS/common/toolbox/lagrcv/test/test_lk.m new file mode 100755 index 0000000..c6ca701 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/test/test_lk.m @@ -0,0 +1,74 @@ +addpath ~/Matlab/Toolbox/lagrcv/ +addpath ~/Matlab/Toolbox/toolbox_basic/filter +addpath ~/Matlab/Toolbox/ikkjin/ + +N_FEA=1600; +WINSZ=8; %size of sum-up window +NO_PYR=2; +SUPPRESION_RADIUS=10; +LK_ITER=20; +IMAGE_DIR='~/backup/Research/ant/Transport/' +filelist=dir(fullfile(IMAGE_DIR, '*.jpg')); +flen=length(filelist); + +img_idx_cur=[1:flen]; + +%subplot(1,2,1);imshow(Iprev) +%/hold on +%//scatter(features(2,:),features(1,:),'r') +%% +imgName=fullfile(IMAGE_DIR,filelist(img_idx_cur(1)).name); +Icur=imread(imgName); +Icur=rgb2gray(Icur); +Icur=calcImgBlurMex(double(Icur)); +%% + +Jpyr=getPyramid(Icur, 2); + +[lambda tr det c_xx c_xy c_yy] =calcTextureMex(double(Icur), WINSZ); +imgsz=size(lambda); +lambda([1:8 end-8:end],:)=0; +lambda(:,[1:8 end-8:end])=0; +[temp idx]=sort(lambda(:), 'descend'); + +%% +featureIdx=idx(1:N_FEA); +features=zeros(3, N_FEA); +features(1,:)=ceil(featureIdx/imgsz(1)); +features(2,:)=featureIdx'-(features(1,:)-1)*imgsz(1); +features(3,:)=lambda(featureIdx); + +imagesc(lambda); hold on +scatter(features(1,:), features(2,:), 'r+');hold off +%% +interestPnt=getANMS(features(1,:)', features(2,:)', features(3,:)', SUPPRESION_RADIUS); +interestPnt=interestPnt'; +scatter(interestPnt(1,:), interestPnt(2,:), 'g+') +%% +features=interestPnt(1:2,:); +%% + +for iter=img_idx_cur + Iprev=Icur; + Icur=imread(fullfile(IMAGE_DIR,filelist(img_idx_cur(iter)).name)); + Icur=rgb2gray(Icur); + Icur=calcImgBlurMex(double(Icur)); + + Ipyr=Jpyr; + Jpyr=getPyramid(Icur, 2); + + [dxPyr dyPyr]=calcSobelPyrMex(Ipyr,2); + + [lambda tr det c_xx c_xy c_yy] = calcTexturePyrMex(dxPyr, dyPyr, WINSZ, NO_PYR); + + [newpoints status]=calcOptFlowLKPyrMex(Ipyr, dxPyr, dyPyr, Jpyr, double(features), 4, 0.03, LK_ITER, c_xx, c_xy, c_yy); + + newpoints=newpoints(:,find(status)); + figure(1); + imagesc(Icur);colormap gray + hold on;scatter(newpoints(1,:), newpoints(2,:), 'r+'); hold off; + drawnow + %print('-djpeg', sprintf('result/result_%03d', iter)) + %pause + features=newpoints; +end diff --git a/SD-VBS/common/toolbox/lagrcv/test/test_lk_disp.m b/SD-VBS/common/toolbox/lagrcv/test/test_lk_disp.m new file mode 100755 index 0000000..2d55fe3 --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/test/test_lk_disp.m @@ -0,0 +1,49 @@ +addpath /u/ikkjin/Matlab/Toolbox/lagrcv + +%Iprev=imread('/Projects/LAGR/logs/Test5/left_APIrun530-1/l24Aug05-abacination-1124876208.403311.ppm'); +%Icur=imread('/Projects/LAGR/logs/Test5/left_APIrun530-1/l24Aug05-abacination-1124876208.670013.ppm'); +Iprev=imread('img0.ppm'); +Icur=imread('img1.ppm'); + +Iprev=rgb2gray(Iprev); +Icur=rgb2gray(Icur); + +tic + [ features numvalid ] = goodFeaturesToTrack(Iprev, 0.3, 10); +toc +subplot(1,2,1);imshow(Iprev) +hold on +scatter(features(2,:),features(1,:),'r') + +Ipyr=getPyramid(Iprev, 3); +Jpyr=getPyramid(Icur, 3); +tic +[dxPyr2 dyPyr2]=calcGradientPyrMex(Ipyr,3); +toc +tic +[dxPyr dyPyr]=calcSobelPyrMex(Ipyr,3); +toc + +features=features(:,1:211); +for i=20 + features2=[features(2,:); features(1,:)]; +tic + [ newpoints status pyr1 ] = calcOpticalFlowPyrLK(Iprev,Icur,features, i); +toc +tic + [newpoints2 status]=calcOptFlowLKPyrMex(Ipyr, dxPyr, dyPyr, Jpyr, double(features2), 4, 0.03, i); +toc + newpoints2=[newpoints2(2,:); newpoints2(1,:)]; +features_out=features(:,find(status)); +newpoints=newpoints(:,find(status)); +newpoints2=newpoints2(:,find(status)); +subplot(1,2,1);imshow(Iprev);hold on +quiver(features_out(2,:),features_out(1,:), newpoints(2,:)-features_out(2,:), newpoints(1,:)-features_out(1,:),0,'r');hold off +subplot(1,2,2);imshow(Iprev);hold on +quiver(features_out(2,:),features_out(1,:), newpoints2(2,:)-features_out(2,:), newpoints2(1,:)-features_out(1,:),0,'r');hold off +%subplot(1,2,2);imshow(Icur);hold on +%scatter(newpoints2(2,:),newpoints2(1,:),'r');hold off +%sum(sum((newpoints-newpoints2).^2)) + +pause +end diff --git a/SD-VBS/common/toolbox/lagrcv/test/test_lk_opencv.m b/SD-VBS/common/toolbox/lagrcv/test/test_lk_opencv.m new file mode 100755 index 0000000..9cfd1ae --- /dev/null +++ b/SD-VBS/common/toolbox/lagrcv/test/test_lk_opencv.m @@ -0,0 +1,47 @@ +addpath ~/Matlab/Toolbox/lagrcv/ +addpath ~/Matlab/Toolbox/toolbox_basic/filter +addpath ~/Matlab/Toolbox/ikkjin/ + +IMAGE_DIR='/data/insecure/images/ants/Transport/' +filelist=dir(fullfile(IMAGE_DIR, '*.jpg')); +flen=length(filelist); + +img_idx_cur=[1:flen]; + +%subplot(1,2,1);imshow(Iprev) +%/hold on +%//scatter(features(2,:),features(1,:),'r') +%Iprev=imread(fullfile(IMAGE_DIR,filelist(img_idx_prev(1)).name)); +%% +imgName=fullfile(IMAGE_DIR,filelist(img_idx_cur(1)).name); +Icur=imread(imgName); +%% +Icur=smooth(double(rgb2gray(Icur)), 4); +%% +Icur=Icur(1:2:end,1:2:end); + +[ features numvalid ] = goodFeaturesToTrack(Icur, 0.3, 10); +features=features(:,1:numvalid); + +figure(1); +imagesc(Icur);colormap gray +hold on;scatter(features(2,:), features(1,:), 'r+'); hold off; + +%% +for iter=img_idx_cur + Iprev=Icur; + Icur=imread(fullfile(IMAGE_DIR,filelist(img_idx_cur(iter)).name)); + Icur=calcImgBlurMex(rgb2gray(Icur)); + + tic + [ newpoints status pyr1 ] = calcOpticalFlowPyrLK(Iprev,Icur,features); + toc + newpoints=newpoints(:,find(status)); + figure(1); + imagesc(Icur);colormap gray + hold on;scatter(newpoints(2,:), newpoints(1,:), 'r+'); hold off; + drawnow + print('-djpeg', sprintf('result/result_%03d', iter)) + %pause + features=newpoints; +end diff --git a/SD-VBS/common/toolbox/mex_template.c b/SD-VBS/common/toolbox/mex_template.c new file mode 100755 index 0000000..b85683f --- /dev/null +++ b/SD-VBS/common/toolbox/mex_template.c @@ -0,0 +1,58 @@ +//function W = mex_template(X,Y); + +#include +#include +//#include +//#include "mex_util.cpp" + +//#define PI 3.1415927 + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray +*in[]) { + //reading in + const mxArray *X = in[0]; + double *pr = mxGetPr(X); + int *ir = mxGetIr(X); + int *jc = mxGetJc(X); + int m = mxGetM(X); + int n = mxGetN(X); + + mxArray *cell_1 = mxGetCell(cell_input,0); + mxGetData() + mxGetNumberOfDimensions() + mxGetDimensions() + mxGetNumberOfElements() + + //sparse array reading + int i,j,k; + double x; + for (j=0;j0.1)&~two_focal, + disp('Should use two focals in x and y...'); +end; + +% Deduce the translation vector: + +Tc_2 = distance * H_2; + + + + + +return; + + V_hori_pix/V_hori_pix(3) + V_vert_pix/V_vert_pix(3) + V_diag1_pix/V_diag1_pix(3) + V_diag2_pix/V_diag2_pix(3) diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/Rectangle2Square.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/Rectangle2Square.m new file mode 100755 index 0000000..a6bbbe5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/Rectangle2Square.m @@ -0,0 +1,19 @@ +function [square] = Rectangle2Square(rectangle,L,W); + +% Generate the square from a rectangle of known segment lengths +% from pt1 to pt2 : L +% from pt2 to pt3 : W + +[u_hori,u_vert] = UnWarpPlane(rectangle); + +coeff_x = sqrt(W/L); +coeff_y = 1/coeff_x; + +x_coord = [ 0 coeff_x coeff_x 0]; +y_coord = [ 0 0 coeff_y coeff_y]; + + +square = rectangle(:,1) * ones(1,4) + u_hori*x_coord + u_vert*y_coord; +square = square ./ (ones(3,1)*square(3,:)); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/UnWarpPlane.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/UnWarpPlane.m new file mode 100755 index 0000000..8addf52 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/UnWarpPlane.m @@ -0,0 +1,54 @@ +function [u_hori,u_vert] = UnWarpPlane(x1,x2,x3,x4); + +% Recovers the two 3D directions of the rectangular patch x1x2x3x4 +% x1 is the origin point, ie any point of planar coordinate (x,y) on the +% rectangular patch will be projected on the image plane at: +% x1 + x * u_hori + y * u_vert +% +% Note: u_hori and u_vert are also the two vanishing points. + + +if nargin < 4, + + x4 = x1(:,4); + x3 = x1(:,3); + x2 = x1(:,2); + x1 = x1(:,1); + +end; + + +% Image Projection: +L1 = cross(x1,x2); +L2 = cross(x4,x3); +L3 = cross(x2,x3); +L4 = cross(x1,x4); + +% Vanishing point: +V1 = cross(L1,L2); +V2 = cross(L3,L4); + +% Horizon line: +H = cross(V1,V2); + +if H(3) < 0, H = -H; end; + + +H = H / norm(H); + + +X1 = x1 / dot(H,x1); +X2 = x2 / dot(H,x2); +X3 = x3 / dot(H,x3); +X4 = x4 / dot(H,x4); + +scale = X1(3); + +X1 = X1/scale; +X2 = X2/scale; +X3 = X3/scale; +X4 = X4/scale; + + +u_hori = X2 - X1; +u_vert = X4 - X1; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/add_suppress.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/add_suppress.m new file mode 100755 index 0000000..a8a32c0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/add_suppress.m @@ -0,0 +1,98 @@ + +if ~exist('n_ima'), + fprintf(1,'No data to process.\n'); + return; +end; + + +check_active_images; + + +fprintf(1,'\nThis function is useful to select a subset of images to calibrate\n'); + + fprintf(1,'\nThere are currently %d active images selected for calibration (out of %d):\n',length(ind_active),n_ima); + + if ~isempty(ind_active), + + for ii = 1:length(ind_active)-2, + + fprintf(1,'%d, ',ind_active(ii)); + + end; + + fprintf(1,'%d and %d.',ind_active(end-1),ind_active(end)); + + end; + + fprintf(1,'\n'); + + +fprintf(1,'\nDo you want to suppress or add images from that list?\n'); + +choice = 2; + +while (choice~=0)&(choice~=1), + choice = input('For suppressing images enter 0, for adding images enter 1 ([]=no change): '); + if isempty(choice), + fprintf(1,'No change applied to the list of active images.\n'); + return; + end; + if (choice~=0)&(choice~=1), + disp('Bad entry. Try again.'); + end; +end; + + +if choice, + + ima_numbers = input('Number(s) of image(s) to add ([] = all images) = '); + +if isempty(ima_numbers), + fprintf(1,'All %d images are now active\n',n_ima); + ima_proc = 1:n_ima; + else + ima_proc = ima_numbers; + end; + +else + + + ima_numbers = input('Number(s) of image(s) to suppress ([] = no image) = '); + + if isempty(ima_numbers), + fprintf(1,'No image has been suppressed. No modication of the list of active images.\n',n_ima); + ima_proc = []; + else + ima_proc = ima_numbers; + end; + +end; + +if ~isempty(ima_proc), + + active_images(ima_proc) = choice * ones(1,length(ima_proc)); + +end; + + + check_active_images; + + + fprintf(1,'\nThere is now a total of %d active images for calibration:\n',length(ind_active)); + + if ~isempty(ind_active), + + for ii = 1:length(ind_active)-2, + + fprintf(1,'%d, ',ind_active(ii)); + + end; + + fprintf(1,'%d and %d.',ind_active(end-1),ind_active(end)); + + end; + + fprintf(1,'\n\nYou may now run ''Calibration'' to recalibrate based on this new set of images.\n'); + + + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/analyse_error.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/analyse_error.m new file mode 100755 index 0000000..7a9cf0f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/analyse_error.m @@ -0,0 +1,141 @@ +% Color code for each image: + +if ~exist('n_ima')|~exist('fc'), + fprintf(1,'No calibration data available.\n'); + return; +end; + +check_active_images; + +if ~exist(['ex_' num2str(ind_active(1)) ]), + fprintf(1,'Need to calibrate before analysing reprojection error. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + + +%if ~exist('no_grid'), + no_grid = 0; +%end; + +colors = 'brgkcm'; + + +figure(5); + +for kk = 1:n_ima, + if exist(['y_' num2str(kk)]), + if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']), + + if ~no_grid, + eval(['XX_kk = X_' num2str(kk) ';']); + N_kk = size(XX_kk,2); + + if ~exist(['n_sq_x_' num2str(kk)]), + no_grid = 1; + end; + + if ~no_grid, + eval(['n_sq_x = n_sq_x_' num2str(kk) ';']); + eval(['n_sq_y = n_sq_y_' num2str(kk) ';']); + if (N_kk ~= ((n_sq_x+1)*(n_sq_y+1))), + no_grid = 1; + end; + end; + end; + + eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']); + + hold on; + end; + end; +end; + +hold off; +axis('equal'); +if 1, %~no_grid, + title('Reprojection error (in pixel) - To exit: right button'); +else + title('Reprojection error (in pixel)'); +end; +xlabel('x'); +ylabel('y'); + +set(5,'Name','error','NumberTitle','off'); + + + +err_std = std(ex')'; + +fprintf(1,'Pixel error: err = [ %3.5f %3.5f] (all active images)\n\n',err_std); + + +b = 1; + +while b==1, + +[xp,yp,b] = ginput3(1); + +if b==1, +ddd = (ex(1,:)-xp).^2 + (ex(2,:)-yp).^2; + +[mind,indmin] = min(ddd); + + +done = 0; +kk_ima = 1; +while (~done)&(kk_ima<=n_ima), + %fprintf(1,'%d...',kk_ima); + eval(['ex_kk = ex_' num2str(kk_ima) ';']); + sol_kk = find((ex_kk(1,:) == ex(1,indmin))&(ex_kk(2,:) == ex(2,indmin))); + if isempty(sol_kk), + kk_ima = kk_ima + 1; + else + done = 1; + end; +end; + +if ~no_grid, + +eval(['n_sq_x = n_sq_x_' num2str(kk_ima) ';']); +eval(['n_sq_y = n_sq_y_' num2str(kk_ima) ';']); + +Nx = n_sq_x+1; +Ny = n_sq_y+1; + +y1 = floor((sol_kk-1)./Nx); +x1 = sol_kk - 1 - Nx*y1; %rem(sol_kk-1,Nx); + +y1 = (n_sq_y+1) - y1; +x1 = x1 + 1; + +fprintf(1,'\nSelected image: %d\nSelected point: (col,row)=(%d,%d)\nNcol=%d, Nrow=%d\n',[kk_ima x1 y1 Nx Ny]); +fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]); + +else + + eval(['x_kk = x_' num2str(kk_ima) ';']); + + xpt = x_kk(:,sol_kk); + +fprintf(1,'\nSelected image: %d\nImage coordinates (in pixel): (%3.2f,%3.2f)\n',[kk_ima xpt']); +fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]); + + +end; + + +if exist(['wintx_' num2str(kk_ima)]), + + eval(['wintx = wintx_' num2str(kk_ima) ';']); + eval(['winty = winty_' num2str(kk_ima) ';']); + + fprintf(1,'Window size: wintx = %d, winty = %d\n',[wintx winty]); +end; + + +end; + +end; + +disp('done'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/apply_distortion.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/apply_distortion.m new file mode 100755 index 0000000..f5c5b48 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/apply_distortion.m @@ -0,0 +1,137 @@ +function [xd,dxddk] = apply_distortion(x,k) + + +[m,n] = size(x); + +% Add distortion: + +r2 = x(1,:).^2 + x(2,:).^2; + +r4 = r2.^2; + +% Radial distortion: + +cdist = 1 + k(1) * r2 + k(2) * r4; + +if nargout > 1, + dcdistdk = [ r2' r4' zeros(n,2)]; +end; + + +xd1 = x .* (ones(2,1)*cdist); + +coeff = (reshape([cdist;cdist],2*n,1)*ones(1,3)); + +if nargout > 1, + dxd1dk = zeros(2*n,4); + dxd1dk(1:2:end,:) = (x(1,:)'*ones(1,4)) .* dcdistdk; + dxd1dk(2:2:end,:) = (x(2,:)'*ones(1,4)) .* dcdistdk; +end; + + +% tangential distortion: + +a1 = 2.*x(1,:).*x(2,:); +a2 = r2 + 2*x(1,:).^2; +a3 = r2 + 2*x(2,:).^2; + +delta_x = [k(3)*a1 + k(4)*a2 ; + k(3) * a3 + k(4)*a1]; + +aa = (2*k(3)*x(2,:)+6*k(4)*x(1,:))'*ones(1,3); +bb = (2*k(3)*x(1,:)+2*k(4)*x(2,:))'*ones(1,3); +cc = (6*k(3)*x(2,:)+2*k(4)*x(1,:))'*ones(1,3); + +if nargout > 1, + ddelta_xdk = zeros(2*n,4); + ddelta_xdk(1:2:end,3) = a1'; + ddelta_xdk(1:2:end,4) = a2'; + ddelta_xdk(2:2:end,3) = a3'; + ddelta_xdk(2:2:end,4) = a1'; +end; + +xd = xd1 + delta_x; + +if nargout > 1, + dxddk = dxd1dk + ddelta_xdk ; +end; + + +return; + +% Test of the Jacobians: + +n = 10; + +X = 10*randn(3,n); +om = randn(3,1); +T = [10*randn(2,1);40]; +f = 1000*rand(2,1); +c = 1000*randn(2,1); +k = 0.5*randn(4,1); + + +[x,dxdom,dxdT,dxdf,dxdc,dxdk] = project_points(X,om,T,f,c,k); + + +% Test on om: NOT OK + +dom = 0.000000001 * norm(om)*randn(3,1); +om2 = om + dom; + +[x2] = project_points(X,om2,T,f,c,k); + +x_pred = x + reshape(dxdom * dom,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on T: OK!! + +dT = 0.0001 * norm(T)*randn(3,1); +T2 = T + dT; + +[x2] = project_points(X,om,T2,f,c,k); + +x_pred = x + reshape(dxdT * dT,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + + +% Test on f: OK!! + +df = 0.001 * norm(f)*randn(2,1); +f2 = f + df; + +[x2] = project_points(X,om,T,f2,c,k); + +x_pred = x + reshape(dxdf * df,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on c: OK!! + +dc = 0.01 * norm(c)*randn(2,1); +c2 = c + dc; + +[x2] = project_points(X,om,T,f,c2,k); + +x_pred = x + reshape(dxdc * dc,2,n); + +norm(x2-x)/norm(x2 - x_pred) + +% Test on k: OK!! + +dk = 0.001 * norm(4)*randn(4,1); +k2 = k + dk; + +[x2] = project_points(X,om,T,f,c,k2); + +x_pred = x + reshape(dxdk * dk,2,n); + +norm(x2-x)/norm(x2 - x_pred) diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/calib_gui.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/calib_gui.m new file mode 100755 index 0000000..d591d03 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/calib_gui.m @@ -0,0 +1,117 @@ +fig_number = 1; + +n_row = 4; +n_col = 4; + +string_list = cell(n_row,n_col); +callback_list = cell(n_row,n_col); + +x_size = 85; +y_size = 14; +gap_x = 0; +font_name = 'clean'; +font_size = 8; + +title_figure = 'Camera Calibration Toolbox'; + +string_list{1,1} = 'Image names'; +string_list{1,2} = 'Read images'; +string_list{1,3} = 'Extract grid corners'; +string_list{1,4} = 'Calibration'; +string_list{2,1} = 'Show Extrinsic'; +string_list{2,2} = 'Reproject on images'; +string_list{2,3} = 'Analyse error'; +string_list{2,4} = 'Recomp. corners'; +string_list{3,1} = 'Add/Suppress images'; +string_list{3,2} = 'Save'; +string_list{3,3} = 'Load'; +string_list{3,4} = 'Exit'; + +string_list{4,1} = 'Comp. Extrinsic'; +string_list{4,2} = 'Undistort image'; +string_list{4,3} = 'Export calib data'; + + +callback_list{1,1} = 'data_calib;'; +callback_list{1,2} = 'ima_read_calib;'; +callback_list{1,3} = 'click_calib;'; +callback_list{1,4} = 'go_calib_optim;'; +callback_list{2,1} = 'ext_calib;'; +callback_list{2,2} = 'reproject_calib;'; +callback_list{2,3} = 'analyse_error;'; +callback_list{2,4} = 'recomp_corner_calib;'; +callback_list{3,1} = 'add_suppress;'; +callback_list{3,2} = 'saving_calib;'; +callback_list{3,3} = 'loading_calib;'; +callback_list{3,4} = ['disp(''Bye. To run again, type calib_gui.''); close(' num2str(fig_number) ');']; + +callback_list{4,1} = 'extrinsic_computation;'; +callback_list{4,2} = 'undistort_image;'; +callback_list{4,3} = 'export_calib_data;'; + + +%------- BEGIN PROECTED REGION -----------% +%------- DO NOT EDIT IN THIS REGION -----------% + +figure(fig_number); clf; +pos = get(fig_number,'Position'); + +fig_size_x = x_size*n_col+(n_col+1)*gap_x; +fig_size_y = y_size*n_row+(n_row+1)*gap_x; + +set(fig_number,'Units','points', ... + 'BackingStore','off', ... + 'Color',[0.8 0.8 0.8], ... + 'MenuBar','none', ... + 'Resize','off', ... + 'Name',title_figure, ... +'Position',[pos(1) pos(2) fig_size_x fig_size_y], ... +'NumberTitle','off'); %,'WindowButtonMotionFcn',['figure(' num2str(fig_number) ');']); + +h_mat = zeros(n_row,n_col); + +posx = zeros(n_row,n_col); +posy = zeros(n_row,n_col); + +for i=n_row:-1:1, + for j = n_col:-1:1, + posx(i,j) = gap_x+(j-1)*(x_size+gap_x); + posy(i,j) = fig_size_y - i*(gap_x+y_size); + end; +end; + +for i=n_row:-1:1, + for j = n_col:-1:1, + if ~isempty(string_list{i,j}) & ~isempty(callback_list{i,j}), + h_mat(i,j) = uicontrol('Parent',fig_number, ... + 'Units','points', ... + 'Callback',callback_list{i,j}, ... + 'ListboxTop',0, ... + 'Position',[posx(i,j) posy(i,j) x_size y_size], ... + 'String',string_list{i,j}, ... + 'fontsize',font_size,... + 'fontname',font_name,... + 'Tag','Pushbutton1'); + end; + end; +end; + +%------ END PROTECTED REGION ----------------% + +if 0, +%-- VERSION: + +uicontrol('Parent',fig_number, ... + 'Units','points', ... + 'ListboxTop',0, ... + 'Position',[(fig_size_x-x_size/2)-2 -5 x_size/2 y_size], ... + 'String','ver. 1.0', ... + 'fontsize',8,... + 'BackgroundColor',[0.8 0.8 0.8], ... + 'fontname','clean',... + 'HorizontalAlignment','right', ... + 'Style','text'); +end; + + +%clear callback_list string_list fig_number fig_size_x fig_size_y i j n_col n_row pos string_list title_figure x_size y_size font_name font_size gap_x h_mat posx posy diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_active_images.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_active_images.m new file mode 100755 index 0000000..fc365a5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_active_images.m @@ -0,0 +1,19 @@ + +if ~exist('active_images'), + active_images = ones(1,n_ima); +end; +n_act = length(active_images); +if n_act < n_ima, + active_images = [active_images ones(1,n_ima-n_act)]; +else + if n_act > n_ima, + active_images = active_images(1:n_ima); + end; +end; + +ind_active = find(active_images); + +if prod(active_images == 0), + disp('Error: There is no active image'); + break +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_convergence.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_convergence.m new file mode 100755 index 0000000..c4b13fd --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_convergence.m @@ -0,0 +1,48 @@ +%%% Replay the set of solution vectors: + + +if ~exist('param_list'), + if ~exist('solution'); + fprintf(1,'Error: Need to calibrate first\n'); + return; + else + param_list = solution; + end; +end; + +N_iter = size(param_list,2); + +if N_iter == 1, + fprintf(1,'Warning: There is a unique state in the list of parameters.\n'); +end; + + + +%M = moviein(N_iter); + +for nn = 1:N_iter, + + solution = param_list(:,nn); + + extract_parameters; + comp_error_calib; + + ext_calib; + + drawnow; + +% Mnn = getframe(gcf); + +% M(:,nn) = Mnn; + +end; + +%fig = gcf; + + +%figure(fig+1); +%close; +%figure(fig+1); + +%clf; +%movie(M,20); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_directory.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_directory.m new file mode 100755 index 0000000..dc23149 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_directory.m @@ -0,0 +1,97 @@ +% This small script looks in the direcory and checks if the images are there. +% +% This works only on Matlab 5.x (otherwise, the dir commands works differently) + +% (c) Jean-Yves Bouguet - Dec. 27th, 1999 + +l = dir([calib_name '*']); + +Nl = size(l,1); +Nima_valid = 0; +ind_valid = []; +loc_extension = []; +length_name = size(calib_name,2); + +if Nl > 0, + + for pp = 1:Nl, + filenamepp = l(pp).name; + iii = findstr(filenamepp,calib_name); + + loc_ext = findstr(filenamepp,format_image); + string_num = filenamepp(length_name+1:loc_ext - 2); + + if isempty(str2num(string_num)), + iii = []; + end; + + + if ~isempty(iii), + if (iii(1) ~= 1), + iii = []; + end; + end; + + + + if ~isempty(iii) & ~isempty(loc_ext), + + Nima_valid = Nima_valid + 1; + ind_valid = [ind_valid pp]; + loc_extension = [loc_extension loc_ext(1)]; + + end; + + end; + + if (Nima_valid==0), + + fprintf(1,'No image found. File format may be wrong.\n'); + + else + + % Get all the string numbers: + + string_length = zeros(1,Nima_valid); + indices = zeros(1,Nima_valid); + + + for ppp = 1:Nima_valid, + + name = l(ind_valid(ppp)).name; + string_num = name(length_name+1:loc_extension(ppp) - 2); + string_length(ppp) = size(string_num,2); + indices(ppp) = str2num(string_num); + + end; + + % Number of images... + first_num = min(indices); + n_ima = max(indices) - first_num + 1; + + if min(string_length) == max(string_length), + + N_slots = min(string_length); + type_numbering = 1; + + else + + N_slots = 1; + type_numbering = 0; + + end; + + image_numbers = first_num:n_ima-1+first_num; + + %%% By default, all the images are active for calibration: + + active_images = ones(1,n_ima); + + end; + +else + + fprintf(1,'No image found. Basename may be wrong.\n'); + +end; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_extracted_images.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_extracted_images.m new file mode 100755 index 0000000..fa7df87 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/check_extracted_images.m @@ -0,0 +1,37 @@ +check_active_images; + +for kk = ind_active, + + if ~exist(['x_' num2str(kk)]), + + fprintf(1,'WARNING: Need to extract grid corners on image %d\n',kk); + + active_images(kk) = 0; + + eval(['dX_' num2str(kk) ' = NaN;']); + eval(['dY_' num2str(kk) ' = NaN;']); + + eval(['wintx_' num2str(kk) ' = NaN;']); + eval(['winty_' num2str(kk) ' = NaN;']); + + eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); + eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); + + eval(['n_sq_x_' num2str(kk) ' = NaN;']); + eval(['n_sq_y_' num2str(kk) ' = NaN;']); + + else + + eval(['xkk = x_' num2str(kk) ';']); + + if isnan(xkk(1)), + + fprintf(1,'WARNING: Need to extract grid corners on image %d - This image is now set inactive\n',kk); + + active_images(kk) = 0; + + end; + + end; + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/clear_windows.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/clear_windows.m new file mode 100755 index 0000000..1eccbd3 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/clear_windows.m @@ -0,0 +1,4 @@ +for kk = 1:n_ima, + eval(['clear wintx_' num2str(kk)]); + eval(['clear winty_' num2str(kk)]); +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/clearwin.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/clearwin.m new file mode 100755 index 0000000..a04be67 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/clearwin.m @@ -0,0 +1,10 @@ +% Function that clears all the wintx_i and winty_i +% In normal operation of the toolbox, this function should not be +% useful. +% only in cases where you want to re-extract corners using the Extract grid corners another time... not common. You might as well use the Recomp. corners. + +for kk = 1:n_ima, + + eval(['clear wintx_' num2str(kk) ' winty_' num2str(kk)]); + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_calib.m new file mode 100755 index 0000000..1a6d2d7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_calib.m @@ -0,0 +1,193 @@ +%if exist('images_read'); +% active_images = active_images & images_read; +%end; + +var2fix = 'dX_default'; + +fixvariable; + +var2fix = 'dY_default'; + +fixvariable; + +var2fix = 'map'; + +fixvariable; + + +if ~exist('n_ima'), + data_calib; +end; + +check_active_images; + +if ~exist(['I_' num2str(ind_active(1))]), + ima_read_calib; + if isempty(ind_read), + disp('Cannot extract corners without images'); + return; + end; +end; + + +%wintx = 10; % neigborhood of integration for +%winty = 10; % the corner finder + +fprintf(1,'\nExtraction of the grid corners on the images\n'); + + +if ~exist('map'), map = gray(256); end; + + +disp('WARNING!!! Do not forget to change dX_default and dY_default in click_calib.m!!!') + +if ~exist('dX_default'); + +% Default size of the pattern squares; + +% Setup of JY (old at Caltech) +%dX_default = 21.9250/11; +%dY_default = 18.1250/9; + +% Setup of JY (new at Intel) +%dX_default = 1.9750; +%dY_default = 1.9865; + + +% Setup of Luis and Enrico +%dX_default = 67.7/16; +%dY_default = 50.65/12; + + +% Setup of German +%dX_default = 10.16; +%dY_default = 10.16; + +% Setup of JY (new at Intel) +%dX_default = 1.9750*2.54; +%dY_default = 1.9865*2.54; + +% Setup of JY - 3D calibration rig at Intel (new at Intel) +%dX_default = 3; +%dY_default = 3; + +% Setup of JY - 3D calibration rig at Intel (new at Intel) - use units in mm to match Zhang +dX_default = 30; +dY_default = 30; + +end; + + +if ~exist('dont_ask'), + dont_ask = 0; +end; + + +if ~dont_ask, + ima_numbers = input('Number(s) of image(s) to process ([] = all images) = '); +else + ima_numbers = []; +end; + +if isempty(ima_numbers), + ima_proc = 1:n_ima; +else + ima_proc = ima_numbers; +end; + + +% Useful option to add images: +kk_first = ima_proc(1); %input('Start image number ([]=1=first): '); + +%if isempty(kk_first), kk_first = 1; end; + + +if exist(['wintx_' num2str(kk_first)]), + + eval(['wintxkk = wintx_' num2str(kk_first) ';']); + + if isempty(wintxkk) | isnan(wintxkk), + + disp('Window size for corner finder (wintx and winty):'); + wintx = input('wintx ([] = 5) = '); + if isempty(wintx), wintx = 5; end; + wintx = round(wintx); + winty = input('winty ([] = 5) = '); + if isempty(winty), winty = 5; end; + winty = round(winty); + + fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + + end; + +else + + disp('Window size for corner finder (wintx and winty):'); + wintx = input('wintx ([] = 5) = '); + if isempty(wintx), wintx = 5; end; + wintx = round(wintx); + winty = input('winty ([] = 5) = '); + if isempty(winty), winty = 5; end; + winty = round(winty); + + fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + +end; + + +for kk = ima_proc, + if exist(['I_' num2str(kk)]), + click_ima_calib; + active_images(kk) = 1; + else + eval(['dX_' num2str(kk) ' = NaN;']); + eval(['dY_' num2str(kk) ' = NaN;']); + + eval(['wintx_' num2str(kk) ' = NaN;']); + eval(['winty_' num2str(kk) ' = NaN;']); + + eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); + eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); + + eval(['n_sq_x_' num2str(kk) ' = NaN;']); + eval(['n_sq_y_' num2str(kk) ' = NaN;']); + end; +end; + + +check_active_images; + + +% Fix potential non-existing variables: + +for kk = 1:n_ima, + if ~exist(['x_' num2str(kk)]), + eval(['dX_' num2str(kk) ' = NaN;']); + eval(['dY_' num2str(kk) ' = NaN;']); + + eval(['wintx_' num2str(kk) ' = NaN;']); + eval(['winty_' num2str(kk) ' = NaN;']); + + eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); + eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); + + eval(['n_sq_x_' num2str(kk) ' = NaN;']); + eval(['n_sq_y_' num2str(kk) ' = NaN;']); + end; +end; + + +string_save = 'save calib_data active_images ind_active wintx winty n_ima type_numbering N_slots first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default dX dY'; + +for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' n_sq_x_' num2str(kk) ' n_sq_y_' num2str(kk) ' wintx_' num2str(kk) ' winty_' num2str(kk) ' dX_' num2str(kk) ' dY_' num2str(kk)]; +end; + +eval(string_save); + +disp('done'); + +return; + +go_calib_optim; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_ima_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_ima_calib.m new file mode 100755 index 0000000..f0fd4ca --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_ima_calib.m @@ -0,0 +1,230 @@ + % Cleaned-up version of init_calib.m + + fprintf(1,'\nProcessing image %d...\n',kk); + + eval(['I = I_' num2str(kk) ';']); + + if exist(['wintx_' num2str(kk)]), + + eval(['wintxkk = wintx_' num2str(kk) ';']); + + if ~isempty(wintxkk) & ~isnan(wintxkk), + + eval(['wintx = wintx_' num2str(kk) ';']); + eval(['winty = winty_' num2str(kk) ';']); + + end; + end; + + + fprintf(1,'Using (wintx,winty)=(%d,%d) - Window size = %dx%d\n',wintx,winty,2*wintx+1,2*winty+1); + + + figure(2); + image(I); + colormap(map); + + title(['Click on the four extreme corners of the rectangular pattern... Image ' num2str(kk)]); + + disp('Click on the four extreme corners of the rectangular complete pattern...'); + + [x,y] = ginput3(4); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + if (x(2) > x(1)), + x4 = x(1);y4 = y(1); x3 = x(2); y3 = y(2); + else + x4 = x(2);y4 = y(2); x3 = x(1); y3 = y(1); + end; + if (x(3) > x(4)), + x2 = x(3);y2 = y(3); x1 = x(4); y1 = y(4); + else + x2 = x(4);y2 = y(4); x1 = x(3); y1 = y(3); + end; + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'g-'); + plot(x,y,'og'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','g','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','g','Fontsize',14); + hold off; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=' num2str(dX_default) 'mm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=' num2str(dY_default) 'mm) = ']); + if isempty(dX), dX = dX_default; else dX_default = dX; end; + if isempty(dY), dY = dY_default; else dY_default = dY; end; + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planar collineation: (return the normalization matrix as well) + + [Homo,Hnorm,inv_Hnorm] = compute_homography ([a00 a10 a11 a01],[0 1 1 0;0 0 1 1;1 1 1 1]); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + + + + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + + + %save all_corners x y grid_pts + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + image(I); colormap(map); hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + + + % Saves all the data into variables: + + eval(['dX_' num2str(kk) ' = dX;']); + eval(['dY_' num2str(kk) ' = dY;']); + + eval(['wintx_' num2str(kk) ' = wintx;']); + eval(['winty_' num2str(kk) ' = winty;']); + + eval(['x_' num2str(kk) ' = x;']); + eval(['X_' num2str(kk) ' = X;']); + + eval(['n_sq_x_' num2str(kk) ' = n_sq_x;']); + eval(['n_sq_y_' num2str(kk) ' = n_sq_y;']); + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_ima_calib3D.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_ima_calib3D.m new file mode 100755 index 0000000..7718268 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/click_ima_calib3D.m @@ -0,0 +1,482 @@ + % Cleaned-up version of init_calib.m + + eval(['I = I_' num2str(kk) ';']); + + figure(2); + image(I); + colormap(map); + + + + + + %%%%%%%%%%%%%%%%%%%%%%%%% LEFT PATTERN ACQUISITION %%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + + + title(['Click on the four extreme corners of the left rectangular pattern... Image ' num2str(kk)]); + + disp('Click on the four extreme corners of the left rectangular pattern...'); + + [x,y] = ginput3(4); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + if (x(2) > x(1)), + x4 = x(1);y4 = y(1); x3 = x(2); y3 = y(2); + else + x4 = x(2);y4 = y(2); x3 = x(1); y3 = y(1); + end; + if (x(3) > x(4)), + x2 = x(3);y2 = y(3); x1 = x(4); y1 = y(4); + else + x2 = x(4);y2 = y(4); x1 = x(3); y1 = y(3); + end; + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'g-'); + plot(x,y,'og'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','g','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','g','Fontsize',14); + hold off; + + drawnow; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + + if 1, + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=' num2str(dX_default) 'cm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=' num2str(dY_default) 'cm) = ']); + if isempty(dX), dX = dX_default; else dX_default = dX; end; + if isempty(dY), dY = dY_default; else dY_default = dY; end; + + else + + dX = 3; + dY = 3; + + end; + + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planart collineation: (return the normalization matrice as well) + + [Homo,Hnorm,inv_Hnorm] = compute_collineation (a00, a10, a11, a01); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + if 1, + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + end; + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + %save all_corners x y grid_pts + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + + % Global Homography from plane to pixel coordinates: + + H_total = [1 0 -1 ; 0 1 -1 ; 0 0 1]*Homo*[1 0 0;0 -1 1;0 0 1]*[1/W 0 0 ; 0 1/L 0; 0 0 1]; + % WARNING!!! the first matrix (on the left side) takes care of the transformation of the pixel cooredinates by -1 (previous line) + % If it is not done, then this matrix should not appear (in C) + H_total = H_total / H_total(3,3); + + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + image(I); colormap(map); hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + + + % The left pannel info: + + xl = x; + Xl = X; + nl_sq_x = n_sq_x; + nl_sq_y = n_sq_y; + Hl = H_total; + + + + + + + %%%%%%%%%%%%%%%%%%%%%%%%% RIGHT PATTERN ACQUISITION %%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + + x1 = a10(1)/a10(3); + x4 = a11(1)/a11(3); + + y1 = a10(2)/a10(3); + y4 = a11(2)/a11(3); + + + figure(2); + hold on; + plot([x1 x4],[y1 y4],'c-'); + plot([x1 x4],[y1 y4],'co'); + hold off; + + title(['Click on the two remaining extreme corners of the right rectangular pattern... Image ' num2str(kk)]); + + disp('Click on the two remaining extreme corners of the right rectangular pattern...'); + + [x,y] = ginput3(2); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + x2 = x(2); + x3 = x(1); + + y2 = y(2); + y3 = y(1); + + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'c-'); + plot(x,y,'oc'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','c','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','c','Fontsize',14); + hold off; + drawnow; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + + if 1, + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=' num2str(dX_default) 'cm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=' num2str(dY_default) 'cm) = ']); + if isempty(dX), dX = dX_default; else dX_default = dX; end; + if isempty(dY), dY = dY_default; else dY_default = dY; end; + + else + + dX = 3; + dY = 3; + + end; + + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planart collineation: (return the normalization matrice as well) + + [Homo,Hnorm,inv_Hnorm] = compute_collineation (a00, a10, a11, a01); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + if 1, + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + end; + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + %save all_corners x y grid_pts + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + + % Global Homography from plane to pixel coordinates: + + H_total = [1 0 -1 ; 0 1 -1 ; 0 0 1]*Homo*[1 0 0;0 -1 1;0 0 1]*[1/W 0 0 ; 0 1/L 0; 0 0 1]; + % WARNING!!! the first matrix (on the left side) takes care of the transformation of the pixel cooredinates by -1 (previous line) + % If it is not done, then this matrix should not appear (in C) + H_total = H_total / H_total(3,3); + + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + + + % The right pannel info: + + xr = x; + Xr = X; + nr_sq_x = n_sq_x; + nr_sq_y = n_sq_y; + Hr = H_total; + + + +%%%%%%%% REGROUP THE LEFT AND RIHT PATTERNS %%%%%%%%%%%%% + + +Xr2 = [0 0 1;0 1 0;-1 0 0]*Xr + [dX*nl_sq_x;0;0]*ones(1,length(Xr)); + + +x = [xl xr]; + +X = [Xl Xr2]; + + + + eval(['x_' num2str(kk) ' = x;']); + eval(['X_' num2str(kk) ' = X;']); + + eval(['nl_sq_x_' num2str(kk) ' = nl_sq_x;']); + eval(['nl_sq_y_' num2str(kk) ' = nl_sq_y;']); + + eval(['nr_sq_x_' num2str(kk) ' = nr_sq_x;']); + eval(['nr_sq_y_' num2str(kk) ' = nr_sq_y;']); + + % Save the global planar homography: + + eval(['Hl_' num2str(kk) ' = Hl;']); + eval(['Hr_' num2str(kk) ' = Hr;']); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion.m new file mode 100755 index 0000000..a0f03de --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion.m @@ -0,0 +1,38 @@ +function [x_comp] = comp_distortion(x_dist,k2); + +% [x_comp] = comp_distortion(x_dist,k2); +% +% compensates the radial distortion of the camera +% on the image plane. +% +% x_dist : the image points got without considering the +% radial distortion. +% x : The image plane points after correction for the distortion +% +% x and x_dist are 2xN arrays +% +% NOTE : This compensation has to be done after the substraction +% of the center of projection, and division by the focal +% length. +% +% (do it up to a second order approximation) + +[two,N] = size(x_dist); + +if (two ~= 2 ), + error('ERROR : The dimension of the points should be 2xN'); +end; + +if length(k2) > 2, + [x_comp] = comp_distortion_oulu(x_dist,k2); +else + +radius_2= x_dist(1,:).^2 + x_dist(2,:).^2; +radial_distortion = 1 + ones(2,1)*(k2 * radius_2); +radius_2_comp = (x_dist(1,:).^2 + x_dist(2,:).^2) ./ radial_distortion(1,:); +radial_distortion = 1 + ones(2,1)*(k2 * radius_2_comp); +x_comp = x_dist ./ radial_distortion; + +end; + +%% Function completely checked : It works fine !!! \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion2.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion2.m new file mode 100755 index 0000000..532ee9a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion2.m @@ -0,0 +1,71 @@ +function [x_comp] = comp_distortion(x_dist,k2); + +% [x_comp] = comp_distortion(x_dist,k2); +% +% compensates the radial distortion of the camera +% on the image plane. +% +% x_dist : the image points got without considering the +% radial distortion. +% k2: Radial distortion factor +% +% x : The image plane points after correction for the distortion +% +% x and x_dist are 2xN arrays +% +% NOTE : This compensation has to be done after the substraction +% of the center of projection, and division by the focal +% length. +% +% Solve for cubic roots using method from Numerical Recipes in C 2nd Ed. +% pages 184-185. + + +% California Institute of Technology +% (c) Jean-Yves Bouguet - April 27th, 1998 + +% fully checked! JYB, april 27th, 1998 - 2am + +if k2 ~= 0, + +[two,N] = size(x_dist); + +if (two ~= 2 ), + error('ERROR : The dimension of the points should be 2xN'); +end; + + +ph = atan2(x_dist(2,:),x_dist(1,:)); + +Q = -1/(3*k2); +R = -x_dist(1,:)./(2*k2*cos(ph)); + +R2 = R.^2; +Q3 = Q^3; + + +if k2 < 0, + + % this works in all practical situations (it starts failing for very large + % values of k2) + + th = acos(R./sqrt(Q3)); + r = -2*sqrt(Q)*cos((th-2*pi)/3); + +else + + % note: this always works, even for ridiculous values of k2 + + A = (sqrt(R2-Q3)-R).^(1/3); + B = Q*(1./A); + r = (A+B); + +end; + +x_comp = [r.*cos(ph); r.*sin(ph)]; + +else + + x_comp = x_dist; + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion_oulu.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion_oulu.m new file mode 100755 index 0000000..67d02d5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_distortion_oulu.m @@ -0,0 +1,47 @@ +function [x] = comp_distortion_oulu(xd,k); + +%comp_distortion_oulu.m +% +%[x] = comp_distortion_oulu(xd,k) +% +%Compensates for radial and tangential distortion. Model From Oulu university. +%For more informatino about the distortion model, check the forward projection mapping function: +%project_points.m +% +%INPUT: xd: distorted (normalized) point coordinates in the image plane (2xN matrix) +% k: Distortion coefficients (radial and tangential) (4x1 vector) +% +%OUTPUT: x: undistorted (normalized) point coordinates in the image plane (2xN matrix) +% +%Method: Iterative method for compensation. +% +%NOTE: This compensation has to be done after the subtraction +% of the principal point, and division by the focal length. + + +if length(k) < 4, + + [x] = comp_distortion(xd,k); + +else + + + k1 = k(1); + k2 = k(2); + p1 = k(3); + p2 = k(4); + + x = xd; % initial guess + + for kk=1:5; + + r_2 = sum(x.^2); + k_radial = 1 + k1 * r_2 + k2 * r_2.^2; + delta_x = [2*p1*x(1,:).*x(2,:) + p2*(r_2 + 2*x(1,:).^2) ; + p1 * (r_2 + 2*x(2,:).^2)+2*p2*x(1,:).*x(2,:)]; + x = (xd - delta_x)./(ones(2,1)*k_radial); + + end; + +end; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_error_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_error_calib.m new file mode 100755 index 0000000..c7bf662 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/comp_error_calib.m @@ -0,0 +1,46 @@ +%%%%%%%%%%%%%%%%%%%% RECOMPUTES THE REPROJECTION ERROR %%%%%%%%%%%%%%%%%%%%%%%% + +check_active_images; + +% Reproject the patterns on the images, and compute the pixel errors: + +ex = []; % Global error vector +x = []; % Detected corners on the image plane +y = []; % Reprojected points + +if ~exist('alpha_c'), + alpha_c = 0; +end; + +for kk = 1:n_ima, + + eval(['omckk = omc_' num2str(kk) ';']); + eval(['Tckk = Tc_' num2str(kk) ';']); + + if active_images(kk) & (~isnan(omckk(1,1))), + + %Rkk = rodrigues(omckk); + + eval(['y_' num2str(kk) ' = project_points2(X_' num2str(kk) ',omckk,Tckk,fc,cc,kc,alpha_c);']); + + eval(['ex_' num2str(kk) ' = x_' num2str(kk) ' -y_' num2str(kk) ';']); + + eval(['x_kk = x_' num2str(kk) ';']); + + eval(['ex = [ex ex_' num2str(kk) '];']); + eval(['x = [x x_' num2str(kk) '];']); + eval(['y = [y y_' num2str(kk) '];']); + + else + + % eval(['y_' num2str(kk) ' = NaN*ones(2,1);']); + + + % If inactivated image, the error does not make sense: + eval(['ex_' num2str(kk) ' = NaN*ones(2,1);']); + + end; + +end; + +err_std = std(ex')'; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_collineation.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_collineation.m new file mode 100755 index 0000000..809c309 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_collineation.m @@ -0,0 +1,66 @@ +function [H,Hnorm,inv_Hnorm] = compute_collineation (a00, a10, a11, a01); + +% new formalism using homographies + +a00 = a00 / a00(3); +a10 = a10 / a10(3); +a11 = a11 / a11(3); +a01 = a01 / a01(3); + + +% Prenormalization of point coordinates (very important): +% (Affine normalization) + +ax = [a00(1);a10(1);a11(1);a01(1)]; +ay = [a00(2);a10(2);a11(2);a01(2)]; + +mxx = mean(ax); +myy = mean(ay); +ax = ax - mxx; +ay = ay - myy; + +scxx = mean(abs(ax)); +scyy = mean(abs(ay)); + + +Hnorm = [1/scxx 0 -mxx/scxx;0 1/scyy -myy/scyy;0 0 1]; +inv_Hnorm = [scxx 0 mxx ; 0 scyy myy; 0 0 1]; + + +a00n = Hnorm*a00; +a10n = Hnorm*a10; +a11n = Hnorm*a11; +a01n = Hnorm*a01; + + +% Computation of the vanishing points: + +V1n = cross(cross(a00n,a10n),cross(a01n,a11n)); +V2n = cross(cross(a00n,a01n),cross(a10n,a11n)); + +V1 = inv_Hnorm*V1n; +V2 = inv_Hnorm*V2n; + + +% Normalizaion of the vanishing points: + +V1n = V1n/norm(V1n); +V2n = V2n/norm(V2n); + + +% Closed-form solution of the coefficients: + +alpha_x = (a10n(2)*a00n(1) - a10n(1)*a00n(2))/(V1n(2)*a10n(1)-V1n(1)*a10n(2)); + +alpha_y = (a01n(2)*a00n(1) - a01n(1)*a00n(2))/(V2n(2)*a01n(1)-V2n(1)*a01n(2)); + + +% Remaining Homography + +Hrem = [alpha_x*V1n alpha_y*V2n a00n]; + + +% Final homography: + +H = inv_Hnorm*Hrem; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic.m new file mode 100755 index 0000000..5217351 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic.m @@ -0,0 +1,123 @@ +function [omckk,Tckk,Rckk,H,x,ex,JJ] = compute_extrinsic(x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter,thresh_cond), + +%compute_extrinsic +% +%[omckk,Tckk,Rckk,H,x,ex] = compute_extrinsic(x_kk,X_kk,fc,cc,kc,alpha_c) +% +%Computes the extrinsic parameters attached to a 3D structure X_kk given its projection +%on the image plane x_kk and the intrinsic camera parameters fc, cc and kc. +%Works with planar and non-planar structures. +% +%INPUT: x_kk: Feature locations on the images +% X_kk: Corresponding grid coordinates +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% alpha_c: Skew coefficient +% +%OUTPUT: omckk: 3D rotation vector attached to the grid positions in space +% Tckk: 3D translation vector attached to the grid positions in space +% Rckk: 3D rotation matrices corresponding to the omc vectors +% H: Homography between points on the grid and points on the image plane (in pixel) +% This makes sense only if the planar that is used in planar. +% x: Reprojections of the points on the image plane +% ex: Reprojection error: ex = x_kk - x; +% +%Method: Computes the normalized point coordinates, then computes the 3D pose +% +%Important functions called within that program: +% +%normalize: Computes the normalize image point coordinates. +% +%pose3D: Computes the 3D pose of the structure given the normalized image projection. +% +%project_points.m: Computes the 2D image projections of a set of 3D points + + + +if nargin < 8, + thresh_cond = inf; +end; + + +if nargin < 7, + MaxIter = 20; +end; + + +if nargin < 6, + alpha_c = 0; + if nargin < 5, + kc = zeros(4,1); + if nargin < 4, + cc = zeros(2,1); + if nargin < 3, + fc = ones(2,1); + if nargin < 2, + error('Need 2D projections and 3D points (in compute_extrinsic.m)'); + return; + end; + end; + end; + end; +end; + +% Initialization: + +[omckk,Tckk,Rckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc,alpha_c); + +% Refinement: + +[omckk,Tckk,Rckk,JJ] = compute_extrinsic_refine(omckk,Tckk,x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter,thresh_cond); + + +% computation of the homography (not useful in the end) + +H = [Rckk(:,1:2) Tckk]; + +% Computes the reprojection error in pixels: + +x = project_points2(X_kk,omckk,Tckk,fc,cc,kc,alpha_c); + +ex = x_kk - x; + + +% Converts the homography in pixel units: + +KK = [fc(1) alpha_c*fc(1) cc(1);0 fc(2) cc(2); 0 0 1]; + +H = KK*H; + + + + +return; + + +% Test of compte extrinsic: + +Np = 4; +sx = 10; +sy = 10; +sz = 5; + +om = randn(3,1); +T = [0;0;100]; + +noise = 2/1000; + +XX = [sx*randn(1,Np);sy*randn(1,Np);sz*randn(1,Np)]; +xx = project_points(XX,om,T); + +xxn = xx + noise * randn(2,Np); + +[omckk,Tckk] = compute_extrinsic(xxn,XX); + +[om omckk om-omckk] +[T Tckk T-Tckk] + +figure(3); +plot(xx(1,:),xx(2,:),'r+'); +hold on; +plot(xxn(1,:),xxn(2,:),'g+'); +hold off; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic_init.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic_init.m new file mode 100755 index 0000000..2e6d821 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic_init.m @@ -0,0 +1,151 @@ +function [omckk,Tckk,Rckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc,alpha_c), + +%compute_extrinsic +% +%[omckk,Tckk,Rckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc,alpha_c) +% +%Computes the extrinsic parameters attached to a 3D structure X_kk given its projection +%on the image plane x_kk and the intrinsic camera parameters fc, cc and kc. +%Works with planar and non-planar structures. +% +%INPUT: x_kk: Feature locations on the images +% X_kk: Corresponding grid coordinates +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% alpha_c: Skew coefficient +% +%OUTPUT: omckk: 3D rotation vector attached to the grid positions in space +% Tckk: 3D translation vector attached to the grid positions in space +% Rckk: 3D rotation matrices corresponding to the omc vectors +% +%Method: Computes the normalized point coordinates, then computes the 3D pose +% +%Important functions called within that program: +% +%normalize: Computes the normalize image point coordinates. +% +%pose3D: Computes the 3D pose of the structure given the normalized image projection. +% +%project_points.m: Computes the 2D image projections of a set of 3D points + + + +if nargin < 6, + alpha_c = 0; + if nargin < 5, + kc = zeros(4,1); + if nargin < 4, + cc = zeros(2,1); + if nargin < 3, + fc = ones(2,1); + if nargin < 2, + error('Need 2D projections and 3D points (in compute_extrinsic.m)'); + return; + end; + end; + end; + end; +end; + + +% Compute the normalized coordinates: + +xn = normalize(x_kk,fc,cc,kc,alpha_c); + + + +Np = size(xn,2); + +%% Check for planarity of the structure: + +X_mean = mean(X_kk')'; + +Y = X_kk - (X_mean*ones(1,Np)); + +YY = Y*Y'; + +[U,S,V] = svd(YY); + +r = S(3,3)/S(2,2); + +if (r < 1e-3)|(Np < 6), %1e-3, %1e-4, %norm(X_kk(3,:)) < eps, % Test of planarity + + %fprintf(1,'Planar structure detected: r=%f\n',r); + + % Transform the plane to bring it in the Z=0 plane: + + R_transform = V'; + + if det(R_transform) < 0, R_transform = -R_transform; end; + + T_transform = -(R_transform)*X_mean; + + X_new = R_transform*X_kk + T_transform*ones(1,Np); + + + % Compute the planar homography: + + H = compute_homography (xn,X_new(1:2,:)); + + % De-embed the motion parameters from the homography: + + sc = mean([norm(H(:,1));norm(H(:,2))]); + + H = H/sc; + + omckk = rodrigues([H(:,1:2) cross(H(:,1),H(:,2))]); + Rckk = rodrigues(omckk); + Tckk = H(:,3); + + %If Xc = Rckk * X_new + Tckk, then Xc = Rckk * R_transform * X_kk + Tckk + T_transform + + Tckk = Tckk + Rckk* T_transform; + Rckk = Rckk * R_transform; + + omckk = rodrigues(Rckk); + Rckk = rodrigues(omckk); + + +else + + %fprintf(1,'Non planar structure detected: r=%f\n',r); + + % Computes an initial guess for extrinsic parameters (works for general 3d structure, not planar!!!): + % The DLT method is applied here!! + + J = zeros(2*Np,12); + + xX = (ones(3,1)*xn(1,:)).*X_kk; + yX = (ones(3,1)*xn(2,:)).*X_kk; + + J(1:2:end,[1 4 7]) = -X_kk'; + J(2:2:end,[2 5 8]) = X_kk'; + J(1:2:end,[3 6 9]) = xX'; + J(2:2:end,[3 6 9]) = -yX'; + J(1:2:end,12) = xn(1,:)'; + J(2:2:end,12) = -xn(2,:)'; + J(1:2:end,10) = -ones(Np,1); + J(2:2:end,11) = ones(Np,1); + + JJ = J'*J; + [U,S,V] = svd(JJ); + + RR = reshape(V(1:9,12),3,3); + + if det(RR) < 0, + V(:,12) = -V(:,12); + RR = -RR; + end; + + [Ur,Sr,Vr] = svd(RR); + + Rckk = Ur*Vr'; + + sc = norm(V(1:9,12)) / norm(Rckk(:)); + Tckk = V(10:12,12)/sc; + + omckk = rodrigues(Rckk); + Rckk = rodrigues(omckk); + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic_refine.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic_refine.m new file mode 100755 index 0000000..a4d066c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_extrinsic_refine.m @@ -0,0 +1,113 @@ +function [omckk,Tckk,Rckk,JJ] = compute_extrinsic_refine(omc_init,Tc_init,x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter,thresh_cond), + +%compute_extrinsic +% +%[omckk,Tckk,Rckk] = compute_extrinsic_refine(x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter) +% +%Computes the extrinsic parameters attached to a 3D structure X_kk given its projection +%on the image plane x_kk and the intrinsic camera parameters fc, cc and kc. +%Works with planar and non-planar structures. +% +%INPUT: x_kk: Feature locations on the images +% X_kk: Corresponding grid coordinates +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% alpha_c: Skew coefficient +% MaxIter: Maximum number of iterations +% +%OUTPUT: omckk: 3D rotation vector attached to the grid positions in space +% Tckk: 3D translation vector attached to the grid positions in space +% Rckk: 3D rotation matrices corresponding to the omc vectors + +% +%Method: Computes the normalized point coordinates, then computes the 3D pose +% +%Important functions called within that program: +% +%normalize: Computes the normalize image point coordinates. +% +%pose3D: Computes the 3D pose of the structure given the normalized image projection. +% +%project_points.m: Computes the 2D image projections of a set of 3D points + + +if nargin < 10, + thresh_cond = inf; +end; + + +if nargin < 9, + MaxIter = 20; +end; + +if nargin < 8, + alpha_c = 0; + if nargin < 7, + kc = zeros(4,1); + if nargin < 6, + cc = zeros(2,1); + if nargin < 5, + fc = ones(2,1); + if nargin < 4, + error('Need 2D projections and 3D points (in compute_extrinsic_refine.m)'); + return; + end; + end; + end; + end; +end; + + +% Initialization: + +omckk = omc_init; +Tckk = Tc_init; + + +% Final optimization (minimize the reprojection error in pixel): +% through Gradient Descent: + +param = [omckk;Tckk]; + +change = 1; + +iter = 0; + +%keyboard; + +%fprintf(1,'Gradient descent iterations: '); + +while (change > 1e-10)&(iter < MaxIter), + + %fprintf(1,'%d...',iter+1); + + [x,dxdom,dxdT] = project_points2(X_kk,omckk,Tckk,fc,cc,kc,alpha_c); + + ex = x_kk - x; + + %keyboard; + + JJ = [dxdom dxdT]; + + if cond(JJ) > thresh_cond, + change = 0; + else + + JJ2 = JJ'*JJ; + + param_innov = inv(JJ2)*(JJ')*ex(:); + param_up = param + param_innov; + change = norm(param_innov)/norm(param_up); + param = param_up; + iter = iter + 1; + + omckk = param(1:3); + Tckk = param(4:6); + end; + +end; + +%fprintf(1,'\n'); + +Rckk = rodrigues(omckk); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_homography.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_homography.m new file mode 100755 index 0000000..fcc9003 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/compute_homography.m @@ -0,0 +1,163 @@ +function [H,Hnorm,inv_Hnorm] = compute_homography (m,M); + +%compute_homography +% +%[H,Hnorm,inv_Hnorm] = compute_homography (m,M) +% +%Computes the planar homography between the point coordinates on the plane (M) and the image +%point coordinates (m). +% +%INPUT: m: homogeneous coordinates in the image plane (3xN matrix) +% M: homogeneous coordinates in the plane in 3D (3xN matrix) +% +%OUTPUT: H: Homography matrix (3x3 homogeneous matrix) +% Hnorm: Normlization matrix used on the points before homography computation +% (useful for numerical stability is points in pixel coordinates) +% inv_Hnorm: The inverse of Hnorm +% +%Definition: m ~ H*M where "~" means equal up to a non zero scalar factor. +% +%Method: First computes an initial guess for the homography through quasi-linear method. +% Then, if the total number of points is larger than 4, optimize the solution by minimizing +% the reprojection error (in the least squares sense). +% +% +%Important functions called within that program: +% +%comp_distortion_oulu: Undistorts pixel coordinates. +% +%compute_homography.m: Computes the planar homography between points on the grid in 3D, and the image plane. +% +%project_points.m: Computes the 2D image projections of a set of 3D points, and also returns te Jacobian +% matrix (derivative with respect to the intrinsic and extrinsic parameters). +% This function is called within the minimization loop. + + + + +Np = size(m,2); + +if size(m,1)<3, + m = [m;ones(1,Np)]; +end; + +if size(M,1)<3, + M = [M;ones(1,Np)]; +end; + + +m = m ./ (ones(3,1)*m(3,:)); +M = M ./ (ones(3,1)*M(3,:)); + +% Prenormalization of point coordinates (very important): +% (Affine normalization) + +ax = m(1,:); +ay = m(2,:); + +mxx = mean(ax); +myy = mean(ay); +ax = ax - mxx; +ay = ay - myy; + +scxx = mean(abs(ax)); +scyy = mean(abs(ay)); + + +Hnorm = [1/scxx 0 -mxx/scxx;0 1/scyy -myy/scyy;0 0 1]; +inv_Hnorm = [scxx 0 mxx ; 0 scyy myy; 0 0 1]; + +mn = Hnorm*m; + +% Compute the homography between m and mn: + +% Build the matrix: + +L = zeros(2*Np,9); + +L(1:2:2*Np,1:3) = M'; +L(2:2:2*Np,4:6) = M'; +L(1:2:2*Np,7:9) = -((ones(3,1)*mn(1,:)).* M)'; +L(2:2:2*Np,7:9) = -((ones(3,1)*mn(2,:)).* M)'; + +if Np > 4, + L = L'*L; +end; + +[U,S,V] = svd(L); + +hh = V(:,9); +hh = hh/hh(9); + +Hrem = reshape(hh,3,3)'; +%Hrem = Hrem / Hrem(3,3); + +% Final homography: + +H = inv_Hnorm*Hrem; + + +%%% Homography refinement if there are more than 4 points: + +if Np > 4, + + % Final refinement: + + hhv = reshape(H',9,1); + hhv = hhv(1:8); + + for iter=1:10, + + mrep = H * M; + + J = zeros(2*Np,8); + + MMM = (M ./ (ones(3,1)*mrep(3,:))); + + J(1:2:2*Np,1:3) = -MMM'; + J(2:2:2*Np,4:6) = -MMM'; + + mrep = mrep ./ (ones(3,1)*mrep(3,:)); + + m_err = m(1:2,:) - mrep(1:2,:); + m_err = m_err(:); + + MMM2 = (ones(3,1)*mrep(1,:)) .* MMM; + MMM3 = (ones(3,1)*mrep(2,:)) .* MMM; + + J(1:2:2*Np,7:8) = MMM2(1:2,:)'; + J(2:2:2*Np,7:8) = MMM3(1:2,:)'; + + MMM = (M ./ (ones(3,1)*mrep(3,:)))'; + + hh_innov = inv(J'*J)*J'*m_err; + + hhv_up = hhv - hh_innov; + + H_up = reshape([hhv_up;1],3,3)'; + + %norm(m_err) + %norm(hh_innov) + + hhv = hhv_up; + H = H_up; + + end; + +end; + + + + + +return; + +%test of Jacobian + +mrep = H*M; +mrep = mrep ./ (ones(3,1)*mrep(3,:)); + +m_err = mrep(1:2,:) - m(1:2,:); +figure(8); +plot(m_err(1,:),m_err(2,:),'r+'); +std(m_err') diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/cornerfinder.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/cornerfinder.m new file mode 100755 index 0000000..9bfa51f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/cornerfinder.m @@ -0,0 +1,215 @@ +function [xc,good,bad,type] = cornerfinder(xt,I,wintx,winty,wx2,wy2); + +%[xc] = cornerfinder(xt,I); +% +%Finds the sub-pixel corners on the image I with initial guess xt +%xt and xc are 2xN matrices. The first component is the x coordinate +%(horizontal) and the second component is the y coordinate (vertical) +% +%Based on Harris corner finder method +% +%Finds corners to a precision below .1 pixel! +%Oct. 14th, 1997 - UPDATED to work with vertical and horizontal edges as well!!! +%Sept 1998 - UPDATED to handle diverged points: we keep the original points +%good is a binary vector indicating wether a feature point has been properly +%found. +% +%Add a zero zone of size wx2,wy2 +%July 15th, 1999 - Bug on the mask building... fixed + change to Gaussian mask with higher +%resolution and larger number of iterations. + + +% California Institute of Technology +% (c) Jean-Yves Bouguet -- Oct. 14th, 1997 + + + +line_feat = 1; % set to 1 to allow for extraction of line features. + +xt = xt'; +xt = fliplr(xt); + + +if nargin < 4, + winty = 5; + if nargin < 3, + wintx = 5; + end; +end; + + +if nargin < 6, + wx2 = -1; + wy2 = -1; +end; + + +%mask = ones(2*wintx+1,2*winty+1); +mask = exp(-((-wintx:wintx)'/(wintx)).^2) * exp(-((-winty:winty)/(winty)).^2); + + +if (wx2>0) & (wy2>0), + if ((wintx - wx2)>=2)&((winty - wy2)>=2), + mask(wintx+1-wx2:wintx+1+wx2,winty+1-wy2:winty+1+wy2)= zeros(2*wx2+1,2*wy2+1); + end; +end; + +offx = [-wintx:wintx]'*ones(1,2*winty+1); +offy = ones(2*wintx+1,1)*[-winty:winty]; + +resolution = 0.005; + +MaxIter = 10; + +[nx,ny] = size(I); +N = size(xt,1); + +xc = xt; % first guess... they don't move !!! + +type = zeros(1,N); + + +for i=1:N, + + v_extra = resolution + 1; % just larger than resolution + + compt = 0; % no iteration yet + + while (norm(v_extra) > resolution) & (compt 0, % the sub pixel + vIx = [itIx 1-itIx 0]'; % accuracy. + else + vIx = [0 1+itIx -itIx]'; + end; + if itIy > 0, + vIy = [itIy 1-itIy 0]; + else + vIy = [0 1+itIy -itIy]; + end; + + + % What if the sub image is not in? + + if (crIx-wintx-2 < 1), xmin=1; xmax = 2*wintx+5; + elseif (crIx+wintx+2 > nx), xmax = nx; xmin = nx-2*wintx-4; + else + xmin = crIx-wintx-2; xmax = crIx+wintx+2; + end; + + if (crIy-winty-2 < 1), ymin=1; ymax = 2*winty+5; + elseif (crIy+winty+2 > ny), ymax = ny; ymin = ny-2*winty-4; + else + ymin = crIy-winty-2; ymax = crIy+winty+2; + end; + + + SI = I(xmin:xmax,ymin:ymax); % The necessary neighborhood + SI = conv2(conv2(SI,vIx,'same'),vIy,'same'); + SI = SI(2:2*wintx+4,2:2*winty+4); % The subpixel interpolated neighborhood + [gy,gx] = gradient(SI); % The gradient image + gx = gx(2:2*wintx+2,2:2*winty+2); % extraction of the useful parts only + gy = gy(2:2*wintx+2,2:2*winty+2); % of the gradients + + px = cIx + offx; + py = cIy + offy; + + gxx = gx .* gx .* mask; + gyy = gy .* gy .* mask; + gxy = gx .* gy .* mask; + + + bb = [sum(sum(gxx .* px + gxy .* py)); sum(sum(gxy .* px + gyy .* py))]; + + a = sum(sum(gxx)); + b = sum(sum(gxy)); + c = sum(sum(gyy)); + + dt = a*c - b^2; + + xc2 = [c*bb(1)-b*bb(2) a*bb(2)-b*bb(1)]/dt; + + + %keyboard; + + if line_feat, + + G = [a b;b c]; + [U,S,V] = svd(G); + + %keyboard; + + % If non-invertible, then project the point onto the edge orthogonal: + + if (S(1,1)/S(2,2) > 50), + % projection operation: + xc2 = xc2 + sum((xc(i,:)-xc2).*(V(:,2)'))*V(:,2)'; + type(i) = 1; + end; + + end; + + + %keyboard; + +% G = [a b;b c]; +% [U,S,V] = svd(G); + + +% if S(1,1)/S(2,2) > 150, +% bb2 = U'*bb; +% xc2 = (V*[bb2(1)/S(1,1) ;0])'; +% else +% xc2 = [c*bb(1)-b*bb(2) a*bb(2)-b*bb(1)]/dt; +% end; + + + %if (abs(a)> 50*abs(c)), +% xc2 = [(c*bb(1)-b*bb(2))/dt xc(i,2)]; +% elseif (abs(c)> 50*abs(a)) +% xc2 = [xc(i,1) (a*bb(2)-b*bb(1))/dt]; +% else +% xc2 = [c*bb(1)-b*bb(2) a*bb(2)-b*bb(1)]/dt; +% end; + + %keyboard; + + v_extra = xc(i,:) - xc2; + + xc(i,:) = xc2; + +% keyboard; + + compt = compt + 1; + + end +end; + + +% check for points that diverge: + +delta_x = xc(:,1) - xt(:,1); +delta_y = xc(:,2) - xt(:,2); + +%keyboard; + + +bad = (abs(delta_x) > wintx) | (abs(delta_y) > winty); +good = ~bad; +in_bad = find(bad); + +% For the diverged points, keep the original guesses: + +xc(in_bad,:) = xt(in_bad,:); + +xc = fliplr(xc); +xc = xc'; + +bad = bad'; +good = good'; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/count_squares.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/count_squares.m new file mode 100755 index 0000000..0e226c0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/count_squares.m @@ -0,0 +1,74 @@ +function ns = count_squares(I,x1,y1,x2,y2,win); + +%keyboard; + +[ny,nx] = size(I); + +lambda = [y1 - y2;x2 - x1;x1*y2 - x2*y1]; + +lambda = 1/sqrt(lambda(1)^2 + lambda(2)^2) * lambda; + +l1 = lambda + [0;0;win]; +l2 = lambda - [0;0;win]; + + +dx = x2-x1; +dy = y2 - y1; + + +if abs(dx) > abs(dy), + + if x2 > x1, + xs = x1:x2; + else + xs = x1:-1:x2; + end; + + ys = -(lambda(3) + lambda(1)*xs)/lambda(2); + +else + + if y2 > y1, + ys = y1:y2; + else + ys = y1:-1:y2; + end; + xs = -(lambda(3) + lambda(2)*ys)/lambda(1); + +end; + + + + Np = length(xs); + + xs_mat = ones(2*win + 1,1)*xs; + ys_mat = ones(2*win + 1,1)*ys; + + win_mat = (-win:win)'*ones(1,Np); + + + xs_mat2 = round(xs_mat - win_mat * lambda(1)); + ys_mat2 = round(ys_mat - win_mat * lambda(2)); + + ind_mat = (xs_mat2 - 1) * ny + ys_mat2; + + ima_patch = zeros(2*win + 1,Np); + + ima_patch(:) = I(ind_mat(:)); + + %ima2 = ima_patch(:,win+1:end-win); + + filtk = [ones(win,Np);zeros(1,Np);-ones(win,Np)]; + + out_f = sum(filtk.*ima_patch); + + out_f_f = conv2(out_f,[1/4 1/2 1/4],'same'); + + out_f_f = out_f_f(win+1:end-win); + + ns = length(find(((out_f_f(2:end)>=0)&(out_f_f(1:end-1)<0)) | ((out_f_f(2:end)<=0)&(out_f_f(1:end-1)>0))))+1; + + + + +return; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/data_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/data_calib.m new file mode 100755 index 0000000..422769b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/data_calib.m @@ -0,0 +1,92 @@ +%%% This script alets the user enter the name of the images (base name, numbering scheme,... + + +% Checks that there are some images in the directory: + +l_ras = dir('*ras'); +s_ras = size(l_ras,1); +l_bmp = dir('*bmp'); +s_bmp = size(l_bmp,1); +l_tif = dir('*tif'); +s_tif = size(l_tif,1); +l_pgm = dir('*pgm'); +s_pgm = size(l_pgm,1); +l_jpg = dir('*jpg'); +s_jpg = size(l_jpg,1); + +s_tot = s_ras + s_bmp + s_tif + s_pgm + s_jpg; + +if s_tot < 1, + fprintf(1,'No image in this directory in either ras, bmp, tif, pgm or jpg format. Change directory and try again.\n'); + break; +end; + + +% IF yes, display the directory content: + +dir; + +Nima_valid = 0; + +while (Nima_valid==0), + + fprintf(1,'\n'); + calib_name = input('Basename camera calibration images (without number nor suffix): ','s'); + + format_image = '0'; + + while format_image == '0', + + format_image = input('Image format: ([]=''r''=''ras'', ''b''=''bmp'', ''t''=''tif'', ''p''=''pgm'', ''j''=''jpg'', ''m''=''ppm'') ','s'); + + if isempty(format_image), + format_image = 'ras'; + end; + + if lower(format_image(1)) == 'm', + format_image = 'ppm'; + else + if lower(format_image(1)) == 'b', + format_image = 'bmp'; + else + if lower(format_image(1)) == 't', + format_image = 'tif'; + else + if lower(format_image(1)) == 'p', + format_image = 'pgm'; + else + if lower(format_image(1)) == 'j', + format_image = 'jpg'; + else + if lower(format_image(1)) == 'r', + format_image = 'ras'; + else + disp('Invalid image format'); + format_image = '0'; % Ask for format once again + end; + end; + end; + end; + end; + end; + end; + + + check_directory; + +end; + + + +%string_save = 'save calib_data n_ima type_numbering N_slots image_numbers format_image calib_name first_num'; + +%eval(string_save); + + + +if (Nima_valid~=0), + % Reading images: + + ima_read_calib; % may be launched from the toolbox itself +end; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/error_analysis.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/error_analysis.m new file mode 100755 index 0000000..85feac5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/error_analysis.m @@ -0,0 +1,182 @@ +%%% ERROR_ANALYSIS +%%% This simulation helps coputing the acturacies of calibration +%%% Run it after the main calibration + + + +N_runs = 200; + +%N_ima_active = 4; + +saving = 1; + +if 1, %~exist('fc_list'), % initialization + + % Initialization: + + load Calib_Results; + check_active_images; + + fc_list = []; + cc_list = []; + kc_list = []; + active_images_list = []; + + + for kk=1:n_ima, + + eval(['omc_list_' num2str(kk) ' = [];']); + eval(['Tc_list_' num2str(kk) ' = [];']); + + end; + + %sx = median(abs(ex(1,:)))*1.4836; + %sy = median(abs(ex(2,:)))*1.4836; + + sx = std(ex(1,:)); + sy = std(ex(2,:)); + + % Saving the feature locations: + + for kk = 1:n_ima, + + eval(['x_save_' num2str(kk) ' = x_' num2str(kk) ';']); + eval(['y_save_' num2str(kk) ' = y_' num2str(kk) ';']); + + end; + + active_images_save = active_images; + ind_active_save = ind_active; + + fc_save = fc; + cc_save = cc; + kc_save = kc; + KK_save = KK; + + +end; + + + + +%%% The main loop: + + +for ntrial = 1:N_runs, + + fprintf(1,'\nRun number: %d\n',ntrial); + fprintf(1, '----------\n'); + + for kk = 1:n_ima, + + eval(['y_kk = y_save_' num2str(kk) ';']) + + if active_images(kk) & ~isnan(y_kk(1,1)), + + Nkk = size(y_kk,2); + + x_kk_new = y_kk + [sx * randn(1,Nkk);sy*randn(1,Nkk)]; + + eval(['x_' num2str(kk) ' = x_kk_new;']); + + end; + + end; + + N_active = length(ind_active_save); + junk = randn(1,N_active); + [junk,junk2] = sort(junk); + + active_images = zeros(1,n_ima); + active_images(ind_active_save(junk2(1:N_ima_active))) = ones(1,N_ima_active); + + fc = fc_save; + cc = cc_save; + kc = kc_save; + KK = KK_save; + + go_calib_optim; + + fc_list = [fc_list fc]; + cc_list = [cc_list cc]; + kc_list = [kc_list kc]; + active_images_list = [active_images_list active_images']; + + for kk=1:n_ima, + + eval(['omc_list_' num2str(kk) ' = [ omc_list_' num2str(kk) ' omc_' num2str(kk) ' ];']); + eval(['Tc_list_' num2str(kk) ' = [ Tc_list_' num2str(kk) ' Tc_' num2str(kk) ' ];']); + + end; + +end; + + + + +if 0, + +% Restoring the feature locations: + +for kk = 1:n_ima, + + eval(['x_' num2str(kk) ' = x_save_' num2str(kk) ';']); + +end; + +fprintf(1,'\nFinal run (with the real data)\n'); +fprintf(1, '------------------------------\n'); + +active_images = active_images_save; +ind_active = ind_active_save; + +go_calib_optim; + +fc_list = [fc_list fc]; +cc_list = [cc_list cc]; +kc_list = [kc_list kc]; +active_images_list = [active_images_list active_images']; + +for kk=1:n_ima, + + eval(['omc_list_' num2str(kk) ' = [ omc_list_' num2str(kk) ' omc_' num2str(kk) ' ];']); + eval(['Tc_list_' num2str(kk) ' = [ Tc_list_' num2str(kk) ' Tc_' num2str(kk) ' ];']); + +end; + +end; + + + + + +if saving, + +disp(['Save Calibration accuracy results under Calib_Accuracies_' num2str(N_ima_active) '.mat']); + +string_save = ['save Calib_Accuracies_' num2str(N_ima_active) ' active_images n_ima N_ima_active N_runs active_images_list fc cc kc fc_list cc_list kc_list']; + +for kk = 1:n_ima, + string_save = [string_save ' Tc_list_' num2str(kk) ' omc_list_' num2str(kk) ' Tc_' num2str(kk) ' omc_' num2str(kk) ]; +end; + +eval(string_save); + +end; + + +return; + +std(fc_list') + +std(cc_list') + +std(kc_list') + +for kk = 1:n_ima, + + eval(['std(Tc_list_' num2str(kk) ''')']) + +end; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/export_calib_data.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/export_calib_data.m new file mode 100755 index 0000000..39506a8 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/export_calib_data.m @@ -0,0 +1,99 @@ +%% Export calibration data (corners + 3D coordinates) to +%% text files (in Willson-Heikkila's format or Zhang's format) + +%% Thanks to Michael Goesele (from the Max-Planck-Institut) for the original suggestion +%% of adding thsi export function to the toolbox. + + +if ~exist('n_ima'), + fprintf(1,'ERROR: No calibration data to export\n'); + +else + + check_active_images; + + check_extracted_images; + + check_active_images; + + fprintf(1,'Tool that exports calibration data to Willson-Heikkila or Zhang formats\n'); + + qformat = -1; + + while (qformat ~=0)&(qformat ~=1), + + fprintf(1,'Two possible formats of export: 0=Willson and Heikkila, 1=Zhang\n') + qformat = input('Format of export (enter 0 or 1): '); + + if isempty(qformat) + qformat = -1; + end; + + if (qformat ~=0)&(qformat ~=1), + + fprintf(1,'Invalid entry. Try again.\n') + + end; + + end; + + if qformat == 0, + + fprintf(1,'\nExport of calibration data to text files (Willson and Heikkila''s format)\n'); + outputfile = input('File basename: ','s'); + + for kk = ind_active, + + eval(['X_kk = X_' num2str(kk) ';']); + eval(['x_kk = x_' num2str(kk) ';']); + + Xx = [X_kk ; x_kk]'; + + file_name = [outputfile num2str(kk)]; + + disp(['Exporting calibration data (3D world + 2D image coordinates) of image ' num2str(kk) ' to file ' file_name '...']); + + eval(['save ' file_name ' Xx -ASCII']); + + end; + + else + + fprintf(1,'\nExport of calibration data to text files (Zhang''s format)\n'); + modelfile = input('File basename for the 3D world coordinates: ','s'); + datafile = input('File basename for the 2D image coordinates: ','s'); + + for kk = ind_active, + + eval(['X_kk = X_' num2str(kk) ';']); + eval(['x_kk = x_' num2str(kk) ';']); + + if ~exist(['n_sq_x_' num2str(kk)]), + n_sq_x = 1; + n_sq_y = size(X_kk,2); + else + eval(['n_sq_x = n_sq_x_' num2str(kk) ';']); + eval(['n_sq_y = n_sq_y_' num2str(kk) ';']); + end; + + X = reshape(X_kk(1,:)',n_sq_x+1,n_sq_y+1)'; + Y = reshape(X_kk(2,:)',n_sq_x+1,n_sq_y+1)'; + XY = reshape([X;Y],n_sq_y+1,2*(n_sq_x+1)); + + x = reshape(x_kk(1,:)',n_sq_x+1,n_sq_y+1)'; + y = reshape(x_kk(2,:)',n_sq_x+1,n_sq_y+1)'; + xy = reshape([x;y],n_sq_y+1,2*(n_sq_x+1)); + + disp(['Exporting calibration data of image ' num2str(kk) ' to files ' modelfile num2str(kk) '.txt and ' datafile num2str(kk) '.txt...']); + + eval(['save ' modelfile num2str(kk) '.txt XY -ASCII']); + eval(['save ' datafile num2str(kk) '.txt xy -ASCII']); + + end; + + +end; + +fprintf(1,'done\n'); + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ext_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ext_calib.m new file mode 100755 index 0000000..04d6319 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ext_calib.m @@ -0,0 +1,152 @@ + +%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%% + +if ~exist('n_ima')|~exist('fc'), + fprintf(1,'No calibration data available.\n'); + return; +end; + +check_active_images; + +if ~exist(['omc_' num2str(ind_active(1))]), + fprintf(1,'No calibration data available.\n'); + return; +end; + +%if ~exist('no_grid'), + no_grid = 0; +%end; + +if ~exist(['n_sq_x_' num2str(ind_active(1))]), + no_grid = 1; +end; + + +if 0, + +err_std = std(ex'); + +fprintf(1,'\n\nCalibration results without principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); + +end; + + +% Color code for each image: + +colors = 'brgkcm'; + + +%%% Show the extrinsic parameters + +if ~exist('dX'), + eval(['dX = norm(Tc_' num2str(ind_active(1)) ')/10;']); + dY = dX; +end; + +IP = 5*dX*([0 nx-1 nx-1 0 0 ; 0 0 ny-1 ny-1 0;1 1 1 1 1] - [cc;0]*ones(1,5)) ./ ([fc;1]*ones(1,5)); +BASE = 5*dX*([0 1 0 0 0 0;0 0 0 1 0 0;0 0 0 0 0 1]); +IP = reshape([IP;BASE(:,1)*ones(1,5);IP],3,15); + +figure(4); +[a,b] = view; + +figure(4); +plot3(BASE(1,:),BASE(3,:),-BASE(2,:),'b-','linewidth',2'); +hold on; +plot3(IP(1,:),IP(3,:),-IP(2,:),'r-','linewidth',2); +text(6*dX,0,0,'X_c'); +text(-dX,5*dX,0,'Z_c'); +text(0,0,-6*dX,'Y_c'); +text(-dX,-dX,dX,'O_c'); + + +for kk = 1:n_ima, + + if active_images(kk); + + if exist(['X_' num2str(kk)]) & exist(['omc_' num2str(kk)]), + + eval(['XX_kk = X_' num2str(kk) ';']); + + if ~isnan(XX_kk(1,1)) + + eval(['omc_kk = omc_' num2str(kk) ';']); + eval(['Tc_kk = Tc_' num2str(kk) ';']); + N_kk = size(XX_kk,2); + + if ~exist(['n_sq_x_' num2str(kk)]), + no_grid = 1; + else + eval(['n_sq_x = n_sq_x_' num2str(kk) ';']); + if isnan(n_sq_x(1)), + no_grid = 1; + end; + end; + + + if ~no_grid, + eval(['n_sq_x = n_sq_x_' num2str(kk) ';']); + eval(['n_sq_y = n_sq_y_' num2str(kk) ';']); + if (N_kk ~= ((n_sq_x+1)*(n_sq_y+1))), + no_grid = 1; + end; + end; + + if ~isnan(omc_kk(1,1)), + + R_kk = rodrigues(omc_kk); + + YY_kk = R_kk * XX_kk + Tc_kk * ones(1,length(XX_kk)); + + uu = [-dX;-dY;0]/2; + uu = R_kk * uu + Tc_kk; + + if ~no_grid, + YYx = zeros(n_sq_x+1,n_sq_y+1); + YYy = zeros(n_sq_x+1,n_sq_y+1); + YYz = zeros(n_sq_x+1,n_sq_y+1); + + YYx(:) = YY_kk(1,:); + YYy(:) = YY_kk(2,:); + YYz(:) = YY_kk(3,:); + + %keyboard; + + figure(4); + hhh= mesh(YYx,YYz,-YYy); + set(hhh,'edgecolor',colors(rem(kk-1,6)+1),'linewidth',1); %,'facecolor','none'); + %plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['o' colors(rem(kk-1,6)+1)]); + text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1)); + else + + figure(4); + plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['.' colors(rem(kk-1,6)+1)]); + text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1)); + + end; + + end; + + end; + + end; + + end; + +end; + +figure(4);rotate3d on; +axis('equal'); +title('Extrinsic parameters'); +%view(60,30); +view(a,b); +hold off; + +set(4,'Name','3D','NumberTitle','off'); + +%fprintf(1,'To generate the complete movie associated to the optimization loop, try: check_convergence;\n'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_grid.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_grid.m new file mode 100755 index 0000000..0cf9abe --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_grid.m @@ -0,0 +1,234 @@ +function [x,X,n_sq_x,n_sq_y,ind_orig,ind_x,ind_y] = extract_grid(I,wintx,winty,fc,cc,kc,dX,dY); + +map = gray(256); + +minI = min(I(:)); +maxI = max(I(:)); + +Id = 255*(I - minI)/(maxI - minI); + + figure(2); + image(Id); + colormap(map); + + + if nargin < 2, + + disp('Window size for corner finder (wintx and winty):'); + wintx = input('wintx ([] = 5) = '); + if isempty(wintx), wintx = 5; end; + wintx = round(wintx); + winty = input('winty ([] = 5) = '); + if isempty(winty), winty = 5; end; + winty = round(winty); + + fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + + end; + + + + title('Click on the four extreme corners of the rectangular pattern...'); + + disp('Click on the four extreme corners of the rectangular complete pattern...'); + + [x,y] = ginput3(4); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + if (x(2) > x(1)), + x4 = x(1);y4 = y(1); x3 = x(2); y3 = y(2); + else + x4 = x(2);y4 = y(2); x3 = x(1); y3 = y(1); + end; + if (x(3) > x(4)), + x2 = x(3);y2 = y(3); x1 = x(4); y1 = y(4); + else + x2 = x(4);y2 = y(4); x1 = x(3); y1 = y(3); + end; + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'g-'); + plot(x,y,'og'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','g','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','g','Fontsize',14); + hold off; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + if ~exist('dX')|~exist('dY'), + + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=30mm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=30mm) = ']); + if isempty(dX), dX = 30; end; + if isempty(dY), dY = 30; end; + + end; + + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planart collineation: (return the normalization matrice as well) + + [Homo,Hnorm,inv_Hnorm] = compute_homography ([a00 a10 a11 a01],[0 1 1 0;0 0 1 1;1 1 1 1]); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + if nargin < 6, + + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + + else + + xy_corners_undist = comp_distortion_oulu([(x' - cc(1))/fc(1);(y'-cc(2))/fc(1)],kc); + + xu = xy_corners_undist(1,:)'; + yu = xy_corners_undist(2,:)'; + + [XXu] = projectedGrid ( [xu(1);yu(1)], [xu(2);yu(2)],[xu(3);yu(3)], [xu(4);yu(4)],n_sq_x+1,n_sq_y+1); % The full grid + + r2 = sum(XXu.^2); + XX = (ones(2,1)*(1 + kc(1) * r2 + kc(2) * (r2.^2))) .* XXu; + XX(1,:) = fc(1)*XX(1,:)+cc(1); + XX(2,:) = fc(2)*XX(2,:)+cc(2); + + end; + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + ind_x = (n_sq_x+1)*(n_sq_y + 1); + ind_y = 1; + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + image(Id); colormap(map); hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_parameters.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_parameters.m new file mode 100755 index 0000000..035b97d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_parameters.m @@ -0,0 +1,46 @@ + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +check_active_images; + +fc = solution(1:2);%*** +cc = solution(3:4);%*** +alpha_c = solution(5);%*** +kc = solution(6:9);%*** + + +% Calibration matrix: + +KK = [fc(1) fc(1)*alpha_c cc(1);0 fc(2) cc(2); 0 0 1]; +inv_KK = inv(KK); + +% Extract the extrinsic paramters, and recomputer the collineations + +for kk = 1:n_ima, + + if active_images(kk), + + omckk = solution(15+6*(kk-1) + 1:15+6*(kk-1) + 3);%*** + Tckk = solution(15+6*(kk-1) + 4:15+6*(kk-1) + 6);%*** + + Rckk = rodrigues(omckk); + + Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; + + Hkk = Hkk / Hkk(3,3); + + else + + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + Rckk = NaN*ones(3,3); + Hkk = NaN*ones(3,3); + + end; + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Rc_' num2str(kk) ' = Rckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + eval(['H_' num2str(kk) '= Hkk;']); + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_parameters3D.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_parameters3D.m new file mode 100755 index 0000000..841c6ab --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extract_parameters3D.m @@ -0,0 +1,36 @@ + +%%% Extraction of the final intrinsic and extrinsic paramaters: + + +fc = solution(1:2); +kc = solution(3:6); +cc = solution(6*n_ima + 4 +3:6*n_ima + 5 +3); + +% Calibration matrix: + +KK = [fc(1) 0 cc(1);0 fc(2) cc(2); 0 0 1]; +inv_KK = inv(KK); + +% Extract the extrinsic paramters, and recomputer the collineations + +for kk = 1:n_ima, + + omckk = solution(4+6*(kk-1) + 3:6*kk + 3); + + Tckk = solution(6*kk+1 + 3:6*kk+3 + 3); + + Rckk = rodrigues(omckk); + + Hlkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; + + Hlkk = Hlkk / Hlkk(3,3); + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Rc_' num2str(kk) ' = Rckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + + eval(['Hl_' num2str(kk) '=Hlkk;']); + +end; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extrinsic_computation.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extrinsic_computation.m new file mode 100755 index 0000000..fbba78e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/extrinsic_computation.m @@ -0,0 +1,185 @@ +%%% INPUT THE IMAGE FILE NAME: + +if ~exist('fc')|~exist('cc')|~exist('kc')|~exist('alpha_c'), + fprintf(1,'No intrinsic camera parameters available.\n'); + return; +end; + +dir; + +fprintf(1,'\n'); +disp('Computation of the extrinsic parameters from an image of a pattern'); +disp('The intrinsic camera parameters are assumed to be known (previously computed)'); + +fprintf(1,'\n'); +image_name = input('Image name (full name without extension): ','s'); + +format_image2 = '0'; + +while format_image2 == '0', + + format_image2 = input('Image format: ([]=''r''=''ras'', ''b''=''bmp'', ''t''=''tif'', ''p''=''pgm'', ''j''=''jpg'', ''m''=''ppm'') ','s'); + + if isempty(format_image2), + format_image2 = 'ras'; + end; + + if lower(format_image2(1)) == 'm', + format_image2 = 'ppm'; + else + if lower(format_image2(1)) == 'b', + format_image2 = 'bmp'; + else + if lower(format_image2(1)) == 't', + format_image2 = 'tif'; + else + if lower(format_image2(1)) == 'p', + format_image2 = 'pgm'; + else + if lower(format_image2(1)) == 'j', + format_image2 = 'jpg'; + else + if lower(format_image2(1)) == 'r', + format_image2 = 'ras'; + else + disp('Invalid image format'); + format_image2 = '0'; % Ask for format once again + end; + end; + end; + end; + end; + end; +end; + +ima_name = [image_name '.' format_image2]; + + +%%% READ IN IMAGE: + +if format_image2(1) == 'p', + if format_image2(2) == 'p', + I = double(loadppm(ima_name)); + else + I = double(loadpgm(ima_name)); + end; +else + if format_image2(1) == 'r', + I = readras(ima_name); + else + I = double(imread(ima_name)); + end; +end; + +if size(I,3)>1, + I = I(:,:,2); +end; + + +%%% EXTRACT GRID CORNERS: + +fprintf(1,'\nExtraction of the grid corners on the image\n'); + +disp('Window size for corner finder (wintx and winty):'); +wintx = input('wintx ([] = 5) = '); +if isempty(wintx), wintx = 5; end; +wintx = round(wintx); +winty = input('winty ([] = 5) = '); +if isempty(winty), winty = 5; end; +winty = round(winty); + +fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + +[x_ext,X_ext,n_sq_x,n_sq_y,ind_orig,ind_x,ind_y] = extract_grid(I,wintx,winty,fc,cc,kc); + + + +%%% Computation of the Extrinsic Parameters attached to the grid: + +[omc_ext,Tc_ext,Rc_ext,H_ext] = compute_extrinsic(x_ext,X_ext,fc,cc,kc,alpha_c); + + +%%% Reproject the points on the image: + +[x_reproj] = project_points2(X_ext,omc_ext,Tc_ext,fc,cc,kc,alpha_c); + +err_reproj = x_ext - x_reproj; + +err_std2 = std(err_reproj')'; + + +Basis = [X_ext(:,[ind_orig ind_x ind_orig ind_y ind_orig ])]; + +VX = Basis(:,2) - Basis(:,1); +VY = Basis(:,4) - Basis(:,1); + +nX = norm(VX); +nY = norm(VY); + +VZ = min(nX,nY) * cross(VX/nX,VY/nY); + +Basis = [Basis VZ]; + +[x_basis] = project_points2(Basis,omc_ext,Tc_ext,fc,cc,kc,alpha_c); + +dxpos = (x_basis(:,2) + x_basis(:,1))/2; +dypos = (x_basis(:,4) + x_basis(:,3))/2; +dzpos = (x_basis(:,6) + x_basis(:,5))/2; + + + +figure(2); +image(I); +colormap(gray(256)); +hold on; +plot(x_ext(1,:)+1,x_ext(2,:)+1,'r+'); +plot(x_reproj(1,:)+1,x_reproj(2,:)+1,'yo'); +h = text(x_ext(1,ind_orig)-25,x_ext(2,ind_orig)-25,'O'); +set(h,'Color','g','FontSize',14); +h2 = text(dxpos(1)+1,dxpos(2)-30,'X'); +set(h2,'Color','g','FontSize',14); +h3 = text(dypos(1)-30,dypos(2)+1,'Y'); +set(h3,'Color','g','FontSize',14); +h4 = text(dzpos(1)-10,dzpos(2)-20,'Z'); +set(h4,'Color','g','FontSize',14); +plot(x_basis(1,:)+1,x_basis(2,:)+1,'g-','linewidth',2); +title('Image points (+) and reprojected grid points (o)'); +hold off; + + +fprintf(1,'\n\nExtrinsic parameters:\n\n'); +fprintf(1,'Translation vector: Tc_ext = [ %3.6f \t %3.6f \t %3.6f ]\n',Tc_ext); +fprintf(1,'Rotation vector: omc_ext = [ %3.6f \t %3.6f \t %3.6f ]\n',omc_ext); +fprintf(1,'Rotation matrix: Rc_ext = [ %3.6f \t %3.6f \t %3.6f\n',Rc_ext(1,:)'); +fprintf(1,' %3.6f \t %3.6f \t %3.6f\n',Rc_ext(2,:)'); +fprintf(1,' %3.6f \t %3.6f \t %3.6f ]\n',Rc_ext(3,:)'); +fprintf(1,'Pixel error: err = [ %3.5f \t %3.5f ]\n\n',err_std2); + + + + + +return; + + +% Stores the results: + +kk = 1; + +% Stores location of grid wrt camera: + +eval(['omc_' num2str(kk) ' = omc_ext;']); +eval(['Tc_' num2str(kk) ' = Tc_ext;']); + +% Stores the projected points: + +eval(['y_' num2str(kk) ' = x_reproj;']); +eval(['X_' num2str(kk) ' = X_ext;']); +eval(['x_' num2str(kk) ' = x_ext;']); + + +% Organize the points in a grid: + +eval(['n_sq_x_' num2str(kk) ' = n_sq_x;']); +eval(['n_sq_y_' num2str(kk) ' = n_sq_y;']); + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/fixallvariables.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/fixallvariables.m new file mode 100755 index 0000000..b5808f3 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/fixallvariables.m @@ -0,0 +1,19 @@ +% Code that clears all empty or NaN variables + +varlist = whos; + +if ~isempty(varlist), + + Nvar = size(varlist,1); + + for c_var = 1:Nvar, + + var2fix = varlist(c_var).name; + + fixvariable; + + end; + +end; + +clear varlist var2fix Nvar c_var \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/fixvariable.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/fixvariable.m new file mode 100755 index 0000000..2213431 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/fixvariable.m @@ -0,0 +1,18 @@ +% Code that clears an empty variable, or a NaN vsriable. +% Does not clear structures, or cells. + +if exist('var2fix'), + if eval(['exist(''' var2fix ''') == 1']), + if eval(['isempty(' var2fix ')']), + eval(['clear ' var2fix ]); + else + if eval(['~isstruct(' var2fix ')']), + if eval(['~iscell(' var2fix ')']), + if eval(['isnan(' var2fix '(1))']), + eval(['clear ' var2fix ]); + end; + end; + end; + end; + end; +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ginput3.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ginput3.m new file mode 100755 index 0000000..56fe496 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ginput3.m @@ -0,0 +1,216 @@ +function [out1,out2,out3] = ginput2(arg1) +%GINPUT Graphical input from mouse. +% [X,Y] = GINPUT(N) gets N points from the current axes and returns +% the X- and Y-coordinates in length N vectors X and Y. The cursor +% can be positioned using a mouse (or by using the Arrow Keys on some +% systems). Data points are entered by pressing a mouse button +% or any key on the keyboard except carriage return, which terminates +% the input before N points are entered. +% +% [X,Y] = GINPUT gathers an unlimited number of points until the +% return key is pressed. +% +% [X,Y,BUTTON] = GINPUT(N) returns a third result, BUTTON, that +% contains a vector of integers specifying which mouse button was +% used (1,2,3 from left) or ASCII numbers if a key on the keyboard +% was used. + +% Copyright (c) 1984-96 by The MathWorks, Inc. +% $Revision: 5.18 $ $Date: 1996/11/10 17:48:08 $ + +% Fixed version by Jean-Yves Bouguet to have a cross instead of 2 lines +% More visible for images + +P = NaN*ones(16,16); +P(1:15,1:15) = 2*ones(15,15); +P(2:14,2:14) = ones(13,13); +P(3:13,3:13) = NaN*ones(11,11); +P(6:10,6:10) = 2*ones(5,5); +P(7:9,7:9) = 1*ones(3,3); + +out1 = []; out2 = []; out3 = []; y = []; +c = computer; +if ~strcmp(c(1:2),'PC') & ~strcmp(c(1:2),'MA') + tp = get(0,'TerminalProtocol'); +else + tp = 'micro'; +end + +if ~strcmp(tp,'none') & ~strcmp(tp,'x') & ~strcmp(tp,'micro'), + if nargout == 1, + if nargin == 1, + eval('out1 = trmginput(arg1);'); + else + eval('out1 = trmginput;'); + end + elseif nargout == 2 | nargout == 0, + if nargin == 1, + eval('[out1,out2] = trmginput(arg1);'); + else + eval('[out1,out2] = trmginput;'); + end + if nargout == 0 + out1 = [ out1 out2 ]; + end + elseif nargout == 3, + if nargin == 1, + eval('[out1,out2,out3] = trmginput(arg1);'); + else + eval('[out1,out2,out3] = trmginput;'); + end + end +else + + fig = gcf; + figure(gcf); + + if nargin == 0 + how_many = -1; + b = []; + else + how_many = arg1; + b = []; + if isstr(how_many) ... + | size(how_many,1) ~= 1 | size(how_many,2) ~= 1 ... + | ~(fix(how_many) == how_many) ... + | how_many < 0 + error('Requires a positive integer.') + end + if how_many == 0 + ptr_fig = 0; + while(ptr_fig ~= fig) + ptr_fig = get(0,'PointerWindow'); + end + scrn_pt = get(0,'PointerLocation'); + loc = get(fig,'Position'); + pt = [scrn_pt(1) - loc(1), scrn_pt(2) - loc(2)]; + out1 = pt(1); y = pt(2); + elseif how_many < 0 + error('Argument must be a positive integer.') + end + end + +pointer = get(gcf,'pointer'); + +set(gcf,'Pointer','custom','PointerShapeCData',P,'PointerShapeHotSpot',[8,8]); +%set(gcf,'pointer','crosshair'); + fig_units = get(fig,'units'); + char = 0; + + while how_many ~= 0 + % Use no-side effect WAITFORBUTTONPRESS + waserr = 0; + eval('keydown = wfbp;', 'waserr = 1;'); + if(waserr == 1) + if(ishandle(fig)) + set(fig,'pointer',pointer,'units',fig_units); + error('Interrupted'); + else + error('Interrupted by figure deletion'); + end + end + + ptr_fig = get(0,'CurrentFigure'); + if(ptr_fig == fig) + if keydown + char = get(fig, 'CurrentCharacter'); + button = abs(get(fig, 'CurrentCharacter')); + scrn_pt = get(0, 'PointerLocation'); + set(fig,'units','pixels') + loc = get(fig, 'Position'); + pt = [scrn_pt(1) - loc(1), scrn_pt(2) - loc(2)]; + set(fig,'CurrentPoint',pt); + else + button = get(fig, 'SelectionType'); + if strcmp(button,'open') + button = b(length(b)); + elseif strcmp(button,'normal') + button = 1; + elseif strcmp(button,'extend') + button = 2; + elseif strcmp(button,'alt') + button = 3; + else + error('Invalid mouse selection.') + end + end + pt = get(gca, 'CurrentPoint'); + + how_many = how_many - 1; + + if(char == 13) % & how_many ~= 0) + % if the return key was pressed, char will == 13, + % and that's our signal to break out of here whether + % or not we have collected all the requested data + % points. + % If this was an early breakout, don't include + % the key info in the return arrays. + % We will no longer count it if it's the last input. + break; + end + + out1 = [out1;pt(1,1)]; + y = [y;pt(1,2)]; + b = [b;button]; + end + end + + set(fig,'pointer',pointer,'units',fig_units); + + if nargout > 1 + out2 = y; + if nargout > 2 + out3 = b; + end + else + out1 = [out1 y]; + end + +end + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +function key = wfbp +%WFBP Replacement for WAITFORBUTTONPRESS that has no side effects. + +% Remove figure button functions +fprops = {'windowbuttonupfcn','buttondownfcn', ... + 'windowbuttondownfcn','windowbuttonmotionfcn'}; +fig = gcf; +fvals = get(fig,fprops); +set(fig,fprops,{'','','',''}) + +% Remove all other buttondown functions +ax = findobj(fig,'type','axes'); +if isempty(ax) + ch = {}; +else + ch = get(ax,{'Children'}); +end +for i=1:length(ch), + ch{i} = ch{i}(:)'; +end +h = [ax(:)',ch{:}]; +vals = get(h,{'buttondownfcn'}); +mt = repmat({''},size(vals)); +set(h,{'buttondownfcn'},mt); + +% Now wait for that buttonpress, and check for error conditions +waserr = 0; +eval(['if nargout==0,', ... + ' waitforbuttonpress,', ... + 'else,', ... + ' keydown = waitforbuttonpress;',... + 'end' ], 'waserr = 1;'); + +% Put everything back +if(ishandle(fig)) + set(fig,fprops,fvals) + set(h,{'buttondownfcn'},vals) +end + +if(waserr == 1) + error('Interrupted'); +end + +if nargout>0, key = keydown; end +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/go_calib_optim.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/go_calib_optim.m new file mode 100755 index 0000000..ad19f64 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/go_calib_optim.m @@ -0,0 +1,139 @@ +%go_calib_optim +% +%Main calibration function. Computes the intrinsic andextrinsic parameters. +%Runs as a script. +% +%INPUT: x_1,x_2,x_3,...: Feature locations on the images +% X_1,X_2,X_3,...: Corresponding grid coordinates +% +%OUTPUT: fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% KK: The camera matrix (containing fc and cc) +% omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space +% Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space +% Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors +% +%Method: Minimizes the pixel reprojection error in the least squares sense over the intrinsic +% camera parameters, and the extrinsic parameters (3D locations of the grids in space) +% +%Note: If the intrinsic camera parameters (fc, cc, kc) do not exist before, they are initialized through +% the function init_intrinsic_param.m. Otherwise, the variables in memory are used as initial guesses. +% +%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the +% corresponding entry in the active_images vector to zero. +% +%VERY IMPORTANT: This function works for 2D and 3D calibration rigs, except for init_intrinsic_param.m +%that is so far implemented to work only with 2D rigs. +%In the future, a more general function will be there. +%For now, if using a 3D calibration rig, set quick_init to 1 for an easy initialization of the focal length + + +if ~exist('n_ima'), + data_calib; % Load the images + click_calib; % Extract the corners +end; + + +check_active_images; + +check_extracted_images; + +check_active_images; + + +desactivated_images = []; + + +if ~exist('center_optim'), + center_optim = 1; %%% Set this variable to 0 if your do not want to estimate the principal point + %%% Required when using one image, and VERY RECOMMENDED WHEN USING LESS THAN 4 images +end; + +% Check 3D-ness of the calibration rig: +rig3D = 0; +for kk = ind_active, + eval(['X_kk = X_' num2str(kk) ';']); + if is3D(X_kk), + rig3D = 1; + end; +end; + + +if center_optim & (length(ind_active) < 2) & ~rig3D, + fprintf(1,'\nPrincipal point rejected from the optimization when using one image and planar rig (center_optim = 1).\n'); + center_optim = 0; %%% when using a single image, please, no principal point estimation!!! + est_alpha = 0; +end; + +if ~exist('dont_ask'), + dont_ask = 0; +end; + +if center_optim & (length(ind_active) < 5), + fprintf(1,'\nThe principal point estimation may be unreliable (using less than 5 images for calibration).\n'); + if ~dont_ask, + quest = input('Are you sure you want to keep the principal point in the optimization process? ([]=yes, other=no) '); + center_optim = isempty(quest); + end; +end; + +if center_optim, + fprintf(1,'\nINFO: To reject the principal point from the optimization, set center_optim = 0 in go_calib_optim.m\n'); +end; + +if ~exist('est_alpha'), + est_alpha = 0; % by default, do not estimate skew +end; + +if ~center_optim & (est_alpha), + fprintf(1,'WARNING: Since there is no principal point estimation, no skew estimation (est_alpha = 0)\n'); + est_alpha = 0; +else + if ~est_alpha, + fprintf(1,'WARNING: Skew not optimized. Check variable est_alpha.\n'); + alpha_c = 0; + else + fprintf(1,'WARNING: Skew is optimized. To disable skew estimation, set est_alpha=0.\n'); + end; +end; + + +if ~exist('est_dist'); + est_dist = [1;1;1;1]; +end; +if ~prod(est_dist), + fprintf(1,'\nWARNING: Distortion not fully estimated. Check variable est_dist.\n'); +end; + + + + +%%% MAIN OPTIMIZATION CALL!!!!! (look into this function for the details of implementation) +go_calib_optim_iter; + + + +if ~isempty(desactivated_images), + + param_list_save = param_list; + + fprintf(1,'\nNew optimization including the images that have been deactivated during the previous optimization.\n'); + active_images(desactivated_images) = ones(1,length(desactivated_images)); + desactivated_images = []; + + go_calib_optim_iter; + + if ~isempty(desactivated_images), + fprintf(1,['List of images left desactivated: ' num2str(desactivated_images) '\n' ] ); + end; + + param_list = [param_list_save(:,1:end-1) param_list]; + +end; + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +%graphout_calib; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/go_calib_optim_iter.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/go_calib_optim_iter.m new file mode 100755 index 0000000..e3d22f6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/go_calib_optim_iter.m @@ -0,0 +1,394 @@ +%go_calib_optim_iter +% +%Main calibration function. Computes the intrinsic andextrinsic parameters. +%Runs as a script. +% +%INPUT: x_1,x_2,x_3,...: Feature locations on the images +% X_1,X_2,X_3,...: Corresponding grid coordinates +% +%OUTPUT: fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% KK: The camera matrix (containing fc and cc) +% omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space +% Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space +% Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors +% +%Method: Minimizes the pixel reprojection error in the least squares sense over the intrinsic +% camera parameters, and the extrinsic parameters (3D locations of the grids in space) +% +%Note: If the intrinsic camera parameters (fc, cc, kc) do not exist before, they are initialized through +% the function init_intrinsic_param.m. Otherwise, the variables in memory are used as initial guesses. +% +%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the +% corresponding entry in the active_images vector to zero. +% +%VERY IMPORTANT: This function works for 2D and 3D calibration rigs, except for init_intrinsic_param.m +%that is so far implemented to work only with 2D rigs. +%In the future, a more general function will be there. +%For now, if using a 3D calibration rig, quick_init is set to 1 for an easy initialization of the focal length + + +if ~exist('center_optim'), + center_optim = 1; %%% Set this variable to 0 if your do not want to estimate the principal point +end; + +if ~exist('est_dist'), + est_dist = [1;1;1;1]; +end; + +if ~exist('est_alpha'), + est_alpha = 0; % by default, do not estimate skew +end; + + +% Little fix in case of stupid values in the binary variables: +center_optim = ~~center_optim; +est_alpha = ~~est_alpha; +est_dist = ~~est_dist; + + +if ~exist('nx')&~exist('ny'), + fprintf(1,'WARNING: No image size (nx,ny) available. Setting nx=640 and ny=480\n'); + nx = 640; + ny = 480; +end; + + +check_active_images; + + +quick_init = 0; % Set to 1 for using a quick init (necessary when using 3D rigs) + + +if ~center_optim, % In the case where the principal point is not estimated, keep it at the center of the image + fprintf(1,'Principal point not optimized (center_optim=0). It is kept at the center of the image.\n'); + cc = [(nx-1)/2;(ny-1)/2]; +end; + + +if ~prod(est_dist), + fprintf(1,'\nDistortion not fully estimated. Check variable est_dist.\n'); +end; + +if ~est_alpha, + fprintf(1,'Skew not optimized (est_alpha=0).\n'); + alpha_c = 0; +end; + + +% Check 3D-ness of the calibration rig: +rig3D = 0; +for kk = ind_active, + eval(['X_kk = X_' num2str(kk) ';']); + if is3D(X_kk), + rig3D = 1; + end; +end; + +% If the rig is 3D, then no choice: the only valid initialization is manual! +if rig3D, + quick_init = 1; +end; + + + +alpha_smooth = 1; % set alpha_smooth = 1; for steepest gradient descent + + +% Conditioning threshold for view rejection +thresh_cond = 1e6; + + + +%% Initialization of the intrinsic parameters (if necessary) + +if ~exist('cc'), + fprintf(1,'Initialization of the principal point at the center of the image.\n'); + cc = [(nx-1)/2;(ny-1)/2]; + alpha_smooth = 0.4; % slow convergence +end; + + +if ~exist('kc'), + fprintf(1,'Initialization of the image distortion to zero.\n'); + kc = zeros(4,1); + alpha_smooth = 0.4; % slow convergence +end; + +if ~exist('alpha_c'), + fprintf(1,'Initialization of the image skew to zero.\n'); + alpha_c = 0; + alpha_smooth = 0.4; % slow convergence +end; + +if ~exist('fc')& quick_init, + FOV_angle = 35; % Initial camera field of view in degrees + fprintf(1,['Initialization of the focal length to a FOV of ' num2str(FOV_angle) ' degrees.\n']); + fc = (nx/2)/tan(pi*FOV_angle/360) * ones(2,1); + alpha_smooth = 0.4; % slow +end; + + +if ~exist('fc'), + % Initialization of the intrinsic parameters: + fprintf(1,'Initialization of the intrinsic parameters using the vanishing points of planar patterns.\n') + init_intrinsic_param; % The right way to go (if quick_init is not active)! + alpha_smooth = 0.4; % slow convergence +end; + + +if ~prod(est_dist), + % If no distortion estimated, set to zero the variables that are not estimated + kc = kc .* est_dist; +end; + + + + + +%% Initialization of the extrinsic parameters for global minimization: + + +init_param = [fc;cc;alpha_c;kc;zeros(6,1)]; + + + +for kk = 1:n_ima, + + if exist(['x_' num2str(kk)]), + + eval(['x_kk = x_' num2str(kk) ';']); + eval(['X_kk = X_' num2str(kk) ';']); + + if (isnan(x_kk(1,1))), + if active_images(kk), + fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) + fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) + end; + active_images(kk) = 0; + end; + if active_images(kk), + [omckk,Tckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc,alpha_c); + [omckk,Tckk,Rckk,JJ_kk] = compute_extrinsic_refine(omckk,Tckk,x_kk,X_kk,fc,cc,kc,alpha_c,20,thresh_cond); + if cond(JJ_kk)> thresh_cond, + active_images(kk) = 0; + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk) + desactivated_images = [desactivated_images kk]; + end; + if isnan(omckk(1,1)), + %fprintf(1,'\nWarning: Desactivating image %d. Re-activate it later by typing:\nactive_images(%d)=1;\nand re-run optimization\n',[kk kk]) + active_images(kk) = 0; + end; + else + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + end; + + else + + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + + if active_images(kk), + fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) + fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) + end; + + active_images(kk) = 0; + + end; + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + + init_param = [init_param; omckk ; Tckk]; + +end; + + +check_active_images; + + + +%-------------------- Main Optimization: + +fprintf(1,'\nMain calibration optimization procedure - Number of images: %d\n',length(ind_active)); + + +param = init_param; +change = 1; + +iter = 0; + +fprintf(1,'Gradient descent iterations: '); + +param_list = param; + +MaxIter = 30; + + +while (change > 1e-6)&(iter < MaxIter), + + fprintf(1,'%d...',iter+1); + + + %% The first step consists of updating the whole vector of knowns (intrinsic + extrinsic of active + %% images) through a one step steepest gradient descent. + + JJ = []; + ex = []; + + f = param(1:2); + c = param(3:4); + alpha = param(5); + k = param(6:9); + + + for kk = 1:n_ima, + + if active_images(kk), + + %omckk = param(4+6*(kk-1) + 3:6*kk + 3); + + %Tckk = param(6*kk+1 + 3:6*kk+3 + 3); + + omckk = param(15+6*(kk-1) + 1:15+6*(kk-1) + 3); + + Tckk = param(15+6*(kk-1) + 4:15+6*(kk-1) + 6); + + if isnan(omckk(1)), + fprintf(1,'Intrinsic parameters at frame %d do not exist\n',kk); + return; + end; + + eval(['X_kk = X_' num2str(kk) ';']); + eval(['x_kk = x_' num2str(kk) ';']); + + Np = size(X_kk,2); + + JJkk = zeros(2*Np,n_ima * 6 + 15); + + [x,dxdom,dxdT,dxdf,dxdc,dxdk,dxdalpha] = project_points2(X_kk,omckk,Tckk,f,c,k,alpha); + + exkk = x_kk - x; + + ex = [ex;exkk(:)]; + + JJkk(:,1:2) = dxdf; + JJkk(:,3:4) = dxdc; + JJkk(:,5) = dxdalpha; + JJkk(:,6:9) = dxdk; + JJkk(:,15+6*(kk-1) + 1:15+6*(kk-1) + 3) = dxdom; + JJkk(:,15+6*(kk-1) + 4:15+6*(kk-1) + 6) = dxdT; + + + + JJ = [JJ;JJkk]; + + + % Check if this view is ill-conditioned: + JJ_kk = [dxdom dxdT]; + if cond(JJ_kk)> thresh_cond, + active_images(kk) = 0; + fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk) + desactivated_images = [desactivated_images kk]; + param(15+6*(kk-1) + 1:15+6*(kk-1) + 6) = NaN*ones(6,1); + end; + + + end; + + end; + + + % List of active images (necessary if changed): + check_active_images; + + + % The following vector helps to select the variables to update (for only active images): + + ind_Jac = find([ones(2,1);center_optim*ones(2,1);est_alpha;est_dist;zeros(6,1);reshape(ones(6,1)*active_images,6*n_ima,1)])'; + + + JJ = JJ(:,ind_Jac); + + JJ2 = JJ'*JJ; + + + % Smoothing coefficient: + + alpha_smooth2 = 1-(1-alpha_smooth)^(iter+1); %set to 1 to undo any smoothing! + + + param_innov = alpha_smooth2*inv(JJ2)*(JJ')*ex; + param_up = param(ind_Jac) + param_innov; + param(ind_Jac) = param_up; + + + % New intrinsic parameters: + + fc_current = param(1:2); + cc_current = param(3:4); + alpha_current = param(5); + kc_current = param(6:9); + + + % Change on the intrinsic parameters: + change = norm([fc_current;cc_current] - [f;c])/norm([fc_current;cc_current]); + + + %% Second step: (optional) - It makes convergence faster, and the region of convergence LARGER!!! + %% Recompute the extrinsic parameters only using compute_extrinsic.m (this may be useful sometimes) + %% The complete gradient descent method is useful to precisely update the intrinsic parameters. + + MaxIter2 = 20; + + + for kk = 1:n_ima, + if active_images(kk), + omc_current = param(15+6*(kk-1) + 1:15+6*(kk-1) + 3); + Tc_current = param(15+6*(kk-1) + 4:15+6*(kk-1) + 6); + eval(['X_kk = X_' num2str(kk) ';']); + eval(['x_kk = x_' num2str(kk) ';']); + [omc_current,Tc_current] = compute_extrinsic_init(x_kk,X_kk,fc_current,cc_current,kc_current,alpha_current); + [omckk,Tckk,Rckk,JJ_kk] = compute_extrinsic_refine(omc_current,Tc_current,x_kk,X_kk,fc_current,cc_current,kc_current,alpha_current,MaxIter2,thresh_cond); + if cond(JJ_kk)> thresh_cond, + active_images(kk) = 0; + fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk) + desactivated_images = [desactivated_images kk]; + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + end; + param(15+6*(kk-1) + 1:15+6*(kk-1) + 3) = omckk; + param(15+6*(kk-1) + 4:15+6*(kk-1) + 6) = Tckk; + end; + end; + + param_list = [param_list param]; + + iter = iter + 1; + +end; + +fprintf(1,'\n'); + + +solution = param; + + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters; + +comp_error_calib; + +fprintf(1,'\n\nCalibration results after optimization:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f ]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f ]\n',cc); +fprintf(1,'Skew: alpha_c = [ %3.5f ] => angle of pixel = %3.5f degrees\n',alpha_c,90 - atan(alpha_c)*180/pi); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f ]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f ]\n\n',err_std); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ima_read_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ima_read_calib.m new file mode 100755 index 0000000..dbbc4e0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/ima_read_calib.m @@ -0,0 +1,158 @@ + +if ~exist('calib_name')|~exist('format_image'), + data_calib; + return; +end; + +check_directory; + +if ~exist('n_ima'), + data_calib; + return; +end; + +check_active_images; + + +images_read = active_images; + + +if exist('image_numbers'), + first_num = image_numbers(1); +end; + + +% Just to fix a minor bug: +if ~exist('first_num'), + first_num = image_numbers(1); +end; + + +image_numbers = first_num:n_ima-1+first_num; + +no_image_file = 0; + +i = 1; + +while (i <= n_ima), % & (~no_image_file), + + if active_images(i), + + %fprintf(1,'Loading image %d...\n',i); + + if ~type_numbering, + number_ext = num2str(image_numbers(i)); + else + number_ext = sprintf(['%.' num2str(N_slots) 'd'],image_numbers(i)); + end; + + ima_name = [calib_name number_ext '.' format_image]; + + if i == ind_active(1), + fprintf(1,'Loading image '); + end; + + if exist(ima_name), + + fprintf(1,'%d...',i); + + if format_image(1) == 'p', + if format_image(2) == 'p', + Ii = double(loadppm(ima_name)); + else + Ii = double(loadpgm(ima_name)); + end; + else + if format_image(1) == 'r', + Ii = readras(ima_name); + else + Ii = double(imread(ima_name)); + end; + end; + + + if size(Ii,3)>1, + Ii = Ii(:,:,2); + end; + + eval(['I_' num2str(i) ' = Ii;']); + + else + + fprintf(1,'%d...no image...',i); + + images_read(i) = 0; + + %no_image_file = 1; + + end; + + end; + + i = i+1; + +end; + + +ind_read = find(images_read); + + + + +if isempty(ind_read), + + fprintf(1,'\nWARNING! No image were read\n'); + + no_image_file = 1; + + +else + + + %fprintf(1,'\nWARNING! Every exsisting image in the directory is set active.\n'); + + + if no_image_file, + + %fprintf(1,'WARNING! Some images were not read properly\n'); + + end; + + + fprintf(1,'\n'); + + if size(I_1,1)~=480, + small_calib_image = 1; + else + small_calib_image = 0; + end; + + [Hcal,Wcal] = size(I_1); % size of the calibration image + + [ny,nx] = size(I_1); + + clickname = []; + + map = gray(256); + + %string_save = 'save calib_data n_ima type_numbering N_slots image_numbers format_image calib_name Hcal Wcal nx ny map small_calib_image'; + + %eval(string_save); + + disp('done'); + %click_calib; + +end; + +if ~exist('map'), map = gray(256); end; + +active_images = images_read; + +% Show all the calibration images: + + +if ~isempty(ind_read), + + mosaic; + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/init_intrinsic_param.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/init_intrinsic_param.m new file mode 100755 index 0000000..94a5240 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/init_intrinsic_param.m @@ -0,0 +1,158 @@ +%init_intrinsic_param +% +%Initialization of the intrinsic parameters. +%Runs as a script. +% +%INPUT: x_1,x_2,x_3,...: Feature locations on the images +% X_1,X_2,X_3,...: Corresponding grid coordinates +% +%OUTPUT: fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% alpha_c: skew coefficient +% KK: The camera matrix (containing fc, cc and alpha_c) +% +%Method: Computes the planar homographies H_1, H_2, H_3, ... and computes +% the focal length fc from orthogonal vanishing points constraint. +% The principal point cc is assumed at the center of the image. +% Assumes no image distortion (kc = [0;0;0;0]) +% +%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the +% corresponding entry in the active_images vector to zero. +% +% +%Important function called within that program: +% +%compute_homography.m: Computes the planar homography between points on the grid in 3D, and the image plane. +% +% +%VERY IMPORTANT: This function works only with 2D rigs. +%In the future, a more general function will be there (working with 3D rigs as well). + + + +check_active_images; + +if ~exist(['x_' num2str(ind_active(1)) ]), + click_calib; +end; + + +fprintf(1,'\nInitialization of the intrinsic parameters - Number of images: %d\n',length(ind_active)); + + +% Initialize the homographies: + +for kk = 1:n_ima, + eval(['x_kk = x_' num2str(kk) ';']); + eval(['X_kk = X_' num2str(kk) ';']); + if (isnan(x_kk(1,1))), + if active_images(kk), + fprintf(1,'WARNING: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) + fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) + end; + active_images(kk) = 0; + end; + if active_images(kk), + eval(['H_' num2str(kk) ' = compute_homography(x_kk,X_kk(1:2,:));']); + else + eval(['H_' num2str(kk) ' = NaN*ones(3,3);']); + end; +end; + +check_active_images; + +% initial guess for principal point and distortion: + +if ~exist('nx'), [ny,nx] = size(I); end; + +c_init = [nx;ny]/2 - 0.5; % initialize at the center of the image +k_init = [0;0;0;0]; % initialize to zero (no distortion) + + + +% Compute explicitely the focal length using all the (mutually orthogonal) vanishing points +% note: The vanihing points are hidden in the planar collineations H_kk + +A = []; +b = []; + +% matrix that subtract the principal point: +Sub_cc = [1 0 -c_init(1);0 1 -c_init(2);0 0 1]; + +for kk=1:n_ima, + + if active_images(kk), + + eval(['Hkk = H_' num2str(kk) ';']); + + Hkk = Sub_cc * Hkk; + + % Extract vanishing points (direct and diagonals): + + V_hori_pix = Hkk(:,1); + V_vert_pix = Hkk(:,2); + V_diag1_pix = (Hkk(:,1)+Hkk(:,2))/2; + V_diag2_pix = (Hkk(:,1)-Hkk(:,2))/2; + + V_hori_pix = V_hori_pix/norm(V_hori_pix); + V_vert_pix = V_vert_pix/norm(V_vert_pix); + V_diag1_pix = V_diag1_pix/norm(V_diag1_pix); + V_diag2_pix = V_diag2_pix/norm(V_diag2_pix); + + a1 = V_hori_pix(1); + b1 = V_hori_pix(2); + c1 = V_hori_pix(3); + + a2 = V_vert_pix(1); + b2 = V_vert_pix(2); + c2 = V_vert_pix(3); + + a3 = V_diag1_pix(1); + b3 = V_diag1_pix(2); + c3 = V_diag1_pix(3); + + a4 = V_diag2_pix(1); + b4 = V_diag2_pix(2); + c4 = V_diag2_pix(3); + + A_kk = [a1*a2 b1*b2; + a3*a4 b3*b4]; + + b_kk = -[c1*c2;c3*c4]; + + + A = [A;A_kk]; + b = [b;b_kk]; + + end; + +end; + + +% use all the vanishing points to estimate focal length: + +f_init = sqrt(abs(1./(inv(A'*A)*A'*b))); % if using a two-focal model for initial guess + +alpha_init = 0; + +%f_init = sqrt(b'*(sum(A')') / (b'*b)) * ones(2,1); % if single focal length model is used + + +% Global calibration matrix (initial guess): + +KK = [f_init(1) alpha_init*f_init(1) c_init(1);0 f_init(2) c_init(2); 0 0 1]; +inv_KK = inv(KK); + + +cc = c_init; +fc = f_init; +kc = k_init; +alpha_c = alpha_init; + + +fprintf(1,'\n\nCalibration parameters after initialization:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f ]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f ]\n',cc); +fprintf(1,'Skew: alpha_c = [ %3.5f ] => angle of pixel = %3.5f degrees\n',alpha_c,90 - atan(alpha_c)*180/pi); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f ]\n',kc); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/is3D.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/is3D.m new file mode 100755 index 0000000..ab00b3d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/is3D.m @@ -0,0 +1,19 @@ +function test = is3D(X), + + +Np = size(X,2); + +%% Check for planarity of the structure: + +X_mean = mean(X')'; + +Y = X - (X_mean*ones(1,Np)); + +YY = Y*Y'; + +[U,S,V] = svd(YY); + +r = S(3,3)/S(2,2); + +test = (r > 1e-3); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loading_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loading_calib.m new file mode 100755 index 0000000..a0f50d2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loading_calib.m @@ -0,0 +1,10 @@ +if ~exist('Calib_Results.mat'), + fprintf(1,'\nCalibration file Calib_Results.mat not found!\n'); + return; +end; + +fprintf(1,'\nLoading calibration results from Calib_Results.mat\n'); + +load Calib_Results + +fprintf(1,'done\n'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadinr.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadinr.m new file mode 100755 index 0000000..91b6f89 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadinr.m @@ -0,0 +1,52 @@ +%LOADINR Load an INRIMAGE format file +% +% LOADINR(filename, im) +% +% Load an INRIA image format file and return it as a matrix +% +% SEE ALSO: saveinr +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1996 + +function im = loadinr(fname, im) + + fid = fopen(fname, 'r'); + + s = fgets(fid); + if strcmp(s(1:12), '#INRIMAGE-4#') == 0, + error('not INRIMAGE format'); + end + + % not very complete, only looks for the X/YDIM keys + while 1, + s = fgets(fid); + n = length(s) - 1; + if s(1) == '#', + break + end + if strcmp(s(1:5), 'XDIM='), + cols = str2num(s(6:n)); + end + if strcmp(s(1:5), 'YDIM='), + rows = str2num(s(6:n)); + end + if strcmp(s(1:4), 'CPU='), + if strcmp(s(5:n), 'sun') == 0, + error('not sun data ordering'); + end + end + + end + disp(['INRIMAGE format file ' num2str(rows) ' x ' num2str(cols)]) + + % now the binary data + fseek(fid, 256, 'bof'); + [im count] = fread(fid, [cols rows], 'float32'); + im = im'; + if count ~= (rows*cols), + error('file too short'); + end + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadpgm.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadpgm.m new file mode 100755 index 0000000..dfa8b61 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadpgm.m @@ -0,0 +1,89 @@ +%LOADPGM Load a PGM image +% +% I = loadpgm(filename) +% +% Returns a matrix containing the image loaded from the PGM format +% file filename. Handles ASCII (P2) and binary (P5) PGM file formats. +% +% If the filename has no extension, and open fails, a '.pgm' will +% be appended. +% +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function I = loadpgm(file) + white = [' ' 9 10 13]; % space, tab, lf, cr + white = setstr(white); + + fid = fopen(file, 'r'); + if fid < 0, + fid = fopen([file '.pgm'], 'r'); + end + if fid < 0, + error('Couldn''t open file'); + end + + magic = fread(fid, 2, 'char'); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + cols = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + rows = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + maxval = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + if magic(1) == 'P', + if magic(2) == '2', + %disp(['ASCII PGM file ' num2str(rows) ' x ' num2str(cols)]) + I = fscanf(fid, '%d', [cols rows])'; + elseif magic(2) == '5', + %disp(['Binary PGM file ' num2str(rows) ' x ' num2str(cols)]) + if maxval == 1, + fmt = 'unint1'; + elseif maxval == 15, + fmt = 'uint4'; + elseif maxval == 255, + fmt = 'uint8'; + elseif maxval == 2^32-1, + fmt = 'uint32'; + end + I = fread(fid, [cols rows], fmt)'; + else + disp('Not a PGM file'); + end + end + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadppm.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadppm.m new file mode 100755 index 0000000..0c004fc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadppm.m @@ -0,0 +1,109 @@ +%LOADPPM Load a PPM image +% +% I = loadppm(filename) +% +% Returns a matrix containing the image loaded from the PPM format +% file filename. Handles ASCII (P3) and binary (P6) PPM file formats. +% +% If the filename has no extension, and open fails, a '.ppm' and +% '.pnm' extension will be tried. +% +% SEE ALSO: saveppm loadpgm +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function I = loadppm(file) + white = [' ' 9 10 13]; % space, tab, lf, cr + white = setstr(white); + + fid = fopen(file, 'r'); + if fid < 0, + fid = fopen([file '.ppm'], 'r'); + end + if fid < 0, + fid = fopen([file '.pnm'], 'r'); + end + if fid < 0, + error('Couldn''t open file'); + end + + magic = fread(fid, 2, 'char'); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + cols = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + rows = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + maxval = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + if magic(1) == 'P', + if magic(2) == '3', + %disp(['ASCII PPM file ' num2str(rows) ' x ' num2str(cols)]) + I = fscanf(fid, '%d', [cols*3 rows]); + elseif magic(2) == '6', + %disp(['Binary PPM file ' num2str(rows) ' x ' num2str(cols)]) + if maxval == 1, + fmt = 'unint1'; + elseif maxval == 15, + fmt = 'uint4'; + elseif maxval == 255, + fmt = 'uint8'; + elseif maxval == 2^32-1, + fmt = 'uint32'; + end + I = fread(fid, [cols*3 rows], fmt); + else + disp('Not a PPM file'); + end + end + % + % now the matrix has interleaved columns of R, G, B + % + I = I'; + size(I); + R = I(:,1:3:(cols*3)); + G = I(:,2:3:(cols*3)); + B = I(:,3:3:(cols*3)); + fclose(fid); + + + I = zeros(rows,cols,3); + I(:,:,1) = R; + I(:,:,2) = G; + I(:,:,3) = B; + I = uint8(I); + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/mean_std_robust.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/mean_std_robust.m new file mode 100755 index 0000000..0d18a62 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/mean_std_robust.m @@ -0,0 +1,7 @@ +function [m,s] = mean_std_robust(x); + +x = x(:); + +m = median(x); + +s = median(abs(x - m))*1.4836; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/mosaic.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/mosaic.m new file mode 100755 index 0000000..b056661 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/mosaic.m @@ -0,0 +1,92 @@ + +if ~exist('I_1'), + active_images_save = active_images; + ima_read_calib; + active_images = active_images_save; + check_active_images; +end; + +check_active_images; + +if isempty(ind_read), + return; +end; + + +n_col = floor(sqrt(n_ima*nx/ny)); + +n_row = ceil(n_ima / n_col); + + +ker2 = 1; +for ii = 1:n_col, + ker2 = conv(ker2,[1/4 1/2 1/4]); +end; + + +II = I_1(1:n_col:end,1:n_col:end); + +[ny2,nx2] = size(II); + + + +kk_c = 1; + +II_mosaic = []; + +for jj = 1:n_row, + + + II_row = []; + + for ii = 1:n_col, + + if (exist(['I_' num2str(kk_c)])) & (kk_c <= n_ima), + + if active_images(kk_c), + eval(['I = I_' num2str(kk_c) ';']); + %I = conv2(conv2(I,ker2,'same'),ker2','same'); % anti-aliasing + I = I(1:n_col:end,1:n_col:end); + else + I = zeros(ny2,nx2); + end; + + else + + I = zeros(ny2,nx2); + + end; + + + + II_row = [II_row I]; + + if ii ~= n_col, + + II_row = [II_row zeros(ny2,3)]; + + end; + + + kk_c = kk_c + 1; + + end; + + nn2 = size(II_row,2); + + if jj ~= n_row, + II_row = [II_row; zeros(3,nn2)]; + end; + + II_mosaic = [II_mosaic ; II_row]; + +end; + +figure(2); +image(II_mosaic); +colormap(gray(256)); +title('Calibration images'); +set(gca,'Xtick',[]) +set(gca,'Ytick',[]) +axis('image'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/normalize.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/normalize.m new file mode 100755 index 0000000..6dc7149 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/normalize.m @@ -0,0 +1,43 @@ +function [xn] = normalize(x_kk,fc,cc,kc,alpha_c), + +%normalize +% +%[xn] = normalize(x_kk,fc,cc,kc,alpha_c) +% +%Computes the normalized coordinates xn given the pixel coordinates x_kk +%and the intrinsic camera parameters fc, cc and kc. +% +%INPUT: x_kk: Feature locations on the images +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% alpha_c: Skew coefficient +% +%OUTPUT: xn: Normalized feature locations on the image plane (a 2XN matrix) +% +%Important functions called within that program: +% +%comp_distortion_oulu: undistort pixel coordinates. + +if nargin < 5, + alpha_c = 0; + if nargin < 4; + kc = [0;0;0;0]; + if nargin < 3; + cc = [0;0]; + if nargin < 2, + fc = [1;1]; + end; + end; + end; +end; + + +% First subtract principal point, and divide by the focal length: +temp = (x_kk(2,:) - cc(2))/fc(2); +x_distort = [(x_kk(1,:) - cc(1))/fc(1) - alpha_c*temp;temp]; + + +%Compensate for lens distortion: + +xn = comp_distortion_oulu(x_distort,kc); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/pgmread.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/pgmread.m new file mode 100755 index 0000000..c96ccb7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/pgmread.m @@ -0,0 +1,26 @@ +function img = pgmread(filename) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + +fid = fopen(filename,'r'); +fscanf(fid, 'P5\n'); +cmt = '#'; +while findstr(cmt, '#'), + cmt = fgets(fid); + if length(findstr(cmt, '#')) ~= 1, + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end +end + +%fgets(fid); + +%img = fscanf(fid,'%d',size); +%img = img'; + +img = fread(fid,[y,x],'uint8'); +img = img'; +fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project2_oulu.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project2_oulu.m new file mode 100755 index 0000000..c5c4a34 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project2_oulu.m @@ -0,0 +1,53 @@ +function [x] = project2_oulu(X,R,T,f,t,k) +%PROJECT Subsidiary to calib + +% (c) Pietro Perona -- March 24, 1994 +% California Institute of Technology +% Pasadena, CA +% +% Renamed because project exists in matlab 5.2!!! +% Now uses the more elaborate intrinsic model from Oulu + + + +[m,n] = size(X); + +Y = R*X + T*ones(1,n); +Z = Y(3,:); + +f = f(:); %% make a column vector +if length(f)==1, + f = [f f]'; +end; + +x = (Y(1:2,:) ./ (ones(2,1) * Z)) ; + + +radius_2 = x(1,:).^2 + x(2,:).^2; + +if length(k) > 1, + + radial_distortion = 1 + ones(2,1) * ((k(1) * radius_2) + (k(2) * radius_2.^2)); + + if length(k) < 4, + + delta_x = zeros(2,n); + + else + + delta_x = [2*k(3)*x(1,:).*x(2,:) + k(4)*(radius_2 + 2*x(1,:).^2) ; + k(3) * (radius_2 + 2*x(2,:).^2)+2*k(4)*x(1,:).*x(2,:)]; + + end; + + +else + + radial_distortion = 1 + ones(2,1) * ((k(1) * radius_2)); + + delta_x = zeros(2,n); + +end; + + +x = (x .* radial_distortion + delta_x).* (f * ones(1,n)) + t*ones(1,n); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project_points.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project_points.m new file mode 100755 index 0000000..1823490 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project_points.m @@ -0,0 +1,276 @@ +function [xp,dxpdom,dxpdT,dxpdf,dxpdc,dxpdk] = project_points(X,om,T,f,c,k) + +%project_points.m +% +%[xp,dxpdom,dxpdT,dxpdf,dxpdc,dxpdk] = project_points(X,om,T,f,c,k) +% +%Projects a 3D structure onto the image plane. +% +%INPUT: X: 3D structure in the world coordinate frame (3xN matrix for N points) +% (om,T): Rigid motion parameters between world coordinate frame and camera reference frame +% om: rotation vector (3x1 vector); T: translation vector (3x1 vector) +% f: camera focal length in units of horizontal and vertical pixel units (2x1 vector) +% c: principal point location in pixel units (2x1 vector) +% k: Distortion coefficients (radial and tangential) (4x1 vector) +% +%OUTPUT: xp: Projected pixel coordinates (2xN matrix for N points) +% dxpdom: Derivative of xp with respect to om ((2N)x3 matrix) +% dxpdT: Derivative of xp with respect to T ((2N)x3 matrix) +% dxpdf: Derivative of xp with respect to f ((2N)x2 matrix) +% dxpdc: Derivative of xp with respect to c ((2N)x2 matrix) +% dxpdk: Derivative of xp with respect to k ((2N)x4 matrix) +% +%Definitions: +%Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) +%The coordinate vector of P in the camera reference frame is: Xc = R*X + T +%where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); +%call x, y and z the 3 coordinates of Xc: x = Xc(1); y = Xc(2); z = Xc(3); +%The pinehole projection coordinates of P is [a;b] where a=x/z and b=y/z. +%call r^2 = a^2 + b^2. +%The distorted point coordinates are: xd = [xx;yy] where: +% +%xx = a * (1 + kc(1)*r^2 + kc(2)*r^4) + 2*kc(3)*a*b + kc(4)*(r^2 + 2*a^2); +%yy = b * (1 + kc(1)*r^2 + kc(2)*r^4) + kc(3)*(r^2 + 2*b^2) + 2*kc(4)*a*b; +% +%The left terms correspond to radial distortion, the right terms correspond to tangential distortion +% +%Fianlly, convertion into pixel coordinates: The final pixel coordinates vector xp=[xxp;yyp] where: +% +%xxp = f(1)*xx + c(1) +%yyp = f(2)*yy + c(2) +% +% +%NOTE: About 90 percent of the code takes care fo computing the Jacobian matrices +% +% +%Important function called within that program: +% +%rodrigues.m: Computes the rotation matrix corresponding to a rotation vector +% +%rigid_motion.m: Computes the rigid motion transformation of a given structure + + + +if nargin < 6, + k = zeros(4,1); + if nargin < 5, + c = zeros(2,1); + if nargin < 4, + f = ones(2,1); + if nargin < 3, + T = zeros(3,1); + if nargin < 2, + om = zeros(3,1); + if nargin < 1, + error('Need at least a 3D structure to project (in project_points.m)'); + return; + end; + end; + end; + end; + end; +end; + + +[m,n] = size(X); + +[Y,dYdom,dYdT] = rigid_motion(X,om,T); + + +inv_Z = 1./Y(3,:); + +x = (Y(1:2,:) .* (ones(2,1) * inv_Z)) ; + + +bb = (-x(1,:) .* inv_Z)'*ones(1,3); +cc = (-x(2,:) .* inv_Z)'*ones(1,3); + + +dxdom = zeros(2*n,3); +dxdom(1:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdom(1:3:end,:) + bb .* dYdom(3:3:end,:); +dxdom(2:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdom(2:3:end,:) + cc .* dYdom(3:3:end,:); + +dxdT = zeros(2*n,3); +dxdT(1:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdT(1:3:end,:) + bb .* dYdT(3:3:end,:); +dxdT(2:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdT(2:3:end,:) + cc .* dYdT(3:3:end,:); + + +% Add distortion: + +r2 = x(1,:).^2 + x(2,:).^2; + + + +dr2dom = 2*((x(1,:)')*ones(1,3)) .* dxdom(1:2:end,:) + 2*((x(2,:)')*ones(1,3)) .* dxdom(2:2:end,:); +dr2dT = 2*((x(1,:)')*ones(1,3)) .* dxdT(1:2:end,:) + 2*((x(2,:)')*ones(1,3)) .* dxdT(2:2:end,:); + + +r4 = r2.^2; + +dr4dom = 2*((r2')*ones(1,3)) .* dr2dom; +dr4dT = 2*((r2')*ones(1,3)) .* dr2dT; + + +% Radial distortion: + +cdist = 1 + k(1) * r2 + k(2) * r4; + +dcdistdom = k(1) * dr2dom + k(2) * dr4dom; +dcdistdT = k(1) * dr2dT+ k(2) * dr4dT; +dcdistdk = [ r2' r4' zeros(n,2)]; + + +xd1 = x .* (ones(2,1)*cdist); + +dxd1dom = zeros(2*n,3); +dxd1dom(1:2:end,:) = (x(1,:)'*ones(1,3)) .* dcdistdom; +dxd1dom(2:2:end,:) = (x(2,:)'*ones(1,3)) .* dcdistdom; +coeff = (reshape([cdist;cdist],2*n,1)*ones(1,3)); +dxd1dom = dxd1dom + coeff.* dxdom; + +dxd1dT = zeros(2*n,3); +dxd1dT(1:2:end,:) = (x(1,:)'*ones(1,3)) .* dcdistdT; +dxd1dT(2:2:end,:) = (x(2,:)'*ones(1,3)) .* dcdistdT; +dxd1dT = dxd1dT + coeff.* dxdT; + +dxd1dk = zeros(2*n,4); +dxd1dk(1:2:end,:) = (x(1,:)'*ones(1,4)) .* dcdistdk; +dxd1dk(2:2:end,:) = (x(2,:)'*ones(1,4)) .* dcdistdk; + + + +% tangential distortion: + +a1 = 2.*x(1,:).*x(2,:); +a2 = r2 + 2*x(1,:).^2; +a3 = r2 + 2*x(2,:).^2; + +delta_x = [k(3)*a1 + k(4)*a2 ; + k(3) * a3 + k(4)*a1]; + + +ddelta_xdx = zeros(2*n,2*n); +aa = (2*k(3)*x(2,:)+6*k(4)*x(1,:))'*ones(1,3); +bb = (2*k(3)*x(1,:)+2*k(4)*x(2,:))'*ones(1,3); +cc = (6*k(3)*x(2,:)+2*k(4)*x(1,:))'*ones(1,3); + +ddelta_xdom = zeros(2*n,3); +ddelta_xdom(1:2:end,:) = aa .* dxdom(1:2:end,:) + bb .* dxdom(2:2:end,:); +ddelta_xdom(2:2:end,:) = bb .* dxdom(1:2:end,:) + cc .* dxdom(2:2:end,:); + +ddelta_xdT = zeros(2*n,3); +ddelta_xdT(1:2:end,:) = aa .* dxdT(1:2:end,:) + bb .* dxdT(2:2:end,:); +ddelta_xdT(2:2:end,:) = bb .* dxdT(1:2:end,:) + cc .* dxdT(2:2:end,:); + +ddelta_xdk = zeros(2*n,4); +ddelta_xdk(1:2:end,3) = a1'; +ddelta_xdk(1:2:end,4) = a2'; +ddelta_xdk(2:2:end,3) = a3'; +ddelta_xdk(2:2:end,4) = a1'; + + + +xd2 = xd1 + delta_x; + +dxd2dom = dxd1dom + ddelta_xdom ; +dxd2dT = dxd1dT + ddelta_xdT; +dxd2dk = dxd1dk + ddelta_xdk ; + + +% Pixel coordinates: + +xp = xd2 .* (f * ones(1,n)) + c*ones(1,n); + +coeff = reshape(f*ones(1,n),2*n,1); + +dxpdom = (coeff*ones(1,3)) .* dxd2dom; +dxpdT = (coeff*ones(1,3)) .* dxd2dT; +dxpdk = (coeff*ones(1,4)) .* dxd2dk; + +dxpdf = zeros(2*n,2); +dxpdf(1:2:end,1) = xd2(1,:)'; +dxpdf(2:2:end,2) = xd2(2,:)'; + +dxpdc = zeros(2*n,2); +dxpdc(1:2:end,1) = ones(n,1); +dxpdc(2:2:end,2) = ones(n,1); + + +return; + +% Test of the Jacobians: + +n = 10; + +X = 10*randn(3,n); +om = randn(3,1); +T = [10*randn(2,1);40]; +f = 1000*rand(2,1); +c = 1000*randn(2,1); +k = 0.5*randn(4,1); + + +[x,dxdom,dxdT,dxdf,dxdc,dxdk] = project_points(X,om,T,f,c,k); + + +% Test on om: NOT OK + +dom = 0.000000001 * norm(om)*randn(3,1); +om2 = om + dom; + +[x2] = project_points(X,om2,T,f,c,k); + +x_pred = x + reshape(dxdom * dom,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on T: OK!! + +dT = 0.0001 * norm(T)*randn(3,1); +T2 = T + dT; + +[x2] = project_points(X,om,T2,f,c,k); + +x_pred = x + reshape(dxdT * dT,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + + +% Test on f: OK!! + +df = 0.001 * norm(f)*randn(2,1); +f2 = f + df; + +[x2] = project_points(X,om,T,f2,c,k); + +x_pred = x + reshape(dxdf * df,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on c: OK!! + +dc = 0.01 * norm(c)*randn(2,1); +c2 = c + dc; + +[x2] = project_points(X,om,T,f,c2,k); + +x_pred = x + reshape(dxdc * dc,2,n); + +norm(x2-x)/norm(x2 - x_pred) + +% Test on k: OK!! + +dk = 0.001 * norm(4)*randn(4,1); +k2 = k + dk; + +[x2] = project_points(X,om,T,f,c,k2); + +x_pred = x + reshape(dxdk * dk,2,n); + +norm(x2-x)/norm(x2 - x_pred) diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project_points2.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project_points2.m new file mode 100755 index 0000000..5bb1b91 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/project_points2.m @@ -0,0 +1,312 @@ +function [xp,dxpdom,dxpdT,dxpdf,dxpdc,dxpdk,dxpdalpha] = project_points2(X,om,T,f,c,k,alpha) + +%project_points.m +% +%[xp,dxpdom,dxpdT,dxpdf,dxpdc,dxpdk] = project_points2(X,om,T,f,c,k,alpha) +% +%Projects a 3D structure onto the image plane. +% +%INPUT: X: 3D structure in the world coordinate frame (3xN matrix for N points) +% (om,T): Rigid motion parameters between world coordinate frame and camera reference frame +% om: rotation vector (3x1 vector); T: translation vector (3x1 vector) +% f: camera focal length in units of horizontal and vertical pixel units (2x1 vector) +% c: principal point location in pixel units (2x1 vector) +% k: Distortion coefficients (radial and tangential) (4x1 vector) +% alpha: Skew coefficient between x and y pixel (alpha = 0 <=> square pixels) +% +%OUTPUT: xp: Projected pixel coordinates (2xN matrix for N points) +% dxpdom: Derivative of xp with respect to om ((2N)x3 matrix) +% dxpdT: Derivative of xp with respect to T ((2N)x3 matrix) +% dxpdf: Derivative of xp with respect to f ((2N)x2 matrix) +% dxpdc: Derivative of xp with respect to c ((2N)x2 matrix) +% dxpdk: Derivative of xp with respect to k ((2N)x4 matrix) +% +%Definitions: +%Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) +%The coordinate vector of P in the camera reference frame is: Xc = R*X + T +%where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); +%call x, y and z the 3 coordinates of Xc: x = Xc(1); y = Xc(2); z = Xc(3); +%The pinehole projection coordinates of P is [a;b] where a=x/z and b=y/z. +%call r^2 = a^2 + b^2. +%The distorted point coordinates are: xd = [xx;yy] where: +% +%xx = a * (1 + kc(1)*r^2 + kc(2)*r^4) + 2*kc(3)*a*b + kc(4)*(r^2 + 2*a^2); +%yy = b * (1 + kc(1)*r^2 + kc(2)*r^4) + kc(3)*(r^2 + 2*b^2) + 2*kc(4)*a*b; +% +%The left terms correspond to radial distortion, the right terms correspond to tangential distortion +% +%Finally, convertion into pixel coordinates: The final pixel coordinates vector xp=[xxp;yyp] where: +% +%xxp = f(1)*(xx + alpha*yy) + c(1) +%yyp = f(2)*yy + c(2) +% +% +%NOTE: About 90 percent of the code takes care fo computing the Jacobian matrices +% +% +%Important function called within that program: +% +%rodrigues.m: Computes the rotation matrix corresponding to a rotation vector +% +%rigid_motion.m: Computes the rigid motion transformation of a given structure + + +if nargin < 7, + alpha = 0; + if nargin < 6, + k = zeros(4,1); + if nargin < 5, + c = zeros(2,1); + if nargin < 4, + f = ones(2,1); + if nargin < 3, + T = zeros(3,1); + if nargin < 2, + om = zeros(3,1); + if nargin < 1, + error('Need at least a 3D structure to project (in project_points.m)'); + return; + end; + end; + end; + end; + end; + end; +end; + + +[m,n] = size(X); + +[Y,dYdom,dYdT] = rigid_motion(X,om,T); + + +inv_Z = 1./Y(3,:); + +x = (Y(1:2,:) .* (ones(2,1) * inv_Z)) ; + + +bb = (-x(1,:) .* inv_Z)'*ones(1,3); +cc = (-x(2,:) .* inv_Z)'*ones(1,3); + + +dxdom = zeros(2*n,3); +dxdom(1:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdom(1:3:end,:) + bb .* dYdom(3:3:end,:); +dxdom(2:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdom(2:3:end,:) + cc .* dYdom(3:3:end,:); + +dxdT = zeros(2*n,3); +dxdT(1:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdT(1:3:end,:) + bb .* dYdT(3:3:end,:); +dxdT(2:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdT(2:3:end,:) + cc .* dYdT(3:3:end,:); + + +% Add distortion: + +r2 = x(1,:).^2 + x(2,:).^2; + + + +dr2dom = 2*((x(1,:)')*ones(1,3)) .* dxdom(1:2:end,:) + 2*((x(2,:)')*ones(1,3)) .* dxdom(2:2:end,:); +dr2dT = 2*((x(1,:)')*ones(1,3)) .* dxdT(1:2:end,:) + 2*((x(2,:)')*ones(1,3)) .* dxdT(2:2:end,:); + + +r4 = r2.^2; + +dr4dom = 2*((r2')*ones(1,3)) .* dr2dom; +dr4dT = 2*((r2')*ones(1,3)) .* dr2dT; + + +% Radial distortion: + +cdist = 1 + k(1) * r2 + k(2) * r4; + +dcdistdom = k(1) * dr2dom + k(2) * dr4dom; +dcdistdT = k(1) * dr2dT+ k(2) * dr4dT; +dcdistdk = [ r2' r4' zeros(n,2)]; + + +xd1 = x .* (ones(2,1)*cdist); + +dxd1dom = zeros(2*n,3); +dxd1dom(1:2:end,:) = (x(1,:)'*ones(1,3)) .* dcdistdom; +dxd1dom(2:2:end,:) = (x(2,:)'*ones(1,3)) .* dcdistdom; +coeff = (reshape([cdist;cdist],2*n,1)*ones(1,3)); +dxd1dom = dxd1dom + coeff.* dxdom; + +dxd1dT = zeros(2*n,3); +dxd1dT(1:2:end,:) = (x(1,:)'*ones(1,3)) .* dcdistdT; +dxd1dT(2:2:end,:) = (x(2,:)'*ones(1,3)) .* dcdistdT; +dxd1dT = dxd1dT + coeff.* dxdT; + +dxd1dk = zeros(2*n,4); +dxd1dk(1:2:end,:) = (x(1,:)'*ones(1,4)) .* dcdistdk; +dxd1dk(2:2:end,:) = (x(2,:)'*ones(1,4)) .* dcdistdk; + + + +% tangential distortion: + +a1 = 2.*x(1,:).*x(2,:); +a2 = r2 + 2*x(1,:).^2; +a3 = r2 + 2*x(2,:).^2; + +delta_x = [k(3)*a1 + k(4)*a2 ; + k(3) * a3 + k(4)*a1]; + + +ddelta_xdx = zeros(2*n,2*n); +aa = (2*k(3)*x(2,:)+6*k(4)*x(1,:))'*ones(1,3); +bb = (2*k(3)*x(1,:)+2*k(4)*x(2,:))'*ones(1,3); +cc = (6*k(3)*x(2,:)+2*k(4)*x(1,:))'*ones(1,3); + +ddelta_xdom = zeros(2*n,3); +ddelta_xdom(1:2:end,:) = aa .* dxdom(1:2:end,:) + bb .* dxdom(2:2:end,:); +ddelta_xdom(2:2:end,:) = bb .* dxdom(1:2:end,:) + cc .* dxdom(2:2:end,:); + +ddelta_xdT = zeros(2*n,3); +ddelta_xdT(1:2:end,:) = aa .* dxdT(1:2:end,:) + bb .* dxdT(2:2:end,:); +ddelta_xdT(2:2:end,:) = bb .* dxdT(1:2:end,:) + cc .* dxdT(2:2:end,:); + +ddelta_xdk = zeros(2*n,4); +ddelta_xdk(1:2:end,3) = a1'; +ddelta_xdk(1:2:end,4) = a2'; +ddelta_xdk(2:2:end,3) = a3'; +ddelta_xdk(2:2:end,4) = a1'; + + + +xd2 = xd1 + delta_x; + +dxd2dom = dxd1dom + ddelta_xdom ; +dxd2dT = dxd1dT + ddelta_xdT; +dxd2dk = dxd1dk + ddelta_xdk ; + + +% Add Skew: + +xd3 = [xd2(1,:) + alpha*xd2(2,:);xd2(2,:)]; + +% Compute: dxd3dom, dxd3dT, dxd3dk, dxd3dalpha + +dxd3dom = zeros(2*n,3); +dxd3dom(1:2:2*n,:) = dxd2dom(1:2:2*n,:) + alpha*dxd2dom(2:2:2*n,:); +dxd3dom(2:2:2*n,:) = dxd2dom(2:2:2*n,:); +dxd3dT = zeros(2*n,3); +dxd3dT(1:2:2*n,:) = dxd2dT(1:2:2*n,:) + alpha*dxd2dT(2:2:2*n,:); +dxd3dT(2:2:2*n,:) = dxd2dT(2:2:2*n,:); +dxd3dk = zeros(2*n,4); +dxd3dk(1:2:2*n,:) = dxd2dk(1:2:2*n,:) + alpha*dxd2dk(2:2:2*n,:); +dxd3dk(2:2:2*n,:) = dxd2dk(2:2:2*n,:); +dxd3dalpha = zeros(2*n,1); +dxd3dalpha(1:2:2*n,:) = xd2(2,:)'; + + + +% Pixel coordinates: + +xp = xd3 .* (f * ones(1,n)) + c*ones(1,n); + +coeff = reshape(f*ones(1,n),2*n,1); + +dxpdom = (coeff*ones(1,3)) .* dxd3dom; +dxpdT = (coeff*ones(1,3)) .* dxd3dT; +dxpdk = (coeff*ones(1,4)) .* dxd3dk; +dxpdalpha = (coeff) .* dxd3dalpha; + +dxpdf = zeros(2*n,2); +dxpdf(1:2:end,1) = xd2(1,:)'; +dxpdf(2:2:end,2) = xd2(2,:)'; + +dxpdc = zeros(2*n,2); +dxpdc(1:2:end,1) = ones(n,1); +dxpdc(2:2:end,2) = ones(n,1); + + +return; + +% Test of the Jacobians: + +n = 10; + +X = 10*randn(3,n); +om = randn(3,1); +T = [10*randn(2,1);40]; +f = 1000*rand(2,1); +c = 1000*randn(2,1); +k = 0.5*randn(4,1); +alpha = 0.01*randn(1,1); + +[x,dxdom,dxdT,dxdf,dxdc,dxdk,dxdalpha] = project_points2(X,om,T,f,c,k,alpha); + + +% Test on om: NOT OK + +dom = 0.000000001 * norm(om)*randn(3,1); +om2 = om + dom; + +[x2] = project_points2(X,om2,T,f,c,k,alpha); + +x_pred = x + reshape(dxdom * dom,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on T: OK!! + +dT = 0.0001 * norm(T)*randn(3,1); +T2 = T + dT; + +[x2] = project_points2(X,om,T2,f,c,k,alpha); + +x_pred = x + reshape(dxdT * dT,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + + +% Test on f: OK!! + +df = 0.001 * norm(f)*randn(2,1); +f2 = f + df; + +[x2] = project_points2(X,om,T,f2,c,k,alpha); + +x_pred = x + reshape(dxdf * df,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on c: OK!! + +dc = 0.01 * norm(c)*randn(2,1); +c2 = c + dc; + +[x2] = project_points2(X,om,T,f,c2,k,alpha); + +x_pred = x + reshape(dxdc * dc,2,n); + +norm(x2-x)/norm(x2 - x_pred) + +% Test on k: OK!! + +dk = 0.001 * norm(k)*randn(4,1); +k2 = k + dk; + +[x2] = project_points2(X,om,T,f,c,k2,alpha); + +x_pred = x + reshape(dxdk * dk,2,n); + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on alpha: OK!! + +dalpha = 0.001 * norm(k)*randn(1,1); +alpha2 = alpha + dalpha; + +[x2] = project_points2(X,om,T,f,c,k,alpha2); + +x_pred = x + reshape(dxdalpha * dalpha,2,n); + +norm(x2-x)/norm(x2 - x_pred) diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projectedGrid.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projectedGrid.m new file mode 100755 index 0000000..561a7d0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projectedGrid.m @@ -0,0 +1,24 @@ +function [XX,H] = projectedGrid ( P1, P2, P3, P4 , nx, ny); + +% new formalism using homographies + +a00 = [P1;1]; +a10 = [P2;1]; +a11 = [P3;1]; +a01 = [P4;1]; + +% Compute the planart collineation: + +[H] = compute_collineation (a00, a10, a11, a01); + + +% Build the grid using the planar collineation: + +x_l = ((0:(nx-1))'*ones(1,ny))/(nx-1); +y_l = (ones(nx,1)*(0:(ny-1)))/(ny-1); + +pts = [x_l(:) y_l(:) ones(nx*ny,1)]'; + +XX = H*pts; + +XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projector_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projector_calib.m new file mode 100755 index 0000000..bb4ef86 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projector_calib.m @@ -0,0 +1,258 @@ +%%% This code is an additional code that helps doing projector calibration in 3D scanning setup. +%%% This is not a useful code for anyone else but me. +%%% I included it in the toolbox for illustration only. + + +load camera_results; + + +proj_name = input('Basename projector calibration images (without number nor suffix): ','s'); + + +i = 1; + +while (i <= n_ima), % & (~no_image_file), + + if active_images(i), + + %fprintf(1,'Loading image %d...\n',i); + + if ~type_numbering, + number_ext = num2str(image_numbers(i)); + else + number_ext = sprintf(['%.' num2str(N_slots) 'd'],image_numbers(i)); + end; + + ima_namep = [proj_name number_ext 'p.' format_image]; + ima_namen = [proj_name number_ext 'n.' format_image]; + + if i == ind_active(1), + fprintf(1,'Loading image '); + end; + + fprintf(1,'%d...',i); + + if format_image(1) == 'p', + if format_image(2) == 'p', + Ip = double(loadppm(ima_namep)); + In = double(loadppm(ima_namen)); + else + Ip = double(loadpgm(ima_namep)); + In = double(loadpgm(ima_namen)); + end; + else + if format_image(1) == 'r', + Ip = readras(ima_namep); + In = readras(ima_namen); + else + Ip = double(imread(ima_namep)); + In = double(imread(ima_namen)); + end; + end; + + + if size(Ip,3)>1, + Ip = Ip(:,:,2); + In = In(:,:,2); + end; + + eval(['Ip_' num2str(i) ' = Ip;']); + eval(['In_' num2str(i) ' = In;']); + + end; + + i = i+1; + +end; + + +fprintf(1,'\nExtraction of the grid corners on the image\n'); + +disp('Window size for corner finder (wintx and winty):'); +wintx = input('wintx ([] = 5) = '); +if isempty(wintx), wintx = 5; end; +wintx = round(wintx); +winty = input('winty ([] = 5) = '); +if isempty(winty), winty = 5; end; +winty = round(winty); +fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + + +disp('The projector you are using is the DLP or Intel'); +nx = 800; +ny = 600; + +dX = input('Size dX in x of the squares (in pixels) [50] = '); +dY = input('Size dY in y of the squares (in pixels) [50] = '); + +if isempty(dX), dX=50; end; +if isempty(dY), dY=50; end; + +dXoff = input('Position in x of your reference (in pixels) [399.5] = '); +dYoff = input('Position in y of your reference (in pixels) [299.5] = '); + +if isempty(dXoff), dXoff=399.5; end; +if isempty(dYoff), dYoff=299.5; end; + +end; + + + +for kk = ind_active, + + eval(['Ip = Ip_' num2str(kk) ';']); + eval(['In = In_' num2str(kk) ';']); + + [x,X,n_sq_x,n_sq_y,ind_orig,ind_x,ind_y] = extract_grid(In,wintx,winty,fc,cc,kc,dX,dY); + xproj = x; + + Np_proj = size(x,2); + + figure(2); + image(Ip); + hold on; + plot(xproj(1,:)+1,xproj(2,:)+1,'r+'); + title('Click on your reference point'); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + hold off; + + disp('Click on your reference point...'); + + [xr,yr] = ginput2(1); + + err = sqrt(sum((xproj - [xr;yr]*ones(1,Np_proj)).^2)); + ind_ref = find(err == min(err)); + + ref_pt = xproj(:,ind_ref); + + + figure(2); + hold on; + plot(ref_pt(1)+1,ref_pt(2)+1,'go'); hold off; + + + nn = floor(ind_ref/(n_sq_x+1)); + off_x = ind_ref - nn*(n_sq_x+1) - 1; + off_y = n_sq_y - nn; + + + xprojn = xproj - cc * ones(1,Np_proj); + xprojn = xprojn ./ (fc * ones(1,Np_proj)); + xprojn = comp_distortion(xprojn,kc); + + eval(['Rc = Rc_' num2str(kk) ';']); + eval(['Tc = Tc_' num2str(kk) ';']); + + Zc = ((Rc(:,3)'*Tc) * (1./(Rc(:,3)' * [xprojn; ones(1,Np_proj)]))); + Xcp = (ones(3,1)*Zc) .* [xprojn; ones(1,Np_proj)]; % % in the camera frame + %Xproj = Rc'* Xcp - (Rc'*Tc)*ones(1,Np); % in the object frame !!! it works! + %Xproj(3,:) = zeros(1,Np); + + eval(['X_proj_' num2str(kk) ' = Xcp;']); % coordinates of the points in the + + x_proj = X(1:2,:) + ([dXoff - dX * off_x ; dYoff - dY * off_y]*ones(1,Np_proj)); + + eval(['x_proj_' num2str(kk) ' = x_proj;']); % coordinates of the points in the + +end; + + + +X_proj = []; +x_proj = []; + +for kk = ind_active, + eval(['X_proj = [X_proj X_proj_' num2str(kk) '];']); + eval(['x_proj = [x_proj x_proj_' num2str(kk) '];']); +end; + + +%Save camera parameters: +fc_save = fc; +cc_save = cc; +kc_save = kc; + +omc_1_save = omc_1; +Rc_1_save = Rc_1; +Tc_1_save = Tc_1; + + +% Get started to calibrate projector: +clear fc cc kc + +n_ima = 1; +X_1 = X_proj; +x_1 = x_proj; + + +% Image size: (may or may not be available) + +nx = 800; +ny = 600; + +% No calibration image is available (only the corner coordinates) + +no_image = 1; + +% Set the toolbox not to prompt the user (choose default values) + +dont_ask = 1; + +% Do not estimate distortion: + +est_dist = [0;0;0;0]; +est_dist = ones(4,1); + +center_optim = 1; + +% Run the main calibration routine: + +go_calib_optim_iter; + +% Shows the extrinsic parameters: + +dX = 3; +dY = 3; + +ext_calib; + +% Reprojection on the original images: + +reproject_calib; + + + + +%----------------------- Retrieve results: + +% Intrinsic: + +% Projector: +fp = fc; +cp = cc; +kp = kc; + +% Camera: +fc = fc_save; +cc = cc_save; +kc = kc_save; + +% Extrinsic: + +% Relative position of projector and camera: +T = Tc_1; +om = omc_1; +R = rodrigues(om); + +% Relative prosition of camera wrt world: +omc = omc_1_save; +Rc = Rc_1_save; +Tc = Tc_1_save; + +% relative position of projector wrt world: +Rp = R*Rc; +omp = rodrigues(Rp); +Tp = T + R*Tc; + +eval(['save calib_cam_proj R om T fc fp cc cp kc kp Rc Rp Tc Tp']); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/readras.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/readras.m new file mode 100755 index 0000000..fc1820b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/readras.m @@ -0,0 +1,87 @@ +function [X, map] = readras(filename, ys, ye, xs, xe); +%READRAS Read an image file in sun raster format. +% READRAS('imagefile.ras') reads a "sun.raster" image file. +% [X, map] = READRAS('imagefile.ras') returns both the image and a +% color map, so that +% [X, map] = readras('imagefile.ras'); +% image(X) +% colormap(map) +% axis('equal') +% will display the result with the proper colors. +% NOTE: readras cannot deal with complicated color maps. +% In fact, Matlab doesn't quite allow to work with colormaps +% with more than 64 entries. +% + +%% +%% (C) Thomas K. Leung 3/30/93. +%% California Institute of Technology. +%% Modified by Andrea Mennucci to deal with color images +%% + +% PC and UNIX version of readras - Jean-Yves Bouguet - Dec. 1998 + +dot = max(find(filename == '.')); +suffix = filename(dot+1:dot+3); + +if(strcmp(suffix, 'ras')) % raster file format % + fp = fopen(filename, 'rb'); + if(fp<0) error(['Cannot open ' filename '.']), end + + %Read and crack the 32-byte header + fseek(fp, 4, -1); + + width = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + height = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + depth = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + length = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + type = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + maptype = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + maplen = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + maplen = maplen / 3; + + if maptype == 2 % RMT_RAW + map = fread(fp, [maplen, 3], 'uchar')/255; +% if maplen<64, map=[map',zeros(3,64-maplen)]';maplen=64; end; + elseif maptype == 1 % RMT_EQUAL_RGB + map(:,1) = fread(fp, [maplen], 'uchar'); + map(:,2) = fread(fp, [maplen], 'uchar'); + map(:,3) = fread(fp, [maplen], 'uchar'); + %maxmap = max(max(map)); + map = map/255; + if maplen<64, map=[map',zeros(3,64-maplen)]'; maplen=64; end; + else % RMT_NONE + map = []; + end +% if maplen>64, +% map=[map',zeros(3,256-maplen)]'; +% end; + + % Read the image + + if rem(width,2) == 1 + Xt = fread(fp, [width+1, height], 'uchar'); + X = Xt(1:width, :)'; + else + Xt = fread(fp, [width, height], 'uchar'); + X = Xt'; + end + X = X + 1; + fclose(fp); +else + error('Image file name must end in either ''ras'' or ''rast''.'); +end + + +if nargin == 5 + + X = X(ys:ye, xs:xe); + +end \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/recomp_corner_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/recomp_corner_calib.m new file mode 100755 index 0000000..0909c69 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/recomp_corner_calib.m @@ -0,0 +1,119 @@ +% Re-select te corners after calibration + +if ~exist('n_ima')|~exist('fc'), + fprintf(1,'No calibration data available.\n'); + return; +end; + +check_active_images; + +flag = 0; +for kk = ind_active, + if ~exist(['y_' num2str(kk)]), + flag = 1; + else + eval(['ykk = y_' num2str(kk) ';']); + if isnan(ykk(1,1)), + flag = 1; + end; + end; +end; + +if flag, + fprintf(1,'Need to calibrate once before before recomputing image corners. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + + +if ~exist(['I_' num2str(ind_active(1))]), + n_ima_save = n_ima; + active_images_save = active_images; + ima_read_calib; + n_ima = n_ima_save; + active_images = active_images_save; + check_active_images; + if no_image_file, + disp('Cannot extract corners without images'); + return; + end; +end; + +fprintf(1,'\nRe-extraction of the grid corners on the images (after first calibration)\n'); + +disp('Window size for corner finder (wintx and winty):'); +wintx = input('wintx ([] = 5) = '); +if isempty(wintx), wintx = 5; end; +wintx = round(wintx); +winty = input('winty ([] = 5) = '); +if isempty(winty), winty = 5; end; +winty = round(winty); + +fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + +ima_numbers = input('Number(s) of image(s) to process ([] = all images) = '); + +if isempty(ima_numbers), + ima_proc = 1:n_ima; +else + ima_proc = ima_numbers; +end; + +q_auto = input('Use the projection of 3D grid or manual click ([]=auto, other=manual): '); + +fprintf(1,'Processing image '); + +for kk = ima_proc; + + if active_images(kk), + + fprintf(1,'%d...',kk); + + if isempty(q_auto), + + eval(['I = I_' num2str(kk) ';']); + + eval(['y = y_' num2str(kk) ';']); + + xc = cornerfinder(y+1,I,winty,wintx); % the four corners + + eval(['wintx_' num2str(kk) ' = wintx;']); + eval(['winty_' num2str(kk) ' = winty;']); + + eval(['x_' num2str(kk) '= xc - 1;']); + + else + + fprintf(1,'\n'); + + click_ima_calib; + + end; + + else + + if ~exist(['omc_' num2str(kk)]), + + eval(['dX_' num2str(kk) ' = NaN;']); + eval(['dY_' num2str(kk) ' = NaN;']); + + eval(['wintx_' num2str(kk) ' = NaN;']); + eval(['winty_' num2str(kk) ' = NaN;']); + + eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); + eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); + + eval(['n_sq_x_' num2str(kk) ' = NaN;']); + eval(['n_sq_y_' num2str(kk) ' = NaN;']); + + end; + + end; + + +end; + +% Recompute the error: + +comp_error_calib; + +fprintf(1,'\ndone\n'); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rect.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rect.m new file mode 100755 index 0000000..ccac7a5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rect.m @@ -0,0 +1,127 @@ +function [Irec] = rect(I,R,f,c,k,alpha,KK_new); + + +if nargin < 5, + k = 0; + if nargin < 4, + c = [0;0]; + if nargin < 3, + f = [1;1]; + if nargin < 2, + R = eye(3); + if nargin < 1, + error('ERROR: Need an image to rectify'); + break; + end; + end; + end; + end; +end; + + +if nargin < 7, + if nargin < 6, + KK_new = [f(1) 0 c(1);0 f(2) c(2);0 0 1]; + else + KK_new = alpha; % the 6th argument is actually KK_new + end; + alpha = 0; +end; + + + +% Note: R is the motion of the points in space +% So: X2 = R*X where X: coord in the old reference frame, X2: coord in the new ref frame. + + +if ~exist('KK_new'), + KK_new = [f(1) alpha_c*fc(1) c(1);0 f(2) c(2);0 0 1]; +end; + + +[nr,nc] = size(I); + +Irec = 255*ones(nr,nc); + +[mx,my] = meshgrid(1:nc, 1:nr); +px = reshape(mx',nc*nr,1); +py = reshape(my',nc*nr,1); + +rays = inv(KK_new)*[(px - 1)';(py - 1)';ones(1,length(px))]; + + +% Rotation: (or affine transformation): + +rays2 = R'*rays; + +x = [rays2(1,:)./rays2(3,:);rays2(2,:)./rays2(3,:)]; + + +% Add distortion: + +k1 = k(1); +k2 = k(2); + +p1 = k(3); +p2 = k(4); + +r_2 = sum(x.^2); + +delta_x = [2*p1*x(1,:).*x(2,:) + p2*(r_2 + 2*x(1,:).^2) ; + p1 * (r_2 + 2*x(2,:).^2)+2*p2*x(1,:).*x(2,:)]; + +xd = (ones(2,1)*( 1 + k1 * r_2 + k2 * r_2.^2)) .* x + delta_x; + + +% Reconvert in pixels: + +px2 = f(1)*(xd(1,:)+alpha_c*xd(2,:))+c(1); +py2 = f(2)*xd(2,:)+c(2); + + +% Interpolate between the closest pixels: + +px_0 = floor(px2); +px_1 = px_0 + 1; +alpha_x = px2 - px_0; + +py_0 = floor(py2); +py_1 = py_0 + 1; +alpha_y = py2 - py_0; + +good_points = find((px_0 >= 0) & (px_1 <= (nc-1)) & (py_0 >= 0) & (py_1 <= (nr-1))); + +I_lu = I(px_0(good_points) * nr + py_0(good_points) + 1); +I_ru = I(px_1(good_points) * nr + py_0(good_points) + 1); +I_ld = I(px_0(good_points) * nr + py_1(good_points) + 1); +I_rd = I(px_1(good_points) * nr + py_1(good_points) + 1); + + +I_interp = (1 - alpha_y(good_points)).*((1 - alpha_x(good_points)).* I_lu + alpha_x(good_points) .* I_ru) + alpha_y(good_points) .* ((1 - alpha_x(good_points)).* I_ld + alpha_x(good_points) .* I_rd); + + +Irec((px(good_points)-1)*nr + py(good_points)) = I_interp; + + + +return; + + +% Convert in indices: + +fact = 3; + +[XX,YY]= meshgrid(1:nc,1:nr); +[XXi,YYi]= meshgrid(1:1/fact:nc,1:1/fact:nr); + +%tic; +Iinterp = interp2(XX,YY,I,XXi,YYi); +%toc + +[nri,nci] = size(Iinterp); + + +ind_col = round(fact*(f(1)*xd(1,:)+c(1)))+1; +ind_row = round(fact*(f(2)*xd(2,:)+c(2)))+1; + +good_points = find((ind_col >=1)&(ind_col<=nci)&(ind_row >=1)& (ind_row <=nri)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/reproject_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/reproject_calib.m new file mode 100755 index 0000000..d3ad3d2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/reproject_calib.m @@ -0,0 +1,121 @@ +%%%%%%%%%%%%%%%%%%%% REPROJECT ON THE IMAGES %%%%%%%%%%%%%%%%%%%%%%%% + +if ~exist('n_ima')|~exist('fc'), + fprintf(1,'No calibration data available.\n'); + return; +end; + +if ~exist('no_image'), + no_image = 0; +end; + +if ~exist('nx')&~exist('ny'), + fprintf(1,'WARNING: No image size (nx,ny) available. Setting nx=640 and ny=480\n'); + nx = 640; + ny = 480; +end; + + +check_active_images; + + +% Color code for each image: + +colors = 'brgkcm'; + +% Reproject the patterns on the images, and compute the pixel errors: + +% Reload the images if necessary + +if ~exist(['omc_' num2str(ind_active(1)) ]), + fprintf(1,'Need to calibrate before showing image reprojection. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + +if ~no_image, + if ~exist(['I_' num2str(ind_active(1)) ]'), + n_ima_save = n_ima; + active_images_save = active_images; + ima_read_calib; + n_ima = n_ima_save; + active_images = active_images_save; + check_active_images; + if no_image_file, + fprintf(1,'WARNING: Do not show the original images\n'); %return; + end; + end; +else + no_image_file = 1; +end; + + +if ~exist('dont_ask'), + dont_ask = 0; +end; + + +if ~dont_ask, + ima_numbers = input('Number(s) of image(s) to show ([] = all images) = '); +else + ima_numbers = []; +end; + + +if isempty(ima_numbers), + ima_proc = 1:n_ima; +else + ima_proc = ima_numbers; +end; + + +figure(5); +for kk = ima_proc, %1:n_ima, + if exist(['y_' num2str(kk)]), + if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']), + eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']); + hold on; + end; + end; +end; +hold off; +axis('equal'); +title('Reprojection error (in pixel)'); +xlabel('x'); +ylabel('y'); +drawnow; + +set(5,'Name','error','NumberTitle','off'); + + + +for kk = ima_proc, + if exist(['y_' num2str(kk)]), + if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']), + + if exist(['I_' num2str(kk)]), + eval(['I = I_' num2str(kk) ';']); + else + I = 255*ones(ny,nx); + end; + + figure(5+kk); + image(I); hold on; + colormap(gray(256)); + title(['Image ' num2str(kk) ' - Image points (+) and reprojected grid points (o)']); + eval(['plot(x_' num2str(kk) '(1,:)+1,x_' num2str(kk) '(2,:)+1,''r+'');']); + eval(['plot(y_' num2str(kk) '(1,:)+1,y_' num2str(kk) '(2,:)+1,''' colors(rem(kk-1,6)+1) 'o'');']); + zoom on; + axis([1 nx 1 ny]); + hold off; + drawnow; + + set(5+kk,'Name',num2str(kk),'NumberTitle','off'); + + end; + end; +end; + + +err_std = std(ex')'; + +fprintf(1,'Pixel error: err = [%3.5f %3.5f] (all active images)\n\n',err_std); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rigid_motion.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rigid_motion.m new file mode 100755 index 0000000..473405c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rigid_motion.m @@ -0,0 +1,66 @@ +function [Y,dYdom,dYdT] = rigid_motion(X,om,T); + +%rigid_motion.m +% +%[Y,dYdom,dYdT] = rigid_motion(X,om,T) +% +%Computes the rigid motion transformation Y = R*X+T, where R = rodrigues(om). +% +%INPUT: X: 3D structure in the world coordinate frame (3xN matrix for N points) +% (om,T): Rigid motion parameters between world coordinate frame and camera reference frame +% om: rotation vector (3x1 vector); T: translation vector (3x1 vector) +% +%OUTPUT: Y: 3D coordinates of the structure points in the camera reference frame (3xN matrix for N points) +% dYdom: Derivative of Y with respect to om ((3N)x3 matrix) +% dYdT: Derivative of Y with respect to T ((3N)x3 matrix) +% +%Definitions: +%Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) +%The coordinate vector of P in the camera reference frame is: Y = R*X + T +%where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); +% +%Important function called within that program: +% +%rodrigues.m: Computes the rotation matrix corresponding to a rotation vector + + + +if nargin < 3, + T = zeros(3,1); + if nargin < 2, + om = zeros(3,1); + if nargin < 1, + error('Need at least a 3D structure as input (in rigid_motion.m)'); + return; + end; + end; +end; + + +[R,dRdom] = rodrigues(om); + +[m,n] = size(X); + +Y = R*X + T*ones(1,n); + +if nargout > 1, + + +dYdR = zeros(3*n,9); +dYdT = zeros(3*n,3); + +dYdR(1:3:end,1:3:end) = X'; +dYdR(2:3:end,2:3:end) = X'; +dYdR(3:3:end,3:3:end) = X'; + +dYdT(1:3:end,1) = ones(n,1); +dYdT(2:3:end,2) = ones(n,1); +dYdT(3:3:end,3) = ones(n,1); + +dYdom = dYdR * dRdom; + +end; + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rodrigues.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rodrigues.m new file mode 100755 index 0000000..9d55337 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rodrigues.m @@ -0,0 +1,217 @@ +function [out,dout]=rodrigues(in) + +% RODRIGUES Transform rotation matrix into rotation vector and viceversa. +% +% Sintax: [OUT]=RODRIGUES(IN) +% If IN is a 3x3 rotation matrix then OUT is the +% corresponding 3x1 rotation vector +% if IN is a rotation 3-vector then OUT is the +% corresponding 3x3 rotation matrix +% + +%% +%% Copyright (c) March 1993 -- Pietro Perona +%% California Institute of Technology +%% + +%% ALL CHECKED BY JEAN-YVES BOUGUET, October 1995. +%% FOR ALL JACOBIAN MATRICES !!! LOOK AT THE TEST AT THE END !! + +%% BUG when norm(om)=pi fixed -- April 6th, 1997; +%% Jean-Yves Bouguet + + +[m,n] = size(in); +%bigeps = 10e+4*eps; +bigeps = 10e+20*eps; + +if ((m==1) & (n==3)) | ((m==3) & (n==1)) %% it is a rotation vector + theta = norm(in); + if theta < eps + R = eye(3); + + %if nargout > 1, + + dRdin = [0 0 0; + 0 0 1; + 0 -1 0; + 0 0 -1; + 0 0 0; + 1 0 0; + 0 1 0; + -1 0 0; + 0 0 0]; + + %end; + + else + if n==length(in) in=in'; end; %% make it a column vec. if necess. + + %m3 = [in,theta] + + dm3din = [eye(3);in'/theta]; + + omega = in/theta; + + %m2 = [omega;theta] + + dm2dm3 = [eye(3)/theta -in/theta^2; zeros(1,3) 1]; + + alpha = cos(theta); + beta = sin(theta); + gamma = 1-cos(theta); + omegav=[[0 -omega(3) omega(2)];[omega(3) 0 -omega(1)];[-omega(2) omega(1) 0 ]]; + A = omega*omega'; + + %m1 = [alpha;beta;gamma;omegav;A]; + + dm1dm2 = zeros(21,4); + dm1dm2(1,4) = -sin(theta); + dm1dm2(2,4) = cos(theta); + dm1dm2(3,4) = sin(theta); + dm1dm2(4:12,1:3) = [0 0 0 0 0 1 0 -1 0; + 0 0 -1 0 0 0 1 0 0; + 0 1 0 -1 0 0 0 0 0]'; + + w1 = omega(1); + w2 = omega(2); + w3 = omega(3); + + dm1dm2(13:21,1) = [2*w1;w2;w3;w2;0;0;w3;0;0]; + dm1dm2(13: 21,2) = [0;w1;0;w1;2*w2;w3;0;w3;0]; + dm1dm2(13:21,3) = [0;0;w1;0;0;w2;w1;w2;2*w3]; + + R = eye(3)*alpha + omegav*beta + A*gamma; + + dRdm1 = zeros(9,21); + + dRdm1([1 5 9],1) = ones(3,1); + dRdm1(:,2) = omegav(:); + dRdm1(:,4:12) = beta*eye(9); + dRdm1(:,3) = A(:); + dRdm1(:,13:21) = gamma*eye(9); + + dRdin = dRdm1 * dm1dm2 * dm2dm3 * dm3din; + + + end; + out = R; + dout = dRdin; + + %% it is prob. a rot matr. + elseif ((m==n) & (m==3) & (norm(in' * in - eye(3)) < bigeps)... + & (abs(det(in)-1) < bigeps)) + R = in; + + + + tr = (trace(R)-1)/2; + dtrdR = [1 0 0 0 1 0 0 0 1]/2; + theta = real(acos(tr)); + + + if sin(theta) >= 1e-5, + + dthetadtr = -1/sqrt(1-tr^2); + + dthetadR = dthetadtr * dtrdR; + % var1 = [vth;theta]; + vth = 1/(2*sin(theta)); + dvthdtheta = -vth*cos(theta)/sin(theta); + dvar1dtheta = [dvthdtheta;1]; + + dvar1dR = dvar1dtheta * dthetadR; + + + om1 = [R(3,2)-R(2,3), R(1,3)-R(3,1), R(2,1)-R(1,2)]'; + + dom1dR = [0 0 0 0 0 1 0 -1 0; + 0 0 -1 0 0 0 1 0 0; + 0 1 0 -1 0 0 0 0 0]; + + % var = [om1;vth;theta]; + dvardR = [dom1dR;dvar1dR]; + + % var2 = [om;theta]; + om = vth*om1; + domdvar = [vth*eye(3) om1 zeros(3,1)]; + dthetadvar = [0 0 0 0 1]; + dvar2dvar = [domdvar;dthetadvar]; + + + out = om*theta; + domegadvar2 = [theta*eye(3) om]; + + dout = domegadvar2 * dvar2dvar * dvardR; + + + else + if tr > 0; % case norm(om)=0; + + out = [0 0 0]'; + + dout = [0 0 0 0 0 1/2 0 -1/2 0; + 0 0 -1/2 0 0 0 1/2 0 0; + 0 1/2 0 -1/2 0 0 0 0 0]; + else % case norm(om)=pi; %% fixed April 6th + + + out = theta * (sqrt((diag(R)+1)/2).*[1;2*(R(1,2:3)>=0)'-1]); + %keyboard; + + if nargout > 1, + fprintf(1,'WARNING!!!! Jacobian domdR undefined!!!\n'); + dout = NaN*ones(3,9); + end; + end; + end; + + else + error('Neither a rotation matrix nor a rotation vector were provided'); + end; + +return; + +%% test of the Jacobians: + +%%%% TEST OF dRdom: +om = randn(3,1); +dom = randn(3,1)/1000000; + +[R1,dR1] = rodrigues(om); +R2 = rodrigues(om+dom); + +R2a = R1 + reshape(dR1 * dom,3,3); + +gain = norm(R2 - R1)/norm(R2 - R2a) + +%%% TEST OF dOmdR: +om = randn(3,1); +R = rodrigues(om); +dom = randn(3,1)/10000; +dR = rodrigues(om+dom) - R; + +[omc,domdR] = rodrigues(R); +[om2] = rodrigues(R+dR); + +om_app = omc + domdR*dR(:); + +gain = norm(om2 - omc)/norm(om2 - om_app) + + +%%% OTHER BUG: (FIXED NOW!!!) + +omu = randn(3,1); +omu = omu/norm(omu) +om = pi*omu; +[R,dR]= rodrigues(om); +[om2] = rodrigues(R); +[om om2] + +%%% NORMAL OPERATION + +om = randn(3,1); +[R,dR]= rodrigues(om); +[om2] = rodrigues(R); +[om om2] + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rotation.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rotation.m new file mode 100755 index 0000000..87ee2fe --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/rotation.m @@ -0,0 +1,23 @@ +function [] = rotation(st); + +if nargin < 1, + st= 1; +end; + + +fig = gcf; + +ax = gca; + +vv = get(ax,'view'); + +az = vv(1); +el = vv(2); + +for azi = az:-abs(st):az-360, + + set(ax,'view',[azi el]); + figure(fig); + drawnow; + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/run_error_analysis.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/run_error_analysis.m new file mode 100755 index 0000000..095e17e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/run_error_analysis.m @@ -0,0 +1,65 @@ +%%% Program that launchs the complete + +for N_ima_active = 1:30, + + error_analysis; + +end; + + + +return; + + +f = []; +f_std = []; + +c = []; +c_std = []; + +k = []; +k_std = []; + +NN = 30; + +for rr = 1:NN, + + load(['Calib_Accuracies_' num2str(rr)]); + + [m1,s1] = mean_std_robust(fc_list(1,:)); + [m2,s2] = mean_std_robust(fc_list(2,:)); + + f = [f [m1;m2]]; + f_std = [f_std [s1;s2]]; + + [m1,s1] = mean_std_robust(cc_list(1,:)); + [m2,s2] = mean_std_robust(cc_list(2,:)); + + c = [c [m1;m2]]; + c_std = [c_std [s1;s2]]; + + [m1,s1] = mean_std_robust(kc_list(1,:)); + [m2,s2] = mean_std_robust(kc_list(2,:)); + [m3,s3] = mean_std_robust(kc_list(3,:)); + [m4,s4] = mean_std_robust(kc_list(4,:)); + + k = [k [m1;m2;m3;m4]]; + k_std = [k_std [s1;s2;s3;s4]]; + +end; + +figure(1); +errorbar([1:NN;1:NN]',f',f_std'); +figure(2); +errorbar([1:NN;1:NN]',c',c_std'); +figure(3); +errorbar([1:NN;1:NN;1:NN;1:NN]',k',k_std'); + +figure(4); +semilogy(f_std'); + +figure(5); +semilogy(c_std'); + +figure(6); +semilogy(k_std'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saveinr.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saveinr.m new file mode 100755 index 0000000..a176e39 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saveinr.m @@ -0,0 +1,46 @@ +%SAVEINR Write an INRIMAGE format file +% +% SAVEINR(filename, im) +% +% Saves the specified image array in a INRIA image format file. +% +% SEE ALSO: loadinr +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + +% Peter Corke 1996 + +function saveinr(fname, im) + + fid = fopen(fname, 'w'); + [r,c] = size(im'); + + % build the header + hdr = []; + s = sprintf('#INRIMAGE-4#{\n'); + hdr = [hdr s]; + s = sprintf('XDIM=%d\n',c); + hdr = [hdr s]; + s = sprintf('YDIM=%d\n',r); + hdr = [hdr s]; + s = sprintf('ZDIM=1\n'); + hdr = [hdr s]; + s = sprintf('VDIM=1\n'); + hdr = [hdr s]; + s = sprintf('TYPE=float\n'); + hdr = [hdr s]; + s = sprintf('PIXSIZE=32\n'); + hdr = [hdr s]; + s = sprintf('SCALE=2**0\n'); + hdr = [hdr s]; + s = sprintf('CPU=sun\n#'); + hdr = [hdr s]; + + % make it 256 bytes long and write it + hdr256 = zeros(1,256); + hdr256(1:length(hdr)) = hdr; + fwrite(fid, hdr256, 'uchar'); + + % now the binary data + fwrite(fid, im', 'float32'); + fclose(fid) diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/savepgm.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/savepgm.m new file mode 100755 index 0000000..0cee75d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/savepgm.m @@ -0,0 +1,22 @@ +%SAVEPGM Write a PGM format file +% +% SAVEPGM(filename, im) +% +% Saves the specified image array in a binary (P5) format PGM image file. +% +% SEE ALSO: loadpgm +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function savepgm(fname, im) + + fid = fopen(fname, 'w'); + [r,c] = size(im'); + fprintf(fid, 'P5\n'); + fprintf(fid, '%d %d\n', r, c); + fprintf(fid, '255\n'); + fwrite(fid, im', 'uchar'); + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saveppm.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saveppm.m new file mode 100755 index 0000000..ece092b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saveppm.m @@ -0,0 +1,45 @@ +%SAVEPPM Write a PPM format file +% +% SAVEPPM(filename, I) +% +% Saves the specified red, green and blue planes in a binary (P6) +% format PPM image file. +% +% SEE ALSO: loadppm +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function saveppm(fname, I) + +I = double(I); + +if size(I,3) == 1, + R = I; + G = I; + B = I; +else + R = I(:,:,1); + G = I(:,:,2); + B = I(:,:,3); +end; + +%keyboard; + + fid = fopen(fname, 'w'); + [r,c] = size(R'); + fprintf(fid, 'P6\n'); + fprintf(fid, '%d %d\n', r, c); + fprintf(fid, '255\n'); + R = R'; + G = G'; + B = B'; + im = [R(:) G(:) B(:)]; + %im = reshape(im,r,c*3); + im = im'; + %im = im(:); + fwrite(fid, im, 'uchar'); + fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saving_calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saving_calib.m new file mode 100755 index 0000000..3f98a8b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/saving_calib.m @@ -0,0 +1,95 @@ + +if ~exist('n_ima')|~exist('fc'), + fprintf(1,'No calibration data available.\n'); + return; +end; + +check_active_images; + +if ~exist('solution_init'), solution_init = []; end; + +for kk = 1:n_ima, + if ~exist(['dX_' num2str(kk)]), eval(['dX_' num2str(kk) '= dX;']); end; + if ~exist(['dY_' num2str(kk)]), eval(['dY_' num2str(kk) '= dY;']); end; +end; + +if ~exist('param_list'), + param_list = solution; +end; + +if ~exist('wintx'), + wintx = []; + winty = []; +end; + +if ~exist('dX_default'), + dX_default = []; + dY_default = []; +end; + +if ~exist('alpha_c'), + alpha_c = 0; +end; + +for kk = 1:n_ima, + if ~exist(['y_' num2str(kk)]), + eval(['y_' num2str(kk) ' = NaN*ones(2,1);']); + end; + if ~exist(['n_sq_x_' num2str(kk)]), + eval(['n_sq_x_' num2str(kk) ' = NaN;']); + eval(['n_sq_y_' num2str(kk) ' = NaN;']); + end; + if ~exist(['wintx_' num2str(kk)]), + eval(['wintx_' num2str(kk) ' = NaN;']); + eval(['winty_' num2str(kk) ' = NaN;']); + end; +end; + +save_name = 'Calib_Results'; + +if exist([ save_name '.mat'])==2, + disp('WARNING: File Calib_Results.mat already exists'); + pfn = -1; + cont = 1; + while cont, + pfn = pfn + 1; + postfix = ['_old'num2str(pfn)]; + save_name = [ 'Calib_Results' postfix]; + cont = (exist([ save_name '.mat'])==2); + end; + copyfile('Calib_Results.mat',[save_name '.mat']); + disp(['Copying the current Calib_Results.mat file to ' save_name '.mat']); +end; + + +save_name = 'Calib_Results'; + +if exist('calib_name'), + + fprintf(1,['\nSaving calibration results under ' save_name '.mat\n']); + + string_save = ['save ' save_name ' center_optim param_list active_images ind_active center_optim est_alpha est_dist fc kc cc alpha_c ex x y solution solution_init wintx winty n_ima type_numbering N_slots small_calib_image first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default KK inv_KK dX dY']; + + for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' y_' num2str(kk) ' ex_' num2str(kk) ' omc_' num2str(kk) ' Rc_' num2str(kk) ' Tc_' num2str(kk) ' H_' num2str(kk) ' n_sq_x_' num2str(kk) ' n_sq_y_' num2str(kk) ' wintx_' num2str(kk) ' winty_' num2str(kk) ' dX_' num2str(kk) ' dY_' num2str(kk)]; + end; + +else + + fprintf(1,['\nSaving calibration results under ' save_name '.mat (no image version)\n']); + + string_save = ['save ' save_name ' center_optim param_list active_images ind_active center_optim est_alpha est_dist fc kc cc alpha_c ex x y solution solution_init wintx winty n_ima nx ny dX_default dY_default KK inv_KK dX dY']; + + for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' y_' num2str(kk) ' ex_' num2str(kk) ' omc_' num2str(kk) ' Rc_' num2str(kk) ' Tc_' num2str(kk) ' H_' num2str(kk) ' n_sq_x_' num2str(kk) ' n_sq_y_' num2str(kk) ' wintx_' num2str(kk) ' winty_' num2str(kk) ' dX_' num2str(kk) ' dY_' num2str(kk)]; + end; + +end; + + + +%fprintf(1,'To load later click on Load\n'); + +eval(string_save); + +fprintf(1,'done\n'); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/script_fit_distortion.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/script_fit_distortion.m new file mode 100755 index 0000000..c5e5430 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/script_fit_distortion.m @@ -0,0 +1,39 @@ + + satis_distort = 0; + + disp(['Estimated focal: ' num2str(f_g) ' pixels']); + + while ~satis_distort, + + k_g = input('Guess for distortion factor kc ([]=0): '); + + if isempty(k_g), k_g = 0; end; + + xy_corners_undist = comp_distortion2([x' - c_g(1);y'-c_g(2)]/f_g,k_g); + + xu = xy_corners_undist(1,:)'; + yu = xy_corners_undist(2,:)'; + + [XXu] = projectedGrid ( [xu(1);yu(1)], [xu(2);yu(2)],[xu(3);yu(3)], [xu(4);yu(4)],n_sq_x+1,n_sq_y+1); % The full grid + + XX = (ones(2,1)*(1 + k_g * sum(XXu.^2))) .* XXu; + XX(1,:) = f_g*XX(1,:)+c_g(1); + XX(2,:) = f_g*XX(2,:)+c_g(2); + + figure(2); + image(I); + colormap(map); + zoom on; + hold on; + %plot(f_g*XXu(1,:)+c_g(1),f_g*XXu(2,:)+c_g(2),'ro'); + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be on the grid corners...'); + hold off; + + satis_distort = input('Satisfied with distortion? ([]=no, other=yes) '); + + satis_distort = ~isempty(satis_distort); + + + end; + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/startup.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/startup.m new file mode 100755 index 0000000..aad0fa4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/startup.m @@ -0,0 +1,9 @@ +% Main camera calibration toolbox: + +calib_gui; + +%calib_gui; + +path(pwd,path); + +format compact diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/undistort_image.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/undistort_image.m new file mode 100755 index 0000000..d9a7574 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/undistort_image.m @@ -0,0 +1,193 @@ +%%% INPUT THE IMAGE FILE NAME: + +if ~exist('fc')|~exist('cc')|~exist('kc')|~exist('alpha_c'), + fprintf(1,'No intrinsic camera parameters available.\n'); + return; +end; + +KK = [fc(1) alpha_c*fc(1) cc(1);0 fc(2) cc(2) ; 0 0 1]; + +disp('Program that undistorts images'); +disp('The intrinsic camera parameters are assumed to be known (previously computed)'); + +fprintf(1,'\n'); + +quest = input('Do you want to undistort all the calibration images ([],0) or a new image (1)? '); + +if isempty(quest), + quest = 0; +end; + +if ~quest, + + if ~exist(['I_' num2str(ind_active(1))]), + ima_read_calib; + end; + + check_active_images; + + format_image2 = format_image; + if format_image2(1) == 'j', + format_image2 = 'bmp'; + end; + + for kk = 1:n_ima, + + if exist(['I_' num2str(kk)]), + + eval(['I = I_' num2str(kk) ';']); + [I2] = rect(I,eye(3),fc,cc,kc,KK); + + if ~type_numbering, + number_ext = num2str(image_numbers(kk)); + else + number_ext = sprintf(['%.' num2str(N_slots) 'd'],image_numbers(kk)); + end; + + ima_name2 = [calib_name '_rect' number_ext '.' format_image2]; + + fprintf(1,['Saving undistorted image under ' ima_name2 '...\n']); + + + if format_image2(1) == 'p', + if format_images2(2) == 'p', + saveppm(ima_name2,uint8(round(I2))); + else + savepgm(ima_name2,uint8(round(I2))); + end; + else + if format_image2(1) == 'r', + writeras(ima_name2,round(I2),gray(256)); + else + imwrite(uint8(round(I2)),gray(256),ima_name2,format_image2); + end; + end; + + + end; + + end; + + fprintf(1,'done\n'); + +else + + dir; + fprintf(1,'\n'); + + image_name = input('Image name (full name without extension): ','s'); + + format_image2 = '0'; + +while format_image2 == '0', + + format_image2 = input('Image format: ([]=''r''=''ras'', ''b''=''bmp'', ''t''=''tif'', ''p''=''pgm'', ''j''=''jpg'', ''m''=''ppm'') ','s'); + + if isempty(format_image2), + format_image2 = 'ras'; + end; + + if lower(format_image2(1)) == 'm', + format_image2 = 'ppm'; + else + if lower(format_image2(1)) == 'b', + format_image2 = 'bmp'; + else + if lower(format_image2(1)) == 't', + format_image2 = 'tif'; + else + if lower(format_image2(1)) == 'p', + format_image2 = 'pgm'; + else + if lower(format_image2(1)) == 'j', + format_image2 = 'jpg'; + else + if lower(format_image2(1)) == 'r', + format_image2 = 'ras'; + else + disp('Invalid image format'); + format_image2 = '0'; % Ask for format once again + end; + end; + end; + end; + end; + end; +end; + +ima_name = [image_name '.' format_image2]; + + +%%% READ IN IMAGE: + +if format_image2(1) == 'p', + if format_image2(2) == 'p', + I = double(loadppm(ima_name)); + else + I = double(loadpgm(ima_name)); + end; +else + if format_image2(1) == 'r', + I = readras(ima_name); + else + I = double(imread(ima_name)); + end; +end; + +if size(I,3)>1, + I = I(:,:,2); +end; + + +if (size(I,1)>ny)|(size(I,2)>nx), + I = I(1:ny,1:nx); +end; + + + %% SHOW THE ORIGINAL IMAGE: + + figure(2); + image(I); + colormap(gray(256)); + title('Original image (with distortion) - Stored in array I'); + drawnow; + + + %% UNDISTORT THE IMAGE: + + fprintf(1,'Computing the undistorted image...') + + [I2] = rect(I,eye(3),fc,cc,kc,alpha_c,KK); + + fprintf(1,'done\n'); + + figure(3); + image(I2); + colormap(gray(256)); + title('Undistorted image - Stored in array I2'); + drawnow; + + + %% SAVE THE IMAGE IN FILE: + + ima_name2 = [image_name '_rect.' format_image2]; + + fprintf(1,['Saving undistorted image under ' ima_name2 '...']); + + if format_image2(1) == 'p', + if format_images2(2) == 'p', + saveppm(ima_name2,uint8(round(I2))); + else + savepgm(ima_name2,uint8(round(I2))); + end; + else + if format_image2(1) == 'r', + writeras(ima_name2,round(I2),gray(256)); + else + imwrite(uint8(round(I2)),gray(256),ima_name2,format_image2); + end; + end; + + fprintf(1,'done\n'); + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/willson_convert.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/willson_convert.m new file mode 100755 index 0000000..8946349 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/willson_convert.m @@ -0,0 +1,89 @@ +function [fc,cc,kc,Rc,Tc,omc,nx,ny] = willson_convert(Ncx,Nfx,dx,dy,dpx,dpy,Cx,Cy,sx,f,kappa1,Tx,Ty,Tz,Rx,Ry,Rz,p1,p2); + +%Conversion from Reg Willson's calibration format to my format + +% Conversion: + +% Focal length: +fc = [sx/dpx ; 1/dpy]*f; + +% Principal point; +cc = [Cx;Cy]; + +% Extrinsic parameters: +Rx = rodrigues([Rx;0;0]); +Ry = rodrigues([0;Ry;0]); +Rz = rodrigues([0;0;Rz]); + +Rc = Rz * Ry * Rx; + +omc = rodrigues(Rc); + +Tc = [Tx;Ty;Tz]; + + +% More tricky: Take care of the distorsion: + +Nfy = round(Nfx * 3/4); + +nx = Nfx; +ny = Nfy; + +% Select a set of DISTORTED coordinates uniformely distributed across the image: + +[xp_dist,yp_dist] = meshgrid(0:Nfx-1,0:Nfy); + +xp_dist = xp_dist(:)'; +yp_dist = yp_dist(:)'; + + +% Apply UNDISTORTION according to Willson: + +xp_sensor_dist = dpx*(xp_dist - Cx)/sx; +yp_sensor_dist = dpy*(yp_dist - Cy); + +dist_fact = 1 + kappa1*(xp_sensor_dist.^2 + yp_sensor_dist.^2); + +xp_sensor = xp_sensor_dist .* dist_fact; +yp_sensor = yp_sensor_dist .* dist_fact; + +xp = xp_sensor * sx / dpx + Cx; +yp = yp_sensor / dpy + Cy; + +ind= find((xp > 0) & (xp < Nfx-1) & (yp > 0) & (yp < Nfy-1)); + +xp = xp(ind); +yp = yp(ind); +xp_dist = xp_dist(ind); +yp_dist = yp_dist(ind); + + +% Now, find my own set of parameters: + +x_dist = [(xp_dist - cc(1))/fc(1);(yp_dist - cc(2))/fc(2)]; +x = [(xp - cc(1))/fc(1);(yp - cc(2))/fc(2)]; + +k = [0;0;0;0]; + +for kk = 1:5, + + [xd,dxddk] = apply_distortion(x,k); + + err = x_dist - xd; + + %norm(err) + + k_step = inv(dxddk'*dxddk)*(dxddk')*err(:); + + k = k + k_step; %inv(dxddk'*dxddk)*(dxddk')*err(:); + + %norm(k_step)/norm(k) + + if norm(k_step)/norm(k) < 10e-10, + break; + end; + +end; + + +kc = k; diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/willson_read.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/willson_read.m new file mode 100755 index 0000000..bbde63c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/willson_read.m @@ -0,0 +1,59 @@ +% Read in Reg Willson's data file, and convert it into my data format: + +%dir; + +%calib_file = input('Reg Willson calibration file name: ','s'); + +if exist(calib_file), + + + load(calib_file); + + inddot = find(calib_file == '.'); + + if isempty(inddot), + varname = calib_file; + else + varname = calib_file(1:inddot(1)-1); + end; + + eval(['calib_params = ' varname ';']) + + Ncx = calib_params(1); + Nfx = calib_params(2); + dx = calib_params(3); + dy = calib_params(4); + dpx = calib_params(5); + dpy = calib_params(6); + Cx = calib_params(7); + Cy = calib_params(8); + sx = calib_params(9); + f = calib_params(10); + kappa1 = calib_params(11); + Tx = calib_params(12); + Ty = calib_params(13); + Tz = calib_params(14); + Rx = calib_params(15); + Ry = calib_params(16); + Rz = calib_params(17); + p1 = calib_params(18); + p2 = calib_params(19); + + % Conversion: + [fc,cc,kc,Rc_1,Tc_1,omc_1,nx,ny] = willson_convert(Ncx,Nfx,dx,dy,dpx,dpy,Cx,Cy,sx,f,kappa1,Tx,Ty,Tz,Rx,Ry,Rz,p1,p2); + + KK = [fc(1) 0 cc(1);0 fc(2) cc(2) ; 0 0 1]; + + n_ima = 1; + + X_1 = [NaN;NaN;NaN]; + x_1 = [NaN;NaN]; + + map = gray(256); + +else + + disp(['WARNING: Calibration file ' calib_file ' not found']); + +end; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/writeras.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/writeras.m new file mode 100755 index 0000000..c7eb7bc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/writeras.m @@ -0,0 +1,105 @@ +function writeras(filename, image, map); +%WRITERAS Write an image file in sun raster format. +% WRITERAS('imagefile.ras', image_matrix, map) writes a +% "sun.raster" image file. + +% Written by Thomas K. Leung 3/30/93. +% @ California Institute of Technology. + + +% PC and UNIX version of writeras - Jean-Yves Bouguet - Dec. 1998 + +dot = max(find(filename == '.')); +suffix = filename(dot+1:dot+3); + +if nargin < 3, + map = []; +end; + +if(strcmp(suffix, 'ras')) + %Write header + + fp = fopen(filename, 'wb'); + if(fp < 0) error(['Cannot open ' filename '.']), end + + [height, width] = size(image); + image = image - 1; + mapsize = size(map, 1)*size(map,2); + %fwrite(fp, ... + % [1504078485, width, height, 8, height*width, 1, 1, mapsize], ... + % 'long'); + + + zero_str = '00000000'; + + % MAGIC NUMBER: + + + fwrite(fp,89,'uchar'); + fwrite(fp,166,'uchar'); + fwrite(fp,106,'uchar'); + fwrite(fp,149,'uchar'); + + width_str = dec2hex(width); + width_str = [zero_str(1:8-length(width_str)) width_str]; + + for ii = 1:2:7, + fwrite(fp,hex2dec(width_str(ii:ii+1)),'uchar'); + end; + + + height_str = dec2hex(height); + height_str = [zero_str(1:8-length(height_str)) height_str]; + + for ii = 1:2:7, + fwrite(fp,hex2dec(height_str(ii:ii+1)),'uchar'); + end; + + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,8,'uchar'); + + ll = height*width; + ll_str = dec2hex(ll); + ll_str = [zero_str(1:8-length(ll_str)) ll_str]; + + for ii = 1:2:7, + fwrite(fp,hex2dec(ll_str(ii:ii+1)),'uchar'); + end; + + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,1,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,~~mapsize,'uchar'); + + mapsize_str = dec2hex(mapsize); + mapsize_str = [zero_str(1:8-length(mapsize_str)) mapsize_str]; + + %keyboard; + + for ii = 1:2:7, + fwrite(fp,hex2dec(mapsize_str(ii:ii+1)),'uchar'); + end; + + + if mapsize ~= 0 + map = min(255, fix(255*map)); + fwrite(fp, map, 'uchar'); + end + if rem(width,2) == 1 + image = [image'; zeros(1, height)]'; + top = 255 * ones(size(image)); + fwrite(fp, min(top,image)', 'uchar'); + else + top = 255 * ones(size(image)); + fwrite(fp, min(top,image)', 'uchar'); + end + fclose(fp); +else + error('Image file name must end in either ''ras'' or ''rast''.'); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/README b/SD-VBS/common/toolbox/toolbox_basic/affine/README new file mode 100755 index 0000000..e578a74 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/README @@ -0,0 +1,5 @@ +Top level program is "compute_AD.m". Use "compute_AD_disp.m" if one +wants to display results as program runs. + +The testing programs are called "simulation.m" for synthetic images, +and "test_affine.m" for real images. diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/carve_it.m b/SD-VBS/common/toolbox/toolbox_basic/affine/carve_it.m new file mode 100755 index 0000000..1a44f89 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/carve_it.m @@ -0,0 +1,25 @@ +function img = carve_it(I,center,window_size_h) + +[size_y,size_x]= size(I); +min_x = round(center(1)-window_size_h(1)); +max_x = round(center(1)+window_size_h(1)); +min_y = round(center(2)-window_size_h(2)); +max_y = round(center(2)+window_size_h(2)); +window_size = window_size_h*2 +1; + +if (min_x <1)|(max_x > size_x)|(min_y<1)|(max_y>size_y), + disp('window too big'); + center + window_size_h + img = zeros(window_size(2),window_size(1)); + n_min_x = max(1,round(min_x)); + n_min_y = max(1,round(min_y)); + n_max_x = min(size_x,round(max_x)); + n_max_y = min(size_y,round(max_y)); + img(1+(n_min_y-min_y):window_size(2)-(max_y-n_max_y),1+(n_min_x-min_x):window_size(1)-(max_x-n_max_x))=I(n_min_y:n_max_y,n_min_x:n_max_x); +else + img = I(center(2)-window_size_h(2):center(2)+window_size_h(2),... + center(1)-window_size_h(1):center(1)+window_size_h(1)); +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/compute_AD.m b/SD-VBS/common/toolbox/toolbox_basic/affine/compute_AD.m new file mode 100755 index 0000000..a39acd6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/compute_AD.m @@ -0,0 +1,90 @@ +function [A,D,mask] =... +compute_AD(img_i,img_j,center_i,center_j,window_size_h,num_iter,w,num_trans,Dest,mask) +% +% function [A,D,mask] = ... +% compute_AD(img_i,img_j,center_i,center_j,window_size_h,num_iter,w, +% mask,num_trans) +% +% A: Affine motion; +% D: Displacement; +% +% img_i, img_j: the two image(in full size); +% center_i, center_j: the centers of the feature in two images; +% window_size_h: half size of the feature window; +% num_iter: number of iterations; +% w: parameter used in "grad.m" for computing gaussians used for +% gradient estimation; +% +% num_trans: OPTIONAL, number of translation iteration; default = 3; +% mask: OPTIONAL, if some area of the square shaped feature window should +% be weighted less; +% + +% +% Jianbo Shi +% + +if ~exist('Dest'), + Dest = [0,0]; +end + +if ~exist('mask'), + mask = ones(2*window_size_h+1)'; +end + +% set the default num_trans +if ~exist('num_trans'), + num_trans= 3; +end + +% normalize image intensity to the range of 0.0-1.0 +img_i = norm_inten(img_i); +img_j = norm_inten(img_j); + +window_size = 2*window_size_h + 1; +I = carve_it(img_i,center_i,window_size_h); +J = carve_it(img_j,center_j,window_size_h); + +% init. step +J_computed = I; +D_computed = Dest; +A_computed = eye(2); +J_computed = compute_J(A_computed,D_computed,img_i,center_i,window_size_h); + +%% level of noise +sig = 0.1; + +records = zeros(num_iter,6); +errs = zeros(1,num_iter); + +k = 1; +% iteration +while k <= num_iter, + [A,D] = iter_AD(J_computed,J,mask,w,k,num_trans); + + A_computed = A*A_computed; + D_computed = (A*D_computed')' + D; + + % compute the warped image + J_computed = compute_J(A_computed,D_computed,img_i,center_i,window_size_h); + + % compute the SSD error + errs(k) = sqrt(sum(sum((mask.*(J_computed-J)).^2)))/prod(size(J)); + + % update the mask, discounting possible occlusion region + if (k>num_trans), + mask = exp(-abs(J_computed-J)/sig); + end + + % record the A and D + records(k,:) = [reshape(A_computed,1,4),reshape(D_computed,1,2)]; + + k = k+1; +end + +[tmp,id] = min(errs); +A = reshape(records(id,1:4),2,2); +D = reshape(records(id,5:6),1,2); + +J_computed = compute_J(A,D,img_i,center_i,window_size_h); +mask = exp(-abs(J_computed-J)/sig); diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/compute_AD_disp.m b/SD-VBS/common/toolbox/toolbox_basic/affine/compute_AD_disp.m new file mode 100755 index 0000000..f2e6c62 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/compute_AD_disp.m @@ -0,0 +1,103 @@ +function [A,D,mask] =... +compute_AD_disp(img_i,img_j,center_i,center_j,window_size_h,num_iter,w,fig_disp,num_trans,Dest,mask) +% +% function [A,D,mask] = ... +% compute_AD_disp(img_i,img_j,center_i,center_j,window_size_h,num_iter,w, +% fig_disp,mask,num_trans) +% +% Computing affine transform for matching to image patches. Display results +% as program runs. +% +% A: Affine motion; +% D: Displacement; +% +% +% img_i, img_j: the two image(in full size); +% center_i, center_j: the centers of the feature in two images; +% window_size_h: half size of the feature window; +% num_iter: number of iterations; +% w: parameter used in "grad.m" for computing gaussians used for +% gradient estimation; +% fig_disp: figure for display; +% +% num_trans: OPTIONAL, number of translation iteration; +% mask: OPTIONAL, if some area of the square shaped feature window should +% be weighted less; +% + + +% +% Jianbo Shi +% + +if ~exist('mask'), + mask = ones(2*window_size_h+1)'; +end + +if ~exist('Dest'), + Dest = [0,0]; +end + +% set the default num_trans +if ~exist('num_trans'), + num_trans= 3; +end + +% normalize image intensity to the range of 0.0-1.0 +img_i = norm_inten(img_i); +img_j = norm_inten(img_j); + +window_size = 2*window_size_h + 1; +I = carve_it(img_i,center_i,window_size_h); +J = carve_it(img_j,center_j,window_size_h); + +% init. step +D_computed = Dest; +A_computed = eye(2); +J_computed = compute_J(A_computed,D_computed,img_i,center_i,window_size_h); + + + +figure(fig_disp);subplot(1,3,1);imagesc(I);colormap(gray);axis('image'); +subplot(1,3,3);imagesc(J);axis('image'); +drawnow; + +sig = 0.1; + +records = zeros(num_iter,6); +errs = zeros(1,num_iter); + +k = 1; +% iteration +while k <= num_iter, + [A,D] = iter_AD(J_computed,J,mask,w,k,num_trans); + + A_computed = A*A_computed; + D_computed = (A*D_computed')' + D; + + % compute the warped image + J_computed = compute_J(A_computed,D_computed,img_i,center_i,window_size_h); + + % compute the SSD error + errs(k) = sqrt(sum(sum((mask.*(J_computed-J)).^2)))/prod(size(J)) + + % update the mask, discounting possible occlusion region + if (k>num_trans+1), + mask = exp(-abs(J_computed-J)/sig); + end + + % record the A and D + records(k,:) = [reshape(A_computed,1,4),reshape(D_computed,1,2)]; + + figure(fig_disp);subplot(1,3,2);imagesc(J_computed);axis('image'); + title(sprintf('iter:%d: dx=%3.3f, dy = %3.3f',k,D_computed(1),D_computed(2)));drawnow; + + k = k+1; +end + +[tmp,id] = min(errs); +A = reshape(records(id,1:4),2,2); +D = reshape(records(id,5:6),1,2); + +J_computed = compute_J(A,D,img_i,center_i,window_size_h); +mask = exp(-abs(J_computed-J)/sig); diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/compute_J.m b/SD-VBS/common/toolbox/toolbox_basic/affine/compute_J.m new file mode 100755 index 0000000..80db273 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/compute_J.m @@ -0,0 +1,31 @@ +function [JJ,mask] = compute_J(A,D,I,center,window_size_h) +%% function J = compute_J(A,D,I,center,window_size_h) +% + +[size_y,size_x] = size(I); + +center_x = center(1); +center_y = center(2); + +[XX,YY] = meshgrid(1:size_x,1:size_y); +x = reshape(XX,size_x*size_y,1); +y = reshape(YY,size_x*size_y,1); +index(:,1) = x-center_x; +index(:,2) = y-center_y; + +position_new = A*index'+ [D(1),0;0,D(2)]*ones(2,size_x*size_y); +position_new(1,:) = position_new(1,:)+center_x; +position_new(2,:) = position_new(2,:)+center_y; + +position_new_x = reshape(position_new(1,:),size_y,size_x); +position_new_y = reshape(position_new(2,:),size_y,size_x); + +[J,mask]= m_interp4(I,position_new_x,position_new_y); + +JJ = J(center(2)-window_size_h(2):center(2)+window_size_h(2),... + center(1)-window_size_h(1):center(1)+window_size_h(1)); +mask = mask(center(2)-window_size_h(2):center(2)+window_size_h(2),... + center(1)-window_size_h(1):center(1)+window_size_h(1)); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/find_AD.m b/SD-VBS/common/toolbox/toolbox_basic/affine/find_AD.m new file mode 100755 index 0000000..3cccefb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/find_AD.m @@ -0,0 +1,82 @@ +function [A,D] = find_AD(I,J,mask,w) +% +% [A,D] = find_AD(I,J,mask,w) +% +% find the matrix affine transform A and displacement D, +% such that SSD difference of I(Ax-d)-J(x) is minimized, +% + +% +% Jianbo Shi +% + + +[gy1,gx1] = grad(I,w); +[gy2,gx2] = grad(J,w); + +gx = 0.5*(gx1+gx2); +gy = 0.5*(gy1+gy2); + +[size_y,size_x] = size(I); +[center_y,center_x] = find_center(size_y,size_x); +mask = mask(w+1:size_y-w,w+1:size_x-w); + +[x,y] = meshgrid(1:size_x,1:size_y); +x = x- center_x; +y = y-center_y; + +x = x(w+1:size_y-w,w+1:size_x-w); +y = y(w+1:size_y-w,w+1:size_x-w); + +gx_sqr = gx.*mask.*gx; +gx_gy = gx.*mask.*gy; +gy_sqr = gy.*mask.*gy; + +x_sqr = x.*x; +x_y = x.*y; +y_sqr = y.*y; + +T= zeros(6,6); +T(1,1) = 0.5*trapz(trapz(gx_sqr.*x_sqr)); +T(2,1) = trapz(trapz(gx_gy.*x_y)); +T(3,1) = trapz(trapz(gx_sqr.*x_y)); +T(4,1) = trapz(trapz(gx_gy.*x_sqr)); +T(5,1) = trapz(trapz(gx_sqr.*x)); +T(6,1) = trapz(trapz(gx_gy.*x)); +T(2,2) = 0.5*trapz(trapz(gy_sqr.*y_sqr)); +T(3,2) = trapz(trapz(gx_gy.*y_sqr)); +T(4,2) = trapz(trapz(gy_sqr.*x_y)); +T(5,2) = trapz(trapz(gx_gy.*y)); +T(6,2) = trapz(trapz(gy_sqr.*y)); +T(3,3) = 0.5*trapz(trapz(gx_sqr.*y_sqr)); +T(4,3) = trapz(trapz(gx_gy.*x_y)); +T(5,3) = trapz(trapz(gx_sqr.*y)); +T(6,3) = trapz(trapz(gx_gy.*y)); +T(4,4) = 0.5*trapz(trapz(gy_sqr.*x_sqr)); +T(5,4) = trapz(trapz(gx_gy.*x)); +T(6,4) = trapz(trapz(gy_sqr.*x)); +T(5,5) = 0.5*trapz(trapz(gx_sqr)); +T(6,5) = trapz(trapz(gx_gy)); +T(6,6) = 0.5*trapz(trapz(gy_sqr)); + +T = T+T'; + +J = J(w+1:size_y-w,w+1:size_x-w); +I = I(w+1:size_y-w,w+1:size_x-w); + + +diff = (J-I).*mask; +b(1) = trapz(trapz(diff.*gx.*x)); +b(2) = trapz(trapz(diff.*gy.*y)); +b(3) = trapz(trapz(diff.*gx.*y)); +b(4) = trapz(trapz(diff.*gy.*x)); +b(5) = trapz(trapz(diff.*gx)); +b(6) = trapz(trapz(diff.*gy)); + +a = inv(T)*b'; + +A = [1+a(1), a(3); +a(4),1+a(2)]; + +D= [a(5),a(6)]; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/find_D.m b/SD-VBS/common/toolbox/toolbox_basic/affine/find_D.m new file mode 100755 index 0000000..1e42cb2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/find_D.m @@ -0,0 +1,65 @@ +function D = find_D(I,J,mask,w) +% +% function D = find_D(I,J,mask,w) +% +% find the vector D such that it minimizes then +% difference between I(Ax-d)-J(x). +% +% mask: the weight matrix, +% w: window size for estimating gradiant, use a large value +% when A,D are large. +% + +% +% NOTE: Because gradient values on the boarder regions of +% I and J can not be computed accuately when using +% a gaussian of large support, those boarder regions +% of width w are not used in computing D. +% + +% +% Jianbo Shi +% + +[gy1,gx1] = grad(I,w); +[gy2,gx2] = grad(J,w); + +gx = 0.5*(gx1+gx2); +gy = 0.5*(gy1+gy2); + +[size_y,size_x] = size(I); +[center_y,center_x] = find_center(size_y,size_x); +mask = mask(w+1:size_y-w,w+1:size_x-w); + +[x,y] = meshgrid(1:size_x,1:size_y); +x = x- center_x; +y = y-center_y; + +x = x(w+1:size_y-w,w+1:size_x-w); +y = y(w+1:size_y-w,w+1:size_x-w); + +gx_sqr = gx.*mask.*gx; +gx_gy = gx.*mask.*gy; +gy_sqr = gy.*mask.*gy; + + +T= zeros(2,2); + +T(1,1) = 0.5*trapz(trapz(gx_sqr)); +T(2,1) = trapz(trapz(gx_gy)); +T(2,2) = 0.5*trapz(trapz(gy_sqr)); + +T = T+T'; + +J = J(w+1:size_y-w,w+1:size_x-w); +I = I(w+1:size_y-w,w+1:size_x-w); + + +diff = (J-I).*mask; +b(1) = trapz(trapz(diff.*gx)); +b(2) = trapz(trapz(diff.*gy)); + +a = inv(T)*b'; + +D= [a(1),a(2)]; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/find_center.m b/SD-VBS/common/toolbox/toolbox_basic/affine/find_center.m new file mode 100755 index 0000000..b12ac7b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/find_center.m @@ -0,0 +1,4 @@ +function [center_x,center_y] = find_center(size_x,size_y) + +center_x = 0.5*(size_x +1); +center_y = 0.5*(size_y +1); diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/gen_feature_s.m b/SD-VBS/common/toolbox/toolbox_basic/affine/gen_feature_s.m new file mode 100755 index 0000000..3c113e9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/gen_feature_s.m @@ -0,0 +1,17 @@ +function I = gen_feature_s(size_of_feature) +% function I = gen_feature(size_of_feature) +% generates a spherical features with size +% of "size_of_feature" +% + +ss = round(0.4*size_of_feature); +[X,Y,II] = hemisphere_s(ss); + +II = abs(II); +II = 1/max(max(II))*II; + +I = zeros(size_of_feature,size_of_feature); + +t = round((size_of_feature-ss)/2); + +I(1+t:1+t+ss,1+t:1+t+ss) = II; diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/grad.m b/SD-VBS/common/toolbox/toolbox_basic/affine/grad.m new file mode 100755 index 0000000..53bab55 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/grad.m @@ -0,0 +1,24 @@ +% gradient of an image +% coordinates (r, c) follow matrix convention; +% the gaussian is truncated at x = +- tail, and there are samples samples +% inbetween, where samples = hsamples * 2 + 1 + +function[gr,gc] = gradient(image, hsamples) + +tail=4; +samples = hsamples * 2 + 1; + +x = linspace(-tail, tail, samples); +gauss = exp(-x.^2); +n = gauss * ones(samples,1); +gauss = gauss/n; + +gaussderiv = -x.*gauss; +n = -gaussderiv*linspace(1,samples,samples)'; +gaussderiv = gaussderiv/n; + +gr = conv2(conv2(image, gaussderiv','valid'), gauss,'valid'); +gc = conv2(conv2(image, gaussderiv,'valid'), gauss','valid'); + +%gr = conv2(conv2(image, gaussderiv','same'), gauss,'same'); +%gc = conv2(conv2(image, gaussderiv,'same'), gauss','same'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/hemisphere_s.m b/SD-VBS/common/toolbox/toolbox_basic/affine/hemisphere_s.m new file mode 100755 index 0000000..5300183 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/hemisphere_s.m @@ -0,0 +1,27 @@ +function [x,y,z] = hemisphere(r) +%HEMISPHERE Generate sphere and transform from spherical coordinates. +% +% [X,Y,Z] = HEMISPHERE(N) generates three (n+1)-by-(n+1) +% matrices so that SURF(X,Y,Z) produces a sphere. +% +% [X,Y,Z] = HEMISPHERE(R,N) generates three (n+1)-by-(n+1) +% matrices so that SURF(X,Y,Z,R) produces a sphere colored by R +% +% [X,Y,Z] = HEMISPHERE(R,THETA,PHI) converts from spherical coordinates +% to cartesian coordinates. + +% Modified from +% Clay M. Thompson 4-24-91 +% Copyright (c) 1991-92 by the MathWorks, Inc. +% by Carlo Tomasi + +error(nargchk(1,3,nargin)); + +n = r; +% 0 <= theta <= 2*pi and 0 <= phi <= pi/2 +[theta,phi] = meshgrid((pi/n/2)*[-n:2:n],(pi/2/n)*[-n:2:n]); +r = ones(n+1,n+1); + +x = r .* cos(phi) .* sin(theta); +y = r .* sin(phi); +z = r .* cos(phi) .* cos(theta).*phi.*theta; diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/im.m b/SD-VBS/common/toolbox/toolbox_basic/affine/im.m new file mode 100755 index 0000000..6450120 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/im.m @@ -0,0 +1,3 @@ +function im(I) + +imagesc(I);axis('image');drawnow; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/iter_AD.m b/SD-VBS/common/toolbox/toolbox_basic/affine/iter_AD.m new file mode 100755 index 0000000..50bdae1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/iter_AD.m @@ -0,0 +1,26 @@ +function [A,D] = iter_AD(I,J,mask,w,k,num_trans) +% +% function [A,D] = iter_AD(I,J,mask,w,k,num_trans) +% +% find the affine motion A, and displacement D, +% such that difference between I(Ax-D) and J(x) is minimized. +% If k <= num_trans, only translation is computed. This is useful +% in practice, when translation is relative large. +% +% mask: the weight matrix, +% w: window size for estimating gradiant, use a large value +% when A,D are large. +% + +% +% Jianbo Shi +% + + +if k <= num_trans, + D = find_D(I,J,mask,w); + A = eye(2); +else + [A,D] = find_AD(I,J,mask,w); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/m_interp4.m b/SD-VBS/common/toolbox/toolbox_basic/affine/m_interp4.m new file mode 100755 index 0000000..314f140 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/m_interp4.m @@ -0,0 +1,49 @@ +function [F,mask] = m_interp4(z,s,t) +%INTERP4 2-D bilinear data interpolation. +% ZI = INTERP4(Z,XI,YI) assumes X = 1:N and Y = 1:M, where +% [M,N] = SIZE(Z). +% +% Copyright (c) 1984-93 by The MathWorks, Inc. +% Clay M. Thompson 4-26-91, revised 7-3-91, 3-22-93 by CMT. +% +% modified to + + +[nrows,ncols] = size(z); + + +if any(size(z)<[3 3]), error('Z must be at least 3-by-3.'); end +if size(s)~=size(t), error('XI and YI must be the same size.'); end + +% Check for out of range values of s and set to 1 +sout = find((s<1)|(s>ncols)); +if length(sout)>0, s(sout) = ones(size(sout)); end + +% Check for out of range values of t and set to 1 +tout = find((t<1)|(t>nrows)); +if length(tout)>0, t(tout) = ones(size(tout)); end + +% Matrix element indexing +ndx = floor(t)+floor(s-1)*nrows; + +% Compute intepolation parameters, check for boundary value. +d = find(s==ncols); +s(:) = (s - floor(s)); +if length(d)>0, s(d) = s(d)+1; ndx(d) = ndx(d)-nrows; end + +% Compute intepolation parameters, check for boundary value. +d = find(t==nrows); +t(:) = (t - floor(t)); +if length(d)>0, t(d) = t(d)+1; ndx(d) = ndx(d)-1; end +d = []; + +% Now interpolate, reuse u and v to save memory. +F = ( z(ndx).*(1-t) + z(ndx+1).*t ).*(1-s) + ... + ( z(ndx+nrows).*(1-t) + z(ndx+(nrows+1)).*t ).*s; + +mask = ones(size(z)); + +% Now set out of range values to zeros. +if length(sout)>0, F(sout) = zeros(size(sout));mask(sout)=zeros(size(sout));end +if length(tout)>0, F(tout) = zeros(size(tout));mask(tout)=zeros(size(tout));end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/norm_inten.m b/SD-VBS/common/toolbox/toolbox_basic/affine/norm_inten.m new file mode 100755 index 0000000..8e8865b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/norm_inten.m @@ -0,0 +1,11 @@ +function I = norm_inten(J) +% +% I = norm_inten(J) +% +% normalize image intensity to the range of 0.0-1.0 +% + +max_J = max(max(J)); +min_J = min(min(J)); + +I = (J-min_J)/(max_J-min_J); diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/pan.0.pgm b/SD-VBS/common/toolbox/toolbox_basic/affine/pan.0.pgm new file mode 100755 index 0000000..2e7b5f6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/pan.0.pgm @@ -0,0 +1,53 @@ +P5 +# CREATOR: XV Version 3.10a Rev: 12/29/94 +128 96 +255 +qquvvvvwzyz{}~€‚‚‚ƒ„††…†‡ˆˆŠŠŽŒŽ‘’“•–”–——›œž ¡ ­©¤¢£¥¥¥¥§¥§©««¬­°±²²¶¶µ´³²´³³¶¹»ÀÀ¿ÁÃÄÂÄÄÃÄÃÅÆÊÇÆÆÅÊÉÈÊÏÞËÄÃÄÂÂÃÃÀÁ»qrrsvxwxyzzz{{|~~€‚ƒƒ…………†‡†‡ˆ‰ŠŒŽŽŽ‘’’“”•–•“•˜™šœœŸŸŸ¡¡Ÿª°¥¤¦§¥©«ªªª«¬­®°³´¶¶¹·¶··¸¸¹¹º½½¾¿»¼¿ÀÀÂÂÃÈÇÈÊËÉÈÊÊËÎÍÉØ×ÈÆÄÄÃÅÅÃÂÃÀtuwuruzzyzz{}}}‚„„„†‡‡‰‰‰‰‹‹‘”’’““•—–˜——™š›žžŸŸ¡¤¥¦¤¦·¬§¨©ª¬ª­¬­¯¯²³³¶·¹¹¹½¼½½¼¼¼¾¿ÀÁÃÃÁÄÄÃÆÇÇÈÉÊÉÉÊÊÎÍËËÌËÍÞÌÂÄÂÂÃÅÅÃÁÃÂtvwxyxwwz{{z|{|}‚„„…‡ˆˆ‰‰Š‹‹Œ‘‘’“•—˜˜™™š›œžžž ¢¢¡¢£¢±º¬©ªª«¬®®®°³´µ¸¹¹¹»¿¾¾½¾¾¾½¿¿ÂÂÁÀÀ¿¿¿ÂÆÈËÎÒÔÖ×ÖÔÓÐÎÎÎßâÒÕØÜááááàÜÙÕtvwwyz{ywz}}‚‚ƒ†‰‰ˆˆ‡‡ˆŒ‘“”’“–—˜™š™šš›œœ›œžœœž Ÿ š ´œ•™š¡¥¨¬®®®­­­ª©ªª­¬ª¨¦¥¢ÇÕÃÄÅÅÅÇÅÅÅÂÅÆÇÇÊËËÍÊÍÐÐÑÐÑâÖÓÓÔÖ×Ô×ÖÖ××Ðm„zuuvvvurvuwxz{{{}€ƒ„ƒ„††‡‰Šˆ‰ŠŒŽ“•™šœœ›œžž¡¢££¤¤¦¦©¨§¨§µ³¢¦ª®±³®¢žžžŸŸŸŸ ¤§©©ªª§ËÚÁÁÀÂÅÄÅÇÆÇËÍÎÏÐÏÍÏÑÒÔ×ÙÙãèÝÛÜÝÜÛÛÝÚØÙØÓBUw…xz}~}~{{€€‚„„ƒ…‡†ˆ‡Š‹‹Ž‘“”““•—˜˜š›Ÿ¡ Ÿ¢¤¦¦§¦ªª«®®±Á®­­±³µ°¡šš™š™™›¡¥§¨©«¥ÃàÈÇÊÎÍËÎÐÑÒÔÖÖÕØÖÖÚÞàáãâáîéâæåçéåâÞàâààÝGcZW„}}~}~ƒƒ„…„†‰‰‰‹‹‹‘‘’’’“••–—˜œŸŸžŸ ¡££¥¨§§ªª«®°°°¯ÅÀ¨­³·µ­ š¡¢¡  ŸŸ ¤ª«­¯¨ÄèÑÏÑÓÔ×ØØ×ÛßÞßââãæéêêêêéíòéëììîíëíîïïííêGeoxae“~€‚‚ƒ~„ˆ‡‰‰ˆ‰‰‹Š’“”—šššœ ¡¢¡¡£¥¦¦¦¨¬­®¯®¯°²²²²³´»Î·°¸¹µ­¥ œš›œœž¢¦ª¬®®²¸²ÇëØ×××ÝàáåæéêìëïîìïîðððóóöôðñóôóôôööõõóòîFakswvey‚ƒ„……„€ƒˆ‰Š‹‹ŒŒ‘‘’”•–˜˜™š›Ÿ ¢£¥¨©ª¬¬¬®°°³´µ¹ºº½¾ÁÁ¿ÊÓº¿Ã¹±«¥§­±²±®©©­±´²³´±ËñáßáãæèìðòõõõöøùøõîæßØÏÓõðïñóõ÷ùõôöîëççïIbjnpu|x_‹Ž„††‡‰ˆ„‰Ž‘‘’”–———›œž ¢¤¥§ª©ª¬®¯°²¯®³´µ³²´¸º¼¿ÅÎâ¡nbb_eq†¦Â¿Ìå÷ýýýýýüüüüýýýýþþþþþþþþýýýýüüüüçæ¼­®ã–½øúú§>¸áq±}̶Gbjkloqw|pn‹rcbbehq…‡ˆ‰‹Ž‘’”•–ššœžŸ¢¤¦©ª«®°¥Œ› “ »ÂÄÅÅÆÊÍÏÓ×ÙÜç«Õûúúü÷‹.ÃýýýýýýýüüøíüýÚÞîØüÝÈþþ«¨î–Ù»“ô臞‰fšb€’Žf0^xF_VYqH^ehkoopqy€f†ðþþþûä‹|”–˜–‹“¢£ ŸŸŸ¢¤§¨ª¬²±°°x;33>AV¨ËÐÒ×ÞáÌÆçñúã•ÄyÂýýýÉi5!q¸¬ŽcMi<2<3WWB=XFoZMqeHNtMdfV„wNi…v\uat}ˆŽc*dHY]ZtG]aced`C233++%)(*59:@7B>F>FEA=<\g^gb\^Ya][\PD83.2X_=Hj?42)Wh3%GkgpD8€…€xb`vJQjFktVR|LvtTytLU{OdoU…}N]‡sSwZl‚Š‘[+e€IVYRqI[^___W?519+&'112>;9G<@;E8BG<:5V[FYYLPIHHMA4=A83:PMd{m@BdmUOi?$ByC!'Q_pS$l„‚|hSrJMqG^ugp‡Os~Rq|QRN\wM}€SYŒyQuPe‡’X#_€NQ_RpFX\]^YK512:)&(032>?9B=E:G7AJ@B;W\GRWHOHEJIB5>C@:4NQ^xp<5[njF€lJ, %pIQk]L*&X€w{qReNBnIGe’Ô¨Yj‡KayPR€XQ€Qu‚XQOtUb‰Ž”^%[QPcRoGUY]YNC445=)%+.01?98EAG=E6>H@B7BFRwvN\r>itK2WRJmRZ9(AepvPZ[BpVCf‡Î¨U]ŠN[zSKgU‡Pj‰bJ‘QpX\‹Ž”d%U…VPhNmFUYYTG>26;?*'+247><;HCM@I7<J@H:;JAF>O[SM_PR]XVLSJ8>8565BD_v>)hiEwU-"lLGpcaHA$U~o~wRjLJrCCZ†ŒuDtsF}yPq„SmlT…MsY`tZŒŽ“~2CƒeMrRqIRSMGMXPF>A.**0.APIR>L?9K;DEQ]XP`VS]\[OML5?C8?7BDX|~R[sBm‚_7[_"=cqfj_W;Is|~T\[HvRCa^DxGj…HqPg…W\yX‰ŠSe”e^ZŠ•„9@„kLrPmGOOIM[\MC>@+(*-,7>;GAJYUU_ZU^ZOKGP?IH2?5>GRu€e&KuK]”gH#DoNXhj]FE]jb|rvZRmIp_?fbCxV[‘NdƒQ\…[U…Qy‹W`”o[Š\‚‘”ˆA<qNvPmHOKFM[\NB>?)(,,+>BBDSHP@FA8ICG@F\WV]bS_\KLISOED2:4:FNpˆt85teTœhQ+*ENWOG6*+;PVm|x…kPpK`pVp–zuoZ–YW…_Z‹hP…PmŽ`[•{[“\}‘—ŽL;~wSvQiFIHDLXVJ@<>(''+)7AEESGO4*))(ATq~†„Q[VIt<6:RTq}U‚VV|a^˜x]^af‘–“V+nOoS]EFEELOB/&5?ABREK=CI;KLIH=b_\YVPMT[cZVVGDA4<6>BT}‡m+N|\[šf/"$');GGC7,%2W]l€ƒ^UhHk:+DE‡Z`ŽWw†Tr‡Vmn]˜ƒXŠ”byeb”•–\%h†QlV]GGHDJL;+.%%1'1-!?L@GMIN@\aYTVVQWgaWPMKIC1:6<€pY‚;%%"&/BPF<>9* ,NUVzƒmV{GW5 #FBuhZUj‹\c‹XiX“‹W}•epmc–•—c(^†Pf[[EEFDJH4$&(COEZsW.Q=GQDR:V]U^]`_`\^[M]VOI8868CIfˆ‰_!a‚_.')/3:1-35.+)#,DPFcƒƒbdY:1,;M[ŠXv\m\‹k[”\~•Wo˜pg‚a“–s(TŠUafUBCGBF:&&""$.ReV4 8A?NHDJ>O>DPISAP][dcb[ZSZfX`QBH?37/AD\„u0F~T.31./:?:'9DBGJW}…dVj@5"3@XXŒWo„^Ž}_…xY[n™bjžyjŒdŽ”—|+RŠ[ZlWDFGDA3+,!12'6FDIKJO>RBGUMUCQdcjfaWWT^gZXYFHK291K‰hZuWHGDDE.#  +!"9HGJOLUCPEHRKMFJaf`XW^_e`^aUa^KI5:.,FLkd$I#:WRQXXiy|wz‹s;1/]ƒaf]%! 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"!!#"!""$$%#$$%%&*29GQUWYUTTLDEVWZeX9180>Ž£°òøùùöìÒÕæöúúüüüüùöñìõךry•M==AJTS<6799788768987677886676765 \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/readpgm.m b/SD-VBS/common/toolbox/toolbox_basic/affine/readpgm.m new file mode 100755 index 0000000..a5fd7f2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/readpgm.m @@ -0,0 +1,26 @@ +function img = pgmread(filename) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + + +fid = fopen(filename,'r'); +fscanf(fid, 'P5\n'); +cmt = '#'; +while findstr(cmt, '#'), + cmt = fgets(fid); + if length(findstr(cmt, '#')) ~= 1, + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end +end + +fgets(fid); + +%img = fscanf(fid,'%d',size); +%img = img'; + +img = fread(fid,[y,x],'uint8'); +img = img'; +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/simulation.m b/SD-VBS/common/toolbox/toolbox_basic/affine/simulation.m new file mode 100755 index 0000000..2186a6d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/simulation.m @@ -0,0 +1,42 @@ +clear + +figure(1);colormap(gray); + +%------------ Parameters -------------------------- +window_size_h = 40; +window_size = 2*window_size_h+1; +noise_level = 40/256; + +% define A and D +x_ext = -0.423; +ext = 1.232; +A = [ext+x_ext, 0.2534; 0.3423,ext]; + +D = [3,1]; + +%------------- compute image I and J --------------- +disp('generating I') +I_init = gen_feature_s(window_size); +[size_y,size_x] = size(I_init); + +%define image center +[center_x,center_y] = find_center(size_x,size_y); + +% adding noise to image I +I = I_init+noise_level*rand(size_y,size_x); +% make sure all intensities are positive +I = I.*(I>0); + +disp('computing J') +J_init = compute_J(A,D,I_init,[center_x,center_y],[window_size_h,window_size_h]); +J = J_init+noise_level*rand(size_y,size_x); +J = J.*(J>0); + + +%------------- compute A and residue ---------------- +c = [center_x,center_y]; +num_iter = 8; w = 9;win_h = [window_size_h,window_size_h]; + +fig_disp = 1; +[Ac,Dc,mask] = compute_AD_disp(I,J,c,c,win_h,num_iter,w,fig_disp); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/sports1_11_28.jpeg b/SD-VBS/common/toolbox/toolbox_basic/affine/sports1_11_28.jpeg new file mode 100755 index 0000000..39ebed5 Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/affine/sports1_11_28.jpeg differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/test_affine.m b/SD-VBS/common/toolbox/toolbox_basic/affine/test_affine.m new file mode 100755 index 0000000..41b48b9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/test_affine.m @@ -0,0 +1,33 @@ +%%% This is a test program for Affine tracker %%%% + +disp(sprintf('This is a test program of Affine tracker')); + +%% read in images + +disp(sprintf('read in images')); +I = readpgm('pan.0.pgm'); +J = readpgm('pan.1.pgm'); + +figure(1); im(I); colormap(gray); +figure(2); im(J); colormap(gray); + + +figure(1);disp(sprintf('click on the center of a image window')); +c = round(ginput(1)); + +%% compute the displacement of that image window +disp(sprintf('computing...')); + +win_hsize_temp = [8,8]; +w = 3; +num_iter = 6; + +disp_flag = 1; + +win_h = win_hsize_temp + [w,w]; +if disp_flag == 1, + figure_id = 3; + [A,D,mask] = compute_AD_disp(I,J,c,c,win_h,num_iter,w,figure_id); +else + [A,D,mask] = compute_AD(I,J,c,c,win_h,num_iter,w); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/affinityic.c b/SD-VBS/common/toolbox/toolbox_basic/affinityic.c new file mode 100755 index 0000000..e48762a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affinityic.c @@ -0,0 +1,186 @@ +/*================================================================ +* function w = affinityic(emag,ephase,pi,pj,sigma) +* Input: +* emag = edge strength at each pixel +* ephase = edge phase at each pixel +* [pi,pj] = index pair representation for MALTAB sparse matrices +* sigma = sigma for IC energy +* Output: +* w = affinity with IC at [pi,pj] +* + +% test sequence +f = synimg(10); +[i,j] = cimgnbmap(size(f),2); +[ex,ey,egx,egy] = quadedgep(f); +a = affinityic(ex,ey,egx,egy,i,j) +show_dist_w(f,a); + +* Jianbo Shi, Stella X. Yu, Nov 19, 2001. +*=================================================================*/ + +# include "mex.h" +# include "math.h" + +void mexFunction( + int nargout, + mxArray *out[], + int nargin, + const mxArray *in[] +) +{ + /* declare variables */ + int nr, nc, np, total; + int i, j, k, ix, iy, jx, jy, ii, jj, iip1, jjp1, iip2, jjp2, step; + double sigma, di, dj, a, z, maxori, phase1, phase2, slope; + int *ir, *jc; + unsigned long *pi, *pj; + double *emag, *ephase, *w; + + /* check argument */ + if (nargin<4) { + mexErrMsgTxt("Four input arguments required"); + } + if (nargout>1) { + mexErrMsgTxt("Too many output arguments"); + } + + /* get edgel information */ + nr = mxGetM(in[0]); + nc = mxGetN(in[0]); + if ( nr*nc ==0 || nr != mxGetM(in[1]) || nc != mxGetN(in[1]) ) { + mexErrMsgTxt("Edge magnitude and phase shall be of the same image size"); + } + emag = mxGetPr(in[0]); + ephase = mxGetPr(in[1]); + np = nr * nc; + + /* get new index pair */ + if (!mxIsUint32(in[2]) | !mxIsUint32(in[3])) { + mexErrMsgTxt("Index pair shall be of type UINT32"); + } + if (mxGetM(in[3]) * mxGetN(in[3]) != np + 1) { + mexErrMsgTxt("Wrong index representation"); + } + pi = mxGetData(in[2]); + pj = mxGetData(in[3]); + + /* create output */ + out[0] = mxCreateSparse(np,np,pj[np],mxREAL); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough memory for the output matrix"); + } + w = mxGetPr(out[0]); + ir = mxGetIr(out[0]); + jc = mxGetJc(out[0]); + + /* find my sigma */ + if (nargin<5) { + sigma = 0; + for (k=0; ksigma) { sigma = emag[k]; } + } + sigma = sigma / 10; + printf("sigma = %6.5f",sigma); + } else { + sigma = mxGetScalar(in[4]); + } + a = 1.0/ (sigma); + + /* computation */ + total = 0; + for (j=0; j= abs(dj)) { + slope = dj / di; + step = (iy>=jy) ? 1 : -1; + + iip1 = jy; + jjp1 = jx; + + + for (ii=0;ii maxori){ + maxori = z; + } + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + + /* sample in j direction */ + } else { + slope = di / dj; + step = (ix>=jx) ? 1: -1; + + jjp1 = jx; + iip1 = jy; + + + for (jj=0;jj maxori){ + maxori = z; + } + + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + } + + maxori = 0.5 * maxori*a; + maxori = exp(-maxori*maxori); + } + ir[total] = i; + + w[total] = maxori + 0.005; + total = total + 1; + + } /* i */ + } /* j */ + + jc[np] = total; +} diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib/TOOLBOX_calib.tar b/SD-VBS/common/toolbox/toolbox_basic/calib/TOOLBOX_calib.tar new file mode 100755 index 0000000..92ab3a0 Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/calib/TOOLBOX_calib.tar differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Distor2Calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Distor2Calib.m new file mode 100755 index 0000000..a82f583 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Distor2Calib.m @@ -0,0 +1,391 @@ +function [fc_2,Rc_2,Tc_2,H_2,distance,V_vert,V_hori,x_all_c,V_hori_pix,V_vert_pix,V_diag1_pix,V_diag2_pix]=Distor2Calib(k_dist,grid_pts_centered,n_sq_x,n_sq_y,Np,W,L,Xgrid_2,f_ini,N_iter,two_focal); + +% Computes the calibration parameters knowing the +% distortion factor k_dist + +% grid_pts_centered are the grid point coordinates after substraction of +% the optical center. + +% can give an optional guess for the focal length f_ini (can set to []) +% can provide the number of iterations for the Iterative Vanishing Point Algorithm + +% if the focal length is known perfectly, then, there is no need to iterate, +% and therefore, one can fix: N_iter = 0; + +% California Institute of Technology +% (c) Jean-Yves Bouguet - October 7th, 1997 + + + +%keyboard; + +if exist('two_focal'), + if isempty(two_focal), + two_focal=0; + end; +else + two_focal = 0; +end; + + +if exist('N_iter'), + if ~isempty(N_iter), + disp('Use number of iterations provided'); + else + N_iter = 10; + end; +else + N_iter = 10; +end; + +if exist('f_ini'), + if ~isempty(f_ini), + disp('Use focal provided'); + if length(f_ini)<2, f_ini=[f_ini;f_ini]; end; + fc_2 = f_ini; + x_all_c = [grid_pts_centered(1,:)/fc_2(1);grid_pts_centered(2,:)/fc_2(2)]; + x_all_c = comp_distortion(x_all_c,k_dist); % we can this time!!! + else + fc_2 = [1;1]; + x_all_c = grid_pts_centered; + end; +else + fc_2 = [1;1]; + x_all_c = grid_pts_centered; +end; + + +dX = W/n_sq_x; +dY = L/n_sq_y; + + +N_x = n_sq_x+1; +N_y = n_sq_y+1; + + +x_grid = zeros(N_x,N_y); +y_grid = zeros(N_x,N_y); + + + + + +%%% Computation of the four vanishing points in pixels + + + x_grid(:) = grid_pts_centered(1,:); + y_grid(:) = grid_pts_centered(2,:); + + for k=1:n_sq_x+1, + [U,S,V] = svd([x_grid(k,:);y_grid(k,:);ones(1,n_sq_y+1)]); + vert(:,k) = U(:,3); + end; + + for k=1:n_sq_y+1, + [U,S,V] = svd([x_grid(:,k)';y_grid(:,k)';ones(1,n_sq_x+1)]); + hori(:,k) = U(:,3); + end; + + % 2 principle Vanishing points: + [U,S,V] = svd(vert); + V_vert = U(:,3); + [U,S,V] = svd(hori); + V_hori = U(:,3); + + + + % Square warping: + + + vert_first = vert(:,1) - dot(V_vert,vert(:,1))/dot(V_vert,V_vert) * V_vert; + vert_last = vert(:,n_sq_x+1) - dot(V_vert,vert(:,n_sq_x+1))/dot(V_vert,V_vert) * V_vert; + + hori_first = hori(:,1) - dot(V_hori,hori(:,1))/dot(V_hori,V_hori) * V_hori; + hori_last = hori(:,n_sq_y+1) - dot(V_hori,hori(:,n_sq_y+1))/dot(V_hori,V_hori) * V_hori; + + + x1 = cross(hori_first,vert_first); + x2 = cross(hori_first,vert_last); + x3 = cross(hori_last,vert_last); + x4 = cross(hori_last,vert_first); + + x1 = x1/x1(3); + x2 = x2/x2(3); + x3 = x3/x3(3); + x4 = x4/x4(3); + + + + [square] = Rectangle2Square([x1 x2 x3 x4],W,L); + + y1 = square(:,1); + y2 = square(:,2); + y3 = square(:,3); + y4 = square(:,4); + + H2 = cross(V_vert,V_hori); + + V_diag1 = cross(cross(y1,y3),H2); + V_diag2 = cross(cross(y2,y4),H2); + + V_diag1 = V_diag1 / norm(V_diag1); + V_diag2 = V_diag2 / norm(V_diag2); + + V_hori_pix = V_hori; + V_vert_pix = V_vert; + V_diag1_pix = V_diag1; + V_diag2_pix = V_diag2; + + +% end of computation of the vanishing points in pixels. + + + + + + + + +if two_focal, % only if we attempt to estimate two focals... + % Use diagonal lines also to add two extra vanishing points (?) + N_min = min(N_x,N_y); + + if N_min < 2, + use_diag = 0; + two_focal = 0; + disp('Cannot estimate two focals (no existing diagonals)'); + else + use_diag = 1; + Delta_N = abs(N_x-N_y); + N_extra = round((N_min - Delta_N - 1)/2); + diag_list = -N_extra:Delta_N+N_extra; + N_diag = length(diag_list); + diag_1 = zeros(3,N_diag); + diag_2 = zeros(3,N_diag); + end; +else + % Give up the use of the diagonals (so far) + % it seems that the error is increased + use_diag = 0; +end; + + + +% The vertical lines: vert, Horizontal lines: hori +vert = zeros(3,n_sq_x+1); +hori = zeros(3,n_sq_y+1); + +for counter_k = 1:N_iter, % the Iterative Vanishing Points Algorithm to + % estimate the focal length accurately + + x_grid(:) = x_all_c(1,:); + y_grid(:) = x_all_c(2,:); + + for k=1:n_sq_x+1, + [U,S,V] = svd([x_grid(k,:);y_grid(k,:);ones(1,n_sq_y+1)]); + vert(:,k) = U(:,3); + end; + + for k=1:n_sq_y+1, + [U,S,V] = svd([x_grid(:,k)';y_grid(:,k)';ones(1,n_sq_x+1)]); + hori(:,k) = U(:,3); + end; + + % 2 principle Vanishing points: + [U,S,V] = svd(vert); + V_vert = U(:,3); + [U,S,V] = svd(hori); + V_hori = U(:,3); + + + + % Square warping: + + + vert_first = vert(:,1) - dot(V_vert,vert(:,1))/dot(V_vert,V_vert) * V_vert; + vert_last = vert(:,n_sq_x+1) - dot(V_vert,vert(:,n_sq_x+1))/dot(V_vert,V_vert) * V_vert; + + hori_first = hori(:,1) - dot(V_hori,hori(:,1))/dot(V_hori,V_hori) * V_hori; + hori_last = hori(:,n_sq_y+1) - dot(V_hori,hori(:,n_sq_y+1))/dot(V_hori,V_hori) * V_hori; + + + x1 = cross(hori_first,vert_first); + x2 = cross(hori_first,vert_last); + x3 = cross(hori_last,vert_last); + x4 = cross(hori_last,vert_first); + + x1 = x1/x1(3); + x2 = x2/x2(3); + x3 = x3/x3(3); + x4 = x4/x4(3); + + + + [square] = Rectangle2Square([x1 x2 x3 x4],W,L); + + y1 = square(:,1); + y2 = square(:,2); + y3 = square(:,3); + y4 = square(:,4); + + H2 = cross(V_vert,V_hori); + + V_diag1 = cross(cross(y1,y3),H2); + V_diag2 = cross(cross(y2,y4),H2); + + V_diag1 = V_diag1 / norm(V_diag1); + V_diag2 = V_diag2 / norm(V_diag2); + + + + + % Estimation of the focal length, and normalization: + + % Compute the ellipsis of (1/f^2) positions: + % a * (1/fx)^2 + b * (1/fx)^2 = -c + + + a1 = V_hori(1); + b1 = V_hori(2); + c1 = V_hori(3); + + a2 = V_vert(1); + b2 = V_vert(2); + c2 = V_vert(3); + + a3 = V_diag1(1); + b3 = V_diag1(2); + c3 = V_diag1(3); + + a4 = V_diag2(1); + b4 = V_diag2(2); + c4 = V_diag2(3); + + + if two_focal, + + + A = [a1*a2 b1*b2;a3*a4 b3*b4]; + b = -[c1*c2;c3*c4]; + + f = sqrt(abs(1./(inv(A)*b))); + + else + + f = sqrt(abs(-(c1*c2*(a1*a2 + b1*b2) + c3*c4*(a3*a4 + b3*b4))/(c1^2*c2^2 + c3^2*c4^2))); + + f = [f;f]; + + end; + + + + % REMARK: + % if both a and b are small, the calibration is impossible. + % if one of them is small, only the other focal length is observable + % if none is small, both focals are observable + + + fc_2 = fc_2 .* f; + + + % DEBUG PART: fix focal to 500... + %fc_2= [500;500]; disp('Line 293 to be earased in Distor2Calib.m'); + + + % end of focal compensation + + % normalize by the current focal: + + x_all = [grid_pts_centered(1,:)/fc_2(1);grid_pts_centered(2,:)/fc_2(2)]; + + % Compensate by the distortion factor: + + x_all_c = comp_distortion(x_all,k_dist); + +end; + +% At that point, we hope that the distortion is gone... + +x_grid(:) = x_all_c(1,:); +y_grid(:) = x_all_c(2,:); + +for k=1:n_sq_x+1, + [U,S,V] = svd([x_grid(k,:);y_grid(k,:);ones(1,n_sq_y+1)]); + vert(:,k) = U(:,3); +end; + +for k=1:n_sq_y+1, + [U,S,V] = svd([x_grid(:,k)';y_grid(:,k)';ones(1,n_sq_x+1)]); + hori(:,k) = U(:,3); +end; + +% Vanishing points: +[U,S,V] = svd(vert); +V_vert = U(:,3); +[U,S,V] = svd(hori); +V_hori = U(:,3); + +% Horizon: + +H_2 = cross(V_vert,V_hori); + +% H_2 = cross(V_vert,V_hori); + +% pick a plane in front of the camera (positive depth) +if H_2(3) < 0, H_2 = -H_2; end; + + +% Rotation matrix: + +if V_hori(1) < 0, V_hori = -V_hori; end; + +V_hori = V_hori/norm(V_hori); +H_2 = H_2/norm(H_2); + +V_hori = V_hori - dot(V_hori,H_2)*H_2; + +Rc_2 = [V_hori cross(H_2,V_hori) H_2]; + +Rc_2 = Rc_2 / det(Rc_2); + +%omc_2 = rodrigues(Rc_2); + +%Rc_2 = rodrigues(omc_2); + +% Find the distance of the plane for translation vector: + +xc_2 = [x_all_c;ones(1,Np)]; + +Zc_2 = 1./sum(xc_2 .* (Rc_2(:,3)*ones(1,Np))); + +Xo_2 = [sum(xc_2 .* (Rc_2(:,1)*ones(1,Np))).*Zc_2 ; sum(xc_2 .* (Rc_2(:,2)*ones(1,Np))).*Zc_2]; + +XXo_2 = Xo_2 - mean(Xo_2')'*ones(1,Np); + +distance_x = norm(Xgrid_2(1,:))/norm(XXo_2(1,:)); +distance_y = norm(Xgrid_2(2,:))/norm(XXo_2(2,:)); + + +distance = sum(sum(XXo_2(1:2,:).*Xgrid_2(1:2,:)))/sum(sum(XXo_2(1:2,:).^2)); + +alpha = abs(distance_x - distance_y)/distance; + +if (alpha>0.1)&~two_focal, + disp('Should use two focals in x and y...'); +end; + +% Deduce the translation vector: + +Tc_2 = distance * H_2; + + + + + +return; + + V_hori_pix/V_hori_pix(3) + V_vert_pix/V_vert_pix(3) + V_diag1_pix/V_diag1_pix(3) + V_diag2_pix/V_diag2_pix(3) diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Multi_Calib_oulu.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Multi_Calib_oulu.m new file mode 100755 index 0000000..62ca9ae --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Multi_Calib_oulu.m @@ -0,0 +1,12 @@ + +% enter image names, numbers, ... +data_calib; + +%read images from files +ima_read_calib; + +click_calib; + +%go_calib; % the original version + +go_calib_optim; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Rectangle2Square.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Rectangle2Square.m new file mode 100755 index 0000000..a6bbbe5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/Rectangle2Square.m @@ -0,0 +1,19 @@ +function [square] = Rectangle2Square(rectangle,L,W); + +% Generate the square from a rectangle of known segment lengths +% from pt1 to pt2 : L +% from pt2 to pt3 : W + +[u_hori,u_vert] = UnWarpPlane(rectangle); + +coeff_x = sqrt(W/L); +coeff_y = 1/coeff_x; + +x_coord = [ 0 coeff_x coeff_x 0]; +y_coord = [ 0 0 coeff_y coeff_y]; + + +square = rectangle(:,1) * ones(1,4) + u_hori*x_coord + u_vert*y_coord; +square = square ./ (ones(3,1)*square(3,:)); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/UnWarpPlane.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/UnWarpPlane.m new file mode 100755 index 0000000..8addf52 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/UnWarpPlane.m @@ -0,0 +1,54 @@ +function [u_hori,u_vert] = UnWarpPlane(x1,x2,x3,x4); + +% Recovers the two 3D directions of the rectangular patch x1x2x3x4 +% x1 is the origin point, ie any point of planar coordinate (x,y) on the +% rectangular patch will be projected on the image plane at: +% x1 + x * u_hori + y * u_vert +% +% Note: u_hori and u_vert are also the two vanishing points. + + +if nargin < 4, + + x4 = x1(:,4); + x3 = x1(:,3); + x2 = x1(:,2); + x1 = x1(:,1); + +end; + + +% Image Projection: +L1 = cross(x1,x2); +L2 = cross(x4,x3); +L3 = cross(x2,x3); +L4 = cross(x1,x4); + +% Vanishing point: +V1 = cross(L1,L2); +V2 = cross(L3,L4); + +% Horizon line: +H = cross(V1,V2); + +if H(3) < 0, H = -H; end; + + +H = H / norm(H); + + +X1 = x1 / dot(H,x1); +X2 = x2 / dot(H,x2); +X3 = x3 / dot(H,x3); +X4 = x4 / dot(H,x4); + +scale = X1(3); + +X1 = X1/scale; +X2 = X2/scale; +X3 = X3/scale; +X4 = X4/scale; + + +u_hori = X2 - X1; +u_vert = X4 - X1; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/add_suppress.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/add_suppress.m new file mode 100755 index 0000000..b9bcc57 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/add_suppress.m @@ -0,0 +1,91 @@ + check_active_images; + + +fprintf(1,'\nThis function is useful to select a subset of images to calibrate\n'); + + fprintf(1,'\nThere are currently %d active images selected for calibration (out of %d):\n',length(ind_active),n_ima); + + if ~isempty(ind_active), + + for ii = 1:length(ind_active)-2, + + fprintf(1,'%d, ',ind_active(ii)); + + end; + + fprintf(1,'%d and %d.',ind_active(end-1),ind_active(end)); + + end; + + fprintf(1,'\n'); + + +fprintf(1,'\nDo you want to suppress or add images from that list?\n'); + +choice = 2; + +while (choice~=0)&(choice~=1), + choice = input('For suppressing images enter 0, for adding images enter 1 ([]=no change): '); + if isempty(choice), + fprintf(1,'No change applied to the list of active images.\n'); + return; + end; + if (choice~=0)&(choice~=1), + disp('Bad entry. Try again.'); + end; +end; + + +if choice, + + ima_numbers = input('Number(s) of image(s) to add ([] = all images) = '); + +if isempty(ima_numbers), + fprintf(1,'All %d images are now active\n',n_ima); + ima_proc = 1:n_ima; + else + ima_proc = ima_numbers; + end; + +else + + + ima_numbers = input('Number(s) of image(s) to suppress ([] = no image) = '); + + if isempty(ima_numbers), + fprintf(1,'No image has been suppressed. No modication of the list of active images.\n',n_ima); + ima_proc = []; + else + ima_proc = ima_numbers; + end; + +end; + +if ~isempty(ima_proc), + + active_images(ima_proc) = choice * ones(1,length(ima_proc)); + +end; + + + check_active_images; + + + fprintf(1,'\nThere is now a total of %d active images for calibration:\n',length(ind_active)); + + if ~isempty(ind_active), + + for ii = 1:length(ind_active)-2, + + fprintf(1,'%d, ',ind_active(ii)); + + end; + + fprintf(1,'%d and %d.',ind_active(end-1),ind_active(end)); + + end; + + fprintf(1,'\n\nYou may now run ''Calibration'' to recalibrate based on this new set of images.\n'); + + + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/analyse_error.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/analyse_error.m new file mode 100755 index 0000000..5bfa3b5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/analyse_error.m @@ -0,0 +1,104 @@ +% Color code for each image: + +check_active_images; + +if ~exist(['ex_' num2str(ind_active(1)) ]), + fprintf(1,'Need to calibrate before analysing reprojection error. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + + +if ~exist('no_grid'), + no_grid = 0; +end; + +colors = 'brgkcm'; + + +figure(5); + +for kk = 1:n_ima, + if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']), + eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']); + hold on; + end; +end; +hold off; +axis('equal'); +if 1, %~no_grid, + title('Reprojection error (in pixel) - To exit: right button'); +else + title('Reprojection error (in pixel)'); +end; +xlabel('x'); +ylabel('y'); + +set(5,'Name','error','NumberTitle','off'); + + + +%err_std = std(ex')'; + +%fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); + +b = 1; + +while b==1, + +[xp,yp,b] = ginput3(1); + +if b==1, +ddd = (ex(1,:)-xp).^2 + (ex(2,:)-yp).^2; + +[mind,indmin] = min(ddd); + + +done = 0; +kk_ima = 1; +while (~done)&(kk_ima<=n_ima), + %fprintf(1,'%d...',kk_ima); + eval(['ex_kk = ex_' num2str(kk_ima) ';']); + sol_kk = find((ex_kk(1,:) == ex(1,indmin))&(ex_kk(2,:) == ex(2,indmin))); + if isempty(sol_kk), + kk_ima = kk_ima + 1; + else + done = 1; + end; +end; + +if ~no_grid, + +eval(['n_sq_x = n_sq_x_' num2str(kk_ima) ';']); +eval(['n_sq_y = n_sq_y_' num2str(kk_ima) ';']); + +Nx = n_sq_x+1; +Ny = n_sq_y+1; + +y1 = floor((sol_kk-1)./Nx); +x1 = sol_kk - 1 - Nx*y1; %rem(sol_kk-1,Nx); + +y1 = (n_sq_y+1) - y1; +x1 = x1 + 1; + +fprintf(1,'\nSelected image: %d\nSelected point: (col,row)=(%d,%d)\nNcol=%d, Nrow=%d\n',[kk_ima x1 y1 Nx Ny]); +fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]); + +else + + eval(['x_kk = x_' num2str(kk_ima) ';']); + + xpt = x_kk(:,sol_kk); + +fprintf(1,'\nSelected image: %d\nImage coordinates (in pixel): (%3.2f,%3.2f)\n',[kk_ima xpt']); +fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]); + + +end; + + +end; + +end; + +disp('done'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib.m new file mode 100755 index 0000000..5b0fdac --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib.m @@ -0,0 +1,74 @@ +if ~exist('instructions'), instructions = 1; end; + +if instructions, + +fprintf(1,'\n'); +fprintf(1,'*----------------------------------------------------------------------------------------------------*\n'); +fprintf(1,'| Main Calibration toolbox (2D and 3D rigs) |\n'); +fprintf(1,'| (c) Jean-Yves Bouguet - September 9th, 1999 |\n'); +fprintf(1,'*----------------------------------------------------------------------------------------------------*\n\n\n'); + +fprintf(1,'CLICK ON:\n\n'); + +fprintf(1,'2D: To perform camera calibration from multiple views of a 2D planar grid. \n'); +fprintf(1,' Set default size of grid (in dX_default and dY_default) in click_calib.m.\n'); +fprintf(1,'3D: To perform camera calibration from multiple views of a 3D grid corner. \n'); +fprintf(1,' Set default size of grids (in dX_default and dY_default) in click_calib3D.m.\n'); +fprintf(1,'Exit: To close the calibration tool. \n'); + +end; + +instructions = 0; + +fig_number = 1; + +n_row = 1; +n_col = 3; + +string_list = cell(n_row,n_col); +callback_list = cell(n_row,n_col); + +x_size = 40; +y_size = 20; + +title_figure = 'Calibration tool'; + +string_list{1,1} = '2D rig'; +string_list{1,2} = '3D rig'; +string_list{1,3} = 'Exit'; + +callback_list{1,1} = 'calib_gui;'; +callback_list{1,2} = 'calib3D_gui;'; +callback_list{1,3} = ['disp(''Bye. To run again, type calib.''); close(' num2str(fig_number) ');']; + + +figure(fig_number); clf; +pos = get(fig_number,'Position'); + +fig_size_x = x_size*n_col+(n_col+1)*2; +fig_size_y = y_size*n_row+(n_row+1)*2; + +set(fig_number,'Units','points', ... + 'BackingStore','off', ... + 'Color',[0.8 0.8 0.8], ... + 'MenuBar','none', ... + 'Resize','off', ... + 'Name',title_figure, ... +'Position',[pos(1) pos(2) fig_size_x fig_size_y], ... +'NumberTitle','off'); + + +for i=n_row:-1:1, + for j = n_col:-1:1, + if (~isempty(callback_list{i,j}))&(~isempty(string_list{i,j})), + uicontrol('Parent',fig_number, ... + 'Units','points', ... + 'Callback',callback_list{i,j}, ... + 'ListboxTop',0, ... + 'Position',[(2+(j-1)*(x_size+2)) (fig_size_y - i*(2+y_size)) x_size y_size], ... + 'String',string_list{i,j}, ... + 'Tag','Pushbutton1'); + end; + end; +end; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib3D_gui.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib3D_gui.m new file mode 100755 index 0000000..ff24f6b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib3D_gui.m @@ -0,0 +1,115 @@ +if ~exist('instructions3D'), instructions3D = 1; end; + +if instructions3D, + +fprintf(1,'\n'); +fprintf(1,'*----------------------------------------------------------------------------------------------------*\n'); +fprintf(1,'| Canera calibration from multiple images of the Intel 3D calibration rig |\n'); +fprintf(1,'| (c) Jean-Yves Bouguet - September 2nd, 1999 |\n'); +fprintf(1,'*----------------------------------------------------------------------------------------------------*\n\n\n'); + +fprintf(1,'LIST OF CALIBRATION COMMANDS (to be executed from 1 to 5):\n\n'); + +fprintf(1,'1- Image names: Lets the user enter the file names of the calibration images (max = 30 images).\n'); +fprintf(1,' It includes basename, image type (''tif'', ''bmp'' or ''ras''), numbering scheme.\n'); +fprintf(1,' Automatically launchs the next step (Read images).\n'); +fprintf(1,'2- Read images: Reads in the calibration images from files.\n'); +fprintf(1,' Does not automatically launch the next step (Extract grid corners).\n'); +fprintf(1,'3- Extract grid corners: Extracts the grid corners from the image.\n'); +fprintf(1,' Based six maual clicks per image.\n'); +fprintf(1,' The calibration data is saved under ''calib_data.mat''.\n'); +fprintf(1,' Automatically launchs the next step (Run calibration).\n'); +fprintf(1,'4- Run calibration: Main calibration procedure.\n'); +fprintf(1,' Optimization of intrinsic and extrinsic parameters to minimize\n'); +fprintf(1,' the reprojection error (in the least squares sense.\n'); +fprintf(1,' Estimated parameters: 2 focal lengths, principal point,\n'); +fprintf(1,' radial (2 coeff. -> 4 degree model) and tangential (2 coeff.) distortion,\n'); +fprintf(1,' and extrinsic parameters (6 parameters per image).\n'); +fprintf(1,' The final solution is saved under ''Calib_Results.mat''.\n'); +fprintf(1,' For a description of the intrinsic camera model, refer to the reference:\n'); +fprintf(1,' "A Four-step Camera Calibration Procedure with implicit Image Correction"\n'); +fprintf(1,' Janne Heikkila and Olli Silven, Infotech Oulu and Department of EE\n'); +fprintf(1,' University of Oulu, Appeared in CVPR''97, Puerto Rico.\n'); +fprintf(1,' Visit http://www.ee.oulu.fi/~jth/calibr/Calibration.html\n'); +fprintf(1,' Automatically launchs the next step (Graphic out).\n'); +fprintf(1,'5- Graphic out: Generates the graphical output associated to the current calibration solution.\n'); +fprintf(1,' It shows the 3D locations of the grids, and reprojects the 3D patterns on the\n'); +fprintf(1,' original calibration images.\n'); +fprintf(1,'6- sol. with center: Lets the user select the calibration solution with computed principal point.\n'); +fprintf(1,' This is the default case (solution retained after Run calibration).\n'); +fprintf(1,' Automatically (re)generates the graphical output associated to that solution.\n'); +fprintf(1,'7- sol. without center: Lets the users select the calibration solution without computed principal point.\n'); +fprintf(1,' In that case, the principal point is assumed at the center of the image.\n'); +fprintf(1,' Automatically generates the graphical output associated to that solution.\n'); +fprintf(1,' This option is sometimes useful when the principal point is difficult to\n'); +fprintf(1,' estimate (in particular when the camera field of view is small).\n'); +fprintf(1,'8- Back to main: Goes back to the main calbration toolbox window.\n\n\n'); + +end; + +instructions3D = 0; + +global X_1 x_1 X_2 x_2 X_3 x_3 X_4 x_4 X_5 x_5 X_6 x_6 X_7 x_7 X_8 x_8 X_9 x_9 X_10 x_10 X_11 x_11 X_12 x_12 X_13 x_13 X_14 x_14 X_15 x_15 X_16 x_16 X_17 x_17 X_18 x_18 X_19 x_19 X_20 x_20 X_21 x_21 X_22 x_22 X_23 x_23 X_24 x_24 X_25 x_25 X_26 x_26 X_27 x_27 X_28 x_28 X_29 x_29 X_30 x_30 + + +fig_number = 1; + +n_row = 2; +n_col = 4; + +string_list = cell(n_row,n_col); +callback_list = cell(n_row,n_col); + +x_size = 85; +y_size = 20; + +title_figure = 'Camera calibration tool (3D rig)'; + +string_list{1,1} = 'Image names'; +string_list{1,2} = 'Read images'; +string_list{1,3} = 'Extract grid corners'; +string_list{1,4} = 'Run calibration'; +string_list{2,1} = 'Graphic out'; +string_list{2,2} = 'sol. with center'; +string_list{2,3} = 'sol. without center'; +string_list{2,4} = 'Back to main'; + +callback_list{1,1} = 'data_calib;'; +callback_list{1,2} = 'ima_read_calib;'; +callback_list{1,3} = 'click_calib3D;'; +callback_list{1,4} = 'go_calib_optim3D;'; +callback_list{2,1} = 'graphout_calib3D;'; +callback_list{2,2} = 'select_sol_with_center3D;'; +callback_list{2,3} = 'select_sol_no_center3D;'; +callback_list{2,4} = 'calib;'; + + +figure(fig_number); clf; +pos = get(fig_number,'Position'); + +fig_size_x = x_size*n_col+(n_col+1)*2; +fig_size_y = y_size*n_row+(n_row+1)*2; + +set(fig_number,'Units','points', ... + 'BackingStore','off', ... + 'Color',[0.8 0.8 0.8], ... + 'MenuBar','none', ... + 'Resize','off', ... + 'Name',title_figure, ... +'Position',[pos(1) pos(2) fig_size_x fig_size_y], ... +'NumberTitle','off'); + + +for i=n_row:-1:1, + for j = n_col:-1:1, + if (~isempty(callback_list{i,j}))&(~isempty(string_list{i,j})), + uicontrol('Parent',fig_number, ... + 'Units','points', ... + 'Callback',callback_list{i,j}, ... + 'ListboxTop',0, ... + 'Position',[(2+(j-1)*(x_size+2)) (fig_size_y - i*(2+y_size)) x_size y_size], ... + 'String',string_list{i,j}, ... + 'Tag','Pushbutton1'); + end; + end; +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib_gui.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib_gui.m new file mode 100755 index 0000000..62a45dd --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/calib_gui.m @@ -0,0 +1,81 @@ +fig_number = 1; + +n_row = 5; +n_col = 4; + +string_list = cell(n_row,n_col); +callback_list = cell(n_row,n_col); + +x_size = 85; +y_size = 20; + +title_figure = 'Camera calibration tool (2D rig)'; + +string_list{1,1} = 'Image names'; +string_list{1,2} = 'Read images'; +string_list{1,3} = 'Extract grid corners'; +%string_list{1,4} = 'Initialization'; +string_list{1,4} = 'Calibration'; +string_list{2,1} = 'Show Extrinsic'; +string_list{2,2} = 'Reproject on images'; +string_list{2,3} = 'Analyse error'; +string_list{2,4} = 'Recomp. corners'; +string_list{3,1} = 'Add/Suppress images'; +string_list{3,2} = 'Save'; +string_list{3,3} = 'Load'; +string_list{3,4} = 'Exit'; + +string_list{5,1} = 'Comp. Extrinsic'; +string_list{5,2} = 'Undistort image'; + + +callback_list{1,1} = 'data_calib;'; +callback_list{1,2} = 'ima_read_calib;'; +callback_list{1,3} = 'click_calib;'; +%callback_list{1,4} = 'init_calib_param;'; +callback_list{1,4} = 'go_calib_optim;'; +callback_list{2,1} = 'ext_calib;'; +callback_list{2,2} = 'reproject_calib;'; +callback_list{2,3} = 'analyse_error;'; +callback_list{2,4} = 'recomp_corner_calib;'; +callback_list{3,1} = 'add_suppress;'; +callback_list{3,2} = 'saving_calib;'; +callback_list{3,3} = 'loading_calib;'; +callback_list{3,4} = ['disp(''Bye. To run again, type calib_gui.''); close(' num2str(fig_number) ');']; + +callback_list{5,1} = 'extrinsic_computation;'; +callback_list{5,2} = 'undistort_image;'; + + +figure(fig_number); clf; +pos = get(fig_number,'Position'); + +fig_size_x = x_size*n_col+(n_col+1)*2; +fig_size_y = y_size*n_row+(n_row+1)*2; + +set(fig_number,'Units','points', ... + 'BackingStore','off', ... + 'Color',[0.8 0.8 0.8], ... + 'MenuBar','none', ... + 'Resize','off', ... + 'Name',title_figure, ... +'Position',[pos(1) pos(2) fig_size_x fig_size_y], ... +'NumberTitle','off'); %,'WindowButtonMotionFcn',['figure(' num2str(fig_number) ');']); + + +for i=n_row:-1:1, + for j = n_col:-1:1, + if (~isempty(callback_list{i,j}))&(~isempty(string_list{i,j})), + uicontrol('Parent',fig_number, ... + 'Units','points', ... + 'Callback',callback_list{i,j}, ... + 'ListboxTop',0, ... + 'Position',[(2+(j-1)*(x_size+2)) (fig_size_y - i*(2+y_size)) x_size y_size], ... + 'String',string_list{i,j}, ... + 'Tag','Pushbutton1'); + end; + end; +end; + + +clear callback_list string_list fig_number fig_size_x fig_size_y i j n_col n_row pos string_list title_figure x_size y_size diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_active_images.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_active_images.m new file mode 100755 index 0000000..4f09b62 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_active_images.m @@ -0,0 +1,14 @@ + +if ~exist('active_images'), + active_images = ones(1,n_ima); +end; +n_act = length(active_images); +if n_act < n_ima, + active_images = [active_images ones(1,n_ima-n_act)]; +else + if n_act > n_ima, + active_images = active_images(1:n_ima); + end; +end; + +ind_active = find(active_images); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_convergence.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_convergence.m new file mode 100755 index 0000000..8602c39 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_convergence.m @@ -0,0 +1,17 @@ +%%% Replay the set of solution vectors: + +N_iter = size(param_list,2); + +for nn = 1:N_iter, + + solution = param_list(:,nn); + + extract_parameters; + comp_error_calib; + + ext_calib; + + drawnow; + + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_planarity.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_planarity.m new file mode 100755 index 0000000..be0410b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/check_planarity.m @@ -0,0 +1,41 @@ +% Check the planarity of a structure: + +X = X_1; +N = size(X,2); + +%X(3,:) = 0.1*randn(1,N); + +om = rand(3,1); +T = 10*rand(3,1); +R = rodrigues(om); + +X = R * X + T*ones(1,N); + + + + + + +N = size(X,2); +X_mean = mean(X')'; + +Y = X - (X_mean*ones(1,N)); + +YY = Y*Y'; + +[U,S,V] = svd(YY); + +r = S(3,3)/S(2,2); + +% if r is less than 1e-4: + +R_transform = V'; +T_transform = -(V')*X_mean; + + +% Thresh for r: 1e-4 + +X_new = R_transform*X + T_transform*ones(1,N); + + +% If Xc = Rc * X_new + Tc, then Xc = Rc * R_transform * X + Tc + T_transform diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_calib.m new file mode 100755 index 0000000..047cc7b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_calib.m @@ -0,0 +1,99 @@ + +if ~exist('I_1'), + ima_read_calib; + if no_image_file, + disp('Cannot extract corners without images'); + return; + end; +end; + +check_active_images; + +%wintx = 10; % neigborhood of integration for +%winty = 10; % the corner finder + +fprintf(1,'\nExtraction of the grid corners on the images\n'); + +disp('Window size for corner finder (wintx and winty):'); +wintx = input('wintx ([] = 5) = '); +if isempty(wintx), wintx = 5; end; +wintx = round(wintx); +winty = input('winty ([] = 5) = '); +if isempty(winty), winty = 5; end; +winty = round(winty); + +fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + +if ~exist('map'), map = gray(256); end; + + +disp('WARNING!!! Do not forget to change dX_default and dY_default in click_calib.m!!!') + + +% Default size of the pattern squares; + +% Setup of JY (old at Caltech) +dX_default = 21.9250/11; +dY_default = 18.1250/9; + +% Setup of JY (new at Intel) +dX_default = 1.9750; +dY_default = 1.9865; + + +% Setup of Luis and Enrico +dX_default = 67.7/16; +dY_default = 50.65/12; + + +% Setup of German +dX_default = 10.16; +dY_default = 10.16; + +% Setup of JY (new at Intel) +dX_default = 1.9750*2.54; +dY_default = 1.9865*2.54; + +% Setup of JY - 3D calibration rig at Intel (new at Intel) +dX_default = 3; +dY_default = 3; + +% Useful option to add images: +kk_first = input('Start image number ([]=1=first): '); + +if isempty(kk_first), kk_first = 1; end; + +for kk = kk_first:n_ima, + if active_images(kk), + click_ima_calib; + else + eval(['dX_' num2str(kk) ' = NaN;']); + eval(['dY_' num2str(kk) ' = NaN;']); + + eval(['wintx_' num2str(kk) ' = NaN;']); + eval(['winty_' num2str(kk) ' = NaN;']); + + eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); + eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); + + eval(['n_sq_x_' num2str(kk) ' = NaN;']); + eval(['n_sq_y_' num2str(kk) ' = NaN;']); + end; +end; + + + +string_save = 'save calib_data active_images ind_active wintx winty n_ima type_numbering N_slots first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default dX dY'; + +for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' n_sq_x_' num2str(kk) ' n_sq_y_' num2str(kk) ' wintx_' num2str(kk) ' winty_' num2str(kk) ' dX_' num2str(kk) ' dY_' num2str(kk)]; +end; + +eval(string_save); + +disp('done'); + +return; + +go_calib_optim; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_calib3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_calib3D.m new file mode 100755 index 0000000..e761cd1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_calib3D.m @@ -0,0 +1,79 @@ + +if ~exist('I_1'), + ima_read_calib; + if no_image_file, + disp('Cannot extract corners without images'); + return; + end; +end; + +%wintx = 10; % neigborhood of integration for +%winty = 10; % the corner finder + +fprintf(1,'\nExtraction of the grid corners on the images\n'); + +disp('Window size for corner finder (wintx and winty):'); +wintx = input('wintx ([] = 5) = '); +if isempty(wintx), wintx = 5; end; +wintx = round(wintx); +winty = input('winty ([] = 5) = '); +if isempty(winty), winty = 5; end; +winty = round(winty); + + +fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + + +disp('WARNNG!!! Do not forget to change dX_default and dY_default in click_calib.m!!!') + + +% Default size of the pattern squares; + +% Setup of JY (old at Caltech) +dX_default = 21.9250/11; +dY_default = 18.1250/9; + +% Setup of JY (new at Intel) +dX_default = 1.9750; +dY_default = 1.9865; + + +% Setup of Luis and Enrico +dX_default = 67.7/16; +dY_default = 50.65/12; + + +% Setup of German +dX_default = 10.16; +dY_default = 10.16; + +% Setup of JY (new at Intel) +dX_default = 1.9750*2.54; +dY_default = 1.9865*2.54; + + +% Setup of JY - 3D calibration rig at Intel (new at Intel) +dX_default = 3; +dY_default = 3; + +% Useful option to add images: +kk_first = input('Start image number ([]=1=first): '); + +if isempty(kk_first), kk_first = 1; end; + +for kk = kk_first:n_ima, + click_ima_calib3D; %Simple version + %init_calib; %advanced vesion (more messy) +end; + + + +string_save = 'save calib_data wintx winty n_ima type_numbering N_slots first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default dX dY'; + +for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' Hl_' num2str(kk) ' nl_sq_x_' num2str(kk) ' nl_sq_y_' num2str(kk) ' Hr_' num2str(kk) ' nr_sq_x_' num2str(kk) ' nr_sq_y_' num2str(kk)]; +end; + +eval(string_save); + +go_calib_optim3D; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_ima_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_ima_calib.m new file mode 100755 index 0000000..5197870 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_ima_calib.m @@ -0,0 +1,218 @@ + % Cleaned-up version of init_calib.m + + fprintf(1,'\nProcessing image %d...\n',kk); + + eval(['I = I_' num2str(kk) ';']); + + figure(2); + image(I); + colormap(map); + + title(['Click on the four extreme corners of the rectangular pattern... Image ' num2str(kk)]); + + disp('Click on the four extreme corners of the rectangular complete pattern...'); + + [x,y] = ginput3(4); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + if (x(2) > x(1)), + x4 = x(1);y4 = y(1); x3 = x(2); y3 = y(2); + else + x4 = x(2);y4 = y(2); x3 = x(1); y3 = y(1); + end; + if (x(3) > x(4)), + x2 = x(3);y2 = y(3); x1 = x(4); y1 = y(4); + else + x2 = x(4);y2 = y(4); x1 = x(3); y1 = y(3); + end; + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'g-'); + plot(x,y,'og'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','g','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','g','Fontsize',14); + hold off; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=' num2str(dX_default) 'cm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=' num2str(dY_default) 'cm) = ']); + if isempty(dX), dX = dX_default; else dX_default = dX; end; + if isempty(dY), dY = dY_default; else dY_default = dY; end; + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planar collineation: (return the normalization matrix as well) + + [Homo,Hnorm,inv_Hnorm] = compute_homography ([a00 a10 a11 a01],[0 1 1 0;0 0 1 1;1 1 1 1]); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + + + + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + + + %save all_corners x y grid_pts + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + + % Global Homography from plane to pixel coordinates: + + + + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + image(I); colormap(map); hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + + + % Saves all the data into variables: + + eval(['dX_' num2str(kk) ' = dX;']); + eval(['dY_' num2str(kk) ' = dY;']); + + eval(['wintx_' num2str(kk) ' = wintx;']); + eval(['winty_' num2str(kk) ' = winty;']); + + eval(['x_' num2str(kk) ' = x;']); + eval(['X_' num2str(kk) ' = X;']); + + eval(['n_sq_x_' num2str(kk) ' = n_sq_x;']); + eval(['n_sq_y_' num2str(kk) ' = n_sq_y;']); + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_ima_calib3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_ima_calib3D.m new file mode 100755 index 0000000..7718268 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/click_ima_calib3D.m @@ -0,0 +1,482 @@ + % Cleaned-up version of init_calib.m + + eval(['I = I_' num2str(kk) ';']); + + figure(2); + image(I); + colormap(map); + + + + + + %%%%%%%%%%%%%%%%%%%%%%%%% LEFT PATTERN ACQUISITION %%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + + + title(['Click on the four extreme corners of the left rectangular pattern... Image ' num2str(kk)]); + + disp('Click on the four extreme corners of the left rectangular pattern...'); + + [x,y] = ginput3(4); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + if (x(2) > x(1)), + x4 = x(1);y4 = y(1); x3 = x(2); y3 = y(2); + else + x4 = x(2);y4 = y(2); x3 = x(1); y3 = y(1); + end; + if (x(3) > x(4)), + x2 = x(3);y2 = y(3); x1 = x(4); y1 = y(4); + else + x2 = x(4);y2 = y(4); x1 = x(3); y1 = y(3); + end; + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'g-'); + plot(x,y,'og'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','g','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','g','Fontsize',14); + hold off; + + drawnow; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + + if 1, + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=' num2str(dX_default) 'cm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=' num2str(dY_default) 'cm) = ']); + if isempty(dX), dX = dX_default; else dX_default = dX; end; + if isempty(dY), dY = dY_default; else dY_default = dY; end; + + else + + dX = 3; + dY = 3; + + end; + + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planart collineation: (return the normalization matrice as well) + + [Homo,Hnorm,inv_Hnorm] = compute_collineation (a00, a10, a11, a01); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + if 1, + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + end; + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + %save all_corners x y grid_pts + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + + % Global Homography from plane to pixel coordinates: + + H_total = [1 0 -1 ; 0 1 -1 ; 0 0 1]*Homo*[1 0 0;0 -1 1;0 0 1]*[1/W 0 0 ; 0 1/L 0; 0 0 1]; + % WARNING!!! the first matrix (on the left side) takes care of the transformation of the pixel cooredinates by -1 (previous line) + % If it is not done, then this matrix should not appear (in C) + H_total = H_total / H_total(3,3); + + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + image(I); colormap(map); hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + + + % The left pannel info: + + xl = x; + Xl = X; + nl_sq_x = n_sq_x; + nl_sq_y = n_sq_y; + Hl = H_total; + + + + + + + %%%%%%%%%%%%%%%%%%%%%%%%% RIGHT PATTERN ACQUISITION %%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + + x1 = a10(1)/a10(3); + x4 = a11(1)/a11(3); + + y1 = a10(2)/a10(3); + y4 = a11(2)/a11(3); + + + figure(2); + hold on; + plot([x1 x4],[y1 y4],'c-'); + plot([x1 x4],[y1 y4],'co'); + hold off; + + title(['Click on the two remaining extreme corners of the right rectangular pattern... Image ' num2str(kk)]); + + disp('Click on the two remaining extreme corners of the right rectangular pattern...'); + + [x,y] = ginput3(2); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + x2 = x(2); + x3 = x(1); + + y2 = y(2); + y3 = y(1); + + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'c-'); + plot(x,y,'oc'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','c','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','c','Fontsize',14); + hold off; + drawnow; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + + if 1, + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=' num2str(dX_default) 'cm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=' num2str(dY_default) 'cm) = ']); + if isempty(dX), dX = dX_default; else dX_default = dX; end; + if isempty(dY), dY = dY_default; else dY_default = dY; end; + + else + + dX = 3; + dY = 3; + + end; + + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planart collineation: (return the normalization matrice as well) + + [Homo,Hnorm,inv_Hnorm] = compute_collineation (a00, a10, a11, a01); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + if 1, + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + end; + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + %save all_corners x y grid_pts + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + + % Global Homography from plane to pixel coordinates: + + H_total = [1 0 -1 ; 0 1 -1 ; 0 0 1]*Homo*[1 0 0;0 -1 1;0 0 1]*[1/W 0 0 ; 0 1/L 0; 0 0 1]; + % WARNING!!! the first matrix (on the left side) takes care of the transformation of the pixel cooredinates by -1 (previous line) + % If it is not done, then this matrix should not appear (in C) + H_total = H_total / H_total(3,3); + + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + + + % The right pannel info: + + xr = x; + Xr = X; + nr_sq_x = n_sq_x; + nr_sq_y = n_sq_y; + Hr = H_total; + + + +%%%%%%%% REGROUP THE LEFT AND RIHT PATTERNS %%%%%%%%%%%%% + + +Xr2 = [0 0 1;0 1 0;-1 0 0]*Xr + [dX*nl_sq_x;0;0]*ones(1,length(Xr)); + + +x = [xl xr]; + +X = [Xl Xr2]; + + + + eval(['x_' num2str(kk) ' = x;']); + eval(['X_' num2str(kk) ' = X;']); + + eval(['nl_sq_x_' num2str(kk) ' = nl_sq_x;']); + eval(['nl_sq_y_' num2str(kk) ' = nl_sq_y;']); + + eval(['nr_sq_x_' num2str(kk) ' = nr_sq_x;']); + eval(['nr_sq_y_' num2str(kk) ' = nr_sq_y;']); + + % Save the global planar homography: + + eval(['Hl_' num2str(kk) ' = Hl;']); + eval(['Hr_' num2str(kk) ' = Hr;']); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion.m new file mode 100755 index 0000000..a0f03de --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion.m @@ -0,0 +1,38 @@ +function [x_comp] = comp_distortion(x_dist,k2); + +% [x_comp] = comp_distortion(x_dist,k2); +% +% compensates the radial distortion of the camera +% on the image plane. +% +% x_dist : the image points got without considering the +% radial distortion. +% x : The image plane points after correction for the distortion +% +% x and x_dist are 2xN arrays +% +% NOTE : This compensation has to be done after the substraction +% of the center of projection, and division by the focal +% length. +% +% (do it up to a second order approximation) + +[two,N] = size(x_dist); + +if (two ~= 2 ), + error('ERROR : The dimension of the points should be 2xN'); +end; + +if length(k2) > 2, + [x_comp] = comp_distortion_oulu(x_dist,k2); +else + +radius_2= x_dist(1,:).^2 + x_dist(2,:).^2; +radial_distortion = 1 + ones(2,1)*(k2 * radius_2); +radius_2_comp = (x_dist(1,:).^2 + x_dist(2,:).^2) ./ radial_distortion(1,:); +radial_distortion = 1 + ones(2,1)*(k2 * radius_2_comp); +x_comp = x_dist ./ radial_distortion; + +end; + +%% Function completely checked : It works fine !!! \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion2.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion2.m new file mode 100755 index 0000000..532ee9a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion2.m @@ -0,0 +1,71 @@ +function [x_comp] = comp_distortion(x_dist,k2); + +% [x_comp] = comp_distortion(x_dist,k2); +% +% compensates the radial distortion of the camera +% on the image plane. +% +% x_dist : the image points got without considering the +% radial distortion. +% k2: Radial distortion factor +% +% x : The image plane points after correction for the distortion +% +% x and x_dist are 2xN arrays +% +% NOTE : This compensation has to be done after the substraction +% of the center of projection, and division by the focal +% length. +% +% Solve for cubic roots using method from Numerical Recipes in C 2nd Ed. +% pages 184-185. + + +% California Institute of Technology +% (c) Jean-Yves Bouguet - April 27th, 1998 + +% fully checked! JYB, april 27th, 1998 - 2am + +if k2 ~= 0, + +[two,N] = size(x_dist); + +if (two ~= 2 ), + error('ERROR : The dimension of the points should be 2xN'); +end; + + +ph = atan2(x_dist(2,:),x_dist(1,:)); + +Q = -1/(3*k2); +R = -x_dist(1,:)./(2*k2*cos(ph)); + +R2 = R.^2; +Q3 = Q^3; + + +if k2 < 0, + + % this works in all practical situations (it starts failing for very large + % values of k2) + + th = acos(R./sqrt(Q3)); + r = -2*sqrt(Q)*cos((th-2*pi)/3); + +else + + % note: this always works, even for ridiculous values of k2 + + A = (sqrt(R2-Q3)-R).^(1/3); + B = Q*(1./A); + r = (A+B); + +end; + +x_comp = [r.*cos(ph); r.*sin(ph)]; + +else + + x_comp = x_dist; + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion_oulu.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion_oulu.m new file mode 100755 index 0000000..67d02d5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_distortion_oulu.m @@ -0,0 +1,47 @@ +function [x] = comp_distortion_oulu(xd,k); + +%comp_distortion_oulu.m +% +%[x] = comp_distortion_oulu(xd,k) +% +%Compensates for radial and tangential distortion. Model From Oulu university. +%For more informatino about the distortion model, check the forward projection mapping function: +%project_points.m +% +%INPUT: xd: distorted (normalized) point coordinates in the image plane (2xN matrix) +% k: Distortion coefficients (radial and tangential) (4x1 vector) +% +%OUTPUT: x: undistorted (normalized) point coordinates in the image plane (2xN matrix) +% +%Method: Iterative method for compensation. +% +%NOTE: This compensation has to be done after the subtraction +% of the principal point, and division by the focal length. + + +if length(k) < 4, + + [x] = comp_distortion(xd,k); + +else + + + k1 = k(1); + k2 = k(2); + p1 = k(3); + p2 = k(4); + + x = xd; % initial guess + + for kk=1:5; + + r_2 = sum(x.^2); + k_radial = 1 + k1 * r_2 + k2 * r_2.^2; + delta_x = [2*p1*x(1,:).*x(2,:) + p2*(r_2 + 2*x(1,:).^2) ; + p1 * (r_2 + 2*x(2,:).^2)+2*p2*x(1,:).*x(2,:)]; + x = (xd - delta_x)./(ones(2,1)*k_radial); + + end; + +end; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_error_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_error_calib.m new file mode 100755 index 0000000..f8d6fde --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/comp_error_calib.m @@ -0,0 +1,40 @@ +%%%%%%%%%%%%%%%%%%%% RECOMPUTES THE REPROJECTION ERROR %%%%%%%%%%%%%%%%%%%%%%%% + +check_active_images; + +% Reproject the patterns on the images, and compute the pixel errors: + +ex = []; % Global error vector +x = []; % Detected corners on the image plane +y = []; % Reprojected points + +for kk = 1:n_ima, + + eval(['omckk = omc_' num2str(kk) ';']); + eval(['Tckk = Tc_' num2str(kk) ';']); + + if active_images(kk) & (~isnan(omckk(1,1))), + + Rkk = rodrigues(omckk); + + eval(['y_' num2str(kk) ' = project2_oulu(X_' num2str(kk) ',Rkk,Tckk,fc,cc,kc);']); + + eval(['ex_' num2str(kk) ' = x_' num2str(kk) ' -y_' num2str(kk) ';']); + + eval(['x_kk = x_' num2str(kk) ';']); + + eval(['ex = [ex ex_' num2str(kk) '];']); + eval(['x = [x x_' num2str(kk) '];']); + eval(['y = [y y_' num2str(kk) '];']); + + else + + eval(['y_' num2str(kk) ' = NaN*ones(2,1);']); + + eval(['ex_' num2str(kk) ' = NaN*ones(2,1);']); + + end; + +end; + +err_std = std(ex')'; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_collineation.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_collineation.m new file mode 100755 index 0000000..809c309 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_collineation.m @@ -0,0 +1,66 @@ +function [H,Hnorm,inv_Hnorm] = compute_collineation (a00, a10, a11, a01); + +% new formalism using homographies + +a00 = a00 / a00(3); +a10 = a10 / a10(3); +a11 = a11 / a11(3); +a01 = a01 / a01(3); + + +% Prenormalization of point coordinates (very important): +% (Affine normalization) + +ax = [a00(1);a10(1);a11(1);a01(1)]; +ay = [a00(2);a10(2);a11(2);a01(2)]; + +mxx = mean(ax); +myy = mean(ay); +ax = ax - mxx; +ay = ay - myy; + +scxx = mean(abs(ax)); +scyy = mean(abs(ay)); + + +Hnorm = [1/scxx 0 -mxx/scxx;0 1/scyy -myy/scyy;0 0 1]; +inv_Hnorm = [scxx 0 mxx ; 0 scyy myy; 0 0 1]; + + +a00n = Hnorm*a00; +a10n = Hnorm*a10; +a11n = Hnorm*a11; +a01n = Hnorm*a01; + + +% Computation of the vanishing points: + +V1n = cross(cross(a00n,a10n),cross(a01n,a11n)); +V2n = cross(cross(a00n,a01n),cross(a10n,a11n)); + +V1 = inv_Hnorm*V1n; +V2 = inv_Hnorm*V2n; + + +% Normalizaion of the vanishing points: + +V1n = V1n/norm(V1n); +V2n = V2n/norm(V2n); + + +% Closed-form solution of the coefficients: + +alpha_x = (a10n(2)*a00n(1) - a10n(1)*a00n(2))/(V1n(2)*a10n(1)-V1n(1)*a10n(2)); + +alpha_y = (a01n(2)*a00n(1) - a01n(1)*a00n(2))/(V2n(2)*a01n(1)-V2n(1)*a01n(2)); + + +% Remaining Homography + +Hrem = [alpha_x*V1n alpha_y*V2n a00n]; + + +% Final homography: + +H = inv_Hnorm*Hrem; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic.m new file mode 100755 index 0000000..4b4d7dd --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic.m @@ -0,0 +1,123 @@ +function [omckk,Tckk,Rckk,H,x,ex,JJ] = compute_extrinsic(x_kk,X_kk,fc,cc,kc,MaxIter,thresh_cond), + +%compute_extrinsic +% +%[omckk,Tckk,Rckk,H,x,ex] = compute_extrinsic(x_kk,X_kk,fc,cc,kc,refine) +% +%Computes the extrinsic parameters attached to a 3D structure X_kk given its projection +%on the image plane x_kk and the intrinsic camera parameters fc, cc and kc. +%Works with planar and non-planar structures. +% +%INPUT: x_kk: Feature locations on the images +% X_kk: Corresponding grid coordinates +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% refine: set to 1 for refining the extrinsic parameters iteratively +% [OPTIONAL: Default value: 1] +% +%OUTPUT: omckk: 3D rotation vector attached to the grid positions in space +% Tckk: 3D translation vector attached to the grid positions in space +% Rckk: 3D rotation matrices corresponding to the omc vectors +% H: Homography between points on the grid and points on the image plane (in pixel) +% This makes sense only if the planar that is used in planar. +% x: Reprojections of the points on the image plane +% ex: Reprojection error: ex = x_kk - x; +% +%Method: Computes the normalized point coordinates, then computes the 3D pose +% +%Important functions called within that program: +% +%normalize: Computes the normalize image point coordinates. +% +%pose3D: Computes the 3D pose of the structure given the normalized image projection. +% +%project_points.m: Computes the 2D image projections of a set of 3D points + + + +if nargin < 7, + thresh_cond = inf; +end; + + +if nargin < 6, + MaxIter = 20; +end; + + + +if nargin < 5, + kc = zeros(4,1); + if nargin < 4, + cc = zeros(2,1); + if nargin < 3, + fc = ones(2,1); + if nargin < 2, + error('Need 2D projections and 3D points (in compute_extrinsic.m)'); + return; + end; + end; + end; +end; + + +% Initialization: + +[omckk,Tckk,Rckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc); + +% Refinement: + +[omckk,Tckk,Rckk,JJ] = compute_extrinsic_refine(omckk,Tckk,x_kk,X_kk,fc,cc,kc,MaxIter,thresh_cond); + + +% computation of the homography (not useful in the end) + +H = [Rckk(:,1:2) Tckk]; + +% Computes the reprojection error in pixels: + +x = project_points(X_kk,omckk,Tckk,fc,cc,kc); + +ex = x_kk - x; + + +% Converts the homography in pixel units: + +KK = [fc(1) 0 cc(1);0 fc(2) cc(2); 0 0 1]; + +H = KK*H; + + + + +return; + + +% Test of compte extrinsic: + +Np = 4; +sx = 10; +sy = 10; +sz = 5; + +om = randn(3,1); +T = [0;0;100]; + +noise = 2/1000; + +XX = [sx*randn(1,Np);sy*randn(1,Np);sz*randn(1,Np)]; +xx = project_points(XX,om,T); + +xxn = xx + noise * randn(2,Np); + +[omckk,Tckk] = compute_extrinsic(xxn,XX); + +[om omckk om-omckk] +[T Tckk T-Tckk] + +figure(3); +plot(xx(1,:),xx(2,:),'r+'); +hold on; +plot(xxn(1,:),xxn(2,:),'g+'); +hold off; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic_init.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic_init.m new file mode 100755 index 0000000..207ea30 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic_init.m @@ -0,0 +1,149 @@ +function [omckk,Tckk,Rckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc), + +%compute_extrinsic +% +%[omckk,Tckk,Rckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc) +% +%Computes the extrinsic parameters attached to a 3D structure X_kk given its projection +%on the image plane x_kk and the intrinsic camera parameters fc, cc and kc. +%Works with planar and non-planar structures. +% +%INPUT: x_kk: Feature locations on the images +% X_kk: Corresponding grid coordinates +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% +%OUTPUT: omckk: 3D rotation vector attached to the grid positions in space +% Tckk: 3D translation vector attached to the grid positions in space +% Rckk: 3D rotation matrices corresponding to the omc vectors +% +%Method: Computes the normalized point coordinates, then computes the 3D pose +% +%Important functions called within that program: +% +%normalize: Computes the normalize image point coordinates. +% +%pose3D: Computes the 3D pose of the structure given the normalized image projection. +% +%project_points.m: Computes the 2D image projections of a set of 3D points + + + + +if nargin < 5, + kc = zeros(4,1); + if nargin < 4, + cc = zeros(2,1); + if nargin < 3, + fc = ones(2,1); + if nargin < 2, + error('Need 2D projections and 3D points (in compute_extrinsic.m)'); + return; + end; + end; + end; +end; + + + +% Compute the normalized coordinates: + +xn = normalize(x_kk,fc,cc,kc); + + + +Np = size(xn,2); + +%% Check for planarity of the structure: + +X_mean = mean(X_kk')'; + +Y = X_kk - (X_mean*ones(1,Np)); + +YY = Y*Y'; + +[U,S,V] = svd(YY); + +r = S(3,3)/S(2,2); + +if (r < 1e-3)|(Np < 6), %1e-3, %1e-4, %norm(X_kk(3,:)) < eps, % Test of planarity + + %fprintf(1,'Planar structure detected: r=%f\n',r); + + % Transform the plane to bring it in the Z=0 plane: + + R_transform = V'; + + if det(R_transform) < 0, R_transform = -R_transform; end; + + T_transform = -(R_transform)*X_mean; + + X_new = R_transform*X_kk + T_transform*ones(1,Np); + + + % Compute the planar homography: + + H = compute_homography (xn,X_new(1:2,:)); + + % De-embed the motion parameters from the homography: + + sc = mean([norm(H(:,1));norm(H(:,2))]); + + H = H/sc; + + omckk = rodrigues([H(:,1:2) cross(H(:,1),H(:,2))]); + Rckk = rodrigues(omckk); + Tckk = H(:,3); + + %If Xc = Rckk * X_new + Tckk, then Xc = Rckk * R_transform * X_kk + Tckk + T_transform + + Tckk = Tckk + Rckk* T_transform; + Rckk = Rckk * R_transform; + + omckk = rodrigues(Rckk); + Rckk = rodrigues(omckk); + + +else + + %fprintf(1,'Non planar structure detected: r=%f\n',r); + + % Computes an initial guess for extrinsic parameters (works for general 3d structure, not planar!!!): + % The DLT method is applied here!! + + J = zeros(2*Np,12); + + xX = (ones(3,1)*xn(1,:)).*X_kk; + yX = (ones(3,1)*xn(2,:)).*X_kk; + + J(1:2:end,[1 4 7]) = -X_kk'; + J(2:2:end,[2 5 8]) = X_kk'; + J(1:2:end,[3 6 9]) = xX'; + J(2:2:end,[3 6 9]) = -yX'; + J(1:2:end,12) = xn(1,:)'; + J(2:2:end,12) = -xn(2,:)'; + J(1:2:end,10) = -ones(Np,1); + J(2:2:end,11) = ones(Np,1); + + JJ = J'*J; + [U,S,V] = svd(JJ); + + RR = reshape(V(1:9,12),3,3); + + if det(RR) < 0, + V(:,12) = -V(:,12); + RR = -RR; + end; + + [Ur,Sr,Vr] = svd(RR); + + Rckk = Ur*Vr'; + + sc = norm(V(1:9,12)) / norm(Rckk(:)); + Tckk = V(10:12,12)/sc; + + omckk = rodrigues(Rckk); + Rckk = rodrigues(omckk); + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic_refine.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic_refine.m new file mode 100755 index 0000000..69474c4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_extrinsic_refine.m @@ -0,0 +1,110 @@ +function [omckk,Tckk,Rckk,JJ] = compute_extrinsic_refine(omc_init,Tc_init,x_kk,X_kk,fc,cc,kc,MaxIter,thresh_cond), + +%compute_extrinsic +% +%[omckk,Tckk,Rckk] = compute_extrinsic_refine(x_kk,X_kk,fc,cc,kc,MaxIter) +% +%Computes the extrinsic parameters attached to a 3D structure X_kk given its projection +%on the image plane x_kk and the intrinsic camera parameters fc, cc and kc. +%Works with planar and non-planar structures. +% +%INPUT: x_kk: Feature locations on the images +% X_kk: Corresponding grid coordinates +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% MaxIter: Maximum number of iterations +% +%OUTPUT: omckk: 3D rotation vector attached to the grid positions in space +% Tckk: 3D translation vector attached to the grid positions in space +% Rckk: 3D rotation matrices corresponding to the omc vectors + +% +%Method: Computes the normalized point coordinates, then computes the 3D pose +% +%Important functions called within that program: +% +%normalize: Computes the normalize image point coordinates. +% +%pose3D: Computes the 3D pose of the structure given the normalized image projection. +% +%project_points.m: Computes the 2D image projections of a set of 3D points + + +if nargin < 9, + thresh_cond = inf; +end; + + +if nargin < 8, + MaxIter = 20; +end; + + +if nargin < 7, + kc = zeros(4,1); + if nargin < 6, + cc = zeros(2,1); + if nargin < 5, + fc = ones(2,1); + if nargin < 4, + error('Need 2D projections and 3D points (in compute_extrinsic_refine.m)'); + return; + end; + end; + end; +end; + + +% Initialization: + +omckk = omc_init; +Tckk = Tc_init; + + +% Final optimization (minimize the reprojection error in pixel): +% through Gradient Descent: + +param = [omckk;Tckk]; + +change = 1; + +iter = 0; + +%keyboard; + +%fprintf(1,'Gradient descent iterations: '); + +while (change > 1e-10)&(iter < MaxIter), + + %fprintf(1,'%d...',iter+1); + + [x,dxdom,dxdT] = project_points(X_kk,omckk,Tckk,fc,cc,kc); + + ex = x_kk - x; + + %keyboard; + + JJ = [dxdom dxdT]; + + if cond(JJ) > thresh_cond, + change = 0; + else + + JJ2 = JJ'*JJ; + + param_innov = inv(JJ2)*(JJ')*ex(:); + param_up = param + param_innov; + change = norm(param_innov)/norm(param_up); + param = param_up; + iter = iter + 1; + + omckk = param(1:3); + Tckk = param(4:6); + end; + +end; + +%fprintf(1,'\n'); + +Rckk = rodrigues(omckk); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_homography.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_homography.m new file mode 100755 index 0000000..fcc9003 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/compute_homography.m @@ -0,0 +1,163 @@ +function [H,Hnorm,inv_Hnorm] = compute_homography (m,M); + +%compute_homography +% +%[H,Hnorm,inv_Hnorm] = compute_homography (m,M) +% +%Computes the planar homography between the point coordinates on the plane (M) and the image +%point coordinates (m). +% +%INPUT: m: homogeneous coordinates in the image plane (3xN matrix) +% M: homogeneous coordinates in the plane in 3D (3xN matrix) +% +%OUTPUT: H: Homography matrix (3x3 homogeneous matrix) +% Hnorm: Normlization matrix used on the points before homography computation +% (useful for numerical stability is points in pixel coordinates) +% inv_Hnorm: The inverse of Hnorm +% +%Definition: m ~ H*M where "~" means equal up to a non zero scalar factor. +% +%Method: First computes an initial guess for the homography through quasi-linear method. +% Then, if the total number of points is larger than 4, optimize the solution by minimizing +% the reprojection error (in the least squares sense). +% +% +%Important functions called within that program: +% +%comp_distortion_oulu: Undistorts pixel coordinates. +% +%compute_homography.m: Computes the planar homography between points on the grid in 3D, and the image plane. +% +%project_points.m: Computes the 2D image projections of a set of 3D points, and also returns te Jacobian +% matrix (derivative with respect to the intrinsic and extrinsic parameters). +% This function is called within the minimization loop. + + + + +Np = size(m,2); + +if size(m,1)<3, + m = [m;ones(1,Np)]; +end; + +if size(M,1)<3, + M = [M;ones(1,Np)]; +end; + + +m = m ./ (ones(3,1)*m(3,:)); +M = M ./ (ones(3,1)*M(3,:)); + +% Prenormalization of point coordinates (very important): +% (Affine normalization) + +ax = m(1,:); +ay = m(2,:); + +mxx = mean(ax); +myy = mean(ay); +ax = ax - mxx; +ay = ay - myy; + +scxx = mean(abs(ax)); +scyy = mean(abs(ay)); + + +Hnorm = [1/scxx 0 -mxx/scxx;0 1/scyy -myy/scyy;0 0 1]; +inv_Hnorm = [scxx 0 mxx ; 0 scyy myy; 0 0 1]; + +mn = Hnorm*m; + +% Compute the homography between m and mn: + +% Build the matrix: + +L = zeros(2*Np,9); + +L(1:2:2*Np,1:3) = M'; +L(2:2:2*Np,4:6) = M'; +L(1:2:2*Np,7:9) = -((ones(3,1)*mn(1,:)).* M)'; +L(2:2:2*Np,7:9) = -((ones(3,1)*mn(2,:)).* M)'; + +if Np > 4, + L = L'*L; +end; + +[U,S,V] = svd(L); + +hh = V(:,9); +hh = hh/hh(9); + +Hrem = reshape(hh,3,3)'; +%Hrem = Hrem / Hrem(3,3); + +% Final homography: + +H = inv_Hnorm*Hrem; + + +%%% Homography refinement if there are more than 4 points: + +if Np > 4, + + % Final refinement: + + hhv = reshape(H',9,1); + hhv = hhv(1:8); + + for iter=1:10, + + mrep = H * M; + + J = zeros(2*Np,8); + + MMM = (M ./ (ones(3,1)*mrep(3,:))); + + J(1:2:2*Np,1:3) = -MMM'; + J(2:2:2*Np,4:6) = -MMM'; + + mrep = mrep ./ (ones(3,1)*mrep(3,:)); + + m_err = m(1:2,:) - mrep(1:2,:); + m_err = m_err(:); + + MMM2 = (ones(3,1)*mrep(1,:)) .* MMM; + MMM3 = (ones(3,1)*mrep(2,:)) .* MMM; + + J(1:2:2*Np,7:8) = MMM2(1:2,:)'; + J(2:2:2*Np,7:8) = MMM3(1:2,:)'; + + MMM = (M ./ (ones(3,1)*mrep(3,:)))'; + + hh_innov = inv(J'*J)*J'*m_err; + + hhv_up = hhv - hh_innov; + + H_up = reshape([hhv_up;1],3,3)'; + + %norm(m_err) + %norm(hh_innov) + + hhv = hhv_up; + H = H_up; + + end; + +end; + + + + + +return; + +%test of Jacobian + +mrep = H*M; +mrep = mrep ./ (ones(3,1)*mrep(3,:)); + +m_err = mrep(1:2,:) - m(1:2,:); +figure(8); +plot(m_err(1,:),m_err(2,:),'r+'); +std(m_err') diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/convert_oulu.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/convert_oulu.m new file mode 100755 index 0000000..726806e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/convert_oulu.m @@ -0,0 +1,35 @@ +%% Converts data file from oulu to mine: + +load cademo, +n_ima = 0; + +no_error = 1; + +ii = 1; + +while no_error, + + dataname = ['data' num2str(ii)]; + + if exist(dataname), + + n_ima = n_ima +1; + + eval(['x_' num2str(ii) '= ' dataname '(:,4:5)'';']) + eval(['X_' num2str(ii) '= ' dataname '(:,1:3)'';']) + + else + no_error = 0; + end; + + ii = ii + 1; + +end; + +nx = 500; +ny = 500; + +no_image = 1; +no_grid = 1; + +save data n_ima x_1 X_1 x_2 X_2 x_3 X_3 nx ny no_image no_grid diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/cornerfinder.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/cornerfinder.m new file mode 100755 index 0000000..9bfa51f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/cornerfinder.m @@ -0,0 +1,215 @@ +function [xc,good,bad,type] = cornerfinder(xt,I,wintx,winty,wx2,wy2); + +%[xc] = cornerfinder(xt,I); +% +%Finds the sub-pixel corners on the image I with initial guess xt +%xt and xc are 2xN matrices. The first component is the x coordinate +%(horizontal) and the second component is the y coordinate (vertical) +% +%Based on Harris corner finder method +% +%Finds corners to a precision below .1 pixel! +%Oct. 14th, 1997 - UPDATED to work with vertical and horizontal edges as well!!! +%Sept 1998 - UPDATED to handle diverged points: we keep the original points +%good is a binary vector indicating wether a feature point has been properly +%found. +% +%Add a zero zone of size wx2,wy2 +%July 15th, 1999 - Bug on the mask building... fixed + change to Gaussian mask with higher +%resolution and larger number of iterations. + + +% California Institute of Technology +% (c) Jean-Yves Bouguet -- Oct. 14th, 1997 + + + +line_feat = 1; % set to 1 to allow for extraction of line features. + +xt = xt'; +xt = fliplr(xt); + + +if nargin < 4, + winty = 5; + if nargin < 3, + wintx = 5; + end; +end; + + +if nargin < 6, + wx2 = -1; + wy2 = -1; +end; + + +%mask = ones(2*wintx+1,2*winty+1); +mask = exp(-((-wintx:wintx)'/(wintx)).^2) * exp(-((-winty:winty)/(winty)).^2); + + +if (wx2>0) & (wy2>0), + if ((wintx - wx2)>=2)&((winty - wy2)>=2), + mask(wintx+1-wx2:wintx+1+wx2,winty+1-wy2:winty+1+wy2)= zeros(2*wx2+1,2*wy2+1); + end; +end; + +offx = [-wintx:wintx]'*ones(1,2*winty+1); +offy = ones(2*wintx+1,1)*[-winty:winty]; + +resolution = 0.005; + +MaxIter = 10; + +[nx,ny] = size(I); +N = size(xt,1); + +xc = xt; % first guess... they don't move !!! + +type = zeros(1,N); + + +for i=1:N, + + v_extra = resolution + 1; % just larger than resolution + + compt = 0; % no iteration yet + + while (norm(v_extra) > resolution) & (compt 0, % the sub pixel + vIx = [itIx 1-itIx 0]'; % accuracy. + else + vIx = [0 1+itIx -itIx]'; + end; + if itIy > 0, + vIy = [itIy 1-itIy 0]; + else + vIy = [0 1+itIy -itIy]; + end; + + + % What if the sub image is not in? + + if (crIx-wintx-2 < 1), xmin=1; xmax = 2*wintx+5; + elseif (crIx+wintx+2 > nx), xmax = nx; xmin = nx-2*wintx-4; + else + xmin = crIx-wintx-2; xmax = crIx+wintx+2; + end; + + if (crIy-winty-2 < 1), ymin=1; ymax = 2*winty+5; + elseif (crIy+winty+2 > ny), ymax = ny; ymin = ny-2*winty-4; + else + ymin = crIy-winty-2; ymax = crIy+winty+2; + end; + + + SI = I(xmin:xmax,ymin:ymax); % The necessary neighborhood + SI = conv2(conv2(SI,vIx,'same'),vIy,'same'); + SI = SI(2:2*wintx+4,2:2*winty+4); % The subpixel interpolated neighborhood + [gy,gx] = gradient(SI); % The gradient image + gx = gx(2:2*wintx+2,2:2*winty+2); % extraction of the useful parts only + gy = gy(2:2*wintx+2,2:2*winty+2); % of the gradients + + px = cIx + offx; + py = cIy + offy; + + gxx = gx .* gx .* mask; + gyy = gy .* gy .* mask; + gxy = gx .* gy .* mask; + + + bb = [sum(sum(gxx .* px + gxy .* py)); sum(sum(gxy .* px + gyy .* py))]; + + a = sum(sum(gxx)); + b = sum(sum(gxy)); + c = sum(sum(gyy)); + + dt = a*c - b^2; + + xc2 = [c*bb(1)-b*bb(2) a*bb(2)-b*bb(1)]/dt; + + + %keyboard; + + if line_feat, + + G = [a b;b c]; + [U,S,V] = svd(G); + + %keyboard; + + % If non-invertible, then project the point onto the edge orthogonal: + + if (S(1,1)/S(2,2) > 50), + % projection operation: + xc2 = xc2 + sum((xc(i,:)-xc2).*(V(:,2)'))*V(:,2)'; + type(i) = 1; + end; + + end; + + + %keyboard; + +% G = [a b;b c]; +% [U,S,V] = svd(G); + + +% if S(1,1)/S(2,2) > 150, +% bb2 = U'*bb; +% xc2 = (V*[bb2(1)/S(1,1) ;0])'; +% else +% xc2 = [c*bb(1)-b*bb(2) a*bb(2)-b*bb(1)]/dt; +% end; + + + %if (abs(a)> 50*abs(c)), +% xc2 = [(c*bb(1)-b*bb(2))/dt xc(i,2)]; +% elseif (abs(c)> 50*abs(a)) +% xc2 = [xc(i,1) (a*bb(2)-b*bb(1))/dt]; +% else +% xc2 = [c*bb(1)-b*bb(2) a*bb(2)-b*bb(1)]/dt; +% end; + + %keyboard; + + v_extra = xc(i,:) - xc2; + + xc(i,:) = xc2; + +% keyboard; + + compt = compt + 1; + + end +end; + + +% check for points that diverge: + +delta_x = xc(:,1) - xt(:,1); +delta_y = xc(:,2) - xt(:,2); + +%keyboard; + + +bad = (abs(delta_x) > wintx) | (abs(delta_y) > winty); +good = ~bad; +in_bad = find(bad); + +% For the diverged points, keep the original guesses: + +xc(in_bad,:) = xt(in_bad,:); + +xc = fliplr(xc); +xc = xc'; + +bad = bad'; +good = good'; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/count_squares.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/count_squares.m new file mode 100755 index 0000000..0e226c0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/count_squares.m @@ -0,0 +1,74 @@ +function ns = count_squares(I,x1,y1,x2,y2,win); + +%keyboard; + +[ny,nx] = size(I); + +lambda = [y1 - y2;x2 - x1;x1*y2 - x2*y1]; + +lambda = 1/sqrt(lambda(1)^2 + lambda(2)^2) * lambda; + +l1 = lambda + [0;0;win]; +l2 = lambda - [0;0;win]; + + +dx = x2-x1; +dy = y2 - y1; + + +if abs(dx) > abs(dy), + + if x2 > x1, + xs = x1:x2; + else + xs = x1:-1:x2; + end; + + ys = -(lambda(3) + lambda(1)*xs)/lambda(2); + +else + + if y2 > y1, + ys = y1:y2; + else + ys = y1:-1:y2; + end; + xs = -(lambda(3) + lambda(2)*ys)/lambda(1); + +end; + + + + Np = length(xs); + + xs_mat = ones(2*win + 1,1)*xs; + ys_mat = ones(2*win + 1,1)*ys; + + win_mat = (-win:win)'*ones(1,Np); + + + xs_mat2 = round(xs_mat - win_mat * lambda(1)); + ys_mat2 = round(ys_mat - win_mat * lambda(2)); + + ind_mat = (xs_mat2 - 1) * ny + ys_mat2; + + ima_patch = zeros(2*win + 1,Np); + + ima_patch(:) = I(ind_mat(:)); + + %ima2 = ima_patch(:,win+1:end-win); + + filtk = [ones(win,Np);zeros(1,Np);-ones(win,Np)]; + + out_f = sum(filtk.*ima_patch); + + out_f_f = conv2(out_f,[1/4 1/2 1/4],'same'); + + out_f_f = out_f_f(win+1:end-win); + + ns = length(find(((out_f_f(2:end)>=0)&(out_f_f(1:end-1)<0)) | ((out_f_f(2:end)<=0)&(out_f_f(1:end-1)>0))))+1; + + + + +return; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/data_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/data_calib.m new file mode 100755 index 0000000..318ec15 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/data_calib.m @@ -0,0 +1,89 @@ +%%% This script alets the user enter the name of the images (base name, numbering scheme,... + +dir; + +%disp('Camera Calibration using multiple images of a planar checkerboard pattern'); +%disp('Model: 2 focals, 2 radial dist. coeff., 2 tangential dist. coeff. and principle point'); +%disp(' => 8DOF intrinsic model ([Heikkila and Silven, University of Oulu])'); + +fprintf(1,'\n'); +calib_name = input('Basename camera calibration images (without number nor suffix): ','s'); + +format_image = '0'; + +while format_image == '0', + + format_image = input('Image format: ([]=''r''=''ras'', ''b''=''bmp'', ''t''=''tif'', ''p''=''pgm'', ''j''=''jpg'') ','s'); + + if isempty(format_image), + format_image = 'ras'; + end; + + if lower(format_image(1)) == 'b', + format_image = 'bmp'; + else + if lower(format_image(1)) == 't', + format_image = 'tif'; + else + if lower(format_image(1)) == 'p', + format_image = 'pgm'; + else + if lower(format_image(1)) == 'j', + format_image = 'jpg'; + else + if lower(format_image(1)) == 'r', + format_image = 'ras'; + else + disp('Invalid image format'); + format_image = '0'; % Ask for format once again + end; + end; + end; + end; + end; + +end; + + +n_ima = 1000; +while n_ima > 30, + n_ima = input('Number of calibration images: '); + n_ima = round(n_ima); +end; + +type_numbering = input('Type of numbering (ex: []=4,other=04): '); + +type_numbering = ~isempty(type_numbering); + +if type_numbering, + + N_slots = input('Number of spaces for numbers? (ex: 2 -> 04, 3 -> 004), ([]=3) '); + + if isempty(N_slots), N_slots = 3; end; + +else + + N_slots = 1; % not used anyway, but useful for saving + +end; + + +first_num = input('First image number? (0,1,2...) ([]=0) '); + +if isempty(first_num), first_num = 0; end; + +image_numbers = first_num:n_ima-1+first_num; + + +%%% By default, all the images are active for calibration: + +active_images = ones(1,n_ima); + +%string_save = 'save calib_data n_ima type_numbering N_slots image_numbers format_image calib_name first_num'; + +%eval(string_save); + +% Reading images: + +ima_read_calib; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/error_analysis.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/error_analysis.m new file mode 100755 index 0000000..85feac5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/error_analysis.m @@ -0,0 +1,182 @@ +%%% ERROR_ANALYSIS +%%% This simulation helps coputing the acturacies of calibration +%%% Run it after the main calibration + + + +N_runs = 200; + +%N_ima_active = 4; + +saving = 1; + +if 1, %~exist('fc_list'), % initialization + + % Initialization: + + load Calib_Results; + check_active_images; + + fc_list = []; + cc_list = []; + kc_list = []; + active_images_list = []; + + + for kk=1:n_ima, + + eval(['omc_list_' num2str(kk) ' = [];']); + eval(['Tc_list_' num2str(kk) ' = [];']); + + end; + + %sx = median(abs(ex(1,:)))*1.4836; + %sy = median(abs(ex(2,:)))*1.4836; + + sx = std(ex(1,:)); + sy = std(ex(2,:)); + + % Saving the feature locations: + + for kk = 1:n_ima, + + eval(['x_save_' num2str(kk) ' = x_' num2str(kk) ';']); + eval(['y_save_' num2str(kk) ' = y_' num2str(kk) ';']); + + end; + + active_images_save = active_images; + ind_active_save = ind_active; + + fc_save = fc; + cc_save = cc; + kc_save = kc; + KK_save = KK; + + +end; + + + + +%%% The main loop: + + +for ntrial = 1:N_runs, + + fprintf(1,'\nRun number: %d\n',ntrial); + fprintf(1, '----------\n'); + + for kk = 1:n_ima, + + eval(['y_kk = y_save_' num2str(kk) ';']) + + if active_images(kk) & ~isnan(y_kk(1,1)), + + Nkk = size(y_kk,2); + + x_kk_new = y_kk + [sx * randn(1,Nkk);sy*randn(1,Nkk)]; + + eval(['x_' num2str(kk) ' = x_kk_new;']); + + end; + + end; + + N_active = length(ind_active_save); + junk = randn(1,N_active); + [junk,junk2] = sort(junk); + + active_images = zeros(1,n_ima); + active_images(ind_active_save(junk2(1:N_ima_active))) = ones(1,N_ima_active); + + fc = fc_save; + cc = cc_save; + kc = kc_save; + KK = KK_save; + + go_calib_optim; + + fc_list = [fc_list fc]; + cc_list = [cc_list cc]; + kc_list = [kc_list kc]; + active_images_list = [active_images_list active_images']; + + for kk=1:n_ima, + + eval(['omc_list_' num2str(kk) ' = [ omc_list_' num2str(kk) ' omc_' num2str(kk) ' ];']); + eval(['Tc_list_' num2str(kk) ' = [ Tc_list_' num2str(kk) ' Tc_' num2str(kk) ' ];']); + + end; + +end; + + + + +if 0, + +% Restoring the feature locations: + +for kk = 1:n_ima, + + eval(['x_' num2str(kk) ' = x_save_' num2str(kk) ';']); + +end; + +fprintf(1,'\nFinal run (with the real data)\n'); +fprintf(1, '------------------------------\n'); + +active_images = active_images_save; +ind_active = ind_active_save; + +go_calib_optim; + +fc_list = [fc_list fc]; +cc_list = [cc_list cc]; +kc_list = [kc_list kc]; +active_images_list = [active_images_list active_images']; + +for kk=1:n_ima, + + eval(['omc_list_' num2str(kk) ' = [ omc_list_' num2str(kk) ' omc_' num2str(kk) ' ];']); + eval(['Tc_list_' num2str(kk) ' = [ Tc_list_' num2str(kk) ' Tc_' num2str(kk) ' ];']); + +end; + +end; + + + + + +if saving, + +disp(['Save Calibration accuracy results under Calib_Accuracies_' num2str(N_ima_active) '.mat']); + +string_save = ['save Calib_Accuracies_' num2str(N_ima_active) ' active_images n_ima N_ima_active N_runs active_images_list fc cc kc fc_list cc_list kc_list']; + +for kk = 1:n_ima, + string_save = [string_save ' Tc_list_' num2str(kk) ' omc_list_' num2str(kk) ' Tc_' num2str(kk) ' omc_' num2str(kk) ]; +end; + +eval(string_save); + +end; + + +return; + +std(fc_list') + +std(cc_list') + +std(kc_list') + +for kk = 1:n_ima, + + eval(['std(Tc_list_' num2str(kk) ''')']) + +end; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ext_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ext_calib.m new file mode 100755 index 0000000..d41d068 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ext_calib.m @@ -0,0 +1,130 @@ + +%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%% + +check_active_images; + +if ~exist(['omc_' num2str(ind_active(1))]), + fprintf(1,'Need to calibrate before showing extrinsic results. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + +%if ~exist('no_grid'), + no_grid = 0; +%end; + +if ~exist(['n_sq_x_' num2str(ind_active(1))]), + no_grid = 1; +end; + + +if 0, + +err_std = std(ex'); + +fprintf(1,'\n\nCalibration results without principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); + +end; + + +% Color code for each image: + +colors = 'brgkcm'; + + +%%% Show the extrinsic parameters + +if ~exist('dX'), + eval(['dX = norm(Tc_' num2str(ind_active(1)) ')/10;']); + dY = dX; +end; + +IP = 5*dX*([0 nx-1 nx-1 0 0 ; 0 0 ny-1 ny-1 0;1 1 1 1 1] - [cc;0]*ones(1,5)) ./ ([fc;1]*ones(1,5)); +BASE = 5*dX*([0 1 0 0 0 0;0 0 0 1 0 0;0 0 0 0 0 1]); +IP = reshape([IP;BASE(:,1)*ones(1,5);IP],3,15); + +figure(4); +[a,b] = view; + +figure(4); +plot3(BASE(1,:),BASE(3,:),-BASE(2,:),'b-','linewidth',2'); +hold on; +plot3(IP(1,:),IP(3,:),-IP(2,:),'r-','linewidth',2); +text(6*dX,0,0,'X_c'); +text(-dX,5*dX,0,'Z_c'); +text(0,0,-6*dX,'Y_c'); +text(-dX,-dX,dX,'O_c'); + + +for kk = 1:n_ima, + + if active_images(kk); + + eval(['XX_kk = X_' num2str(kk) ';']); + eval(['omc_kk = omc_' num2str(kk) ';']); + eval(['Tc_kk = Tc_' num2str(kk) ';']); + N_kk = size(XX_kk,2); + + if ~exist(['n_sq_x_' num2str(kk)]), + no_grid = 1; + end; + + if ~no_grid, + eval(['n_sq_x = n_sq_x_' num2str(kk) ';']); + eval(['n_sq_y = n_sq_y_' num2str(kk) ';']); + if (N_kk ~= ((n_sq_x+1)*(n_sq_y+1))), + no_grid = 1; + end; + end; + + if ~isnan(omc_kk(1,1)), + + R_kk = rodrigues(omc_kk); + + YY_kk = R_kk * XX_kk + Tc_kk * ones(1,length(XX_kk)); + + uu = [-dX;-dY;0]/2; + uu = R_kk * uu + Tc_kk; + + if ~no_grid, + YYx = zeros(n_sq_x+1,n_sq_y+1); + YYy = zeros(n_sq_x+1,n_sq_y+1); + YYz = zeros(n_sq_x+1,n_sq_y+1); + + YYx(:) = YY_kk(1,:); + YYy(:) = YY_kk(2,:); + YYz(:) = YY_kk(3,:); + + %keyboard; + + figure(4); + hhh= mesh(YYx,YYz,-YYy); + set(hhh,'edgecolor',colors(rem(kk-1,6)+1),'linewidth',1); %,'facecolor','none'); + %plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['o' colors(rem(kk-1,6)+1)]); + text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1)); + else + + figure(4); + plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['.' colors(rem(kk-1,6)+1)]); + text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1)); + + end; + + end; + + end; + +end; + +figure(4);rotate3d on; +axis('equal'); +title('Extrinsic parameters'); +%view(60,30); +view(a,b); +hold off; + +set(4,'Name','3D','NumberTitle','off'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_grid.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_grid.m new file mode 100755 index 0000000..1e3cbdb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_grid.m @@ -0,0 +1,227 @@ +function [x,X,n_sq_x,n_sq_y,ind_orig,ind_x,ind_y] = extract_grid(I,wintx,winty,fc,cc,kc); + +map = gray(256); + + figure(2); + image(I); + colormap(map); + + + if nargin < 2, + + disp('Window size for corner finder (wintx and winty):'); + wintx = input('wintx ([] = 5) = '); + if isempty(wintx), wintx = 5; end; + wintx = round(wintx); + winty = input('winty ([] = 5) = '); + if isempty(winty), winty = 5; end; + winty = round(winty); + + fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + + end; + + + + title('Click on the four extreme corners of the rectangular pattern...'); + + disp('Click on the four extreme corners of the rectangular complete pattern...'); + + [x,y] = ginput3(4); + + [Xc,good,bad,type] = cornerfinder([x';y'],I,winty,wintx); % the four corners + + x = Xc(1,:)'; + y = Xc(2,:)'; + + [y,indy] = sort(y); + x = x(indy); + + if (x(2) > x(1)), + x4 = x(1);y4 = y(1); x3 = x(2); y3 = y(2); + else + x4 = x(2);y4 = y(2); x3 = x(1); y3 = y(1); + end; + if (x(3) > x(4)), + x2 = x(3);y2 = y(3); x1 = x(4); y1 = y(4); + else + x2 = x(4);y2 = y(4); x1 = x(3); y1 = y(3); + end; + + x = [x1;x2;x3;x4]; + y = [y1;y2;y3;y4]; + + + figure(2); hold on; + plot([x;x(1)],[y;y(1)],'g-'); + plot(x,y,'og'); + hx=text((x(4)+x(3))/2,(y(4)+y(3))/2 - 20,'X'); + set(hx,'color','g','Fontsize',14); + hy=text((x(4)+x(1))/2-20,(y(4)+y(1))/2,'Y'); + set(hy,'color','g','Fontsize',14); + hold off; + + + % Try to automatically count the number of squares in the grid + + n_sq_x1 = count_squares(I,x1,y1,x2,y2,wintx); + n_sq_x2 = count_squares(I,x3,y3,x4,y4,wintx); + n_sq_y1 = count_squares(I,x2,y2,x3,y3,wintx); + n_sq_y2 = count_squares(I,x4,y4,x1,y1,wintx); + + + + % If could not count the number of squares, enter manually + + if (n_sq_x1~=n_sq_x2)|(n_sq_y1~=n_sq_y2), + + + disp('Could not count the number of squares in the grid. Enter manually.'); + n_sq_x = input('Number of squares along the X direction ([]=10) = '); %6 + if isempty(n_sq_x), n_sq_x = 10; end; + n_sq_y = input('Number of squares along the Y direction ([]=10) = '); %6 + if isempty(n_sq_y), n_sq_y = 10; end; + + else + + n_sq_x = n_sq_x1; + n_sq_y = n_sq_y1; + + end; + + + % Enter the size of each square + + dX = input(['Size dX of each square along the X direction ([]=3cm) = ']); + dY = input(['Size dY of each square along the Y direction ([]=3cm) = ']); + if isempty(dX), dX = 3; end; + if isempty(dY), dY = 3; end; + + + + % Compute the inside points through computation of the planar homography (collineation) + + a00 = [x(1);y(1);1]; + a10 = [x(2);y(2);1]; + a11 = [x(3);y(3);1]; + a01 = [x(4);y(4);1]; + + + % Compute the planart collineation: (return the normalization matrice as well) + + [Homo,Hnorm,inv_Hnorm] = compute_homography ([a00 a10 a11 a01],[0 1 1 0;0 0 1 1;1 1 1 1]); + + + % Build the grid using the planar collineation: + + x_l = ((0:n_sq_x)'*ones(1,n_sq_y+1))/n_sq_x; + y_l = (ones(n_sq_x+1,1)*(0:n_sq_y))/n_sq_y; + pts = [x_l(:) y_l(:) ones((n_sq_x+1)*(n_sq_y+1),1)]'; + + XX = Homo*pts; + XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); + + + % Complete size of the rectangle + + W = n_sq_x*dX; + L = n_sq_y*dY; + + + + if nargin < 6, + + %%%%%%%%%%%%%%%%%%%%%%%% ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + figure(2); + hold on; + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be close to the image corners'); + hold off; + + disp('If the guessed grid corners (red crosses on the image) are not close to the actual corners,'); + disp('it is necessary to enter an initial guess for the radial distortion factor kc (useful for subpixel detection)'); + quest_distort = input('Need of an initial guess for distortion? ([]=no, other=yes) '); + + quest_distort = ~isempty(quest_distort); + + if quest_distort, + % Estimation of focal length: + c_g = [size(I,2);size(I,1)]/2 + .5; + f_g = Distor2Calib(0,[[x(1) x(2) x(4) x(3)] - c_g(1);[y(1) y(2) y(4) y(3)] - c_g(2)],1,1,4,W,L,[-W/2 W/2 W/2 -W/2;L/2 L/2 -L/2 -L/2; 0 0 0 0],100,1,1); + f_g = mean(f_g); + script_fit_distortion; + end; + %%%%%%%%%%%%%%%%%%%%% END ADDITIONAL STUFF IN THE CASE OF HIGHLY DISTORTED IMAGES %%%%%%%%%%%%% + + else + + xy_corners_undist = comp_distortion_oulu([(x' - cc(1))/fc(1);(y'-cc(2))/fc(1)],kc); + + xu = xy_corners_undist(1,:)'; + yu = xy_corners_undist(2,:)'; + + [XXu] = projectedGrid ( [xu(1);yu(1)], [xu(2);yu(2)],[xu(3);yu(3)], [xu(4);yu(4)],n_sq_x+1,n_sq_y+1); % The full grid + + r2 = sum(XXu.^2); + XX = (ones(2,1)*(1 + kc(1) * r2 + kc(2) * (r2.^2))) .* XXu; + XX(1,:) = fc(1)*XX(1,:)+cc(1); + XX(2,:) = fc(2)*XX(2,:)+cc(2); + + end; + + + Np = (n_sq_x+1)*(n_sq_y+1); + + disp('Corner extraction...'); + + grid_pts = cornerfinder(XX,I,winty,wintx); %%% Finds the exact corners at every points! + + grid_pts = grid_pts - 1; % subtract 1 to bring the origin to (0,0) instead of (1,1) in matlab (not necessary in C) + + ind_corners = [1 n_sq_x+1 (n_sq_x+1)*n_sq_y+1 (n_sq_x+1)*(n_sq_y+1)]; % index of the 4 corners + ind_orig = (n_sq_x+1)*n_sq_y + 1; + xorig = grid_pts(1,ind_orig); + yorig = grid_pts(2,ind_orig); + dxpos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig+1)]'); + dypos = mean([grid_pts(:,ind_orig) grid_pts(:,ind_orig-n_sq_x-1)]'); + + + ind_x = (n_sq_x+1)*(n_sq_y + 1); + ind_y = 1; + + x_box_kk = [grid_pts(1,:)-(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)+(wintx+.5);grid_pts(1,:)-(wintx+.5);grid_pts(1,:)-(wintx+.5)]; + y_box_kk = [grid_pts(2,:)-(winty+.5);grid_pts(2,:)-(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)+(winty+.5);grid_pts(2,:)-(winty+.5)]; + + + figure(3); + image(I); colormap(map); hold on; + plot(grid_pts(1,:)+1,grid_pts(2,:)+1,'r+'); + plot(x_box_kk+1,y_box_kk+1,'-b'); + plot(grid_pts(1,ind_corners)+1,grid_pts(2,ind_corners)+1,'mo'); + plot(xorig+1,yorig+1,'*m'); + h = text(xorig-15,yorig-15,'O'); + set(h,'Color','m','FontSize',14); + h2 = text(dxpos(1)-10,dxpos(2)-10,'dX'); + set(h2,'Color','g','FontSize',14); + h3 = text(dypos(1)-25,dypos(2)-3,'dY'); + set(h3,'Color','g','FontSize',14); + xlabel('Xc (in camera frame)'); + ylabel('Yc (in camera frame)'); + title('Extracted corners'); + zoom on; + drawnow; + hold off; + + + Xi = reshape(([0:n_sq_x]*dX)'*ones(1,n_sq_y+1),Np,1)'; + Yi = reshape(ones(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,Np,1)'; + Zi = zeros(1,Np); + + Xgrid = [Xi;Yi;Zi]; + + + % All the point coordinates (on the image, and in 3D) - for global optimization: + + x = grid_pts; + X = Xgrid; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_parameters.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_parameters.m new file mode 100755 index 0000000..8e0e1f1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_parameters.m @@ -0,0 +1,46 @@ + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +check_active_images; + +fc = solution(1:2); +kc = solution(3:6); +cc = solution(6*n_ima + 4 +3:6*n_ima + 5 +3); + +% Calibration matrix: + +KK = [fc(1) 0 cc(1);0 fc(2) cc(2); 0 0 1]; +inv_KK = inv(KK); + +% Extract the extrinsic paramters, and recomputer the collineations + +for kk = 1:n_ima, + + if active_images(kk), + + omckk = solution(4+6*(kk-1) + 3:6*kk + 3); + Tckk = solution(6*kk+1 + 3:6*kk+3 + 3); + + Rckk = rodrigues(omckk); + + Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; + + Hkk = Hkk / Hkk(3,3); + + else + + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + Rckk = NaN*ones(3,3); + Hkk = NaN*ones(3,3); + + end; + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Rc_' num2str(kk) ' = Rckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + eval(['H_' num2str(kk) '= Hkk;']); + +end; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_parameters3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_parameters3D.m new file mode 100755 index 0000000..841c6ab --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extract_parameters3D.m @@ -0,0 +1,36 @@ + +%%% Extraction of the final intrinsic and extrinsic paramaters: + + +fc = solution(1:2); +kc = solution(3:6); +cc = solution(6*n_ima + 4 +3:6*n_ima + 5 +3); + +% Calibration matrix: + +KK = [fc(1) 0 cc(1);0 fc(2) cc(2); 0 0 1]; +inv_KK = inv(KK); + +% Extract the extrinsic paramters, and recomputer the collineations + +for kk = 1:n_ima, + + omckk = solution(4+6*(kk-1) + 3:6*kk + 3); + + Tckk = solution(6*kk+1 + 3:6*kk+3 + 3); + + Rckk = rodrigues(omckk); + + Hlkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; + + Hlkk = Hlkk / Hlkk(3,3); + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Rc_' num2str(kk) ' = Rckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + + eval(['Hl_' num2str(kk) '=Hlkk;']); + +end; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extrinsic_computation.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extrinsic_computation.m new file mode 100755 index 0000000..8cf10db --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/extrinsic_computation.m @@ -0,0 +1,173 @@ +%%% INPUT THE IMAGE FILE NAME: + +dir; + +fprintf(1,'\n'); +disp('Computation of the extrinsic parameters from an image of a pattern'); +disp('The intrinsic camera parameters are assumed to be known (previously computed)'); + +fprintf(1,'\n'); +image_name = input('Image name (full name without extension): ','s'); + +format_image2 = '0'; + +while format_image2 == '0', + + format_image2 = input('Image format: ([]=''r''=''ras'', ''b''=''bmp'', ''t''=''tif'', ''p''=''pgm'', ''j''=''jpg'') ','s'); + + if isempty(format_image2), + format_image2 = 'ras'; + end; + + if lower(format_image2(1)) == 'b', + format_image2 = 'bmp'; + else + if lower(format_image2(1)) == 't', + format_image2 = 'tif'; + else + if lower(format_image2(1)) == 'p', + format_image2 = 'pgm'; + else + if lower(format_image2(1)) == 'j', + format_image2 = 'jpg'; + else + if lower(format_image2(1)) == 'r', + format_image2 = 'ras'; + else + disp('Invalid image format'); + format_image2 = '0'; % Ask for format once again + end; + end; + end; + end; + end; +end; + +ima_name = [image_name '.' format_image]; + + + +%%% READ IN IMAGE: + +if format_image(1) == 'p', + I = double(pgmread(ima_name)); +else + if format_image(1) == 'r', + I = readras(ima_name); + else + I = double(imread(ima_name)); + end; +end; + +if size(I,3)>1, + I = I(:,:,2); +end; + + +%%% EXTRACT GRID CORNERS: + +fprintf(1,'\nExtraction of the grid corners on the image\n'); + +disp('Window size for corner finder (wintx and winty):'); +wintx = input('wintx ([] = 5) = '); +if isempty(wintx), wintx = 5; end; +wintx = round(wintx); +winty = input('winty ([] = 5) = '); +if isempty(winty), winty = 5; end; +winty = round(winty); + +fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + +[x_ext,X_ext,n_sq_x,n_sq_y,ind_orig,ind_x,ind_y] = extract_grid(I,wintx,winty,fc,cc,kc); + + + +%%% Computation of the Extrinsic Parameters attached to the grid: + +[omc_ext,Tc_ext,Rc_ext,H_ext] = compute_extrinsic(x_ext,X_ext,fc,cc,kc); + + +%%% Reproject the points on the image: + +[x_reproj] = project_points(X_ext,omc_ext,Tc_ext,fc,cc,kc); + +err_reproj = x_ext - x_reproj; + +err_std2 = std(err_reproj')'; + + +Basis = [X_ext(:,[ind_orig ind_x ind_orig ind_y ind_orig ])]; + +VX = Basis(:,2) - Basis(:,1); +VY = Basis(:,4) - Basis(:,1); + +nX = norm(VX); +nY = norm(VY); + +VZ = min(nX,nY) * cross(VX/nX,VY/nY); + +Basis = [Basis VZ]; + +[x_basis] = project_points(Basis,omc_ext,Tc_ext,fc,cc,kc); + +dxpos = (x_basis(:,2) + x_basis(:,1))/2; +dypos = (x_basis(:,4) + x_basis(:,3))/2; +dzpos = (x_basis(:,6) + x_basis(:,5))/2; + + + +figure(2); +image(I); +colormap(gray(256)); +hold on; +plot(x_ext(1,:)+1,x_ext(2,:)+1,'r+'); +plot(x_reproj(1,:)+1,x_reproj(2,:)+1,'yo'); +h = text(x_ext(1,ind_orig)-25,x_ext(2,ind_orig)-25,'O'); +set(h,'Color','g','FontSize',14); +h2 = text(dxpos(1)+1,dxpos(2)-30,'X'); +set(h2,'Color','g','FontSize',14); +h3 = text(dypos(1)-30,dypos(2)+1,'Y'); +set(h3,'Color','g','FontSize',14); +h4 = text(dzpos(1)-10,dzpos(2)-20,'Z'); +set(h4,'Color','g','FontSize',14); +plot(x_basis(1,:)+1,x_basis(2,:)+1,'g-','linewidth',2); +title('Image points (+) and reprojected grid points (o)'); +hold off; + + +fprintf(1,'\n\nExtrinsic parameters:\n\n'); +fprintf(1,'Translation vector: Tc_ext = [ %3.6f \t %3.6f \t %3.6f ]\n',Tc_ext); +fprintf(1,'Rotation vector: omc_ext = [ %3.6f \t %3.6f \t %3.6f ]\n',omc_ext); +fprintf(1,'Rotation matrix: Rc_ext = [ %3.6f \t %3.6f \t %3.6f\n',Rc_ext(1,:)'); +fprintf(1,' %3.6f \t %3.6f \t %3.6f\n',Rc_ext(2,:)'); +fprintf(1,' %3.6f \t %3.6f \t %3.6f ]\n',Rc_ext(3,:)'); +fprintf(1,'Pixel error: err = [ %3.5f \t %3.5f ]\n\n',err_std2); + + + + + +return; + + +% Stores the results: + +kk = 1; + +% Stores location of grid wrt camera: + +eval(['omc_' num2str(kk) ' = omc_ext;']); +eval(['Tc_' num2str(kk) ' = Tc_ext;']); + +% Stores the projected points: + +eval(['y_' num2str(kk) ' = x_reproj;']); +eval(['X_' num2str(kk) ' = X_ext;']); +eval(['x_' num2str(kk) ' = x_ext;']); + + +% Organize the points in a grid: + +eval(['n_sq_x_' num2str(kk) ' = n_sq_x;']); +eval(['n_sq_y_' num2str(kk) ' = n_sq_y;']); + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ginput3.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ginput3.m new file mode 100755 index 0000000..56fe496 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ginput3.m @@ -0,0 +1,216 @@ +function [out1,out2,out3] = ginput2(arg1) +%GINPUT Graphical input from mouse. +% [X,Y] = GINPUT(N) gets N points from the current axes and returns +% the X- and Y-coordinates in length N vectors X and Y. The cursor +% can be positioned using a mouse (or by using the Arrow Keys on some +% systems). Data points are entered by pressing a mouse button +% or any key on the keyboard except carriage return, which terminates +% the input before N points are entered. +% +% [X,Y] = GINPUT gathers an unlimited number of points until the +% return key is pressed. +% +% [X,Y,BUTTON] = GINPUT(N) returns a third result, BUTTON, that +% contains a vector of integers specifying which mouse button was +% used (1,2,3 from left) or ASCII numbers if a key on the keyboard +% was used. + +% Copyright (c) 1984-96 by The MathWorks, Inc. +% $Revision: 5.18 $ $Date: 1996/11/10 17:48:08 $ + +% Fixed version by Jean-Yves Bouguet to have a cross instead of 2 lines +% More visible for images + +P = NaN*ones(16,16); +P(1:15,1:15) = 2*ones(15,15); +P(2:14,2:14) = ones(13,13); +P(3:13,3:13) = NaN*ones(11,11); +P(6:10,6:10) = 2*ones(5,5); +P(7:9,7:9) = 1*ones(3,3); + +out1 = []; out2 = []; out3 = []; y = []; +c = computer; +if ~strcmp(c(1:2),'PC') & ~strcmp(c(1:2),'MA') + tp = get(0,'TerminalProtocol'); +else + tp = 'micro'; +end + +if ~strcmp(tp,'none') & ~strcmp(tp,'x') & ~strcmp(tp,'micro'), + if nargout == 1, + if nargin == 1, + eval('out1 = trmginput(arg1);'); + else + eval('out1 = trmginput;'); + end + elseif nargout == 2 | nargout == 0, + if nargin == 1, + eval('[out1,out2] = trmginput(arg1);'); + else + eval('[out1,out2] = trmginput;'); + end + if nargout == 0 + out1 = [ out1 out2 ]; + end + elseif nargout == 3, + if nargin == 1, + eval('[out1,out2,out3] = trmginput(arg1);'); + else + eval('[out1,out2,out3] = trmginput;'); + end + end +else + + fig = gcf; + figure(gcf); + + if nargin == 0 + how_many = -1; + b = []; + else + how_many = arg1; + b = []; + if isstr(how_many) ... + | size(how_many,1) ~= 1 | size(how_many,2) ~= 1 ... + | ~(fix(how_many) == how_many) ... + | how_many < 0 + error('Requires a positive integer.') + end + if how_many == 0 + ptr_fig = 0; + while(ptr_fig ~= fig) + ptr_fig = get(0,'PointerWindow'); + end + scrn_pt = get(0,'PointerLocation'); + loc = get(fig,'Position'); + pt = [scrn_pt(1) - loc(1), scrn_pt(2) - loc(2)]; + out1 = pt(1); y = pt(2); + elseif how_many < 0 + error('Argument must be a positive integer.') + end + end + +pointer = get(gcf,'pointer'); + +set(gcf,'Pointer','custom','PointerShapeCData',P,'PointerShapeHotSpot',[8,8]); +%set(gcf,'pointer','crosshair'); + fig_units = get(fig,'units'); + char = 0; + + while how_many ~= 0 + % Use no-side effect WAITFORBUTTONPRESS + waserr = 0; + eval('keydown = wfbp;', 'waserr = 1;'); + if(waserr == 1) + if(ishandle(fig)) + set(fig,'pointer',pointer,'units',fig_units); + error('Interrupted'); + else + error('Interrupted by figure deletion'); + end + end + + ptr_fig = get(0,'CurrentFigure'); + if(ptr_fig == fig) + if keydown + char = get(fig, 'CurrentCharacter'); + button = abs(get(fig, 'CurrentCharacter')); + scrn_pt = get(0, 'PointerLocation'); + set(fig,'units','pixels') + loc = get(fig, 'Position'); + pt = [scrn_pt(1) - loc(1), scrn_pt(2) - loc(2)]; + set(fig,'CurrentPoint',pt); + else + button = get(fig, 'SelectionType'); + if strcmp(button,'open') + button = b(length(b)); + elseif strcmp(button,'normal') + button = 1; + elseif strcmp(button,'extend') + button = 2; + elseif strcmp(button,'alt') + button = 3; + else + error('Invalid mouse selection.') + end + end + pt = get(gca, 'CurrentPoint'); + + how_many = how_many - 1; + + if(char == 13) % & how_many ~= 0) + % if the return key was pressed, char will == 13, + % and that's our signal to break out of here whether + % or not we have collected all the requested data + % points. + % If this was an early breakout, don't include + % the key info in the return arrays. + % We will no longer count it if it's the last input. + break; + end + + out1 = [out1;pt(1,1)]; + y = [y;pt(1,2)]; + b = [b;button]; + end + end + + set(fig,'pointer',pointer,'units',fig_units); + + if nargout > 1 + out2 = y; + if nargout > 2 + out3 = b; + end + else + out1 = [out1 y]; + end + +end + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +function key = wfbp +%WFBP Replacement for WAITFORBUTTONPRESS that has no side effects. + +% Remove figure button functions +fprops = {'windowbuttonupfcn','buttondownfcn', ... + 'windowbuttondownfcn','windowbuttonmotionfcn'}; +fig = gcf; +fvals = get(fig,fprops); +set(fig,fprops,{'','','',''}) + +% Remove all other buttondown functions +ax = findobj(fig,'type','axes'); +if isempty(ax) + ch = {}; +else + ch = get(ax,{'Children'}); +end +for i=1:length(ch), + ch{i} = ch{i}(:)'; +end +h = [ax(:)',ch{:}]; +vals = get(h,{'buttondownfcn'}); +mt = repmat({''},size(vals)); +set(h,{'buttondownfcn'},mt); + +% Now wait for that buttonpress, and check for error conditions +waserr = 0; +eval(['if nargout==0,', ... + ' waitforbuttonpress,', ... + 'else,', ... + ' keydown = waitforbuttonpress;',... + 'end' ], 'waserr = 1;'); + +% Put everything back +if(ishandle(fig)) + set(fig,fprops,fvals) + set(h,{'buttondownfcn'},vals) +end + +if(waserr == 1) + error('Interrupted'); +end + +if nargout>0, key = keydown; end +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim.m new file mode 100755 index 0000000..6eb1c82 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim.m @@ -0,0 +1,60 @@ +%go_calib_optim +% +%Main calibration function. Computes the intrinsic andextrinsic parameters. +%Runs as a script. +% +%INPUT: x_1,x_2,x_3,...: Feature locations on the images +% X_1,X_2,X_3,...: Corresponding grid coordinates +% +%OUTPUT: fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% KK: The camera matrix (containing fc and cc) +% omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space +% Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space +% Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors +% +%Method: Minimizes the pixel reprojection error in the least squares sense over the intrinsic +% camera parameters, and the extrinsic parameters (3D locations of the grids in space) +% +%Note: If the intrinsic camera parameters (fc, cc, kc) do not exist before, they are initialized through +% the function init_intrinsic_param.m. Otherwise, the variables in memory are used as initial guesses. +% +%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the +% corresponding entry in the active_images vector to zero. +% +%VERY IMPORTANT: This function works for 2D and 3D calibration rigs, except for init_intrinsic_param.m +%that is so far implemented to work only with 2D rigs. +%In the future, a more general function will be there. +%For now, if using a 3D calibration rig, set quick_init to 1 for an easy initialization of the focal length + + +desactivated_images = []; + + +go_calib_optim_iter; + + +if ~isempty(desactivated_images), + + param_list_save = param_list; + + fprintf(1,'\nNew optimization including the images that have been deactivated during the previous optimization.\n'); + active_images(desactivated_images) = ones(1,length(desactivated_images)); + desactivated_images = []; + + go_calib_optim_iter; + + if ~isempty(desactivated_images), + fprintf(1,['List of images left desactivated: ' num2str(desactivated_images) '\n' ] ); + end; + + param_list = [param_list_save(:,1:end-1) param_list]; + +end; + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +%graphout_calib; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim3D.m new file mode 100755 index 0000000..8cc5e30 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim3D.m @@ -0,0 +1,264 @@ +% Simplified version of go_calib.m + + +if ~exist('x_1'), + click_calib; +end; + + +fprintf(1,'\nMain calibration procedure\n'); + +% initial guess for principal point and distortion: +c_init = [nx;ny]/2 - 0.5; % initialize at the center of the image +k_init = [0;0;0;0]; % initialize to zero (no distortion) + + +% Compute explicitely the focal lentgh using all the (mutually orthogonal) vanishing points +% note: The vanihing points are hidden in the planar collineations H_kk + +A = []; +b = []; + +% matrix that subtract the principal point: +Sub_cc = [1 0 -c_init(1);0 1 -c_init(2);0 0 1]; + + +for kk=1:n_ima, + + % left Pattern: + + eval(['Hlkk = Hl_' num2str(kk) ';']); + + Hlkk = Sub_cc * Hlkk; + + % Extract vanishing points (direct and diagonals): + + Vl_hori_pix = Hlkk(:,1); + Vl_vert_pix = Hlkk(:,2); + Vl_diag1_pix = (Hlkk(:,1)+Hlkk(:,2))/2; + Vl_diag2_pix = (Hlkk(:,1)-Hlkk(:,2))/2; + + Vl_hori_pix = Vl_hori_pix/norm(Vl_hori_pix); + Vl_vert_pix = Vl_vert_pix/norm(Vl_vert_pix); + Vl_diag1_pix = Vl_diag1_pix/norm(Vl_diag1_pix); + Vl_diag2_pix = Vl_diag2_pix/norm(Vl_diag2_pix); + + al1 = Vl_hori_pix(1); + bl1 = Vl_hori_pix(2); + cl1 = Vl_hori_pix(3); + + al2 = Vl_vert_pix(1); + bl2 = Vl_vert_pix(2); + cl2 = Vl_vert_pix(3); + + al3 = Vl_diag1_pix(1); + bl3 = Vl_diag1_pix(2); + cl3 = Vl_diag1_pix(3); + + al4 = Vl_diag2_pix(1); + bl4 = Vl_diag2_pix(2); + cl4 = Vl_diag2_pix(3); + + % right Pattern: + + eval(['Hrkk = Hr_' num2str(kk) ';']); + + Hrkk = Sub_cc * Hrkk; + + % Extract vanishing points (direct and diagonals): + + Vr_hori_pix = Hrkk(:,1); + Vr_vert_pix = Hrkk(:,2); + Vr_diag1_pix = (Hrkk(:,1)+Hrkk(:,2))/2; + Vr_diag2_pix = (Hrkk(:,1)-Hrkk(:,2))/2; + + Vr_hori_pix = Vr_hori_pix/norm(Vl_hori_pix); + Vr_vert_pix = Vr_vert_pix/norm(Vl_vert_pix); + Vr_diag1_pix = Vr_diag1_pix/norm(Vr_diag1_pix); + Vr_diag2_pix = Vr_diag2_pix/norm(Vr_diag2_pix); + + ar1 = Vr_hori_pix(1); + br1 = Vr_hori_pix(2); + cr1 = Vr_hori_pix(3); + + ar2 = Vr_vert_pix(1); + br2 = Vr_vert_pix(2); + cr2 = Vr_vert_pix(3); + + ar3 = Vr_diag1_pix(1); + br3 = Vr_diag1_pix(2); + cr3 = Vr_diag1_pix(3); + + ar4 = Vr_diag2_pix(1); + br4 = Vr_diag2_pix(2); + cr4 = Vr_diag2_pix(3); + + + % Collect all the constraints: + + A_kk = [al1*al2 bl1*bl2; + al3*al4 bl3*bl4; + ar1*ar2 br1*br2; + ar3*ar4 br3*br4; + al1*ar1 bl1*br1]; + + b_kk = -[cl1*cl2;cl3*cl4;cr1*cr2;cr3*cr4;cl1*cr1]; + + + A = [A;A_kk]; + b = [b;b_kk]; + +end; + +% use all the vanishing points to estimate focal length: + +f_init = sqrt(abs(1./(inv(A'*A)*A'*b))); % if using a two-focal model for initial guess + +%f_init = sqrt(b'*(sum(A')') / (b'*b)) * ones(2,1); % if single focal length model is used + + +% Global calibration matrix (initial guess): + +KK = [f_init(1) 0 c_init(1);0 f_init(2) c_init(2); 0 0 1]; +inv_KK = inv(KK); + + +% Computing of the extrinsic parameters (from the collineations) + +for kk = 1:n_ima, + + eval(['Hlkk = Hl_' num2str(kk) ';']); + + Hl2 = inv_KK*Hlkk; + + sc = mean([norm(Hl2(:,1));norm(Hl2(:,2))]); + + Hl2 = Hl2/sc; + + eval(['Hrkk = Hr_' num2str(kk) ';']); + + Hr2 = inv_KK*Hrkk; + + sc = mean([norm(Hr2(:,1));norm(Hr2(:,2))]); + + Hr2 = Hr2/sc; + + omcl = rodrigues([Hl2(:,1:2) cross(Hl2(:,1),Hl2(:,2))]); + Tcl = Hl2(:,3); + + %omcr = rodrigues([Hr2(:,1:2) cross(Hr2(:,1),Hr2(:,2))]); + %Tcr = Hr2(:,3); + + + omckk = omcl; %rodrigues([H2(:,1:2) cross(H2(:,1),H2(:,2))]); + Tckk = Tcl; %H2(:,3); + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + +end; + + + +% Initialisation of the parameters for global minimization: + +init_param = [f_init;k_init]; + +for kk = 1:n_ima, + eval(['init_param = [init_param; omc_' num2str(kk) '; Tc_' num2str(kk) '];']); +end; + +if ~exist('lsqnonlin'), + + options = [1 1e-4 1e-4 1e-6 0 0 0 0 0 0 0 0 0 6000 0 1e-8 0.1 0]; + + if exist('leastsq'), + sss = ['[param,opt] = leastsq(''multi_error_oulu'',init_param,options,[],n_ima,c_init);']; + else + sss = ['[param,opt] = leastsq2(''multi_error_oulu'',init_param,options,[],n_ima,c_init);']; + end; + +else + + options = optimset('lsqnonlin'); + options.MaxIter = 6000; + options.Display = 'iter'; + sss = ['[param,opt] = lsqnonlin(''multi_error_oulu'',init_param,[],[],options,n_ima,c_init);']; + +end; + + +fprintf(1,'\nOptimization not including the principal point...\n') +eval(sss); + +history = [[init_param;c_init] [param;c_init]]; + +sol_no_center = [param;c_init]; + +init_param = sol_no_center; + +fprintf(1,'\nOptimization including the principal point...\n') + +eval(sss); + +history = [history param]; + + +sol_with_center = param; + + + + +%%% Extraction of the final intrinsic and extrinsic paramaters (in the no-center case): + +solution = sol_no_center; +extract_parameters3D; + +fprintf(1,'\n\nCalibration results without principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,['Pixel error: [click on ''sol. without center'']\n']); + + + + +% Pick the solution with principal point +%%% NOTE: At that point, the user can choose which solution to pick: with or without +%%% principal point estimation. By default, we pick the solution with principal point. + +solution = sol_with_center; + + + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters3D; + + +fprintf(1,'\n\nCalibration results with principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +graphout_calib3D; + + + +fprintf(1,'Note: If the solution is not satisfactory, select solution without center estimation.\n\n'); + + +%%%%%%%%%%%%%% Save all the Calibration results: + +disp('Save calibration results under Calib_Results.mat'); + +string_save = 'save Calib_Results fc kc cc ex x y solution sol_with_center sol_no_center history wintx winty n_ima type_numbering N_slots small_calib_image first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default KK inv_KK dX dY'; + +for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' y_' num2str(kk) ' ex_' num2str(kk) ' omc_' num2str(kk) ' Tc_' num2str(kk) ' Hl_' num2str(kk) ' nl_sq_x_' num2str(kk) ' nl_sq_y_' num2str(kk) ' Hr_' num2str(kk) ' nr_sq_x_' num2str(kk) ' nr_sq_y_' num2str(kk)]; +end; + +eval(string_save); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim_cont.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim_cont.m new file mode 100755 index 0000000..9ff3f0b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim_cont.m @@ -0,0 +1,142 @@ +% Simplified version of go_calib.m + +if ~exist('x_1'), + click_calib; +end; + + +% Initialisation of the parameters for global minimization: + +init_param = [fc;kc]; + +for kk = 1:n_ima, + + if ~exist(['omc_' num2str(kk)]), + eval(['Hkk = H_' num2str(kk) ';']); + H2 = inv_KK*Hkk; + sc = mean([norm(H2(:,1));norm(H2(:,2))]); + H2 = H2/sc; + omckk = rodrigues([H2(:,1:2) cross(H2(:,1),H2(:,2))]); + Tckk = H2(:,3); + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + end; + + eval(['init_param = [init_param; omc_' num2str(kk) '; Tc_' num2str(kk) '];']); +end; + +init_param = [init_param;cc]; + + + +%-------------------- Main Optimization: + +fprintf(1,'\nRe-Optimization...\n') + + +param = init_param; +change = 1; + +iter = 0; + +fprintf(1,'Iteration '); + +while (change > 1e-6)&(iter < 10), + + fprintf(1,'%d...',iter+1); + + JJ = []; + ex = []; + + c = param(6*n_ima + 4 + 3:6*n_ima + 5 + 3); + f = param(1:2); + k = param(3:6); + + for kk = 1:n_ima, + + omckk = param(4+6*(kk-1) + 3:6*kk + 3); + + Tckk = param(6*kk+1 + 3:6*kk+3 + 3); + + eval(['X_kk = X_' num2str(kk) ';']); + eval(['x_kk = x_' num2str(kk) ';']); + + Np = size(X_kk,2); + + JJkk = zeros(2*Np,n_ima * 6 + 8); + + [x,dxdom,dxdT,dxdf,dxdc,dxdk] = project_points(X_kk,omckk,Tckk,f,c,k); + + exkk = x_kk - x; + + ex = [ex;exkk(:)]; + + JJkk(:,1:2) = dxdf; + JJkk(:,3:6) = dxdk; + JJkk(:,4+6*(kk-1) + 3:6*kk + 3) = dxdom; + JJkk(:,6*kk+1 + 3:6*kk+3 + 3) = dxdT; + JJkk(:,6*n_ima + 4 + 3:6*n_ima + 5 + 3) = dxdc; + + JJ = [JJ;JJkk]; + + end; + + param_innov = inv(JJ'*JJ)*(JJ')*ex; + param_up = param + param_innov; + change = norm(param_innov)/norm(param_up); + param = param_up; + iter = iter + 1; + +end; + +fprintf(1,'\n'); + + +sol_with_center = param; + +solution = sol_with_center; + + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters; +comp_error_calib; + +fprintf(1,'\n\nCalibration results with principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +graphout_calib; + + + +fprintf(1,'Note: If the solution is not satisfactory, select solution without center estimation.\n\n'); + + +%%%%%%%%%%%%%% Save all the Calibration results: + +disp('Save calibration results under Calib_Results.mat'); + +string_save = 'save Calib_Results fc kc cc ex x y solution sol_with_center solution_init history wintx winty n_ima type_numbering N_slots small_calib_image first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default KK inv_KK dX dY'; + +for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' y_' num2str(kk) ' ex_' num2str(kk) ' omc_' num2str(kk) ' Rc_' num2str(kk) ' Tc_' num2str(kk) ' H_' num2str(kk) ' Hini_' num2str(kk) ' n_sq_x_' num2str(kk) ' n_sq_y_' num2str(kk) ' wintx_' num2str(kk) ' winty_' num2str(kk) ' dX_' num2str(kk) ' dY_' num2str(kk)]; +end; + +eval(string_save); + +return; + +if exist('calib_data.mat'), + ccc = computer; + if ccc(1)=='P', + eval('!del calib_data.mat'); + else + eval('!rm calib_data.mat'); + end; +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim_iter.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim_iter.m new file mode 100755 index 0000000..a076214 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/go_calib_optim_iter.m @@ -0,0 +1,332 @@ +%go_calib_optim_iter +% +%Main calibration function. Computes the intrinsic andextrinsic parameters. +%Runs as a script. +% +%INPUT: x_1,x_2,x_3,...: Feature locations on the images +% X_1,X_2,X_3,...: Corresponding grid coordinates +% +%OUTPUT: fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% KK: The camera matrix (containing fc and cc) +% omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space +% Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space +% Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors +% +%Method: Minimizes the pixel reprojection error in the least squares sense over the intrinsic +% camera parameters, and the extrinsic parameters (3D locations of the grids in space) +% +%Note: If the intrinsic camera parameters (fc, cc, kc) do not exist before, they are initialized through +% the function init_intrinsic_param.m. Otherwise, the variables in memory are used as initial guesses. +% +%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the +% corresponding entry in the active_images vector to zero. +% +%VERY IMPORTANT: This function works for 2D and 3D calibration rigs, except for init_intrinsic_param.m +%that is so far implemented to work only with 2D rigs. +%In the future, a more general function will be there. +%For now, if using a 3D calibration rig, quick_init is set to 1 for an easy initialization of the focal length + + +check_active_images; + + + +quick_init = 0; % Set to 1 for using a quick init (necessary when using 3D rigs) + + + +% Check 3D-ness of the calibration rig: +rig3D = 0; +for kk = ind_active, + eval(['X_kk = X_' num2str(kk) ';']); + if is3D(X_kk), + rig3D = 1; + end; +end; + + + +% If the rig is 3D, then no choice: the only valid initialization is manual! +if rig3D, + quick_init = 1; +end; + + + + +alpha = 0.4; % set alpha = 1; for steepest gradient descent + + +% Conditioning threshold for view rejection +thresh_cond = 1e6; + + + + +%% Initialization of the intrinsic parameters (if necessary) + +if ~exist('cc'), + fprintf(1,'Initialization of the principal point at the center of the image.\n'); + cc = [(nx-1)/2;(ny-1)/2]; +end; + + +if ~exist('kc'), + fprintf(1,'Initialization of the image distortion to zero.\n'); + kc = zeros(4,1); +end; + + +if ~exist('fc')& quick_init, + FOV_angle = 35; % Initial camera field of view in degrees + fprintf(1,['Initialization of the focal length to a FOV of ' num2str(FOV_angle) ' degrees.\n']); + fc = (nx/2)/tan(pi*FOV_angle/360) * ones(2,1); +end; + + +if ~exist('fc'), + % Initialization of the intrinsic parameters: + fprintf(1,'Initialization of the intrinsic parameters using the vanishing points of planar patterns.\n') + init_intrinsic_param; % The right way to go (if quick_init is not active)! +end; + + + +%% Initialization of the extrinsic parameters for global minimization: + +init_param = [fc;kc]; + +for kk = 1:n_ima, + + if exist(['x_' num2str(kk)]), + + eval(['x_kk = x_' num2str(kk) ';']); + eval(['X_kk = X_' num2str(kk) ';']); + + if (isnan(x_kk(1,1))), + if active_images(kk), + fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) + fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) + end; + active_images(kk) = 0; + end; + if active_images(kk), + [omckk,Tckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc); + [omckk,Tckk,Rckk,JJ_kk] = compute_extrinsic_refine(omckk,Tckk,x_kk,X_kk,fc,cc,kc,20,thresh_cond); + if cond(JJ_kk)> thresh_cond, + active_images(kk) = 0; + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk) + desactivated_images = [desactivated_images kk]; + end; + if isnan(omckk(1,1)), + %fprintf(1,'\nWarning: Desactivating image %d. Re-activate it later by typing:\nactive_images(%d)=1;\nand re-run optimization\n',[kk kk]) + active_images(kk) = 0; + end; + else + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + end; + + else + + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + + if active_images(kk), + fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) + fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) + end; + + active_images(kk) = 0; + + end; + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + + eval(['init_param = [init_param; omc_' num2str(kk) '; Tc_' num2str(kk) '];']); + +end; + + +check_active_images; + +init_param = [init_param;cc]; + +%-------------------- Main Optimization: + +fprintf(1,'\nMain calibration optimization procedure - Number of images: %d\n',length(ind_active)); + + +% The following vector helps to select the variables to update: +ind_Jac = find([ones(6,1);reshape(ones(6,1)*active_images,6*n_ima,1);ones(2,1)])'; + +param = init_param; +change = 1; + +iter = 0; + +fprintf(1,'Gradient descent iterations: '); + +param_list = param; + +MaxIter = 30; + + +while (change > 1e-6)&(iter < MaxIter), + + fprintf(1,'%d...',iter+1); + + + %% The first step consists of updating the whole vector of knowns (intrinsic + extrinsic of active + %% images) through a one step steepest gradient descent. + + JJ = []; + ex = []; + + c = param(6*n_ima + 4 + 3:6*n_ima + 5 + 3); + f = param(1:2); + k = param(3:6); + + for kk = 1:n_ima, + + if active_images(kk), + + omckk = param(4+6*(kk-1) + 3:6*kk + 3); + + Tckk = param(6*kk+1 + 3:6*kk+3 + 3); + + if isnan(omckk(1)), + fprintf(1,'Intrinsic parameters at frame %d do not exist\n',kk); + return; + end; + + eval(['X_kk = X_' num2str(kk) ';']); + eval(['x_kk = x_' num2str(kk) ';']); + + Np = size(X_kk,2); + + JJkk = zeros(2*Np,n_ima * 6 + 8); + + [x,dxdom,dxdT,dxdf,dxdc,dxdk] = project_points(X_kk,omckk,Tckk,f,c,k); + + exkk = x_kk - x; + + ex = [ex;exkk(:)]; + + JJkk(:,1:2) = dxdf; + JJkk(:,3:6) = dxdk; + JJkk(:,4+6*(kk-1) + 3:6*kk + 3) = dxdom; + JJkk(:,6*kk+1 + 3:6*kk+3 + 3) = dxdT; + JJkk(:,6*n_ima + 4 + 3:6*n_ima + 5 + 3) = dxdc; + + JJ = [JJ;JJkk]; + + + % Check if this view is ill-conditioned: + JJ_kk = [dxdom dxdT]; + if cond(JJ_kk)> thresh_cond, + active_images(kk) = 0; + fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk) + desactivated_images = [desactivated_images kk]; + param(4+6*(kk-1) + 3:6*kk+3 + 3) = NaN*ones(6,1); + end; + + + end; + + end; + + + % List of active images (necessary if changed): + check_active_images; + ind_Jac = find([ones(6,1);reshape(ones(6,1)*active_images,6*n_ima,1);ones(2,1)])'; + + + JJ = JJ(:,ind_Jac); + + JJ2 = JJ'*JJ; + + + % Smoothing coefficient: + + alpha2 = 1-(1-alpha)^(iter+1); %set to 1 to undo any smoothing! + + + param_innov = alpha2*inv(JJ2)*(JJ')*ex; + param_up = param(ind_Jac) + param_innov; + param(ind_Jac) = param_up; + + + % New intrinsic parameters: + + fc_current = param(1:2); + cc_current = param(6*n_ima + 4 + 3:6*n_ima + 5 + 3); + kc_current = param(3:6); + + + % Change on the intrinsic parameters: + change = norm([fc_current;cc_current] - [f;c])/norm([fc_current;cc_current]); + + + %% Second step: (optional) - It makes convergence faster, and the region of convergence LARGER!!! + %% Recompute the extrinsic parameters only using compute_extrinsic.m (this may be useful sometimes) + %% The complete gradient descent method is useful to precisely update the intrinsic parameters. + + MaxIter2 = 20; + + for kk = 1:n_ima, + if active_images(kk), + omc_current = param(4+6*(kk-1) + 3:6*kk + 3); + Tc_current = param(6*kk+1 + 3:6*kk+3 + 3); + eval(['X_kk = X_' num2str(kk) ';']); + eval(['x_kk = x_' num2str(kk) ';']); + [omc_current,Tc_current] = compute_extrinsic_init(x_kk,X_kk,fc_current,cc_current,kc_current); + [omckk,Tckk,Rckk,JJ_kk] = compute_extrinsic_refine(omc_current,Tc_current,x_kk,X_kk,fc_current,cc_current,kc_current,MaxIter2,thresh_cond); + if cond(JJ_kk)> thresh_cond, + active_images(kk) = 0; + fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk) + desactivated_images = [desactivated_images kk]; + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + end; + param(4+6*(kk-1) + 3:6*kk + 3) = omckk; + param(6*kk+1 + 3:6*kk+3 + 3) = Tckk; + end; + end; + + %fprintf(1,'\n\nCalibration results after optimization:\n\n'); + %fprintf(1,'focal = [%3.5f %3.5f]\n',fc_current); + %fprintf(1,'center = [%3.5f %3.5f]\n',cc_current); + %fprintf(1,'distortion = [%3.5f %3.5f %3.5f %3.5f]\n\n',kc_current); + + + param_list = [param_list param]; + + iter = iter + 1; + +end; + +fprintf(1,'\n'); + + +sol_with_center = param; + +solution = param; + + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters; +comp_error_calib; + +fprintf(1,'\n\nCalibration results after optimization:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/graphout_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/graphout_calib.m new file mode 100755 index 0000000..a3f7040 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/graphout_calib.m @@ -0,0 +1,12 @@ + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%% + +ext_calib; + +%%%%%%%%%%%%%%%%%%%% REPROJECT ON THE IMAGES %%%%%%%%%%%%%%%%%%%%%%%% + +reproject_calib; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/graphout_calib3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/graphout_calib3D.m new file mode 100755 index 0000000..b7edf43 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/graphout_calib3D.m @@ -0,0 +1,153 @@ + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + + +% Color code for each image: + +colors = 'brgkcm'; + + +%%% Show the extrinsic parameters + +IP = 8*dX*([0 nx-1 nx-1 0 0 ; 0 0 ny-1 ny-1 0;1 1 1 1 1] - [cc;0]*ones(1,5)) ./ ([fc;1]*ones(1,5)); + + +figure(4); +[a,b] = view; + +figure(4); +plot3(5*[0 dX 0 0 0 0 ],5*[0 0 0 0 0 dX],-5*[0 0 0 dX 0 0 ],'b-','linewidth',2'); +hold on; +plot3(IP(1,:),IP(3,:),-IP(2,:),'r-','linewidth',2); +text(6*dX,0,0,'X_c'); +text(-dX,5*dX,0,'Z_c'); +text(0,0,-6*dX,'Y_c'); +text(-dX,-dX,dX,'O_c'); + + +for kk = 1:n_ima, + + eval(['XX_kk = X_' num2str(kk) ';']); + eval(['omc_kk = omc_' num2str(kk) ';']); + eval(['Tc_kk = Tc_' num2str(kk) ';']); + + eval(['nl_sq_x = nl_sq_x_' num2str(kk) ';']); + eval(['nl_sq_y = nl_sq_y_' num2str(kk) ';']); + + eval(['nr_sq_x = nr_sq_x_' num2str(kk) ';']); + eval(['nr_sq_y = nr_sq_y_' num2str(kk) ';']); + + R_kk = rodrigues(omc_kk); + + YY_kk = R_kk * XX_kk + Tc_kk * ones(1,length(XX_kk)); + + YYl_kk = YY_kk(:,1:(nl_sq_x+1)*(nl_sq_y+1)); + YYr_kk = YY_kk(:,(nl_sq_x+1)*(nl_sq_y+1)+1:end); + + + eval(['YYl_' num2str(kk) ' = YYl_kk;']); + eval(['YYr_' num2str(kk) ' = YYr_kk;']); + + uu = [-dX;-dY;0]/2; + uu = R_kk * uu + Tc_kk; + + YYlx = zeros(nl_sq_x+1,nl_sq_y+1); + YYly = zeros(nl_sq_x+1,nl_sq_y+1); + YYlz = zeros(nl_sq_x+1,nl_sq_y+1); + + YYrx = zeros(nr_sq_x+1,nr_sq_y+1); + YYry = zeros(nr_sq_x+1,nr_sq_y+1); + YYrz = zeros(nr_sq_x+1,nr_sq_y+1); + + YYlx(:) = YYl_kk(1,:); + YYly(:) = YYl_kk(2,:); + YYlz(:) = YYl_kk(3,:); + + YYrx(:) = YYr_kk(1,:); + YYry(:) = YYr_kk(2,:); + YYrz(:) = YYr_kk(3,:); + + + %keyboard; + + figure(4); + hhh= mesh(YYlx,YYlz,-YYly); + set(hhh,'edgecolor',colors(rem(kk-1,6)+1),'linewidth',1); %,'facecolor','none'); + %plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['o' colors(rem(kk-1,6)+1)]); + hhh= mesh(YYrx,YYrz,-YYry); + set(hhh,'edgecolor',colors(rem(kk-1,6)+1),'linewidth',1); + text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1)); + +end; + +figure(4);rotate3d on; +axis('equal'); +title('Extrinsic parameters'); +%view(60,30); +view(a,b); +hold off; + + + +% Reproject the patterns on the images, and compute the pixel errors: + +% Reload the images if necessary + +if ~exist('I_1'), + ima_read_calib; + if no_image_file, + return; + end; +end; + + +ex = []; % Global error vector +x = []; % Detected corners on the image plane +y = []; % Reprojected points + +for kk = 1:n_ima, + + eval(['omckk = omc_' num2str(kk) ';']); + eval(['Tckk = Tc_' num2str(kk) ';']); + + Rkk = rodrigues(omckk); + + eval(['y_' num2str(kk) ' = project2_oulu(X_' num2str(kk) ',Rkk,Tckk,fc,cc,kc);']); + + eval(['ex_' num2str(kk) ' = x_' num2str(kk) ' -y_' num2str(kk) ';']); + + eval(['x_kk = x_' num2str(kk) ';']); + + figure(4+kk); + eval(['I = I_' num2str(kk) ';']); + image(I); hold on; + colormap(gray(256)); + title(['Image ' num2str(kk) ' - Image points (+) and reprojected grid points (o)']); + eval(['plot(x_' num2str(kk) '(1,:)+1,x_' num2str(kk) '(2,:)+1,''r+'');']); + eval(['plot(y_' num2str(kk) '(1,:)+1,y_' num2str(kk) '(2,:)+1,''' colors(rem(kk-1,6)+1) 'o'');']); + zoom on; + hold off; + + + eval(['ex = [ex ex_' num2str(kk) '];']); + eval(['x = [x x_' num2str(kk) '];']); + eval(['y = [y y_' num2str(kk) '];']); + +end; + + +figure(5+n_ima); +for kk = 1:n_ima, + eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']); + hold on; +end; +hold off; +axis('equal'); +title('Reprojection error (in pixel)'); +xlabel('x'); +ylabel('y'); + +err_std = std(ex')'; + +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ima_read_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ima_read_calib.m new file mode 100755 index 0000000..09cef59 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/ima_read_calib.m @@ -0,0 +1,107 @@ + +if ~exist('calib_name'), + data_calib; +end; + +check_active_images; + +images_read = active_images; + +image_numbers = first_num:n_ima-1+first_num; + +no_image_file = 0; + +i = 1; + +while (i <= n_ima), % & (~no_image_file), + + if active_images(i), + + %fprintf(1,'Loading image %d...\n',i); + + if ~type_numbering, + number_ext = num2str(image_numbers(i)); + else + number_ext = sprintf(['%.' num2str(N_slots) 'd'],image_numbers(i)); + end; + + ima_name = [calib_name number_ext '.' format_image] + + if i == ind_active(1), + fprintf(1,'Loading image '); + end; + + if exist(ima_name), + + fprintf(1,'%d...',i); + + if format_image(1) == 'p', + Ii = double(pgmread(ima_name)); + else + if format_image(1) == 'r', + Ii = readras(ima_name); + else + Ii = double(imread(ima_name)); + end; + end; + + if size(Ii,3)>1, + Ii = Ii(:,:,2); + end; + + eval(['I_' num2str(i) ' = Ii;']); + + else + + fprintf(1,'%d...',i); + + images_read(i) = 0; + + no_image_file = 1; + + end; + + end; + + i = i+1; + +end; + + +if no_image_file, + + fprintf(1,'\nWARNING! Cannot load calibration images\n'); + +else + + fprintf(1,'\n'); + + if size(I_1,1)~=480, + small_calib_image = 1; + else + small_calib_image = 0; + end; + + [Hcal,Wcal] = size(I_1); % size of the calibration image + + [ny,nx] = size(I_1); + + clickname = []; + + map = gray(256); + + %string_save = 'save calib_data n_ima type_numbering N_slots image_numbers format_image calib_name Hcal Wcal nx ny map small_calib_image'; + + %eval(string_save); + + disp('done'); + %click_calib; + +end; + +if ~exist('map'), map = gray(256); end; + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/init_calib_param.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/init_calib_param.m new file mode 100755 index 0000000..92e14be --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/init_calib_param.m @@ -0,0 +1,210 @@ +%init_calib_param +% +%Initialization of the intrinsic and extrinsic parameters. +%Runs as a script. +% +%This function is obsolete with init_intrinsic_param called from go_calib_optim +% +%INPUT: x_1,x_2,x_3,...: Feature locations on the images +% X_1,X_2,X_3,...: Corresponding grid coordinates +% +%OUTPUT: fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% KK: The camera matrix (containing fc and cc) +% omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space +% Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space +% Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors +% +%Method: Compute the planar homographies H_1, H_2, H_3, ... and computes +% the focal length fc from orthogonal vanishing points constraint. +% The principal point cc is assumed at the center of the image. +% Assumes no image distortion (kc = [0;0;0;0]) +% Once the intrinsic parameters are estimated, the extrinsic parameters +% are computed for each image. +% +%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the +% corresponding entry in the active_images vector to zero. +% +% +%Important functions called within that program: +% +%compute_homography.m: Computes the planar homography between points on the grid in 3D, and the image plane. +% +%compute_extrinsic.m: Computes the location of a grid assuming known intrinsic parameters. +% This function is called at the initialization step. + + + + +check_active_images; + +if ~exist(['x_' num2str(ind_active(1)) ]), + click_calib; +end; + + +fprintf(1,'\nInitialization of the calibration parameters - Number of images: %d\n',length(ind_active)); + + +% Initialize the homographies: + +for kk = 1:n_ima, + eval(['x_kk = x_' num2str(kk) ';']); + eval(['X_kk = X_' num2str(kk) ';']); + if (isnan(x_kk(1,1))), + if active_images(kk), + fprintf(1,'WARNING: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) + fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) + end; + active_images(kk) = 0; + end; + if active_images(kk), + eval(['H_' num2str(kk) ' = compute_homography(x_kk,X_kk(1:2,:));']); + else + eval(['H_' num2str(kk) ' = NaN*ones(3,3);']); + end; +end; + +check_active_images; + +% initial guess for principal point and distortion: + +if ~exist('nx'), [ny,nx] = size(I); end; + +c_init = [nx;ny]/2 - 0.5; % initialize at the center of the image +k_init = [0;0;0;0]; % initialize to zero (no distortion) + + + +% Compute explicitely the focal length using all the (mutually orthogonal) vanishing points +% note: The vanihing points are hidden in the planar collineations H_kk + +A = []; +b = []; + +% matrix that subtract the principal point: +Sub_cc = [1 0 -c_init(1);0 1 -c_init(2);0 0 1]; + +for kk=1:n_ima, + + if active_images(kk), + + eval(['Hkk = H_' num2str(kk) ';']); + + Hkk = Sub_cc * Hkk; + + % Extract vanishing points (direct and diagonals): + + V_hori_pix = Hkk(:,1); + V_vert_pix = Hkk(:,2); + V_diag1_pix = (Hkk(:,1)+Hkk(:,2))/2; + V_diag2_pix = (Hkk(:,1)-Hkk(:,2))/2; + + V_hori_pix = V_hori_pix/norm(V_hori_pix); + V_vert_pix = V_vert_pix/norm(V_vert_pix); + V_diag1_pix = V_diag1_pix/norm(V_diag1_pix); + V_diag2_pix = V_diag2_pix/norm(V_diag2_pix); + + a1 = V_hori_pix(1); + b1 = V_hori_pix(2); + c1 = V_hori_pix(3); + + a2 = V_vert_pix(1); + b2 = V_vert_pix(2); + c2 = V_vert_pix(3); + + a3 = V_diag1_pix(1); + b3 = V_diag1_pix(2); + c3 = V_diag1_pix(3); + + a4 = V_diag2_pix(1); + b4 = V_diag2_pix(2); + c4 = V_diag2_pix(3); + + A_kk = [a1*a2 b1*b2; + a3*a4 b3*b4]; + + b_kk = -[c1*c2;c3*c4]; + + + A = [A;A_kk]; + b = [b;b_kk]; + + end; + +end; + + +% use all the vanishing points to estimate focal length: + +f_init = sqrt(abs(1./(inv(A'*A)*A'*b))); % if using a two-focal model for initial guess + +%f_init = sqrt(b'*(sum(A')') / (b'*b)) * ones(2,1); % if single focal length model is used + + +% Global calibration matrix (initial guess): + +KK = [f_init(1) 0 c_init(1);0 f_init(2) c_init(2); 0 0 1]; +inv_KK = inv(KK); + + +cc = c_init; +fc = f_init; +kc = k_init; + + +% Computing of the extrinsic parameters (from the collineations) + +for kk = 1:n_ima, + + if active_images(kk), + + + eval(['x_kk = x_' num2str(kk) ';']); + eval(['X_kk = X_' num2str(kk) ';']); + + [omckk,Tckk] = compute_extrinsic(x_kk,X_kk,fc,cc,kc); + + Rckk = rodrigues(omc_kk); + + else + + omckk = NaN*ones(3,1); + Tckk = NaN*ones(3,1); + Rckk = NaN*ones(3,3); + + end; + + eval(['omc_' num2str(kk) ' = omckk;']); + eval(['Rc_' num2str(kk) ' = Rckk;']); + eval(['Tc_' num2str(kk) ' = Tckk;']); + +end; + + +% Initialization of the parameters for global minimization: + +init_param = [f_init;k_init]; + +for kk = 1:n_ima, + eval(['init_param = [init_param; omc_' num2str(kk) '; Tc_' num2str(kk) '];']); +end; + +solution_init = [init_param;c_init]; + +solution = solution_init; + +comp_error_calib; + +fprintf(1,'\n\nCalibration parameters after initialization:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +%graphout_calib; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/init_intrinsic_param.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/init_intrinsic_param.m new file mode 100755 index 0000000..eac21ba --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/init_intrinsic_param.m @@ -0,0 +1,153 @@ +%init_intrinsic_param +% +%Initialization of the intrinsic parameters. +%Runs as a script. +% +%INPUT: x_1,x_2,x_3,...: Feature locations on the images +% X_1,X_2,X_3,...: Corresponding grid coordinates +% +%OUTPUT: fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% KK: The camera matrix (containing fc and cc) +% +%Method: Computes the planar homographies H_1, H_2, H_3, ... and computes +% the focal length fc from orthogonal vanishing points constraint. +% The principal point cc is assumed at the center of the image. +% Assumes no image distortion (kc = [0;0;0;0]) +% +%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the +% corresponding entry in the active_images vector to zero. +% +% +%Important function called within that program: +% +%compute_homography.m: Computes the planar homography between points on the grid in 3D, and the image plane. +% +% +%VERY IMPORTANT: This function works onyl with 2D rigs. +%In the future, a more general function will be there (working with 3D rigs as well). + + + +check_active_images; + +if ~exist(['x_' num2str(ind_active(1)) ]), + click_calib; +end; + + +fprintf(1,'\nInitialization of the intrinsic parameters - Number of images: %d\n',length(ind_active)); + + +% Initialize the homographies: + +for kk = 1:n_ima, + eval(['x_kk = x_' num2str(kk) ';']); + eval(['X_kk = X_' num2str(kk) ';']); + if (isnan(x_kk(1,1))), + if active_images(kk), + fprintf(1,'WARNING: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) + fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) + end; + active_images(kk) = 0; + end; + if active_images(kk), + eval(['H_' num2str(kk) ' = compute_homography(x_kk,X_kk(1:2,:));']); + else + eval(['H_' num2str(kk) ' = NaN*ones(3,3);']); + end; +end; + +check_active_images; + +% initial guess for principal point and distortion: + +if ~exist('nx'), [ny,nx] = size(I); end; + +c_init = [nx;ny]/2 - 0.5; % initialize at the center of the image +k_init = [0;0;0;0]; % initialize to zero (no distortion) + + + +% Compute explicitely the focal length using all the (mutually orthogonal) vanishing points +% note: The vanihing points are hidden in the planar collineations H_kk + +A = []; +b = []; + +% matrix that subtract the principal point: +Sub_cc = [1 0 -c_init(1);0 1 -c_init(2);0 0 1]; + +for kk=1:n_ima, + + if active_images(kk), + + eval(['Hkk = H_' num2str(kk) ';']); + + Hkk = Sub_cc * Hkk; + + % Extract vanishing points (direct and diagonals): + + V_hori_pix = Hkk(:,1); + V_vert_pix = Hkk(:,2); + V_diag1_pix = (Hkk(:,1)+Hkk(:,2))/2; + V_diag2_pix = (Hkk(:,1)-Hkk(:,2))/2; + + V_hori_pix = V_hori_pix/norm(V_hori_pix); + V_vert_pix = V_vert_pix/norm(V_vert_pix); + V_diag1_pix = V_diag1_pix/norm(V_diag1_pix); + V_diag2_pix = V_diag2_pix/norm(V_diag2_pix); + + a1 = V_hori_pix(1); + b1 = V_hori_pix(2); + c1 = V_hori_pix(3); + + a2 = V_vert_pix(1); + b2 = V_vert_pix(2); + c2 = V_vert_pix(3); + + a3 = V_diag1_pix(1); + b3 = V_diag1_pix(2); + c3 = V_diag1_pix(3); + + a4 = V_diag2_pix(1); + b4 = V_diag2_pix(2); + c4 = V_diag2_pix(3); + + A_kk = [a1*a2 b1*b2; + a3*a4 b3*b4]; + + b_kk = -[c1*c2;c3*c4]; + + + A = [A;A_kk]; + b = [b;b_kk]; + + end; + +end; + + +% use all the vanishing points to estimate focal length: + +f_init = sqrt(abs(1./(inv(A'*A)*A'*b))); % if using a two-focal model for initial guess + +%f_init = sqrt(b'*(sum(A')') / (b'*b)) * ones(2,1); % if single focal length model is used + + +% Global calibration matrix (initial guess): + +KK = [f_init(1) 0 c_init(1);0 f_init(2) c_init(2); 0 0 1]; +inv_KK = inv(KK); + + +cc = c_init; +fc = f_init; +kc = k_init; + + +fprintf(1,'\n\nCalibration parameters after initialization:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n\n',kc); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/is3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/is3D.m new file mode 100755 index 0000000..ab00b3d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/is3D.m @@ -0,0 +1,19 @@ +function test = is3D(X), + + +Np = size(X,2); + +%% Check for planarity of the structure: + +X_mean = mean(X')'; + +Y = X - (X_mean*ones(1,Np)); + +YY = Y*Y'; + +[U,S,V] = svd(YY); + +r = S(3,3)/S(2,2); + +test = (r > 1e-3); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loading_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loading_calib.m new file mode 100755 index 0000000..a0f50d2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loading_calib.m @@ -0,0 +1,10 @@ +if ~exist('Calib_Results.mat'), + fprintf(1,'\nCalibration file Calib_Results.mat not found!\n'); + return; +end; + +fprintf(1,'\nLoading calibration results from Calib_Results.mat\n'); + +load Calib_Results + +fprintf(1,'done\n'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadinr.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadinr.m new file mode 100755 index 0000000..91b6f89 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadinr.m @@ -0,0 +1,52 @@ +%LOADINR Load an INRIMAGE format file +% +% LOADINR(filename, im) +% +% Load an INRIA image format file and return it as a matrix +% +% SEE ALSO: saveinr +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1996 + +function im = loadinr(fname, im) + + fid = fopen(fname, 'r'); + + s = fgets(fid); + if strcmp(s(1:12), '#INRIMAGE-4#') == 0, + error('not INRIMAGE format'); + end + + % not very complete, only looks for the X/YDIM keys + while 1, + s = fgets(fid); + n = length(s) - 1; + if s(1) == '#', + break + end + if strcmp(s(1:5), 'XDIM='), + cols = str2num(s(6:n)); + end + if strcmp(s(1:5), 'YDIM='), + rows = str2num(s(6:n)); + end + if strcmp(s(1:4), 'CPU='), + if strcmp(s(5:n), 'sun') == 0, + error('not sun data ordering'); + end + end + + end + disp(['INRIMAGE format file ' num2str(rows) ' x ' num2str(cols)]) + + % now the binary data + fseek(fid, 256, 'bof'); + [im count] = fread(fid, [cols rows], 'float32'); + im = im'; + if count ~= (rows*cols), + error('file too short'); + end + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadpgm.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadpgm.m new file mode 100755 index 0000000..9386111 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadpgm.m @@ -0,0 +1,89 @@ +%LOADPGM Load a PGM image +% +% I = loadpgm(filename) +% +% Returns a matrix containing the image loaded from the PGM format +% file filename. Handles ASCII (P2) and binary (P5) PGM file formats. +% +% If the filename has no extension, and open fails, a '.pgm' will +% be appended. +% +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function I = loadpgm(file) + white = [' ' 9 10 13]; % space, tab, lf, cr + white = setstr(white); + + fid = fopen(file, 'r'); + if fid < 0, + fid = fopen([file '.pgm'], 'r'); + end + if fid < 0, + error('Couldn''t open file'); + end + + magic = fread(fid, 2, 'char'); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + cols = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + rows = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + maxval = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + if magic(1) == 'P', + if magic(2) == '2', + disp(['ASCII PGM file ' num2str(rows) ' x ' num2str(cols)]) + I = fscanf(fid, '%d', [cols rows])'; + elseif magic(2) == '5', + disp(['Binary PGM file ' num2str(rows) ' x ' num2str(cols)]) + if maxval == 1, + fmt = 'unint1'; + elseif maxval == 15, + fmt = 'uint4'; + elseif maxval == 255, + fmt = 'uint8'; + elseif maxval == 2^32-1, + fmt = 'uint32'; + end + I = fread(fid, [cols rows], fmt)'; + else + disp('Not a PGM file'); + end + end + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadppm.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadppm.m new file mode 100755 index 0000000..6dd7ca4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/loadppm.m @@ -0,0 +1,101 @@ +%LOADPPM Load a PPM image +% +% [R,G,B] = loadppm(filename) +% +% Returns a matrix containing the image loaded from the PPM format +% file filename. Handles ASCII (P3) and binary (P6) PPM file formats. +% +% If the filename has no extension, and open fails, a '.ppm' and +% '.pnm' extension will be tried. +% +% SEE ALSO: saveppm loadpgm +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function [R,G,B] = loadppm(file) + white = [' ' 9 10 13]; % space, tab, lf, cr + white = setstr(white); + + fid = fopen(file, 'r'); + if fid < 0, + fid = fopen([file '.ppm'], 'r'); + end + if fid < 0, + fid = fopen([file '.pnm'], 'r'); + end + if fid < 0, + error('Couldn''t open file'); + end + + magic = fread(fid, 2, 'char'); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + cols = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + rows = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + maxval = fscanf(fid, '%d', 1); + while 1 + c = fread(fid,1,'char'); + if c == '#', + fgetl(fid); + elseif ~any(c == white) + fseek(fid, -1, 'cof'); % unputc() + break; + end + end + if magic(1) == 'P', + if magic(2) == '3', + disp(['ASCII PPM file ' num2str(rows) ' x ' num2str(cols)]) + I = fscanf(fid, '%d', [cols*3 rows]); + elseif magic(2) == '6', + disp(['Binary PPM file ' num2str(rows) ' x ' num2str(cols)]) + if maxval == 1, + fmt = 'unint1'; + elseif maxval == 15, + fmt = 'uint4'; + elseif maxval == 255, + fmt = 'uint8'; + elseif maxval == 2^32-1, + fmt = 'uint32'; + end + I = fread(fid, [cols*3 rows], fmt); + else + disp('Not a PPM file'); + end + end + % + % now the matrix has interleaved columns of R, G, B + % + I = I'; + size(I) + R = I(:,1:3:(cols*3)); + G = I(:,2:3:(cols*3)); + B = I(:,3:3:(cols*3)); + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/mean_std_robust.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/mean_std_robust.m new file mode 100755 index 0000000..0d18a62 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/mean_std_robust.m @@ -0,0 +1,7 @@ +function [m,s] = mean_std_robust(x); + +x = x(:); + +m = median(x); + +s = median(abs(x - m))*1.4836; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/multi_error_oulu.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/multi_error_oulu.m new file mode 100755 index 0000000..8657158 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/multi_error_oulu.m @@ -0,0 +1,49 @@ +function ex = multi_error_oulu(param,n_ima,cc); + +global X_1 x_1 X_2 x_2 X_3 x_3 X_4 x_4 X_5 x_5 X_6 x_6 X_7 x_7 X_8 x_8 X_9 x_9 X_10 x_10 X_11 x_11 X_12 x_12 X_13 x_13 X_14 x_14 X_15 x_15 X_16 x_16 X_17 x_17 X_18 x_18 X_19 x_19 X_20 x_20 X_21 x_21 X_22 x_22 X_23 x_23 X_24 x_24 X_25 x_25 X_26 x_26 X_27 x_27 X_28 x_28 X_29 x_29 X_30 x_30 + +fc = param(1:2); +kc = param(3:6); +%ppc = param(5:6); + +if length(param) > 6*n_ima + 3 + 3, + + cc = param(6*n_ima + 4 + 3:6*n_ima + 5 + 3); + + if length(param) > 6*n_ima + 5 + 3, + + c_d = param(6*n_ima + 6 + 3 :6*n_ima + 7 + 3); + + else + + c_d = [0;0]; + + end; + +else + + c_d = [0;0]; + +end; + + + +ex = []; + +%keyboard; + +for kk = 1:n_ima, + + omckk = param(4+6*(kk-1) + 3:6*kk + 3); + + Tckk = param(6*kk+1 + 3:6*kk+3 + 3); + + Rkk = rodrigues(omckk); + + eval(['ykk = project2_oulu(X_' num2str(kk) ',Rkk,Tckk,fc,cc,kc);']); + + eval(['exkk = x_' num2str(kk) ' -ykk;']); + + ex = [ex;exkk(:)]; + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/normalize.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/normalize.m new file mode 100755 index 0000000..0a37378 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/normalize.m @@ -0,0 +1,32 @@ +function [xn] = normalize(x_kk,fc,cc,kc), + +%normalize +% +%[xn] = normalize(x_kk,fc,cc,kc) +% +%Computes the normalized coordinates xn given the pixel coordinates x_kk +%and the intrinsic camera parameters fc, cc and kc. +% +%INPUT: x_kk: Feature locations on the images +% fc: Camera focal length +% cc: Principal point coordinates +% kc: Distortion coefficients +% +%OUTPUT: xn: Normalized feature locations on the image plane (a 2XN matrix) +% +%Important functions called within that program: +% +%comp_distortion_oulu: undistort pixel coordinates. + + + +% First subtract principal point, and divide by the focal length: + +x_distort = [(x_kk(1,:) - cc(1))/fc(1);(x_kk(2,:) - cc(2))/fc(2)]; + + +%Compensate for lens distortion: + +xn = comp_distortion_oulu(x_distort,kc); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/pgmread.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/pgmread.m new file mode 100755 index 0000000..c96ccb7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/pgmread.m @@ -0,0 +1,26 @@ +function img = pgmread(filename) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + +fid = fopen(filename,'r'); +fscanf(fid, 'P5\n'); +cmt = '#'; +while findstr(cmt, '#'), + cmt = fgets(fid); + if length(findstr(cmt, '#')) ~= 1, + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end +end + +%fgets(fid); + +%img = fscanf(fid,'%d',size); +%img = img'; + +img = fread(fid,[y,x],'uint8'); +img = img'; +fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/project2_oulu.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/project2_oulu.m new file mode 100755 index 0000000..c5c4a34 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/project2_oulu.m @@ -0,0 +1,53 @@ +function [x] = project2_oulu(X,R,T,f,t,k) +%PROJECT Subsidiary to calib + +% (c) Pietro Perona -- March 24, 1994 +% California Institute of Technology +% Pasadena, CA +% +% Renamed because project exists in matlab 5.2!!! +% Now uses the more elaborate intrinsic model from Oulu + + + +[m,n] = size(X); + +Y = R*X + T*ones(1,n); +Z = Y(3,:); + +f = f(:); %% make a column vector +if length(f)==1, + f = [f f]'; +end; + +x = (Y(1:2,:) ./ (ones(2,1) * Z)) ; + + +radius_2 = x(1,:).^2 + x(2,:).^2; + +if length(k) > 1, + + radial_distortion = 1 + ones(2,1) * ((k(1) * radius_2) + (k(2) * radius_2.^2)); + + if length(k) < 4, + + delta_x = zeros(2,n); + + else + + delta_x = [2*k(3)*x(1,:).*x(2,:) + k(4)*(radius_2 + 2*x(1,:).^2) ; + k(3) * (radius_2 + 2*x(2,:).^2)+2*k(4)*x(1,:).*x(2,:)]; + + end; + + +else + + radial_distortion = 1 + ones(2,1) * ((k(1) * radius_2)); + + delta_x = zeros(2,n); + +end; + + +x = (x .* radial_distortion + delta_x).* (f * ones(1,n)) + t*ones(1,n); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/project_points.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/project_points.m new file mode 100755 index 0000000..1823490 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/project_points.m @@ -0,0 +1,276 @@ +function [xp,dxpdom,dxpdT,dxpdf,dxpdc,dxpdk] = project_points(X,om,T,f,c,k) + +%project_points.m +% +%[xp,dxpdom,dxpdT,dxpdf,dxpdc,dxpdk] = project_points(X,om,T,f,c,k) +% +%Projects a 3D structure onto the image plane. +% +%INPUT: X: 3D structure in the world coordinate frame (3xN matrix for N points) +% (om,T): Rigid motion parameters between world coordinate frame and camera reference frame +% om: rotation vector (3x1 vector); T: translation vector (3x1 vector) +% f: camera focal length in units of horizontal and vertical pixel units (2x1 vector) +% c: principal point location in pixel units (2x1 vector) +% k: Distortion coefficients (radial and tangential) (4x1 vector) +% +%OUTPUT: xp: Projected pixel coordinates (2xN matrix for N points) +% dxpdom: Derivative of xp with respect to om ((2N)x3 matrix) +% dxpdT: Derivative of xp with respect to T ((2N)x3 matrix) +% dxpdf: Derivative of xp with respect to f ((2N)x2 matrix) +% dxpdc: Derivative of xp with respect to c ((2N)x2 matrix) +% dxpdk: Derivative of xp with respect to k ((2N)x4 matrix) +% +%Definitions: +%Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) +%The coordinate vector of P in the camera reference frame is: Xc = R*X + T +%where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); +%call x, y and z the 3 coordinates of Xc: x = Xc(1); y = Xc(2); z = Xc(3); +%The pinehole projection coordinates of P is [a;b] where a=x/z and b=y/z. +%call r^2 = a^2 + b^2. +%The distorted point coordinates are: xd = [xx;yy] where: +% +%xx = a * (1 + kc(1)*r^2 + kc(2)*r^4) + 2*kc(3)*a*b + kc(4)*(r^2 + 2*a^2); +%yy = b * (1 + kc(1)*r^2 + kc(2)*r^4) + kc(3)*(r^2 + 2*b^2) + 2*kc(4)*a*b; +% +%The left terms correspond to radial distortion, the right terms correspond to tangential distortion +% +%Fianlly, convertion into pixel coordinates: The final pixel coordinates vector xp=[xxp;yyp] where: +% +%xxp = f(1)*xx + c(1) +%yyp = f(2)*yy + c(2) +% +% +%NOTE: About 90 percent of the code takes care fo computing the Jacobian matrices +% +% +%Important function called within that program: +% +%rodrigues.m: Computes the rotation matrix corresponding to a rotation vector +% +%rigid_motion.m: Computes the rigid motion transformation of a given structure + + + +if nargin < 6, + k = zeros(4,1); + if nargin < 5, + c = zeros(2,1); + if nargin < 4, + f = ones(2,1); + if nargin < 3, + T = zeros(3,1); + if nargin < 2, + om = zeros(3,1); + if nargin < 1, + error('Need at least a 3D structure to project (in project_points.m)'); + return; + end; + end; + end; + end; + end; +end; + + +[m,n] = size(X); + +[Y,dYdom,dYdT] = rigid_motion(X,om,T); + + +inv_Z = 1./Y(3,:); + +x = (Y(1:2,:) .* (ones(2,1) * inv_Z)) ; + + +bb = (-x(1,:) .* inv_Z)'*ones(1,3); +cc = (-x(2,:) .* inv_Z)'*ones(1,3); + + +dxdom = zeros(2*n,3); +dxdom(1:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdom(1:3:end,:) + bb .* dYdom(3:3:end,:); +dxdom(2:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdom(2:3:end,:) + cc .* dYdom(3:3:end,:); + +dxdT = zeros(2*n,3); +dxdT(1:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdT(1:3:end,:) + bb .* dYdT(3:3:end,:); +dxdT(2:2:end,:) = ((inv_Z')*ones(1,3)) .* dYdT(2:3:end,:) + cc .* dYdT(3:3:end,:); + + +% Add distortion: + +r2 = x(1,:).^2 + x(2,:).^2; + + + +dr2dom = 2*((x(1,:)')*ones(1,3)) .* dxdom(1:2:end,:) + 2*((x(2,:)')*ones(1,3)) .* dxdom(2:2:end,:); +dr2dT = 2*((x(1,:)')*ones(1,3)) .* dxdT(1:2:end,:) + 2*((x(2,:)')*ones(1,3)) .* dxdT(2:2:end,:); + + +r4 = r2.^2; + +dr4dom = 2*((r2')*ones(1,3)) .* dr2dom; +dr4dT = 2*((r2')*ones(1,3)) .* dr2dT; + + +% Radial distortion: + +cdist = 1 + k(1) * r2 + k(2) * r4; + +dcdistdom = k(1) * dr2dom + k(2) * dr4dom; +dcdistdT = k(1) * dr2dT+ k(2) * dr4dT; +dcdistdk = [ r2' r4' zeros(n,2)]; + + +xd1 = x .* (ones(2,1)*cdist); + +dxd1dom = zeros(2*n,3); +dxd1dom(1:2:end,:) = (x(1,:)'*ones(1,3)) .* dcdistdom; +dxd1dom(2:2:end,:) = (x(2,:)'*ones(1,3)) .* dcdistdom; +coeff = (reshape([cdist;cdist],2*n,1)*ones(1,3)); +dxd1dom = dxd1dom + coeff.* dxdom; + +dxd1dT = zeros(2*n,3); +dxd1dT(1:2:end,:) = (x(1,:)'*ones(1,3)) .* dcdistdT; +dxd1dT(2:2:end,:) = (x(2,:)'*ones(1,3)) .* dcdistdT; +dxd1dT = dxd1dT + coeff.* dxdT; + +dxd1dk = zeros(2*n,4); +dxd1dk(1:2:end,:) = (x(1,:)'*ones(1,4)) .* dcdistdk; +dxd1dk(2:2:end,:) = (x(2,:)'*ones(1,4)) .* dcdistdk; + + + +% tangential distortion: + +a1 = 2.*x(1,:).*x(2,:); +a2 = r2 + 2*x(1,:).^2; +a3 = r2 + 2*x(2,:).^2; + +delta_x = [k(3)*a1 + k(4)*a2 ; + k(3) * a3 + k(4)*a1]; + + +ddelta_xdx = zeros(2*n,2*n); +aa = (2*k(3)*x(2,:)+6*k(4)*x(1,:))'*ones(1,3); +bb = (2*k(3)*x(1,:)+2*k(4)*x(2,:))'*ones(1,3); +cc = (6*k(3)*x(2,:)+2*k(4)*x(1,:))'*ones(1,3); + +ddelta_xdom = zeros(2*n,3); +ddelta_xdom(1:2:end,:) = aa .* dxdom(1:2:end,:) + bb .* dxdom(2:2:end,:); +ddelta_xdom(2:2:end,:) = bb .* dxdom(1:2:end,:) + cc .* dxdom(2:2:end,:); + +ddelta_xdT = zeros(2*n,3); +ddelta_xdT(1:2:end,:) = aa .* dxdT(1:2:end,:) + bb .* dxdT(2:2:end,:); +ddelta_xdT(2:2:end,:) = bb .* dxdT(1:2:end,:) + cc .* dxdT(2:2:end,:); + +ddelta_xdk = zeros(2*n,4); +ddelta_xdk(1:2:end,3) = a1'; +ddelta_xdk(1:2:end,4) = a2'; +ddelta_xdk(2:2:end,3) = a3'; +ddelta_xdk(2:2:end,4) = a1'; + + + +xd2 = xd1 + delta_x; + +dxd2dom = dxd1dom + ddelta_xdom ; +dxd2dT = dxd1dT + ddelta_xdT; +dxd2dk = dxd1dk + ddelta_xdk ; + + +% Pixel coordinates: + +xp = xd2 .* (f * ones(1,n)) + c*ones(1,n); + +coeff = reshape(f*ones(1,n),2*n,1); + +dxpdom = (coeff*ones(1,3)) .* dxd2dom; +dxpdT = (coeff*ones(1,3)) .* dxd2dT; +dxpdk = (coeff*ones(1,4)) .* dxd2dk; + +dxpdf = zeros(2*n,2); +dxpdf(1:2:end,1) = xd2(1,:)'; +dxpdf(2:2:end,2) = xd2(2,:)'; + +dxpdc = zeros(2*n,2); +dxpdc(1:2:end,1) = ones(n,1); +dxpdc(2:2:end,2) = ones(n,1); + + +return; + +% Test of the Jacobians: + +n = 10; + +X = 10*randn(3,n); +om = randn(3,1); +T = [10*randn(2,1);40]; +f = 1000*rand(2,1); +c = 1000*randn(2,1); +k = 0.5*randn(4,1); + + +[x,dxdom,dxdT,dxdf,dxdc,dxdk] = project_points(X,om,T,f,c,k); + + +% Test on om: NOT OK + +dom = 0.000000001 * norm(om)*randn(3,1); +om2 = om + dom; + +[x2] = project_points(X,om2,T,f,c,k); + +x_pred = x + reshape(dxdom * dom,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on T: OK!! + +dT = 0.0001 * norm(T)*randn(3,1); +T2 = T + dT; + +[x2] = project_points(X,om,T2,f,c,k); + +x_pred = x + reshape(dxdT * dT,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + + +% Test on f: OK!! + +df = 0.001 * norm(f)*randn(2,1); +f2 = f + df; + +[x2] = project_points(X,om,T,f2,c,k); + +x_pred = x + reshape(dxdf * df,2,n); + + +norm(x2-x)/norm(x2 - x_pred) + + +% Test on c: OK!! + +dc = 0.01 * norm(c)*randn(2,1); +c2 = c + dc; + +[x2] = project_points(X,om,T,f,c2,k); + +x_pred = x + reshape(dxdc * dc,2,n); + +norm(x2-x)/norm(x2 - x_pred) + +% Test on k: OK!! + +dk = 0.001 * norm(4)*randn(4,1); +k2 = k + dk; + +[x2] = project_points(X,om,T,f,c,k2); + +x_pred = x + reshape(dxdk * dk,2,n); + +norm(x2-x)/norm(x2 - x_pred) diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/projectedGrid.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/projectedGrid.m new file mode 100755 index 0000000..561a7d0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/projectedGrid.m @@ -0,0 +1,24 @@ +function [XX,H] = projectedGrid ( P1, P2, P3, P4 , nx, ny); + +% new formalism using homographies + +a00 = [P1;1]; +a10 = [P2;1]; +a11 = [P3;1]; +a01 = [P4;1]; + +% Compute the planart collineation: + +[H] = compute_collineation (a00, a10, a11, a01); + + +% Build the grid using the planar collineation: + +x_l = ((0:(nx-1))'*ones(1,ny))/(nx-1); +y_l = (ones(nx,1)*(0:(ny-1)))/(ny-1); + +pts = [x_l(:) y_l(:) ones(nx*ny,1)]'; + +XX = H*pts; + +XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/readras.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/readras.m new file mode 100755 index 0000000..fc1820b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/readras.m @@ -0,0 +1,87 @@ +function [X, map] = readras(filename, ys, ye, xs, xe); +%READRAS Read an image file in sun raster format. +% READRAS('imagefile.ras') reads a "sun.raster" image file. +% [X, map] = READRAS('imagefile.ras') returns both the image and a +% color map, so that +% [X, map] = readras('imagefile.ras'); +% image(X) +% colormap(map) +% axis('equal') +% will display the result with the proper colors. +% NOTE: readras cannot deal with complicated color maps. +% In fact, Matlab doesn't quite allow to work with colormaps +% with more than 64 entries. +% + +%% +%% (C) Thomas K. Leung 3/30/93. +%% California Institute of Technology. +%% Modified by Andrea Mennucci to deal with color images +%% + +% PC and UNIX version of readras - Jean-Yves Bouguet - Dec. 1998 + +dot = max(find(filename == '.')); +suffix = filename(dot+1:dot+3); + +if(strcmp(suffix, 'ras')) % raster file format % + fp = fopen(filename, 'rb'); + if(fp<0) error(['Cannot open ' filename '.']), end + + %Read and crack the 32-byte header + fseek(fp, 4, -1); + + width = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + height = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + depth = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + length = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + type = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + maptype = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + maplen = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar'); + + maplen = maplen / 3; + + if maptype == 2 % RMT_RAW + map = fread(fp, [maplen, 3], 'uchar')/255; +% if maplen<64, map=[map',zeros(3,64-maplen)]';maplen=64; end; + elseif maptype == 1 % RMT_EQUAL_RGB + map(:,1) = fread(fp, [maplen], 'uchar'); + map(:,2) = fread(fp, [maplen], 'uchar'); + map(:,3) = fread(fp, [maplen], 'uchar'); + %maxmap = max(max(map)); + map = map/255; + if maplen<64, map=[map',zeros(3,64-maplen)]'; maplen=64; end; + else % RMT_NONE + map = []; + end +% if maplen>64, +% map=[map',zeros(3,256-maplen)]'; +% end; + + % Read the image + + if rem(width,2) == 1 + Xt = fread(fp, [width+1, height], 'uchar'); + X = Xt(1:width, :)'; + else + Xt = fread(fp, [width, height], 'uchar'); + X = Xt'; + end + X = X + 1; + fclose(fp); +else + error('Image file name must end in either ''ras'' or ''rast''.'); +end + + +if nargin == 5 + + X = X(ys:ye, xs:xe); + +end \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/recomp_corner_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/recomp_corner_calib.m new file mode 100755 index 0000000..e0af501 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/recomp_corner_calib.m @@ -0,0 +1,96 @@ +% Re-select te corners after calibration + +check_active_images; + +if ~exist(['y_' num2str(ind_active(1))]), + fprintf(1,'Need to calibrate once before before recomputing image corners. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + +if ~exist(['I_' num2str(ind_active(1))]), + ima_read_calib; + if no_image_file, + disp('Cannot extract corners without images'); + return; + end; +end; + +fprintf(1,'\nRe-extraction of the grid corners on the images (after first calibration)\n'); + +disp('Window size for corner finder (wintx and winty):'); +wintx = input('wintx ([] = 5) = '); +if isempty(wintx), wintx = 5; end; +wintx = round(wintx); +winty = input('winty ([] = 5) = '); +if isempty(winty), winty = 5; end; +winty = round(winty); + +fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); + +ima_numbers = input('Number(s) of image(s) to process ([] = all images) = '); + +if isempty(ima_numbers), + ima_proc = 1:n_ima; +else + ima_proc = ima_numbers; +end; + +q_auto = input('Use the projection of 3D grid or manual click ([]=auto, other=manual): '); + +fprintf(1,'Processing image '); + +for kk = ima_proc; + + if active_images(kk), + + fprintf(1,'%d...',kk); + + if isempty(q_auto), + + eval(['I = I_' num2str(kk) ';']); + + eval(['y = y_' num2str(kk) ';']); + + xc = cornerfinder(y+1,I,winty,wintx); % the four corners + + eval(['wintx_' num2str(kk) ' = wintx;']); + eval(['winty_' num2str(kk) ' = winty;']); + + eval(['x_' num2str(kk) '= xc - 1;']); + + else + + fprintf(1,'\n'); + + click_ima_calib; + + end; + + else + + if ~exist(['omc_' num2str(kk)]), + + eval(['dX_' num2str(kk) ' = NaN;']); + eval(['dY_' num2str(kk) ' = NaN;']); + + eval(['wintx_' num2str(kk) ' = NaN;']); + eval(['winty_' num2str(kk) ' = NaN;']); + + eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); + eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); + + eval(['n_sq_x_' num2str(kk) ' = NaN;']); + eval(['n_sq_y_' num2str(kk) ' = NaN;']); + + end; + + end; + + +end; + +% Recompute the error: + +comp_error_calib; + +fprintf(1,'\ndone\n'); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rect.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rect.m new file mode 100755 index 0000000..d8b6366 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rect.m @@ -0,0 +1,93 @@ +function [Irec] = rect(I,R,f,c,k,KK_new); + + +% Note: R is the motion of the points in space +% So: X2 = R*X where X: coord in the old reference frame, X2: coord in the new ref frame. + +[nr,nc] = size(I); + +Irec = 255*ones(nr,nc); + +[mx,my] = meshgrid(1:nc, 1:nr); +px = reshape(mx',nc*nr,1); +py = reshape(my',nc*nr,1); + +rays = inv(KK_new)*[(px - 1)';(py - 1)';ones(1,length(px))]; + + +% Rotation: (or affine transformation): + +rays2 = R'*rays; + + +x = [rays2(1,:)./rays2(3,:);rays2(2,:)./rays2(3,:)]; + +% Add distortion: + +k1 = k(1); +k2 = k(2); + +p1 = k(3); +p2 = k(4); + +r_2 = sum(x.^2); + +delta_x = [2*p1*x(1,:).*x(2,:) + p2*(r_2 + 2*x(1,:).^2) ; + p1 * (r_2 + 2*x(2,:).^2)+2*p2*x(1,:).*x(2,:)]; + +xd = (ones(2,1)*( 1 + k1 * r_2 + k2 * r_2.^2)) .* x + delta_x; + + +% Reconvert in pixels: + +px2 = f(1)*xd(1,:)+c(1); +py2 = f(2)*xd(2,:)+c(2); + + +% Interpolate between the closest pixels: + + +px_0 = floor(px2); +px_1 = px_0 + 1; +alpha_x = px2 - px_0; + +py_0 = floor(py2); +py_1 = py_0 + 1; +alpha_y = py2 - py_0; + +good_points = find((px_0 >= 0) & (px_1 <= (nc-1)) & (py_0 >= 0) & (py_1 <= (nr-1))); + +I_lu = I(px_0(good_points) * nr + py_0(good_points) + 1); +I_ru = I(px_1(good_points) * nr + py_0(good_points) + 1); +I_ld = I(px_0(good_points) * nr + py_1(good_points) + 1); +I_rd = I(px_1(good_points) * nr + py_1(good_points) + 1); + + +I_interp = (1 - alpha_y(good_points)).*((1 - alpha_x(good_points)).* I_lu + alpha_x(good_points) .* I_ru) + alpha_y(good_points) .* ((1 - alpha_x(good_points)).* I_ld + alpha_x(good_points) .* I_rd); + + +Irec((px(good_points)-1)*nr + py(good_points)) = I_interp; + + + +return; + + +% Convert in indices: + +fact = 3; + +[XX,YY]= meshgrid(1:nc,1:nr); +[XXi,YYi]= meshgrid(1:1/fact:nc,1:1/fact:nr); + +%tic; +Iinterp = interp2(XX,YY,I,XXi,YYi); +%toc + +[nri,nci] = size(Iinterp); + + +ind_col = round(fact*(f(1)*xd(1,:)+c(1)))+1; +ind_row = round(fact*(f(2)*xd(2,:)+c(2)))+1; + +good_points = find((ind_col >=1)&(ind_col<=nci)&(ind_row >=1)& (ind_row <=nri)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/reproject_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/reproject_calib.m new file mode 100755 index 0000000..86b13f5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/reproject_calib.m @@ -0,0 +1,92 @@ +%%%%%%%%%%%%%%%%%%%% REPROJECT ON THE IMAGES %%%%%%%%%%%%%%%%%%%%%%%% + +if ~exist('no_image'), + no_image = 0; +end; + +check_active_images; + + +% Color code for each image: + +colors = 'brgkcm'; + +% Reproject the patterns on the images, and compute the pixel errors: + +% Reload the images if necessary + +if ~exist(['omc_' num2str(ind_active(1)) ]), + fprintf(1,'Need to calibrate before showing image reprojection. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + +if ~no_image, + if ~exist(['I_' num2str(ind_active(1)) ]'), + ima_read_calib; + if no_image_file, + fprintf(1,'WARNING: Do not show the original images\n'); %return; + end; + end; +else + no_image_file = 1; +end; + + + +ima_numbers = input('Number(s) of image(s) to show ([] = all images) = '); + +if isempty(ima_numbers), + ima_proc = 1:n_ima; +else + ima_proc = ima_numbers; +end; + + +figure(5); +for kk = ima_proc, %1:n_ima, + if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']), + eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']); + hold on; + end; +end; +hold off; +axis('equal'); +title('Reprojection error (in pixel)'); +xlabel('x'); +ylabel('y'); +drawnow; + +set(5,'Name','error','NumberTitle','off'); + + + +for kk = ima_proc, + + if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']), + + if exist(['I_' num2str(kk)]), + eval(['I = I_' num2str(kk) ';']); + else + I = 255*ones(ny,nx); + end; + + figure(5+kk); + image(I); hold on; + colormap(gray(256)); + title(['Image ' num2str(kk) ' - Image points (+) and reprojected grid points (o)']); + eval(['plot(x_' num2str(kk) '(1,:)+1,x_' num2str(kk) '(2,:)+1,''r+'');']); + eval(['plot(y_' num2str(kk) '(1,:)+1,y_' num2str(kk) '(2,:)+1,''' colors(rem(kk-1,6)+1) 'o'');']); + zoom on; + hold off; + drawnow; + + set(5+kk,'Name',num2str(kk),'NumberTitle','off'); + + end; + +end; + + +err_std = std(ex')'; + +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rigid_motion.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rigid_motion.m new file mode 100755 index 0000000..473405c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rigid_motion.m @@ -0,0 +1,66 @@ +function [Y,dYdom,dYdT] = rigid_motion(X,om,T); + +%rigid_motion.m +% +%[Y,dYdom,dYdT] = rigid_motion(X,om,T) +% +%Computes the rigid motion transformation Y = R*X+T, where R = rodrigues(om). +% +%INPUT: X: 3D structure in the world coordinate frame (3xN matrix for N points) +% (om,T): Rigid motion parameters between world coordinate frame and camera reference frame +% om: rotation vector (3x1 vector); T: translation vector (3x1 vector) +% +%OUTPUT: Y: 3D coordinates of the structure points in the camera reference frame (3xN matrix for N points) +% dYdom: Derivative of Y with respect to om ((3N)x3 matrix) +% dYdT: Derivative of Y with respect to T ((3N)x3 matrix) +% +%Definitions: +%Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) +%The coordinate vector of P in the camera reference frame is: Y = R*X + T +%where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); +% +%Important function called within that program: +% +%rodrigues.m: Computes the rotation matrix corresponding to a rotation vector + + + +if nargin < 3, + T = zeros(3,1); + if nargin < 2, + om = zeros(3,1); + if nargin < 1, + error('Need at least a 3D structure as input (in rigid_motion.m)'); + return; + end; + end; +end; + + +[R,dRdom] = rodrigues(om); + +[m,n] = size(X); + +Y = R*X + T*ones(1,n); + +if nargout > 1, + + +dYdR = zeros(3*n,9); +dYdT = zeros(3*n,3); + +dYdR(1:3:end,1:3:end) = X'; +dYdR(2:3:end,2:3:end) = X'; +dYdR(3:3:end,3:3:end) = X'; + +dYdT(1:3:end,1) = ones(n,1); +dYdT(2:3:end,2) = ones(n,1); +dYdT(3:3:end,3) = ones(n,1); + +dYdom = dYdR * dRdom; + +end; + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rodrigues.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rodrigues.m new file mode 100755 index 0000000..9d55337 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rodrigues.m @@ -0,0 +1,217 @@ +function [out,dout]=rodrigues(in) + +% RODRIGUES Transform rotation matrix into rotation vector and viceversa. +% +% Sintax: [OUT]=RODRIGUES(IN) +% If IN is a 3x3 rotation matrix then OUT is the +% corresponding 3x1 rotation vector +% if IN is a rotation 3-vector then OUT is the +% corresponding 3x3 rotation matrix +% + +%% +%% Copyright (c) March 1993 -- Pietro Perona +%% California Institute of Technology +%% + +%% ALL CHECKED BY JEAN-YVES BOUGUET, October 1995. +%% FOR ALL JACOBIAN MATRICES !!! LOOK AT THE TEST AT THE END !! + +%% BUG when norm(om)=pi fixed -- April 6th, 1997; +%% Jean-Yves Bouguet + + +[m,n] = size(in); +%bigeps = 10e+4*eps; +bigeps = 10e+20*eps; + +if ((m==1) & (n==3)) | ((m==3) & (n==1)) %% it is a rotation vector + theta = norm(in); + if theta < eps + R = eye(3); + + %if nargout > 1, + + dRdin = [0 0 0; + 0 0 1; + 0 -1 0; + 0 0 -1; + 0 0 0; + 1 0 0; + 0 1 0; + -1 0 0; + 0 0 0]; + + %end; + + else + if n==length(in) in=in'; end; %% make it a column vec. if necess. + + %m3 = [in,theta] + + dm3din = [eye(3);in'/theta]; + + omega = in/theta; + + %m2 = [omega;theta] + + dm2dm3 = [eye(3)/theta -in/theta^2; zeros(1,3) 1]; + + alpha = cos(theta); + beta = sin(theta); + gamma = 1-cos(theta); + omegav=[[0 -omega(3) omega(2)];[omega(3) 0 -omega(1)];[-omega(2) omega(1) 0 ]]; + A = omega*omega'; + + %m1 = [alpha;beta;gamma;omegav;A]; + + dm1dm2 = zeros(21,4); + dm1dm2(1,4) = -sin(theta); + dm1dm2(2,4) = cos(theta); + dm1dm2(3,4) = sin(theta); + dm1dm2(4:12,1:3) = [0 0 0 0 0 1 0 -1 0; + 0 0 -1 0 0 0 1 0 0; + 0 1 0 -1 0 0 0 0 0]'; + + w1 = omega(1); + w2 = omega(2); + w3 = omega(3); + + dm1dm2(13:21,1) = [2*w1;w2;w3;w2;0;0;w3;0;0]; + dm1dm2(13: 21,2) = [0;w1;0;w1;2*w2;w3;0;w3;0]; + dm1dm2(13:21,3) = [0;0;w1;0;0;w2;w1;w2;2*w3]; + + R = eye(3)*alpha + omegav*beta + A*gamma; + + dRdm1 = zeros(9,21); + + dRdm1([1 5 9],1) = ones(3,1); + dRdm1(:,2) = omegav(:); + dRdm1(:,4:12) = beta*eye(9); + dRdm1(:,3) = A(:); + dRdm1(:,13:21) = gamma*eye(9); + + dRdin = dRdm1 * dm1dm2 * dm2dm3 * dm3din; + + + end; + out = R; + dout = dRdin; + + %% it is prob. a rot matr. + elseif ((m==n) & (m==3) & (norm(in' * in - eye(3)) < bigeps)... + & (abs(det(in)-1) < bigeps)) + R = in; + + + + tr = (trace(R)-1)/2; + dtrdR = [1 0 0 0 1 0 0 0 1]/2; + theta = real(acos(tr)); + + + if sin(theta) >= 1e-5, + + dthetadtr = -1/sqrt(1-tr^2); + + dthetadR = dthetadtr * dtrdR; + % var1 = [vth;theta]; + vth = 1/(2*sin(theta)); + dvthdtheta = -vth*cos(theta)/sin(theta); + dvar1dtheta = [dvthdtheta;1]; + + dvar1dR = dvar1dtheta * dthetadR; + + + om1 = [R(3,2)-R(2,3), R(1,3)-R(3,1), R(2,1)-R(1,2)]'; + + dom1dR = [0 0 0 0 0 1 0 -1 0; + 0 0 -1 0 0 0 1 0 0; + 0 1 0 -1 0 0 0 0 0]; + + % var = [om1;vth;theta]; + dvardR = [dom1dR;dvar1dR]; + + % var2 = [om;theta]; + om = vth*om1; + domdvar = [vth*eye(3) om1 zeros(3,1)]; + dthetadvar = [0 0 0 0 1]; + dvar2dvar = [domdvar;dthetadvar]; + + + out = om*theta; + domegadvar2 = [theta*eye(3) om]; + + dout = domegadvar2 * dvar2dvar * dvardR; + + + else + if tr > 0; % case norm(om)=0; + + out = [0 0 0]'; + + dout = [0 0 0 0 0 1/2 0 -1/2 0; + 0 0 -1/2 0 0 0 1/2 0 0; + 0 1/2 0 -1/2 0 0 0 0 0]; + else % case norm(om)=pi; %% fixed April 6th + + + out = theta * (sqrt((diag(R)+1)/2).*[1;2*(R(1,2:3)>=0)'-1]); + %keyboard; + + if nargout > 1, + fprintf(1,'WARNING!!!! Jacobian domdR undefined!!!\n'); + dout = NaN*ones(3,9); + end; + end; + end; + + else + error('Neither a rotation matrix nor a rotation vector were provided'); + end; + +return; + +%% test of the Jacobians: + +%%%% TEST OF dRdom: +om = randn(3,1); +dom = randn(3,1)/1000000; + +[R1,dR1] = rodrigues(om); +R2 = rodrigues(om+dom); + +R2a = R1 + reshape(dR1 * dom,3,3); + +gain = norm(R2 - R1)/norm(R2 - R2a) + +%%% TEST OF dOmdR: +om = randn(3,1); +R = rodrigues(om); +dom = randn(3,1)/10000; +dR = rodrigues(om+dom) - R; + +[omc,domdR] = rodrigues(R); +[om2] = rodrigues(R+dR); + +om_app = omc + domdR*dR(:); + +gain = norm(om2 - omc)/norm(om2 - om_app) + + +%%% OTHER BUG: (FIXED NOW!!!) + +omu = randn(3,1); +omu = omu/norm(omu) +om = pi*omu; +[R,dR]= rodrigues(om); +[om2] = rodrigues(R); +[om om2] + +%%% NORMAL OPERATION + +om = randn(3,1); +[R,dR]= rodrigues(om); +[om2] = rodrigues(R); +[om om2] + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rotation.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rotation.m new file mode 100755 index 0000000..87ee2fe --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/rotation.m @@ -0,0 +1,23 @@ +function [] = rotation(st); + +if nargin < 1, + st= 1; +end; + + +fig = gcf; + +ax = gca; + +vv = get(ax,'view'); + +az = vv(1); +el = vv(2); + +for azi = az:-abs(st):az-360, + + set(ax,'view',[azi el]); + figure(fig); + drawnow; + +end; diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/run_error_analysis.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/run_error_analysis.m new file mode 100755 index 0000000..095e17e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/run_error_analysis.m @@ -0,0 +1,65 @@ +%%% Program that launchs the complete + +for N_ima_active = 1:30, + + error_analysis; + +end; + + + +return; + + +f = []; +f_std = []; + +c = []; +c_std = []; + +k = []; +k_std = []; + +NN = 30; + +for rr = 1:NN, + + load(['Calib_Accuracies_' num2str(rr)]); + + [m1,s1] = mean_std_robust(fc_list(1,:)); + [m2,s2] = mean_std_robust(fc_list(2,:)); + + f = [f [m1;m2]]; + f_std = [f_std [s1;s2]]; + + [m1,s1] = mean_std_robust(cc_list(1,:)); + [m2,s2] = mean_std_robust(cc_list(2,:)); + + c = [c [m1;m2]]; + c_std = [c_std [s1;s2]]; + + [m1,s1] = mean_std_robust(kc_list(1,:)); + [m2,s2] = mean_std_robust(kc_list(2,:)); + [m3,s3] = mean_std_robust(kc_list(3,:)); + [m4,s4] = mean_std_robust(kc_list(4,:)); + + k = [k [m1;m2;m3;m4]]; + k_std = [k_std [s1;s2;s3;s4]]; + +end; + +figure(1); +errorbar([1:NN;1:NN]',f',f_std'); +figure(2); +errorbar([1:NN;1:NN]',c',c_std'); +figure(3); +errorbar([1:NN;1:NN;1:NN;1:NN]',k',k_std'); + +figure(4); +semilogy(f_std'); + +figure(5); +semilogy(c_std'); + +figure(6); +semilogy(k_std'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saveinr.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saveinr.m new file mode 100755 index 0000000..a176e39 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saveinr.m @@ -0,0 +1,46 @@ +%SAVEINR Write an INRIMAGE format file +% +% SAVEINR(filename, im) +% +% Saves the specified image array in a INRIA image format file. +% +% SEE ALSO: loadinr +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + +% Peter Corke 1996 + +function saveinr(fname, im) + + fid = fopen(fname, 'w'); + [r,c] = size(im'); + + % build the header + hdr = []; + s = sprintf('#INRIMAGE-4#{\n'); + hdr = [hdr s]; + s = sprintf('XDIM=%d\n',c); + hdr = [hdr s]; + s = sprintf('YDIM=%d\n',r); + hdr = [hdr s]; + s = sprintf('ZDIM=1\n'); + hdr = [hdr s]; + s = sprintf('VDIM=1\n'); + hdr = [hdr s]; + s = sprintf('TYPE=float\n'); + hdr = [hdr s]; + s = sprintf('PIXSIZE=32\n'); + hdr = [hdr s]; + s = sprintf('SCALE=2**0\n'); + hdr = [hdr s]; + s = sprintf('CPU=sun\n#'); + hdr = [hdr s]; + + % make it 256 bytes long and write it + hdr256 = zeros(1,256); + hdr256(1:length(hdr)) = hdr; + fwrite(fid, hdr256, 'uchar'); + + % now the binary data + fwrite(fid, im', 'float32'); + fclose(fid) diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/savepgm.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/savepgm.m new file mode 100755 index 0000000..397f028 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/savepgm.m @@ -0,0 +1,22 @@ +%SAVEPGM Write a PGM format file +% +% SAVEPGM(filename, im) +% +% Saves the specified image array in a binary (P5) format PGM image file. +% +% SEE ALSO: loadpgm +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function savepgm(fname, im) + + fid = fopen(fname, 'w'); + [r,c] = size(im'); + fprintf(fid, 'P5\n'); + fprintf(fid, '%d %d\n', r, c); + fprintf(fid, '255\n'); + fwrite(fid, im', 'uchar'); + fclose(fid) diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saveppm.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saveppm.m new file mode 100755 index 0000000..0062ee0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saveppm.m @@ -0,0 +1,25 @@ +%SAVEPPM Write a PPM format file +% +% SAVEPPM(filename, r, g, b) +% +% Saves the specified red, green and blue planes in a binary (P6) +% format PPM image file. +% +% SEE ALSO: loadppm +% +% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab + + +% Peter Corke 1994 + +function saveppm(fname, R, G, B) + + fid = fopen(fname, 'w'); + [r,c] = size(R'); + fprintf(fid, 'P6\n'); + fprintf(fid, '%d %d\n', r, c); + fprintf(fid, '255\n'); + im = [R(:) G(:) B(:)]; + im = reshape(c,r); + fwrite(fid, im, 'uchar'); + fclose(fid) diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saving_calib.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saving_calib.m new file mode 100755 index 0000000..e0575e0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/saving_calib.m @@ -0,0 +1,27 @@ +fprintf(1,'\nSaving calibration results under Calib_Results.mat\n'); + +check_active_images; + +if ~exist('solution_init'), solution_init = []; end; + +for kk = 1:n_ima, + if ~exist(['dX_' num2str(kk)]), eval(['dX_' num2str(kk) '= dX;']); end; + if ~exist(['dY_' num2str(kk)]), eval(['dY_' num2str(kk) '= dY;']); end; +end; + +if ~exist('param_list'), + param_list = solution; +end; + + +string_save = 'save Calib_Results param_list active_images ind_active fc kc cc ex x y solution sol_with_center solution_init wintx winty n_ima type_numbering N_slots small_calib_image first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default KK inv_KK dX dY'; + +for kk = 1:n_ima, + string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' y_' num2str(kk) ' ex_' num2str(kk) ' omc_' num2str(kk) ' Rc_' num2str(kk) ' Tc_' num2str(kk) ' H_' num2str(kk) ' n_sq_x_' num2str(kk) ' n_sq_y_' num2str(kk) ' wintx_' num2str(kk) ' winty_' num2str(kk) ' dX_' num2str(kk) ' dY_' num2str(kk)]; +end; + +%fprintf(1,'To load later click on Load\n'); + +fprintf(1,'done\n'); + +eval(string_save); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/script_fit_distortion.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/script_fit_distortion.m new file mode 100755 index 0000000..c5e5430 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/script_fit_distortion.m @@ -0,0 +1,39 @@ + + satis_distort = 0; + + disp(['Estimated focal: ' num2str(f_g) ' pixels']); + + while ~satis_distort, + + k_g = input('Guess for distortion factor kc ([]=0): '); + + if isempty(k_g), k_g = 0; end; + + xy_corners_undist = comp_distortion2([x' - c_g(1);y'-c_g(2)]/f_g,k_g); + + xu = xy_corners_undist(1,:)'; + yu = xy_corners_undist(2,:)'; + + [XXu] = projectedGrid ( [xu(1);yu(1)], [xu(2);yu(2)],[xu(3);yu(3)], [xu(4);yu(4)],n_sq_x+1,n_sq_y+1); % The full grid + + XX = (ones(2,1)*(1 + k_g * sum(XXu.^2))) .* XXu; + XX(1,:) = f_g*XX(1,:)+c_g(1); + XX(2,:) = f_g*XX(2,:)+c_g(2); + + figure(2); + image(I); + colormap(map); + zoom on; + hold on; + %plot(f_g*XXu(1,:)+c_g(1),f_g*XXu(2,:)+c_g(2),'ro'); + plot(XX(1,:),XX(2,:),'r+'); + title('The red crosses should be on the grid corners...'); + hold off; + + satis_distort = input('Satisfied with distortion? ([]=no, other=yes) '); + + satis_distort = ~isempty(satis_distort); + + + end; + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_no_center.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_no_center.m new file mode 100755 index 0000000..15508e5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_no_center.m @@ -0,0 +1,19 @@ +%%% Selection of the calibration solution with center estimation + +if ~exist('sol_no_center'), + fprintf(1,'Need to calibrate before selecting solution without center. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + +solution = sol_no_center; + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters; +comp_error_calib; + +fprintf(1,'\n\nCalibration results without principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_no_center3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_no_center3D.m new file mode 100755 index 0000000..070d81c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_no_center3D.m @@ -0,0 +1,20 @@ +%%% Selection of the calibration solution with center estimation + +solution = sol_no_center; + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters3D; + + +fprintf(1,'\n\nCalibration results without principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +graphout_calib3D; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_with_center.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_with_center.m new file mode 100755 index 0000000..2df9ba8 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_with_center.m @@ -0,0 +1,19 @@ +%%% Selection of the calibration solution with center estimation + +if ~exist('sol_with_center'), + fprintf(1,'Need to calibrate before selecting solution with center. Maybe need to load Calib_Results.mat file.\n'); + return; +end; + +solution = sol_with_center; + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters; +comp_error_calib; + +fprintf(1,'\n\nCalibration results with principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); +fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std); diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_with_center3D.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_with_center3D.m new file mode 100755 index 0000000..eb6f4bf --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/select_sol_with_center3D.m @@ -0,0 +1,20 @@ +%%% Selection of the calibration solution with center estimation + +solution = sol_with_center; + +%%% Extraction of the final intrinsic and extrinsic paramaters: + +extract_parameters3D; + + +fprintf(1,'\n\nCalibration results with principal point estimation:\n\n'); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc); + + +%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% + +graphout_calib3D; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/startup.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/startup.m new file mode 100755 index 0000000..aad0fa4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/startup.m @@ -0,0 +1,9 @@ +% Main camera calibration toolbox: + +calib_gui; + +%calib_gui; + +path(pwd,path); + +format compact diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/test_3d.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/test_3d.m new file mode 100755 index 0000000..9f442f4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/test_3d.m @@ -0,0 +1,80 @@ +Rc_1 = rodrigues(omc_1); +Rc_2 = rodrigues(omc_2); +Rc_3 = rodrigues(omc_3); +Rc_4 = rodrigues(omc_4); +Rc_5 = rodrigues(omc_5); +Rc_6 = rodrigues(omc_6); +Rc_7 = rodrigues(omc_7); +Rc_8 = rodrigues(omc_8); +Rc_9 = rodrigues(omc_9); + +Rc_10 = rodrigues(omc_10); +Rc_11 = rodrigues(omc_11); +Rc_12 = rodrigues(omc_12); +Rc_13 = rodrigues(omc_13); +Rc_14 = rodrigues(omc_14); +Rc_15 = rodrigues(omc_15); +Rc_16 = rodrigues(omc_16); +Rc_17 = rodrigues(omc_17); +Rc_18 = rodrigues(omc_18); + + + +RR1 = Rc_1'*Rc_10; % should be rodrigues([0;pi/2;0]) +TT1 = Rc_1'*(Tc_10-Tc_1); % should be [dX*n_sq_x_1;0;0] + +Xr_1 = RR1 * X_10 + TT1*ones(1,length(X_10)); + +figure(1); +plot3(X_1(1,:),X_1(2,:),X_1(3,:),'r+'); hold on; +plot3(Xr_1(1,:),Xr_1(2,:),Xr_1(3,:),'g+'); +hold off; +axis('equal'); +rotate3d on; +view(0,0); +xlabel('x'); +ylabel('y'); +zlabel('z'); + +aaa = []; + +RR1 = Rc_1'*Rc_10; % should be rodrigues([0;pi/2;0]) +TT1 = Rc_1'*(Tc_10-Tc_1); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR1) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + +RR2 = Rc_2'*Rc_11; % should be rodrigues([0;pi/2;0]) +TT2 = Rc_2'*(Tc_11-Tc_2); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR2) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + +RR3 = Rc_3'*Rc_12; % should be rodrigues([0;pi/2;0]) +TT3 = Rc_3'*(Tc_12-Tc_3); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR3) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + +RR4 = Rc_4'*Rc_13; % should be rodrigues([0;pi/2;0]) +TT4 = Rc_4'*(Tc_13-Tc_4); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR4) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + +RR5 = Rc_5'*Rc_14; % should be rodrigues([0;pi/2;0]) +TT5 = Rc_5'*(Tc_14-Tc_5); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR5) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + +RR6 = Rc_6'*Rc_15; % should be rodrigues([0;pi/2;0]) +TT6 = Rc_6'*(Tc_15-Tc_6); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR6) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + +RR7 = Rc_7'*Rc_16; % should be rodrigues([0;pi/2;0]) +TT7 = Rc_7'*(Tc_16-Tc_7); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR7) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + +RR8 = Rc_8'*Rc_17; % should be rodrigues([0;pi/2;0]) +TT8 = Rc_8'*(Tc_17-Tc_8); % should be [dX*n_sq_x_1;0;0] +err = rodrigues(RR8) - [0;pi/2;0] +aaa = [aaa 2*sin(err(2)/2)*.33*1000]; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/undistort_image.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/undistort_image.m new file mode 100755 index 0000000..6393d78 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/undistort_image.m @@ -0,0 +1,88 @@ +%%% INPUT THE IMAGE FILE NAME: + +dir; + +fprintf(1,'\n'); +disp('Program that undistort an image'); +disp('The intrinsic camera parameters are assumed to be known (previously computed)'); + +fprintf(1,'\n'); +image_name = input('Image name (full name without extension): ','s'); + +format_image2 = '0'; + +while format_image2 == '0', + + format_image2 = input('Image format: ([]=''r''=''ras'', ''b''=''bmp'', ''t''=''tif'', ''p''=''pgm'', ''j''=''jpg'') ','s'); + + if isempty(format_image2), + format_image2 = 'ras'; + end; + + if lower(format_image2(1)) == 'b', + format_image2 = 'bmp'; + else + if lower(format_image2(1)) == 't', + format_image2 = 'tif'; + else + if lower(format_image2(1)) == 'p', + format_image2 = 'pgm'; + else + if lower(format_image2(1)) == 'j', + format_image2 = 'jpg'; + else + if lower(format_image2(1)) == 'r', + format_image2 = 'ras'; + else + disp('Invalid image format'); + format_image2 = '0'; % Ask for format once again + end; + end; + end; + end; + end; +end; + +ima_name = [image_name '.' format_image]; + + + +%%% READ IN IMAGE: + +if format_image(1) == 'p', + I = double(pgmread(ima_name)); +else + if format_image(1) == 'r', + I = readras(ima_name); + else + I = double(imread(ima_name)); + end; +end; + +if size(I,3)>1, + I = I(:,:,2); +end; + + +%% SHOW THE ORIGINAL IMAGE: + +figure(2); +image(I); +colormap(gray(256)); +title('Original image (with distortion) - Stored in array I'); +drawnow; + + +%% UNDISTORT THE IMAGE: + +fprintf(1,'Compututing the undistorted image...\n') + +[I2] = rect(I,eye(3),fc,cc,kc,KK); + + +figure(3); +image(I2); +colormap(gray(256)); +title('Undistorted image - Stored in array I2'); +drawnow; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/writeras.m b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/writeras.m new file mode 100755 index 0000000..c7eb7bc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj/writeras.m @@ -0,0 +1,105 @@ +function writeras(filename, image, map); +%WRITERAS Write an image file in sun raster format. +% WRITERAS('imagefile.ras', image_matrix, map) writes a +% "sun.raster" image file. + +% Written by Thomas K. Leung 3/30/93. +% @ California Institute of Technology. + + +% PC and UNIX version of writeras - Jean-Yves Bouguet - Dec. 1998 + +dot = max(find(filename == '.')); +suffix = filename(dot+1:dot+3); + +if nargin < 3, + map = []; +end; + +if(strcmp(suffix, 'ras')) + %Write header + + fp = fopen(filename, 'wb'); + if(fp < 0) error(['Cannot open ' filename '.']), end + + [height, width] = size(image); + image = image - 1; + mapsize = size(map, 1)*size(map,2); + %fwrite(fp, ... + % [1504078485, width, height, 8, height*width, 1, 1, mapsize], ... + % 'long'); + + + zero_str = '00000000'; + + % MAGIC NUMBER: + + + fwrite(fp,89,'uchar'); + fwrite(fp,166,'uchar'); + fwrite(fp,106,'uchar'); + fwrite(fp,149,'uchar'); + + width_str = dec2hex(width); + width_str = [zero_str(1:8-length(width_str)) width_str]; + + for ii = 1:2:7, + fwrite(fp,hex2dec(width_str(ii:ii+1)),'uchar'); + end; + + + height_str = dec2hex(height); + height_str = [zero_str(1:8-length(height_str)) height_str]; + + for ii = 1:2:7, + fwrite(fp,hex2dec(height_str(ii:ii+1)),'uchar'); + end; + + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,8,'uchar'); + + ll = height*width; + ll_str = dec2hex(ll); + ll_str = [zero_str(1:8-length(ll_str)) ll_str]; + + for ii = 1:2:7, + fwrite(fp,hex2dec(ll_str(ii:ii+1)),'uchar'); + end; + + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,1,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,0,'uchar'); + fwrite(fp,~~mapsize,'uchar'); + + mapsize_str = dec2hex(mapsize); + mapsize_str = [zero_str(1:8-length(mapsize_str)) mapsize_str]; + + %keyboard; + + for ii = 1:2:7, + fwrite(fp,hex2dec(mapsize_str(ii:ii+1)),'uchar'); + end; + + + if mapsize ~= 0 + map = min(255, fix(255*map)); + fwrite(fp, map, 'uchar'); + end + if rem(width,2) == 1 + image = [image'; zeros(1, height)]'; + top = 255 * ones(size(image)); + fwrite(fp, min(top,image)', 'uchar'); + else + top = 255 * ones(size(image)); + fwrite(fp, min(top,image)', 'uchar'); + end + fclose(fp); +else + error('Image file name must end in either ''ras'' or ''rast''.'); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj2/TOOLBOX_calib.tar b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj2/TOOLBOX_calib.tar new file mode 100755 index 0000000..36d5de9 Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/calib_bouguetj2/TOOLBOX_calib.tar differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC.m b/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC.m new file mode 100755 index 0000000..d612780 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC.m @@ -0,0 +1,26 @@ +function [v,d] = Ncut_IC(I,nb_radius_IC); +% +% [v,d] = Ncut_IC(I,nb_radius_IC); +% + +if nargin<2, + nb_radius_IC = 5; +end + +I = I/max(I(:)); + +eg_par = [16,2, 21,3]; eg_th = 0; + +nv = 11; reg_fac = 0.01; + +[ex,ey,egx,egy,eg_par,eg_th,emag,ephase] = quadedgep(I,eg_par,eg_th); + + +nb_radius_IC= 10; +sample_rate = 0.2; +disp('setupW\n'); +[w_i,w_j] = cimgnbmap(size(I),nb_radius_IC,sample_rate); +w = affinityic(emag,ephase,w_i,w_j); +disp('computeNcut'); +[v,d] = ncut(w,nv,[],reg_fac); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC_m.m b/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC_m.m new file mode 100755 index 0000000..146acf9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC_m.m @@ -0,0 +1,42 @@ +function [v,d] = Ncut_IC_m(I,mask,nb_radius_IC,sig_IC); +% +% [v,d] = Ncut_IC_m(I,mask,nb_radius_IC,sig_IC); +% + +if nargin<2, + mask = ones(size(I)); +end + +if nargin<3, + nb_radius_IC = 10; +end + +if nargin<4, + sig_IC = 0.03; +end + +%%% normalize the image +I = I/max(I(:)); + +%%% edge detecting parameter, [num_ori, sig, win_size, enlongation factor] +eg_par = [6,2, 21,3]; eg_th = 0.01; + +%% number of eigenvectors+ regulization factors +nv = 10; reg_fac = 0.0; + +%% compute the edge response +[ex,ey,egx,egy,eg_par,eg_th,emag,ephase] = quadedgep(I,eg_par,eg_th); + +%%% setup Wij connection pattern +sample_rate = 0.1; +[w_i,w_j] = cimgnbmap(size(I),nb_radius_IC,sample_rate); + +%%% compute Wij with IC +emag = mask.*emag; +w = affinityic(emag,ephase,w_i,w_j,sig_IC); + +%show_dist_w(I,w); +%%% running Ncut +[v,d] = ncut(w,nv); + +v = reshape(v,size(I,1),size(I,2),size(v,2)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC_m2.m b/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC_m2.m new file mode 100755 index 0000000..9668b19 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/Ncut_IC_m2.m @@ -0,0 +1,51 @@ +function [v,d] = Ncut_IC_m(I,mask,nb_radius_IC,sig_IC); +% +% [v,d] = Ncut_IC_m(I,mask,nb_radius_IC,sig_IC); +% + +if nargin<2, + mask = ones(size(I)); +end + +if nargin<3, + nb_radius_IC = 10; +end + +if nargin<4, + sig_IC = 0.03; +end + +%%% normalize the image +I = I/max(I(:)); + +%%% edge detecting parameter, [num_ori, sig, win_size, enlongation factor] +eg_par = [6,2, 21,3]; eg_th = 0.01; + +%% number of eigenvectors+ regulization factors +nv = 10; reg_fac = 0.0; + +%% compute the edge response +[nr,nc,nb] = size(I); +emag = zeros(nr,nc); +ephase = zeros(nr,nc); +for j=1:nb, + [ex,ey,egx,egy,eg_par,eg_th,emag1,ephase1] = quadedgep(I(:,:,j),eg_par,eg_th); + mask = emag1>emag; + ephase = ephase+ mask.*ephase1; + emag = emag + mask.*emag1; +end + + +%%% setup Wij connection pattern +sample_rate = 0.1; +[w_i,w_j] = cimgnbmap(size(I),nb_radius_IC,sample_rate); + +%%% compute Wij with IC +emag = mask.*emag; +w = affinityic(emag,ephase,w_i,w_j,sig_IC); + +%show_dist_w(I,w); +%%% running Ncut +[v,d] = ncut(w,nv); + +v = reshape(v,size(I,1),size(I,2),size(v,2)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.c b/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.c new file mode 100755 index 0000000..e48762a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.c @@ -0,0 +1,186 @@ +/*================================================================ +* function w = affinityic(emag,ephase,pi,pj,sigma) +* Input: +* emag = edge strength at each pixel +* ephase = edge phase at each pixel +* [pi,pj] = index pair representation for MALTAB sparse matrices +* sigma = sigma for IC energy +* Output: +* w = affinity with IC at [pi,pj] +* + +% test sequence +f = synimg(10); +[i,j] = cimgnbmap(size(f),2); +[ex,ey,egx,egy] = quadedgep(f); +a = affinityic(ex,ey,egx,egy,i,j) +show_dist_w(f,a); + +* Jianbo Shi, Stella X. Yu, Nov 19, 2001. +*=================================================================*/ + +# include "mex.h" +# include "math.h" + +void mexFunction( + int nargout, + mxArray *out[], + int nargin, + const mxArray *in[] +) +{ + /* declare variables */ + int nr, nc, np, total; + int i, j, k, ix, iy, jx, jy, ii, jj, iip1, jjp1, iip2, jjp2, step; + double sigma, di, dj, a, z, maxori, phase1, phase2, slope; + int *ir, *jc; + unsigned long *pi, *pj; + double *emag, *ephase, *w; + + /* check argument */ + if (nargin<4) { + mexErrMsgTxt("Four input arguments required"); + } + if (nargout>1) { + mexErrMsgTxt("Too many output arguments"); + } + + /* get edgel information */ + nr = mxGetM(in[0]); + nc = mxGetN(in[0]); + if ( nr*nc ==0 || nr != mxGetM(in[1]) || nc != mxGetN(in[1]) ) { + mexErrMsgTxt("Edge magnitude and phase shall be of the same image size"); + } + emag = mxGetPr(in[0]); + ephase = mxGetPr(in[1]); + np = nr * nc; + + /* get new index pair */ + if (!mxIsUint32(in[2]) | !mxIsUint32(in[3])) { + mexErrMsgTxt("Index pair shall be of type UINT32"); + } + if (mxGetM(in[3]) * mxGetN(in[3]) != np + 1) { + mexErrMsgTxt("Wrong index representation"); + } + pi = mxGetData(in[2]); + pj = mxGetData(in[3]); + + /* create output */ + out[0] = mxCreateSparse(np,np,pj[np],mxREAL); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough memory for the output matrix"); + } + w = mxGetPr(out[0]); + ir = mxGetIr(out[0]); + jc = mxGetJc(out[0]); + + /* find my sigma */ + if (nargin<5) { + sigma = 0; + for (k=0; ksigma) { sigma = emag[k]; } + } + sigma = sigma / 10; + printf("sigma = %6.5f",sigma); + } else { + sigma = mxGetScalar(in[4]); + } + a = 1.0/ (sigma); + + /* computation */ + total = 0; + for (j=0; j= abs(dj)) { + slope = dj / di; + step = (iy>=jy) ? 1 : -1; + + iip1 = jy; + jjp1 = jx; + + + for (ii=0;ii maxori){ + maxori = z; + } + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + + /* sample in j direction */ + } else { + slope = di / dj; + step = (ix>=jx) ? 1: -1; + + jjp1 = jx; + iip1 = jy; + + + for (jj=0;jj maxori){ + maxori = z; + } + + } + + iip1 = iip2; + jjp1 = jjp2; + phase1 = phase2; + } + } + + maxori = 0.5 * maxori*a; + maxori = exp(-maxori*maxori); + } + ir[total] = i; + + w[total] = maxori + 0.005; + total = total + 1; + + } /* i */ + } /* j */ + + jc[np] = total; +} diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.mexa64 b/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.mexa64 new file mode 100755 index 0000000..e60b4d1 Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.mexa64 differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.mexglx b/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.mexglx new file mode 100755 index 0000000..5edb5d8 Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/common/affinityic.mexglx differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/anisodiff.m b/SD-VBS/common/toolbox/toolbox_basic/common/anisodiff.m new file mode 100755 index 0000000..b576d8f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/anisodiff.m @@ -0,0 +1,20 @@ +function [outimage] = anisodiff(inimage,iterations,K) +% [outimage] = anisodiff(inimage,iterations,K) +% Pietro's anisotropic diffusion routine + +lambda = 0.25; +outimage = inimage; [m,n] = size(inimage); + +rowC = [1:m]; rowN = [1 1:m-1]; rowS = [2:m m]; +colC = [1:n]; colE = [1 1:n-1]; colW = [2:n n]; + +for i=1:iterations, + deltaN = outimage(rowN,colC) - outimage(rowC,colC); + deltaE = outimage(rowC,colE) - outimage(rowC,colC); + + fluxN = deltaN .* exp( - ((1/K) * abs(deltaN)).^2 ); + fluxE = deltaE .* exp( - ((1/K) * abs(deltaE)).^2 ); + + outimage = outimage + lambda * (fluxN - fluxN(rowS,colC) + fluxE - fluxE(rowC,colW)); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/bin.m b/SD-VBS/common/toolbox/toolbox_basic/common/bin.m new file mode 100755 index 0000000..e2c3c90 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/bin.m @@ -0,0 +1,39 @@ +function [i, nnbins] = bin(x, dx, x0, x1); +% +% [i, nbins] = bin(x, dx, x0, x1); +% +% Returns the vector of indices, starting from 1, +% corresponding to the chosen bin size, dx, +% start x0 and end x1. If x1 is omitted, x1 = max(x) - dx/2. +% If x0 is omitted, x0 = min(x) + dx/2. If dx is omitted, the data +% are divided into 10 classes. Note that outliers are not removed. +% +% Tested under MatLab 4.2, 5.0, and 5.1. +% + +% 17.1.97, Oyvind.Breivik@gfi.uib.no. +% +% Oyvind Breivik +% Department of Geophysics +% University of Bergen +% NORWAY + +N = 10; % Default is 10 classes + +if nargin < 2 + dx = (max(x) - min(x))/N; +end +if nargin < 3 + x0 = min(x) + dx/2; +end +if nargin < 4 + x1 = max(x) - dx/2; +end +nbins = round((x1 - x0)/dx) + 1; +i = round((x - x0)/dx) + 1; +%in = (i >= 1) & (i <= nbins); % Indices are within range [1, nbins]. +%i = i(in); + +if nargout > 1 + nnbins = nbins; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/cimgnbmap.c b/SD-VBS/common/toolbox/toolbox_basic/common/cimgnbmap.c new file mode 100755 index 0000000..1595b68 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/cimgnbmap.c @@ -0,0 +1,189 @@ +/*================================================================ +* function [i,j] = cimgnbmap([nr,nc], nb_r, sample_rate) +* computes the neighbourhood index matrix of an image, +* with each neighbourhood sampled. +* Input: +* [nr,nc] = image size +* nb_r = neighbourhood radius, could be [r_i,r_j] for i,j +* sample_rate = sampling rate, default = 1 +* Output: +* [i,j] = each is a column vector, give indices of neighbour pairs +* UINT32 type +* i is of total length of valid elements, 0 for first row +* j is of length nr * nc + 1 +* +* See also: imgnbmap.c, id2cind.m +* +* Examples: +* [i,j] = imgnbmap(10, 20); % [10,10] are assumed +* +* Stella X. Yu, Nov 12, 2001. + +% test sequence: +nr = 15; +nc = 15; +nbr = 1; +[i,j] = cimgnbmap([nr,nc], nbr); +mask = csparse(i,j,ones(length(i),1),nr*nc); +show_dist_w(rand(nr,nc),mask) + +*=================================================================*/ + +# include "mex.h" +# include "math.h" + +void mexFunction( + int nargout, + mxArray *out[], + int nargin, + const mxArray *in[] +) +{ + /* declare variables */ + int nr, nc, np, nb, total; + double *dim, sample_rate; + int r_i, r_j, a1, a2, b1, b2, self, neighbor; + int i, j, k, s, t, nsamp, th_rand, no_sample; + unsigned long *p, *qi, *qj; + + /* check argument */ + if (nargin < 2) { + mexErrMsgTxt("Two input arguments required"); + } + if (nargout> 2) { + mexErrMsgTxt("Too many output arguments."); + } + + /* get image size */ + i = mxGetM(in[0]); + j = mxGetN(in[0]); + dim = mxGetData(in[0]); + nr = (int)dim[0]; + if (j>1 || i>1) { + nc = (int)dim[1]; + } else { + nc = nr; + } + np = nr * nc; + + /* get neighbourhood size */ + i = mxGetM(in[1]); + j = mxGetN(in[1]); + dim = mxGetData(in[1]); + r_i = (int)dim[0]; + if (j>1 || i>1) { + r_j = (int)dim[1]; + } else { + r_j = r_i; + } + if (r_i<0) { r_i = 0; } + if (r_j<0) { r_j = 0; } + + /* get sample rate */ + if (nargin==3) { + sample_rate = (mxGetM(in[2])==0) ? 1: mxGetScalar(in[2]); + } else { + sample_rate = 1; + } + /* prepare for random number generator */ + if (sample_rate<1) { + srand( (unsigned)time( NULL ) ); + th_rand = (int)ceil((double)RAND_MAX * sample_rate); + no_sample = 0; + } else { + sample_rate = 1; + th_rand = RAND_MAX; + no_sample = 1; + } + + /* figure out neighbourhood size */ + + nb = (r_i + r_i + 1) * (r_j + r_j + 1); + if (nb>np) { + nb = np; + } + nb = (int)ceil((double)nb * sample_rate); + + /* intermediate data structure */ + p = mxCalloc(np * (nb+1), sizeof(unsigned long)); + if (p==NULL) { + mexErrMsgTxt("Not enough space for my computation."); + } + + /* computation */ + total = 0; + for (j=0; j=nc) { b2 = nc-1; } + + /* i range */ + a1 = i - r_i; + if (a1<0) { a1 = 0; } + a2 = i + r_i; + if (a2>=nr) { a2 = nr-1; } + + /* number of more samples needed */ + nsamp = nb - p[self]; + + k = 0; + t = b1; + s = i + 1; + if (s>a2) { + s = a1; + t = t + 1; + } + while (ka2) { + s = a1; + t = t + 1; + } + } /* k */ + + total = total + p[self]; + } /* i */ + } /* j */ + + /* i, j */ + out[0] = mxCreateNumericMatrix(total, 1, mxUINT32_CLASS, mxREAL); + out[1] = mxCreateNumericMatrix(np+1, 1, mxUINT32_CLASS, mxREAL); + qi = mxGetData(out[0]); + qj = mxGetData(out[1]); + if (out[0]==NULL || out[1]==NULL) { + mexErrMsgTxt("Not enough space for the output matrix."); + } + + total = 0; + for (j=0; j 1) + xy0 = dx; + dx = DX; +end + +if nargin < 3 + dx = DX; +end + +if (nargin == 4 & length(dy) > 1) + xy0 = dy; + dy = dx; +end +if nargin < 4 + dy = dx; +end + +nxy = length(xy0); +xy(1:nxy) = xy0; + +if (isnan(xy(4))) + xy(4) = max(y); +end +if (isnan(xy(3))) + xy(3) = min(y); +end +if (isnan(xy(2))) + xy(2) = max(x); +end +if (isnan(xy(1))) + xy(1) = min(x); +end +x0 = xy(1); x1 = xy(2); y0 = xy(3); y1 = xy(4); + +if (dx < 0) + dx = (x1 - x0)/abs(dx); +end +if (dy < 0) + dy = (y1 - y0)/abs(dy); +end + +ix = bin(x, dx, x0, x1); +iy = bin(y, dy, y0, y1); % bin data in (x,y)-space + +xvec = x0:dx:x1; +yvec = y0:dy:y1; + +nx = length(xvec); +ny = length(yvec); + +inx = (ix >= 1) & (ix <= nx); +iny = (iy >= 1) & (iy <= ny); +in = (inx & iny); +ix = ix(in); iy = iy(in); +N = length(ix); % how many datapoints are left now? + +rho = zeros(length(xvec), length(yvec)) + eps; + +for i = 1:N + rho(ix(i), iy(i)) = rho(ix(i), iy(i)) + 1; +end + +rho = rho/(N*dx*dy); % Density is n per dx per dy + +rho = rho'; % Get in shape + +if nargout == 0 + pcolor(xvec, yvec, sqrt(rho)); shading interp; axis image; + colorbar + colormap jet + xlabel(inputname(1)) + ylabel(inputname(2)) + dum = size(rho'); + str = sprintf('%d data points, grid: %dx%d', N, dum(1)-1, dum(2)-1); + title(str); +end + +if nargout > 0 + rrho = rho; +end + +if nargout > 1 + xxvec = xvec; + yyvec = yvec; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/find_edge.m b/SD-VBS/common/toolbox/toolbox_basic/common/find_edge.m new file mode 100755 index 0000000..4299c29 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/find_edge.m @@ -0,0 +1,24 @@ +function [edgemap,mag,th] = find_edge(I,sig,mag_thld) +% +% [edgemap,mag,th] = find_edge(I,sig,mag_thld) +% + +if nargin<2, + sig = 1; +end + +if nargin<3, + mag_thld = 1/30; +end + +I = I/max(I(:)); + +ismax = 1;r = 1; + +[gx,gy] = grad(I,sig); +[th,mag] = cart2pol(gy,gx); + +g = cat(3,gy,gx); +edgemap = nonmaxsup(g,ismax,r); +edgemap = edgemap.*(mag>mag_thld); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/grad.m b/SD-VBS/common/toolbox/toolbox_basic/common/grad.m new file mode 100755 index 0000000..05fce39 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/grad.m @@ -0,0 +1,28 @@ +% gradient of an image +% coordinates (r, c) follow matrix convention; +% the gaussian is truncated at x = +- tail, and there are samples samples +% inbetween, where samples = hsamples * 2 + 1 + +function[gr,gc] = gradient(image, hsamples,cm) + +if nargin <3, + cm = 'same'; +end + +tail=4; +samples = hsamples * 2 + 1; + +x = linspace(-tail, tail, samples); +gauss = exp(-x.^2); +n = gauss * ones(samples,1); +gauss = gauss/n; + +gaussderiv = -x.*gauss; +n = -gaussderiv*linspace(1,samples,samples)'; +gaussderiv = gaussderiv/n; + +%gr = conv2(conv2(image, gaussderiv','valid'), gauss,'valid'); +%gc = conv2(conv2(image, gaussderiv,'valid'), gauss','valid'); + +gr = conv2(conv2(image, gaussderiv',cm), gauss,cm); +gc = conv2(conv2(image, gaussderiv,cm), gauss',cm); diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/make_filterbank_even2.m b/SD-VBS/common/toolbox/toolbox_basic/common/make_filterbank_even2.m new file mode 100755 index 0000000..937f9bd --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/make_filterbank_even2.m @@ -0,0 +1,45 @@ +function FB = make_filterbank(num_ori,filter_scales,wsz,enlong) +% +% F = make_filterbank(num_ori,num_scale,wsz) +% + +if nargin<4, + enlong = 3; +end + +enlong = 2*enlong + +% definine filterbank +%num_ori=6; +%num_scale=3; + +num_scale = length(filter_scales); + +M1=wsz; % size in pixels +M2=M1; + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +FB=zeros(M1,M2,num_ori,num_scale); + +% elongated filter set +counter = 1; + +for m=1:num_scale + for n=1:num_ori + % r=12 here is equivalent to Malik's r=3; + f=doog2(filter_scales(m),enlong,ori_offset+(n-1)*ori_incr,M1); + FB(:,:,n,m)=f; + end +end + +FB=reshape(FB,M1,M2,num_scale*num_ori); +total_num_filt=size(FB,3); + +for j=1:total_num_filt, + F = FB(:,:,j); + a = sum(sum(abs(F))); + FB(:,:,j) = FB(:,:,j)/a; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/make_filterbank_odd2.m b/SD-VBS/common/toolbox/toolbox_basic/common/make_filterbank_odd2.m new file mode 100755 index 0000000..0059dca --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/make_filterbank_odd2.m @@ -0,0 +1,46 @@ +function FB = make_filterbank(num_ori,filter_scales,wsz,enlong) +% +% F = make_filterbank(num_ori,num_scale,wsz) +% + +if nargin<4, + enlong = 3; +end + +enlong = enlong*2; + +% definine filterbank +%num_ori=6; +%num_scale=3; + +num_scale = length(filter_scales); + +M1=wsz; % size in pixels +M2=M1; + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +FB=zeros(M1,M2,num_ori,num_scale); + + +% elongated filter set +counter = 1; + +for m=1:num_scale + for n=1:num_ori + % r=12 here is equivalent to Malik's r=3; + f=doog1(filter_scales(m),enlong,ori_offset+(n-1)*ori_incr,M1); + FB(:,:,n,m)=f; + end +end + +FB=reshape(FB,M1,M2,num_scale*num_ori); +total_num_filt=size(FB,3); + +for j=1:total_num_filt, + F = FB(:,:,j); + a = sum(sum(abs(F))); + FB(:,:,j) = FB(:,:,j)/a; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/max_supress2.m b/SD-VBS/common/toolbox/toolbox_basic/common/max_supress2.m new file mode 100755 index 0000000..05b5f11 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/max_supress2.m @@ -0,0 +1,59 @@ +function NMS = max_supress2(data,ismax); +% +% NMS = max_supress(data,ismax); +% +% data: [nr,nc,nfilter,nscale] +% of filter mag. map +% ismax: 1 local max, 0 local min +% + +[nr,nc,nfilter,nscale] = size(data); + +% set up the orthognal neighbourhood for each oriented filter +if nfilter == 6, + nbr_template=[1 1 1 0 -1 -1 + 0 1 1 1 1 1]; +else + nbr_template=[1 0 ; + 0 1]; +end + +%% for each scale, compute the dominate filter response +canny_dir_I = zeros(nr,nc,nscale); + +for m = 1:nscale, + [max_Ori_resp_I,Ori_sca_I] = max(data(:,:,:,m),[],3); + canny_dir_I(:,:,m) = Ori_sca_I; +end + +max_Ori_resp_small = max_Ori_resp_I(2:end-1,2:end-1); +canny_dir = canny_dir_I(2:end-1,2:end-1); + +%% + +NMS = zeros(nr,nc,nscale); + + +for m = 1:nscale, + + [x,y] = meshgrid(2:nc-1,2:nr-1); + xid = x(:)+nbr_template(2,canny_dir(:))'; + yid = y(:)+nbr_template(1,canny_dir(:))'; + id1 = (xid-1)*nr+yid; + + xid = x(:)-nbr_template(2,canny_dir(:))'; + yid = y(:)-nbr_template(1,canny_dir(:))'; + id2 = (xid-1)*nr+yid; + if ismax, + a = (max_Ori_resp_small(:)>max_Ori_resp_I(id1(:))) .* (max_Ori_resp_small(:)>max_Ori_resp_I(id2(:))); + NMS(2:end-1,2:end-1,m) = reshape(a,nr-2,nc-2); + NMS(:,:,m) = NMS(:,:,m).*max_Ori_resp_I; + else + a = (max_Ori_resp_small(:)0); + rr = wi.*(wi>0)-wr.*(wr<0); + + % decomposition + au = aa + aa'; + ad = aa - aa'; + ru = rr + rr'; + rd = rr - rr'; + + % construct equivalent matrices + x = sum(ru,2); + wr = au - ru + diag(x); + wi = ad + rd; + x = x + sum(au,2); + + % re-organize, add in offset and beta + z(:,j) = x + 2 * offset; + na = na + ( beta * (wr + offset) + sqrt(-1)* (2-beta) * wi ); + +end +z = sum(z,2); % diag(z) = single equivalent D + +% normalize +d = repmat(1./sqrt(z+eps),1,nc); +na = d.*na; +na = na.*d'; + +options.disp = 0; +%options.tol = 1e-10; +%options.maxit = 15; + +[v,s] = eigs(na,nv,sigma,options); +s = real(diag(s)); + +% project back to get the eigenvectors for the pair (a,d) +% a x = lambda d x +% na y = lambda y +% x = d^(-1/2) y + +v = v .* d(:,ones(nv,1)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/nonmaxsup.m b/SD-VBS/common/toolbox/toolbox_basic/common/nonmaxsup.m new file mode 100755 index 0000000..d12301c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/nonmaxsup.m @@ -0,0 +1,81 @@ +% function f = nonmaxsup(g,ismax,r) return extrema boolean map. +% Input: g = image, gradient image pair [x,y], or [x,y,g] in 3D matrix +% ismax (=1)/0 is for non maximum/minimum suppression +% r (=1) is the neighbourhood radius. +% Output: +% f = thinned extrema boolean map, where +% d (||gradient||) / d gradient = 0 + +% Stella X. Yu, 2000. + +function f = nonmaxsup(g,ismax,r) + +if nargin<2, + ismax = 1; +end + +if nargin<3, + r = 1; +end + +i = size(g,3); +if i==3, + x = g(:,:,1); + y = g(:,:,2); + g = g(:,:,3); +elseif i==2, + x = g(:,:,1); + y = g(:,:,2); + g = x.*x + y.*y; +else + [x,y] = gradient(g); +end + +% label angles into 4 directions +a = angle(x - sqrt(-1).*y); % [-pi,pi) +s = ceil((abs(a)+pi/8)./(pi/4)); +s(find(s==5)) = 1; +s(find(isnan(s))) = 1; + +% augment the image +[m,n] = size(g); +newm = m + r + r; +i = [g(:,1);g(:,end);g(1,:)';g(end,:)']; % image boundary +if ismax, + v = min(i) - 1; +else + v = max(i) + 1; +end +i = zeros(newm,r) + v; +j = zeros(r,n) + v; +newg = [i, [j; g; j;], i]; + +% k = index as the interior of the new image +i = [r+1:newm-r]'+ r*newm; +j = [0:n-1].*newm; +k = i(:,ones(1,n)) + j(ones(1,m),:); +k = k(:); + +% unit displacement vectors along gradient directions +d = [newm,newm-1,-1,-1-newm]'; % for 4 directions +d = d(s(:)); + +% non maximum suppression +f = ones(m*n,1); +g = g(:); +newd = 0; + +if ismax, + for i=1:r, + newd = newd + d; + f = f & (g>newg(k+newd)) & (g>newg(k-newd)); + end +else + for i=1:r, + newd = newd + d; + f = f & (g0); +have_value = [ j, 1-j ]; +j = 1; n_filter = have_value(j,:) * [par(j); def_par(j)]; +j = 2; n_scale = have_value(j,:) * [par(j); def_par(j)]; +j = 3; winsz = have_value(j,:) * [par(j); def_par(j)]; +j = 4; enlong = have_value(j,:) * [par(j); def_par(j)]; + +% always make filter size an odd number so that the results will not be skewed +j = winsz/2; +if not(j > fix(j) + 0.1), + winsz = winsz + 1; +end + +% filter the image with quadrature filters +FBo = make_filterbank_odd2(n_filter,n_scale,winsz,enlong); +FBe = make_filterbank_even2(n_filter,n_scale,winsz,enlong); +n = ceil(winsz/2); +f = [fliplr(I(:,2:n+1)), I, fliplr(I(:,c-n:c-1))]; +f = [flipud(f(2:n+1,:)); f; flipud(f(r-n:r-1,:))]; +FIo = fft_filt_2(f,FBo,1); +FIo = FIo(n+[1:r],n+[1:c],:); +FIe = fft_filt_2(f,FBe,1); +FIe = FIe(n+[1:r],n+[1:c],:); + +% compute the orientation energy and recover a smooth edge map +% pick up the maximum energy across scale and orientation +% even filter's output: as it is the second derivative, zero cross localize the edge +% odd filter's output: orientation +mag = sqrt(sum(FIo.^2,3)+sum(FIe.^2,3)); +mag_a = sqrt(FIo.^2+FIe.^2); +[tmp,max_id] = max(mag_a,[],3); +base_size = r * c; +id = [1:base_size]'; +mage = reshape(FIe(id+(max_id(:)-1)*base_size),[r,c]); +mage = (mage>0) - (mage<0); + +ori_incr=pi/n_filter; % to convert jshi's coords to conventional image xy +ori_offset=ori_incr/2; +theta = ori_offset+([1:n_filter]-1)*ori_incr; % orientation detectors +% [gx,gy] are image gradient in image xy coords, winner take all +mago = reshape(FIo(id+(max_id(:)-1)*base_size),[r,c]); +ori = theta(max_id); +ori = ori .* (mago>0) + (ori + pi).*(mago<0); +gy = mag .* cos(ori); +gx = -mag .* sin(ori); +g = cat(3,gx,gy); + +% phase map: edges are where the phase changes +mag_th = max(mag(:)) * threshold; +eg = (mag>mag_th); +h = eg & [(mage(2:r,:) ~= mage(1:r-1,:)); zeros(1,c)]; +v = eg & [(mage(:,2:c) ~= mage(:,1:c-1)), zeros(r,1)]; +[y,x] = find(h | v); +k = y + (x-1) * r; +h = h(k); +v = v(k); +y = y + h * 0.5; % i +x = x + v * 0.5; % j +t = h + v * r; +gx = g(k) + g(k+t); +k = k + (r * c); +gy = g(k) + g(k+t); + +% display +if 1, +%figure; showmask(I,mage<0); +figure(2); clf;showim(I,1); hold on; quiver(x,y,gx,gy); +%figure; showim(-I,1); hold on; quiver(i,j,ex,ey); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/readpcm.m b/SD-VBS/common/toolbox/toolbox_basic/common/readpcm.m new file mode 100755 index 0000000..ca736da --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/readpcm.m @@ -0,0 +1,12 @@ +function I = readpcm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d\n',2); +I = fscanf(fid,'%c',A(2)*A(1)); +I = I'; +I = str2num(I); +I = reshape(I,A(2),A(1))'; + + +fclose(fid); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/readpdm.m b/SD-VBS/common/toolbox/toolbox_basic/common/readpdm.m new file mode 100755 index 0000000..9a1068e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/readpdm.m @@ -0,0 +1,8 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); +I = fscanf(fid,'%d',[A(1),A(2)]); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/readpfm.m b/SD-VBS/common/toolbox/toolbox_basic/common/readpfm.m new file mode 100755 index 0000000..48ecd78 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/readpfm.m @@ -0,0 +1,10 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); +I = fscanf(fid,'%f',[A(1),A(2)]); + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/renormalize.m b/SD-VBS/common/toolbox/toolbox_basic/common/renormalize.m new file mode 100755 index 0000000..5d84724 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/renormalize.m @@ -0,0 +1,32 @@ +function W2 = renormalize(W,nstep) +% +% keep renormalizing until W is almost double +% stocastic +% + +if nargin<2, + nstep = 5; +end + +n_node = size(W,1); + +for j=1:nstep, + fprintf(','); + % normalize row + D = sum(W,2); + D = 1./(D+eps); + W = W.*D(:,ones(1,n_node)); + + % normlize column + D = sum(W,1); + D = 1./(D+eps); + W = W.*D(ones(n_node,1),:); +end +fprintf('\n'); + + D = sum(W,2); + D = 1./(D+eps); + W2 = W.*D(:,ones(1,n_node)); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/show_edge.m b/SD-VBS/common/toolbox/toolbox_basic/common/show_edge.m new file mode 100755 index 0000000..63b2f98 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/show_edge.m @@ -0,0 +1,11 @@ +function [id_i,id_j,ids] = show_edge(I,MI,thI); +% +% show_edge(I,MI,thI); +% + +[id_i,id_j,tmp] = find(MI); +ids = sub2ind(size(I),id_i,id_j); +clf;im(I);colormap(gray);hold on; +quiver(id_j,id_i,-sin(thI(ids)),cos(thI(ids)),0.5);hold off; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/common/spmtimesd.c b/SD-VBS/common/toolbox/toolbox_basic/common/spmtimesd.c new file mode 100755 index 0000000..a98dc0a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/common/spmtimesd.c @@ -0,0 +1,141 @@ +/*================================================================ +* spmtimesd.c +* This routine computes a sparse matrix times a diagonal matrix +* whose diagonal entries are stored in a full vector. +* +* Examples: +* spmtimesd(m,d,[]) = diag(d) * m, +* spmtimesd(m,[],d) = m * diag(d) +* spmtimesd(m,d1,d2) = diag(d1) * m * diag(d2) +* m could be complex, but d is assumed real +* +* Stella X. Yu's first MEX function, Nov 9, 2001. + +% test sequence: + +m = 1000; +n = 2000; +a=sparse(rand(m,n)); +d1 = rand(m,1); +d2 = rand(n,1); +tic; b=spmtimesd(a,d1,d2); toc +tic; bb = spdiags(d1,0,m,m) * a * spdiags(d2,0,n,n); toc +e = (bb-b); +max(abs(e(:))) + +*=================================================================*/ + +# include "mex.h" + +void mexFunction( + int nargout, + mxArray *out[], + int nargin, + const mxArray *in[] +) +{ + /* declare variables */ + int i, j, k, m, n, nzmax, cmplx, xm, yn; + int *pir, *pjc, *qir, *qjc; + double *x, *y, *pr, *pi, *qr, *qi; + + /* check argument */ + if (nargin != 3) { + mexErrMsgTxt("Three input arguments required"); + } + if (nargout>1) { + mexErrMsgTxt("Too many output arguments."); + } + if (!(mxIsSparse(in[0]))) { + mexErrMsgTxt("Input argument #1 must be of type sparse"); + } + if ( mxIsSparse(in[1]) || mxIsSparse(in[2]) ) { + mexErrMsgTxt("Input argument #2 & #3 must be of type full"); + } + + /* computation starts */ + m = mxGetM(in[0]); + n = mxGetN(in[0]); + pr = mxGetPr(in[0]); + pi = mxGetPi(in[0]); + pir = mxGetIr(in[0]); + pjc = mxGetJc(in[0]); + + i = mxGetM(in[1]); + j = mxGetN(in[1]); + xm = ((i>j)? i: j); + + i = mxGetM(in[2]); + j = mxGetN(in[2]); + yn = ((i>j)? i: j); + + if ( xm>0 && xm != m) { + mexErrMsgTxt("Row multiplication dimension mismatch."); + } + if ( yn>0 && yn != n) { + mexErrMsgTxt("Column multiplication dimension mismatch."); + } + + + nzmax = mxGetNzmax(in[0]); + cmplx = (pi==NULL ? 0 : 1); + out[0] = mxCreateSparse(m,n,nzmax,cmplx); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough space for the output matrix."); + } + + qr = mxGetPr(out[0]); + qi = mxGetPi(out[0]); + qir = mxGetIr(out[0]); + qjc = mxGetJc(out[0]); + + /* left multiplication */ + x = mxGetPr(in[1]); + if (yn==0) { + for (j=0; j2 + image(RGB) + axis('image') +%end diff --git a/SD-VBS/common/toolbox/toolbox_basic/disp/showmaskb.m b/SD-VBS/common/toolbox/toolbox_basic/disp/showmaskb.m new file mode 100755 index 0000000..1f67ba2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/disp/showmaskb.m @@ -0,0 +1,20 @@ +function RGB = showmask(V,M,M2,display_flag); +% showmask(V,M); +% +% M is a nonneg. mask + +V=V-min(V(:)); +V=V/max(V(:)); +V=.25+0.75*V; %brighten things up a bit + +M=M-min(M(:)); +M=M/max(M(:)); + +H=0.6*M2+0*M; +S=min(1,M2+M); +RGB=hsv2rgb(H,S,V); + +%if nargin>2 + image(RGB) + axis('image') +%end diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/construct_w.m b/SD-VBS/common/toolbox/toolbox_basic/fact/construct_w.m new file mode 100755 index 0000000..372b4b6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/construct_w.m @@ -0,0 +1,25 @@ +function W = construct_w(centers,Ds,img_center,indexes,frames) +% +% function W = construct_w(centers,Ds,img_center,indexes,frames) +% optional: frames +% + + +points = length(indexes); +if (nargin == 4), + frames = 0.5*size(centers,2); +end + +W = zeros(2*frames,points); + +center_x = img_center(1); +center_y = img_center(2); + +for j=1:frames, + % x is centers(:,2*j-1) + % y is centers(:,2*j) + % d is Ds(:,2*j-1) + W(j,:) = (centers(indexes,2*j-1) -center_x)'./Ds(indexes,2*j-1)'; + W(j+frames,:) = (centers(indexes,2*j) -center_y)'./Ds(indexes,2*j-1)'; + % W(j+2*frames,:) = ones(1,points)./Ds(indexes,2*j-1)'; +end \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/construct_w2.m b/SD-VBS/common/toolbox/toolbox_basic/fact/construct_w2.m new file mode 100755 index 0000000..b2939b7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/construct_w2.m @@ -0,0 +1,25 @@ +function W = construct_w2(centers,Ds,img_center,indexes,frames) +% +% function W = construct_w2(centers,Ds,img_center,indexes,frames) +% optional: frames +% + + +points = length(indexes); +if (nargin == 4), + frames = 0.5*size(centers,2); +end + +W = zeros(3*frames,points); + +center_x = img_center(1); +center_y = img_center(2); + +for j=1:frames, + % x is centers(:,2*j-1) + % y is centers(:,2*j) + % d is Ds(:,2*j-1) + W(j,:) = (centers(indexes,2*j-1) -center_x)'./Ds(indexes,2*j-1)'; + W(j+frames,:) = (centers(indexes,2*j) -center_y)'./Ds(indexes,2*j-1)'; + W(j+2*frames,:) = ones(1,points)./Ds(indexes,2*j-1)'; +end \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/factor.m b/SD-VBS/common/toolbox/toolbox_basic/fact/factor.m new file mode 100755 index 0000000..635c29a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/factor.m @@ -0,0 +1,50 @@ +% +% Usage: +% +% [R,t,S] = factor(W) +% +% Function to factor a matrix of input data (W) into the camera +% rotation matrix (R), translation (t), and the shape matrix (S). +% Three-dimensional version. Failure of normalization results in +% empty R and S. + +function [R,t,S] = factor(W) + +pts = size(W,2); +t = W*ones(pts,1)/pts; +W = W - t*ones(1,pts); + +% Use SVD to factor W. + [a,b,c] = svd(W,0); + +smallb = b(1:3,1:3); % Since W is rank 3, b has only three meaningful values +sqrtb = sqrt(smallb); +Rhat = a(:,1:3) * sqrtb; +Shat = sqrtb * c(:,1:3)'; + +G = findG(Rhat); + +if size(G,1) == 0, +R = []; +S = []; +else + R = Rhat*G; + S = inv(G)*Shat; + + % rotation matrix that aligns the reference frame with the first camera + F = size(R,1)/2; + R1 = R(1,:); + R1 = R1/norm(R1); + R2 = R(F+1,:); + R2 = R2/norm(R2); + R3 = cross(R1,R2); + R3 = R3/norm(R3); + P = [R1; R2; R3]; + P = P'; + + R = R*P; + S = inv(P)*S; +end + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/factor_test.m b/SD-VBS/common/toolbox/toolbox_basic/fact/factor_test.m new file mode 100755 index 0000000..12ceb95 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/factor_test.m @@ -0,0 +1,52 @@ +% +% Usage: +% +% [R,t,S] = factor(W) +% +% Function to factor a matrix of input data (W) into the camera +% rotation matrix (R), translation (t), and the shape matrix (S). +% Three-dimensional version. Failure of normalization results in +% empty R and S. + +function [R,t,S,C,b] = factor(W) + +pts = size(W,2); +t = W*ones(pts,1)/pts; +W = W - t*ones(1,pts); + +% Use SVD to factor W. + [a,b,c] = svd(W,0); + +figure(3);plot(diag(b)) + +smallb = b(1:3,1:3); % Since W is rank 3, b has only three meaningful values +sqrtb = sqrt(smallb); +Rhat = a(:,1:3) * sqrtb; +Shat = sqrtb * c(:,1:3)'; + +[G,C] = findg1(Rhat); + +if size(G,1) == 0, +R = []; +S = []; +else + R = Rhat*G; + S = inv(G)*Shat; + + % rotation matrix that aligns the reference frame with the first camera + F = size(R,1)/2; + R1 = R(1,:); + R1 = R1/norm(R1); + R2 = R(F+1,:); + R2 = R2/norm(R2); + R3 = cross(R1,R2); + R3 = R3/norm(R3); + P = [R1; R2; R3]; + P = P'; + + R = R*P; + S = inv(P)*S; +end + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/factor_test2.m b/SD-VBS/common/toolbox/toolbox_basic/fact/factor_test2.m new file mode 100755 index 0000000..3520122 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/factor_test2.m @@ -0,0 +1,52 @@ +% +% Usage: +% +% [R,t,S] = factor(W) +% +% Function to factor a matrix of input data (W) into the camera +% rotation matrix (R), translation (t), and the shape matrix (S). +% Three-dimensional version. Failure of normalization results in +% empty R and S. + +function [R,t,S,C,b] = factor(W) + +pts = size(W,2); +t = W*ones(pts,1)/pts; +W = W - t*ones(1,pts); + +% Use SVD to factor W. + [a,b,c] = svd(W,0); + +figure(3);plot(diag(b)) + +smallb = b(1:3,1:3); % Since W is rank 3, b has only three meaningful values +sqrtb = sqrt(smallb); +Rhat = a(:,1:3) * sqrtb; +Shat = sqrtb * c(:,1:3)'; + +[G,C] = findg2(Rhat); + +if size(G,1) == 0, +R = []; +S = []; +else + R = Rhat*G; + S = inv(G)*Shat; + + % rotation matrix that aligns the reference frame with the first camera + F = size(R,1)/2; + R1 = R(1,:); + R1 = R1/norm(R1); + R2 = R(F+1,:); + R2 = R2/norm(R2); + R3 = cross(R1,R2); + R3 = R3/norm(R3); + P = [R1; R2; R3]; + P = P'; + + R = R*P; + S = inv(P)*S; +end + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/factorizaion.tar b/SD-VBS/common/toolbox/toolbox_basic/fact/factorizaion.tar new file mode 100755 index 0000000..133cdff Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/fact/factorizaion.tar differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/findG.m b/SD-VBS/common/toolbox/toolbox_basic/fact/findG.m new file mode 100755 index 0000000..9a6bd73 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/findG.m @@ -0,0 +1,48 @@ +function G = find3G(Rhat) + +% number of frames +F = size(Rhat,1)/2; + +% Build matrix Q such that Q * v = [1,...,1,0,...,0] where v is a six +% element vector containg all six distinct elements of the Matrix C + +clear Q +for f = 1:F, + g = f + F; + h = g + F; + Q(f,:) = zt(Rhat(f,:), Rhat(f,:)); + Q(g,:) = zt(Rhat(g,:), Rhat(g,:)); + Q(h,:) = zt(Rhat(f,:), Rhat(g,:)); +end + +% Solve for v +rhs = [ones(2*F,1); zeros(F,1)]; +v = Q \ rhs; + +% C is a symmetric 3x3 matrix such that C = G * transpose(G) +C(1,1) = v(1); +C(1,2) = v(2); +C(1,3) = v(3); +C(2,2) = v(4); +C(2,3) = v(5); +C(3,3) = v(6); +C(2,1) = C(1,2); +C(3,1) = C(1,3); +C(3,2) = C(2,3); + +e = eig(C); +disp(e) + +if (any(e<= 0)), + G = []; +else + G = sqrtm(C); +end + +%neg = 0; +%if e(1) <= 0, neg = 1; end +%if e(2) <= 0, neg = 1; end +%if e(3) <= 0, neg = 1; end +%if neg == 1, G = []; +%else G = sqrtm(C); +%end diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/findg1.m b/SD-VBS/common/toolbox/toolbox_basic/fact/findg1.m new file mode 100755 index 0000000..f14ecc6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/findg1.m @@ -0,0 +1,49 @@ +function [G,C] = find3G(Rhat) + +% number of frames +F = size(Rhat,1)/2; + +% Build matrix Q such that Q * v = [1,...,1,0,...,0] where v is a six +% element vector containg all six distinct elements of the Matrix C + +clear Q +for f = 1:F, + g = f + F; + h = g + F; + Q(f,:) = zt(Rhat(f,:), Rhat(f,:)); + Q(g,:) = zt(Rhat(g,:), Rhat(g,:)); + Q(h,:) = zt(Rhat(f,:), Rhat(g,:)); +end + +% Solve for v +rhs = [ones(2*F,1); zeros(F,1)]; +v = Q \ rhs; + +% C is a symmetric 3x3 matrix such that C = G * transpose(G) +C(1,1) = v(1); +C(1,2) = v(2); +C(1,3) = v(3); +C(2,2) = v(4); +C(2,3) = v(5); +C(3,3) = v(6); +C(2,1) = C(1,2); +C(3,1) = C(1,3); +C(3,2) = C(2,3); + +e = eig(C); +disp(e) + +if (any(e<= 0)), + C = C -2*min(e)*eye(3); + G = sqrtm(C); +else + G = sqrtm(C); +end + +%neg = 0; +%if e(1) <= 0, neg = 1; end +%if e(2) <= 0, neg = 1; end +%if e(3) <= 0, neg = 1; end +%if neg == 1, G = []; +%else G = sqrtm(C); +%end diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/findg2.m b/SD-VBS/common/toolbox/toolbox_basic/fact/findg2.m new file mode 100755 index 0000000..5a84b86 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/findg2.m @@ -0,0 +1,56 @@ +function [G,C] = find3G(Rhat) + +% number of frames +F = size(Rhat,1)/3; + +% Build matrix Q such that Q * v = [1,...,1,0,...,0] where v is a six +% element vector containg all six distinct elements of the Matrix C + +clear Q +for f = 1:F, + g = f + F; + h = g + F; + j = h + F; + k = j + F; + l = k + F; + Q(f,:) = zt(Rhat(f,:), Rhat(f,:)); + Q(g,:) = zt(Rhat(g,:), Rhat(g,:)); + Q(h,:) = zt(Rhat(h,:), Rhat(h,:)); + Q(j,:) = zt(Rhat(f,:), Rhat(g,:)); + Q(k,:) = zt(Rhat(f,:), Rhat(h,:)); + Q(l,:) = zt(Rhat(g,:), Rhat(h,:)); +end + +% Solve for v +rhs = [ones(3*F,1); zeros(3*F,1)]; +v = Q \ rhs; + +% C is a symmetric 3x3 matrix such that C = G * transpose(G) +C(1,1) = v(1); +C(1,2) = v(2); +C(1,3) = v(3); +C(2,2) = v(4); +C(2,3) = v(5); +C(3,3) = v(6); +C(2,1) = C(1,2); +C(3,1) = C(1,3); +C(3,2) = C(2,3); + +e = eig(C); +disp(e) + + +if (any(e<= 0)), + C = C -2*min(e)*eye(3); + G = sqrtm(C); +else + G = sqrtm(C); +end + +%neg = 0; +%if e(1) <= 0, neg = 1; end +%if e(2) <= 0, neg = 1; end +%if e(3) <= 0, neg = 1; end +%if neg == 1, G = []; +%else G = sqrtm(C); +%end diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/hotel.mat b/SD-VBS/common/toolbox/toolbox_basic/fact/hotel.mat new file mode 100755 index 0000000..61ea6c8 Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/fact/hotel.mat differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/show_3dpoints.m b/SD-VBS/common/toolbox/toolbox_basic/fact/show_3dpoints.m new file mode 100755 index 0000000..b6edfd5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/show_3dpoints.m @@ -0,0 +1,22 @@ +function show_3dpoints(S) + + +for j=1:size(S,2), + x = S(1,j); + y = S(2,j); + z = S(3,j); + plot3(x,y,z,'*'); + hold on; + plot3([x,0],[y,0],[z,0],'r'); +% plot3([x,x],[y,y],[z,0],'r'); +% plot3([x,0],[y,y],[z,z],'r'); plot3([x,x],[y,0],[z,z],'r'); + text(x,y,z,int2str(j)) +% plot3(x,y,0,'co'); +end + +grid on +xlabel('x'); +ylabel('y'); +zlabel('z'); + +hold off \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/show_S.m b/SD-VBS/common/toolbox/toolbox_basic/fact/show_S.m new file mode 100755 index 0000000..5828696 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/show_S.m @@ -0,0 +1,17 @@ +function show_S(S,fig) + +if (nargin == 1), + figure(1); +else + figure(fig); +end + +num_points = size(S,2); + +subplot(1,2,1); plot(S(1,:),S(3,:),'cx'); axis('equal');axis('square');hold on +subplot(1,2,2); plot(S(2,:),S(3,:),'cx'); axis('equal');axis('square');hold on + +for j=1:num_points, + subplot(1,2,1);text(S(1,j),S(3,j),int2str(j));hold off + subplot(1,2,2);text(S(2,j),S(3,j),int2str(j));hold off +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/show_t.m b/SD-VBS/common/toolbox/toolbox_basic/fact/show_t.m new file mode 100755 index 0000000..b475c76 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/show_t.m @@ -0,0 +1,10 @@ +function show_t(t) + +frames = 0.5*length(t); + +ts = reshape(t,frames,2); + +plot(ts(:,1),ts(:,2)); +hold on +plot(ts(:,1),ts(:,2),'rx'); +hold off; diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/show_t3.m b/SD-VBS/common/toolbox/toolbox_basic/fact/show_t3.m new file mode 100755 index 0000000..2766061 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/show_t3.m @@ -0,0 +1,10 @@ +function show_t(t) + +frames = length(t)/3; + +ts = reshape(t,frames,3); + +plot3(ts(:,1),ts(:,2),ts(:,3)); +hold on +plot3(ts(:,1),ts(:,2),ts(:,3),'rx'); +hold off; diff --git a/SD-VBS/common/toolbox/toolbox_basic/fact/zt.m b/SD-VBS/common/toolbox/toolbox_basic/fact/zt.m new file mode 100755 index 0000000..3f88d21 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/fact/zt.m @@ -0,0 +1,6 @@ +% the z' operator described in the paper (returns a row vector) + +function v = zt(a, b) + +v = [ a(1)*b(1), a(1)*b(2)+a(2)*b(1), a(1)*b(3)+a(3)*b(1), ... + a(2)*b(2), a(2)*b(3)+a(3)*b(2), a(3)*b(3) ]; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/91048.jpg b/SD-VBS/common/toolbox/toolbox_basic/filter/91048.jpg new file mode 100755 index 0000000..6b2313b Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/filter/91048.jpg differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/bar2d.m b/SD-VBS/common/toolbox/toolbox_basic/filter/bar2d.m new file mode 100755 index 0000000..76fa819 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/bar2d.m @@ -0,0 +1,16 @@ +function kernel = bar2d(sigx,sigy,siz,angle) + +X = -siz:.1:siz; +G = exp(-0.5*X.^2/sigx^2); + +DGG = (1/sigy^2) * ((X/sigy).^2-1) .* exp(- (X/sigy).^2/2); +%DGG = (X.^2/(sqrt(2*pi)*sigy^5) - 1/(sqrt(2*pi)*sigy^2)) .* ... +% exp(-0.5*X.^2/sigy^2); + +K = G'*DGG; +K = rotate_J(angle,K); + +K = imresize(K,0.1); +K = K-mean(mean(K)); + +kernel = K; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/barrot.m b/SD-VBS/common/toolbox/toolbox_basic/filter/barrot.m new file mode 100755 index 0000000..bd7676e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/barrot.m @@ -0,0 +1,22 @@ +img1 = gifread('color010.gif'); +img1 = img1(220:350,1:200); +img2 = gifread('color-avg.gif'); +img2 = img2(220:350,1:200); + +sigx = 3; +sigy = 3; +siz = 8; +angles = 0:19:179; + +[Imag1,Iangle1] = brute_force_angle(img1,sigx,sigy,siz,angles); +[Imag2,Iangle2] = brute_force_angle(img2,sigx,sigy,siz,angles); + +tresh = max(max(Imag1))*0.1 +D = angle_diff(Imag1,Iangle1,Imag2,Iangle2,tresh); +subplot(2,2,1); imagesc(Iangle1*180/pi); colorbar; +subplot(2,2,2); imagesc(Iangle2*180/pi); colorbar; +subplot(2,2,3); imagesc(D*180/pi); colorbar; +subplot(2,2,4); imagesc(Imag1); colorbar; +colormap(jet) + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/bars.m b/SD-VBS/common/toolbox/toolbox_basic/filter/bars.m new file mode 100755 index 0000000..77eccea --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/bars.m @@ -0,0 +1,39 @@ +function [filt] = bars(X,Y,ks); +%FIL1 the first filter to use has the following specifications: +% +% real part: 2nd derivative of gaussian along Y +% normal gaussian along X +% This filter is elongated along the X direction +% imag part: hilbert transform of the real part +% +% [filt] = fil1(X,Y,ks); +% X,Y : index matrix obtained by meshgrid +% ks : kernel size +% filt : the output kernel +% + +%% +%% (c) Thomas Leung +%% California Institute of Technology +%% Feb 27, 1994. +%% + +if(nargin == 2) + ks = 17; +end + +sigmay = 2.4 * ks / 17; +sigmax = 3 * sigmay; + +fxr = exp(-(X/sigmax).^2/2); +fyr = (1/sigmay^2) * ((Y/sigmay).^2-1) .* exp(- (Y/sigmay).^2/2); +nrm = 1/(sigmax*sigmay*2*pi); + +% real part of filter +fr = nrm * fxr .* fyr; + +% imag part of filter +filt = hilbert(fr); + + +return; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/clip_image.m b/SD-VBS/common/toolbox/toolbox_basic/filter/clip_image.m new file mode 100755 index 0000000..bf7b50c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/clip_image.m @@ -0,0 +1,6 @@ +function J = clip_image(I,w) + +[size_y,size_x] = size(I); + +J = I(w+1:size_y-w,w+1:size_x-w); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/compute_J_simple.m b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_J_simple.m new file mode 100755 index 0000000..e790601 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_J_simple.m @@ -0,0 +1,50 @@ +function J = compute_J(I,A,D,base) +%% function J = compute_J(I,A,D) +% + +if nargin == 3, + base = -1; +end + +[size_y,size_x] = size(I); +[center_x,center_y] = find_center(size_x,size_y); + +add_x = round(size_x*0.45); +add_y = round(size_y*0.45); +big_I = base*ones(size_y+2*add_y,size_x+2*add_x); + +big_I(add_y+1:add_y+size_y,add_x+1:add_x+size_x) = I; + +center_x = add_x+ center_x; +center_y = add_y+ center_y; +[size_y,size_x] = size(big_I); + +%a = angle * pi/180; +%A = [cos(a),-sin(a);sin(a),cos(a)]; + +[XX,YY] = meshgrid(1:size_x,1:size_y); + +x = reshape(XX,size_x*size_y,1); +y = reshape(YY,size_x*size_y,1); +index(:,1) = x-center_x; + +%index(:,2) = (size_y+1) - y; +index(:,2) = y-center_y; + +position_new = A*index'; +position_new(1,:) = position_new(1,:)+D(1)+center_x; +position_new(2,:) = position_new(2,:)+D(2)+center_y; +%position_new(2,:) = (size_y+1) - position_new(2,:); + +position_new_x = reshape(position_new(1,:),size_y,size_x); +position_new_y = reshape(position_new(2,:),size_y,size_x); + +J = m_interp4(big_I,position_new_x,position_new_y); + + +[size_y,size_x] = size(I); +J = J(add_y+1:add_y+size_y,add_x+1:add_x+size_x); + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/compute_angle.m b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_angle.m new file mode 100755 index 0000000..7a995af --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_angle.m @@ -0,0 +1,18 @@ +function [angle,mag,c2,c3] = compute_angle(I) + +[g,ga,gb,gc] = compute_g2(I,0); +[h,ha,hb,hc,hd] = compute_h2(I,0); + +c2 = 0.5*(ga.^2 - gc.^2) + 0.46875*(ha.^2 - hd.^2) +... + 0.28125*(hb.^2 - hc.^2) + 0.1875*(ha.*hc - hb.*hd); + +c3 = -ga.*gb - gb.*gc - 0.9375*(hc.*hd + ha.*hb) -... + 1.6875*hb.*hc - 0.1875*ha.*hd; + +[angle,mag] = cart2pol(-c2,-c3); + +%angle = angle/2+pi/2; +%angle = (angle>pi).*(angle-2*pi) + (angle<=pi).*angle; + +angle = angle/2; +mag = sqrt(mag); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/compute_filter_fft.m b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_filter_fft.m new file mode 100755 index 0000000..359c6ba --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_filter_fft.m @@ -0,0 +1,84 @@ +function [filter_output,filters] = compute_filter_fft(I,sig,r,sz,num_ori); +% +% +% + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +as = ori_offset:ori_incr:180+ori_offset-ori_incr; + +filter_output = []; +filters = []; + +wsz = 2*round(sz(end)) + 1; +M1 = wsz;M2 = wsz; + +%%%%% prepare FFT of image %%%%%%%%%%%%% + +[N1,N2]=size(I); +tmp=zeros(size(I)+[M1-1 M2-1]); +tmp(1:N1,1:N2)=I; +IF=fft2(tmp); + + +%%%%%%%%%% filtering stage %%%%%%%%%%% +if size(sig,2)== 1, + + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + + g = g - mean(reshape(g,prod(size(g)),1)); + + g = g/sum(sum(abs(g))); + + filters(:,:,j) = g; + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = IF.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + + filter_output(:,:,j) = Ig; + end +else + + % there are multiple scales + sigs = sig; + szs = sz; + for k = 1:size(sigs,2), + sig = sigs(k); + sz = szs(end); + fprintf('%d',k); + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + g = g - mean(reshape(g,prod(size(g)),1)); + g = g/sum(sum(abs(g))); + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = IF.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + %c = conv2(I,g,'same'); + + filter_output(:,:,j,k) = Ig; + filters(:,:,j,k) = g; + end + + + end + +end + +fprintf('\n'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/compute_g2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_g2.m new file mode 100755 index 0000000..ac27d00 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_g2.m @@ -0,0 +1,23 @@ +function [g,ga,gb,gc] = compute_g2(I,angle) + +if (nargin == 1), + angle = 0; +end + +f1 = [0.0094 0.1148 0.3964 -0.0601 -0.9213 -0.0601 0.3964 0.1148 0.0094]; +f2 = [0.0008 0.0176 0.166 0.6383 1.0 0.6383 0.166 0.0176 0.0008]; +f3 = [-0.0028 -0.048 -0.302 -0.5806 0 0.5806 0.302 0.048 0.0028]; + +%ga = conv2(conv2(I,f2,'same'),f1','same'); +%gb = conv2(conv2(I,f3,'same'),f3','same'); +%gc = conv2(conv2(I,f1,'same'),f2','same'); + +ga = conv2(conv2(I,f1,'same'),f2','same'); +gb = conv2(conv2(I,f3,'same'),f3','same'); +gc = conv2(conv2(I,f2,'same'),f1','same'); + +ka = cos(angle)^2; +kb = -2*cos(angle)*sin(angle); +kc = sin(angle)^2; + +g = ka*ga + kb*gb + kc*gc; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/compute_h2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_h2.m new file mode 100755 index 0000000..e4cdcfb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_h2.m @@ -0,0 +1,27 @@ +function [h,ha,hb,hc,hd] = compute_h2(I,angle) + +if (nargin == 1), + angle = 0; +end + +f1 = [0.0098 0.0618 -0.0998 -0.7551 0 0.7551 0.0998 -0.0618 -0.0098]; +f2 = [ 0.0008 0.0176 0.166 0.6383 1 0.6383 0.166 0.0176 0.0008]; +f3 = -[-0.002 -0.0354 -0.2225 -0.4277 0 0.4277 0.2225 0.0354 0.002]; +f4 = [0.0048 0.0566 0.1695 -0.1889 -0.7349 -0.1889 0.1695 0.0566 0.0048]; + +%ha = conv2(conv2(I,f2,'same'),f1','same'); +%hb = conv2(conv2(I,f3,'same'),f4','same'); +%hc = conv2(conv2(I,f4,'same'),f3','same'); +%hd = conv2(conv2(I,f1,'same'),f2','same'); + +ha = conv2(conv2(I,f1,'same'),f2','same'); +hb = conv2(conv2(I,f4,'same'),f3','same'); +hc = conv2(conv2(I,f3,'same'),f4','same'); +hd = conv2(conv2(I,f2,'same'),f1','same'); + +ka = cos(angle)^3; +kb = -3*cos(angle)^2*sin(angle); +kc = 3*cos(angle)*sin(angle)^2; +kd = -sin(angle)^3; + +h = ka*ha + kb*hb + kc*hc + kd*hd; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/compute_ofilter_fft.m b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_ofilter_fft.m new file mode 100755 index 0000000..41989ed --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/compute_ofilter_fft.m @@ -0,0 +1,88 @@ +function [filter_output,filters] = compute_odd_filter_fft(I,sig,r,sz,num_ori); +% +% computes the filter response of I to the set of odd symmetric filters +% +% sig = scale(sigma) for the filters +% r = enlongation factor +% sz = the radius of the filters +% num_ori = number of orientations +% + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +as = ori_offset:ori_incr:180+ori_offset-ori_incr; + +filter_output = zeros(size(I,1),size(I,2),num_ori,length(sig)); +filters = []; + +wsz = 2*round(sz(end)) + 1; +M1 = wsz;M2 = wsz; + +%%%%% prepare FFT of image %%%%%%%%%%%%% + +[N1,N2]=size(I); +tmp=zeros(size(I)+[M1-1 M2-1]); +tmp(1:N1,1:N2)=I; +IF=fft2(tmp); + + +%%%%%%%%%% filtering stage %%%%%%%%%%% +if size(sig,2)== 1, + + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mk_odd_filter(sig,r,angle,round(sz)); + + g = g - mean(reshape(g,prod(size(g)),1)); + + g = g/sum(sum(abs(g))); + + filters(:,:,j,1) = g; + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = IF.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + + filter_output(:,:,j,1) = Ig; + end +else + + % there are multiple scales + sigs = sig; + szs = sz; + for k = 1:size(sigs,2), + sig = sigs(k); + sz = szs(end); + fprintf('%d',k); + + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mk_odd_filter(sig,r,angle,round(sz)); + g = g - mean(reshape(g,prod(size(g)),1)); + g = g/sum(sum(abs(g))); + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = IF.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + %c = conv2(I,g,'same'); + + filter_output(:,:,j,k) = Ig; + filters(:,:,j,k) = g; + end + end + +end + +fprintf('\n'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/dgauss.m b/SD-VBS/common/toolbox/toolbox_basic/filter/dgauss.m new file mode 100755 index 0000000..207e781 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/dgauss.m @@ -0,0 +1,16 @@ +function dg = dgauss(sig) +% first derivative of N(sig) +% cutoff after 1% of max + + i = 1; + max = 0; + dgi = max; + dg = [dgi]; + while dgi >= 0.01*max + dgi = i / (sqrt(2*pi) * sig^3) * exp(-0.5*i^2/sig^2); + dg = [dgi dg -dgi]; + i = i + 1; + if dgi > max + max = dgi; + end + end; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/dog1.m b/SD-VBS/common/toolbox/toolbox_basic/filter/dog1.m new file mode 100755 index 0000000..e9f64e6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/dog1.m @@ -0,0 +1,28 @@ +function G=dog1(sig,N); +% G=dog1(sig,N); + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +sigi=0.71*sig; +sigo=1.14*sig; +Ci=diag([sigi,sigi]); +Co=diag([sigo,sigo]); + +X=[x(:) y(:)]; + +Ga=gaussian(X,[0 0]',Ci); +Ga=reshape(Ga,N,N); +Gb=gaussian(X,[0 0]',Co); +Gb=reshape(Gb,N,N); + +a=1; +b=-1; + +G = a*Ga + b*Gb; + +G=G-mean(G(:)); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/dog2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/dog2.m new file mode 100755 index 0000000..8446198 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/dog2.m @@ -0,0 +1,31 @@ +function G=dog2(sig,N); +% G=dog2(sig,N); + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +sigi=0.62*sig; +sigo=1.6*sig; +C=diag([sig,sig]); +Ci=diag([sigi,sigi]); +Co=diag([sigo,sigo]); + +X=[x(:) y(:)]; + +Ga=gaussian(X,[0 0]',Ci); +Ga=reshape(Ga,N,N); +Gb=gaussian(X,[0 0]',C); +Gb=reshape(Gb,N,N); +Gc=gaussian(X,[0 0]',Co); +Gc=reshape(Gc,N,N); + +a=-1; +b=2; +c=-1; + +G = a*Ga + b*Gb + c*Gc; + +G=G-mean(G(:)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/doog1.m b/SD-VBS/common/toolbox/toolbox_basic/filter/doog1.m new file mode 100755 index 0000000..dd8e87b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/doog1.m @@ -0,0 +1,32 @@ +function H=doog1(sig,r,th,N); +% H=doog1(sig,r,th,N); + + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +phi=pi*th/180; +sigy=sig; +sigx=r*sig; +R=[cos(phi) -sin(phi); sin(phi) cos(phi)]; +C=R*diag([sigx,sigy])*R'; + +X=[x(:) y(:)]; + +Gb=gaussian(X,[0 0]',C); +Gb=reshape(Gb,N,N); + +m=R*[0 sig]'; + +a=1; +b=-1; + +% make odd-symmetric filter +Ga=gaussian(X,m/2,C); +Ga=reshape(Ga,N,N); +Gb=rot90(Ga,2); +H=a*Ga+b*Gb; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/doog2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/doog2.m new file mode 100755 index 0000000..a0511cb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/doog2.m @@ -0,0 +1,38 @@ +function G=doog2(sig,r,th,N); +% G=doog2(sig,r,th,N); +% Make difference of offset gaussians kernel +% theta is in degrees +% (see Malik & Perona, J. Opt. Soc. Amer., 1990) +% +% Example: +% >> imagesc(doog2(1,12,0,64,1)) +% >> colormap(gray) + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +phi=pi*th/180; +sigy=sig; +sigx=r*sig; +R=[cos(phi) -sin(phi); sin(phi) cos(phi)]; +C=R*diag([sigx,sigy])*R'; + +X=[x(:) y(:)]; + +Gb=gaussian(X,[0 0]',C); +Gb=reshape(Gb,N,N); + +m=R*[0 sig]'; +Ga=gaussian(X,m,C); +Ga=reshape(Ga,N,N); +Gc=rot90(Ga,2); + +a=-1; +b=2; +c=-1; + +G = a*Ga + b*Gb + c*Gc; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/fft_filt.m b/SD-VBS/common/toolbox/toolbox_basic/filter/fft_filt.m new file mode 100755 index 0000000..25fa5f9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/fft_filt.m @@ -0,0 +1,82 @@ +% script for fft-based filtering + +% set up filterbank +make_filterbank + +% prepare FFT of image for filtering +[N1,N2]=size(V); +I=zeros(size(V)+[M1-1 M2-1]); +I(1:N1,1:N2)=V; +IF=fft2(I); +FI=zeros(N1,N2,total_num_filt); + +% apply filters +for n=1:total_num_filt + disp(n) + f=rot90(FB(:,:,n),2); + fF=fft2(f,N1+M1-1,N2+M2-1); + IfF=IF.*fF; + If=real(ifft2(IfF)); + If=If(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + FI(:,:,n)=If; +% im(If) +% drawnow +end + +%%%% end of filtering part; the remainder is for reconstruction & analysis +break + + +% use pseudoinverse to reconstruct image from filter projections +fbv=reshape(FB,M1*M2,total_num_filt)'; +fbi=pinv(fbv); + +% find principal components +T=reshape(FI,N1*N2,total_num_filt)'; +C=T*T'; +[U,S,junk]=svd(C); +s=diag(S); + +% synthesize using some eigenvectors +synth=fbi*U; +k=ceil(sqrt(total_num_filt)); +for n=1:total_num_filt + subplot(k,k,n) + im(reshape(synth(:,n),M1,M2)); + title(num2str(s(n))) + drawnow +end + +% synthesize at a point by clicking on coordinates +figure(1) +im(V) +[x,y]=ginput(1); +x=round(x); +y=round(y); +u=squeeze(FI(y,x,:)); +synth=fbi*u; +synth=reshape(synth,M1,M2); +figure(2) +subplot(1,2,1) +im(V) +axis([x-M2/2 x+M2/2 y-M1/2 y+M1/2]) +subplot(1,2,2) +im(synth) +title(num2str(max(synth(:)))); + +figure(3) +plot(u,'o-') + +% show pseudoinverse filterbank +if 0 +k=ceil(sqrt(total_num_filt)); +for n=1:total_num_filt + subplot(k,k,n) + im(reshape(fbi(:,n),M1,M2)); + axis('off') + drawnow +end +end + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/fft_filt_2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/fft_filt_2.m new file mode 100755 index 0000000..9c84e96 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/fft_filt_2.m @@ -0,0 +1,29 @@ +function FI=fft_filt_2(V,FB,sf); +% FI=fft_filt_2(V,FB,sf); +% fft-based filtering +% requires image to be called "V" +% and filters to be in FB +% sf is the subsampling factor +% +% FI is the result + +[M1,M2,N3]=size(FB); +% prepare FFT of image for filtering +[N1,N2]=size(V); +I=zeros(size(V)+[M1-1 M2-1]); +I(1:N1,1:N2)=V; +N1s=length(1:sf:N1); +N2s=length(1:sf:N2); +IF=fft2(I); +FI=zeros(N1s,N2s,N3); + +% apply filters +for n=1:N3; + f=rot90(FB(:,:,n),2); + fF=fft2(f,N1+M1-1,N2+M2-1); + IfF=IF.*fF; + If=real(ifft2(IfF)); + If=If(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + FI(:,:,n)=If(1:sf:N1,1:sf:N2); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/filter_bank_jshi.tar b/SD-VBS/common/toolbox/toolbox_basic/filter/filter_bank_jshi.tar new file mode 100755 index 0000000..b43b49c Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/filter/filter_bank_jshi.tar differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/gauss.m b/SD-VBS/common/toolbox/toolbox_basic/filter/gauss.m new file mode 100755 index 0000000..f0403ed --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/gauss.m @@ -0,0 +1,16 @@ +function dg = gauss(sig) +% first derivative of N(sig) +% cutoff after 1% of max + + i = 1; + max = 0; + dgi = max; + dg = [1/ (sqrt(2*pi) * sig) ]; + while dgi >= 0.01*max + dgi = 1/ (sqrt(2*pi) * sig) * exp(-0.5*i^2/sig^2); + dg = [dgi dg dgi]; + i = i + 1; + if dgi > max + max = dgi; + end + end; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/gaussian.m b/SD-VBS/common/toolbox/toolbox_basic/filter/gaussian.m new file mode 100755 index 0000000..509b129 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/gaussian.m @@ -0,0 +1,31 @@ +function p=gaussian(x,m,C); +% p=gaussian(x,m,C); +% +% Evaluate the multi-variate density with mean vector m and covariance +% matrix C for the input vector x. +% +% p=gaussian(X,m,C); +% +% Vectorized version: Here X is a matrix of column vectors, and p is +% a vector of probabilities for each vector. + +d=length(m); + +if size(x,1)~=d + x=x'; +end +N=size(x,2); + +detC = det(C); +if rcond(C)threshold); + + + + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/get_diff_free.m b/SD-VBS/common/toolbox/toolbox_basic/filter/get_diff_free.m new file mode 100755 index 0000000..f020fab --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/get_diff_free.m @@ -0,0 +1,8 @@ +function [diff,corr,mag,angle] = get_diff_free(I,J) + +[angle,mag,c2,c3] = compute_angle(I); +[angleJ,magJ] = compute_angle(J); + +corr = cos(angle).*cos(angleJ) + sin(angle).*sin(angleJ); +threshold = 0.075*max(max(mag(5:size(mag,1)-5,5:size(mag,2)-5))); +diff = (abs(corr)<0.9).*(mag>threshold); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/grad1.m b/SD-VBS/common/toolbox/toolbox_basic/filter/grad1.m new file mode 100755 index 0000000..eca34db --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/grad1.m @@ -0,0 +1,11 @@ +function [gx,gy] = grad2(I,ratio) +% +% + +kern = dgauss(ratio);kern = kern/sum(abs(kern)); +gkern = gauss(ratio);gkern = gkern/sum(abs(kern)); + +gx = conv2(I,kern,'same'); +gx = conv2(gx,gkern','same'); + +gy = conv2(conv2(I,kern','same'),gkern,'same'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/grad2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/grad2.m new file mode 100755 index 0000000..ea4ec0e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/grad2.m @@ -0,0 +1,11 @@ +function [gx,gy] = grad2(I,ratio) +% +% + +ddgauss = gradient(dgauss(ratio));ddgauss = ddgauss/sum(abs(ddgauss)); +gkern = gauss(ratio); gkern = gkern/sum(abs(gkern)); + +gx = conv2(I,ddgauss,'same'); +gx = conv2(gx,gkern','same'); + +gy = conv2(conv2(I,ddgauss','same'),gkern,'same'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/m_interp4.m b/SD-VBS/common/toolbox/toolbox_basic/filter/m_interp4.m new file mode 100755 index 0000000..314f140 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/m_interp4.m @@ -0,0 +1,49 @@ +function [F,mask] = m_interp4(z,s,t) +%INTERP4 2-D bilinear data interpolation. +% ZI = INTERP4(Z,XI,YI) assumes X = 1:N and Y = 1:M, where +% [M,N] = SIZE(Z). +% +% Copyright (c) 1984-93 by The MathWorks, Inc. +% Clay M. Thompson 4-26-91, revised 7-3-91, 3-22-93 by CMT. +% +% modified to + + +[nrows,ncols] = size(z); + + +if any(size(z)<[3 3]), error('Z must be at least 3-by-3.'); end +if size(s)~=size(t), error('XI and YI must be the same size.'); end + +% Check for out of range values of s and set to 1 +sout = find((s<1)|(s>ncols)); +if length(sout)>0, s(sout) = ones(size(sout)); end + +% Check for out of range values of t and set to 1 +tout = find((t<1)|(t>nrows)); +if length(tout)>0, t(tout) = ones(size(tout)); end + +% Matrix element indexing +ndx = floor(t)+floor(s-1)*nrows; + +% Compute intepolation parameters, check for boundary value. +d = find(s==ncols); +s(:) = (s - floor(s)); +if length(d)>0, s(d) = s(d)+1; ndx(d) = ndx(d)-nrows; end + +% Compute intepolation parameters, check for boundary value. +d = find(t==nrows); +t(:) = (t - floor(t)); +if length(d)>0, t(d) = t(d)+1; ndx(d) = ndx(d)-1; end +d = []; + +% Now interpolate, reuse u and v to save memory. +F = ( z(ndx).*(1-t) + z(ndx+1).*t ).*(1-s) + ... + ( z(ndx+nrows).*(1-t) + z(ndx+(nrows+1)).*t ).*s; + +mask = ones(size(z)); + +% Now set out of range values to zeros. +if length(sout)>0, F(sout) = zeros(size(sout));mask(sout)=zeros(size(sout));end +if length(tout)>0, F(tout) = zeros(size(tout));mask(tout)=zeros(size(tout));end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank.m b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank.m new file mode 100755 index 0000000..2ff15d2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank.m @@ -0,0 +1,63 @@ +function FB = make_filterbank(num_ori,num_scale,wsz) +% +% F = make_filterbank(num_ori,num_scale,wsz) +% + + +% definine filterbank +%num_ori=6; +%num_scale=3; + +M1=wsz; % size in pixels +M2=M1; + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +FBdoog1=zeros(M1,M2,num_scale,num_ori); +FBdoog2=zeros(M1,M2,num_scale,num_ori); +FBdog1=zeros(M1,M2,num_scale); +FBdog2=zeros(M1,M2,num_scale); + +% elongated filter set +counter = 1; +filter_scale = 1.0; +filter_scale_step = sqrt(2); + +for m=1:num_scale + f=dog1(filter_scale,M1); + FBdog1(:,:,m)=f; + f=dog2(filter_scale,M1); + FBdog2(:,:,m)=f; + counter=counter+1; + for n=1:num_ori + % r=12 here is equivalent to Malik's r=3; + f=doog2(filter_scale,6,ori_offset+(n-1)*ori_incr,M1); + FBdoog2(:,:,m,n)=f; + f=doog1(filter_scale,6,ori_offset+(n-1)*ori_incr,M1); + FBdoog1(:,:,m,n)=f; + end + filter_scale = filter_scale * filter_scale_step; +end + +FB=cat(3,3*FBdog1,4.15*FBdog2,2*reshape(FBdoog1,M1,M2,num_scale*num_ori),2*reshape(FBdoog2,M1,M2,num_scale*num_ori)); +total_num_filt=size(FB,3); + +nb = size(FB,3); +for j=1:nb, + F = FB(:,:,j); + a = sum(sum(abs(F))); + FB(:,:,j) = FB(:,:,j)/a; +end + + +if 0 +k=ceil(sqrt(total_num_filt)); +for n=1:total_num_filt + subplot(k,k,n) + im(FB(:,:,n)); + axis('off') + drawnow +end +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_23.m b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_23.m new file mode 100755 index 0000000..f9fcaa9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_23.m @@ -0,0 +1,40 @@ +function [FB,M1,M2,N3]=make_filterbank_23; +% multi-scale even and odd filters + +M1=31; % size in pixels +M2=M1; +num_ori=6; +num_scales=3; +num_phases=2; +N3=num_ori*num_scales*num_phases; +FB=zeros(M1,M2,N3); + +counter=1; + +for m=1:num_scales + for n=1:num_ori + [F1,F2]=quadpair(sqrt(2)^m,3,180*(n-1)/num_ori,M1); + FB(:,:,counter)=F1; + counter=counter+1; + FB(:,:,counter)=F2; + counter=counter+1; + end +end + +FB=cat(3,FB,dog2(1,M1),dog2(sqrt(2),M1),dog2(2,M1),dog2(2*sqrt(2),M1)); + +N3=size(FB,3); + +% stuff for visualizing spectra of filters: +if 0 +FBF=zeros(size(FB)); + +for n=1:36 + FBF(:,:,n)=abs(fftshift(fft2(FB(:,:,n)))); +end + +montage2(FBF) + +im(sum(FBF,3)) + +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_even.m b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_even.m new file mode 100755 index 0000000..8c8d802 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_even.m @@ -0,0 +1,40 @@ +function FB = make_filterbank(num_ori,filter_scales,wsz) +% +% F = make_filterbank(num_ori,num_scale,wsz) +% + + +% definine filterbank +%num_ori=6; +%num_scale=3; + +num_scale = length(filter_scales); + +M1=wsz; % size in pixels +M2=M1; + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +FB=zeros(M1,M2,num_ori,num_scale); + +% elongated filter set +counter = 1; + +for m=1:num_scale + for n=1:num_ori + % r=12 here is equivalent to Malik's r=3; + f=doog2(filter_scales(m),6,ori_offset+(n-1)*ori_incr,M1); + FB(:,:,n,m)=f; + end +end + +FB=reshape(FB,M1,M2,num_scale*num_ori); +total_num_filt=size(FB,3); + +for j=1:total_num_filt, + F = FB(:,:,j); + a = sum(sum(abs(F))); + FB(:,:,j) = FB(:,:,j)/a; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_odd.m b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_odd.m new file mode 100755 index 0000000..8103598 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/make_filterbank_odd.m @@ -0,0 +1,41 @@ +function FB = make_filterbank(num_ori,filter_scales,wsz) +% +% F = make_filterbank(num_ori,num_scale,wsz) +% + + +% definine filterbank +%num_ori=6; +%num_scale=3; + +num_scale = length(filter_scales); + +M1=wsz; % size in pixels +M2=M1; + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +FB=zeros(M1,M2,num_ori,num_scale); + + +% elongated filter set +counter = 1; + +for m=1:num_scale + for n=1:num_ori + % r=12 here is equivalent to Malik's r=3; + f=doog1(filter_scales(m),6,ori_offset+(n-1)*ori_incr,M1); + FB(:,:,n,m)=f; + end +end + +FB=reshape(FB,M1,M2,num_scale*num_ori); +total_num_filt=size(FB,3); + +for j=1:total_num_filt, + F = FB(:,:,j); + a = sum(sum(abs(F))); + FB(:,:,j) = FB(:,:,j)/a; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mdoog2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mdoog2.m new file mode 100755 index 0000000..25bc2f9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mdoog2.m @@ -0,0 +1,36 @@ +function G=doog2(sig,r,th,N); +% [G,H]=doog2(sig,r,th,N); +% Make difference of offset gaussians kernel +% theta is in degrees +% (see Malik & Perona, J. Opt. Soc. Amer., 1990) +% + + +[x,y]=meshgrid(-N:N,-N:N); + +a=-1; +b=2; +c=-1; + +ya=sig; +yc=-ya; +yb=0; +sigy=sig; +sigx=r*sig; + +Ga=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-ya)/sigy).^2)); +Gb=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-yb)/sigy).^2)); +Gc=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-yc)/sigy).^2)); + +Go = a*Ga + b*Gb + c*Gc; +%Ho = imag(hilbert(Go)); +G = Go; + +G = mimrotate(Go,th,'bilinear','crop'); + +G = G-mean(reshape(G,prod(size(G)),1)); + +G = G/sum(sum(abs(G))); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mimrotate.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mimrotate.m new file mode 100755 index 0000000..7dd31a2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mimrotate.m @@ -0,0 +1,119 @@ +function bout = imrotate(arg1,arg2,arg3,arg4) +%IMROTATE Rotate image. +% B = IMROTATE(A,ANGLE,'method') rotates the image A by ANGLE +% degrees. The image returned B will, in general, be larger +% than A. Invalid values on the periphery are set to one +% for indexed images or zero for all other image types. Possible +% interpolation methods are 'nearest','bilinear' or 'bicubic'. +% 'bilinear' is the default for intensity images, otherwise +% 'nearest' is used if no method is given. +% +% B = IMROTATE(A,ANGLE,'crop') or IMROTATE(A,ANGLE,'method','crop') +% crops B to be the same size as A. +% +% Without output arguments, IMROTATE(...) displays the rotated +% image in the current axis. +% +% See also IMRESIZE, IMCROP, ROT90. + +% Clay M. Thompson 8-4-92 +% Copyright (c) 1992 by The MathWorks, Inc. +% $Revision: 1.14 $ $Date: 1993/09/01 21:27:38 $ + +if nargin<2, error('Requires at least two input parameters.'); end +if nargin<3, + if isgray(arg1), caseid = 'bil'; else caseid = 'nea'; end + docrop = 0; +elseif nargin==3, + if isstr(arg3), + method = [lower(arg3),' ']; % Protect against short method + caseid = method(1:3); + if caseid(1)=='c', % Crop string + if isgray(arg1), caseid = 'bil'; else caseid = 'nea'; end + docrop = 1; + else + docrop = 0; + end + else + error('''METHOD'' must be a string of at least three characters.'); + end +else + if isstr(arg3), + method = [lower(arg3),' ']; % Protect against short method + caseid = method(1:3); + else + error('''METHOD'' must be a string of at least three characters.'); + end + docrop = 1; +end + +% Catch and speed up 90 degree rotations +if rem(arg2,90)==0 & nargin<4, + phi = rem(arg2,360); + if phi==90, + b = rot90(arg1); + elseif phi==180, + b = rot90(arg1,2); + elseif phi==270, + b = rot90(arg1,-1); + else + b = arg1; + end + if nargout==0, imshow(b), else bout = b; end + return +end + +phi = arg2*pi/180; % Convert to radians + +% Rotation matrix +T = [cos(phi) -sin(phi); sin(phi) cos(phi)]; + +% Coordinates from center of A +[m,n] = size(arg1); +if ~docrop, % Determine limits for rotated image + siz = ceil(max(abs([(n-1)/2 -(m-1)/2;(n-1)/2 (m-1)/2]*T))/2)*2; + uu = -siz(1):siz(1); vv = -siz(2):siz(2); +else % Cropped image + uu = (1:n)-(n+1)/2; vv = (1:m)-(m+1)/2; +end +nu = length(uu); nv = length(vv); + +blk = bestblk([nv nu]); +nblks = floor([nv nu]./blk); nrem = [nv nu] - nblks.*blk; +mblocks = nblks(1); nblocks = nblks(2); +mb = blk(1); nb = blk(2); + +rows = 1:blk(1); b = zeros(nv,nu); +for i=0:mblocks, + if i==mblocks, rows = (1:nrem(1)); end + for j=0:nblocks, + if j==0, cols = 1:blk(2); elseif j==nblocks, cols=(1:nrem(2)); end + if ~isempty(rows) & ~isempty(cols) + [u,v] = meshgrid(uu(j*nb+cols),vv(i*mb+rows)); + % Rotate points + uv = [u(:) v(:)]*T'; % Rotate points + u(:) = uv(:,1)+(n+1)/2; v(:) = uv(:,2)+(m+1)/2; + if caseid(1)=='n', % Nearest neighbor interpolation + b(i*mb+rows,j*nb+cols) = interp6(arg1,u,v); + elseif all(caseid=='bil'), % Bilinear interpolation + b(i*mb+rows,j*nb+cols) = interp2(arg1,u,v,'linear'); + elseif all(caseid=='bic'), % Bicubic interpolation + b(i*mb+rows,j*nb+cols) = interp5(arg1,u,v); + else + error(['Unknown interpolation method: ',method]); + end + end + end +end + +d = find(isnan(b)); +if length(d)>0, + if isind(arg1), b(d) = ones(size(d)); else b(d) = zeros(size(d)); end +end + +if nargout==0, + imshow(b), return +end +bout = b; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mk_odd_filter.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mk_odd_filter.m new file mode 100755 index 0000000..43ec7d7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mk_odd_filter.m @@ -0,0 +1,36 @@ +function G=doog2(sig,r,th,N); +% [G,H]=doog2(sig,r,th,N); +% Make difference of offset gaussians kernel +% theta is in degrees +% (see Malik & Perona, J. Opt. Soc. Amer., 1990) +% + + +[x,y]=meshgrid(-N:N,-N:N); + +a=-1; +b=2; +c=-1; + +ya=sig; +yc=-ya; +yb=0; +sigy=sig; +sigx=r*sig; + +Ga=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-ya)/sigy).^2)); +Gb=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-yb)/sigy).^2)); +Gc=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-yc)/sigy).^2)); + +Go = a*Ga + b*Gb + c*Gc; +Ho = imag(hilbert(Go)); +%G = Ho; + +G = mimrotate(Ho,th,'bilinear','crop'); + +G = G-mean(reshape(G,prod(size(G)),1)); + +G = G/sum(sum(abs(G))); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mkdog1.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdog1.m new file mode 100755 index 0000000..f1225cc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdog1.m @@ -0,0 +1,20 @@ +function dog1 = mkdog1(sigma_base,size_w) +% +% function dog1 = mkdog1(sigma_base,size_w) +% +% + +%scale_base = 1; +scale_base = 3; + +a = scale_base; +c = -1*scale_base; + +sigma_a = 0.71*sigma_base; +sigma_c = 1.14*sigma_base; + +dog1 = a*mkg(0,0,sigma_a,sigma_a,size_w) +... + c*mkg(0,0,sigma_c,sigma_c,size_w); + +dog1 = dog1-mean(reshape(dog1,prod(size(dog1)),1)); +dog1 = dog1/sum(sum(abs(dog1))); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mkdog2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdog2.m new file mode 100755 index 0000000..a78824a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdog2.m @@ -0,0 +1,22 @@ +function dog2 = mkdog2(sigma_base,size_w) +% +% function dog2 = mkdog2(sigma_base,size_w) +% +% + +%scale_base = 1.224; +scale_base = 4.15; + +a = scale_base; +b = -2*scale_base; +c = scale_base; + +sigma_a = 0.62*sigma_base; +sigma_b = sigma_base; +sigma_c = 1.6*sigma_base; + +dog2 = a*mkg(0,0,sigma_a,sigma_a,size_w) +... + b*mkg(0,0,sigma_b,sigma_b,size_w) +... + c*mkg(0,0,sigma_c,sigma_c,size_w); + +%dog2 = 255*5.1745*dog2; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mkdoog2.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdoog2.m new file mode 100755 index 0000000..5db2877 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdoog2.m @@ -0,0 +1,30 @@ +function doog2 = mkdoog2(sigma_w,r,theta,size_w) +% +% function doog2 = mkdoog2(sigma_w,r,theta,size_w) +% +% + +%scale_base = 2.8814; +scale_base = 2; + +a = -1*scale_base; +b = 2*scale_base; +c = -1*scale_base; + +sigma_x = r*sigma_w; +sigma_y = sigma_w; + +ya = sigma_w; +yc = -sigma_w; +yb = 0; + +doog2 = a*mkg(0,ya,sigma_x,sigma_y,size_w) +... + b*mkg(0,yb,sigma_x,sigma_y,size_w) +... + c*mkg(0,yc,sigma_x,sigma_y,size_w); + +%doog2 = 255*5.1745*doog2; + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mkdoogs.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdoogs.m new file mode 100755 index 0000000..e5796bc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mkdoogs.m @@ -0,0 +1,15 @@ +function [doogs,index] = mkdoogs(sigma_w,r,theta,theta_to,size_w) +% function doogs = mkdoogs(sigma_w,r,theta,theta_to,size_w) +% + +doogs = []; + +angle_start = theta*pi/180; +angle_end = theta_to*pi/180; +step = pi/180; + +index = 1; +for k=angle_start:step:angle_end, + doogs = [doogs,mkdoog2(sigma_w,r,k,size_w)]; + index = index +1; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/mkg.m b/SD-VBS/common/toolbox/toolbox_basic/filter/mkg.m new file mode 100755 index 0000000..1fb1f7e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/mkg.m @@ -0,0 +1,9 @@ +function g= mkgaussian(xo,yo,sigma_x,sigma_y,size_w) +% +% function G = mkgaussian(xo,yo,sigma_x,sigma_y,size_w) +% + +size_wh = round(0.5*size_w); +[x,y] = meshgrid([-size_wh:1:size_wh],[-size_wh:1:size_wh]); +g = 1/(2*pi*sigma_x*sigma_y)*(exp(-( ((x-xo)/sigma_x).^2 + ((y-yo)/sigma_y).^2))); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/quadpair.m b/SD-VBS/common/toolbox/toolbox_basic/filter/quadpair.m new file mode 100755 index 0000000..96c2a22 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/quadpair.m @@ -0,0 +1,20 @@ +function [F1,F2]=quadpair(sig,lam,th,N); +% [F1,F2]=quadpair(sig,lam,th,N); +% +% For Thomas' ECCV98 filters, use sig=sqrt(2), lam=4. + +%N=31; +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + + +F1=(4*(y.^2)/(sig^4)-2/(sig^2)).*exp(-(y.^2)/(sig^2)-(x.^2)/(lam^2*sig^2)); +F2=imag(hilbert(F1)); + +F1=imrotate(F1,th,'bil','crop'); +F2=imrotate(F2,th,'bil','crop'); + +F1=F1-mean(F1(:)); +F2=F2-mean(F2(:)); + +F1=F1/norm(F1(:),1); +F2=F2/norm(F2(:),1); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/smooth.m b/SD-VBS/common/toolbox/toolbox_basic/filter/smooth.m new file mode 100755 index 0000000..5ef7579 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/smooth.m @@ -0,0 +1,24 @@ +% smooth an image +% coordinates (r, c) follow matrix convention; +% the gaussian is truncated at x = +- tail, and there are samples samples +% inbetween, where samples = hsamples * 2 + 1 + +function g = smooth(image, hsamples) + +tail=4; +samples = hsamples * 2 + 1; + +x = linspace(-tail, tail, samples); +gauss = exp(-x.^2); +%s = sum(gauss)/length(x);gauss = gauss-s; +gauss = gauss/sum(abs(gauss)); + +n = gauss * ones(samples,1); +gauss = gauss/n; + + +g = conv2(conv2(image, gauss,'same'), gauss','same'); +%g = conv2(conv2(image, gauss,'valid'), gauss','valid'); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter/softkmean.m b/SD-VBS/common/toolbox/toolbox_basic/filter/softkmean.m new file mode 100755 index 0000000..b9b4feb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter/softkmean.m @@ -0,0 +1,56 @@ +function [cluster,var,mix,membership,lG] = softkmeans(data,k,cluster0) + +[n,D] = size(data); +var = 1.0; +var0 = ones(k,1)*var; minvar = 0.0001; +mix0 = ones(k,1)/k; minmix = 0.0001; + +k = size(var0,1); +[n,D] = size(data); + +lGG = []; +ma = -1e20; +in = 0; + +if (nargin == 2), + max_data = max(data); + min_data = min(data); + %step = (max_data-min_data)/(k+1); + %cluster0 = [1:k]'*step+min_data; + mag = ones(k,1)*(max_data-min_data); + base = ones(k,1)*min_data; + cluster0 = rand(k,D).*mag + base; +end + +%cluster0 +for t = 1:3, + %rndindx = round(rand(1,k)*(n-3))+2; + %cluster0 = (data(rndindx,:)+data(rndindx+1,:)+data(rndindx-1,:))/2; + [cluster,var,mix,membership,lG] = softmeans(cluster0,var0,minvar,mix0,minmix,data); + eval(sprintf('mix_var_cluster_%d = [mix,var,cluster];',t)); + eval(sprintf('lG_%d = lG;',t)); + if ma 1, Hj = sum(Hj')'; end + H(:,j) = exp(Hj /(-2*var_p(j)))/(sqrt(var_p(j))^D); + end + H = H.*(ones(n,1)*mix_p'); + new_lg = sum(log(sum(H')/(sqrt(2*pi)^D))); + lG = [lG, new_lg]; + if new_lg == old_lg, break; end; old_lg = new_lg; + H = H./(sum(H')'*ones(1,k)); % normalize + + % M-Step: + + if minmix > 0, + mix_p = sum(H); mix_p = mix_p/sum(mix_p); mix_p = mix_p'; + for j = 1:k, if mix_p(j) 0, + for j = 1:k, + varj = (data-(ones(n,1)*cluster_p(j,:))).^2; + if D > 1, varj = sum(varj')'; end + var_p(j) = sum(H(:,j).*varj)/(D*sum(H(:,j))); + if var_p(j)'); +end + +fprintf('\n'); + +s = 1./sqrt(d); + +for j=1:nv, + v(:,j) = v(:,j)*s(j); +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/backproj_outer_chank2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/backproj_outer_chank2.m new file mode 100755 index 0000000..084c150 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/backproj_outer_chank2.m @@ -0,0 +1,36 @@ +function v = backproj_outer_chank(fvs,u,d,chank_size) +% +% given the eigenvecs of the hist.bin. features +% computes the back projection on the eigenvects +% + +[nv,np] = size(fvs); +[nbins,nv] = size(u); + +n_chanks = ceil(np/chank_size); + +v = ones(np,nv); + +for j=1:n_chanks, + fprintf('<'); + + cm = sprintf('load st_%d',j); + eval(cm); + fprintf(sprintf('%d',n_chanks-j)); + + ms = mean(fh'); + fh = fh - ms'*ones(1,size(fh,2)); + + v((j-1)*chank_size+1:min(np,j*chank_size),:) = fh'*u; + fprintf('>'); +end + +fprintf('\n'); + +s = 1./sqrt(d); + +for j=1:nv, + v(:,j) = v(:,j)*s(j); +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binize.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binize.m new file mode 100755 index 0000000..d166cd5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binize.m @@ -0,0 +1,15 @@ +function [binv,bins] = binize(data,sig,bin_min,bin_max,num_bin) +% +% given an input data, and sigma which describes the uncertainty +% of the data, along with information on the bins, +% return the soft-hist on data +% + +ndata = length(data); + +bins = linspace(bin_min,bin_max,num_bin+1); +binv = zeros(num_bin,ndata); + +for j=1:num_bin, + binv(j,:) = erf((bins(j+1)-data)/sig) - erf((bins(j)-data)/sig); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binize_old.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binize_old.m new file mode 100755 index 0000000..d56d263 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binize_old.m @@ -0,0 +1,34 @@ +function [binv,bins] = binize(data,sig,bin_min,bin_max,num_bin) +% +% given an input data, and sigma which describes the uncertainty +% of the data, along with information on the bins, +% return the soft-hist on data +% + +ndata = length(data); + +if 0, +bins = linspace(bin_min,bin_max,num_bin); +binv = zeros(num_bin,ndata); + +Largev = 1000; + +bins = [-Largev,bins]; + +for j=1:num_bin, + binv(j,:) = erf((bins(j+1)-data)/sig) - erf((bins(j)-data)/sig); +end + +binv(num_bin,:) = binv(num_bin,:) + erf((Largev-data)/sig) - erf((bins(end)-data)/sig); +bins = bins(2:end); +else + +bins = linspace(bin_min,bin_max,num_bin+1); +binv = zeros(num_bin,ndata); + + +for j=1:num_bin, + binv(j,:) = erf((bins(j+1)-data)/sig) - erf((bins(j)-data)/sig); +end + +end \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binomialfield.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binomialfield.m new file mode 100755 index 0000000..d83d96d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/binomialfield.m @@ -0,0 +1,75 @@ +function [x,y,success] = BinomialField(n,sx,sy,ir,numtri); +%BF_HardCore Generates a hard core binomial field +% [x,y,success] = BinomialField(n,sx,sy,ir); +% n : # points (default 100) +% sx : size in x (default 100) +% sy : size in y (default 100) +% ir : inhibition radius (default 0) +% numtri : number of trials (default 200) +% x : x coordinates +% y : y coordinates +% success: whether success or not, useful when producing hard core model + +%% +%% (C) Thomas K. Leung +%% University of California at Berkeley +%% April 26, 1995. +%% leungt@cajal.cs.berkeley.edu +%% + +%% +%% Generate n points first and then reject those closer to the +%% previous points than ir +%% + +if nargin < 1 + n = 100; + sx = 100; + sy = 100; + ir = 0; + numtri = 200; +elseif (nargin == 1 | nargin == 2) + sx = 100; + sy = 100; + ir = 0; + numtri = 200; +elseif (nargin == 3) + ir = 0; + numtri = 200; +elseif (nargin == 4) + numtri = 200; +end + +x = zeros(1,n); +y = zeros(1,n); + +rand('seed',sum(100*clock)); +x(1) = rand(1) * sx; +y(1) = rand(1) * sy; + +success = 1; + +I = 2; +trial = 0; +while (I <= n & trial < numtri) + found = 0; + trial = 0; + while (~found & trial < numtri); + tx = rand(1) * sx; + ty = rand(1) * sy; + D = (x(1:(I-1)) - tx).^2 + (y(1:(I-1)) - ty).^2; + if sum(D > (ir^2)) == (I-1) + found = 1; + x(I) = tx; + y(I) = ty; + end + trial = trial + 1; + end + I = I + 1; +end + +if trial >= numtri + fprintf(1,'Failed to generate a point in %d trials\n',numtri); + success = 0; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize.m new file mode 100755 index 0000000..b03616f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize.m @@ -0,0 +1,9 @@ +function t1a = colize(t1,I1); + +t1a = t1; + +t1a = reshape(t1a,size(t1,1)*size(t1,2),1,size(t1,3)); +t1a = squeeze(t1a); +t1a = t1a'; + +%I1a = 2*I1(:)';I1a = I1a-mean(I1a(:));t1a = [I1a;t1a]; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_hist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_hist.m new file mode 100755 index 0000000..9c7b68e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_hist.m @@ -0,0 +1,29 @@ +function fh = colize_hist(fv,hb) +% (hb = sigs,bin_mins,bin_maxs,nbins) +% +% fv = [nfeature x npoints]; +% fh = [nfeatures*nbins x npoints]; +% +% take a feature matrix, and turn it into histogram bin feature matrix +% +% + +[nf,np] = size(fv); + +nbins = [0,hb.nbins]; +disp(sprintf('need matrix of %d x %d ',sum(nbins),np)); + +fh = zeros(sum(nbins),np); + +for k=1:nf, + bin_min = hb.bmins(k); + bin_max = hb.bmaxs(k); + nbin = nbins(k+1); + sig = hb.sigs(k); + fprintf('.'); + b = binize(fv(k,:),sig,bin_min,bin_max,nbin); + fh(sum(nbins(1:k))+1:sum(nbins(1:k+1)),:) = b; + +end + +fprintf('\n'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histnb_s.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histnb_s.m new file mode 100755 index 0000000..61c81ca --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histnb_s.m @@ -0,0 +1,47 @@ +function fhs = colize_histnb_s(fh,Is,nw,hw) +% +% fhs = colize_histneigh(fh,fvs,nw) +% +% + +[tnbins,np] = size(fh); + +[nr,nc] = size(Is); + +st_sz = 2*hw + 1; + +nr_chank = floor(nr/st_sz); +nc_chank = floor(nc/st_sz); + +fhs = zeros(size(fh,1),nr_chank*nc_chank); + +idx = 0; +for k=1+hw:st_sz:nc-hw, + + fprintf('.'); + sk = max(1,k-nw); + ek = min(nc,k+nw); + + + % for each column, + for j=1+hw:st_sz:nr-hw, + sj = max(1,j-nw); + ej = min(nr,j+nw); + + id = j+(k-1)*nr; + idx = idx+1; + for li=sj:ej, + for lj=sk:ek, + idn = li+(lj-1)*nr; + + fhs(:,idx) = fhs(:,idx) + fh(:,idn); + + end + end + end +end + +fprintf('\n'); + + + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histnb_sf.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histnb_sf.m new file mode 100755 index 0000000..d0d60f9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histnb_sf.m @@ -0,0 +1,52 @@ +function fhs = colize_histnb_s(fvs,Is,hb,nw,hw) +% +% fhs = colize_histneigh(fvs,Is,hb,nw,hw) +% +% + +[nf,np] = size(fvs); + +[nr,nc] = size(Is); + +st_sz = 2*hw + 1; + +nr_chank = floor(nr/st_sz); +nc_chank = floor(nc/st_sz); + +tnbins = prod(hb.nbins(1:nf)); +disp(sprintf('allocat memory for %d x %d',tnbins,nr_chank*nc_chank)); + +fhs = zeros(tnbins,nr_chank*nc_chank); + +idx = 0; +for k=1+hw:st_sz:nc-hw, + + fprintf(','); + sk = max(1,k-nw); + ek = min(nc,k+nw); + + + % for each column, + for j=1+hw:st_sz:nr-hw, + sj = max(1,j-nw); + ej = min(nr,j+nw); + + id = j+(k-1)*nr; + idx = idx+1; + + %% find idx for the neighboring points + lis = [sj:ej]'*ones(1,ek-sk+1); + ljs = ones(ej-sj+1,1)*[sk:ek]; + idns = lis+(ljs-1)*nr; + + fh = colize_joint_hist(fvs(:,idns(:)),hb); + + fhs(:,idx) = sum(fh')'; + + end +end + +fprintf('\n'); + + + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histneighb.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histneighb.m new file mode 100755 index 0000000..6189cab --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_histneighb.m @@ -0,0 +1,37 @@ +function fhs = colize_histneigh(fh,Is,nw) +% +% fhs = colize_histneigh(fh,fvs,nw) +% +% + +[tnbins,np] = size(fh); + +[nr,nc] = size(Is); + +fhs = zeros(size(fh)); + +for j=1:nr, + fprintf('.'); + sj = max(1,j-nw); + ej = min(nr,j+nw); + + % for each column, + for k=1:nc, + sk = max(1,k-nw); + ek = min(nc,k+nw); + + id = j+(k-1)*nr; + + for li=sj:ej, + for lj=sk:ek, + idn = li+(lj-1)*nr; + + fhs(:,id) = fhs(:,id) + fh(:,idn); + end + end + end +end +fprintf('\n'); + + + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_joint_hist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_joint_hist.m new file mode 100755 index 0000000..e7844d8 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_joint_hist.m @@ -0,0 +1,41 @@ +function fh = colize_joint_hist(fv,hb) +% (hb = sigs,bin_mins,bin_maxs,nbins) +% +% take which histogram value and turn it into histogram bin +% + + + [nf,np] = size(fv); + + nbins = [0,hb.nbins]; + %disp(sprintf('need matrix of %d x %d ',prod(hb.nbins),np)); + + fh = zeros(hb.nbins(1),hb.nbins(2),np); + + k=1; + bin_min = hb.bmins(k); + bin_max = hb.bmaxs(k); + nbin = nbins(k+1); + sig = hb.sigs(k); + %fprintf('.'); + + b1 = binize(fv(k,:),sig,bin_min,bin_max,nbin); + k=2; + bin_min = hb.bmins(k); + bin_max = hb.bmaxs(k); + nbin = nbins(k+1); + sig = hb.sigs(k); + %fprintf('.'); + + b2 = binize(fv(k,:),sig,bin_min,bin_max,nbin); + + + for k=1:hb.nbins(1), + for j=1:hb.nbins(2), + fh(k,j,:) = b1(k,:).*b2(j,:); + end + end + +%fprintf('\n'); + +fh = reshape(fh,hb.nbins(1)*hb.nbins(2),np); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_test.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_test.m new file mode 100755 index 0000000..a9135cc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/colize_test.m @@ -0,0 +1,19 @@ +function t1a = colize(t1,I1); + +if 1, +t1a = t1; +%t1a = 1.2*half_sigmoid(t1,0.3,0.1);; +t1a = reshape(t1a,size(t1,1)*size(t1,2),1,size(t1,3)); +t1a = squeeze(t1a); +t1a = t1a'; + +%I1a = I1(:)';I1a = I1a-mean(I1a(:));t1a = [I1a;t1a]; + +else + mask = t1>=0; + t1a = abs(t1); + t1a = 0.5-t1a; + t1a = reshape(t1a,size(t1,1)*size(t1,2),1,size(t1,3)); + t1a = squeeze(t1a); + t1a = t1a'; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compact.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compact.m new file mode 100755 index 0000000..9863e0f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compact.m @@ -0,0 +1,36 @@ +function I = compact(img,ws) + + +%ws = 2*hws+1; + +[sy,sx] = size(img); + +rem_x = rem(sx,ws); +rem_y = rem(sy,ws); + +fix_x = ceil(sx/ws); +fix_y = ceil(sy/ws); + +fprintf('nr = %d, nc = %d\n',fix_y,fix_x); + +%startx= 1 + floor(rem_x*0.5)+hws; +%starty= 1 + floor(rem_y*0.5)+hws; + +I = zeros(fix_y,fix_x); + +yid = 0; +for j=1:ws:sy, + xid = 0; + yid = yid +1; + fprintf('.'); + for k=1:ws:sx, + xid = xid+1; + %I(yid,xid) = median(median(img(j-hws:j+hws,k-hws:k+hws))); + %I(yid,xid) = sum(sum(img(j-hws:j+hws,k-hws:k+hws))); + v = img(j:min(sy,j+ws-1),k:min(sx,k+ws-1)); + %I(yid,xid) = median(reshape(v,prod(size(v)),1)); + I(yid,xid) = median(median(v)); + end +end +fprintf('\n'); + \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_J.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_J.m new file mode 100755 index 0000000..99b8b69 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_J.m @@ -0,0 +1,31 @@ +function J = compute_J(A,I,size_x,size_y,D) +%% function J = compute_J(A,I,size_x,size_y,D) +% + +[center_x,center_y] = find_center(size_x,size_y); + +tmp = ones(size_y,1)*[1:size_x]; +index(:,1) = reshape(tmp,size_x*size_y,1)-center_x*ones(size_x*size_y,1); +index(:,2) = reshape(tmp',size_x*size_y,1)-center_y*ones(size_x*size_y,1); + +position_new = A*index'+ [D(1),0;0,D(2)]*ones(2,size_x*size_y); +position_new = round(position_new +... + [center_x,0;0,center_y]*ones(2,size_x*size_y)); +% we have to deal with out of boundary ones +% +bad_ones(1,:) = position_new(1,:)<1 | position_new(1,:)>size_x; +bad_ones(2,:) = position_new(2,:)<1 | position_new(2,:)>size_y; +bad = max([bad_ones(1,:);bad_ones(2,:)]); +good = ~bad; +% if new index is out of boundary, then set it to (0,0) +position_new(1,:) = position_new(1,:).*good; +position_new(2,:) = position_new(2,:).*good; + +new_index = size_y*(position_new(1,:)-ones(1,size_x*size_y))+... + position_new(2,:); +new_index = max([new_index;ones(1,size_x*size_y)]); +J = I(new_index); +% set the "out of boundary" to zero. +J = J.*good; +J = reshape(J',size_y,size_x); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_Lf.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_Lf.m new file mode 100755 index 0000000..7cda523 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_Lf.m @@ -0,0 +1,35 @@ +function dists = compute_Lf(F,cts,wz,nr,nc) + +gap = 2*wz(1)+1; +hw = wz(1); + +nr = nr+1; +nc = nc+1; + +dists = zeros(size(cts,1),nr*nc); +for ctj = 1:size(cts,1), + t1 = cutout(F,cts(ctj,:),wz); + + rid = 1; + fprintf('>'); + + for ri = hw+1:gap:size(F,1)-hw, + %fprintf('[%d]',ri); + cid = 1; + for ci = hw+1:gap:size(F,2)-hw, + %fprintf('(%d)',ci); + t2 = cutout(F,[ci,ri],wz); + + dist = abs(mean(t1(:))-mean(t2(:))); + + dists(ctj,rid+cid*nr) = max(dist,dists(ctj,rid+cid*nr)); + + cid = cid+1; + end + rid = rid+1; + end + + %fprintf('\n'); + +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_corr.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_corr.m new file mode 100755 index 0000000..92f9da4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_corr.m @@ -0,0 +1,10 @@ +function a = compute_corr(f,g) +% +% compute the circular correlation of f and g +% at points around zero +% +% + +ff = interp(f,4); +gg = interp(g,4); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff.m new file mode 100755 index 0000000..72bfe54 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff.m @@ -0,0 +1,36 @@ +function B = compute_diff(Ja,Jfa,hw,hnb); +% +% B = compute_diff(Ja,Jfa,hw,hnb) +% +% + +figure(1);%imagesc(Ja);axis('image'); +cs = round(ginput(1)); + +B = zeros(2*hnb+1,2*hnb+1); + +scales = [1:5];filter_ids = [1:7]; +Jc = get_win(Ja,cs,[hw,hw]); +Jfc= get_win5(Jfa,cs,[hw,hw]); +H2c = hist2d(Jc,Jfc,scales,filter_ids); + +figure(2);imagesc(Ja);axis('image');colormap(gray); +hold on; plot(cs(1),cs(2),'g*'); + + +for ii=-hnb:hnb, + for jj=-hnb:hnb, + J1 = get_win(Ja,cs+4*[jj,ii],[hw,hw]); + Jf1= get_win5(Jfa,cs+4*[jj,ii],[hw,hw]); + figure(2);plot(cs(1)+4*jj,cs(2)+4*ii,'ro');drawnow; + %figure(3);imagesc(J1);drawnow; + + H2 = hist2d(J1,Jf1,scales,filter_ids); + d = hist_diff(H2/prod(size(Jc)),H2c/prod(size(Jc))); + disp(sprintf('d=%f',d)); + B(ii+hnb+1,jj+hnb+1) = d; + + end +end + +figure(2);hold off; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff_patch.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff_patch.m new file mode 100755 index 0000000..260b93a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff_patch.m @@ -0,0 +1,34 @@ +function a = compute_diff_patch(gx1,gy1,gx2,gy2,I1,I2) +% +% a = compute_diff_patch(gx1,gy1,gx2,gy2,I1,I2) +% +% + +%ws = size(gx1); +%mask = smooth(ones(ws),2*max(ws)); +%mask = mask/sum(sum(mask)); + +%mag1= sum(sum(sqrt((mask.*gx1).^2 + (mask.*gy1).^2))); +%mag2= sum(sum(sqrt((mask.*gx2).^2 + (mask.*gy2).^2))); + +mag1= sum(sum(sqrt((gx1).^2 + (gy1).^2))); +mag2= sum(sum(sqrt((gx2).^2 + (gy2).^2))); + +P_tx1 = sigmoid(mag1,400,80); +P_tx2 = sigmoid(mag2,400,80); + +diff_I = mean(reshape(I1,prod(size(I1)),1))-... + mean(reshape(I2,prod(size(I2)),1)); +diff_I = abs(diff_I); + +s_g1 = [sum(sum(abs(gx1))),sum(sum(abs(gy1)))]; +s_g2 = [sum(sum(abs(gx2))),sum(sum(abs(gy2)))]; + +s_g1 = s_g1/(norm(s_g1)); +s_g2 = s_g2/(norm(s_g2)); + +a = (1-P_tx1)*(1-P_tx2)*exp(-diff_I/0.1) +... + P_tx1*P_tx2*(dot(s_g1,s_g2)); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff_patch2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff_patch2.m new file mode 100755 index 0000000..9d2b528 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_diff_patch2.m @@ -0,0 +1,45 @@ +function [a,phi1,phi2] = compute_diff_patch(gx1,gy1,gx2,gy2,I1,I2) +% +% a = compute_diff_patch(gx1,gy1,gx2,gy2,I1,I2) +% +% + +%ws = size(gx1); +%mask = smooth(ones(ws),2*max(ws)); +%mask = mask/sum(sum(mask)); + +%mag1= sum(sum(sqrt((mask.*gx1).^2 + (mask.*gy1).^2))); +%mag2= sum(sum(sqrt((mask.*gx2).^2 + (mask.*gy2).^2))); + +mag1= sum(sum(sqrt((gx1).^2 + (gy1).^2)))/prod(size(gx1)); +mag2= sum(sum(sqrt((gx2).^2 + (gy2).^2)))/prod(size(gx1)); + +P_tx1 = sigmoid(mag1,2,0.5); +P_tx2 = sigmoid(mag2,2,0.5); + +diff_I = mean(reshape(I1,prod(size(I1)),1))-... + mean(reshape(I2,prod(size(I2)),1)); +diff_I = abs(diff_I); + +[l1,l2,phi1] = mwis(gx1,gy1); +[k1,k2,phi2] = mwis(gx2,gy2); + +ratio1 = min([l1,l2])/max([l1,l2]); +ratio2 = min([k1,k2])/max([k1,k2]); + +r1 = 1-sigmoid(ratio1,0.35,0.05); +r2 = 1-sigmoid(ratio2,0.35,0.05); + +s1 = [cos(phi1),sin(phi1)]; +s2 = [cos(phi2),sin(phi2)]; + +angle = acos(abs(dot(s1,s2)))*180/pi; + +a1 = (1-P_tx1*P_tx2)*exp(-diff_I/0.1); +a2 = P_tx1*P_tx2*(r1*r2*(90-angle)/90); +a3 = P_tx1*P_tx2*((1-r1*r2)*(1-sigmoid(abs(r1-r2),0.3,0.04))); + +a = a1+a2+a3; + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_filter.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_filter.m new file mode 100755 index 0000000..04e78e1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_filter.m @@ -0,0 +1,84 @@ +function [filter_output,filters] = compute_filter(I,sig,r,sz); +% +% +% + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +as = ori_offset:ori_incr:180+ori_offset-ori_incr; + +filter_output = []; +filters = []; + +wsz = 2*round(sz) + 1; +M1 = wsz(1);M2 = wsz(2); + +%%%%% prepare FFT of image %%%%%%%%%%%%% + +[N1,N2]=size(I); +tmp=zeros(size(I)+[M1-1 M2-1]); +tmp(1:N1,1:N2)=I; +IF=fft2(tmp); + + +%%%%%%%%%% filtering stage %%%%%%%%%%% +if size(sig,2)== 1, + + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + + g = g - mean(reshape(g,prod(size(g)),1)); + + g = g/sum(sum(abs(g))); + + filters(:,:,j) = g; + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = If.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + + filter_output(:,:,j) = Ig; + end +else + + % there are multiple scales + sigs = sig; + szs = sz; + for k = 1:size(sigs,2), + sig = sigs(k); + sz = szs(k); + fprintf('%d',k); + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + g = g - mean(reshape(g,prod(size(g)),1)); + g = g/sum(sum(abs(g))); + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = If.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + %c = conv2(I,g,'same'); + + filter_output(:,:,j,k) = Ig; + filters(:,:,j,k) = g; + end + + + end + +end + +fprintf('\n'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_filter_fft.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_filter_fft.m new file mode 100755 index 0000000..359c6ba --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/compute_filter_fft.m @@ -0,0 +1,84 @@ +function [filter_output,filters] = compute_filter_fft(I,sig,r,sz,num_ori); +% +% +% + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +as = ori_offset:ori_incr:180+ori_offset-ori_incr; + +filter_output = []; +filters = []; + +wsz = 2*round(sz(end)) + 1; +M1 = wsz;M2 = wsz; + +%%%%% prepare FFT of image %%%%%%%%%%%%% + +[N1,N2]=size(I); +tmp=zeros(size(I)+[M1-1 M2-1]); +tmp(1:N1,1:N2)=I; +IF=fft2(tmp); + + +%%%%%%%%%% filtering stage %%%%%%%%%%% +if size(sig,2)== 1, + + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + + g = g - mean(reshape(g,prod(size(g)),1)); + + g = g/sum(sum(abs(g))); + + filters(:,:,j) = g; + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = IF.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + + filter_output(:,:,j) = Ig; + end +else + + % there are multiple scales + sigs = sig; + szs = sz; + for k = 1:size(sigs,2), + sig = sigs(k); + sz = szs(end); + fprintf('%d',k); + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + g = g - mean(reshape(g,prod(size(g)),1)); + g = g/sum(sum(abs(g))); + + gF = fft2(g,N1+M1-1,N2+M2-1); + IgF = IF.*gF; + Ig = real(ifft2(IgF)); + Ig = Ig(ceil((M1+1)/2):ceil((M1+1)/2)+N1-1,ceil((M2+1)/2):ceil((M2+1)/2)+N2-1); + + %c = conv2(I,g,'valid'); + %c = conv2(I,g,'same'); + + filter_output(:,:,j,k) = Ig; + filters(:,:,j,k) = g; + end + + + end + +end + +fprintf('\n'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/conv_trim.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/conv_trim.m new file mode 100755 index 0000000..30d16a9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/conv_trim.m @@ -0,0 +1,6 @@ +% trims an array to remove meaningless pixels after a convolution with +% an r * c window + +function[B] = conv_trim(A, r, c) + +B = A(r+1:size(A,1)-r, c+1:size(A,2)-c); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/corr_hist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/corr_hist.m new file mode 100755 index 0000000..c538dc1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/corr_hist.m @@ -0,0 +1,9 @@ +function alpha = corr_hist(hists) + +[y,x,v] = find(hists); +mx = sum(x.*v)/sum(v); +my = sum(y.*v)/sum(v); + +top = sum( (x-mx).*(y-my).*v); +bottom = sqrt(sum( ((x-mx).^2).*v))*sqrt(sum( ((y-my).^2).*v)); +alpha = top/bottom; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/crop_im_fil.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/crop_im_fil.m new file mode 100755 index 0000000..5472171 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/crop_im_fil.m @@ -0,0 +1,11 @@ +function [J,f,rect] = crop_im_fil(Ja,Jfa,fig_id) +% +% + +figure(fig_id); +imagesc(Ja);axis('image'); + +[J,rect] = imcrop;rect = round(rect); +J = Ja(rect(2):rect(2)+rect(4),rect(1):rect(1)+rect(3)); +f = Jfa(rect(2):rect(2)+rect(4),rect(1):rect(1)+rect(3),:,:); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/cutoff.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/cutoff.m new file mode 100755 index 0000000..58c6b94 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/cutoff.m @@ -0,0 +1,13 @@ +function I = cutoff(I,wc) +% +% + +nr = size(I,1); +nc = size(I,2); + +if ndims(I) == 3, +I = I(wc+1:nr-wc,wc+1:nc-wc,:,:); +else +I = I(wc+1:nr-wc,wc+1:nc-wc,:,:); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/cutout.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/cutout.m new file mode 100755 index 0000000..b80f27b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/cutout.m @@ -0,0 +1,3 @@ +function a = cutout(I,ct,wz); + +a = I(ct(2)-wz(2):ct(2)+wz(2),ct(1)-wz(1):ct(1)+wz(1),:); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_Imask.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_Imask.m new file mode 100755 index 0000000..dbd7fdb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_Imask.m @@ -0,0 +1,20 @@ +function Imasks = disp_Imask(Is,nr,nc,hw,masks) +% +% Imasks = disp_Imask(Is,nr,nc,hw,masks) +% + +%hw = 2; %nr = 43;nc=68; +gap = 2*hw+1; + +x = [1:nc*gap]; +y = [1:nr*gap]; + +xs = (x-hw-1)/gap + 1;ys = (y-hw-1)/gap + 1; + +for gid=1:size(masks,3), + tmp = interp2(reshape(masks(:,:,gid),nr,nc),xs,ys'); + + Imasks(:,:,gid) = (tmp>0.52).* ((Is).^0.8); + subplot(3,3,gid); + im(Imasks(:,:,gid)); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_diff.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_diff.m new file mode 100755 index 0000000..090c273 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_diff.m @@ -0,0 +1,37 @@ +function disp_diff(H1,H2) +% +% disp_diff(H1,H2) +% + +ns = size(H1,3); +nf = size(H1,4); + +H1 = H1/49; +H2 = H2/49; + + +sI= [1,0,1];sI = exp(-sI); +sI = sI/sum(sI); + +for j = 1:ns, + for k = 1:nf, + h1 = H1(:,:,j,k); + h2 = H2(:,:,j,k); + + subplot(ns,nf,(j-1)*nf+k); + h1s = conv2(conv2(h1,sI','same'),sI,'same'); + h2s = conv2(conv2(h2,sI','same'),sI,'same'); + + [is,js] = find( (h1>0) | (h2>0)); + ids = (js-1)*size(h1,1) + is; + + hdiff = abs(h1s-h2s).*((h1>0) | (h2>0)); + + xdiff = ((h1(ids)-h2(ids)).*(h1(ids)-h2(ids)))./(h1(ids)+h2(ids)); + + xdiffs = ((h1s(ids)-h2s(ids)).*(h1s(ids)-h2s(ids)))./(h1s(ids)+h2s(ids)); + imagesc(hdiff);colorbar;axis('off'); +% title(sprintf('%3.3f, %3.3f',sum(sum(hdiff))/49,sum(sum(abs(h1-h2)))/49));drawnow; + title(sprintf('%3.3f, %3.3f',sum(xdiff),sum(xdiffs)));drawnow + end +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresult.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresult.m new file mode 100755 index 0000000..e07556a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresult.m @@ -0,0 +1,435 @@ +%fn = '134035'; +%fn = '130040'; +%fn = '334074'; +fn = '130065'; + +%basedir = 'plaatje_data/olddata/'; +% basedir = 'data/'; nr = 49;nc =30; + +basedir = 'plaatje_data/'; + +fname = sprintf('%s%s_eigvec.pfm',basedir,fn); +eigv = readpfm(fname); +fname = sprintf('%s%s_eigval.pfm',basedir,fn); +eigval = readpfm(fname); + +fname = sprintf('%s%s_ncutvec.pfm',basedir,fn); +ncutv = readpfm(fname); +fname = sprintf('%s%s_ncutval.pfm',basedir,fn); +ncutval = readpfm(fname); + +%fname = sprintf('images/130039.pgm'); +fname = sprintf('images/%s.pgm',fn); +I = readpgm(fname); +cutsz = 20; I = cutoff(I,cutsz); +figure(3);im(I);colormap(gray); + +new = 0; + +if ~new, + + %nr = 49;nc = 30; + nr = 30;nc = 49; + +%nr = 68;nc = 43; +%nc = 68;nr = 43; + +else + + fn1 = fn; + fn = 'test'; + fname = sprintf('plaatje_data/%s_gcs.pfm',fn); + gcs = readpfm(fname); + + fname = sprintf('plaatje_data/%s_gce.pfm',fn); + gce = readpfm(fname); + + fname = sprintf('plaatje_data/%s_grs.pfm',fn); + grs = readpfm(fname); + + fname = sprintf('plaatje_data/%s_gre.pfm',fn); + gre = readpfm(fname); + + nr = max(gre(:))+1; + nc = max(gce(:))+1; + + fn = fn1; + +end + +figure(6); +for j=1:8, + subplot(3,3,j); + im(reshape(ncutv(:,j+1),nr,nc));colorbar + title(num2str(ncutval(j+1,1))); +end +%cm = sprintf('print -dps ncut_%s',fn);disp(cm);eval(cm); +subplot(3,3,9);im(I);axis('off'); + +figure(7);clf +for j=1:12, + subplot(3,4,j); + im(reshape(eigv(:,j),nr,nc));colorbar;%axis('off'); + title(sprintf('%3.4e',eigval(j,1))); +end +%cm = sprintf('print -dps eig_%s',fn);disp(cm);eval(cm); + +%%%%%%%%%%% + +ev = eigval(:,1); +figure(5);hold off;clf;subplot(1,2,1); +%semilogy((ev(1:end-1) - ev(2:end))./ev(1:end-1),'x-');grid on; +plot((ev(1:end-1) - ev(2:end))./ev(1:end-1),'x-');grid on; +%semilogy(0.01*ones(size(ev(2:end-1))),'r-');semilogy(0.005*ones(size(ev(2:end-1))),'r-');semilogy(0.0025*ones(size(ev(2:end-1))),'r-');grid on;hold off; +subplot(1,2,2); +%semilogy(ev(1:end-1)-ev(2:end),'p-');grid on; +semilogy((ev(1:end-1) - ev(2:end))/ev(1),'x-');grid on; + + +if 0, + +fname = sprintf('plaatje_data/ncutval_%s.pfm',fn); +nval = readpfm(fname); +fname = sprintf('plaatje_data/ncutvec_%s.pfm',fn); +nv = readpfm(fname); + +figure(2); +nvv = size(nv,2); +for j=1:min(5,nvv-1), + subplot(1,min(5,nvv-1),j); + ims(nv(:,j+1),nr,nc); +end + + +%figure(5); +%subplot(2,2,1);plot(eigval(:,1),'x-'); + + +if 0, + +fname = 130039; +for j=0:20, + cm = sprintf('!cp plaatje_data/%d_%d.pfm plaatje_data/test_%d.pfm ',fname,j,j); + disp(cm);eval(cm); +end + +%%%%%%%% +fnout = 'test';fn_t = '334003'; +cm = sprintf('!cp plaatje_data/%s_eigval.pfm %s_eigval.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp plaatje_data/%s_eigvec.pfm %s_eigvec.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp plaatje_data/%s_ncutvec.pfm %s_ncutvec.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp plaatje_data/%s_ncutval.pfm %s_ncutval.pfm',fnout,fn_t); +disp(cm);eval(cm); + + + + +end + +disp_flag = 0; +if disp_flag, + [I1,bnr,bnc] = proj_back_id(ncutv(:,2),gcs,gce,grs,gre); + imvs(I,I1>0.002,bnr,bnc); +end + +if 0, + + nv = 3; + A = eigv(:,1:nv)*eigv(:,1:nv)'; + [v,d] = ncut(abs(A),min(nv,5)); + + figure(3); + for j=1:min(nv,5), + subplot(2,2,j); + ims(v(:,j),nr,nc); + end + +end + +%%%%%%%% + +figure(4);%im(I);colorbar; +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1)); +ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; + +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(5);im(abs(reshape(A(idx,:),nr,nc)));%colorbar; + + + + %%%%% + + fname = 'test2'; + fn = sprintf('plaatje_data/ncut_%s.pfm',fname); + ncutv1 = readpfm(fn); + nr = 30; nc=49; + + figure(1); + for j=1:min(4,size(ncutv1,2)), + subplot(2,2,j); + ims(ncutv1(:,j+1),nr,nc); + end + + + +%%%%%%%%%% + + id = 0; + fn = sprintf('plaatje_data/test_Aa%d.pfm',id); + disp(sprintf('A = readpfm(%s);',fn)); + A = readpfm(fn); + + cm = sprintf('[v%d,d%d] = eigs(A,12);',id,id); + disp(cm);eval(cm); + + writepfm('test_eigv0.pfm',v0); + writepfm('test_eigva0.pfm',diag(d0)); + + + + +vs = zeros(size(v1,1),size(v1,2),6); +ds = zeros(length(d1),6); + +for j=0:5, + cm = sprintf('vs(:,:,%d) = v%d;',j+1,j); + disp(cm);eval(cm); + cm = sprintf('d = diag(d%d);',j); + disp(cm);eval(cm); + cm = sprintf('ds(:,%d) = d(:);',j+1); + disp(cm);eval(cm); + + +end + +%save evsum vs ds + +figure(1);nr = 49;nc=30;evid = 3; +for j=1:12,subplot(3,4,j);ims(vs(:,j,evid),nr,nc);end + +I = readpgm('images/334039.pgm');I = cutoff(I,20); + +As = zeros(6,nr*nc); + +figure(3);%im(I);colormap(gray); +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1;ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(5); + +figure(4);nvs = [6,9,12,12,12,12]; +for evid = 1:5,As(evid,:) = squeeze(vs(idx,1:nvs(evid),evid))*squeeze(vs(:,1:nvs(evid),evid))';end +for evid =1:5,subplot(2,3,evid);im(abs(reshape(As(evid,:),nr,nc)));colorbar;end +subplot(2,3,6);ims(sum(abs(As)),nr,nc);colorbar + +%%%%%%%%% + +%%%%%% eig of the As over all scales %% + +A = zeros(nr*nc,nr*nc); + +for evid=1:5, disp(evid); + A = A + abs(squeeze(vs(:,1:nvs(evid),evid))*squeeze(vs(:,1:nvs(evid),evid))'); +end + +[v,d] = eigs(A,12); +figure(1); for j=1:12, subplot(3,4,j);ims(v(:,j),nr,nc);end + +[vn,dn] = ncut_b(A,12); +figure(3); for j=1:12, subplot(3,4,j);ims(-vn(:,j),nr,nc);end + +nv = 6; +A = abs(eigv(:,1:nv)*eigv(:,1:nv)'); +[v,d] = ncut_b(A,nv+1); +figure(1); +nv = 4; +for j=1:nv,subplot(2,nv,j);ims(v(:,j+1),nr,nc);title(sprintf('%3.3e',d(j+1)));end + +for j=1:nv,subplot(2,nv,j+nv);ims(eigv(:,j),nr,nc);title(sprintf('%3.3e',eigval(j,1)));end + +%%%%%%%%%%%%% + +while 1, +figure(3);%im(I);colormap(gray); +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1;ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(1); +ims(exp(-(A(idx,:))/(0.02^2)),nr,nc);colorbar +end + + + +%%%%%%%%%%%%%% + +figure(3); +hw = 3;st_sz = 2*hw+1; +np = 20; +ct = round(ginput(np)); +ct_chank =[]; +ct_chank(:,1) = round((ct(:,1)-hw-1)/st_sz) + 1; +ct_chank(:,2) = round((ct(:,2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +%As = readpfm_id('plaatje_data/130040_AX.pfm',idx,2924); +As = readpfm_idf('plaatje_data/tmp/134035_AX3.pfm',idx,nr*nc); + +%save dist_data2 As idx ct_chank ct hw nr nc eigv eigval + +%load dist_data1a + +set(gcf,'DefaultLineLinewidth',5); + +minA = min(min(As)); +figure(1);clf; hold off; +set(gcf,'DefaultLineLinewidth',2); +for id = 1:np, +subplot(4,5,id); +%image(2.8e-2*((-minA)+reshape(As(id,:),nr,nc)));axis('image');axis('off');hold on +ims(-As(id,:),nr,nc);axis('off');hold on +plot(ct_chank(id,1)+1,ct_chank(id,2)+1,'rx');hold off; +end + +figure(1);clf;hold off; +nvv = 6 +set(gcf,'DefaultLineLinewidth',1); +for id=1:np, + At = abs(eigv(idx(id),1:nvv)*eigv(:,1:nvv)'); + subplot(4,5,id); + %image(2.5e4*reshape(At,nr,nc));axis('image');axis('off');hold on + ims(At,nr,nc);axis('off');hold on; + plot(ct_chank(id,1)+1,ct_chank(id,2)+1,'rx');hold off; +end + + +print_flag =0; +if print_flag, + fn = '130040'; + + figure(4);clf; + colormap(gray); + set(gcf,'DefaultLineLinewidth',7); + + for id =1:np, + %image(2.8e-2*((-minA)+reshape(As(id,:),nr,nc)));axis('image');axis('off');hold on + ims(-As(id,:),nr,nc);axis('off'); + hold on;plot(ct_chank(id,1)+1,ct_chank(id,2)+1,'rp');hold off; + cm = sprintf('print -deps dist_x1_%s_%d',fn,id); + disp(cm);eval(cm); + end + + nvv = 5; + set(gcf,'DefaultLineLinewidth',7); + figure(4);colormap(gray); + for id=1:np, + At = abs(eigv(idx(id),1:nvv)*eigv(:,1:nvv)'); + %image(1.5e4*reshape(At,nr,nc));axis('image');axis('off');%hold on + ims(At,nr,nc);axis('off');%hold on; + %plot(ct_chank(id,1)+1,ct_chank(id,2)+1,'rp');hold off; + cm = sprintf('print -deps dist_d_%s_%d',fn,id); + disp(cm);eval(cm); + end + + % print eigvects + for j=1:size(eigv,2), + ims(eigv(:,j),nr,nc);axis('off'); + cm = sprintf('print -deps eigv_%s_%d',fn,j); + disp(cm);eval(cm); + end + + for j=1:size(ncutv,2), + ims(ncutv(:,j),nr,nc);axis('off'); + cm = sprintf('print -deps ncutv_%s_%d',fn,j); + disp(cm);eval(cm); + end + + +end + +basedir ='plaatje_data/newdata/'; +fname = sprintf('%s%s_eigvec.pfm',basedir,fn); +eigv = readpfm(fname); + +ix = 1; +figure(5);colormap(gray);clf +for j=1:7, + for k=[2,3,4,6,9,12]; + subplot(7,6,ix); + At = abs(eigv(idx(j),1:k)*eigv(:,1:k)'); + ims(At,nr,nc);axis('off');%colorbar; + if (k==2), + hold on; plot(ct_chank(j,1),ct_chank(j,2),'rp');hold off; + title(num2str(j)); + end + ix = ix+1; + end +end + +figure(4);clf;colormap(gray); +set(gcf,'DefaultLineLinewidth',7); +for j=1:20, + for k=[2,3,4,6,9,12]; + + At = abs(eigv(idx(j),1:k)*eigv(:,1:k)'); + ims(At,nr,nc);axis('off');%colorbar; + if (k==2), + hold on; plot(ct_chank(j,1),ct_chank(j,2),'rp');hold off; + end + + cm = sprintf('print -deps dist_scale_65_%d_%d',j,k); + disp(cm);eval(cm); + + end +end + +base_dir = 'plaatje_data/'; + +% cts are the centers, + +wz = [hw,hw]; +gap = 2*hw+1; +dist = zeros(size(cts,1),(nr+1)*(nc+1)); + +for j=1:1:24, + fn = sprintf('%s134035_%d.pfm',base_dir,j); + disp(fn); + F = readpfm(fn); + + dists = compute_Lf(F,cts,wz,nr,nc); + dist = max(dists,dist); + +end + + +figure(4);clf;colormap(gray); +set(gcf,'DefaultLineLinewidth',7); + +ids = [8,1,12,5,10,15]; + +for j=1:6, + + d = reshape(dist(j,:),nr+1,nc+1); + d = d(1:end-1,2:end); + im(-d);axis('off'); hold on; + plot(ct_chank(ids(j),1),ct_chank(ids(j),2),'p'); + hold off + + cm = sprintf('print -deps dist_lf_65_%d',j); + disp(cm);eval(cm); + + pause; +end + + + +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresult2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresult2.m new file mode 100755 index 0000000..46239ef --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresult2.m @@ -0,0 +1,215 @@ +fn = '130042'; + +fname = sprintf('data/%s_eigvec.pfm',fn); +eigv = readpfm(fname); +fname = sprintf('data/%s_eigval.pfm',fn); +eigval = readpfm(fname); + +fname = sprintf('data/%s_ncutvec.pfm',fn); +ncutv = readpfm(fname); +fname = sprintf('data/%s_ncutval.pfm',fn); +ncutval = readpfm(fname); + +%fname = sprintf('images/130038.pgm'); +fname = sprintf('images/%s.pgm',fn); +I = readpgm(fname); +cutsz = 20; I = cutoff(I,cutsz); +figure(3);im(I);colormap(gray); + +new = 0; + +if new, + fn1 = fn; + fn = 'test'; + fname = sprintf('data/%s_gcs.pfm',fn); + gcs = readpfm(fname); + + fname = sprintf('data/%s_gce.pfm',fn); + gce = readpfm(fname); + + fname = sprintf('data/%s_grs.pfm',fn); + grs = readpfm(fname); + + fname = sprintf('data/%s_gre.pfm',fn); + gre = readpfm(fname); + + nr = max(gre(:))+1; + nc = max(gce(:))+1; + + fn = fn1; + +else + %nr = 49;nc = 30; + nr = 30;nc = 49; + +end + +figure(6); +for j=1:8, + subplot(3,3,j); + im(reshape(ncutv(:,j+1),nr,nc));colorbar + title(num2str(ncutval(j+1,1))); +end +%cm = sprintf('print -dps ncut_%s',fn);disp(cm);eval(cm); +subplot(3,3,9);im(I);axis('off'); + +figure(7);clf +for j=1:9, + subplot(3,3,j); + im(reshape(eigv(:,j),nr,nc));colorbar;%axis('off'); + title(sprintf('%3.4e',eigval(j,1))); +end +%cm = sprintf('print -dps eig_%s',fn);disp(cm);eval(cm); + + + +if 0, + +fname = 130042; +for j=0:30, + cm = sprintf('!cp plaatje_data/%d_%d.pfm data/%d_%d.pfm ',fname,j,fname,j); + disp(cm);eval(cm); +end + +%%%%%%%% +fnout = '130042';fn_t = '130042'; +cm = sprintf('!cp data/%s_eigval.pfm %s_eigval.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp data/%s_eigvec.pfm %s_eigvec.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp data/%s_ncutvec.pfm %s_ncutvec.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp data/%s_ncutval.pfm %s_ncutval.pfm',fnout,fn_t); +disp(cm);eval(cm); + + + + +end + +disp_flag = 0; +if disp_flag, + [I1,bnr,bnc] = proj_back_id(ncutv(:,2),gcs,gce,grs,gre); + imvs(I,I1>0.002,bnr,bnc); +end + +if 0, + + nv = 3; + A = eigv(:,1:nv)*eigv(:,1:nv)'; + [v,d] = ncut(abs(A),min(nv,5)); + + figure(3); + for j=1:min(nv,5), + subplot(2,2,j); + ims(v(:,j),nr,nc); + end + + +%%%%%%%% + +figure(4);%im(I);colorbar; +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1)); +ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; + +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(5);im(abs(reshape(A(idx,:),nr,nc)));%colorbar; + + + + %%%%% + + fname = 'test2'; + fn = sprintf('data/ncut_%s.pfm',fname); + ncutv1 = readpfm(fn); + nr = 30; nc=49; + + figure(1); + for j=1:min(4,size(ncutv1,2)), + subplot(2,2,j); + ims(ncutv1(:,j+1),nr,nc); + end + + + +%%%%%%%%%% + + id = 0; + fn = sprintf('data/test_Aa%d.pfm',id); + disp(sprintf('A = readpfm(%s);',fn)); + A = readpfm(fn); + + cm = sprintf('[v%d,d%d] = eigs(A,12);',id,id); + disp(cm);eval(cm); + + writepfm('test_eigv0.pfm',v0); + writepfm('test_eigva0.pfm',diag(d0)); + + + + +vs = zeros(size(v1,1),size(v1,2),6); +ds = zeros(length(d1),6); + +for j=0:5, + cm = sprintf('vs(:,:,%d) = v%d;',j+1,j); + disp(cm);eval(cm); + cm = sprintf('d = diag(d%d);',j); + disp(cm);eval(cm); + cm = sprintf('ds(:,%d) = d(:);',j+1); + disp(cm);eval(cm); + + +end + +%save evsum vs ds + +figure(1);nr = 49;nc=30;evid = 3; +for j=1:12,subplot(3,4,j);ims(vs(:,j,evid),nr,nc);end + +I = readpgm('images/334039.pgm');I = cutoff(I,20); + +As = zeros(6,nr*nc); + +figure(3);%im(I);colormap(gray); +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1;ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(5); + +figure(4);nvs = [6,9,12,12,12,12]; +for evid = 1:5,As(evid,:) = squeeze(vs(idx,1:nvs(evid),evid))*squeeze(vs(:,1:nvs(evid),evid))';end +for evid =1:5,subplot(2,3,evid);im(abs(reshape(As(evid,:),nr,nc)));colorbar;end +subplot(2,3,6);ims(sum(abs(As)),nr,nc);colorbar + +%%%%%%%%% + +%%%%%% eig of the As over all scales %% + +A = zeros(nr*nc,nr*nc); + +for evid=1:5, disp(evid); + A = A + abs(squeeze(vs(:,1:nvs(evid),evid))*squeeze(vs(:,1:nvs(evid),evid))'); +end + +[v,d] = eigs(A,12); +figure(1); for j=1:12, subplot(3,4,j);ims(v(:,j),nr,nc);end + +[vn,dn] = ncut_b(A,12); +figure(3); for j=1:12, subplot(3,4,j);ims(-vn(:,j),nr,nc);end + +nv = 6; +A = abs(eigv(:,1:nv)*eigv(:,1:nv)'); +[v,d] = ncut_b(A,nv+1); +figure(1); +for j=1:nv,subplot(2,nv,j);ims(v(:,j+1),nr,nc);title(sprintf('%3.3e',d(j+1)));end + +for j=1:nv,subplot(2,nv,j+nv);ims(eigv(:,j),nr,nc);title(sprintf('%3.3e',eigval(j,1)));end + + + +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresulthome.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresulthome.m new file mode 100755 index 0000000..208b86a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_evresulthome.m @@ -0,0 +1,237 @@ +fn = '334003'; + +fname = sprintf('%s_eigvec.pfm',fn); +disp(sprintf('reading %s',fname)); +eigv = readpfm(fname); +fname = sprintf('%s_eigval.pfm',fn); +eigval = readpfm(fname); + +fname = sprintf('%s_ncutvec.pfm',fn); +ncutv = readpfm(fname); +fname = sprintf('%s_ncutval.pfm',fn); +ncutval = readpfm(fname); + +%fname = sprintf('images/130038.pgm'); +fname = sprintf('images/%s.pgm',fn); +I = readpgm(fname); +cutsz = 20; I = cutoff(I,cutsz); +figure(3);im(I);colormap(gray); + +new = 0; + +if new, + fn1 = fn; + fn = 'test'; + fname = sprintf('%s_gcs.pfm',fn); + gcs = readpfm(fname); + + fname = sprintf('%s_gce.pfm',fn); + gce = readpfm(fname); + + fname = sprintf('%s_grs.pfm',fn); + grs = readpfm(fname); + + fname = sprintf('%s_gre.pfm',fn); + gre = readpfm(fname); + + nr = max(gre(:))+1; + nc = max(gce(:))+1; + + fn = fn1; + +else + nr = 49;nc = 30; + %nr = 30;nc = 49; + +end + +figure(6); +for j=1:8, + subplot(3,3,j); + im(reshape(ncutv(:,j+1),nr,nc));colorbar + title(num2str(ncutval(j+1,1))); +end +%cm = sprintf('print -dps ncut_%s',fn);disp(cm);eval(cm); +%subplot(3,3,9);im(I);axis('off'); + +figure(7);clf +for j=1:9, + subplot(3,3,j); + im(reshape(eigv(:,j),nr,nc));colorbar;%axis('off'); + title(sprintf('%3.4e',eigval(j,1))); +end +%cm = sprintf('print -dps eig_%s',fn);disp(cm);eval(cm); + + + +if 0, + +fname = 130042; +for j=0:30, + cm = sprintf('!cp plaatje_data/%d_%d.pfm data/%d_%d.pfm ',fname,j,fname,j); + disp(cm);eval(cm); +end + +%%%%%%%% +fnout = '130042';fn_t = '130042'; +cm = sprintf('!cp data/%s_eigval.pfm %s_eigval.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp data/%s_eigvec.pfm %s_eigvec.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp data/%s_ncutvec.pfm %s_ncutvec.pfm',fnout,fn_t); +disp(cm);eval(cm); +cm = sprintf('!cp data/%s_ncutval.pfm %s_ncutval.pfm',fnout,fn_t); +disp(cm);eval(cm); + + + + +end + +disp_flag = 0; +if disp_flag, + [I1,bnr,bnc] = proj_back_id(ncutv(:,2),gcs,gce,grs,gre); + imvs(I,I1>0.002,bnr,bnc); +end + +if 0, + + nv = 3; + A = eigv(:,1:nv)*eigv(:,1:nv)'; + [v,d] = ncut(abs(A),min(nv,5)); + + figure(3); + for j=1:min(nv,5), + subplot(2,2,j); + ims(v(:,j),nr,nc); + end + + +%%%%%%%% + +figure(4);%im(I);colorbar; +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1)); +ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; + +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(5);im(abs(reshape(A(idx,:),nr,nc)));%colorbar; + + + + %%%%% + + fname = 'test2'; + fn = sprintf('data/ncut_%s.pfm',fname); + ncutv1 = readpfm(fn); + nr = 30; nc=49; + + figure(1); + for j=1:min(4,size(ncutv1,2)), + subplot(2,2,j); + ims(ncutv1(:,j+1),nr,nc); + end + + + +%%%%%%%%%% + + id = 0; + fn = sprintf('test_Aa%d.pfm',id); + disp(sprintf('A = readpfm(%s);',fn)); + A = readpfm(fn); + + cm = sprintf('[v%d,d%d] = eigs(A,12);',id,id); + disp(cm);eval(cm); + + writepfm('test_eigv0.pfm',v0); + writepfm('test_eigva0.pfm',diag(d0)); + + + + +vs = zeros(size(v1,1),size(v1,2),6); +ds = zeros(length(d1),6); + +for j=0:5, + cm = sprintf('vs(:,:,%d) = v%d;',j+1,j); + disp(cm);eval(cm); + cm = sprintf('d = diag(d%d);',j); + disp(cm);eval(cm); + cm = sprintf('ds(:,%d) = d(:);',j+1); + disp(cm);eval(cm); + + +end + +%save evsum vs ds + +figure(1);nr = 49;nc=30;evid = 3; +for j=1:12,subplot(3,4,j);ims(vs(:,j,evid),nr,nc);end + +I = readpgm('images/334039.pgm');I = cutoff(I,20); + +As = zeros(6,nr*nc); + +figure(3);%im(I);colormap(gray); +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1;ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(5); + +figure(4);nvs = [6,9,12,12,12,12]; +for evid = 1:5,As(evid,:) = squeeze(vs(idx,1:nvs(evid),evid))*squeeze(vs(:,1:nvs(evid),evid))';end +for evid =1:5,subplot(2,3,evid);im(abs(reshape(As(evid,:),nr,nc)));colorbar;end +subplot(2,3,6);ims(sum(abs(As)),nr,nc);colorbar + +%%%%%%%%% + +%%%%%% eig of the As over all scales %% + +A = zeros(nr*nc,nr*nc); + +for evid=1:5, disp(evid); + A = A + abs(squeeze(vs(:,1:nvs(evid),evid))*squeeze(vs(:,1:nvs(evid),evid))'); +end + +[v,d] = eigs(A,12); +figure(1); for j=1:12, subplot(3,4,j);ims(v(:,j),nr,nc);end + +[vn,dn] = ncut_b(A,12); +figure(3); for j=1:12, subplot(3,4,j);ims(-vn(:,j),nr,nc);end + +nv = 6; +A = abs(eigv(:,1:nv)*eigv(:,1:nv)'); +[v,d] = ncut_b(A,nv+1); +figure(1); +for j=1:nv,subplot(2,nv,j);ims(v(:,j+1),nr,nc);title(sprintf('%3.3e',d(j+1)));end + +for j=1:nv,subplot(2,nv,j+nv);ims(eigv(:,j),nr,nc);title(sprintf('%3.3e',eigval(j,1)));end + +%%%%%%%%%%%%%%%%% + +while 1, +figure(3);%im(I);colormap(gray); +hw = 3;st_sz = 2*hw+1; +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1;ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr + ct_chank(:,2); + +figure(1); +ims(exp(-(A(idx,:))/(0.03^2)),nr,nc);colorbar +end + +disp_evresulthome; +close(3);close(7);close(6); +A = euclid_dist(ncutv(:,2:6)); +A = exp(-A/(0.05^2)); + +[v,d] = eigs(A,9); + +figure(2); +for j=1:9,subplot(3,3,j);ims(v(:,j),nr,nc);colorbar;end + + +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_groups.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_groups.m new file mode 100755 index 0000000..d087218 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_groups.m @@ -0,0 +1,13 @@ +function disp_groups(groups,ids,nr,nc); + +np = ids(end); + +baseid =1; +for j=1:length(ids), + mask = zeros(np,1); + mask(groups(baseid:ids(j))) = 1+mask(groups(baseid:ids(j))); + + subplot(3,3,j); + ims(mask,nr,nc); + baseid = 1+ids(j); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_hist2d.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_hist2d.m new file mode 100755 index 0000000..4313234 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/disp_hist2d.m @@ -0,0 +1,15 @@ +function H2 = disp_hist2d(J,Jf,scales,filter_ids) + +ns = length(scales); +nf = length(filter_ids); + +H2 = []; +for j=1:ns, + for k=1:nf, + subplot(ns,nf,(j-1)*nf+k); + H2d = hist_I_f(J,Jf(:,:,filter_ids(k),scales(j))); + imagesc(H2d);axis('image');axis('off');drawnow; + H2(:,:,j,k) = H2d; + end +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/dist_pair.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/dist_pair.m new file mode 100755 index 0000000..1c7b2cf --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/dist_pair.m @@ -0,0 +1,28 @@ +function d = dist_pair(idx,fv,hb) +% (hb=sigs,bin_mins,bin_maxs,nbins) +% +% +% computes the pairwise distance between +% a point and everyone else using histogram binized feature +% + + +[nf,np] = size(fv); + +d = zeros(1,np); +nbins = [0,hb.nbins]; + + +for j=1:nf, + bin_min = hb.bmins(j); + bin_max = hb.bmaxs(j); + nbin = nbins(j+1); + sig = hb.sigs(j); + fprintf(sprintf('|%d',j)); + b = binize(fv(j,:),sig,bin_min,bin_max,nbin); + + a = binize(fv(j,idx),sig,bin_min,bin_max,nbin); + + d = d + a'*b; +end +fprintf('\n'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/dist_pair_chank.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/dist_pair_chank.m new file mode 100755 index 0000000..96a0d60 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/dist_pair_chank.m @@ -0,0 +1,25 @@ +function d = dist_pair_chank(a,fvs,chank_size) +% (hb=sigs,bin_mins,bin_maxs,nbins) +% +% +% computes the pairwise distance between +% a point and everyone else using histogram binized feature +% + + +[nf,np] = size(fvs); + +n_chanks = ceil(np/chank_size); + +d = []; +for j=1:n_chanks, + fprintf('<'); + + cm = sprintf('load st_%d',j); + eval(cm); + fprintf(sprintf('%d',n_chanks-j)); + + d = [d,a*fh]; +end + +fprintf('\n'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/doog2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/doog2.m new file mode 100755 index 0000000..3ec22c1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/doog2.m @@ -0,0 +1,43 @@ +function [G]=doog2(sig,r,th,N); +% [G,H]=doog2(sig,r,th,N); +% Make difference of offset gaussians kernel +% theta is in degrees +% (see Malik & Perona, J. Opt. Soc. Amer., 1990) +% +% Example: +% >> imagesc(-doog2(.5,4,15,32)) +% >> colormap(gray) + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid +pad_pts=no_pts*sqrt(2); % pad grid dimensions for up to a 45 degree rotation +siz=6; % range of x,y grid + +[x,y]=meshgrid(linspace(-siz,siz,pad_pts),linspace(-siz,siz,pad_pts)); + +a=-1; +b=2; +c=-1; + +ya=sig; +yc=-ya; +yb=0; +sigy=sig; +sigx=r*sig; + +Ga=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-ya)/sigy).^2)); +Gb=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-yb)/sigy).^2)); +Gc=(1/(2*pi*sigx*sigy))*exp(-(((x-0)/sigx).^2+((y-yc)/sigy).^2)); + +Go = a*Ga + b*Gb + c*Gc; +%Ho = imag(hilbert(Go)); +G = Go; + +G = mimrotate(Go,th,'bilinear','crop'); +G = imcrop(G,[(pad_pts-no_pts)/2, (pad_pts-no_pts)/2, no_pts, no_pts]); + +%H = imrotate(Ho,th,'bilinear','crop'); +%H = imcrop(H,[(pad_pts-no_pts)/2, (pad_pts-no_pts)/2, no_pts, no_pts]); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_decomp.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_decomp.m new file mode 100755 index 0000000..5209088 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_decomp.m @@ -0,0 +1,15 @@ +function [v,d] = eig_decomp(A) + +ds = sum(A); +ds = ones(size(ds))./sqrt(ds); +D1 = ds'*ones(1,length(ds)); +A = D1'.*A.*D1; + +disp(sprintf('computing eig values')); +tic;[v,d] = eig(A);toc; + +d = abs(diag(d)); +[tmp,idx] = sort(-d); +d = d(idx); +v = v(:,idx); +v = D1.*v; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_decomp_v5.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_decomp_v5.m new file mode 100755 index 0000000..e0fab2c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_decomp_v5.m @@ -0,0 +1,13 @@ +function [v,d] = eig_decomp_v5(A,nv) + +ds = sum(A); +ds = ones(size(ds))./sqrt(ds); +D1 = ds'*ones(1,length(ds)); +A = D1'.*A.*D1; + +disp(sprintf('computing eig values')); +tic;[v,d] = eigs(A,nv);toc; + +d = abs(diag(d)); + +v = D1(:,1:size(v,2)).*v; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_proj.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_proj.m new file mode 100755 index 0000000..78d5296 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eig_proj.m @@ -0,0 +1,12 @@ +function v = eig_proj(u,data) + +% fd = feature dimension, nv = num. of eigvectors +[fd,nv] = size(u); + +[fd2,nd] = size(data); + +if (fd ~= fd2), + error(sprintf('size don't match')); +else + v = data'*u; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eigs_decomp.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eigs_decomp.m new file mode 100755 index 0000000..7763124 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/eigs_decomp.m @@ -0,0 +1,39 @@ +function [v,d,D,Ipara] = eigs_decomp(fn,num_eigs) +% +% function [v,d,D,Ipara] = eigs_decomp(fn,num_eigs) +% + +%fn = '2.ppm'; +fn = 'images/130049.pgm'; + + +% spatial gaussian parameter +xscale = 3; + +% half size of the neighbourhood +xnb = 6; + +% setting the the HSV gaussian parameter:[h s v] +Iscale = [0.008,0.01,0.01]; + +Input_para = [xscale,xnb,Iscale]; + +% compute the lower half the association matrix +[A,D,Ipara] = compute_A_ppm(fn,Input_para); + +B = A+A'; +clear A; + +% eigen decompostion +options.tol = 1e-7; +num_eig_v = 4; +fprintf('doing eigs ...\n'); +[v,d] = eigs(B,num_eig_v,options); + +d = diag(d); + +% to display the final result + +%nr = Ipara(1);nc = Ipara(2); +%k = 1;imagesc(reshape(v(:,k).*D,nc,nr)');colorbar + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/euclid_dist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/euclid_dist.m new file mode 100755 index 0000000..cbf0734 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/euclid_dist.m @@ -0,0 +1,22 @@ +function [A,mag] = euclid_dist(v) + + + +A = 2*v*v'; + +nv = size(v,2); +if (nv>1) + mag = sum((v.*v)')'; +else + mag = v.*v; +end + +np = length(mag); + +for j=1:np, + A(:,j) = mag-A(:,j); +end + +for j=1:np, + A(j,:) = mag' + A(j,:); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/filter_all_files.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/filter_all_files.m new file mode 100755 index 0000000..c1752e5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/filter_all_files.m @@ -0,0 +1,29 @@ +sigs = [1/sqrt(2),1,sqrt(2),2,2*sqrt(2)];r = 3;szs = round(r*3*sigs); + +load filenames; + +nfiles = size(filename,1); + +for j = 48:nfiles, + fname = ['images/',filename(j,:)]; + fname + I = readpgm(fname); + + text_des = compute_filter(I,sigs,r,szs); + + data_name = sprintf('filter_%s.mat',filename(j,:)); + cm = sprintf('save %s ',data_name); + + disp(cm); + eval(cm); + clear; + + sigs = [1/sqrt(2),1,sqrt(2),2,2*sqrt(2)];r = 3;szs = round(r*3*sigs); + + load filenames; + + nfiles = size(filename,1); + + +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/filter_output.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/filter_output.m new file mode 100755 index 0000000..a489c6e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/filter_output.m @@ -0,0 +1,38 @@ +function If = filter_output(I,sigs,szs,flag); +% +% compute filter output for all orientation and scale, +% + +%% flag = 1 if compute oriented filter output +if (~exist('flag')), + flag = 1; +end + + +If = []; + +for j = 1:length(sigs), + sig = sigs(j); + sz = 2*round(4*sig)+1; + + g = mkdog1(sig,sz); + fprintf('['); + fprintf('.'); + If(:,:,1,j) = conv2(I,g,'same'); + + angles = [0:30:150]; + r = 3; + + if flag, + for k = 1:length(angles), + fprintf('.'); + g = mdoog2(sig,r,angles(k),szs(j)); + If(:,:,k+1,j) = conv2(I,g,'same'); + end + end + + fprintf(']'); + +end + +fprintf('\n'); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_bst_cut.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_bst_cut.m new file mode 100755 index 0000000..c85cc2b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_bst_cut.m @@ -0,0 +1,24 @@ +function [cut_threshold,max_asso] = find_bst_cut(fn_base,para,threshold,Gmask) + +basedir = 'plaatje_data/'; +%basedir = './'; + +fn = sprintf('%sbst_cut.tex',basedir); +write_command(fn,fn_base,para); + +fn= sprintf('%sthreshold_%s.pfm',basedir,fn_base); +writepfm(fn,threshold(:)); + +fn= sprintf('%sGmask_%s.pfm',basedir,fn_base); +writepfm(fn,Gmask(:)); + +cd plaatje_data +!./find_bestcut +cd /home/barad-dur/vision/malik/jshi/proj/grouping/texture + +fn = sprintf('%sbst_asso_%s.pfm',basedir,fn_base); +results = readpfm(fn); +asso = results(1,:); +[max_asso,id] = max(asso); +cut_threshold = threshold(id); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_center.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_center.m new file mode 100755 index 0000000..b5a127a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_center.m @@ -0,0 +1,4 @@ +function [center_x,center_y] = find_center(size_x,size_y); + +center_x = 0.5*(size_x -1)+1; +center_y = 0.5*(size_y -1)+1; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_cutpoint.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_cutpoint.m new file mode 100755 index 0000000..5cab956 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/find_cutpoint.m @@ -0,0 +1,13 @@ +function [cutpoints,x] = find_cutpoint(data,cmap,nbin) +% +% [cutpoints,x] = find_cutpoint(data,cmap,nbin) +% +% + +x = id_cut(data,cmap,nbin); + +cutpoints = zeros(1,nbin); + +for j=1:nbin, + cutpoints(j) = max(data(x<=j)); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/gen_filters.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/gen_filters.m new file mode 100755 index 0000000..65e3c3a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/gen_filters.m @@ -0,0 +1,47 @@ +function filters = gen_filters(sig,r,sz); + + +as = 0:30:150; + +filters = []; + +if size(sig,2)== 1, + + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + + g = g - mean(reshape(g,prod(size(g)),1)); + + g = g/sum(sum(abs(g))); + + filters(:,:,j) = g; + end +else + + % there are multiple scales + sigs = sig; + szs = sz; + for k = 1:size(sigs,2), + sig = sigs(k); + sz = szs(length(szs)-1); + fprintf('%d',k); + for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = mdoog2(sig,r,angle,round(sz)); + g = g - mean(reshape(g,prod(size(g)),1)); + g = g/sum(sum(abs(g))); + + filters(:,:,j,k) = g; + end + + + end + +end + +fprintf('\n'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_cumhist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_cumhist.m new file mode 100755 index 0000000..b05d680 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_cumhist.m @@ -0,0 +1,9 @@ +function cumhists = get_cumhist(hists) +% +% +% cumhists = get_cumhist(hists) +% + +cumhists.inten = cumsum(hists.inten)/sum(hists.inten); +cumhists.text = cumsum(hists.text,1)./(ones(size(hists.text,1),1)*sum(hists.text,1)); +cumhists.mag = cumsum(hists.mag)/sum(hists.mag); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_cumhist_inten.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_cumhist_inten.m new file mode 100755 index 0000000..911b4e6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_cumhist_inten.m @@ -0,0 +1,7 @@ +function CH_inten = get_cumhist(hists) +% +% +% cumhists = get_cumhist(hists) +% + +CH_inten = cumsum(hists)/sum(hists); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_hist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_hist.m new file mode 100755 index 0000000..d480a3a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_hist.m @@ -0,0 +1,24 @@ +function [hists,bins] = get_hists(J,Jbar) +% +% +% produce histogram output of the image J and its +% filter outputs Jbar +% + +maxval = 60; +bin = [1:4:maxval+1]; + +w = size(J); + + +[hists.inten,bins.inten] = hist(reshape(J,prod(w),1),[1:26:256]); + +for j=1:size(Jbar,3), + hists.text(:,j) = hist(reshape(abs(Jbar(:,:,j)),prod(w),1),bin); +end + +bins.text = bin; + +[hists.mag,bins.mag] = hist(reshape(sum(abs(Jbar),3),prod(w),1),[1:10:161]); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_hist_inten.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_hist_inten.m new file mode 100755 index 0000000..c8357c6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_hist_inten.m @@ -0,0 +1,15 @@ +function [Hinten,Hbins] = get_hists_inten(J,nbin) +% +% +% produce histogram output of the image J and its +% filter outputs Jbar +% + + +w = size(J); + +[Hinten,Hbins] = hist(reshape(J,prod(w),1),linspace(1,256,nbin)); + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_win.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_win.m new file mode 100755 index 0000000..411a694 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_win.m @@ -0,0 +1,10 @@ +function J = get_win(I,center,wc) +% +% J = get_win(I,center,wc) +% +% center: [x,y] + + + +J = I(center(2)-wc(2):center(2)+wc(2),... + center(1)-wc(1):center(1)+wc(1)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_win5.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_win5.m new file mode 100755 index 0000000..e8404e5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/get_win5.m @@ -0,0 +1,11 @@ +function J = get_win5(I,center,wc) +% +% J = get_win5(I,center,wc) +% +% center: [x,y] + + + +J = I(center(2)-wc(2):center(2)+wc(2),... + center(1)-wc(1):center(1)+wc(1),:,:); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/grad.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/grad.m new file mode 100755 index 0000000..6da0fbf --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/grad.m @@ -0,0 +1,24 @@ +% gradient of an image +% coordinates (r, c) follow matrix convention; +% the gaussian is truncated at x = +- tail, and there are samples samples +% inbetween, where samples = hsamples * 2 + 1 + +function[gr,gc] = gradient(image, hsamples) + +tail=4; +samples = hsamples * 2 + 1; + +x = linspace(-tail, tail, samples); +gauss = exp(-x.^2); +n = gauss * ones(samples,1); +gauss = gauss/n; + +gaussderiv = -x.*gauss; +n = -gaussderiv*linspace(1,samples,samples)'; +gaussderiv = gaussderiv/n; + +gr = conv2(conv2(image, gaussderiv','valid'), gauss,'valid'); +gc = conv2(conv2(image, gaussderiv,'valid'), gauss','valid'); + +%gr = conv_trim(gr, hsamples, hsamples); +%gc = conv_trim(gc, hsamples, hsamples); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/half_sigmoid.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/half_sigmoid.m new file mode 100755 index 0000000..c187b6c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/half_sigmoid.m @@ -0,0 +1,17 @@ +function a = half_sigmoid(x,offset,sig) +% +% a = half_sigmoid(x,offset,sig) +% +% a = ones(size(x))./(1+exp(-(x-offset)/sig)); +% +% keep the sign of a + +sign_x = sign(x); +x = abs(x); + +a = ones(size(x))./(1+exp(-(x-offset)/sig)); + +off = 1/(1+exp(-(0-offset)/sig)); + +a = sign_x.*(a-off); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist2d.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist2d.m new file mode 100755 index 0000000..3f4db0c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist2d.m @@ -0,0 +1,13 @@ +function H2 = hist2d(J,Jf,scales,filter_ids) + +ns = length(scales); +nf = length(filter_ids); + +H2 = []; +for j=1:ns, + for k=1:nf, + H2d = hist_I_f(J,Jf(:,:,filter_ids(k),scales(j))); + H2(:,:,j,k) = H2d; + end +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_I_f.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_I_f.m new file mode 100755 index 0000000..a993661 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_I_f.m @@ -0,0 +1,22 @@ +function h2d = hist_I_f(I,If,binI,binf) + +if (nargin == 2), + binI = [0:13:260]; + binf = [-30:2.5*2:30]; +end + +%%% make 2d histogram bin +h2d = []; + +for j = 2:length(binf), + + [id_i,id_j] = find((If>binf(j-1)) & (If<=binf(j))); + if (length(id_i) >0), + h = hist(I(id_i+(id_j-1)*size(I,1)),binI); + else + h = zeros(size(binI)); + end + + h2d = [h2d,h']; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_diff.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_diff.m new file mode 100755 index 0000000..6976c8f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_diff.m @@ -0,0 +1,30 @@ +function hdiff = hist_diff(H1,H2) +% +% hdiff = hist_diff(H1,H2) +% + +ns = size(H1,3); +nf = size(H1,4); + +sI= [1,0,1];sI = exp(-sI); +sI = sI/sum(sI); + +hdiff = 0; +for j = 1:ns, + for k = 1:nf, + h1 = H1(:,:,j,k); + h2 = H2(:,:,j,k); + + h1s = conv2(conv2(h1,sI','same'),sI,'same'); + h2s = conv2(conv2(h2,sI','same'),sI,'same'); + + [is,js] = find( (h1>0) | (h2>0)); + ids = (js-1)*size(h1,1) + is; + + xdiffs = ((h1s(ids)-h2s(ids)).*(h1s(ids)-h2s(ids)))./(h1s(ids)+h2s(ids)); + hdiff = hdiff + sum(xdiffs); + + end +end + +hdiff = hdiff/(ns*nf); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_f.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_f.m new file mode 100755 index 0000000..93f50a9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_f.m @@ -0,0 +1,28 @@ +function h2d = hist_f(Ifs,f1,s1,f2,s2) + + +binf = [-30:2.5*2:30]; + + +%%% make 2d histogram bin + +If1 = Ifs(:,:,f1,s1); +If2 = Ifs(:,:,f2,s2); +h2d = []; + +binf(1) = -100; +binf(length(binf)) = 100; + +for j = 2:length(binf), + + [id_i,id_j] = find((If1>binf(j-1)) & (If1<=binf(j))); + if (length(id_i) >0), + + h = hist(If2(id_i+(id_j-1)*size(If2,1)),binf); + else + h = zeros(size(binf)); + end + + + h2d = [h2d,h']; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_in_chank.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_in_chank.m new file mode 100755 index 0000000..74661b2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_in_chank.m @@ -0,0 +1,33 @@ +function covfh = hist_inner_chank(fv,chank_size,nbin) +% fh = hist_inner_chank(fv,hb,chank_file) +% +% (hb = bin_mins,bin_maxs,nbins) +% +% take which histogram value and turn it into histogram bin +% compute the inner product of the histogram bin features +% + +[nf,np] = size(fv); + +tbins = nf*nbin; +disp(sprintf('need matrix of %d x %d ',tbins,tbins)); + +covfh = zeros(tbins,tbins); + +n_chanks = ceil(np/chank_size); +for j=1:n_chanks, + fprintf('<'); + + cm = sprintf('load st_%d',j); + eval(cm); + fprintf(sprintf('%d',n_chanks-j)); + + %ms = mean(fh'); + %fh = fh- ms'*ones(1,size(fh,2)); + + covfh = covfh + fh*fh'; + fprintf('>'); +end + +fprintf('\n'); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_inner.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_inner.m new file mode 100755 index 0000000..6fd02b7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hist_inner.m @@ -0,0 +1,40 @@ +function fh = hist_inner(fv,hb) +% (hb = bin_mins,bin_maxs,nbins) +% +% take which histogram value and turn it into histogram bin +% compute the inner product of the histogram bin features +% + +[nf,np] = size(fv); + +nbins = [0,hb.nbins]; + +disp(sprintf('need matrix of %d x %d ',sum(nbins),sum(nbins))); + +fh = zeros(sum(nbins),sum(nbins)); + +for j=1:nf, + bin_min = hb.bmins(j); + bin_max = hb.bmaxs(j); + nbin = nbins(j+1); + sig = hb.sigs(j); + fprintf('|'); + b0 = binize(fv(j,:),sig,bin_min,bin_max,nbin); + + fh(sum(nbins(1:j))+1:sum(nbins(1:j+1)),sum(nbins(1:j))+1:sum(nbins(1:j+1))) = b0*b0'; + + for k=j+1:nf, + bin_min = hb.bmins(k); + bin_max = hb.bmaxs(k); + nbin = nbins(k+1); + sig = hb.sigs(k); + fprintf('.'); + b = binize(fv(k,:),sig,bin_min,bin_max,nbin); + tmp = b0*b'; + + fh(sum(nbins(1:j))+1:sum(nbins(1:j+1)),sum(nbins(1:k))+1:sum(nbins(1:k+1))) = tmp; + fh(sum(nbins(1:k))+1:sum(nbins(1:k+1)),sum(nbins(1:j))+1:sum(nbins(1:j+1))) = tmp'; + end +end + +fprintf('\n'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/histbin_fv_chank.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/histbin_fv_chank.m new file mode 100755 index 0000000..8cf2a35 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/histbin_fv_chank.m @@ -0,0 +1,14 @@ +function histbin_fv_chank(fvs,hb,chank_size,fname_base) + +[nv,np] = size(fvs); + +k =1; +for j=1:chank_size:np, + disp(sprintf('|%d',j)); + fh = colize_hist(fvs(:,j:min(j+chank_size-1,np)),hb); + fname = sprintf('%s_%d.mat',fname_base,k); + cm = sprintf('save %s fh hb;',fname); + disp(cm); + eval(cm); + k = k+1; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hsv2clrs.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hsv2clrs.m new file mode 100755 index 0000000..cfbb8b0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/hsv2clrs.m @@ -0,0 +1,25 @@ +function [x,y,z] = hsv2clrs(h,s,v) +% +% function [x,y,z] = hsv2clrs(h,s,v) +% if h is 3D matrix, output in 3D x +% + +if (size(h,3) == 3), + s = h(:,:,2); + v = h(:,:,3); + h = h(:,:,1); + + z = v; + xx = s.*v.*cos(2*pi*h); + y = s.*v.*sin(2*pi*h); + + x(:,:,1) = xx; + x(:,:,2) = y; + x(:,:,3) = z; +else + + z = v; + x = s.*v.*cos(2*pi*h); + y = s.*v.*sin(2*pi*h); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/id_cut.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/id_cut.m new file mode 100755 index 0000000..daf8f2b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/id_cut.m @@ -0,0 +1,14 @@ +function [x,map] = idcut(data,cmap,nbin) +% +% +% + +lc = size(cmap,1); + +data = data - min(data); +data = 1+ ((lc-1)*data/max(data)); + +r = cmap(data,1);g = cmap(data,2);b = cmap(data,3); + +[x,map] = vmquant(r,g,b,nbin); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im.m new file mode 100755 index 0000000..6450120 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im.m @@ -0,0 +1,3 @@ +function im(I) + +imagesc(I);axis('image');drawnow; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im3.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im3.m new file mode 100755 index 0000000..b49e690 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im3.m @@ -0,0 +1,3 @@ +function im3(d) + +imagesc(reshape(d,size(d,1),size(d,2)*size(d,3))); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im5.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im5.m new file mode 100755 index 0000000..7f1b16d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im5.m @@ -0,0 +1,16 @@ +function im5(data,nr,nc,mag) + +if nargin == 4, +for j=1:size(data,3), + subplot(nr,nc,j); + imagesc(data(:,:,j)./mag);axis('image');axis('off');colorbar;drawnow; + +% image(150*data(:,:,j));axis('image');axis('off');colorbar;drawnow; +end + +else +for j=1:size(data,3), + subplot(nr,nc,j); + imagesc(data(:,:,j));axis('image');axis('off');colorbar;drawnow; +end +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im_vect.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im_vect.m new file mode 100755 index 0000000..d0a5b30 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/im_vect.m @@ -0,0 +1,20 @@ +function a = im_vect(loca,v,scale); + +if ~exist('scale'), + scale = 50; +end + +y = loca(1,:); +x = loca(2,:); + +x = x - min(x); +y = y - min(y); + +max_x = max(x);max_y = max(y); +min_scale = min(max_x,max_y); + +x = scale*x/min_scale; +y = scale*y/min_scale; + + +a = sparse(y+1,x+1,v); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/imrotate.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/imrotate.m new file mode 100755 index 0000000..167fd02 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/imrotate.m @@ -0,0 +1,119 @@ +function bout = imrotate(arg1,arg2,arg3,arg4) +%IMROTATE Rotate image. +% B = IMROTATE(A,ANGLE,'method') rotates the image A by ANGLE +% degrees. The image returned B will, in general, be larger +% than A. Invalid values on the periphery are set to one +% for indexed images or zero for all other image types. Possible +% interpolation methods are 'nearest','bilinear' or 'bicubic'. +% 'bilinear' is the default for intensity images, otherwise +% 'nearest' is used if no method is given. +% +% B = IMROTATE(A,ANGLE,'crop') or IMROTATE(A,ANGLE,'method','crop') +% crops B to be the same size as A. +% +% Without output arguments, IMROTATE(...) displays the rotated +% image in the current axis. +% +% See also IMRESIZE, IMCROP, ROT90. + +% Clay M. Thompson 8-4-92 +% Copyright (c) 1992 by The MathWorks, Inc. +% $Revision: 1.14 $ $Date: 1993/09/01 21:27:38 $ + +if nargin<2, error('Requires at least two input parameters.'); end +if nargin<3, + if isgray(arg1), caseid = 'bil'; else caseid = 'nea'; end + docrop = 0; +elseif nargin==3, + if isstr(arg3), + method = [lower(arg3),' ']; % Protect against short method + caseid = method(1:3); + if caseid(1)=='c', % Crop string + if isgray(arg1), caseid = 'bil'; else caseid = 'nea'; end + docrop = 1; + else + docrop = 0; + end + else + error('''METHOD'' must be a string of at least three characters.'); + end +else + if isstr(arg3), + method = [lower(arg3),' ']; % Protect against short method + caseid = method(1:3); + else + error('''METHOD'' must be a string of at least three characters.'); + end + docrop = 1; +end + +% Catch and speed up 90 degree rotations +if rem(arg2,90)==0 & nargin<4, + phi = rem(arg2,360); + if phi==90, + b = rot90(arg1); + elseif phi==180, + b = rot90(arg1,2); + elseif phi==270, + b = rot90(arg1,-1); + else + b = arg1; + end + if nargout==0, imshow(b), else bout = b; end + return +end + +phi = arg2*pi/180; % Convert to radians + +% Rotation matrix +T = [cos(phi) -sin(phi); sin(phi) cos(phi)]; + +% Coordinates from center of A +[m,n] = size(arg1); +if ~docrop, % Determine limits for rotated image + siz = ceil(max(abs([(n-1)/2 -(m-1)/2;(n-1)/2 (m-1)/2]*T))/2)*2; + uu = -siz(1):siz(1); vv = -siz(2):siz(2); +else % Cropped image + uu = (1:n)-(n+1)/2; vv = (1:m)-(m+1)/2; +end +nu = length(uu); nv = length(vv); + +blk = bestblk([nv nu]); +nblks = floor([nv nu]./blk); nrem = [nv nu] - nblks.*blk; +mblocks = nblks(1); nblocks = nblks(2); +mb = blk(1); nb = blk(2); + +rows = 1:blk(1); b = zeros(nv,nu); +for i=0:mblocks, + if i==mblocks, rows = (1:nrem(1)); end + for j=0:nblocks, + if j==0, cols = 1:blk(2); elseif j==nblocks, cols=(1:nrem(2)); end + if ~isempty(rows) & ~isempty(cols) + [u,v] = meshgrid(uu(j*nb+cols),vv(i*mb+rows)); + % Rotate points + uv = [u(:) v(:)]*T'; % Rotate points + u(:) = uv(:,1)+(n+1)/2; v(:) = uv(:,2)+(m+1)/2; + if caseid(1)=='n', % Nearest neighbor interpolation + b(i*mb+rows,j*nb+cols) = interp6(arg1,u,v); + elseif all(caseid=='bil'), % Bilinear interpolation + b(i*mb+rows,j*nb+cols) = interp4(arg1,u,v); + elseif all(caseid=='bic'), % Bicubic interpolation + b(i*mb+rows,j*nb+cols) = interp5(arg1,u,v); + else + error(['Unknown interpolation method: ',method]); + end + end + end +end + +d = find(isnan(b)); +if length(d)>0, + if isind(arg1), b(d) = ones(size(d)); else b(d) = zeros(size(d)); end +end + +if nargout==0, + imshow(b), return +end +bout = b; + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ims.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ims.m new file mode 100755 index 0000000..2fb5f25 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ims.m @@ -0,0 +1,3 @@ +function ims(I,nr,nc) + +im(reshape(I,nr,nc)); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/imvs.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/imvs.m new file mode 100755 index 0000000..21dde73 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/imvs.m @@ -0,0 +1,4 @@ +function imvs(I,v,nr,nc) + +v = reshape(v,nr,nc); +im(I(1:size(v,1),1:size(v,2)).*v); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/is_step.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/is_step.m new file mode 100755 index 0000000..4903778 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/is_step.m @@ -0,0 +1,33 @@ +function P_step = is_step(gx,gy) +% +% P_step = is_step(gx,gy) +% +% determine wheter gx,gy(which is first +% order filter output) is a response +% to a step function +% + +M = zeros(2,2); +M(1,1) = sum(sum(gx.*gx)); +M(2,2) = sum(sum(gy.*gy)); +M(1,2) = sum(sum(gx.*gy)); +M(2,1) = M(1,2); + +[v,d] = eig(M); +d = diag(d); + +% make the first eig_value to be the smaller one +if (d(2)< d(1)), + tmp = d(1);d(1) = d(2);d(2) = tmp; + tmp = v(:,1); v(:,1) = v(:,2); v(:,2) = tmp; +end + +ratio = d(1)/d(2); +threshold = 0; +gx_ratio = sum(sum(gx.*(gx>threshold)))/(sum(sum(abs(gx).*(abs(gx)>threshold)))); +gx_ratio = max(gx_ratio,1-gx_ratio); + +gy_ratio = sum(sum(gy.*(gy>threshold)))/(sum(sum(abs(gy).*(abs(gy)>threshold)))); +gy_ratio = max(gy_ratio,1-gy_ratio); + +P_step = [ratio,gx_ratio,gy_ratio]; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ks_2d.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ks_2d.m new file mode 100755 index 0000000..cfac005 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ks_2d.m @@ -0,0 +1,20 @@ +function [na,nb,nc,nd] = ks_2d(cum_filter) + +[nb_filters,nb_bins] = size(cum_filter); + +T = 1; + +for j = [1:nb_filters], + for l = [1:nb_bins], + nc(j,l) = sum(cum_filter(1:j,l)); + nd(j,l) = j*T - nc(j,l); + + if (j~= nb_filters), + nb(j,l) = sum(cum_filter(j+1:nb_filters,l)); + na(j,l) = (nb_filters-j)*T-nb(j,l); + else + nb(j,l) = 0; + na(j,l) = 0; + end + end +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/load_result.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/load_result.m new file mode 100755 index 0000000..0ff328c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/load_result.m @@ -0,0 +1,39 @@ + +fnameI = '130056'; + +cm = sprintf('load filter_%s.pgm.mat',fnameI); +disp(cm); +eval(cm); + +text_des= reshape(text_des,size(text_des,1),size(text_des,2),size(text_des,3)*size(text_des,4)); + +for j=1:size(text_des,3), + text_des(:,:,j) = abs(text_des(:,:,j)).*(text_des(:,:,j) <0); +end + +%text_des = abs(text_des); + + + %%%% cutoff margins, +margin = 6+10; + +Iw = cutoff(I,margin); + + +T1 = cutoff(text_des,margin); + +%%%%% reduce resolution + + + +T1 = reduce_all(T1); +T1 = reduce_all(T1); + +im5(T1,5,6); + +cm = sprintf('writepnm5(''%s_f.pnm'',%s)',fnameI,'T1/70'); + +% disp(cm);eval(cm); + +nr = size(T1,1); +nc = size(T1,2); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/m_interp4.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/m_interp4.m new file mode 100755 index 0000000..314f140 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/m_interp4.m @@ -0,0 +1,49 @@ +function [F,mask] = m_interp4(z,s,t) +%INTERP4 2-D bilinear data interpolation. +% ZI = INTERP4(Z,XI,YI) assumes X = 1:N and Y = 1:M, where +% [M,N] = SIZE(Z). +% +% Copyright (c) 1984-93 by The MathWorks, Inc. +% Clay M. Thompson 4-26-91, revised 7-3-91, 3-22-93 by CMT. +% +% modified to + + +[nrows,ncols] = size(z); + + +if any(size(z)<[3 3]), error('Z must be at least 3-by-3.'); end +if size(s)~=size(t), error('XI and YI must be the same size.'); end + +% Check for out of range values of s and set to 1 +sout = find((s<1)|(s>ncols)); +if length(sout)>0, s(sout) = ones(size(sout)); end + +% Check for out of range values of t and set to 1 +tout = find((t<1)|(t>nrows)); +if length(tout)>0, t(tout) = ones(size(tout)); end + +% Matrix element indexing +ndx = floor(t)+floor(s-1)*nrows; + +% Compute intepolation parameters, check for boundary value. +d = find(s==ncols); +s(:) = (s - floor(s)); +if length(d)>0, s(d) = s(d)+1; ndx(d) = ndx(d)-nrows; end + +% Compute intepolation parameters, check for boundary value. +d = find(t==nrows); +t(:) = (t - floor(t)); +if length(d)>0, t(d) = t(d)+1; ndx(d) = ndx(d)-1; end +d = []; + +% Now interpolate, reuse u and v to save memory. +F = ( z(ndx).*(1-t) + z(ndx+1).*t ).*(1-s) + ... + ( z(ndx+nrows).*(1-t) + z(ndx+(nrows+1)).*t ).*s; + +mask = ones(size(z)); + +% Now set out of range values to zeros. +if length(sout)>0, F(sout) = zeros(size(sout));mask(sout)=zeros(size(sout));end +if length(tout)>0, F(tout) = zeros(size(tout));mask(tout)=zeros(size(tout));end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/make_masks.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/make_masks.m new file mode 100755 index 0000000..d2c8ba7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/make_masks.m @@ -0,0 +1,12 @@ +function masks = make_masks(groups,ids,nr,nc); + +np = ids(end); + +baseid =1; +for j=1:length(ids), + mask = zeros(np,1); + mask(groups(baseid:ids(j))) = 1+mask(groups(baseid:ids(j))); + baseid = 1+ids(j); + + masks(:,:,j) = mask; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/makefilter.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/makefilter.m new file mode 100755 index 0000000..a768269 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/makefilter.m @@ -0,0 +1,14 @@ +function H = make_filter(txture,sze,noise) +% function H = make_filter(txture,sze) +% +% + +x = zeros(sze); +tx_sze = size(txture); + +x(1:tx_sze(1),1:tx_sze(2)) = txture; +x = reshape(x,1,sze(1)*sze(2)); +X = fft(x); +figure(3);plot(abs(X).^2); + +H = X./(abs(X).^2+noise); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_t1.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_t1.m new file mode 100755 index 0000000..256e609 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_t1.m @@ -0,0 +1,22 @@ +function [H,h] = make_filter(txture,sze,noise) +% function H = make_filter(txture,sze) +% +% + +tx_sze = size(txture); +x = reshape(txture,1,tx_sze(1)*tx_sze(2)); +X = fft(x); +H = X./(abs(X).^2+noise); +h = reshape(real(ifft(H)),tx_sze(1),tx_sze(2)); + + +x = zeros(sze); +x(1:tx_sze(1),1:tx_sze(2)) = h; +figure(1);imagesc(x);drawnow; +x = reshape(x,1,sze(1)*sze(2)); +H = fft(x); + +h = reshape(real(ifft(H)),sze(1),sze(2)); +figure(2);imagesc(h); + +figure(3); mesh(h); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_t2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_t2.m new file mode 100755 index 0000000..c84482d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_t2.m @@ -0,0 +1,21 @@ +function [H,h] = make_filter(txture,sze,noise) +% function H = make_filter(txture,sze) +% +% + +x = zeros(sze); +tx_sze = size(txture); + +[center_x,center_y] = find_center(sze(2),sze(1)); +tx_sze_h = round(0.5*tx_sze); + +x(center_y-tx_sze_h(1):center_y-tx_sze_h(1)+tx_sze(1)-1,... + center_x-tx_sze_h(2):center_x-tx_sze_h(2)+tx_sze(2)-1) = txture; +figure(1);imagesc(x);drawnow; +x = reshape(x,1,sze(1)*sze(2)); +X = fft(x); +H = X./(abs(X).^2+noise); +h = reshape(real(ifft(H)),sze(1),sze(2)); +figure(2);imagesc(h); + +figure(3); mesh(h); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_test.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_test.m new file mode 100755 index 0000000..e8d0ad8 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkf_test.m @@ -0,0 +1,43 @@ +function [H,h] = make_filter(txture,sze,n_c,a,b,c) +% function H = make_filter(txture,sze) +% +% + +x = zeros(sze); +tx_sze = size(txture); + +x(1:tx_sze(1),1:tx_sze(2)) = txture; +%figure(1);imagesc(x);drawnow; +x = reshape(x,1,sze(1)*sze(2)); +X = fft(x); +power = abs(X).^2; + +figure(3);plot(power); +len = length(X); + +t = [1:0.5*(length(X)-1),0.5*(length(X)-1):-1:1]; + +top = max(power); +if (c == -1), + c = top*5.0e-1 +end +if (n_c == -1), + n_c = top*1.0e-1 +end + +nois = n_c +c*(exp(-a*(t.^b))); +if (rem(len,2) == 1), + noise = [c+n_c,nois]; +else + noise = [c+n_c,nois,c+n_c]; +end + +figure(3);hold on;plot(noise,'r'); +hold off +H = X./(abs(X).^2+noise); +h = reshape(real(ifft(H)),sze(1),sze(2)); +figure(2);imagesc(h); + +figure(4);plot(abs(H).^2,'c') +%figure(3); mesh(h); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkg.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkg.m new file mode 100755 index 0000000..1fb1f7e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkg.m @@ -0,0 +1,9 @@ +function g= mkgaussian(xo,yo,sigma_x,sigma_y,size_w) +% +% function G = mkgaussian(xo,yo,sigma_x,sigma_y,size_w) +% + +size_wh = round(0.5*size_w); +[x,y] = meshgrid([-size_wh:1:size_wh],[-size_wh:1:size_wh]); +g = 1/(2*pi*sigma_x*sigma_y)*(exp(-( ((x-xo)/sigma_x).^2 + ((y-yo)/sigma_y).^2))); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkgaussian.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkgaussian.m new file mode 100755 index 0000000..1213757 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkgaussian.m @@ -0,0 +1,11 @@ +function G = mkgaussian(xo,yo,sigma_x,sigma_y,size_w) +% +% function G = mkgaussian(xo,yo,sigma_x,sigma_y,size_w) +% + +size_wh = round(0.5*size_w); + +[x,y] = meshgrid([-size_wh:1:size_wh],[-size_wh:1:size_wh]); + +G = 0.5/(sigma_x*sigma_y)*(exp(-( ((x-xo)/sigma_x).^2 + ((y-yo)/sigma).^2))); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkmulfilter.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkmulfilter.m new file mode 100755 index 0000000..fe501b5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkmulfilter.m @@ -0,0 +1,52 @@ +function H = make_multi_filter(templates,num_templates,sze,u,noise) +% function H = make_filter(templates,num_templates,sze,u,noise) +% templates are column vectors of template +% sze is the size of the filter +% u is a vector of specified value +% +% + +templates_size_x = size(templates,2)/num_templates; +templates_size_y = size(templates,1); + +alpha = 1/num_templates; + +X = zeros(num_templates,sze(1)*sze(2)); +Spectrums = zeros(num_templates,sze(1)*sze(2)); + + +for k =1:num_templates, + tmp = zeros(sze); + tmp(1:templates_size_y,1:templates_size_x) =... + templates(:,(k-1)*templates_size_x+1:k*templates_size_x); + x(k,:) = reshape(tmp,1,sze(1)*sze(2)); + X(k,:) = fft(x(k,:)); + Spectrums(k,:) = conj(X(k,:)).*X(k,:); +end + +if num_templates > 1 + sum_Spect = sum(Spectrums)*alpha; +else + sum_Spect = Spectrums; +end + +for row = 1:num_templates, + for column = 1:num_templates, + + A(row,column) = sum( ((conj(X(row,:)).*X(column,:))./... + (sum_Spect + noise))')/(sze(1)*sze(2)); + end +end + + +epsilon = inv(A)*u; + +top = epsilon(1)*X(1,:); +for k = 2:num_templates, + top = top + epsilon(k)*X(k,:); +end + +H = top./(sum_Spect + noise); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkpoog2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkpoog2.m new file mode 100755 index 0000000..4bd0366 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mkpoog2.m @@ -0,0 +1,29 @@ +function doog2 = mkdoog2(sigma_w,r,theta,size_w) +% +% function doog2 = mkdoog2(sigma_w,r,theta,size_w) +% +% + +%scale_base = 2.8814; +scale_base = 2; + +a = -1*scale_base; +b = 2*scale_base; +c = -1*scale_base; + +sigma_x = r*sigma_w; +sigma_y = sigma_w; + +ya = sigma_w; +yc = -sigma_w; +yb = 0; + +doog2 = a*mkg(0,ya,sigma_x,sigma_y,size_w) +... + b*mkg(0,yb,sigma_x,sigma_y,size_w) +... + c*mkg(0,yc,sigma_x,sigma_y,size_w); + +figure(3);colormap(hsv); +subplot(1,3,1);mesh(a*mkg(0,ya,sigma_x,sigma_y,size_w)); +subplot(1,3,2);mesh(b*mkg(0,yb,sigma_x,sigma_y,size_w)); +subplot(1,3,3);mesh(c*mkg(0,yc,sigma_x,sigma_y,size_w)); +%doog2 = 255*5.1745*doog2; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mksgn.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mksgn.m new file mode 100755 index 0000000..15f947b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mksgn.m @@ -0,0 +1,10 @@ +function sgn = makesgn(sigma,sigma_x,sze) + + +size_wh = round(0.5*sze); +[x,y] = meshgrid([-size_wh:1:size_wh],[-size_wh:1:size_wh]); +steps = 1/(1+2*sigma_x); + +fx = -1*(x<=-sigma_x) + (x>=sigma_x) + steps*((x+sigma_x).*(x>-sigma_x).*(x-sigma_x).*(x<1)) + steps*(sigma_x-x).*(x=1); +sgn = fx.*(exp(- (y.*y)/(2*sigma))); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mreadpfm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mreadpfm.m new file mode 100755 index 0000000..cf68a01 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mreadpfm.m @@ -0,0 +1,11 @@ +function I = read_pfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2) +I = fscanf(fid,'%f',[A(1),A(2)]); + + +I = I'; +size(I); +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mreadpfm2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mreadpfm2.m new file mode 100755 index 0000000..c01b25b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mreadpfm2.m @@ -0,0 +1,9 @@ +function I = read_pfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2) +I = fscanf(fid,'%f',[A(1),A(2)]); + + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mwis.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mwis.m new file mode 100755 index 0000000..95de8f6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mwis.m @@ -0,0 +1,16 @@ +function [l1,l2,phi] = mwis(gx,gy) +% +% [l1,l2,phi] = mwis(gx,gy) +% +% + +sgx = sum(sum(gx.*gx)); +sgxy = sum(sum(gx.*gy)); +sgy = sum(sum(gy.*gy)); + +tr = sgx + sgy; +v1 = 0.5*sqrt(tr*tr - 4*(sgx*sgy-sgxy*sgxy)); +l1 = real(0.5*tr+v1); +l2 = real(0.5*tr-v1); + +phi= 0.5*atan2(2*sgxy,sgx-sgy); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mwis_image.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mwis_image.m new file mode 100755 index 0000000..c8e8b66 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/mwis_image.m @@ -0,0 +1,25 @@ +function [l1,l2,phi] = mwis_image(gx,gy,hs) +% +% [l1,l2,phi] = mwis_image(gx,gy) +% +% + +if (~exist('hs')), + hs = 10; +end + + +sgx = gx.*gx; +sgxy = gx.*gy; +sgy = gy.*gy; + +ssgx = smooth(sgx,hs); +ssgxy = smooth(sgxy,hs); +ssgy = smooth(sgy,hs); + +tr = ssgx + ssgy; +v1 = 0.5*sqrt(tr.*tr - 4*(ssgx.*ssgy-ssgxy.*ssgxy)); +l1 = real(0.5*tr+v1); +l2 = real(0.5*tr-v1); + +phi= 0.5*atan2(2*sgxy,sgx-sgy); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/myinterp.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/myinterp.m new file mode 100755 index 0000000..6d8f055 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/myinterp.m @@ -0,0 +1,18 @@ +function y = myinterp(d,rate) +% + + +if (size(d,1)>1), + d = [d;d(1)]; +else + d = [d,d(1)]; +end + +lgn = length(d); + +x = 1:lgn; +xx = linspace(1,lgn,rate*lgn); + +y = interp1(x,d,xx,'linear'); + +y = y(1:(length(y)-1)); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ncut_b.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ncut_b.m new file mode 100755 index 0000000..c9eee35 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/ncut_b.m @@ -0,0 +1,25 @@ +function [v,d] = ncut(A,nv) + +ds = sum(A); +ds = ones(size(ds))./sqrt(ds); + +for j=1:size(A,1), + A(j,:) = A(j,:).*ds; +end + +for j=1:size(A,2); + A(:,j) = A(:,j).*ds'; +end + +%D1 = ds'*ones(1,length(ds)); +%A = D1'.*A.*D1; + +disp(sprintf('computing eig values')); +tic;[v,d] = eigs(A,nv);toc; + +d = abs(diag(d)); + +for j=1:nv, + v(:,j) = v(:,j).*ds'; +end +%v = D1(:,1:size(v,2)).*v; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/new_compute_J.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/new_compute_J.m new file mode 100755 index 0000000..f4e376a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/new_compute_J.m @@ -0,0 +1,32 @@ +function [JJ,mask] = compute_J(A,D,I,center,window_size_h) +%% function J = compute_J(A,D,I,center,window_size_h) +% + +[size_y,size_x] = size(I); + +center_x = center(1); +center_y = center(2); + +XX = meshgrid(1:size_x,1:size_y); +YY = meshgrid(1:size_y,1:size_x)'; +x = reshape(XX,size_x*size_y,1); +y = reshape(YY,size_x*size_y,1); +index(:,1) = x-center_x; +index(:,2) = y-center_y; + +position_new = A*index'+ [D(1),0;0,D(2)]*ones(2,size_x*size_y); +position_new(1,:) = position_new(1,:)+center_x; +position_new(2,:) = position_new(2,:)+center_y; + +position_new_x = reshape(position_new(1,:),size_y,size_x); +position_new_y = reshape(position_new(2,:),size_y,size_x); + +[J,mask]= m_interp4(I,position_new_x,position_new_y); + +JJ = J(center(2)-window_size_h(2):center(2)+window_size_h(2),... + center(1)-window_size_h(1):center(1)+window_size_h(1)); +mask = mask(center(2)-window_size_h(2):center(2)+window_size_h(2),... + center(1)-window_size_h(1):center(1)+window_size_h(1)); + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist.m new file mode 100755 index 0000000..f8dbd32 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist.m @@ -0,0 +1,45 @@ +function A = apply_image(gx,gy,I,wc) +% +% aout = apply_image(gx,gy,wc) +% +% + +[nr,nc] =size(gx); + +w = 2*wc+1; + +s1 = floor(nr/w); +s2 = floor(nc/w); + +A = zeros(s1*s2,s1*s2); + +yid = 0; +for j=wc+1:w:nr-wc-1, + yid = yid+1; + xid = 0; + for k=wc+1:w:nc-wc-1, + xid = xid + 1; + c1 = [k,j]; + + yyid = 0; + fprintf('.'); + for jj=wc+1:w:nr-wc-1, + yyid = yyid+1; + xxid = 0; + for kk=wc+1:w:nc-wc-1, + xxid = xxid + 1; + + c2 = [kk,jj]; + + a = compute_diff_patch(get_win(gx,c1,[wc,wc]),... + get_win(gy,c1,[wc,wc]),... + get_win(gx,c2,[wc,wc]),... + get_win(gy,c2,[wc,wc]),... + get_win(I,c1,[wc,wc]),... + get_win(I,c2,[wc,wc])); + + A(yid+(xid-1)*s1,yyid+(xxid-1)*s1) = a; + end + end + end +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist2.m new file mode 100755 index 0000000..dc31469 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist2.m @@ -0,0 +1,46 @@ +function A = apply_image(gx,gy,I,wc) +% +% aout = apply_image(gx,gy,wc) +% +% + +[nr,nc] =size(gx); + +w = 2*wc+1; + +lws = 4; + +s1 = floor(nr/w); +s2 = floor(nc/w); + +A = zeros(s1*s2,s1*s2); + +for j=1:s1, + for k=1:s2, + c1 = [(wc+1)+(k-1)*w,(wc+1)+(j-1)*w]; + fprintf('.'); + + for jj=j-lws:j+lws, + for kk=k-lws:k+lws, + + c2 = [(wc+1)+(kk-1)*w,(wc+1)+(jj-1)*w]; + if ( (jj>0) & (kk>0) & (jj <= s1) & (kk <= s2)) + a = compute_diff_patch(get_win(gx,c1,[wc,wc]),... + get_win(gy,c1,[wc,wc]),... + get_win(gx,c2,[wc,wc]),... + get_win(gy,c2,[wc,wc]),... + get_win(I,c1,[wc,wc]),... + get_win(I,c2,[wc,wc])); + + dx = abs(k-kk);dy = abs(j-jj); + sp_diff = exp(-sqrt(dx.^2+dy.^2)/4); + A(j+(k-1)*s1,jj+(kk-1)*s1) = a*sp_diff; + + end + + end + end + end +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text.m new file mode 100755 index 0000000..5cdb201 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text.m @@ -0,0 +1,70 @@ +function A = apply_image(I,bars,wc) +% +% aout = apply_image(gx,gy,wc) +% +% + +[nr,nc] =size(I); + +w = 2*wc+1; + +lws = 4; + +gap = 10; + +s1 = floor((nr-w)/gap); +s2 = floor((nc-w)/gap); + +A = zeros(s1*s2,s1*s2); + +sigma.text = 0.20; +sigma.mag = 0.20; +sigma.inten = 0.15; + +for j=1:s1, + for k=1:s2, + + + c1 = [(wc+1)+(k-1)*gap,(wc+1)+(j-1)*gap]; + fprintf('.'); + for jj=j-lws:j+lws, + for kk=k-lws:k+lws, + + c2 = [(wc+1)+(kk-1)*gap,(wc+1)+(jj-1)*gap]; + if ( (jj>0) & (kk>0) & (jj <= s1) & (kk <= s2)), + + J1 = get_win(I,c1,[wc,wc]); + J2 = get_win(I,c2,[wc,wc]); + + Jbars1 = get_win5(bars,c1,[wc,wc]); + Jbars2 = get_win5(bars,c2,[wc,wc]); + + + hists1 = get_hist(J1,Jbars1); + hists2 = get_hist(J2,Jbars2); + + cumhists1 = get_cumhist(hists1); + cumhists2 = get_cumhist(hists2); + + + diff.inten = max(abs(cumhists1.inten-cumhists2.inten)); + diff.mag = max(abs(cumhists1.mag-cumhists2.mag)); + diff.text = max(max(abs(cumhists1.text-cumhists2.text))); + + diffs = max([diff.inten/sigma.inten,... + diff.mag/sigma.mag,... + diff.text/sigma.text]); + + dx = abs(k-kk);dy = abs(j-jj); + sp_diff = sqrt(dx.^2+dy.^2)/4; + + A(j+(k-1)*s1,jj+(kk-1)*s1) = exp(-diffs-sp_diff); + + end + + end + end + end +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text2.m new file mode 100755 index 0000000..5c6e0d4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text2.m @@ -0,0 +1,58 @@ +function A = apply_image(I,bars,wc) +% +% aout = apply_image(gx,gy,wc) +% +% + +[nr,nc] =size(I); + +w = 2*wc+1; + +lws = 4; + +gap = 10; + +mag = sum(bars,3); + +s1 = floor((nr-w)/gap) +s2 = floor((nc-w)/gap) + +A = zeros(s1*s2,s1*s2); + +sigma.text = 0.20; +sigma.mag = 0.20; +sigma.inten = 0.15; + +for j=1:s1, + for k=1:s2, + + + c1 = [(wc+1)+(k-1)*gap,(wc+1)+(j-1)*gap]; + fprintf('.'); + for jj=j-lws:j+lws, + for kk=k-lws:k+lws, + + c2 = [(wc+1)+(kk-1)*gap,(wc+1)+(jj-1)*gap]; + if ( (jj>0) & (kk>0) & (jj <= s1) & (kk <= s2)), + + ces = [c1,c2]-wc; + cum = compute_dist_hist(I,mag,bars,[ces,w]); + + diffs = max([cum(1)/sigma.inten,... + cum(2)/sigma.mag,... + cum(3)/sigma.text]); + + dx = abs(k-kk);dy = abs(j-jj); + sp_diff = sqrt(dx.^2+dy.^2)/4; + + A(j+(k-1)*s1,jj+(kk-1)*s1) = exp(-diffs-sp_diff); + + end + + end + end + + end +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text3.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text3.m new file mode 100755 index 0000000..a7ff408 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text3.m @@ -0,0 +1,84 @@ +function [A,D] = pair_dist_text3(Cum,cumhists) +% +% A = pair_dist_text3(Cum,cumhists); +% +% + +s1 = Cum(2); +s2 = Cum(1); + +st = Cum(3) + Cum(4) + 1; +ed = size(cumhists,1); + +cumhists = cumhists(st:ed,:); + +np = size(cumhists,2); + +sigma.text = 0.20; +sigma.mag = 0.20; +sigma.inten = 0.15; + +lws = 4; + + +k = sqrt(2)/2; +M = 8*6; +N = k*sqrt(M); + +r1 = 0.001; +r2 = 0.001; + +c = N/(1+ (sqrt(1-0.5*(r1*r1+r2*r2)))*(0.25-0.75/N)); + +D = zeros(1,s1*s2); + +nn = 1; +for j =1:s1, + for k=1:s2, + + id = j*s2+k; + + cum_filter1 = reshape(cumhists(:,id),8,6)'; + [na1,nb1,nc1,nd1] = ks_2d(cum_filter1); + + + fprintf('.'); + for jj=j-lws:j+lws, + for kk=k-lws:k+lws, + + if ( (jj>0) & (kk>0) & (jj <= s1) & (kk <= s2)), + + idn = jj*s2+k; + + cum_filter2 = reshape(cumhists(:,idn),8,6)'; + [na2,nb2,nc2,nd2] = ks_2d(cum_filter2); + + + diffa = abs(na2-na1);diffb =abs(nb2-nb1); + diffc = abs(nc2-nc1);diffd = abs(nd2-nd1); + maxs(1) = max(max(diffa));maxs(2) = max(max(diffb)); + maxs(3) = max(max(diffc));maxs(4) = max(max(diffd)); + + + maxs = maxs/6; + + d = min(1,signif(c*max(maxs))); + + ids(nn) = id; + idns(nn) = idn; + B(nn) = d; + + D(id) = D(id) + d; + D(idn) = D(idn) + d; + + nn = nn+1; + + end + + end + end + + end +end + +A = sparse(ids,idns,b); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text4.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text4.m new file mode 100755 index 0000000..83f3d49 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pair_dist_text4.m @@ -0,0 +1,81 @@ +function [A] = pair_dist_text4(Iw,Cresult,cso) +% +% A = pair_dist_text3(Cum,cumhists); +% +% + +%s1 = Cum(2);s2 = Cum(1); + +figure(1);hold on;plot(cso(1),cso(2),'bo'); + +ws = [10,10]; + +lws = 3; +gap = 7; + +J1 = get_win(Iw,round(cso),ws); +Jbar1 = abs(get_win5(Cresult,round(cso),ws)); +hists1 = get_hist(J1,Jbar1); +cumhists1 = get_cumhist(hists1); +[na1,nb1,nc1,nd1] = ks_2d(cumhists1.text'); + +figure(4);colormap(gray); +imagesc(reshape(abs(Jbar1),size(Jbar1,1),size(Jbar1,2)*size(Jbar1,3))); +colorbar;axis('image');drawnow; + +figure(2); +subplot(2,5,1);imagesc(J1);%colormap(gray) +subplot(2,5,2);imagesc(hists1.text');title('hist_1');colorbar; +subplot(2,5,3);imagesc(cumhists1.text');title('cumhist_1');colorbar; +subplot(2,5,4);imagesc(nc1);title('nc_1');colorbar +subplot(2,5,5);imagesc(nb1);title('nb_1');colorbar +drawnow; + +k = sqrt(2)/2;M = prod(size(cumhists1.text)); +N = k*sqrt(M); +r1 = 0.001;r2 = 0.001; +con = N/(1+ (sqrt(1-0.5*(r1*r1+r2*r2)))*(0.25-0.75/N)); + +jid = 1; +for jj=cso(2)-lws*gap:gap:cso(2)+lws*gap, + kid = 1; + for kk=cso(1)-lws*gap:gap:cso(1)+lws*gap, + + figure(1);hold on; plot(kk,jj,'r*');drawnow; + + J2 = get_win(Iw,round([kk,jj]),ws); + Jbar2 = get_win5(Cresult,round([kk,jj]),ws); + + hists2 = get_hist(J2,Jbar2); + cumhists2 = get_cumhist(hists2); + [na2,nb2,nc2,nd2] = ks_2d(cumhists2.text'); + + figure(2); + subplot(2,5,6);imagesc(J2);%colormap(gray) + subplot(2,5,7);imagesc(hists2.text');title('hist_2');colorbar + subplot(2,5,8);imagesc(cumhists2.text');title('cumhist_2');colorbar + + diffa = abs(na2-na1);diffb =abs(nb2-nb1); + diffc = abs(nc2-nc1);diffd = abs(nd2-nd1); + + maxs(1) = max(max(diffa));maxs(2) = max(max(diffb)); + maxs(3) = max(max(diffc));maxs(4) = max(max(diffd)); + + maxs = maxs/6;for j=1:4, sig(j) = signif(con*maxs(j)); end + + subplot(2,5,9);imagesc(diffc);title('diff_{nc}');colorbar + subplot(2,5,10);imagesc(diffb);title('diff_{nb} ');colorbar + + disp(sprintf('max diff is %f\n',min(sig))); + + A(jid,kid) = min(1,min(sig)); + + %disp('press return to continue'); + pause(3); + + kid = kid+1; + end + jid = jid+1; +end + +figure(1);hold off; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/patch_cat.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/patch_cat.m new file mode 100755 index 0000000..0bf22c3 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/patch_cat.m @@ -0,0 +1,9 @@ +function T = patch_cat(dotfilter,text_des) + +T(:,:,2:7,:) = text_des; +clear text_des; + +for k=1:size(T,4), + T(:,:,1,k) = dotfilter(:,:,1,k); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pgmread.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pgmread.m new file mode 100755 index 0000000..620408a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/pgmread.m @@ -0,0 +1,15 @@ +function img = pgmread(filename,size) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + +fid = fopen(filename,'r'); + +for j=1:4, + a = fgetl(fid); +end + +img = fscanf(fid,'%d',size); +img = img'; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/poisson.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/poisson.m new file mode 100755 index 0000000..99d49b6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/poisson.m @@ -0,0 +1,44 @@ +function [x] = Poisson(lambda); +%Poisson generates a random variable with a Poisson +% distribution +% Pr(x = n) = lambda^n exp(-lambda)/n +% +% [x] = Poisson(lambda); +% lambda: the parameter for the Poisson distribution +% (default is 1) +% x : the output number +% + +%% +%% (C) Thomas K. Leung +%% University of California at Berkeley +%% Apr 25, 1995. +%% + +%%% Notice that in this implementation, we are comparing log(Z) with +%%% T. In fact, we can compare T = exp(-lambda) with Z, which will +%%% save us from computing a large number of log's. However, when +%%% lambda is bigger than 709, exp(-lambda) = 0, which causes problem. + +if nargin == 0 + lambda = 1; +end + +if lambda < 0 + lambda = 1; +end + +P = 0; +N = 0; +T = -lambda; + +rand('seed',sum(100*clock)); + +while P >= T + Z = rand(1); + P = P + log(Z); + N = N + 1; +end + +x = N; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/poissonfield.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/poissonfield.m new file mode 100755 index 0000000..8051867 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/poissonfield.m @@ -0,0 +1,53 @@ +function [x,y,success] = PoissonField(int,sx,sy,ir); +%BF_HardCore Generates a hard core Poisson field +% [x,y] = Poisson_HC(int,ir,sx,sy); +% int: intensity of the field. (default is 1) +% ir : inhibition radius (default is 1) +% sx : size in x (default 100) +% sy : size in y (default 100) +% x : x coordinates +% y : y coordinates +% + +%% +%% (C) Thomas K. Leung +%% University of California at Berkeley +%% April 26, 1995. +%% leungt@cajal.cs.berkeley.edu +%% + +%% +%% Generate each point in sequence and reject it if it's too close to +%% previous ones. +%% + +if nargin <= 0 + int = 1; + sx = 100; + sy = 100; + ir = 0; +elseif nargin <= 1 + sx = 100; + sy = 100; + ir = 0; +elseif nargin <= 2 + sy = 100; + ir = 0; +elseif nargin <= 3 + ir = 0; +end + +%% +%% Notice that the average number of a poisson process is the +%% parameter lambda. This is consistent with our definition of the +%% intensity here. Intensity is the mean number of points inside each +%% unit area. Therefore, in a window of sx by sy, we should get +%% int*sx*sy number of points on average which is the mean number of +%% arrivals in a Poisson Process +%% + +[n] = poisson(int * sx * sy); + +[x,y,success] = binomialfield(n,sx,sy,ir); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/proj_back.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/proj_back.m new file mode 100755 index 0000000..069fe61 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/proj_back.m @@ -0,0 +1,24 @@ +function mask = proj_back(I,hw,mask_s) +% +% mask = proj_back(I,hw,mask_s) +% +% + + +[nr,nc] = size(I2); + +hw = 3; +st_sz = 2*hw + 1; + +nr_chank = floor(nr/st_sz); +nc_chank = floor(nc/st_sz); + +[x,y] = meshgrid(1:nc,1:nr); + +ct_chank_x = round((x-hw-1)/st_sz) + 1; +ct_chank_y = round((y-hw-1)/st_sz) + 1; + +idx = (ct_chank_x - 1)*nr_chank + ct_chank_y; + +mask = full(sparse(y,x,mask_s(idx(:)))); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/proj_back_id.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/proj_back_id.m new file mode 100755 index 0000000..9db322e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/proj_back_id.m @@ -0,0 +1,19 @@ +function [vbig,bnr,bnc] = proj_back_id(v,gcs,gce,grs,gre) +% +% vbig = proj_back_id(v,gcs,gce,grs,gre) +% + +nr = max(gre)+1; +nc = max(gce)+1; + +sw = 3; +gap = 2*sw+1; + +bnc = nc*gap; +bnr = nr*gap; + +[x,y] = meshgrid(1:bnc,1:bnr); + +idx = grs(y(:))+1+gcs(x(:))*nr; + +vbig = full(sparse(y(:),x(:),v(idx))); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/quant.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/quant.m new file mode 100755 index 0000000..c2dfae6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/quant.m @@ -0,0 +1,20 @@ +function [x,map] = quant(d1,d2,d3,nbin,ws) + +if (~exist('ws')), + ws = [1,1,1]; +end + +d1 = d1-min(d1); +d2 = d2-min(d2); +d3 = d3-min(d3); + +d1 = d1/max(d1); +d2 = d2/max(d2); +d3 = d3/max(d3); + +d1 = d1*ws(1); +d2 = d2*ws(2); +d3 = d3*ws(3); + + +[x,map] = vmquant(d1,d2,d3,nbin); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpdm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpdm.m new file mode 100755 index 0000000..9a1068e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpdm.m @@ -0,0 +1,8 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); +I = fscanf(fid,'%d',[A(1),A(2)]); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm.m new file mode 100755 index 0000000..48ecd78 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm.m @@ -0,0 +1,10 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); +I = fscanf(fid,'%f',[A(1),A(2)]); + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm_id.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm_id.m new file mode 100755 index 0000000..5f5c4f7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm_id.m @@ -0,0 +1,21 @@ +function Is = readpfm(filename,ids,nodes) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); + +Is = zeros(length(ids),nodes); + +ix = 1; +for j=1:max(ids), + I = fscanf(fid,'%f',nodes); + if (find(ids==j)), + Is(ix,:) = I(:)'; + ix = ix+1; + fprintf('.'); + end +end + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm_idf.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm_idf.m new file mode 100755 index 0000000..d7916e7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpfm_idf.m @@ -0,0 +1,29 @@ +function Is = readpfm(filename,ids,nodes) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); + +Is = zeros(length(ids),nodes); + +idt = sort(ids); + +idh = 1; + +ix = 1; +for j=1:length(ids), + + gap = idt(j) - idh; + fprintf('%d',gap); + + I = fscanf(fid,'%f',nodes*gap); + I = fscanf(fid,'%f',nodes); + + Is(find(ids==idt(j)),:) = I(:)'; + fprintf('.'); + + idh = idt(j)+1; +end + + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpgm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpgm.m new file mode 100755 index 0000000..a5fd7f2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpgm.m @@ -0,0 +1,26 @@ +function img = pgmread(filename) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + + +fid = fopen(filename,'r'); +fscanf(fid, 'P5\n'); +cmt = '#'; +while findstr(cmt, '#'), + cmt = fgets(fid); + if length(findstr(cmt, '#')) ~= 1, + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end +end + +fgets(fid); + +%img = fscanf(fid,'%d',size); +%img = img'; + +img = fread(fid,[y,x],'uint8'); +img = img'; +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpnm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpnm.m new file mode 100755 index 0000000..ab78c2c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readpnm.m @@ -0,0 +1,21 @@ +function I = readpnm(name) + + fid = fopen(name, 'r'); + fscanf(fid, 'P5\n'); + cmt = '#'; + while findstr(cmt, '#') == 1 + cmt = fgets(fid); + if findstr(cmt, '#') ~= 1 + YX = sscanf(cmt, '%d %d %d'); + y = YX(1); x = YX(2); nb = YX(3); + end + end + fgets(fid); + packed = fscanf(fid,'%f',[nb*y*x]); + + for j = 1:nb, + I(:,:,j) = reshape(packed(j:nb:nb*y*x),y,x)'; + end + + fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readppm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readppm.m new file mode 100755 index 0000000..300f597 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/readppm.m @@ -0,0 +1,19 @@ +function [r, g, b] = readppm(name) + + fid = fopen(name, 'r'); + fscanf(fid, 'P6\n'); + cmt = '#'; + while findstr(cmt, '#') == 1 + cmt = fgets(fid); + if findstr(cmt, '#') ~= 1 + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end + end + fgets(fid); + packed = fread(fid,[3*y,x],'uint8')'; + r = packed(:,1:3:3*y); + g = packed(:,2:3:3*y); + b = packed(:,3:3:3*y); + fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/record.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/record.m new file mode 100755 index 0000000..9626038 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/record.m @@ -0,0 +1,6 @@ +load patch1; +doog2 = mkdoog2(2,10,0,80); +dog2 = rotate_J(90,doog2); + +H = mkf_test(dog2,size(patch1),-1,0.00001,2,-1); +o = BfilterS(patch1,H,size(dog));figure(4);colormap(gray);imagesc(o.*(o>0)); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/recursive_cut_tc.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/recursive_cut_tc.m new file mode 100755 index 0000000..a8c9362 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/recursive_cut_tc.m @@ -0,0 +1,140 @@ +%function [groups,ids] = recursive_cut(ncutv,fn_base) +% +% +% function [groups,ids] = recursive_cut(ncutv,threshold,spthresh) +% +% + +ncutv= ncutv_o(:,1:4); + +fn_base = fn; +%fn_base = '130040'; + +nvv = size(ncutv_o,2); +nbin = 24; + +ids = []; +groups = []; +labels = []; + +load cmaps +cmap = cmapg; + +j = 1; +done = 0; +np = size(ncutv,1); +nv = size(ncutv,2); + +%%%%%% find the cut for the first ncut vector +ev_id = 2; +para = [nvv ev_id nr nc 100]; +Gmask = ones(nr,nc); +%threshold = find_cutpoint(ncutv(:,ev_id),cmapg,nbin);threshold = threshold(1:end-1); +threshold = linspace(min(ncutv(:,ev_id)),max(ncutv(:,ev_id)),nbin); +[cut_threshold,max_asso] = find_bst_cut(fn_base,para,threshold,Gmask); +disp(max_asso); + +id1 = find(ncutv(:,ev_id)<=cut_threshold); +id2 = find(ncutv(:,ev_id)>cut_threshold); + +groups = [groups,id1(:)']; +ids = [ids,length(id1)]; + +groups = [groups,id2(:)']; +ids = [ids,length(groups)]; + + +for j=3:nv, + fprintf('j = %d\n',j); + % expand the current level, + new_groups = []; + new_ids = []; + + + figure(4);ims(ncutv(:,j),nr,nc);title(num2str(j)); + + figure(1);clf + disp_groups(groups,ids,nr,nc); + drawnow; + + %figure(3); + % for each leaves, + mx = max(ncutv(:,j))-min(ncutv(:,j)); + %mx = std(ncutv(:,j)); + + base_id =1; + for k=1:length(ids), + old_groups = groups(base_id:ids(k)); + + v = ncutv(old_groups,j); + change_v = max(v)-min(v); + %change_v = std(v); + n1 = sum(v>(min(v)+0.85*change_v));%n1 = n1/length(old_groups); + n2 = sum(v<=(min(v)+0.15*change_v));%n2 = n2/length(old_groups); + disp(sprintf('n1 = %f, n2 = %f',n1,n2)); + + figure(2); + Gmask = zeros(np,1); + Gmask(old_groups) = Gmask(old_groups)+1; + drawnow; + ims(ncutv(:,j).*Gmask,nr,nc); + + disp(sprintf('!!!!!!!!!!!!!RATIO= %f',change_v/mx)) + + %pause; + + if (((change_v/mx)>0.5) & (n1>10) &(n2>10)), + + ev_id = j; + + %threshold = find_cutpoint(ncutv(old_groups,ev_id),cmapg,nbin);threshold = threshold(1:end-1); + threshold = linspace(min(ncutv(:,ev_id)),max(ncutv(:,ev_id)),nbin); + para = [nvv ev_id nr nc 100]; + [cut_threshold,max_asso] = find_bst_cut(fn_base,para,threshold,Gmask); + + disp(max_asso); + + if (max_asso>1.2), + id1 = find(ncutv(old_groups,ev_id)<=cut_threshold); + id2 = find(ncutv(old_groups,ev_id)>cut_threshold); + + figure(5); + subplot(1,2,1);maskt= zeros(np,1);maskt(old_groups(id1))=1+maskt(old_groups(id1));ims(maskt,nr,nc); + subplot(1,2,2);maskt= zeros(np,1);maskt(old_groups(id2))=1+maskt(old_groups(id2));ims(maskt,nr,nc); + + new_groups = [new_groups,old_groups(id1)]; + new_ids = [new_ids,length(new_groups)]; + + + new_groups = [new_groups,old_groups(id2)]; + new_ids = [new_ids,length(new_groups)]; + else + fprintf(' keep '); + new_groups = [new_groups,old_groups]; + new_ids = [new_ids,length(new_groups)]; + end + + else + fprintf(' keep '); + new_groups = [new_groups,old_groups]; + new_ids = [new_ids,length(new_groups)]; + end + fprintf('\n'); + base_id = ids(k) + 1; + end + + + + groups = new_groups; + ids = new_ids; + + figure(1);disp_groups(groups,ids,nr,nc); + + fprintf('press return\n'); + pause; + j= j+1; +end + +fprintf('total group = %d \n',length(ids)); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/reduce_all.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/reduce_all.m new file mode 100755 index 0000000..d7d31f8 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/reduce_all.m @@ -0,0 +1,8 @@ +function b = reduce_all(a) + +numband = size(a,3); + +for j=1:numband, + + b(:,:,j) = reduce(a(:,:,j)); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/rotate_J.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/rotate_J.m new file mode 100755 index 0000000..12f29b6 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/rotate_J.m @@ -0,0 +1,30 @@ +function J = compute_J(angle,I) +%% function J = compute_J(angle,I) +% + +[size_y,size_x] = size(I); + +[center_x,center_y] = find_center(size_x,size_y); + +a = angle * pi/180; +A = [cos(a),-sin(a);sin(a),cos(a)]; + +[XX,YY] = meshgrid(1:size_x,1:size_y); + +x = reshape(XX,size_x*size_y,1); +y = reshape(YY,size_x*size_y,1); +index(:,1) = x-center_x; +index(:,2) = y-center_y; + +position_new = A*index'; +position_new(1,:) = position_new(1,:)+center_x; +position_new(2,:) = position_new(2,:)+center_y; + +position_new_x = reshape(position_new(1,:),size_y,size_x); +position_new_y = reshape(position_new(2,:),size_y,size_x); + +J = m_interp4(I,position_new_x,position_new_y); + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/session.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/session.m new file mode 100755 index 0000000..70fabbf --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/session.m @@ -0,0 +1,4 @@ +t = rj(1:50,19:50); tt = interp4(t,1); +sgn = mksgn2(182,2,[91,9]); +H = mkf_test(sgn,size(tt),1,0.01,2,300); +o = BfilterS(tt,H,size(sgn));figure(1);imagesc(o.*(o>0));axis('equal'); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/show_cumhist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/show_cumhist.m new file mode 100755 index 0000000..fe82e64 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/show_cumhist.m @@ -0,0 +1,28 @@ +function show_hist(cumhists,bins,fig_id,hold_flag,ct) +%% +% show_hist(cumhists,bins,fig_id,ct) +% +% + + if (~exist('ct')), + ct = 'b-o'; + end + + figure(fig_id); + + subplot(3,3,1);plot(bins.inten,cumhists.inten,ct); + + if (hold_flag == 1), hold on;else hold off; end + + for j=1:size(cumhists.text,2), + subplot(3,3,1+j); + plot(bins.text,cumhists.text(:,j),ct); + if (hold_flag == 1), hold on;else hold off; end + end + + subplot(3,3,8); + plot(bins.mag,cumhists.mag,ct); + if (hold_flag == 1), hold on;else hold off; end + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/show_hist.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/show_hist.m new file mode 100755 index 0000000..efaf899 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/show_hist.m @@ -0,0 +1,23 @@ +function show_hist(hists,bins,fig_id) +%% +% show_hist(hists,bins,fig_id) +% +% + + figure(fig_id); + + subplot(3,3,1);bar(bins.inten,hists.inten); + + %maxval = max(max(max(abs(Jbar)))); + + for j=1:size(hists.text,2), + subplot(3,3,1+j);% hist(reshape(abs(Jbar(:,:,j)),prod(w),1),[1:10:maxval+1]); + bar(bins.text,hists.text(:,j)); + end + + subplot(3,3,8);%hist(reshape(sum(abs(Jbar),3),prod(w),1),[1:10:161]); + bar(bins.mag,hists.mag); + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/showsmm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/showsmm.m new file mode 100755 index 0000000..1833062 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/showsmm.m @@ -0,0 +1,45 @@ +function [T,A,M2,TAM]=showsmm(L1,L2,phi,maxM); +% [T,A,M]=showsmm(L1,L2,phi,maxM); + +if (~exist('maxM')), +% needs to know upper bound on M for given window function in smm +maxM=0.18; % temporary +end + + +A=1-L2./(L1+eps); +T=2*(phi+pi/2)/(2*pi); +M=L1+L2; +M2=min(M/maxM,1); % keep it from exceeding 1 +%M2 = sigmoid(M,maxM,30); + +matlab5on = 1; + +if matlab5on == 1, + TAM=hsv2rgb(T,A,M2); + + figure(3); + image(TAM); + axis('tightequal'); +else + H = [reshape(T,prod(size(T)),1),... + reshape(A,prod(size(A)),1),... + reshape(M2,prod(size(M2)),1)]; + M = hsv2rgb(H); + [Ic,map] =vmquant(M(:,1),M(:,2),M(:,3),256); + + image(reshape(Ic,size(T,1),size(T,2)));colormap(map); +end + +if 0 + plot3(A(:).*M(:).*cos(2*pi*T(:)),A(:).*M(:).*sin(2*pi*T(:)),M(:),'.','markersize',15) + axis([-1 1 -1 1 0 1]) + [x,y,z] = cylinder(ones(1,5)); + x=x.*z; + y=y.*z; + hold on + h=mesh(x,y,z); + set(h,'edgecolor',[.2 .2 .2]); + hidden off + hold off +end \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/showsmm_v5.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/showsmm_v5.m new file mode 100755 index 0000000..937303d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/showsmm_v5.m @@ -0,0 +1,34 @@ +function [T,A,M2,TAM]=showsmm(L1,L2,phi,maxM); +% [T,A,M]=showsmm(L1,L2,phi,maxM); + +if (~exist('maxM')), +% needs to know upper bound on M for given window function in smm +maxM=0.18; % temporary +end + + +A=1-L2./(L1+eps); +T=2*(phi+pi/2)/(2*pi); +M=L1+L2; +M2=min(M/maxM,1); % keep it from exceeding 1 +%M2 = sigmoid(M,maxM,30); + + TAM=hsv2rgb(T,A,M2); + + figure(3); + image(TAM); + axis('tightequal'); + + +if 0 + plot3(A(:).*M(:).*cos(2*pi*T(:)),A(:).*M(:).*sin(2*pi*T(:)),M(:),'.','markersize',15) + axis([-1 1 -1 1 0 1]) + [x,y,z] = cylinder(ones(1,5)); + x=x.*z; + y=y.*z; + hold on + h=mesh(x,y,z); + set(h,'edgecolor',[.2 .2 .2]); + hidden off + hold off +end \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/sigmoid.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/sigmoid.m new file mode 100755 index 0000000..996f7fe --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/sigmoid.m @@ -0,0 +1,10 @@ +function a = sigmoid(x,offset,sig) +% +% a = sigmoid(x,offset,sig) +% +% a = ones(size(x))./(1+exp(-(x-offset)/sig)); +% + + +a = ones(size(x))./(1+exp(-(x-offset)/sig)); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/signif.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/signif.m new file mode 100755 index 0000000..f49eefc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/signif.m @@ -0,0 +1,22 @@ +function a = signif(b) + +js = [1:101]; + + +if 0, +d = (-ones(size(js))).^(js-1); +d1 = exp(-2*(js.*js)*b*b); + +a = 2*sum(d.*d1); + +end + +d1 = exp(-2*(js.*js)*b*b); +d2 = 4*(js.*js)*b*b - 1; + +a = 2*sum(d1.*d2); + +if (b<0.03),a = 1;end + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/signif_N.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/signif_N.m new file mode 100755 index 0000000..82dc914 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/signif_N.m @@ -0,0 +1,10 @@ +function a = signif_N(b,N) +% +% +% + +Ne = sqrt(N*0.5); + +cof = Ne + 0.155 + 0.24/Ne; + +a= signif(cof*b); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/smooth.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/smooth.m new file mode 100755 index 0000000..919b53a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/smooth.m @@ -0,0 +1,20 @@ +% smooth an image +% coordinates (r, c) follow matrix convention; +% the gaussian is truncated at x = +- tail, and there are samples samples +% inbetween, where samples = hsamples * 2 + 1 + +function g = smooth(image, hsamples) + +tail=4; +samples = hsamples * 2 + 1; + +x = linspace(-tail, tail, samples); +gauss = exp(-x.^2); +n = gauss * ones(samples,1); +gauss = gauss/n; + + +g = conv2(conv2(image, gauss), gauss'); + +g = conv_trim(g, hsamples, hsamples); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/startup.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/startup.m new file mode 100755 index 0000000..8d38803 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/startup.m @@ -0,0 +1,9 @@ +%path(path,'/usr/sww/matlab-4.2c/toolbox/images'); +home_dir = '/home/barad-dur/vision/malik/jshi/'; +path(path,[home_dir,'matlab/toolbox/io']) +path(path,[home_dir,'matlab/pyramid']); +path(path,[home_dir,'matlab/toolbox/filter']) +path(path,[home_dir,'matlab/toolbox/disp']) +path(path,[home_dir,'matlab/vision/vision94/tracking/']) +path(path,[home_dir,'proj/grouping/laso']); +path(path,[home_dir,'proj/grouping/eig']); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/swarp.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/swarp.m new file mode 100755 index 0000000..60a4530 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/swarp.m @@ -0,0 +1,9 @@ +function J = swarp(I) + +[nr,nc] = size(I); + +center_x = round(0.5*nc); +center_y = round(0.5*nr); + +J = [I(center_y:nr,center_x:nc),I(center_y:nr,1:center_x-1);... + I(1:center_y-1,center_x:nc),I(1:center_y-1,1:center_x-1)]; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/swarpback.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/swarpback.m new file mode 100755 index 0000000..513bc25 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/swarpback.m @@ -0,0 +1,12 @@ +function J = swarpback(I); + +[nr,nc] = size(I); + +center_x = round(0.5*nc); +center_y = round(0.5*nr); + +cx= center_x -1; +cy= center_y -1; + +J = [I(nr-cy+1:nr,nc-cx+1:nc),I(nr-cy+1:nr,1:(nc-center_x+1));... + I(1:(nr-center_y+1),nc-cx+1:nc),I(1:(nr-center_y+1),1:(nc-center_x+1))]; \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test.m new file mode 100755 index 0000000..12470eb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test.m @@ -0,0 +1,110 @@ + +fn = '130065'; nr = 30;nc = 49; +%nr = 49;nc = 30; +%nc = 68;nr = 43; +%nr =49;nc = 30; + +basedir = 'plaatje_data/newdata/'; +if 1, +fname = sprintf('%s%s_eigvec.pfm',basedir,fn); +eigv = readpfm(fname); +fname = sprintf('%s%s_eigval.pfm',basedir,fn); +eigval = readpfm(fname); + +fname = sprintf('%s%s_ncutvec.pfm',basedir,fn); +ncutv = readpfm(fname); +fname = sprintf('%s%s_ncutval.pfm',basedir,fn); +ncutval = readpfm(fname); +else +fname = sprintf('%sncutvec_%s.pfm',basedir,fn); +ncutv = readpfm(fname); +fname = sprintf('%sncutval_%s.pfm',basedir,fn); +ncutval = readpfm(fname); +end + + +fname = sprintf('images/%s.pgm',fn); +I = readpgm(fname); +cutsz = 20; I = cutoff(I,cutsz); +figure(3);im(I);colormap(gray); + +figure(6); +for j=1:min(8,size(ncutv,2)-1), + subplot(3,3,j); + im(reshape(ncutv(:,j+1),nr,nc));colorbar + title(num2str(ncutval(j+1,1))); +end +%cm = sprintf('print -dps ncut_%s',fn);disp(cm);eval(cm); +subplot(3,3,9);im(I);axis('off'); + +ev = eigval(:,1); +figure(5);hold off;clf;subplot(1,2,1); +%semilogy((ev(1:end-1) - ev(2:end))./ev(1:end-1),'x-');grid on; +plot((ev(1:end-1) - ev(2:end))./ev(1:end-1),'x-');grid on; +%semilogy(0.01*ones(size(ev(2:end-1))),'r-');semilogy(0.005*ones(size(ev(2:end-1))),'r-');semilogy(0.0025*ones(size(ev(2:end-1))),'r-');grid on;hold off; +subplot(1,2,2); +%semilogy(ev(1:end-1)-ev(2:end),'p-');grid on; +semilogy((ev(1:end-1) - ev(2:end))/ev(1),'x-');grid on; + + +ncutv_o = ncutv; + +recursive_cut_tc; + +%[groups,ids] = recursive_cut(ncutv(:,1:4),fn); + +masks = make_masks(groups,ids,nr,nc); + +cm = sprintf('save masks_%s masks ncutv_o groups ids nr nc',fn); +disp(cm); + +eval(cm); + + +%%%%%%%%%%%%%%%%%% +fn = '130040'; +cm = sprintf('load masks_%s',fn); +disp(cm); +eval(cm); + +fn = '130040'; +fname= sprintf('images/%s.pgm',fn); +I = readpgm(fname);cutsz = 20; I = cutoff(I,cutsz); +figure(3);im(I);colormap(gray); +hw = 2; %nr = 43;nc=68; +gap = 2*hw+1; +%nr = 30;nc=49; +Is = I(1:nr*gap,1:nc*gap); +figure(3);im(Is);axis('off'); + +%cm = sprintf('print -deps I_%s',fn);disp(cm);eval(cm); + + + +%masks = make_masks(groups,ids,nr,nc); +figure(2);disp_groups(groups,ids,nr,nc); + +figure(1); +Imasks = disp_Imask(Is,nr,nc,hw,masks); + +for j=1:length(ids), + figure(4);colormap(gray);clf + im(Imasks(:,:,j));axis('off'); + cm = sprintf('print -deps result_cut_%s_%d',fn,j); + disp(cm);eval(cm); + + %print -deps result_cut_134011_1 +end + + +if 0, + +%load st_134013 + +fn = '134013_t'; + +I_max = 250; +tex_max = 40; + +writeout_feature(I1,T1,fn,I_max,tex_max); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test1.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test1.m new file mode 100755 index 0000000..691b63e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test1.m @@ -0,0 +1,175 @@ + +fnameI = '130068'; + +cm = sprintf('load filter_%s.pgm.mat',fnameI); +disp(cm); +eval(cm); + +text_des = abs(text_des); + + + %%%% cutoff margins, +margin = 6+10; + +Iw = cutoff(I,margin); + +T1= reshape(text_des,size(text_des,1),size(text_des,2),size(text_des,3)*size(text_des,4)); +T1 = cutoff(T1,margin); + +%%%%% reduce resolution + + + +T1 = reduce_all(T1); +T1 = reduce_all(T1); + +im5(T1,5,6); + +cm = sprintf('writepnm5(''%s_f.pnm'',%s)',fnameI,'T1/70'); + +% disp(cm);eval(cm); + +nr = size(T1,1); +nc = size(T1,2); + +% D = mreadpfm('D_134011_f.pnm.pfm'); + +% figure(3);imagesc(reshape(D,nc,nr)');axis('image');colorbar + +if 0, +figure(7); +subplot(3,1,1);hist(reshape(I1,prod(size(I1)),1),binI); +subplot(3,1,2);hist(reshape(I2,prod(size(I2)),1),binI); +subplot(3,1,3);hist(reshape(I3,prod(size(I3)),1),binI); + + +If1 = filter_output(I1,sigs,szs); +If2 = filter_output(I2,sigs,szs); +If3 = filter_output(I3,sigs,szs); + +I1a = cutoff(I1,5); If1 = cutoff(If1,5); +I2a = cutoff(I2,5); If2 = cutoff(If2,5); +I3a = cutoff(I3,5); If3 = cutoff(If3,5); + + + +figure(4); +bint = [-0.15:0.02:0.15]; +id = 4; + +If = If1; +for j=1:5, + subplot(5,2,2*(j-1)+1); + hist(reshape(If(:,:,id,j)./s1,prod(size(If(:,:,id,j))),1),bint); +end + +If = If2; +for j=1:5, + subplot(5,2,2*j); + hist(reshape(If(:,:,id,j)./s2,prod(size(If(:,:,id,j))),1),bint); +end + + +%%% make 2d histogram bin +figure(5); +idmax = 5; +filt_id = 4; + +for id=1:idmax, + + subplot(idmax,3,(id-1)*3+1); + h2d1 = hist_I_f(I1a,If1(:,:,filt_id,id),binI,bintex); + imagesc(h2d1);axis('image') + subplot(idmax,3,(id-1)*3+2); + h2d2 = hist_I_f(I2a,If2(:,:,filt_id,id),binI,bintex); + imagesc(h2d2);axis('image') + + subplot(idmax,3,id*3); + imagesc(h2d2/sum(sum(h2d2)) + h2d1/sum(sum(h2d1)));axis('image') + colorbar +end + +%%%%%%%%%%%%%%%%%%%%% three types %%%%%%%% +figure(4); +idmax = 5; +filt_id = 2; + +width = 4; + +for id=1:idmax, + + subplot(idmax,width,(id-1)*width+1); + h2d1 = hist_I_f(I1a,If1(:,:,filt_id,id),binI,bintex); + h2d1 = h2d1/sum(sum(h2d1)); + imagesc(h2d1);axis('image'); + + subplot(idmax,width,(id-1)*width+2); + h2d2 = hist_I_f(I2a,If2(:,:,filt_id,id),binI,bintex); + h2d2 = h2d2/sum(sum(h2d2)); + imagesc(h2d2);axis('image') + + subplot(idmax,width,(id-1)*width+3); + h2d3 = hist_I_f(I3a,If3(:,:,filt_id,id),binI,bintex); + h2d3 = h2d3/sum(sum(h2d3)); + imagesc(h2d3);axis('image') + + subplot(idmax,width,id*width); + imagesc(h2d1+h2d2+h2d3);axis('image') + colorbar +end + + +%%%%%%%%%%%% smaller window %%%% +hw = round(4*sigs(1)); + +figure(5);%imagesc(I1a);axis('image'); +cs = round(ginput(1)); + +J = get_win(I1a,cs,[hw,hw]);figure(7);imagesc(J);axis('image'); + +Jf = get_win5(If1,cs,[hw,hw]); +scales = 1:5; nscales = length(scales); +filters = 1:7; nfilters = length(filters); + +figure(8); +for j=1:nscales, + for k=1:nfilters, + subplot(nscales,nfilters,(j-1)*nfilters+k); + h2d = hist_I_f(J,Jf(:,:,(j-1)*7+k));h2d = h2d/sum(sum(h2d)); + imagesc(h2d);axis('image');colorbar;axis('off'); + end +end + + +if 0, + + figure(3); + cs = ginput(1); + + ws = [15,15]; + J = get_win(I,cs,ws); + figure(6);imagesc(J);axis('image'); + + t1 = get_win5(text_des,cs,ws); + + t1p = abs(t1); + %t1p = abs(t1); + %t1p = t1.*(t1>0); + + figure(2);im5(t1p,5,6); + + t1p = reshape(t1p,size(t1p,1)*size(t1p,2),size(t1p,3))'; + + t1pm = mean(t1p')'; + t1ps = t1p- t1pm*ones(1,size(t1p,2)); + + B = t1ps*t1ps'; + [v,d] = eig(B);d = diag(d); + figure(4);plot(d,'x-'); + + figure(5); + subplot(2,2,1);vid = 30;plot(reshape(v(:,vid),6,5),'x-'); + +end + +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test2.m new file mode 100755 index 0000000..c70446a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test2.m @@ -0,0 +1,220 @@ + +%fnameI = '130056'; +%fnameI = '134013'; +fnameI = '134007'; + +%%%% flags %%%%%%%%% +read_image = 1; + +margin = 10+6; +sigs = [1/sqrt(2),1,sqrt(2),2,2*sqrt(2)]; +r =3; +szs = round(3*r*sigs); + + + +%%% image read %%% +if read_image, + cm = sprintf('I = readpgm(''images/%s.pgm'');',fnameI); + disp(cm); + eval(cm); + + Iw = cutoff(I,margin); + figure(1);imagesc(Iw);axis('image'); +end + +%%%% image crop %%% +figure(1);J = imcrop; +figure(2);imagesc(J);axis('image');drawnow; + +Jf = filter_output(J,sigs,szs); +margin = 5; +Ja = cutoff(J,margin);Jfa = cutoff(Jf,margin); +figure(2);imagesc(Ja);axis('image'); + +figure(3); +imagesc(Jfa(:,:,1,3));axis('image');drawnow; + +Jfb = reshape(Jfa,size(Jfa,1),size(Jfa,2),size(Jfa,3)*size(Jfa,4)); +mag = sum(abs(Jfb),3); + +%%%%%% Joint hist. %%%%%%%%% + +filter_id = 1; +scale = 1; +h2d = hist_I_f(Ja,Jfa(:,:,filter_id,scale)); + +figure(4); +imagesc(h2d/sum(sum(h2d)));axis('image');colorbar;colormap(hot); + + +%%%%%%%%%% Jointe hist of cropped area %%%%% +%%% block 1 +fig_id = 1; +[J3,f3,rect] = crop_im_fil(Ja,Jfa,fig_id); + +filter_id = 1;scale = 1;H1 = hist_I_f(J1,f1(:,:,filter_id,scale)); + + +%%% block 2 +fig_id = 1; +[J2,f2,rect] = crop_im_fil(Ja,Jfa,fig_id); + +filter_id = 1;scale = 1;H2 = hist_I_f(J2,f2(:,:,filter_id,scale)); + + +%%%%% disp result %%%%% + +scales = [1:5]; +filter_ids = [1:7]; + +figure(6);disp_hist2d(J2,f2,scales,filter_ids); + +figure(4);disp_hist2d(J1,f1,scales,filter_ids); + +%%%%%%%%%%%%%%%%% +%%%%%%%%%%%%%%%%% smaller window +hw = round(4*sigs(1)); + +figure(2);%imagesc(Ja);axis('image'); +cs = round(ginput(1)); + +J1 = get_win(Ja,cs,[hw,hw]);Jf1 = get_win5(Jfa,cs,[hw,hw]); +figure(4);imagesc(J1);axis('image');drawnow; +scales = [1:5];filter_ids = [1:7]; +figure(9);H2 = disp_hist2d(J1,Jf1,scales,filter_ids); + +figure(6); disp_diff(H2,H2o); + + +%%%%%% difference in the neighbourhood %% +hw = round(4*sigs(1)); +hnb = 3; + +B = compute_diff(Ja,Jfa,hw,hnb); + + +%%%%%%%%%% + +if 0, + +figure(4); +bint = [-0.15:0.02:0.15]; +id = 4; + +If = If1; +for j=1:5, + subplot(5,2,2*(j-1)+1); + hist(reshape(If(:,:,id,j)./s1,prod(size(If(:,:,id,j))),1),bint); +end + +If = If2; +for j=1:5, + subplot(5,2,2*j); + hist(reshape(If(:,:,id,j)./s2,prod(size(If(:,:,id,j))),1),bint); +end + + +%%% make 2d histogram bin +figure(5); +idmax = 5; +filt_id = 4; + +for id=1:idmax, + + subplot(idmax,3,(id-1)*3+1); + h2d1 = hist_I_f(I1a,If1(:,:,filt_id,id),binI,bintex); + imagesc(h2d1);axis('image') + subplot(idmax,3,(id-1)*3+2); + h2d2 = hist_I_f(I2a,If2(:,:,filt_id,id),binI,bintex); + imagesc(h2d2);axis('image') + + subplot(idmax,3,id*3); + imagesc(h2d2/sum(sum(h2d2)) + h2d1/sum(sum(h2d1)));axis('image') + colorbar +end + +%%%%%%%%%%%%%%%%%%%%% three types %%%%%%%% +figure(4); +idmax = 5; +filt_id = 2; + +width = 4; + +for id=1:idmax, + + subplot(idmax,width,(id-1)*width+1); + h2d1 = hist_I_f(I1a,If1(:,:,filt_id,id),binI,bintex); + h2d1 = h2d1/sum(sum(h2d1)); + imagesc(h2d1);axis('image'); + + subplot(idmax,width,(id-1)*width+2); + h2d2 = hist_I_f(I2a,If2(:,:,filt_id,id),binI,bintex); + h2d2 = h2d2/sum(sum(h2d2)); + imagesc(h2d2);axis('image') + + subplot(idmax,width,(id-1)*width+3); + h2d3 = hist_I_f(I3a,If3(:,:,filt_id,id),binI,bintex); + h2d3 = h2d3/sum(sum(h2d3)); + imagesc(h2d3);axis('image') + + subplot(idmax,width,id*width); + imagesc(h2d1+h2d2+h2d3);axis('image') + colorbar +end + + +%%%%%%%%%%%% smaller window %%%% +hw = round(4*sigs(1)); + +figure(5);%imagesc(I1a);axis('image'); +cs = round(ginput(1)); + +J = get_win(I1a,cs,[hw,hw]);figure(7);imagesc(J);axis('image'); + +Jf = get_win5(If1,cs,[hw,hw]); +scales = 1:5; nscales = length(scales); +filters = 1:7; nfilters = length(filters); + +figure(8); +for j=1:nscales, + for k=1:nfilters, + subplot(nscales,nfilters,(j-1)*nfilters+k); + h2d = hist_I_f(J,Jf(:,:,(j-1)*7+k));h2d = h2d/sum(sum(h2d)); + imagesc(h2d);axis('image');colorbar;axis('off'); + end +end + + +if 0, + + figure(3); + cs = ginput(1); + + ws = [15,15]; + J = get_win(I,cs,ws); + figure(6);imagesc(J);axis('image'); + + t1 = get_win5(text_des,cs,ws); + + t1p = abs(t1); + %t1p = abs(t1); + %t1p = t1.*(t1>0); + + figure(2);im5(t1p,5,6); + + t1p = reshape(t1p,size(t1p,1)*size(t1p,2),size(t1p,3))'; + + t1pm = mean(t1p')'; + t1ps = t1p- t1pm*ones(1,size(t1p,2)); + + B = t1ps*t1ps'; + [v,d] = eig(B);d = diag(d); + figure(4);plot(d,'x-'); + + figure(5); + subplot(2,2,1);vid = 30;plot(reshape(v(:,vid),6,5),'x-'); + +end + +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test3.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test3.m new file mode 100755 index 0000000..040ed3d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test3.m @@ -0,0 +1,4 @@ +fn = 'lightsmall.ppm'; +nr = Ipara(1);nc = Ipara(2); + +k = 1;imagesc(reshape(v(:,k).*D,nc,nr)');colorbar \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_best_cut.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_best_cut.m new file mode 100755 index 0000000..e04c6ff --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_best_cut.m @@ -0,0 +1,12 @@ + +fn_base = '134035'; +ev_id = 4; +para = [12 ev_id nr nc 100]; +Gmask = ones(nr,nc); +threshold = find_cutpoint(ncutv(:,ev_id),cmapg,12); +threshold = threshold(1:end-1); + +cut_threshold = find_bst_cut(fn_base,para,threshold,Gmask); + +figure(8);ims(ncutv(:,ev_id)0.2*max(max(abs(tmp))))); + + tmp = vs(idx,1:3)*vs(:,1:3)';tmp = reshape(tmp,size(Is,1),size(Is,2)); + subplot(3,2,3); + im(abs(tmp));colorbar; + subplot(3,2,4); im((Is+0.5).*(abs(tmp)>0.2*max(max(abs(tmp))))); + + tmp = vs(idx,1:5)*vs(:,1:5)'; + tmp = reshape(tmp,size(Is,1),size(Is,2)); + subplot(3,2,5); + im(abs(tmp));colorbar + subplot(3,2,6); im((Is+0.5).*(abs(tmp)>0.2*max(max(abs(tmp))))); + +end + + +%%%%%%%%%% +test_tmp = 0; +if test_tmp, +x = -10:0.02:20; +sig = 4; +d = exp(-(x.^2)/sig); +figure(2);plot(x,d); + +ers = []; +for j=0:0.5:10, + d1 = exp(-(x-j).^2/sig); + hold on + plot(x,d1,'r'); + ers = [ers,sum((d1-d).^2)]; +end +hold off; + +figure(1);plot(ers(end)-ers); + + + + + + +end + +%%%%%%%%%%%%%%%%%%% + + +fvs = colize(ts,Is); + +nf = 24;np = 0.5*7442; +hb.sigs = 0.02*ones(1,nf); +hb.bmins= -0.6*ones(1,nf); +hb.bmaxs= 0.6*ones(1,nf); +hb.nbins= 20*ones(1,nf); + +%fh = colize_hist(fvs(1:nf,1:10:end),hb); + +fh2 = hist_inner(fvs(1:nf,1:np),hb); + +[u,d] = eigs(fh2,60); d = diag(d); + +%%%%%%%%%%%% +figure(12); + ct = round(ginput(1)); + idx = (ct(:,1)-1)*size(Is,1) + ct(:,2); + +dist = dist_pair(idx,fvs(1:nf,:),hb); +figure(4); +im(reshape(dist,size(Is,1),size(Is,2)));colorbar + + +%%%%%%%%% +figure(12); + ct = round(ginput(1)); + idx = (ct(:,1)-1)*size(Is,1) + ct(:,2); + +a = colize_hist(fvs(1:nf,idx'),hb); + +figure(5); +cl = 'brgm'; +for j=1:length(idx); + plot(a(:,j),cl(j)); + hold on; +end +hold off + +%%%%%%%%%%% + +%% use chanked feature vectors + +chank_size = 1000; +fname = 'st'; +histbin_fv_chank(fvs(1:nf,:),hb,chank_size,fname); + + +covfh2 = hist_in_chank(fvs(1:nf,:),chank_size,hb.nbins(1)); +[u2,d2] = eigs(covfh2,60); d2 = diag(d2); + +figure(4); +semilogy(d,'p-'); + +figure(3);imagesc(u); + +back_v = backproj_outer_chank(fvs,u,d,chank_size); + +back_v2 = backproj_outer_chank2(fvs,u,d,chank_size); + + +%%%%%%%%%% +figure(2); +for j = 1:16, + subplot(4,4,j); + im(reshape(back_v(:,j),size(Is,1),size(Is,2))); + axis('off');title(num2str(j)); +end + +binv = linspace(-0.6,0.6,20); + +figure(4); +for j=1:16, + subplot(4,4,j); + imagesc(reshape(u(:,j),20,24));title(num2str(j));drawnow; +end + + +figure(6); +for j=1:16, + subplot(4,4,j); + plot(binv,(reshape(u(:,j),20,24)));title(num2str(j));drawnow; +end + + +%%%%%%%%%% +figure(12); + ct = round(ginput(1)); + idx = (ct(:,1)-1)*size(Is,1) + ct(:,2); + +figure(5); +for j = 1:7*2, + subplot(7,2,j); + nvv = 2*j; + dist = back_v(idx,1:nvv)*back_v(:,1:nvv)'; + im(reshape(abs(dist).^2,size(Is,1),size(Is,2)));colorbar + axis('off');title(num2str(nvv)); +end + + +a = colize_hist(fvs(1:nf,idx'),hb)'; + +dist_raw = dist_pair_chank(a,fvs,chank_size); +figure(3);im(reshape(dist_raw.^2,size(Is,1),size(Is,2))); + + + +%%%%%%%%%%%%%% +figure(12); + ct_t3 = round(ginput(5)); + idx_t3 = (ct_t3(:,1)-1)*size(Is,1) + ct_t3(:,2); + +a1 = colize_hist(fvs(1:nf,idx_t1'),hb)'; +a2 = colize_hist(fvs(1:nf,idx_t2'),hb)'; +a3 = colize_hist(fvs(1:nf,idx_t3'),hb)'; + + +%%%%%%%%%%% +figure(1); +for j=1:9, + subplot(3,3,j); + hist(back_v(:,j)) +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex2.m new file mode 100755 index 0000000..9e1d3e7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex2.m @@ -0,0 +1,136 @@ + +%%%%%%%%% test histogram on gray levels %%%%%%%%%%%%% + +%load st +%fvs = colize(Is,Is); + +nf = 1;np = 7442;nbins = 10; + +hb.sigs = 0.02*ones(1,nf); +hb.bmins= 0*ones(1,nf); +hb.bmaxs= 1*ones(1,nf); +hb.nbins= nbins*ones(1,nf); + +fh = colize_hist(fvs(1:nf,1:np),hb); + +fh_inner = fh*fh'; + +nv = nbins-1; + +[u,d] = eigs(fh_inner,nv); d = diag(d); + +figure(6); +for j=1:nv, + subplot(4,4,j); + plot(u(:,j)); + title(num2str(j)); +end + +s = 1./sqrt(d); + +back_v = (fh'*u(:,1:nv)).*(ones(np,1)*s(1:nv)'); + +figure(7); +for j=1:nv, + subplot(4,4,j); + im(reshape(back_v(:,j),size(Is,1),size(Is,2)));axis('off'); + title(num2str(j)); +end + +figure(1); +plot(d,'p-'); +figure(2); +im(u); + + +%%%%%%%%% try the joint x-I histogram bin %%%%%%%%%%%%% + +x = [1:size(Is,1)]'*ones(1,size(Is,2)); +x = reshape(x,size(Is,1),size(Is,2)); + +joint_f(:,:,1) = x; +joint_f(:,:,2) = Is; + +fvs = colize(joint_f,Is); + +nf = 2;np = 7442;nbins = [5,10]; + +hb.sigs = [4,0.02].*ones(1,nf); +hb.bmins= [1,0].*ones(1,nf); +hb.bmaxs= [size(Is,1),1].*ones(1,nf); +hb.nbins= nbins.*ones(1,nf); + +fh = colize_joint_hist(fvs,hb); +fh = reshape(fh,50,np); + +fh_inner = fh*fh'; + +nv = 30; + +[u,d] = eigs(fh_inner,nv); d = diag(d); + +figure(3); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(u(:,j),5,10));axis('off'); + title(num2str(j)); +end + +s = 1./sqrt(d); + +back_v = (fh'*u(:,1:nv)).*(ones(np,1)*s(1:nv)'); + +figure(4); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(back_v(:,j),size(Is,1),size(Is,2)));axis('off'); + title(num2str(j)); +end + + +%%%%%%%% + + +joint_f = []; + +joint_f(:,:,1) = Is; +joint_f(:,:,2) = ts(:,:,1); + +fvs = colize(joint_f,Is); + +nf = 2;np = 7442;nbins = [10,10]; + +hb.sigs = [0.02,0.02].*ones(1,nf); +hb.bmins= [0,-0.6].*ones(1,nf); +hb.bmaxs= [1,0.6].*ones(1,nf); +hb.nbins= nbins.*ones(1,nf); + +fh = colize_joint_hist(fvs,hb); + +fh = reshape(fh,size(fh,1)*size(fh,2),np); + +fh_inner = fh*fh'; + +nv = 30; + +[u,d] = eigs(fh_inner,nv); d = diag(d); + +figure(3); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(u(:,j),10,10));axis('off'); + title(num2str(j)); +end + +s = 1./sqrt(d); + +back_v = (fh'*u(:,1:nv)).*(ones(np,1)*s(1:nv)'); + +figure(4); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(back_v(:,j),size(Is,1),size(Is,2)));axis('off'); + title(num2str(j)); +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex3.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex3.m new file mode 100755 index 0000000..2f245ec --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex3.m @@ -0,0 +1,169 @@ +%%%%%%%%% test histogram on gray levels %%%%%%%%%%%%% + +%load st + +nf = 24;np = 7442;nbins = 10; +fvs = colize(ts(:,:,1:nf),Is); + +hb.sigs = 0.02*ones(1,nf); +hb.bmins= -0.6*ones(1,nf); +hb.bmaxs= 0.6*ones(1,nf); +hb.nbins= nbins*ones(1,nf); + +fh = colize_hist(fvs(1:nf,1:np),hb); + +nw = 4; +fhs = colize_histneighb(fh,Is,nw); + +%%%%%%%%%%%%%%%%%% +figure(12); + ct = round(ginput(1)); + idx = (ct(:,1)-1)*size(Is,1) + ct(:,2); + +figure(1); +subplot(1,2,1); +imagesc(reshape(fhs(:,idx),nbins,nf)) +subplot(1,2,2); +imagesc(reshape(fh(:,idx),nbins,nf)) +%%%%%%%%%% + +fh = fhs; +fhs = sqrt(fhs); + +fh_inner = fhs*fhs'; + +nv = 30; + +[u,d] = eigs(fh_inner,nv); d = diag(d); + +figure(3); +for j=1:min(16,nv), + subplot(4,4,j); + %plot(u(:,j)); + im(reshape(u(:,j),nbins,nf)); + title(num2str(j)); +end + +s = 1./sqrt(d); + +back_v = (fhs'*u(:,1:nv)).*(ones(np,1)*s(1:nv)'); + +figure(4); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(back_v(:,j),size(Is,1),size(Is,2)));axis('off'); + title(num2str(j)); +end + +figure(1); +semilogy(d,'p-'); +%figure(2);imagesc(u); + +%%%%%%%%% +figure(12); + ct = round(ginput(1)); + idx = (ct(:,1)-1)*size(Is,1) + ct(:,2); + +figure(5); +for j = 1:min(14,nv), + subplot(7,2,j); + nvv = j; + dist = back_v(idx,1:nvv)*back_v(:,1:nvv)'; + im(reshape(abs(dist).^2,size(Is,1),size(Is,2)));colorbar + axis('off');title(num2str(nvv)); +end + + + + +%%%%%%%%% try the joint x-I histogram bin %%%%%%%%%%%%% + +x = [1:size(Is,1)]'*ones(1,size(Is,2)); +x = reshape(x,size(Is,1),size(Is,2)); + +joint_f(:,:,1) = x; +joint_f(:,:,2) = Is; + +fvs = colize(joint_f,Is); + +nf = 2;np = 7442;nbins = [5,10]; + +hb.sigs = [4,0.02].*ones(1,nf); +hb.bmins= [1,0].*ones(1,nf); +hb.bmaxs= [size(Is,1),1].*ones(1,nf); +hb.nbins= nbins.*ones(1,nf); + +fh = colize_joint_hist(fvs,hb); +fh = reshape(fh,50,np); + +fh_inner = fh*fh'; + +nv = 30; + +[u,d] = eigs(fh_inner,nv); d = diag(d); + +figure(3); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(u(:,j),5,10));axis('off'); + title(num2str(j)); +end + +s = 1./sqrt(d); + +back_v = (fh'*u(:,1:nv)).*(ones(np,1)*s(1:nv)'); + +figure(4); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(back_v(:,j),size(Is,1),size(Is,2)));axis('off'); + title(num2str(j)); +end + + +%%%%%%%% + + +joint_f = []; + +joint_f(:,:,1) = Is; +joint_f(:,:,2) = ts(:,:,1); + +fvs = colize(joint_f,Is); + +nf = 2;np = 7442;nbins = [10,10]; + +hb.sigs = [0.02,0.02].*ones(1,nf); +hb.bmins= [0,-0.6].*ones(1,nf); +hb.bmaxs= [1,0.6].*ones(1,nf); +hb.nbins= nbins.*ones(1,nf); + +fh = colize_joint_hist(fvs,hb); + +fh = reshape(fh,size(fh,1)*size(fh,2),np); + +fh_inner = fh*fh'; + +nv = 30; + +[u,d] = eigs(fh_inner,nv); d = diag(d); + +figure(3); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(u(:,j),10,10));axis('off'); + title(num2str(j)); +end + +s = 1./sqrt(d); + +back_v = (fh'*u(:,1:nv)).*(ones(np,1)*s(1:nv)'); + +figure(4); +for j=1:min(16,nv), + subplot(4,4,j); + im(reshape(back_v(:,j),size(Is,1),size(Is,2)));axis('off'); + title(num2str(j)); +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex4.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex4.m new file mode 100755 index 0000000..61f1307 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex4.m @@ -0,0 +1,353 @@ + +setup_flag = 0; +cut_window_flag = 0; +run_flag = 0; +other_flag = 0; +test_flag = 1; + + +%%%%%%%%%%%%%%%%% +if setup_flag == 1, +% = readpgm('images/134035.pgm'); + +load st3 + +I_max = 255; +tex_max = 40; + +I2 = min(1,I2/I_max); +t2 = t2/tex_max; +t2 = t2.*(t2<=1) + 1*(t2>1); +t2 = t2.*(t2>=-1) + (-1)*(t2<-1); + + +end + +%%%%%%%%%% + +%% for a given sampling rate, get the index for window center +%% + +[nr,nc] = size(I2); + +hw = 3; +st_sz = 2*hw + 1; + +nr_chank = floor(nr/st_sz); +nc_chank = floor(nc/st_sz); + +id_chank = []; +for k=1+hw:st_sz:nc-hw, + for j=1+hw:st_sz:nr-hw, + id = j+(k-1)*nr; + id_chank = [id_chank,id]; + end +end + +%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F1 difference %%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%% + +fvs = 2*I2(:)'; fvs = fvs -1; + +nf = 1; +hb.sigs = 0.02*ones(1,nf); +hb.bmins= -1*ones(1,nf); +hb.bmaxs= 1*ones(1,nf); +hb.nbins= 10*ones(1,nf); + +fh = colize_hist(fvs(1:nf,:),hb); +fhs = colize_histnb_s(fh,I2,nw,hw); + +A = fhs'*fhs; +figure(1);im(A);colorbar; + +B = A; + +%% display %%% +figure(12); +ct = round(ginput(1)); +ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; + +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(3); +im(reshape(A(idx,:),nr_chank,nc_chank));colorbar; + + + +%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F2 difference %%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%% + +nw = 4;hw =3; + +tnf = size(t2,3); +fst = 1; +r_id = 1; +for j=1:fst:tnf, + nf = fst; + hb.sigs = 0.02*ones(1,nf); hb.bmins= -1*ones(1,nf); + hb.bmaxs= 1*ones(1,nf); hb.nbins= 10*ones(1,nf); + + fvs = colize(t2(:,:,j:j+fst-1),I2); + fh = colize_hist(fvs,hb); + fhs = colize_histnb_s(fh,I2,nw,hw); + A = fhs'*fhs; + cm = sprintf('save F%d A fhs',r_id+1); + disp(cm);eval(cm); + clear fh; + + B = B + A; + + clear A; + + + r_id = r_id +1; +end + + +%%%%%% debug + display %%%%%%%% + +figure(6); +for j=2:30, + subplot(5,6,j); + im(t2(:,:,j-1));axis('off');title(num2str(j-1)); +end +subplot(5,6,1);im(I2);axis('off'); + + +figure(6); +B = zeros(size(A)); +for j = 1:31, + %subplot(5,6,j); + cm = sprintf('load F%d;',j); + disp(cm);eval(cm); + + fhs1 = sqrt(fhs); A = fhs1'*fhs1; +% im(reshape(A(idx,:),nr_chank,nc_chank));axis('off');title(num2str(j-1));colorbar; + B = B+A; +end + + +%%%%%% disp dist. %%%%%% +figure(12); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; + +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(2); +im(reshape(B(idx,:),nr_chank,nc_chank));axis('off');title('B');colorbar; + + + +%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F3 features %%%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%% + +%%% Joint Intensity with filters %%%% + + +tnf = size(t2,3); + +plaatjeon = 1; +if plaatjeon, + for j=7:tnf, + cm = sprintf('!touch /disks/plaatje/scratch/jshi/FJ%d.mat',j); + disp(cm); + eval(cm);cm = sprintf('!ln -s /disks/plaatje/scratch/jshi/FJ%d.mat .',j); + disp(cm);eval(cm); + end +else + for j=1:1, + cm = sprintf('!touch ~/store/st/FJ%d.mat',j); + disp(cm);eval(cm); + cm = sprintf('!ln -s ~/store/st/FJ%d.mat .',j); + disp(cm);eval(cm); + end +end + +for j=7:tnf, + nf = 2; + hb.sigs = 0.02*ones(1,nf); hb.bmins= -1*ones(1,nf); + hb.bmaxs= 1*ones(1,nf); hb.nbins= 10*ones(1,nf); + + fvs = colize(cat(3,t2(:,:,j),I2)); + + fhs = colize_histnb_sf(fvs,I2,hb,nw,hw); + fhs = sqrt(fhs); + A = fhs'*fhs; + cm = sprintf('save FJ%d A fhs',j); + disp(cm);eval(cm); + +end + +%%%% reload data %%%%%%%%%%%%%% +B = zeros(size(A)); + +figure(3); + +for j=1:tnf, + cm = sprintf('load FJ%d;',j); + disp(cm);eval(cm); + + subplot(5,6,j); + im(reshape(A(idx,:),nr_chank,nc_chank));axis('off');title(num2str(j)); + + B = B + A; +end + +figure(2);im(reshape(B(idx,:),nr_chank,nc_chank));axis('off');title('B'); + + +%%%%%% disp dist. %%%%%% +figure(12); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(2); +im(reshape(A(idx,:),nr_chank,nc_chank));axis('off');colorbar; + +%%%%%% disp Joint Hist %%%%%%%%% + +figure(12); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(1); +im(reshape(fhs(:,idx),10,10));axis('off');colorbar; + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F4: Joint filters %%%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + + +tnf = size(t2,3); + +nw = 4;hw =3; + +for scale=1:5, + for angle = 1:3, + cm = sprintf('!touch /disks/plaatje/scratch/jshi/FFJ_%d_%d_%d_%d.mat',angle,angle+3,scale,scale); + disp(cm);eval(cm); + cm = sprintf('!ln -s /disks/plaatje/scratch/jshi/FFJ_%d_%d_%d_%d.mat .',angle,angle+3,scale,scale); + disp(cm);eval(cm); + end +end + + +for scale = 1:5, + for angle = 1:3, + nf = 2; + hb.sigs = 0.02*ones(1,nf); hb.bmins= -1*ones(1,nf); + hb.bmaxs= 1*ones(1,nf); hb.nbins= 10*ones(1,nf); + + fvs = colize(cat(3,t2(:,:,(scale-1)*6+angle),... + t2(:,:,(scale-1)*6+angle+3))); + + fhs = colize_histnb_sf(fvs,I2,hb,nw,hw); + fhs = sqrt(fhs); + A = fhs'*fhs; + cm = sprintf('save FFJ_%d_%d_%d_%d A fhs',angle,angle+3,scale,scale); + disp(cm);eval(cm); + end +end + + +%%%%%%%%% load results %%%%%%%%%%% +%B = zeros(size(A)); + +figure(3); +for scale=1:5, + for angle = 1:3, + cm = sprintf('load FFJ_%d_%d_%d_%d.mat',angle,angle+3,scale,scale); + disp(cm);eval(cm); + + subplot(3,5,scale+(angle-1)*5); + im(reshape(A(idx,:),nr_chank,nc_chank)); + axis('off');title(sprintf('%d-%d,%d',angle,angle+3,scale)); + + %B = B + A; + end +end + + + + +%%% disp results + +angle = 1;scale = 1; +cm = sprintf('load FFJ_%d_%d_%d_%d.mat',angle,angle+3,scale,scale); +disp(cm);eval(cm); + + + +figure(12); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +%figure(1);im(reshape(fhs(:,idx),10,10));axis('off');%colorbar; +%figure(2);im(reshape(A(idx,:),nr_chank,nc_chank));%axis('off');%title('B'); +figure(4);im(reshape(B(idx,:),nr_chank,nc_chank));%axis('off');%title('B'); + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%%%%%% reduction %%%%%%%%%%%%%%%%% +nv = 50; +[uB,dB] = eigs(B,nv);dB = diag(dB); + +figure(1);subplot(2,1,1);plot(dB,'p-'); +subplot(2,1,2);semilogy(dB,'p-'); + +figure(2); + +for j=1:20, + subplot(4,5,j); + im(reshape(uB(:,j),nr_chank,nc_chank));axis('off');colorbar;title(num2str(j)); +end + + +%%%%% Ncut without reduction %%%% +[uNu,dNu] = eig_decomp_v5(B,20); + +figure(1);subplot(2,1,1);plot(dNu,'p-'); +subplot(2,1,2);semilogy(dNu,'p-'); + +figure(2); +for j=2:6, + subplot(1,5,j-1); + im(reshape(-uNu(:,j),nr_chank,nc_chank));axis('off');colorbar;title(num2str(j)); +end + +%%%%%% Ncut with reduction %%%%%%%%% +nvv = 6; +B1 = uB(:,1:nvv)*uB(:,1:nvv)'; + + +[uN,dN] = eig_decomp_v5(abs(B1),20); + +figure(1);subplot(2,1,1);plot(dN,'p-'); +subplot(2,1,2);semilogy(dN,'p-'); + +figure(3); +for j=2:6, + subplot(1,5,j-1); + im(reshape(uN(:,j),nr_chank,nc_chank));axis('off');colorbar;title(num2str(j)); +end + + +%%%%%% + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex5.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex5.m new file mode 100755 index 0000000..2b86e0a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_evtex5.m @@ -0,0 +1,446 @@ + +setup_flag = 0; +cut_window_flag = 0; +run_flag = 0; +other_flag = 0; +test_flag = 1; + + +%%%%%%%%%%%%%%%%% +if setup_flag == 1, + +sigs = [1/sqrt(2),1,sqrt(2),2,2*sqrt(2)];r = 3;szs = round(r*3*sigs); +szs = szs(length(szs))*ones(1,length(szs)); +num_ori = 6; + +compute_flag = 0; +if compute_flag, +fnames = [134002,134007,134011,134013,130065,130038,130039,130040,130042,... + 130045,130046,130056,130068]; + +for j=1:length(fnames), + fname = sprintf('images/%d.pgm',fnames(j)); + + cm = sprintf('!touch /disks/plaatje/scratch/jshi/Fe_%d.mat',fnames(j)); + disp(cm);eval(cm); + + cm = sprintf('!ln -s /disks/plaatje/scratch/jshi/Fe_%d.mat .',fnames(j)); + disp(cm);eval(cm); + + disp(fname); + I = readpgm(fname);figure(3);im(I);title(num2str(fname));drawnow; + [text_des,filters] = compute_filter_fft(I,sigs,r,szs,num_ori); + + cm = sprintf('save Fe_%d text_des filters fname sigs r szs num_ori',fnames(j)); + disp(cm);eval(cm); + + clear text_des filters I +end + +end +else +%%%%%%%%%%%%% + fname = 134013; + + Iname = sprintf('images/%d.pgm',fname); + I = readpgm(Iname); + + cm = sprintf('load Fe_%d.mat',fname); + disp(cm);eval(cm); + + figure(1);im(I); + + + cutsz =20; + I = cutoff(I,cutsz);figure(1);im(I); + text_des = cutoff(text_des,cutsz); + + figure(2); + for j =1:30, + subplot(5,6,j);im(text_des(:,:,j));axis('off'); + end + + I1 = I(20:200,70:240); + T1 = text_des(20:200,70:240,:); + + save st_134013 I1 T1 fname sigs szs r num_ori + +end + + + +%%%%%%%%%%% normalization %%%%%%%%%%% + + +I_max = 250; +tex_max = 40; + +I1 = min(1,I1/I_max); +T1 = T1/tex_max; +T1 = T1.*(T1<=1) + 1*(T1>1); +T1 = T1.*(T1>=-1) + (-1)*(T1<-1); + + +end + +%%%%%%%%%% + +%% for a given sampling rate, get the index for window center +%% + +[nr,nc] = size(I1); + +hw = 3; +st_sz = 2*hw + 1; + +nr_chank = floor(nr/st_sz); +nc_chank = floor(nc/st_sz); + +id_chank = []; +for k=1+hw:st_sz:nc-hw, + for j=1+hw:st_sz:nr-hw, + id = j+(k-1)*nr; + id_chank = [id_chank,id]; + end +end + +%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F1 difference %%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%% + +fvs = 2*I1(:)'; fvs = fvs -1; + +nf = 1; +hb.sigs = 0.02*ones(1,nf); +hb.bmins= -1*ones(1,nf); +hb.bmaxs= 1*ones(1,nf); +hb.nbins= 10*ones(1,nf); +nw = 4;hw =3; + +fh = colize_hist(fvs(1:nf,:),hb); +fhs = colize_histnb_s(fh,I1,nw,hw); + +fhs = sqrt(fhs); +A = fhs'*fhs; +figure(2);im(A);colorbar; + +B = A; + +%% display %%% +figure(2); +ct = round(ginput(1)); +ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; + +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(3);im(reshape(A(idx,:),nr_chank,nc_chank));colorbar; + +subplot(1,2,1);im(reshape(A1(idx,:),nr_chank,nc_chank));colorbar; +subplot(1,2,2);im(reshape(A2(idx,:),nr_chank,nc_chank));colorbar; + + +%%%%%%%%%% +save_flag = 0; + +fn = 134013; + +if save_flag, + cm = sprintf('save F1_%d fhs hw nw nr_chank nc_chank',fn); + disp(cm);eval(cm); + +end + +load_flag = 1; +if load_flag, + cm = sprintf('load F1_%d',fn); + disp(cm);eval(cm); + + A=fhs'*fhs; +end + + +%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F2 difference %%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%% + +nw = 4;hw =3; + +tnf = size(T1,3); +fst = 1; + +for j=1:fst:1, + nf = fst; + hb.sigs = 0.02*ones(1,nf); hb.bmins= -1*ones(1,nf); + hb.bmaxs= 1*ones(1,nf); hb.nbins= 15*ones(1,nf); + + fvs = colize(T1(:,:,j:j+fst-1),I1); + fh = colize_hist(fvs,hb); + fhs = colize_histnb_s(fh,I1,nw,hw); + fhs = sqrt(fhs); + + A = fhs'*fhs; + + cm = sprintf('save F2_%d_%d fhs hw nw nr_chank nc_chank',j,fn); + disp(cm);eval(cm); + clear fh; + + B = B + A; + + clear A; + +end + + +%%%%%% debug + display %%%%%%%% + +figure(6); +for j=2:30, + subplot(5,6,j); + im(T1(:,:,j-1));axis('off');title(num2str(j-1)); +end +subplot(5,6,1);im(I1);axis('off'); + + +figure(6); +B = zeros(size(A)); +for j = 1:31, + %subplot(5,6,j); + cm = sprintf('load F%d;',j); + disp(cm);eval(cm); + + fhs1 = sqrt(fhs); A = fhs1'*fhs1; +% im(reshape(A(idx,:),nr_chank,nc_chank));axis('off');title(num2str(j-1));colorbar; + B = B+A; +end + + +%%%%%% disp dist. %%%%%% +weight= 5; +A = weight*B+B2; + +figure(1); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(2); +im(reshape(A(idx,:),nr_chank,nc_chank));axis('off');colorbar; %title('B'); +%figure(3); + + +save_flag = 0; +if save_flag , + B2 = B; + save tmp B2 nr_chank nc_chank +end + +%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F3 features %%%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%% + +%%% Joint Intensity with filters %%%% + + +tnf = size(T1,3); + +plaatjeon = 1; +if plaatjeon, + for j=7:tnf, + cm = sprintf('!touch /disks/plaatje/scratch/jshi/FJ%d.mat',j); + disp(cm); + eval(cm);cm = sprintf('!ln -s /disks/plaatje/scratch/jshi/FJ%d.mat .',j); + disp(cm);eval(cm); + end +else + for j=1:1, + cm = sprintf('!touch ~/store/st/FJ%d.mat',j); + disp(cm);eval(cm); + cm = sprintf('!ln -s ~/store/st/FJ%d.mat .',j); + disp(cm);eval(cm); + end +end + +for j=7:tnf, + nf = 2; + hb.sigs = 0.02*ones(1,nf); hb.bmins= -1*ones(1,nf); + hb.bmaxs= 1*ones(1,nf); hb.nbins= 10*ones(1,nf); + + fvs = colize(cat(3,T1(:,:,j),I1)); + + fhs = colize_histnb_sf(fvs,I1,hb,nw,hw); + fhs = sqrt(fhs); + A = fhs'*fhs; + cm = sprintf('save FJ%d A fhs',j); + disp(cm);eval(cm); + +end + +%%%% reload data %%%%%%%%%%%%%% +B = zeros(size(A)); + +figure(3); + +for j=1:tnf, + cm = sprintf('load FJ%d;',j); + disp(cm);eval(cm); + + subplot(5,6,j); + im(reshape(A(idx,:),nr_chank,nc_chank));axis('off');title(num2str(j)); + + B = B + A; +end + +figure(2);im(reshape(B(idx,:),nr_chank,nc_chank));axis('off');title('B'); + + +%%%%%% disp dist. %%%%%% +figure(12); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(2); +im(reshape(A(idx,:),nr_chank,nc_chank));axis('off');colorbar; + +%%%%%% disp Joint Hist %%%%%%%%% + +figure(12); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +figure(1); +im(reshape(fhs(:,idx),10,10));axis('off');colorbar; + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%% F4: Joint filters %%%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + + +tnf = size(T1,3); + +nw = 4;hw =3; + +for scale=1:5, + for angle = 1:3, + cm = sprintf('!touch /disks/plaatje/scratch/jshi/FFJ_%d_%d_%d_%d.mat',angle,angle+3,scale,scale); + disp(cm);eval(cm); + cm = sprintf('!ln -s /disks/plaatje/scratch/jshi/FFJ_%d_%d_%d_%d.mat .',angle,angle+3,scale,scale); + disp(cm);eval(cm); + end +end + + +for scale = 1:5, + for angle = 1:3, + nf = 2; + hb.sigs = 0.02*ones(1,nf); hb.bmins= -1*ones(1,nf); + hb.bmaxs= 1*ones(1,nf); hb.nbins= 10*ones(1,nf); + + fvs = colize(cat(3,T1(:,:,(scale-1)*6+angle),... + T1(:,:,(scale-1)*6+angle+3))); + + fhs = colize_histnb_sf(fvs,I1,hb,nw,hw); + fhs = sqrt(fhs); + A = fhs'*fhs; + cm = sprintf('save FFJ_%d_%d_%d_%d A fhs',angle,angle+3,scale,scale); + disp(cm);eval(cm); + end +end + + +%%%%%%%%% load results %%%%%%%%%%% +%B = zeros(size(A)); + +figure(3); +for scale=1:5, + for angle = 1:3, + cm = sprintf('load FFJ_%d_%d_%d_%d.mat',angle,angle+3,scale,scale); + disp(cm);eval(cm); + + subplot(3,5,scale+(angle-1)*5); + im(reshape(A(idx,:),nr_chank,nc_chank)); + axis('off');title(sprintf('%d-%d,%d',angle,angle+3,scale)); + + %B = B + A; + end +end + + + + +%%% disp results + +angle = 1;scale = 1; +cm = sprintf('load FFJ_%d_%d_%d_%d.mat',angle,angle+3,scale,scale); +disp(cm);eval(cm); + + + +figure(12); +ct = round(ginput(1));ct_chank(1) = round((ct(1)-hw-1)/st_sz) + 1; +ct_chank(2) = round((ct(2)-hw-1)/st_sz) + 1; +idx = (ct_chank(:,1)-1)*nr_chank + ct_chank(:,2); + +%figure(1);im(reshape(fhs(:,idx),10,10));axis('off');%colorbar; +%figure(2);im(reshape(A(idx,:),nr_chank,nc_chank));%axis('off');%title('B'); +figure(4);im(reshape(B(idx,:),nr_chank,nc_chank));%axis('off');%title('B'); + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%%%%%% reduction %%%%%%%%%%%%%%%%% +nv = 50; +[uA,dA] = eigs(A,nv);dA = diag(dA); + +figure(4);suAplot(2,1,1);plot(dA,'p-'); +subplot(2,1,2);semilogy(dA,'p-'); + +figure(3); + +for j=1:20, + subplot(4,5,j); + im(reshape(uA(:,j),nr_chank,nc_chank));axis('off');colorbar;title(num2str(j)); +end + + +%%%%% Ncut without reduction %%%% + +[uNu,dNu] = eig_decomp_v5(A,20); + +figure(4);subplot(2,1,1);plot(dNu,'p-'); +subplot(2,1,2);semilogy(dNu,'p-'); + +figure(3); +for j=2:6, + subplot(1,5,j-1); + im(reshape(-uNu(:,j),nr_chank,nc_chank));axis('off');colorbar;title(num2str(j)); +end + +%%%%%% Ncut with reduction %%%%%%%%% +nvv = 7; +A1 = uA(:,1:nvv)*uA(:,1:nvv)'; + + +[uN,dN] = eig_decomp_v5(abs(A1),20); + +figure(1);subplot(2,1,1);plot(dN,'p-'); +subplot(2,1,2);semilogy(dN,'p-'); + +figure(3); +for j=2:6, + subplot(1,5,j-1); + im(reshape(uN(:,j),nr_chank,nc_chank));axis('off');colorbar;title(num2str(j)); +end + + +%%%%%% + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_motion.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_motion.m new file mode 100755 index 0000000..91c97f9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_motion.m @@ -0,0 +1,117 @@ + +im_sz = [40,40]; + +ob_szh = [6,3]; + +ob_c = [15,12]; + +bg_color = 0.2; + +ob_color = 0.8; + +mag = 0.2; + +I_bg = bg_color + mag*randn(im_sz); + +I_obj = ob_color + mag*randn(2*ob_szh+1); + + +w = 3; + +v5 = 1; +Js = []; + +if ~v5, + for j=1:5, + fc = sprintf('J%d = I_bg;',j); + eval(fc); + + fc = sprintf('J%d(ob_c(1)-ob_szh(1):ob_c(1)+ob_szh(1),ob_c(2)-ob_szh(2):ob_c(2)+ob_szh(2)) = I_obj;',j); + eval(fc); + + ob_c = ob_c+[0,2]; + end +else + nf = 4; + for j = 1:nf, + + J = I_bg; + J(ob_c(1)-ob_szh(1):ob_c(1)+ob_szh(1),ob_c(2)-ob_szh(2):ob_c(2)+ob_szh(2)) = I_obj; + + if (j==1), + [gy,gx] = grad(J,w); + end + + ob_c = ob_c+[0,2]; + + Jw = cutoff(J,w); + Js(:,:,j) = Jw; + end + +end + +[nr,nc] = size(gx); + +for j=1:nf, + subplot(1,nf,j); + imagesc(Js(:,:,j));axis('tightequal'); +end + + +writepnm5('test_motion.pnm',Js); +writepnm5('test_motion_gx.pnm',gx); +writepnm5('test_motion_gy.pnm',gy); +%imagesc(J1);colorbar; + + +inpara = [2,5,0.5,1,0.5]; + +[A,D,Ipara] = cas('test_motion',inpara); + +B= A+ A'; +clear A; + +%BB = B(1:19^2,19^2+(1:19^2)); +%imagesc(BB); + +[v,d] = eigs(B);d = diag(d); + +k = 2; + +figure(1); +%nf = 5; + +nr = nr-5; +nc = nc-5; + +n = nr* nc; + +for j =1:nf, + subplot(1,nf,j); + imagesc(reshape(v((j-1)*n+(1:n),k).*D(1:n),nr,nc)');axis('tightequal'); +end + +%%%%% + + +figure(3); +T = readpnm('test_motion.pnm'); +nf = size(T,3); +for j=1:nf, + subplot(1,nf,j); + imagesc(T(:,:,j));axis('tightequal'); +end + + +figure(2); +Gx = readpnm('test_motion_gx.pnm'); + +[nr,nc] =size(Gx); +n = nr*nc; + +imagesc(reshape(B(n+1:2*n,6*nc+7),nc,nr)');colorbar + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_motion2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_motion2.m new file mode 100755 index 0000000..2959fa8 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_motion2.m @@ -0,0 +1,127 @@ + +im_sz = [40,40]; + +ob_szh = [4,3]; + +ob_c = [12,12]; + +ob_co = [30,28]; + +bg_color = 0.2; + +ob_color = 0.8; + +mag = 0.2; + +I_bg = bg_color + mag*randn(im_sz); + +I_obj = ob_color + mag*randn(2*ob_szh+1); + + +w = 3; + +v5 = 1; +Js = []; + +if ~v5, + for j=1:5, + fc = sprintf('J%d = I_bg;',j); + eval(fc); + + fc = sprintf('J%d(ob_c(1)-ob_szh(1):ob_c(1)+ob_szh(1),ob_c(2)-ob_szh(2):ob_c(2)+ob_szh(2)) = I_obj;',j); + eval(fc); + + fc = sprintf('J%d(ob_co(1)-ob_szh(1):ob_co(1)+ob_szh(1),ob_co(2)-ob_szh(2):ob_co(2)+ob_szh(2)) = I_obj;',j); + eval(fc); + + ob_c = ob_c+[0,2]; + ob_co = ob_co-[0,2]; + + end +else + nf = 4; + for j = 1:nf, + + J = I_bg; + J(ob_c(1)-ob_szh(1):ob_c(1)+ob_szh(1),ob_c(2)-ob_szh(2):ob_c(2)+ob_szh(2)) = I_obj; + J(ob_co(1)-ob_szh(1):ob_co(1)+ob_szh(1),ob_co(2)-ob_szh(2):ob_co(2)+ob_szh(2)) = I_obj; + + if (j==1), + [gy,gx] = grad(J,w); + end + + ob_c = ob_c+[0,2]; + ob_co = ob_co-[0,2]; + + Jw = cutoff(J,w); + Js(:,:,j) = Jw; + end + +end + +[nr,nc] = size(gx); + +for j=1:nf, + subplot(1,nf,j); + imagesc(Js(:,:,j));axis('tightequal'); +end + + +writepnm5('test_motion.pnm',Js); +writepnm5('test_motion_gx.pnm',gx); +writepnm5('test_motion_gy.pnm',gy); +%imagesc(J1);colorbar; + + +inpara = [2,5,0.5,1,0.5]; + +[A,D,Ipara] = cas('test_motion',inpara); + +B= A+ A'; +clear A; + +%BB = B(1:19^2,19^2+(1:19^2)); +%imagesc(BB); + +[v,d] = eigs(B);d = diag(d); + +k = 2; + +figure(1); +%nf = 5; + +nr = nr-5; +nc = nc-5; + +n = nr* nc; + +for j =1:nf, + subplot(1,nf,j); + imagesc(reshape(v((j-1)*n+(1:n),k).*D(1:n),nr,nc)');axis('tightequal'); +end + +%%%%% + + +figure(3); +T = readpnm('test_motion.pnm'); +nf = size(T,3); +for j=1:nf, + subplot(1,nf,j); + imagesc(T(:,:,j));axis('tightequal'); +end + + +figure(2); +Gx = readpnm('test_motion_gx.pnm'); + +[nr,nc] =size(Gx); +n = nr*nc; + +imagesc(reshape(B(n+1:2*n,6*nc+7),nc,nr)');colorbar + + +%%%%%%%%%%%%% + + +K = zeros(im_sz); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_period.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_period.m new file mode 100755 index 0000000..2994d15 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_period.m @@ -0,0 +1,58 @@ +flag = 2; + +if flag ==1, + +ws = [50,50]; + +figure(1);J = get_win(I,ginput(1),ws); +figure(4);imagesc(J); + +J = J - mean(mean(reshape(J,prod(size(J)),1))); +X = fftshift(fft2(J)); + +figure(3);imagesc(abs(X));colorbar +figure(2);mesh(abs(X)); + +else + +fn = '1.pgm'; + +% spatial gaussian parameter +xscale = 1; + +% half size of the neighbourhood +xnb = 5; + +% setting the the HSV gaussian parameter:[h s v] +Iscale = [0.01]; + +Input_para = [xscale,xnb,Iscale]; + +% compute the lower half the association matrix +[A,D,Ipara] = compute_A_pgm(fn,Input_para); + +nr = Ipara(1);nc = Ipara(2); + +B = A+A'; +clear A; + + +% eigen decompostion +options.tol = 1e-4; +num_eig_v = 10; +fprintf('doing eigs ...\n'); +[v,d] = eigs(B,num_eig_v,options); + +k = 1;imagesc(reshape(v(:,k).*D,nc,nr)');colorbar + + +end + + + + + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_text.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_text.m new file mode 100755 index 0000000..4cc5759 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/test_text.m @@ -0,0 +1,434 @@ + + +%case = 1; + +read_flag = 1; +compute_flag = 0; +load_flag = 0; +decomp_flag = 0; +hist_flag = 0; + +test_real = 0; + + +if read_flag, +if caseid == 1, + ifn = 'images/130049.pgm'; +elseif caseid == 2, + ifn = 'images/130055.pgm'; +elseif caseid == 3, + ifn = 'images/130056.pgm'; +elseif caseid == 4, + ifn = 'images/130057.pgm'; +elseif caseid == 5, + ifn = 'images/130060.pgm'; +elseif caseid == 6, + ifn = 'images/130061.pgm'; +elseif caseid == 7, + ifn = 'images/130062.pgm'; +elseif caseid == 8, + ifn = 'images/130065.pgm'; +elseif caseid == 9, + ifn = 'images/130066.pgm'; +elseif caseid == 10, + ifn = 'images/130068.pgm'; +elseif caseid == 11, + ifn = 'images/130070.pgm'; +else + ifn = 'images/130070.pgm'; +end + +I = readpgm(ifn); +figure(1); +imagesc(I);colormap(gray);drawnow; +axis('tightequal'); + +end + +%%%%% load %%% + +if load_flag, + fn = sprintf('load cresult_%d;',caseid); + eval(fn); +end + + +%%%%%%%%%%%%% compute %%%%%%%%%%% +sig = 0.5; +r = 3; +sz = 15; +Iw = cutoff(I,0.5*sz); +figure(1);imagesc(Iw); +axis('image'); + +if compute_flag, + +as = 0:30:150; + +Cresult = []; + +for j = 1:length(as), + fprintf('.'); + angle = as(j); + + g = doog2( sig,r,angle,sz); + + g = g - mean(reshape(g,prod(size(g)),1)); + + g = g/sum(sum(abs(g))); + + c = conv2(I,g,'valid'); + + Cresult(:,:,j) = c; +end + + +fprintf('\n'); + + +figure(2); + +subplot(2,3,1); +imagesc(Cresult(:,:,1).^2);axis('tightequal');colorbar + +subplot(2,3,2); +imagesc(Cresult(:,:,2).^2);axis('tightequal');colorbar + +subplot(2,3,3); +imagesc(Cresult(:,:,3).^2);axis('tightequal');colorbar + +subplot(2,3,4); +imagesc(Cresult(:,:,4).^2);axis('tightequal');colorbar + +subplot(2,3,5); +imagesc(Cresult(:,:,5).^2);axis('tightequal');colorbar + +subplot(2,3,6); +imagesc(Cresult(:,:,6).^2);axis('tightequal');colorbar + +Cs = []; +Mcs = []; +for j=1:length(as), + Cs(:,:,j) = reduce(reduce(abs(Cresult(:,:,j)))); + + Mcs = [Mcs,max(max(Cs(:,:,j)))]; + +end + +ms = max(Mcs); + +figure(3); +for j=1:6, + fn = sprintf('Cs(:,:,%d) = Cs(:,:,%d)/ms;',j,j); + eval(fn); + fn = sprintf('subplot(2,3,%d);imagesc(Cs(:,:,%d));',j,j); + eval(fn);axis('tightequal');colorbar +end + +fn = sprintf('save cresult_%d.mat Cresult Cs',caseid); +disp(fn); +eval(fn); + +end + +%%%%%%%%%%%%%%%%% decomp %%%%%%%%%%%% + + +if decomp_flag, + +%writepnm5('txt_2.pnm',Cs); + +%writepnm5('130068.pnm',Cs); + + +%I_scale = 0.0025; +%X_scale = 3^2; +%[A,D,Ipara] = compute_A_sparmul2(10,I_scale,X_scale); + + +I_scale = 0.02; +X_scale = 2; +[A,D,Ipara] = compute_A_pnm('130068.pnm',[X_scale,I_scale]); + +nr = Ipara(1);nc = Ipara(2); +imagesc(reshape(D,nc,nr)');colorbar; + +B = A+A';clear A; + +options.tol = 1e-7; + +[v,d] = eigs(B,9,options); + +figure(4); +k = 1; imagesc(reshape(v(:,k).*D,nc,nr)'); + +end + + +%%%% histogram %%%% + +%hist_flag = 1; + +%figure(1);imagesc(Iw);axis('image'); +if hist_flag ==1, + + +ws = [12,12]; + +figure(7); + +cs = ginput(1); + +cs = 10*(cs-1)+w/2; + +%cs(1,:) = w+(floor((cs(1,:)-w)/gap)*gap); +%cs(2,:) = w+(floor((cs(2,:)-w)/gap)*gap); + +J = get_win(Iw,cs(1,:),ws); +Jbar = get_win5(Cresult,cs(1,:),ws); + + +figure(2); +subplot(3,3,1);imagesc(J);colorbar +for j=1:6,subplot(3,3,1+j);imagesc(abs(Jbar(:,:,j)));colorbar; end + +[hists,bins] = get_hist(J,Jbar);show_hist(hists,bins,4); +cumhists = get_cumhist(hists);show_cumhist(cumhists,bins,6,1,'b-o'); + +J2 = get_win(Iw,cs(2,:),ws); +Jbar2 = get_win5(Cresult,cs(2,:),ws); + +figure(3); +subplot(3,3,1);imagesc(J2);colorbar +for j=1:6,subplot(3,3,1+j);imagesc(abs(Jbar2(:,:,j)));colorbar; end + +[hists2,bins2] = get_hist(J2,Jbar2);show_hist(hists2,bins2,5); +cumhists2 = get_cumhist(hists2);show_cumhist(cumhists2,bins2,6,0,'r-*'); + +diff.inten = max(abs(cumhists.inten-cumhists2.inten)); +diff.mag = max(abs(cumhists.mag-cumhists2.mag)); +diff.text = max(max(abs(cumhists.text-cumhists2.text))); + +figure(7); + +disp([diff.inten,diff.mag,diff.text]); +maxdiff = max([diff.inten,diff.mag,diff.text]); +disp(1-sigmoid(diff.inten,0.22,0.02)); + + +if 0, +%A = pair_dist_text(Iw,Cresult,15); + +r =4;w = 22;gap = 5;sig_x= 20.0; +inpara = [r,w,gap,sig_x,0.16,0.2,0.2]; +[Cum,tm] = cAh(Iw,mag,abs(Cresult),inpara); + +[Cum,Nb,Nc] = cAh4(Iw,mag,abs(Cresult),inpara); + + +B = A+ A';clear A; + +figure(1); +c = ginput(1); +cx = floor(c(1)/gap); +cy = floor(c(2)/gap); +[cx,cy] +figure(7) +imagesc(reshape(B(cy*Cum(1)+cx,:),Cum(1),Cum(2))');colorbar + + +cutoff = [0.22,0.2,0.2]; +sig_hist = [0.02,0.04,0.05]; + +inpara2 = [r,5,cutoff,sig_hist]; +[A,D] = compute_A_hist3(tm,Cum,inpara2); + +B = A+A';clear A; +imagesc(reshape(D,Cum(1),Cum(2))'); + + +[v,d] = eigs(B); + + +end + +end + +%%%%%%%%%%%%% trans_texture %%%%%%%%%%%% +trans_text = 0; + + +if trans_text, + figure(1); + cs = ginput(1); + + ws = [40,40]; + + J = get_win(Iw,cs(1,:),ws); + Jbar = get_win5(Cresult,cs(1,:),ws); + Jmag = get_win(mag,cs(1,:),ws); + + figure(3);imagesc(J); + + figure(3); + for j=1:6, + subplot(2,3,j);imagesc(abs(Jbar(:,:,j)));axis('image');colorbar; + end + + f= abs(Jbar(40,38,:)); + g= abs(Jbar(40,47,:)); + + dot(f,g)/max(dot(f,f),dot(g,g)) + + ff = myinterp(f,10); gg = myinterp(g,10); + dot(ff,gg)/max(dot(ff,ff),dot(gg,gg)) + + cum = mc_corr(ff,gg,[-6,6]); + max(cum)/max(dot(f,f),dot(g,g)) + + + center = [40,35]; + + f = squeeze(abs(Jbar(center(1),center(2),:))); + ff = myinterp(f,10); + mag_ff = dot(ff,ff); + mag_c = Jmag(center(1),center(2)); + dy = 0; + + cor_cofs = []; + mags = []; + for dx = -15:15, + g = squeeze(abs(Jbar(center(1)+dy,center(2)+dx,:))); + gg = myinterp(g,10); + + cum = mc_corr(ff,gg,[-6,6]); + cor_cofs = [cor_cofs,max(cum)/max(mag_ff,dot(gg,gg))]; + + mags =[mags,max(mag_c,Jmag(center(1)+dy,center(2)+dx,:))]; + + end + + simulation_on =0; + + if simulation_on, + + sz = [161,161] + SI = zeros(sz); + + for i=2:18:sz(1), + SI(i:i+2,:) = 1+SI(i:i+2,:); + end + + imagesc(SI);axis('image'); + + tmp1 = mimrotate(SI,90,'nearest','crop'); + tmp2 = mimrotate(SI,45,'nearest','crop'); + + ly = round(0.7*sz(1)); + lx = round(0.7*sz(1)); + sy = round(0.16*sz(1)); + sx = round(0.2*sz(2)); + TI = [tmp1(1:ly,1:lx),tmp2(sy+1:sy+ly,sy+1:sy+round(0.4*lx))]; + + TI = TI+0.04*randn(size(TI)); + + %sig = 1/sqrt(2);r = 3;sz = round(r*3*sig); + + sigs = [1/sqrt(2),1,sqrt(2),2,2*sqrt(2)];r = 3;szs = round(r*3*sigs); + [text_des,TIw] = compute_filter(TI,sigs,r,szs); + figure(2);imagesc(TIw);axis('image'); + + figure(3); + im5(abs(text_des),2,3); + + text_des = abs(text_des); + + text_des = T1; + + numband = size(text_des,3); r = 10; + sig_x = 90; sig_inten = 0.15; sig_tex = 0.01;w_inten = 0.03; + para = [numband,r,sig_x,sig_inten,sig_tex,w_inten]; + + [A,D,Ipara] = compute_A_text(TIw,text_des,para); + nr = Ipara(1);nc = Ipara(2); + B = A+A'; clear A; + + figure(2); + cs = ginput(1); + cs = round(cs);id = cs(2)*nc+cs(1); + + figure(4); + imagesc(reshape(B(id,:),nc,nr)');axis('image');colorbar + + [v,d] = eigs(B); + figure(4);imagesc(reshape(D.*v(:,1),nc,nr)');axis('image'); + + end + +end + +if test_real == 1, + sigs = [1/sqrt(2),1,sqrt(2),2,2*sqrt(2)];r = 3;szs = round(r*3*sigs); + text_des = compute_filter(I,sigs,r,szs); + + text_des = abs(text_des); +%save filter_3.mat + + %%%% cutoff margins, + margin = 6+10; + + Iw = cutoff(I,margin); + + T1= reshape(text_des,size(text_des,1),size(text_des,2),size(text_des,3)*size(text_des,4)); + T1 = cutoff(T1,margin); + + %%%%% reduce resolution + + Iwp = compact(Iw,4); + + T1 = reduce_all(T1); + T1 = reduce_all(T1); + +% T1 = T1/70; + + % writepnm5('test6_image.pnm',Iwp);writepnm5('test6_filter.pnm',T1); + + numband = size(T1,3); r = 2; + sig_x = 20; sig_inten = 0.15; sig_tex = 0.01;w_inten = 0.01; + para = [numband,r,sig_x,sig_inten,sig_tex,w_inten]; + + [A,D,Ipara] = compute_A_text(Iwp,T1,para); + nr = Ipara(1);nc = Ipara(2); + figure(4);imagesc(reshape(D,nc,nr)');axis('image'); + drawnow; + + + numband = 6; + r = 5; sig_x = 20.0; + sig_tex = 0.01; w_inten = 0.01; w = 2; + para = [numband,r,sig_x,sig_tex,w_inten,w,size(T1,2)]; + + [A,D,Ipara] = compute_A_text2(Iw,T1(:,:,1:numband)/70,para); + nr = Ipara(1);nc = Ipara(2); + + + + B = A+A'; clear A; + + + figure(2); + cs = ginput(1); + cs = floor(cs/4)+1;id = cs(2)*nc+cs(1); + + figure(4); + imagesc(reshape(B(id,:),nc,nr)');axis('image');colorbar + + +end + + + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp.m new file mode 100755 index 0000000..b932912 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp.m @@ -0,0 +1,68 @@ + +sw = 3; +gap = 2*sw+1; + +nw = 6; + +for j=1:20, + l = max(0,j-1-nw); +% l = max(0,j-1-2*nw); + rs(j) = ceil((l-sw)/gap) + 1; + l = min(20,j-1+nw); +% l = min(20,j-1); + re(j) = floor((l-sw)/gap) +1; +end + +plot([1:20],rs,'p-',[1:20],re,'rp-') + + +%%%%%%%% + +bin_max = 1.0; +bin_min = -1.0; +num_bin = 30; +sig = 0.2; + +data = 0.482; + +inc = (bin_max-bin_min)/num_bin; + +bs = -100; +be = bin_min+inc; +b = []; + +for j=1:num_bin, + + b(j) = tmp1(bs,be,data,sig); + bs = be; + be= be+inc; +end +plot(b,'p-'); + + + +bmin = -1; + +inc = 0.2; +a = 0.1; +b = -1250; +ovs = 625; + +bs = bmin; +be = bs+inc; + +data = -0.482; + +for j=1:10, + tmp = bs-data; + fs = exp(-(tmp*tmp*ovs)); + ks = b*tmp; + + tmp = be-data; + fe = exp(-(tmp*tmp*ovs)); + ke = b*tmp; + + bin(j) = fs*(2+a*ks) + fe*(2-a*ke); + bs = be; + be = be+inc; +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp1.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp1.m new file mode 100755 index 0000000..db5dbc1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp1.m @@ -0,0 +1,25 @@ +function d = tmp1(bs,be,data,sig) + +sig = sig^2; + +if 1, +a = (bs+be)*0.5; +d = (a-bs)*(exp(-(bs-data)^2/sig) + exp(-(a-data)^2/sig)) + ... + (be-a)*(exp(-(a-data)^2/sig) + exp(-(be-data)^2/sig)); +d = d*2/sqrt(pi); +else + +a = (be-bs)/2; + +h1 = exp(-(bs-data)^2/sig); +h2 = exp(-(be-data)^2/sig); + +k1 = -2*(bs-data)/sig; +k2 = -2*(be-data)/sig; + +d = a*(h1*(2+2*a*k1) + h2*(2-2*a*k2)); +d = d*2/sqrt(pi); + +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp2.m new file mode 100755 index 0000000..b361cdc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp2.m @@ -0,0 +1,17 @@ +function d = tmp2(bs,be,data,sig) + +sig = sig^2; + + +a = (be-bs)/2; + +h1 = exp(-(bs-data)^2/sig); +h2 = exp(-(be-data)^2/sig); + +k1 = -2*(bs-data)/sig; +k2 = -2*(be-data)/sig; + +d = (h1*(2+2*a*k1) + h2*(2-2*a*k2)); +%d = a*d*2/sqrt(pi); + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp3.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp3.m new file mode 100755 index 0000000..c1bffd9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/tmp3.m @@ -0,0 +1,126 @@ +function result = erfcore(x,jint) +%ERFCORE Core algorithm for error functions. +% erf(x) = erfcore(x,0) +% erfc(x) = erfcore(x,1) +% erfcx(x) = exp(x^2)*erfc(x) = erfcore(x,2) + +% C. Moler, 2-1-91. +% Copyright (c) 1984-96 by The MathWorks, Inc. +% $Revision: 5.7 $ $Date: 1996/10/28 20:57:59 $ + +% This is a translation of a FORTRAN program by W. J. Cody, +% Argonne National Laboratory, NETLIB/SPECFUN, March 19, 1990. +% The main computation evaluates near-minimax approximations +% from "Rational Chebyshev approximations for the error function" +% by W. J. Cody, Math. Comp., 1969, PP. 631-638. + + if ~isreal(x), + error('Input argument must be real.') + end + result = repmat(NaN,size(x)); +% +% evaluate erf for |x| <= 0.46875 +% + xbreak = 0.46875; + k = find(abs(x) <= xbreak); + if ~isempty(k) + a = [3.16112374387056560e00; 1.13864154151050156e02; + 3.77485237685302021e02; 3.20937758913846947e03; + 1.85777706184603153e-1]; + b = [2.36012909523441209e01; 2.44024637934444173e02; + 1.28261652607737228e03; 2.84423683343917062e03]; + + y = abs(x(k)); + z = y .* y; + xnum = a(5)*z; + xden = z; + for i = 1:3 + xnum = (xnum + a(i)) .* z; + xden = (xden + b(i)) .* z; + end + result(k) = x(k) .* (xnum + a(4)) ./ (xden + b(4)); + if jint ~= 0, result(k) = 1 - result(k); end + if jint == 2, result(k) = exp(z) .* result(k); end + end +% +% evaluate erfc for 0.46875 <= |x| <= 4.0 +% + k = find((abs(x) > xbreak) & (abs(x) <= 2.)); + if ~isempty(k) + c = [5.64188496988670089e-1; 8.88314979438837594e00; + 6.61191906371416295e01; 2.98635138197400131e02; + 8.81952221241769090e02; 1.71204761263407058e03; + 2.05107837782607147e03; 1.23033935479799725e03; + 2.15311535474403846e-8]; + d = [1.57449261107098347e01; 1.17693950891312499e02; + 5.37181101862009858e02; 1.62138957456669019e03; + 3.29079923573345963e03; 4.36261909014324716e03; + 3.43936767414372164e03; 1.23033935480374942e03]; + + y = abs(x(k)); + xnum = c(9)*y; + xden = y; + for i = 1:7 + xnum = (xnum + c(i)) .* y; + xden = (xden + d(i)) .* y; + end + result(k) = (xnum + c(8)) ./ (xden + d(8)); + if jint ~= 2 + z = fix(y*16)/16; + del = (y-z).*(y+z); + result(k) = exp(-z.*z) .* exp(-del) .* result(k); + end + end +% +% evaluate erfc for |x| > 4.0 +% + k = find(abs(x) > 2.0); + if ~isempty(k) +if 0, + p = [3.05326634961232344e-1; 3.60344899949804439e-1; + 1.25781726111229246e-1; 1.60837851487422766e-2; + 6.58749161529837803e-4; 1.63153871373020978e-2]; + q = [2.56852019228982242e00; 1.87295284992346047e00; + 5.27905102951428412e-1; 6.05183413124413191e-2; + 2.33520497626869185e-3]; + + y = abs(x(k)); + z = 1 ./ (y .* y); + xnum = p(6).*z; + xden = z; + for i = 1:4 + xnum = (xnum + p(i)) .* z; + xden = (xden + q(i)) .* z; + end + result(k) = z .* (xnum + p(5)) ./ (xden + q(5)); + result(k) = (1/sqrt(pi) - result(k)) ./ y; + if jint ~= 2 + z = fix(y*16)/16; + del = (y-z).*(y+z); + result(k) = exp(-z.*z) .* exp(-del) .* result(k); + k = find(~isfinite(result)); + result(k) = 0*k; + end +end + result(k) = 0; + end +% +% fix up for negative argument, erf, etc. +% + if jint == 0 + k = find(x > xbreak); + result(k) = (0.5 - result(k)) + 0.5; + k = find(x < -xbreak); + result(k) = (-0.5 + result(k)) - 0.5; + elseif jint == 1 + k = find(x < -xbreak); + result(k) = 2. - result(k); + else % jint must = 2 + k = find(x < -xbreak); + z = fix(x(k)*16)/16; + del = (x(k)-z).*(x(k)+z); + y = exp(z.*z) .* exp(del); + result(k) = (y+y) - result(k); + end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/true_loc.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/true_loc.m new file mode 100755 index 0000000..7bf060f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/true_loc.m @@ -0,0 +1,23 @@ +function a = true_loc(loca,g,scale); + +if ~exist('scale'), + scale = 50; +end + +y = loca(1,:); +x = loca(2,:); + +min_x = min(x); +min_y = min(y); + +x = x - min_x; +y = y - min_y; + +max_x = max(x);max_y = max(y); +min_scale = min(max_x,max_y); + +a(1) = (g(1)-1)*min_scale/(scale); +a(2) = (g(2)-1)*min_scale/(scale); + +a(1) = a(1) + min_x; +a(2) = a(2) + min_y; diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/vmquant.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/vmquant.m new file mode 100755 index 0000000..ab4eb28 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/vmquant.m @@ -0,0 +1,112 @@ +function [im, map] = vmquant(arg1,arg2,arg3,arg4,arg5,arg6,arg7) +%VMQUANT Variance Minimization Color Quantization. +% [X, MAP] = VMQUANT(R,G,B,K,[Qr Qg Qb],DITHER,Qe) or +% VMQUANT(RGB,K,[Qr Qg Qb],DITHER,Qe), where RGB is a 3-D array, +% converts an arbitrary image comprised of RGB triples into an +% indexed image X with color map MAP. K specifies the number +% of desired entries in the target color map, and [Qr Qg Qb] +% specifies the number of quantization bits to assign each color +% axis during color interpolation. DITHER is a string ('dither' or +% 'nodither') that indicates whether or not to perform error propagation +% dither on the output image. Qe specifies the number of bits of +% quantization used in the error calculations. +% +% K is optional and defaults to 256. +% [Qr Qg Qb] is optional and defaults to [5 5 5]. +% DITHER is optional and defaults to 'nodither'. +% Qe is optional and defaults to 8. +% +% See also: RGB2IND, RGB2GRAY, DITHER, IND2RGB, CMUNIQUE, IMAPPROX. + +% This is the wrapper function for the MEX file VMQUANTC.C + +% Joseph M. Winograd 6-93 +% Copyright (c) 1993 by The MathWorks, Inc. +% $Revision: 5.3 $ $Date: 1996/08/22 22:09:03 $ + +% Reference: Xiaolin Wu, "Efficient Statistical Computation for +% Optimal Color Quantization," Graphics Gems II, (ed. James +% Arvo). Academic Press: Boston. 1991. + +if nargin < 1, + error('Not enough input arguments.'); +end + +threeD = (ndims(arg1)==3); % Determine if input includes a 3-D array + +if threeD, + error( nargchk( 1, 5, nargin ) ); + + % NOTE: If you change defaults, change them also + % in VMQUANTC.C and recompile the MEX function. + if nargin < 5 + arg5 = 8; % DEFAULT_QE = 8 + end + + if nargin < 4 + arg4 = 'n'; % DEFAULT_DITHER = 0 + end + + if nargin < 3 + arg3 = [5 5 5]; % DEFAULT_Q = [5 5 5] + end + + if nargin < 2 + arg2 = 256; % DEFAULT_K = 256 + end + + rout = arg1(:,:,1); + g = arg1(:,:,2); + b = arg1(:,:,3); + + if strcmp(lower(arg4(1)),'d') + dith = 1; + else + dith = 0; + end + + arg7 = arg5; + arg5 = arg3; + arg4 = arg2; + +else + error( nargchk( 3, 7, nargin ) ); + + if nargin < 7 + arg7 = 8; % DEFAULT_QE = 8 + end + + if nargin < 6 + arg6 = 'n'; % DEFAULT_DITHER = 0 + end + + if nargin < 5 + arg5 = [5 5 5]; % DEFAULT_Q = [5 5 5] + end + + if nargin < 4 + arg4 = 256; % DEFAULT_K = 256 + end + + rout = arg1; + g = arg2; + b = arg3; + + if strcmp(lower(arg6(1)),'d') + dith = 1; + else + dith = 0; + end + +end + +if (~isa(rout,'uint8')) + rout = uint8(round(255*rout)); +end +if (~isa(g,'uint8')) + g = uint8(round(255*g)); +end +if (~isa(b,'uint8')) + b = uint8(round(255*b)); +end +[im,map] = vmquantc( rout, g, b, arg4, arg5, dith, arg7 ); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm.m new file mode 100755 index 0000000..915e07d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm.m @@ -0,0 +1,26 @@ +function [L1,L2,phi,Txx,Txy,Tyy]=wismm(X,N); +% [L1,L2,phi,T11,T12,T22]=wismm(X,N); +% Calculate windowed image second moment matrices for image X and return +% the following values: +% +% L1 is the larger eigenvalue (lambda_1) +% L2 is the smaller eigenvalue (lambda_2) +% phi is the angle of the 1st eigenvector (phi) + +[G1,G2]=gradient(X); + +GGTxx=G1.^2; +GGTxy=G1.*G2; +GGTyy=G2.^2; + +Txx=gaussN(GGTxx,N); +Txy=gaussN(GGTxy,N); +Tyy=gaussN(GGTyy,N); + +tr=Txx+Tyy; +V1=0.5*sqrt(tr.^2-4*(Txx.*Tyy-Txy.^2)); + +L1=real(0.5*tr+V1); +L2=real(0.5*tr-V1); +phi=0.5*atan2(2*Txy,Txx-Tyy); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm2.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm2.m new file mode 100755 index 0000000..ae62ce9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm2.m @@ -0,0 +1,66 @@ +function [L1,L2,phi,aniso,pol,con,window_sizes]=wismm2(V); +% [L1,L2,phi,aniso,pol,con,window_sizes]=wismm2(V); +% Calculate windowed image second moment matrices for image V and return +% the following values: +% +% L1 is the larger eigenvalue (lambda_1) +% L2 is the smaller eigenvalue (lambda_2) +% phi is the angle of the 1st eigenvector (phi) +% + +[Gx,Gy]=gradient(V); + +GGTxx=Gx.^2; +GGTxy=Gx.*Gy; +GGTyy=Gy.^2; + +[r,c]=size(V); + +min_window_size=3; +max_window_size=3*round(min(r,c)/16); +if (-1)^max_window_size==1 + max_window_size=max_window_size+1; +end +window_step_size=2; + +window_sizes=min_window_size:2:max_window_size; +max_count=length(window_sizes); + +L1=zeros(r,c,max_count); +L2=zeros(r,c,max_count); +phi=zeros(r,c,max_count); +pol=zeros(r,c,max_count); +con=zeros(r,c,max_count); + +fprintf(1,'Integration window size: '); +counter=1; +for n=window_sizes + fprintf(1,'%d ',n); + Txx=gaussN(GGTxx,n); + Txy=gaussN(GGTxy,n); + Tyy=gaussN(GGTyy,n); + + tr=Txx+Tyy; + V1=0.5*sqrt(tr.^2-4*(Txx.*Tyy-Txy.^2)); + V1=real(V1); + + L1(:,:,counter)=0.5*tr+V1; + L2(:,:,counter)=0.5*tr-V1; + phi(:,:,counter)=0.5*atan2(2*Txy,Txx-Tyy); + + % do polarity stuff here + grad_smooth_x=gaussN(Gx,n); + grad_smooth_y=gaussN(Gy,n); + grad_smooth_mag=sqrt(grad_smooth_x.^2+grad_smooth_y.^2); + grad_mag=sqrt(Gx.^2+Gy.^2); + grad_mag_smooth=gaussN(grad_mag,n); + pol(:,:,counter)=grad_smooth_mag./(grad_mag_smooth+eps); + + % contrast calculation + con(:,:,counter)=tr; + counter=counter+1; +end +fprintf(1,'\n') + +aniso=1-L2./(L1+eps); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm3.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm3.m new file mode 100755 index 0000000..89c56ef --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/wismm3.m @@ -0,0 +1,71 @@ +function [L1,L2,phi,aniso,pol,con,window_sizes]=wismm3(V); +% [L1,L2,phi,aniso,pol,con,window_sizes]=wismm3(V); +% Calculate windowed image second moment matrices for image V and return +% the following values: +% +% L1 is the larger eigenvalue (lambda_1) +% L2 is the smaller eigenvalue (lambda_2) +% phi is the angle of the 1st eigenvector (phi) +% + +[Gx,Gy]=gradient(V); + +GGTxx=Gx.^2; +GGTxy=Gx.*Gy; +GGTyy=Gy.^2; + +[r,c]=size(V); + +min_window_size=3; +max_window_size=3*round(min(r,c)/16); +if (-1)^max_window_size==1 + max_window_size=max_window_size+1; +end +window_step_size=2; + +window_sizes=min_window_size:2:max_window_size; +max_count=length(window_sizes); + +L1=zeros(r,c,max_count); +L2=zeros(r,c,max_count); +phi=zeros(r,c,max_count); +pol=zeros(r,c,max_count); +con=zeros(r,c,max_count); + +fprintf(1,'Integration window size: '); +counter=1; +for n=window_sizes + fprintf(1,'%d ',n); + Txx=gaussN(GGTxx,n); + Txy=gaussN(GGTxy,n); + Tyy=gaussN(GGTyy,n); + + tr=Txx+Tyy; + V1=0.5*sqrt(tr.^2-4*(Txx.*Tyy-Txy.^2)); + V1=real(V1); + + L1(:,:,counter)=0.5*tr+V1; + L2(:,:,counter)=0.5*tr-V1; + phi(:,:,counter)=0.5*atan2(2*Txy,Txx-Tyy); + + % do polarity stuff here + [P,angle_vector]=polarity(Gx,Gy,n); + quant_bound=angle_vector(2)/2; + % (quantize angle and pull corresponding polarity out of P) + % (perhaps use set-theoretic functions for masking out P???) + for m=1:length(angle_vector); + a=angle_vector(end-m+1); + old_pol=pol(:,:,counter); + Pmask=abs(cos(phi(:,:,counter)-a))>=cos(quant_bound); + Pmask=Pmask&(old_pol==0); % prevent pileup on quant. boundaries + pol(:,:,counter)=old_pol+(Pmask.*P(:,:,m)); + end + + % contrast calculation + con(:,:,counter)=tr; + counter=counter+1; +end +fprintf(1,'\n') + +aniso=1-L2./(L1+eps); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/write_command.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/write_command.m new file mode 100755 index 0000000..954a39e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/write_command.m @@ -0,0 +1,8 @@ +function write_command(fname,fn_base,para) + +fid = fopen(fname,'w'); + +fprintf(fid,'%s ',fn_base); +fprintf(fid,'%d ',para); +fprintf(fid,'\nrun\n'); +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/write_test.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/write_test.m new file mode 100755 index 0000000..e444c27 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/write_test.m @@ -0,0 +1,38 @@ + +I_max = 250; +tex_max = 30; + +%fnames = [130038,130039,130042,130056,130057]; +%fnames = [334074 334031 334044 334003 334065 334000 334039 334018 334002 334029] + +fnames = 130057; + +for j=1:length(fnames), +fname = sprintf('images/%d.pgm',fnames(j)); + +sigs = [1/sqrt(2),1,sqrt(2),2,2*sqrt(2)];r = 3;szs = round(r*3*sigs); +szs = szs(length(szs))*ones(1,length(szs)); +num_ori = 6; + +I = readpgm(fname); +[text_des,filters] = compute_filter_fft(I,sigs,r,szs,num_ori); + +outname = sprintf('plaatje_data/%d',fnames(j)); + +cutsz =20; +I = cutoff(I,cutsz);%figure(1);im(I); +text_des = cutoff(text_des,cutsz); + +writeout_feature(I,text_des(:,:,:),outname,I_max,tex_max); + + +if 0, +for j=0:30, + cm = sprintf('!mv plaatje_data/134013.pfm_%d.pfm plaatje_data/134013_%d.pfm',j,j); + disp(cm);eval(cm); +end +end + +end + +exit diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writeout_feature.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writeout_feature.m new file mode 100755 index 0000000..5376d5f --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writeout_feature.m @@ -0,0 +1,40 @@ +function writeout_feature(I,tex,fname,I_max,tex_max) +% +% writeout_feature(I,tex,fname,I_max,tex_max) +% +% + + +%%%%% print out image +I_min = min(I(:)); + +I = I-I_min; +I = min(1,I/(I_max-I_min)); + +I = 2*I-1; + +j = 0; +fn = sprintf('%s_%d.pfm',fname,j); +cm = sprintf('writepfm: I->%s',fn); +disp(cm); +writepfm(fn,I); + + +%%% print out texture +nf = size(tex,3) + +for j=1:nf, + + fn = sprintf('%s_%d.pfm',fname,j); + cm = sprintf('writepfm:tex_%d->%s',j,fn); + disp(cm); + +tex(:,:,j) = tex(:,:,j)/tex_max;fprintf('.'); +tex(:,:,j) = tex(:,:,j).*(tex(:,:,j)<=1) + 1*(tex(:,:,j)>1);fprintf('.') +tex(:,:,j) = tex(:,:,j).*(tex(:,:,j)>=-1) + (-1)*(tex(:,:,j)<-1);fprintf('.'); + + writepfm(fn,tex(:,:,j)); + + +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepfm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepfm.m new file mode 100755 index 0000000..a831970 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepfm.m @@ -0,0 +1,11 @@ +function writepfm(name,I) +% +% writepfm(name,I) +% + [nr,nc] = size(I); + + fid = fopen(name, 'w'); + fprintf(fid, '%d %d\n', nr,nc); + fprintf(fid,'%f ',I); + fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepgm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepgm.m new file mode 100755 index 0000000..113cb18 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepgm.m @@ -0,0 +1,8 @@ +function I = writepgm(name,I) + + [y,x] = size(I); + + fid = fopen(name, 'w'); + fprintf(fid, 'P5\n%d %d\n255\n', x,y); + fwrite(fid, I', 'uint8'); + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepmm.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepmm.m new file mode 100755 index 0000000..675df93 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepmm.m @@ -0,0 +1,14 @@ +function writepmm(name,I) +% +% writepmm(name,I) +% + + [nr,nc,nb] = size(I); + + fid = fopen(name,'w'); + + fprintf(fid, 'P5\n%d %d %d\n255\n', nc,nr,nb); + + fprintf(fid,'%f ',I); + fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepnm5.m b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepnm5.m new file mode 100755 index 0000000..633fba9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filter_hist/writepnm5.m @@ -0,0 +1,26 @@ +function writepnm5(name,I) +% +% writepnm5(name,I) +% +% I is a mul-band image +% + + [nr,nc,nb] = size(I); + + fid = fopen(name,'w'); + + fprintf(fid, 'P5\n%d %d %d\n255\n', nc,nr,nb); + + n = nr*nc; + + J = []; + + for j=1:nb, + J = [J,reshape(I(:,:,j)',n,1)]; + end + + J = reshape(J',nb*n,1); + + fprintf(fid,'%f ',J); + fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/doog1.m b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/doog1.m new file mode 100755 index 0000000..dd8e87b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/doog1.m @@ -0,0 +1,32 @@ +function H=doog1(sig,r,th,N); +% H=doog1(sig,r,th,N); + + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +phi=pi*th/180; +sigy=sig; +sigx=r*sig; +R=[cos(phi) -sin(phi); sin(phi) cos(phi)]; +C=R*diag([sigx,sigy])*R'; + +X=[x(:) y(:)]; + +Gb=gaussian(X,[0 0]',C); +Gb=reshape(Gb,N,N); + +m=R*[0 sig]'; + +a=1; +b=-1; + +% make odd-symmetric filter +Ga=gaussian(X,m/2,C); +Ga=reshape(Ga,N,N); +Gb=rot90(Ga,2); +H=a*Ga+b*Gb; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/doog2.m b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/doog2.m new file mode 100755 index 0000000..a0511cb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/doog2.m @@ -0,0 +1,38 @@ +function G=doog2(sig,r,th,N); +% G=doog2(sig,r,th,N); +% Make difference of offset gaussians kernel +% theta is in degrees +% (see Malik & Perona, J. Opt. Soc. Amer., 1990) +% +% Example: +% >> imagesc(doog2(1,12,0,64,1)) +% >> colormap(gray) + +% by Serge Belongie + +no_pts=N; % no. of points in x,y grid + +[x,y]=meshgrid(-(N/2)+1/2:(N/2)-1/2,-(N/2)+1/2:(N/2)-1/2); + +phi=pi*th/180; +sigy=sig; +sigx=r*sig; +R=[cos(phi) -sin(phi); sin(phi) cos(phi)]; +C=R*diag([sigx,sigy])*R'; + +X=[x(:) y(:)]; + +Gb=gaussian(X,[0 0]',C); +Gb=reshape(Gb,N,N); + +m=R*[0 sig]'; +Ga=gaussian(X,m,C); +Ga=reshape(Ga,N,N); +Gc=rot90(Ga,2); + +a=-1; +b=2; +c=-1; + +G = a*Ga + b*Gb + c*Gc; + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/make_filterbank_even2.m b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/make_filterbank_even2.m new file mode 100755 index 0000000..f7f4527 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/make_filterbank_even2.m @@ -0,0 +1,45 @@ +function FB = make_filterbank(num_ori,filter_scales,wsz,enlong) +% +% F = make_filterbank(num_ori,num_scale,wsz) +% + +if nargin<4, + enlong = 3; +end + +enlong = 2*enlong; + +% definine filterbank +%num_ori=6; +%num_scale=3; + +num_scale = length(filter_scales); + +M1=wsz; % size in pixels +M2=M1; + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +FB=zeros(M1,M2,num_ori,num_scale); + +% elongated filter set +counter = 1; + +for m=1:num_scale + for n=1:num_ori + % r=12 here is equivalent to Malik's r=3; + f=doog2(filter_scales(m),enlong,ori_offset+(n-1)*ori_incr,M1); + FB(:,:,n,m)=f; + end +end + +FB=reshape(FB,M1,M2,num_scale*num_ori); +total_num_filt=size(FB,3); + +for j=1:total_num_filt, + F = FB(:,:,j); + a = sum(sum(abs(F))); + FB(:,:,j) = FB(:,:,j)/a; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/make_filterbank_odd2.m b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/make_filterbank_odd2.m new file mode 100755 index 0000000..0059dca --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/make_filterbank_odd2.m @@ -0,0 +1,46 @@ +function FB = make_filterbank(num_ori,filter_scales,wsz,enlong) +% +% F = make_filterbank(num_ori,num_scale,wsz) +% + +if nargin<4, + enlong = 3; +end + +enlong = enlong*2; + +% definine filterbank +%num_ori=6; +%num_scale=3; + +num_scale = length(filter_scales); + +M1=wsz; % size in pixels +M2=M1; + +ori_incr=180/num_ori; +ori_offset=ori_incr/2; % helps with equalizing quantiz. error across filter set + +FB=zeros(M1,M2,num_ori,num_scale); + + +% elongated filter set +counter = 1; + +for m=1:num_scale + for n=1:num_ori + % r=12 here is equivalent to Malik's r=3; + f=doog1(filter_scales(m),enlong,ori_offset+(n-1)*ori_incr,M1); + FB(:,:,n,m)=f; + end +end + +FB=reshape(FB,M1,M2,num_scale*num_ori); +total_num_filt=size(FB,3); + +for j=1:total_num_filt, + F = FB(:,:,j); + a = sum(sum(abs(F))); + FB(:,:,j) = FB(:,:,j)/a; +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/quadedgep2.m b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/quadedgep2.m new file mode 100755 index 0000000..5041377 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/filtersQuad/quadedgep2.m @@ -0,0 +1,188 @@ +% function [xs,ys,gx,gy,par,threshold,mag,mage,g,FIe,FIo,mago] = quadedgep(I,par,threshold); +% Input: +% I = image +% par = vector for 4 parameters +% [number of filter orientations, number of scale, filter size, elongation] +% To use default values, put 0. +% threshold = threshold on edge strength +% Output: +% [x,y,gx,gy] = locations and gradients of an ordered list of edgels +% x,y could be horizontal or vertical or 45 between pixel sites +% but it is guaranteed that there [floor(y) + (floor(x)-1)*nr] +% is ordered and unique. In other words, each edgel has a unique pixel id. +% par = actual par used +% threshold = actual threshold used +% mag = edge magnitude +% mage = phase map +% g = gradient map at each pixel +% [FIe,FIo] = odd and even filter outputs +% mago = odd filter output of optimum orientation + +% Stella X. Yu, 2001 + +% This is the multi scale version of the filtering +% For the moment the parameters are defined by default. See line 34 + + +function [x,y,gx,gy,par,threshold,mag_s,mage,g,FIe,FIo,mago] = quadedgep2(I,par,data,threshold); + + +if nargin<4 | isempty(threshold), + threshold = 0.1; +end + +[r,c] = size(I); +def_par = [4,30,3]; + +display_on = 1; + +% take care of parameters, any missing value is substituted by a default value +if nargin<2 | isempty(par), + par = def_par; +end +% par(end+1:4)=0; +% par = par(:); +% j = (par>0); +% have_value = [ j, 1-j ]; +% j = 1; n_filter = have_value(j,:) * [par(j); def_par(j)]; +% j = 2; n_scale = have_value(j,:) * [par(j); def_par(j)]; +% j = 3; winsz = have_value(j,:) * [par(j); def_par(j)]; +% j = 4; enlong = have_value(j,:) * [par(j); def_par(j)]; + +n_ori = par(1); %if it doesn't work, par<-def_par + +winsz = par(2); +enlong = par(3); + +% always make filter size an odd number so that the results will not be skewed +j = winsz/2; +if not(j > fix(j) + 0.1), + winsz = winsz + 1; +end + +% filter the image with quadrature filters +if (isempty(data.W.scales)) + error ('no scales entered'); +end + +n_scale=length(data.W.scales); +filter_scales=data.W.scales; +% +% if strcmp(data.dataWpp.mode,'multiscale') +% n_scale=size((data.dataWpp.scales),2); +% filter_scales=data.dataWpp.scales; +% else +% filter_scales=data.dataWpp.scales(1); +% n_scale=1; +% end +% if n_scale>0&&strcmp(data.dataWpp.mode,'multiscale') +% if (~isempty(data.dataWpp.scales)) +% filter_scales=data.dataWpp.scales; +% else +% filter_scales=zeros(1,n_scale); +% +% for i=1:n_scale, +% filter_scales(i)=(sqrt(2))^(i-1); +% end +% data.dataWpp.scales=filter_scales; +% end +% else filter_scale=1; +% data.dataWpp.scales=filter_scales; +% end +% +% %%%%%%% juste pour que ca tourne +% if ~strcmp(data.dataWpp.mode,'multiscale') +% filter_scales=data.dataWpp.scales(1); +% n_scale=4; +% end +% %%%%%%%%%%%% + +FBo = make_filterbank_odd2(n_ori,filter_scales,winsz,enlong); +FBe = make_filterbank_even2(n_ori,filter_scales,winsz,enlong); +n = ceil(winsz/2); +f = [fliplr(I(:,2:n+1)), I, fliplr(I(:,c-n:c-1))]; +f = [flipud(f(2:n+1,:)); f; flipud(f(r-n:r-1,:))]; +FIo = fft_filt_2(f,FBo,1); +FIo = FIo(n+[1:r],n+[1:c],:); +FIe = fft_filt_2(f,FBe,1); +FIe = FIe(n+[1:r],n+[1:c],:); + +% compute the orientation energy and recover a smooth edge map +% pick up the maximum energy across scale and orientation +% even filter's output: as it is the second derivative, zero cross localize the edge +% odd filter's output: orientation + +[nr,nc,nb] = size(FIe); + +FIe = reshape(FIe, nr,nc,n_ori,length(filter_scales)); +FIo = reshape(FIo, nr,nc,n_ori,length(filter_scales)); + +mag_s = zeros(nr,nc,n_scale); +mag_a = zeros(nr,nc,n_ori); + +mage = zeros(nr,nc,n_scale); +mago = zeros(nr,nc,n_scale); +mage = zeros(nr,nc,n_scale); +mago = zeros(nr,nc,n_scale); + + + +for i = 1:n_scale, + mag_s(:,:,i) = sqrt(sum(FIo(:,:,:,i).^2,3)+sum(FIe(:,:,:,i).^2,3)); + mag_a = sqrt(FIo(:,:,:,i).^2+FIe(:,:,:,i).^2); + [tmp,max_id] = max(mag_a,[],3); + + base_size = nr * nc; + id = [1:base_size]'; + mage(:,:,i) = reshape(FIe(id+(max_id(:)-1)*base_size+(i-1)*base_size*n_ori),[nr,nc]); + mago(:,:,i) = reshape(FIo(id+(max_id(:)-1)*base_size+(i-1)*base_size*n_ori),[nr,nc]); + + mage(:,:,i) = (mage(:,:,i)>0) - (mage(:,:,i)<0); + + if display_on, + ori_incr=pi/n_ori; % to convert jshi's coords to conventional image xy + ori_offset=ori_incr/2; + theta = ori_offset+([1:n_ori]-1)*ori_incr; % orientation detectors + % [gx,gy] are image gradient in image xy coords, winner take all + + ori = theta(max_id); + ori = ori .* (mago(:,:,i)>0) + (ori + pi).*(mago(:,:,i)<0); + gy{i} = mag_s(:,:,i) .* cos(ori); + gx{i} = -mag_s(:,:,i) .* sin(ori); + g = cat(3,gx{i},gy{i}); + + % phase map: edges are where the phase changes + mag_th = max(max(mag_s(:,:,i))) * threshold; + eg = (mag_s(:,:,i)>mag_th); + h = eg & [(mage(2:r,:,i) ~= mage(1:r-1,:,i)); zeros(1,nc)]; + v = eg & [(mage(:,2:c,i) ~= mage(:,1:c-1,i)), zeros(nr,1)]; + [y{i},x{i}] = find(h | v); + k = y{i} + (x{i}-1) * nr; + h = h(k); + v = v(k); + y{i} = y{i} + h * 0.5; % i + x{i} = x{i} + v * 0.5; % j + t = h + v * nr; + gx{i} = g(k) + g(k+t); + k = k + (nr * nc); + gy{i} = g(k) + g(k+t); + +% figure(1); +% clf; +% imagesc(I);colormap(gray); +% hold on; +% quiver(x,y,gx,gy); hold off; +% title(sprintf('scale = %d, press return',i)); + + % pause; + 0; +else + x = []; + y = []; + gx = []; + gy =[]; + g= []; + end +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/convert422.m b/SD-VBS/common/toolbox/toolbox_basic/io/convert422.m new file mode 100755 index 0000000..919e82e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/convert422.m @@ -0,0 +1,27 @@ +image_current = '/hid/jshi'; + +image_dir = 'vr05_5 '; +pg_path = '/hid/jshi/422toppm/422toppm'; + +cm = sprintf('cd %s',image_dir); +disp(cm); +eval(cm); + +d = dir('seq*'); +filename = char(sort({d.name})); + +for j=1:size(filename), + cm = sprintf('!%s %s',pg_path,deblank(filename(j,:))); +disp(cm); +eval(cm); +end + + +%%% change back +cm = sprintf('cd %s',image_current); +disp(cm);eval(cm); + + +if 0, + deblank(filename(f,:)); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/im_vd.m b/SD-VBS/common/toolbox/toolbox_basic/io/im_vd.m new file mode 100755 index 0000000..590cd9b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/im_vd.m @@ -0,0 +1,6 @@ +function J = im_vd(I); + +J(:,:,1) = I(1:2:end,1:2:end); +J(:,:,2) = I(2:2:end,1:2:end); + +montage2(J); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/imread2.m b/SD-VBS/common/toolbox/toolbox_basic/io/imread2.m new file mode 100755 index 0000000..27a5e4b --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/imread2.m @@ -0,0 +1,45 @@ +function I = imread2(fname,im_dir); +% +% I = imread2(fname,im_dir); +% + +cur_dir = pwd; + +if nargin>1, + cd(im_dir); +end + +%%% put on the necessary extension +d = dir(fname); + +if isempty(d), + d = dir([fname,'*']); +end + +if isempty(d), + I = []; +else + + fname = d.name; + + %%% find extension + k = findstr(fname,'.'); + ext = fname(k(end)+1:end); + + if (ext == 'bz2'), + cm = sprintf('!bzip2 -d %s',fname); + disp(cm);eval(cm); + I = imread2(fname(1:k(end-1)-1)); + cm = sprintf('!bzip2 %s',fname(1:k(end)-1)); + disp(cm);eval(cm); + elseif (ext == 'ppm'); + I = readppm(fname); + elseif (ext == 'pgm'); + I = readpgm(fname); + else + I = imread(fname); +I = double(I)/255; + end +end + +cd(cur_dir); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/peek_pgm_size.m b/SD-VBS/common/toolbox/toolbox_basic/io/peek_pgm_size.m new file mode 100755 index 0000000..13e54cd --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/peek_pgm_size.m @@ -0,0 +1,19 @@ +function [nr,nc] = peek_pgm_size(filename) +% function [nr,nc] = peek_pgm_size(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + + +fid = fopen(filename,'r'); +fscanf(fid, 'P5\n'); +cmt = '#'; +while findstr(cmt, '#'), + cmt = fgets(fid); + if length(findstr(cmt, '#')) ~= 1, + YX = sscanf(cmt, '%d %d'); + nc = YX(1); nr = YX(2); + end +end + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/pgmread.m b/SD-VBS/common/toolbox/toolbox_basic/io/pgmread.m new file mode 100755 index 0000000..49a35a8 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/pgmread.m @@ -0,0 +1,24 @@ +function [img,header] = pgmread(filename) +% +% [img,header] = pgmread(filename) + +[fid, msg] = fopen(filename, 'r'); +if fid == -1, + error(msg) +end + +head = []; +good = 0; +while (good == 0) , + l = fgetl(fid); + if (length(l) == 3), + if (l == '255'), + good = 1; + sze = sscanf(header,'%d'); + end + end + header= l; +end + +img = fread(fid, sze', 'uchar')'; +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/ppmtojpg.m b/SD-VBS/common/toolbox/toolbox_basic/io/ppmtojpg.m new file mode 100755 index 0000000..ce47e45 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/ppmtojpg.m @@ -0,0 +1,25 @@ +function []= ppm2jpg(fname,dlm,ori) +% +% ppm2jpg(fname,dlm,ori) +% +% dlm =1, remove the file extension from fname +% before convert +% ori =1, transpose the image +% + +if dlm, + dlm = findstr(fname,'.'); + fname = fname(1:dlm(end)-1); +end + +fname_1 = sprintf('%s.ppm',fname); +I = readppm(fname_1); + +if ori == 1, + I = permute(I,[2 1 3]); +end + + +fname_2 = sprintf('%s.jpg',fname); +imwrite(I,fname_2,'jpeg','Quality',90); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read422.m b/SD-VBS/common/toolbox/toolbox_basic/io/read422.m new file mode 100755 index 0000000..31a27f9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read422.m @@ -0,0 +1,45 @@ +function I = read422(fname,nc); +% +% I = read422(fname,width); +% +% read in a .422 file, need to pass image width, default = 640 +% + +% assume image width = 640 +if nargin<2, + nc = 640; +end + +%% find the image size +fid = fopen(fname); +fseek(fid,0,1); +fsize = ftell(fid); + +nr = fsize/nc/2; +fseek(fid,0,-1); + +%% read in Ybr data +data = fread(fid,fsize,'uchar'); + +%%% extract Y, Cb, Cr +Y1 = data(1:2:end); Y1 = reshape(Y1,nc,nr)'; +Cb1 = data(2:4:end); Cb1 = reshape(Cb1,nc/2,nr)'; +Cr1 = data(4:4:end); Cr1 = reshape(Cr1,nc/2,nr)'; + +Cb = zeros(size(Y1)); +Cr = zeros(size(Y1)); + +Cb(:,1:2:end) = Cb1; Cb(:,2:2:end) = Cb1; +%Cb(:,2:2:end) = 0.5*(Cb1+[Cb1(:,2:end),Cb1(:,end)]); + +Cr(:,1:2:end) = Cr1; Cr(:,2:2:end) = Cr1; +%Cr(:,2:2:end) = 0.5*(Cr1+[Cr1(:,2:end),Cr1(:,end)]); + +%%% convert to r,g,b +r = 1.164*(Y1-16.0) + 1.596*(Cr-128.0); +g = 1.164*(Y1-16.0) - 0.813*(Cr-128.0) - 0.391*(Cb-128.0); +b = 1.164*(Y1-16.0) + 2.018*(Cb-128.0); + +I = cat(3,r,g,b); +I = max(0,min(I,255)); +I = I/255; diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read422f.m b/SD-VBS/common/toolbox/toolbox_basic/io/read422f.m new file mode 100755 index 0000000..0063000 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read422f.m @@ -0,0 +1,50 @@ +function I = read422(fname,nc); +% +% I = read422(fname,width); +% +% read in a .422 file, need to pass image width, default = 640 +% + +% assume image width = 640 +if nargin<2, + nc = 640; +end + +%% find the image size +fid = fopen(fname); +fseek(fid,0,1); +fsize = ftell(fid); + +nr = fsize/nc/2; + +fseek(fid,0,-1); + +%% read in Ybr data +data = fread(fid,fsize,'uchar'); + +%%% extract Y, Cb, Cr +Y1 = data(1:2:end); Y1 = reshape(Y1,nc,nr)'; +Cb1 = data(2:4:end); Cb1 = reshape(Cb1,nc/2,nr)'; +Cr1 = data(4:4:end); Cr1 = reshape(Cr1,nc/2,nr)'; + +Cb = zeros(size(Y1)); +Cr = zeros(size(Y1)); + +Cb(:,1:2:end) = Cb1; Cb(:,2:2:end) = Cb1; +%Cb(:,2:2:end) = 0.5*(Cb1+[Cb1(:,2:end),Cb1(:,end)]); + +Cr(:,1:2:end) = Cr1; Cr(:,2:2:end) = Cr1; +%Cr(:,2:2:end) = 0.5*(Cr1+[Cr1(:,2:end),Cr1(:,end)]); + +%%% convert to r,g,b +r = 1.164*(Y1-16.0) + 1.596*(Cr-128.0); +g = 1.164*(Y1-16.0) - 0.813*(Cr-128.0) - 0.391*(Cb-128.0); +b = 1.164*(Y1-16.0) + 2.018*(Cb-128.0); + +r = flipud(max(0,min(r,255))); +g = flipud(max(0,min(g,255))); +b = flipud(max(0,min(b,255))); + +I = cat(3,r,g,b); + +I = permute(I/255,[2,1,3]); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_cimgs.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_cimgs.m new file mode 100755 index 0000000..d5df7f5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_cimgs.m @@ -0,0 +1,40 @@ +function Is = read_imgs(homedir,imgdir,prename,postname,digits,startid,endid,step_img) +% +% Is = read_imgs(homedir,imgdir,prename,postname,digits,startid,endid,step_img) +% + + + +command = ['%s%s%s%.',num2str(digits),'d%s']; + +fname = sprintf(command,homedir,imgdir,prename,startid,postname); +disp(fname); +if (strcmp('.ppm',postname)), + I1 = readppm(fname); +else + I1 = imread(fname); +end + + +Is = zeros(size(I1,1),size(I1,2),size(I1,3),1+floor((endid-startid)/step_img)); +Is(:,:,:,1) = I1; +im_id = 1; +for j = startid+step_img:step_img:endid, + command = ['%s%s%s%.',num2str(digits),'d%s']; + fname = sprintf(command,homedir,imgdir,prename,j,postname); + disp(fname); + im_id = im_id+1; + + if (strcmp('.ppm',postname)), + Is(:,:,:,im_id) = readppm(fname); + else + a = imread(fname); + Is(:,:,:,im_id) = a; + end +end + + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm.m new file mode 100755 index 0000000..3f7b69d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm.m @@ -0,0 +1,26 @@ +function [evs,ev_info] = read_ev_pgm(basename,start_id,end_id,neigs) +% +% evs = read_ev_pgm(basename,start_id,end_id,neigs) +% +% + +fname = sprintf('%s_ev_%.2d.%.2d.pgm',basename,start_id,1) +[nr,nc] = peek_pgm_size(fname); + +evs = zeros(nr,nc,neigs-1,start_id-end_id+1); +ev_info = zeros(4,neigs-1,start_id-end_id+1); + +for j=start_id:end_id, + for k=1:neigs-1, + + fname = sprintf('%s_ev_%.2d.%.2d.pgm',basename,j,k); + [I,info] = readpgm_evinfo(fname); + + if (length(info)<4) + info = [0;0;0;0]; + end + + evs(:,:,k,j-start_id+1) = I; + ev_info(:,k,j-start_id+1) = info'; + end +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm2.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm2.m new file mode 100755 index 0000000..b0cc3f9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm2.m @@ -0,0 +1,29 @@ +function [evs,ev_info] = read_ev_pgm2(basename,start_id,end_id,neigs) +% +% evs = read_ev_pgm(basename,start_id,end_id,neigs) +% +% read_ev_pgm.m modified by SXY in Feb. 2001. +% The first eigenvector is also included + +fname = sprintf('%s_ev_%.2d.%.2d.pgm',basename,start_id,1) +[nr,nc] = peek_pgm_size(fname); + +evs = zeros(nr,nc,neigs,start_id-end_id+1); +ev_info = zeros(4,neigs,start_id-end_id+1); + +for j=start_id:end_id, + + for k=1:neigs, + + fname = sprintf('%s_ev_%.2d.%.2d.pgm',basename,j,k-1); + + [I,info] = readpgm_evinfo(fname); + + if (length(info)<4) + info = [0;0;0;0]; + end + + evs(:,:,k,j-start_id+1) = I; + ev_info(:,k,j-start_id+1) = info'; + end +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm_real.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm_real.m new file mode 100755 index 0000000..d985679 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_ev_pgm_real.m @@ -0,0 +1,30 @@ +function [evs,ev_info] = read_ev_pgm(basename,start_id,end_id,neigs) +% +% evs = read_ev_pgm(basename,start_id,end_id,neigs) +% +% + +fname = sprintf('%s_ev_%.2d.%.2d.pgm',basename,start_id,1); +[nr,nc] = peek_pgm_size(fname); + +evs = zeros(nr,nc,neigs-1,start_id-end_id+1); +ev_info = zeros(4,neigs-1,start_id-end_id+1); + +for j=start_id:end_id, + for k=1:neigs, + + fname = sprintf('%s_ev_%.2d.%.2d.pgm',basename,j,k-1); + [I,info] = readpgm_evinfo(fname); + + evs(:,:,k,j-start_id+1) = I; + ev_info(:,k,j-start_id+1) = info'; + end +end + +evs = squeeze(evs); + +for j=1:neigs, + evs(:,:,j) = (evs(:,:,j)/ev_info(3,j)) +ev_info(1,j); + %evs(:,:,j) = evs(:,:,j)/norm(reshape(evs(:,:,j),nr*nc,1)); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_imgs.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_imgs.m new file mode 100755 index 0000000..f84486c --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_imgs.m @@ -0,0 +1,47 @@ +function Is = read_imgs(homedir,imgdir,prename,postname,digits,startid,endid,step_img) +% +% Is = read_imgs(homedir,imgdir,prename,postname,digits,startid,endid,step_img) +% + + + +command = ['%s%s%s%.',num2str(digits),'d%s']; + +fname = sprintf(command,homedir,imgdir,prename,startid,postname); +disp(fname); +if (strcmp('.pgm',postname)), + I1 = readpgm(fname); +elseif (strcmp('.ppm',postname)) + a = readppm(fname); + I1 = sum(a,3); +else + a = imread(fname); a = sum(double(a),3); + I1 = a; +end + + +Is = zeros(size(I1,1),size(I1,2),1+floor((endid-startid)/step_img)); +Is(:,:,1) = I1; +im_id = 1; +for j = startid+step_img:step_img:endid, + command = ['%s%s%s%.',num2str(digits),'d%s']; + fname = sprintf(command,homedir,imgdir,prename,j,postname); + disp(fname); + im_id = im_id+1; + + if (strcmp('.pgm',postname)), + Is(:,:,im_id) = readpgm(fname); + elseif (strcmp('.ppm',postname)) + a = readppm(fname); + Is(:,:,im_id) = sum(a,3); + else + a = imread(fname); a = sum(double(a),3); + Is(:,:,im_id) = a; + end +end + + + + + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_pmm.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_pmm.m new file mode 100755 index 0000000..9e2eed1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_pmm.m @@ -0,0 +1,12 @@ +function I = read_pmm(fname) + +fid = fopen(fname,'r'); + +[A] = fscanf(fid,'%d\n',3); + +I = fscanf(fid,'%d',prod(A)); + + +I = reshape(I,A(2),A(1))'; + +I = squeeze(I); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_scan.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_scan.m new file mode 100755 index 0000000..6ad818a --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_scan.m @@ -0,0 +1,42 @@ +function [img,sizeinfo] = pgmread(filename) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + + +fname_header = sprintf('%s.h01',filename); +fname_data = sprintf('%s.i01',filename); + +fid = fopen(fname_header,'r'); + + +done = 0; +while done~=3, + cmt = fgets(fid) + if (findstr(cmt,'!matrix size[1]')), + nc = sscanf(cmt,'!matrix size[1] :=%d'); + done = done+1; + elseif (findstr(cmt,'!matrix size[2]')), + nr = sscanf(cmt,'!matrix size[2] :=%d'); + done = done+1; + elseif (findstr(cmt,'!matrix size[3]')), + ns = sscanf(cmt,'!matrix size[3] :=%d'); + done = done+1; + end +end +fclose(fid); + +fid = fopen(fname_data,'r'); + +%img = fscanf(fid,'%d',size); +%img = img'; + +img = fread(fid,nc*nr*ns,'uint8'); +img = reshape(img,nc,nr,ns); + +sizeinfo(1) = nr; +sizeinfo(2) = nc; +sizeinfo(3) = ns; + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/read_seg_file.m b/SD-VBS/common/toolbox/toolbox_basic/io/read_seg_file.m new file mode 100755 index 0000000..a056ebc --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/read_seg_file.m @@ -0,0 +1,36 @@ +function [seg_map,seg] = read_seg(filename) +% +% function seg = read_seg(filename) +% + +fid = fopen(filename,'r'); +if (fid < 0), + error(sprintf('can not find file: %s',filename)); +end + +header_done =0; +while ~header_done, + + cmt = fgets(fid); + if length(findstr(cmt,'#')) ~=1, + header_done = 1; + cmt = fgets(fid); + nc = sscanf(cmt,'width %d\n'); + cmt = fgets(fid); + nr = sscanf(cmt,'height %d\n'); + cmt = fgets(fid); + mseg = sscanf(cmt,'segments %d\n'); + cmt = fgets(fid); + end +end + +seg = fscanf(fid,'%d',100*nr); +tmp = length(seg(:))/4; +seg = reshape(seg,4,tmp)'; + +seg_map = zeros(nr,nc); + +for j=1:tmp, + seg_map(seg(j,2)+1,1+seg(j,3):1+seg(j,4)) = seg(j,1); +end + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readlines.m b/SD-VBS/common/toolbox/toolbox_basic/io/readlines.m new file mode 100755 index 0000000..90bc944 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readlines.m @@ -0,0 +1,30 @@ +function [lines,indexes] = readlines(fname) +% +% [lines,indexes] = readlines(fname) +% Read Edges points from .Ins file produced by "getlines" +% lines: a num_pointsx2 matrix of the edge points +% indexes: the braking point the lines +% + +fid = fopen(fname,'r'); + +done = 0; +lines = []; +indexes = []; + +first_line = fscanf(fid,'%s',1); + +while (~done), + num_lines = sscanf(first_line(3:length(first_line)),'%d'); + disp(num_lines); + indexes = [indexes,num_lines]; + a = fscanf(fid,'%f',[2,num_lines]); + lines = [lines;a']; + + first_line = fscanf(fid,'%s',1); + if (first_line == []), + done = 1; + end +end + + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpdm3.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpdm3.m new file mode 100755 index 0000000..c21fc48 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpdm3.m @@ -0,0 +1,16 @@ +function I = readpdm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',3) +A(3) = max(1,A(3)); + +I = fscanf(fid,'%d',[A(1)*A(2)*A(3)]); + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +I = reshape(I,A(2),A(1),A(3)); + +I = permute(I,[2,1,3]); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpdmc.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpdmc.m new file mode 100755 index 0000000..37910b9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpdmc.m @@ -0,0 +1,12 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); +I = fscanf(fid,'%d',[A(2),A(1)]); +%I = fscanf(fid,'%d',[300,1000]); +I = I'; + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpfm.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpfm.m new file mode 100755 index 0000000..48ecd78 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpfm.m @@ -0,0 +1,10 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); +I = fscanf(fid,'%f',[A(1),A(2)]); + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpfm3.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpfm3.m new file mode 100755 index 0000000..15ba959 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpfm3.m @@ -0,0 +1,17 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',3); +A(3) = max(1,A(3)); + +I = fscanf(fid,'%f',[A(1)*A(2)*A(3)]); + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +I = reshape(I,A(2),A(1),A(3)); +I = permute(I,[2,1,3]); + +I = squeeze(I); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpfmc.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpfmc.m new file mode 100755 index 0000000..2039002 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpfmc.m @@ -0,0 +1,11 @@ +function I = readpfm(filename) + +fid = fopen(filename,'r'); + +A = fscanf(fid,'%d',2); +I = fscanf(fid,'%f',[A(2),A(1)]); +I = I'; + +%I = fscanf(fid,'%f',A(2)*A(1));I = reshape(I,A(1),A(2)); + +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpgm.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpgm.m new file mode 100755 index 0000000..7aaf998 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpgm.m @@ -0,0 +1,30 @@ +function img = pgmread(filename) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% this program also corrects for the shifts in the image from pm file. + + +fid = fopen(filename,'r'); +if (fid < 0), + error(sprintf('can not find file: %s',filename)); +end + +fscanf(fid, 'P5\n'); +cmt = '#'; +while findstr(cmt, '#'), + cmt = fgets(fid); + if length(findstr(cmt, '#')) ~= 1, + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end +end + +fgets(fid); + +%img = fscanf(fid,'%d',size); +%img = img'; + +img = fread(fid,[y,x],'uint8'); +img = img'; +fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpgm_evinfo.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpgm_evinfo.m new file mode 100755 index 0000000..69f80ba --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpgm_evinfo.m @@ -0,0 +1,35 @@ +function [img,ev_info] = pgmread_evinfo(filename) +% function img = pgmread(filename) +% this is my version of pgmread for the pgm file created by XV. +% +% return the information in line # + + +fid = fopen(filename,'r'); + +if (fid <0), + error(sprintf('can not find file %s',filename)); +end + +fscanf(fid, 'P5\n'); +cmt = '#'; +while findstr(cmt, '#'), + cmt = fgets(fid); + if findstr(cmt,'#'), + ev_info = sscanf(cmt,'# minv: %f, maxv: %f, scale: %f, eigval: %f'); + end + if length(findstr(cmt, '#')) ~= 1, + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end +end + +fgets(fid); + +%img = fscanf(fid,'%d',size); +%img = img'; + +img = fread(fid,[y,x],'uint8'); +img = img'; +fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readpmm.m b/SD-VBS/common/toolbox/toolbox_basic/io/readpmm.m new file mode 100755 index 0000000..88fe907 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readpmm.m @@ -0,0 +1,22 @@ +function I=readpmm(name) +% +% I=writepmm(name) +% +% I is a mul-band image +% + fid = fopen(name,'r'); + + if (fid <0), + error(sprintf('can not find file %s',name)); + end + + a = fscanf(fid,'%d',3); + nr = a(1);nc = a(2);nb = a(3); + + + I = fscanf(fid, '%f\n', nr*nc*nb); + + I = reshape(I,nc,nr,nb)'; + I = squeeze(I); + + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/readppm.m b/SD-VBS/common/toolbox/toolbox_basic/io/readppm.m new file mode 100755 index 0000000..b9dd566 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/readppm.m @@ -0,0 +1,23 @@ +function [I,r, g, b] = readppm(name) + + fid = fopen(name, 'r'); + fscanf(fid, 'P6\n'); + cmt = '#'; + while findstr(cmt, '#'), + cmt = fgets(fid); + if length(findstr(cmt, '#')) ~= 1 + YX = sscanf(cmt, '%d %d'); + y = YX(1); x = YX(2); + end + end + fgets(fid); + packed = fread(fid,[3*y,x],'uint8')'; + r = packed(:,1:3:3*y); + g = packed(:,2:3:3*y); + b = packed(:,3:3:3*y); + fclose(fid); + + I(:,:,1) = r; + I(:,:,2) = g; + I(:,:,3) = b; + I = I/255; diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/writepgm.m b/SD-VBS/common/toolbox/toolbox_basic/io/writepgm.m new file mode 100755 index 0000000..113cb18 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/writepgm.m @@ -0,0 +1,8 @@ +function I = writepgm(name,I) + + [y,x] = size(I); + + fid = fopen(name, 'w'); + fprintf(fid, 'P5\n%d %d\n255\n', x,y); + fwrite(fid, I', 'uint8'); + fclose(fid); diff --git a/SD-VBS/common/toolbox/toolbox_basic/io/writeppm.m b/SD-VBS/common/toolbox/toolbox_basic/io/writeppm.m new file mode 100755 index 0000000..3d2fed1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/io/writeppm.m @@ -0,0 +1,14 @@ +function writeppm(name,I) + + [y,x,nb] = size(I); + + fid = fopen(name, 'w'); + fprintf(fid, 'P6\n%d %d\n255\n', x,y); + + I1 = reshape(I(:,:,1)',1,x*y); + I2 = reshape(I(:,:,2)',1,x*y); + I3 = reshape(I(:,:,3)',1,x*y); + + fwrite(fid, [I1;I2;I3], 'uint8'); + fclose(fid); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/Contents.m b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/Contents.m new file mode 100755 index 0000000..3ddb232 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/Contents.m @@ -0,0 +1,26 @@ +%Functions related to the assignment problem. +%Version 1.0, 25-May-1999. +% +%Copyright (c) 1995-1999 Niclas Borlin, Dept. of Computing Science, +% Umea University, SE-901 87 UMEA, Sweden. +% Niclas.Borlin@cs.umu.se. +% www.cs.umu.se/~niclas. +% +%All standard disclaimers apply. +% +%You are free to use this code as you wish. If you use it for a +%publication or in a commercial package, please include an +%acknowledgement and/or at least send me an email. (Looks good in my CV :-). +% +%Main functions: +% hungarian - calculate a solution of the square assignment +% problem. See HELP for a reference. +% condass - calculate a condition number of the solution to the +% assignment problem. See HELP for a reference. +% allcosts - calculate the costs of all possible assignments. +% allperms - calculate all possible permutations/assignments of a +% given problem size. +% +%Test/demo functions. +% demo - short demonstration of the main functions. +% test - test/verification of the main functions. diff --git a/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/allcosts.m b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/allcosts.m new file mode 100755 index 0000000..ffdb8b9 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/allcosts.m @@ -0,0 +1,17 @@ +function [c,p]=allcosts(C) +%ALLCOSTS Calculate all costs for an assignment problem. +% +%[c,p]=allcosts(C) +%c returns the costs, p the corresponding permutations. + +% v1.0 95-07-18. Niclas Borlin, niclas@cs.umu.se. + +p=allperm(size(C,1)); + +c=zeros(size(p,1),1); + +I=eye(size(C,1)); + +for i=1:size(p,1) + c(i)=sum(C(logical(sparse(p(i,:),1:size(C,1),1)))); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/allperm.m b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/allperm.m new file mode 100755 index 0000000..b8d419e --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/allperm.m @@ -0,0 +1,17 @@ +function p=allperm(n) +%ALLPERM All permutation matrix. +% +%p=allperm(n) +%Returns a matrix with all permutations of 1:n stored row-wise. + +% v1.0 95-07-18. Niclas Borlin, niclas@cs.umu.se. + +if (n<=1) + p=1; +else + q=allperm(n-1); + p=[]; + for i=1:n + p=[p;i*ones(size(q,1),1) q+(q>=i)]; + end +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/condass.m b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/condass.m new file mode 100755 index 0000000..82552e7 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/matching/pub/contrib/v5/optim/assignprob/condass.m @@ -0,0 +1,54 @@ +function [k,C1,T1,C2,T2]=condass(A) +%CONDASS Calculate condition number of the assigment problem. +% +%[k,C1,T1,C2,T2]=condass(A) +%A - A square cost matrix. +%k - The condition number of the assigment problem. +%C1 - The best assigment. +%T1 - The lowest cost. +%C2 - The second best assignment. +%T2 - The second lowest cost. +% +%The condition number is calculated as the relative difference between +%the best and second best solutions, as described in Nystrom, Soderkvist, +%and Wedin, "A Note on some Identification Problems Arising in Roentgen +%Stereo Photogrammetric Analysis", J of Biomechanics, 27(10):1291-1294, +%1994. + +% v1.0 96-09-14. Niclas Borlin, niclas@cs.umu.se. + +% A substantial effort was put into this code. If you use it for a +% publication or otherwise, please include an acknowledgement and notify +% me by email. /Niclas + +% Create a large number used to block selected assignments. +big=sum(sum(A))+1; + +% Get best assigment. +[C1,T1]=hungarian(A); + +% Initialize second best solution. +T2=inf; +C2=zeros(size(C1)); + +% Create a work matrix. +B=A; +for i=1:length(C1) + % Block assigment in column i. + B(C1(i),i)=big; + % Get best assigment with this one blocked. + [C,T]=hungarian(B); + if (T=max).*(theta-pi) +... + ((theta>min)&(theta1) { + mexErrMsgTxt("Too many output arguments."); + } + if (!(mxIsSparse(in[0]))) { + mexErrMsgTxt("Input argument #1 must be of type sparse"); + } + if ( mxIsSparse(in[1]) || mxIsSparse(in[2]) ) { + mexErrMsgTxt("Input argument #2 & #3 must be of type full"); + } + + /* computation starts */ + m = mxGetM(in[0]); + n = mxGetN(in[0]); + pr = mxGetPr(in[0]); + pi = mxGetPi(in[0]); + pir = mxGetIr(in[0]); + pjc = mxGetJc(in[0]); + + i = mxGetM(in[1]); + j = mxGetN(in[1]); + xm = ((i>j)? i: j); + + i = mxGetM(in[2]); + j = mxGetN(in[2]); + yn = ((i>j)? i: j); + + if ( xm>0 && xm != m) { + mexErrMsgTxt("Row multiplication dimension mismatch."); + } + if ( yn>0 && yn != n) { + mexErrMsgTxt("Column multiplication dimension mismatch."); + } + + + nzmax = mxGetNzmax(in[0]); + cmplx = (pi==NULL ? 0 : 1); + out[0] = mxCreateSparse(m,n,nzmax,cmplx); + if (out[0]==NULL) { + mexErrMsgTxt("Not enough space for the output matrix."); + } + + qr = mxGetPr(out[0]); + qi = mxGetPi(out[0]); + qir = mxGetIr(out[0]); + qjc = mxGetJc(out[0]); + + /* left multiplication */ + x = mxGetPr(in[1]); + if (yn==0) { + for (j=0; j1); +end + +if nargin<5 | isempty(no_rep), + no_rep = 1; +end + +if visimg, + nr = nr * nc; +else + nv = nc; +end + +if nargin<6 | isempty(pixel_loc), + pixel_loc = 1:nr; +end + +% D^(1/2) +d = 1./(d(:)+eps); + +% first recover the first eigenvector +if no_rep, + u = (1/norm(d)) + zeros(nr,1); + s = [1;s(:)]; + nv = nv + 1; +else + u = []; +end + +% the full set of generalized eigenvectors +v = [u, reshape(v,[nr,nv-no_rep])]; + +% This is the real D, row sum +d = d.^2; + +% an equivalent way to compute v = diag(d) * v; +v = v .* d(:,ones(nv,1)); % to avoid using a big matrix diag(d) + +% synthesis +a = v(pixel_loc,:)*diag(s)*v'; diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/dispimg.m b/SD-VBS/common/toolbox/toolbox_basic/stella/dispimg.m new file mode 100755 index 0000000..4e419a0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/dispimg.m @@ -0,0 +1,65 @@ +% function dispimg(g,fmt,lgd,cmap) display multiple images in one figure. +% Input: +% g = a cell and fmt is a 1x2 vector specifying the layout. +% lgd = a string cell for the title of each image. +% cmap = the colormap (default is the gray, -1 for the inverted gray). +% ishori = a vector of 1/0 to display real and imag parts horizontally / vertically + +% Stella X. Yu, 2000. + +function dispimg(g,fmt,lgd,cmap,ishori); + +cellg = iscell(g); +if cellg, + num_fig = length(g); +else + num_fig = size(g,3); +end; + +if nargin<2 | isempty(fmt), + m = ceil(sqrt(num_fig)); + n = ceil(num_fig / m); +else + m = fmt(1); + n = fmt(2); +end + +if nargin<3 | isempty(lgd), + lgd = 1:num_fig; +end +if isnumeric(lgd), + lgd = cellstr(num2str(lgd(:),3)); +end +i = size(lgd); +if i(1)==1, + lgd = [lgd, cell(1,num_fig-i(2))]; +else + lgd = [lgd; cell(num_fig-i(1),1)]; +end + +if nargin<5 | isempty(ishori), + ishori = ones(num_fig,1); +end +ishori(end+1:num_fig) = ishori(end); + +for k=1:num_fig, + subplot(m,n,k); + if cellg, + showim(g{k},[],ishori(k)); + else + showim(g(:,:,k),[],ishori(k)); + end + title(lgd{k}); +end + +if nargin<4 | isempty(cmap), + cmap = gray; +end +if length(cmap)==1, + if cmap==1, + cmap = gray; + else + cmap = flipud(gray); + end +end +colormap(cmap); diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/firstncut.m b/SD-VBS/common/toolbox/toolbox_basic/stella/firstncut.m new file mode 100755 index 0000000..a22077d --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/firstncut.m @@ -0,0 +1,67 @@ +% function [v,s,d] = firstncut(base_name,rec_num) +% Input: +% base_name = image name +% rec_num = parameter record number +% Output: +% v = eigenvectors +% s = eigenvalues +% d = normalization matrix d = 1/sqrt(rowsum(abs(a))) +% Convert Jianbo Shi's Ncut Ccode results from images to matlab matrices. + +% Stella X. Yu, 2000. + +function [v,s,d] = firstncut(base_name,rec_num); + +if nargin<2 | isempty(rec_num), + rec_num = 1; +end + +cur_dir = pwd; +globalenvar; +cd(IMAGE_DIR); +cd(base_name); + feval([base_name,'_par']); + j = length(p); + if rec_num>j, + disp(sprintf('parameter record number %d out of range %d, check %s!',rec_num,j,[base_name,'_par.m'])); + Qlabel = []; + v = []; + s = []; + ev_info = []; + return; + end + nv = p(rec_num).num_eigvecs; + no_rep = (p(rec_num).offset<1e-6); + + % read the image + cm=sprintf('I = readppm(''%s.ppm'');',base_name); + eval(cm); + + % read eigenvectors + base_name_hist = sprintf('%s_%d_IC',base_name,rec_num); + if no_rep, + [v,ev_info] = read_ev_pgm(base_name_hist,1,1,nv); + else + [v,ev_info] = read_ev_pgm2(base_name_hist,1,1,nv); + end + s = ev_info(4,:)'; + + % read the normalization matrix + d = readpfmc(sprintf('%s_%d_D_IC.pfm',base_name,rec_num)); +cd(cur_dir); + +% D^(1/2) +dd = (1./(d(:)+eps)); + +% recover real eigenvectors +for j = 1:nv-no_rep, + vmin = ev_info(1,j); + vmax = ev_info(2,j); + y = v(:,:,j).*((vmax - vmin)/256) + vmin; + %validity check: x = D^(1/2)y should be normalized + x = norm(y(:).*dd); + v(:,:,j) = y./x; +end + +dispimg(cat(3,mean(I,3),v),[],[{'image'};cellstr(num2str(s,3))]); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/getfnames.m b/SD-VBS/common/toolbox/toolbox_basic/stella/getfnames.m new file mode 100755 index 0000000..4990451 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/getfnames.m @@ -0,0 +1,47 @@ +% function [fn,dn] = getfnames(direc,opt) +% Input: +% direc = directory +% opt = wildcat +% Output: +% fn = a cell with all filenames under direc and with opt +% dn = a cell with all directory names under direc and with opt +% For example, getfnames('19990910','*.jpg'); +% Set IS_PC according to your platform in globalenvar.m + +% Stella X. Yu, 2000. + +function [fn,dn] = getfnames(direc,opt) + +if (nargin<1 | isempty(direc)), + direc = '.'; +end + +if nargin<2 | isempty(opt), + opt = []; +end + +fn = {}; +dn = {}; + +cur_dir = pwd; +cd(direc); +s = dir(opt); +if isempty(s), + disp('getfnames: no data'); + return; +end + +n = length(s); +i = 1; +j = 1; +for k=1:n, + if s(k).isdir, + dn{j,1} = s(k).name; + j = j + 1; + else + fn{i,1} = s(k).name; + i = i + 1; + end +end + cd(cur_dir) +%[fn{1:n,1}]=deal(s.name); diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/getimage2.m b/SD-VBS/common/toolbox/toolbox_basic/stella/getimage2.m new file mode 100755 index 0000000..945ddd2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/getimage2.m @@ -0,0 +1,46 @@ +% function f = getimage2(imagefile) returns a normalized intensity image. +% If the file postfix is not given, then I will search any possible image file +% under the IMAGE_DIR. + +% Stella X. Yu, March 1999 + +function f = getimage2(imagefile) + +if exist(imagefile)==2, + g = {imagefile}; +else + g = {}; +end +globalenvar; +g = [g; getfnames(IMAGE_DIR,[imagefile,'.*'])]; + +j = 1; +for i=1:length(g), + k = findstr(g{i},'.'); + gp = g{i}(k(end)+1:end); + if strcmp(gp,'ppm'), + f = double(readppm(g{i})); + j = 0; + elseif sum(strcmp(gp,{'jpg','tif','jpeg','tiff','bmp','png','hdf','pcx','xwd'}))>0, + f = double(imread(g{i})); + j = 0; + end + if j==0, + disp(sprintf('This is an image read from %s under %s',g{i},IMAGE_DIR)); + break; + end +end +if j, + f = []; + disp('Image not found'); + return; +end + +if size(f,3)>1, + %f = sum(f,3)./3; + f = rgb2ntsc(f); + f = f(:,:,1); +end +minf = min(f(:)); +maxf = max(f(:)); +f = (f - minf) ./ (maxf - minf); diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/globalenvar.m b/SD-VBS/common/toolbox/toolbox_basic/stella/globalenvar.m new file mode 100755 index 0000000..1e61b61 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/globalenvar.m @@ -0,0 +1,6 @@ +% globalenvar + +HOME_DIR = '/hid/jshi/Research/walking/stella'; +IMAGE_DIR = '/hid/jshi/test_images'; +C_DIR = '/hid/jshi/Research/Ncut_code_C'; +IS_PC = 0; diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/jshincut.m b/SD-VBS/common/toolbox/toolbox_basic/stella/jshincut.m new file mode 100755 index 0000000..d0f11cb --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/jshincut.m @@ -0,0 +1,94 @@ +% function [par, rec_num] = jshincut(par,image_dir) +% Input: +% par = a structure with parameters for command_ncut.tex +% image_dir = the directory where the imagefile is stored +% Output: +% par = parameters used +% rec_num = record number in the NCut database +% Jianbo Shi's ncut_IC is applied to the image +% (If there is no .ppm format for the named image, +% conversion from related files would be attempted.) +% Results are organized according to the parameters. +% Example: jshincut('240018s'); +% See also: jshincutdefpar; ncutcheckin +% Set IS_PC according to your platform in globalenvar.m + +% Stella X. Yu, 2000. + +function [par,rec_num] = jshincut(par,image_dir) + +rec = jshincutdefpar; + +fields = fieldnames(rec); +nf = length(fields); + +if ischar(par), + imagename = par; + par = rec; + par.fname_base = imagename; +end + +globalenvar; + +if nargin<2 | isempty(image_dir), + image_dir = IMAGE_DIR; +end + +imagename = getfield(par,fields{1}); +for i=2:nf, + t = getfield(par,fields{i}); + if isempty(t), + par = setfield(par,fields{i},getfield(rec,fields{i})); + end +end + +% dir and filename +catchar = {'/','\'}; +catchar = catchar{IS_PC+1}; + +% first check if there is a ppm file for this image +if not(exist([image_dir,catchar,imagename,'.ppm'])), + j = getfnames(image_dir,[imagename,'.*']); + if isempty(j), + disp('Image not found.'); + return; + end + k = 0; + for i=1:length(j), + k = k + not(isempty(im2ppm(j{i},image_dir))); + if k==1, + disp(sprintf('%s -> %s.ppm succeeded.',j{i},imagename)); + break; + end + end + if k==0, + disp('Sorry. Attempt to convert your named image into ppm format failed.'); + return; + end +end + +cd(C_DIR); + +% generate command_ncut.tex file +fn = 'command_ncut.tex'; +fid = fopen(fn,'w'); +fprintf(fid,'%21s\t%s%c%s\n',fields{1},image_dir,catchar,imagename); +for i=2:nf, + t = getfield(par,fields{i}); + if isnumeric(t), + t = num2str(t); + end + fprintf(fid,['%21s\t%s\n'],fields{i},t); +end +fclose(fid); +%disp('You can check and modify command_ncut.tex before I run ncut_IC on it. Good?');pause(1); + +% run ncut_IC +unix(['.',catchar,'ncut_IC']); +cd(HOME_DIR); + +% check in +copyfile([C_DIR,catchar,fn],[image_dir,catchar,fn]); +rec_num = ncutcheckin(fn,image_dir,image_dir); +%delete([image_dir,catchar,imagename,'.ppm']); +%delete([image_dir,catchar,fn]); diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/jshincutdefpar.m b/SD-VBS/common/toolbox/toolbox_basic/stella/jshincutdefpar.m new file mode 100755 index 0000000..4f07192 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/jshincutdefpar.m @@ -0,0 +1,20 @@ +% function rec = jshincutdefpar; +% default parameter setting for Jianbo Shi's NCut C codes + +% Stella X. Yu, 2000. + +function rec = jshincutdefpar; + +rec.fname_base = '240018s'; +rec.fname_ext = 'ppm'; +rec.num_eigvecs = 15; +rec.spatial_neighborhood_x=20; +rec.sigma_x= 10; +rec.sig_I= -0.16; +rec.sig_IC= 0.01; +rec.hr= 2; +rec.eig_blk_sze= 3; +rec.power_D= 1; +rec.offset = 0.0; +rec.sig_filter = 1.0; +rec.elong_filter = 3.0; diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/ncutcheckin.m b/SD-VBS/common/toolbox/toolbox_basic/stella/ncutcheckin.m new file mode 100755 index 0000000..cd82ee5 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/ncutcheckin.m @@ -0,0 +1,136 @@ +% function rec_num = ncutcheckin(fn,sdir,tdir) +% Input: +% fn = parameter file name, default = 'command_ncut.tex' +% sdir = source dir for fn as well as data files +% tdir = target dir to check in, both default = IMAGE_DIR +% Output: +% rec_num = the number of current parameter records +% The imagefile_par.m is updated if fn contains a new +% parameter set. Data files are tagged and copied over to +% a subdir under tdir. +% Example: ncutcheckin; +% Set IS_PC, IMAGE_DIR according to your platform in globalenvar.m + +% Stella X. Yu, 2000. + +function rec_num = ncutcheckin(fn,sdir,tdir) + +globalenvar; + +cur_dir = pwd; + +if nargin<1 | isempty(fn), + fn = 'command_ncut.tex'; +end + +if nargin<2 | isempty(sdir), + sdir = IMAGE_DIR; +end + +if nargin<3 | isempty(tdir), + tdir = IMAGE_DIR; +end + +rec = jshincutdefpar; + +% first, generate a parameter record from fn +cd(sdir); +[names,values] = textread(fn,'%s %s','commentstyle','shell'); +n = length(names); +s = rec; +for i=1:n, + j = str2num(values{i}); + if isempty(j), + s = setfield(s,names{i},values{i}); + else + s = setfield(s,names{i},j); + end +end +cd(cur_dir); + +% special care to extract the image file name +imagename = getfield(s,names{1}); +catchar = {'/','\'}; +catchar = catchar{IS_PC + 1}; +k = max([0,findstr(imagename,catchar)]); +imagename = imagename(k+1:end); +s = setfield(s,names{1},imagename); + +% second, check if the target dir contains a profile for the image +cd(tdir); +if not(exist(imagename,'dir')), + mkdir(imagename); + cd(cur_dir); + j = [catchar,imagename,'.',getfield(s,names{2})]; + copyfile([sdir,j],[tdir,catchar,imagename,j]); + cd(tdir); +end +cd(imagename); +j = [imagename,'_par']; +if not(exist(j)), + rec_num = 1; + p = s; +else + % load par file + feval(j); + rec_num = length(p); + i = 1; + while (i<=rec_num), + k = 0; + for j=1:n, + k = k + sum(getfield(s,names{j})-getfield(p(i),names{j})); + end + if k==0, + if not(isempty(input(['Data already existed as record # ',num2str(i),... + '\nPress any non-return key to Overwrite'],'s'))), + break; + else + rec_num = i; % have checked in already, no update + cd(cur_dir); + return; + end + else + i = i + 1; + end + end + rec_num = i; % new parameter setting + p(rec_num)=s; +end +tdir = [tdir,catchar,imagename]; +cd(cur_dir); + +% third, check in data files +% leave .ppm and _edgecon, _phase files +% if not(exist([tdir,catchar,imagename,'.ppm'])), +% copyfile([sdir,catchar,imagename,'.ppm'],[tdir,catchar,imagename,'.ppm']); +% end + +% IC files only +dn = getfnames(sdir,[imagename,'*_IC*.*']); +header = sprintf('%s%c%s_%d_',tdir,catchar,imagename,rec_num); +j = length(imagename)+2; +k = length(dn); +for i=1:k, + copyfile([sdir,catchar,dn{i}],[header,dn{i}(j:end)]); + delete([sdir,catchar,dn{i}]); +end +disp(sprintf('%d files checked in as record #%d',k,rec_num)); + + +% finally, update parameter file +cd(tdir); +fid = fopen([imagename,'_par.m'],'w'); +fprintf(fid,'%% Last checked in at %s\n\n',datestr(now)); +for i=1:rec_num, + for j=1:n, + k = getfield(p(i),names{j}); + if ischar(k), + fprintf(fid,'p(%d).%s=\''%s\'';\n',i,names{j},k); + else + fprintf(fid,'p(%d).%s=%s;\n',i,names{j},num2str(k)); + end + end + fprintf(fid,'\n'); +end +fclose(fid); +cd(cur_dir); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/openfigure.m b/SD-VBS/common/toolbox/toolbox_basic/stella/openfigure.m new file mode 100755 index 0000000..e677014 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/openfigure.m @@ -0,0 +1,52 @@ +% function openfigure(m,n,caption,isnew) +function h = openfigure(m,n,caption,isnew) + +if nargin<3, + caption = ' '; +end + +if nargin<4, + isnew = 1; +end + +if (m<=0 | n<=0) + return; +end + +if isnew, + h = figure; colormap(gray); +else + h = gcf; +end +clf + +subplot('position',[0,0,0.1,0.1]); axis off; +text(0.1,0.15,sprintf('S. X. Yu, %s',date),'FontSize',8); + +subplot('position',[0,0.96,0.1,0.1]); axis off; +text(0.1,0.15,caption,'FontSize',8); + +subplot(m,n,1); +%return + +if (m==1 & n==1), + return; +end + +%set(gcf,'PaperPosition',[0.25, 8, 8,2.5*m]); +% set(gcf,'PaperPosition',[0.25,0.25,8,10.5]); +%return + +if (m<=n), + set(gcf,'PaperOrientation','landscape','PaperPosition',[0.25,0.25,10.5,8]); +else + set(gcf,'PaperPosition',[0.25,0.25,8,10.5]); +end + +% comment on PaperPosition +% [a,b,c,d] +% (a,b) is the coordinate of the lower-left corner of the figure +% (a,b) = (0,0) is the lower-left corner of the paper +% (c,d) is the coordinate of the upper-right corner of the figure relative to the lower-left corner of the figure +% Therefore, c>=a, d>=b +% Full paper position would be [0,0,8.5,11] in inches diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/showim.m b/SD-VBS/common/toolbox/toolbox_basic/stella/showim.m new file mode 100755 index 0000000..10db297 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/showim.m @@ -0,0 +1,36 @@ +% function showim(f,cmap) display real or complex image. +% When it is complex, the real part and imaginary part +% are displayed as [real,imag] in one image. +% cmap is the colormap. default = gray, -1 = inverted gray. + +% Stella X. Yu, 2000. + +function showim(f,cmap,ishori) + +if not(isreal(f)), + i = [real(f(:)); imag(f(:))]; + j = [min(i), max(i)]; + [nr,nc] = size(f); + if nargin<3 | isempty(ishori), + ishori = nr>nc; + end + if ishori, + i = zeros(nr,1); + f = [real(f), [i+j(1),i+j(2)], imag(f)]; + else + i = zeros(1,nc); + f = [real(f); [i+j(1);i+j(2)]; imag(f)]; + end +end +imagesc(f); axis off; axis image; + +if nargin<2 | isempty(cmap), + return; +end + +if cmap==1, + cmap = gray; +elseif cmap==-1, + cmap = flipud(gray); +end +colormap(cmap); \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/stella/showncut.m b/SD-VBS/common/toolbox/toolbox_basic/stella/showncut.m new file mode 100755 index 0000000..b1fe1f4 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/stella/showncut.m @@ -0,0 +1,92 @@ +% function [g,lgd,v,s,dd] = showncut(fn,rec_num) +% Input: +% fn = file / image name +% rec_num = Ncut record number +% Output: +% g = a cell contains 1D, 2D and 3D embeddings +% lgd = legend for g +% v = eigenvectors +% s = eigenvalues +% dd = normalization matrix = 1/sqrt(rowsum(abs(a))) +% an image is displayed + +function [g,lgd,v,s,dd] = showncut(fn,rec_num) + +globalenvar; cd(IMAGE_DIR);cd(fn); feval([fn,'_par']);cd(HOME_DIR); +par = p(rec_num); +no_rep = (par.offset<1e-6); + +[v,s,dd] = firstncut(fn,rec_num); +[m,n,nc] = size(v); + +% generate images for display +nr = 5; +num_plots = nc * nr; +g = cell(num_plots,1); +lgd = g; +names = {'r','\theta','\phi'}; +x = cell(3,1); +for j=1:nc, + g{j} = v(:,:,j); + lgd{j} = sprintf('%s_{%d} = %1.2f','\lambda', j+no_rep, s(j)); + + if j0) & y>0; + % showmask(f,mask); +end diff --git a/SD-VBS/common/toolbox/toolbox_basic/tars/TOOLBOX_calib.tar b/SD-VBS/common/toolbox/toolbox_basic/tars/TOOLBOX_calib.tar new file mode 100755 index 0000000..bb418a5 Binary files /dev/null and b/SD-VBS/common/toolbox/toolbox_basic/tars/TOOLBOX_calib.tar differ diff --git a/SD-VBS/common/toolbox/toolbox_basic/textons/dist2.m b/SD-VBS/common/toolbox/toolbox_basic/textons/dist2.m new file mode 100755 index 0000000..f2d93e1 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/textons/dist2.m @@ -0,0 +1,27 @@ +function n2 = dist2(x, c) +%DIST2 Calculates squared distance between two sets of points. +% +% Description +% D = DIST2(X, C) takes two matrices of vectors and calculates the +% squared Euclidean distance between them. Both matrices must be of +% the same column dimension. If X has M rows and N columns, and C has +% L rows and N columns, then the result has M rows and L columns. The +% I, Jth entry is the squared distance from the Ith row of X to the +% Jth row of C. +% +% See also +% GMMACTIV, KMEANS, RBFFWD +% + +% Copyright (c) Christopher M Bishop, Ian T Nabney (1996, 1997) + +[ndata, dimx] = size(x); +[ncentres, dimc] = size(c); +if dimx ~= dimc + error('Data dimension does not match dimension of centres') +end + +n2 = (ones(ncentres, 1) * sum((x.^2)', 1))' + ... + ones(ndata, 1) * sum((c.^2)',1) - ... + 2.*(x*(c')); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/textons/find_textons.m b/SD-VBS/common/toolbox/toolbox_basic/textons/find_textons.m new file mode 100755 index 0000000..e7fa4b0 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/textons/find_textons.m @@ -0,0 +1,46 @@ +function [centers,label,post,d2]=find_textons(FIw,ncenters,centers_in,n_iter); +% [centers,label,post,d2]=find_textons(FIw,ncenters,centers_in,n_iter); +% +% find textons using kmeans for windowed portion FIw of filtered image +% +% to start with centers pulled randomly from image, set centers_in=[] + +% define number of textons +%ncenters=25; + +[N1,N2,N3]=size(FIw); +% reshape filtered image stack into a long array of feature vectors +fv=reshape(FIw,N1*N2,N3); +% (each row is a feature vector) + +%centers=.01^2*randn(ncenters,N3); +% take centers randomly from within image +if isempty(centers_in) + rndnum=1+floor(N1*N2*rand(1,ncenters)); + centers_in=fv(rndnum,:); +end + +options = foptions; +options(1)=1; % Prints out error values. +options(5) = 0; +if nargin<4 + n_iter=15; +end +options(14) = n_iter; % Number of iterations. + +[centers,options,d2,post]=kmeans2(centers_in,fv,options); + +% reshuffle the centers so that the one closest to the origin +% (featureless) comes last +norms=sum(centers.^2,2); +[sortval,sortind]=sort(-norms); +centers=centers(sortind,:); +d2=reshape(d2,N1,N2,ncenters); +post=reshape(post,N1,N2,ncenters); +d2=d2(:,:,sortind); +post=post(:,:,sortind); + + +% retrieve cluster number assigned to each feature vector +[minval,label]=min(d2,[],3); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/textons/find_textons1.m b/SD-VBS/common/toolbox/toolbox_basic/textons/find_textons1.m new file mode 100755 index 0000000..b192015 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/textons/find_textons1.m @@ -0,0 +1,37 @@ +function [centers,label,post,d2]=find_textons(fv,ncenters,centers_in,n_iter); +% [centers,label,post,d2]=find_textons(FIw,ncenters,centers_in,n_iter); +% +% find textons using kmeans for windowed portion FIw of filtered image +% +% to start with centers pulled randomly from image, set centers_in=[] + +[N1,N2] =size(fv); + +% take centers randomly from within image +if isempty(centers_in) + rndnum=1+floor(N1*rand(1,ncenters)); + centers_in=fv(rndnum,:); +end + +options = foptions; +options(1)=1; % Prints out error values. +options(5) = 0; +if nargin<4 + n_iter=15; +end +options(14) = n_iter; % Number of iterations. + +[centers,options,d2,post]=kmeans2(centers_in,fv,options); + + +% retrieve cluster number assigned to each feature vector +[minval,label]=min(d2,[],2); + + +h = hist(label(:),[1:max(label(:))]); +a = h>0; +a = cumsum(a); + +[nr,nc] = size(label); +label = reshape(a(label(:)),nr,nc); + diff --git a/SD-VBS/common/toolbox/toolbox_basic/textons/kmeans2.m b/SD-VBS/common/toolbox/toolbox_basic/textons/kmeans2.m new file mode 100755 index 0000000..0bd87b2 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/textons/kmeans2.m @@ -0,0 +1,127 @@ +function [centres, options, d2, post, errlog] = kmeans2(centres, data, options) +%KMEANS Trains a k means cluster model. +% +% Description +% CENTRES = KMEANS(CENTRES, DATA, OPTIONS) uses the batch K-means +% algorithm to set the centres of a cluster model. The matrix DATA +% represents the data which is being clustered, with each row +% corresponding to a vector. The sum of squares error function is used. +% The point at which a local minimum is achieved is returned as +% CENTRES. The error value at that point is returned in OPTIONS(8). +% +% [CENTRES, OPTIONS, POST, ERRLOG] = KMEANS(CENTRES, DATA, OPTIONS) +% also returns the cluster number (in a one-of-N encoding) for each +% data point in POST and a log of the error values after each cycle in +% ERRLOG. The optional parameters have the following +% interpretations. +% +% OPTIONS(1) is set to 1 to display error values; also logs error +% values in the return argument ERRLOG. If OPTIONS(1) is set to 0, then +% only warning messages are displayed. If OPTIONS(1) is -1, then +% nothing is displayed. +% +% OPTIONS(2) is a measure of the absolute precision required for the +% value of CENTRES at the solution. If the absolute difference between +% the values of CENTRES between two successive steps is less than +% OPTIONS(2), then this condition is satisfied. +% +% OPTIONS(3) is a measure of the precision required of the error +% function at the solution. If the absolute difference between the +% error functions between two successive steps is less than OPTIONS(3), +% then this condition is satisfied. Both this and the previous +% condition must be satisfied for termination. +% +% OPTIONS(14) is the maximum number of iterations; default 100. +% +% See also +% GMMINIT, GMMEM +% + +% Copyright (c) Christopher M Bishop, Ian T Nabney (1996, 1997) + +[ndata, data_dim] = size(data); +[ncentres, dim] = size(centres); + +if dim ~= data_dim + error('Data dimension does not match dimension of centres') +end + +if (ncentres > ndata) + error('More centres than data') +end + +% Sort out the options +if (options(14)) + niters = options(14); +else + niters = 100; +end + +store = 0; +if (nargout > 3) + store = 1; + errlog = zeros(1, niters); +end + +% Check if centres and posteriors need to be initialised from data +if (options(5) == 1) + % Do the initialisation + perm = randperm(ndata); + perm = perm(1:ncentres); + + % Assign first ncentres (permuted) data points as centres + centres = data(perm, :); +end +% Matrix to make unit vectors easy to construct +id = eye(ncentres); + +% Main loop of algorithm +for n = 1:niters + + % Save old centres to check for termination + old_centres = centres; + + % Calculate posteriors based on existing centres + d2 = dist2(data, centres); + % Assign each point to nearest centre + [minvals, index] = min(d2', [], 1); + post = id(index,:); + + num_points = sum(post, 1); + % Adjust the centres based on new posteriors + for j = 1:ncentres + if (num_points(j) > 0) + centres(j,:) = sum(data(find(post(:,j)),:), 1)/num_points(j); + end + end + + % Error value is total squared distance from cluster centres + e = sum(minvals); + tmp = sort(minvals); + e95 = sqrt(tmp(round(length(tmp) * 0.95))); + erms = sqrt(e/ndata); + if store + errlog(n) = e; + end + if options(1) > 0 + fprintf(1, ' Cycle %4d RMS Error %11.6f 95-tier Error %11.6f\n', n, erms,e95); + end + + if n > 1 + % Test for termination + if max(max(abs(centres - old_centres))) < options(2) & ... + abs(old_e - e) < options(3) + options(8) = e; + return; + end + end + old_e = e; +end + +% If we get here, then we haven't terminated in the given number of +% iterations. +options(8) = e; +%if (options(1) >= 0) +% disp('Warning: Maximum number of iterations has been exceeded'); +%end + -- cgit v1.2.2 From 163c440444c74a4e0bbe0a8db3d1ca725413994b Mon Sep 17 00:00:00 2001 From: Joshua Bakita Date: Thu, 22 Oct 2020 03:17:31 -0400 Subject: Make SD-VBS compatible with run_bench.sh and cleanup SD-VBS: - Run silently - Fix some whitespace errors - Don't duplicate extra.h - Auto-detect if building with LITMUS-RT - Disable result checking - Add helper symlinks Misc: - Remove unused code from libextra - Set some missing rt_param fields in libextra - Disable CSV info dump from computeSMTslowdown.sh - Widen scope of .gitignore on .txt files - Include list of 2MB DIS pair benchmarks and inputs --- SD-VBS/common/c/extra.h | 479 -------------------------------- SD-VBS/common/makefiles/Makefile.common | 14 +- 2 files changed, 9 insertions(+), 484 deletions(-) delete mode 100644 SD-VBS/common/c/extra.h (limited to 'SD-VBS/common') diff --git a/SD-VBS/common/c/extra.h b/SD-VBS/common/c/extra.h deleted file mode 100644 index 8c67b33..0000000 --- a/SD-VBS/common/c/extra.h +++ /dev/null @@ -1,479 +0,0 @@ -/** - * Copyright 2019 Sims Hill Osborne and 2020 Joshua Bakita - * - * This header provides facilities by which to separably run and time TACLeBench - * To use this for paired task timing, define PAIRED (pass CFLAGS=-DPAIRED to make) - **/ -#define _GNU_SOURCE -#include // For O_CREAT and O_RDWR -#include // For sched_yield() -#include // For sem_{open, post, wait}() -#include -#include // For exit() -#include // For strlen() -#include // For mlockall() -#include // For ftruncate() -#include - -// This is only visible if _GNU_SOURCE is defined, and that define does not -// come along to places where this file is included. Address this by manually -// forcing it into the global namespace. -extern int sched_getcpu(); - -// These constants correspond to the imx6q-sabredb platform -#define LINE_SIZE 32 -#define L2_SIZE 16*2048*32 - -#if __arm__ -#include -#include -#endif - -#define LITMUS 1 -#define MC2 0 -#define MMDC_PROF 0 - -#if LITMUS -#include -#endif - -#if MMDC_PROF -#include "/media/speedy/litmus/tools/mmdc/mmdc.h" -#endif - -#if LITMUS -#define SET_UP LOAD_PARAMS SETUP_LITMUS -#else -#define SET_UP LOAD_PARAMS -#endif - -#if MMDC_PROF -#define LOAD_PARAMS LOAD_PARAMS_ITRL SETUP_MMDC -#else -#define LOAD_PARAMS LOAD_PARAMS_ITRL -#endif - -// Store state globally so that the job can be outside main() -// Arrays use float as a comprimise between overflow and size -// Paired arrays use long longs as precision is more important for those times -#ifdef PAIRED -long long *_rt_start_time; -long long *_rt_end_time; -#else -float *_rt_exec_time; -#endif -#if MMDC_PERF -float *_rt_mmdc_read; -float *_rt_mmdc_write; -#endif -long _rt_jobs_complete; -long _rt_max_jobs; -int _rt_core; -int _rt_will_output; -struct timespec _rt_start, _rt_end; - -char *_rt_run_id; -char *_rt_our_prog_name; -char *_rt_other_prog_name; -char *_rt_other_core; -#define _RT_FILENAME_LEN 64 -#define _BILLION (1000*1000*1000) -#ifdef PAIRED -char *_rt_barrier; -sem_t *_rt_first_sem, *_rt_second_sem; -int _rt_lock_id; -#endif - -static void _rt_load_params_itrl(int argc, char **argv) { -#ifdef PAIRED - if (argc != 8) { - fprintf(stderr, "Usage: %s ", argv[0]); - fprintf(stderr, " string for logging. Name of this task.\n"); - fprintf(stderr, " integer number of iterations. -1 for infinite.\n"); - fprintf(stderr, " UNUSED. Core is now auto-detected.\n"); - fprintf(stderr, " integer for logging. Core of paired task.\n"); - fprintf(stderr, " string for logging. Name of paired task.\n"); - fprintf(stderr, " string to append with .txt to yield output file name.\n"); - fprintf(stderr, " 1 to indicate this is pair member 1, otherwise pair member 2.\n"); - exit(1); - } -#else - if (argc != 6) { - fprintf(stderr, "Usage: %s \n", argv[0]); - fprintf(stderr, " string for logging. Name of this task.\n"); - fprintf(stderr, " integer number of iterations. -1 for infinite.\n"); - fprintf(stderr, " UNUSED. Core is now auto-detected.\n"); - fprintf(stderr, " string to append with .txt to yield output file name.\n"); - fprintf(stderr, " 1 to save results, 0 to discard.\n"); - exit(1); - } -#endif - _rt_our_prog_name = argv[1]; - _rt_max_jobs = atol(argv[2]); - _rt_core = sched_getcpu(); -#ifdef PAIRED - _rt_other_core = argv[4]; - _rt_other_prog_name = argv[5]; - _rt_run_id = argv[6]; - _rt_lock_id = atoi(argv[7]); - // The paired version doesn't support disabling output (legacy compatibility) - _rt_will_output = 1; -#else - _rt_other_core = "none"; - _rt_other_prog_name = "none"; - _rt_run_id = argv[4]; - _rt_will_output = atoi(argv[5]); -#endif /* PAIRED */ - if (_rt_max_jobs < 0 && _rt_will_output != 0) { - fprintf(stderr, "Infinite loops only supported when _rt_will_output is disabled!\n"); - exit(1); - } - if (strlen(_rt_run_id) + 5 > _RT_FILENAME_LEN) { - fprintf(stderr, "Run ID is too large! Keep it to less than %d characters.\n", _RT_FILENAME_LEN); - exit(1); - } -#ifdef PAIRED - _rt_start_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(long long)); - _rt_end_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(long long)); - if (!_rt_end_time || !_rt_start_time) { - perror("Unable to allocate buffers for execution times"); - exit(1); - } - _rt_first_sem = sem_open("/_libextra_first_sem", O_CREAT, 644, 0); - _rt_second_sem = sem_open("/_libextra_second_sem", O_CREAT, 644, 0); - if (_rt_first_sem == SEM_FAILED || _rt_second_sem == SEM_FAILED) { - perror("Error while creating semaphores"); - exit(1); - } - int barrier_file = shm_open("/_libextra_barrier", O_CREAT | O_RDWR, 644); - if (barrier_file == -1) { - perror("Error while creating shared memory for barrier synchronization"); - exit(1); - } - if (ftruncate(barrier_file, 1) == -1) { - perror("Error while setting size of shared memory for barrier synchronization"); - exit(1); - } - _rt_barrier = mmap(NULL, 1, PROT_WRITE, MAP_SHARED, barrier_file, 0); - if (_rt_barrier == MAP_FAILED) { - perror("Error while mapping shared memory for barrier synchronization"); - exit(1); - } - *_rt_barrier = 0; -#else - _rt_exec_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(float)); - if (!_rt_exec_time) { - perror("Unable to allocate buffer for execution times"); - exit(1); - } -#endif /* PAIRED */ - _rt_jobs_complete = 0; - mlockall(MCL_CURRENT || MCL_FUTURE); -} -#define LOAD_PARAMS_ITRL _rt_load_params_itrl(argc, argv); - -#define SETUP_MMDC \ - _rt_mmdc_read = calloc(_rt_max_jobs * _rt_will_output, sizeof(float));\ - _rt_mmdc_write = calloc(_rt_max_jobs * _rt_will_output, sizeof(float));\ - if (!_rt_mmdc_read || !_rt_mmdc_write) {\ - perror("Unable to allocate buffer for MMDC data");\ - exit(1);\ - }\ - MMDC_PROFILE_RES_t mmdc_res;\ - memset(&mmdc_res, 0, sizeof(MMDC_PROFILE_RES_t));\ - int fd = open("/dev/mem", O_RDWR, 0);\ - if (fd < 0) {\ - perror("Unable to open /dev/mem");\ - exit(1);\ - }\ - pMMDC_t mmdc = mmap(NULL, 0x4000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, MMDC_P0_IPS_BASE_ADDR);\ - if (mmdc == MAP_FAILED) {\ - perror("Unable to map MMDC address space");\ - exit(1);\ - }\ - mmdc->madpcr1 = axi_arm1;\ - msync(&(mmdc->madpcr1),4,MS_SYNC); - -#define SETUP_LITMUS \ - unsigned int wait = 0; \ - if (be_migrate_to_domain(_rt_core) < 0) { \ - perror("Unable to migrate to specified CPU"); \ - exit(1); \ - } \ - struct rt_task rt_param; \ - init_rt_task_param(&rt_param); \ - /* Supposedly the next two parameters are irrelevant when reservations are enabled, but I'm leaving them anyway... */ \ - rt_param.exec_cost = ms2ns(999); \ - rt_param.period = ms2ns(1000); \ - rt_param.priority = LITMUS_HIGHEST_PRIORITY; \ - rt_param.cls = RT_CLASS_HARD; \ - rt_param.release_policy = TASK_PERIODIC; \ - rt_param.budget_policy = NO_ENFORCEMENT; \ - rt_param.cpu = _rt_core; \ - if (set_rt_task_param(gettid(), &rt_param) < 0) { \ - perror("Unable to set real-time parameters"); \ - exit(1); \ - } \ - if (init_litmus() != 0) { \ - perror("init_litmus failed"); \ - exit(1); \ - } \ - MC2_SETUP \ - if (task_mode(LITMUS_RT_TASK) != 0) { \ - perror("Unable to become real-time task"); \ - exit(1); \ - } \ - if (wait && wait_for_ts_release() != 0) { \ - perror("Unable to wait for taskset release"); \ - exit(1); \ - } - -#if MC2 -#define MC2_SETUP \ - - set_page_color(rt_param.cpu); -#else -#define MC2_SETUP -#endif - -#define CLEANUP_LITMUS \ - if (task_mode(BACKGROUND_TASK) != 0) { \ - perror("Unable to become a real-time task"); \ - exit(1); \ - } \ - -#if __arm__ -// On ARM, manually flush the cache -#define FLUSH_CACHES \ - volatile uint8_t buffer[L2_SIZE * 4]; \ - for (uint32_t j = 0; j < 4; j++) \ - for (uint32_t i = 0; i < L2_SIZE * 4; i += LINE_SIZE) \ - buffer[i]++; -#else -// On x86 call the wbinvld instruction (it's in a kernel module due to it being ring-0) -#define FLUSH_CACHES \ - FILE *fp = fopen("/proc/wbinvd", "r");\ - if (fp == NULL) {\ - perror("Cache flush module interface cannot be opened");\ - exit(1);\ - }\ - char dummy;\ - if (fread(&dummy, 1, 1, fp) == 0) {\ - perror("Unable to access cache flush module interface");\ - exit(1);\ - }\ - fclose(fp); -#endif - -// This semaphore-based synchronization is from Sims -#define FIRST_UNLOCK \ - if (_rt_lock_id == 1) {\ - if (sem_post(_rt_second_sem) != 0) {\ - perror("Unable to unlock second semaphore");\ - exit(1);\ - }\ - } \ - else {\ - if (sem_post(_rt_first_sem) != 0) {\ - perror("Unable to unlock first semaphore");\ - exit(1);\ - }\ - } \ - -#define FIRST_LOCK \ - if (_rt_lock_id == 1) {\ - if (sem_wait(_rt_first_sem) != 0) {\ - perror("Unable to wait on first semaphore");\ - exit(1);\ - }\ - }\ - else {\ - if (sem_wait(_rt_second_sem) != 0) {\ - perror("Unable to wait on second semaphore");\ - exit(1);\ - }\ - } - -// This ensures a very low difference between pair member start times -#define BARRIER_SYNC \ - if (__sync_bool_compare_and_swap(_rt_barrier, 0, 1)) {\ - while (!__sync_bool_compare_and_swap(_rt_barrier, 0, 0)) {};\ - }\ - else {\ - __sync_bool_compare_and_swap(_rt_barrier, 1, 0);\ - } - -// Buffer timing result from a single job -static void _rt_save_job_result() { - if (_rt_jobs_complete >= _rt_max_jobs) { - fprintf(stderr, "Max jobs setting too small! Trying to record job #%ld when we only have space for %ld jobs. Exiting...\n", _rt_jobs_complete, _rt_max_jobs); - exit(1); - } - if (_rt_jobs_complete > -1 && _rt_will_output) { -#ifdef PAIRED - _rt_start_time[_rt_jobs_complete] = _rt_start.tv_sec; - _rt_start_time[_rt_jobs_complete] *= _BILLION; - _rt_start_time[_rt_jobs_complete] += _rt_start.tv_nsec; - _rt_end_time[_rt_jobs_complete] = _rt_end.tv_sec; - _rt_end_time[_rt_jobs_complete] *= _BILLION; - _rt_end_time[_rt_jobs_complete] += _rt_end.tv_nsec; -#else - _rt_exec_time[_rt_jobs_complete] = _rt_end.tv_sec - _rt_start.tv_sec; - _rt_exec_time[_rt_jobs_complete] *= _BILLION; - _rt_exec_time[_rt_jobs_complete] += _rt_end.tv_nsec - _rt_start.tv_nsec; -#endif /* PAIRED */ -#if MMDC_PROF - _rt_mmdc_read[_rt_jobs_complete] = mmdc_res.read_bytes; - _rt_mmdc_write[_rt_jobs_complete] = mmdc_res.write_bytes; -#endif - } -} - -// Save all buffered timing results to disk -static void _rt_write_to_file() { - char fileName[_RT_FILENAME_LEN]; - FILE *fp; - munlockall(); - if (!_rt_will_output) - goto out; - strcpy(fileName, _rt_run_id); - strcat(fileName, ".txt"); - fp = fopen(fileName, "a"); - if (fp == NULL) { - perror("Unable to open output file"); - exit(1); - } - // Baseline output uses a similar format with "none" for unused fields - for (int i = 0; i < _rt_jobs_complete; i++){ - fprintf(fp, "%s %s %u %s %ld", _rt_our_prog_name, _rt_other_prog_name, - _rt_core, _rt_other_core, _rt_max_jobs); -#ifdef PAIRED - // For unclear legacy reasons, paired tasks emit sec and ns separately - fprintf(fp, " %lld %lld %lld %lld", - _rt_start_time[i] / _BILLION, _rt_start_time[i] % _BILLION, - _rt_end_time[i] / _BILLION, _rt_end_time[i] % _BILLION); -#else - fprintf(fp, " %.f", _rt_exec_time[i]); -#endif /* PAIRED */ - fprintf(fp, " %s %d %.f %.f\n", _rt_run_id, i, -#if MMDC_PROF - _rt_mmdc_read[i], _rt_mmdc_write[i]); -#else - 0.0, 0.0); -#endif /* MMDC_PROF */ - } - fclose(fp); -out: -#if LITMUS - CLEANUP_LITMUS -#endif /* LITMUS */ -#ifdef PAIRED - munmap(_rt_barrier, 1); - shm_unlink("/_libextra_barrier"); - sem_unlink("/_libextra_first_sem"); - sem_unlink("/_libextra_second_sem"); - free(_rt_start_time); - free(_rt_end_time); -#else - free(_rt_exec_time); -#endif /* PAIRED */ -#if MMDC_PROF - free(_rt_mmdc_read); - free(_rt_mmdc_write); -#endif /* MMDC_PROF */ -} - -// Start a job -static void _rt_start_loop() { -#if LITMUS - if (sleep_next_period() != 0) { - perror("Unable to sleep for next period"); - } -#else - sched_yield(); -#endif /* LITMUS */ -#ifdef PAIRED - FIRST_UNLOCK - FIRST_LOCK -#endif /* PAIRED */ - FLUSH_CACHES -#ifdef PAIRED - BARRIER_SYNC -#endif /* PAIRED */ -#if MMDC_PROF - /* This disables profiling, resets the counters, clears the overflow bit, and enables profiling */ - start_mmdc_profiling(mmdc); -#endif /* MMDC_PROF */ - clock_gettime(CLOCK_MONOTONIC, &_rt_start); -} - -// Complete a job -static void _rt_stop_loop() { - clock_gettime(CLOCK_MONOTONIC, &_rt_end); -#if MMDC_PROF - /* This freezes the profiling and makes results available */ - pause_mmdc_profiling(mmdc); - get_mmdc_profiling_results(mmdc, &mmdc_res); -#endif /* MMDC_PROF */ - _rt_save_job_result(); - _rt_jobs_complete++; -} - -/****** New API ****** - * Intended structure: - * - * |int main(int argc, char **argv) { - * | SET_UP - * | ... - * | for_each_job { - * | tacleInit(); - * | tacleMain(); - * | } - * | WRITE_TO_FILE - * |} - * - * The main() function must call its parameters argc and argv for SET_UP to be - * able to read them. - * Only SET_UP necessarily has to be in main(). - * - * We use some niche C features, here's a quick explaination: - * 1. The && operator doesn't evaluate the right-hand side of the expression - * unless the left side evaluated to true. We use this to only execute - * _rt_start_loop() when the loop will actually run. - * 2. The comma operator executes the first expression and then throws away the - * result. We use this to call our void function from inside a comparison. - */ -#define for_each_job \ - for (; _rt_jobs_complete < _rt_max_jobs && (_rt_start_loop(),1); \ - _rt_stop_loop()) - -/****** Legacy API ****** - * Intended structure: - * - * |int main(int argc, char **argv) { - * | SET_UP - * | for (jobsComplete=0; jobsComplete1 input images =. # Variables exported from the benchmark specific Makefiles: @@ -55,8 +59,8 @@ COMMON_SRC := $(wildcard $(COMMON_DIR)/*.c) # RULES EXE = -INCLUDES = -I$(COMMON_DIR) -I$(C_DIR) -I${LIBLITMUS}/include -I${LIBLITMUS}/arch/arm/include -COMPILE_C = $(CC) $(CFLAGS) $(INCLUDES) -O2 +INCLUDES = -I$(COMMON_DIR) -I$(C_DIR) +COMPILE_C = $(CC) $(CFLAGS) $(LDFLAGS) $(INCLUDES) -O2 #COMPILE_C = $(CC) $(CFLAGS) -DGENERATE_OUTPUT -lm -O2 $(INCLUDES) COMPILE_G = $(CC) $(CFLAGS) -g -lm $(INCLUDES) COMPILE_PG = $(COMPILE_G) -pg @@ -107,7 +111,7 @@ compile-preload: compile: $(C_SRC) @echo @echo -e "Benchmark\t\t- $(BMARK)" - @$(COMPILE_C) $(COMMON_SRC) $(C_SRC) -lrt -L$(LIBLITMUS) -llitmus -lm -w -o $(BMARK)$(EXE) + @$(COMPILE_C) $(COMMON_SRC) $(C_SRC) -lrt -lm -w -o $(BMARK)$(EXE) compile-prof: $(C_SRC) @echo -- cgit v1.2.2 From a7c3210215bd1181ae93b23c313941dfb44519fb Mon Sep 17 00:00:00 2001 From: Joshua Bakita Date: Thu, 22 Oct 2020 22:46:39 -0400 Subject: Transform LITMUS-RT support in libextra to imply case-study mode Adds and parameters to benchmarks and disables cache flushing when compiled with LITMUS. Also fixes build with LITMUS enabled on yamaha.cs.unc.edu. Also allows output to be disabled, automatically infers _rt_lock_id, and allows for a specific pair ID for paired tasks. (The pair ID is added to all the semaphore and shared memory names, allowing multiple pairs to run in the system at a time.) --- SD-VBS/common/makefiles/Makefile.common | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'SD-VBS/common') diff --git a/SD-VBS/common/makefiles/Makefile.common b/SD-VBS/common/makefiles/Makefile.common index 9c28cfc..964ece6 100644 --- a/SD-VBS/common/makefiles/Makefile.common +++ b/SD-VBS/common/makefiles/Makefile.common @@ -30,8 +30,8 @@ BMARK_DIR := $(TOP_DIR)/benchmarks/$(BMARK) TOOL_DIR := $(TOP_DIR)/tools LIBLITMUS ?= /home/litmus/liblitmus ifneq ($(shell grep "define LITMUS 1" ../../../../../extra.h),) - CFLAGS += -I${LIBLITMUS}/include - LDFLAGS += -L${LIBLITMUS} -llitmus + override CFLAGS += -I${LIBLITMUS}/include -I${LIBLITMUS}/arch/arm/include + override LDFLAGS += -L${LIBLITMUS} -llitmus endif #The options set below and specific to each benchmark. Disparity takes 2 input images, whereas Tracking can take any >1 input images =. -- cgit v1.2.2

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