From f618466c25d43f3bae9e40920273bf77de1e1149 Mon Sep 17 00:00:00 2001 From: leochanj105 Date: Mon, 19 Oct 2020 23:09:30 -0400 Subject: initial sd-vbs initial sd-vbs add sd-vbs sd-vbs --- SD-VBS/common/c/calcSobel_dX.c | 77 + SD-VBS/common/c/calcSobel_dY.c | 79 + SD-VBS/common/c/extra.h | 500 ++++ 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 | 135 + 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| 13 + SD-VBS/common/matlab/selfCheck.m | 27 + SD-VBS/common/matlab/testProductFunction.m | 21 + SD-VBS/common/matlab/testReshapeFunction.m | 21 + SD-VBS/common/matlab/timingFuncs/cycle.h | 514 ++++ SD-VBS/common/matlab/timingFuncs/photonEndTiming.c | 15 + .../matlab/timingFuncs/photonEndTiming.mexglx | Bin 0 -> 4984 bytes .../common/matlab/timingFuncs/photonPrintTiming.m | 5 + .../common/matlab/timingFuncs/photonReportTiming.m | 7 + .../common/matlab/timingFuncs/photonStartTiming.c | 15 + .../matlab/timingFuncs/photonStartTiming.mexglx | Bin 0 -> 4986 bytes SD-VBS/common/matlab/writeMatrix.m | 19 + SD-VBS/common/matlab/write_image8u_bmp.m | 88 + 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 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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 0 +#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 reservation_config res; \ + res.id = gettid(); \ + res.cpu = cpu; \ + res.priority = LITMUS_HIGHEST_PRIORITY; \ + /* we take over half the CPU time (these are ns) */ \ + res.polling_params.budget = ms2ns(3000); \ + res.polling_params.period = ms2ns(3000); \ + res.polling_params.offset = 0; \ + res.polling_params.relative_deadline = ms2ns(3000); \ + /* Not 100% sure that we should use periodic polling */ \ + if (reservation_create(PERIODIC_POLLING, &res) < 0) { \ + perror("Unable to create reservation"); \ + 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 = cpu; \ + 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 \ + struct mc2_task mc2_param; \ + mc2_param.res_id = gettid(); \ + mc2_param.crit = CRIT_LEVEL_A; \ + if (set_mc2_task_param(gettid(), &mc2_param) < 0) { \ + perror("Unable to set MC^2 task params"); \ + exit(1); \ + } \ + 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); \ + } \ + reservation_destroy(gettid(), rt_param.cpu); + +#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) +COMPILE_C = $(CC) $(CFLAGS) -lm -O2 $(INCLUDES) +#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 -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..9a9d088 --- /dev/null +++ b/SD-VBS/common/makefiles/Makefile.recurse @@ -0,0 +1,39 @@ +# 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 + +# 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/matlab/cycle.h b/SD-VBS/common/matlab/cycle.h new file mode 100644 index 0000000..2652a04 --- /dev/null +++ b/SD-VBS/common/matlab/cycle.h @@ -0,0 +1,514 @@ +/* + * Copyright (c) 2003, 2007-8 Matteo Frigo + * Copyright (c) 2003, 2007-8 Massachusetts Institute of Technology + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE + * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION + * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + */ + + +/* machine-dependent cycle counters code. Needs to be inlined. */ + +/***************************************************************************/ +/* To use the cycle counters in your code, simply #include "cycle.h" (this + file), and then use the functions/macros: + + ticks getticks(void); + + ticks is an opaque typedef defined below, representing the current time. + You extract the elapsed time between two calls to gettick() via: + + double elapsed(ticks t1, ticks t0); + + which returns a double-precision variable in arbitrary units. You + are not expected to convert this into human units like seconds; it + is intended only for *comparisons* of time intervals. + + (In order to use some of the OS-dependent timer routines like + Solaris' gethrtime, you need to paste the autoconf snippet below + into your configure.ac file and #include "config.h" before cycle.h, + or define the relevant macros manually if you are not using autoconf.) +*/ + +/***************************************************************************/ +/* This file uses macros like HAVE_GETHRTIME that are assumed to be + defined according to whether the corresponding function/type/header + is available on your system. The necessary macros are most + conveniently defined if you are using GNU autoconf, via the tests: + + dnl --------------------------------------------------------------------- + + AC_C_INLINE + AC_HEADER_TIME + AC_CHECK_HEADERS([sys/time.h c_asm.h intrinsics.h mach/mach_time.h]) + + AC_CHECK_TYPE([hrtime_t],[AC_DEFINE(HAVE_HRTIME_T, 1, [Define to 1 if hrtime_t is defined in ])],,[#if HAVE_SYS_TIME_H +#include +#endif]) + + AC_CHECK_FUNCS([gethrtime read_real_time time_base_to_time clock_gettime mach_absolute_time]) + + dnl Cray UNICOS _rtc() (real-time clock) intrinsic + AC_MSG_CHECKING([for _rtc intrinsic]) + rtc_ok=yes + AC_TRY_LINK([#ifdef HAVE_INTRINSICS_H +#include +#endif], [_rtc()], [AC_DEFINE(HAVE__RTC,1,[Define if you have the UNICOS _rtc() intrinsic.])], [rtc_ok=no]) + AC_MSG_RESULT($rtc_ok) + + dnl --------------------------------------------------------------------- +*/ + +/***************************************************************************/ + +#if TIME_WITH_SYS_TIME +# include +# include +#else +# if HAVE_SYS_TIME_H +# include +# else +# include +# endif +#endif + +#define INLINE_ELAPSED(INL) static INL double elapsed(ticks t1, ticks t0) \ +{ \ + return (double)t1 - (double)t0; \ +} + +/*----------------------------------------------------------------*/ +/* Solaris */ +#if defined(HAVE_GETHRTIME) && defined(HAVE_HRTIME_T) && !defined(HAVE_TICK_COUNTER) +typedef hrtime_t ticks; + +#define getticks gethrtime + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* AIX v. 4+ routines to read the real-time clock or time-base register */ +#if defined(HAVE_READ_REAL_TIME) && defined(HAVE_TIME_BASE_TO_TIME) && !defined(HAVE_TICK_COUNTER) +typedef timebasestruct_t ticks; + +static __inline ticks getticks(void) +{ + ticks t; + read_real_time(&t, TIMEBASE_SZ); + return t; +} + +static __inline double elapsed(ticks t1, ticks t0) /* time in nanoseconds */ +{ + time_base_to_time(&t1, TIMEBASE_SZ); + time_base_to_time(&t0, TIMEBASE_SZ); + return (((double)t1.tb_high - (double)t0.tb_high) * 1.0e9 + + ((double)t1.tb_low - (double)t0.tb_low)); +} + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * PowerPC ``cycle'' counter using the time base register. + */ +#if ((((defined(__GNUC__) && (defined(__powerpc__) || defined(__ppc__))) || (defined(__MWERKS__) && defined(macintosh)))) || (defined(__IBM_GCC_ASM) && (defined(__powerpc__) || defined(__ppc__)))) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + unsigned int tbl, tbu0, tbu1; + + do { + __asm__ __volatile__ ("mftbu %0" : "=r"(tbu0)); + __asm__ __volatile__ ("mftb %0" : "=r"(tbl)); + __asm__ __volatile__ ("mftbu %0" : "=r"(tbu1)); + } while (tbu0 != tbu1); + + return (((unsigned long long)tbu0) << 32) | tbl; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* MacOS/Mach (Darwin) time-base register interface (unlike UpTime, + from Carbon, requires no additional libraries to be linked). */ +#if defined(HAVE_MACH_ABSOLUTE_TIME) && defined(HAVE_MACH_MACH_TIME_H) && !defined(HAVE_TICK_COUNTER) +#include +typedef uint64_t ticks; +#define getticks mach_absolute_time +INLINE_ELAPSED(__inline__) +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * Pentium cycle counter + */ +#if (defined(__GNUC__) || defined(__ICC)) && defined(__i386__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + ticks ret; + + __asm__ __volatile__("rdtsc": "=A" (ret)); + /* no input, nothing else clobbered */ + return ret; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#define TIME_MIN 5000.0 /* unreliable pentium IV cycle counter */ +#endif + +/* Visual C++ -- thanks to Morten Nissov for his help with this */ +#if _MSC_VER >= 1200 && _M_IX86 >= 500 && !defined(HAVE_TICK_COUNTER) +#include +typedef LARGE_INTEGER ticks; +#define RDTSC __asm __emit 0fh __asm __emit 031h /* hack for VC++ 5.0 */ + +static __inline ticks getticks(void) +{ + ticks retval; + + __asm { + RDTSC + mov retval.HighPart, edx + mov retval.LowPart, eax + } + return retval; +} + +static __inline double elapsed(ticks t1, ticks t0) +{ + return (double)t1.QuadPart - (double)t0.QuadPart; +} + +#define HAVE_TICK_COUNTER +#define TIME_MIN 5000.0 /* unreliable pentium IV cycle counter */ +#endif + +/*----------------------------------------------------------------*/ +/* + * X86-64 cycle counter + */ +#if (defined(__GNUC__) || defined(__ICC) || defined(__SUNPRO_C)) && defined(__x86_64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + unsigned a, d; + asm volatile("rdtsc" : "=a" (a), "=d" (d)); + return ((ticks)a) | (((ticks)d) << 32); +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* PGI compiler, courtesy Cristiano Calonaci, Andrea Tarsi, & Roberto Gori. + NOTE: this code will fail to link unless you use the -Masmkeyword compiler + option (grrr). */ +#if defined(__PGI) && defined(__x86_64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; +static ticks getticks(void) +{ + asm(" rdtsc; shl $0x20,%rdx; mov %eax,%eax; or %rdx,%rax; "); +} +INLINE_ELAPSED(__inline__) +#define HAVE_TICK_COUNTER +#endif + +/* Visual C++, courtesy of Dirk Michaelis */ +#if _MSC_VER >= 1400 && (defined(_M_AMD64) || defined(_M_X64)) && !defined(HAVE_TICK_COUNTER) + +#include +#pragma intrinsic(__rdtsc) +typedef unsigned __int64 ticks; +#define getticks __rdtsc +INLINE_ELAPSED(__inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * IA64 cycle counter + */ + +/* intel's icc/ecc compiler */ +#if (defined(__EDG_VERSION) || defined(__ECC)) && defined(__ia64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; +#include + +static __inline__ ticks getticks(void) +{ + return __getReg(_IA64_REG_AR_ITC); +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* gcc */ +#if defined(__GNUC__) && defined(__ia64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; + +static __inline__ ticks getticks(void) +{ + ticks ret; + + __asm__ __volatile__ ("mov %0=ar.itc" : "=r"(ret)); + return ret; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* HP/UX IA64 compiler, courtesy Teresa L. Johnson: */ +#if defined(__hpux) && defined(__ia64) && !defined(HAVE_TICK_COUNTER) +#include +typedef unsigned long ticks; + +static inline ticks getticks(void) +{ + ticks ret; + + ret = _Asm_mov_from_ar (_AREG_ITC); + return ret; +} + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/* Microsoft Visual C++ */ +#if defined(_MSC_VER) && defined(_M_IA64) && !defined(HAVE_TICK_COUNTER) +typedef unsigned __int64 ticks; + +# ifdef __cplusplus +extern "C" +# endif +ticks __getReg(int whichReg); +#pragma intrinsic(__getReg) + +static __inline ticks getticks(void) +{ + volatile ticks temp; + temp = __getReg(3116); + return temp; +} + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * PA-RISC cycle counter + */ +#if defined(__hppa__) || defined(__hppa) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; + +# ifdef __GNUC__ +static __inline__ ticks getticks(void) +{ + ticks ret; + + __asm__ __volatile__("mfctl 16, %0": "=r" (ret)); + /* no input, nothing else clobbered */ + return ret; +} +# else +# include +static inline unsigned long getticks(void) +{ + register ticks ret; + _MFCTL(16, ret); + return ret; +} +# endif + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* S390, courtesy of James Treacy */ +#if defined(__GNUC__) && defined(__s390__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + ticks cycles; + __asm__("stck 0(%0)" : : "a" (&(cycles)) : "memory", "cc"); + return cycles; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif +/*----------------------------------------------------------------*/ +#if defined(__GNUC__) && defined(__alpha__) && !defined(HAVE_TICK_COUNTER) +/* + * The 32-bit cycle counter on alpha overflows pretty quickly, + * unfortunately. A 1GHz machine overflows in 4 seconds. + */ +typedef unsigned int ticks; + +static __inline__ ticks getticks(void) +{ + unsigned long cc; + __asm__ __volatile__ ("rpcc %0" : "=r"(cc)); + return (cc & 0xFFFFFFFF); +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +#if defined(__GNUC__) && defined(__sparc_v9__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; + +static __inline__ ticks getticks(void) +{ + ticks ret; + __asm__ __volatile__("rd %%tick, %0" : "=r" (ret)); + return ret; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +#if (defined(__DECC) || defined(__DECCXX)) && defined(__alpha) && defined(HAVE_C_ASM_H) && !defined(HAVE_TICK_COUNTER) +# include +typedef unsigned int ticks; + +static __inline ticks getticks(void) +{ + unsigned long cc; + cc = asm("rpcc %v0"); + return (cc & 0xFFFFFFFF); +} + +INLINE_ELAPSED(__inline) + +#define HAVE_TICK_COUNTER +#endif +/*----------------------------------------------------------------*/ +/* SGI/Irix */ +#if defined(HAVE_CLOCK_GETTIME) && defined(CLOCK_SGI_CYCLE) && !defined(HAVE_TICK_COUNTER) +typedef struct timespec ticks; + +static inline ticks getticks(void) +{ + struct timespec t; + clock_gettime(CLOCK_SGI_CYCLE, &t); + return t; +} + +static inline double elapsed(ticks t1, ticks t0) +{ + return ((double)t1.tv_sec - (double)t0.tv_sec) * 1.0E9 + + ((double)t1.tv_nsec - (double)t0.tv_nsec); +} +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* Cray UNICOS _rtc() intrinsic function */ +#if defined(HAVE__RTC) && !defined(HAVE_TICK_COUNTER) +#ifdef HAVE_INTRINSICS_H +# include +#endif + +typedef long long ticks; + +#define getticks _rtc + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* MIPS ZBus */ +#if HAVE_MIPS_ZBUS_TIMER +#if defined(__mips__) && !defined(HAVE_TICK_COUNTER) +#include +#include +#include + +typedef uint64_t ticks; + +static inline ticks getticks(void) +{ + static uint64_t* addr = 0; + + if (addr == 0) + { + uint32_t rq_addr = 0x10030000; + int fd; + int pgsize; + + pgsize = getpagesize(); + fd = open ("/dev/mem", O_RDONLY | O_SYNC, 0); + if (fd < 0) { + perror("open"); + return NULL; + } + addr = mmap(0, pgsize, PROT_READ, MAP_SHARED, fd, rq_addr); + close(fd); + if (addr == (uint64_t *)-1) { + perror("mmap"); + return NULL; + } + } + + return *addr; +} + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif +#endif /* HAVE_MIPS_ZBUS_TIMER */ + diff --git a/SD-VBS/common/matlab/fSelfCheck.m b/SD-VBS/common/matlab/fSelfCheck.m new file mode 100644 index 0000000..0288328 --- /dev/null +++ b/SD-VBS/common/matlab/fSelfCheck.m @@ -0,0 +1,27 @@ +function ret = fSelfCheck(in1, path, tol) + +r1 = size(in1, 1); +c1 = size(in1, 2); + +ret = 1; + +file = [path, '/expected.m']; +fd = fopen(file, 'r'); + +[in2, count] = fscanf(fd, '%f'); + +if(count ~= (r1*c1) ) + fprintf(1, 'Dimensions mismatch: Expected %d\t Observed %d\n', count, (r1*c1)); + ret = -1; +else + ret = 1; + for i=1:(r1*c1) + if( (abs(in1(i)) - abs(in2(i)) > tol) || (abs(in2(i)) - abs(in1(i))) > tol) + fprintf(1, 'Checking Error: Index %d\tExpected %f\tObserved %f\n', i, in2(i), in1(i)); + ret = -1; + break; + end + end + +end + diff --git a/SD-VBS/common/matlab/fWriteMatrix.m b/SD-VBS/common/matlab/fWriteMatrix.m new file mode 100644 index 0000000..3995aa6 --- /dev/null +++ b/SD-VBS/common/matlab/fWriteMatrix.m @@ -0,0 +1,18 @@ +function fWriteMatrix(input, inpath) + +file = [inpath '/expected.m']; +disp(file); +fd = fopen(file, 'w'); + +[rows, cols] = size(input); + +for j=1:rows + for i=1:cols + fprintf(fd, '%f\t', input(j,i)); + end + fprintf(fd, '\n'); +end +fclose(fd); +end + + diff --git a/SD-VBS/common/matlab/photonEndTiming.c b/SD-VBS/common/matlab/photonEndTiming.c new file mode 100644 index 0000000..bbf5231 --- /dev/null +++ b/SD-VBS/common/matlab/photonEndTiming.c @@ -0,0 +1,15 @@ +#include"mex.h" +#include +#include +#include +#include + +void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) +{ + uint32_t* cycles; + plhs[0] = mxCreateNumericMatrix(1, 2, mxUINT32_CLASS, mxREAL); + cycles = (uint32_t*)mxGetPr(plhs[0]); + __asm__ __volatile__( "rdtsc": "=a" (cycles[0]), "=d" (cycles[1])); + + return; +} diff --git a/SD-VBS/common/matlab/photonEndTiming.mexa64 b/SD-VBS/common/matlab/photonEndTiming.mexa64 new file mode 100755 index 0000000..e41dd3e Binary files /dev/null and b/SD-VBS/common/matlab/photonEndTiming.mexa64 differ diff --git a/SD-VBS/common/matlab/photonEndTiming.mexglx b/SD-VBS/common/matlab/photonEndTiming.mexglx new file mode 100755 index 0000000..fa9d4b6 Binary files /dev/null and b/SD-VBS/common/matlab/photonEndTiming.mexglx differ diff --git a/SD-VBS/common/matlab/photonPrintTiming.m b/SD-VBS/common/matlab/photonPrintTiming.m new file mode 100644 index 0000000..b7c2abb --- /dev/null +++ b/SD-VBS/common/matlab/photonPrintTiming.m @@ -0,0 +1,11 @@ +%! _photonPrintTiming_NA_i2 + +function photonPrintTiming(elapsed) + if(elapsed(2) == 0) + fprintf(1,'Cycles elapsed\t\t- %u\n',elapsed(1)); + else + fprintf(1,'Cycles elapsed\t\t- %u%\u\n',elapsed(2),elapsed(1)); + end +end + + diff --git a/SD-VBS/common/matlab/photonReportTiming.m b/SD-VBS/common/matlab/photonReportTiming.m new file mode 100644 index 0000000..e991175 --- /dev/null +++ b/SD-VBS/common/matlab/photonReportTiming.m @@ -0,0 +1,7 @@ +%! _photonReportTiming_i2_i2i2 + +function elapsed = photonReportTiming(startCycles, endCycles) + elapsed = zeros(1,2); + elapsed(1) = endCycles(1) - startCycles(1); + elapsed(2) = endCycles(2) - startCycles(2); +end \ No newline at end of file diff --git a/SD-VBS/common/matlab/photonStartTiming.c b/SD-VBS/common/matlab/photonStartTiming.c new file mode 100644 index 0000000..bbf5231 --- /dev/null +++ b/SD-VBS/common/matlab/photonStartTiming.c @@ -0,0 +1,15 @@ +#include"mex.h" +#include +#include +#include +#include + +void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) +{ + uint32_t* cycles; + plhs[0] = mxCreateNumericMatrix(1, 2, mxUINT32_CLASS, mxREAL); + cycles = (uint32_t*)mxGetPr(plhs[0]); + __asm__ __volatile__( "rdtsc": "=a" (cycles[0]), "=d" (cycles[1])); + + return; +} diff --git a/SD-VBS/common/matlab/photonStartTiming.mexa64 b/SD-VBS/common/matlab/photonStartTiming.mexa64 new file mode 100755 index 0000000..58e0d06 Binary files /dev/null and b/SD-VBS/common/matlab/photonStartTiming.mexa64 differ diff --git a/SD-VBS/common/matlab/photonStartTiming.mexglx b/SD-VBS/common/matlab/photonStartTiming.mexglx new file mode 100755 index 0000000..8b55b98 Binary files /dev/null and b/SD-VBS/common/matlab/photonStartTiming.mexglx differ diff --git a/SD-VBS/common/matlab/product.m b/SD-VBS/common/matlab/product.m new file mode 100755 index 0000000..65548b4 --- /dev/null +++ b/SD-VBS/common/matlab/product.m @@ -0,0 +1,30 @@ +function [matrixOut] = product(matrixIn, direction) + +% Initialize matrices +inputDim = size(matrixIn); + +% For input matrix (m,n), we need to multiply horizontally if output matrix +%is (m). Else, we multiply vertically. + +%if direction is 1, we multiply vertically. +if direction == 1 + matrixOut = zeros(1, inputDim(2)); %initialize the output matrix + for cols = 1:inputDim(2) + val = 1; + for rows = 1:inputDim(1) + val = matrixIn(rows, cols) * val; + end + matrixOut(cols) = val; + end + +% else multiply horizontally +else + matrixOut = zeros(inputDim(1), 1); %initialize the output matrix + for rows = 1:inputDim(1) + val = 1; + for cols = 1:inputDim(2) + val = matrixIn(rows, cols) * val; + end + matrixOut(rows) = val; + end +end \ No newline at end of file diff --git a/SD-VBS/common/matlab/randWrapper.m b/SD-VBS/common/matlab/randWrapper.m new file mode 100644 index 0000000..dbef132 --- /dev/null +++ b/SD-VBS/common/matlab/randWrapper.m @@ -0,0 +1,17 @@ +function out = randWrapper(m,n) + +out = zeros(m,n); + +seed = 0.9; +for i=1:m + for j=1:n + if(i=1.0) + x1 = 2.0 * rand(1,1) - 1.0; + x2 = 2.0 * rand(1,1) - 1.0; + w = x1*x1 + x2*x2; + end + w = sqrt((-2.0*log(w))/w); + retRand(i,j) = x1*w; + end +end + + + + diff --git a/SD-VBS/common/matlab/randnWrapper.m b/SD-VBS/common/matlab/randnWrapper.m new file mode 100644 index 0000000..1755957 --- /dev/null +++ b/SD-VBS/common/matlab/randnWrapper.m @@ -0,0 +1,17 @@ +function out = randnWrapper(m, n) + +out = ones(m,n); +temp = randWrapper(m,n); + +for i=1:m + for j=1:n + w = temp(i,j); + x1 = 1; + %w = sqrt((-2.0*log(w))/w); + w = ((-2.0*log(w))/w); + out(i,j) = x1*w; + end +end + +end + diff --git a/SD-VBS/common/matlab/readFile.m b/SD-VBS/common/matlab/readFile.m new file mode 100644 index 0000000..4888103 --- /dev/null +++ b/SD-VBS/common/matlab/readFile.m @@ -0,0 +1,22 @@ +function fid = readFile(path) + +file = fopen(path, 'r'); + +full = fscanf(file,'%f'); +elapsed = zeros(1,2); + +rows = full(1); +cols = full(2); +fid = zeros(rows, cols); + +k = 3; +for i=1:rows + for j =1:cols + fid(i,j) = full(k); + k = k+1; + end +end +fclose(file); + +end + diff --git a/SD-VBS/common/matlab/readImage.m b/SD-VBS/common/matlab/readImage.m new file mode 100644 index 0000000..c70222d --- /dev/null +++ b/SD-VBS/common/matlab/readImage.m @@ -0,0 +1,60 @@ +function srcImage = readImage(pathName) + + %Reading BMP image + input = fopen(pathName,'r'); + %start of header information + signature = fread(input, 2, 'uchar'); + file_size = fread(input, 1, 'uint32'); + reserved1 = fread(input, 1, 'uint16'); + reserved2 = fread(input, 1, 'uint16'); + loc_of_bitmap = fread(input, 1, 'uint32'); + + size_of_infoheader = fread(input, 1, 'uint32'); + width = fread(input, 1, 'uint32'); + height = fread(input, 1, 'uint32'); + number_of_planes = fread(input, 1, 'uint16'); + bits_per_pixel = fread(input, 1, 'uint16'); + compression_method = fread(input, 1, 'uint32'); + bytes_of_bitmap = fread(input, 1, 'uint32'); + + hori_reso = fread(input, 1, 'uint32'); + vert_reso = fread(input, 1, 'uint32'); + no_of_colors = fread(input, 1, 'uint32'); + no_of_imp_colors = fread(input, 1, 'uint32'); + + %end of header information + + srcImage = zeros(height, width); + + % Conditions to check whether the BMP is interleaved and handling few exceptions + if (height <= 0 || width <= 0 || signature(1) ~= 'B' || signature(2) ~= 'M' || ( bits_per_pixel ==16)) + disp('Error in file format'); + srcImage = 0; + end + + status = fseek(input,loc_of_bitmap,-1); + + nI = 0; + nJ = 0; + + if(bits_per_pixel == 24) + for nI=height:-1:1 + for nJ=1:width + tempb = fread(input, 1,'uchar'); + tempg = fread(input, 1,'uchar'); + tempr = fread(input, 1,'uchar'); + srcImage(nI,nJ) = uint8((tempb + 6*tempg + 3*tempr)/10); + srcImage(nI,nJ) = uint8(tempg); + end + end + else + for nI=height:-1:1 + for nJ=1:width + tempg = fread(input, 1,'uchar'); + srcImage(nI,nJ) = tempg; + end + end + end + + fclose(input); +end diff --git a/SD-VBS/common/matlab/read_image8u_bmp.m b/SD-VBS/common/matlab/read_image8u_bmp.m new file mode 100755 index 0000000..28e5834 --- /dev/null +++ b/SD-VBS/common/matlab/read_image8u_bmp.m @@ -0,0 +1,66 @@ +function image = read_image8u_bmp(pathName) + + fid = fopen (pathName,'r'); %FILE *input; +% //check for the input FILE pointer + if(fid == 0) + + disp('File pointer error'); + + else +% start of header information + BYTES_PER_PIXEL=3; + signature = fread(fid,2,'char=>char'); + file_size = fread(fid,1,'int=>int'); + reserved1 = fread(fid,1,'short=>short'); + reserved2 = fread(fid,1,'short=>short'); + loc_of_bitmap = fread(fid, 1, 'int=>double'); + size_of_infoheader = fread(fid,1,'int=>int'); + width = fread(fid,1,'int=>double'); + height = fread(fid,1,'int=>double'); + number_of_planes = fread(fid,1,'short=>short'); + bits_per_pixel = fread(fid,1,'short=>short'); + compression_method = fread(fid,1,'int=>int'); + bytes_of_bitmap = fread(fid,1,'int=>int'); + hori_reso = fread(fid,1,'int=>int'); + vert_reso = fread(fid,1,'int=>int'); + no_of_colors = fread(fid,1,'int=>int'); + no_of_imp_colors = fread(fid,1,'int=>int'); + + nRows = height; + nCols = width; + nPitch = nCols; + pad = 4 - (nCols*BYTES_PER_PIXEL - 4*floor(nCols*BYTES_PER_PIXEL/4)); %bitmap multiple-of-4 requirement + + pixSize=nRows *nCols * 3; + + % Conditions to check whether the BMP is interleaved and handling few exceptions + if (nRows <= 0 || nCols <= 0 || signature(1) ~= 'B' || signature(2) ~= 'M' || bits_per_pixel ~=24) + disp ('Error'); + return; + else + +%read image +% fseek(fid,loc_of_bitmap,'bof'); + + for nI = nRows:-1:1 + for nJ=1:nCols + + image(nI,nJ,3) = fread(fid,1,'char=>uint8'); %B + image(nI,nJ,2) = fread(fid,1,'char=>uint8'); %G + image(nI,nJ,1) = fread(fid,1,'char=>uint8'); %R + + end + if pad~=4 + for i=1:pad + fread(fid,1); + end + end + end + imshow(image); + imwrite(image,'image.bmp'); + fclose(fid); + + end + + end + \ No newline at end of file diff --git a/SD-VBS/common/matlab/reshapeMatrix.m b/SD-VBS/common/matlab/reshapeMatrix.m new file mode 100755 index 0000000..f355828 --- /dev/null +++ b/SD-VBS/common/matlab/reshapeMatrix.m @@ -0,0 +1,13 @@ +function [outputMatrix] = reshapeMatrix(inputMatrix, outputSize) + +inputDim = size(inputMatrix); +outputMatrix = zeros(outputSize(1), outputSize(2)); + +k = 1; + +for i = 1:outputSize(2) + for j = 1:outputSize(1) + outputMatrix(j, i) = inputMatrix(k); + k = k+1; + end +end \ No newline at end of file diff --git a/SD-VBS/common/matlab/selfCheck.m b/SD-VBS/common/matlab/selfCheck.m new file mode 100644 index 0000000..55c8de8 --- /dev/null +++ b/SD-VBS/common/matlab/selfCheck.m @@ -0,0 +1,27 @@ +function ret = selfCheck(in1, path, tol) + +r1 = size(in1, 1); +c1 = size(in1, 2); + +ret = 1; + +file = [path, '/expected.m']; +fd = fopen(file, 'r'); + +[in2, count] = fscanf(fd, '%d'); + +if(count ~= (r1*c1) ) + fprintf(1, 'Dimensions mismatch: Expected %d\t Observed %d\n', count, (r1*c1)); + ret = -1; +else + ret = 1; + for i=1:(r1*c1) + if( (abs(in1(i)) - abs(in2(i)) > tol) || (abs(in2(i)) - abs(in1(i))) > tol) + fprintf(1, 'Checking Error: Index %d\tExpected %d\tObserved %d\n', i, in2(i), in1(i)); + ret = -1; + break; + end + end + +end + diff --git a/SD-VBS/common/matlab/testProductFunction.m b/SD-VBS/common/matlab/testProductFunction.m new file mode 100755 index 0000000..682a005 --- /dev/null +++ b/SD-VBS/common/matlab/testProductFunction.m @@ -0,0 +1,21 @@ +function testProductFunction + +matrixSize = zeros(1, 2); +matrixSize(1) = 4; +matrixSize(2) = 5; +inputMatrix = zeros(matrixSize(1), matrixSize(2)); + +for i=1:matrixSize(1) + for j=1:matrixSize(2) + inputMatrix(i,j) = i+j; + end +end + +outputMatrix = product(inputMatrix, 1); +actualOut = prod(inputMatrix, 1); + +if outputMatrix == actualOut + disp('SUCCESS'); +else + disp('ERROR'); +end \ No newline at end of file diff --git a/SD-VBS/common/matlab/testReshapeFunction.m b/SD-VBS/common/matlab/testReshapeFunction.m new file mode 100755 index 0000000..1dac432 --- /dev/null +++ b/SD-VBS/common/matlab/testReshapeFunction.m @@ -0,0 +1,21 @@ +function testReshapeFunction + +matrixSize = zeros(1, 2); +matrixSize(1) = 4; +matrixSize(2) = 5; +inputMatrix = zeros(matrixSize(1), matrixSize(2)); + +for i=1:matrixSize(1) + for j=1:matrixSize(2) + inputMatrix(i,j) = i+j; + end +end + +outputMatrix = reshapeMatrix(inputMatrix, matrixSize); +actualOut = reshape(inputMatrix, matrixSize); + +if outputMatrix == actualOut + disp('SUCCESS'); +else + disp('ERROR'); +end \ No newline at end of file diff --git a/SD-VBS/common/matlab/timingFuncs/cycle.h b/SD-VBS/common/matlab/timingFuncs/cycle.h new file mode 100644 index 0000000..2652a04 --- /dev/null +++ b/SD-VBS/common/matlab/timingFuncs/cycle.h @@ -0,0 +1,514 @@ +/* + * Copyright (c) 2003, 2007-8 Matteo Frigo + * Copyright (c) 2003, 2007-8 Massachusetts Institute of Technology + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE + * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION + * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + */ + + +/* machine-dependent cycle counters code. Needs to be inlined. */ + +/***************************************************************************/ +/* To use the cycle counters in your code, simply #include "cycle.h" (this + file), and then use the functions/macros: + + ticks getticks(void); + + ticks is an opaque typedef defined below, representing the current time. + You extract the elapsed time between two calls to gettick() via: + + double elapsed(ticks t1, ticks t0); + + which returns a double-precision variable in arbitrary units. You + are not expected to convert this into human units like seconds; it + is intended only for *comparisons* of time intervals. + + (In order to use some of the OS-dependent timer routines like + Solaris' gethrtime, you need to paste the autoconf snippet below + into your configure.ac file and #include "config.h" before cycle.h, + or define the relevant macros manually if you are not using autoconf.) +*/ + +/***************************************************************************/ +/* This file uses macros like HAVE_GETHRTIME that are assumed to be + defined according to whether the corresponding function/type/header + is available on your system. The necessary macros are most + conveniently defined if you are using GNU autoconf, via the tests: + + dnl --------------------------------------------------------------------- + + AC_C_INLINE + AC_HEADER_TIME + AC_CHECK_HEADERS([sys/time.h c_asm.h intrinsics.h mach/mach_time.h]) + + AC_CHECK_TYPE([hrtime_t],[AC_DEFINE(HAVE_HRTIME_T, 1, [Define to 1 if hrtime_t is defined in ])],,[#if HAVE_SYS_TIME_H +#include +#endif]) + + AC_CHECK_FUNCS([gethrtime read_real_time time_base_to_time clock_gettime mach_absolute_time]) + + dnl Cray UNICOS _rtc() (real-time clock) intrinsic + AC_MSG_CHECKING([for _rtc intrinsic]) + rtc_ok=yes + AC_TRY_LINK([#ifdef HAVE_INTRINSICS_H +#include +#endif], [_rtc()], [AC_DEFINE(HAVE__RTC,1,[Define if you have the UNICOS _rtc() intrinsic.])], [rtc_ok=no]) + AC_MSG_RESULT($rtc_ok) + + dnl --------------------------------------------------------------------- +*/ + +/***************************************************************************/ + +#if TIME_WITH_SYS_TIME +# include +# include +#else +# if HAVE_SYS_TIME_H +# include +# else +# include +# endif +#endif + +#define INLINE_ELAPSED(INL) static INL double elapsed(ticks t1, ticks t0) \ +{ \ + return (double)t1 - (double)t0; \ +} + +/*----------------------------------------------------------------*/ +/* Solaris */ +#if defined(HAVE_GETHRTIME) && defined(HAVE_HRTIME_T) && !defined(HAVE_TICK_COUNTER) +typedef hrtime_t ticks; + +#define getticks gethrtime + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* AIX v. 4+ routines to read the real-time clock or time-base register */ +#if defined(HAVE_READ_REAL_TIME) && defined(HAVE_TIME_BASE_TO_TIME) && !defined(HAVE_TICK_COUNTER) +typedef timebasestruct_t ticks; + +static __inline ticks getticks(void) +{ + ticks t; + read_real_time(&t, TIMEBASE_SZ); + return t; +} + +static __inline double elapsed(ticks t1, ticks t0) /* time in nanoseconds */ +{ + time_base_to_time(&t1, TIMEBASE_SZ); + time_base_to_time(&t0, TIMEBASE_SZ); + return (((double)t1.tb_high - (double)t0.tb_high) * 1.0e9 + + ((double)t1.tb_low - (double)t0.tb_low)); +} + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * PowerPC ``cycle'' counter using the time base register. + */ +#if ((((defined(__GNUC__) && (defined(__powerpc__) || defined(__ppc__))) || (defined(__MWERKS__) && defined(macintosh)))) || (defined(__IBM_GCC_ASM) && (defined(__powerpc__) || defined(__ppc__)))) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + unsigned int tbl, tbu0, tbu1; + + do { + __asm__ __volatile__ ("mftbu %0" : "=r"(tbu0)); + __asm__ __volatile__ ("mftb %0" : "=r"(tbl)); + __asm__ __volatile__ ("mftbu %0" : "=r"(tbu1)); + } while (tbu0 != tbu1); + + return (((unsigned long long)tbu0) << 32) | tbl; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* MacOS/Mach (Darwin) time-base register interface (unlike UpTime, + from Carbon, requires no additional libraries to be linked). */ +#if defined(HAVE_MACH_ABSOLUTE_TIME) && defined(HAVE_MACH_MACH_TIME_H) && !defined(HAVE_TICK_COUNTER) +#include +typedef uint64_t ticks; +#define getticks mach_absolute_time +INLINE_ELAPSED(__inline__) +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * Pentium cycle counter + */ +#if (defined(__GNUC__) || defined(__ICC)) && defined(__i386__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + ticks ret; + + __asm__ __volatile__("rdtsc": "=A" (ret)); + /* no input, nothing else clobbered */ + return ret; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#define TIME_MIN 5000.0 /* unreliable pentium IV cycle counter */ +#endif + +/* Visual C++ -- thanks to Morten Nissov for his help with this */ +#if _MSC_VER >= 1200 && _M_IX86 >= 500 && !defined(HAVE_TICK_COUNTER) +#include +typedef LARGE_INTEGER ticks; +#define RDTSC __asm __emit 0fh __asm __emit 031h /* hack for VC++ 5.0 */ + +static __inline ticks getticks(void) +{ + ticks retval; + + __asm { + RDTSC + mov retval.HighPart, edx + mov retval.LowPart, eax + } + return retval; +} + +static __inline double elapsed(ticks t1, ticks t0) +{ + return (double)t1.QuadPart - (double)t0.QuadPart; +} + +#define HAVE_TICK_COUNTER +#define TIME_MIN 5000.0 /* unreliable pentium IV cycle counter */ +#endif + +/*----------------------------------------------------------------*/ +/* + * X86-64 cycle counter + */ +#if (defined(__GNUC__) || defined(__ICC) || defined(__SUNPRO_C)) && defined(__x86_64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + unsigned a, d; + asm volatile("rdtsc" : "=a" (a), "=d" (d)); + return ((ticks)a) | (((ticks)d) << 32); +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* PGI compiler, courtesy Cristiano Calonaci, Andrea Tarsi, & Roberto Gori. + NOTE: this code will fail to link unless you use the -Masmkeyword compiler + option (grrr). */ +#if defined(__PGI) && defined(__x86_64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; +static ticks getticks(void) +{ + asm(" rdtsc; shl $0x20,%rdx; mov %eax,%eax; or %rdx,%rax; "); +} +INLINE_ELAPSED(__inline__) +#define HAVE_TICK_COUNTER +#endif + +/* Visual C++, courtesy of Dirk Michaelis */ +#if _MSC_VER >= 1400 && (defined(_M_AMD64) || defined(_M_X64)) && !defined(HAVE_TICK_COUNTER) + +#include +#pragma intrinsic(__rdtsc) +typedef unsigned __int64 ticks; +#define getticks __rdtsc +INLINE_ELAPSED(__inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * IA64 cycle counter + */ + +/* intel's icc/ecc compiler */ +#if (defined(__EDG_VERSION) || defined(__ECC)) && defined(__ia64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; +#include + +static __inline__ ticks getticks(void) +{ + return __getReg(_IA64_REG_AR_ITC); +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* gcc */ +#if defined(__GNUC__) && defined(__ia64__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; + +static __inline__ ticks getticks(void) +{ + ticks ret; + + __asm__ __volatile__ ("mov %0=ar.itc" : "=r"(ret)); + return ret; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/* HP/UX IA64 compiler, courtesy Teresa L. Johnson: */ +#if defined(__hpux) && defined(__ia64) && !defined(HAVE_TICK_COUNTER) +#include +typedef unsigned long ticks; + +static inline ticks getticks(void) +{ + ticks ret; + + ret = _Asm_mov_from_ar (_AREG_ITC); + return ret; +} + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/* Microsoft Visual C++ */ +#if defined(_MSC_VER) && defined(_M_IA64) && !defined(HAVE_TICK_COUNTER) +typedef unsigned __int64 ticks; + +# ifdef __cplusplus +extern "C" +# endif +ticks __getReg(int whichReg); +#pragma intrinsic(__getReg) + +static __inline ticks getticks(void) +{ + volatile ticks temp; + temp = __getReg(3116); + return temp; +} + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* + * PA-RISC cycle counter + */ +#if defined(__hppa__) || defined(__hppa) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; + +# ifdef __GNUC__ +static __inline__ ticks getticks(void) +{ + ticks ret; + + __asm__ __volatile__("mfctl 16, %0": "=r" (ret)); + /* no input, nothing else clobbered */ + return ret; +} +# else +# include +static inline unsigned long getticks(void) +{ + register ticks ret; + _MFCTL(16, ret); + return ret; +} +# endif + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* S390, courtesy of James Treacy */ +#if defined(__GNUC__) && defined(__s390__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long long ticks; + +static __inline__ ticks getticks(void) +{ + ticks cycles; + __asm__("stck 0(%0)" : : "a" (&(cycles)) : "memory", "cc"); + return cycles; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif +/*----------------------------------------------------------------*/ +#if defined(__GNUC__) && defined(__alpha__) && !defined(HAVE_TICK_COUNTER) +/* + * The 32-bit cycle counter on alpha overflows pretty quickly, + * unfortunately. A 1GHz machine overflows in 4 seconds. + */ +typedef unsigned int ticks; + +static __inline__ ticks getticks(void) +{ + unsigned long cc; + __asm__ __volatile__ ("rpcc %0" : "=r"(cc)); + return (cc & 0xFFFFFFFF); +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +#if defined(__GNUC__) && defined(__sparc_v9__) && !defined(HAVE_TICK_COUNTER) +typedef unsigned long ticks; + +static __inline__ ticks getticks(void) +{ + ticks ret; + __asm__ __volatile__("rd %%tick, %0" : "=r" (ret)); + return ret; +} + +INLINE_ELAPSED(__inline__) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +#if (defined(__DECC) || defined(__DECCXX)) && defined(__alpha) && defined(HAVE_C_ASM_H) && !defined(HAVE_TICK_COUNTER) +# include +typedef unsigned int ticks; + +static __inline ticks getticks(void) +{ + unsigned long cc; + cc = asm("rpcc %v0"); + return (cc & 0xFFFFFFFF); +} + +INLINE_ELAPSED(__inline) + +#define HAVE_TICK_COUNTER +#endif +/*----------------------------------------------------------------*/ +/* SGI/Irix */ +#if defined(HAVE_CLOCK_GETTIME) && defined(CLOCK_SGI_CYCLE) && !defined(HAVE_TICK_COUNTER) +typedef struct timespec ticks; + +static inline ticks getticks(void) +{ + struct timespec t; + clock_gettime(CLOCK_SGI_CYCLE, &t); + return t; +} + +static inline double elapsed(ticks t1, ticks t0) +{ + return ((double)t1.tv_sec - (double)t0.tv_sec) * 1.0E9 + + ((double)t1.tv_nsec - (double)t0.tv_nsec); +} +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* Cray UNICOS _rtc() intrinsic function */ +#if defined(HAVE__RTC) && !defined(HAVE_TICK_COUNTER) +#ifdef HAVE_INTRINSICS_H +# include +#endif + +typedef long long ticks; + +#define getticks _rtc + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif + +/*----------------------------------------------------------------*/ +/* MIPS ZBus */ +#if HAVE_MIPS_ZBUS_TIMER +#if defined(__mips__) && !defined(HAVE_TICK_COUNTER) +#include +#include +#include + +typedef uint64_t ticks; + +static inline ticks getticks(void) +{ + static uint64_t* addr = 0; + + if (addr == 0) + { + uint32_t rq_addr = 0x10030000; + int fd; + int pgsize; + + pgsize = getpagesize(); + fd = open ("/dev/mem", O_RDONLY | O_SYNC, 0); + if (fd < 0) { + perror("open"); + return NULL; + } + addr = mmap(0, pgsize, PROT_READ, MAP_SHARED, fd, rq_addr); + close(fd); + if (addr == (uint64_t *)-1) { + perror("mmap"); + return NULL; + } + } + + return *addr; +} + +INLINE_ELAPSED(inline) + +#define HAVE_TICK_COUNTER +#endif +#endif /* HAVE_MIPS_ZBUS_TIMER */ + diff --git a/SD-VBS/common/matlab/timingFuncs/photonEndTiming.c b/SD-VBS/common/matlab/timingFuncs/photonEndTiming.c new file mode 100644 index 0000000..bbf5231 --- /dev/null +++ b/SD-VBS/common/matlab/timingFuncs/photonEndTiming.c @@ -0,0 +1,15 @@ +#include"mex.h" +#include +#include +#include +#include + +void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) +{ + uint32_t* cycles; + plhs[0] = mxCreateNumericMatrix(1, 2, mxUINT32_CLASS, mxREAL); + cycles = (uint32_t*)mxGetPr(plhs[0]); + __asm__ __volatile__( "rdtsc": "=a" (cycles[0]), "=d" (cycles[1])); + + return; +} diff --git a/SD-VBS/common/matlab/timingFuncs/photonEndTiming.mexglx b/SD-VBS/common/matlab/timingFuncs/photonEndTiming.mexglx new file mode 100755 index 0000000..fa9d4b6 Binary files /dev/null and b/SD-VBS/common/matlab/timingFuncs/photonEndTiming.mexglx differ diff --git a/SD-VBS/common/matlab/timingFuncs/photonPrintTiming.m b/SD-VBS/common/matlab/timingFuncs/photonPrintTiming.m new file mode 100644 index 0000000..b9c7b22 --- /dev/null +++ b/SD-VBS/common/matlab/timingFuncs/photonPrintTiming.m @@ -0,0 +1,5 @@ +%! _photonPrintTiming_NA_i2 + +function photonPrintTiming(elapsed) + disp(elapsed); +end \ No newline at end of file diff --git a/SD-VBS/common/matlab/timingFuncs/photonReportTiming.m b/SD-VBS/common/matlab/timingFuncs/photonReportTiming.m new file mode 100644 index 0000000..e991175 --- /dev/null +++ b/SD-VBS/common/matlab/timingFuncs/photonReportTiming.m @@ -0,0 +1,7 @@ +%! _photonReportTiming_i2_i2i2 + +function elapsed = photonReportTiming(startCycles, endCycles) + elapsed = zeros(1,2); + elapsed(1) = endCycles(1) - startCycles(1); + elapsed(2) = endCycles(2) - startCycles(2); +end \ No newline at end of file diff --git a/SD-VBS/common/matlab/timingFuncs/photonStartTiming.c b/SD-VBS/common/matlab/timingFuncs/photonStartTiming.c new file mode 100644 index 0000000..bbf5231 --- /dev/null +++ b/SD-VBS/common/matlab/timingFuncs/photonStartTiming.c @@ -0,0 +1,15 @@ +#include"mex.h" +#include +#include +#include +#include + +void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) +{ + uint32_t* cycles; + plhs[0] = mxCreateNumericMatrix(1, 2, mxUINT32_CLASS, mxREAL); + cycles = (uint32_t*)mxGetPr(plhs[0]); + __asm__ __volatile__( "rdtsc": "=a" (cycles[0]), "=d" (cycles[1])); + + return; +} diff --git a/SD-VBS/common/matlab/timingFuncs/photonStartTiming.mexglx b/SD-VBS/common/matlab/timingFuncs/photonStartTiming.mexglx new file mode 100755 index 0000000..8b55b98 Binary files /dev/null and b/SD-VBS/common/matlab/timingFuncs/photonStartTiming.mexglx differ diff --git a/SD-VBS/common/matlab/writeMatrix.m b/SD-VBS/common/matlab/writeMatrix.m new file mode 100644 index 0000000..ec2bbae --- /dev/null +++ b/SD-VBS/common/matlab/writeMatrix.m @@ -0,0 +1,19 @@ +function writeMatrix(input, inpath) + +file = [inpath '/expected.m']; +disp(file); +fd = fopen(file, 'w'); + +[rows, cols] = size(input); + +for j=1:rows + for i=1:cols + fprintf(fd, '%d\t', input(j,i)-1); + end + fprintf(fd, '\n'); +end +fclose(fd); + +end + + diff --git a/SD-VBS/common/matlab/write_image8u_bmp.m b/SD-VBS/common/matlab/write_image8u_bmp.m new file mode 100755 index 0000000..71b48ef --- /dev/null +++ b/SD-VBS/common/matlab/write_image8u_bmp.m @@ -0,0 +1,88 @@ +function image = write_image8u_bmp(inpImage, pathName) % this is matlab's sequence, removed width, height since they can be inferred from image + +BYTES_PER_PIXEL = 3; + +fid = fopen (pathName,'w'); %FILE *input; +% //check for the input FILE pointer +if(fid == 0) + disp('File pointer error'); +else + height = size(inpImage,1); + width=size(inpImage,2); + signature(1) = 'B'; + signature(2) = 'M'; + + reserved1 = 0; + reserved2 = 0; + file_size = (height*width*BYTES_PER_PIXEL)+54; + offset=54; + size_of_infoheader=40; + number_of_planes=1; + bits_per_pixel= 8*BYTES_PER_PIXEL ; + compression_method=0; + hori_reso=2835; + vert_reso=2835; + no_of_colors=0; + no_of_imp_colors=0; + +% start of header information + fwrite(fid,signature(1),'char'); + fwrite(fid,signature(2),'char'); + fwrite(fid,file_size,'int'); + fwrite(fid,reserved1,'short'); + fwrite(fid,reserved2,'short'); + fwrite(fid,offset,'int'); + fwrite(fid,size_of_infoheader,'int'); + fwrite(fid,width,'int'); + fwrite(fid,height,'int'); + fwrite(fid,number_of_planes,'short'); + fwrite(fid,bits_per_pixel,'short'); + fwrite(fid,compression_method,'int'); + + bytes_of_bitmap=width*height*BYTES_PER_PIXEL; + + fwrite(fid,bytes_of_bitmap,'int'); + fwrite(fid,hori_reso,'int'); + fwrite(fid,vert_reso,'int'); + fwrite(fid,no_of_colors,'int'); + fwrite(fid,no_of_imp_colors,'int'); + + % Conditions to check whether the BMP is gray scaled and handling few exceptions + + if (width <= 0 || height <= 0 || signature(1) ~= 'B' || signature(2) ~= 'M') + return; + end + + % total size of pixels + % pixSize=srcImage->height * srcImage->width * NO_OF_BYTE_PER_PIXEL; //*3 is done as it is a 3 channel image + %reverse the image back + + for nI=1:height + count = 0; + for nJ=1:width + temp = inpImage((height - nI+1),nJ,3); + fwrite(fid,temp,'char'); + temp = inpImage((height - nI+1),nJ,2); + fwrite(fid,temp,'char'); + temp = inpImage((height - nI+1),nJ,1); + fwrite(fid,temp,'char'); + + end + pad = 4 - (width*BYTES_PER_PIXEL - (4*floor(width*BYTES_PER_PIXEL/4))); %bitmap multiple-of-4 requirement + if pad ~= 0 + temp=0; + for cnt = 1:pad + fwrite(fid,temp,'char'); +% fwrite(fid,temp,'char'); +% fwrite(fid,temp,'char'); + end + end + end + + outImage = imread(pathName); + imshow(outImage); + fclose(fid); + +end + + \ No newline at end of file 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 +          +     +     + + + +  +    +   # + +       +          +        # "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]YlvyyRx@j7a{8YgAA@[AKMTSHVZM[oXVbQJcL]lL]r^p˱̗dq[Z]SIPZCOSKLULJRMQTPWSpn~dYcQHWdA\mQceGHE31257=CNENI8>A;1;U3Bh9Mp,J&G0<`4:J       +      +  + + +  +    +  +     +  $    +  "                 #"  .7 8, ,,)+)*+'%*#"&!#" &#&"!"'& %#"  !  # %).,*&-)#5).577 2?!5! ##"! *#$(!+))+-)&,#064'**$%!! 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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{}~qrrsvxwxyzzz{{|~~tuwuruzzyzz{}}}tvwxyxwwz{{z|{|}tvwwyz{ywz}}mzuuvvvurvuwxz{{{}BUwxz}~}~{{GcZW}}~}~Geoxae~~ηFakswveyӺùIbjnpu|x_nbb_eq¿漭㖽>q}̶Gbjkloqw|pnrcbbehq.ٻfbf0^xF_VYqH^ehkoopqyf|x;33>AVyi5!qcMi<2<3WWB=XFoZMqeHNtMdfVwNiv\uat}c*dHY]ZtG]aced`C233++%)(*59:@7B>F>FEA=<\g^gb\^Ya][\PD83.2X_=Hj?42)Wh3%GkgpD8xb`vJQjFktVR|LvtTytLU{OdoU}N]sSwZl[+eIVYRqI[^___W?519+&'112>;9G<@;E8BG<:5V[FYYLPIHHMA4=A83:PMd{m@BdmUOi?$ByC!'Q_pS$l|hSrJMqG^ugpOs~Rq|QRN\wM}SYyQuPeX#_NQ_RpFX\]^YK512:)&(032>?9B=E:G7AJ@B;W\GRWHOHEJIB5>C@:4NQ^xp<5[njFlJ, %pIQk]L*&Xw{qReNBnIGeԨYjKayPRXQQuXQOtUb^%[QPcRoGUY]YNC445=)%+.01?98EAG=E6>H@B7BFRwvN\r>itK2WRJmRZ9(AepvPZ[BpVCfΨU]N[zSKgUPjbJQpX\d%UVPhNmFUYYTG>26;?*'+247><;HCM@I7<J@H:;JAF>O[SM_PR]XVLSJ8>8565BD_v>)hiEwU-"lLGpcaHA$U~o~wRjLJrCCZuDtsF}yPqSmlTMsY`tZ~2CeMrRqIRSMGMXPF>A.**0.APIR>L?9K;DEQ]XP`VS]\[OML5?C8?7BDX|~R[sBm_7[_"=cqfj_W;Is|~T\[HvRCa^DxGjHqPgW\yXSee^Z9@kLrPmGOOIM[\MC>@+(*-,7>;GAJYUU_ZU^ZOKGP?IH2?5>GRue&KuK]gH#DoNXhj]FE]jb|rvZRmIp_?fbCxV[NdQ\[UQyW`o[\A<qNvPmHOKFM[\NB>?)(,,+>BBDSHP@FA8ICG@F\WV]bS_\KLISOED2:4:FNpt85teThQ+*ENWOG6*+;PVm|xkPpK`pVpzuoZYW_ZhPPm`[{[\}L;~wSvQiFIHDLXVJ@<>(''+)7AEESGO4*))(ATq~Q[VIt<6:RTq}UVV|a^x]^afV+nOoS]EFEELOB/&5?ABREK=CI;KLIH=b_\YVPMT[cZVVGDA4<6>BT}m+N|\[f/"$');GGC7,%2W]l^UhHk:+DEZ`WwTrVmn]Xbyeb\%hQlV]GGHDJL;+.%%1'1-!?L@GMIN@\aYTVVQWgaWPMKIC1:69* ,NUVzmV{GW5 #FBuhZUj\cXiXW}epmcc(^Pf[[EEFDJH4$&(COEZsW.Q=GQDR:V]U^]`_`\^[M]VOI8868CIf_!a_.')/3:1-35.+)#,DPFcbdY:1,;M[Xv\m\k[\~Wopgas(TUafUBCGBF:&&""$.ReV4 8A?NHDJ>O>DPISAP][dcb[ZSZfX`QBH?37/AD\u0F~T.31./:?:'9DBGJW}dVj@5"3@XXWo^}_xY[nbjyjd|+R[ZlWDFGDA3+,!12'6FDIKJO>RBGUMUCQdcjfaWWT^gZXYFHK291KhZuWHGDDE.#  +!"9HGJOLUCPEHRKMFJaf`XW^_e`^aUa^KI5:.,FLkd$I#:WRQXXiy|wzs;1/]af]%! 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""!!"""##%"#&'!(AW^_``\XY^XWbP%xmZ8:>FNI:899:7878557677766777554>?@BABB@?<95. !!"""##$%%##$%%&((''(-5@LSWYXVTRKDI^`hz`5*, /uaX=;=DOYI889:9::999879::999:98886 \ No newline at end of file diff --git a/SD-VBS/common/toolbox/toolbox_basic/affine/pan.1.pgm b/SD-VBS/common/toolbox/toolbox_basic/affine/pan.1.pgm new file mode 100755 index 0000000..9d57f70 --- /dev/null +++ b/SD-VBS/common/toolbox/toolbox_basic/affine/pan.1.pgm @@ -0,0 +1,59 @@ +P5 +# CREATOR: XV Version 3.10a Rev: 12/29/94 +128 96 +255 +prsrxxwxz{{||||}~~ſ¿prsttuyxyyz{|{{|~tuuuwwvwyxzz{|}tuwwxxzyy{{{{||}~uvuwyyz{~{z~~~_`k{x{{zzywzyz{{{}~~8:E[{|}57@_WYĿ:9D`ny_iδ8:B^kryxc}ѷ¸8;C[gorv}wbned_gxߍ0mt9;D^iloquz~nqxifdefq1ͺ؁x^[rk4\|JSZ87A[gjknqtw{f䍀y962??Xvb0 nWGa7-84Z`HA`Hu_NulKQwIaiTxNcw]uZm|i&[~KQ_8:BZdeffcK5850)%)09::B6BAIAGIEB>]linhbc[e_^aRC71/4=Eera?=Y_=He<30(Wd0$FkenD9y_]wKQlImuVS|LvvSvrKT{MbqS|R[vSvUb]$\KM`;;CX`cba[A2/41)&2-/=74CC8H8?H?EUYVQF>7:>A,%(2-6A:;N@KBL:7L?G@UYJ@XEMQP\GTF@@4:58EHh}m/ 6nXOmG*3q<S{jJ$)&lwqnUvG[n>FUhJcLqV|StbWMzTcoY~3CiLq??ESURJA=46A+)*+*7>>>LEL>I?7G+,,0+<>>ES@KDGC;GBHBF^^X]aP[WEKBRNGC0969GKoq45teWjJERTOC3,7O_K*#h}{oRqJanUirwqW]U`WkRQne[Z]sT1t~PrACEJIFKYWLB>>'#(-*8>>@REM) + &':=@CSDJ>GHUC/ G~PZWIr:37QSnV}V~Tyf_{\b|ca\&aMeACEHGELUF6&6<@BREH;?KcaYUSNLRX`YWUEDB4;7?EVm*O{P'$&)8DIG;.'.S[E'2}^RiGh:*ED[^VtToTjr\Vcqj`b"[Oa?CHIGELQ?/1) -#+'&7=DTHI==L>GOFO=^\WRPUSYd^PKIHHC062;EP{}7 +=S*# (>RG9?9/ @VJ3'j~~mUyGX1!FCujYUfZaXgYVzffubk'UR]ACDEFFKL8'&#@UERnX-9BCNEDC=L=FPFL:X\RRSZYc]]YKPPOI3616CLnL".),*-8A@;53/*%$8HH;R}~YmLC/#;Ec~Ya[`[b\YVpmgcr%RWXCCEFHFKG-+OA3;tn98@@QFEJAS?GRGR:S`W]\_b`W[[P]VNH8845BIf`" #&+/40/78/,+%!8NE>#B^aW;2.9NYW~v]q^q^Ys^luid{+O_UACEEFCE>''')',JeZ=!7AQ@EPEP?P^Ycdc]WOXd\cSDG>46.CF[s4!!,42-.7;8)-EKEP@THIULTAMbajebUUV`h[XUFIN2;-;FW}F%(4HPH=blQ49:1$f}wuZrF%.MjXee^^{]hculhf?GlVBDDEHFC1(- +)2%0@DEKHS>SFIUFLCHachZYXW`fbUOYPUO19*2GPuB'8Od`Uel<)51Uz}`qN&QuTpwaaoYm]tr`fie~EAqWEEGIHEG0! +#"6FEHQKTEQDERKMDEae^UR^^d\V[P`^KI3IIFOLU@NIHTKKDCe_ZTMkg\UXcW^^JH6:6+DGb<@es~|I0*3.2y}s|zaueeae_h`khr]:z}YFEFIIJI323()UkO*(.9AIDBKGOCNJKRCNHA^UT[Jg`WVbdZV[JNA5<0>I\.Ehpx}yxz{I'!,$#g~znlgt[qchYufwiii;oYEGIKLIPI;:GM[c^X[]acgklmmqpoqswuvwt{zy}zBKSG<69G[ZI@EUlwT(IFEFILMYgiikoprvwy}}Y-UM2)-88{}B/'8Xsi4(Imnnmnmlhhigeccecb__`a^^\^]\\\]^]]][\^^``bbceebFGGJLLZYOMNOOQRTTSUVYYYZ[[\\^^___^^^`abbcegffffgijiknnnonooqY(2`TGCA=KK9>V_xwHPoHIJMMN^lqopqrsuwzz}n4Ajymei`_vM@FGHJKKZghgilnoruwwz|}~~M;awWj~}|{yxwvtrpomlkhffebaaa_\[YWTKMMLNMK8" +  + + + + + + + + +  +  ,?QttaA!!"$&%$&'''&(&'&'(&%%#%$"$$%#!"##"HKKJJKI?+    + +     + +ASd|>AGRve5"++!$" .12,!! 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"!!#"!""$$%#$$%%&*29GQUWYUTTLDEVWZeX9180>ךryM==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

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