1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include <stdlib.h> 44 #include <math.h> 45 #include <vector> 46 47 namespace cv 48 { 49 /* 50 * ShapeContextDescriptor class 51 */ 52 class SCD 53 { 54 public: 55 //! the full constructor taking all the necessary parameters SCD(int _nAngularBins=12,int _nRadialBins=5,double _innerRadius=0.1,double _outerRadius=1,bool _rotationInvariant=false)56 explicit SCD(int _nAngularBins=12, int _nRadialBins=5, 57 double _innerRadius=0.1, double _outerRadius=1, bool _rotationInvariant=false) 58 { 59 setAngularBins(_nAngularBins); 60 setRadialBins(_nRadialBins); 61 setInnerRadius(_innerRadius); 62 setOuterRadius(_outerRadius); 63 setRotationInvariant(_rotationInvariant); 64 } 65 66 void extractSCD(cv::Mat& contour, cv::Mat& descriptors, 67 const std::vector<int>& queryInliers=std::vector<int>(), 68 const float _meanDistance=-1); 69 descriptorSize()70 int descriptorSize() {return nAngularBins*nRadialBins;} setAngularBins(int angularBins)71 void setAngularBins(int angularBins) { nAngularBins=angularBins; } setRadialBins(int radialBins)72 void setRadialBins(int radialBins) { nRadialBins=radialBins; } setInnerRadius(double _innerRadius)73 void setInnerRadius(double _innerRadius) { innerRadius=_innerRadius; } setOuterRadius(double _outerRadius)74 void setOuterRadius(double _outerRadius) { outerRadius=_outerRadius; } setRotationInvariant(bool _rotationInvariant)75 void setRotationInvariant(bool _rotationInvariant) { rotationInvariant=_rotationInvariant; } getAngularBins() const76 int getAngularBins() const { return nAngularBins; } getRadialBins() const77 int getRadialBins() const { return nRadialBins; } getInnerRadius() const78 double getInnerRadius() const { return innerRadius; } getOuterRadius() const79 double getOuterRadius() const { return outerRadius; } getRotationInvariant() const80 bool getRotationInvariant() const { return rotationInvariant; } getMeanDistance() const81 float getMeanDistance() const { return meanDistance; } 82 83 private: 84 int nAngularBins; 85 int nRadialBins; 86 double innerRadius; 87 double outerRadius; 88 bool rotationInvariant; 89 float meanDistance; 90 91 protected: 92 void logarithmicSpaces(std::vector<double>& vecSpaces) const; 93 void angularSpaces(std::vector<double>& vecSpaces) const; 94 95 void buildNormalizedDistanceMatrix(cv::Mat& contour, 96 cv::Mat& disMatrix, const std::vector<int> &queryInliers, 97 const float _meanDistance=-1); 98 99 void buildAngleMatrix(cv::Mat& contour, 100 cv::Mat& angleMatrix) const; 101 }; 102 103 /* 104 * Matcher 105 */ 106 class SCDMatcher 107 { 108 public: 109 // the full constructor SCDMatcher()110 SCDMatcher() 111 { 112 } 113 114 // the matcher function using Hungarian method 115 void matchDescriptors(cv::Mat& descriptors1, cv::Mat& descriptors2, std::vector<cv::DMatch>& matches, cv::Ptr<cv::HistogramCostExtractor>& comparer, 116 std::vector<int>& inliers1, std::vector<int> &inliers2); 117 118 // matching cost getMatchingCost() const119 float getMatchingCost() const {return minMatchCost;} 120 121 private: 122 float minMatchCost; 123 protected: 124 void buildCostMatrix(const cv::Mat& descriptors1, const cv::Mat& descriptors2, 125 cv::Mat& costMatrix, cv::Ptr<cv::HistogramCostExtractor>& comparer) const; 126 void hungarian(cv::Mat& costMatrix, std::vector<cv::DMatch>& outMatches, std::vector<int> &inliers1, 127 std::vector<int> &inliers2, int sizeScd1=0, int sizeScd2=0); 128 129 }; 130 131 } 132