CFeatureExtraction_harris_KLT.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "vision-precomp.h"  // Precompiled headers
 
#include <mrpt/vision/CFeatureExtraction.h>
 
// Universal include for all versions of OpenCV
#include <mrpt/otherlibs/do_opencv_includes.h>
 
using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::system;
using namespace mrpt::utils;
using namespace std;
 
/************************************************************************************************
*                                                       extractFeaturesKLT
************************************************************************************************/
void CFeatureExtraction::extractFeaturesKLT(
        const mrpt::utils::CImage& inImg, CFeatureList& feats, unsigned int init_ID,
        unsigned int nDesiredFeatures, const TImageROI& ROI) const
{
//#define VERBOSE_TIMING
 
#ifdef VERBOSE_TIMING
        CTicTac tictac;
#endif
        MRPT_START
 
#if MRPT_HAS_OPENCV
        const unsigned int MAX_COUNT = 300;
 
        // -----------------------------------------------------------------
        // Create OpenCV Local Variables
        // -----------------------------------------------------------------
        int count = 0;
        int nPts;
 
#ifdef VERBOSE_TIMING
        tictac.Tic();
#endif
        const cv::Mat img(cv::cvarrToMat(inImg.getAs<IplImage>()));
 
#ifdef VERBOSE_TIMING
        cout << "[KLT] Attach: " << tictac.Tac() * 1000.0f << endl;
#endif
        const CImage inImg_gray(inImg, FAST_REF_OR_CONVERT_TO_GRAY);
        const cv::Mat cGrey(cv::cvarrToMat(inImg_gray.getAs<IplImage>()));
 
        nDesiredFeatures <= 0 ? nPts = MAX_COUNT : nPts = nDesiredFeatures;
 
#ifdef VERBOSE_TIMING
        tictac.Tic();
#endif
 
#ifdef VERBOSE_TIMING
        cout << "[KLT] Create: " << tictac.Tac() * 1000.0f << endl;
#endif
        count = nPts;  // Number of points to find
 
        // -----------------------------------------------------------------
        // Select good features with subpixel accuracy (USING HARRIS OR KLT)
        // -----------------------------------------------------------------
        const bool use_harris = (options.featsType == featHarris);
 
#ifdef VERBOSE_TIMING
        tictac.Tic();
#endif
        std::vector<cv::Point2f> points;
        cv::goodFeaturesToTrack(
                cGrey, points, nPts,
                (double)options.harrisOptions.threshold,  // for rejecting weak local
                // maxima ( with min_eig <
                // threshold*max(eig_image) )
                (double)options.harrisOptions
                        .min_distance,  // minimum distance between features
                cv::noArray(),  // mask
                3,  // blocksize
                use_harris, /* harris */
                options.harrisOptions.k);
#ifdef VERBOSE_TIMING
        cout << "[KLT] Find feats: " << tictac.Tac() * 1000.0f << endl;
#endif
 
        if (nDesiredFeatures > 0 && count < nPts)
                cout << "\n[WARNING][selectGoodFeaturesKLT]: Only " << count << " of "
                         << nDesiredFeatures << " points could be extracted in the image."
                         << endl;
 
        if (options.FIND_SUBPIXEL)
        {
#ifdef VERBOSE_TIMING
                tictac.Tic();
#endif
                // Subpixel interpolation
                cv::cornerSubPix(
                        cGrey, points, cv::Size(3, 3), cv::Size(-1, -1),
                        cv::TermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 10, 0.05));
 
#ifdef VERBOSE_TIMING
                cout << "[KLT] subpixel: " << tictac.Tac() * 1000.0f << endl;
#endif
        }
 
// -----------------------------------------------------------------
// Fill output structure
// -----------------------------------------------------------------
#ifdef VERBOSE_TIMING
        tictac.Tic();
#endif
 
        feats.clear();
        unsigned int borderFeats = 0;
        unsigned int nCFeats = init_ID;
        int i = 0;
        const int limit = min(nPts, count);
        int offset = (int)this->options.patchSize / 2 + 1;
        unsigned int imgH = inImg.getHeight();
        unsigned int imgW = inImg.getWidth();
 
        while (i < limit)
        {
                const int xBorderInf = (int)floor(points[i].x - options.patchSize / 2);
                const int xBorderSup = (int)floor(points[i].x + options.patchSize / 2);
                const int yBorderInf = (int)floor(points[i].y - options.patchSize / 2);
                const int yBorderSup = (int)floor(points[i].y + options.patchSize / 2);
 
                if (options.patchSize == 0 ||
                        ((xBorderSup < (int)imgW) && (xBorderInf > 0) &&
                         (yBorderSup < (int)imgH) && (yBorderInf > 0)))
                {
                        CFeature::Ptr ft = mrpt::make_aligned_shared<CFeature>();
 
                        ft->type = featKLT;
                        ft->x = points[i].x;  // X position
                        ft->y = points[i].y;  // Y position
                        ft->track_status = status_TRACKED;  // Feature Status
                        ft->response = 0.0;  // A value proportional to the quality of the
                        // feature (unused yet)
                        ft->ID = nCFeats++;  // Feature ID into extraction
                        ft->patchSize = options.patchSize;  // The size of the feature patch
 
                        if (options.patchSize > 0)
                        {
                                inImg.extract_patch(
                                        ft->patch, round(ft->x) - offset, round(ft->y) - offset,
                                        options.patchSize,
                                        options.patchSize);  // Image patch surronding the feature
                        }
 
                        feats.push_back(ft);
 
                }  // end if
                else
                        borderFeats++;
 
                i++;
        }  // end while
 
#ifdef VERBOSE_TIMING
        cout << "[KLT] Create output: " << tictac.Tac() * 1000.0f << endl;
#endif
 
#else
        THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_OPENCV=0 !");
#endif
 
        MRPT_END
 
}  // end of function
 
MRPT_TODO("Delete? Refactor / join to mrpt::vision::CGenericFeatureTracker?")
#if 0
/*------------------------------------------------------------
                                        findMoreFeatures
-------------------------------------------------------------*/
void  CFeatureExtraction::findMoreFeatures( const mrpt::utils::CImage &img,
                                                                                        const CFeatureList &inList,
                                                                                        CFeatureList &outList,
                                                                                        unsigned int nDesiredFeats) const
{
#if MRPT_HAS_OPENCV
        MRPT_START
 
        if( options.featsType == featHarris || options.featsType == featKLT )
        {
                // Mask the points already stored in the list
                cv::Mat mask = cv::Mat::ones(img.getHeight(), img.getWidth(), CV_8UC1 ); // Set the whole mask to 1 initially
 
                CFeatureList::const_iterator itKLT;
 
                TFeatureID mxID = 0;
 
                for( itKLT = inList.begin(); itKLT != inList.end(); itKLT++ )
                {
                        int cx = (int)(*itKLT)->x;
                        int cy = (int)(*itKLT)->y;
 
                        // Mask surronding pixels
                        size_t xxI = max( 0, cx - 15 );
                        size_t xxE = min( cx + 15, mask.cols()-1 );
                        size_t yyI = max( 0, cy - 15 );
                        size_t yyE = min( cy + 15, (int)mask.rows()-1 );
 
                        for(size_t yy = yyI; yy < yyE; yy++)
                                for(size_t xx = xxI; xx < xxE; xx++)
                                        cvSet2D( mask, yy, xx, zero );
 
                        if( (*itKLT)->ID > mxID )
                                mxID = (*itKLT)->ID;
 
                }
                selectGoodFeaturesKLT( img, outList, mxID + 1, nDesiredFeats, &mask );
        }
        else if( options.featsType == featFAST )
        {
                TFeatureID mxID = inList.getMaxID();
                extractFeaturesFAST( img, outList, mxID+1 );            // Find all the possible FAST features
 
                // Delete all that are too close to the current ones
                CFeatureList::iterator                  itOutList;
                CFeatureList::const_iterator    itInList;
                for( itInList = inList.begin(); itInList != inList.end(); ++itInList )
                {
                        for( itOutList = outList.begin(); itOutList != outList.end(); )
                        {
                                if( fabs((*itOutList)->x-(*itInList)->x) < 15 ||  fabs((*itOutList)->y-(*itInList)->y) < 15 )
                                        itOutList = outList.erase( itOutList );
                                else
                                        ++itOutList;
                        } // end-for
                } // end-for
 
                if( nDesiredFeats != 0 && outList.size() > nDesiredFeats )
                        outList.resize( nDesiredFeats );
        }
        MRPT_END
#else
        THROW_EXCEPTION("MRPT was compiled without OpenCV")
#endif
} // end findMoreFeatures
#endif
 
MRPT_TODO("Delete? Is not this a duplicate of extractFeaturesKLT ()???")
#if 0
/************************************************************************************************
*                                                               selectGoodFeaturesKLT                                                                                           *
************************************************************************************************/
void  CFeatureExtraction::selectGoodFeaturesKLT(
                const mrpt::utils::CImage                       &img,
                CFeatureList                    &feats,
                unsigned int                    init_ID,
                unsigned int                    nDesiredFeatures) const
{
#if MRPT_HAS_OPENCV
        // Get image size
        size_t imgW = img.getWidth();
        size_t imgH = img.getHeight();
 
        // Check image size and ROI limits
        ASSERT_( imgH > 0 && imgW > 0 );                                                                                                        // Proper Image Size
        ASSERT_( ROI.xMin >= 0 && ROI.yMin >= 0 && ROI.xMax < imgW && ROI.yMax < imgH );        // Proper TImageROI Limits
 
        // Mask
        CvMatrix mask( imgH, imgW, CV_8UC1 );
        CvScalar zero = cvRealScalar( 0.0 );
        CvScalar one = cvRealScalar( 1.0 );
 
        if( ROI.xMin == 0 && ROI.xMax == 0 && ROI.yMin == 0 && ROI.yMax == 0 )          // Use the whole image (except the borders)
        {
                if( options.patchSize == 0 )
                        selectGoodFeaturesKLT( img, feats, init_ID, nDesiredFeatures, nullptr );
                else
                {
                        // We mask the borders of the image in order to get an appropiate patch (according to the patch size)
                        // ---------------------------------------------------------------------
                        // 00000000000000000000000000000000000
                        // 00000000000000000000000000000000000
                        // 00111111111111111111111111111111100
                        // 00111111111111111111111111111111100
                        // 00111111111111111111111111111111100
                        // 00111111111111111111111111111111100
                        // 00111111111111111111111111111111100
                        // 00111111111111111111111111111111100
                        // 00111111111111111111111111111111100
                        // 00000000000000000000000000000000000
                        // 00000000000000000000000000000000000
 
                        cvSet( mask, one );                                                                                             // Set the whole mask to 1 initially
 
                        size_t border = (options.patchSize-1)/2 + 1;
                        size_t xx,yy;                                                                                                   // Put outside of the "for"s to avoid errors in VC6
                        for( xx = 0; xx < imgW; xx++ )
                                for( yy = 0; yy < border; yy++ )
                                        cvSet2D( mask, yy, xx, zero );                                                  // Set to 0 the pixels not to be processed
 
                        for( xx = 0; xx < imgW; xx++ )
                                for( yy = imgH - border; yy < imgH; yy++ )
                                        cvSet2D( mask, yy, xx, zero );                                                  // Set to 0 the pixels not to be processed
 
                        for( xx = 0; xx < border; xx++ )
                                for( yy = border; yy < imgH - border; yy++ )
                                        cvSet2D( mask, yy, xx, zero ) ;                                                 // Set to 0 the pixels not to be processed
 
                        for( xx = imgW - border; xx < imgW; xx++ )
                                for( yy = border; yy < imgH - border; yy++ )
                                        cvSet2D( mask, yy, xx, zero ) ;                                                 // Set to 0 the pixels not to be processed
 
                        selectGoodFeaturesKLT( img, feats, init_ID, nDesiredFeatures, &mask );
                } // end if-else patchSize == 0
        } // end if ROI does not exist
        else
        {
                cvSet( mask, zero );                                                                                            // Set the whole mask to 0 initially
                for( unsigned int xx = ROI.xMin; xx < ROI.xMax; xx++ )
                        for( unsigned int yy = ROI.yMin; yy < ROI.yMax; yy++ )
                                cvSet2D( mask, yy, xx, one) ;                                                           // Set to 1 the pixels to be processed
 
                selectGoodFeaturesKLT( img, feats, init_ID, nDesiredFeatures, &mask );
        } // end if-else there exists a ROI
#else
        THROW_EXCEPTION("MRPT was compiled without OpenCV")
#endif
}
 
#endif