CRPatch.cpp

/* 
// Author: Juergen Gall, BIWI, ETH Zurich
// Email: gall@vision.ee.ethz.ch
*/

#include "CRPatch.h"
#include <deque>

using namespace std;
using namespace cv;

void CRPatch::extractPatches(const Mat& img, unsigned int n, int label, const cv::Rect* box, const std::vector<cv::Point>* vCenter) {
	// extract features
	vector<cv::Mat> vImg;
	extractFeatureChannels(img, vImg);
	int offx = width/2;
	int offy = height/2;

	// generate x,y locations
//	Mat locations( n, 1, CV_32SC2, Scalar::all(0));
//	if(box==0)
//		cvRandArr( cvRNG, locations, CV_RAND_UNI, cvScalar(0,0,0,0), cvScalar(img->width-width,img->height-height,0,0) );
//	else
//		cvRandArr( cvRNG, locations, CV_RAND_UNI, cvScalar(box->x,box->y,0,0), cvScalar(box->x+box->width-width,box->y+box->height-height,0,0) );

	vector<cv::Point> locations((size_t)n);
	if(!box)
		cvRNG->fill(locations, CV_RAND_UNI, cv::Scalar(0,0,0,0), cv::Scalar(img.cols-width, img.rows-height, 0, 0));
	else
		cvRNG->fill(locations, CV_RAND_UNI, Scalar(box->x, box->y, 0, 0), Scalar(box->x+box->width-width, box->y+box->height-height, 0, 0));
	// reserve memory
	unsigned int offset = vLPatches[label].size();
	vLPatches[label].reserve(offset+n);
	for(unsigned int i=0; i<n; ++i) {
		const cv::Point& pt = locations[i];
		PatchFeature pf;
		vLPatches[label].push_back(pf);

		vLPatches[label].back().roi.x = pt.x;  vLPatches[label].back().roi.y = pt.y;
		vLPatches[label].back().roi.width = width;  vLPatches[label].back().roi.height = height;

		if(vCenter) {
			vLPatches[label].back().center.resize(vCenter->size());
			for(unsigned int c = 0; c<vCenter->size(); ++c) {
				vLPatches[label].back().center[c].x = pt.x + offx - (*vCenter)[c].x;
				vLPatches[label].back().center[c].y = pt.y + offy - (*vCenter)[c].y;
			}
		}

		vLPatches[label].back().vPatch.resize(vImg.size());

		for(unsigned int c=0; c<vImg.size(); ++c) {
//			cvGetSubRect( vImg[c], &tmp,  vLPatches[label].back().roi );
//			vLPatches[label].back().vPatch[c] = cvCloneMat(&tmp);
			vImg[c](vLPatches[label].back().roi).copyTo(vLPatches[label].back().vPatch[c]);
		}
	}
}

void CRPatch::extractFeatureChannels(const cv::Mat& img, std::vector<cv::Mat>& vImg) {
	// 32 feature channels
	// 7+9 channels: L, a, b, |I_x|, |I_y|, |I_xx|, |I_yy|, HOGlike features with 9 bins (weighted orientations 5x5 neighborhood)
	// 16+16 channels: minfilter + maxfilter on 5x5 neighborhood 

	vImg.resize(32);
	for(unsigned int c=0; c<vImg.size(); ++c)
		vImg[c].create(img.size(), CV_8UC1);
		//vImg[c] = cvCreateImage(cvSize(imwidth,img->height), IPL_DEPTH_8U , 1);

	// Get intensity
	cvtColor( img, vImg[0], CV_RGB2GRAY );

	// Temporary images for computing I_x, I_y (Avoid overflow for cvSobel)
//	Mat I_x(img.size(), CV_16SC1);
//	Mat I_y(img.size(), CV_16SC1);
	Mat I_x, I_y;
	
	// |I_x|, |I_y|
	cv::Sobel(vImg[0],I_x, CV_16S, 1,0);
	cv::Sobel(vImg[0],I_y, CV_16S, 0,1);

	convertScaleAbs( I_x, vImg[3], 0.25);

	convertScaleAbs( I_y, vImg[4], 0.25);
	
	{
	  // Orientation of gradients
	  for(int y = 0; y < img.rows; y++)
	    for(int x = 0; x < img.cols; x++ ) {
	      // Avoid division by zero
		    short ix = I_x.at<short>(y,x);
		    short iy = I_y.at<short>(y,x);
		    float tx = (float)ix + (float)_copysign(0.000001f, (float)ix);
		    // Scaling [-pi/2 pi/2] -> [0 80*pi]
		    vImg[1].at<uchar>(y,x) = (uchar)(( atan((float)iy/tx)+3.14159265f/2.0f ) * 80 );
		    vImg[2].at<uchar>(y,x) = (uchar)( sqrt((float)ix*(float)ix + (float)iy*(float)iy));

		    //float tx = (float)dataX[x] + (float)_copysign(0.000001f, (float)dataX[x]);
	      //dataZ[x]=uchar( ( atan((float)dataY[x]/tx)+3.14159265f/2.0f ) * 80 );
	    }
	}

	// 9-bin HOG feature stored at vImg[7] - vImg[15] 
	hog.extractOBin(vImg[1], vImg[2], vImg, 7);
	
	// |I_xx|, |I_yy|

	cv::Sobel(vImg[0],I_x, CV_16S, 2,0,3);
	convertScaleAbs( I_x, vImg[5], 0.25);
	
	Sobel(vImg[0], I_y, CV_16S, 0,2,3);
	convertScaleAbs(I_y, vImg[6], 0.25);
	
	// L, a, b
	Mat labImg;
	cvtColor( img, labImg, CV_RGB2Lab);

	cv::split(labImg, &vImg[0]);

	// min filter
	for(int c=0; c<16; ++c)
		minfilt(vImg[c], vImg[c+16], 5);

	//max filter
	for(int c=0; c<16; ++c)
		maxfilt(vImg[c], 5);


	
#if 0
	// for debugging only
	char buffer[40];
	for(unsigned int i = 0; i<vImg.size();++i) {
		sprintf_s(buffer,"out-%d.png",i);
		cvNamedWindow(buffer,1);
		cvShowImage(buffer, vImg[i]);
		//cvSaveImage( buffer, vImg[i] );
	}

	cvWaitKey();

	for(unsigned int i = 0; i<vImg.size();++i) {
		sprintf_s(buffer,"%d",i);
		cvDestroyWindow(buffer);
	}
#endif


}

void CRPatch::maxfilt(cv::Mat& src, unsigned int width) {

	uchar* s_data = src.data;
	for(int  y = 0; y < src.rows; y++) {
		maxfilt(s_data+y*src.cols, 1, src.cols, width);
	}

	for(int  x = 0; x < src.cols; x++)
		maxfilt(s_data+x, src.cols, src.rows, width);

}

void CRPatch::maxfilt(cv::Mat& src, cv::Mat& dst, unsigned int width) {

	uchar* s_data = src.data;
	uchar* d_data = dst.data;
	int step = src.cols;

	for(int  y = 0; y < src.rows; y++)
		maxfilt(s_data+y*step, d_data+y*step, 1, src.rows, width);

	for(int  x = 0; x < src.cols; x++)
		maxfilt(d_data+x, step, src.rows, width);

}

void CRPatch::minfilt(cv::Mat& src, unsigned int width) {

	uchar* s_data = src.data;

	for(int  y = 0; y < src.rows; y++)
		minfilt(s_data+y*src.cols, 1, src.cols, width);
	for(int  x = 0; x < src.cols; x++)
		minfilt(s_data+x, src.cols, src.rows, width);

}

void CRPatch::minfilt(Mat& src, Mat& dst, unsigned int width) {

	uchar* s_data = src.data;
	uchar* d_data = dst.data;
	int step = src.cols;
	for(int  y = 0; y < src.rows; y++)
		minfilt(s_data+y*step, d_data+y*step, 1, src.cols, width);

	for(int  x = 0; x < src.cols; x++)
		minfilt(d_data+x, step, src.rows, width);

}


void CRPatch::maxfilt(uchar* data, uchar* maxvalues, unsigned int step, unsigned int size, unsigned int width) {

	unsigned int d = int((width+1)/2)*step; 
	size *= step;
	width *= step;

	maxvalues[0] = data[0];
	for(unsigned int i=0; i < d-step; i+=step) {
		for(unsigned int k=i; k<d+i; k+=step) {
			if(data[k]>maxvalues[i]) maxvalues[i] = data[k];
		}
		maxvalues[i+step] = maxvalues[i];
	}

	maxvalues[size-step] = data[size-step];
	for(unsigned int i=size-step; i > size-d; i-=step) {
		for(unsigned int k=i; k>i-d; k-=step) {
			if(data[k]>maxvalues[i]) maxvalues[i] = data[k];
		}
		maxvalues[i-step] = maxvalues[i];
	}

    deque<int> maxfifo;
    for(unsigned int i = step; i < size; i+=step) {
		if(i >= width) {
			maxvalues[i-d] = data[maxfifo.size()>0 ? maxfifo.front(): i-step];
		}
    
		if(data[i] < data[i-step]) { 

			maxfifo.push_back(i-step);
			if(i==  width+maxfifo.front()) 
				maxfifo.pop_front();

		} else {

			while(maxfifo.size() > 0) {
				if(data[i] <= data[maxfifo.back()]) {
					if(i==  width+maxfifo.front()) 
						maxfifo.pop_front();
				break;
				}
				maxfifo.pop_back();
			}

		}

    }  

    maxvalues[size-d] = data[maxfifo.size()>0 ? maxfifo.front():size-step];
 
}

void CRPatch::maxfilt(uchar* data, unsigned int step, unsigned int size, unsigned int width) {

	unsigned int d = int((width+1)/2)*step; 
	size *= step;
	width *= step;

	deque<uchar> tmp;

	tmp.push_back(data[0]);
	for(unsigned int k=step; k<d; k+=step) {
		if(data[k]>tmp.back()) tmp.back() = data[k];
	}

	for(unsigned int i=step; i < d-step; i+=step) {
		tmp.push_back(tmp.back());
		if(data[i+d-step]>tmp.back()) tmp.back() = data[i+d-step];
	}


    deque<int> minfifo;
    for(unsigned int i = step; i < size; i+=step) {
		if(i >= width) {
			tmp.push_back(data[minfifo.size()>0 ? minfifo.front(): i-step]);
			data[i-width] = tmp.front();
			tmp.pop_front();
		}
    
		if(data[i] < data[i-step]) { 

			minfifo.push_back(i-step);
			if(i==  width+minfifo.front()) 
				minfifo.pop_front();

		} else {

			while(minfifo.size() > 0) {
				if(data[i] <= data[minfifo.back()]) {
					if(i==  width+minfifo.front()) 
						minfifo.pop_front();
				break;
				}
				minfifo.pop_back();
			}

		}

    }  

	tmp.push_back(data[minfifo.size()>0 ? minfifo.front():size-step]);
	
	for(unsigned int k=size-step-step; k>=size-d; k-=step) {
		if(data[k]>data[size-step]) data[size-step] = data[k];
	}

	for(unsigned int i=size-step-step; i >= size-d; i-=step) {
		data[i] = data[i+step];
		if(data[i-d+step]>data[i]) data[i] = data[i-d+step];
	}

	for(unsigned int i=size-width; i<=size-d; i+=step) {
		data[i] = tmp.front();
		tmp.pop_front();
	}
 
}

void CRPatch::minfilt(uchar* data, uchar* minvalues, unsigned int step, unsigned int size, unsigned int width) {

	unsigned int d = int((width+1)/2)*step; 
	size *= step;
	width *= step;

	minvalues[0] = data[0];
	for(unsigned int i=0; i < d-step; i+=step) {
		for(unsigned int k=i; k<d+i; k+=step) {
			if(data[k]<minvalues[i]) minvalues[i] = data[k];
		}
		minvalues[i+step] = minvalues[i];
	}

	minvalues[size-step] = data[size-step];
	for(unsigned int i=size-step; i > size-d; i-=step) {
		for(unsigned int k=i; k>i-d; k-=step) {
			if(data[k]<minvalues[i]) minvalues[i] = data[k];
		}
		minvalues[i-step] = minvalues[i];
	}

    deque<int> minfifo;
    for(unsigned int i = step; i < size; i+=step) {
		if(i >= width) {
			minvalues[i-d] = data[minfifo.size()>0 ? minfifo.front(): i-step];
		}
    
		if(data[i] > data[i-step]) { 

			minfifo.push_back(i-step);
			if(i==  width+minfifo.front()) 
				minfifo.pop_front();

		} else {

			while(minfifo.size() > 0) {
				if(data[i] >= data[minfifo.back()]) {
					if(i==  width+minfifo.front()) 
						minfifo.pop_front();
				break;
				}
				minfifo.pop_back();
			}

		}

    }  

    minvalues[size-d] = data[minfifo.size()>0 ? minfifo.front():size-step];
 
}

void CRPatch::minfilt(uchar* data, unsigned int step, unsigned int size, unsigned int width) {

	unsigned int d = int((width+1)/2)*step; 
	size *= step;
	width *= step;

	deque<uchar> tmp;

	tmp.push_back(data[0]);
	for(unsigned int k=step; k<d; k+=step) {
		if(data[k]<tmp.back()) tmp.back() = data[k];
	}

	for(unsigned int i=step; i < d-step; i+=step) {
		tmp.push_back(tmp.back());
		if(data[i+d-step]<tmp.back()) tmp.back() = data[i+d-step];
	}


    deque<int> minfifo;
    for(unsigned int i = step; i < size; i+=step) {
		if(i >= width) {
			tmp.push_back(data[minfifo.size()>0 ? minfifo.front(): i-step]);
			data[i-width] = tmp.front();
			tmp.pop_front();
		}
    
		if(data[i] > data[i-step]) { 

			minfifo.push_back(i-step);
			if(i==  width+minfifo.front()) 
				minfifo.pop_front();

		} else {

			while(minfifo.size() > 0) {
				if(data[i] >= data[minfifo.back()]) {
					if(i==  width+minfifo.front()) 
						minfifo.pop_front();
				break;
				}
				minfifo.pop_back();
			}

		}

    }  

	tmp.push_back(data[minfifo.size()>0 ? minfifo.front():size-step]);
	
	for(unsigned int k=size-step-step; k>=size-d; k-=step) {
		if(data[k]<data[size-step]) data[size-step] = data[k];
	}

	for(unsigned int i=size-step-step; i >= size-d; i-=step) {
		data[i] = data[i+step];
		if(data[i-d+step]<data[i]) data[i] = data[i-d+step];
	}
 
	for(unsigned int i=size-width; i<=size-d; i+=step) {
		data[i] = tmp.front();
		tmp.pop_front();
	}
}

void CRPatch::maxminfilt(uchar* data, uchar* maxvalues, uchar* minvalues, unsigned int step, unsigned int size, unsigned int width) {

	unsigned int d = int((width+1)/2)*step; 
	size *= step;
	width *= step;

	maxvalues[0] = data[0];
	minvalues[0] = data[0];
	for(unsigned int i=0; i < d-step; i+=step) {
		for(unsigned int k=i; k<d+i; k+=step) {
			if(data[k]>maxvalues[i]) maxvalues[i] = data[k];
			if(data[k]<minvalues[i]) minvalues[i] = data[k];
		}
		maxvalues[i+step] = maxvalues[i];
		minvalues[i+step] = minvalues[i];
	}

	maxvalues[size-step] = data[size-step];
	minvalues[size-step] = data[size-step];
	for(unsigned int i=size-step; i > size-d; i-=step) {
		for(unsigned int k=i; k>i-d; k-=step) {
			if(data[k]>maxvalues[i]) maxvalues[i] = data[k];
			if(data[k]<minvalues[i]) minvalues[i] = data[k];
		}
		maxvalues[i-step] = maxvalues[i];
		minvalues[i-step] = minvalues[i];
	}

    deque<int> maxfifo, minfifo;

    for(unsigned int i = step; i < size; i+=step) {
		if(i >= width) {
			maxvalues[i-d] = data[maxfifo.size()>0 ? maxfifo.front(): i-step];
			minvalues[i-d] = data[minfifo.size()>0 ? minfifo.front(): i-step];
		}
    
		if(data[i] > data[i-step]) { 

			minfifo.push_back(i-step);
			if(i==  width+minfifo.front()) 
				minfifo.pop_front();
			while(maxfifo.size() > 0) {
				if(data[i] <= data[maxfifo.back()]) {
					if (i==  width+maxfifo.front()) 
						maxfifo.pop_front();
					break;
				}
				maxfifo.pop_back();
			}

		} else {

			maxfifo.push_back(i-step);
			if (i==  width+maxfifo.front()) 
				maxfifo.pop_front();
			while(minfifo.size() > 0) {
				if(data[i] >= data[minfifo.back()]) {
					if(i==  width+minfifo.front()) 
						minfifo.pop_front();
				break;
				}
				minfifo.pop_back();
			}

		}

    }  

    maxvalues[size-d] = data[maxfifo.size()>0 ? maxfifo.front():size-step];
	minvalues[size-d] = data[minfifo.size()>0 ? minfifo.front():size-step];
 
}