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/*
* Copyright (C) 2009-2012 Samuel Audet
*
* Licensed either under the Apache License, Version 2.0, or (at your option)
* under the terms of the GNU General Public License as published by
* the Free Software Foundation (subject to the "Classpath" exception),
* either version 2, or any later version (collectively, the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/
* http://www.gnu.org/software/classpath/license.html
*
* or as provided in the LICENSE.txt file that accompanied this code.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.bytedeco.javacv;
import java.util.Arrays;
import org.bytedeco.javacv.ImageTransformer.Data;
import org.bytedeco.javacv.ImageTransformer.Parameters;
import static org.bytedeco.javacpp.opencv_core.*;
import static org.bytedeco.javacpp.opencv_imgproc.*;
/**
*
* @author Samuel Audet
*/
public class GNImageAligner implements ImageAligner {
public GNImageAligner(ImageTransformer transformer, Parameters initialParameters,
IplImage template0, double[] roiPts, IplImage target0) {
this(transformer, initialParameters, template0, roiPts, target0, new Settings());
}
public GNImageAligner(ImageTransformer transformer, Parameters initialParameters,
IplImage template0, double[] roiPts, IplImage target0, Settings settings) {
this(transformer, initialParameters);
setSettings(settings);
final int minLevel = settings.pyramidLevelMin;
final int maxLevel = settings.pyramidLevelMax;
this.template = new IplImage[maxLevel+1];
this.target = new IplImage[maxLevel+1];
this.transformed = new IplImage[maxLevel+1];
this.residual = new IplImage[maxLevel+1];
this.mask = new IplImage[maxLevel+1];
int w = template0 != null ? template0.width() : target0.width();
int h = template0 != null ? template0.height() : target0.height();
int c = template0 != null ? template0.nChannels() : target0.nChannels();
int o = template0 != null ? template0.origin() : target0.origin();
for (int i = minLevel; i <= maxLevel; i++) {
if (i == minLevel && (template0 != null && template0.depth() == IPL_DEPTH_32F)) {
template[i] = template0;
} else {
template[i] = IplImage.create(w, h, IPL_DEPTH_32F, c, o);
}
if (i == minLevel && (target0 != null && target0.depth() == IPL_DEPTH_32F)) {
target[i] = target0;
} else {
target[i] = IplImage.create(w, h, IPL_DEPTH_32F, c, o);
}
transformed[i] = IplImage.create(w, h, IPL_DEPTH_32F, c, o);
residual [i] = IplImage.create(w, h, IPL_DEPTH_32F, c, o);
mask [i] = IplImage.create(w, h, IPL_DEPTH_8U, 1, o);
w /= 2;
h /= 2;
}
this.hessianGradientTransformerData = new Data[n];
for (int i = 0; i < n; i++) {
hessianGradientTransformerData[i] = new Data(template[pyramidLevel],
transformed[pyramidLevel], residual[pyramidLevel], mask[pyramidLevel],
0, 0, pyramidLevel, null, null, n);
}
this.residualTransformerData = new Data[] { new Data(template[pyramidLevel],
target[pyramidLevel], null, mask[pyramidLevel],
0, 0, pyramidLevel, transformed[pyramidLevel], residual[pyramidLevel], 1) };
setConstrained(settings.constrained);
setTemplateImage(template0, roiPts);
setTargetImage(target0);
}
protected GNImageAligner(ImageTransformer transformer, Parameters initialParameters) {
this.n = initialParameters.size();
this.srcRoiPts = CvMat.create(4, 1, CV_64F, 2);
this.dstRoiPts = CvMat.create(4, 1, CV_64F, 2);
this.dstRoiPtsArray = new CvPoint(4);
this.roi = new CvRect();
this.temproi = new CvRect();
this.transformer = transformer;
this.parameters = initialParameters.clone();
this.parametersArray = new Parameters[] { parameters };
this.tempParameters = new Parameters[n];
for (int i = 0; i < tempParameters.length; i++) {
this.tempParameters[i] = initialParameters.clone();
}
subspaceParameters = parameters.getSubspace();
if (subspaceParameters != null) {
tempSubspaceParameters = new double[Parallel.getNumThreads()][];
for (int i = 0; i < tempSubspaceParameters.length; i++) {
tempSubspaceParameters[i] = subspaceParameters.clone();
}
// for (double d : subspaceParameters) {
// System.out.print(d + " ");
// }
// System.out.println();
}
}
public static class Settings extends ImageAligner.Settings implements Cloneable {
public Settings() { }
public Settings(Settings s) {
super(s);
stepSize = s.stepSize;
lineSearch = s.lineSearch;
deltaMin = s.deltaMin;
deltaMax = s.deltaMax;
displacementMax = s.displacementMax;
alphaSubspace = s.alphaSubspace;
alphaTikhonov = s.alphaTikhonov;
gammaTgamma = s.gammaTgamma;
constrained = s.constrained;
}
double stepSize = 0.1;
double[] lineSearch = {1.0, 0.25};
double deltaMin = 10;
double deltaMax = 300;
double displacementMax = 0.2;
double alphaSubspace = 0.1;
double alphaTikhonov = 0;
CvMat gammaTgamma = null;
boolean constrained = false;
public double getStepSize() {
return stepSize;
}
public void setStepSize(double stepSize) {
this.stepSize = stepSize;
}
public double[] getLineSearch() {
return lineSearch;
}
public void setLineSearch(double[] lineSearch) {
this.lineSearch = lineSearch;
}
public double getDeltaMin() {
return deltaMin;
}
public void setDeltaMin(double deltaMin) {
this.deltaMin = deltaMin;
}
public double getDeltaMax() {
return deltaMax;
}
public void setDeltaMax(double deltaMax) {
this.deltaMax = deltaMax;
}
public double getDisplacementMax() {
return displacementMax;
}
public void setDisplacementMax(double displacementMax) {
this.displacementMax = displacementMax;
}
public double getAlphaSubspace() {
return alphaSubspace;
}
public void setAlphaSubspace(double alphaSubspace) {
this.alphaSubspace = alphaSubspace;
}
public double getAlphaTikhonov() {
return alphaTikhonov;
}
public void setAlphaTikhonov(double alphaTikhonov) {
this.alphaTikhonov = alphaTikhonov;
}
public CvMat getGammaTgamma() {
return gammaTgamma;
}
public void setGammaTgamma(CvMat gammaTgamma) {
this.gammaTgamma = gammaTgamma;
}
// public boolean isConstrained() {
// return constrained;
// }
// public void setConstrained(boolean constrained) {
// this.constrained = constrained;
// }
@Override public Settings clone() {
return new Settings(this);
}
}
protected Settings settings;
public Settings getSettings() {
return settings;
}
public void setSettings(ImageAligner.Settings settings) {
this.settings = (Settings)settings;
}
protected final int n;
protected IplImage[] template, target, transformed, residual, mask;
protected IplImage[] images = new IplImage[5];
protected CvMat srcRoiPts, dstRoiPts;
protected CvPoint dstRoiPtsArray;
protected CvRect roi, temproi;
protected ImageTransformer transformer;
protected Data[] hessianGradientTransformerData, residualTransformerData;
protected Parameters parameters, parametersArray[], tempParameters[], priorParameters;
protected CvMat hessian, gradient, update, prior;
protected double[] constraintGrad, subspaceResidual, subspaceJacobian[], updateScale;
protected boolean[] subspaceCorrelated;
protected int pyramidLevel;
protected double RMSE;
protected boolean residualUpdateNeeded = true;
protected int lastLinePosition = 0;
protected int trials = 0;
// protected double prevOutlierRatio = 0;
protected double[] subspaceParameters, tempSubspaceParameters[];
public IplImage getTemplateImage() {
return template[pyramidLevel];
}
public void setTemplateImage(IplImage template0, double[] roiPts) {
final int minLevel = settings.pyramidLevelMin;
final int maxLevel = settings.pyramidLevelMax;
if (roiPts == null && template0 != null) {
int w = template0.width() << minLevel;
int h = template0.height() << minLevel;
this.srcRoiPts.put(0.0, 0.0, w, 0.0, w, h, 0, h);
} else if (roiPts != null) {
this.srcRoiPts.put(roiPts);
}
if (template0 == null) {
return;
}
if (template0.depth() == IPL_DEPTH_32F) {
template[minLevel] = template0;
} else {
cvConvertScale(template0, template[minLevel], 1.0/template0.highValue(), 0);
}
for (int i = minLevel+1; i <= maxLevel; i++) {
cvPyrDown(template[i-1], template[i], CV_GAUSSIAN_5x5);
}
setPyramidLevel(maxLevel);
}
public IplImage getTargetImage() {
return target[pyramidLevel];
}
public void setTargetImage(IplImage target0) {
final int minLevel = settings.pyramidLevelMin;
final int maxLevel = settings.pyramidLevelMax;
if (target0 == null) {
return;
}
if (target0.depth() == IPL_DEPTH_32F) {
target[minLevel] = target0;
}
if (settings.displacementMax > 0) {
transformer.transform(srcRoiPts, dstRoiPts, parameters, false);
double[] pts = dstRoiPts.get();
for (int i = 0; i < pts.length; i++) {
pts[i] /= (1< prevRMSE; j++) {
RMSE = prevRMSE;
parameters.set(resetParameters);
if (subspaceParameters != null) {
System.arraycopy(resetSubspaceParameters, 0, subspaceParameters, 0, subspaceParameters.length);
}
lastLinePosition = j;
for (int i = 0; i < n; i++) {
parameters.set(i, parameters.get(i) + settings.lineSearch[j]*update.get(i)*updateScale[i]);
}
for (int i = n; i < update.length(); i++) {
subspaceParameters[i-n] += settings.lineSearch[j]*update.get(i)*updateScale[i];
}
residualUpdateNeeded = true;
}
double deltaNorm = 0;
if (delta != null) {
for (int i = 0; i < delta.length && i < updateScale.length; i++) {
delta[i] = settings.lineSearch[lastLinePosition]*update.get(i)*updateScale[i];
}
deltaNorm = JavaCV.norm(Arrays.copyOf(delta, n));
}
boolean invalid = getRMSE() > prevRMSE || deltaNorm > settings.deltaMax ||
Double.isNaN(RMSE) || Double.isInfinite(RMSE);
if (invalid) {
RMSE = prevRMSE;
parameters.set(prevParameters);
if (subspaceParameters != null) {
System.arraycopy(prevSubspaceParameters, 0, subspaceParameters, 0, subspaceParameters.length);
}
residualUpdateNeeded = true;
}
if (invalid && deltaNorm > settings.deltaMin && ++trials < 2) {
return false;
} else if (invalid || deltaNorm < settings.deltaMin) {
trials = 0;
if (pyramidLevel > settings.pyramidLevelMin) {
setPyramidLevel(pyramidLevel-1);
} else {
converged = true;
}
} else {
trials = 0;
}
return converged;
}
protected void doHessianGradient(final double[] scale) {
final double constraintError = parameters.getConstraintError();
final double stepSize = settings.stepSize;
cvSetZero(gradient);
cvSetZero(hessian);
Parallel.loop(0, n, new Parallel.Looper() {
public void loop(int from, int to, int looperID) {
// for (int i = 0; i < n; i++) {
for (int i = from; i < to; i++) {
tempParameters[i].set(parameters);
tempParameters[i].set(i, tempParameters[i].get(i) + /*(1< 0 &&
settings.alphaSubspace != 0.0) {
final int m = subspaceParameters.length;
// double[][] subspaceHessian = new double[n+m][n+m];
// double[] subspaceGradient = new double[n+m];
Arrays.fill(subspaceCorrelated, false);
tempParameters[0].set(parameters);
tempParameters[0].setSubspace(subspaceParameters);
Parallel.loop(0, n+m, tempSubspaceParameters.length, new Parallel.Looper() {
public void loop(int from, int to, int looperID) {
// int looperID = 0;
// for (int i = 0; i < n+m; i++) {
for (int i = from; i < to; i++) {
if (i < n) {
Arrays.fill(subspaceJacobian[i], 0);
subspaceJacobian[i][i] = scale[i];
} else {
System.arraycopy(subspaceParameters, 0, tempSubspaceParameters[looperID], 0, m);
tempSubspaceParameters[looperID][i-n] += stepSize;
tempParameters[i-n+1].set(parameters);
tempParameters[i-n+1].setSubspace(tempSubspaceParameters[looperID]);
scale[i] = tempSubspaceParameters[looperID][i-n] - subspaceParameters[i-n];
for (int j = 0; j < n; j++) {
subspaceJacobian[i][j] = tempParameters[0].get(j) - tempParameters[i-n+1].get(j);
subspaceCorrelated[j] |= subspaceJacobian[i][j] != 0; // this may not work in parallel...
}
}
}}});
int subspaceCorrelatedCount = 0;
// double subspaceRMSE = 0;
for (int i = 0; i < n; i++) {
subspaceResidual[i] = parameters.get(i) - tempParameters[0].get(i);
// subspaceRMSE += subspaceResidual[i]*subspaceResidual[i];
if (subspaceCorrelated[i]) {
subspaceCorrelatedCount++;
}
}
// subspaceRMSE = Math.sqrt(subspaceRMSE/n);
//System.out.println((float)RMSE + " " + (float)subspaceRMSE);
final double K = settings.alphaSubspace*settings.alphaSubspace * RMSE*RMSE/
subspaceCorrelatedCount;//(subspaceRMSE*subspaceRMSE);
Parallel.loop(0, n+m, new Parallel.Looper() {
public void loop(int from, int to, int looperID) {
// int looperID = 0;
// for (int i = 0; i < n+m; i++) {
for (int i = from; i < to; i++) {
if (i < n && !subspaceCorrelated[i]) {
continue;
}
for (int j = i; j < n+m; j++) {
if (j < n && !subspaceCorrelated[j]) {
continue;
}
double h = 0;
for (int k = 0; k < n; k++) {
h += subspaceJacobian[i][k]*subspaceJacobian[j][k];
}
// subspaceHessian[i][j] = h;
h = hessian.get(i, j) + K*h;
hessian.put(i, j, h);
hessian.put(j, i, h);
}
double g = 0;
for (int k = 0; k < n; k++) {
g -= subspaceJacobian[i][k]*subspaceResidual[k];
}
// subspaceGradient[i] = g;
g = gradient.get(i) + K*g;
gradient.put(i, g);
}}});
}
// add Tikhonov regularization
int rows = hessian.rows(), cols = hessian.cols();
for (int i = 0; i < rows; i++) {
for (int j = 0; j < cols; j++) {
double h = hessian.get(i, j);
double g = 0;
if (settings.gammaTgamma != null && i < settings.gammaTgamma.rows() && j < settings.gammaTgamma.cols()) {
g = settings.gammaTgamma.get(i, j);
}
double a = 0;
if (i == j && i < n) {
a = settings.alphaTikhonov * settings.alphaTikhonov;
}
hessian.put(i, j, h + g + a);
}
}
}
protected void doRoi() {
transformer.transform(srcRoiPts, dstRoiPts, parameters, false);
double[] pts = dstRoiPts.get();
for (int i = 0; i < pts.length; i++) {
pts[i] /= (1< © 2015 - 2024 Weber Informatics LLC | Privacy Policy