modules/ocl/cv_feature_match.cpp - platform/external/libxcam - Git at Google

 /*
  * cv_feature_match.cpp - optical flow feature match
  *
  *  Copyright (c) 2016-2017 Intel Corporation
  *
  * Licensed under the Apache License, Version 2.0 (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
  *
  * 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.
  *
  * Author: Wind Yuan <[email protected]>
  * Author: Yinhang Liu <[email protected]>
  */

 #include "cv_feature_match.h"
 #include "xcam_obj_debug.h"
 #include "image_file_handle.h"
 #include "cl_utils.h"

 #define XCAM_CV_FM_DEBUG 0
 #define XCAM_CV_OF_DRAW_SCALE 2

 namespace XCam {
 #if XCAM_CV_FM_DEBUG
 static void debug_write_image (
     const SmartPtr<VideoBuffer> &buf, const Rect &rect, char *img_name, char *frame_str, char *fm_idx_str);
 #endif

 CVFeatureMatch::CVFeatureMatch ()
     : CVBaseClass ()
     , FeatureMatch ()
 {
     XCAM_ASSERT (_cv_context.ptr ());
 }

 bool
 CVFeatureMatch::get_crop_image (
     const SmartPtr<VideoBuffer> &buffer, const Rect &crop_rect, cv::UMat &img)
 {
     SmartPtr<CLBuffer> cl_buffer = convert_to_clbuffer (_cv_context->get_cl_context (), buffer);
     VideoBufferInfo info = buffer->get_video_info ();
     cl_mem cl_mem_id = cl_buffer->get_mem_id ();

     cv::UMat umat;
     cv::ocl::convertFromBuffer (cl_mem_id, info.strides[0], info.height, info.width, CV_8U, umat);
     if (umat.empty ()) {
         XCAM_LOG_ERROR ("FeatureMatch(idx:%d): convert bo buffer to UMat failed", _fm_idx);
         return false;
     }

     img = umat (cv::Rect(crop_rect.pos_x, crop_rect.pos_y, crop_rect.width, crop_rect.height));

     return true;
 }

 void
 CVFeatureMatch::add_detected_data (
     cv::InputArray image, cv::Ptr<cv::Feature2D> detector, std::vector<cv::Point2f> &corners)
 {
     std::vector<cv::KeyPoint> keypoints;
     detector->detect (image, keypoints);
     corners.reserve (corners.size () + keypoints.size ());
     for (size_t i = 0; i < keypoints.size (); ++i) {
         cv::KeyPoint &kp = keypoints[i];
         corners.push_back (kp.pt);
     }
 }

 void
 CVFeatureMatch::get_valid_offsets (
     std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
     std::vector<uchar> &status, std::vector<float> &error,
     std::vector<float> &offsets, float &sum, int &count,
     cv::InputOutputArray debug_img, cv::Size &img0_size)
 {
     count = 0;
     sum = 0.0f;
     for (uint32_t i = 0; i < status.size (); ++i) {
         if (!status[i])
             continue;

 #if XCAM_CV_FM_DEBUG
         cv::Point start = cv::Point(corner0[i]) * XCAM_CV_OF_DRAW_SCALE;
         cv::circle (debug_img, start, 4, cv::Scalar(255), XCAM_CV_OF_DRAW_SCALE);
 #endif
         if (error[i] > _config.max_track_error)
             continue;
         if (fabs(corner0[i].y - corner1[i].y) >= _config.max_valid_offset_y)
             continue;
         if (corner1[i].x < 0.0f || corner1[i].x > img0_size.width)
             continue;

         float offset = corner1[i].x - corner0[i].x;
         sum += offset;
         ++count;
         offsets.push_back (offset);

 #if XCAM_CV_FM_DEBUG
         cv::Point end = (cv::Point(corner1[i]) + cv::Point (img0_size.width, 0)) * XCAM_CV_OF_DRAW_SCALE;
         cv::line (debug_img, start, end, cv::Scalar(255), XCAM_CV_OF_DRAW_SCALE);
 #else
         XCAM_UNUSED (debug_img);
         XCAM_UNUSED (img0_size);
 #endif
     }
 }

 void
 CVFeatureMatch::calc_of_match (
     cv::InputArray image0, cv::InputArray image1,
     std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
     std::vector<uchar> &status, std::vector<float> &error,
     int &last_count, float &last_mean_offset, float &out_x_offset)
 {
     cv::_InputOutputArray debug_img;
     cv::Size img0_size = image0.size ();
     cv::Size img1_size = image1.size ();
     XCAM_ASSERT (img0_size.height == img1_size.height);

 #if XCAM_CV_FM_DEBUG
     cv::Mat mat;
     cv::UMat umat;
     cv::Size size (img0_size.width + img1_size.width, img0_size.height);

     if (image0.isUMat ()) {
         umat.create (size, image0.type ());
         debug_img = cv::_InputOutputArray (umat);

         image0.copyTo (umat (cv::Rect(0, 0, img0_size.width, img0_size.height)));
         image1.copyTo (umat (cv::Rect(img0_size.width, 0, img1_size.width, img1_size.height)));
         umat.copyTo (debug_img);
     } else {
         mat.create (size, image0.type ());
         debug_img = cv::_InputOutputArray (mat);

         image0.copyTo (mat (cv::Rect(0, 0, img0_size.width, img0_size.height)));
         image1.copyTo (mat (cv::Rect(img0_size.width, 0, img1_size.width, img1_size.height)));
         mat.copyTo (debug_img);
     }

     cv::Size scale_size = size * XCAM_CV_OF_DRAW_SCALE;
     cv::resize (debug_img, debug_img, scale_size, 0, 0);
 #endif

     std::vector<float> offsets;
     float offset_sum = 0.0f;
     int count = 0;
     float mean_offset = 0.0f;
     offsets.reserve (corner0.size ());
     get_valid_offsets (corner0, corner1, status, error,
                        offsets, offset_sum, count, debug_img, img0_size);
 #if XCAM_CV_FM_DEBUG
     XCAM_LOG_INFO ("FeatureMatch(idx:%d): valid offsets:%d", _fm_idx, offsets.size ());
     char file_name[256];
     std::snprintf (file_name, 256, "fm_optical_flow_%d_%d.jpg", _frame_num, _fm_idx);
     cv::imwrite (file_name, debug_img);
 #endif

     bool ret = get_mean_offset (offsets, offset_sum, count, mean_offset);
     if (ret) {
         if (fabs (mean_offset - last_mean_offset) < _config.delta_mean_offset) {
             out_x_offset = out_x_offset * _config.offset_factor + mean_offset * (1.0f - _config.offset_factor);

             if (fabs (out_x_offset) > _config.max_adjusted_offset)
                 out_x_offset = (out_x_offset > 0.0f) ? _config.max_adjusted_offset : (-_config.max_adjusted_offset);
         }
     }

     last_count = count;
     last_mean_offset = mean_offset;
 }

 void
 CVFeatureMatch::detect_and_match (
     cv::InputArray img_left, cv::InputArray img_right, Rect &crop_left, Rect &crop_right,
     int &valid_count, float &mean_offset, float &x_offset, int dst_width)
 {
     std::vector<float> err;
     std::vector<uchar> status;
     std::vector<cv::Point2f> corner_left, corner_right;
     cv::Ptr<cv::Feature2D> fast_detector;
     cv::Size win_size = cv::Size (5, 5);

     if (img_left.isUMat ())
         win_size = cv::Size (16, 16);

     fast_detector = cv::FastFeatureDetector::create (20, true);
     add_detected_data (img_left, fast_detector, corner_left);

     if (corner_left.empty ()) {
         return;
     }

     cv::calcOpticalFlowPyrLK (
         img_left, img_right, corner_left, corner_right, status, err, win_size, 3,
         cv::TermCriteria (cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 10, 0.01f));
     cv::ocl::finish();

     calc_of_match (img_left, img_right, corner_left, corner_right,
                    status, err, valid_count, mean_offset, x_offset);

     adjust_stitch_area (dst_width, x_offset, crop_left, crop_right);

 #if XCAM_CV_FM_DEBUG
     XCAM_LOG_INFO (
         "FeatureMatch(idx:%d): stiching area: left_area(pos_x:%d, width:%d), right_area(pos_x:%d, width:%d)",
         _fm_idx, crop_left.pos_x, crop_left.width, crop_right.pos_x, crop_right.width);
 #endif
 }

 void
 CVFeatureMatch::optical_flow_feature_match (
     const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf,
     Rect &left_crop_rect, Rect &right_crop_rect, int dst_width)
 {
     cv::UMat left_umat, right_umat;
     cv::Mat left_mat, right_mat;
     cv::_InputArray left_img, right_img;

     if (!get_crop_image (left_buf, left_crop_rect, left_umat)
             || !get_crop_image (right_buf, right_crop_rect, right_umat))
         return;

     if (_use_ocl) {
         left_img = cv::_InputArray (left_umat);
         right_img = cv::_InputArray (right_umat);
     } else {
         left_mat = left_umat.getMat (cv::ACCESS_READ);
         right_mat = right_umat.getMat (cv::ACCESS_READ);

         left_img = cv::_InputArray (left_mat);
         right_img = cv::_InputArray (right_mat);
     }

     detect_and_match (left_img, right_img, left_crop_rect, right_crop_rect,
                       _valid_count, _mean_offset, _x_offset, dst_width);

 #if XCAM_CV_FM_DEBUG
     XCAM_ASSERT (_fm_idx >= 0);

     char frame_str[64] = {'\0'};
     std::snprintf (frame_str, 64, "frame:%d", _frame_num);
     char fm_idx_str[64] = {'\0'};
     std::snprintf (fm_idx_str, 64, "fm_idx:%d", _fm_idx);

     char img_name[256] = {'\0'};
     std::snprintf (img_name, 256, "fm_in_stitch_area_%d_%d_0.jpg", _frame_num, _fm_idx);
     debug_write_image (left_buf, left_crop_rect, img_name, frame_str, fm_idx_str);

     std::snprintf (img_name, 256, "fm_in_stitch_area_%d_%d_1.jpg", _frame_num, _fm_idx);
     debug_write_image (right_buf, right_crop_rect, img_name, frame_str, fm_idx_str);

     XCAM_LOG_INFO ("FeatureMatch(idx:%d): frame number:%d done", _fm_idx, _frame_num);
     _frame_num++;
 #endif
 }

 #if XCAM_CV_FM_DEBUG
 static void
 debug_write_image (
     const SmartPtr<VideoBuffer> &buf, const Rect &rect, char *img_name, char *frame_str, char *fm_idx_str)
 {
     cv::Scalar color = cv::Scalar(0, 0, 255);
     VideoBufferInfo info = buf->get_video_info ();

     cv::Mat mat;
     CVBaseClass cv_obj;
     cv_obj.convert_to_mat (buf, mat);

     cv::putText (mat, frame_str, cv::Point(rect.pos_x, 30), cv::FONT_HERSHEY_COMPLEX, 0.8f, color, 2, 8, false);
     cv::putText (mat, fm_idx_str, cv::Point(rect.pos_x, 70), cv::FONT_HERSHEY_COMPLEX, 0.8f, color, 2, 8, false);

     cv::line (mat, cv::Point(rect.pos_x, rect.pos_y), cv::Point(rect.pos_x + rect.width, rect.pos_y), color, 1);
     cv::line (mat, cv::Point(rect.pos_x, rect.pos_y + rect.height),
               cv::Point(rect.pos_x + rect.width, rect.pos_y + rect.height), color, 1);

     cv::line (mat, cv::Point(rect.pos_x, 0), cv::Point(rect.pos_x, info.height), color, 2);
     cv::line (mat, cv::Point(rect.pos_x + rect.width, 0), cv::Point(rect.pos_x + rect.width, info.height), color, 2);

     cv::imwrite (img_name, mat);
 }
 #endif

 }
	/*
	* cv_feature_match.cpp - optical flow feature match
	*
	* Copyright (c) 2016-2017 Intel Corporation
	*
	* Licensed under the Apache License, Version 2.0 (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
	*
	* 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.
	*
	* Author: Wind Yuan <[email protected]>
	* Author: Yinhang Liu <[email protected]>
	*/

	#include "cv_feature_match.h"
	#include "xcam_obj_debug.h"
	#include "image_file_handle.h"
	#include "cl_utils.h"

	#define XCAM_CV_FM_DEBUG 0
	#define XCAM_CV_OF_DRAW_SCALE 2

	namespace XCam {
	#if XCAM_CV_FM_DEBUG
	static void debug_write_image (
	const SmartPtr<VideoBuffer> &buf, const Rect &rect, char img_name, char frame_str, char *fm_idx_str);
	#endif

	CVFeatureMatch::CVFeatureMatch ()
	: CVBaseClass ()
	, FeatureMatch ()
	{
	XCAM_ASSERT (_cv_context.ptr ());
	}

	bool
	CVFeatureMatch::get_crop_image (
	const SmartPtr<VideoBuffer> &buffer, const Rect &crop_rect, cv::UMat &img)
	{
	SmartPtr<CLBuffer> cl_buffer = convert_to_clbuffer (_cv_context->get_cl_context (), buffer);
	VideoBufferInfo info = buffer->get_video_info ();
	cl_mem cl_mem_id = cl_buffer->get_mem_id ();

	cv::UMat umat;
	cv::ocl::convertFromBuffer (cl_mem_id, info.strides[0], info.height, info.width, CV_8U, umat);
	if (umat.empty ()) {
	XCAM_LOG_ERROR ("FeatureMatch(idx:%d): convert bo buffer to UMat failed", _fm_idx);
	return false;
	}

	img = umat (cv::Rect(crop_rect.pos_x, crop_rect.pos_y, crop_rect.width, crop_rect.height));

	return true;
	}

	void
	CVFeatureMatch::add_detected_data (
	cv::InputArray image, cv::Ptr<cv::Feature2D> detector, std::vector<cv::Point2f> &corners)
	{
	std::vector<cv::KeyPoint> keypoints;
	detector->detect (image, keypoints);
	corners.reserve (corners.size () + keypoints.size ());
	for (size_t i = 0; i < keypoints.size (); ++i) {
	cv::KeyPoint &kp = keypoints[i];
	corners.push_back (kp.pt);
	}
	}

	void
	CVFeatureMatch::get_valid_offsets (
	std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
	std::vector<uchar> &status, std::vector<float> &error,
	std::vector<float> &offsets, float &sum, int &count,
	cv::InputOutputArray debug_img, cv::Size &img0_size)
	{
	count = 0;
	sum = 0.0f;
	for (uint32_t i = 0; i < status.size (); ++i) {
	if (!status[i])
	continue;

	#if XCAM_CV_FM_DEBUG
	cv::Point start = cv::Point(corner0[i]) * XCAM_CV_OF_DRAW_SCALE;
	cv::circle (debug_img, start, 4, cv::Scalar(255), XCAM_CV_OF_DRAW_SCALE);
	#endif
	if (error[i] > _config.max_track_error)
	continue;
	if (fabs(corner0[i].y - corner1[i].y) >= _config.max_valid_offset_y)
	continue;
	if (corner1[i].x < 0.0f \|\| corner1[i].x > img0_size.width)
	continue;

	float offset = corner1[i].x - corner0[i].x;
	sum += offset;
	++count;
	offsets.push_back (offset);

	#if XCAM_CV_FM_DEBUG
	cv::Point end = (cv::Point(corner1[i]) + cv::Point (img0_size.width, 0)) * XCAM_CV_OF_DRAW_SCALE;
	cv::line (debug_img, start, end, cv::Scalar(255), XCAM_CV_OF_DRAW_SCALE);
	#else
	XCAM_UNUSED (debug_img);
	XCAM_UNUSED (img0_size);
	#endif
	}
	}

	void
	CVFeatureMatch::calc_of_match (
	cv::InputArray image0, cv::InputArray image1,
	std::vector<cv::Point2f> &corner0, std::vector<cv::Point2f> &corner1,
	std::vector<uchar> &status, std::vector<float> &error,
	int &last_count, float &last_mean_offset, float &out_x_offset)
	{
	cv::_InputOutputArray debug_img;
	cv::Size img0_size = image0.size ();
	cv::Size img1_size = image1.size ();
	XCAM_ASSERT (img0_size.height == img1_size.height);

	#if XCAM_CV_FM_DEBUG
	cv::Mat mat;
	cv::UMat umat;
	cv::Size size (img0_size.width + img1_size.width, img0_size.height);

	if (image0.isUMat ()) {
	umat.create (size, image0.type ());
	debug_img = cv::_InputOutputArray (umat);

	image0.copyTo (umat (cv::Rect(0, 0, img0_size.width, img0_size.height)));
	image1.copyTo (umat (cv::Rect(img0_size.width, 0, img1_size.width, img1_size.height)));
	umat.copyTo (debug_img);
	} else {
	mat.create (size, image0.type ());
	debug_img = cv::_InputOutputArray (mat);

	image0.copyTo (mat (cv::Rect(0, 0, img0_size.width, img0_size.height)));
	image1.copyTo (mat (cv::Rect(img0_size.width, 0, img1_size.width, img1_size.height)));
	mat.copyTo (debug_img);
	}

	cv::Size scale_size = size * XCAM_CV_OF_DRAW_SCALE;
	cv::resize (debug_img, debug_img, scale_size, 0, 0);
	#endif

	std::vector<float> offsets;
	float offset_sum = 0.0f;
	int count = 0;
	float mean_offset = 0.0f;
	offsets.reserve (corner0.size ());
	get_valid_offsets (corner0, corner1, status, error,
	offsets, offset_sum, count, debug_img, img0_size);
	#if XCAM_CV_FM_DEBUG
	XCAM_LOG_INFO ("FeatureMatch(idx:%d): valid offsets:%d", _fm_idx, offsets.size ());
	char file_name[256];
	std::snprintf (file_name, 256, "fm_optical_flow_%d_%d.jpg", _frame_num, _fm_idx);
	cv::imwrite (file_name, debug_img);
	#endif

	bool ret = get_mean_offset (offsets, offset_sum, count, mean_offset);
	if (ret) {
	if (fabs (mean_offset - last_mean_offset) < _config.delta_mean_offset) {
	out_x_offset = out_x_offset * _config.offset_factor + mean_offset * (1.0f - _config.offset_factor);

	if (fabs (out_x_offset) > _config.max_adjusted_offset)
	out_x_offset = (out_x_offset > 0.0f) ? _config.max_adjusted_offset : (-_config.max_adjusted_offset);
	}
	}

	last_count = count;
	last_mean_offset = mean_offset;
	}

	void
	CVFeatureMatch::detect_and_match (
	cv::InputArray img_left, cv::InputArray img_right, Rect &crop_left, Rect &crop_right,
	int &valid_count, float &mean_offset, float &x_offset, int dst_width)
	{
	std::vector<float> err;
	std::vector<uchar> status;
	std::vector<cv::Point2f> corner_left, corner_right;
	cv::Ptr<cv::Feature2D> fast_detector;
	cv::Size win_size = cv::Size (5, 5);

	if (img_left.isUMat ())
	win_size = cv::Size (16, 16);

	fast_detector = cv::FastFeatureDetector::create (20, true);
	add_detected_data (img_left, fast_detector, corner_left);

	if (corner_left.empty ()) {
	return;
	}

	cv::calcOpticalFlowPyrLK (
	img_left, img_right, corner_left, corner_right, status, err, win_size, 3,
	cv::TermCriteria (cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 10, 0.01f));
	cv::ocl::finish();

	calc_of_match (img_left, img_right, corner_left, corner_right,
	status, err, valid_count, mean_offset, x_offset);

	adjust_stitch_area (dst_width, x_offset, crop_left, crop_right);

	#if XCAM_CV_FM_DEBUG
	XCAM_LOG_INFO (
	"FeatureMatch(idx:%d): stiching area: left_area(pos_x:%d, width:%d), right_area(pos_x:%d, width:%d)",
	_fm_idx, crop_left.pos_x, crop_left.width, crop_right.pos_x, crop_right.width);
	#endif
	}

	void
	CVFeatureMatch::optical_flow_feature_match (
	const SmartPtr<VideoBuffer> &left_buf, const SmartPtr<VideoBuffer> &right_buf,
	Rect &left_crop_rect, Rect &right_crop_rect, int dst_width)
	{
	cv::UMat left_umat, right_umat;
	cv::Mat left_mat, right_mat;
	cv::_InputArray left_img, right_img;

	if (!get_crop_image (left_buf, left_crop_rect, left_umat)
	\|\| !get_crop_image (right_buf, right_crop_rect, right_umat))
	return;

	if (_use_ocl) {
	left_img = cv::_InputArray (left_umat);
	right_img = cv::_InputArray (right_umat);
	} else {
	left_mat = left_umat.getMat (cv::ACCESS_READ);
	right_mat = right_umat.getMat (cv::ACCESS_READ);

	left_img = cv::_InputArray (left_mat);
	right_img = cv::_InputArray (right_mat);
	}

	detect_and_match (left_img, right_img, left_crop_rect, right_crop_rect,
	_valid_count, _mean_offset, _x_offset, dst_width);

	#if XCAM_CV_FM_DEBUG
	XCAM_ASSERT (_fm_idx >= 0);

	char frame_str[64] = {'\0'};
	std::snprintf (frame_str, 64, "frame:%d", _frame_num);
	char fm_idx_str[64] = {'\0'};
	std::snprintf (fm_idx_str, 64, "fm_idx:%d", _fm_idx);

	char img_name[256] = {'\0'};
	std::snprintf (img_name, 256, "fm_in_stitch_area_%d_%d_0.jpg", _frame_num, _fm_idx);
	debug_write_image (left_buf, left_crop_rect, img_name, frame_str, fm_idx_str);

	std::snprintf (img_name, 256, "fm_in_stitch_area_%d_%d_1.jpg", _frame_num, _fm_idx);
	debug_write_image (right_buf, right_crop_rect, img_name, frame_str, fm_idx_str);

	XCAM_LOG_INFO ("FeatureMatch(idx:%d): frame number:%d done", _fm_idx, _frame_num);
	_frame_num++;
	#endif
	}

	#if XCAM_CV_FM_DEBUG
	static void
	debug_write_image (
	const SmartPtr<VideoBuffer> &buf, const Rect &rect, char img_name, char frame_str, char *fm_idx_str)
	{
	cv::Scalar color = cv::Scalar(0, 0, 255);
	VideoBufferInfo info = buf->get_video_info ();

	cv::Mat mat;
	CVBaseClass cv_obj;
	cv_obj.convert_to_mat (buf, mat);

	cv::putText (mat, frame_str, cv::Point(rect.pos_x, 30), cv::FONT_HERSHEY_COMPLEX, 0.8f, color, 2, 8, false);
	cv::putText (mat, fm_idx_str, cv::Point(rect.pos_x, 70), cv::FONT_HERSHEY_COMPLEX, 0.8f, color, 2, 8, false);

	cv::line (mat, cv::Point(rect.pos_x, rect.pos_y), cv::Point(rect.pos_x + rect.width, rect.pos_y), color, 1);
	cv::line (mat, cv::Point(rect.pos_x, rect.pos_y + rect.height),
	cv::Point(rect.pos_x + rect.width, rect.pos_y + rect.height), color, 1);

	cv::line (mat, cv::Point(rect.pos_x, 0), cv::Point(rect.pos_x, info.height), color, 2);
	cv::line (mat, cv::Point(rect.pos_x + rect.width, 0), cv::Point(rect.pos_x + rect.width, info.height), color, 2);

	cv::imwrite (img_name, mat);
	}
	#endif

	}