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DescriptorManager.java
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DescriptorManager.java
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package org.genericsystem.cv.retriever;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Map.Entry;
import org.genericsystem.cv.Img;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Size;
import org.opencv.utils.Converters;
public class DescriptorManager {
private Map<ImgDescriptor,Mat> descriptors = new HashMap<>();
private ImgDescriptor reference;
private Map<ImgDescriptor,Double> distanceMap = new HashMap<>();
private static final Mat IDENTITY_MAT = Mat.eye(new Size(3, 3), CvType.CV_64F);
private Mat frame;
public DescriptorManager(){
}
public void setFrame(Mat frame){
this.frame = frame;
}
public Map<ImgDescriptor,Mat> getDescriptors() {
return descriptors;
}
public void setReference(ImgDescriptor reference) {
this.reference = reference;
}
public Map<ImgDescriptor,Double> getDistanceMap() {
return distanceMap;
}
public Img add(ImgDescriptor deperspectivedImgDescriptor, Mat deperspectiveHomography) {
if (descriptors.isEmpty()) {
descriptors.put(deperspectivedImgDescriptor, IDENTITY_MAT);
setReference(deperspectivedImgDescriptor);
Mat stabilizationHomographyFromFrame = new Mat();
Core.gemm(IDENTITY_MAT, deperspectiveHomography, 1, new Mat(), 0, stabilizationHomographyFromFrame);
return CamLiveRetriever.warpPerspective(frame, stabilizationHomographyFromFrame);
}
Mat homographyToRef = IDENTITY_MAT;
for (ImgDescriptor descriptor : descriptors.keySet()) {
Mat joinHomography = deperspectivedImgDescriptor.computeStabilizationGraphy(descriptor);
if (joinHomography != null) {
homographyToRef = computeHomographyToRef(descriptor, joinHomography);
descriptors.put(deperspectivedImgDescriptor, homographyToRef);
break;
}
else
return null;
}
updateReferenceDeperspectived(descriptors);
Mat stabilizationHomographyFromFrame = new Mat();
Core.gemm(descriptors.get(deperspectivedImgDescriptor), deperspectiveHomography, 1, new Mat(), 0, stabilizationHomographyFromFrame);
return CamLiveRetriever.warpPerspective(frame, stabilizationHomographyFromFrame);
}
private Mat computeHomographyToRef(ImgDescriptor descriptor, Mat joinHomography) {
Mat homographyToRef = new Mat();
Core.gemm(joinHomography, descriptors.get(descriptor), 1, new Mat(), 1, homographyToRef);
return homographyToRef;
}
private boolean isReference(ImgDescriptor descriptor) {
return descriptor == reference;
}
private ImgDescriptor updateReferenceDeperspectived(Map<ImgDescriptor, Mat> descriptorGroup) {
ImgDescriptor bestDescriptor = computeBestDescriptor(descriptorGroup);
if (isReference(bestDescriptor))
System.out.println("Reference is still the best, doing nothing special for the moment.");
else {
System.out.println(">>>>>>>>>>> CHANGE: Reference has changed, recomputing homographies to new ref");
computeHomographiesToNewRef(bestDescriptor);
setReference(bestDescriptor);
}
return bestDescriptor;
}
private void computeHomographiesToNewRef(ImgDescriptor newReference) {
ImgDescriptor oldReference = reference;
for (ImgDescriptor descriptor : descriptors.keySet()) {
if (descriptor == newReference) {
descriptors.put(oldReference, descriptors.get(descriptor).inv());
descriptors.put(descriptor, IDENTITY_MAT);
} else{
Mat newHomographyToRef = new Mat();
Core.gemm(descriptors.get(oldReference), descriptors.get(descriptor), 1, new Mat(), 1, newHomographyToRef);
descriptors.put(descriptor, newHomographyToRef);
}
}
}
private ImgDescriptor computeBestDescriptor(Map<ImgDescriptor, Mat> descriptorGroup) {
Map<ImgDescriptor, Double> distanceMap = getDistanceMap();
for (ImgDescriptor origin : descriptorGroup.keySet()) {
double totalDistance = 0.0;
for (ImgDescriptor target : descriptorGroup.keySet())
totalDistance += origin == target ? 0.0 : computeDistanceBetweenDeperspectived(computeHomographyBetweenDeperspectived(origin, target));
distanceMap.put(origin, totalDistance);
}
return Collections.min(distanceMap.entrySet(), Comparator.comparingDouble(Entry::getValue)).getKey();
}
private Mat computeHomographyBetweenDeperspectived(ImgDescriptor origin, ImgDescriptor target) {
Mat homographyBetweenDeperspectived = new Mat();
Core.gemm(descriptors.get(target).inv(), descriptors.get(origin), 1, new Mat(), 1, homographyBetweenDeperspectived);
return homographyBetweenDeperspectived;
}
private double computeDistanceBetweenDeperspectived(Mat betweenDeperspectivedHomography) {
List<Point> originalPoints = Arrays.asList(new Point[] { new Point(0, 0), new Point(frame.width(), 0), new Point(frame.width(), frame.height()), new Point(0, frame.height())});
List<Point> points = restabilize(originalPoints, betweenDeperspectivedHomography);
return evaluateDistanceBetweenStabilized(points, originalPoints);
}
private List<Point> restabilize(List<Point> originals, Mat homography) {
Mat original = Converters.vector_Point2d_to_Mat(originals);
Mat results = new Mat();
Core.perspectiveTransform(original, results, homography);
List<Point> res = new ArrayList<>();
Converters.Mat_to_vector_Point2d(results, res);
return res;
}
private double evaluateDistanceBetweenStabilized(List<Point> newPointList, List<Point> oldPointList) {
double error = 0.0;
for (int i = 0; i < oldPointList.size(); i++) {
double deltaX = newPointList.get(i).x - oldPointList.get(i).x;
double deltaY = newPointList.get(i).y - oldPointList.get(i).y;
error += deltaX * deltaX + deltaY * deltaY;
}
return Math.sqrt(error) / oldPointList.size();
}
}