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Election of best image description
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@nfeybesse
nfeybesse committed Jan 17, 2018
1 parent fbc3a11 commit 8ebbb59
Showing 1 changed file with 125 additions and 38 deletions.
163 changes: 125 additions & 38 deletions gs-cv/src/main/java/org/genericsystem/cv/Deperspectiver.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,20 @@
package org.genericsystem.cv;

import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.HashSet;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.Map;
import java.util.Map.Entry;
import java.util.Set;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import java.util.function.Predicate;
import java.util.stream.Collectors;

import org.genericsystem.cv.Calibrated.AngleCalibrated;
import org.genericsystem.cv.utils.NativeLibraryLoader;
import org.opencv.calib3d.Calib3d;
Expand All @@ -23,20 +38,6 @@
import org.opencv.videoio.VideoCapture;
import org.opencv.xfeatures2d.BriefDescriptorExtractor;

import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.HashSet;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.Map;
import java.util.Set;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import java.util.function.Predicate;
import java.util.stream.Collectors;

import javafx.application.Platform;
import javafx.scene.image.Image;
import javafx.scene.image.ImageView;
Expand All @@ -59,7 +60,7 @@ public static void main(String[] args) {

private AngleCalibrated calibrated0;
private Kalman kalmanZ = new Kalman();
private ReferenceManager referenceManager = new ReferenceManager();
private ReferenceManager referenceManager = new ReferenceManager(superFrame.size());

private boolean stabilizedMode = false;
private boolean textsEnabledMode = false;
Expand Down Expand Up @@ -255,7 +256,7 @@ public Reconciliation computeReconciliation(ImgDescriptor reference) {
}
return new Reconciliation(result, pts, referencePts);
} else {
System.out.println("Not enough matches (" + referencePts.size() + "})");
System.out.println("Not enough matches (" + referencePts.size() + ")");
return null;
}
}
Expand Down Expand Up @@ -286,29 +287,102 @@ public static class ReferenceManager {

private ImgDescriptor reference;
private List<Rect> referenceRects = new ArrayList<>();
private boolean take = true;
private Size frameSize;

public ReferenceManager(Size frameSize) {
this.frameSize = frameSize;
}

public void submit(ImgDescriptor newImgDescriptor, List<Rect> detectedrects) {
Mat homography = null;
if (take) {
this.reference = newImgDescriptor;
homography = IDENTITY_MAT;
take = false;
} else {
Reconciliation reconciliation = computeHomography(newImgDescriptor);
if (reconciliation != null)
homography = reconciliation.getHomography();
if (reference == null) {
toReferenceGraphy.put(newImgDescriptor, IDENTITY_MAT);
reference = newImgDescriptor;
return;
}
if (homography != null) {
toReferenceGraphy.put(newImgDescriptor, homography);
List<Rect> shiftedRect = shift(detectedrects, homography);
consolidate(shiftedRect);
updateReference(newImgDescriptor);

int bestMatchingPointsCount = 0;
ImgDescriptor bestImgDescriptor = null;
Reconciliation bestReconciliation = null;
for (ImgDescriptor imgDescriptor : toReferenceGraphy.keySet()) {
Reconciliation reconciliation = newImgDescriptor.computeReconciliation(imgDescriptor);
if (reconciliation != null) {
int matchingPointsCount = reconciliation.getPts().size();
if (matchingPointsCount >= bestMatchingPointsCount) {
bestMatchingPointsCount = matchingPointsCount;
bestReconciliation = reconciliation;
bestImgDescriptor = imgDescriptor;
}
}
}
}

private void updateReference(ImgDescriptor newImgDescriptor) {
if (bestReconciliation == null) {
if (toReferenceGraphy.size() <= 1) {
toReferenceGraphy.clear();
toReferenceGraphy.put(newImgDescriptor, IDENTITY_MAT);
}
return;
}
Mat homographyToReference = new Mat();
Core.gemm(bestReconciliation.getHomography(), toReferenceGraphy.get(bestImgDescriptor), 1, new Mat(), 0, homographyToReference);
toReferenceGraphy.put(newImgDescriptor, homographyToReference);
consolidate(shift(detectedrects, homographyToReference));
updateReference();
cleanReferenceNeighbours();
}

private void cleanReferenceNeighbours() {
if (toReferenceGraphy.size() > 6) {
double bestDistance = Double.MAX_VALUE;
ImgDescriptor closestDescriptor = null;
for (Entry<ImgDescriptor, Mat> entry : toReferenceGraphy.entrySet()) {
if (!entry.getKey().equals(reference)) {
double distance = distance(entry.getValue());
if (distance < bestDistance) {
bestDistance = distance;
closestDescriptor = entry.getKey();
}
}
}
toReferenceGraphy.remove(closestDescriptor);
}
}

private void updateReference() {
ImgDescriptor consensualDescriptor = findConsensualDescriptor();
if (reference != consensualDescriptor) {
System.out.println("Change reference");
Mat homoInv = toReferenceGraphy.get(consensualDescriptor).inv();
for (Entry<ImgDescriptor, Mat> entry : toReferenceGraphy.entrySet()) {
if (!entry.getKey().equals(consensualDescriptor)) {
Mat result = new Mat();
Core.gemm(entry.getValue(), homoInv, 1, new Mat(), 0, result);
toReferenceGraphy.put(entry.getKey(), result);
} else
toReferenceGraphy.put(entry.getKey(), IDENTITY_MAT);
}
reference = consensualDescriptor;
} else
System.out.println("No change reference");
}

private ImgDescriptor findConsensualDescriptor() {
double bestDistance = Double.MAX_VALUE;
ImgDescriptor bestDescriptor = null;
for (Entry<ImgDescriptor, Mat> entry : toReferenceGraphy.entrySet()) {
double distance = 0;
for (Entry<ImgDescriptor, Mat> entry2 : toReferenceGraphy.entrySet()) {
if (!entry.getKey().equals(entry2.getKey())) {
Mat betweenHomography = new Mat();
Core.gemm(entry.getValue(), entry2.getValue().inv(), 1, new Mat(), 0, betweenHomography);
distance += distance(betweenHomography);
}
}
if (distance < bestDistance) {
bestDistance = distance;
bestDescriptor = entry.getKey();
}
}
return bestDescriptor;
}

private void consolidate(List<Rect> shiftedRect) {
Expand Down Expand Up @@ -345,12 +419,24 @@ public Reconciliation computeHomography(ImgDescriptor newDescriptor) {
return newDescriptor.computeReconciliation(getReference());
}

public ImgDescriptor getReference() {
return reference;
private double distance(Mat betweenHomography) {
List<Point> originalPoints = Arrays.asList(new Point[] { new Point(0, 0), new Point(frameSize.width, 0), new Point(frameSize.width, frameSize.height), new Point(0, frameSize.height) });
List<Point> points = transform(originalPoints, betweenHomography);
return distance(points, originalPoints);
}

public void take() {
take = true;
private double distance(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();
}

public ImgDescriptor getReference() {
return reference;
}
}

Expand All @@ -368,11 +454,12 @@ public SuperTemplate(Mat frameMat, double[] pp, double f) {
protected Img buildDisplay() {
return new Img(new Mat(size(), CvType.CV_8UC1, new Scalar(0)), false);
}

}

@Override
protected void onS() {
referenceManager.take();

}

@Override
Expand Down

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