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mscrdist.cpp
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mscrdist.cpp
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/*
* FILE:
* mscrdist.cpp
*
* DESCRIPTION:
* MSCR distances mapping project.
*
* PROJECT:
* ReId Demo
*
* AUTHORs:
* Carlos Beltran-Gonzalez.
*
* VERSION:
* $Id$
*
* COYRIGHT:
* Copyright (c) 2013 Istituto Italiano di Tecnologia. Genova
*
* REVISIONS:
* $Log$
*/
#include <stdio.h>
#include <opencv2/opencv.hpp>
#include <vector>
#include <iterator>
#include <numeric>
#include <fstream>
#include <sstream>
#include <string>
#include <ctime>
//Get groundtruth matrixes
#include "cialabcolormatrixesgt.h"
using namespace cv;
using namespace std;
class MSCR {
public:
Mat blobPos;
Mat blobColor;
};
float invgamma(float Rp) {
float R = 0.0;
if ( Rp <= 0.04045 )
R = Rp/12.92;
else
R = pow(((Rp + 0.055)/1.055),2.4);
return R;
}
float f(float t) {
float result = 0.0;
if (t > 0.008856)
result = pow(t,(1.0/3.0));
else
result = 7.787 * t + (16.0/116.0);
return result;
}
void rgb2lab(Mat & rgbmat) {
float mat[9] = {
0.4361, 0.3851, 0.1431,
0.2225, 0.7169, 0.0606,
0.0139, 0.0971, 0.7141};
Mat M(3,3,CV_32FC1,&mat);
int i = 0;
for ( int i = 0; i < rgbmat.cols;i++) {
vector<float> rgb;
rgb.push_back(invgamma(rgbmat.at<float>(0,i)));
rgb.push_back(invgamma(rgbmat.at<float>(1,i)));
rgb.push_back(invgamma(rgbmat.at<float>(2,i)));
//cout << " Rgb = ";
//copy(rgb.begin(), rgb.end(), std::ostream_iterator<float>(cout, " "));
//cout << endl;
Mat RGB = Mat::zeros(3,1,CV_32FC1);
RGB.at<float>(0,0) = rgb.at(0);
RGB.at<float>(1,0) = rgb.at(1);
RGB.at<float>(2,0) = rgb.at(2);
Mat XYZ = M * RGB;
//cout << "XYZ = " << XYZ;
float X,Y,Z;
X = XYZ.at<float>(0,0) / 0.9642;
Y = XYZ.at<float>(1,0);
Z = XYZ.at<float>(2,0) / 0.8251;
//cout << "X = " << X;
//cout << "Y = " << Y;
//cout << "Z = " << Z;
//cout << endl << endl;
float L,a,b;
if ( Y > 0.008856)
L = 116.0 * pow(Y,(1.0/3.0)) - 16.0;
else
L = 903.3 * Y;
a = 500.0 * (f(X) - f(Y));
b = 200.0 * (f(Y) - f(Z));
//cout << "Lab = " << L << " " << a << " " << b << endl << endl;
rgbmat.at<float>(0,i) = L;
rgbmat.at<float>(1,i) = a;
rgbmat.at<float>(2,i) = b;
}
}
float matmax(const Mat &themat) {
float value = 0.0;
for (int row = 0; row < themat.rows; row++)
for (int col = 0; col < themat.cols; col++)
if (themat.at<float>(row,col) > value)
value = themat.at<float>(row,col);
return value;
}
//void dist(Mat &blobPos1, Mat &blobPos2, Mat &blobCol1, Mat &blobCol2, float gamma) {
void dist(vector<MSCR>& mscrvec, Mat& _final_dist_y, Mat& _final_dist_color,float gamma) {
int lenDATAF = 0;
int i = 1;
int j = 2;
int num1,num2;
lenDATAF = mscrvec.size();
//Initialize final matrices
_final_dist_y = Mat::ones(lenDATAF,lenDATAF,CV_32FC1)*1000.;
_final_dist_color = Mat::ones(lenDATAF,lenDATAF,CV_32FC1)*1000.;
//put diagonal to 0
for (int dig = 0; dig < lenDATAF; dig++) {
_final_dist_y.at<float>(dig,dig) = 0;
_final_dist_color.at<float>(dig,dig) = 0;
}
//cout << "Finaldisty = " << endl << _final_dist_y << endl;
//cout << "Finaldistcolor = " << endl << _final_dist_color << endl;
for (int gals_index = 0; gals_index < mscrvec.size(); gals_index += 2) {
Mat &blobPos1 = mscrvec.at(gals_index).blobPos;
num1 = blobPos1.cols;
Mat &blobCol1 = mscrvec.at(gals_index).blobColor;
for (int probs_index = 1; probs_index < mscrvec.size(); probs_index += 2) {
Mat &blobPos2 = mscrvec.at(probs_index).blobPos;
num2 = blobPos2.cols;
Mat &blobCol2 = mscrvec.at(probs_index).blobColor;
Mat dist_y = Mat(num2,num1,CV_32FC1);
// %dist_y = abs( blobPos{1}(ones(num2,1),:)' - blobPos{2}(ones(num1,1),:) )';
// %dist_y = abs(bsxfun(@minus,(blobPos{1})',blobPos{2}))';
for(int a = 0; a < num1;a++) {
for (int b = 0; b <num2; b++) {
dist_y.at<float>(b,a) = abs(blobPos1.at<float>(0,a) - blobPos2.at<float>(0,b));
}
}
//cout << "Dist_y = " << endl << " " << dist_y << endl << endl;
//%Sxx1 = sum(blobCol{1}.^2,1);
//Mat Sxx = Mat::zeros(1,num1,CV_32FC1);
std::vector<float> Sxx(num1);
for (int a = 0; a < num1; a++)
for (int b = 0; b < blobCol1.rows; b++)
Sxx.at(a) = Sxx.at(a) + pow(blobCol1.at<float>(b,a),2);
//cout << "Sxx = " << endl << " " << Sxx << endl << endl;
//cout << " Sxx = ";
//copy(Sxx.begin(), Sxx.end(), std::ostream_iterator<float>(cout, " "));
//cout << endl;
//%Sxx1 = sum(blobCol{1}.^2,1);
//Mat Syy = Mat::zeros(1,num2,CV_32FC1);
std::vector<float> Syy(num2);
for (int a = 0; a < num2; a++)
for (int b = 0; b < blobCol2.rows; b++)
Syy.at(a) = Syy.at(a) + pow(blobCol2.at<float>(b,a),2);
//cout << "Syy = " << endl << " " << Syy << endl << endl;
//cout << "Syy = ";
//copy(Syy.begin(), Syy.end(), std::ostream_iterator<float>(cout, " "));
//cout << endl;
//%Sxy = blobCol{1}' * blobCol{2};
Mat blobCol1_t = Mat::zeros(blobCol1.cols,blobCol1.rows,CV_32FC1);
transpose(blobCol1,blobCol1_t);
Mat Sxy = blobCol1_t * blobCol2;
//cout << "Sxy = " << endl << " " << Sxy << endl << endl;
//%dist_color = sqrt( Sxx(ones(num2,1),:)' + Syy(ones(num1,1),:) - 2*Sxy)';
Mat dist_color = Mat::zeros(num2,num1,CV_32FC1);
for(int a = 0; a < num1; a++)
for(int b = 0; b < num2; b++)
dist_color.at<float>(b,a) = sqrt(Sxx.at(a) + Syy.at(b) - 2*Sxy.at<float>(a,b));
//cout << "dist_color = " << endl << " " << dist_color << endl << endl;
// Get an array with the minimum value of each row
// %ref_y = min(dist_y);
//Mat ref_y = Mat(1,num1,CV_32FC1, Scalar(1000));
std::vector<float> ref_y(num1, 1000);
for (int a = 0; a < dist_y.cols; a++)
for (int b = 0; b < dist_y.rows; b++)
if (dist_y.at<float>(b,a) < ref_y.at(a))
ref_y.at(a) = dist_y.at<float>(b,a);
//cout << "ref_y = " << endl << " " << ref_y << endl << endl;
//cout << " ref_y = ";
//copy(ref_y.begin(), ref_y.end(), std::ostream_iterator<float>(cout, " "));
//cout << endl;
// Get the mean of the min array
// %me_ref_y = mean(ref_y);
float sum = std::accumulate(ref_y.begin(),ref_y.end(),0.0);
float me_ref_y = sum / ref_y.size();
//Scalar me_ref_y_sca = mean(ref_y);
//float me_ref_y = me_ref_y_sca.val[0];
//cout << "Mean = " << me_ref_y << endl;
//Expected ground trouth = 1.6005
// Get the standard deviation of the min array
// MATLAB: std_ref_y = std(ref_y);
float std_ref_y = 0;
for (int a = 0; a < ref_y.size(); a++)
std_ref_y = std_ref_y + pow((ref_y.at(a) - me_ref_y),2);
std_ref_y = std_ref_y / (ref_y.size() - 1);
std_ref_y = pow(std_ref_y,0.5);
//cout << "Std = " << std_ref_y << endl;
// Expected ground trouth = 2.0263
//Color statistics
//%ref_color = min(dist_color);
Mat ref_color = Mat(1,dist_color.cols,CV_32FC1,Scalar(1000));
for (int a = 0; a < dist_color.cols;a++)
for (int b = 0; b < dist_color.rows; b++)
if (dist_color.at<float>(b,a) < ref_color.at<float>(0,a))
ref_color.at<float>(0,a) = dist_color.at<float>(b,a);
//cout << "ref_color = " << endl << " " << ref_color << endl << endl;
//%me_ref_color = mean(ref_color);
Scalar me_ref_color_sca = mean(ref_color);
float me_ref_color = me_ref_color_sca.val[0];
//cout << "Mean color = " << me_ref_color << endl;
//%std_ref_color = std(ref_color);
float std_ref_color = 0;
for (int a = 0; a < ref_color.cols;a++)
std_ref_color = std_ref_color + pow(ref_color.at<float>(0,a) - me_ref_color,2);
std_ref_color = std_ref_color / (ref_color.cols - 1);
std_ref_color = pow(std_ref_color,0.5);
//cout << "Std color" << std_ref_color << endl;
//%%%% Good candidate selection
//%good = find((ref_y<(me_ref_y+3.5*std_ref_y))&(ref_color<(me_ref_color+3.5*std_ref_color)));
std::vector<float> good;
for (int a = 0; a < ref_y.size(); a++)
if ((ref_y.at(a)<(me_ref_y+3.5*std_ref_y))&(ref_color.at<float>(0,a)<(me_ref_color+3.5*std_ref_color)))
good.push_back(a); //% Accumulate the index in the good vector
//cout << "Good vector" << good << endl << endl;
//copy(good.begin(), good.end(), std::ostream_iterator<float>(cout, " "));
int max_useful_info = good.size();
//%dist_y2 = dist_y(:,good);
Mat dist_y2 = Mat(num2,max_useful_info,CV_32FC1);
for (int col = 0; col < max_useful_info; col++)
for (int row = 0; row < num2; row++)
dist_y2.at<float>(row,col) = dist_y.at<float>(row,good.at(col));
//cout << "Dist_y2 = " << endl << " " << dist_y2 << endl << endl;
Mat dist_color2 = Mat(num2,max_useful_info,CV_32FC1);
for (int col = 0; col < max_useful_info; col++)
for (int row = 0; row < num2; row++)
dist_color2.at<float>(row,col) = dist_color.at<float>(row,good.at(col));
//cout << "Dist_color2 = " << endl << " " << dist_color2 << endl << endl;
// Normalize
float DEN1;
if (dist_y2.cols == 0)
DEN1 = 1;
else
DEN1 = matmax(dist_y2);
Mat dist_y_n = dist_y / DEN1;
//cout << "dist_y_n = " << endl << " " << dist_y_n << endl << endl;
if (dist_color2.cols == 0)
DEN1 = 1;
else
DEN1 = matmax(dist_color2);
Mat dist_color_n = dist_color / DEN1;
//cout << "dist_color_n = " << endl << " " << dist_color_n << endl << endl;
//Composite distance computation
Mat totdist_n = Mat(num2,max_useful_info,CV_32FC1);
for (int col = 0; col< max_useful_info; col++)
for (int row = 0; row < num2; row++)
totdist_n.at<float>(row,col) = (gamma*dist_y_n.at<float>(row,good.at(col)) + (1 - gamma) * dist_color_n.at<float>(row,good.at(col)));
//cout << "totdist_n = " << endl << " " << totdist_n << endl << endl;
//%%Minimization
//%[unused,matching] = min(totdist_n);
//tmpmin = 1000 * ones(1,size(totdist_n,2));
//Mat tmpmin = Mat(1,totdist_n.cols,Scalar(1000));
std::vector<float> tmpmin(totdist_n.cols,1000);
std::vector<float> matching(totdist_n.cols,1000);
for (int a = 0; a < totdist_n.cols; a++)
for (int b = 0; b < totdist_n.rows; b++)
if (totdist_n.at<float>(b,a) < tmpmin.at(a)){
tmpmin.at(a) = totdist_n.at<float>(b,a);
matching.at(a) = b;
}
//cout << "Matching = ";
//copy(matching.begin(), matching.end(), std::ostream_iterator<float>(cout, " "));
//cout << endl;
// Compute final distance y
//%final_dist_y(i,j) = sum(dist_y2(useful_i))/max_useful_info;
float final_dist_sum = 0;
//float final_dist_y = 0;
for (int col = 0; col < max_useful_info; col++)
final_dist_sum = final_dist_sum + dist_y2.at<float>(matching.at(col),col);
// Final_dist_y matrix should be passed as argument to this function.
_final_dist_y.at<float>(gals_index,probs_index) = final_dist_sum / max_useful_info;
//final_dist_y = final_dist_sum / max_useful_info;
//cout << "Final_dist_y = " << final_dist_y << endl << endl;
// Compute final distance_color
//%final_dist_color(i,j) = sum(dist_color2(useful_i))/max_useful_info;
float final_dist_color_sum = 0;
//float final_dist_color = 0;
for (int col = 0; col < max_useful_info; col++)
final_dist_color_sum = final_dist_color_sum + dist_color2.at<float>(matching.at(col),col);
_final_dist_color.at<float>(gals_index,probs_index) = final_dist_color_sum / max_useful_info;
//final_dist_color = final_dist_color_sum / max_useful_info;
//fprintf(stdout,"(%d %d) %.20f %.20f \n",gals_index+1,probs_index+1,final_dist_y,final_dist_color);
//cout << "Final_dist_color = " << final_dist_color << endl << endl;
}
}
}
void readmat(const char * filename, Mat& _mat) {
ifstream infile;
int rows = 0;
int cols = 0;
//check size
infile.open(filename ,ios::in);
while(infile)
{
string s;
vector<float> row;
if(!getline(infile,s)) break;
istringstream ss(s);
rows++;
cols = 0;
while(ss)
{
string s;
if (!getline(ss,s,',')) break;
cols++;
}
}
_mat = Mat(rows,cols,CV_32FC1);
infile.close();
infile.open(filename,ios::in);
//cout << "Creating matrix = " << rows << "X" << cols << endl << endl;
rows = 0;
cols = 0;
// Fill matrix
while(infile)
{
string s;
vector<float> row;
if(!getline(infile,s)) break;
istringstream ss(s);
while(ss)
{
string s;
if (!getline(ss,s,',')) break;
row.push_back((float)atof(s.c_str()));
}
for (cols = 0; cols < row.size();cols++)
_mat.at<float>(rows,cols) = row.at(cols);
//copy(row.begin(), row.end(), std::ostream_iterator<float>(cout, " "));
//cout << endl << endl;
rows++;
}
infile.close();
}
int main( int argc, char** argv)
{
Mat image;
image = imread(argv[1],1);
if (argc != 2 || !image.data)
{
printf("No image data\n");
return -1;
}
vector<MSCR> mscr_vec(100);
for (int i = 0; i < 100; i++) {
char buf[100];
sprintf(buf,"./gtdata/mscrmvec_%05d.txt",i+1);
Mat blobPos_1_;
readmat(buf, blobPos_1_);
Mat blobPos_1(blobPos_1_,cv::Range(2,3),cv::Range(0,blobPos_1_.cols));
mscr_vec.at(i).blobPos = blobPos_1.clone();
sprintf(buf,"./gtdata/mscrpvec_%05d.txt",i+1);
readmat(buf, mscr_vec.at(i).blobColor);
rgb2lab(mscr_vec.at(i).blobColor);
}
//dist(blobPos_1,blobPos_2, blobCol_1, blobCol_2, 0.4);
//dist(mscr_vec.at(0).blobPos,
// mscr_vec.at(1).blobPos,
// mscr_vec.at(0).blobColor,
// mscr_vec.at(1).blobColor,0.4);
Mat final_dist_y;
Mat final_dist_color;
clock_t t0 = clock();
dist(mscr_vec, final_dist_y, final_dist_color, 0.4);
float elapsed = float(clock() - t0) / float(CLOCKS_PER_SEC);
cout << "Time = " << elapsed << endl;
//cout << "Finaldisty = " << endl << final_dist_y << endl;
//cout << "Finaldistcolor = " << endl << final_dist_color << endl;
namedWindow("Display Image", CV_WINDOW_AUTOSIZE);
imshow("Display Image", image);
waitKey(0);
}