Merge pull request #1791 from LaurentBerger/ColorMatchTemplate

Search for matches between a color image patch and an input color image

* First commit

* indentation

modules/ximgproc/include/opencv2/ximgproc.hpp

@@ -58,6 +58,7 @@
 #include "ximgproc/brightedges.hpp"
 #include "ximgproc/run_length_morphology.hpp"
 #include "ximgproc/edgepreserving_filter.hpp"
+#include "ximgproc/color_match.hpp"
 
 
 /** @defgroup ximgproc Extended Image Processing

modules/ximgproc/include/opencv2/ximgproc/color_match.hpp

+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef __OPENCV_COLOR_MATCH_HPP__
+#define __OPENCV_COLOR_MATCH_HPP__
+
+#include <opencv2/core.hpp>
+
+namespace cv {
+namespace ximgproc {
+
+//! @addtogroup ximgproc_filters
+//! @{
+
+/**
+* @brief   creates a quaternion image.
+*
+* @param   img         Source 8-bit, 32-bit or 64-bit image, with 3-channel image.
+* @param   qimg        result CV_64FC4 a quaternion image( 4 chanels zero channel and B,G,R).
+*/
+CV_EXPORTS_W void createQuaternionImage(InputArray img, OutputArray qimg);
+
+/**
+* @brief   calculates conjugate of a quaternion image.
+*
+* @param   qimg         quaternion image.
+* @param   qcimg        conjugate of qimg
+*/
+CV_EXPORTS_W void qconj(InputArray qimg, OutputArray qcimg);
+/**
+* @brief   divides each element by its modulus.
+*
+* @param   qimg         quaternion image.
+* @param   qnimg        conjugate of qimg
+*/
+CV_EXPORTS_W void qunitary(InputArray qimg, OutputArray qnimg);
+/**
+* @brief   Calculates the per-element quaternion product of two arrays
+*
+* @param   src1         quaternion image.
+* @param   src2         quaternion image.
+* @param   dst        product dst(I)=src1(I) . src2(I)
+*/
+CV_EXPORTS_W void qmultiply(InputArray  	src1, InputArray  	src2, OutputArray  	dst);
+/**
+* @brief    Performs a forward or inverse Discrete quaternion Fourier transform of a 2D quaternion array.
+*
+* @param   img        quaternion image.
+* @param   qimg       quaternion image in dual space.
+* @param   flags      quaternion image in dual space. only DFT_INVERSE flags is supported
+* @param   sideLeft   true the hypercomplex exponential is to be multiplied on the left (false on the right ).
+*/
+CV_EXPORTS_W void qdft(InputArray img, OutputArray qimg, int  	flags, bool sideLeft);
+/**
+* @brief    Compares a color template against overlapped color image regions.
+*
+* @param   img        Image where the search is running. It must be 3 channels image
+* @param   templ       Searched template. It must be not greater than the source image and have 3 channels
+* @param   result     Map of comparison results. It must be single-channel 64-bit floating-point
+*/
+CV_EXPORTS_W void colorMatchTemplate(InputArray img, InputArray templ, OutputArray result);
+
+}
+}
+#endif

modules/ximgproc/samples/color_match_template.cpp

+#include <iostream>
+#include <fstream>
+#include <opencv2/core.hpp>
+#include <opencv2/core/utility.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/ximgproc.hpp>
+#include <opencv2/ximgproc/color_match.hpp>
+
+using namespace std;
+using namespace cv;
+
+
+
+static void AddSlider(String sliderName, String windowName, int minSlider, int maxSlider, int valDefault, int *valSlider, void(*f)(int, void *), void *r)
+{
+    createTrackbar(sliderName, windowName, valSlider, 1, f, r);
+    setTrackbarMin(sliderName, windowName, minSlider);
+    setTrackbarMax(sliderName, windowName, maxSlider);
+    setTrackbarPos(sliderName, windowName, valDefault);
+}
+
+struct SliderData {
+    Mat img;
+    int thresh;
+};
+
+static void UpdateThreshImage(int , void *r)
+{
+    SliderData *p = (SliderData*)r;
+    Mat dst,labels,stats,centroids;
+
+    threshold(p->img, dst, p->thresh, 255, THRESH_BINARY);
+
+    connectedComponentsWithStats(dst, labels, stats, centroids, 8);
+    if (centroids.rows < 10)
+    {
+        cout << "**********************************************************************************\n";
+        for (int i = 0; i < centroids.rows; i++)
+        {
+            cout << dst.cols - centroids.at<double>(i, 0)  << " ";
+            cout << dst.rows -  centroids.at<double>(i, 1)  << "\n";
+        }
+        cout << "----------------------------------------------------------------------------------\n";
+    }
+    flip(dst, dst, -1);
+
+    imshow("Max Quaternion corr",dst);
+}
+
+int main(int argc, char *argv[])
+{
+    cv::CommandLineParser parser(argc, argv,
+        "{help h | | match color image }{@colortemplate | | input color template image}{@colorimage | | input color image}");
+    if (parser.has("help"))
+    {
+        parser.printMessage();
+        return -1;
+    }
+    string templateName = parser.get<string>("@colortemplate");
+    if (templateName.empty())
+    {
+        parser.printMessage();
+        parser.printErrors();
+        return -2;
+    }
+    string colorImageName = parser.get<string>("@colorimage");
+    if (templateName.empty())
+    {
+        parser.printMessage();
+        parser.printErrors();
+        return -2;
+    }
+    Mat imgLogo = imread(templateName, IMREAD_COLOR);
+    Mat imgColor = imread(colorImageName, IMREAD_COLOR);
+    imshow("Image", imgColor);
+    imshow("template", imgLogo);
+    // OK NOW WHERE IS OPENCV LOGO ?
+    Mat imgcorr;
+    SliderData ps;
+    ximgproc::colorMatchTemplate(imgColor, imgLogo, imgcorr);
+    imshow("quaternion correlation real", imgcorr);
+    normalize(imgcorr, imgcorr,1,0,NORM_MINMAX);
+    imgcorr.convertTo(ps.img, CV_8U, 255);
+    imshow("quaternion correlation", imgcorr);
+    ps.thresh = 0;
+    AddSlider("Level", "quaternion correlation", 0, 255, ps.thresh, &ps.thresh, UpdateThreshImage, &ps);
+    int code = 0;
+    while (code != 27)
+    {
+        code = waitKey(50);
+    }
+
+    waitKey(0);
+    return 0;
+}
\ No newline at end of file

modules/ximgproc/src/quaternion.cpp

+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.#include "precomp.hpp"
+#include "precomp.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/ximgproc/color_match.hpp"
+
+using namespace std;
+
+namespace cv { namespace ximgproc {
+
+void createQuaternionImage(InputArray _img, OutputArray _qimg)
+{
+    int type = _img.type(), depth = CV_MAT_DEPTH(type), cn = CV_MAT_CN(type);
+    CV_CheckType(depth, depth == CV_8U || depth == CV_32F || depth == CV_64F, "Depth must be CV_8U, CV_32F or CV_64F");
+    CV_Assert(_img.dims() == 2 && cn == 3);
+    vector<Mat> qplane(4);
+    vector<Mat> plane;
+    split(_img, plane);
+    qplane[0] = Mat::zeros(_img.size(), CV_64FC1);
+    for (int i = 0; i < cn; i++)
+        plane[i].convertTo(qplane[3-i], CV_64F);
+    merge(qplane, _qimg);
+}
+
+void qconj(InputArray _img, OutputArray _qimg)
+{
+    int type = _img.type(), depth = CV_MAT_DEPTH(type), cn = CV_MAT_CN(type);
+    CV_CheckType(depth, depth == CV_32F || depth == CV_64F, "Depth must be CV_32F or CV_64F");
+    CV_Assert(_img.dims() == 2 && cn == 4);
+    vector<Mat> qplane(4), plane;
+    split(_img, plane);
+    qplane[0] = plane[0];
+    qplane[1] = -plane[1];
+    qplane[2] = -plane[2];
+    qplane[3] = -plane[3];
+    merge(qplane, _qimg);
+}
+
+void qunitary(InputArray _img, OutputArray _qimg)
+{
+    int type = _img.type(), depth = CV_MAT_DEPTH(type), cn = CV_MAT_CN(type);
+    CV_Assert((depth == CV_64F) && _img.dims() == 2 && cn == 4);
+    _img.copyTo(_qimg);
+    Mat qimg = _qimg.getMat();
+    qimg.forEach<Vec4d>([](Vec4d &p, const int * /*position*/) -> void {
+        double d = p[0] * p[0] + p[1] * p[1] + p[2] * p[2] + p[3] * p[3];
+        d = 1 / sqrt(d);
+        p *= d;
+    });
+}
+
+void qdft(InputArray _img, OutputArray _qimg, int  	flags, bool sideLeft)
+{
+    CV_INSTRUMENT_REGION();
+
+    int type = _img.type(), depth = CV_MAT_DEPTH(type), cn = CV_MAT_CN(type);
+    CV_Assert(depth == CV_64F && _img.dims() == 2 && cn == 4);
+    float c;
+    if (sideLeft)
+        c = 1;  // Left qdft
+    else
+        c = -1; // right qdft
+
+    vector<Mat> q;
+    Mat img;
+    img = _img.getMat();
+
+    CV_Assert(getOptimalDFTSize(img.rows) == img.rows && getOptimalDFTSize(img.cols) == img.cols);
+
+    split(img, q);
+    Mat c1r;
+    Mat c1i; // Imaginary part of c1 =x'
+    Mat c2r; // Real part of c2 =y'
+    Mat c2i; // Imaginary part of c2=z'
+    c1r = q[0].clone();
+    c1i = (q[1] + q[2] + q[3]) / sqrt(3);
+    c2r = (q[2] - q[3]) / sqrt(2);
+    c2i = c * (q[3] + q[2] - 2 * q[1]) / sqrt(6);
+    vector<Mat> vc1 = { c1r,c1i }, vc2 = { c2r,c2i };
+    Mat c1, c2, C1, C2;
+    merge(vc1, c1);
+    merge(vc2, c2);
+    if (flags& DFT_INVERSE)
+    {
+        dft(c1, C1, DFT_COMPLEX_OUTPUT | DFT_INVERSE|DFT_SCALE);
+        dft(c2, C2, DFT_COMPLEX_OUTPUT | DFT_INVERSE | DFT_SCALE);
+    }
+    else
+    {
+        dft(c1, C1, DFT_COMPLEX_OUTPUT);
+        dft(c2, C2, DFT_COMPLEX_OUTPUT);
+    }
+    split(C1, vc1);
+    split(C2, vc2);
+    vector<Mat> qdft(4);
+    qdft[0] = vc1[0].clone();
+    qdft[1] = vc1[1] / sqrt(3) - c * 2 * vc2[1] / sqrt(6);
+    qdft[2] = vc1[1] / sqrt(3) + vc2[0] / sqrt(2) + c * vc2[1] / sqrt(6);
+    qdft[3] = vc1[1] / sqrt(3) - vc2[0] / sqrt(2) + c * vc2[1] / sqrt(6);
+    Mat dst0;
+    merge(qdft, dst0);
+    dst0.copyTo(_qimg);
+}
+
+
+void qmultiply(InputArray  	src1, InputArray  	src2, OutputArray  	dst)
+{
+    int type = src1.type(), depth = CV_MAT_DEPTH(type), cn = CV_MAT_CN(type);
+    CV_Assert(depth == CV_64F && src1.dims() == 2 && cn == 4);
+    type = src2.type(), depth = CV_MAT_DEPTH(type), cn = CV_MAT_CN(type);
+    CV_Assert(depth == CV_64F && src2.dims() == 2 && cn == 4);
+    vector<Mat> q3(4);
+    if (src1.rows() == src2.rows() && src1.cols() == src2.cols())
+    {
+        vector<Mat> q1, q2;
+        split(src1, q1);
+        split(src2, q2);
+        q3[0] = q1[0].mul(q2[0]) - q1[1].mul(q2[1]) - q1[2].mul(q2[2]) - q1[3].mul(q2[3]);
+        q3[1] = q1[0].mul(q2[1]) + q1[1].mul(q2[0]) + q1[2].mul(q2[3]) - q1[3].mul(q2[2]);
+        q3[2] = q1[0].mul(q2[2]) - q1[1].mul(q2[3]) + q1[2].mul(q2[0]) + q1[3].mul(q2[1]);
+        q3[3] = q1[0].mul(q2[3]) + q1[1].mul(q2[2]) - q1[2].mul(q2[1]) + q1[3].mul(q2[0]);
+    }
+    else if (src1.rows() == 1 && src1.cols() == 1)
+    {
+        vector<Mat> q2;
+        Vec4d q1 = src1.getMat().at<Vec4d>(0, 0);
+        split(src2, q2);
+        q3[0] = q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3];
+        q3[1] = q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2];
+        q3[2] = q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1];
+        q3[3] = q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0];
+    }
+    else if (src2.rows() == 1 && src2.cols() == 1)
+    {
+        vector<Mat> q1;
+        split(src1, q1);
+        Vec4d q2 = src2.getMat().at<Vec4d>(0, 0);
+        q3[0] = q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3];
+        q3[1] = q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2];
+        q3[2] = q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1];
+        q3[3] = q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0];
+    }
+    else
+        CV_Assert(src1.rows() == src2.rows() && src1.cols() == src2.cols());
+    merge(q3, dst);
+
+}
+
+void colorMatchTemplate(InputArray _image, InputArray _templ, OutputArray _result)
+{
+    CV_INSTRUMENT_REGION();
+    Mat image = _image.getMat(), imageF;
+    CV_Assert(image.channels() == 3);
+    Mat colorTemplate = _templ.getMat(), colorTemplateF;
+    CV_Assert(colorTemplate.channels() == 3);
+    int rr = max(getOptimalDFTSize(image.rows), getOptimalDFTSize(colorTemplate.rows));
+    int cc = max(getOptimalDFTSize(image.cols), getOptimalDFTSize(colorTemplate.cols));
+    Mat logo(rr, cc, CV_64FC3, Scalar::all(0));
+    Mat img = Mat(rr, cc, CV_64FC3, Scalar::all(0));
+    colorTemplate.convertTo(colorTemplateF, CV_64F, 1 / 256.),
+    colorTemplateF.copyTo(logo(Rect(0, 0, colorTemplate.cols, colorTemplate.rows)));
+    image.convertTo(imageF, CV_64F, 1 / 256.);
+    imageF.copyTo(img(Rect(0, 0, image.cols, image.rows)));
+    Mat qimg, qlogo;
+    Mat qimgFFT, qimgIFFT, qlogoFFT;
+    // Create quaternion image
+    createQuaternionImage(img, qimg);
+    createQuaternionImage(logo, qlogo);
+    // quaternion fourier transform
+    qdft(qimg, qimgFFT, 0, true);
+    qdft(qimg, qimgIFFT, DFT_INVERSE, true);
+    qdft(qlogo, qlogoFFT, 0, false);
+    double sqrtnn = sqrt(static_cast<int>(qimgFFT.rows*qimgFFT.cols));
+    qimgFFT /= sqrtnn;
+    qimgIFFT *= sqrtnn;
+    qlogoFFT /= sqrtnn;
+    Mat mu(1, 1, CV_64FC4, Scalar(0, 1, 1, 1) / sqrt(3.));
+    Mat qtmp, qlogopara, qlogoortho;
+    qmultiply(mu, qlogoFFT, qtmp);
+    qmultiply(qtmp, mu, qtmp);
+    subtract(qlogoFFT, qtmp, qlogopara);
+    qlogopara = qlogopara / 2;
+    subtract(qlogoFFT, qlogopara, qlogoortho);
+    Mat qcross1, qcross2, cqf, cqfi;
+    qconj(qimgFFT, cqf);
+    qconj(qimgIFFT, cqfi);
+    qmultiply(cqf, qlogopara, qcross1);
+    qmultiply(cqfi, qlogoortho, qcross2);
+    Mat pwsp = qcross1 + qcross2;
+    Mat crossCorr, pwspUnitary;
+    qunitary(pwsp, pwspUnitary);
+    qdft(pwspUnitary, crossCorr, DFT_INVERSE, false);
+    vector<Mat> p;
+    split(crossCorr, p);
+    Mat imgcorr = (p[0].mul(p[0]) + p[1].mul(p[1]) + p[2].mul(p[2]) + p[3].mul(p[3]));
+    sqrt(imgcorr, _result);
+}
+}
+}

modules/ximgproc/test/test_matchcolortemplate.cpp

+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+
+TEST(ximpgroc_matchcolortemplate,test_QFFT)
+{
+    String openCVExtraDir = cvtest::TS::ptr()->get_data_path();
+    String dataPath = openCVExtraDir;
+#ifdef GENERATE_TESTDATA
+    FileStorage fs;
+    dataPath += "cv/ximgproc/sources/07.png";
+    Mat imgTest = imread(dataPath, IMREAD_COLOR);
+    resize(imgTest, imgTest, Size(), 0.0625, 0.0625);
+    Mat qimgTest, qdftimgTest;
+    ximgproc::createQuaternionImage(imgTest, qimgTest);
+    ximgproc::qdft(qimgTest, qdftimgTest, 0, true);
+    fs.open(openCVExtraDir + "cv/ximgproc/qdftData.yml.gz", FileStorage::WRITE);
+    fs << "image" << imgTest;
+    fs << "qdftleft" << qdftimgTest;
+    ximgproc::qdft(qimgTest, qdftimgTest, 0, false);
+    fs << "qdftright" << qdftimgTest;
+    ximgproc::qdft(qimgTest, qdftimgTest, DFT_INVERSE, true);
+    fs << "qidftleft" << qdftimgTest;
+    ximgproc::qdft(qimgTest, qdftimgTest, DFT_INVERSE, false);
+    fs << "qidftright" << qdftimgTest;
+    fs.release();
+#endif
+    dataPath = openCVExtraDir + "cv/ximgproc/qdftData.yml.gz";
+    FileStorage f;
+    f.open(dataPath, FileStorage::READ);
+    Mat img;
+    f["image"] >> img;
+    Mat qTest;
+    vector<String> nodeName = { "qdftleft","qdftright","qidftleft","qidftright" };
+    vector<int> flag = { 0,0,DFT_INVERSE,DFT_INVERSE };
+    vector<bool> leftSize = {true,false,true,false};
+    ximgproc::createQuaternionImage(img, img);
+    for (int i=0;i<static_cast<int>(nodeName.size());i++)
+    {
+        Mat test, dd;
+        f[nodeName[i]] >> qTest;
+        ximgproc::qdft(img, test, flag[i], leftSize[i]);
+        absdiff(test, qTest, dd);
+        vector<Mat> plane;
+        split(dd, plane);
+        for (auto p : plane)
+        {
+            double maxVal;
+            Point pIdx;
+            minMaxLoc(p, NULL, &maxVal, NULL, &pIdx);
+            ASSERT_LE(p.at<double>(pIdx), 1e-5);
+        }
+    }
+}
+
+TEST(ximpgroc_matchcolortemplate, test_COLORMATCHTEMPLATE)
+{
+    String openCVExtraDir = cvtest::TS::ptr()->get_data_path();
+    String dataPath = openCVExtraDir + "cv/ximgproc/corr.yml.gz";
+    Mat img, logo;
+    Mat corrRef,corr;
+    img = imread(openCVExtraDir + "cv/ximgproc/image.png", IMREAD_COLOR);
+    logo = imread(openCVExtraDir + "cv/ximgproc/opencv_logo.png", IMREAD_COLOR);
+    ximgproc::colorMatchTemplate(img, logo, corr);
+#ifdef GENERATE_TESTDATA
+    FileStorage fs;
+    fs.open(dataPath, FileStorage::WRITE);
+    fs << "corr" << imgcorr;
+    fs.release();
+#endif
+    FileStorage f;
+    f.open(dataPath, FileStorage::READ);
+    f["corr"] >> corrRef;
+    EXPECT_LE(cv::norm(corr, corrRef, NORM_INF), 1e-5);
+}
+}} // namespace