| /* |
| * Copyright (c) 2016, Alliance for Open Media. All rights reserved |
| * |
| * This source code is subject to the terms of the BSD 2 Clause License and |
| * the Alliance for Open Media Patent License 1.0. If the BSD 2 Clause License |
| * was not distributed with this source code in the LICENSE file, you can |
| * obtain it at www.aomedia.org/license/software. If the Alliance for Open |
| * Media Patent License 1.0 was not distributed with this source code in the |
| * PATENTS file, you can obtain it at www.aomedia.org/license/patent. |
| */ |
| |
| #include <memory.h> |
| #include <math.h> |
| #include <time.h> |
| #include <stdio.h> |
| #include <stdbool.h> |
| #include <assert.h> |
| |
| #include "aom_dsp/flow_estimation/ransac.h" |
| #include "aom_dsp/mathutils.h" |
| #include "aom_mem/aom_mem.h" |
| |
| // TODO(rachelbarker): Remove dependence on code in av1/encoder/ |
| #include "av1/encoder/random.h" |
| |
| #define MAX_MINPTS 4 |
| #define MAX_DEGENERATE_ITER 10 |
| #define MINPTS_MULTIPLIER 5 |
| |
| #define INLIER_THRESHOLD 1.25 |
| #define INLIER_THRESHOLD_SQUARED (INLIER_THRESHOLD * INLIER_THRESHOLD) |
| #define MIN_TRIALS 20 |
| |
| // Flag to enable functions for finding TRANSLATION type models. |
| // |
| // These modes are not considered currently due to a spec bug (see comments |
| // in gm_get_motion_vector() in av1/common/mv.h). Thus we don't need to compile |
| // the corresponding search functions, but it is nice to keep the source around |
| // but disabled, for completeness. |
| #define ALLOW_TRANSLATION_MODELS 0 |
| |
| //////////////////////////////////////////////////////////////////////////////// |
| // ransac |
| typedef bool (*IsDegenerateFunc)(double *p); |
| typedef bool (*FindTransformationFunc)(int points, const double *points1, |
| const double *points2, double *params); |
| typedef void (*ProjectPointsFunc)(const double *mat, const double *points, |
| double *proj, int n, int stride_points, |
| int stride_proj); |
| |
| // vtable-like structure which stores all of the information needed by RANSAC |
| // for a particular model type |
| typedef struct { |
| IsDegenerateFunc is_degenerate; |
| FindTransformationFunc find_transformation; |
| ProjectPointsFunc project_points; |
| int minpts; |
| } RansacModelInfo; |
| |
| #if ALLOW_TRANSLATION_MODELS |
| static void project_points_translation(const double *mat, const double *points, |
| double *proj, int n, int stride_points, |
| int stride_proj) { |
| int i; |
| for (i = 0; i < n; ++i) { |
| const double x = *(points++), y = *(points++); |
| *(proj++) = x + mat[0]; |
| *(proj++) = y + mat[1]; |
| points += stride_points - 2; |
| proj += stride_proj - 2; |
| } |
| } |
| #endif // ALLOW_TRANSLATION_MODELS |
| |
| static void project_points_affine(const double *mat, const double *points, |
| double *proj, int n, int stride_points, |
| int stride_proj) { |
| int i; |
| for (i = 0; i < n; ++i) { |
| const double x = *(points++), y = *(points++); |
| *(proj++) = mat[2] * x + mat[3] * y + mat[0]; |
| *(proj++) = mat[4] * x + mat[5] * y + mat[1]; |
| points += stride_points - 2; |
| proj += stride_proj - 2; |
| } |
| } |
| |
| #if ALLOW_TRANSLATION_MODELS |
| static bool find_translation(int np, const double *pts1, const double *pts2, |
| double *params) { |
| double sumx = 0; |
| double sumy = 0; |
| |
| for (int i = 0; i < np; ++i) { |
| double dx = *(pts2++); |
| double dy = *(pts2++); |
| double sx = *(pts1++); |
| double sy = *(pts1++); |
| |
| sumx += dx - sx; |
| sumy += dy - sy; |
| } |
| |
| params[0] = sumx / np; |
| params[1] = sumy / np; |
| params[2] = 1; |
| params[3] = 0; |
| params[4] = 0; |
| params[5] = 1; |
| return true; |
| } |
| #endif // ALLOW_TRANSLATION_MODELS |
| |
| static bool find_rotzoom(int np, const double *pts1, const double *pts2, |
| double *params) { |
| const int n = 4; // Size of least-squares problem |
| double mat[4 * 4]; // Accumulator for A'A |
| double y[4]; // Accumulator for A'b |
| double x[4]; // Output vector |
| double a[4]; // Single row of A |
| double b; // Single element of b |
| |
| least_squares_init(mat, y, n); |
| for (int i = 0; i < np; ++i) { |
| double dx = *(pts2++); |
| double dy = *(pts2++); |
| double sx = *(pts1++); |
| double sy = *(pts1++); |
| |
| a[0] = sx; |
| a[1] = sy; |
| a[2] = 1; |
| a[3] = 0; |
| b = dx; |
| least_squares_accumulate(mat, y, a, b, n); |
| |
| a[0] = sy; |
| a[1] = -sx; |
| a[2] = 0; |
| a[3] = 1; |
| b = dy; |
| least_squares_accumulate(mat, y, a, b, n); |
| } |
| |
| if (!least_squares_solve(mat, y, x, n)) { |
| return false; |
| } |
| |
| // Rearrange least squares result to form output model |
| params[0] = x[2]; |
| params[1] = x[3]; |
| params[2] = x[0]; |
| params[3] = x[1]; |
| params[4] = -params[3]; |
| params[5] = params[2]; |
| |
| return true; |
| } |
| |
| // TODO(rachelbarker): As the x and y equations are decoupled in find_affine(), |
| // the least-squares problem can be split this into two 3-dimensional problems, |
| // which should be faster to solve. |
| static bool find_affine(int np, const double *pts1, const double *pts2, |
| double *params) { |
| const int n = 6; // Size of least-squares problem |
| double mat[6 * 6]; // Accumulator for A'A |
| double y[6]; // Accumulator for A'b |
| double x[6]; // Output vector |
| double a[6]; // Single row of A |
| double b; // Single element of b |
| |
| least_squares_init(mat, y, n); |
| for (int i = 0; i < np; ++i) { |
| double dx = *(pts2++); |
| double dy = *(pts2++); |
| double sx = *(pts1++); |
| double sy = *(pts1++); |
| |
| a[0] = sx; |
| a[1] = sy; |
| a[2] = 0; |
| a[3] = 0; |
| a[4] = 1; |
| a[5] = 0; |
| b = dx; |
| least_squares_accumulate(mat, y, a, b, n); |
| |
| a[0] = 0; |
| a[1] = 0; |
| a[2] = sx; |
| a[3] = sy; |
| a[4] = 0; |
| a[5] = 1; |
| b = dy; |
| least_squares_accumulate(mat, y, a, b, n); |
| } |
| |
| if (!least_squares_solve(mat, y, x, n)) { |
| return false; |
| } |
| |
| // Rearrange least squares result to form output model |
| params[0] = mat[4]; |
| params[1] = mat[5]; |
| params[2] = mat[0]; |
| params[3] = mat[1]; |
| params[4] = mat[2]; |
| params[5] = mat[3]; |
| |
| return true; |
| } |
| |
| // Returns true on success, false if not enough points provided |
| static bool get_rand_indices(int npoints, int minpts, int *indices, |
| unsigned int *seed) { |
| int i, j; |
| int ptr = lcg_rand16(seed) % npoints; |
| if (minpts > npoints) return false; |
| indices[0] = ptr; |
| ptr = (ptr == npoints - 1 ? 0 : ptr + 1); |
| i = 1; |
| while (i < minpts) { |
| int index = lcg_rand16(seed) % npoints; |
| while (index) { |
| ptr = (ptr == npoints - 1 ? 0 : ptr + 1); |
| for (j = 0; j < i; ++j) { |
| if (indices[j] == ptr) break; |
| } |
| if (j == i) index--; |
| } |
| indices[i++] = ptr; |
| } |
| return true; |
| } |
| |
| typedef struct { |
| int num_inliers; |
| double sse; // Sum of squared errors of inliers |
| int *inlier_indices; |
| } RANSAC_MOTION; |
| |
| // Return -1 if 'a' is a better motion, 1 if 'b' is better, 0 otherwise. |
| static int compare_motions(const void *arg_a, const void *arg_b) { |
| const RANSAC_MOTION *motion_a = (RANSAC_MOTION *)arg_a; |
| const RANSAC_MOTION *motion_b = (RANSAC_MOTION *)arg_b; |
| |
| if (motion_a->num_inliers > motion_b->num_inliers) return -1; |
| if (motion_a->num_inliers < motion_b->num_inliers) return 1; |
| if (motion_a->sse < motion_b->sse) return -1; |
| if (motion_a->sse > motion_b->sse) return 1; |
| return 0; |
| } |
| |
| static bool is_better_motion(const RANSAC_MOTION *motion_a, |
| const RANSAC_MOTION *motion_b) { |
| return compare_motions(motion_a, motion_b) < 0; |
| } |
| |
| static void copy_points_at_indices(double *dest, const double *src, |
| const int *indices, int num_points) { |
| for (int i = 0; i < num_points; ++i) { |
| const int index = indices[i]; |
| dest[i * 2] = src[index * 2]; |
| dest[i * 2 + 1] = src[index * 2 + 1]; |
| } |
| } |
| |
| static const double kInfinity = 1e12; |
| |
| static void clear_motion(RANSAC_MOTION *motion, int num_points) { |
| motion->num_inliers = 0; |
| motion->sse = kInfinity; |
| memset(motion->inlier_indices, 0, |
| sizeof(*motion->inlier_indices) * num_points); |
| } |
| |
| // Returns true on success, false on error |
| static bool ransac_internal(const Correspondence *matched_points, int npoints, |
| MotionModel *motion_models, int num_desired_motions, |
| const RansacModelInfo *model_info) { |
| int trial_count = 0; |
| int i = 0; |
| int minpts = model_info->minpts; |
| bool ret_val = true; |
| |
| unsigned int seed = (unsigned int)npoints; |
| |
| int indices[MAX_MINPTS] = { 0 }; |
| |
| double *points1, *points2; |
| double *corners1, *corners2; |
| double *image1_coord; |
| |
| // Store information for the num_desired_motions best transformations found |
| // and the worst motion among them, as well as the motion currently under |
| // consideration. |
| RANSAC_MOTION *motions, *worst_kept_motion = NULL; |
| RANSAC_MOTION current_motion; |
| |
| // Store the parameters and the indices of the inlier points for the motion |
| // currently under consideration. |
| double params_this_motion[MAX_PARAMDIM]; |
| |
| for (i = 0; i < num_desired_motions; ++i) { |
| motion_models[i].num_inliers = 0; |
| } |
| if (npoints < minpts * MINPTS_MULTIPLIER || npoints == 0) { |
| return false; |
| } |
| |
| points1 = (double *)aom_malloc(sizeof(*points1) * npoints * 2); |
| points2 = (double *)aom_malloc(sizeof(*points2) * npoints * 2); |
| corners1 = (double *)aom_malloc(sizeof(*corners1) * npoints * 2); |
| corners2 = (double *)aom_malloc(sizeof(*corners2) * npoints * 2); |
| image1_coord = (double *)aom_malloc(sizeof(*image1_coord) * npoints * 2); |
| |
| motions = |
| (RANSAC_MOTION *)aom_malloc(sizeof(RANSAC_MOTION) * num_desired_motions); |
| for (i = 0; i < num_desired_motions; ++i) { |
| motions[i].inlier_indices = |
| (int *)aom_malloc(sizeof(*motions->inlier_indices) * npoints); |
| clear_motion(motions + i, npoints); |
| } |
| current_motion.inlier_indices = |
| (int *)aom_malloc(sizeof(*current_motion.inlier_indices) * npoints); |
| clear_motion(¤t_motion, npoints); |
| |
| worst_kept_motion = motions; |
| |
| if (!(points1 && points2 && corners1 && corners2 && image1_coord && motions && |
| current_motion.inlier_indices)) { |
| ret_val = false; |
| goto finish_ransac; |
| } |
| |
| for (i = 0; i < npoints; ++i) { |
| corners1[2 * i + 0] = matched_points[i].x; |
| corners1[2 * i + 1] = matched_points[i].y; |
| corners2[2 * i + 0] = matched_points[i].rx; |
| corners2[2 * i + 1] = matched_points[i].ry; |
| } |
| |
| while (MIN_TRIALS > trial_count) { |
| clear_motion(¤t_motion, npoints); |
| |
| int degenerate = 1; |
| int num_degenerate_iter = 0; |
| |
| while (degenerate) { |
| num_degenerate_iter++; |
| if (!get_rand_indices(npoints, minpts, indices, &seed)) { |
| ret_val = false; |
| goto finish_ransac; |
| } |
| |
| copy_points_at_indices(points1, corners1, indices, minpts); |
| copy_points_at_indices(points2, corners2, indices, minpts); |
| |
| degenerate = model_info->is_degenerate(points1); |
| if (num_degenerate_iter > MAX_DEGENERATE_ITER) { |
| ret_val = false; |
| goto finish_ransac; |
| } |
| } |
| |
| if (!model_info->find_transformation(minpts, points1, points2, |
| params_this_motion)) { |
| trial_count++; |
| continue; |
| } |
| |
| model_info->project_points(params_this_motion, corners1, image1_coord, |
| npoints, 2, 2); |
| |
| double sse = 0.0; |
| for (i = 0; i < npoints; ++i) { |
| double dx = image1_coord[i * 2] - corners2[i * 2]; |
| double dy = image1_coord[i * 2 + 1] - corners2[i * 2 + 1]; |
| double squared_error = dx * dx + dy * dy; |
| |
| if (squared_error < INLIER_THRESHOLD_SQUARED) { |
| current_motion.inlier_indices[current_motion.num_inliers++] = i; |
| sse += squared_error; |
| } |
| } |
| |
| if (current_motion.num_inliers >= worst_kept_motion->num_inliers && |
| current_motion.num_inliers > 1) { |
| current_motion.sse = sse; |
| if (is_better_motion(¤t_motion, worst_kept_motion)) { |
| // This motion is better than the worst currently kept motion. Remember |
| // the inlier points and sse. The parameters for each kept motion |
| // will be recomputed later using only the inliers. |
| worst_kept_motion->num_inliers = current_motion.num_inliers; |
| worst_kept_motion->sse = current_motion.sse; |
| memcpy(worst_kept_motion->inlier_indices, current_motion.inlier_indices, |
| sizeof(*current_motion.inlier_indices) * npoints); |
| assert(npoints > 0); |
| // Determine the new worst kept motion and its num_inliers and sse. |
| for (i = 0; i < num_desired_motions; ++i) { |
| if (is_better_motion(worst_kept_motion, &motions[i])) { |
| worst_kept_motion = &motions[i]; |
| } |
| } |
| } |
| } |
| trial_count++; |
| } |
| |
| // Sort the motions, best first. |
| qsort(motions, num_desired_motions, sizeof(RANSAC_MOTION), compare_motions); |
| |
| // Recompute the motions using only the inliers. |
| for (i = 0; i < num_desired_motions; ++i) { |
| if (motions[i].num_inliers >= minpts) { |
| int num_inliers = motions[i].num_inliers; |
| copy_points_at_indices(points1, corners1, motions[i].inlier_indices, |
| num_inliers); |
| copy_points_at_indices(points2, corners2, motions[i].inlier_indices, |
| num_inliers); |
| |
| model_info->find_transformation(num_inliers, points1, points2, |
| motion_models[i].params); |
| |
| // Populate inliers array |
| for (int j = 0; j < num_inliers; j++) { |
| int index = motions[i].inlier_indices[j]; |
| const Correspondence *corr = &matched_points[index]; |
| motion_models[i].inliers[2 * j + 0] = (int)rint(corr->x); |
| motion_models[i].inliers[2 * j + 1] = (int)rint(corr->y); |
| } |
| } |
| motion_models[i].num_inliers = motions[i].num_inliers; |
| } |
| |
| finish_ransac: |
| aom_free(points1); |
| aom_free(points2); |
| aom_free(corners1); |
| aom_free(corners2); |
| aom_free(image1_coord); |
| aom_free(current_motion.inlier_indices); |
| if (motions) { |
| for (i = 0; i < num_desired_motions; ++i) { |
| aom_free(motions[i].inlier_indices); |
| } |
| aom_free(motions); |
| } |
| |
| return ret_val; |
| } |
| |
| static bool is_collinear3(double *p1, double *p2, double *p3) { |
| static const double collinear_eps = 1e-3; |
| const double v = |
| (p2[0] - p1[0]) * (p3[1] - p1[1]) - (p2[1] - p1[1]) * (p3[0] - p1[0]); |
| return fabs(v) < collinear_eps; |
| } |
| |
| #if ALLOW_TRANSLATION_MODELS |
| static bool is_degenerate_translation(double *p) { |
| return (p[0] - p[2]) * (p[0] - p[2]) + (p[1] - p[3]) * (p[1] - p[3]) <= 2; |
| } |
| #endif // ALLOW_TRANSLATION_MODELS |
| |
| static bool is_degenerate_affine(double *p) { |
| return is_collinear3(p, p + 2, p + 4); |
| } |
| |
| static const RansacModelInfo ransac_model_info[TRANS_TYPES] = { |
| // IDENTITY |
| { NULL, NULL, NULL, 0 }, |
| // TRANSLATION |
| #if ALLOW_TRANSLATION_MODELS |
| { is_degenerate_translation, find_translation, project_points_translation, |
| 3 }, |
| #else |
| { NULL, NULL, NULL, 0 }, |
| #endif |
| // ROTZOOM |
| { is_degenerate_affine, find_rotzoom, project_points_affine, 3 }, |
| // AFFINE |
| { is_degenerate_affine, find_affine, project_points_affine, 3 }, |
| }; |
| |
| // Returns true on success, false on error |
| bool ransac(const Correspondence *matched_points, int npoints, |
| TransformationType type, MotionModel *motion_models, |
| int num_desired_motions) { |
| #if ALLOW_TRANSLATION_MODELS |
| assert(type > IDENTITY && type < TRANS_TYPES); |
| #else |
| assert(type > TRANSLATION && type < TRANS_TYPES); |
| #endif // ALLOW_TRANSLATION_MODELS |
| |
| return ransac_internal(matched_points, npoints, motion_models, |
| num_desired_motions, &ransac_model_info[type]); |
| } |