// Copyright 2019 The MediaPipe Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MEDIAPIPE_UTIL_TRACKING_IMAGE_UTIL_H_
#define MEDIAPIPE_UTIL_TRACKING_IMAGE_UTIL_H_
#include <vector>
#include "absl/log/absl_check.h"
#include "mediapipe/framework/port/opencv_core_inc.h"
#include "mediapipe/framework/port/opencv_imgproc_inc.h"
#include "mediapipe/framework/port/vector.h"
#include "mediapipe/util/tracking/motion_models.pb.h"
#include "mediapipe/util/tracking/region_flow.pb.h"
namespace mediapipe {
// Returns median of the L1 color distance between img_1 and img_2.
float FrameDifferenceMedian(const cv::Mat& img_1, const cv::Mat& img_2);
// Matlab's jet color map (returned assuming RGB channel order in [0, 1]
// normalized intensity domain). For details: http://goo.gl/gmHKZ
// Returned as map with num_entries entries.
void JetColoring(int num_entries, std::vector<Vector3_f>* color_map);
// Draws a saliency point frame to a single frame.
// Optionally renders axis aligned bounding box for each SalientPointFrame.
void RenderSaliency(const SalientPointFrame& salient_points,
const cv::Scalar& line_color, int line_thickness,
bool render_bounding_box, cv::Mat* image);
// Templated CopyBorder methods for increased speed. In-place border copy
// for specified Mat of type T with channels. Passed matrix is assumed to be of
// full size, that is we copy the content at [border, cols - 2 * border] x
// [border, rows - 2 * border] to the full size.
template <typename T, int border, int channels>
void CopyMatBorder(cv::Mat* mat);
// Same as above for copying border only in X or Y
template <typename T, int border, int channels>
void CopyMatBorderX(cv::Mat* mat);
template <typename T, int border, int channels>
void CopyMatBorderY(cv::Mat* mat);
template <typename T, int border, int channels>
void CopyMatBorder(cv::Mat* mat) {
const int width = mat->cols - 2 * border;
const int height = mat->rows - 2 * border;
// Maximum values we clamp at to avoid going out of bound small images.
const int max_w = width - 1;
const int max_h = height - 1;
// Top rows.
for (int r = 0; r < border; ++r) {
const T* src_ptr =
mat->ptr<T>(border + std::min(r, max_h)) + border * channels;
T* dst_ptr = mat->ptr<T>(border - 1 - r);
// Top left elems.
for (int i = 0; i < border; ++i, dst_ptr += channels) {
for (int j = 0; j < channels; ++j) {
dst_ptr[j] = src_ptr[std::min(max_w, border - 1 - i) * channels + j];
}
}
// src and dst should point to same column from here.
ABSL_DCHECK_EQ(0, (src_ptr - dst_ptr) * sizeof(T) % mat->step[0]);
// Top row copy.
memcpy(dst_ptr, src_ptr, width * channels * sizeof(dst_ptr[0]));
src_ptr += width * channels; // Points one behind end.
dst_ptr += width * channels;
// Top right elems.
for (int i = 0; i < border; ++i, dst_ptr += channels) {
if (i <= max_w) {
src_ptr -= channels;
}
for (int j = 0; j < channels; ++j) {
dst_ptr[j] = src_ptr[j];
}
}
}
// Left and right border.
for (int r = 0; r < height; ++r) {
// Get pointers to left most and right most column within image.
T* left_ptr = mat->ptr<T>(r + border) + border * channels;
T* right_ptr = left_ptr + (width - 1) * channels;
for (int i = 0; i < border; ++i) {
for (int j = 0; j < channels; ++j) {
left_ptr[-(i + 1) * channels + j] =
left_ptr[std::min(max_w, i) * channels + j];
right_ptr[(i + 1) * channels + j] =
right_ptr[-std::min(max_w, i) * channels + j];
}
}
}
// Bottom rows.
for (int r = 0; r < border; ++r) {
const T* src_ptr = mat->ptr<T>(border + height - 1 - std::min(r, max_h)) +
border * channels;
T* dst_ptr = mat->ptr<T>(border + height + r);
// First elems.
for (int i = 0; i < border; ++i, dst_ptr += channels) {
for (int j = 0; j < channels; ++j) {
dst_ptr[j] = src_ptr[(border - 1 - std::min(max_w, i)) * channels + j];
}
}
// src and dst should point to same column from here.
ABSL_DCHECK_EQ(0, (dst_ptr - src_ptr) * sizeof(T) % mat->step[0]);
memcpy(dst_ptr, src_ptr, width * channels * sizeof(dst_ptr[0]));
src_ptr += width * channels; // Points one behind the end.
dst_ptr += width * channels;
// Top right elems.
for (int i = 0; i < border; ++i, dst_ptr += channels) {
if (i <= max_w) {
src_ptr -= channels;
}
for (int j = 0; j < channels; ++j) {
dst_ptr[j] = src_ptr[j];
}
}
}
}
template <typename T, int border, int channels>
void CopyMatBorderX(cv::Mat* mat) {
const int width = mat->cols - 2 * border;
const int height = mat->rows - 2 * border;
// Maximum values we clamp at to avoid going out of bound small images.
const int max_w = width - 1;
// Left and right border.
for (int r = 0; r < height; ++r) {
T* left_ptr = mat->ptr<T>(r + border) + border * channels;
T* right_ptr = left_ptr + (width - 1) * channels;
for (int i = 0; i < border; ++i) {
for (int j = 0; j < channels; ++j) {
left_ptr[-(i + 1) * channels + j] =
left_ptr[std::min(i, max_w) * channels + j];
right_ptr[(i + 1) * channels + j] =
right_ptr[-std::min(max_w, i) * channels + j];
}
}
}
}
template <typename T, int border, int channels>
void CopyMatBorderY(cv::Mat* mat) {
const int width = mat->cols - 2 * border;
const int height = mat->rows - 2 * border;
// Maximum values we clamp at to avoid going out of bound small images.
const int max_h = height - 1;
// Top rows.
for (int r = 0; r < border; ++r) {
const T* src_ptr =
mat->ptr<T>(border + std::min(max_h, r)) + border * channels;
T* dst_ptr = mat->ptr<T>(border - 1 - r) + border * channels;
memcpy(dst_ptr, src_ptr, width * channels * sizeof(dst_ptr[0]));
}
// Bottom rows.
for (int r = 0; r < border; ++r) {
const T* src_ptr = mat->ptr<T>(border + height - 1 - std::min(max_h, r)) +
border * channels;
T* dst_ptr = mat->ptr<T>(border + height + r) + border * channels;
memcpy(dst_ptr, src_ptr, width * channels * sizeof(dst_ptr[0]));
}
}
} // namespace mediapipe
#endif // MEDIAPIPE_UTIL_TRACKING_IMAGE_UTIL_H_
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