textons.c File Reference

Takes an image and represents the texture and colors in the image with a texton histogram. More...

#include <stdlib.h>
#include <stdio.h>
#include "modules/computer_vision/cv.h"
#include "modules/computer_vision/textons.h"
#include "mcu_periph/sys_time.h"
#include "generated/airframe.h"

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Macros
#define	MAX_N_TEXTONS   255
#define	TEXTONS_RUN   1
#define	TEXTONS_FPS   30
#define	TEXTONS_LOAD_DICTIONARY   1
#define	TEXTONS_REINITIALIZE_DICTIONARY   0
#define	TEXTONS_ALPHA   0
#define	TEXTONS_N_TEXTONS   20
#define	TEXTONS_N_SAMPLES   250
#define	TEXTONS_PATCH_SIZE   6
#define	TEXTONS_N_LEARNING_SAMPLES   5000
#define	TEXTONS_FULL_SAMPLING   0
#define	TEXTONS_BORDER_WIDTH   0
#define	TEXTONS_BORDER_HEIGHT   0
#define	TEXTONS_DICTIONARY_NUMBER   0
#define	TEXTONS_DICTIONARY_PATH   /data/ftp/internal_000

Functions
struct image_t *	texton_func (struct image_t *img, UNUSED uint8_t p)
	Main texton processing function that first either loads or learns a dictionary and then extracts the texton histogram. More...
void	DictionaryTrainingYUV (uint8_t *frame, uint16_t width, uint16_t height)
	Function that performs one pass for dictionary training. More...
void	DistributionExtraction (uint8_t *frame, uint16_t width, uint16_t height)
	Function that extracts a texton histogram from an image. More...
void	save_texton_dictionary (void)
	Save the texton dictionary. More...
void	load_texton_dictionary (void)
	Load a texton dictionary. More...
void	textons_init (void)
	Initialize. More...
void	textons_stop (void)
float	get_entropy (float *p_dist, int D)
	Function that calculates a base-2 Shannon entropy for a probability distribution. More...

Variables
float ****	dictionary
uint32_t	learned_samples = 0
uint8_t	dictionary_initialized = 0
float *	texton_distribution
struct video_listener *	listener = NULL
uint8_t	running = TEXTONS_RUN
uint8_t	load_dictionary = TEXTONS_LOAD_DICTIONARY
uint8_t	reinitialize_dictionary = TEXTONS_REINITIALIZE_DICTIONARY
uint8_t	alpha_uint = TEXTONS_ALPHA
uint8_t	n_textons = TEXTONS_N_TEXTONS
uint8_t	patch_size = TEXTONS_PATCH_SIZE
uint32_t	n_learning_samples = TEXTONS_N_LEARNING_SAMPLES
uint32_t	n_samples_image = TEXTONS_N_SAMPLES
uint8_t	FULL_SAMPLING = TEXTONS_FULL_SAMPLING
uint32_t	border_width = TEXTONS_BORDER_WIDTH
uint32_t	border_height = TEXTONS_BORDER_HEIGHT
uint8_t	dictionary_number = TEXTONS_DICTIONARY_NUMBER
uint8_t	dictionary_ready = 0
float	alpha = 0.0
static FILE *	dictionary_logger = NULL

Detailed Description

Takes an image and represents the texture and colors in the image with a texton histogram.

A texton is a cluster centroid in a space populated by image patches. First, this code learns or loads a texton dictionary. Then, for each incoming image, patches are sampled from the image, compared to textons in the dictionary, and the closest texton is identified, augmenting the corresponding bin in the texton histogram.

Definition in file textons.c.

Macro Definition Documentation

MAX_N_TEXTONS

#define MAX_N_TEXTONS   255

Definition at line 44 of file textons.c.

TEXTONS_ALPHA

#define TEXTONS_ALPHA   0

Definition at line 68 of file textons.c.

TEXTONS_BORDER_HEIGHT

#define TEXTONS_BORDER_HEIGHT   0

Definition at line 103 of file textons.c.

TEXTONS_BORDER_WIDTH

#define TEXTONS_BORDER_WIDTH   0

Definition at line 98 of file textons.c.

TEXTONS_DICTIONARY_NUMBER

#define TEXTONS_DICTIONARY_NUMBER   0

Definition at line 108 of file textons.c.

TEXTONS_DICTIONARY_PATH

#define TEXTONS_DICTIONARY_PATH   /data/ftp/internal_000

Definition at line 113 of file textons.c.

TEXTONS_FPS

#define TEXTONS_FPS   30

Definition at line 53 of file textons.c.

TEXTONS_FULL_SAMPLING

#define TEXTONS_FULL_SAMPLING   0

Definition at line 93 of file textons.c.

TEXTONS_LOAD_DICTIONARY

#define TEXTONS_LOAD_DICTIONARY   1

Definition at line 58 of file textons.c.

TEXTONS_N_LEARNING_SAMPLES

#define TEXTONS_N_LEARNING_SAMPLES   5000

Definition at line 88 of file textons.c.

TEXTONS_N_SAMPLES

#define TEXTONS_N_SAMPLES   250

Definition at line 78 of file textons.c.

TEXTONS_N_TEXTONS

#define TEXTONS_N_TEXTONS   20

Definition at line 73 of file textons.c.

TEXTONS_PATCH_SIZE

#define TEXTONS_PATCH_SIZE   6

Definition at line 83 of file textons.c.

TEXTONS_REINITIALIZE_DICTIONARY

#define TEXTONS_REINITIALIZE_DICTIONARY   0

Definition at line 63 of file textons.c.

TEXTONS_RUN

#define TEXTONS_RUN   1

Definition at line 48 of file textons.c.

Function Documentation

DictionaryTrainingYUV()

void DictionaryTrainingYUV	(	uint8_t *	frame,
		uint16_t	width,
		uint16_t	height
	)

Function that performs one pass for dictionary training.

It extracts samples from an image, finds the closest texton and moves it towards the sample.

Parameters

[in]	frame*	The YUV image data
[in]	width	The width of the image
[in]	height	The height of the image

Definition at line 227 of file textons.c.

References alpha, alpha_uint, image_t::buf, dictionary, dictionary_initialized, frame, learned_samples, n_samples_image, n_textons, patch_size, s, and image_t::w.

Referenced by texton_func().

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DistributionExtraction()

void DistributionExtraction	(	uint8_t *	frame,
		uint16_t	width,
		uint16_t	height
	)

Function that extracts a texton histogram from an image.

Parameters

[in]	frame*	The YUV image data
[in]	width	The width of the image
[in]	height	The height of the image

Definition at line 372 of file textons.c.

References border_height, border_width, image_t::buf, dictionary, frame, FULL_SAMPLING, n_samples_image, n_textons, patch_size, and texton_distribution.

Referenced by texton_func().

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get_entropy()

float get_entropy	(	float *	p_dist,
		int	D
	)

Function that calculates a base-2 Shannon entropy for a probability distribution.

Parameters

[in]	p_dist	The probability distribution array
[in]	D	Size of the array

Definition at line 594 of file textons.c.

References D.

load_texton_dictionary()

void load_texton_dictionary

(

void

)

Load a texton dictionary.

Definition at line 532 of file textons.c.

References dictionary, dictionary_initialized, dictionary_logger, dictionary_number, dictionary_ready, learned_samples, load_dictionary, n_textons, patch_size, and TEXTONS_DICTIONARY_PATH.

Referenced by texton_func().

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save_texton_dictionary()

void save_texton_dictionary

(

void

)

Save the texton dictionary.

Definition at line 501 of file textons.c.

References dictionary, dictionary_logger, dictionary_number, n_textons, patch_size, and TEXTONS_DICTIONARY_PATH.

Referenced by texton_func().

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texton_func()

struct image_t * texton_func	(	struct image_t *	img,
		UNUSED uint8_t	p
	)

Main texton processing function that first either loads or learns a dictionary and then extracts the texton histogram.

Parameters

[out]	*img	The output image
[in]	*img	The input image (YUV422)

Definition at line 144 of file textons.c.

References alpha, alpha_uint, image_t::buf, image_t::buf_size, dictionary_initialized, dictionary_ready, DictionaryTrainingYUV(), DistributionExtraction(), frame, image_t::h, if(), learned_samples, load_dictionary, load_texton_dictionary(), n_learning_samples, patch_size, reinitialize_dictionary, running, save_texton_dictionary(), and image_t::w.

Referenced by textons_init().

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textons_init()

void textons_init

(

void

)

Initialize.

Definition at line 562 of file textons.c.

References cv_add_to_device(), dictionary, dictionary_initialized, dictionary_ready, learned_samples, listener, MAX_N_TEXTONS, patch_size, texton_distribution, texton_func(), TEXTONS_FPS, and image_t::w.

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textons_stop()

void textons_stop

(

void

)

Definition at line 583 of file textons.c.

References dictionary, and texton_distribution.

Variable Documentation

alpha

float alpha = 0.0

Definition at line 133 of file textons.c.

Referenced by ahrs_fc_propagate(), ahrs_mlkf_update_accel(), baro_cb(), compute_1e_filter_lp(), compute_ground_speed(), DictionaryTrainingYUV(), gvf_ellipse_info(), gvf_ellipse_wp(), gvf_ellipse_XY(), gvf_line_info(), gvf_parametric_2D_trefoil_wp(), gvf_parametric_2D_trefoil_XY(), gvf_segment_loop_XY1_XY2(), gvf_sin_info(), gvf_sin_wp1_wp2(), gvf_sin_wp_alpha(), gvf_sin_XY_alpha(), indi_apply_compensator_filters(), ins_float_invariant_update_baro(), mtostk_apply_polynomial_temp(), nav_cube_setup(), nav_hybrid_circle(), nps_fdm_run_step(), out_of_segment_area(), process_new_point_rosette(), propagate_ref(), snav_init(), texton_func(), update_target_point(), and wls_alloc().

alpha_uint

uint8_t alpha_uint = TEXTONS_ALPHA

Definition at line 121 of file textons.c.

Referenced by DictionaryTrainingYUV(), and texton_func().

border_height

uint32_t border_height = TEXTONS_BORDER_HEIGHT

Definition at line 128 of file textons.c.

Referenced by DistributionExtraction().

border_width

uint32_t border_width = TEXTONS_BORDER_WIDTH

Definition at line 127 of file textons.c.

Referenced by DistributionExtraction().

dictionary

float** ** dictionary

Definition at line 39 of file textons.c.

Referenced by DictionaryTrainingYUV(), DistributionExtraction(), load_texton_dictionary(), save_texton_dictionary(), textons_init(), and textons_stop().

dictionary_initialized

uint8_t dictionary_initialized = 0

Definition at line 41 of file textons.c.

Referenced by DictionaryTrainingYUV(), load_texton_dictionary(), texton_func(), and textons_init().

dictionary_logger

FILE* dictionary_logger = NULL

static

Definition at line 136 of file textons.c.

Referenced by load_texton_dictionary(), and save_texton_dictionary().

dictionary_number

uint8_t dictionary_number = TEXTONS_DICTIONARY_NUMBER

Definition at line 129 of file textons.c.

Referenced by load_texton_dictionary(), and save_texton_dictionary().

dictionary_ready

uint8_t dictionary_ready = 0

Definition at line 132 of file textons.c.

Referenced by load_texton_dictionary(), texton_func(), and textons_init().

FULL_SAMPLING

uint8_t FULL_SAMPLING = TEXTONS_FULL_SAMPLING

Definition at line 126 of file textons.c.

Referenced by DistributionExtraction().

learned_samples

uint32_t learned_samples = 0

Definition at line 40 of file textons.c.

Referenced by DictionaryTrainingYUV(), load_texton_dictionary(), texton_func(), and textons_init().

listener

struct video_listener* listener = NULL

Definition at line 116 of file textons.c.

Referenced by textons_init().

load_dictionary

uint8_t load_dictionary = TEXTONS_LOAD_DICTIONARY

Definition at line 119 of file textons.c.

Referenced by load_texton_dictionary(), and texton_func().

n_learning_samples

uint32_t n_learning_samples = TEXTONS_N_LEARNING_SAMPLES

Definition at line 124 of file textons.c.

Referenced by texton_func().

n_samples_image

uint32_t n_samples_image = TEXTONS_N_SAMPLES

Definition at line 125 of file textons.c.

Referenced by DictionaryTrainingYUV(), and DistributionExtraction().

n_textons

uint8_t n_textons = TEXTONS_N_TEXTONS

Definition at line 122 of file textons.c.

Referenced by DictionaryTrainingYUV(), DistributionExtraction(), learn_from_file(), load_texton_dictionary(), load_texton_distribution(), load_weights(), predict_gain(), recursive_least_squares_batch(), save_texton_dictionary(), save_texton_distribution(), save_weights(), and vertical_ctrl_module_init().

patch_size

uint8_t patch_size = TEXTONS_PATCH_SIZE

Definition at line 123 of file textons.c.

Referenced by DictionaryTrainingYUV(), DistributionExtraction(), load_texton_dictionary(), opticFlowLK(), opticFlowLK_flat(), save_texton_dictionary(), texton_func(), and textons_init().

reinitialize_dictionary

uint8_t reinitialize_dictionary = TEXTONS_REINITIALIZE_DICTIONARY

Definition at line 120 of file textons.c.

Referenced by texton_func().

running

uint8_t running = TEXTONS_RUN

Definition at line 118 of file textons.c.

Referenced by texton_func().

texton_distribution

float* texton_distribution

Definition at line 42 of file textons.c.

Referenced by DistributionExtraction(), save_texton_distribution(), textons_init(), textons_stop(), and vertical_ctrl_module_run().