@srsergio/taptapp-ar 1.0.2 → 1.0.3

package/dist/compiler/detector/detector-lite.js

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+/**
+ * Detector Lite - Pure JavaScript Feature Detector
+ *
+ * Un detector de características simplificado que no depende de TensorFlow.
+ * Optimizado para velocidad en compilación offline.
+ *
+ * Implementa:
+ * - Construcción de pirámide gaussiana (con aceleración GPU opcional)
+ * - Diferencia de Gaussianas (DoG) para detección de extremos
+ * - Descriptores FREAK simplificados
+ */
+import { FREAKPOINTS } from "./freak.js";
+import { gpuCompute } from "../utils/gpu-compute.js";
+const PYRAMID_MIN_SIZE = 8;
+const PYRAMID_MAX_OCTAVE = 5;
+const NUM_BUCKETS_PER_DIMENSION = 8;
+const MAX_FEATURES_PER_BUCKET = 3; // Optimizado: Reducido de 5 a 3 para menor peso
+const ORIENTATION_NUM_BINS = 36;
+const FREAK_EXPANSION_FACTOR = 7.0;
+// Global GPU mode flag
+let globalUseGPU = true;
+/**
+ * Set global GPU mode for all DetectorLite instances
+ * @param {boolean} enabled - Whether to use GPU acceleration
+ */
+export const setDetectorGPUMode = (enabled) => {
+    globalUseGPU = enabled;
+};
+/**
+ * Detector de características sin TensorFlow
+ */
+export class DetectorLite {
+    constructor(width, height, options = {}) {
+        this.width = width;
+        this.height = height;
+        this.useGPU = options.useGPU !== undefined ? options.useGPU : globalUseGPU;
+        let numOctaves = 0;
+        let w = width, h = height;
+        while (w >= PYRAMID_MIN_SIZE && h >= PYRAMID_MIN_SIZE) {
+            w = Math.floor(w / 2);
+            h = Math.floor(h / 2);
+            numOctaves++;
+            if (numOctaves === PYRAMID_MAX_OCTAVE)
+                break;
+        }
+        this.numOctaves = numOctaves;
+    }
+    /**
+     * Detecta características en una imagen en escala de grises
+     * @param {Float32Array|Uint8Array} imageData - Datos de imagen (width * height)
+     * @returns {{featurePoints: Array}} Puntos de características detectados
+     */
+    detect(imageData) {
+        // Normalizar a Float32Array si es necesario
+        let data;
+        if (imageData instanceof Float32Array) {
+            data = imageData;
+        }
+        else {
+            data = new Float32Array(imageData.length);
+            for (let i = 0; i < imageData.length; i++) {
+                data[i] = imageData[i];
+            }
+        }
+        // 1. Construir pirámide gaussiana
+        const pyramidImages = this._buildGaussianPyramid(data, this.width, this.height);
+        // 2. Construir pirámide DoG (Difference of Gaussians)
+        const dogPyramid = this._buildDogPyramid(pyramidImages);
+        // 3. Encontrar extremos locales
+        const extremas = this._findExtremas(dogPyramid, pyramidImages);
+        // 4. Aplicar pruning por buckets
+        const prunedExtremas = this._applyPrune(extremas);
+        // 5. Calcular orientaciones
+        this._computeOrientations(prunedExtremas, pyramidImages);
+        // 6. Calcular descriptores FREAK
+        this._computeFreakDescriptors(prunedExtremas, pyramidImages);
+        // Convertir a formato de salida
+        const featurePoints = prunedExtremas.map(ext => ({
+            maxima: ext.score > 0,
+            x: ext.x * Math.pow(2, ext.octave) + Math.pow(2, ext.octave - 1) - 0.5,
+            y: ext.y * Math.pow(2, ext.octave) + Math.pow(2, ext.octave - 1) - 0.5,
+            scale: Math.pow(2, ext.octave),
+            angle: ext.angle || 0,
+            descriptors: ext.descriptors || []
+        }));
+        return { featurePoints };
+    }
+    /**
+     * Construye una pirámide gaussiana
+     */
+    _buildGaussianPyramid(data, width, height) {
+        // Use GPU-accelerated pyramid if available
+        if (this.useGPU) {
+            try {
+                const gpuPyramid = gpuCompute.buildPyramid(data, width, height, this.numOctaves);
+                // Convert GPU pyramid format to expected format
+                const pyramid = [];
+                for (let i = 0; i < gpuPyramid.length && i < this.numOctaves; i++) {
+                    const level = gpuPyramid[i];
+                    // Apply second blur for DoG computation
+                    const img2 = this._applyGaussianFilter(level.data, level.width, level.height);
+                    pyramid.push([
+                        { data: level.data, width: level.width, height: level.height },
+                        { data: img2.data, width: level.width, height: level.height }
+                    ]);
+                }
+                return pyramid;
+            }
+            catch (e) {
+                // Fall back to CPU if GPU fails
+                console.warn("GPU pyramid failed, falling back to CPU:", e.message);
+            }
+        }
+        // Original CPU implementation
+        const pyramid = [];
+        let currentData = data;
+        let currentWidth = width;
+        let currentHeight = height;
+        for (let i = 0; i < this.numOctaves; i++) {
+            const img1 = this._applyGaussianFilter(currentData, currentWidth, currentHeight);
+            const img2 = this._applyGaussianFilter(img1.data, currentWidth, currentHeight);
+            pyramid.push([
+                { data: img1.data, width: currentWidth, height: currentHeight },
+                { data: img2.data, width: currentWidth, height: currentHeight }
+            ]);
+            // Downsample para siguiente octava
+            if (i < this.numOctaves - 1) {
+                const downsampled = this._downsample(img2.data, currentWidth, currentHeight);
+                currentData = downsampled.data;
+                currentWidth = downsampled.width;
+                currentHeight = downsampled.height;
+            }
+        }
+        return pyramid;
+    }
+    /**
+     * Aplica un filtro gaussiano binomial [1,4,6,4,1] - Optimizado
+     */
+    _applyGaussianFilter(data, width, height) {
+        const output = new Float32Array(width * height);
+        const temp = new Float32Array(width * height);
+        const k0 = 1 / 16, k1 = 4 / 16, k2 = 6 / 16;
+        const w1 = width - 1;
+        const h1 = height - 1;
+        // Horizontal pass - unrolled kernel
+        for (let y = 0; y < height; y++) {
+            const rowOffset = y * width;
+            for (let x = 0; x < width; x++) {
+                const x0 = x < 2 ? 0 : x - 2;
+                const x1 = x < 1 ? 0 : x - 1;
+                const x3 = x > w1 - 1 ? w1 : x + 1;
+                const x4 = x > w1 - 2 ? w1 : x + 2;
+                temp[rowOffset + x] =
+                    data[rowOffset + x0] * k0 +
+                        data[rowOffset + x1] * k1 +
+                        data[rowOffset + x] * k2 +
+                        data[rowOffset + x3] * k1 +
+                        data[rowOffset + x4] * k0;
+            }
+        }
+        // Vertical pass - unrolled kernel
+        for (let y = 0; y < height; y++) {
+            const y0 = (y < 2 ? 0 : y - 2) * width;
+            const y1 = (y < 1 ? 0 : y - 1) * width;
+            const y2 = y * width;
+            const y3 = (y > h1 - 1 ? h1 : y + 1) * width;
+            const y4 = (y > h1 - 2 ? h1 : y + 2) * width;
+            for (let x = 0; x < width; x++) {
+                output[y2 + x] =
+                    temp[y0 + x] * k0 +
+                        temp[y1 + x] * k1 +
+                        temp[y2 + x] * k2 +
+                        temp[y3 + x] * k1 +
+                        temp[y4 + x] * k0;
+            }
+        }
+        return { data: output, width, height };
+    }
+    /**
+     * Downsample imagen por factor de 2
+     */
+    _downsample(data, width, height) {
+        const newWidth = Math.floor(width / 2);
+        const newHeight = Math.floor(height / 2);
+        const output = new Float32Array(newWidth * newHeight);
+        for (let y = 0; y < newHeight; y++) {
+            for (let x = 0; x < newWidth; x++) {
+                // Interpolación bilinear
+                const srcX = x * 2 + 0.5;
+                const srcY = y * 2 + 0.5;
+                const x0 = Math.floor(srcX);
+                const y0 = Math.floor(srcY);
+                const x1 = Math.min(x0 + 1, width - 1);
+                const y1 = Math.min(y0 + 1, height - 1);
+                const fx = srcX - x0;
+                const fy = srcY - y0;
+                const v00 = data[y0 * width + x0];
+                const v10 = data[y0 * width + x1];
+                const v01 = data[y1 * width + x0];
+                const v11 = data[y1 * width + x1];
+                output[y * newWidth + x] =
+                    v00 * (1 - fx) * (1 - fy) +
+                        v10 * fx * (1 - fy) +
+                        v01 * (1 - fx) * fy +
+                        v11 * fx * fy;
+            }
+        }
+        return { data: output, width: newWidth, height: newHeight };
+    }
+    /**
+     * Construye pirámide de diferencia de gaussianas
+     */
+    _buildDogPyramid(pyramidImages) {
+        const dogPyramid = [];
+        for (let i = 0; i < pyramidImages.length; i++) {
+            const img1 = pyramidImages[i][0];
+            const img2 = pyramidImages[i][1];
+            const width = img1.width;
+            const height = img1.height;
+            const dog = new Float32Array(width * height);
+            for (let j = 0; j < dog.length; j++) {
+                dog[j] = img2.data[j] - img1.data[j];
+            }
+            dogPyramid.push({ data: dog, width, height });
+        }
+        return dogPyramid;
+    }
+    /**
+     * Encuentra extremos locales en la pirámide DoG
+     */
+    _findExtremas(dogPyramid, pyramidImages) {
+        const extremas = [];
+        for (let octave = 1; octave < dogPyramid.length - 1; octave++) {
+            const curr = dogPyramid[octave];
+            const prev = dogPyramid[octave - 1];
+            const next = dogPyramid[octave + 1];
+            const width = curr.width;
+            const height = curr.height;
+            const prevWidth = prev.width;
+            const nextWidth = next.width;
+            for (let y = 1; y < height - 1; y++) {
+                for (let x = 1; x < width - 1; x++) {
+                    const val = curr.data[y * width + x];
+                    if (Math.abs(val) < 0.015)
+                        continue; // Threshold
+                    let isMaxima = true;
+                    let isMinima = true;
+                    // Check 3x3 neighborhood in current scale
+                    for (let dy = -1; dy <= 1 && (isMaxima || isMinima); dy++) {
+                        for (let dx = -1; dx <= 1 && (isMaxima || isMinima); dx++) {
+                            if (dx === 0 && dy === 0)
+                                continue;
+                            const neighbor = curr.data[(y + dy) * width + (x + dx)];
+                            if (neighbor >= val)
+                                isMaxima = false;
+                            if (neighbor <= val)
+                                isMinima = false;
+                        }
+                    }
+                    // Check previous scale (scaled coordinates)
+                    if (isMaxima || isMinima) {
+                        const px = Math.floor(x * 2);
+                        const py = Math.floor(y * 2);
+                        for (let dy = -1; dy <= 1 && (isMaxima || isMinima); dy++) {
+                            for (let dx = -1; dx <= 1 && (isMaxima || isMinima); dx++) {
+                                const xx = Math.max(0, Math.min(prevWidth - 1, px + dx));
+                                const yy = Math.max(0, Math.min(prev.height - 1, py + dy));
+                                const neighbor = prev.data[yy * prevWidth + xx];
+                                if (neighbor >= val)
+                                    isMaxima = false;
+                                if (neighbor <= val)
+                                    isMinima = false;
+                            }
+                        }
+                    }
+                    // Check next scale (scaled coordinates)
+                    if (isMaxima || isMinima) {
+                        const nx = Math.floor(x / 2);
+                        const ny = Math.floor(y / 2);
+                        for (let dy = -1; dy <= 1 && (isMaxima || isMinima); dy++) {
+                            for (let dx = -1; dx <= 1 && (isMaxima || isMinima); dx++) {
+                                const xx = Math.max(0, Math.min(nextWidth - 1, nx + dx));
+                                const yy = Math.max(0, Math.min(next.height - 1, ny + dy));
+                                const neighbor = next.data[yy * nextWidth + xx];
+                                if (neighbor >= val)
+                                    isMaxima = false;
+                                if (neighbor <= val)
+                                    isMinima = false;
+                            }
+                        }
+                    }
+                    if (isMaxima || isMinima) {
+                        extremas.push({
+                            score: isMaxima ? Math.abs(val) : -Math.abs(val),
+                            octave,
+                            x,
+                            y,
+                            absScore: Math.abs(val)
+                        });
+                    }
+                }
+            }
+        }
+        return extremas;
+    }
+    /**
+     * Aplica pruning para mantener solo los mejores features por bucket
+     */
+    _applyPrune(extremas) {
+        const nBuckets = NUM_BUCKETS_PER_DIMENSION;
+        const nFeatures = MAX_FEATURES_PER_BUCKET;
+        // Agrupar por buckets
+        const buckets = [];
+        for (let i = 0; i < nBuckets * nBuckets; i++) {
+            buckets.push([]);
+        }
+        for (const ext of extremas) {
+            const bucketX = Math.min(nBuckets - 1, Math.floor(ext.x / (this.width / Math.pow(2, ext.octave)) * nBuckets));
+            const bucketY = Math.min(nBuckets - 1, Math.floor(ext.y / (this.height / Math.pow(2, ext.octave)) * nBuckets));
+            const bucketIdx = bucketY * nBuckets + bucketX;
+            if (bucketIdx >= 0 && bucketIdx < buckets.length) {
+                buckets[bucketIdx].push(ext);
+            }
+        }
+        // Seleccionar top features por bucket
+        const result = [];
+        for (const bucket of buckets) {
+            bucket.sort((a, b) => b.absScore - a.absScore);
+            for (let i = 0; i < Math.min(nFeatures, bucket.length); i++) {
+                result.push(bucket[i]);
+            }
+        }
+        return result;
+    }
+    /**
+     * Calcula la orientación de cada feature
+     */
+    _computeOrientations(extremas, pyramidImages) {
+        for (const ext of extremas) {
+            if (ext.octave < 1 || ext.octave >= pyramidImages.length) {
+                ext.angle = 0;
+                continue;
+            }
+            const img = pyramidImages[ext.octave][1];
+            const width = img.width;
+            const height = img.height;
+            const data = img.data;
+            const x = Math.floor(ext.x);
+            const y = Math.floor(ext.y);
+            // Compute gradient histogram
+            const histogram = new Float32Array(ORIENTATION_NUM_BINS);
+            const radius = 4;
+            for (let dy = -radius; dy <= radius; dy++) {
+                for (let dx = -radius; dx <= radius; dx++) {
+                    const yy = y + dy;
+                    const xx = x + dx;
+                    if (yy <= 0 || yy >= height - 1 || xx <= 0 || xx >= width - 1)
+                        continue;
+                    const gradY = data[(yy + 1) * width + xx] - data[(yy - 1) * width + xx];
+                    const gradX = data[yy * width + xx + 1] - data[yy * width + xx - 1];
+                    const mag = Math.sqrt(gradX * gradX + gradY * gradY);
+                    const angle = Math.atan2(gradY, gradX) + Math.PI; // 0 to 2*PI
+                    const bin = Math.floor(angle / (2 * Math.PI) * ORIENTATION_NUM_BINS) % ORIENTATION_NUM_BINS;
+                    const weight = Math.exp(-(dx * dx + dy * dy) / (2 * radius * radius));
+                    histogram[bin] += mag * weight;
+                }
+            }
+            // Find peak
+            let maxBin = 0;
+            for (let i = 1; i < ORIENTATION_NUM_BINS; i++) {
+                if (histogram[i] > histogram[maxBin]) {
+                    maxBin = i;
+                }
+            }
+            ext.angle = (maxBin + 0.5) * 2 * Math.PI / ORIENTATION_NUM_BINS - Math.PI;
+        }
+    }
+    /**
+     * Calcula descriptores FREAK
+     */
+    _computeFreakDescriptors(extremas, pyramidImages) {
+        for (const ext of extremas) {
+            if (ext.octave < 1 || ext.octave >= pyramidImages.length) {
+                ext.descriptors = [];
+                continue;
+            }
+            const img = pyramidImages[ext.octave][1];
+            const width = img.width;
+            const height = img.height;
+            const data = img.data;
+            const cos = Math.cos(ext.angle || 0) * FREAK_EXPANSION_FACTOR;
+            const sin = Math.sin(ext.angle || 0) * FREAK_EXPANSION_FACTOR;
+            // Sample FREAK points
+            const samples = new Float32Array(FREAKPOINTS.length);
+            for (let i = 0; i < FREAKPOINTS.length; i++) {
+                const [, fx, fy] = FREAKPOINTS[i];
+                const xp = ext.x + fx * cos - fy * sin;
+                const yp = ext.y + fx * sin + fy * cos;
+                const x0 = Math.max(0, Math.min(width - 2, Math.floor(xp)));
+                const y0 = Math.max(0, Math.min(height - 2, Math.floor(yp)));
+                const x1 = x0 + 1;
+                const y1 = y0 + 1;
+                const fracX = xp - x0;
+                const fracY = yp - y0;
+                samples[i] =
+                    data[y0 * width + x0] * (1 - fracX) * (1 - fracY) +
+                        data[y0 * width + x1] * fracX * (1 - fracY) +
+                        data[y1 * width + x0] * (1 - fracX) * fracY +
+                        data[y1 * width + x1] * fracX * fracY;
+            }
+            // Pack pairs into Uint8Array (84 bytes per descriptor)
+            const descriptor = new Uint8Array(84);
+            let bitCount = 0;
+            let byteIdx = 0;
+            for (let i = 0; i < FREAKPOINTS.length; i++) {
+                for (let j = i + 1; j < FREAKPOINTS.length; j++) {
+                    if (samples[i] < samples[j]) {
+                        descriptor[byteIdx] |= (1 << (7 - bitCount));
+                    }
+                    bitCount++;
+                    if (bitCount === 8) {
+                        byteIdx++;
+                        bitCount = 0;
+                    }
+                }
+            }
+            ext.descriptors = descriptor;
+        }
+    }
+}