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authorcathook <b01902109@csie.ntu.edu.tw>2014-06-19 07:25:48 +0800
committercathook <b01902109@csie.ntu.edu.tw>2014-06-19 07:25:48 +0800
commitfe926756145c5e5cf5f315af0acdbfd85ba27543 (patch)
tree4d75f94b87fd6d60262f2377d92f5896faf1be7d /meowpp.test
parentb2b55d8c642524274d8115d5b1863e1a40715887 (diff)
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Diffstat (limited to 'meowpp.test')
-rw-r--r--meowpp.test/GNUmakefile2
-rw-r--r--meowpp.test/GNUmakefile.targets7
-rw-r--r--meowpp.test/inc/autostitch.h10
-rw-r--r--meowpp.test/output.jpgbin0 -> 69525 bytes
-rw-r--r--meowpp.test/output.txt361
-rw-r--r--meowpp.test/output2.jpgbin0 -> 36025 bytes
-rw-r--r--meowpp.test/output3.jpgbin0 -> 36191 bytes
-rw-r--r--meowpp.test/points.txt361
-rw-r--r--meowpp.test/src/autostitch.cpp384
-rw-r--r--meowpp.test/src/autostitch_FeaturePointsDetector_Harris.cpp28
-rw-r--r--meowpp.test/src/autostitch_K_Match.cpp4
-rw-r--r--meowpp.test/src/autostitch_RansacCheck.cpp103
-rw-r--r--meowpp.test/src/dsa.cpp15
-rw-r--r--meowpp.test/src/oo.cpp32
-rw-r--r--meowpp.test/src/rot_bundle.cpp319
15 files changed, 1268 insertions, 358 deletions
diff --git a/meowpp.test/GNUmakefile b/meowpp.test/GNUmakefile
index 2e503b8..839be8e 100644
--- a/meowpp.test/GNUmakefile
+++ b/meowpp.test/GNUmakefile
@@ -6,7 +6,7 @@ DEP := dep
LIB_INCS :=
CXX := g++
-CXXFLAGS := -Wall -I$(INC) $(LIB_INCS) -g -pedantic -lstdc++ -lm
+CXXFLAGS := -Wall -O2 -I$(INC) $(LIB_INCS) -g -pedantic -lstdc++ -lm
CXX_OBJ := $(CXX) -c
CXX_DEP := $(CXX) -MM
diff --git a/meowpp.test/GNUmakefile.targets b/meowpp.test/GNUmakefile.targets
index 6c1cd66..35486b6 100644
--- a/meowpp.test/GNUmakefile.targets
+++ b/meowpp.test/GNUmakefile.targets
@@ -20,3 +20,10 @@ $(BIN)/oo: $(OBJ)/oo.o $(oo_OBJS)
@echo Target: $@...
@$(CXX) $^ $(CXXFLAGS) `pkg-config --cflags --libs $(oo_LIBS) 2>/dev/null` -o $@
+TARGETS := $(TARGETS) $(BIN)/rot_bundle
+rot_bundle_OBJS :=
+rot_bundle_LIBS := opencv
+$(BIN)/rot_bundle: $(OBJ)/rot_bundle.o $(rot_bundle_OBJS)
+ @echo Target: $@...
+ @$(CXX) $^ $(CXXFLAGS) `pkg-config --cflags --libs $(rot_bundle_LIBS) 2>/dev/null` -o $@
+
diff --git a/meowpp.test/inc/autostitch.h b/meowpp.test/inc/autostitch.h
index 38e809f..469889f 100644
--- a/meowpp.test/inc/autostitch.h
+++ b/meowpp.test/inc/autostitch.h
@@ -45,13 +45,12 @@ public:
std::vector<std::vector<meow::FeaturePoint<double,double> > >const& fp);
};
-class MyRansacCheck{
+class MyRansacCheck {
private:
static double threshold;
std::vector<meow::Vector<double> > const* _from;
std::vector<meow::Vector<double> > const* _to ;
- meow::Vector3D<double> _vX;
- meow::Vector3D<double> _vY;
+ double a_, b_, c_, d_, e_, f_, A_, B_;
public:
static meow::Usage usage();
static bool usage(meow::Usage const& usg);
@@ -60,13 +59,12 @@ public:
MyRansacCheck(std::vector<meow::Vector<double> > const* __from,
std::vector<meow::Vector<double> > const* __to);
~MyRansacCheck();
- std::pair<meow::Vector3D<double>, meow::Vector3D<double> > vCalc(
- std::vector<meow::FeaturePointIndexPair> const& __sample
- ) const;
+ meow::Vector<double> vCalc(std::vector<meow::FeaturePointIndexPair> const& __sample) const;
void rememberVCalc(std::vector<meow::FeaturePointIndexPair> const& __sample);
bool ok(meow::FeaturePointIndexPair const& __m) const;
double operator()(std::vector<meow::FeaturePointIndexPair> const& __sample,
std::vector<meow::FeaturePointIndexPair> const& __data) const;
+ bool check(double, double);
meow::Vector2D<double> to(meow::Vector2D<double> const& __v) const;
};
diff --git a/meowpp.test/output.jpg b/meowpp.test/output.jpg
new file mode 100644
index 0000000..8ef882d
--- /dev/null
+++ b/meowpp.test/output.jpg
Binary files differ
diff --git a/meowpp.test/output.txt b/meowpp.test/output.txt
new file mode 100644
index 0000000..2e29d05
--- /dev/null
+++ b/meowpp.test/output.txt
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diff --git a/meowpp.test/src/autostitch.cpp b/meowpp.test/src/autostitch.cpp
index e63ef43..b62d13b 100644
--- a/meowpp.test/src/autostitch.cpp
+++ b/meowpp.test/src/autostitch.cpp
@@ -16,7 +16,6 @@
#include "meowpp/gra/Bitmap.h"
#include "meowpp/gra/Photo.h"
#include "meowpp/gra/Camera.h"
-#include "meowpp/gra/WatchBall.h"
#include "meowpp/math/utility.h"
#include "meowpp/math/methods.h"
@@ -43,6 +42,10 @@ double p0 = 0.07, P = 0.99;
double q = 0.7, r = 0.01, Q = 0.97;
double stop = 1;
double o_radius = 500;
+double angle_t = PI / 4.0;
+double aspect_t = 2.0;
+
+std::vector<std::string> input_name;
MyK_Match match;
std::vector<Bitmap<RGBf_Space> > input_bitmap;
@@ -73,54 +76,67 @@ std::vector<OutputSet> outputs;
//////////////////////////// **# setup #** ///////////////////////////
bool setup(int argc, char** argv) {
- usg.optionAdd('h', "Display this help document.");
- usg.optionAdd('i',
+ usg.optionAdd("h", "Display this help document.");
+ usg.optionAdd("i",
"Specify the input images are in <type> "
"instead of specifying from arguments",
"<dirname>", "",
false);
- usg.optionAdd('o',
+ usg.optionAdd("o",
"Output file name, (not include '.jpg' suffix)",
"<filename>",
"output",
false);
- usg.optionAdd('d',
+ usg.optionAdd("f",
+ "File name for output the text data",
+ "<filename>",
+ "output.txt",
+ false);
+ usg.optionAdd("d",
"Specify which Feature-Point-Detect algorithm to use",
"<algorithm>",
"",
true);
- usg.optionAdd('p',
+ usg.optionAdd("ransac-p0",
"Pribabilicity for RANSAC to choose a right feature point",
"<floating point>", stringPrintf("%.10f", p0),
false);
- usg.optionAdd('P',
+ usg.optionAdd("ransac-ok",
"Pribabilicity for RANSAC access",
"<floating point>", stringPrintf("%.10f", P),
false);
- usg.optionAdd('q',
+ usg.optionAdd("prob-p1",
"p1 for Prob. Model",
"<floationg Point>", stringPrintf("%.10f", q),
false);
- usg.optionAdd('r',
+ usg.optionAdd("prob-p0",
"p0 for Prob. Model",
"<floationg Point>", stringPrintf("%.10f", r),
false);
- usg.optionAdd('Q',
+ usg.optionAdd("prob-min",
"p_min for Prob. Model",
"<floationg Point>", stringPrintf("%.10f", Q),
false);
- usg.optionAdd('s',
+ usg.optionAdd("s",
"stop threshold for boundle adjustment",
"<floationg Point>", stringPrintf("%.10f", stop),
false);
- usg.optionAdd('O',
+ usg.optionAdd("output-radius",
"output ball radius",
"<floationg Point>", stringPrintf("%.10f", o_radius),
false);
+ usg.optionAdd("match-angle",
+ "angle threshold for matching",
+ "<floating point>", stringPrintf("%.10f", angle_t / PI * 180),
+ false);
+ usg.optionAdd("match-aspect",
+ "aspect threshold for matching",
+ "<floating point>", stringPrintf("%.10f", aspect_t),
+ false);
std::vector<std::string> fpsd_algorithm_list = ObjSelector<FPSD_ID>::names();
for (size_t i = 0, I = fpsd_algorithm_list.size(); i < I; i++) {
const ObjBase* tmp = ObjSelector<FPSD_ID>::get(fpsd_algorithm_list[i]);
- usg.optionValueAcceptAdd('d',
+ usg.optionValueAcceptAdd("d",
fpsd_algorithm_list[i],
tmp->type());
usg.import(((MyFeaturePointsDetector*)tmp)->usage());
@@ -130,7 +146,7 @@ bool setup(int argc, char** argv) {
// set arg
std::string err_msg;
bool ok = usg.arguments(argc, argv, &err_msg);
- if (usg.hasOptionSetup('h')) {
+ if (usg.hasOptionSetup("h")) {
printf("%s\n", usg.usage().c_str());
exit(0);
}
@@ -144,12 +160,11 @@ bool setup(int argc, char** argv) {
//////////////// **# Input images and convert it #** /////////////////
bool input() {
- std::vector<std::string> input_name;
- if (!usg.hasOptionSetup('i')) {
+ if (!usg.hasOptionSetup("i")) {
input_name = usg.procArgs();
}
else {
- std::string base = usg.optionValue('i', 0);
+ std::string base = usg.optionValue("i", 0);
if (base.length() == 0 || base[base.length() - 1] != '/') {
base += "/";
}
@@ -197,7 +212,7 @@ bool input() {
//////////////////////// **# FeaturePoint #** ////////////////////////
bool detect() {
- std::string fpsd_algo_name = usg.optionValue('d', 0);
+ std::string fpsd_algo_name = usg.optionValue("d", 0);
MyFeaturePointsDetector* detector(
(MyFeaturePointsDetector*)ObjSelector<FPSD_ID>::create(fpsd_algo_name));
detector->usage(usg);
@@ -237,11 +252,11 @@ bool ransac() {
messagePrintf( 1, "RANSAC");
MyRansacCheck::usage(usg);
// tmp output
- p0 = inRange(0.00001, 0.9999, atof(usg.optionValue('p', 0).c_str()));
- P = inRange(0.00001, 0.9999, atof(usg.optionValue('P', 0).c_str()));
+ p0 = inRange(0.00001, 0.9999, atof(usg.optionValue("ransac-p0", 0).c_str()));
+ P = inRange(0.00001, 0.9999, atof(usg.optionValue("ransac-ok", 0).c_str()));
for (size_t i = 0, I = input_bitmap.size(); i < I; i++) {
for (size_t j = 0, J = input_bitmap.size(); j < J; j++) {
- size_t num = 3u;
+ size_t num = 4u; // !!!!!!!!!!!!!!!!!!!
messagePrintf( 1, "ransac %lu --- %lu", i, j);
MyRansacCheck chk(&(fpsv[i]), &(fpsv[j]));
FeaturePointIndexPairs ret = ransac(pairs[i][j], chk, num, p0, P);
@@ -273,11 +288,13 @@ bool ransac() {
return true;
}
-///////////////////////// **# prob module #** ////////////////////////
-bool prob_mod() {
- q = inRange(0.00001, 0.99999, atof(usg.optionValue('q', 0).c_str()));
- r = inRange(0.00001, 0.99999, atof(usg.optionValue('r', 0).c_str()));
- Q = inRange(0.00001, 0.99999, atof(usg.optionValue('Q', 0).c_str()));
+//////////////////// **# checking match again #** ////////////////////
+bool match_check() {
+ q = inRange(0.00001, 0.99999, atof(usg.optionValue("prob-p1", 0).c_str()));
+ r = inRange(0.00001, 0.99999, atof(usg.optionValue("prob-p0", 0).c_str()));
+ Q = inRange(0.00001, 0.99999, atof(usg.optionValue("prob-min", 0).c_str()));
+ aspect_t = inRange(0.000001, 9999.0, atof(usg.optionValue("match-aspect", 0).c_str()));
+ angle_t = inRange(0.1,999.0, atof(usg.optionValue("match-angle", 0).c_str()))/180 * PI;
double m_ni = log(q * (1 - r)) - log(r * (1 - q));
double c = log(Q) - log(1 - Q);
double m_nf = log(1 - r) - log(1 - q);
@@ -291,150 +308,32 @@ bool prob_mod() {
double ni = pairs[i][j].size(), nf = 0;
MyRansacCheck chk(&(fpsv[i]), &(fpsv[j]));
chk.rememberVCalc(pairs[i][j]);
- for (size_t k = 0, K = fpsv[i].size(); k < K; k++) {
- Vector2D<double> to(chk.to(Vector2D<double>(fpsv[i][k](0),
- fpsv[i][k](1))));
- if (0 <= to.x() && to.x() <= (double)input_bitmap[j].width() &&
- 0 <= to.y() && to.y() <= (double)input_bitmap[j].height()) {
- nf++;
+ if (chk.check(aspect_t, angle_t)) {
+ for (size_t k = 0, K = fpsv[i].size(); k < K; k++) {
+ Vector2D<double> to(chk.to(Vector2D<double>(fpsv[i][k](0),
+ fpsv[i][k](1))));
+ if (0 <= to.x() && to.x() <= (double)input_bitmap[j].width() &&
+ 0 <= to.y() && to.y() <= (double)input_bitmap[j].height()) {
+ nf++;
+ }
}
- }
- if (ni * m_ni > c + m_nf * nf) {
- messagePrintf(0, "accept %lu --- %lu", i, j);
- messagePrintf(0,
- "%.0f * %.3f = %.3f ?? %.3f = %.3f + %.3f * %.0f",
- ni, m_ni, ni * m_ni, c + m_nf * nf, c, m_nf, nf);
- continue;
- }
- else {
- pairs[i][j].clear();
- }
- }
- }
- messagePrintf(-1, "ok");
- return true;
-}
-
-///////////////////// **# group them together #** ////////////////////
-bool group() {
- messagePrintf(1, "group");
- // union
- DisjointSet dsj(input_bitmap.size());
- for (size_t i = 0, I = input_bitmap.size(); i < I; i++) {
- for (size_t j = 0; j < I; j++) {
- if(pairs[i][j].empty()) continue;
- dsj.merge(i, j);
- }
- }
- std::vector<size_t> root;
- for (size_t i = 0, I = input_bitmap.size(); i < I; i++) {
- if (dsj.root(i) == i) {
- root.push_back(i);
- }
- }
- // split into groups
- outputs.resize(root.size());
- for (size_t i = 0, I = root.size(); i < I; i++) {
- messagePrintf(1, "Group %d", i);
- std::vector<size_t> ids;
- for (size_t j = 0, J = input_bitmap.size(); j < J; j++) {
- if (dsj.root(j) != root[i]) continue;
- outputs[i].cameras.push_back(Camera<RGBf_Space>());
- outputs[i].cameras[outputs[i].cameras.size() - 1].photo(
- Photo<RGBf_Space>(input_bitmap[j])
- );
- ids.push_back(j);
- messagePrintf(0, "camera %lu from bitmap %lu",
- outputs[i].cameras.size() - 1, j);
- }
- for (size_t j = 0, J = ids.size(); j < J; ++j) {
- for (size_t k = 0; k < J; ++k) {
- if (j == k) continue;
- size_t i1 = ids[j], i2 = ids[k];
- if (pairs[i1][i2].empty()) continue;
- outputs[i].edges.push_back(OutputSet::Edge(j, k));
- size_t index = outputs[i].edges.size() - 1;
- for (size_t n = 0, N = pairs[i1][i2].size(); n < N; ++n) {
- outputs[i].edges[index].v1.push_back(
- fpsv[i1][pairs[i1][i2][n].from.second]
- );
- outputs[i].edges[index].v2.push_back(
- fpsv[i1][pairs[i1][i2][n].to.second]
- );
+ if (ni * m_ni > c + m_nf * nf) {
+ messagePrintf(0, "accept %lu --- %lu", i, j);
+ messagePrintf(0,
+ "%.0f * %.3f = %.3f ?? %.3f = %.3f + %.3f * %.0f",
+ ni, m_ni, ni * m_ni, c + m_nf * nf, c, m_nf, nf);
+ continue;
}
- messagePrintf(0, "Edge %lu---%lu, size = %lu",
- i1, i2, outputs[i].edges[index].v1.size());
- }
- }
- std::sort(outputs[i].edges.begin(), outputs[i].edges.end());
- messagePrintf(-1, "");
- }
- messagePrintf(-1, "ok");
- return true;
-}
-
-////////////////////// **# boundle adjustment #** ////////////////////
-bool boundle() {
- stop = inRange(0.01, 100000.0, atof(usg.optionValue('s', 0).c_str()));
- messagePrintf(1, "boundle adjustment");
- for (size_t i = 0, I = outputs.size(); i < I; i++) {
- int id = 0;
- std::set<size_t> in;
- size_t i1 = outputs[i].edges[0].i1;
- size_t i2 = outputs[i].edges[0].i2;
- for (size_t j = 0, J = outputs[i].edges[0].v1.size(); j < J; ++j) {
- outputs[i].cameras[i1].fixedPoints2DGet().identityPointAdd(
- id, outputs[i].edges[0].v1[j]);
- outputs[i].cameras[i2].fixedPoints2DGet().identityPointAdd(
- id, outputs[i].edges[0].v2[j]);
- id++;
- }
- in.insert(i1);
- in.insert(i2);
- double r_lst = Camera<RGBf_Space>::boundleAdjustment2D(
- &(outputs[i].cameras),
- stop
- );
- for (size_t j = 1, J = outputs[i].edges.size(); j < J; ++j) {
- size_t best;
- for (best = 0; best < J; ++best) {
- if (in.find(outputs[i].edges[best].i1) == in.end() &&
- in.find(outputs[i].edges[best].i2) == in.end()) continue;
- break;
- }
- i1 = outputs[i].edges[best].i1;
- i2 = outputs[i].edges[best].i2;
- for (size_t j = 0, J = outputs[i].edges[best].v1.size(); j < J; ++j) {
- outputs[i].cameras[i1].fixedPoints2DGet().identityPointAdd(
- id, outputs[i].edges[best].v1[j]);
- outputs[i].cameras[i2].fixedPoints2DGet().identityPointAdd(
- id, outputs[i].edges[best].v2[j]);
- id++;
}
- in.insert(i1);
- in.insert(i2);
- std::vector<Camera<RGBf_Space> > tmp(outputs[i].cameras);
- double r = Camera<RGBf_Space>::boundleAdjustment2D(&tmp, stop);
- if (r > r_lst * 1.5) continue;
- outputs[i].cameras = tmp;
+ pairs[i][j].clear();
}
}
messagePrintf(-1, "ok");
return true;
}
-bool expand() {
- o_radius = inRange(100.0, 1000000.0, atof(usg.optionValue('O', 0).c_str()));
- output_bitmap.resize(outputs.size());
- for (size_t i = 0, I = outputs.size(); i < I; ++i) {
- WatchBall<RGBf_Space> wb;
- wb.cameras(outputs[i].cameras);
- output_bitmap[i] = wb.expand(o_radius);
- }
- return true;
-}
-
////////////////////// **# Write to output file #** //////////////////
+
bool output() {
messagePrintf(1, "Write images");
for (size_t i = 0; i < output_bitmap.size(); i++) {
@@ -450,7 +349,7 @@ bool output() {
img.at<cv::Vec3b>(y, x)[2] = tmp.r();
}
}
- std::string output_name(usg.optionValue('o', 0)
+ std::string output_name(usg.optionValue("o", 0)
+ (output_bitmap.size() > 1
? stringPrintf("%lu", i)
: "")
@@ -467,54 +366,6 @@ bool output() {
return true;
}
-//*
-bool tmp_output() {
- output_bitmap = input_bitmap;
- for (size_t i = 0, I = input_bitmap.size(); i < I; i++) {
- for (size_t j = 0, J = fpsv[i].size(); j < J; j++) {
- ssize_t x = fpsv[i][j](0);
- ssize_t y = fpsv[i][j](1);
- ssize_t dx[2] = {0, 1}, x0[2] = {0, -10};
- ssize_t dy[2] = {1, 0}, y0[2] = {-10, 0};
- for(size_t k = 0; k < 2; k++){
- for(size_t count = 0; count < 20; count++){
- ssize_t xx = x + dx[k] * count + x0[k];
- ssize_t yy = y + dy[k] * count + y0[k];
- if(0 <= xx && xx < (ssize_t)input_bitmap[i].width() &&
- 0 <= yy && yy < (ssize_t)input_bitmap[i].height()){
- output_bitmap[i].pixel(yy, xx, Vector3D<double>(1.0, 1.0, 0.0));
- }
- }
- }
- }
- }
- return output();
-}
-// */
-
-/*
-bool g_output(){
- output_bitmap.resize(input_bitmap.size() * 2);
- for(size_t i = 0, I = input_bitmap.size(); i < I; i++){
- output_bitmap[i * 2 ] = input_bitmap[i];
- output_bitmap[i * 2 + 1] = input_bitmap[i];
- output_bitmap[i * 2 ].gradiancedX(3, 3);
- output_bitmap[i * 2 + 1].gradiancedY(3, 3);
- for(size_t x = 0, X = output_bitmap[i * 2].width(); x < X; x++){
- for(size_t y = 0, Y = output_bitmap[i * 2].height(); y < Y; y++){
- Vector3D<double> v;
- v = output_bitmap[i * 2](y, x);
- output_bitmap[i * 2](y, x) = Vector3D<double>(v.length() / sqrt(2.0));
- v = output_bitmap[i * 2 + 1](y, x);
- output_bitmap[i * 2 + 1](y, x) = Vector3D<double>(v.length() / sqrt(2.0));
- }
- }
- }
- return output();
-}
-
-// */
-
bool pair_output(){
for(size_t i = 0, I = input_bitmap.size(); i < I; i++){
for(size_t j = 0, J = input_bitmap.size(); j < J; j++){
@@ -523,75 +374,33 @@ bool pair_output(){
chk.rememberVCalc(pairs[i][j]);
size_t index = output_bitmap.size();
output_bitmap.push_back(input_bitmap[i]);
- for(ssize_t x = 0, X = input_bitmap[i].width(); x < X; x++){
- for(ssize_t y = 0, Y = input_bitmap[i].height(); y < Y; y++){
+ for(ssize_t x = 0, X = input_bitmap[i].width(); x < X; x++) {
+ for(ssize_t y = 0, Y = input_bitmap[i].height(); y < Y; y++) {
Vector2D<double> to(chk.to(Vector2D<double>(x, y)));
ssize_t x2 = to.x(), y2 = to.y();
- if(0 <= x2 && x2 <= (ssize_t)input_bitmap[j].width() &&
- 0 <= y2 && y2 <= (ssize_t)input_bitmap[j].height()){
+ if (0 <= x2 && x2 <= (ssize_t)input_bitmap[j].width() &&
+ 0 <= y2 && y2 <= (ssize_t)input_bitmap[j].height()) {
output_bitmap[index].pixel(y, x, (input_bitmap[i].pixel(y, x) +
input_bitmap[j].pixel(y2,x2)) / 2
);
}
}
}
- }
- }
- return output();
-}
-/*
-bool pair_output2(){
- for(size_t i = 0, I = input_bitmap.size(); i < I; i++){
- for(size_t j = 0, J = input_bitmap.size(); j < J; j++){
- if((i + 1) % I != j && (j + 1) % J != i) continue;
- messagePrintf(0, "%3lu--%3lu: %lu", i, j, pairs[i][j].size());
- if(pairs[i][j].empty()) continue;
- MyRansacCheck chk(&(fpsv[i]), &(fpsv[j]));
- chk.rememberVCalc(pairs[i][j]);
- size_t index = output_bitmap.size();
- output_bitmap.push_back(input_bitmap[i]);
- for(ssize_t x = 0, X = input_bitmap[i].width(); x < X; x++){
- for(ssize_t y = 0, Y = input_bitmap[i].height(); y < Y; y++){
- Vector2D<double> to(chk.to(Vector2D<double>(x, y)));
- ssize_t x2 = to.x(), y2 = to.y();
- if(0 <= x2 && x2 <= (ssize_t)input_bitmap[j].width() &&
- 0 <= y2 && y2 <= (ssize_t)input_bitmap[j].height()){
- output_bitmap[index].pixel(y, x, (input_bitmap[i].pixel(y, x) +
- input_bitmap[j].pixel(y2,x2)) / 2
- );
+ for (size_t k = 0, K = pairs[i][j].size(); k < K; ++k) {
+ ssize_t x0 = fpsv[i][pairs[i][j][k].from.second](0);
+ ssize_t y0 = fpsv[i][pairs[i][j][k].from.second](1);
+ for (ssize_t d = -10; d <= 10; ++d) {
+ if (0 <= x0 + d && x0 + d < (ssize_t)input_bitmap[i].width() - 1) {
+ output_bitmap[index].pixel(y0, x0 + d,
+ RGBf_Space(Vector3D<double>(
+ 1.0, 1.0, 0.0
+ )));
}
- }
- }
- for(size_t k = 0, K = fpsv[i].size(); k < K; k++){
- ssize_t dy[2] = {0, 1}, dx[2] = {1, 0};
- ssize_t y0[2] = {0, -10}, x0[2] = {-10, 0};
- ssize_t x = fpsv[i][k](0), y = fpsv[i][k](1);
- for(ssize_t m = 0; m < 2; m++){
- for(ssize_t n = 0; n < 20; n++){
- ssize_t xx = x + x0[m] + dx[m] * n;
- ssize_t yy = y + y0[m] + dy[m] * n;
- if(0 <= xx && xx <= (ssize_t)input_bitmap[j].width() &&
- 0 <= yy && yy <= (ssize_t)input_bitmap[j].height()){
- output_bitmap[index].pixel(yy, xx,
- Vector3D<double>(1.0, 1.0, 0));
- }
- }
- }
- }
- for(size_t k = 0, K = pairs[i][j].size(); k < K; k++){
- ssize_t dy[2] = {0, 1}, dx[2] = {1, 0};
- ssize_t y0[2] = {0, -10}, x0[2] = {-10, 0};
- ssize_t x = fpsv[i][pairs[i][j][k].from.second](0);
- ssize_t y = fpsv[i][pairs[i][j][k].from.second](1);
- for(ssize_t m = 0; m < 2; m++){
- for(ssize_t n = 0; n < 20; n++){
- ssize_t xx = x + x0[m] + dx[m] * n;
- ssize_t yy = y + y0[m] + dy[m] * n;
- if(0 <= xx && xx <= (ssize_t)input_bitmap[j].width() &&
- 0 <= yy && yy <= (ssize_t)input_bitmap[j].height()){
- output_bitmap[index].pixel(yy, xx,
- Vector3D<double>(1.0, 0.0, 0));
- }
+ if (0 <= y0 + d && y0 + d < (ssize_t)input_bitmap[i].height() - 1) {
+ output_bitmap[index].pixel(y0 + d, x0,
+ RGBf_Space(Vector3D<double>(
+ 1.0, 1.0, 0.0
+ )));
}
}
}
@@ -599,8 +408,34 @@ bool pair_output2(){
}
return output();
}
-// */
+bool text_output() {
+ std::string s = usg.optionValue("f", 0);
+ FILE* f = fopen(s.c_str(), "w");
+ fprintf(f, "%lu\n", input_bitmap.size());
+ for (size_t i = 0, I = input_bitmap.size(); i < I; ++i) {
+ fprintf(f, "%s\n", input_name[i].c_str());
+ fprintf(f, "%lu %lu %lu ",
+ input_bitmap[i].height(), input_bitmap[i].width(), fpsv[i].size());
+ for (size_t j = 0, J = fpsv[i].size(); j < J; ++j) {
+ fprintf(f, "%.10f %.10f ", fpsv[i][j](0), fpsv[i][j](1));
+ }
+ fprintf(f, "\n");
+ for (size_t j = 0; j < I; ++j) {
+ fprintf(f, "%lu ", pairs[i][j].size());
+ for (size_t k = 0, K = pairs[i][j].size(); k < K; ++k) {
+ fprintf(f, "%lu %lu %lu %lu ",
+ pairs[i][j][k].from.first,
+ pairs[i][j][k].from.second,
+ pairs[i][j][k].to.first,
+ pairs[i][j][k].to.second);
+ }
+ fprintf(f, "\n");
+ }
+ }
+ fclose(f);
+ return true;
+}
int main(int argc, char** argv){
setup(argc, argv);
@@ -608,11 +443,8 @@ int main(int argc, char** argv){
detect();
kmatch();
ransac();
- prob_mod();
- group();
- pair_output(); return 0;
- boundle();
- expand();
- output();
+ match_check();
+ pair_output();
+ text_output();
return 0;
}
diff --git a/meowpp.test/src/autostitch_FeaturePointsDetector_Harris.cpp b/meowpp.test/src/autostitch_FeaturePointsDetector_Harris.cpp
index ebcca5b..573c4b6 100644
--- a/meowpp.test/src/autostitch_FeaturePointsDetector_Harris.cpp
+++ b/meowpp.test/src/autostitch_FeaturePointsDetector_Harris.cpp
@@ -13,45 +13,45 @@ class Harris: public MyFeaturePointsDetector{
public:
Usage usage() const{
Usage ret;
- ret.optionAdd('K',
+ ret.optionAdd("harris-k",
"Specify the constant K of 'R = detM - KtraceM'",
"<floating point>", stringPrintf("%.10f", _body.paramK()),
false);
- ret.optionAdd('R',
+ ret.optionAdd("harris-r",
"Specify the threshold of R to determind whether is "
"featuer point or not",
"<floating point>", stringPrintf("%.10f", _body.paramR()),
false);
- ret.optionAdd('W',
+ ret.optionAdd("harris-w",
"Specify the sigma of the gaussian blur",
"<floating point>", stringPrintf("%.10f", _body.paramW()),
false);
- ret.optionAdd('N',
+ ret.optionAdd("harris-n",
"Specify the sigma of the gaussian blur to de-noise",
"<floating point>", stringPrintf("%.10f", _body.paramN()),
false);
- ret.optionAdd('G',
+ ret.optionAdd("harris-g",
"Specify the sigma of the gaussian blur to generate feature",
"<floating point>", stringPrintf("%.10f", _body.paramG()),
false);
- ret.optionAdd('L',
+ ret.optionAdd("harris-l",
".........",
"<floating point>", stringPrintf("%.10f", _body.paramL()),
false);
- ret.optionAdd('B',
+ ret.optionAdd("harris-b",
"Description size",
"<number>", stringPrintf("%lu", _body.paramB()),
false);
return ret;
}
bool usage(meow::Usage const& usg){
- double K = atof(usg.optionValue('K', 0).c_str());
- double R = atof(usg.optionValue('R', 0).c_str());
- double W = atof(usg.optionValue('W', 0).c_str());
- double N = atof(usg.optionValue('N', 0).c_str());
- double L = atof(usg.optionValue('L', 0).c_str());
- double G = atof(usg.optionValue('G', 0).c_str());
- size_t B = atoi(usg.optionValue('B', 0).c_str());
+ double K = atof(usg.optionValue("harris-k", 0).c_str());
+ double R = atof(usg.optionValue("harris-r", 0).c_str());
+ double W = atof(usg.optionValue("harris-w", 0).c_str());
+ double N = atof(usg.optionValue("harris-n", 0).c_str());
+ double L = atof(usg.optionValue("harris-l", 0).c_str());
+ double G = atof(usg.optionValue("harris-g", 0).c_str());
+ size_t B = atoi(usg.optionValue("harris-b", 0).c_str());
_body.paramK(K);
_body.paramR(R);
_body.paramW(W);
diff --git a/meowpp.test/src/autostitch_K_Match.cpp b/meowpp.test/src/autostitch_K_Match.cpp
index d2fe8c6..6e5c69f 100644
--- a/meowpp.test/src/autostitch_K_Match.cpp
+++ b/meowpp.test/src/autostitch_K_Match.cpp
@@ -18,7 +18,7 @@ MyK_Match::~MyK_Match(){
Usage MyK_Match::usage() const{
Usage usg;
- usg.optionAdd('k',
+ usg.optionAdd("kmatch-k",
"k nearest neighbors",
"<number>", stringPrintf("%d", 5),
false);
@@ -26,7 +26,7 @@ Usage MyK_Match::usage() const{
}
bool MyK_Match::usage(meow::Usage const& usg){
- _body.paramK(atoi(usg.optionValue('k', 0).c_str()));
+ _body.paramK(atoi(usg.optionValue("kmatch-k", 0).c_str()));
return true;
}
diff --git a/meowpp.test/src/autostitch_RansacCheck.cpp b/meowpp.test/src/autostitch_RansacCheck.cpp
index 0410396..becc7da 100644
--- a/meowpp.test/src/autostitch_RansacCheck.cpp
+++ b/meowpp.test/src/autostitch_RansacCheck.cpp
@@ -3,27 +3,30 @@
#include "meowpp/math/Matrix.h"
#include "meowpp/math/Vector.h"
#include <utility>
+#include <cmath>
+#include <algorithm>
+
using namespace meow;
double MyRansacCheck::threshold = 5.0;
-meow::Usage MyRansacCheck::usage(){
+meow::Usage MyRansacCheck::usage() {
Usage usg;
- usg.optionAdd('t',
+ usg.optionAdd("ransac-threshold",
"Threshold for RANSAC",
"<floating point>", stringPrintf("%.10f", threshold),
false);
return usg;
}
-bool MyRansacCheck::usage(Usage const& usg){
+bool MyRansacCheck::usage(Usage const& usg) {
threshold = inRange(0.0000001, 1000.0,
- atof(usg.optionValue('t', 0).c_str()));
+ atof(usg.optionValue("ransac-threshold", 0).c_str()));
return true;
}
-MyRansacCheck::MyRansacCheck(){
+MyRansacCheck::MyRansacCheck() {
}
@@ -44,44 +47,58 @@ MyRansacCheck::~MyRansacCheck(){
}
-std::pair<Vector3D<double>, Vector3D<double> > MyRansacCheck::vCalc(
- std::vector<FeaturePointIndexPair> const& __sample
-) const{
- Matrix<double> m(6, 7, 0.0);
- for(size_t i = 0; i < 3u; i++){
+Vector<double> MyRansacCheck::vCalc(std::vector<FeaturePointIndexPair> const& __sample) const {
+ Matrix<double> m(__sample.size() * 2, 9, 0.0);
+ for (size_t i = 0, I = __sample.size(); i < I; ++i) {
m(i * 2 , 0, (*_from)[__sample[i].from.second](0));
m(i * 2 , 1, (*_from)[__sample[i].from.second](1));
m(i * 2 , 2, 1.0);
- m(i * 2 , 6, (*_to)[__sample[i].to.second](0));
+ m(i * 2 , 6, -(*_from)[__sample[i].from.second](0) * (*_to)[__sample[i].to.second](0));
+ m(i * 2 , 7, -(*_from)[__sample[i].from.second](1) * (*_to)[__sample[i].to.second](0));
+ m(i * 2 , 8, (*_to)[__sample[i].to.second](0));
m(i * 2 + 1, 3, (*_from)[__sample[i].from.second](0));
m(i * 2 + 1, 4, (*_from)[__sample[i].from.second](1));
m(i * 2 + 1, 5, 1.0);
- m(i * 2 + 1, 6, (*_to)[__sample[i].to.second](1));
+ m(i * 2 + 1, 6, -(*_from)[__sample[i].from.second](0) * (*_to)[__sample[i].to.second](1));
+ m(i * 2 + 1, 7, -(*_from)[__sample[i].from.second](1) * (*_to)[__sample[i].to.second](1));
+ m(i * 2 + 1, 8, (*_to)[__sample[i].to.second](1));
}
- m.triangulared();
- Vector<double> x(6, 0.0);
- for(ssize_t i = 5; i >= 0; i--){
- double sum = 0;
- for(size_t j = i + 1; j < 6u; j++){
- sum += x(j) * m(i, j);
+ if (__sample.size() == 4) {
+ m.triangulared();
+ Vector<double> x(8, 0.0);
+ for (ssize_t i = 7; i >= 0; i--) {
+ double sum = 0;
+ for (size_t j = i + 1; j < 8u; j++) {
+ sum += x(j) * m(i, j);
+ }
+ x.entry(i, (m(i, 8) - sum) / m(i, i));
}
- x.entry(i, (m(i, 6) - sum) / m(i, i));
+ return x;
+ }
+ else {
+ Matrix<double> b(m.col(8));
+ m.cols(8, 0.0);
+ Vector<double> v((m.transpose() * m).inverse() * m.transpose() * b);
+ return v;
}
- Vector3D<double> vX(x(0), x(1), x(2));
- Vector3D<double> vY(x(3), x(4), x(5));
- return std::pair<Vector3D<double>, Vector3D<double> >(vX, vY);
}
void MyRansacCheck::rememberVCalc(std::vector<FeaturePointIndexPair>
- const& __sample){
- std::pair<Vector3D<double>, Vector3D<double> > p(vCalc(__sample));
- _vX = p.first;
- _vY = p.second;
+ const& __sample) {
+ Vector<double> x(vCalc(__sample));
+ a_ = x(0);
+ b_ = x(1);
+ c_ = x(2);
+ d_ = x(3);
+ e_ = x(4);
+ f_ = x(5);
+ A_ = x(6);
+ B_ = x(7);
}
-bool MyRansacCheck::ok(FeaturePointIndexPair const& __m) const{
+bool MyRansacCheck::ok(FeaturePointIndexPair const& __m) const {
Vector2D<double> from(
(*_from)[__m.from.second](0),
(*_from)[__m.from.second](1));
@@ -96,9 +113,9 @@ bool MyRansacCheck::ok(FeaturePointIndexPair const& __m) const{
double MyRansacCheck::operator()(std::vector<FeaturePointIndexPair>
const& __sample,
std::vector<FeaturePointIndexPair>
- const& __data) const{
- for(size_t i = 0, I = __sample.size(); i < I; i++){
- for(size_t j = 0, J = __sample.size(); j < J; j++){
+ const& __data) const {
+ for(size_t i = 0, I = __sample.size(); i < I; i++) {
+ for (size_t j = 0, J = __sample.size(); j < J; j++) {
if(i == j) continue;
if(__sample[i].from.second == __sample[j].from.second) return -1;
if(__sample[i].to .second == __sample[j].to .second) return -1;
@@ -106,16 +123,32 @@ double MyRansacCheck::operator()(std::vector<FeaturePointIndexPair>
}
((MyRansacCheck*)this)->rememberVCalc(__sample);
size_t ret = 0;
- for(size_t i = 0, I = __data.size(); i < I; i++){
- if(ok(__data[i])){
+ for (size_t i = 0, I = __data.size(); i < I; i++) {
+ if (ok(__data[i])) {
ret++;
}
}
return 0.001 + ret;
}
+bool MyRansacCheck::check(double r, double a) {
+ return true;
+ Vector2D<double> v_x(a_, b_);
+ Vector2D<double> v_y(c_, d_);
+ double len1 = v_x.length() * r;
+ double len2 = v_x.length() / r;
+ double len = v_y.length();
+ if (len1 > len2) std::swap(len1, len2);
+ if (len < len1 || len2 < len) return false;
+ double sn = fabs(sin(a));
+ double msn = fabs(v_x.cross(v_y) / v_x.length() / v_y.length());
+ if (msn < sn) return false;
+ return true;
+}
-Vector2D<double> MyRansacCheck::to(Vector2D<double> const& __v) const{
- Vector3D<double> v(__v(0), __v(1), 1);
- return Vector2D<double>(v.dot(_vX), v.dot(_vY));
+Vector2D<double> MyRansacCheck::to(Vector2D<double> const& v) const {
+ return Vector2D<double>(
+ (v.x() * a_ + v.y() * b_ + c_) / (A_ * v.x() + B_ * v.y() + 1),
+ (v.x() * d_ + v.y() * e_ + f_) / (A_ * v.x() + B_ * v.y() + 1)
+ );
}
diff --git a/meowpp.test/src/dsa.cpp b/meowpp.test/src/dsa.cpp
index 9b93395..8a3c499 100644
--- a/meowpp.test/src/dsa.cpp
+++ b/meowpp.test/src/dsa.cpp
@@ -14,15 +14,16 @@ int count = 0;
int main(int argc, char** argv){
std::vector<std::string> ids(meow::ObjSelector<0>::names());
- usg2.optionAdd('t', "Select which subject to test",
+ usg2.optionAdd("t", "Select which subject to test",
"<number>", "",
false);
for(size_t i = 0; i < ids.size(); i++){
TestFunction* tmp = (TestFunction*)meow::ObjSelector<0>::get(ids[i]);
- usg2.optionValueAcceptAdd('t', ids[i], tmp->name() + ", " + tmp->description());
+ usg2.optionValueAcceptAdd("t", ids[i], tmp->name()+", "+tmp->description());
}
- usg.optionAdd('h', "Display this help document");
+ usg.optionAdd("h", "Display this help document");
+ usg.optionAdd("help", "Display this help document");
usg.usageBeginAdd("<name> is a little test program to check whether"
"the data structures in the template is correct by"
"random generate lots of data to test");
@@ -33,14 +34,14 @@ int main(int argc, char** argv){
if(usg.arguments(argc, argv, &err) == false){
printf("%s\n\n%s\n", err.c_str(), usg.usage().c_str());
return 1;
- }else if(usg.hasOptionSetup('h')){
+ }else if(usg.hasOptionSetup("h") || usg.hasOptionSetup("help")) {
printf("%s", usg.usage().c_str());
return 0;
}else{
usg2.update(usg);
- if(usg2.optionValuesSize('t') > 0){
- for(int i = 0, I = usg2.optionValuesSize('t'); i < I; i++){
- std::string wh = usg2.optionValue('t', i);
+ if(usg2.optionValuesSize("t") > 0){
+ for(int i = 0, I = usg2.optionValuesSize("t"); i < I; i++){
+ std::string wh = usg2.optionValue("t", i);
TestFunction* f = (TestFunction*)meow::ObjSelector<0>::get(wh);
if(f->run() == false){
printf("error occure on %s\n", f->name().c_str());
diff --git a/meowpp.test/src/oo.cpp b/meowpp.test/src/oo.cpp
index 54c69d5..ede8a24 100644
--- a/meowpp.test/src/oo.cpp
+++ b/meowpp.test/src/oo.cpp
@@ -6,6 +6,7 @@
#include <algorithm>
#include <ctime>
+#include <cmath>
using namespace meow;
@@ -14,13 +15,14 @@ private:
struct Myself{
int n;
Myself() { }
+ Myself(Myself const& m): n(m.n) {
+ }
~Myself() { }
- void copyFrom(Myself const& m){ n = m.n; }
};
Self<Myself> const self;
public:
- A(): self(true){ self()->n = 0; }
- A(A const& b): self(false) { copyFrom(b); }
+ A(): self(){ self()->n = 0; }
+ A(A const& b): self(b.self, Self<Myself>::COPY_FROM) { }
~A() { }
int num() const { return self->n; }
int num(int k) { return (self()->n = k); }
@@ -34,38 +36,33 @@ struct B {
B() { n = 0; count = 1; }
};
-static A as[100];
-static B *bs[100];
-
-static size_t N = 100;
+static const size_t N = 50;
+static A as[N];
+static B *bs[N];
int main(){
+ srand(time(0));
for (size_t i = 0; i < N; i++) {
bs[i] = new B;
}
- for (size_t i = 0; i < 1000; i++) {
+ for (size_t i = 0; i < 500; i++) {
int k = rand();
- if (k % 3 == 0) {
+ if (k % 3 == 0) { // copyFrom
int x, y;
do {
x = rand() % N;
y = rand() % N;
} while(x == y);
as[x].copyFrom(as[y]);
- bs[x]->count--;
- if (bs[x]->count == 0) {
- delete bs[x];
- }
- bs[x] = new B;
bs[x]->n = bs[y]->n;
}
- else if (k % 3 == 1) {
+ else if (k % 3 == 1) { // referenceFrom
int x, y;
do {
x = rand() % N;
y = rand() % N;
- } while(x == y);
+ } while(x == y || x / (N / 5) != y / (N / 5));
as[x].referenceFrom(as[y]);
bs[x]->count--;
if (bs[x]->count == 0) {
@@ -74,7 +71,7 @@ int main(){
bs[x] = bs[y];
bs[x]->count++;
}
- else {
+ else { // set value
int x = rand() % N, v = rand() % 100;
as[x].num(v);
bs[x]->n = v;
@@ -90,6 +87,7 @@ int main(){
printf("false!\n");
return 1;
}
+ //for (size_t j = 0; j < N; j++) { printf("%d ", as[j].num()); } printf("\n");
}
for (size_t i = 0; i < N; i++) { printf("%d ", as[i].num()); }
printf("\n");
diff --git a/meowpp.test/src/rot_bundle.cpp b/meowpp.test/src/rot_bundle.cpp
new file mode 100644
index 0000000..d626e8e
--- /dev/null
+++ b/meowpp.test/src/rot_bundle.cpp
@@ -0,0 +1,319 @@
+#include <cstdio>
+#include <string>
+#include <cstdlib>
+#include <algorithm>
+#include <vector>
+
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+
+#include "meowpp/dsa/DisjointSet.h"
+#include "meowpp/Usage.h"
+#include "meowpp/gra/Eye.h"
+#include "meowpp/colors/RGB_Space.h"
+#include "meowpp/gra/Bitmap.h"
+#include "meowpp/utility.h"
+#include "meowpp/math/utility.h"
+#include "meowpp/geo/Vectors.h"
+#include "meowpp/gra/WatchBall.h"
+
+#include "meowpp/gra/BundleAdjustment_LM.h"
+
+using namespace meow;
+
+//////////////////////////////////////////////////////////////////
+
+Usage usg("rot_bundle");
+
+std::vector<std::string> bitmap_name;
+std::vector<Eye<RGBf_Space> > eyes;
+std::vector<std::vector<Vector<double> > > fpsv;
+std::vector<std::vector<std::vector<PairToPair<size_t> > > > pairs;
+std::vector<std::vector<size_t > > groups;
+std::vector<WatchBall<RGBf_Space> > balls;
+std::vector<Vector2D<double> > center;
+
+double f_init;
+double threshold;
+
+//////////////////////////////////////////////////////////////////
+
+bool setup(int argc, char** argv) {
+ usg.optionAdd("f",
+ "Input text file",
+ "filename",
+ "",
+ true);
+ usg.optionAdd("h",
+ "help docu");
+ usg.optionAdd("output-radius",
+ "...",
+ "floating point",
+ "1000",
+ false);
+ usg.optionAdd("o",
+ "prefix of output images",
+ "pathname",
+ "output",
+ false);
+ usg.optionAdd("f-init",
+ "init focal length",
+ "floating point",
+ "300.0",
+ false);
+ usg.optionAdd("t",
+ "threshold for bundle adjustment",
+ "floating point",
+ "5.0",
+ false);
+ std::string s;
+ bool ok = usg.arguments(argc, argv, &s);
+ if (usg.hasOptionSetup("h")) {
+ printf("%s\n", usg.usage().c_str());
+ exit(0);
+ }
+ if (!ok) {
+ fprintf(stderr, "%s\n", s.c_str());
+ exit(1);
+ }
+ return true;
+}
+
+bool read() {
+ messagePrintf(1, "read file");
+ FILE* f = fopen(usg.optionValue("f", 0).c_str(), "r");
+ size_t N;
+ if (fscanf(f, "%lu", &N) < 1) {
+ fprintf(stderr, "format error!\n");
+ exit(-1);
+ }
+ std::vector<std::vector<int> > fps_id;
+ int id_max = 0;
+ bitmap_name.resize(N);
+ eyes.resize(N);
+ fpsv.resize(N);
+ fps_id.resize(N);
+ pairs.resize(N);
+ center.resize(N);
+ for (size_t i = 0; i < N; ++i) {
+ pairs[i].resize(N);
+ char s[1000];
+ if (fscanf(f, "%s", s) < 1) {
+ fprintf(stderr, "format error!\n");
+ exit(-1);
+ }
+ size_t h, w;
+ if (fscanf(f, "%lu %lu", &h, &w) < 2) {
+ fprintf(stderr, "format error!\n");
+ exit(-1);
+ }
+ center[i].y(1.0 * h / 2);
+ center[i].x(1.0 * w / 2);
+ bitmap_name[i] = s;
+ size_t M;
+ if (fscanf(f, "%lu", &M) < 1) {
+ fprintf(stderr, "format error!\n");
+ exit(-1);
+ }
+ Vector<double> v(2, 0.0);
+ for (size_t j = 0; j < M; ++j) {
+ double x, y;
+ if (fscanf(f, "%lf %lf", &x, &y) < 2) {
+ fprintf(stderr, "format error!\n");
+ exit(-1);
+ }
+ v.entry(0, x - center[i].x());
+ v.entry(1, -(y - center[i].y()));
+ fpsv[i].push_back(v);
+ fps_id[i].push_back(id_max++);
+ }
+ for (size_t j = 0; j < N; ++j) {
+ size_t O;
+ if (fscanf(f, "%lu", &O) < 1) {
+ fprintf(stderr, "format error!\n");
+ exit(-1);
+ }
+ for (size_t k = 0; k < O; ++k) {
+ size_t a, b, c, d;
+ if (fscanf(f, "%lu %lu %lu %lu", &a, &b, &c, &d) < 4) {
+ fprintf(stderr, "format error!\n");
+ exit(-1);
+ }
+ pairs[i][j].push_back(PairToPair<size_t>(a, b, c, d));
+ }
+ }
+ }
+ fclose(f);
+ messagePrintf(-1, "ok");
+ messagePrintf(1, "merge fixed points");
+ DisjointSet st(id_max);
+ for (size_t i = 0, I = eyes.size(); i < I; ++i) {
+ for (size_t j = 0, J = pairs[i].size(); j < J; ++j) {
+ for (size_t k = 0, K = pairs[i][j].size(); k < K; ++k) {
+ st.merge(fps_id[pairs[i][j][k].from.first][pairs[i][j][k].from.second],
+ fps_id[pairs[i][j][k].to .first][pairs[i][j][k].to .second]);
+ }
+ }
+ }
+ for (size_t i = 0, I = eyes.size(); i < I; ++i) {
+ std::string s(stringPrintf("eye %lu: ", i));
+ for (size_t j = 0, J = fps_id[i].size(); j < J; ++j) {
+ int id = st.root(fps_id[i][j]);
+ s += stringPrintf("%d ", id);
+ eyes[i].cameraGet().fixedPoints2DGet().identityPointAdd(id, fpsv[i][j]);
+ }
+ messagePrintf(0, "%s", s.c_str());
+ }
+ messagePrintf(-1, "ok");
+ messagePrintf(0, "Number of Eyes: %lu", eyes.size());
+ for (size_t i = 0, I = eyes.size(); i < I; ++i) {
+ messagePrintf(0, "eyes[%lu] have %lu fixed points", i, fpsv[i].size());
+ }
+ messagePrintf(0, "relation:");
+ for (size_t i = 0, I = eyes.size(); i < I; ++i) {
+ std::string s;
+ for (size_t j = 0; j < I; ++j) {
+ s += stringPrintf("%3lu ", pairs[i][j].size());
+ }
+ messagePrintf(0, "%s", s.c_str());
+ }
+ return true;
+}
+
+bool group() {
+ size_t N = eyes.size();
+ messagePrintf(1, "group");
+ // union
+ DisjointSet dsj(N);
+ for (size_t i = 0; i < N; i++) {
+ for (size_t j = 0; j < N; j++) {
+ if(pairs[i][j].empty()) continue;
+ dsj.merge(i, j);
+ }
+ }
+ std::vector<size_t> root;
+ for (size_t i = 0, I = eyes.size(); i < I; i++) {
+ if (dsj.root(i) == i) {
+ root.push_back(i);
+ }
+ }
+ // split into groups
+ groups.resize(root.size());
+ for (size_t i = 0, I = root.size(); i < I; i++) {
+ messagePrintf(1, "Group %lu", i);
+ std::vector<size_t> ids;
+ for (size_t j = 0; j < N; ++j) {
+ if (dsj.root(j) != root[i]) continue;
+ groups[i].push_back(j);
+ }
+ for (size_t j = 0, J = groups[i].size(); j < J; ++j) {
+ messagePrintf(0, "eye %lu", groups[i][j]);
+ }
+ messagePrintf(-1, "");
+ }
+ messagePrintf(-1, "ok");
+ return true;
+}
+
+bool bundle() {
+ threshold = inRange(0.0005, 1000.0, atof(usg.optionValue("t", 0).c_str()));
+ f_init = inRange(0.005, 100000.0, atof(usg.optionValue("f-init", 0).c_str()));
+ BundleAdjustment_LM<RGBf_Space> bdl;
+ for (size_t i = 0, I = groups.size(); i < I; ++i) {
+ messagePrintf(1, "bundle adjust for group %lu", i);
+ std::vector<SceneInfo<RGBf_Space> > seq;
+ for (size_t j = 0, J = groups[i].size(); j < J; ++j) {
+ eyes[groups[i][j]].cameraGet().photoGet().focal(f_init);
+ seq.push_back(SceneInfo<RGBf_Space>(&(eyes[groups[i][j]]),
+ CAN_ROTATE | CAN_ZOOM));
+ }
+ bdl.threshold(threshold);
+ bdl.adjustEye(&seq);
+ messagePrintf(-1, "ok");
+ }
+ return true;
+}
+
+bool input() {
+ messagePrintf(1, "loading images");
+ for (size_t i = 0, I = eyes.size(); i < I; ++i) {
+ messagePrintf(1, "%s", bitmap_name[i].c_str());
+ cv::Mat img = cv::imread(bitmap_name[i], CV_LOAD_IMAGE_COLOR);
+ if (!img.data) {
+ messagePrintf(-1, "opencv read error!, ignore");
+ continue;
+ }
+ size_t width = img.size().width ;
+ size_t height = img.size().height;
+ Bitmap<RGBf_Space> bmp;
+ bmp.size(height, width, RGBf_Space(0));
+ for (size_t x = 0; x < width; x++) {
+ for (size_t y = 0; y < height; y++) {
+ RGBi_Space tmp(Vector3D<int>(
+ img.at<cv::Vec3b>(y, x)[2],
+ img.at<cv::Vec3b>(y, x)[1],
+ img.at<cv::Vec3b>(y, x)[0]));
+ RGBf_Space p;
+ colorTransformate(tmp, &p);
+ bmp.pixel(y, x, p);
+ }
+ }
+ eyes[i].cameraGet().photoGet().reset(bmp, eyes[i].camera().photo().focal());
+ messagePrintf(-1, "ok");
+ }
+ messagePrintf(-1, "ok");
+ return true;
+}
+
+bool output() {
+ for (size_t i = 0, I = groups.size(); i < I; ++i) {
+ WatchBall<RGBf_Space> ball;
+ std::vector<Camera<RGBf_Space> > cs(groups[i].size());
+ for (size_t j = 0, J = groups[i].size(); j < J; ++j) {
+ cs[j].referenceFrom(eyes[groups[i][j]].camera());
+ }
+ ball.cameras(cs);
+ balls.push_back(ball);
+ }
+ double r = inRange(10.0, 100000.0, atof(usg.optionValue("output-radius", 0).c_str()));
+ messagePrintf(1, "Write images");
+ Bitmap<RGBf_Space> bmp;
+ for (size_t i = 0; i < balls.size(); i++) {
+ bmp = balls[i].expand(r);
+ size_t width = bmp.width ();
+ size_t height = bmp.height();
+ cv::Mat img(height, width, CV_8UC3);
+ for (size_t x = 0; x < width; x++) {
+ for (size_t y = 0; y < height; y++) {
+ RGBi_Space tmp;
+ colorTransformate(bmp.pixel(y, x), &tmp);
+ img.at<cv::Vec3b>(y, x)[0] = tmp.b();
+ img.at<cv::Vec3b>(y, x)[1] = tmp.g();
+ img.at<cv::Vec3b>(y, x)[2] = tmp.r();
+ }
+ }
+ std::string output_name(usg.optionValue("o", 0)
+ + (balls.size() > 1 ? stringPrintf("%lu", i) : "")
+ + ".jpg");
+ messagePrintf(1, "Write to file '%s'", output_name.c_str());
+ if (imwrite(output_name, img) == false) {
+ messagePrintf(-1, "opencv fail, ignore");
+ }
+ else {
+ messagePrintf(-1, "%lux%lu, ok", width, height);
+ }
+ }
+ messagePrintf(-1, "ok");
+ return true;
+}
+
+int main(int argc, char** argv) {
+ setup(argc, argv);
+ read();
+ group();
+ bundle();
+ input();
+ output();
+ return 0;
+}
+
generated by cgit v1.2.3 (git 2.25.1) at 2025-08-27 17:20:44 +0800