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-rw-r--r--meowpp.test/src/autostitch.cpp384
1 files changed, 108 insertions, 276 deletions
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;
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-08-31 00:22:22 +0800