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-rw-r--r--meowpp.test/src/rot_bundle.cpp268
1 files changed, 74 insertions, 194 deletions
diff --git a/meowpp.test/src/rot_bundle.cpp b/meowpp.test/src/rot_bundle.cpp
index 38ffce8..775c573 100644
--- a/meowpp.test/src/rot_bundle.cpp
+++ b/meowpp.test/src/rot_bundle.cpp
@@ -25,16 +25,12 @@ 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;
+std::vector<std::string > names;
+std::vector<Eye<RGBf_Space> > eyes;
-double f_init;
-double threshold;
+double f_init = 300;
+double threshold = 5;
+double r = 1000;
//////////////////////////////////////////////////////////////////
@@ -49,7 +45,7 @@ bool setup(int argc, char** argv) {
usg.optionAdd("output-radius",
"...",
"floating point",
- "1000",
+ stringPrintf("%f", r),
false);
usg.optionAdd("o",
"prefix of output images",
@@ -59,12 +55,12 @@ bool setup(int argc, char** argv) {
usg.optionAdd("f-init",
"init focal length",
"floating point",
- "300.0",
+ stringPrintf("%f", f_init),
false);
usg.optionAdd("t",
"threshold for bundle adjustment",
"floating point",
- "5.0",
+ stringPrintf("%f", threshold),
false);
std::string s;
bool ok = usg.arguments(argc, argv, &s);
@@ -79,166 +75,60 @@ bool setup(int argc, char** argv) {
return true;
}
+void fmtError(FILE* f) {
+ fclose(f);
+ fprintf(stderr, "\nFromat error!\n");
+ exit(-1);
+}
+
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);
+ if (fscanf(f, "%lu", &N) < 1) fmtError(f);
+ names[i].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.scalar(0, x - center[i].x());
- v.scalar(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().pointAdd(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);
- }
+ if (fscanf(f, "%s", s) < 1) fmtError(f);
+ names[i] = s;
}
- // 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, "");
+ eyes.resize(N);
+ size_t M;
+ if (fscanf(f, "%lu", &M) < 1) fmtError(f);
+ for (size_t i = 0; i < M; ++M) {
+ int a, b;
+ double x1, y1, x2, y2;
+ if (fscanf(f, "%d %lf %lf %d %lf %lf", &a, &x1, &y1, &b, &x2, &y2) < 6) fmtError(f);
+ eyes[a].cameraGet().fixedPoints2DGet().pointAdd(i, Vector2D(x1, y1).matrix());
+ eyes[b].cameraGet().fixedPoints2DGet().pointAdd(i, Vector2D(x2, y2).matrix());
}
+ fclose(f);
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()));
+ messagePrintf(1, "boundle adjustment");
+ threshold = inRange(0.0005, 1000.0, atof(usg.optionValue("t" , 0).c_str()));
+ f_init = inRange(0.0005, 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");
+ bdl.threshold(threshold);
+ std::vector<SceneInfo<RGBf_Space> > seq;
+ for (size_t i = 0, I = eyes.size(); i < I; ++i) {
+ eyes[i].cameraGet().photoGet().focal(f_init);
+ seq.push_back(SceneInfo<RGBf_Space>(eyes[i], CAN_ROTATE | CAN_ZOOM));
}
+ bdl.adjustEyes(&seq);
+ messagePrintf(-1, "ok");
return true;
}
-bool input() {
- messagePrintf(1, "loading images");
+bool output() {
+ r = inRange(10.0, 100000.0, atof(usg.optionValue("output-radius", 0).c_str()));
+ Bitmap<RGBf_Space> output;
+ Bitmap<double> alpha;
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);
+ messagePrintf(1, "load image");
+ cv::Mat img = cv::imread(names[i], CV_LOAD_IMAGE_COLOR);
if (!img.data) {
messagePrintf(-1, "opencv read error!, ignore");
continue;
@@ -258,51 +148,42 @@ bool input() {
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) {
+ eyes[i].cameraGet().photoGet().bitmap(bmp);
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(std::vector<Camera<RGBf_Space> >(1, eyes[i].camera()));
+ std::pair<Bitmap<RGBf_Space>, Bitmap<double> > p = ball.expandAlpha(r);
+ if (output.size() == 0) {
+ output = p.first;
+ alpha = p.second;
+ }
+ else {
+ output.matrix(output.matrix() + p.first .matrix());
+ alpha .matrix(alpha .matrix() + p.second.matrix());
}
- ball.cameras(cs);
- balls.push_back(ball);
}
- double r = inRange(10.0, 100000.0, atof(usg.optionValue("output-radius", 0).c_str()));
+ for (size_t y = 0, Y = output.height(); y < Y; ++y)
+ for (size_t x = 0, X = output.width(); x < X; ++x)
+ if (noEPS(alpha.pixel(y, x)) > 0)
+ output.pixel(y, x, output.pixel(y, x) / alpha.pixel(y, x));
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);
+ 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(output.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) + ".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;
}
@@ -310,7 +191,6 @@ bool output() {
int main(int argc, char** argv) {
setup(argc, argv);
read();
- group();
bundle();
input();
output();
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-28 04:15:25 +0800