From 40acf9ddc8f700b45d05bb2098be23a93c3bfa6a Mon Sep 17 00:00:00 2001 From: cathook Date: Fri, 27 Jun 2014 18:24:38 +0800 Subject: fix dimension size error --- meowpp.test/src/features.cpp | 297 ++++++++++++++++------------------- meowpp.test/src/features_Harris.cpp | 10 +- meowpp.test/src/match.cpp | 301 ++++++++++++++++++++++++++++++++++++ meowpp.test/src/rot_bundle.cpp | 268 +++++++++----------------------- 4 files changed, 517 insertions(+), 359 deletions(-) create mode 100644 meowpp.test/src/match.cpp (limited to 'meowpp.test/src') diff --git a/meowpp.test/src/features.cpp b/meowpp.test/src/features.cpp index 2da188a..6972fa3 100644 --- a/meowpp.test/src/features.cpp +++ b/meowpp.test/src/features.cpp @@ -1,34 +1,89 @@ #include +#include +#include -#include "features__.h" +struct Job; -#include "meowpp/Usage.h" -#include "meowpp/colors/RGB_Space.h" -#include "meowpp/geo/Vectors.h" -#include "meowpp/gra/Bitmap.h" -#include "meowpp/oo/ObjBase.h" -#include "meowpp/oo/ObjSelector.h" +void init ( ); +void setup(int argc, char** argv); +void end ( ); -#include -#include +Job* get(size_t counter); -extern "C"{ -#include -#include +void input (Job* job); +void handle(Job* job); +void output(Job* job); +void clear (Job* job); + +void info0 (Job* job); +void info1 (Job* job); +void info2 (Job* job); + +int main(int argc, char** argv) { + Job* now; + try { + init(); + setup(argc, argv); + for (size_t counter = 0; (now = get(counter)) != NULL; clear(now), ++counter) { + try { + input (now); info0(now); + handle(now); info1(now); + output(now); info2(now); + } + catch (std::string reason) { + throw reason.c_str(); + } + catch (char const* reason) { + printf("fail '%s', ignore.\n\n", reason); + continue; + } + printf("\n"); + } + end(); + } + catch (int num) { + return num; + } + return 0; } +/////////////////////////////////////////////////////////// + +#include "test_utility.h" +#include "features__.h" + +#include "meowpp/utility.h" +#include "meowpp/Usage.h" +#include "meowpp/oo/ObjSelector.h" + #include #include #include +#include using namespace meow; +/////////////////////////////////////////////////////////// + Usage usg("features"); +FeaturePointsDetectors* detector; + +struct Job { + int id; + std::string file_name; + std::vector > fps; + Bitmap bmp; +}; + std::vector names; -std::vector > > fps; -int setup(int argc, char** argv) { +std::string out_pre; + + +/////////////////////////////////////////////////////////// + +void init() { usg.optionAdd("h" , "Display this help document"); usg.optionAdd("help", "Display this help document"); usg.optionAdd("i", @@ -37,16 +92,13 @@ int setup(int argc, char** argv) { "pathname", "", false); + usg.optionAdd("r", + "recur"); usg.optionAdd("o", "Output images with denoting feature points", "filename", "", false); - usg.optionAdd("f", - "Output text file name", - "filename", - "<>.txt", - false); usg.optionAdd("d", "Specify which feature detect algorithm to use", "name", @@ -54,179 +106,100 @@ int setup(int argc, char** argv) { true); std::vector algo_list(ObjSelector::names()); for (size_t i = 0, I = algo_list.size(); i < I; ++i) { - FeaturePointsDetectors const* f; - f = (FeaturePointsDetectors const*)ObjSelector::get(algo_list[i]); + FeaturePointsDetectors const* f = (FeaturePointsDetectors const*)ObjSelector::get(algo_list[i]); usg.optionValueAcceptAdd("d", algo_list[i], f->description()); - usg.import(f->usage()); + if (usg.import(f->usage()) == false) throw -1; } +} + +void setup(int argc, char** argv) { std::string err; bool ret = usg.arguments(argc, argv, &err); if (usg.hasOptionSetup("h") || usg.hasOptionSetup("help")) { fprintf(stderr, "%s\n", usg.usage().c_str()); - return 0; + throw 0; } if (ret == false) { fprintf(stderr, "%s\n", err.c_str()); - return -1; + throw -2; } - return 1; -} -int getName() { - if (usg.hasOptionSetup("i") == false) { - names = usg.procArgs(); + detector = (FeaturePointsDetectors*)ObjSelector::create(usg.optionValue("d", 0)); + if (detector->usage(usg) == false) throw -3; + + if (usg.hasOptionSetup("i")) { + names = cgetFiles(usg.optionValue("i", 0).c_str(), usg.hasOptionSetup("r"), + 4, ".jpg", ".jpeg", ".JPG", ".JPEG"); } else { - std::string base = usg.optionValue("i", 0); - if (base.length() == 0 || base[base.length() - 1] != '/') { - base += "/"; - } - DIR* dir = opendir(base.c_str()); - if (!dir) { - fprintf(stderr, "can't open dir '%s'\n", base.c_str()); - return -1; - } - for (dirent* ent; (ent = readdir(dir)) != NULL; ) { - if (!cstringEndWith(ent->d_name, 4, ".jpeg", ".jpg", ".JPG", ".JPEG")) { - continue; - } - names.push_back(base + std::string(ent->d_name)); - } + names = usg.procArgs(); } - return 1; + std::sort(names.begin(), names.end(), filenameCompare); + out_pre = usg.optionValue("o", 0); } -Bitmap readOne(std::string name) { - Bitmap ret; - messagePrintf(1, "Loading image..."); - cv::Mat img = cv::imread(name, CV_LOAD_IMAGE_COLOR); - if (img.data) { - size_t height = img.size().height; - size_t width = img.size().width ; - ret.size(height, width, RGBf_Space(0)); - for (size_t y = 0; y < height; ++y) { - for (size_t x = 0; x < width; ++x) { - Vector3D v; - for (size_t i = 0; i < 3; ++i) - v.scalar(i, img.at(y, x)[2 - i]); - RGBf_Space p; - colorTransformate(RGBi_Space(v), &p); - ret.pixel(y, x, p); - } - } - } - messagePrintf(-1, (ret.size() > 0 ? "ok" : "fail")); - return ret; +void end() { + delete detector; } -int features() { - std::string n(usg.optionValue("d", 0)); - FeaturePointsDetectors* fpd((FeaturePointsDetectors*) - ObjSelector::create(n)); - if (fpd->usage(usg) == false) { - fprintf(stderr, "\nArgument setup error for '%s'\n", n.c_str()); - return -1; - } - for (size_t i = 0, I = names.size(); i < I; ++i) { - messagePrintf(1, "Finding feature points of '%s'", names[i].c_str()); - Bitmap bmp(readOne(names[i])); - if (bmp.size() == 0) { - messagePrintf(-1, "fail"); - continue; - } - messagePrintf(0, "Height x Width = %lux%lu", bmp.height(), bmp.width()); - fps.push_back(fpd->detect(bmp)); - messagePrintf(-1, "ok"); - } - delete fpd; - return 1; -} +/////////////////////////////////////////////////////////// -int writeOne(FILE* f, size_t i) { - if (fprintf(f, "%d\n", (int)fps[i].size()) < 1) return -1; - for (size_t j = 0, J = fps[i].size(); j < J; ++j) { - if (fps[i][j].write(f, false, 0) == false) return -1; - } - return 1; +Job* get(size_t counter) { + if (counter >= names.size()) + return NULL; + Job* job = new Job; + job->id = counter; + job->file_name = names[counter]; + return job; } -int writeText() { - for (size_t i = 0, I = fps.size(); i < I; ++i) { - std::string name2; - if (usg.hasOptionSetup("f")) { name2 = usg.optionValue("f", i); } - else { name2 = names[i] + ".txt"; } - messagePrintf(1, "Write text file to '%s'", name2.c_str()); - FILE* f = fopen(name2.c_str(), "w"); - if (f == NULL) { - messagePrintf(-1, "fail to open file!, ignore"); - continue; - } - if (writeOne(f, i) < 0) { - messagePrintf(-1, "write fail"); - fclose(f); - continue; - } - fclose(f); - messagePrintf(-1, "ok"); - } - return 1; +/////////////////////////////////////////////////////////// + +void input(Job* job) { + if (readBitmap(job->file_name, &(job->bmp)) == false) + throw("cannot open image"); } -int writeBmpOne(std::string name, Bitmap const& bmp) { - size_t height = bmp.height(); - size_t width = bmp.width (); - cv::Mat img(height, width, CV_8UC3); - for (size_t y = 0; y < height; y++) { - for (size_t x = 0; x < width; x++) { - RGBi_Space tmp; - colorTransformate(bmp.pixel(y, x), &tmp); - for (size_t i = 0; i < 3; ++i) - img.at(y, x)[i] = tmp.rgb(2 - i); - } - } - if (imwrite(name, img) == false) { - return -1; - } - return 1; +void handle(Job* job) { + job->fps = detector->detect(job->bmp); } -int writeBmp() { - if (usg.hasOptionSetup("o") == false) - return 1; - for (size_t i = 0, I = names.size(); i < I; ++i) { - std::string name2; - name2 = stringPrintf("%s%lu.jpg", usg.optionValue("o", 0).c_str(), i); - messagePrintf(1, "Write img file to '%s'", name2.c_str()); - Bitmap bmp(readOne(names[i])); - bool succ; - if ((succ = (bmp.size() > 0))) { - int wh = std::min(bmp.height(), bmp.width()) / 16; - for (size_t j = 0, J = fps[i].size(); j < J; ++j) { - int x0 = fps[i][j].position()(0); - int y0 = fps[i][j].position()(1); - for (int dx = -wh; dx <= wh; ++dx) - if (0 <= x0 + dx && x0 + dx < (int)bmp.width()) - bmp.pixel(y0, x0 + dx, RGBf_Space(Vector3D(1.0, 0.0, 0.0))); - for (int dy = -wh; dy <= wh; ++dy) - if (0 <= y0 + dy && y0 + dy < (int)bmp.height()) - bmp.pixel(y0 + dy, x0, RGBf_Space(Vector3D(1.0, 0.0, 0.0))); - } - succ = (writeBmpOne(name2, bmp) > 0); +void output(Job *job) { + FILE* f = fopen((job->file_name + ".fps").c_str(), "w"); + fprintf(f, "%d %d\n%d\n", + (int)job->bmp.width(), (int)job->bmp.height(), (int)job->fps.size()); + for (size_t i = 0, I = job->fps.size(); i < I; ++i) { + job->fps[i].write(f, false, 0); + } + fclose(f); + if (out_pre.size() > 0) { + for (size_t i = 0, I = job->fps.size(); i < I; ++i) { + int x0 = job->fps[i].position()(0); + int y0 = job->fps[i].position()(1); + int w = std::min(job->bmp.width(), job->bmp.height()) / 32; + for (int x = x0 - w; x <= x0 + w; ++x) + if (0 <= x && x < (int)job->bmp.width()) + job->bmp.pixel(y0, x, RGBf_Space(Vector3D(1.0, 0.0, 0.0))); + for (int y = y0 - w; y <= y0 + w; ++y) + if (0 <= y && y < (int)job->bmp.height()) + job->bmp.pixel(y, x0, RGBf_Space(Vector3D(1.0, 0.0, 0.0))); } - messagePrintf(0, "ok"); + writeBitmap(stringPrintf("%s%d.jpg", out_pre.c_str(), job->id), job->bmp); } - return 1; } -int main(int argc, char** argv) { - int ret; - if ((ret = setup(argc, argv)) <= 0) return ret; - if ((ret = getName()) <= 0) return ret; - if ((ret = features()) <= 0) return ret; - if ((ret = writeText()) <= 0) return ret; - if ((ret = writeBmp()) <= 0) return ret; - return 0; +void clear(Job *job) { + delete job; } +void info0(Job* job) { + printf("file name: %s, %dx%d\n", + job->file_name.c_str(), (int)job->bmp.width(), (int)job->bmp.height()); +} +void info1(Job* job) { + printf("# of feature points: %d\n", (int)job->fps.size()); +} +void info2(Job* job) { +} diff --git a/meowpp.test/src/features_Harris.cpp b/meowpp.test/src/features_Harris.cpp index f3c2c10..eeb2f2d 100644 --- a/meowpp.test/src/features_Harris.cpp +++ b/meowpp.test/src/features_Harris.cpp @@ -14,7 +14,7 @@ class Harris: public FeaturePointsDetectors { std::string description() const { return "Harris-Corner-Detect"; } - + Usage usage() const { Usage ret; ret.optionAdd("harris-k", @@ -55,7 +55,7 @@ class Harris: public FeaturePointsDetectors { false); return ret; } - + bool usage(meow::Usage const& usg) { double K = atof(usg.optionValue("harris-k", 0).c_str()); double R = atof(usg.optionValue("harris-r", 0).c_str()); @@ -73,11 +73,15 @@ class Harris: public FeaturePointsDetectors { detector_.paramB(B); return true; } - + FeaturePoints detect(Bitmap const& bmp) { return detector_.detect(bmp); } + size_t dSize() const { + return detector_.descriptionDimension(); + } + std::string type() const { return std::string("Harris"); } ObjBase* create() const { return new Harris(); } }; diff --git a/meowpp.test/src/match.cpp b/meowpp.test/src/match.cpp new file mode 100644 index 0000000..c69b958 --- /dev/null +++ b/meowpp.test/src/match.cpp @@ -0,0 +1,301 @@ +#include + +#include "match.h" + +#include "meowpp/Usage.h" +#include "meowpp/colors/RGB_Space.h" +#include "meowpp/geo/Vectors.h" +#include "meowpp/gra/Bitmap.h" +#include "meowpp/oo/ObjBase.h" +#include "meowpp/oo/ObjSelector.h" + +#include +#include + +extern "C"{ +#include +#include +} + +#include +#include +#include + +using namespace meow; + +Usage usg("match"); + +std::vector fg; +std::vector names; +std::vector > > fps; + +int setup(int argc, char** argv) { + usg.optionAdd("h" , "Display this help document"); + usg.optionAdd("help", "Display this help document"); + usg.optionAdd("i", + "Specify the input images are in a directory instead of" + " process arguments", + "pathname", + "", + false); + usg.optionAdd("o", + "Output images with denoting aligement points", + "filename", + "", + false); + usg.optionAdd("f", + "Output text file name (prefix)", + "filename", + "output", + false); + usg.optionAdd("m", + "Specify which match algorithm to use", + "name", + "", + true); + usg.optionAdd("c", + "Specify which check algorithm to use", + "name", + "", + true); + std::vector nlist; + nlist = (ObjSelector::names()); + for (size_t i = 0, I = nlist.size(); i < I; ++i) { + MatchAlls const* m; + m = (MatchAlls const*)ObjSelector::get(nlist[i]); + usg.optionValueAcceptAdd("m", nlist[i], m->description()); + usg.import(m->usage()); + } + nlist = ObjSelector::names(); + for (size_t i = 0, I = nlist.size(); i < I; ++i) { + TryAndChecks const* m; + m = (TryAndChecks const*)ObjSelector::get(nlist[i]); + usg.optionValueAcceptAdd("c", nlist[i], m->description()); + usg.import(m->usage()); + } + std::string err; + bool ret = usg.arguments(argc, argv, &err); + if (usg.hasOptionSetup("h") || usg.hasOptionSetup("help")) { + fprintf(stderr, "%s\n", usg.usage().c_str()); + return 0; + } + if (ret == false) { + fprintf(stderr, "%s\n", err.c_str()); + return -1; + } + return 1; +} + +int getName() { + if (usg.hasOptionSetup("i") == false) { + names = usg.procArgs(); + } + else { + std::string base = usg.optionValue("i", 0); + if (base.length() == 0 || base[base.length() - 1] != '/') { + base += "/"; + } + DIR* dir = opendir(base.c_str()); + if (!dir) { + fprintf(stderr, "can't open dir '%s'\n", base.c_str()); + return -1; + } + for (dirent* ent; (ent = readdir(dir)) != NULL; ) { + if (!cstringEndWith(ent->d_name, 4, ".jpeg", ".jpg", ".JPG", ".JPEG")) { + continue; + } + names.push_back(base + std::string(ent->d_name) + ".txt"); + } + } + fg.resize(names.size(), true); + return 1; +} + +int readIn() { + std::vector nn(names); + names.clear(); + for (int i = 0, I = nn.size(); i < I; ++i) { + messagePrintf(1, "read '%s'", nn[i].c_str()); + FILE* f = fopen(nn[i].c_str(), "r"); + if (f == NULL) { + messagePrintf(-1, "cannot open, ignore"); + continue; + } + std::vector > tmp; + bool succ = true; + int N = 0, M; + if (fscanf(f, "%d %d", &N, &M) < 1) succ = false; + if (succ) { + tmp.resize(N); + for (size_t i = 0; i < N; ++i) { + if (tmp[i].read(f, false, 0) == false) { + succ = false; + break; + } + if ((int)tmp[i].description().diemnsion() != M) { + succ = false; + break; + } + } + } + fclose(f); + if (succ) { + names.push_back(nn[i]); + fps .push_back(tmp); + messagePrintf(-1, "ok"); + } + else { + messagePrintf(-1, "file format error"); + } + } + return fps.size(); +} + +int match() { + MatchAlls* algo = ObjSelector::create(usg.optionValeu("m", 0)); + if (algo->usage(usg) == false) { + delete algo; + messagePrintf(0, "usage error"); + return -1; + } + std::vector > p = algo->match(fps); + for (size_t i = 0, I = p.size(); i < I; ++i) { + std::pair pr(p[i].from.second, p[i].to.second); + pairs[p[i].from.first][p[i].to.first].push_back(pr); + } + delete algo; + return 1; +} + +int check() { + TryAndChecks*chk=ObjSelector::create(usg.optionValue("c",0)); + for (size_t i = 0, I = names.size(); i < I; ++i) { + for (size_t j = 0; j < I; ++j) { + match[i][j].pairs.clear(); + if (i != j && pairs[i][j].size() >= chk->minNumber()) { + match[i][j] = chk->run(fps[i], width[i], height[i], + fps[j], width[j], height[j], + pairs[i][j]); + } + } + } + delete chk; + return 1; +} + +Bitmap readOne(std::string name) { + Bitmap ret; + messagePrintf(1, "Loading image..."); + cv::Mat img = cv::imread(name, CV_LOAD_IMAGE_COLOR); + if (img.data) { + size_t height = img.size().height; + size_t width = img.size().width ; + ret.size(height, width, RGBf_Space(0)); + for (size_t y = 0; y < height; ++y) { + for (size_t x = 0; x < width; ++x) { + Vector3D v; + for (size_t i = 0; i < 3; ++i) + v.scalar(i, img.at(y, x)[2 - i]); + RGBf_Space p; + colorTransformate(RGBi_Space(v), &p); + ret.pixel(y, x, p); + } + } + } + messagePrintf(-1, (ret.size() > 0 ? "ok" : "fail")); + return ret; +} + +int writeBmpOne(std::string name, Bitmap const& bmp) { + size_t height = bmp.height(); + size_t width = bmp.width (); + messagePrintf(1, "write to image '%s' (%lu x %lu)", + name.c_str(), height, width); + cv::Mat img(height, width, CV_8UC3); + for (size_t y = 0; y < height; y++) { + for (size_t x = 0; x < width; x++) { + RGBi_Space tmp; + colorTransformate(bmp.pixel(y, x), &tmp); + for (size_t i = 0; i < 3; ++i) + img.at(y, x)[i] = tmp.rgb(2 - i); + } + } + if (imwrite(name, img) == false) { + messagePrintf(-1, "fail"); + return -1; + } + messagePrintf(-1, "ok"); + return 1; +} + +int writeBmp(size_t id) { + if (usg.hasOptionSetup("o") == false) + return 1; + std::string name2; + name2 = stringPrintf("%s%lu.jpg", usg.optionValue("o", 0).c_str(), id); + messagePrintf(1, "Write img file to '%s'", name2.c_str()); + Bitmap bmp(readOne(names[id])); + bool succ; + if ((succ = (bmp.size() > 0))) { + int wh = std::min(bmp.height(), bmp.width()) / 32; + for (size_t j = 0, J = fps[id].size(); j < J; ++j) { + int x0 = fps[id][j].position()(0); + int y0 = fps[id][j].position()(1); + for (int dx = -wh; dx <= wh; ++dx) + if (0 <= x0 + dx && x0 + dx < (int)bmp.width()) + bmp.pixel(y0, x0 + dx, RGBf_Space(Vector3D(1.0, 0.0, 0.0))); + for (int dy = -wh; dy <= wh; ++dy) + if (0 <= y0 + dy && y0 + dy < (int)bmp.height()) + bmp.pixel(y0 + dy, x0, RGBf_Space(Vector3D(1.0, 0.0, 0.0))); + } + succ = (writeBmpOne(name2, bmp) > 0); + } + messagePrintf(-1, succ ? "ok" : "fail"); + return 1; +} + +int writeOne(FILE* f, size_t i) { + if (fprintf(f, "%d\n", (int)fps[i].size()) < 1) return -1; + for (size_t j = 0, J = fps[i].size(); j < J; ++j) { + if (fps[i][j].write(f, false, 0) == false) return -1; + } + return 1; +} + +int writeText() { + for(size_t i = 0, I = fps.size(); i < I; ++i) { + if (!fg[i]) continue; + std::string name2; + if (usg.hasOptionSetup("f")) { name2 = usg.optionValue("f", i); } + else { name2 = names[i] + ".txt"; } + messagePrintf(1, "Write text file to '%s'", name2.c_str()); + FILE* f = fopen(name2.c_str(), "w"); + if (f == NULL) { + messagePrintf(-1, "fail to open file!, ignore"); + continue; + } + if (writeOne(f, i) < 0) { + messagePrintf(-1, "write fail"); + fclose(f); + continue; + } + fclose(f); + messagePrintf(-1, "ok"); + } + return 1; +} + +int main(int argc, char** argv) { + int ret; + if ((ret = setup(argc, argv)) <= 0) return ret; + if ((ret = getName()) <= 0) return ret; + if ((ret = readIn()) <= 0) return ret; + if ((ret = match()) <= 0) return ret; + if ((ret = check()) <= 0) return ret; + if ((ret = writeText()) <= 0) return ret; + if ((ret = writeBmp()) <= 0) return ret; + return 0; +} + + + 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 bitmap_name; -std::vector > eyes; -std::vector > > fpsv; -std::vector > > > pairs; -std::vector > groups; -std::vector > balls; -std::vector > center; +std::vector names; +std::vector > 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 > 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 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(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 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 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 bdl; - for (size_t i = 0, I = groups.size(); i < I; ++i) { - messagePrintf(1, "bundle adjust for group %lu", i); - std::vector > 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(&(eyes[groups[i][j]]), - CAN_ROTATE | CAN_ZOOM)); - } - bdl.threshold(threshold); - bdl.adjustEye(&seq); - messagePrintf(-1, "ok"); + bdl.threshold(threshold); + std::vector > seq; + for (size_t i = 0, I = eyes.size(); i < I; ++i) { + eyes[i].cameraGet().photoGet().focal(f_init); + seq.push_back(SceneInfo(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 output; + Bitmap 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 ball; - std::vector > 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 >(1, eyes[i].camera())); + std::pair, Bitmap > 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 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(y, x)[0] = tmp.b(); - img.at(y, x)[1] = tmp.g(); - img.at(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(y, x)[0] = tmp.b(); + img.at(y, x)[1] = tmp.g(); + img.at(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(); -- cgit v1.2.3