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#include "autostitch.h"
#include "meowpp/math/Matrix.h"
#include "meowpp/math/Vector.h"
#include <utility>
#include <cmath>
#include <cstdio>
#include <algorithm>
using namespace meow;
double MyRansacCheck::threshold = 5.0;
meow::Usage MyRansacCheck::usage() {
Usage usg;
usg.optionAdd("ransac-threshold",
"Threshold for RANSAC",
"<floating point>", stringPrintf("%.10f", threshold),
false);
return usg;
}
bool MyRansacCheck::usage(Usage const& usg) {
threshold = inRange(0.0000001, 1000.0,
atof(usg.optionValue("ransac-threshold", 0).c_str()));
return true;
}
MyRansacCheck::MyRansacCheck() {
}
MyRansacCheck::MyRansacCheck(MyRansacCheck const& __rc):
_from(__rc._from),
_to(__rc._to){
}
MyRansacCheck::MyRansacCheck(std::vector<Vector<double> > const* __from,
std::vector<Vector<double> > const* __to,
double w_max, double h_max,
double rr, double aa):
_from(__from),
_to(__to),
_w(w_max),
_h(h_max),
r_(rr), ang(aa) {
}
MyRansacCheck::~MyRansacCheck(){
}
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, -(*_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, -(*_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));
}
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));
}
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;
}
}
void MyRansacCheck::rememberVCalc(std::vector<FeaturePointIndexPair>
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 {
Vector2D<double> from(
(*_from)[__m.from.second](0),
(*_from)[__m.from.second](1));
Vector2D<double> me(
(*_to)[__m.to.second](0),
(*_to)[__m.to.second](1));
Vector2D<double> me2(to(from));
return ((me - me2).length2() <= threshold);
}
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++) {
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;
}
}
((MyRansacCheck*)this)->rememberVCalc(__sample);
if (!((MyRansacCheck*)this)->check()) return -999;
size_t ret = 0;
for (size_t i = 0, I = __data.size(); i < I; i++) {
if (ok(__data[i])) {
ret++;
}
}
return 0.001 + ret;
}
bool MyRansacCheck::check() {
return true;
Vector2D<double> v_x(a_, b_);
Vector2D<double> v_y(c_, d_);
double xx[2] = {0, _w}, yy[2] = {0, _h};
for (size_t i = 0; i < 2; ++i) {
for (size_t j = 0; j < 2; ++j) {
if (A_ * xx[i] + B_ * yy[j] + 1 <= 0) return false;
}
}
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(ang));
double msn = fabs(v_x.cross(v_y) / v_x.length() / v_y.length());
if (msn < sn) return false;
return true;
}
void MyRansacCheck::print() const {
printf("%f %f %f %f %f %f %f %f 1\n", a_, b_, c_, d_, e_, f_, A_, B_);
}
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)
);
}
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