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#include "match.h"
#include <cmath>
#include <algorithm>
#include "meowpp/oo/ObjSelector.h"
#include <vector>
#include "meowpp/math/methods.h"
#include <utility>
using namespace meow;
using namespace std;
inline Vector<double> calc8(vector<pair<Vector2D<double>, Vector2D<double> > > const& p) {
Matrix<double> m(p.size() * 2, 8, 0.0), b(8, 1, 0.0);
for (size_t i = 0; i < p.size(); ++i) {
m.entry(i * 2 + 0, 0, p[i].first.x());
m.entry(i * 2 + 0, 1, p[i].first.y());
m.entry(i * 2 + 0, 2, 1);
m.entry(i * 2 + 0, 6, -p[i].first.x() * p[i].second.x());
m.entry(i * 2 + 0, 7, -p[i].first.y() * p[i].second.x());
m.entry(i * 2 + 1, 3, p[i].first.x());
m.entry(i * 2 + 1, 4, p[i].first.y());
m.entry(i * 2 + 1, 5, 1);
m.entry(i * 2 + 1, 6, -p[i].first.x() * p[i].second.y());
m.entry(i * 2 + 1, 7, -p[i].first.y() * p[i].second.y());
b.entry(i * 2 + 0, 0, p[i].second.x());
b.entry(i * 2 + 1, 0, p[i].second.y());
}
if (p.size() == 4) {
/*
Vector<double> x = m.inverse() * b;
if (x.dimension() == 8) {
bool ok = true;
printf("size = %d\n", (int)x.dimension());
for (size_t i = 0; i < p.size(); ++i) {
double a = x(0) * p[i].first.x() + x(1) * p[i].first.y() + x(2) - x(6) * p[i].first.x() * p[i].second.x() - x(7) * p[i].first.y() * p[i].second.x() - p[i].second.x();
double b = x(3) * p[i].first.x() + x(4) * p[i].first.y() + x(5) - x(6) * p[i].first.x() * p[i].second.y() - x(7) * p[i].first.y() * p[i].second.y() - p[i].second.y();
printf("ab = %f, %f\n", a, b);
if (fabs(a) > 10 || fabs(b) > 10) ok = false;
}
if (!ok) {
for (size_t i = 0; i < p.size(); ++i) {
printf("<%10.3f, %10.3f> ---> <%10.3f, %10.3f>\n", p[i].first.x(), p[i].first.y(), p[i].second.x(), p[i].second.y());
}
getchar();
}
}
// */
return Vector<double>(m.inverse() * b);
}
else {
return Vector<double>((m.transpose() * m).inverse() * m.transpose() * b);
}
}
inline vector<Pair> goodPair(vector<Vector2D<double> > const& from,
vector<Vector2D<double> > const& to,
vector<Pair> const& pairs,
Vector<double> const& v,
double t) {
vector<Pair> ret;
for (size_t i = 0; i < pairs.size(); ++i) {
Vector2D<double> v1 = from[pairs[i].first ];
Vector2D<double> v2 = to [pairs[i].second];
Vector2D<double> v12(
(v1.x() * v(0) + v1.y() * v(1) + v(2)) / (v1.x() * v(6) + v1.y() * v(7) + 1),
(v1.x() * v(3) + v1.y() * v(4) + v(5)) / (v1.x() * v(6) + v1.y() * v(7) + 1)
);
if ((v12 - v2).length() <= t) {
ret.push_back(pairs[i]);
}
}
return ret;
}
class MatchOne_RANSAC: public MatchOne {
private:
double P_, p0_, t_;
double rat_, ang_;
class Controller {
vector<Vector2D<double> > v1_;
vector<Vector2D<double> > v2_;
double t_, rat_, ang_;
double x_max_, y_max_;
bool check(Vector<double> const& v) const {
Vector2D<double> vx((double)v(0), v(1));
Vector2D<double> vy((double)v(3), v(4));
Vector2D<double> d ((double)v(6), v(7));
double l1 = vx.length() * rat_, l2 = vx.length() / rat_;
if (vy.length() < min(l1, l2) ) return false;
if ( max(l1, l2) < vy.length()) return false;
double ang = acos(vx.dot(vy) / vx.length() / vy.length());
if (ang < PI * 0.5 - ang_ || PI * 0.5 + ang_ < ang) return false;
if (d.x() * 0 + d.y() * 0 + 1 <= 0) return false;
if (d.x() * x_max_ + d.y() * 0 + 1 <= 0) return false;
if (d.x() * 0 + d.y() * y_max_ + 1 <= 0) return false;
if (d.x() * x_max_ + d.y() * y_max_ + 1 <= 0) return false;
return true;
}
public:
Controller(vector<Vector2D<double> > const& fps1,
vector<Vector2D<double> > const& fps2,
double threshold,
double rat, double ang, double xmax, double ymax):
v1_(fps1), v2_(fps2), t_(threshold), rat_(rat), ang_(fabs(ang)), x_max_(xmax), y_max_(ymax) {
}
double operator()(vector<Pair> const& p, vector<Pair> const& pairs) const {
vector<pair<Vector2D<double>, Vector2D<double> > > ps;
for (size_t i = 0; i < p.size(); ++i)
for (size_t j = 0; j < p.size(); ++j)
if (i != j && (v1_[p[i].first ] == v1_[p[j].first ] ||
v2_[p[i].second] == v2_[p[j].second]))
return -1.0;
for (size_t i = 0; i < p.size(); ++i) {
ps.push_back(pair<Vector2D<double>, Vector2D<double> >(v1_[p[i].first], v2_[p[i].second]));
}
Vector<double> v = calc8(ps);
if (v.valid() == false || check(v) == false) return -1;
return 0.1 + (double)goodPair(v1_, v2_, pairs, v, t_).size();
}
};
public:
MatchOne_RANSAC(): P_(0.99), p0_(0.05), t_(5), rat_(0.8), ang_(PI / 2 / 8) {
}
MatchInfo match(vector<Vector2D<double> > const& fps1,
vector<Vector2D<double> > const& fps2,
vector<Pair> const& pairs,
size_t width, size_t height) const {
MatchInfo ret;
if ((int)pairs.size() < minNumber()) {
ret.ok = false;
}
else {
ret.pairs = ransac(pairs, Controller(fps1, fps2, t_, rat_, ang_, width, height), minNumber(), p0_, P_);
if ((int)ret.pairs.size() < minNumber()) {
ret.ok = false;
}
else {
vector<pair<Vector2D<double>, Vector2D<double> > > ps;
for (size_t i = 0; i <ret.pairs.size(); ++i) {
ps.push_back(pair<Vector2D<double>, Vector2D<double> >(fps1[ret.pairs[i].first], fps2[ret.pairs[i].second]));
}
Vector<double> v = calc8(ps);
ret.ok = true;
ret.pairs = goodPair(fps1, fps2, pairs, v, t_);
ret.x_axis.x(v(0));
ret.x_axis.y(v(1));
ret.x_offset = v(2);
ret.y_axis.x(v(3));
ret.y_axis.y(v(4));
ret.y_offset = v(5);
ret.depth.x(v(6));
ret.depth.y(v(7));
}
}
return ret;
}
string description() const {
return string("ransac with eight parameter");
}
Usage usage() const {
Usage tmp;
tmp.optionAdd("ransac-P",
"prob what I want",
"floating number",
stringPrintf("%.2f", P_),
false);
tmp.optionAdd("ransac-p0",
"prob each time",
"floating number",
stringPrintf("%.2f", p0_),
false);
tmp.optionAdd("ransac-t",
"threshold t",
"floating number",
stringPrintf("%.2f", t_),
false);
tmp.optionAdd("ransac-ratio",
"ratio",
"floating number",
stringPrintf("%.2f", rat_),
false);
tmp.optionAdd("ransac-angle",
"angle",
"floating number",
stringPrintf("%.2f", ang_),
false);
return tmp;
}
bool usage(Usage const& usg) {
P_ = inRange(0.00001, 0.99999, atof(usg.optionValue("ransac-P" , 0).c_str()));
p0_ = inRange(0.00001, 0.99999, atof(usg.optionValue("ransac-p0", 0).c_str()));
t_ = inRange(0.00001, 0.99999, atof(usg.optionValue("ransac-t" , 0).c_str()));
rat_ = inRange(0.00001, 0.99999, atof(usg.optionValue("ransac-ratio", 0).c_str()));
ang_ = inRange(0.00001, 0.99999, atof(usg.optionValue("ransac-angle", 0).c_str()));
return true;
}
int minNumber() const {
return 4;
}
ObjBase* create() const {
return new MatchOne_RANSAC;
}
};
static ObjSelector<kMatchOne_ID> __("ransac8", new MatchOne_RANSAC, true);
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