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#include <cstdio>
#include <string>
#include <cstdlib>
#include <algorithm>
#include <vector>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include "meowpp/dsa/DisjointSet.h"
#include "meowpp/Usage.h"
#include "meowpp/gra/Eye.h"
#include "meowpp/colors/RGB_Space.h"
#include "meowpp/gra/Bitmap.h"
#include "meowpp/utility.h"
#include "meowpp/math/utility.h"
#include "meowpp/geo/Vectors.h"
#include "meowpp/gra/WatchBall.h"
#include "meowpp/gra/BundleAdjustment_LM.h"
using namespace meow;
//////////////////////////////////////////////////////////////////
Usage usg("rot_bundle");
std::vector<std::string > names;
std::vector<Eye<RGBf_Space> > eyes;
double f_init = 300;
double threshold = 5;
double r = 1000;
//////////////////////////////////////////////////////////////////
bool setup(int argc, char** argv) {
usg.optionAdd("f",
"Input text file",
"filename",
"",
true);
usg.optionAdd("h",
"help docu");
usg.optionAdd("output-radius",
"...",
"floating point",
stringPrintf("%f", r),
false);
usg.optionAdd("o",
"prefix of output images",
"pathname",
"output",
false);
usg.optionAdd("f-init",
"init focal length",
"floating point",
stringPrintf("%f", f_init),
false);
usg.optionAdd("t",
"threshold for bundle adjustment",
"floating point",
stringPrintf("%f", threshold),
false);
std::string s;
bool ok = usg.arguments(argc, argv, &s);
if (usg.hasOptionSetup("h")) {
printf("%s\n", usg.usage().c_str());
exit(0);
}
if (!ok) {
fprintf(stderr, "%s\n", s.c_str());
exit(1);
}
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) fmtError(f);
names[i].resize(N);
for (size_t i = 0; i < N; ++i) {
char s[1000];
if (fscanf(f, "%s", s) < 1) fmtError(f);
names[i] = s;
}
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");
}
bool bundle() {
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;
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 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, "load image");
cv::Mat img = cv::imread(names[i], CV_LOAD_IMAGE_COLOR);
if (!img.data) {
messagePrintf(-1, "opencv read error!, ignore");
continue;
}
size_t width = img.size().width ;
size_t height = img.size().height;
Bitmap<RGBf_Space> bmp;
bmp.size(height, width, RGBf_Space(0));
for (size_t x = 0; x < width; x++) {
for (size_t y = 0; y < height; y++) {
RGBi_Space tmp(Vector3D<int>(
img.at<cv::Vec3b>(y, x)[2],
img.at<cv::Vec3b>(y, x)[1],
img.at<cv::Vec3b>(y, x)[0]));
RGBf_Space p;
colorTransformate(tmp, &p);
bmp.pixel(y, x, p);
}
}
eyes[i].cameraGet().photoGet().bitmap(bmp);
WatchBall<RGBf_Space> ball;
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());
}
}
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");
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;
}
int main(int argc, char** argv) {
setup(argc, argv);
read();
bundle();
input();
output();
return 0;
}
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