int AlignPair(int argc, const char *argv[])
{
// Align two images using feature matching
if (argc < 7) {
printf("usage: %s input1.f input2.f matchfile nRANSAC RANSACthresh [sift]\n", argv[1]);
return -1;
}
const char *infile1 = argv[2];
const char *infile2 = argv[3];
const char *matchfile = argv[4];
int nRANSAC = atoi(argv[5]);
double RANSACthresh = atof(argv[6]);
FeatureSet f1, f2;
// Read in the feature sets
if ((argc >= 8) && (strcmp(argv[7], "sift") == 0)) {
f1.load_sift(infile1);
f2.load_sift(infile2);
}
else {
f1.load(infile1);
f2.load(infile2);
}
CTransform3x3 M;
// Read in the feature matches
vector<FeatureMatch> matches;
bool success = ReadFeatureMatches(matchfile, matches);
if (!success) {
printf("Error opening match file %s for reading\n", matchfile);
return -1;
}
// Perform the alignment.
if (strcmp(argv[1], "alignPairHomography") == 0) {
alignPair(f1, f2, matches, eHomography, nRANSAC, RANSACthresh, M);
} else {
alignPair(f1, f2, matches, eTranslate, nRANSAC, RANSACthresh, M);
}
// Print out the result
CTransform3x3 Mi = M.Inverse();
/*printf("% 10.3e %10.3e %10.3e\n %10.3e %10.3e %10.3e\n %10.3e %10.3e %10.3e\n",
Mi[0][0], Mi[0][1], Mi[0][2],
Mi[1][0], Mi[1][1], Mi[1][2],
Mi[2][0], Mi[2][1], Mi[2][2]);*/
printf("%0.8e %0.8e %0.8e %0.8e %0.8e %0.8e %0.8e %0.8e %0.8e",
Mi[0][0], Mi[0][1], Mi[0][2],
Mi[1][0], Mi[1][1], Mi[1][2],
Mi[2][0], Mi[2][1], Mi[2][2]);
return 0;
}
// Initialize global alignment of all images.
int initGlobalAlign(const vector<FeatureSet> &fs, int minMatches, MotionModel m, float f, const vector< pair<int,int> >& WH, int nRANSAC, double RANSACthresh, AlignMatrix &am, vector<CTransform3x3> &ms) {
int n = fs.size();
// create the n-by-n alignment matrix
am.resize(n);
for (int i=0; i<n; i++)
am[i].resize(n);
vector<FeatureMatch> matches;
CTransform3x3 transMat;
for (int i=0; i<n; i++) {
for (int j=0; j<n; j++) {
if (i != j) {
printf("matching image %d with image %d, ", i, j);
// BEGIN TODO
// write code to fill in the information for am[i][j]
//
// you'll need to call your feature matching routine,
// then your pair alignment routine
matches.clear();
int count = MatchFeaturesByDistRatio(fs[i], fs[j],matches);
if(count < minMatches)
{
am[i][j].matches = matches;
am[i][j].inliers.clear();
am[i][j].r = transMat;
}
else
{
am[i][j].matches = matches;
if(ApproximateRotation)
am[i][j].inliers = alignPair(fs[i],fs[j],matches,eRotate3D,f,WH[i],WH[j],nRANSAC,RANSACthresh,transMat);
else
am[i][j].inliers = MyalignPair(fs[i],fs[j],matches,eRotate3D,f,WH[i],WH[j],nRANSAC,RANSACthresh,transMat);
am[i][j].r = transMat;
}
// END TODO
printf("%d inliers\n", am[i][j].inliers.size());
if ((int) am[i][j].inliers.size() < minMatches)
am[i][j].inliers.clear();
}
}
}
vector<AlignmentImage> nodes(n);
for (int i=1; i<n; i++) {
nodes[i].added = false;
nodes[i].nBest = 0;
nodes[i].imageID = i;
nodes[i].parentID = -1;
}
// create the image heap
ImageHeap heap(nodes);
// add the first image and update the match quality of
// its neighbors
nodes[0].added = true;
for (int j=1; j<n; j++) {
int nMatches = am[0][j].inliers.size();
if (nodes[j].nBest < nMatches) {
heap.increaseKey(nodes[j].heapIndex, nMatches);
nodes[j].parentID = 0;
}
}
AlignmentImage *nextImage;
// add the rest of the images
for (int i=0; i<n-1; i++) {
nextImage = heap.extractMax();
if (nextImage->nBest == 0) {
// image set seems to be disconnected
return -1;
}
nextImage->added = true;
int id = nextImage->imageID;
int pid = nextImage->parentID;
// compute the global alignment of the extracted image
nextImage->r = am[pid][id].r * nodes[pid].r;
// update the match quality for its neighbor images
for (int j=0; j<n; j++) {
if ((id != j) && (!nodes[j].added)) {
int nMatches = am[id][j].inliers.size();
if (nodes[j].nBest < nMatches) {
heap.increaseKey(nodes[j].heapIndex, nMatches);
nodes[j].parentID = id;
}
}
}
}
ms.clear();
// put the global transformations into the output array
for (int i=0; i<n; i++) {
ms.push_back(nodes[i].r);
}
return 0;
}
int AlignPair(int argc, const char *argv[])
{
// Align two images using feature matching
if (argc < 7)
{
printf("usage: %s input1.f input2.f matchfile nRANSAC RANSACthresh [sift]\n", argv[1]);
return -1;
}
const char *infile1 = argv[2];
const char *infile2 = argv[3];
const char *matchfile = argv[4];
int nRANSAC = atoi(argv[5]);
double RANSACthresh = atof(argv[6]);
FeatureSet f1, f2;
// Read in the feature sets
if ((argc >= 8) && (strcmp(argv[7], "sift") == 0)) {
f1.load_sift(infile1);
f2.load_sift(infile2);
}
else {
f1.load(infile1);
f2.load(infile2);
}
CTransform3x3 M;
// Read in the feature matches
vector<FeatureMatch> matches;
bool success = ReadFeatureMatches(matchfile, matches);
if (!success) {
printf("Error opening match file %s for reading\n", matchfile);
return -1;
}
#if 0
// Align two images using feature matching
if (argc < 6)
{
printf("usage: %s input1.f input2.f nRANSAC RANSACthresh [sift]\n", argv[1]);
return -1;
}
const char *infile1 = argv[2];
const char *infile2 = argv[3];
int nRANSAC = atoi(argv[4]);
double RANSACthresh = atof(argv[5]);
FeatureSet f1, f2;
//printf("Reading features\n");
// Read in the feature sets
if ((argc >= 7) && (strcmp(argv[6], "sift") == 0)) {
f1.load_sift(infile1);
f2.load_sift(infile2);
} else {
f1.load(infile1);
f2.load(infile2);
}
vector<FeatureMatch> matches;
CTransform3x3 M;
// call your feature matching routine and store the result
// in matches
// printf("Finding matches\n");
fastMatchFeatures(f1, f2, matches);
#endif
// Performs the alignment.
// printf("Aligning pair\n");
// alignPair(f1, f2, matches, eTranslate, 0.0f, nRANSAC, RANSACthresh, M);
alignPair(f1, f2, matches, eTranslate, 0.0f, nRANSAC, RANSACthresh, M);
// Print out the result
if ((argc >= 7) && (strcmp(argv[6], "sift") == 0)) {
printf("%.2f %.2f\n", M[0][2], -M[1][2]);
} else {
printf("%.2f %.2f\n", M[0][2], M[1][2]);
// printf("%0.3f %0.3f %0.3f %0.3f %0.3f %0.3f %0.3f %0.3f %0.3f\n",
// M[0][0], M[0][1], M[0][2],
// M[1][0], M[1][1], M[1][2],
// M[2][0], M[2][1], M[2][2]);
}
return 0;
}
