void Filter(
const GeometricFilterT & geometricFilter, // geometric filter functor
PairWiseMatches & map_PutativesMatchesPair, // putative correspondences to filter
PairWiseMatches & map_GeometricMatches,
const std::vector<std::pair<size_t, size_t> > & vec_imagesSize) const
{
C_Progress_display my_progress_bar( map_PutativesMatchesPair.size() );
#ifdef OPENMVG_USE_OPENMP
#pragma omp parallel for schedule(dynamic)
#endif
for (int i = 0; i < (int)map_PutativesMatchesPair.size(); ++i)
{
PairWiseMatches::const_iterator iter = map_PutativesMatchesPair.begin();
advance(iter,i);
const size_t iIndex = iter->first.first;
const size_t jIndex = iter->first.second;
const std::vector<IndMatch> & vec_PutativeMatches = iter->second;
// Load features of Inth and Jnth images
const features::PointFeatures & kpSetI = _feat_provider->getFeatures(iIndex);
const features::PointFeatures & kpSetJ = _feat_provider->getFeatures(jIndex);
//-- Copy point to array in order to estimate fundamental matrix :
const size_t n = vec_PutativeMatches.size();
Mat xI(2,n), xJ(2,n);
for (size_t i=0; i < vec_PutativeMatches.size(); ++i) {
const features::PointFeature & imaA = kpSetI[vec_PutativeMatches[i]._i];
const features::PointFeature & imaB = kpSetJ[vec_PutativeMatches[i]._j];
xI.col(i) = Vec2f(imaA.coords()).cast<double>();
xJ.col(i) = Vec2f(imaB.coords()).cast<double>();
}
//-- Apply the geometric filter
{
std::vector<size_t> vec_inliers;
geometricFilter.Fit(
iter->first,
xI, vec_imagesSize[iIndex],
xJ, vec_imagesSize[jIndex],
vec_inliers);
if(!vec_inliers.empty())
{
std::vector<IndMatch> vec_filteredMatches;
vec_filteredMatches.reserve(vec_inliers.size());
for (size_t i=0; i < vec_inliers.size(); ++i) {
vec_filteredMatches.push_back( vec_PutativeMatches[vec_inliers[i]] );
}
#ifdef OPENMVG_USE_OPENMP
#pragma omp critical
#endif
{
map_GeometricMatches.insert(std::make_pair(std::make_pair(iIndex, jIndex), std::move(vec_filteredMatches)));
}
}
}
#ifdef OPENMVG_USE_OPENMP
#pragma omp critical
#endif
{
++my_progress_bar;
}
}
}
void Filter(
const GeometricFilterT & geometricFilter,
PairWiseMatches & map_PutativesMatchesPair, // putative correspondences to filter
PairWiseMatches & map_GeometricMatches,
const std::vector<std::pair<size_t, size_t> > & vec_imagesSize) const
{
C_Progress_display my_progress_bar( map_PutativesMatchesPair.size() );
#ifdef USE_OPENMP
#pragma omp parallel for schedule(dynamic, 1)
#endif
for (int i = 0; i < (int)map_PutativesMatchesPair.size(); ++i)
{
PairWiseMatches::const_iterator iter = map_PutativesMatchesPair.begin();
advance(iter,i);
const size_t iIndex = iter->first.first;
const size_t jIndex = iter->first.second;
const std::vector<IndMatch> & vec_PutativeMatches = iter->second;
// Load features of Inth and Jnth images
typename std::map<size_t, std::vector<FeatureT> >::const_iterator iterFeatsI = map_Feat.begin();
typename std::map<size_t, std::vector<FeatureT> >::const_iterator iterFeatsJ = map_Feat.begin();
std::advance(iterFeatsI, iIndex);
std::advance(iterFeatsJ, jIndex);
const std::vector<FeatureT> & kpSetI = iterFeatsI->second;
const std::vector<FeatureT> & kpSetJ = iterFeatsJ->second;
//-- Copy point to array in order to estimate fundamental matrix :
const size_t n = vec_PutativeMatches.size();
Mat xI(2,n), xJ(2,n);
for (size_t i=0; i < vec_PutativeMatches.size(); ++i) {
const FeatureT & imaA = kpSetI[vec_PutativeMatches[i]._i];
const FeatureT & imaB = kpSetJ[vec_PutativeMatches[i]._j];
xI.col(i) = Vec2f(imaA.coords()).cast<double>();
xJ.col(i) = Vec2f(imaB.coords()).cast<double>();
}
//-- Apply the geometric filter
{
std::vector<size_t> vec_inliers;
// Use a copy in order to copy use internal functor parameters
// and use it safely in multi-thread environment
GeometricFilterT filter = geometricFilter;
filter.Fit(xI, vec_imagesSize[iIndex], xJ, vec_imagesSize[jIndex], vec_inliers);
if(!vec_inliers.empty())
{
std::vector<IndMatch> vec_filteredMatches;
vec_filteredMatches.reserve(vec_inliers.size());
for (size_t i=0; i < vec_inliers.size(); ++i) {
vec_filteredMatches.push_back( vec_PutativeMatches[vec_inliers[i]] );
}
#ifdef USE_OPENMP
#pragma omp critical
#endif
{
map_GeometricMatches[std::make_pair(iIndex,jIndex)] = vec_filteredMatches;
}
}
}
++my_progress_bar;
}
}
