int main(int argc, char* argv[])
{
int i = -1;
int j = -1;
int arg = 0;
while( ++arg < argc)
{
if( !strcmp(argv[arg], "-i") )
i = atoi( argv[++arg] );
if( !strcmp(argv[arg], "-j") )
j = atoi( argv[++arg] );
}
try
{
CFeatureArray set_i, set_j;
// Step 1: load the extracted features using LoadSiftFromFile()
char strBuf[128];
sprintf( strBuf, "%04d.key", i );
LoadSiftFromFile( set_i, strBuf );
sprintf( strBuf, "%04d.key", j );
LoadSiftFromFile( set_j, strBuf );
// Step 2: match features
MatchArray aryMatch;
MatchSiftFeatures( aryMatch, set_i, set_j );
// Step 3: Save the matches
SaveMatchArray( aryMatch, i, j );
}
catch( exception& err )
{
printf( "%s\n", err.what() );
}
return 0;
}
int main(int argc, char* argv[])
{
bool bOpt = false;
// the number of images in the sequence
int ib = 0;
int ie = 0;
int numImage = 0;
// the intrinsic camera parameters
double f = 0;
double u, v, alpha;
// homography inlier tolerance
float tol = 2.f;
int arg = 0;
while( ++arg < argc)
{
if( !strcmp(argv[arg], "-ib") )
ib = atoi( argv[++arg] );
if( !strcmp(argv[arg], "-ie") )
ie = atoi( argv[++arg] );
if( !strcmp(argv[arg], "-f") )
f = atof( argv[++arg] );
if( !strcmp(argv[arg], "-u") )
u = atof( argv[++arg] );
if( !strcmp(argv[arg], "-v") )
v = atof( argv[++arg] );
if( !strcmp(argv[arg], "-alpha") )
alpha = atof( argv[++arg] );
if( !strcmp(argv[arg], "-tol") )
tol = atof( argv[++arg] );
}
// an initial guess of the focal length
if( f == 0 )
f = u*4;
// the indices of the image sequence
numImage = ie-ib+1;
int* imgId = new int[ numImage ];
for( int i=0; i<numImage; ++i )
imgId[i] = ib+i;
// the feature set for each image
CFeatureArray* ftSet = new CFeatureArray[ numImage ];
// the match array for each consecutive image pair
MatchArray* aryMatch = new MatchArray[ numImage ];
// the camera poses for each image
CCamera* cam = new CCamera[ numImage ];
// the homographies for each consecutive image pair
CHomography* h**o = new CHomography[ numImage ];
// the intrinsic camera matrix
const double dK[9] = {
f, 0, u,
0, f*alpha, v,
0, 0, 1};
for( int i=0; i<numImage; ++i )
{
// load the features for each image
char strSift[128];
sprintf( strSift, "%04d.key", imgId[i] );
LoadSiftFromFile( ftSet[i], strSift );
// initialize camera intrinsic parameters
cam[i].SetIntMatrix( dK );
}
//
for( int j=1; j<numImage; ++j )
{
// index of the previous camera
int i = j - 1;
printf("i: %d j; %d\n", i, j);
// Step 1: load the homography of image pair < imgId[i-1], imgId[i] >
LoadHomography( h**o[j], imgId[i], imgId[j] );
// step 2: load the matches of image pair < imgId[i-1], imgId[i] >
LoadMatchArray( aryMatch[j], imgId[i], imgId[j] );
// step 3: estimate camera rotation from the homography
double dR[9];
double dK1[9];
double dK2[9];
cam[i].GetIntMatrix( dK1 );
cam[j].GetIntMatrix( dK2 );
PoseFromHomography( dR, h**o[j], dK1, dK2 );
// step 4: keep homography inliers
GetHomographyInliers( aryMatch[j], aryMatch[j], ftSet[i], ftSet[j], h**o[j], tol );
// step 5: perform bundle adjustment to find the best R and f
// If this is the first pair, we need to estimate R, f1, and f2.
// Otherwise we can fix cam[i-1] and estimate R and f2.
if( j==0 )
OptimizePair( cam[i], cam[j], dR, ftSet[i], ftSet[j], aryMatch[j] );
else
OptimizeSingle( cam[i], cam[j], dR, ftSet[i], ftSet[j], aryMatch[j] );
}
//TODO: optimize the camera poses using bundle adjustment,
// and store the result back to cam[i]
OptimizeSet( cam, h**o, ftSet, aryMatch, numImage );
// Save camera poses
for( int i=0; i<numImage; ++i )
SaveCamera( cam[i], imgId[i] );
delete [] h**o;
delete [] cam;
delete [] aryMatch;
delete [] ftSet;
delete [] imgId;
return 0;
}
