void BundlerMatcher::open(const std::string& inputPath, const std::string& inputFilename, const std::string& outMatchFilename)
{
mInputPath = inputPath;
if (!mIsInitialized)
{
std::cout << "Error : can not initialize opengl context for SiftGPU" <<std::endl;
return;
}
if (!parseListFile(inputFilename))
{
std::cout << "Error : can not open file : " <<inputFilename.c_str() <<std::endl;
return;
}
//Sift Feature Extraction
for (unsigned int i=0; i<mFilenames.size(); ++i)
{
int percent = (int)(((i+1)*100.0f) / (1.0f*mFilenames.size()));
int nbFeature = extractSiftFeature(i);
clearScreen();
std::cout << "[Extracting Sift Feature : " << percent << "%] - ("<<i+1<<"/"<<mFilenames.size()<<", #"<< nbFeature <<" features)";
}
clearScreen();
std::cout << "[Sift Feature extracted]"<<std::endl;
for (unsigned int i=0; i<mFilenames.size(); ++i)
{
int percent = (int)(((i+1)*100.0f) / (1.0f*mFilenames.size()));
saveAsciiKeyFile(i);
if (mBinaryKeyFileWritingEnabled)
saveBinaryKeyFile(i);
clearScreen();
std::cout << "[Saving Sift Key files: " << percent << "%] - ("<<i+1<<"/"<<mFilenames.size()<<")";
}
saveVector();
clearScreen();
std::cout << "[Sift Key files saved]"<<std::endl;
delete mSift;
mSift = NULL;
mMatcher->VerifyContextGL();
//Sift Matching
int currentIteration = 0;
if (mSequenceMatchingEnabled) //sequence matching (video input)
{
std::cout << "[Sequence matching enabled: length " << mSequenceMatchingLength << "]" << std::endl;
int maxIterations = (int) (mFilenames.size()-mSequenceMatchingLength)*mSequenceMatchingLength + mSequenceMatchingLength*(mSequenceMatchingLength-1)/2; // (N-m).m + m(m-1)/2
for (unsigned int i=0; i<mFilenames.size()-1; ++i)
{
for (int j=1; j<=mSequenceMatchingLength; ++j)
{
int indexA = i;
int indexB = i+j;
if (indexB >= mFilenames.size())
continue;
else
{
clearScreen();
int percent = (int) (currentIteration*100.0f / maxIterations*1.0f);
std::cout << "[Matching Sift Feature : " << percent << "%] - (" << indexA << "/" << indexB << ")";
matchSiftFeature(indexA, indexB);
currentIteration++;
}
}
}
}
else //classic quadratic matching
{
int maxIterations = (int) mFilenames.size()*((int) mFilenames.size()-1)/2; // Sum(1 -> n) = n(n-1)/2
for (unsigned int i=0; i<mFilenames.size(); ++i)
{
for (unsigned int j=i+1; j<mFilenames.size(); ++j)
{
clearScreen();
int percent = (int) (currentIteration*100.0f / maxIterations*1.0f);
std::cout << "[Matching Sift Feature : " << percent << "%] - (" << i << "/" << j << ")";
matchSiftFeature(i, j);
currentIteration++;
}
}
}
clearScreen();
std::cout << "[Sift Feature matched]"<<std::endl;
delete mMatcher;
mMatcher = NULL;
saveMatches(outMatchFilename);
saveMatrix();
}
/*
* The visualization code is from : Rob Hess <*****@*****.**>
*/
void SIFT_ADAPTER::visualizeSiftFeature(Mat* sift_img)
{
check_image();
if (!m_has_extracted)
extractSiftFeature();
int m_img_width = m_org_img.cols;
int m_img_height = m_org_img.rows;
if (m_sift_img.data)
m_sift_img.release();
m_sift_img.create(m_img_height, m_img_width, CV_8UC3);
for (int y = 0; y < m_img_height; ++y)
{
cv::Vec3b* p_line = m_sift_img.ptr<cv::Vec3b>(y);
const float* p_gray_data = m_gray_data + y * m_img_width;
for (int x = 0; x < m_img_width; ++x)
{
for (int i = 0; i < 3; ++i)
p_line[x].val[i] = p_gray_data[x];
}
}
const double scale = 5.0;
const double hscale = 0.75;
const cv::Scalar color = cv::Scalar(255, 0, 255);
for (int i = 0; i < m_num_frames; ++i)
{
int len, hlen, blen, start_x, start_y, end_x, end_y, h1_x, h1_y,
h2_x, h2_y;
double scl, ori;
Point start, end, h1, h2;
const SIFT_Frame& cur_frame = m_frames[i];
start_x = cur_frame.x;
start_y = cur_frame.y;
scl = cur_frame.scale;
ori = cur_frame.angle;
len = cvRound(scl * scale);
hlen = cvRound(scl * hscale);
blen = len - hlen;
end_x = cvRound(len * cos(ori)) + start_x;
end_y = cvRound(len * -sin(ori)) + start_y;
h1_x = cvRound(blen * cos(ori + CV_PI / 18.0)) + start_x;
h1_y = cvRound(blen * -sin(ori + CV_PI / 18.0)) + start_y;
h2_x = cvRound(blen * cos(ori - CV_PI / 18.0)) + start_x;
h2_y = cvRound(blen * -sin(ori - CV_PI / 18.0)) + start_y;
start = cvPoint(start_x, start_y);
end = cvPoint(end_x, end_y);
h1 = cvPoint(h1_x, h1_y);
h2 = cvPoint(h2_x, h2_y);
cv::line(m_sift_img, start, end, color, 1, 8, 0);
cv::line(m_sift_img, end, h1, color, 1, 8, 0);
cv::line(m_sift_img, end, h2, color, 1, 8, 0);
}
if (sift_img)
m_sift_img.copyTo(*sift_img);
}
