FundamentalMatrixModel::FundamentalMatrixModel()
{
parameters.resize( get_num_parameters() );
return;
}
void HomographyModel::estimate_from_minimal_set(const vector< ScoredMatch> &data_points)
{ // given m points estimate the parameters vector
// based on vxl rrel_homography2d_est :: fit_from_minimal_set
if ( data_points.size() < get_num_points_to_estimate())
throw runtime_error("Not enough points to estimate the HomographyModel parameters");
vnl_matrix< double > A(9, 9, 0.0);
for ( int i=0; i < get_num_points_to_estimate(); i+=1 )
{ // for i = 0,1,2,3
vgl_homg_point_2d<double> from_point(data_points[i].feature_a->x, data_points[i].feature_a->y);
vgl_homg_point_2d<double> to_point(data_points[i].feature_b->x, data_points[i].feature_b->y);
if (false)
{ // just for debugging
printf("from_points[%i] -> to_points[%i] ==", i,i);
cout << from_point << " -> " << to_point << endl;
}
A( 2*i, 0 ) = A( 2*i+1, 3 ) = from_point.x() * to_point.w();
A( 2*i, 1 ) = A( 2*i+1, 4 ) = from_point.y() * to_point.w();
A( 2*i, 2 ) = A( 2*i+1, 5 ) = from_point.w() * to_point.w();
A( 2*i, 6 ) = -1 * from_point.x() * to_point.x();
A( 2*i, 7 ) = -1 * from_point.y() * to_point.x();
A( 2*i, 8 ) = -1 * from_point.w() * to_point.x();
A( 2*i+1, 6 ) = -1 * from_point.x() * to_point.y();
A( 2*i+1, 7 ) = -1 * from_point.y() * to_point.y();
A( 2*i+1, 8 ) = -1 * from_point.w() * to_point.y();
}
vnl_svd<double> svd( A, 1.0e-8 );
if (false)
{ // just for debugging
cout << "A == " << A << endl;
cout << "svd(A) == " << svd << endl;
}
const unsigned int homog_dof_ = 8;
if ( svd.rank() < homog_dof_ )
{
// singular fit
if (true)
{ // just for debugging
cout << "svd.rank() == " << svd.rank() << endl;
for ( unsigned int i=0; i<get_num_points_to_estimate(); ++i )
{
vgl_homg_point_2d<double> from_point(data_points[i].feature_a->x, data_points[i].feature_a->y);
vgl_homg_point_2d<double> to_point(data_points[i].feature_b->x, data_points[i].feature_b->y);
cout << "from->to point[i]-> " << from_point << "->" << to_point << endl;
}
}
throw runtime_error("HomographyModel::estimate_from_minimal_set failed");
}
vnl_vector<double> params = svd.nullvector();
parameters.resize(get_num_parameters());
if (params.size() != parameters.size() )
{
throw runtime_error("HomographyModel::estimate_from_minimal_set internal error");
}
for ( unsigned int i=0; i<get_num_parameters(); i+=1 )
{
parameters[i] = params[i]; // copy the result
}
if ( false ) {
cout << "HomographyModel parameters: " << parameters << endl;
}
return;
} // end of 'HomographyModel::estimate_from_minimal_set'
void generateSymbolTable(tree *node){
int i = 0, check = 0, rettype, func;
static int scope = 0, pos = 1;
tree *child;
if(node->nodeKind == DECL){
scope = 0;
}
if(node->nodeKind == VARDECL){
if(scope == 0){
if(node->isArray == 1){
if(ST_Insert_Array(hashtbl, node->children[1]->strval, pos++, scope, node->children[0]->val, node->children[2]->val, 1) == -1){
error++;
printf("Line:%d Multiple array declaration of %s in the global scope\n", node->children[1]->lineno, node->children[1]->strval);
return;
}
// printf("Inserting Array %s of type %d limit %d pos %d and scope %d\n", node->children[1]->strval, node->children[0]->val, node->children[2]->val, pos, scope);
}else{
// printf("Inserting %s of type %d pos %d and scope %d\n", node->children[1]->strval, node->children[0]->val, pos, scope);
if(ST_Insert(hashtbl, node->children[1]->strval, pos++, scope, node->children[0]->val) == -1){
error++;
printf("Line:%d Multiple variable declaration of %s in the global scope\n", node->children[1]->lineno, node->children[1]->strval);
return;
}
}
}else{
if(node->isArray == 1){
if(ST_Insert_Array(hashtbl, node->children[1]->strval, 0, scope, node->children[0]->val, node->children[2]->val, 1) == -1){
error++;
printf("Line:%d Multiple array declaration of %s in the local scope\n", node->children[1]->lineno, node->children[1]->strval);
return;
}
// printf("Inserting Array %s of type %d limit %d pos %d and scope %d\n", node->children[1]->strval, node->children[0]->val, node->children[2]->val, pos, scope);
}else{
if(ST_Insert(hashtbl, node->children[1]->strval, 0, scope, node->children[0]->val) == -1){
error++;
printf("Line:%d Multiple variable declaration of %s in the local scope\n", node->children[1]->lineno, node->children[1]->strval);
return;
}
// printf("Inserting %s of type %d pos 0 and scope %d\n", node->children[1]->strval, node->children[0]->val, scope);
}
}
}
if(node->nodeKind == FUNDECL){
scope = 0;
count = 0;
// printf("Inserting %s of type %d pos %d and scope %d\n", node->children[1]->strval, node->children[0]->val, pos, scope);
if(node->children[2]->nodeKind == FORMALDECLLIST){
get_num_parameters(node->children[2]);
// printf("Total parameters in %s function is %d\n", node->children[1]->strval, count);
if(ST_Insert_Function(hashtbl, node->children[1]->strval, pos++, scope, node->children[0]->val, count, node->children[2]) == -1){
error++;
printf("Line:%d Multiple declaration of function %s \n", node->children[1]->lineno, node->children[1]->strval);
return;
}
scope = pos-1;
}
else{
if(ST_Insert(hashtbl, node->children[1]->strval, pos++, scope, node->children[0]->val) == -1){
error++;
printf("Line:%d Multiple declaration of function %s \n", node->children[1]->lineno, node->children[1]->strval);
return;
}
scope = pos-1;
}
}
if(node->nodeKind == FORMALDECL){
if(ST_Insert(hashtbl, node->children[1]->strval, 0, scope, node->children[0]->val) == -1){
error++;
printf("Line:%d Multiple declaration of variable %s in the same scope\n", node->children[1]->lineno, node->children[1]->strval);
return;
}
// printf("Inserting %s of type %d pos 0 and scope %d\n", node->children[1]->strval, node->children[0]->val, scope);
}
if(node->nodeKind == ASSIGNSTMT){
if(node->children[0]->nodeKind == VAR){
if((ST_Lookup(hashtbl, node->children[0]->children[0]->strval, scope)) == -1){
error++;
printf("Line:%d Undefined Variable %s\n", node->children[0]->children[0]->lineno, node->children[0]->children[0]->strval);
return;
}
if(node->children[0]->numChildren > 1){
if(node->children[0]->children[1]->nodeKind == ADDEXPR){
if(ST_IndexExists(hashtbl, node->children[0]->children[0]->strval, scope) == 1)
CheckProperIndexType(node->children[1], node->children[0], scope);
else{
error++;
printf("Line:%d Accessing scalar variable %s as an array\n", node->children[0]->children[0]->lineno, node->children[0]->children[0]->strval);
return;
}
}
}
lreturn = ST_LookupReturnValue(hashtbl, node->children[0]->children[0]->strval, scope);
RetValueExpr(node->children[2], scope);
}
}
if(node->nodeKind == VAR){
if((ST_Lookup(hashtbl, node->children[0]->strval, scope)) == -1){
error++;
printf("Line:%d Undeclared Variable %s\n", node->children[0]->lineno, node->children[0]->strval);
return;
}
// printf("%s is present in symbol table\n", node->children[0]->strval);
if(node->numChildren > 1){
if(node->children[1]->nodeKind == ADDEXPR){
if(ST_IndexExists(hashtbl, node->children[0]->strval, scope) == 1)
CheckProperIndexType(node->children[1], node->children[0], scope);
else{
error++;
printf("Line:%d Accessing scalar variable %s as an array\n", node->children[0]->lineno, node->children[0]->strval);
return;
}
}
}
}
if(node->nodeKind == FUNCCALLEXPR){
if((ST_Lookup(hashtbl, node->children[0]->strval, scope)) == -1){
error++;
printf("Line:%d Undeclared Function %s\n", node->children[0]->lineno, node->children[0]->strval);
return;
}
if(node->numChildren == 1){
func = ST_FunctionParamMatch(hashtbl, node->children[0]->strval, scope, 0);
if(func == 1){
error++;
printf("Line:%d Too few parameters for function:%s\n", node->children[0]->lineno, node->children[0]->strval);
return;
}
else if(func == 2){
error++;
printf("Line:%d Too many parameters for function:%s\n", node->children[0]->lineno, node->children[0]->strval);
return;
}else{
}
}
if(node->numChildren > 1){
if(node->children[1]->nodeKind == ARGLIST){
funccount = 0;
getparam(node->children[1], scope);
func = ST_FunctionParamMatch(hashtbl, node->children[0]->strval, scope, funccount);
if(func == 1){
error++;
printf("Line:%d Too few parameters for function:%s\n", node->children[0]->lineno, node->children[0]->strval);
return;
}
else if(func == 2){
error++;
printf("Line:%d Too many parameters for function:%s\n", node->children[0]->lineno, node->children[0]->strval);
return;
}else{
//Get_Types(node->children[1], scope);
if((ST_GenerateSignatureCheck(hashtbl, node->children[0]->strval, scope, fun)) == -1){
error++;
printf("Line:%d Mismatch in arguments to the function %s\n", node->children[0]->lineno, node->children[0]->strval);
return;
}
}
}
}
}
for(i = 0; i < node->numChildren; i++)
generateSymbolTable(getChild(node, i));
}
HomographyModel::HomographyModel()
{
parameters.resize( get_num_parameters() );
return;
}
void get_num_parameters(tree *node){
int i;
if(node->nodeKind == FORMALDECL) count++;
for(i = 0; i < node->numChildren; i++)
get_num_parameters(getChild(node, i));
}
