bool MFReconstruct::runReconstruction()
{
bool runSucess = false;
///加载相机标定参数及所采集图像
for(int i = 0; i < 2; i++){
camsPixels[i] = new cv::vector<double>[cameraHeight * cameraWidth];//将每个相机图像中的每个像素在投影区域中的横坐标记录
runSucess = loadCamImgs(scanFolder[i], imgPrefix[i], imgSuffix);
///对指针存储器camsPixels赋值，camsPixels[i]的地址就是camPixel的地址
camPixels = camsPixels[i];
///截至这一步，实例camera的position、width、height属性已被赋值，camera对应cameras[i]
if(!runSucess)//如果加载图片失败，中断
break;
else{
computeShadows();
decodePatterns();
unloadCamImgs();
}
}
if(runSucess){
points3DProjView = new PointCloudImage(cameraWidth, cameraHeight, haveColor); //最后一个bool值代表是否上色，这里改为false
triangulation(camsPixels[0],camsPixels[1]);
}
return runSucess;
}
QcPolygonTriangulation::QcPolygonTriangulation(const QcPathDouble & path)
: m_path(path)
{
int number_of_vertexes = path.number_of_vertexes();
int number_of_segments = number_of_vertexes -2; // Fixme: true ?
double vertexes[number_of_vertexes][2];
int i = 0;
for (const auto & vertex : path.vertexes()) {
qInfo() << vertex;
vertexes[i][0] = vertex.x();
vertexes[i][1] = vertex.y();
i++;
}
int triangles[number_of_segments][3];
for (int i = 0; i < number_of_segments; i++) {
for (int j = 0; j < 3; j++)
triangles[i][j] = 0;
}
QcSeidlerPolygonTriangulation triangulation(number_of_vertexes, vertexes, triangles);
for (int i = 0; i < number_of_segments; i++) {
qInfo() << triangles[i][0] << triangles[i][1] << triangles[i][2];
m_triangles << QcTriangleIndex(triangles[i][0] -1,
triangles[i][1] -1,
triangles[i][2] -1);
}
}
std::vector<int> collectInnerPointsIDs(std::vector<Point_3> points)
{
DEBUG_START;
Delaunay::Lock_data_structure locking_ds(
CGAL::Bbox_3(-1000., -1000., -1000., 1000.,
1000., 1000.), 50);
Delaunay triangulation(points.begin(), points.end(),
&locking_ds);
auto infinity = triangulation.infinite_vertex();
std::vector<int> outerPlanesIDs;
int numPlanes = points.size();
for (int i = 0; i < numPlanes; ++i)
{
Point_3 point = points[i];
Delaunay::Locate_type lt;
int li, lj;
Delaunay::Cell_handle c = triangulation.locate(point,
lt, li, lj);
auto vertex = c->vertex(li);
ASSERT(lt == Delaunay::VERTEX
&& vertex->point() == point);
if (!triangulation.is_edge(vertex, infinity, c, li, lj))
{
outerPlanesIDs.push_back(i);
}
}
DEBUG_END;
return outerPlanesIDs;
}
tree<T,P,M,N,impl_type> & operator=(const graph<T,P,M,N, impl_type> &g) {
typedef graph<T,P,M,N,impl_type> super;
// we make first a copy of the graph where we subsequently apply "moralization" and "triangulation"
super::operator=(g);
moralization();
triangulation();
return *this;
}
// This test case is based on the example presented on page 725 of the
// paper: "Three dimensional triganulations from local transformations"
// by Barry Joe (Siam J. Sci. Stat. Comput. Vol 10, No 4, 1989).
void DelaunayTriangulationTest::joe89()
{
std::vector<chemkit::Point3> points;
points.push_back(chemkit::Point3(0.054f, 0.099f, 0.993f));
points.push_back(chemkit::Point3(0.066f, 0.756f, 0.910f));
points.push_back(chemkit::Point3(0.076f, 0.578f, 0.408f));
points.push_back(chemkit::Point3(0.081f, 0.036f, 0.954f));
points.push_back(chemkit::Point3(0.082f, 0.600f, 0.726f));
points.push_back(chemkit::Point3(0.085f, 0.327f, 0.731f));
points.push_back(chemkit::Point3(0.123f, 0.666f, 0.842f));
points.push_back(chemkit::Point3(0.161f, 0.303f, 0.975f));
chemkit::DelaunayTriangulation triangulation(points);
QCOMPARE(triangulation.vertexCount(), 8);
QCOMPARE(triangulation.tetrahedronCount(), 13);
QList<QVector<int> > expectedTetrahedra;
expectedTetrahedra.append(QVector<int>() << 0 << 1 << 2 << 4);
expectedTetrahedra.append(QVector<int>() << 0 << 1 << 4 << 5);
expectedTetrahedra.append(QVector<int>() << 0 << 1 << 5 << 7);
expectedTetrahedra.append(QVector<int>() << 0 << 2 << 3 << 5);
expectedTetrahedra.append(QVector<int>() << 0 << 2 << 4 << 5);
expectedTetrahedra.append(QVector<int>() << 0 << 3 << 5 << 7);
expectedTetrahedra.append(QVector<int>() << 1 << 2 << 4 << 6);
expectedTetrahedra.append(QVector<int>() << 1 << 4 << 5 << 7);
expectedTetrahedra.append(QVector<int>() << 1 << 4 << 6 << 7);
expectedTetrahedra.append(QVector<int>() << 2 << 3 << 5 << 7);
expectedTetrahedra.append(QVector<int>() << 2 << 4 << 5 << 6);
expectedTetrahedra.append(QVector<int>() << 2 << 5 << 6 << 7);
expectedTetrahedra.append(QVector<int>() << 4 << 5 << 6 << 7);
std::vector<std::vector<int> > tetrahedra = triangulation.tetrahedra();
QCOMPARE(tetrahedra.size(), size_t(expectedTetrahedra.size()));
for(unsigned int i = 0; i < tetrahedra.size(); i++){
std::vector<int> tetrahedron = tetrahedra[i];
std::sort(tetrahedron.begin(), tetrahedron.end());
int foundCount = 0;
for(int j = 0; j < expectedTetrahedra.size(); j++){
QVector<int> expectedTetrahedron = expectedTetrahedra[j];
if(tetrahedron == expectedTetrahedron.toStdVector()){
foundCount++;
}
}
if(foundCount != 1){
qDebug() << "tetrahedron (index " << i << ") was not found. verticies: " << QVector<int>::fromStdVector(tetrahedron);
}
QCOMPARE(foundCount, 1);
}
}
void DelaunayTriangulationTest::serine()
{
// coordinates of the atoms
std::vector<chemkit::Point3> points;
points.push_back(chemkit::Point3(-0.1664, -1.0370, 0.4066));
points.push_back(chemkit::Point3(1.2077, -0.5767, -0.0716));
points.push_back(chemkit::Point3(-0.6079, -1.5894, -0.3173));
points.push_back(chemkit::Point3(1.1440, -0.3456, -1.0571));
points.push_back(chemkit::Point3(2.2495, -1.7077, 0.1008));
points.push_back(chemkit::Point3(1.6659, 0.7153, 0.7175));
points.push_back(chemkit::Point3(1.7844, 0.4727, 1.7759));
points.push_back(chemkit::Point3(0.8959, 1.5129, 0.6034));
points.push_back(chemkit::Point3(2.8918, 1.1700, 0.2007));
points.push_back(chemkit::Point3(3.1444, 1.9558, 0.6711));
points.push_back(chemkit::Point3(1.8101, -2.8570, 0.2804));
points.push_back(chemkit::Point3(3.4579, -1.3878, 0.0035));
points.push_back(chemkit::Point3(-0.0600, -1.6097, 1.2601));
points.push_back(chemkit::Point3(-0.7527, -0.2118, 0.6162));
// calculate delaunay triangulation
chemkit::DelaunayTriangulation triangulation(points);
QCOMPARE(triangulation.vertexCount(), 14);
QCOMPARE(triangulation.edgeCount(), 60);
QCOMPARE(triangulation.triangleCount(), 140);
QCOMPARE(triangulation.tetrahedronCount(), 39);
// weights (squared van der waals radii)
std::vector<chemkit::Real> weights;
weights.push_back(2.4025);
weights.push_back(2.90);
weights.push_back(1.44);
weights.push_back(1.44);
weights.push_back(2.90);
weights.push_back(2.90);
weights.push_back(1.44);
weights.push_back(1.44);
weights.push_back(2.3104);
weights.push_back(1.44);
weights.push_back(2.3104);
weights.push_back(2.3104);
weights.push_back(1.44);
weights.push_back(1.44);
// calculate weighted delaunay triangulation
chemkit::DelaunayTriangulation weightedTriangulation(points, weights);
QCOMPARE(weightedTriangulation.vertexCount(), 14);
QCOMPARE(weightedTriangulation.edgeCount(), 60);
QCOMPARE(weightedTriangulation.triangleCount(), 140);
QCOMPARE(weightedTriangulation.tetrahedronCount(), 39);
}
void StereoReconstructor::RestructPointCloud(bool objSpace, bool undistort, std::string pcfilename) {
//载入2个虚拟摄像机
VirtualCamera vc1;
VirtualCamera vc2;
//载入内参
vc1.loadCameraMatrix("reconstruct\\LeftMatrix.txt");
vc1.loadDistortion("reconstruct\\LeftDistortion.txt");
vc1.rotationMatrix = cv::Mat::eye(3, 3, CV_32FC1);
vc1.translationVector = cv::Mat::zeros(3, 1, CV_32FC1);
vc2.loadCameraMatrix("reconstruct\\RightMatrix.txt");
vc2.loadDistortion("reconstruct\\RightDistortion.txt");
vc2.loadRotationMatrix("reconstruct\\R.txt");
vc2.loadTranslationVector("reconstruct\\T.txt");
vc1.loadKeyPoints("left.txt"); //载入角点
vc2.loadKeyPoints("right.txt");
//重建3d点
std::vector<RestructPoint> ret;
ret = triangulation(vc1, vc2, undistort); //true进行畸变矫正,false表示不进行
//保存结果
std::vector<StereoReconstructor::RestructPoint> ans;
for (size_t i = 0; i != ret.size(); ++i)
ans.push_back(StereoReconstructor::RestructPoint(ret[i].point, ret[i].distance));
plyFileGenerate(ans,
pcfilename, //ply文件
"_calPointsDis.txt", //3d点+相交距离
"_calPoints.txt"); //3d点
//转换到物体坐标系
if (objSpace) {
translateCoordinate(
"Coordinate.txt", //棋盘格坐标系
"_calPoints.txt", //要转换的3D点
"Points_obj.txt"); //在棋盘格坐标系下的坐标calPoints_ObjSpace.txt
//生成物体坐标系下的ply文件
std::vector<cv::Point3f> pointcloud = Utilities::load3dPoints("Points_obj.txt");
Utilities::savePly(pointcloud, "PointsObj.ply");
}
}
bool NNormalSurfaceList::saveCSVEdgeWeight(const char* filename,
int additionalFields) {
std::ofstream out(filename);
if (! out)
return false;
unsigned long n = triangulation()->countEdges();
unsigned long i, j;
// Write the CSV header.
writePropHeader(out, additionalFields);
for (i = 0; i < n; ++i) {
out << 'E' << i;
if (i < n - 1)
out << ',';
}
out << std::endl;
// Write the data for individual surfaces.
unsigned long tot = size();
const NNormalSurface* s;
for (i = 0; i < tot; ++i) {
s = surface(i);
writePropData(out, s, additionalFields);
for (j = 0; j < n; ++j) {
out << s->edgeWeight(j);
if (j < n - 1)
out << ',';
}
out << std::endl;
}
// All done!
return true;
}
void Reconstructor::runReconstruction()
{
for(int i=0; i< numOfCams; i++)
{
if(cameras[i].distortion.empty())
{
std::cout<<"Camera "<<i<< "is not set.\n";
exit(-1);
}
if(pathSet[i] == false)
{
std::cout<<"Image path for camera "<< i <<" is not set.";
exit(-1);
}
}
GrayCodes grays(proj_w,proj_h);
numOfColBits = grays.getNumOfColBits();
numOfRowBits = grays.getNumOfRowBits();
numberOfImgs = grays.getNumOfImgs();
for(int i=0; i < numOfCams; i++)
{
//findProjectorCenter();
cameras[i].position = cv::Point3f(0,0,0);
cam2WorldSpace(cameras[i],cameras[i].position);
camera = &cameras[i];
camsPixels[i] = new cv::vector<cv::Point>[proj_h*proj_w];
camPixels = camsPixels[i];
loadCamImgs(camFolder[i],imgPrefix[i],imgSuffix[i]);
colorImgs.push_back(cv::Mat());
colorImgs[i] = color;
computeShadows();
if(saveShadowMask_)
{
std::stringstream path;
path<<"cam"<<i+1<<"Mask.png";
saveShadowImg(path.str().c_str());
}
decodePaterns();
unloadCamImgs();
}
//reconstruct
points3DProjView = new PointCloudImage( proj_w, proj_h , true );
for(int i = 0; i < numOfCams; i++)
{
for(int j=i+1; j< numOfCams; j++)
triangulation(camsPixels[i],cameras[i],camsPixels[j],cameras[j],i,j);
}
}
/**
* Function for reading the input from a OFF file.
* @param *infile FILE, the file to be read.
* @param NVertices int, the number of vertices.
* @param NFaces int, the total amount of faces.
* @param NEdges int, the total amount of edges.
* @param *allVectors, one pointer to one array of struct type myVector.
* @return a pointer to a triangledFaces struct.
*/
triangledFaces *readFromFile(FILE *inFile, int NVertices, int NFaces,
int NEdges, myVector *allVectors, objectData *allData){
setlocale(LC_ALL,"C");
char readLine[256], *temp;
int i,j, colorCounter, totNrOfTriangles = 0;
faces *(allFaces[NFaces]);
/*reading and storing all the vertices.*/
for(i=0;i<NVertices;i++){
fgets(readLine,256,inFile);
/*dont read lines that doesn't contain anything.*/
if(strlen(readLine)>2){
//putting in the vector values in a struct.
sscanf(readLine,"%f%f%f",&allVectors[i].x,&allVectors[i].y,
&allVectors[i].z);
/*saving the smallest/biggest values for calculating the origo.*/
if(allVectors[i].x > allData->biggestX){
allData->biggestX = allVectors[i].x;
}
if(allVectors[i].x < allData->smallestX){
allData->smallestX = allVectors[i].x;
}
if(allVectors[i].y > allData->biggestY){
allData->biggestY = allVectors[i].y;
}
if(allVectors[i].y < allData->smallestY){
allData->smallestY = allVectors[i].y;
}
if(allVectors[i].z > allData->biggestZ){
allData->biggestZ = allVectors[i].z;
}
if(allVectors[i].z < allData->smallestZ){
allData->smallestZ = allVectors[i].z;
}
}else{
i--;
}
}
/*allocating and calculating the origo for the object (a + ((b-a)/2) ).*/
allData->origoForObject = (myVector*) malloc(sizeof(myVector));
allData->origoForObject->x = (allData->smallestX +
((allData->biggestX-allData->smallestX)/2));
allData->origoForObject->y = (allData->smallestY +
((allData->biggestY-allData->smallestY)/2));
allData->origoForObject->z = (allData->smallestZ +
((allData->biggestZ-allData->smallestZ)/2));
/*getting all the edges*/
for (i=0;i<NFaces;i++){
fgets(readLine,256,inFile);
faces *oneFace = (faces*) malloc(sizeof(faces));
//putting all the edge values in a struct. observe token=space and tab.
temp = strtok(readLine," \t");
oneFace-> nrOfvertices = atoi(temp);
totNrOfTriangles = totNrOfTriangles + (atoi(temp) -2);
//make sure that the polygon values fits in array vertices[].
if(oneFace->nrOfvertices < 128){
for(j=0;j<(oneFace->nrOfvertices);j++){
temp = strtok(NULL," \t");
oneFace->vertices[j] = &allVectors[atoi(temp)];
oneFace->vertexIndeces[j] = atoi(temp);
}
colorCounter = 0;
//reading in color (if any).
while((temp = strtok(NULL," ")) != NULL){
oneFace->colours[colorCounter] = atof(temp);
colorCounter++;
}
allFaces[i] = oneFace;
}else{
printf("ERROR! one polygon has too many vertices ");
printf("to fit in the program.\n");
printf("closing program.\n");
return NULL;
}
}
triangledFaces *triangles = (triangledFaces*) calloc(totNrOfTriangles,
sizeof (triangledFaces));
//call function for triangulation.
triangulation(allFaces, NFaces, triangles);
nrOfTrianglePolygons = totNrOfTriangles;
return triangles;
}
bool NNormalSurfaceList::saveCSVStandard(const char* filename,
int additionalFields) {
std::ofstream out(filename);
if (! out)
return false;
unsigned long n = triangulation()->size();
unsigned long i, j;
// Write the CSV header.
writePropHeader(out, additionalFields);
for (i = 0; i < n; ++i) {
out << 'T' << i << ":0,";
out << 'T' << i << ":1,";
out << 'T' << i << ":2,";
out << 'T' << i << ":3,";
out << 'Q' << i << ":01/23,";
out << 'Q' << i << ":02/13,";
out << 'Q' << i << ":03/12";
if (! allowsAlmostNormal()) {
if (i < n - 1)
out << ',';
continue;
}
out << ',';
out << 'K' << i << ":01/23,";
out << 'K' << i << ":02/13,";
out << 'K' << i << ":03/12";
if (i < n - 1)
out << ',';
}
out << std::endl;
// Write the data for individual surfaces.
unsigned long tot = size();
const NNormalSurface* s;
for (i = 0; i < tot; ++i) {
s = surface(i);
writePropData(out, s, additionalFields);
for (j = 0; j < n; ++j) {
out << s->triangles(j, 0) << ',';
out << s->triangles(j, 1) << ',';
out << s->triangles(j, 2) << ',';
out << s->triangles(j, 3) << ',';
out << s->quads(j, 0) << ',';
out << s->quads(j, 1) << ',';
out << s->quads(j, 2);
if (! allowsAlmostNormal()) {
if (j < n - 1)
out << ',';
continue;
}
out << ',';
out << s->octs(j, 0) << ',';
out << s->octs(j, 1) << ',';
out << s->octs(j, 2);
if (j < n - 1)
out << ',';
}
out << std::endl;
}
// All done!
return true;
}
void StereoReconstructor::RestructCalibrationPointsFromImage(std::string leftFilename, std::string rightFilename, int x, int y, int squareLength) {
//计算角点
bool f1, f2;
CameraCalibration::findCorners(leftFilename, f1, x, y);
CameraCalibration::findCorners(rightFilename, f2, x, y);
if (!f1 || !f2) {
std::cout << "角点没找到" << std::endl;
return;
}
//载入2个虚拟摄像机
VirtualCamera vc1;
VirtualCamera vc2;
//载入内参
vc1.loadCameraMatrix("reconstruct\\LeftMatrix.txt");
vc1.loadDistortion("reconstruct\\LeftDistortion.txt");
vc1.rotationMatrix = cv::Mat::eye(3, 3, CV_32FC1);
vc1.translationVector = cv::Mat::zeros(3, 1, CV_32FC1);
vc2.loadCameraMatrix("reconstruct\\RightMatrix.txt");
vc2.loadDistortion("reconstruct\\RightDistortion.txt");
vc2.loadRotationMatrix("reconstruct\\R.txt");
vc2.loadTranslationVector("reconstruct\\T.txt");
//载入角点
vc1.loadKeyPoints(leftFilename + "_imgCorners.txt");
vc2.loadKeyPoints(rightFilename + "_imgCorners.txt");
//重建3d点
std::vector<RestructPoint> ret;
ret = triangulation(vc1, vc2, true); //进行畸变矫正,false表示不进行
//保存结果
//生成点云文件
plyFileGenerate(ret,
leftFilename + ".ply", //ply文件
"_calPointsDis.txt", //3d点+相交距离
"_calPoints.txt"); //3d点
//评估长度误差
resultEvaluate(ret,
"_calLineLength.txt", //157条线段的误差calLineLength.txt
"_calLineLengthDist.txt", //线段的长度的概率分布
x, y, squareLength);
//计算棋盘格坐标系
computeCoordinate(
"_calPoints.txt", //读取棋盘格坐标
"_coordinate.txt", //计算坐标系，保存到Coordinate.txt
x, y); //水平方向和垂直方向的角点个数
//转换到棋盘格坐标系
translateCoordinate(
"_coordinate.txt", //棋盘格坐标系
"_calPoints.txt", //要转换的3D点
"_calPoints_ObjSpace.txt"); //在棋盘格坐标系下的坐标calPoints_ObjSpace.txt
//生成物体坐标系下的ply文件
std::vector<cv::Point3f> pointcloud = Utilities::load3dPoints("_calPoints_ObjSpace.txt");
Utilities::savePly(pointcloud, "ObjSpace" + leftFilename + ".ply");
//生成棋盘格物体空间坐标，并载入
Utilities::generateObjCorners("_chessbordCorner.txt", x, y, squareLength);
std::vector<cv::Point3f> ideaPts = Utilities::load3dPoints("_chessbordCorner.txt");
std::vector<cv::Point3f> realPts = Utilities::load3dPoints("_calPoints_ObjSpace.txt");
//计算到角点的绝对距离，并保存
std::ofstream absDis("_absCornerDistance.txt");
for (int i = 0; i < ideaPts.size(); i++) {
cv::Point3f idea = ideaPts[i];
cv::Point3f real = realPts[i];
float dis = cv::norm((idea - real));
absDis << dis << std::endl;
}
absDis.close();
}
void mousePtPlot(GLint button, GLint action, GLint xMouse, GLint yMouse){
EDGE *ptr;
int j=0;
PLG *PLGptr;
if(flag == 9) return;
//按下左鍵
if(button == GLUT_LEFT_BUTTON && action == GLUT_DOWN){
//第二個點
if(flag == 1){
//存入邊
listhead = listLink(listhead, ¤t, previousX, previousY, xMouse, winHeight - yMouse, 1);
counti++;
//畫出外框
glColor3f(0.0, 1.0, 0.0);
glBegin(GL_LINES);
glVertex2i(previousX, previousY);
glVertex2i(xMouse, winHeight - yMouse);
glEnd();
}
//第一個點
if(flag == 0){
//紀錄起始點
startX = xMouse;
startY = winHeight - yMouse;
flag = 1;
}
//紀錄上一個點
else if(flag == 4){
printf("triangle start\n");
PLGptr = polygonlist;
for(j=1;;j++){
triangulation(PLGptr->list, trianglehead);
PLGptr = PLGptr->next;
if(PLGptr == NULL) break;
}
PrintTRG(trianglehead);
glFlush();
printf("triangle finish\n");
flag = 5;
}
else if(flag == 5){
printf("drawing start\n");
fillcollor(trianglehead);
printf("drawing finish\n");
flag = 9;
}
if(flag != 5 || flag != 9){
previousX = xMouse;
previousY = winHeight - yMouse;
plotPoint(xMouse, winHeight - yMouse);
}
if(flag == 3) flag = 4;
}
//按下右鍵
if(button == GLUT_RIGHT_BUTTON && action == GLUT_DOWN && doneflag == 0){
//把最後一個點和起始點連接
listhead = listLink(listhead, ¤t, previousX, previousY,startX, startY, 1);
polygonlist = polygon_link(polygonlist, listhead, &PLGcurrent);
glColor3f(0.0, 1.0, 0.0);
glBegin(GL_LINES);
glVertex2i(previousX, previousY);
glVertex2i(startX, startY);
glEnd();
flag = 4;
//畫出外框
glFlush();
printf("draw contour finish\n");
doneflag = 1;
}
glFlush();
}
/* Function: main
*
* Description: Main function to extract frames from 2 video files and runs the
* rest of the program using them. Takes at least 10 commandline arguments,
* in the order:
* <number of camera pairs>
* <pair 1 camera 1 filename>
* <pair 1 camera 1 frame number>
* <pair 1 camera 2 filename>
* <pair 1 camera 2 frame number>
* <pair 1 view name>
* <pair 1 camera coefficients filename>
* ...
* <TPS smoothing parameter>
* <feature detector>
* <output directory>
*
* Parameters:
* argc: number of commandline arguments
* argv: string array of commandline arguments
*
* Returns: 0 on success, 1 on error.
*/
int main (int argc, char *argv[])
{
// check for minimum number of commandline arguments
if (argc < 11)
{
printf("Usage:\nvideos\n\t<number of camera pairs>\n\t<pair 1 camera 1 filename>\n\t<pair 1 camera 1 frame number>\n\t<pair 1 camera 2 filename>\n\t<pair 1 camera 2 frame number>\n\t<pair 1 view name>\n\t<pair 1 camera coefficients filename>\n\t...\n\t<TPS smoothing parameter>\n\t<feature detector>\n\t<output directory>\n");
exit(1);
}
// get the number of camera pairs
int numCameraPairs = atoi(argv[1]);
if (numCameraPairs <= 0)
{
printf("Invalid number of camera pairs.\n");
exit(1);
}
// number of commandline arguments should be numCameraPairs*6 + 5
if (argc != numCameraPairs*6 + 5)
{
printf("Usage:\nvideos\n\t<number of camera pairs>\n\t<pair 1 camera 1 filename>\n\t<pair 1 camera 1 frame number>\n\t<pair 1 camera 2 filename>\n\t<pair 1 camera 2 frame number>\n\t<pair 1 view name>\n\t<pair 1 camera coefficients filename>\n\t...\n\t<TPS smoothing parameter>\n\t<feature detector>\n\t<output directory>\n");
exit(1);
}
// allocate memory to store information for camera pairs
char **camera1Filenames = (char **)malloc(numCameraPairs * sizeof(char *));
int *camera1Frames = (int *)malloc(numCameraPairs * sizeof(int));
if (camera1Filenames == NULL || camera1Frames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
char **camera2Filenames = (char **)malloc(numCameraPairs * sizeof(char *));
int *camera2Frames = (int *)malloc(numCameraPairs * sizeof(int));
if (camera2Filenames == NULL || camera2Frames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
char **cameraNames = (char **)malloc(numCameraPairs * sizeof(char *));
if (cameraNames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
char **cameraCoefficientsFilenames = (char **)malloc(numCameraPairs * sizeof(char *));
if (cameraCoefficientsFilenames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
int argIndex = 2;
for (int i = 0; i < numCameraPairs; i++)
{
camera1Filenames[i] = argv[argIndex];
camera1Frames[i] = atoi(argv[argIndex+1]);
camera2Filenames[i] = argv[argIndex+2];
camera2Frames[i] = atoi(argv[argIndex+3]);
cameraNames[i] = argv[argIndex+4];
cameraCoefficientsFilenames[i] = argv[argIndex+5];
// make sure input video frames are valid
if (camera1Frames[i] <= 0)
{
printf("Invalid frame number for pair %d camera 1.\n", i+1);
exit(1);
}
if (camera2Frames[i] <= 0)
{
printf("Invalid frame number for pair %d camera 1.\n", i+1);
exit(1);
}
// make sure input filenames are valid
if (!fileExists(camera1Filenames[i]))
{
printf("Could not open pair %d camera 1 video file.\n", i+1);
exit(1);
}
if (!fileExists(camera2Filenames[i]))
{
printf("Could not open pair %d camera 2 video file.\n", i+1);
exit(1);
}
if (!fileExists(cameraCoefficientsFilenames[i]))
{
printf("Could not open pair %d camera coefficients file.\n", i+1);
exit(1);
}
argIndex += 6;
}
double regularization = atof(argv[argIndex]);
char *featureDetector = argv[argIndex+1];
char *outputDirectory = argv[argIndex+2];
// make sure input feature dectector is recognized
if (strcasecmp(featureDetector, FAST_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, GFTT_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, SURF_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, SIFT_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, SPEEDSIFT_FEATURE_DETECTOR))
{
printf("Feature Detector not recognized. Please select from the following:\n\t%s\n\t%s\n\t%s\n\t%s\n\t%s\n",
FAST_FEATURE_DETECTOR,
GFTT_FEATURE_DETECTOR,
SURF_FEATURE_DETECTOR,
SIFT_FEATURE_DETECTOR,
SPEEDSIFT_FEATURE_DETECTOR);
exit(1);
}
// make sure regularization parameter for TPS is valid
if (regularization <= 0.0 || regularization == HUGE_VAL)
{
printf("Invalid smoothing parameter value.\n");
exit(1);
}
// if output directory doesn't end with '/' char, append '/' to the string.
// this is so we can later append a filename to the directory when we want
// to write the file to that directory
if (outputDirectory[strlen(outputDirectory)-1] != '/')
{
strcat(outputDirectory, "/");
}
DIR *dir = opendir(outputDirectory);
// if output directory does not exist, create it with correct permissions
if (dir == NULL)
{
printf("Output directory does not exist.\n");
if (mkdir(outputDirectory, S_IRWXO | S_IRWXG | S_IRWXU))
{
printf("Could not create output directory.\n");
exit(1);
}
else
{
printf("Created output directory.\n");
}
}
else
{
closedir(dir);
}
// string for the MATLAB commands
char command[500];
Engine *matlabEngine;
// open MATLAB engine
if (!(matlabEngine = engOpen("\0")))
{
printf("Can't start MATLAB engine\n");
exit(1);
}
// create MATLAB arrays to retrieve values from MATLAB workspace
mxArray **c1ImageData = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c1ImageDimensions = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c1ImagePaddedWidths = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
if (c1ImageData == NULL || c1ImageDimensions == NULL || c1ImagePaddedWidths == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
mxArray **c2ImageData = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c2ImageDimensions = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c2ImagePaddedWidths = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
if (c2ImageData == NULL || c2ImageDimensions == NULL || c2ImagePaddedWidths == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// create IplImage arrays for camera 1 and 2 images for all camera pairs
IplImage **c1Images = (IplImage **)malloc(numCameraPairs * sizeof(IplImage *));
IplImage **c2Images = (IplImage **)malloc(numCameraPairs * sizeof(IplImage *));
if (c1Images == NULL || c2Images == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// for each camera pair, get the specified frames from cameras 1 and 2, using
// MATLAB functions
for (int i = 0; i < numCameraPairs; i++)
{
char video1Extension[6];
// get the video file extension for the first video file
if (getVideoFileExtension(camera1Filenames[i], video1Extension) == INVALID_VIDEO_FILE_EXTENSION_ERROR)
{
printf("Video files must be of extension .mrf or .cine.\n");
exit(1);
}
// call appropriate MATLAB function depending on whether video file is .cine
// or .mrf to extract the frame as a MATLAB image. If neither, error.
if ((strcasecmp(video1Extension, ".cine") == 0) || (strcasecmp(video1Extension, ".cin") == 0))
{
sprintf(command, "c1 = cineRead('%s', %d);", camera1Filenames[i], camera1Frames[i]);
engEvalString(matlabEngine, command);
}
else if (strcasecmp(video1Extension, ".mrf") == 0)
{
sprintf(command, "c1 = mrfRead('%s', %d);", camera1Filenames[i], camera1Frames[i]);
engEvalString(matlabEngine, command);
}
else
{
printf("Videos must be of extension .mrf or .cine.\n");
exit(1);
}
char video2Extension[6];
// get the video file extension for the second video file
if (getVideoFileExtension(camera2Filenames[i], video2Extension) == INVALID_VIDEO_FILE_EXTENSION_ERROR)
{
printf("Video files must be of extension .mrf or .cine.\n");
exit(1);
}
// call appropriate MATLAB function depending on whether video file is .cine
// or .mrf to extract the frame as a MATLAB image. If neither, error.
if ((strcasecmp(video2Extension, ".cine") == 0) || (strcasecmp(video2Extension, ".cin") == 0))
{
sprintf(command, "c2 = cineRead('%s', %d);", camera2Filenames[i], camera2Frames[i]);
engEvalString(matlabEngine, command);
}
else if (strcasecmp(video2Extension, ".mrf") == 0)
{
sprintf(command, "c2 = mrfRead('%s', %d);", camera2Filenames[i], camera2Frames[i]);
engEvalString(matlabEngine, command);
}
else
{
printf("Videos must be of extension .mrf or .cine.\n");
exit(1);
}
// call MATLAB function convert_image_matlab2cv_gs on MATLAB images to convert
// them into a format that will be compatible with the IplImages of OpenCV
sprintf(command, "[c1_img c1_dim c1_padded_width] = convert_image_matlab2cv_gs(c1);");
engEvalString(matlabEngine, command);
sprintf(command, "[c2_img c2_dim c2_padded_width] = convert_image_matlab2cv_gs(c2);");
engEvalString(matlabEngine, command);
// retrieve the image data, image dimensions, and image padded width variables
// from MATLAB for both camera images
c1ImageData[i] = engGetVariable(matlabEngine, "c1_img");
c1ImageDimensions[i] = engGetVariable(matlabEngine, "c1_dim");
c1ImagePaddedWidths[i] = engGetVariable(matlabEngine, "c1_padded_width");
c2ImageData[i] = engGetVariable(matlabEngine, "c2_img");
c2ImageDimensions[i] = engGetVariable(matlabEngine, "c2_dim");
c2ImagePaddedWidths[i] = engGetVariable(matlabEngine, "c2_padded_width");
if (c1ImageData[i] == NULL ||
c1ImageDimensions[i] == NULL ||
c1ImagePaddedWidths[i] == NULL)
{
printf("Could not retrieve all necessary information for pair %d camera 1 frame %d from MATLAB.\n", i+1, camera1Frames[i]);
exit(1);
}
if (c2ImageData[i] == NULL ||
c2ImageDimensions[i] == NULL ||
c2ImagePaddedWidths[i] == NULL)
{
printf("Could not retrieve all necessary information for pair %d camera 2 frame %d from MATLAB.\n", i+1, camera2Frames[i]);
exit(1);
}
int c1Status, c2Status;
ImageInfo c1ImageInfo, c2ImageInfo;
// extract the image information from the MATLAB variables in the form of
// mxArrays, and store in ImageInfo structs
c1Status = getInputImageInfo(&c1ImageInfo, c1ImageData[i], c1ImageDimensions[i], c1ImagePaddedWidths[i]);
c2Status = getInputImageInfo(&c2ImageInfo, c2ImageData[i], c2ImageDimensions[i], c2ImagePaddedWidths[i]);
if (c1Status == IMAGE_INFO_DATA_ERROR)
{
printf("Pair %d camera 1: Images must have two dimensions.\n", i+1);
exit(1);
}
if (c2Status == IMAGE_INFO_DATA_ERROR)
{
printf("Pair %d camera 2: Images must have two dimensions.\n", i+1);
exit(1);
}
if (c1Status == IMAGE_INFO_DIMENSIONS_ERROR)
{
printf("Pair %d camera 1: Image dimension vectors must contain two elements: [width, height].\n", i+1);
exit(1);
}
if (c2Status == IMAGE_INFO_DIMENSIONS_ERROR)
{
printf("Pair %d camera 2: Image dimension vectors must contain two elements: [width, height].\n", i+1);
exit(1);
}
if (c1Status == IMAGE_INFO_PADDED_WIDTH_ERROR)
{
printf("Pair %d camera 1: Padded image widths must be scalars.\n", i+1);
exit(1);
}
if (c2Status == IMAGE_INFO_PADDED_WIDTH_ERROR)
{
printf("Pair %d camera 2: Padded image widths must be scalars.\n", i+1);
exit(1);
}
if (c1Status == IMAGE_DEPTH_ERROR)
{
printf("Pair %d camera 1: Images must be represented by 8 or 16-bit integers.\n", i+1);
exit(1);
}
if (c2Status == IMAGE_DEPTH_ERROR)
{
printf("Pair %d camera 2: Images must be represented by 8 or 16-bit integers.\n", i+1);
exit(1);
}
// create IplImages using values in ImageInfo structs
c1Status = createIplImageFromImageInfo(&(c1Images[i]), c1ImageInfo);
c2Status = createIplImageFromImageInfo(&(c2Images[i]), c2ImageInfo);
if (c1Status == OUT_OF_MEMORY_ERROR ||
c2Status == OUT_OF_MEMORY_ERROR)
{
printf("Out of memory error.\n");
exit(1);
}
// flip the images over the y-axis to compensate for the differences in axial
// labels between MATLAB and OpenCV (camera coefficients would not correctly
// correspond to image otherwise)
cvFlip(c1Images[i], NULL, 1);
cvFlip(c2Images[i], NULL, 1);
}
char errorMessage[500];
int numContours;
char **contourNames;
CvPoint3D32f **features3D;
char **validFeatureIndicator;
int *numFeaturesInContours;
char contoursFilename[MAX_FILENAME_LENGTH];
// for each camera pair, run features and triangulation
for (int i = 0; i < numCameraPairs; i++)
{
// create the output 2D features filename as "frame<frame number>_features2D_<camera name>.txt"
char features2DFilename[MAX_FILENAME_LENGTH];
sprintf(features2DFilename, "%sframe%d_features2D_%s.txt", outputDirectory, camera1Frames[i], cameraNames[i]);
// create the output contours filename as "frame<frame number>_contours_<camera name>.txt"
char tempContoursFilename[MAX_FILENAME_LENGTH];
sprintf(tempContoursFilename, "%sframe%d_contours_%s.txt", outputDirectory, camera1Frames[i], cameraNames[i]);
printf("Camera pair for %s view:\n", cameraNames[i]);
// run the features program to extract matching 2D features from the 2
// images within user defined contour
if (features(c1Images[i], c2Images[i], features2DFilename, tempContoursFilename, featureDetector, errorMessage))
{
printf("Features: %s\n", errorMessage);
exit(1);
}
// we only need to save the contour(s) for the first camera pair, as that
// is the one we will use to create the meshes, and we only use the contours
// with the same name(s) in subsequent camera pairs
if (i == 0)
{
strcpy(contoursFilename, tempContoursFilename);
// get the contour names of the contours selected in features function for
// output file naming and contour matching in other camera pairs
int status = readContourNamesFromInputFile(&numContours, &contourNames, contoursFilename);
if (status == INPUT_FILE_OPEN_ERROR)
{
printf("Could not open contour vertices file.\n");
exit(1);
}
if (status == INCORRECT_INPUT_FILE_FORMAT_ERROR)
{
printf("Contour vertices file has incorrect format.\n");
exit(1);
}
if (status == OUT_OF_MEMORY_ERROR)
{
printf("Out of memory error.\n");
exit(1);
}
// allocate memory for 3D features
features3D = (CvPoint3D32f **)malloc(numContours * sizeof(CvPoint3D32f *));
validFeatureIndicator = (char **)malloc(numContours * sizeof(char *));
numFeaturesInContours = (int *)malloc(numContours * sizeof(int));
if (features3D == NULL || numFeaturesInContours == NULL || validFeatureIndicator == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
for (int j = 0; j < numContours; j++)
{
features3D[j] = (CvPoint3D32f *)malloc(MAX_FEATURES_IN_CONTOUR * sizeof(CvPoint3D32f));
validFeatureIndicator[j] = (char *)malloc(MAX_FEATURES_IN_CONTOUR * sizeof(char));
if (features3D[j] == NULL || validFeatureIndicator[j] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
numFeaturesInContours[j] = 0;
}
}
// create the output 3D features filename as "frame<frame number>_features3D_<camera name>.txt"
char features3DFilename[MAX_FILENAME_LENGTH];
sprintf(features3DFilename, "%sframe%d_features3D_%s.txt", outputDirectory, camera1Frames[i], cameraNames[i]);
// triangulate the matching 2D features between cameras to find the 3D coordinates
// of the features, and remove invalid features
if (triangulation(cameraCoefficientsFilenames[i], features2DFilename, features3DFilename, c1Images[i], errorMessage))
{
printf("Triangulation: %s\n", errorMessage);
exit(1);
}
// if features from triangulation lie within contours that have the same
// names as those defined for the first camera pair, add them to the
// 3D features array for mesh creation
int status = read3DFeaturesFromFileForMatchingContours(features3DFilename, features3D, numFeaturesInContours, numContours, contourNames);
if (status == INPUT_FILE_OPEN_ERROR)
{
printf("Could not open 3D features file.\n");
exit(1);
}
if (status == INVALID_NUM_CONTOURS_ERROR)
{
printf("At least 1 contour region required.\n");
exit(1);
}
if (status == INCORRECT_INPUT_FILE_FORMAT_ERROR)
{
printf("3D features file has incorrect format.\n");
exit(1);
}
}
// for each contour (defined for the first camera pair), perform RANSAC on
// the cumulative 3D features from all camera pairs that lie within the contour
for (int i = 0; i < numContours; i++)
{
memset(validFeatureIndicator[i], 1, numFeaturesInContours[i] * sizeof(char));
// perform RANSAC to remove points that lie too far off a best-fit surface
if (ransac(features3D[i], validFeatureIndicator[i], numFeaturesInContours[i], errorMessage))
{
printf("RANSAC: %s\n", errorMessage);
exit(1);
}
int numValidFeatures = 0;
for (int j = 0; j < numFeaturesInContours[i]; j++)
{
if (validFeatureIndicator[i][j])
{
numValidFeatures++;
}
}
printf("Total valid features after RANSAC for contour %s: %d\n", contourNames[i], numValidFeatures);
}
// create the output 3D features filename for all camera pairs as
// "frame<frame number>_features3D.txt", and write the result of RANSAC to
// the file
char features3DFilename[MAX_FILENAME_LENGTH];
sprintf(features3DFilename, "%sframe%d_features3D.txt", outputDirectory, camera1Frames[0]);
int status = write3DFeaturesToFile(features3D, validFeatureIndicator, numFeaturesInContours, contourNames, numContours, features3DFilename);
if (status == OUTPUT_FILE_OPEN_ERROR)
{
sprintf(errorMessage, "Could not open output file.");
return 1;
}
char **meshFilenames = (char **)malloc(numContours * sizeof(char *));
if (meshFilenames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// for each contour, create a different mesh output file
for (int i = 0; i < numContours; i++)
{
meshFilenames[i] = (char *)malloc(MAX_FILENAME_LENGTH * sizeof(char));
if (meshFilenames[i] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// create the output mesh filename as "frame<frame number>_mesh_<contour name>_<camera name>.txt"
sprintf(meshFilenames[i], "%sframe%d_mesh_%s.txt", outputDirectory, camera1Frames[0], contourNames[i]);
}
// create the wing meshes from the triangulated 3D points and the user-selected
// contours, and write each mesh to a different file for each contour
if (mesh(features3DFilename, contoursFilename, cameraCoefficientsFilenames[0], meshFilenames, numContours, regularization, errorMessage))
{
printf("Mesh: %s\n", errorMessage);
exit(1);
}
// we only calculate the flow of a wing mesh if there is a mesh file with the
// same contour name in the output directory for the previous video frame
char **flowFilenames = (char **)malloc(numContours * sizeof(char *));
if (flowFilenames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
for (int i = 0; i < numContours; i++)
{
flowFilenames[i] = NULL;
}
int numFilesInDirectory;
char **filenamesInDirectory = (char **)malloc(MAX_FILES_IN_DIRECTORY * sizeof(char *));
if (filenamesInDirectory == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
for (int i = 0; i < MAX_FILES_IN_DIRECTORY; i++)
{
filenamesInDirectory[i] = (char *)malloc(MAX_FILENAME_LENGTH * sizeof(char));
if (filenamesInDirectory[i] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
}
// get all files in the output directory
getAllFilenamesInDirectory(outputDirectory, &numFilesInDirectory, filenamesInDirectory);
// for each contour check if previous frame mesh file for same contour exists
// in output directory
for (int i = 0; i < numContours; i++)
{
// set substring indicating match to be "frame<previous frame number>_mesh_<contour name>.txt"
char filenameToMatch[MAX_FILENAME_LENGTH];
sprintf(filenameToMatch, "frame%d_mesh_%s.txt", camera1Frames[0]-1, contourNames[i]);
// try to find a filename from the output directory that contains the
// substring indicating a match for a previous frame mesh for the same
// contour
int fileExists = getIndexOfMatchingString(filenamesInDirectory, numFilesInDirectory, filenameToMatch);
// if filename was found, create a flow output file for current contour
// and call flow to calculate the flow between previous contour mesh and
// current contour mesh
if (fileExists != -1)
{
flowFilenames[i] = (char *)malloc(MAX_FILENAME_LENGTH * sizeof(char));
if (flowFilenames[i] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// create the output flow filename as "frame<frame number>_flow_<contour name>_<camera name>.txt"
sprintf(flowFilenames[i], "%sframe%d_flow_%s.txt", outputDirectory, camera1Frames[0], contourNames[i]);
// add the output directory name to the beginning of the previous mesh
// filename
char prevFrameMeshFile[MAX_FILENAME_LENGTH];
sprintf(prevFrameMeshFile, "%s%s", outputDirectory, filenameToMatch);
// call flow to find the flow between the previous mesh file and the
// current mesh file for each mesh point current contour
if (flow(prevFrameMeshFile, meshFilenames[i], flowFilenames[i], errorMessage))
{
printf("Flow: %s\n", errorMessage);
exit(1);
}
}
else
{
printf("Mesh points file for previous frame not found for contour %s. Unable to calculate flow.\n", contourNames[i]);
}
}
sprintf(command, "hold on;");
engEvalString(matlabEngine, command);
// for each contour, display MATLAB 3D plot of the mesh, as well as the flow
// for the mesh, if applicable
for (int i = 0; i < numContours; i++)
{
if (flowFilenames[i] != NULL)
{
sprintf(command, "flows = load('%s');", flowFilenames[i]);
engEvalString(matlabEngine, command);
// plot the flows of the mesh points
sprintf(command, "quiver3(flows(:,1), flows(:,2), flows(:,3), flows(:,4), flows(:,5), flows(:,6), 4, 'r-');");
engEvalString(matlabEngine, command);
}
sprintf(command, "mesh = importdata('%s', ' ', 1);", meshFilenames[i]);
engEvalString(matlabEngine, command);
// plot the mesh points
sprintf(command, "plot3(mesh.data(:,1), mesh.data(:,2), mesh.data(:,3), 'b.');");
engEvalString(matlabEngine, command);
}
// reverse the z and y coordinates in the display
sprintf(command, "set(gca,'zdir','reverse','ydir','reverse');");
engEvalString(matlabEngine, command);
// scale the axes to be equal
sprintf(command, "axis equal");
engEvalString(matlabEngine, command);
// wait for the user to hit enter
printf("Hit return to continue.\n");
fgetc(stdin);
// close MATLAB engine
engClose(matlabEngine);
// cleanup
free(camera1Filenames);
free(camera1Frames);
free(camera2Filenames);
free(camera2Frames);
free(cameraNames);
free(cameraCoefficientsFilenames);
for (int i = 0; i < numCameraPairs; i++)
{
mxDestroyArray(c1ImageData[i]);
mxDestroyArray(c1ImageDimensions[i]);
mxDestroyArray(c1ImagePaddedWidths[i]);
mxDestroyArray(c2ImageData[i]);
mxDestroyArray(c2ImageDimensions[i]);
mxDestroyArray(c2ImagePaddedWidths[i]);
free(c1Images[i]->imageData);
cvReleaseImageHeader(&c1Images[i]);
free(c2Images[i]->imageData);
cvReleaseImageHeader(&c2Images[i]);
}
free(c1ImageData);
free(c1ImageDimensions);
free(c1ImagePaddedWidths);
free(c2ImageData);
free(c2ImageDimensions);
free(c2ImagePaddedWidths);
free(c1Images);
free(c2Images);
for (int i = 0; i < MAX_FILES_IN_DIRECTORY; i++)
{
free(filenamesInDirectory[i]);
}
free(filenamesInDirectory);
for (int i = 0; i < numContours; i++)
{
free(contourNames[i]);
free(features3D[i]);
free(validFeatureIndicator[i]);
free(meshFilenames[i]);
if (flowFilenames[i] != NULL)
{
free(flowFilenames[i]);
}
}
free(contourNames);
free(features3D);
free(validFeatureIndicator);
free(numFeaturesInContours);
free(meshFilenames);
free(flowFilenames);
exit(0);
}
// To assign a graph to a tree requires pruning all edges which makes it not
// a tree. We perform here the junction tree algorithm.
tree(const graph<T,P,M,N,impl_type> &g) {
typedef graph<T,P,M,N,impl_type> super;
super::operator=(g);
moralization();
triangulation();
}
