CPVector AutoCtrlPointCreator::readUpdatedControlPoints(const std::string & file,
PT::Panorama & pano)
{
ifstream stream(file.c_str());
if (! stream.is_open()) {
DEBUG_ERROR("Could not open autopano output: " << file);
return CPVector();
}
Panorama tmpp;
PanoramaMemento newPano;
int ptoVersion = 0;
newPano.loadPTScript(stream, ptoVersion, "");
tmpp.setMemento(newPano);
// create mapping between the panorama images.
map<unsigned int, unsigned int> imgMapping;
for (unsigned int ni = 0; ni < tmpp.getNrOfImages(); ni++) {
std::string nname = stripPath(tmpp.getImage(ni).getFilename());
for (unsigned int oi=0; oi < pano.getNrOfImages(); oi++) {
std::string oname = stripPath(pano.getImage(oi).getFilename());
if (nname == oname) {
// insert image
imgMapping[ni] = oi;
break;
}
}
if (! set_contains(imgMapping, ni)) {
DEBUG_ERROR("Could not find image " << ni << ", name: " << tmpp.getImage(ni).getFilename() << " in autopano output");
return CPVector();
}
}
// get control points
CPVector ctrlPoints = tmpp.getCtrlPoints();
// make sure they are in correct order
for (CPVector::iterator it= ctrlPoints.begin(); it != ctrlPoints.end(); ++it) {
(*it).image1Nr = imgMapping[(*it).image1Nr];
(*it).image2Nr = imgMapping[(*it).image2Nr];
}
return ctrlPoints;
}
void AddControlPointsWithCheck(CPVector &cpv, CPVector &new_cp, Panorama *pano=NULL)
{
for(unsigned int i=0;i<new_cp.size();i++)
{
HuginBase::ControlPoint cp=new_cp[i];
bool duplicate=false;
for(unsigned int j=0;j<cpv.size();j++)
{
if(cp==cpv[j])
{
duplicate=true;
break;
}
};
if(!duplicate)
{
cpv.push_back(cp);
if(pano!=NULL)
pano->addCtrlPoint(cp);
};
};
};
CPVector AutoCtrlPointCreator::readUpdatedControlPoints(const std::string & file,
PT::Panorama & pano, const PT::UIntSet & imgs)
{
ifstream stream(file.c_str());
if (! stream.is_open()) {
DEBUG_ERROR("Could not open control point detector output: " << file);
return CPVector();
}
Panorama tmpp;
PanoramaMemento newPano;
int ptoVersion = 0;
newPano.loadPTScript(stream, ptoVersion, "");
tmpp.setMemento(newPano);
//check if sizes matches
if(tmpp.getNrOfImages()!=imgs.size())
{
return CPVector();
};
// create mapping between the panorama images.
vector<size_t> imgMapping(imgs.size());
size_t i=0;
for(UIntSet::const_iterator it=imgs.begin();it!=imgs.end();it++)
{
imgMapping[i++]=*it;
};
// get control points
CPVector ctrlPoints = tmpp.getCtrlPoints();
// make sure they are in correct order
for (CPVector::iterator it= ctrlPoints.begin(); it != ctrlPoints.end(); ++it) {
(*it).image1Nr = imgMapping[(*it).image1Nr];
(*it).image2Nr = imgMapping[(*it).image2Nr];
}
return ctrlPoints;
}
bool PanoDetector::matchMultiRow(PoolExecutor& aExecutor)
{
//step 1
std::vector<HuginBase::UIntSet> checkedImagePairs(_panoramaInfo->getNrOfImages());
std::vector<stack_img> stack_images;
HuginBase::StandardImageVariableGroups* variable_groups = new HuginBase::StandardImageVariableGroups(*_panoramaInfo);
for(unsigned int i=0; i<_panoramaInfo->getNrOfImages(); i++)
{
unsigned int stack_nr=variable_groups->getStacks().getPartNumber(i);
//check, if this stack is already in list
bool found=false;
unsigned int index=0;
for(index=0; index<stack_images.size(); index++)
{
found=(stack_images[index].layer_nr==stack_nr);
if(found)
{
break;
};
};
if(!found)
{
//new stack
stack_images.resize(stack_images.size()+1);
index=stack_images.size()-1;
//add new stack
stack_images[index].layer_nr=stack_nr;
};
//add new image
unsigned int new_image_index=stack_images[index].images.size();
stack_images[index].images.resize(new_image_index+1);
stack_images[index].images[new_image_index].img_nr=i;
stack_images[index].images[new_image_index].ev=_panoramaInfo->getImage(i).getExposure();
};
delete variable_groups;
//get image with median exposure for search with cp generator
vector<size_t> images_layer;
UIntSet images_layer_set;
for(unsigned int i=0; i<stack_images.size(); i++)
{
std::sort(stack_images[i].images.begin(),stack_images[i].images.end(),sort_img_ev);
unsigned int index=0;
if(stack_images[i].images[0].ev!=stack_images[i].images[stack_images[i].images.size()-1].ev)
{
index=stack_images[i].images.size() / 2;
};
images_layer.push_back(stack_images[i].images[index].img_nr);
images_layer_set.insert(stack_images[i].images[index].img_nr);
if(stack_images[i].images.size()>1)
{
//build match list for stacks
for(unsigned int j=0; j<stack_images[i].images.size()-1; j++)
{
size_t img1=stack_images[i].images[j].img_nr;
size_t img2=stack_images[i].images[j+1].img_nr;
_matchesData.push_back(MatchData());
MatchData& aM=_matchesData.back();
aM._i1=&(_filesData[img1]);
aM._i2=&(_filesData[img2]);
checkedImagePairs[img1].insert(img2);
checkedImagePairs[img2].insert(img1);
};
};
};
//build match data list for image pairs
if(images_layer.size()>1)
{
std::sort(images_layer.begin(), images_layer.end());
for(unsigned int i=0; i<images_layer.size()-1; i++)
{
size_t img1=images_layer[i];
size_t img2=images_layer[i+1];
_matchesData.push_back(MatchData());
MatchData& aM = _matchesData.back();
aM._i1 = &(_filesData[img1]);
aM._i2 = &(_filesData[img2]);
checkedImagePairs[img1].insert(img2);
checkedImagePairs[img2].insert(img1);
};
};
TRACE_INFO(endl<< "--- Find matches ---" << endl);
try
{
BOOST_FOREACH(MatchData& aMD, _matchesData)
aExecutor.execute(new MatchDataRunnable(aMD, *this));
aExecutor.wait();
}
catch(Synchronization_Exception& e)
{
TRACE_ERROR(e.what() << endl);
return false;
}
// Add detected matches to _panoramaInfo
BOOST_FOREACH(MatchData& aM, _matchesData)
BOOST_FOREACH(lfeat::PointMatchPtr& aPM, aM._matches)
_panoramaInfo->addCtrlPoint(ControlPoint(aM._i1->_number, aPM->_img1_x, aPM->_img1_y,
aM._i2->_number, aPM->_img2_x, aPM->_img2_y));
// step 2: connect all image groups
_matchesData.clear();
Panorama mediumPano=_panoramaInfo->getSubset(images_layer_set);
CPGraph graph;
createCPGraph(mediumPano, graph);
CPComponents comps;
unsigned int n = findCPComponents(graph, comps);
if(n>1)
{
vector<unsigned int> ImagesGroups;
for(unsigned int i=0; i<n; i++)
{
ImagesGroups.push_back(images_layer[*(comps[i].begin())]);
if(comps[i].size()>1)
{
ImagesGroups.push_back(images_layer[*(comps[i].rbegin())]);
}
};
for(unsigned int i=0; i<ImagesGroups.size()-1; i++)
{
for(unsigned int j=i+1; j<ImagesGroups.size(); j++)
{
size_t img1=ImagesGroups[i];
size_t img2=ImagesGroups[j];
//skip already checked image pairs
if(set_contains(checkedImagePairs[img1],img2))
{
continue;
};
_matchesData.push_back(MatchData());
MatchData& aM = _matchesData.back();
aM._i1 = &(_filesData[img1]);
aM._i2 = &(_filesData[img2]);
checkedImagePairs[img1].insert(img2);
checkedImagePairs[img2].insert(img1);
};
};
TRACE_INFO(endl<< "--- Find matches in images groups ---" << endl);
try
{
BOOST_FOREACH(MatchData& aMD, _matchesData)
aExecutor.execute(new MatchDataRunnable(aMD, *this));
aExecutor.wait();
}
catch(Synchronization_Exception& e)
{
TRACE_ERROR(e.what() << endl);
return false;
}
BOOST_FOREACH(MatchData& aM, _matchesData)
BOOST_FOREACH(lfeat::PointMatchPtr& aPM, aM._matches)
_panoramaInfo->addCtrlPoint(ControlPoint(aM._i1->_number, aPM->_img1_x, aPM->_img1_y,
aM._i2->_number, aPM->_img2_x, aPM->_img2_y));
};
// step 3: now connect all overlapping images
_matchesData.clear();
PT::Panorama optPano=_panoramaInfo->getSubset(images_layer_set);
createCPGraph(optPano, graph);
if(findCPComponents(graph, comps)==1)
{
if(images_layer.size()>2)
{
//reset translation parameters
VariableMapVector varMapVec=optPano.getVariables();
for(size_t i=0; i<varMapVec.size(); i++)
{
map_get(varMapVec[i], "TrX").setValue(0);
map_get(varMapVec[i], "TrY").setValue(0);
map_get(varMapVec[i], "TrZ").setValue(0);
};
optPano.updateVariables(varMapVec);
//next steps happens only when all images are connected;
//now optimize panorama
PanoramaOptions opts = optPano.getOptions();
opts.setProjection(PanoramaOptions::EQUIRECTANGULAR);
opts.optimizeReferenceImage=0;
// calculate proper scaling, 1:1 resolution.
// Otherwise optimizer distances are meaningless.
opts.setWidth(30000, false);
opts.setHeight(15000);
optPano.setOptions(opts);
int w = optPano.calcOptimalWidth();
opts.setWidth(w);
opts.setHeight(w/2);
optPano.setOptions(opts);
//generate optimize vector, optimize only yaw and pitch
OptimizeVector optvars;
const SrcPanoImage& anchorImage = optPano.getImage(opts.optimizeReferenceImage);
for (unsigned i=0; i < optPano.getNrOfImages(); i++)
{
std::set<std::string> imgopt;
if(i==opts.optimizeReferenceImage)
{
//optimize only anchors pitch, not yaw
imgopt.insert("p");
}
else
{
imgopt.insert("p");
imgopt.insert("y");
};
optvars.push_back(imgopt);
}
optPano.setOptimizeVector(optvars);
// remove vertical and horizontal control points
CPVector cps = optPano.getCtrlPoints();
CPVector newCP;
for (CPVector::const_iterator it = cps.begin(); it != cps.end(); it++)
{
if (it->mode == ControlPoint::X_Y)
{
newCP.push_back(*it);
}
}
optPano.setCtrlPoints(newCP);
if (getVerbose() < 2)
{
PT_setProgressFcn(ptProgress);
PT_setInfoDlgFcn(ptinfoDlg);
};
//in a first step do a pairwise optimisation
HuginBase::AutoOptimise::autoOptimise(optPano, false);
//now the final optimisation
HuginBase::PTools::optimize(optPano);
if (getVerbose() < 2)
{
PT_setProgressFcn(NULL);
PT_setInfoDlgFcn(NULL);
};
//now match overlapping images
if(!matchPrealigned(aExecutor, &optPano, checkedImagePairs, images_layer, false))
{
return false;
};
};
}
else
{
if(!match(aExecutor, checkedImagePairs))
{
return false;
};
};
return true;
};
CPVector AutoPanoSiftMultiRow::automatch(CPDetectorSetting &setting, Panorama & pano, const UIntSet & imgs,
int nFeatures, int & ret_value, wxWindow *parent)
{
CPVector cps;
if (imgs.size() < 2)
{
return cps;
};
std::vector<wxString> keyFiles(pano.getNrOfImages());
//generate cp for every consecutive image pair
unsigned int counter=0;
for(UIntSet::const_iterator it = imgs.begin(); it != imgs.end(); )
{
if(counter==imgs.size()-1)
break;
counter++;
UIntSet ImagePair;
ImagePair.clear();
ImagePair.insert(*it);
it++;
ImagePair.insert(*it);
AutoPanoSift matcher;
CPVector new_cps;
new_cps.clear();
if(setting.IsTwoStepDetector())
new_cps=matcher.automatch(setting, pano, ImagePair, nFeatures, keyFiles, ret_value, parent);
else
new_cps=matcher.automatch(setting, pano, ImagePair, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps);
if(ret_value!=0)
{
Cleanup(setting, pano, imgs, keyFiles, parent);
return cps;
};
};
// now connect all image groups
// generate temporary panorama to add all found cps
UIntSet allImgs;
fill_set(allImgs, 0, pano.getNrOfImages()-1);
Panorama optPano=pano.getSubset(allImgs);
for (CPVector::const_iterator it=cps.begin();it!=cps.end();++it)
optPano.addCtrlPoint(*it);
CPGraph graph;
createCPGraph(optPano, graph);
CPComponents comps;
int n = findCPComponents(graph, comps);
if(n>1)
{
UIntSet ImagesGroups;
for(unsigned int i=0;i<n;i++)
{
ImagesGroups.insert(*(comps[i].begin()));
if(comps[i].size()>1)
ImagesGroups.insert(*(comps[i].rbegin()));
};
AutoPanoSift matcher;
CPVector new_cps;
if(setting.IsTwoStepDetector())
new_cps=matcher.automatch(setting, optPano, ImagesGroups, nFeatures, keyFiles, ret_value, parent);
else
new_cps=matcher.automatch(setting, optPano, ImagesGroups, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps,&optPano);
if(ret_value!=0)
{
Cleanup(setting, pano, imgs, keyFiles, parent);
return cps;
};
createCPGraph(optPano,graph);
n=findCPComponents(graph, comps);
};
if(n==1 && setting.GetOption())
{
//next steps happens only when all images are connected;
//now optimize panorama
PanoramaOptions opts = pano.getOptions();
opts.setProjection(PanoramaOptions::EQUIRECTANGULAR);
// calculate proper scaling, 1:1 resolution.
// Otherwise optimizer distances are meaningless.
opts.setWidth(30000, false);
opts.setHeight(15000);
optPano.setOptions(opts);
int w = optPano.calcOptimalWidth();
opts.setWidth(w);
opts.setHeight(w/2);
optPano.setOptions(opts);
//generate optimize vector, optimize only yaw and pitch
OptimizeVector optvars;
const SrcPanoImage & anchorImage = optPano.getImage(opts.optimizeReferenceImage);
for (unsigned i=0; i < optPano.getNrOfImages(); i++)
{
std::set<std::string> imgopt;
if(i==opts.optimizeReferenceImage)
{
//optimize only anchors pitch, not yaw
imgopt.insert("p");
}
else
{
// do not optimize anchor image's stack for position.
if(!optPano.getImage(i).YawisLinkedWith(anchorImage))
{
imgopt.insert("p");
imgopt.insert("y");
};
};
optvars.push_back(imgopt);
}
optPano.setOptimizeVector(optvars);
// remove vertical and horizontal control points
CPVector backupOldCPS = optPano.getCtrlPoints();
CPVector backupNewCPS;
for (CPVector::const_iterator it = backupOldCPS.begin(); it != backupOldCPS.end(); it++) {
if (it->mode == ControlPoint::X_Y)
{
backupNewCPS.push_back(*it);
}
}
optPano.setCtrlPoints(backupNewCPS);
// do a first pairwise optimisation step
HuginBase::AutoOptimise::autoOptimise(optPano,false);
HuginBase::PTools::optimize(optPano);
optPano.setCtrlPoints(backupOldCPS);
//and find cp on overlapping images
//work only on image pairs, which are not yet connected
AutoPanoSiftPreAlign matcher;
CPDetectorSetting newSetting;
newSetting.SetProg(setting.GetProg());
newSetting.SetArgs(setting.GetArgs());
if(setting.IsTwoStepDetector())
{
newSetting.SetProgMatcher(setting.GetProgMatcher());
newSetting.SetArgsMatcher(setting.GetArgsMatcher());
};
newSetting.SetOption(true);
CPVector new_cps;
if(setting.IsTwoStepDetector())
new_cps=matcher.automatch(newSetting, optPano, imgs, nFeatures, keyFiles, ret_value, parent);
else
new_cps=matcher.automatch(newSetting, optPano, imgs, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps);
};
Cleanup(setting, pano, imgs, keyFiles, parent);
return cps;
};
CPVector AutoPanoSiftMultiRowStack::automatch(CPDetectorSetting &setting, Panorama & pano, const UIntSet & imgs,
int nFeatures, int & ret_value, wxWindow *parent)
{
CPVector cps;
if (imgs.size() == 0) {
return cps;
};
std::vector<stack_img> stack_images;
HuginBase::StandardImageVariableGroups* variable_groups = new HuginBase::StandardImageVariableGroups(pano);
for(UIntSet::const_iterator it = imgs.begin(); it != imgs.end(); it++)
{
unsigned int stack_nr=variable_groups->getStacks().getPartNumber(*it);
//check, if this stack is already in list
bool found=false;
unsigned int index=0;
for(index=0;index<stack_images.size();index++)
{
found=(stack_images[index].layer_nr==stack_nr);
if(found)
break;
};
if(!found)
{
//new stack
stack_images.resize(stack_images.size()+1);
index=stack_images.size()-1;
//add new stack
stack_images[index].layer_nr=stack_nr;
};
//add new image
unsigned int new_image_index=stack_images[index].images.size();
stack_images[index].images.resize(new_image_index+1);
stack_images[index].images[new_image_index].img_nr=*it;
stack_images[index].images[new_image_index].ev=pano.getImage(*it).getExposure();
};
delete variable_groups;
//get image with median exposure for search with cp generator
UIntSet images_layer;
for(unsigned int i=0;i<stack_images.size();i++)
{
std::sort(stack_images[i].images.begin(),stack_images[i].images.end(),sort_img_ev);
unsigned int index=0;
if(stack_images[i].images[0].ev!=stack_images[i].images[stack_images[i].images.size()-1].ev)
{
index=stack_images[i].images.size() / 2;
};
images_layer.insert(stack_images[i].images[index].img_nr);
};
ret_value=0;
//work on all stacks
if(!setting.GetProgStack().IsEmpty())
{
CPDetectorSetting stack_setting;
stack_setting.SetType(CPDetector_AutoPanoSift);
stack_setting.SetProg(setting.GetProgStack());
stack_setting.SetArgs(setting.GetArgsStack());
for(unsigned int i=0;i<stack_images.size();i++)
{
UIntSet images_stack;
images_stack.clear();
for(unsigned int j=0;j<stack_images[i].images.size();j++)
images_stack.insert(stack_images[i].images[j].img_nr);
if(images_stack.size()>1)
{
AutoPanoSift matcher;
CPVector new_cps=matcher.automatch(stack_setting, pano, images_stack, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps);
if(ret_value!=0)
{
std::vector<wxString> emptyKeyfiles;
Cleanup(setting, pano, imgs, emptyKeyfiles, parent);
return cps;
};
};
};
}
//generate cp for median exposure with multi-row algorithm
if(images_layer.size()>1)
{
UIntSet allImgs;
fill_set(allImgs, 0, pano.getNrOfImages()-1);
Panorama newPano=pano.getSubset(allImgs);
if(cps.size()>0)
for (CPVector::const_iterator it=cps.begin();it!=cps.end();++it)
newPano.addCtrlPoint(*it);
AutoPanoSiftMultiRow matcher;
CPVector new_cps=matcher.automatch(setting, newPano, images_layer, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps);
};
return cps;
};
