/*
Load a list of image names from a file. Appears to also populate
some of the meta-info about where to get key files from/dump them
to.
*/
void BaseApp::LoadImageNamesFromFile(FILE *f)
{
// m_image_names.clear();
m_image_data.clear();
char buf[256];
int idx = 0;
while (fgets(buf, 256, f))
{
ImageData data;
data.InitFromString(buf, m_image_directory, m_fisheye);
// Try to find a keypoint file in key directory, or in current directory.
if (strcmp(m_key_directory, ".") != 0)
{
char key_buf[256];
data.GetBaseName(key_buf);
char key_path[512];
sprintf(key_path, "%s/%s.key", m_key_directory, key_buf);
data.m_key_name = strdup(key_path);
}
else
{
// FIXME: I think this causes a memory leak
// TODO: Assumes that filename related to data.m_name.
char key_buf[256];
strcpy(key_buf, data.m_name);
int len = strlen(key_buf);
key_buf[len - 3] = 'k';
key_buf[len - 2] = 'e';
key_buf[len - 1] = 'y';
data.m_key_name = strdup(key_buf);
}
m_image_data.push_back(data);
idx++;
}
// Create an empty match table
m_matches = MatchTable(GetNumImages());
RemoveAllMatches();
m_matches_computed = true;
m_num_original_images = GetNumImages();
if (m_use_intrinsics)
ReadIntrinsicsFile();
}
/* Read the ignore file */
void BaseApp::ReadIgnoreFile()
{
if (m_ignore_file == NULL)
return;
FILE *f = fopen(m_ignore_file, "r");
if (f == NULL) {
printf("[ReadIgnoreFile] Error opening file %s "
"for reading\n", m_ignore_file);
return;
}
char buf[256];
int num_images = GetNumImages();
while (fgets(buf, 255, f)) {
int img = atoi(buf);
if (img < 0 || img >= num_images) {
printf("[ReadIgnoreFile] "
"Error: image %d out of range\n", img);
continue;
}
printf("[ReadIgnoreFile] Ignoring image %d\n", img);
m_image_data[img].m_ignore_in_bundle = true;
}
fclose(f);
fflush(stdout);
}
void BaseApp::CreateTracksFromPoints()
{
m_track_data.clear();
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
m_image_data[i].m_visible_points.clear();
m_image_data[i].m_visible_keys.clear();
}
int num_points = m_point_data.size();
for (int i = 0; i < num_points; i++) {
TrackData track;
track.m_views = m_point_data[i].m_views;
m_track_data.push_back(track);
int num_views = (int) m_point_data[i].m_views.size();
for (int j = 0; j < num_views; j++) {
int v = m_point_data[i].m_views[j].first;
int k = m_point_data[i].m_views[j].second;
m_image_data[v].m_visible_points.push_back(i);
m_image_data[v].m_visible_keys.push_back(k);
}
}
}
/* Prune points that match to multiple targets */
void BaseApp::PruneDoubleMatches()
{
unsigned int num_images = GetNumImages();
for (unsigned int i = 0; i < num_images; i++) {
MatchAdjList::iterator iter;
std::vector<unsigned int> remove;
for (iter = m_matches.Begin(i); iter != m_matches.End(i); iter++) {
HashSetInt seen;
int num_pruned = 0;
// MatchIndex idx = *iter; // GetMatchIndex(i, j);
std::vector<KeypointMatch> &list = iter->m_match_list;
/* Unmark keys */
// int num_matches = (int) m_match_lists[idx].size();
int num_matches = (int) list.size();
for (int k = 0; k < num_matches; k++) {
int idx2 = list[k].m_idx2;
// if (GetKey(j,idx2).m_extra != -1) {
if (seen.find(idx2) != seen.end()) {
/* This is a repeat */
// printf("[%d] Pruning repeat %d\n", i, idx2);
list.erase(list.begin() + k);
num_matches--;
k--;
num_pruned++;
} else {
/* Mark this key as matched */
// GetKey(j,idx2).m_extra = k;
seen.insert(idx2);
}
}
// unsigned int i = iter->first;
// unsigned int j = iter->second;
unsigned int j = iter->m_index; // first;
printf("[PruneDoubleMatches] Pruned[%d,%d] = %d / %d\n",
i, j, num_pruned, num_matches + num_pruned);
if (num_matches < m_min_num_feat_matches) {
/* Get rid of... */
remove.push_back(iter->m_index); // first);
}
}
for (unsigned int j = 0; j < remove.size(); j++) {
int idx2 = remove[j];
m_matches.RemoveMatch(GetMatchIndex(i, idx2));
printf("[PruneDoubleMatches] Removing[%d,%d]\n", i, idx2);
}
}
}
/* Grab the color of each keypoint */
void BaseApp::ReadKeyColors()
{
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
m_image_data[i].ReadKeyColors();
}
}
/* Clear the current model */
void BaseApp::ClearModel()
{
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
m_image_data[i].m_camera.m_adjusted = false;
}
m_point_data.clear();
}
/* Make match lists symmetric */
void BaseApp::MakeMatchListsSymmetric()
{
unsigned int num_images = GetNumImages();
std::vector<MatchIndex> matches;
for (unsigned int i = 0; i < num_images; i++) {
MatchAdjList::const_iterator iter;
for (iter = m_matches.Begin(i); iter != m_matches.End(i); iter++) {
// unsigned int i = iter->first;
unsigned int j = iter->m_index; // iter->second;
if (j <= i)
continue;
assert(ImagesMatch(i, j));
// MatchIndex idx = *iter;
MatchIndex idx = GetMatchIndex(i, j);
MatchIndex idx_rev = GetMatchIndex(j, i);
// int num_matches = (int) m_match_lists[idx].size();
const std::vector<KeypointMatch> &list = iter->m_match_list;
unsigned int num_matches = list.size();
// m_match_lists[idx_rev].clear();
m_matches.SetMatch(idx_rev);
m_matches.ClearMatch(idx_rev);
for (unsigned int k = 0; k < num_matches; k++) {
KeypointMatch m1, m2;
m1 = list[k];
m2.m_idx1 = m1.m_idx2;
m2.m_idx2 = m1.m_idx1;
// m_match_lists[idx_rev].push_back(m2);
m_matches.AddMatch(idx_rev, m2);
}
matches.push_back(idx);
}
}
unsigned int num_matches = matches.size();
for (unsigned int i = 0; i < num_matches; i++) {
unsigned int img1 = matches[i].first;
unsigned int img2 = matches[i].second;
SetMatch(img2, img1);
}
matches.clear();
}
int BaseApp::FindImageWithName(const char *name)
{
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
if (strcmp(m_image_data[i].m_name, name) == 0)
return i;
}
return -1;
}
/* Compute epipolar geometry between all matching images */
void BundlerApp::ComputeEpipolarGeometry(bool removeBadMatches,
int new_image_start)
{
unsigned int num_images = GetNumImages();
m_transforms.clear();
std::vector<MatchIndex> remove;
for (unsigned int i = 0; i < num_images; i++) {
MatchAdjList::iterator iter;
for (iter = m_matches.Begin(i); iter != m_matches.End(i); iter++) {
unsigned int j = iter->m_index; // first;
assert(ImagesMatch(i, j));
MatchIndex idx = GetMatchIndex(i, j);
MatchIndex idx_rev = GetMatchIndex(j, i);
bool connect12 =
ComputeEpipolarGeometry(i, j, removeBadMatches);
if (!connect12) {
if (removeBadMatches) {
// RemoveMatch(i, j);
// RemoveMatch(j, i);
remove.push_back(idx);
remove.push_back(idx_rev);
// m_match_lists[idx].clear();
// m_match_lists.erase(idx);
m_transforms.erase(idx);
m_transforms.erase(idx_rev);
}
} else {
matrix_transpose(3, 3,
m_transforms[idx].m_fmatrix,
m_transforms[idx_rev].m_fmatrix);
}
}
}
int num_removed = (int) remove.size();
for (int i = 0; i < num_removed; i++) {
int img1 = remove[i].first;
int img2 = remove[i].second;
// RemoveMatch(img1, img2);
m_matches.RemoveMatch(GetMatchIndex(img1, img2));
}
}
void SkpModel::print_all_counts(){
std::cout << "Definitions: " << GetNumDefinitions() << "\n";
std::cout << "Instances: " << GetNumInstances() << "\n";
std::cout << "Groups: " << GetNumGroups() << "\n";
std::cout << "Faces: " << GetNumFaces() << "\n";
std::cout << "Images: " << GetNumImages() << "\n";
std::cout << "Edges: " << GetNumEdges() << "\n";
std::cout << "Guides: " << GetNumGuides() << "\n";
std::cout << "Curves: " << GetNumCurves() << "\n";
}
/* Read intrinsics */
void BaseApp::ReadIntrinsicsFile()
{
printf("[ReadIntrinsicsFile] Reading intrinsics...\n");
assert(m_intrinsics_file != NULL);
FILE *f = fopen(m_intrinsics_file, "r");
assert(f != NULL);
int num_intrinsics = 0;
fscanf(f, "%d\n", &num_intrinsics);
std::vector<intrinsics_t> Ks;
for (int i = 0; i < num_intrinsics; i++) {
intrinsics_t I;
fscanf(f, "%lf %lf %lf %lf %lf %lf %lf %lf %lf\n",
I.K + 0, I.K + 1, I.K + 2,
I.K + 3, I.K + 4, I.K + 5,
I.K + 6, I.K + 7, I.K + 8);
fscanf(f, "%lf %lf %lf %lf %lf\n",
I.k + 0, I.k + 1, I.k + 2, I.k + 3, I.k + 4);
Ks.push_back(I);
}
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
assert(m_image_data[i].m_has_init_focal);
double f = m_image_data[i].m_init_focal;
double min_dist = DBL_MAX;
int best_K = -1;
for (int j = 0; j < num_intrinsics; j++) {
double f_j = 0.5 * (Ks[j].K[0] + Ks[j].K[4]);
double dist = fabs(f_j - f);
if (dist < min_dist) {
best_K = j;
min_dist = dist;
}
}
printf(" image %d has intrinsics %d\n", i, best_K);
memcpy(m_image_data[i].m_K, Ks[best_K].K, 9 * sizeof(double));
memcpy(m_image_data[i].m_k, Ks[best_K].k, 5 * sizeof(double));
m_image_data[i].m_known_intrinsics = true;
}
fclose(f);
}
void BaseApp::WriteMatchTable(const char *append)
{
int num_images = GetNumImages();
char buf[256];
sprintf(buf, "nmatches%s.txt", append);
FILE *f0 = fopen(buf, "w");
sprintf(buf, "matches%s.txt", append);
FILE *f1 = fopen(buf, "w");
if (f0 == NULL || f1 == NULL) {
printf("[WriteMatchTable] "
"Error opening files for writing.\n");
return;
}
fprintf(f0, "%d\n", num_images);
for (int i = 0; i < num_images; i++) {
for (int j = 0; j < num_images; j++) {
if (i >= j) {
fprintf(f0, "0 ");
fprintf(f1, "\n");
} else {
if (ImagesMatch(i, j)) {
MatchIndex idx = GetMatchIndex(i, j);
std::vector<KeypointMatch> &list =
m_matches.GetMatchList(idx);
unsigned int num_matches = list.size();
fprintf(f0, "%d ", num_matches);
for (unsigned int k = 0; k < num_matches; k++) {
KeypointMatch m = list[k];
fprintf(f1, "%d %d ", m.m_idx1, m.m_idx2);
}
fprintf(f1, "\n");
} else {
fprintf(f0, "0 ");
}
}
}
fprintf(f0, "\n");
}
fclose(f0);
fclose(f1);
}
/* Load matches from files */
void BaseApp::LoadMatches() {
if (m_matches_loaded)
return; /* we already loaded the matches */
if (m_match_table != NULL) {
LoadMatchTable(m_match_table);
} else if (m_match_index_dir != NULL) {
LoadMatchIndexes(m_match_index_dir);
} else {
printf("[LoadMatches] Loading matches\n");
int num_images = GetNumImages();
FILE *f = fopen("match-index.txt", "r");
if (f == NULL) {
/* Try all pairs */
for (int i = 0; i < num_images; i++) {
for (int j = i+1; j < num_images; j++) {
ReadMatchFile(i, j);
}
}
} else {
printf("[LoadMatches] Reading matches from 'match-index.txt'\n");
fflush(stdout);
/* Set all matches to false */
// ClearMatches();
RemoveAllMatches();
char buf[256];
unsigned int count = 0;
while (fgets(buf, 256, f)) {
int i1, i2;
sscanf(buf, "%d %d\n", &i1, &i2);
ReadMatchFile(i1, i2);
count++;
}
printf("[LoadMatches] Read %d match files\n", count);
fflush(stdout);
fclose(f);
}
}
// WriteMatchTableDrew(".init");
PruneDoubleMatches();
m_matches_loaded = true;
}
/* Get the index of a registered camera */
int BaseApp::GetRegisteredCameraIndex(int cam) {
int num_images = GetNumImages();
int count = 0;
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted) {
if (count == cam)
return i;
count++;
}
}
printf("[SifterApp::GetRegisteredCameraIndex] "
"Error: ran out of cameras\n");
return -1;
}
void BaseApp::ReindexPoints()
{
int num_images = GetNumImages();
int adjusted = 0;
int *reindex = new int[num_images];
m_num_views_orig.clear();
for (int i = 0; i < num_images; i++)
{
if (m_image_data[i].m_camera.m_adjusted && m_image_data[i].m_licensed)
{
reindex[i] = adjusted;
adjusted++;
}
}
int num_points = m_point_data.size();
for (int i = 0; i < num_points; i++)
{
int num_views = (int) m_point_data[i].m_views.size();
m_num_views_orig.push_back(num_views);
for (int j = 0; j < num_views; j++)
{
int v = m_point_data[i].m_views[j].first;
if (!m_image_data[v].m_camera.m_adjusted || !m_image_data[v].m_licensed)
{
m_point_data[i].m_views.erase(m_point_data[i].m_views.begin() + j);
j--;
num_views--;
}
else
{
m_point_data[i].m_views[j].first = reindex[v];
}
}
}
delete [] reindex;
}
/* Load keys from a file */
void BaseApp::LoadKeys(bool descriptor)
{
printf("[LoadKeys] Loading keys...\n");
clock_t start = clock();
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
printf("[LoadKeys] Loading keys from image %d...\n", i);
fflush(stdout);
m_image_data[i].LoadKeys(descriptor);
}
clock_t end = clock();
printf("[LoadKeys] Loaded keys in %0.3fs\n",
(end - start) / (double) CLOCKS_PER_SEC);
}
size_t DDSImage::Read(const char* pData, const size_t dataSize)
{
// Read in header and decode
if (!ReadHeader(pData, surfacedata_))
return -1;
if (surfacedata_.mipmapcount==0)
surfacedata_.mipmapcount=1;
imgdata_.height = surfacedata_.height;
imgdata_.width = surfacedata_.width;
if(surfacedata_.flags & DDS::DDSD_DEPTH)
imgdata_.depth = surfacedata_.depth;
else
imgdata_.depth = 0; // no depth to these images
imgdata_.colourdepth = surfacedata_.pixelformat.RGBBitCount;
imgdata_.numMipMaps = surfacedata_.mipmapcount;
imgdata_.format = GetTextureFormat();
imgdata_.numImages = GetNumImages();
imgdata_.size = CalculateStoreageSize();
if(0 >= imgdata_.size)
return -1;
if(-1 == imgdata_.format)
return -1;
const long headerSize=128;
const size_t DDSStructSize = sizeof(DDS::DDSStruct)+4;
// proceed with allocating memory and reading the file
imgdata_.imgData = new byte[imgdata_.size];
// Read in remaining data
memcpy(imgdata_.imgData, pData + headerSize, dataSize-headerSize);
return dataSize - headerSize;
}
void BaseApp::SetTracksFromPoints()
{
int num_images = GetNumImages();
int num_points = (int) m_point_data.size();
for (int i = 0; i < num_images; i++) {
int num_keys = (int) m_image_data[i].m_keys.size();
for (int j = 0; j < num_keys; j++) {
m_image_data[i].m_keys[j].m_track = -1;
}
}
for (int i = 0; i < num_points; i++) {
int num_views = (int) m_point_data[i].m_views.size();
for (int j = 0; j < num_views; j++) {
ImageKey &k = m_point_data[i].m_views[j];
m_image_data[k.first].m_keys[k.second].m_track = i;
}
}
}
/* Initialize images read from a file without performing bundle
* adjustment */
void BaseApp::InitializeImagesFromFile(FILE *f)
{
char buf[256];
int num_images = GetNumImages();
while (fgets(buf, 256, f)) {
ImageData data;
data.InitFromString(buf, m_image_directory, false);
data.m_licensed = true;
printf("[InitializeImagesFromFile] Initializing image %s\n",
data.m_name);
/* Read the extra data */
int img_idx = (int) m_image_data.size();
if (data.ReadCamera() && data.ReadTracks(img_idx, m_point_data)) {
data.ReadMetadata();
data.m_added = true;
m_image_data.push_back(data);
}
}
UnscaleCameras(num_images);
}
void BundlerApp::ComputeGeometricConstraints(bool overwrite,
int new_image_start)
{
int num_images = GetNumImages();
/* Read information from files if they exist */
const char *filename = "constraints.txt";
if (!overwrite && FileExists(filename)) {
ReadGeometricConstraints(filename);
return;
} else {
LoadMatches();
if (num_images < 40000)
WriteMatchTable(".prune");
if (!m_skip_fmatrix || !m_skip_homographies ||
m_keypoint_border_width > 0 || m_keypoint_border_bottom > 0)
LoadKeys(false);
if (m_keypoint_border_width > 0) {
for (int i = 0; i < num_images; i++) {
for (int j = i+1; j < num_images; j++) {
if (!ImagesMatch(i, j))
continue;
RemoveMatchesNearBorder(i, j, m_keypoint_border_width);
}
}
}
if (m_keypoint_border_bottom > 0) {
for (int i = 0; i < num_images; i++) {
for (int j = i+1; j < num_images; j++) {
if (!ImagesMatch(i, j))
continue;
RemoveMatchesNearBottom(i, j, m_keypoint_border_bottom);
}
}
}
if (!m_skip_fmatrix) {
ComputeEpipolarGeometry(true, new_image_start);
}
if (!m_skip_homographies) {
ComputeTransforms(false, new_image_start);
}
MakeMatchListsSymmetric();
if (num_images < 40000)
WriteMatchTable(".ransac");
// RemoveAllMatches();
ComputeTracks(new_image_start);
// ClearMatches();
RemoveAllMatches();
// SetMatchesFromTracks();
#if 1
/* Set match flags */
int num_tracks = (int) m_track_data.size();
for (int i = 0; i < num_tracks; i++) {
TrackData &track = m_track_data[i];
int num_views = (int) track.m_views.size();
for (int j = 0; j < num_views; j++) {
int img1 = track.m_views[j].first;
assert(img1 >= 0 && img1 < num_images);
for (int k = j+1; k < num_views; k++) {
int img2 = track.m_views[k].first;
assert(img2 >= 0 && img2 < num_images);
SetMatch(img1, img2);
SetMatch(img2, img1);
}
}
}
#endif
WriteGeometricConstraints(filename);
if (num_images < 40000)
WriteMatchTable(".corresp");
}
}
/*
Load the keypoint indices for the matched points. For each image,
there is a specific file with this information. Loop through all
images and load the data from the corresponding file. Populate
the match table.
TODO: Correct to that it is LoadMatchIndices.
*/
void BaseApp::LoadMatchIndexes(const char *index_dir)
{
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) // For each image, try to load file ...
{
char buf[256];
sprintf(buf, "%s/match-%03d.txt", index_dir, i);
FILE *f = fopen(buf, "r");
if (f == NULL)
continue;
#ifdef _DEBUG_
printf("[LoadMatchIndexes] Loading matches for image %d... ", i);
#endif
int num_matched_images = 0;
int index;
while(fgets(buf, 256, f) != NULL) // If file has data, then process it ...
{
sscanf(buf, "%d\n", &index);
int num_matches;
fscanf(f, "%d\n", &num_matches);
std::vector<KeypointMatch> matches;
for (int k = 0; k < (num_matches-1); k++) //-1 is a temp hack
{
int idx1, idx2;
fscanf(f, "%d %d\n", &idx1, &idx2);
#ifdef KEY_LIMIT
if (idx1 > KEY_LIMIT || idx2 > KEY_LIMIT)
continue;
#endif /* KEY_LIMIT */
KeypointMatch m;
m.m_idx1 = idx1;
m.m_idx2 = idx2;
matches.push_back(m);
}
if (num_matches < MIN_MATCHES || index >= num_images) // Bum matches.
{
matches.clear(); // Clear out whatever was loaded.
if (index >= num_images) // Kick out a warning message.
printf("[LoadMatchIndexes] image index %d > num_images\n", index);
}
else // Good matches.
{
SetMatch(i, index); // Add to table.
MatchIndex idx = GetMatchIndex(i, index);
m_matches.GetMatchList(idx) = matches;
num_matched_images++; // Keep count.
}
}
#ifdef _DEBUG_
printf("%d match files loaded.\n", num_matched_images);
fflush(stdout);
#endif
fclose(f);
}
}
/*
Load matches from files. Looks to see if there is a file that
specifies which images should be matchedd. There are different
options: a match table file, a match file directory, and a
default matches text file plus associated key point match files.
*/
void BaseApp::LoadMatches()
{
if (m_matches_loaded) // Are matches already loaded?
return;
if (m_match_table != NULL) // Is there a filename specified?
{
LoadMatchTable(m_match_table);
}
else if (m_match_index_dir != NULL) // Or maybe a directory?
{
LoadMatchIndexes(m_match_index_dir);
}
else // Otherwise, go to default file(s).
{
#ifdef _DEBUG_
printf("[LoadMatches] Loading matches\n");
#endif
int num_images = GetNumImages();
FILE *f = fopen("match-index.txt", "r"); // Try this file.
if (f == NULL) // If not, try individual files.
{
/* Try all pairs */
for (int i = 0; i < num_images; i++)
for (int j = i+1; j < num_images; j++)
ReadMatchFile(i, j);
}
else // If so, the read it.
{
#ifdef _DEBUG_
printf("[LoadMatches] Reading matches from 'match-index.txt'\n");
fflush(stdout);
#endif
/* Clear all matches/match table. */
RemoveAllMatches();
char buf[256];
unsigned int count = 0;
while (fgets(buf, 256, f))
{
int i1, i2;
sscanf(buf, "%d %d\n", &i1, &i2); // Read image pair (to load).
ReadMatchFile(i1, i2); // Load match info from file.
count++;
}
#ifdef _DEBUG_
printf("[LoadMatches] Read %d match files\n", count);
fflush(stdout);
#endif _DEBUG_
fclose(f);
}
}
PruneDoubleMatches();
m_matches_loaded = true;
}
/*
Read in information about the "world" from the specified file.
*/
void BaseApp::ReadBundleFile(char *filename)
{
#ifdef _DEBUG_
printf("[BaseApp::ReadBundleFile] Reading file...\n");
#endif
//--[1] See if file will open ...
FILE *f = fopen(filename, "r");
if (f == NULL)
{
printf("Error opening file %s for reading\n", filename);
return;
}
//--[2] If so, then process the header. Get #images and #points.
int num_images, num_points;
char first_line[256];
fgets(first_line, 256, f);
if (first_line[0] == '#')
{
double version;
sscanf(first_line, "# Bundle file v%lf", &version);
m_bundle_version = version;
fscanf(f, "%d %d\n", &num_images, &num_points);
#ifdef _DEBUG_
printf("[ReadBundleFile] Bundle version: %0.3f\n", version);
#endif
}
else if (first_line[0] == 'v')
{
double version;
sscanf(first_line, "v%lf", &version);
m_bundle_version = version;
fscanf(f, "%d %d\n", &num_images, &num_points);
#ifdef _DEBUG_
printf("[ReadBundleFile] Bundle version: %0.3f\n", version);
#endif
}
else
{
m_bundle_version = 0.1;
sscanf(first_line, "%d %d\n", &num_images, &num_points);
}
#ifdef _DEBUG_
printf("[BaseApp::ReadBundleFile] Reading %d images and %d points...\n",
num_images, num_points);
#endif
if (num_images != GetNumImages()) // Compare to known info (sanity check).
{
printf("Error: number of images doesn't match file!\n");
return;
}
//--[3] Read in camera information. (One camera per image, yeah?)
// Camera has focal length, two nonlinear parms, and extrinsic parms.
for (int i = 0; i < num_images; i++)
{
double focal_length;
double R[9];
double t[3];
double k[2] = { 0.0, 0.0 };
if (m_bundle_version >= 0.4)
{
char name[512];
int w, h;
fscanf(f, "%s %d %d\n", name, &w, &h);
}
//--[3.1] Focal length
if (m_bundle_version > 0.1)
fscanf(f, "%lf %lf %lf\n", &focal_length, k+0, k+1);
else
fscanf(f, "%lf\n", &focal_length);
//--[3.2] Rotation
fscanf(f, "%lf %lf %lf\n%lf %lf %lf\n%lf %lf %lf\n",
R+0, R+1, R+2, R+3, R+4, R+5, R+6, R+7, R+8);
//--[3.3] Translation
fscanf(f, "%lf %lf %lf\n", t+0, t+1, t+2);
//--[3.4] If data is "sane" then aggregate data into camera info object.
if (focal_length <= 100.0 || m_image_data[i].m_ignore_in_bundle)
{
/* No (or bad) information about this camera */
m_image_data[i].m_camera.m_adjusted = false;
}
else
{
CameraInfo cd;
cd.m_adjusted = true;
cd.m_width = m_image_data[i].GetWidth();
cd.m_height = m_image_data[i].GetHeight();
cd.m_focal = focal_length;
cd.m_k[0] = k[0];
cd.m_k[1] = k[1];
memcpy(cd.m_R, R, sizeof(double) * 9);
memcpy(cd.m_t, t, sizeof(double) * 3);
cd.Finalize();
m_image_data[i].m_camera = cd;
}
}
//--[4] Read in the points of the bundle/world point cloud.
m_point_data.clear();
m_point_data.resize(num_points);
int num_min_views_points = 0;
for (int i = 0; i < num_points; i++)
{
PointData &pt = m_point_data[i];
//--[4.1] Position
fscanf(f, "%lf %lf %lf\n", pt.m_pos + 0, pt.m_pos + 1, pt.m_pos + 2);
//--[4.2] Color
fscanf(f, "%f %f %f\n", pt.m_color + 0, pt.m_color + 1, pt.m_color + 2);
//--[4.3] Visibility info (frame, keypoint index, coord location).
int num_visible;
fscanf(f, "%d", &num_visible); // How many images have this point?
pt.m_num_vis=num_visible;
if (num_visible >=3) // If more than three, add as good point.
num_min_views_points++;
for (int j = 0; j < num_visible; j++)
{
int view, key;
fscanf(f, "%d %d", &view, &key);
if (m_image_data[view].m_camera.m_adjusted)
{
/* Check chirality */
bool val = (m_bundle_version >= 0.3);
double proj_test[2];
if (m_image_data[view].m_camera.Project(pt.m_pos, proj_test) == val)
{
pt.m_views.push_back(ImageKey(view, key));
}
else
{
printf("[BaseApp::ReadBundleFile] "
"Excluding view %d from point %d [chirality]\n", view, i);
}
}
if (m_bundle_version >= 0.3)
{
double x, y;
fscanf(f, "%lf %lf", &x, &y);
}
}
// #define CROP_POINT_CLOUD
#ifdef CROP_POINT_CLOUD
const double x_min = 1.327;
const double x_max = 3.556;
const double y_min = -1.414;
const double y_max = 1.074;
const double z_min = -5.502;
const double z_max = -3.288;
if (pt.m_pos[0] < x_min || pt.m_pos[0] > x_max ||
pt.m_pos[1] < y_min || pt.m_pos[1] > y_max ||
pt.m_pos[2] < z_min || pt.m_pos[2] > z_max)
pt.m_views.clear();
#endif /* CROP_POINT_CLOUD */
}
fclose(f);
#ifdef _DEBUG_
printf("[BaseApp::ReadBundleFile] %d / %d points visible to over 2 cameras!\n",
num_min_views_points, num_points);
#endif
}
bool BundlerApp::OnInit()
{
printf("[OnInit] Running program %s\n", argv[0]);
char *imageList;
bool load_file = false;
if (argc >= 2) {
printf("Loading images from file '%s'\n", argv[1]);
imageList = argv[1];
load_file = true;
} else {
PrintUsage();
exit(0);
}
printf("[BundlerApp::OnInit] Processing options...\n");
ProcessOptions(argc - 1, argv + 1);
if (m_use_intrinsics && m_estimate_distortion) {
printf("Error: --intrinsics and --estimate_distortion "
"are incompatible\n");
exit(1);
}
if (m_fixed_focal_length && m_estimate_distortion) {
printf("Error: --fixed_focal_length and --estimate_distortion "
"are currently incompatible\n");
exit(1);
}
printf("[BundlerApp::OnInit] Loading frame...\n");
printf("[BundlerApp::OnInit] Loading images...\n");
fflush(stdout);
if (load_file) {
FILE *f = fopen(imageList, "r");
if (f == NULL) {
printf("[BundlerApp::OnInit] Error opening file %s for reading\n",
imageList);
exit(1);
}
LoadImageNamesFromFile(f);
int num_images = GetNumImages();
if (m_fisheye) {
double fCx = 0.0, fCy = 0.0, fRad = 0.0, fAngle = 0.0, fFocal = 0.0;
ReadFisheyeParameters(m_fisheye_params,
fCx, fCy, fRad, fAngle, fFocal);
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_fisheye) {
m_image_data[i].m_fCx = fCx;
m_image_data[i].m_fCy = fCy;
m_image_data[i].m_fRad = fRad;
m_image_data[i].m_fAngle = fAngle;
m_image_data[i].m_fFocal = fFocal;
}
}
}
fclose(f);
}
if (m_rerun_bundle) {
// ReadCameraConstraints();
assert(m_bundle_provided);
printf("[BundlerApp::OnInit] Reading bundle file...\n");
ReadBundleFile(m_bundle_file);
if (m_bundle_version < 0.3) {
printf("[BundlerApp::OnInit] Reflecting scene...\n");
FixReflectionBug();
}
ReRunSFM();
exit(0);
}
if (m_use_constraints) {
ReadCameraConstraints();
}
if (m_ignore_file != NULL) {
printf("[BundlerApp::OnInit] Reading ignore file...\n");
ReadIgnoreFile();
}
if (m_ignore_file != NULL) {
printf("[BundlerApp::OnInit] Reading ignore file...\n");
ReadIgnoreFile();
}
/* Do bundle adjustment (or read from file if provided) */
// ParseCommand("UndistortAll", NULL);
if (m_bundle_provided) {
printf("[BundlerApp::OnInit] Reading bundle file...\n");
ReadBundleFile(m_bundle_file);
if (m_bundle_version < 0.3) {
printf("[BundlerApp::OnInit] Reflecting scene...\n");
FixReflectionBug();
}
if (m_compress_list) {
OutputCompressed();
return 0;
}
if (m_reposition_scene) {
double center[3], R[9], scale;
RepositionScene(center, R, scale);
OutputCompressed("reposition");
return 0;
}
if (m_prune_bad_points) {
SetupImagePoints(3);
RemoveBadImages(24);
PruneBadPoints();
OutputCompressed("pruned");
return 0;
}
if (m_scale_focal != 1.0) {
ScaleFocalLengths(m_scale_focal);
return 0;
}
if (m_scale_focal_file != NULL) {
ScaleFocalLengths(m_scale_focal_file);
return 0;
}
if (m_rotate_cameras_file != NULL) {
RotateCameras(m_rotate_cameras_file);
}
if (m_track_file != NULL) {
CreateTracksFromPoints();
WriteTracks(m_track_file);
}
if (m_zero_distortion_params) {
ZeroDistortionParams();
OutputCompressed("nord");
return 0;
}
if (m_output_relposes) {
double center[3], R[9], scale;
RepositionScene(center, R, scale);
RepositionScene(center, R, scale);
// OutputRelativePoses2D(m_output_relposes_file);
OutputRelativePoses3D(m_output_relposes_file);
return 0;
}
if (m_compute_covariance) {
ComputeCameraCovariance();
return 0;
}
#define MIN_POINT_VIEWS 3 // 0 // 2
if (!m_run_bundle) {
SetMatchesFromPoints(MIN_POINT_VIEWS);
// WriteMatchTableDrew(".final");
printf("[BundlerApp::OnInit] "
"Setting up image points and lines...\n");
SetupImagePoints(/*2*/ MIN_POINT_VIEWS);
RemoveBadImages(6);
if (m_point_constraint_file != NULL) {
printf("[BundlerApp::OnInit] Reading point constraints...\n");
m_use_point_constraints = true;
ReadPointConstraints();
}
printf("[BundlerApp::OnInit] Scaling world...\n");
printf("[BundlerApp::OnInit] Computing camera orientations...\n");
ComputeImageRotations();
double center[3], R[9], scale;
RepositionScene(center, R, scale);
if (m_rerun_bundle) {
ReRunSFM();
}
}
if (m_add_image_file != NULL) {
printf("[BundlerApp::OnInit] Adding additional images...\n");
FILE *f = fopen(m_add_image_file, "r");
if (f == NULL) {
printf("[BundlerApp::OnInit] Error opening file %s for "
"reading\n",
m_add_image_file);
} else {
BundleImagesFromFile(f);
/* Write the output */
OutputCompressed("added");
if (m_bundle_version < 0.3)
FixReflectionBug();
// RunSFMWithNewImages(4);
fclose(f);
}
}
}
if (m_run_bundle) {
if (!m_fast_bundle)
BundleAdjust();
else
BundleAdjustFast();
if (m_bundle_version < 0.3)
FixReflectionBug();
exit(0);
}
return true;
}
void BaseApp::ReloadBundleFile(const char *filename)
{
#ifndef __DEMO__
/* Count the old number of cameras */
int num_images = GetNumImages();
int old_num_cameras = 0;
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted)
old_num_cameras++;
}
/* Save the previous model */
std::vector<PointData> old_points = m_point_data;
std::vector<ImageData> old_images = m_image_data;
/* Load the new model */
ClearModel();
ReadBundleFile(filename);
if (m_bundle_version < 0.3)
FixReflectionBug();
/* Count the new number of cameras */
int num_cameras = 0;
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted)
num_cameras++;
}
int old_num_points = old_points.size();
int new_num_points = m_point_data.size();
std::vector<v3_t> points_old_csp, points_new_csp;
/* Find point correspondences */
for (int i = 0; i < old_num_points; i++) {
for (int j = i - 5; j < i + 5; j++) {
if (j < 0 || j >= new_num_points) continue;
float *old_col = old_points[i].m_color;
float *col = m_point_data[j].m_color;
if (old_col[0] == col[0] &&
old_col[1] == col[1] &&
old_col[2] == col[2]) {
double *old_pos = old_points[i].m_pos;
double *pos = m_point_data[i].m_pos;
points_old_csp.push_back(v3_new(old_pos[0],
old_pos[1],
old_pos[2]));
points_new_csp.push_back(v3_new(pos[0], pos[1], pos[2]));
goto Next;
}
}
Next: ;
}
int num_csp_points = points_old_csp.size();
int num_points = old_num_cameras + num_csp_points;
v3_t *left_points = new v3_t[num_points];
v3_t *right_points = new v3_t[num_points];
int count = 0;
for (int i = 0; i < num_images; i++) {
if (old_images[i].m_camera.m_adjusted) {
double left_pos[3], right_pos[3];
m_image_data[i].m_camera.GetPosition(left_pos);
old_images[i].m_camera.GetPosition(right_pos);
left_points[count] =
v3_new(left_pos[0], left_pos[1], left_pos[2]);
right_points[count] =
v3_new(right_pos[0], right_pos[1], right_pos[2]);
count++;
}
}
for (int i = 0; i < num_csp_points; i++) {
left_points[count] = points_new_csp[i];
right_points[count] = points_old_csp[i];
count++;
}
/* Do the registration */
double T[16];
align_horn_3D(num_points, right_points, left_points, 1, T);
/* Transform the world */
memcpy(m_xform, T, 16 * sizeof(double));
TransformWorldReal();
// TransformWorld();
delete [] left_points;
delete [] right_points;
#endif /* __DEMO__ */
}
/* Read in information about the world */
void BaseApp::ReadBundleFile(const char *filename)
{
printf("[ReadBundleFile] Reading file...\n");
FILE *f = fopen(filename, "r");
if (f == NULL) {
printf("Error opening file %s for reading\n", filename);
return;
}
int num_images, num_points;
char first_line[256];
fgets(first_line, 256, f);
if (first_line[0] == '#') {
double version;
sscanf(first_line, "# Bundle file v%lf", &version);
m_bundle_version = version;
printf("[ReadBundleFile] Bundle version: %0.3f\n", version);
fscanf(f, "%d %d\n", &num_images, &num_points);
} else if (first_line[0] == 'v') {
double version;
sscanf(first_line, "v%lf", &version);
m_bundle_version = version;
printf("[ReadBundleFile] Bundle version: %0.3f\n", version);
fscanf(f, "%d %d\n", &num_images, &num_points);
} else {
m_bundle_version = 0.1;
sscanf(first_line, "%d %d\n", &num_images, &num_points);
}
printf("[ReadBundleFile] Reading %d images and %d points...\n",
num_images, num_points);
if (num_images != GetNumImages()) {
printf("Error: number of images doesn't match file!\n");
return;
}
/* Read cameras */
for (int i = 0; i < num_images; i++) {
double focal_length;
double R[9];
double t[3];
double k[2] = { 0.0, 0.0 };
if (m_bundle_version >= 0.4) {
char name[512];
int w, h;
fscanf(f, "%s %d %d\n", name, &w, &h);
}
/* Focal length */
if (m_bundle_version > 0.1) {
fscanf(f, "%lf %lf %lf\n", &focal_length, k+0, k+1);
} else {
fscanf(f, "%lf\n", &focal_length);
}
/* Rotation */
fscanf(f, "%lf %lf %lf\n%lf %lf %lf\n%lf %lf %lf\n",
R+0, R+1, R+2, R+3, R+4, R+5, R+6, R+7, R+8);
/* Translation */
fscanf(f, "%lf %lf %lf\n", t+0, t+1, t+2);
#if 0
if (m_bundle_version < 0.3) {
R[2] = -R[2];
R[5] = -R[5];
R[6] = -R[6];
R[7] = -R[7];
t[2] = -t[2];
}
#endif
if (focal_length <= 100.0 || m_image_data[i].m_ignore_in_bundle) {
/* No (or bad) information about this camera */
m_image_data[i].m_camera.m_adjusted = false;
} else {
CameraInfo cd;
cd.m_adjusted = true;
cd.m_width = m_image_data[i].GetWidth();
cd.m_height = m_image_data[i].GetHeight();
cd.m_focal = focal_length;
cd.m_k[0] = k[0];
cd.m_k[1] = k[1];
memcpy(cd.m_R, R, sizeof(double) * 9);
memcpy(cd.m_t, t, sizeof(double) * 3);
cd.Finalize();
m_image_data[i].m_camera = cd;
}
}
/* Read points */
m_point_data.clear();
m_point_data.resize(num_points);
int num_min_views_points = 0;
for (int i = 0; i < num_points; i++) {
PointData &pt = m_point_data[i];
/* Position */
fscanf(f, "%lf %lf %lf\n",
pt.m_pos + 0, pt.m_pos + 1, pt.m_pos + 2);
// if (m_bundle_version < 0.3)
// pt.m_pos[2] = -pt.m_pos[2];
/* Color */
fscanf(f, "%f %f %f\n",
pt.m_color + 0, pt.m_color + 1, pt.m_color + 2);
int num_visible;
fscanf(f, "%d", &num_visible);
pt.m_num_vis=num_visible;
if (num_visible >=3)
num_min_views_points++;
// pt.m_views.resize(num_visible);
for (int j = 0; j < num_visible; j++) {
int view, key;
fscanf(f, "%d %d", &view, &key);
if (!m_image_data[view].m_camera.m_adjusted) {
// printf("[ReadBundleFile] "
// "Removing view %d from point %d\n", view, i);
} else {
/* Check cheirality */
bool val = (m_bundle_version >= 0.3);
double proj_test[2];
if (m_image_data[view].m_camera.
Project(pt.m_pos, proj_test) == val) {
pt.m_views.push_back(ImageKey(view, key));
} else {
printf("[ReadBundleFile] "
"Removing view %d from point %d [cheirality]\n",
view, i);
// pt.m_views.push_back(ImageKey(view, key));
}
}
// pt.m_views.push_back(ImageKey(view, key));
if (m_bundle_version >= 0.3) {
double x, y;
fscanf(f, "%lf %lf", &x, &y);
}
}
// #define CROP_POINT_CLOUD
#ifdef CROP_POINT_CLOUD
const double x_min = 1.327;
const double x_max = 3.556;
const double y_min = -1.414;
const double y_max = 1.074;
const double z_min = -5.502;
const double z_max = -3.288;
if (pt.m_pos[0] < x_min || pt.m_pos[0] > x_max ||
pt.m_pos[1] < y_min || pt.m_pos[1] > y_max ||
pt.m_pos[2] < z_min || pt.m_pos[2] > z_max) {
pt.m_views.clear();
}
#endif /* CROP_POINT_CLOUD */
}
#if 0
/* Read outliers */
int num_outliers;
fscanf(f, "%d", &num_outliers);
for (int i = 0; i < num_outliers; i++) {
ImageKey ik;
fscanf(f, "%d %d", &(ik.first), &(ik.second));
m_outliers.push_back(ik);
}
#endif
fclose(f);
printf("[ReadBundleFile] %d / %d points visible to more than 2 cameras!\n",
num_min_views_points, num_points);
}
/* Load a list of image names from a file */
void BaseApp::LoadImageNamesFromFile(FILE *f)
{
// m_image_names.clear();
m_image_data.clear();
char buf[256];
int idx = 0;
while (fgets(buf, 256, f)) {
ImageData data;
data.InitFromString(buf, m_image_directory, m_fisheye);
/* Try to find a keypoint file */
if (strcmp(m_key_directory, ".") != 0) {
char key_buf[256];
data.GetBaseName(key_buf);
char key_path[512];
sprintf(key_path, "%s/%s.key", m_key_directory, key_buf);
data.m_key_name = strdup(key_path);
} else {
/* FIXME: I think this causes a memory leak */
char key_buf[256];
strcpy(key_buf, data.m_name);
int len = strlen(key_buf);
key_buf[len - 3] = 'k';
key_buf[len - 2] = 'e';
key_buf[len - 1] = 'y';
// char key_path[512];
// sprintf(key_path, "%s/%s", m_key_directory, key_buf);
data.m_key_name = strdup(key_buf);
}
// printf("Keyname: %s\n", data.m_key_name);
#if 0
if (log != NULL) {
log->AppendText(" ");
log->AppendText(buf);
log->AppendText("\n");
}
#endif
#if 0
/* Eat the newline */
if (buf[strlen(buf)-1] == '\n')
buf[strlen(buf)-1] = 0;
if (buf[strlen(buf)-1] == '\r')
buf[strlen(buf)-1] = 0;
/* Split the buffer into tokens */
std::string str(buf);
std::vector<std::string> toks;
Tokenize(str, toks, " ");
#if 0
wxStringTokenizer t(str, wxT(" "));
while (t.HasMoreTokens()) {
wxString tok = t.GetNextToken();
toks.push_back(tok);
}
#endif
#if 0
if (log != NULL) {
log->AppendText(" ");
log->AppendText(buf);
log->AppendText("\n");
}
#endif
int num_toks = (int) toks.size();
bool fisheye = m_fisheye; // false;
if (num_toks >= 2) {
fisheye = (atoi(toks[1].c_str()) == 1);
}
bool has_init_focal = false;
double init_focal = 0.0;
if (num_toks >= 3) {
has_init_focal = true;
init_focal = atof(toks[2].c_str());
}
ImageData data;
// m_imgs.push_back(img);
// printf("Adding image %s\n", toks[0].c_str());
char buf[512];
sprintf(buf, "%s/%s", m_image_directory, toks[0].c_str());
data.m_name = strdup(buf);
data.m_img = NULL;
data.m_thumb = NULL;
data.m_thumb8 = NULL;
data.m_wximage = NULL;
data.m_image_loaded = false;
data.m_keys_loaded = false;
data.m_fisheye = fisheye;
data.m_has_init_focal = has_init_focal;
data.m_init_focal = init_focal;
data.m_camera.m_adjusted = false;
data.m_texture_index = -1;
#endif
m_image_data.push_back(data);
idx++;
// wxSafeYield();
}
// Create the match table
m_matches = MatchTable(GetNumImages());
// ClearMatches();
RemoveAllMatches();
m_matches_computed = true;
m_num_original_images = GetNumImages();
if (m_use_intrinsics)
ReadIntrinsicsFile();
}
void BaseApp::LoadMatchIndexes(const char *index_dir)
{
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
char buf[256];
sprintf(buf, "%s/match-%03d.txt", index_dir, i);
FILE *f = fopen(buf, "r");
if (f == NULL)
continue;
printf("[LoadMatchIndexes] Loading matches for image %d... ", i);
int num_matched_images = 0;
int index;
while(fgets(buf, 256, f) != NULL) {
sscanf(buf, "%d\n", &index);
int num_matches;
fscanf(f, "%d\n", &num_matches);
std::vector<KeypointMatch> matches;
for (int k = 0; k < num_matches-1; k++) {//-1 is a temp hack
int idx1, idx2;
fscanf(f, "%d %d\n", &idx1, &idx2);
#ifdef KEY_LIMIT
if (idx1 > KEY_LIMIT || idx2 > KEY_LIMIT)
continue;
#endif /* KEY_LIMIT */
KeypointMatch m;
m.m_idx1 = idx1;
m.m_idx2 = idx2;
matches.push_back(m);
}
if (num_matches < MIN_MATCHES || index >= num_images) {
if (index >= num_images)
printf("[LoadMatchIndexes] image index %d > num_images\n",
index);
// RemoveMatch(i, index);
matches.clear();
} else {
SetMatch(i, index);
MatchIndex idx = GetMatchIndex(i, index);
// m_match_lists[idx] = matches;
m_matches.GetMatchList(idx) = matches;
num_matched_images++;
}
}
printf("%d match files loaded.\n", num_matched_images);
fflush(stdout);
fclose(f);
}
}
/* Coalesce feature descriptors for each feature point */
void BundlerApp::CoalesceFeatureDescriptors()
{
if (m_features_coalesced)
return;
int num_points = (int) m_point_data.size();
int *num_observations = new int[num_points];
for (int i = 0; i < num_points; i++) {
num_observations[i] = 0;
m_point_data[i].m_desc = new float[DESCRIPTOR_LENGTH];
for (int j = 0; j < DESCRIPTOR_LENGTH; j++)
m_point_data[i].m_desc[j] = 0.0f;
}
float *xx = new float[num_points * DESCRIPTOR_LENGTH];
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted)
continue;
printf("[CoalesceFeatureDescriptors] Adding features from "
"image %d\n", i);
fflush(stdout);
m_image_data[i].LoadKeys(true);
for (int j = 0; j < num_points; j++) {
int num_views = (int) m_point_data[j].m_views.size();
int key_seen = -1;
if (num_views == 0)
continue;
for (int k = 0; k < num_views; k++) {
if (m_point_data[j].m_views[k].first == i) {
key_seen = m_point_data[j].m_views[k].second;
break;
}
}
if (key_seen >= 0) {
KeypointWithDesc &key = GetKeyWithDesc(i, key_seen);
for (int k = 0; k < DESCRIPTOR_LENGTH; k++) {
float x = (float) key.m_d[k];
m_point_data[j].m_desc[k] += key.m_d[k];
xx[DESCRIPTOR_LENGTH * j + k] += x * x;
}
num_observations[j]++;
}
}
m_image_data[i].UnloadKeys();
}
double *variance = new double[num_points];
for (int i = 0; i < num_points; i++) {
if (num_observations[i] != (int) m_point_data[i].m_views.size())
printf("[CoalesceFeatureDescriptors] "
"Mismatch in observation count\n");
if (num_observations[i] == 0) continue;
for (int j = 0; j < DESCRIPTOR_LENGTH; j++) {
m_point_data[i].m_desc[j] /= num_observations[i];
xx[DESCRIPTOR_LENGTH * i + j] /= num_observations[i];
}
variance[i] = 0.0;
for (int j = 0; j < DESCRIPTOR_LENGTH; j++) {
double x = m_point_data[i].m_desc[j];
variance[i] += xx[DESCRIPTOR_LENGTH * i + j] - x * x;
}
}
double median =
kth_element(num_points, iround(0.5 * num_points), variance);
printf("[CoalesceFeatureDescriptors] Median squared variance: "
"%0.3f\n", median);
fflush(stdout);
delete [] num_observations;
delete [] xx;
delete [] variance;
m_features_coalesced = true;
}
void BaseApp::ReadMatchTable(const char *append)
{
int num_images = GetNumImages();
unsigned long int num_matches_total = 0;
char buf[256];
sprintf(buf, "nmatches%s.txt", append);
FILE *f0 = fopen(buf, "r");
sprintf(buf, "matches%s.txt", append);
FILE *f1 = fopen(buf, "r");
if (f0 == NULL || f1 == NULL) {
printf("[ReadMatchTable] "
"Error opening files for reading.\n");
return;
}
int num_images_check;
fscanf(f0, "%d\n", &num_images_check);
assert(num_images == num_images_check);
RemoveAllMatches();
for (int i = 0; i < num_images; i++) {
for (int j = 0; j < num_images; j++) {
MatchIndex idx = GetMatchIndex(i, j);
int num_matches;
fscanf(f0, "%d", &num_matches);
if (num_matches > 0) {
// m_match_lists[idx].clear();
SetMatch(i, j);
std::vector<KeypointMatch> &list = m_matches.GetMatchList(idx);
// m_matches.ClearMatch(idx);
for (int k = 0; k < num_matches; k++) {
KeypointMatch m;
int idx1, idx2;
fscanf(f1, "%d %d", &(idx1), &(idx2));
#ifdef KEY_LIMIT
if (idx1 > KEY_LIMIT || idx2 > KEY_LIMIT)
continue;
#endif /* KEY_LIMIT */
m.m_idx1 = idx1;
m.m_idx2 = idx2;
// m_match_lists[idx].push_back(m);
list.push_back(m);
}
num_matches_total += num_matches;
}
}
}
printf("[ReadMatchTable] Read %lu matches in total\n",
num_matches_total);
fclose(f0);
fclose(f1);
}