static int do_1st(void)
{
strcpy(order_msg, "1st ORDER");
trans_order = 1;
if (compute_transformation())
return 1; /* back to analyze menu */
rast_redraw();
return 1;
}
static int do_3rd(void)
{
strcpy(order_msg, "3rd ORDER");
trans_order = 3;
if (compute_transformation())
return 0;
rast_redraw();
return 1;
}
void ofxIcp::compute(const vector<cv::Point3d> & input, const vector<cv::Point3d> & target, vector<cv::Point3d> & output, cv::Mat & transformation, double & error_, int & iterations){
vector<cv::Mat> rotations;
vector<cv::Mat> translations;
vector<cv::Point3d> current = input;
double previous_error, error = 0;
int i;
for(i = 0; i < max_iterations; i++){
cv::Mat rotation_matrix;
cv::Mat translation_vector;
vector<cv::Point3d> current_transformed;
icp_step(current, target, current_transformed, rotation_matrix, translation_vector, error);
if(double_almost_equals(error, previous_error, 0.0001) && i != 0){
break;
}else{
previous_error = error;
current = current_transformed;
rotations.push_back(rotation_matrix);
translations.push_back(translation_vector);
}
if(error < error_threshold){
break;
}
}
compute_transformation(rotations, translations, transformation);
output = current;
error_ = error;
iterations = i;
}
int analyze(void)
{
static int use = 1;
static Objects objects[] = {
MENU("DONE", done, &use),
MENU("PRINT", to_printer, &use),
MENU("FILE", to_file, &use),
MENU("OVERLAY", do_warp, &use),
MENU(delete_msg, delete_mark, &use),
INFO("Transform->", &use),
MENU(order_msg, get_order, &use),
INFO(pick_msg, &use),
OTHER(pick, &use),
{0}
};
int color;
int tsize;
int cury;
int len;
int line;
int top, bottom, left, right, width, middle, nums;
/* to give user a response of some sort */
Menu_msg("Preparing analysis ...");
/*
* build a popup window at center of the screen.
* 35% the height and wide enough to hold the report
*
*/
/* height of 1 line, based on NLINES taking up 35% vertical space */
height = (.35 * (SCREEN_BOTTOM - SCREEN_TOP)) / NLINES + 1;
/* size of text, 80% of line height */
tsize = .8 * height;
size = tsize - 2; /* fudge for computing pixels width of text */
/* indent for the text */
edge = .1 * height + 1;
/* determine the length, in chars, of printed line */
FMT0(buf, 0);
nums = strlen(buf) * size;
FMT1(buf, 0.0, 0.0, 0.0);
len = strlen(buf);
middle = len * size;
FMT2(buf, 0.0, 0.0, 0.0, 0.0);
len += strlen(buf);
/* width is for max chars plus sidecar for more/less */
width = len * size + nums + 2 * height;
if ((SCREEN_RIGHT - SCREEN_LEFT) < width)
width = SCREEN_RIGHT - SCREEN_LEFT;
/* define the window */
bottom = VIEW_MENU->top - 1;
top = bottom - height * NLINES;
left = SCREEN_LEFT;
right = left + width;
middle += left + nums;
nums += left;
/* save what is under this area, so it can be restored */
R_panel_save(tempfile1, top, bottom + 1, left, right + 1);
/* fill it with white */
R_standard_color(BACKGROUND);
R_box_abs(left, top, right, bottom);
right -= 2 * height; /* reduce it to exclude sidecar */
/* print messages in message area */
R_text_size(tsize, tsize);
/* setup the more/less boxes in the sidecar */
R_standard_color(BLACK);
less.top = top;
less.bottom = top + 2 * height;
less.left = right;
less.right = right + 2 * height;
Outline_box(less.top, less.bottom, less.left, less.right);
more.top = bottom - 2 * height;
more.bottom = bottom;
more.left = right;
more.right = right + 2 * height;
Outline_box(more.top, more.bottom, more.left, more.right);
/*
* top two lines are for column labels
* last two line is for overall rms error.
*/
nlines = NLINES - 3;
first_point = 0;
/* allocate predicted values */
xres = (double *)G_calloc(group.points.count, sizeof(double));
yres = (double *)G_calloc(group.points.count, sizeof(double));
gnd = (double *)G_calloc(group.points.count, sizeof(double));
/* compute transformation for the first time */
compute_transformation();
/* put head on the report */
cury = top;
dotext(LHEAD1, cury, cury + height, left, middle, 0, BLACK);
dotext(RHEAD1, cury, cury + height, middle, right - 1, 0, BLACK);
cury += height;
dotext(LHEAD2, cury, cury + height, left, middle, 0, BLACK);
dotext(RHEAD2, cury, cury + height, middle, right - 1, 0, BLACK);
cury += height;
R_move_abs(left, cury - 1);
R_cont_abs(right, cury - 1);
/* isolate the sidecar */
R_move_abs(right, top);
R_cont_abs(right, bottom);
/* define report box */
report.top = cury;
report.left = left;
report.right = right;
/* lets do it */
pager = 1;
while (1) {
R_text_size(tsize, tsize);
line = 0;
curp = first_point;
cury = top + 2 * height;
while (1) {
if (line >= nlines || curp >= group.points.count)
break;
line++;
if (!delete_mode)
color = BLACK;
else
color = BLUE;
if (group.equation_stat > 0 && group.points.status[curp] > 0) {
/* color = BLACK; */
FMT1(buf, xres[curp], yres[curp], gnd[curp]);
if (curp == xmax || curp == ymax || curp == gmax)
color = RED;
dotext(buf, cury, cury + height, nums, middle, 0, color);
}
else if (group.points.status[curp] > 0)
dotext("?", cury, cury + height, nums, middle, 1, color);
else
dotext("not used", cury, cury + height, nums, middle, 1,
color);
if (pager) {
FMT0(buf, curp + 1);
dotext(buf, cury, cury + height, left, nums, 0, color);
FMT2(buf,
group.points.e1[curp],
group.points.n1[curp],
group.points.e2[curp], group.points.n2[curp]);
dotext(buf, cury, cury + height, middle, right - 1, 0, color);
}
cury += height;
curp++;
}
report.bottom = cury;
downarrow(&more, curp < group.points.count ? color : BACKGROUND);
uparrow(&less, first_point > 0 ? color : BACKGROUND);
R_standard_color(BACKGROUND);
R_box_abs(left, cury, right - 1, bottom);
if (group.equation_stat < 0) {
if (group.equation_stat == -1) {
color = RED;
strcpy(buf, "Poorly placed control points");
}
else {
if (group.equation_stat == -2)
G_fatal_error("NOT ENOUGH MEMORY");
else
G_fatal_error("PARAMETER ERROR");
}
}
else if (group.equation_stat == 0) {
color = RED;
strcpy(buf, "No active control points");
}
else {
color = BLACK;
sprintf(buf, "Overall rms error: %.2f", rms);
}
dotext(buf, bottom - height, bottom, left, right - 1, 0, color);
R_standard_color(BLACK);
R_move_abs(left, bottom - height);
R_cont_abs(right - 1, bottom - height);
pager = 0;
which = -1;
if (Input_pointer(objects) < 0)
break;
display_points(1);
}
/* all done. restore what was under the window */
right += 2 * height; /* move it back over the sidecar */
R_standard_color(BACKGROUND);
R_box_abs(left, top, right, bottom);
R_panel_restore(tempfile1);
R_panel_delete(tempfile1);
R_flush();
G_free(xres);
G_free(yres);
G_free(gnd);
I_put_control_points(group.name, &group.points);
display_points(1);
return 0; /* return but don't QUIT */
}
static int pick(int x, int y)
{
int n;
int cur;
cur = which;
cancel_which();
if (inbox(&more, x, y)) {
if (curp >= group.points.count)
return 0;
first_point = curp;
pager = 1;
return 1;
}
if (inbox(&less, x, y)) {
if (first_point == 0)
return 0;
first_point -= nlines;
if (first_point < 0)
first_point = 0;
pager = 1;
return 1;
}
if (!inbox(&report, x, y)) {
return 0;
}
n = (y - report.top) / height;
if (n == cur) { /* second click! */
if (!delete_mode) {
group.points.status[first_point + n] =
!group.points.status[first_point + n];
compute_transformation();
show_point(first_point + n, 1);
return 1;
}
else {
delete_control_point(first_point + n);
first_point = 0;
compute_transformation();
pager = 1;
return 1;
}
}
/* first click */
which = n;
show_point(first_point + n, 0);
if (!delete_mode)
R_standard_color(RED);
else
R_standard_color(ORANGE);
Outline_box((report.top + n * height) + 1, report.top + (n + 1) * height,
report.left, report.right - 1);
R_flush();
return 0; /* ignore first click */
}
int main(int argc, char **argv)
{
// process input arguments
if (argc != 6)
{
fprintf(stderr, "usage: \n \t imageIn n hom imageOut parameter \n");
return 0;
}
char *filename_ImgIn = argv[1];
int n = atoi(argv[2]);
char *hom = argv[3];
char *filename_ImgOut = argv[4];
float delta = atof(argv[5]);
char filename_hom[n*n][256];
int nn = n*n;
int w, h;
float *im = iio_read_image_float(filename_ImgIn, &w, &h);
float H[nn*9];
float *coordx = malloc(n*n*sizeof(float));
float *coordy = malloc(n*n*sizeof(float));
coordinates_centers(w, h, n, coordx, coordy);
for(int i = 0 ; i < nn ; i++)
{
sprintf(filename_hom[i], "%s_%d.txt", hom, i+1);
FILE* f = NULL;
f = fopen(filename_hom[i], "r");
if (f != NULL)
{
fscanf(f, "%f %f %f %f %f %f %f %f %f", &H[9*i+0], &H[9*i+1], &H[9*i+2], &H[9*i+3], &H[9*i+4], &H[9*i+5], &H[9*i+6], &H[9*i+7], &H[9*i+8]);
fclose(f);
}
else
{
printf("Impossible to open file");
}
}
float *out = malloc(w*h*sizeof(float));
float *Tx = malloc(w*h*sizeof(float));
float *Ty = malloc(w*h*sizeof(float));
delta = delta*(w+h)/(n+2);
compute_transformation(n, coordx, coordy, H, Tx, Ty, w, h, delta);
apply_transformation(im, Tx, Ty, w, h, out);
iio_save_image_float(filename_ImgOut, out, w, h);
free(out);
free(Tx);
free(Ty);
free(coordx);
free(coordy);
return 0;
}
int main(int argc, char **argv)
{
struct Option *grp, *val, *fmt, *xfm_pts;
struct Flag *sum, *rev_flag, *dump_flag;
struct GModule *module;
char *desc;
G_gisinit(argv[0]);
/* Get Args */
module = G_define_module();
G_add_keyword(_("miscellaneous"));
G_add_keyword(_("transformation"));
G_add_keyword("GCP");
module->description =
_("Computes a coordinate transformation based on the control points.");
grp = G_define_standard_option(G_OPT_I_GROUP);
val = G_define_option();
val->key = "order";
val->type = TYPE_INTEGER;
val->required = YES;
val->options = "1-3";
val->description = _("Rectification polynomial order");
fmt = G_define_option();
fmt->key = "format";
fmt->type = TYPE_STRING;
fmt->required = NO;
fmt->multiple = YES;
fmt->options = "idx,src,dst,fwd,rev,fxy,rxy,fd,rd";
desc = NULL;
G_asprintf(&desc,
"idx;%s;src;%s;dst;%s;fwd;%s;rev;%s;fxy;%s;rxy;%s;fd;%s;rd;%s",
_("point index"),
_("source coordinates"),
_("destination coordinates"),
_("forward coordinates (destination)"),
_("reverse coordinates (source)"),
_("forward coordinates difference (destination)"),
_("reverse coordinates difference (source)"),
_("forward error (destination)"),
_("reverse error (source)"));
fmt->descriptions = desc;
fmt->answer = "fd,rd";
fmt->description = _("Output format");
sum = G_define_flag();
sum->key = 's';
sum->description = _("Display summary information");
xfm_pts = G_define_standard_option(G_OPT_F_INPUT);
xfm_pts->required = NO;
xfm_pts->label =
_("File containing coordinates to transform (\"-\" to read from stdin)");
xfm_pts->description = _("Local x,y coordinates to target east,north");
rev_flag = G_define_flag();
rev_flag->key = 'r';
rev_flag->label = _("Reverse transform of coords file or coeff. dump");
rev_flag->description = _("Target east,north coordinates to local x,y");
dump_flag = G_define_flag();
dump_flag->key = 'x';
dump_flag->description = _("Display transform matrix coefficients");
if (G_parser(argc, argv))
exit(EXIT_FAILURE);
name = grp->answer;
order = atoi(val->answer);
summary = !!sum->answer;
columns = fmt->answers;
forward = !rev_flag->answer;
coord_file = xfm_pts->answer;
I_get_control_points(name, &points);
parse_format();
compute_transformation();
I_put_control_points(name, &points);
analyze();
if(dump_flag->answer)
dump_cooefs();
if(coord_file)
do_pt_xforms();
return 0;
}
