/* 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();
}
/* 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 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);
}
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");
}
}
/* Compute rigid transforms between all matching images */
void BundlerApp::ComputeTransforms(bool removeBadMatches, int new_image_start)
{
unsigned int num_images = GetNumImages();
m_transforms.clear();
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;
assert(ImagesMatch(i, j));
MatchIndex idx = GetMatchIndex(i, j);
MatchIndex idx_rev = GetMatchIndex(j, i);
m_transforms[idx] = TransformInfo();
m_transforms[idx_rev] = TransformInfo();
bool connect12 = ComputeTransform(i, j, removeBadMatches);
if (!connect12) {
if (removeBadMatches) {
// RemoveMatch(i, j);
// RemoveMatch(j, i);
// m_match_lists[idx].clear();
m_matches.RemoveMatch(idx);
m_matches.RemoveMatch(idx_rev);
// m_match_lists.erase(idx);
m_transforms.erase(idx);
m_transforms.erase(idx_rev);
}
} else {
matrix_invert(3, m_transforms[idx].m_H,
m_transforms[idx_rev].m_H);
}
}
}
/* Print the inlier ratios */
FILE *f = fopen("pairwise_scores.txt", "w");
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 = *iter;
MatchIndex idx = GetMatchIndex(i, j);
fprintf(f, "%d %d %0.5f\n", i, j,
m_transforms[idx].m_inlier_ratio);
}
}
fclose(f);
}
