void MainWindow::RANSAC()
{
int numIterations = ui->iterationsBox->value();
double inlierThreshold = ui->RANSACThresSpinBox->value();
m_InImage1Display = m_InImage1.copy();
m_InImage2Display = m_InImage2.copy();
RANSAC(m_Matches, m_NumMatches, numIterations, inlierThreshold,
m_Hom, m_HomInv, m_InImage1Display, m_InImage2Display);
DrawDisplayImage();
}
void process( FrameData &frameData ) {
vector< SP_Image > &images = frameData.images;
vector< vector< FrameData::Match > > &matches = frameData.matches;
vector< vector< FrameData::Cluster > >&clusters = frameData.clusters;
vector< vector< LmData > > lmData; lmData.reserve(1000);
preprocessAllMatches( lmData, matches, images );
vector< pair<int,int> > tasks; tasks.reserve(1000);
for(int model=0; model<(int)clusters.size(); model++ )
for(int cluster=0; cluster<(int)clusters[model].size(); cluster++ )
tasks.push_back( make_pair(model, cluster) );
#pragma omp parallel for
for(int task=0; task<(int)tasks.size(); task++) {
int model=tasks[task].first;
int cluster=tasks[task].second;
vector<LmData *> cl;
foreach( point, clusters[model][cluster] )
cl.push_back( & lmData[model][ point ] );
Pose pose;
bool found = RANSAC( pose, cl, MaxObjectsXCluster );
if( found )
#pragma omp critical(POSE_PROCESS)
{
SP_Object obj(new Object);
frameData.objects->push_back(obj);
obj->pose = pose;
obj->model = (*models)[model];
}
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
connect(ui->openButton, SIGNAL(clicked()), this, SLOT(OpenImage()));
connect(ui->saveButton, SIGNAL(clicked()), this, SLOT(SaveImage()));
connect(ui->harrisButton, SIGNAL(clicked()), this, SLOT(HarrisCornerImage()));
connect(ui->matchButton, SIGNAL(clicked()), this, SLOT(MatchImages()));
connect(ui->RANSACButton, SIGNAL(clicked()), this, SLOT(RANSAC()));
connect(ui->stitchButton, SIGNAL(clicked()), this, SLOT(StitchImages()));
ui->harrisSpinBox->setValue(2.0);
ui->harrisThresSpinBox->setValue(50.0);
ui->RANSACThresSpinBox->setValue(5.0);
ui->iterationsBox->setValue(200);
ui->tabWidget->setCurrentIndex(0);
}
/*
//------------------
//--- MAIN (MEX) ---
//------------------
*/
void mexFunction(int nlhs, mxArray *plhs[], int nrhs,const mxArray *prhs[])
{
/*Structs*/
struct matrixM A_in = {0,NULL,NULL,0,0,0,0};
struct matrixM B_in = {0,NULL,NULL,0,0,0,0};
struct matrixM error_out = {0,NULL,NULL,0,0,0,0};
struct matrixM M_in = {0,NULL,NULL,0,0,0,0};
struct matrixM M_out = {0,NULL,NULL,0,0,0,0};
float err_thr;
float min_set_size;
float iter;
mwSize temp[2] = {0, 1};
/*
//------------------------------------------
//--- CHECK FOR CORRECT INPUT PARAMETERS ---
//------------------------------------------
*/
/* Check for proper number of arguments. */
if (nrhs != 6) {
mexErrMsgTxt("SurfaceEquation error: wrong number of input parameters!");
}
/*
//---------------
//--- A_in ---
//---------------
*/
/* A_in must be a noncomplex matrix. */
if (!mxIsSingle(prhs[0])){
mexErrMsgTxt("SurfaceEquation error: 'A_in' must be a noncomplex single-valued matrix.");
}
/*Get number of dimensions and elements per dimension */
A_in.ndims = mxGetNumberOfDimensions(prhs[0]);
A_in.dimElems = mxGetDimensions(prhs[0]);
A_in.data = (float*)mxGetPr( prhs[0] );
/*
//---------------
//--- B_in ---
//---------------
*/
/* B_in must be a noncomplex matrix. */
if (!mxIsSingle(prhs[1])){
mexErrMsgTxt("SurfaceEquation error: 'B_in' must be a noncomplex single-valued matrix.");
}
/*Get number of dimensions and elements per dimension */
B_in.ndims = mxGetNumberOfDimensions(prhs[1]);
B_in.dimElems = mxGetDimensions(prhs[1]);
B_in.data = (float*)mxGetPr( prhs[1] );
/*
//------------
//--- M in ---
//------------
*/
/* M_in must be a noncomplex matrix. */
if (!mxIsSingle(prhs[2])){
mexErrMsgTxt("SurfaceEquation error: 'M_in' must be a noncomplex single-valued matrix.");
}
/*Get number of dimensions and elements per dimension */
M_in.ndims = mxGetNumberOfDimensions(prhs[2]);
M_in.dimElems = mxGetDimensions(prhs[2]);
M_in.data = (float*)mxGetPr( prhs[2] );
/*
//-----------------------
//--- Error threshold ---
//-----------------------
*/
/* err_thr must be a noncomplex scalar. */
if (!mxIsSingle(prhs[3])){
mexErrMsgTxt("SurfaceEquation error: 'err_thr' must be a noncomplex, single-type scalar");
}
err_thr = *((float*)mxGetPr( prhs[3] ) );
/*
//------------------------
//--- Minimum set size ---
//------------------------
*/
/* min_set_size must be a noncomplex scalar. */
if (!mxIsSingle(prhs[4])){
mexErrMsgTxt("SurfaceEquation error: 'min_set_size' must be a noncomplex, single-type scalar");
}
min_set_size = *((float*)mxGetPr( prhs[4] ) );
/*
//-----------------------------------
//--- Number of iterations ---
//-----------------------------------
*/
/* min_set_size must be a noncomplex scalar. */
if (!mxIsSingle(prhs[5])){
mexErrMsgTxt("SurfaceEquation error: 'iter' must be a noncomplex, single-type scalar");
}
iter = *((float*)mxGetPr( prhs[5] ) );
/*INPUT VALIDITY CHECKING*/
if( M_in.data != NULL )
{
if( A_in.dimElems[1] != M_in.dimElems[0] )
{ mexErrMsgTxt("SurfaceEquation error: M_in is a column vector with as many row elements as A_in has columns!");
}
}
if( A_in.dimElems[0] != B_in.dimElems[0] )
mexErrMsgTxt("SurfaceEquation error: A_in and B_in have to have same amount of rows!");
switch( A_in.dimElems[1] )
{
case 3:
temp[0] = 3;
break;
case 6:
temp[0] = 6;
break;
default:
mexPrintf("A_in.dimElems[0]:%d, A_in.dimElems[1]:%d\n",A_in.dimElems[0], A_in.dimElems[1]);
mexErrMsgTxt("SurfaceEquation error: only 1st and 2nd order polynomials are implemented!");
}
if( nlhs<2 )
{
mexErrMsgTxt("SurfaceEquation error: insufficient number of outputs. Outputs from this function is 'M_out' and 'error_out'");
}else{
if( (plhs[0] = mxCreateNumericArray(2, temp, mxSINGLE_CLASS, mxREAL))==NULL )
mexErrMsgTxt("SurfaceEquation error: error reserving space for output variable 'M_out'");
if( (M_out.data = (float *)mxGetPr( plhs[0] ))==NULL )
mexErrMsgTxt("SurfaceEquation error: error obtaining pointer to output variable 'M_out'");
M_out.ndims = mxGetNumberOfDimensions(plhs[0]);
M_out.dimElems = mxGetDimensions(plhs[0]);
temp[0] = A_in.dimElems[0];
if( (plhs[1] = mxCreateNumericArray(2, temp, mxSINGLE_CLASS, mxREAL))==NULL )
mexErrMsgTxt("SurfaceEquation error: error reserving space for output variable 'M_out'");
if( (error_out.data = (float *)mxGetPr( plhs[1] ))==NULL )
mexErrMsgTxt("SurfaceEquation error: error obtaining pointer to output variable 'error_out'");
error_out.ndims = mxGetNumberOfDimensions(plhs[1]);
error_out.dimElems = mxGetDimensions(plhs[1]);
}
RANSAC( &A_in, /*Homogeneous coordinate matrix (e.g [X Y 1] or [X^2 Y^2 XY X Y 1])*/
&B_in, /*Surface 'height' [Z]*/
&M_out, /*The best model found by RANSAC*/
&M_in, /*The best model found by RANSAC*/
&error_out, /*Residual (or fitting error) of each data for the best model*/
&mvarPolynomial,
err_thr, /*Error threshold for determining if the data fits the model*/
min_set_size, /*Minimum number of close data (percentage; 0.0-1.0) values required to assert that a model fits well to data*/
(unsigned int)iter, /*Number of iterations*/
(unsigned int)M_out.dimElems[0]+1 ); /*Number of data used for generating the model*/
}
