int main_cases(int c, char *v[])
{
if (c != 6 && c != 7 && c != 8) {
fprintf(stderr, "usage:\n\t%s {line,aff,affn,fm} "
// 0 1
"ntrials maxerr minliers omodel [omask [oinliers]] <data\n",*v);
//2 3 4 5 6 7
return EXIT_FAILURE;
}
// parse input options
char *model_id = v[1];
int ntrials = atoi(v[2]);
float maxerr = atof(v[3]);
int minliers = atoi(v[4]);
char *filename_omodel = c > 5 ? v[5] : 0;
char *filename_omask = c > 6 ? v[6] : 0;
char *filename_inliers = c > 7 ? v[7] : 0;
// declare context variables
int modeldim, datadim, nfit;
ransac_error_evaluation_function *model_evaluation;
ransac_model_generating_function *model_generation;
ransac_model_accepting_function *model_acceptation = NULL;
void *user_data = NULL;
// fill context variables according to ransac case
if (0 == strcmp(model_id, "line")) {
datadim = 2;
modeldim = 3;
nfit = 2;
model_evaluation = distance_of_point_to_straight_line;
model_generation = straight_line_through_two_points;
} else if (0 == strcmp(model_id, "aff")) {
datadim = 4;
modeldim = 6;
nfit = 3;
model_evaluation = affine_match_error;
model_generation = affine_map_from_three_pairs;
} else if (0 == strcmp(model_id, "affn")) {
datadim = 4;
modeldim = 6;
nfit = 3;
model_evaluation = affine_match_error;
model_generation = affine_map_from_three_pairs;
model_acceptation = affine_map_is_reasonable;
} else if (0 == strcmp(model_id, "hom")) {
datadim = 4;
modeldim = 9;
nfit = 4;
model_evaluation = homographic_match_error;
model_generation = homography_from_four;
//model_acceptation = homography_is_reasonable;
model_acceptation = NULL;
} else if (0 == strcmp(model_id, "aff3d")) {
datadim = 6;
modeldim = 12;
nfit = 4;
model_evaluation = affine3d_match_error;
model_generation = affine3d_map_from_four_pairs;
} else if (0 == strcmp(model_id, "fm")) { // fundamental matrix
datadim = 4;
modeldim = 9;
nfit = 7;
model_evaluation = epipolar_error;
model_generation = seven_point_algorithm;
//model_acceptation = fundamental_matrix_is_reasonable;
} else if (0 == strcmp(model_id, "fmn")) { // fundamental matrix
int main_hack_fundamental_matrix(int,char*[]);
return main_hack_fundamental_matrix(c-1, v+1);
} else if (0 == strcmp(model_id, "fmnt")) { // fundamental matrix
int main_hack_fundamental_trimatrix(int,char*[]);
return main_hack_fundamental_trimatrix(c-1, v+1);
} else {
printf("unrecognized model \"%s\"\n", model_id);
return EXIT_FAILURE;
}
// read input data
int n;
float *data = read_ascii_floats(stdin, &n);
n /= datadim;
// call the ransac function to fit a model to data
float model[modeldim];
bool *mask = xmalloc(n * sizeof*mask);
int n_inliers = ransac(mask, model, data, datadim, n, modeldim,
model_evaluation, model_generation,
nfit, ntrials, minliers, maxerr,
model_acceptation, user_data);
// print a summary of the results
if (n_inliers > 0) {
printf("RANSAC found a model with %d inliers\n", n_inliers);
printf("parameters =");
for (int i = 0; i < modeldim; i++)
printf(" %g", model[i]);
printf("\n");
} else printf("RANSAC found no model\n");
// if requested, save the inlying data points
if (filename_inliers) {
FILE *f = xfopen(filename_inliers, "w");
for (int i = 0; i < n; i++)
if (mask[i]) {
for(int d = 0; d < datadim; d++)
fprintf(f,"%g ",data[i*datadim+d]);
fprintf(f,"\n");
}
xfclose(f);
}
// if requested, save the inlier mask
if (filename_omask) {
FILE *f = xfopen(filename_omask, "w");
for (int i = 0; i < n; i++)
fprintf(f, mask[i]?" 1":" 0");
fprintf(f, "\n");
xfclose(f);
}
// if requested, save the model
if (filename_omodel) {
FILE *f = xfopen(filename_omodel, "w");
for (int i = 0; i < modeldim; i++)
fprintf(f, "%lf%c", model[i], i==modeldim-1?'\n':' ');
xfclose(f);
}
return EXIT_SUCCESS;
}
int main_hack_fundamental_trimatrix(int c, char *v[])
{
if (c < 4) {
fprintf(stderr, "usage:\n\t%s fmnt "
// -1 0
"ntrials maxerr minliers [inliers] <data\n", *v);
// 1 2 3 4
return EXIT_FAILURE;
}
int ntrials = atoi(v[1]);
float maxerr = atof(v[2]);
int minliers = atoi(v[3]);
char *inliers_filename = v[4];
fprintf(stderr, "WARNING: ignoring parameter minliers=%d\n", minliers);
int datadim = 6;
int modeldim = 18;
int n;
float *data = read_ascii_floats(stdin, &n);
n /= datadim;
float model[modeldim];
bool *mask = xmalloc(n * sizeof*mask);
for (int i = 0; i < n; i++) mask[i] = false;
int n_inliers = find_fundamental_pair_by_ransac(mask, model,
data, n, ntrials, maxerr);
// print a summary of the results
if (n_inliers > 0) {
printf("RANSAC found a model with %d inliers\n", n_inliers);
printf("parameters =");
for (int i = 0; i < modeldim; i++)
printf(" %g", model[i]);
printf("\n");
//fprintf(stderr, "errors of data points:\n");
//ransac_error_evaluation_function *ep = epipolar_error_triplet;
//for (int i = 0; i < n; i++) {
// float e = ep(model, data+i*datadim, NULL);
// fprintf(stderr, "\t%g\t%s\n", e, mask[i]?"GOOD":"bad");
//}
} else printf("RANSAC found no model\n");
#if 0
float gamod[9] = {2.8709e-09, -4.3669e-08, 1.0966e-02,
4.0071e-08, 3.6767e-10, 3.4892e-03,
-1.2060e-02, -4.3969e-03, 1.0000e+00};
printf("as a comparison, use a fixed model:");
printf("parameters =");
for (int i = 0; i < modeldim; i++)
printf(" %g", gamod[i]);
printf("\n");
fprintf(stderr, "errors of data points:\n");
ransac_error_evaluation_function *ep = epipolar_error;
for (int i = 0; i < n; i++) {
float e = ep(gamod, data+i*datadim, NULL);
fprintf(stderr, "\t%g\t%s\n", e,"unknown");
}
#endif
// if needed, print the inliers
if (inliers_filename) {
FILE *f = xfopen(inliers_filename, "w");
for (int i = 0; i < n; i++)
if (mask[i]) {
for(int d = 0; d < datadim; d++)
fprintf(f,"%g ",data[i*datadim+d]);
fprintf(f,"\n");
}
xfclose(f);
}
if (false) {
FILE *f = xfopen("/tmp/omask.txt", "w");
for (int i = 0; i < n; i++)
fprintf(f, mask[i]?" 1":" 0");
fprintf(f, "\n");
xfclose(f);
}
free(mask);
free(data);
return EXIT_SUCCESS;
}
int main_hack_fundamental_matrix(int c, char *v[])
{
if (c != 5 && c != 6 && c != 7) {
fprintf(stderr, "usage:\n\t%s fmn "
// -1 0
"ntrials maxerr minliers omodel [omask [oinliers]] <data\n",*v);
// 1 2 3 4 5 6
return EXIT_FAILURE;
}
int ntrials = atoi(v[1]);
float maxerr = atof(v[2]);
int minliers = atoi(v[3]);
char *filename_omodel = c > 4 ? v[4] : 0;
char *filename_omask = c > 5 ? v[5] : 0;
char *filename_inliers = c > 6 ? v[6] : 0;
fprintf(stderr, "WARNING: ignoring parameter minliers=%d\n", minliers);
int datadim = 4;
int modeldim = 9;
int n;
float *data = read_ascii_floats(stdin, &n);
n /= datadim;
float model[modeldim];
bool *mask = xmalloc(n * sizeof*mask);
for (int i = 0; i < n; i++) mask[i] = false;
int n_inliers = find_fundamental_matrix_by_ransac(mask, model,
data, n, ntrials, maxerr);
// print a summary of the results
if (n_inliers > 0) {
printf("RANSAC found a model with %d inliers\n", n_inliers);
printf("parameters =");
for (int i = 0; i < modeldim; i++)
printf(" %g", model[i]);
printf("\n");
//fprintf(stderr, "errors of data points:\n");
//ransac_error_evaluation_function *ep = epipolar_error;
//for (int i = 0; i < n; i++) {
// float e = ep(model, data+i*datadim, NULL);
// fprintf(stderr, "\t%g\t%s\n", e, mask[i]?"GOOD":"bad");
//}
} else printf("RANSAC found no model\n");
#if 0
float gamod[9] = {2.8709e-09, -4.3669e-08, 1.0966e-02,
4.0071e-08, 3.6767e-10, 3.4892e-03,
-1.2060e-02, -4.3969e-03, 1.0000e+00};
printf("as a comparison, use a fixed model:");
printf("parameters =");
for (int i = 0; i < modeldim; i++)
printf(" %g", gamod[i]);
printf("\n");
fprintf(stderr, "errors of data points:\n");
ransac_error_evaluation_function *ep = epipolar_error;
for (int i = 0; i < n; i++) {
float e = ep(gamod, data+i*datadim, NULL);
fprintf(stderr, "\t%g\t%s\n", e,"unknown");
}
#endif
// if requested, save the inlying data points
if (filename_inliers) {
FILE *f = xfopen(filename_inliers, "w");
for (int i = 0; i < n; i++)
if (mask[i]) {
for(int d = 0; d < datadim; d++)
fprintf(f,"%g ",data[i*datadim+d]);
fprintf(f,"\n");
}
xfclose(f);
}
// if requested, save the inlier mask
if (filename_omask) {
FILE *f = xfopen(filename_omask, "w");
for (int i = 0; i < n; i++)
fprintf(f, mask[i]?" 1":" 0");
fprintf(f, "\n");
xfclose(f);
}
// if requested, save the model
if (filename_omodel) {
FILE *f = xfopen(filename_omodel, "w");
for (int i = 0; i < modeldim; i++)
fprintf(f, "%a%c", model[i], i==modeldim-1?'\n':' ');
xfclose(f);
}
//free(mask);
//free(data);
return EXIT_SUCCESS;
}
