SquarePoints *transform_square(SquarePoints *square, r3transform *trans) {
SquarePoints *result = new_squarepoints();
*result = (SquarePoints) {
{
apply_transformation(square->points[0], trans),
apply_transformation(square->points[1], trans),
apply_transformation(square->points[2], trans),
apply_transformation(square->points[3], trans)
}
};
return result;
}
static int
evaluate_index_and_insert_into_db(void *context, const char *expression,
transformation *tr)
{
struct evaluate_index_context *ctx;
string_list *values = NULL;
string_list_item *item = NULL;
int status = U1DB_OK;
ctx = (struct evaluate_index_context *)context;
if (ctx->obj == NULL || !json_object_is_type(ctx->obj, json_type_object)) {
return U1DB_INVALID_JSON;
}
if (status != U1DB_OK)
goto finish;
if (status != U1DB_OK)
goto finish;
if ((status = init_list(&values)) != U1DB_OK)
goto finish;
status = apply_transformation(tr, ctx->obj, values);
for (item = values->head; item != NULL; item = item->next)
{
if ((status = add_to_document_fields(ctx->db, ctx->doc_id, expression,
item->data)) != U1DB_OK)
goto finish;
}
finish:
destroy_list(values);
return status;
}
static int
apply_transformation(transformation *tr, json_object *obj, string_list *result)
{
int status = U1DB_OK;
string_list *tmp_values = NULL;
if (tr->next != NULL)
{
init_list(&tmp_values);
status = apply_transformation(tr->next, obj, tmp_values);
if (status != U1DB_OK)
goto finish;
if (tr->args->head != NULL)
{
status = ((op_function)tr->op)(result, tmp_values, tr->args);
} else {
status = ((op_function)tr->op)(result, tmp_values, NULL);
}
} else {
status = extract_field_values(result, obj, tr->args, tr->value_type);
}
finish:
destroy_list(tmp_values);
return status;
}
bool PhotoGeocoder::geocoding_pipeline(string photoPath, GPSCoords &lla){
//--- Extract Exif data
//---------------------
cv::Mat K;
extract_k_matrix(photoPath, ccdData, K);
//--- Extract Features & Descriptors
//----------------------------------
vector<Feature> features;
vector<Descriptor> descriptors;
ftk->extract_features(photoPath,features,descriptors);
//--- VTree Match
//---------------
logger << INDENT << "Quering vocabulary tree for similar documents..." << "\n";
QueryResults listDocuments = vtree.query(descriptors, MAX_DOCUMENTS);
for(int i = 0; i < MAX_DOCUMENTS && i < (int) listDocuments.size(); i++){
logger << INDENT << "Loading document " << i << "\n";
vector<Descriptor> documentDescs;
vector<Point3D> points3D;
string pathDoc;
dbm.query_synth_path(listDocuments[i].Id, pathDoc);
//--- Load documents
//------------------
if(!load_synthetic(pathDoc, points3D, documentDescs))
return EXIT_FAILURE;
//--- Match photo<->documents
//---------------------------
logger << INDENT << "Matching with document... " << "\n";
vector<pair<int,int> > matches;
int nMatches = ftk->match_features(descriptors, documentDescs, matches);
logger << INDENT << nMatches << " sift matches were found" << "\n";
//--- If not enough matches
if(nMatches < M_LIMIT){
logger << INDENT << "not enough matches...skipping." << "\n";
continue;
}
vector<cv::Point2f> matchedPoints2D = vector<cv::Point2f>(nMatches);
vector<cv::Point3f> matchedPoints3D = vector<cv::Point3f>(nMatches);
for(int j = 0; j < nMatches; j++){
matchedPoints2D[j] = features[matches[j].first].pt;
matchedPoints3D[j] = points3D[matches[j].second];
}
//--- Compute Projection
//----------------------
cv::Matx34f P;
if(!find_proj_matrix(matchedPoints2D, matchedPoints3D,K,P)){
logger << INDENT << "Fail to compute P...skipping." << "\n";
continue;
}
cv::Matx44f G;
float error;
load_transformation_mat(strip_path(pathDoc) + "/../" + "transformMat.txt", error, G);
//--- Apply GPS transformation
//----------------------------
lla = apply_transformation(P, G);
//--- Compute Error
//-----------------
//TODO: this
//distance_gps(lla1,lla2);
logger << INDENT << photoPath << " --> geocoded at:" << "\n";
logger << INDENT << INDENT << "Latitude: " << lla.lat << "\n";
logger << INDENT << INDENT << "Longitude: " << lla.lon << "\n";
return true;
}
logger << INDENT << photoPath << " --> not geocoded" << "\n";
return false;
}
void apply_trans(double *m, t_coord *move)
{
apply_transformation(m, move);
}
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;
}
