/** \brief Initializes the image pyramid from an input image (level 0).
*
* @param img - Input image (level 0).
* @param useCv - Set to true, if opencv (cv::pyrDown) should be used for the pyramid creation.
*/
void computeFromImage(const cv::Mat& img, const bool useCv = false){
img.copyTo(imgs_[0]);
centers_[0] = cv::Point2f(0,0);
for(int i=1; i<n_levels; ++i){
if(!useCv){
halfSample(imgs_[i-1],imgs_[i]);
centers_[i].x = centers_[i-1].x-pow(0.5,2-i)*(float)(imgs_[i-1].rows%2);
centers_[i].y = centers_[i-1].y-pow(0.5,2-i)*(float)(imgs_[i-1].cols%2);
} else {
cv::pyrDown(imgs_[i-1],imgs_[i],cv::Size(imgs_[i-1].cols/2, imgs_[i-1].rows/2));
centers_[i].x = centers_[i-1].x-pow(0.5,2-i)*(float)((imgs_[i-1].rows%2)+1);
centers_[i].y = centers_[i-1].y-pow(0.5,2-i)*(float)((imgs_[i-1].cols%2)+1);
}
}
}
Transform12 registerVolume(Volume* baseVol1, Volume* regVol1)
{
Volume* baseVol2 = halfSample(baseVol1);
Volume* baseVol4 = halfSample(baseVol2);
Volume* baseVol8 = halfSample(baseVol4);
Volume* regVol2 = halfSample(regVol1);
Volume* regVol4 = halfSample(regVol2);
Volume* regVol8 = halfSample(regVol4);
int t1=clock();
Transform12 result;
float medianScale=0;
//8mm stage start
initVolumeData(baseVol8,regVol8);
float4* coarseGrid=new float4[coarseAngleCount*coarseAngleCount*coarseAngleCount];
coarseRegister(baseVol8,regVol8,coarseGrid,medianScale);
float4* finerGrid=new float4[finerAngleCount*finerAngleCount*finerAngleCount];
float* finerResults=new float[finerAngleCount*finerAngleCount*finerAngleCount];
buildFinerGrid(coarseGrid,finerGrid);
finerRegister( baseVol8, regVol8, finerGrid, finerResults, medianScale);
freeVolumeData();
int* minima=new int[finerAngleCount*finerAngleCount*finerAngleCount / 8];
int minimaCount=0;
findMinima(finerResults,minima,minimaCount);
Transform7 globalMinima[FLIRT_MINIMA_COUNT];
sortMinima(finerGrid,finerResults,minima,minimaCount,globalMinima);
printf("MedianScale is:%f,minimaCount is%d\n",medianScale,minimaCount);
//4mm stage start
initVolumeData(baseVol4,regVol4);
Transform7 higherResStart[FLIRT_HIGHER_RESOLUTION_START];
Transform12 t12[FLIRT_HIGHER_RESOLUTION_START];
float finalResult[FLIRT_HIGHER_RESOLUTION_START];
perturbationStage(baseVol4,regVol4,globalMinima,higherResStart);
freeVolumeData();
//2mm stage start
initVolumeData(baseVol2,regVol2);
for(int i=0;i<FLIRT_HIGHER_RESOLUTION_START;i++)
t12[i]=optimize2mm(baseVol2,regVol2,higherResStart[i]);
freeVolumeData();
//1mm stage start
initVolumeData(baseVol1,regVol1);
int t2=clock();
printf("\n\ntime used:%dms,global count is:%d\n",t2-t1,globalCount);
float minValue=0;
for(int i=0;i<FLIRT_HIGHER_RESOLUTION_START;i++)
{
Transform12 T=t12[i];
finalResult[i]=optimize1mm(baseVol1,regVol1,T);
t12[i]=T;
if(minValue>finalResult[i])result=t12[i];
printf("12 DOF 1mm:rotation(%f,%f,%f),trans(%f,%f,%f),scale(%f,%f,%f),skew(%f,%f,%f),value is:%f\n",T.rotation.x,T.rotation.y,T.rotation.z,T.translation.x,T.translation.y,T.translation.z,T.scale.x,T.scale.y,T.scale.z,T.skew.x,T.skew.y,T.skew.z,finalResult[i]);
}
freeVolumeData();
t2=clock();
printf("\n\ntime used:%dms,global count is:%d\n",t2-t1,globalCount);
releaseVolume(baseVol2);
releaseVolume(baseVol4);
releaseVolume(baseVol8);
releaseVolume(regVol2);
releaseVolume(regVol4);
releaseVolume(regVol8);
return result;
}
