vector<SiftMatch *> Frame::computeRelativeTransform(Frame *next, float *Rt) {
fprintf(stderr, "Computing relative transform for frame: %d\n", index);
for (int i = 0; i < numDevices; i++) {
Pair *curr_pair = pairs[i];
Pair *next_pair = next->pairs[i];
vector<SiftMatch *> currMatches = MatchSiftData(curr_pair->siftData, next_pair->siftData, MatchSiftDistanceL2, 999.0f);
matches.insert(matches.end(), currMatches.begin(), currMatches.end());
fprintf(stderr, "\tNumber filtered matched points: %lu\n", currMatches.size());
// We won't delete the point cloud of the last frame until that pair is
// deleted. Oh well.
// curr_pair->deletePointCloud();
}
// std::ostringstream matchPath;
// matchPath << "../result/match/match";
// matchPath << index + 1;
// ReadMATLABMatchData(curr_match, next_match, matchPath.str().c_str());
int numMatches[1];
int numLoops = 1024;
numLoops = ceil(numLoops / 128) * 128;
if (matches.size() < 3) {
cerr << matches.size() << endl;
exit(-1);
}
EstimateRigidTransform(matches, Rt, numMatches, numLoops, 0.05, RigidTransformType2D);
// std::ostringstream RtPath;
// RtPath << "../result/Rt/Rt";
// RtPath << index + 1;
// ReadMATLABRt(Rt, RtPath.str().c_str());
// cv::Mat imRresult = PrintMatchData(curr_pair->siftData, next_pair->siftData, curr_pair->gray, next_pair->gray);
// printf("write image\n");
// std::ostringstream imresult_path;
// imresult_path << "../result/imRresult_beforeransac_";
// imresult_path << index;
// imresult_path << ".jpg";
// cv::imwrite(imresult_path.str().c_str(), imRresult);
// imRresult.release();
return matches;
}
void Frame::computeRelativeTransform(Frame *next) {
fprintf(stderr, "Computing relative transform for frame: %d\n", index);
Pair *curr_pair = pairs[0];
Pair *next_pair = next->pairs[0];
// Container for sift match points
cv::Mat curr_match(0, 3, cv::DataType<float>::type);
cv::Mat next_match(0, 3, cv::DataType<float>::type);
int numMatchedPoints = curr_pair->getMatched3DPoints(next_pair, curr_match, next_match);
fprintf(stderr, "Number matched points: %d\n", numMatchedPoints);
// std::ostringstream matchPath;
// matchPath << "../result/match/match";
// matchPath << index + 1;
// ReadMATLABMatchData(curr_match, next_match, matchPath.str().c_str());
int numMatches[1];
int numLoops = 1024;
numLoops = ceil(numLoops / 128) * 128;
EstimateRigidTransform(curr_match, next_match, Rt_relative, numMatches, numLoops, 0.05);
// std::ostringstream RtPath;
// RtPath << "../result/Rt/Rt";
// RtPath << index + 1;
// ReadMATLABRt(Rt_relative, RtPath.str().c_str());
// cv::Mat imRresult = PrintMatchData(curr_pair->siftData, next_pair->siftData, curr_pair->gray, next_pair->gray);
// printf("write image\n");
// std::ostringstream imresult_path;
// imresult_path << "../result/imRresult_beforeransac_";
// imresult_path << index;
// imresult_path << ".jpg";
// cv::imwrite(imresult_path.str().c_str(), imRresult);
// imRresult.release();
curr_match.release();
next_match.release();
}