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mods.cpp
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mods.cpp
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/*------------------------------------------------------*/
/* Copyright 2013, Dmytro Mishkin [email protected] */
/*------------------------------------------------------*/
#undef __STRICT_ANSI__
#include <fstream>
#include <string>
#include <iomanip>
#include <sys/time.h>
#include <map>
#include "io_mods.h"
#include "detectors/mser/extrema/extrema.h"
#include "detectors/helpers.h"
#include "matching/siftdesc.h"
#include "synth-detection.hpp"
#include "detectors/affinedetectors/scale-space-detector.hpp"
#include "detectors/detectors_parameters.hpp"
#include "descriptors_parameters.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include "matching.hpp"
#include "configuration.hpp"
#include "imagerepresentation.h"
#include "correspondencebank.h"
//#define SCV
#ifdef SCV
#include "scv/scv_entrypoint.hpp"
#endif
#ifdef WITH_ORSA
#include "orsa.h"
#endif
#ifdef _OPENMP
#include <omp.h>
#endif
using namespace std;
const int nn_n = 50; //number of nearest neighbours retrieved to get 1st inconsistent
//inline long getMilliSecs()
//{
// timeval t;
// gettimeofday(&t, NULL);
// return t.tv_sec*1000 + t.tv_usec/1000;
//}
int main(int argc, char **argv)
{
if ((argc < Tmin))
{
std::cerr << " ************************************************************************** " << std::endl
<< " ******** Two-view Matching with On-Demand Synthesis ********************** " << std::endl
<< " ************************************************************************** " << std::endl
<< "Usage: " << argv[0] << " imgIn1.png imgIn2.png imgOut1.png imgOut2.png " << std::endl
<< " keys-1.txt keys2.txt matchings.txt log.txt 0 1 H1to6p config_iter.ini iters.ini" << std::endl
<< "- imgIn1.png, imgIn2.png: input images " << std::endl
<< "- imgOut1.png, imgOut2.png: output images " << std::endl
<< " The detected matchings are represented by green and blue dots" << std::endl
<< "- keys1.txt keys2.txt: affine regions and their SIFTs of the two images." << std::endl
<< "- matchings.txt: coordinates of matched points (col1, row1, col2, row2). " << std::endl
<< "- log.txt - log-file for graphs" << std::endl
<< "- write log file only [0/1]" << std::endl
<< "- homography type [0/1/2/3]. 0: LO-RANSAC (homography), 1: ground truth homography, 2: LO-RANSAC (epipolar), 3: ORSA (F) " << std::endl
<< "- homography file for ground truth verification (if type=1)" << std::endl
<< "- config_iter.ini: input file with detectors and descriptors paramaters [optional, default = 'config_iter.ini'] " << std::endl
<< "- iters.ini: input file with parameters of iterative view synthesis [optional, default= 'iters.ini']" << std::endl
<< "- read pre-extracted from keys-1.txt keys2.txt: [optional, [0/1] default = 0]" << std::endl
<< " ******************************************************************************* " << std::endl;
return 1;
}
long c_start = getMilliSecs();
double time1;
TimeLog TimingLog;
logs log1;
/// Parameters reading
configs Config1;
if (getCLIparam(Config1,argc,argv)) return 1;
int VERB = Config1.OutputParam.verbose;
/// Ground truth homography reading
log1.VerifMode = Config1.CLIparams.ver_type;
if ((Config1.CLIparams.ver_type == GR_TRUTH) && Config1.Matchparam.doBothRANSACgroundTruth)
log1.VerifMode = GR_PLUS_RANSAC;
double Hready[3*3];
if (argc >= Tmin +3 && (Config1.CLIparams.ver_type == GR_TRUTH))
{
Config1.CLIparams.ground_truth_fname = argv[Tmin+2];
ifstream ptsfile(Config1.CLIparams.ground_truth_fname);
if (ptsfile.is_open())
{
ptsfile >> Hready[0] >> Hready[3] >> Hready[6];
ptsfile >> Hready[1] >> Hready[4] >> Hready[7];
ptsfile >> Hready[2] >> Hready[5] >> Hready[8];
}
else
{
std::cerr << "Cannot open ground truth file " << Config1.CLIparams.ground_truth_fname << endl;
return 1;
}
ptsfile.close();
}
/// Input images reading
cv::Mat img1, img2;
SynthImage tilt_img1,tilt_img2;
tilt_img1.id=0;
tilt_img2.id=1000;
#pragma omp parallel
{
#pragma omp single nowait
{
#pragma omp task
img1 = cv::imread(Config1.CLIparams.img1_fname,Config1.LoadColor); // load grayscale; Try RGB?
#pragma omp task
img2 = cv::imread(Config1.CLIparams.img2_fname,Config1.LoadColor); // load grayscale; Try RGB?
}
#pragma omp taskwait
}
if(!img1.data) {
std::cerr << "Could not open or find the image1 " << Config1.CLIparams.img1_fname << std::endl;
return 1;
}
if(!img2.data) {
std::cerr << "Could not open or find the image2 " << Config1.CLIparams.img2_fname << std::endl;
return 1;
}
/// Data structures preparation
ImageRepresentation ImgRep1,ImgRep2;
if (Config1.CLIparams.doCLAHE)
{
long clahe_start = getMilliSecs();
Ptr<CLAHE> clahe = createCLAHE();
clahe->setClipLimit(4);
cv::Mat img1_clahe, img2_clahe;
cv::Mat gray_in_img;
if (img1.channels() == 3)
{
cv::Mat gray_img1;
//cv::cvtColor(img1, gray_img1, CV_BGR2GRAY);
std::vector<cv::Mat> RGB_planes(3);
cv::Mat in_32f;
img1.convertTo(in_32f,CV_32FC3);
cv::split(in_32f, RGB_planes);
// gray_img1 = cv::Mat::zeros(img1.cols, img1.rows,CV_32FC1);
gray_img1 = (RGB_planes[0] + RGB_planes[1] + RGB_planes[2]) / 3.0 ;
gray_img1.convertTo(gray_in_img,CV_8UC1);
} else {
gray_in_img = img1;
}
clahe->apply(gray_in_img,img1_clahe);
ImgRep1 = ImageRepresentation(img1_clahe,Config1.CLIparams.img1_fname);
if (img1.channels() == 3)
{
cv::Mat gray_img1;
//cv::cvtColor(img1, gray_img1, CV_BGR2GRAY);
std::vector<cv::Mat> RGB_planes(3);
cv::Mat in_32f;
img2.convertTo(in_32f,CV_32FC3);
cv::split(in_32f, RGB_planes);
// gray_img1 = cv::Mat::zeros(img1.cols, img1.rows,CV_32FC1);
gray_img1 = (RGB_planes[0] + RGB_planes[1] + RGB_planes[2]) / 3.0 ;
gray_img1.convertTo(gray_in_img,CV_8UC1);
} else {
gray_in_img = img2;
}
clahe->apply(gray_in_img,img2_clahe);
double time2 = ((double)(getMilliSecs() - clahe_start))/1000;
if (VERB) std::cerr << " CLAHE done in " << time2<< " seconds" << endl;
ImgRep2 = ImageRepresentation(img2_clahe,Config1.CLIparams.img2_fname);
}
else
{
ImgRep1 = ImageRepresentation(img1,Config1.CLIparams.img1_fname);
ImgRep2 = ImageRepresentation(img2,Config1.CLIparams.img2_fname);
}
#ifdef WITH_CAFFE
caffe::Caffe::set_phase(caffe::Caffe::TEST);
caffe::Caffe::set_mode(caffe::Caffe::CPU);
caffe::Net<float> caffe_net(Config1.DescriptorPars.CaffeDescParam.ProtoTxt);
caffe_net.CopyTrainedLayersFrom(Config1.DescriptorPars.CaffeDescParam.WeightsFile);
ImgRep1.InitCaffe(&caffe_net);
ImgRep2.InitCaffe(&caffe_net);
#endif
CorrespondenceBank Tentatives;
std::map<std::string, TentativeCorrespListExt> tentatives, verified_coors;
if (Config1.Matchparam.useDBforFGINN)
{
long c_start_tmp = getMilliSecs();
if (VERB) std::cerr << "SIFT database is loading..." << std::endl;
cv::FileStorage fs(Config1.Matchparam.SIFTDBfile, FileStorage::READ );
cv::Mat descDB;
fs["descDB"]>> descDB;//Tentatives.DescriptorsDBForSNN["RootSIFT"];
fs.release();
Tentatives.DB = descDB;
if (VERB) std::cerr << "SIFT database is loaded in " << ((double)(getMilliSecs() - c_start_tmp))/1000 << " s." << std::endl;
}
int final_step = 0;
int curr_matches = 0;
/// Affine regions detection
std::cerr << "View synthesis, detection and description..." << endl;
if (Config1.read_pre_extracted)
{
Config1.Matchparam.maxSteps = 1;
}
/// Main program loop
for (int step=0; (step < Config1.Matchparam.maxSteps)
&& (curr_matches < Config1.Matchparam.minMatches); step++, final_step++)
{
double parallel_curr_start = getMilliSecs();
if (Config1.read_pre_extracted) {
std::cerr << "Iteration 0, loading pre-extracted features"<< std::endl;
ImgRep1.LoadRegions(Config1.CLIparams.k1_fname);
ImgRep2.LoadRegions(Config1.CLIparams.k2_fname);
std::cerr << "Loading done"<< std::endl;
} else {
if (VERB)
{
std::cerr << "Iteration " << step << std::endl;
for (unsigned int det=0; det < DetectorNames.size(); det++)
{
unsigned int n_synths = Config1.ItersParam[step][DetectorNames[det]].size();
if (n_synths > 0)
std::cerr << DetectorNames[det] << ": " << n_synths << " synthesis will be done." << std::endl;
}
}
#ifdef _OPENMP
omp_set_nested(1);
#endif
#pragma omp parallel
{
#pragma omp single nowait
{
#pragma omp task
ImgRep1.SynthDetectDescribeKeypoints(Config1.ItersParam[step],
Config1.DetectorsPars,
Config1.DescriptorPars,
Config1.DomOriPars);
#pragma omp task
ImgRep2.SynthDetectDescribeKeypoints(Config1.ItersParam[step],
Config1.DetectorsPars,
Config1.DescriptorPars,
Config1.DomOriPars);
}
#pragma omp taskwait
}
}
TimeLog img1time = ImgRep1.GetTimeSpent();
TimeLog img2time = ImgRep2.GetTimeSpent();
double parallel_curr_end = ((double)(getMilliSecs() - parallel_curr_start))/1000;
double sum1 = img1time.DescTime+img1time.DetectTime+img1time.OrientTime+img1time.SynthTime;
double sum2 = img2time.DescTime+img2time.DetectTime+img2time.OrientTime+img2time.SynthTime;
double sum_time = sum1+sum2;
if (sum_time > 0)
{
TimingLog.DescTime += (img1time.DescTime+img2time.DescTime)*parallel_curr_end /sum_time;
TimingLog.DetectTime += (img1time.DetectTime+img2time.DetectTime)*parallel_curr_end /sum_time;
TimingLog.OrientTime += (img1time.OrientTime+img2time.OrientTime)*parallel_curr_end /sum_time;
TimingLog.SynthTime += (img1time.SynthTime+img2time.SynthTime)*parallel_curr_end /sum_time;
}
/// Preparation for matching
double curr_start = getMilliSecs();
if (step == 2)
Tentatives.ClearCorrespondences("ORB", "ORB");
Tentatives.MatchImgReps(ImgRep1,ImgRep2,Config1.ItersParam[step],Config1.Matchparam.IterWhatToMatch[step],
Config1.Matchparam,Config1.DescriptorPars);
time1 = ((double)(getMilliSecs() - curr_start))/1000;
TimingLog.MatchingTime +=time1;
/// Geometric verification
//Change afterwards
tentatives["All"] = Tentatives.GetCorresponcesVector();
if (VERB) std::cerr << tentatives["All"].TCList.size() << " tentatives found." << endl;
if (Config1.FilterParam.doBeforeRANSAC) //duplicate before RANSAC
{
if (VERB) std::cerr << "Duplicate filtering before RANSAC with threshold = " << Config1.FilterParam.duplicateDist << " pixels." << endl;
DuplicateFiltering(tentatives["All"], Config1.FilterParam.duplicateDist,Config1.FilterParam.mode);
if (VERB) std::cerr << tentatives["All"].TCList.size() << " unique tentatives left" << endl;
}
curr_matches=log1.TrueMatch1st;
log1.Tentatives1st = tentatives["All"].TCList.size();
curr_start = getMilliSecs();
switch ( Config1.CLIparams.ver_type )
{
case GR_TRUTH:
{
if (VERB) std::cerr << "Ground truth verification is used..." << endl;
log1.TrueMatch1st = HMatrixFiltering(tentatives["All"],verified_coors["All"],
Hready,Config1.OutputParam.outputAllTentatives,
Config1.RANSACParam);
log1.InlierRatio1st = (double) log1.TrueMatch1st / (double) log1.Tentatives1st;
if (VERB) std::cerr << verified_coors["All"].TCList.size() << " true matches got" << endl;
if (Config1.Matchparam.doBothRANSACgroundTruth)
{
//tentatives["AllRANSAC"] = tentatives["All"];
log1.Tentatives1stRANSAC = LORANSACFiltering(tentatives["All"], tentatives["AllRANSAC"],
tentatives["AllRANSAC"].H,Config1.RANSACParam);
log1.TrueMatch1stRANSAC = HMatrixFiltering(tentatives["AllRANSAC"], tentatives["AllRANSACverified"],
Hready,Config1.OutputParam.outputAllTentatives,
Config1.RANSACParam);
log1.InlierRatio1stRANSAC = (double) log1.TrueMatch1stRANSAC / (double) log1.Tentatives1stRANSAC;
time1 = ((double)(getMilliSecs() - curr_start)) / 1000;
if (VERB) std::cerr << log1.Tentatives1stRANSAC << " RANSAC matches are identified in "
<< time1<< " seconds" << endl;
if (VERB) std::cerr << log1.TrueMatch1stRANSAC << " RANSAC true matches are identified in "
<< time1<< " seconds" << endl;
}
break;
}
case LORANSAC:
{
if (VERB) std::cerr << "LO-RANSAC(homography) verification is used..." << endl;
log1.TrueMatch1st = LORANSACFiltering(tentatives["All"],
verified_coors["All"],
verified_coors["All"].H,
Config1.RANSACParam);
log1.InlierRatio1st = (double) log1.TrueMatch1st / (double) log1.Tentatives1st;
if (VERB) std::cerr << log1.TrueMatch1st << " RANSAC correspondences got" << endl;
break;
}
case LORANSACF:
{
if (VERB) std::cerr << "LO-RANSAC(epipolar) verification is used..." << endl;
log1.TrueMatch1st = LORANSACFiltering(tentatives["All"],
verified_coors["All"],
verified_coors["All"].H,
Config1.RANSACParam);
log1.InlierRatio1st = (double) log1.TrueMatch1st / (double) log1.Tentatives1st;
break;
}
#ifdef WITH_ORSA
case ORSA:
{
if (VERB) std::cerr << "ORSA(epipolar) verification is used..." << endl;
log1.TrueMatch1st = ORSAFiltering(tentatives["All"],
verified_coors["All"],
verified_coors["All"].H,
Config1.RANSACParam,(img1.cols+img2.cols)/2,
(img1.rows+img2.rows)/2);
log1.InlierRatio1st = (double) log1.TrueMatch1st / (double) log1.Tentatives1st;
break;
}
#endif
}
time1 = ((double)(getMilliSecs() - curr_start))/1000;
if (VERB) std::cerr << log1.TrueMatch1st << " true matches are identified in " << time1<< " seconds" << endl;
if (!Config1.FilterParam.doBeforeRANSAC) //duplicate after RANSAC
{
if (VERB) std::cerr << "Duplicate filtering after RANSAC with threshold = " << Config1.FilterParam.duplicateDist << " pixels." << endl;
DuplicateFiltering(verified_coors["All"], Config1.FilterParam.duplicateDist,Config1.FilterParam.mode);
DuplicateFiltering(verified_coors["AllRANSAC"], Config1.FilterParam.duplicateDist,Config1.FilterParam.mode);
DuplicateFiltering(verified_coors["AllRANSACverified"], Config1.FilterParam.duplicateDist,Config1.FilterParam.mode);
log1.TrueMatch1stRANSAC = verified_coors["AllRANSACverified"].TCList.size();
log1.TrueMatch1st = verified_coors["All"].TCList.size();
log1.Tentatives1stRANSAC = verified_coors["AllRANSAC"].TCList.size();
if (VERB) std::cerr << verified_coors["All"].TCList.size() << " unique matches left" << endl;
}
curr_matches=log1.TrueMatch1st;
time1 = ((double)(getMilliSecs() - c_start))/1000;
double time2 = ((double)(getMilliSecs() - curr_start))/1000;
TimingLog.RANSACTime +=time2;
log1.FinalTime = time1;
/// Overlap matching
// if (Config1.Matchparam.doOverlapMatching && !Config1.RANSACParam.useF)
// {
// if (VERB) std::cerr << "Matching by overlap..." << endl;
// curr_start = getMilliSecs();
// MatchRegionsByOverlapFastFLANN(keypoints1All,keypoints2All,Hready, overlap_corr, Config1.Matchparam.overlapError, Config1.Matchparam.matchOrientedLAFs);
// time1 = ((double)(getMilliSecs() - curr_start))/1000;
// if (VERB) std::cerr << overlap_corr.TCList.size() << " overlap correspondences are detected in " << time1<< " seconds" << endl;
// /// Duplicate filtering
// if (VERB) std::cerr << "Duplicate filtering..." << endl;
// curr_start = getMilliSecs();
// DuplicateFiltering(overlap_corr, Config1.FilterParam.duplicateDist);
// time1 = ((double)(getMilliSecs() - curr_start))/1000;
// if (VERB) std::cerr << overlap_corr.TCList.size() << " unique overlap correspondences left in " << time1<< " seconds" << endl;
// log1.OverlapMatches = overlap_corr.TCList.size();
// if (VERB) std::cerr << "Overlap matching done." << std::endl;
// }
curr_matches=log1.TrueMatch1st;
if (Config1.Matchparam.RANSACforStopping && (Config1.CLIparams.ver_type == GR_TRUTH))
curr_matches = log1.Tentatives1stRANSAC;
}
log1.UnorientedReg1 = ImgRep1.GetRegionsNumber();
log1.UnorientedReg2 = ImgRep2.GetRegionsNumber();
log1.OrientReg1 = ImgRep1.GetDescriptorsNumber() - ImgRep1.GetDescriptorsNumber("None");
log1.OrientReg2 = ImgRep2.GetDescriptorsNumber() - ImgRep2.GetDescriptorsNumber("None");
log1.FinalStep = final_step;
std::cerr << "Done in " << final_step << " iterations" << endl;
std::cerr << "*********************" << endl;
/// Writing images and logs
std::cerr << "Writing files... " << endl;
ofstream file_log(Config1.CLIparams.log_fname);
if (file_log.is_open())
WriteLog(log1, file_log);
file_log.close();
if (Config1.OutputParam.outputEstimatedHorF) {
if (!Config1.RANSACParam.useF)
{
ofstream fileH(argv[Tmin+2]);
//ofstream fileH("Hmatrix.txt");
if (fileH.is_open())
WriteH(verified_coors["All"].H,fileH);
fileH.close();
}
else
{
ofstream fileH(argv[Tmin+2]);
//ofstream fileH("Fmatrix.txt");
if (fileH.is_open())
WriteH(verified_coors["All"].H,fileH);
fileH.close();
}
}
if (!Config1.CLIparams.logOnly)
{
if (Config1.OutputParam.outputAllTentatives)
std::cerr << "Warning! Matchings file contains all tentative correspondences! (not all are correct)" << std::endl;
//match 2nd cl
if (Config1.OutputParam.writeMatches)
{
ofstream file_match(Config1.CLIparams.matchings_fname);
if (file_match.is_open())
WriteMatchings(verified_coors["All"],file_match, Config1.OutputParam.outputAllTentatives);
file_match.close();
}
if (Config1.OutputParam.writeKeypoints && !Config1.read_pre_extracted)
{
// std::cerr << "Keypoints outputs is not implemented yet!" << std::endl;
ImgRep1.SaveRegions(Config1.CLIparams.k1_fname,0);
ImgRep2.SaveRegions(Config1.CLIparams.k2_fname,0);
// ofstream file_desc(Config1.CLIparams.k1_fname);
// if (file_desc.is_open())
// WriteKPs(keypoints1All,file_desc);
// file_desc.close();
// ofstream file_desc2(Config1.CLIparams.k2_fname);
// if (file_desc2.is_open())
// WriteKPs(keypoints2All,file_desc2);
// file_desc2.close();
}
if (Config1.DrawParam.writeImages)
{
cv::Mat img_out1s, img_out2s;
cv::Mat h1cv(3,3,CV_64F,verified_coors["All"].H);
cv::Mat h1inv(3,3,CV_64F);
cv::invert(h1cv,h1inv,DECOMP_LU);
DrawMatches(ImgRep1.OriginalImg,ImgRep2.OriginalImg,img_out1s,img_out2s,h1cv,verified_coors["All"],
Config1.DrawParam.drawOnlyCenters,
(!Config1.RANSACParam.useF && Config1.DrawParam.drawReprojected),5,4,
(Config1.RANSACParam.useF && Config1.DrawParam.drawEpipolarLines),0,
0);
cv::imwrite(Config1.CLIparams.out1_fname,img_out1s);
cv::imwrite(Config1.CLIparams.out2_fname,img_out2s);
}
if (Config1.DrawParam.drawDetectedRegions) {
cv::Mat img_out1s, img_out2s;
img_out1s = DrawRegions(ImgRep1.OriginalImg,
ImgRep1.GetAffineRegionVector("None", "All"),2,cv::Scalar(255,255,160));
cv::imwrite(Config1.CLIparams.out1_fname+"_reg.png",img_out1s);
img_out2s = DrawRegions(ImgRep2.OriginalImg,
ImgRep2.GetAffineRegionVector("None", "All"),2,cv::Scalar(255,255,160));
cv::imwrite(Config1.CLIparams.out2_fname+"_reg.png",img_out2s);
{
cv::Mat img_out1s, img_out2s,img_out1sm, img_out2sm;
cv::Mat h1cv(3,3,CV_64F,verified_coors["All"].H);
cv::Mat h1inv(3,3,CV_64F);
cv::invert(h1cv,h1inv,DECOMP_LU);
img_out1s = DrawRegions(ImgRep1.OriginalImg,
ImgRep1.GetAffineRegionVector("None", "All"),1,cv::Scalar(255,255,160));
img_out2s = DrawRegions(ImgRep2.OriginalImg,
ImgRep2.GetAffineRegionVector("None", "All"),1,cv::Scalar(255,255,160));
DrawMatches(img_out1s,img_out2s,img_out1sm,img_out2sm,h1cv,verified_coors["All"],
Config1.DrawParam.drawOnlyCenters,
(!Config1.RANSACParam.useF && Config1.DrawParam.drawReprojected),3,2,
(Config1.RANSACParam.useF && Config1.DrawParam.drawEpipolarLines),0,
0);
cv::imwrite(Config1.CLIparams.out1_fname +".png",img_out1sm);
cv::imwrite(Config1.CLIparams.out2_fname +".png",img_out2sm);
}
}
}
/// Console output, quite ugly :(
std::cerr << "Image1: regions descriptors | Image2: regions descriptors " << endl;
std::cerr << log1.UnorientedReg1 << " " << log1.OrientReg1 << " | " << log1.UnorientedReg2 << " " << log1.OrientReg2 << std::endl;
std::cerr << std::endl;
std::cerr << "True matches | unique tentatives" << endl;
if (log1.InlierRatio1st == log1.InlierRatio1st) std::cerr << log1.TrueMatch1st << " | " << log1.Tentatives1st << " | " << std::setprecision(3) << log1.InlierRatio1st*100 <<"% " << Config1.descriptor << " 1st geom inc" << std::endl;
else
std::cerr << log1.TrueMatch1st << " | " << log1.Tentatives1st << " | " << " - " << Config1.descriptor << " 1st geom inc" << std::endl;
if (Config1.Matchparam.doBothRANSACgroundTruth && (Config1.CLIparams.ver_type == GR_TRUTH))
{
if (log1.InlierRatio1stRANSAC == log1.InlierRatio1stRANSAC) std::cerr << log1.TrueMatch1stRANSAC << " | " << log1.Tentatives1stRANSAC << " | " << std::setprecision(3) << log1.InlierRatio1stRANSAC*100 <<"%" << " RANSACed " << Config1.descriptor << " 1st geom inc" << std::endl;
else std::cerr << log1.TrueMatch1stRANSAC << " | " << log1.Tentatives1stRANSAC << " | " << "- " << " RANSACed " << Config1.descriptor << " 1st geom inc" << std::endl;
}
std::cerr << std::endl;
if (Config1.Matchparam.doOverlapMatching && !Config1.RANSACParam.useF) std::cerr << "Overlap matches with E < " << Config1.Matchparam.overlapError << endl;
if (Config1.Matchparam.doOverlapMatching && !Config1.RANSACParam.useF) std::cerr << log1.OverlapMatches << std::endl;
long c_end = getMilliSecs();
std::cerr << "Main matching | All Time: " << endl;
std::cerr << log1.FinalTime << " | " << ((double)(c_end - c_start))/1000 << " seconds" << std::endl;
TimingLog.TotalTime = double(c_end - c_start)/1000;
TimingLog.MiscTime = TimingLog.TotalTime -
(TimingLog.SynthTime +TimingLog.DescTime + TimingLog.DetectTime +
TimingLog.MatchingTime + TimingLog.OrientTime + TimingLog.RANSACTime +TimingLog.SCVTime);
if (Config1.OutputParam.timeLog)
{
WriteTimeLog(TimingLog, std::cerr,1,1,1);
ofstream file_log1("time.log");
if (file_log1.is_open())
WriteTimeLog(TimingLog, file_log1,0,1,0);
file_log1.close();
}
return 0;
}