1 /* 2 * Copyright (C) 2007-2008 Anael Orlinski 3 * 4 * This file is part of Panomatic. 5 * 6 * Panomatic is free software; you can redistribute it and/or modify 7 * it under the terms of the GNU General Public License as published by 8 * the Free Software Foundation; either version 2 of the License, or 9 * (at your option) any later version. 10 * 11 * Panomatic is distributed in the hope that it will be useful, 12 * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 * GNU General Public License for more details. 15 * 16 * You should have received a copy of the GNU General Public License 17 * along with Panomatic; if not, write to the Free Software 18 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 19 */ 20 21 #ifndef __detectpano_panodetector_h 22 #define __detectpano_panodetector_h 23 24 #include "PanoDetectorDefs.h" 25 #include <string> 26 #include <map> 27 #include "../libsurf/Image.h" 28 #include "PointMatch.h" 29 #include "TestCode.h" 30 #include "zthread/Runnable.h" 31 #include "zthread/PoolExecutor.h" 32 33 class PanoDetector 34 { 35 public: 36 typedef std::vector<std::string> FileNameList_t; 37 typedef std::vector<std::string>::iterator FileNameListIt_t; 38 typedef KDTreeSpace::KDTree<KDElemKeyPoint, double> KPKDTree; 39 typedef boost::shared_ptr<KPKDTree > KPKDTreePtr; 40 41 PanoDetector(); 42 43 bool checkData(); 44 void printDetails(); 45 void printHelp(); 46 void run(); 47 48 49 // accessors setSurfExtended(bool iExtended)50 inline void setSurfExtended(bool iExtended) { _extendedSurf = iExtended; } setSurfScoreThreshold(double iScore)51 inline void setSurfScoreThreshold(double iScore) { _surfScoreThreshold = iScore; } 52 getSurfExtended()53 inline bool getSurfExtended() const { return _extendedSurf; } getSurfScoreThreshold()54 inline double getSurfScoreThreshold() const { return _surfScoreThreshold; } 55 setSieve1Width(int iWidth)56 inline void setSieve1Width(int iWidth) { _sieve1Width = iWidth; } setSieve1Height(int iHeight)57 inline void setSieve1Height(int iHeight) { _sieve1Height = iHeight; } setSieve1Size(int iSize)58 inline void setSieve1Size(int iSize) { _sieve1Size = iSize; } getSieve1Width()59 inline int getSieve1Width() const { return _sieve1Width; } getSieve1Height()60 inline int getSieve1Height() const { return _sieve1Height; } getSieve1Size()61 inline int getSieve1Size() const { return _sieve1Size; } 62 setKDTreeSearchSteps(int iSteps)63 inline void setKDTreeSearchSteps(int iSteps) { _kdTreeSearchSteps = iSteps; } setKDTreeSecondDistance(double iDist)64 inline void setKDTreeSecondDistance(double iDist) { _kdTreeSecondDistance = iDist; } getKDTreeSearchSteps()65 inline int getKDTreeSearchSteps() const { return _kdTreeSearchSteps; } getKDTreeSecondDistance()66 inline double getKDTreeSecondDistance() const { return _kdTreeSecondDistance; } 67 setMinimumMatches(int iMatches)68 inline void setMinimumMatches(int iMatches) { _minimumMatches = iMatches; } setRansacIterations(int iIters)69 inline void setRansacIterations(int iIters) { _ransacIters = iIters; } setRansacDistanceThreshold(int iDT)70 inline void setRansacDistanceThreshold(int iDT) { _ransacDistanceThres = iDT; } getMinimumMatches()71 inline int getMinimumMatches() const { return _minimumMatches; } getRansacIterations()72 inline int getRansacIterations() const { return _ransacIters; } getRansacDistanceThreshold()73 inline int getRansacDistanceThreshold() const { return _ransacDistanceThres; } 74 setSieve2Width(int iWidth)75 inline void setSieve2Width(int iWidth) { _sieve2Width = iWidth; } setSieve2Height(int iHeight)76 inline void setSieve2Height(int iHeight) { _sieve2Height = iHeight; } setSieve2Size(int iSize)77 inline void setSieve2Size(int iSize) { _sieve2Size = iSize; } getSieve2Width()78 inline int getSieve2Width() const { return _sieve2Width; } getSieve2Height()79 inline int getSieve2Height() const { return _sieve2Height; } getSieve2Size()80 inline int getSieve2Size() const { return _sieve2Size; } 81 setLinearMatch(bool iLin)82 inline void setLinearMatch(bool iLin) { _linearMatch = iLin; } setLinearMatchLen(int iLen)83 inline void setLinearMatchLen(int iLen) { _linearMatchLen = iLen; } getLinearMatch()84 inline bool getLinearMatch() const { return _linearMatch; } getLinearMatchLen()85 inline int getLinearMatchLen() const { return _linearMatchLen; } 86 getScale()87 inline float getScale() const { return _scale; } setScale(float iScale)88 inline void setScale(float iScale) { _scale = iScale; } 89 90 addFile(const std::string & iFile)91 inline void addFile(const std::string& iFile) { _files.push_back(iFile); } 92 93 // inline void setNumberOfKeys(int iNumKeys) { _numKeys = iNumKeys; } setOutputFile(const std::string & iOutputFile)94 inline void setOutputFile(const std::string& iOutputFile) { _outputFile = iOutputFile; } setTest(bool iTest)95 inline void setTest(bool iTest) { _test = iTest; } getTest()96 inline bool getTest() const { return _test; } setCores(int iCores)97 inline void setCores(int iCores) { _cores = iCores; } 98 99 // predeclaration 100 struct ImgData; 101 struct MatchData; 102 103 private: 104 // options 105 // setup values 106 double _surfScoreThreshold; 107 bool _extendedSurf; 108 109 int _sieve1Width; 110 int _sieve1Height; 111 int _sieve1Size; 112 113 int _kdTreeSearchSteps; 114 double _kdTreeSecondDistance; 115 116 int _minimumMatches; 117 int _ransacIters; 118 int _ransacDistanceThres; 119 120 int _sieve2Width; 121 int _sieve2Height; 122 int _sieve2Size; 123 124 bool _linearMatch; 125 int _linearMatchLen; 126 127 bool _test; 128 int _cores; 129 float _scale; 130 131 // list of files 132 FileNameList_t _files; 133 std::string _outputFile; 134 135 // size of images 136 137 void prepareImages(); 138 bool checkLoadSuccess(); 139 void prepareMatches(); 140 141 void writeOutput(); 142 143 144 // internals 145 public: 146 struct ImgData 147 { 148 std::string _name; 149 int _number; 150 int _detectWidth; 151 int _detectHeight; 152 int _origWidth; 153 int _origHeight; 154 libsurf::Image _ii; 155 KeyPointVect_t _kp; 156 int _descLength; 157 bool _loadFail; 158 159 // kdtree 160 KDElemKeyPointVect_t _kdv; 161 KPKDTreePtr _kd; 162 }; 163 164 typedef std::map<std::string, ImgData> ImgData_t; 165 typedef std::map<std::string, ImgData>::iterator ImgDataIt_t; 166 167 struct MatchData 168 { 169 std::string _i1_name; 170 std::string _i2_name; 171 ImgData* _i1; 172 ImgData* _i2; 173 PointMatchVector_t _matches; 174 }; 175 176 typedef std::vector<MatchData> MatchData_t; 177 typedef std::vector<MatchData>::iterator MatchDataIt_t; 178 179 // actions 180 static bool AnalyzeImage(ImgData& ioImgInfo, const PanoDetector& iPanoDetector); 181 static bool FindKeyPointsInImage(ImgData& ioImgInfo, const PanoDetector& iPanoDetector); 182 static bool FilterKeyPointsInImage(ImgData& ioImgInfo, const PanoDetector& iPanoDetector); 183 static bool MakeKeyPointDescriptorsInImage(ImgData& ioImgInfo, const PanoDetector& iPanoDetector); 184 static bool BuildKDTreesInImage(ImgData& ioImgInfo, const PanoDetector& iPanoDetector); 185 static bool FreeMemoryInImage(ImgData& ioImgInfo, const PanoDetector& iPanoDetector); 186 187 static bool FindMatchesInPair(MatchData& ioMatchData, const PanoDetector& iPanoDetector); 188 static bool RansacMatchesInPair(MatchData& ioMatchData, const PanoDetector& iPanoDetector); 189 static bool FilterMatchesInPair(MatchData& ioMatchData, const PanoDetector& iPanoDetector); 190 191 private: 192 ImgData_t _filesData; 193 MatchData_t _matchesData; 194 195 }; 196 197 198 199 #endif // __detectpano_panodetector_h 200