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Correct ASP to align with changes in VW
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Specifically these are the changes in IP that return indices with
size_t.
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Zack Moratto committed Jul 28, 2011
1 parent 58f71a4 commit 46c1f15
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Showing 5 changed files with 7 additions and 92 deletions.
28 changes: 0 additions & 28 deletions src/asp/Sessions/StereoSession.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -22,34 +22,6 @@ namespace {
ConstructMapType *stereo_session_construct_map = 0;
}

void asp::StereoSession::remove_duplicates(std::vector<vw::ip::InterestPoint> &ip1v,
std::vector<vw::ip::InterestPoint> &ip2v) {
using namespace vw;
typedef std::vector<ip::InterestPoint> IPVector;
IPVector new_ip1v, new_ip2v;
new_ip1v.reserve( ip1v.size() );
new_ip2v.reserve( ip2v.size() );

for ( IPVector::iterator ip1 = ip1v.begin(), ip2 = ip2v.begin();
ip1 < ip1v.end() - 1; ip1++, ip2++ ) {
bool bad_entry = false;
for ( IPVector::iterator ip1a = ip1 + 1, ip2a = ip2 + 1;
ip1a < ip1v.end(); ip1a++, ip2a++ ) {
if ( ip1->x == ip1a->x && ip1->y == ip1a->y &&
ip2->x == ip2a->x && ip2->y == ip2a->y ) {
bad_entry = true;
break;
}
}
if ( !bad_entry ) {
new_ip1v.push_back( *ip1 );
new_ip2v.push_back( *ip2 );
}
}
ip1v = new_ip1v;
ip2v = new_ip2v;
}

void asp::StereoSession::register_session_type( std::string const& id,
asp::StereoSession::construct_func func) {
if( ! stereo_session_construct_map )
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9 changes: 2 additions & 7 deletions src/asp/Sessions/StereoSession.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,11 +34,6 @@ namespace asp {
std::string m_extra_argument1, m_extra_argument2,
m_extra_argument3, m_extra_argument4;

// Duplicate matches for any given interest point probably indicate a
// poor match, so we cull those out here.
void remove_duplicates(std::vector<vw::ip::InterestPoint> &ip1,
std::vector<vw::ip::InterestPoint> &ip2);

template <class ImageT1, class ImageT2>
vw::Matrix3x3
determine_image_align( std::string const& input_file1,
Expand Down Expand Up @@ -159,7 +154,7 @@ namespace asp {
<< " duplicate matches.\n";

Matrix<double> T;
std::vector<int> indices;
std::vector<size_t> indices;
try {

vw::math::RandomSampleConsensus<vw::math::HomographyFittingFunctor, vw::math::InterestPointErrorMetric> ransac( vw::math::HomographyFittingFunctor(), vw::math::InterestPointErrorMetric(), 10 );
Expand All @@ -177,7 +172,7 @@ namespace asp {

{ // Keeping only inliers
std::vector<ip::InterestPoint> inlier_ip1, inlier_ip2;
for ( unsigned i = 0; i < indices.size(); i++ ) {
for ( size_t i = 0; i < indices.size(); i++ ) {
inlier_ip1.push_back( matched_ip1[indices[i]] );
inlier_ip2.push_back( matched_ip2[indices[i]] );
}
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28 changes: 1 addition & 27 deletions src/asp/Tools/aligndem.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -55,31 +55,6 @@ class HomogeneousTransformFunctor : public UnaryReturnSameType {
}
};

// Duplicate matches for any given interest point probably indicate a
// poor match, so we cull those out here.
void remove_duplicates(std::vector<InterestPoint> &ip1,
std::vector<InterestPoint> &ip2) {
std::vector<InterestPoint> new_ip1, new_ip2;

for (size_t i = 0; i < ip1.size(); ++i) {
bool bad_entry = false;
for (size_t j = 0; j < ip1.size(); ++j) {
if (i != j &&
((ip1[i].x == ip1[j].x && ip1[i].y == ip1[j].y) ||
(ip2[i].x == ip2[j].x && ip2[i].y == ip2[j].y)) ) {
bad_entry = true;
}
}
if (!bad_entry) {
new_ip1.push_back(ip1[i]);
new_ip2.push_back(ip2[i]);
}
}

ip1 = new_ip1;
ip2 = new_ip2;
}

void match_orthoimages( string const& left_image_name,
string const& right_image_name,
std::vector<InterestPoint> & matched_ip1,
Expand Down Expand Up @@ -146,8 +121,7 @@ void match_orthoimages( string const& left_image_name,

matcher(ip1_copy, ip2_copy, matched_ip1, matched_ip2,
false, TerminalProgressCallback( "asp", "\t Matching: "));

remove_duplicates(matched_ip1, matched_ip2);
ip::remove_duplicates(matched_ip1, matched_ip2);
vw_out(InfoMessage) << "\t " << matched_ip1.size() << " putative matches.\n";
asp::cnettk::equalization( matched_ip1, matched_ip2, max_points );
vw_out(InfoMessage) << "\t " << matched_ip1.size() << " thinned matches.\n";
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25 changes: 0 additions & 25 deletions src/asp/Tools/stereo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -71,31 +71,6 @@ struct Options : asp::BaseOptions {
// Allows FileIO to correctly read/write these pixel types
namespace vw {

// Duplicate matches for any given interest point probably indicate a
// poor match, so we cull those out here.
void remove_duplicates(std::vector<ip::InterestPoint> &ip1,
std::vector<ip::InterestPoint> &ip2) {
std::vector<ip::InterestPoint> new_ip1, new_ip2;

for (unsigned i = 0; i < ip1.size(); ++i) {
bool bad_entry = false;
for (unsigned j = 0; j < ip1.size(); ++j) {
if (i != j &&
((ip1[i].x == ip1[j].x && ip1[i].y == ip1[j].y) ||
(ip2[i].x == ip2[j].x && ip2[i].y == ip2[j].y)) ) {
bad_entry = true;
}
}
if (!bad_entry) {
new_ip1.push_back(ip1[i]);
new_ip2.push_back(ip2[i]);
}
}

ip1 = new_ip1;
ip2 = new_ip2;
}

// Posix time is not fully supported in the version of Boost for RHEL
// Workstation 4
#ifndef __APPLE__
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9 changes: 4 additions & 5 deletions src/asp/Tools/stereo_correlation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -110,16 +110,15 @@ namespace vw {
vw_out(InfoMessage) << "\t " << matched_ip1.size() << " putative matches.\n";

vw_out() << "\t * Rejecting outliers using RANSAC.\n";
remove_duplicates(matched_ip1, matched_ip2);
ip::remove_duplicates(matched_ip1, matched_ip2);
std::vector<Vector3> ransac_ip1 = ip::iplist_to_vectorlist(matched_ip1);
std::vector<Vector3> ransac_ip2 = ip::iplist_to_vectorlist(matched_ip2);
std::vector<int> indices;
std::vector<size_t> indices;

try {
Matrix<double> trans;
math::RandomSampleConsensus<math::HomographyFittingFunctor,math::InterestPointErrorMetric>
ransac( math::HomographyFittingFunctor(), math::InterestPointErrorMetric(), 25 );
trans = ransac( ransac_ip1, ransac_ip2 );
Matrix<double> trans = ransac( ransac_ip1, ransac_ip2 );
vw_out(DebugMessage) << "\t * Ransac Result: " << trans << std::endl;
indices = ransac.inlier_indices(trans, ransac_ip1, ransac_ip2 );
} catch ( vw::math::RANSACErr const& e ) {
Expand All @@ -132,7 +131,7 @@ namespace vw {

{ // Keeping only inliers
std::vector<ip::InterestPoint> inlier_ip1, inlier_ip2;
for ( unsigned i = 0; i < indices.size(); i++ ) {
for ( size_t i = 0; i < indices.size(); i++ ) {
inlier_ip1.push_back( matched_ip1[indices[i]] );
inlier_ip2.push_back( matched_ip2[indices[i]] );
}
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