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InterestPointMatching: Rm pseudo image copy
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@oleg-alexandrov
oleg-alexandrov committed Apr 2, 2013
1 parent 049fb96 commit 94ccad8
Showing 1 changed file with 32 additions and 42 deletions.
74 changes: 32 additions & 42 deletions src/asp/Core/InterestPointMatching.h
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Expand Up @@ -73,18 +73,17 @@ namespace asp {
// Tool to remove points on or within 1 px of nodata pixels.
// Note: A nodata pixel is one for which pixel <= nodata.
template <class ImageT>
void remove_ip_near_nodata( vw::ImageViewBase<ImageT> const& image_base,
void remove_ip_near_nodata( vw::ImageViewBase<ImageT> const& image,
double nodata,
vw::ip::InterestPointList& ip_list ){

using namespace vw;
ImageT image = image_base.impl();
size_t prior_ip = ip_list.size();

typedef ImageView<typename ImageT::pixel_type> CropImageT;
CropImageT subsection(3,3);

BBox2i bound = bounding_box( image );
BBox2i bound = bounding_box( image.impl() );
bound.contract(1);
for ( ip::InterestPointList::iterator ip = ip_list.begin();
ip != ip_list.end(); ++ip ) {
Expand All @@ -95,7 +94,7 @@ namespace asp {
}

subsection =
crop( image, ip->ix-1, ip->iy-1, 3, 3 );
crop( image.impl(), ip->ix-1, ip->iy-1, 3, 3 );
for ( typename CropImageT::iterator pixel = subsection.begin();
pixel != subsection.end(); pixel++ ) {
if (*pixel <= nodata) {
Expand Down Expand Up @@ -132,14 +131,12 @@ namespace asp {
// the dumb homography ip matching.
template <class List1T, class List2T, class Image1T, class Image2T>
void detect_ip( List1T& ip1, List2T& ip2,
vw::ImageViewBase<Image1T> const& image1_base,
vw::ImageViewBase<Image2T> const& image2_base,
vw::ImageViewBase<Image1T> const& image1,
vw::ImageViewBase<Image2T> const& image2,
double nodata1 = std::numeric_limits<double>::quiet_NaN(),
double nodata2 = std::numeric_limits<double>::quiet_NaN() ) {
using namespace vw;
Image1T image1 = image1_base.impl();
Image2T image2 = image2_base.impl();
BBox2i box1 = bounding_box(image1);
BBox2i box1 = bounding_box(image1.impl());
ip1.clear();
ip2.clear();

Expand All @@ -152,31 +149,31 @@ namespace asp {
asp::IntegralAutoGainDetector detector( points_per_tile );
vw_out() << "\t Processing Left" << std::endl;
if ( boost::math::isnan(nodata1) )
ip1 = detect_interest_points( image1, detector );
ip1 = detect_interest_points( image1.impl(), detector );
else
ip1 = detect_interest_points( apply_mask(create_mask_less_or_equal(image1,nodata1)), detector );
ip1 = detect_interest_points( apply_mask(create_mask_less_or_equal(image1.impl(),nodata1)), detector );
vw_out() << "\t Processing Right" << std::endl;
if ( boost::math::isnan(nodata2) )
ip2 = detect_interest_points( image2, detector );
ip2 = detect_interest_points( image2.impl(), detector );
else
ip2 = detect_interest_points( apply_mask(create_mask_less_or_equal(image2,nodata2)), detector );
ip2 = detect_interest_points( apply_mask(create_mask_less_or_equal(image2.impl(),nodata2)), detector );

if ( !boost::math::isnan(nodata1) )
remove_ip_near_nodata( image1, nodata1, ip1 );
remove_ip_near_nodata( image1.impl(), nodata1, ip1 );

if ( !boost::math::isnan(nodata2) )
remove_ip_near_nodata( image2, nodata2, ip2 );
remove_ip_near_nodata( image2.impl(), nodata2, ip2 );

vw_out() << "\t Building Descriptors" << std::endl;
ip::SGradDescriptorGenerator descriptor;
if ( boost::math::isnan(nodata1) )
describe_interest_points( image1, descriptor, ip1 );
describe_interest_points( image1.impl(), descriptor, ip1 );
else
describe_interest_points( apply_mask(create_mask_less_or_equal(image1,nodata1)), descriptor, ip1 );
describe_interest_points( apply_mask(create_mask_less_or_equal(image1.impl(),nodata1)), descriptor, ip1 );
if ( boost::math::isnan(nodata2) )
describe_interest_points( image2, descriptor, ip2 );
describe_interest_points( image2.impl(), descriptor, ip2 );
else
describe_interest_points( apply_mask(create_mask_less_or_equal(image2,nodata2)), descriptor, ip2 );
describe_interest_points( apply_mask(create_mask_less_or_equal(image2.impl(),nodata2)), descriptor, ip2 );

vw_out() << "\t Found interest points:\n"
<< "\t left: " << ip1.size() << "\n";
Expand All @@ -189,17 +186,15 @@ namespace asp {
template <class Image1T, class Image2T>
void detect_match_ip( std::vector<vw::ip::InterestPoint>& matched_ip1,
std::vector<vw::ip::InterestPoint>& matched_ip2,
vw::ImageViewBase<Image1T> const& image1_base,
vw::ImageViewBase<Image2T> const& image2_base,
vw::ImageViewBase<Image1T> const& image1,
vw::ImageViewBase<Image2T> const& image2,
double nodata1 = std::numeric_limits<double>::quiet_NaN(),
double nodata2 = std::numeric_limits<double>::quiet_NaN() ) {
using namespace vw;

// Detect Interest Points
ip::InterestPointList ip1, ip2;
detect_ip( ip1, ip2, image1_base.impl(),
image2_base.impl(),
nodata1, nodata2 );
detect_ip( ip1, ip2, image1.impl(), image2.impl(), nodata1, nodata2 );

// Match the interset points using the default matcher
vw_out() << "\t--> Matching interest points\n";
Expand All @@ -219,8 +214,8 @@ namespace asp {
//
// This applies only the homography constraint. Not the best...
template <class Image1T, class Image2T>
bool homography_ip_matching( vw::ImageViewBase<Image1T> const& image1_base,
vw::ImageViewBase<Image2T> const& image2_base,
bool homography_ip_matching( vw::ImageViewBase<Image1T> const& image1,
vw::ImageViewBase<Image2T> const& image2,
std::string const& output_name,
double nodata1 = std::numeric_limits<double>::quiet_NaN(),
double nodata2 = std::numeric_limits<double>::quiet_NaN() ) {
Expand All @@ -229,7 +224,7 @@ namespace asp {

std::vector<ip::InterestPoint> matched_ip1, matched_ip2;
detect_match_ip( matched_ip1, matched_ip2,
image1_base.impl(), image2_base.impl(),
image1.impl(), image2.impl(),
nodata1, nodata2 );
if ( matched_ip1.size() == 0 || matched_ip2.size() == 0 )
return false;
Expand All @@ -240,7 +235,7 @@ namespace asp {
typedef math::RandomSampleConsensus<math::HomographyFittingFunctor, math::InterestPointErrorMetric> RansacT;
RansacT ransac( math::HomographyFittingFunctor(),
math::InterestPointErrorMetric(), 100,
norm_2(Vector2(bounding_box(image1_base.impl()).size()))/100.0,
norm_2(Vector2(bounding_box(image1.impl()).size()))/100.0,
ransac_ip1.size()/2, true
);
Matrix<double> H(ransac(ransac_ip1,ransac_ip2));
Expand Down Expand Up @@ -284,8 +279,8 @@ namespace asp {
template <class Image1T, class Image2T>
bool ip_matching( vw::camera::CameraModel* cam1,
vw::camera::CameraModel* cam2,
vw::ImageViewBase<Image1T> const& image1_base,
vw::ImageViewBase<Image2T> const& image2_base,
vw::ImageViewBase<Image1T> const& image1,
vw::ImageViewBase<Image2T> const& image2,
vw::cartography::Datum const& datum,
std::string const& output_name,
double nodata1 = std::numeric_limits<double>::quiet_NaN(),
Expand All @@ -295,12 +290,9 @@ namespace asp {
bool transform_to_original_coord = true ) {
using namespace vw;

Image1T image1 = image1_base.impl();
Image2T image2 = image2_base.impl();

// Detect interest points
ip::InterestPointList ip1, ip2;
detect_ip( ip1, ip2, image1, image2,
detect_ip( ip1, ip2, image1.impl(), image2.impl(),
nodata1, nodata2 );
if ( ip1.size() == 0 || ip2.size() == 0 ){
vw_out() << "Unable to detect interest points." << std::endl;
Expand All @@ -310,7 +302,7 @@ namespace asp {
// Match interest points forward/backward .. constraining on epipolar line
std::vector<size_t> forward_match, backward_match;
vw_out() << "\t--> Matching interest points" << std::endl;
EpipolarLinePointMatcher matcher( 0.5, norm_2(Vector2(image1.cols(),image1.rows()))/20, datum );
EpipolarLinePointMatcher matcher( 0.5, norm_2(Vector2(image1.impl().cols(),image1.impl().rows()))/20, datum );
matcher( ip1, ip2, cam1, cam2, left_tx, right_tx, forward_match,
TerminalProgressCallback("asp","\t Forward:") );
matcher( ip2, ip1, cam2, cam1, right_tx, left_tx, backward_match,
Expand Down Expand Up @@ -396,8 +388,8 @@ namespace asp {
template <class Image1T, class Image2T>
bool ip_matching_w_alignment( vw::camera::CameraModel* cam1,
vw::camera::CameraModel* cam2,
vw::ImageViewBase<Image1T> const& image1_base,
vw::ImageViewBase<Image2T> const& image2_base,
vw::ImageViewBase<Image1T> const& image1,
vw::ImageViewBase<Image2T> const& image2,
vw::cartography::Datum const& datum,
std::string const& output_name,
double nodata1 = std::numeric_limits<double>::quiet_NaN(),
Expand All @@ -406,9 +398,7 @@ namespace asp {
vw::TransformRef const& right_tx = vw::TransformRef(vw::TranslateTransform(0,0)) ) {

using namespace vw;
Image1T image1 = image1_base.impl();
Image2T image2 = image2_base.impl();
BBox2i box1 = bounding_box(image1), box2 = bounding_box(image2);
BBox2i box1 = bounding_box(image1.impl()), box2 = bounding_box(image2.impl());

// Homography is defined in the original camera coordinates
Matrix<double> rough_homography =
Expand Down Expand Up @@ -438,8 +428,8 @@ namespace asp {
// next step. Using anything else will interpolate nodata values
// and stop them from being masked out.
bool inlier =
ip_matching( cam1, cam2, image1,
crop(transform(image2, compose(tx, inverse(right_tx)),
ip_matching( cam1, cam2, image1.impl(),
crop(transform(image2.impl(), compose(tx, inverse(right_tx)),
ValueEdgeExtension<typename Image2T::pixel_type>(boost::math::isnan(nodata2) ? 0 : nodata2),
NearestPixelInterpolation()), raster_box),
datum, output_name, nodata1, nodata2, left_tx, tx );
Expand Down

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