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StereoSessionDG: return early if nothing is done
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@oleg-alexandrov
oleg-alexandrov committed Feb 27, 2013
1 parent d45d1c6 commit aa3ca16
Showing 1 changed file with 134 additions and 134 deletions.
268 changes: 134 additions & 134 deletions src/asp/Sessions/DG/StereoSessionDG.cc
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Expand Up @@ -337,12 +337,11 @@ namespace asp {
left_disk_image( left_rsrc ),
right_disk_image( right_rsrc );

// Normalized Images' filenames
// Filenames of normalized images
output_file1 = m_out_prefix + "-L.tif";
output_file2 = m_out_prefix + "-R.tif";

// See if these files already exist, if they do don't bother
// writting them again.
// If these files already exist, don't bother writting them again.
bool rebuild = false;
try {
vw_log().console_log().rule_set().add_rule(-1,"fileio");
Expand All @@ -358,146 +357,147 @@ namespace asp {
rebuild = true;
}

// They don't exist or are corrupted.
if (rebuild) {
Vector4f left_stats = gather_stats( left_disk_image, "left" ),
right_stats = gather_stats( right_disk_image, "right" );

ImageViewRef<PixelGray<float> > Limg, Rimg;
std::string lcase_file = boost::to_lower_copy(m_left_camera_file);

if ( stereo_settings().alignment_method == "homography" ) {
std::string match_filename
= ip::match_filename(m_out_prefix, input_file1, input_file2);

if (!fs::exists(match_filename)) {
bool inlier = false;

boost::shared_ptr<camera::CameraModel> cam1, cam2;
camera_models( cam1, cam2 );
if ( m_rpc_map_projected ) {
// We'll make the assumption that the user has map
// projected the images to the same scale. If they
// haven't, below would be the ideal but lossy method.
// inlier =
// homography_ip_matching( left_disk_image, right_disk_image,
// match_filename );
boost::scoped_ptr<RPCModel>
left_rpc( read_rpc_model( m_left_image_file, m_left_camera_file ) ),
right_rpc( read_rpc_model( m_right_image_file, m_right_camera_file ) );
cartography::GeoReference left_georef, right_georef, dem_georef;
read_georeference( left_georef, m_left_image_file );
read_georeference( right_georef, m_right_image_file );
read_georeference( dem_georef, m_input_dem );
boost::shared_ptr<DiskImageResource>
dem_rsrc( DiskImageResource::open( m_input_dem ) );
TransformRef
left_tx( RPCMapTransform( *left_rpc, left_georef,
dem_georef, dem_rsrc ) ),
right_tx( RPCMapTransform( *right_rpc, right_georef,
dem_georef, dem_rsrc ) );
inlier =
ip_matching( cam1.get(), cam2.get(),
left_disk_image, right_disk_image,
cartography::Datum("WGS84"), match_filename,
left_rsrc->has_nodata_read() ?
left_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN(),
right_rsrc->has_nodata_read() ?
right_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN(),
left_tx, right_tx, false );
} else {
inlier =
ip_matching_w_alignment( cam1.get(), cam2.get(),
left_disk_image, right_disk_image,
cartography::Datum("WGS84"), match_filename,
left_rsrc->has_nodata_read() ?
left_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN(),
right_rsrc->has_nodata_read() ?
right_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN() );
}

if ( !inlier ) {
fs::remove( match_filename );
vw_throw( IOErr() << "Unable to match left and right images." );
}
}

std::vector<ip::InterestPoint> ip1, ip2;
ip::read_binary_match_file( match_filename, ip1, ip2 );
Matrix<double> align_matrix =
homography_fit(ip2, ip1, bounding_box(left_disk_image) );
write_matrix( m_out_prefix + "-align.exr", align_matrix );

vw_out() << "\t--> Aligning right image to left using homography:\n"
<< "\t " << align_matrix << "\n";

// Applying alignment transform
Limg = left_disk_image;
Rimg = transform(right_disk_image,
HomographyTransform(align_matrix),
left_disk_image.cols(), left_disk_image.rows());
} else if ( stereo_settings().alignment_method == "epipolar" ) {
vw_throw( NoImplErr() << "StereoSessionDG doesn't support epipolar rectification" );
} else {
// Do nothing just provide the original files.
Limg = left_disk_image;
Rimg = right_disk_image;
}
if (!rebuild) {
vw_out() << "\t--> Using cached L and R files.\n";
return;
}

// Apply our normalization options
if ( stereo_settings().force_max_min > 0 ) {
if ( stereo_settings().individually_normalize > 0 ) {
vw_out() << "\t--> Individually normalize images to their respective Min Max\n";
Limg = normalize( Limg, left_stats[0], left_stats[1], 0, 1.0 );
Rimg = normalize( Rimg, right_stats[0], right_stats[1], 0, 1.0 );
// The pre-processed images don't exist or are corrupted.
Vector4f left_stats = gather_stats( left_disk_image, "left" ),
right_stats = gather_stats( right_disk_image, "right" );

ImageViewRef<PixelGray<float> > Limg, Rimg;
std::string lcase_file = boost::to_lower_copy(m_left_camera_file);

if ( stereo_settings().alignment_method == "homography" ) {
std::string match_filename
= ip::match_filename(m_out_prefix, input_file1, input_file2);

if (!fs::exists(match_filename)) {
bool inlier = false;

boost::shared_ptr<camera::CameraModel> cam1, cam2;
camera_models( cam1, cam2 );
if ( m_rpc_map_projected ) {
// We'll make the assumption that the user has map
// projected the images to the same scale. If they
// haven't, below would be the ideal but lossy method.
// inlier =
// homography_ip_matching( left_disk_image, right_disk_image,
// match_filename );
boost::scoped_ptr<RPCModel>
left_rpc( read_rpc_model( m_left_image_file, m_left_camera_file ) ),
right_rpc( read_rpc_model( m_right_image_file, m_right_camera_file ) );
cartography::GeoReference left_georef, right_georef, dem_georef;
read_georeference( left_georef, m_left_image_file );
read_georeference( right_georef, m_right_image_file );
read_georeference( dem_georef, m_input_dem );
boost::shared_ptr<DiskImageResource>
dem_rsrc( DiskImageResource::open( m_input_dem ) );
TransformRef
left_tx( RPCMapTransform( *left_rpc, left_georef,
dem_georef, dem_rsrc ) ),
right_tx( RPCMapTransform( *right_rpc, right_georef,
dem_georef, dem_rsrc ) );
inlier =
ip_matching( cam1.get(), cam2.get(),
left_disk_image, right_disk_image,
cartography::Datum("WGS84"), match_filename,
left_rsrc->has_nodata_read() ?
left_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN(),
right_rsrc->has_nodata_read() ?
right_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN(),
left_tx, right_tx, false );
} else {
float low = std::min(left_stats[0], right_stats[0]);
float hi = std::max(left_stats[1], right_stats[1]);
vw_out() << "\t--> Normalizing globally to: [" << low << " " << hi << "]\n";
Limg = normalize( Limg, low, hi, 0, 1.0 );
Rimg = normalize( Rimg, low, hi, 0, 1.0 );
inlier =
ip_matching_w_alignment( cam1.get(), cam2.get(),
left_disk_image, right_disk_image,
cartography::Datum("WGS84"), match_filename,
left_rsrc->has_nodata_read() ?
left_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN(),
right_rsrc->has_nodata_read() ?
right_rsrc->nodata_read() :
std::numeric_limits<double>::quiet_NaN() );
}
} else {
if ( stereo_settings().individually_normalize > 0 ) {
vw_out() << "\t--> Individually normalize images to their respective 4 std dev window\n";
Limg = normalize( Limg, left_stats[2] - 2*left_stats[3],
left_stats[2] + 2*left_stats[3], 0, 1.0 );
Rimg = normalize( Rimg, right_stats[2] - 2*right_stats[3],
right_stats[2] + 2*right_stats[3], 0, 1.0 );
} else {
float low = std::min(left_stats[2] - 2*left_stats[3],
right_stats[2] - 2*right_stats[3]);
float hi = std::max(left_stats[2] + 2*left_stats[3],
right_stats[2] + 2*right_stats[3]);
vw_out() << "\t--> Normalizing globally to: [" << low << " " << hi << "]\n";
Limg = normalize( Limg, low, hi, 0, 1.0 );
Rimg = normalize( Rimg, low, hi, 0, 1.0 );

if ( !inlier ) {
fs::remove( match_filename );
vw_throw( IOErr() << "Unable to match left and right images." );
}
}

std::vector<ip::InterestPoint> ip1, ip2;
ip::read_binary_match_file( match_filename, ip1, ip2 );
Matrix<double> align_matrix =
homography_fit(ip2, ip1, bounding_box(left_disk_image) );
write_matrix( m_out_prefix + "-align.exr", align_matrix );

vw_out() << "\t--> Aligning right image to left using homography:\n"
<< "\t " << align_matrix << "\n";

// Applying alignment transform
Limg = left_disk_image;
Rimg = transform(right_disk_image,
HomographyTransform(align_matrix),
left_disk_image.cols(), left_disk_image.rows());
} else if ( stereo_settings().alignment_method == "epipolar" ) {
vw_throw( NoImplErr() << "StereoSessionDG doesn't support epipolar rectification" );
} else {
// Do nothing just provide the original files.
Limg = left_disk_image;
Rimg = right_disk_image;
}

vw_out() << "\t--> Writing pre-aligned images.\n";
block_write_gdal_image( output_file1, Limg, m_options,
TerminalProgressCallback("asp","\t L: ") );
if ( stereo_settings().alignment_method == "none" )
block_write_gdal_image( output_file2, Rimg, m_options,
TerminalProgressCallback("asp","\t R: ") );
else
block_write_gdal_image( output_file2, crop(edge_extend(Rimg,ConstantEdgeExtension()),
bounding_box(Limg)), m_options,
TerminalProgressCallback("asp","\t R: ") );

// We could write the LUT images at this point, but I'm going to
// let triangulation render them on the fly. This will save a lot
// of storage and possibly make the triangulation faster since we
// don't mutex on these massive files
// Apply our normalization options
if ( stereo_settings().force_max_min > 0 ) {
if ( stereo_settings().individually_normalize > 0 ) {
vw_out() << "\t--> Individually normalize images to their respective Min Max\n";
Limg = normalize( Limg, left_stats[0], left_stats[1], 0, 1.0 );
Rimg = normalize( Rimg, right_stats[0], right_stats[1], 0, 1.0 );
} else {
float low = std::min(left_stats[0], right_stats[0]);
float hi = std::max(left_stats[1], right_stats[1]);
vw_out() << "\t--> Normalizing globally to: [" << low << " " << hi << "]\n";
Limg = normalize( Limg, low, hi, 0, 1.0 );
Rimg = normalize( Rimg, low, hi, 0, 1.0 );
}
} else {
vw_out() << "\t--> Using cached L and R files.\n";
if ( stereo_settings().individually_normalize > 0 ) {
vw_out() << "\t--> Individually normalize images to their respective 4 std dev window\n";
Limg = normalize( Limg, left_stats[2] - 2*left_stats[3],
left_stats[2] + 2*left_stats[3], 0, 1.0 );
Rimg = normalize( Rimg, right_stats[2] - 2*right_stats[3],
right_stats[2] + 2*right_stats[3], 0, 1.0 );
} else {
float low = std::min(left_stats[2] - 2*left_stats[3],
right_stats[2] - 2*right_stats[3]);
float hi = std::max(left_stats[2] + 2*left_stats[3],
right_stats[2] + 2*right_stats[3]);
vw_out() << "\t--> Normalizing globally to: [" << low << " " << hi << "]\n";
Limg = normalize( Limg, low, hi, 0, 1.0 );
Rimg = normalize( Rimg, low, hi, 0, 1.0 );
}
}


vw_out() << "\t--> Writing pre-aligned images.\n";
block_write_gdal_image( output_file1, Limg, m_options,
TerminalProgressCallback("asp","\t L: ") );
if ( stereo_settings().alignment_method == "none" )
block_write_gdal_image( output_file2, Rimg, m_options,
TerminalProgressCallback("asp","\t R: ") );
else
block_write_gdal_image( output_file2, crop(edge_extend(Rimg,ConstantEdgeExtension()),
bounding_box(Limg)), m_options,
TerminalProgressCallback("asp","\t R: ") );

// We could write the LUT images at this point, but I'm going to
// let triangulation render them on the fly. This will save a lot
// of storage and possibly make the triangulation faster since we
// don't mutex on these massive files
}

// Helper function to read RPC models.
Expand Down

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