forked from setsmdeveloper/SETSM
-
Notifications
You must be signed in to change notification settings - Fork 1
/
Template.hpp
1030 lines (877 loc) · 43.4 KB
/
Template.hpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
//
// Template.hpp
//
//
// Created by Myoung-Jong Noh on 3/30/20.
//
#ifndef Template_h
#define Template_h
#include "Typedefine.hpp"
//declaration
template <typename T>
T* CreateImagePyramid(T* _input, CSize _img_size, int _filter_size, double _sigma);
template <typename T>
T BilinearResampling(T* input, const CSize img_size, D2DPOINT query_pt);
template <typename T>
T *Readtiff_T(const char *filename, CSize *Imagesize,long int *cols,long int *rows, CSize *data_size, T type);
template <typename T>
void CoregParam_Image(ProInfo *proinfo, int ti, uint8 Pyramid_step, double *ImageAdjust, uint8 Template_size, T *Image_ref, CSize Imagesizes_ref, T *Image_tar, CSize Imagesizes_tar, double *Boundary_ref, double *Boundary_tar, D2DPOINT grid_dxy_ref, D2DPOINT grid_dxy_tar, int grid_space, double *over_Boundary, double* avg_rho, int* iter_count, D2DPOINT *adjust_std, vector<D2DPOINT> &matched_MPs, vector<D2DPOINT> &matched_MPs_ref, vector<D2DPOINT> &MPs);
template <typename T>
bool postNCC_ortho(uint8 Pyramid_step, D2DPOINT Left, D2DPOINT Right, double subA[][6],double TsubA[][9],double InverseSubA[][6], uint8 Template_size, CSize leftsize, CSize rightsize, T* _leftimage, T* _rightimage, double *sum_weight_X, double *sum_weight_Y, double *sum_max_roh, D2DPOINT *peak_pos);
inline double SQRT(D2DPOINT a);
inline double SQRT(D2DPOINT a, D2DPOINT b);
inline double SQRT(D3DPOINT a, int dimension = 3);
inline double SQRT(D3DPOINT a, D3DPOINT b, int dimension = 3);
inline short DoubleToSignedChar_result(double val);
inline double SignedCharToDouble_result(short val);
inline short DoubleToSignedChar_grid(double val);
inline double SignedCharToDouble_grid(short val);
inline short DoubleToSignedChar_voxel(double val);
inline double SignedCharToDouble_voxel(short val);
inline signed char FloatToSignedChar(float val);
inline float SignedCharToFloat(signed char val);
inline void Set6by6Matrix(double subA[][6], double TsubA[][9], double InverseSubA[][6]);
static Matrix CreateGaussianFilter(int filter_size, double sigma) {
int half_filter_size = (int)(filter_size/2);
double sum = 0;
double tmp = -1/(2*sigma*sigma);
double scale=1/(sqrt(2*PI)*sigma);
Matrix GaussianFilter(filter_size, filter_size);
// This parallel section introduces nondeterminism, so disable
// it for now. Consider re-enabling it if performance in this
// code becomes an issue.
//#pragma omp parallel for schedule(guided) collapse(2) reduction(+:sum)
for(int i=-half_filter_size;i<=half_filter_size;i++)
{
for(int j=-half_filter_size;j<=half_filter_size;j++)
{
double temp = (i*i+j*j)*tmp;
double val = exp(temp)*scale;
GaussianFilter(i+half_filter_size, j+half_filter_size)=val;
sum += val;
}
}
#pragma omp parallel for schedule(guided) collapse(2)
for(int i=-half_filter_size;i<=half_filter_size;i++)
{
for(int j=-half_filter_size;j<=half_filter_size;j++)
{
GaussianFilter(i+half_filter_size, j+half_filter_size)/=sum;
}
}
return GaussianFilter;
}
//definition
template <typename T>
T* CreateImagePyramid(T* _input, CSize _img_size, int _filter_size, double _sigma)
{
int half_filter_size = (int)(_filter_size/2);
Matrix GaussianFilter = CreateGaussianFilter(_filter_size, _sigma);
CSize result_size;
result_size.width = _img_size.width/2;
result_size.height = _img_size.height/2;
T *result_img = (T*)malloc(sizeof(T)*result_size.height*result_size.width);
#pragma omp parallel for schedule(guided) collapse(2)
for(long int r=0;r<result_size.height;r++)
{
for(long int c=0;c<result_size.width;c++)
{
double temp_v = 0;
int count = 0;
for(int l=-half_filter_size;l<=half_filter_size;l++)
{
for(int k=-half_filter_size;k<=half_filter_size;k++)
{
//r'->2r+m, c'->2c+n
if( (2*r + l) >= 0 && (2*c + k) >= 0 &&
(2*r + l) < _img_size.height && (2*c + k) < _img_size.width)
{
if(_input[(2*r + l)*_img_size.width +(2*c + k)] > Nodata)
{
temp_v += GaussianFilter(l + half_filter_size, k + half_filter_size)*_input[(2*r + l)*_img_size.width +(2*c + k)];
count ++;
}
}
}
}
// only use filter value if entire filter was applied
if(count == _filter_size*_filter_size)
result_img[r*result_size.width + c] = (T)temp_v;
else
result_img[r*result_size.width + c] = _input[(2*r)*_img_size.width +(2*c)];
}
}
return result_img;
}
template <typename T>
T BilinearResampling(T* input, const CSize img_size, D2DPOINT query_pt)
{
const long data_length = (long)img_size.width*(long)img_size.height;
long int index1,index2,index3, index4;
T value1, value2, value3, value4;
double value;
const long t_col_int = (long int)(query_pt.m_X + 0.01);
const long t_row_int = (long int)(query_pt.m_Y + 0.01);
const double dcol = query_pt.m_X - t_col_int;
const double drow = query_pt.m_Y - t_row_int;
index1 = (t_col_int ) + (t_row_int )*(long)img_size.width;
index2 = (t_col_int + 1) + (t_row_int )*(long)img_size.width;
index3 = (t_col_int ) + (t_row_int + 1)*(long)img_size.width;
index4 = (t_col_int + 1) + (t_row_int + 1)*(long)img_size.width;
if(index1 >= 0 && index1 < data_length && index2 >= 0 && index2 < data_length && index3 >= 0 && index3 < data_length && index4 >= 0 && index4 < data_length && t_col_int >= 0 && (t_col_int + 1) < img_size.width && t_row_int >= 0 && (t_row_int + 1) < img_size.height)
{
value1 = input[index1];
value2 = input[index2];
value3 = input[index3];
value4 = input[index4];
if(value1 > Nodata && value2 > Nodata && value3 > Nodata && value4 > Nodata)
value = value1*(1-dcol)*(1-drow) + value2*dcol*(1-drow) + value3*(1-dcol)*drow + value4*dcol*drow;
else if(value1 > Nodata)
value = input[index1];
else if(value2 > Nodata)
value = input[index2];
else if(value3 > Nodata)
value = input[index3];
else if(value4 > Nodata)
value = input[index4];
else
value = Nodata;
}
else
{
if(index1 >= 0 && index1 < data_length && t_col_int >= 0 && (t_col_int) < img_size.width && t_row_int >= 0 && (t_row_int) < img_size.height)
value = input[index1];
else if(index2 >= 0 && index2 < data_length && t_col_int + 1 >= 0 && (t_col_int + 1) < img_size.width && t_row_int >= 0 && (t_row_int) < img_size.height)
value = input[index2];
else if(index3 >= 0 && index3 < data_length && t_col_int >= 0 && (t_col_int) < img_size.width && t_row_int + 1 >= 0 && (t_row_int + 1) < img_size.height)
value = input[index3];
else if(index4 >= 0 && index4 < data_length && t_col_int + 1 >= 0 && (t_col_int + 1) < img_size.width && t_row_int + 1 >= 0 && (t_row_int + 1) < img_size.height)
value = input[index4];
else
value = Nodata;
}
return (T)value;
}
/** Read and return pointer to TIFF
*
* Arguments:
* filename - name of TIFF file to read
* Imagesize - Size of the image to read
* cols - (IN/OUT) array of length 2. First element is the column of
* the starting pixel. Second element is the column of the end
* pixel. These are updated if the start/end pixels shift based
* on TIFF tile boundaries. End is exlusive, start is inclusive.
* rows - (IN/OUT) same as cols, but for start/end pixel rows in images
* data_size - (OUT) size of the returned image. Length of returned
* image is width*height
* type - Return type for function. Variable value unused. I.e. to
* return data as floats, pass a float here
*
* Returns a buffer holding image data in row-major order.
*/
template <typename T>
T *Readtiff_T(const char *filename, CSize *Imagesize,long int *cols,long int *rows, CSize *data_size, T type)
{
T *out;
FILE *bin;
int check_ftype = 1; // 1 = tif, 2 = bin
TIFF *tif = NULL;
const char *ext = strrchr(filename,'.');
if (!strcmp("tif",ext+1) || !strcmp("TIF",ext+1))
{
tif = TIFFOpen(filename,"r");
check_ftype = 1;
}
else if(!strcmp("bin",ext+1))
{
bin = fopen(filename,"rb");
check_ftype = 2;
}
if(check_ftype == 1 && tif)
{
// these are ultimately used to index an array,
// so enure they are long enough if the array is
// more than 2^32 elems long
size_t i, j;
// These need to be 32 bit unsigned per libtiff
uint32_t tileW, tileL;
// used to iterate through the scanlines or TIFF tiles
uint32_t row, col;
int ret = TIFFGetField(tif, TIFFTAG_TILEWIDTH, &tileW);
if(ret != 1) // TIFFGetField returns 1 on success
{
printf("NO TILE\n");
tsize_t scanline;
tdata_t buf;
uint16 s,nsamples;
int a;
// scanline read
data_size->width = cols[1] - cols[0];
data_size->height = rows[1] - rows[0];
long int data_length = (long)data_size->height*(long)data_size->width;
out = (T*)malloc(sizeof(T)*data_length);
scanline = TIFFScanlineSize(tif);
buf = _TIFFmalloc(scanline);
TIFFGetField(tif,TIFFTAG_SAMPLESPERPIXEL,&nsamples);
for(s =0;s< nsamples;s++)
{
for (row=0;row<rows[0];row++)
TIFFReadScanline(tif,buf,row,s);
for (row=rows[0];row<rows[1];row++)
{
T* t_data;
TIFFReadScanline(tif,buf,row,s);
t_data = (T*)buf;
#pragma omp parallel for private(a) schedule(guided)
for(a = cols[0];a<cols[1];a++)
{
out[(long)(row-rows[0])*(long)data_size->width + (long)(a-cols[0])] = t_data[a];
}
}
}
_TIFFfree(buf);
}
else
{
printf("tile\n");
int count_W, count_L;
uint32_t starttileL,starttileW;
unsigned long start_row,start_col,end_row,end_col;
tdata_t buf;
T* t_data;
// TILEWIDTH and TILELENGTH take pointers to uint32
TIFFGetField(tif, TIFFTAG_TILEWIDTH, &tileW);
TIFFGetField(tif, TIFFTAG_TILELENGTH, &tileL);
starttileL = (uint32_t)(rows[0]/tileL);
start_row = starttileL*tileL;
end_row = ((int)(rows[1]/tileL)+1)*tileL;
printf("rows %d\t%d\ttileL %d\theight %d\n",rows[0],rows[1],tileL,Imagesize->height);
if(end_row > Imagesize->height)
end_row = Imagesize->height;
starttileW = (uint32_t)(cols[0]/tileW);
start_col = starttileW*tileW;
end_col = ((int)(cols[1]/tileW)+1)*tileW;
printf("cols %d\t%d\ttileW %d\theight %d\n",cols[0],cols[1],tileW,Imagesize->width);
if(end_col > Imagesize->width)
end_col = Imagesize->width;
printf("start %d\t%d\t end %d\t%d\n",start_col,start_row,end_col,end_row);
cols[0] = start_col;
cols[1] = end_col;
rows[0] = start_row;
rows[1] = end_row;
data_size->width = end_col - start_col;
data_size->height= end_row - start_row;
long int data_length = (long int)data_size->height*(long int)data_size->width;
out = (T*)malloc(sizeof(T)*data_length);
buf = _TIFFmalloc(TIFFTileSize(tif));
count_L = ceil(data_size->height/(double)tileL);
count_W = ceil(data_size->width/(double)tileW);
int f_row_end = 0;
int f_col_end = 0;
if(count_L*tileL > data_size->height)
f_row_end = tileL + data_size->height - (count_L*tileL);
if(count_W*tileW > data_size->width)
f_col_end = tileW + data_size->width - (count_W*tileW);
printf("tile info %d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n",data_size->height,data_size->width,starttileW,starttileL,count_W,count_L,tileW,tileL,f_col_end,f_row_end);
for (row = 0; row < count_L; row ++)
{
for (col = 0; col < count_W; col ++)
{
int ret = TIFFReadTile(tif, buf, (col+starttileW)*tileW, (row+starttileL)*tileL, 0,0);
if(ret < 0) {
printf("ERROR: TIFFReadTile returned %d for row %d col %d\n", ret, row, col);
exit(1);
}
t_data = (T*)buf;
if(f_row_end > 0 && f_col_end > 0)
{
if(row == count_L-1 && col == count_W -1)
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<f_row_end;i++)
{
for (j=0;j<f_col_end;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
else if(row == count_L-1)
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<f_row_end;i++)
{
for (j=0;j<tileW;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
else if(col == count_W -1)
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<tileL;i++)
{
for (j=0;j<f_col_end;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
else
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<tileL;i++)
{
for (j=0;j<tileW;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
}
else if(f_row_end > 0)
{
if(row == count_L-1)
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<f_row_end;i++)
{
for (j=0;j<tileW;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
else
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<tileL;i++)
{
for (j=0;j<tileW;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
}
else if(f_col_end > 0)
{
if(col == count_W -1)
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<tileL;i++)
{
for (j=0;j<f_col_end;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
else
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<tileL;i++)
{
for (j=0;j<tileW;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
}
else
{
#pragma omp parallel for private(i,j) schedule(guided)
for (i=0;i<tileL;i++)
{
for (j=0;j<tileW;j++)
{
size_t t_row = (row*tileL) + i;
size_t t_col = (col*tileW) + j;
if(t_row < data_size->height && t_col < data_size->width)
out[t_row*data_size->width + t_col] = t_data[i*tileW + j];
}
}
}
}
}
_TIFFfree(buf);
}
TIFFClose(tif);
}
else if(check_ftype == 2 && bin)
{
long r,c,a;
data_size->width = cols[1] - cols[0];
data_size->height = rows[1] - rows[0];
long int data_length = data_size->height*data_size->width;
out = (T*)malloc(sizeof(T)*data_length);
for(r = rows[0]; r < rows[1] ; r++)
{
fseek(bin,sizeof(T)*(r*Imagesize->width + cols[0]),SEEK_SET);
T* t_data = (T*)malloc(sizeof(T)*data_size->width);
fread(t_data,sizeof(T),data_size->width,bin);
for(a = cols[0];a<cols[1];a++)
{
long int pos = (r-rows[0])*data_size->width + (a-cols[0]);
out[pos] = t_data[a-cols[0]];
}
free(t_data);
}
fclose(bin);
}
return out;
}
template <typename T>
void CoregParam_Image(ProInfo *proinfo, int ti, uint8 Pyramid_step, double *ImageAdjust, uint8 Template_size, T *Image_ref, CSize Imagesizes_ref, T *Image_tar, CSize Imagesizes_tar, double *Boundary_ref, double *Boundary_tar, D2DPOINT grid_dxy_ref, D2DPOINT grid_dxy_tar, int grid_space, double *over_Boundary, double* avg_rho, int* iter_count, D2DPOINT *adjust_std, vector<D2DPOINT> &matched_MPs, vector<D2DPOINT> &matched_MPs_ref, vector<D2DPOINT> &MPs)
{
double subA[9][6] = {0};
double TsubA[6][9] = {0};
double InverseSubA[6][6] = {0};
Set6by6Matrix(subA, TsubA, InverseSubA);
double GridSize_width = over_Boundary[2] - over_Boundary[0];
double GridSize_height = over_Boundary[3] - over_Boundary[1];
CSize grid_size(floor(GridSize_width/grid_space), floor(GridSize_height/grid_space));
printf("Grid_size %d\t%d\n",grid_size.width,grid_size.height);
char temp_path[500];
//vector<D2DPOINT> MPs;
if(MPs.size() == 0)
{
for(long row = 0 ; row < grid_size.height ; row ++)
{
for(long col = 0 ; col < grid_size.width ; col ++)
{
long index = row*(long)grid_size.width + col;
D2DPOINT temp_pts(over_Boundary[0] + col*grid_space, over_Boundary[1] + row*grid_space);
MPs.push_back(temp_pts);
}
}
printf("no rock masked\n");
}
else
printf("rock masked\n");
long total_grid_counts = MPs.size();
printf("total pts %d\n",total_grid_counts);
sprintf(temp_path,"%s/txt/GCPs_Image_ID_%d_level_%d.txt",proinfo->save_filepath,ti,Pyramid_step);
FILE *fid_pts = fopen(temp_path,"w");
sprintf(temp_path,"%s/txt/CoregStat_Image_ID_%d_level_%d.txt",proinfo->save_filepath,ti,Pyramid_step);
FILE *fid_stat = fopen(temp_path,"w");
D3DPOINT* save_pts = (D3DPOINT*)calloc(sizeof(D3DPOINT),total_grid_counts);
int* mps_index_save = (int*)calloc(sizeof(int),total_grid_counts);
bool check_stop = false;
const int max_iteration = 100;
*iter_count = 1;
while(!check_stop && *iter_count < max_iteration)
{
double sum_weight_X = 0;
double sum_weight_Y = 0;
double sum_max_roh = 0;
//calculation image coord from object coord by RFM in left and right image
const double b_factor = pow(2.0,(2-Pyramid_step))*2;
const uint8 Half_template_size = (int)(Template_size/2.0);
int count_pts = 0;
#pragma omp parallel for reduction(+:count_pts,sum_weight_X,sum_weight_Y,sum_max_roh)
for(long mps_index = 0; mps_index < total_grid_counts ; mps_index++)
{
D2DPOINT Startpos;
D2DPOINT Left_Imagecoord, Right_Imagecoord,Left_Imagecoord_p, Right_Imagecoord_p;
Left_Imagecoord_p.m_X = (MPs[mps_index].m_X - Boundary_ref[0])/grid_dxy_ref.m_X;
Left_Imagecoord_p.m_Y = (Boundary_ref[3] - MPs[mps_index].m_Y)/grid_dxy_ref.m_Y;
Right_Imagecoord_p.m_X = (MPs[mps_index].m_X - Boundary_tar[0])/grid_dxy_tar.m_X + ImageAdjust[1];
Right_Imagecoord_p.m_Y = (Boundary_tar[3] - MPs[mps_index].m_Y)/grid_dxy_tar.m_Y + ImageAdjust[0];
Left_Imagecoord = OriginalToPyramid_single(Left_Imagecoord_p,Startpos,Pyramid_step);
Right_Imagecoord = OriginalToPyramid_single(Right_Imagecoord_p,Startpos,Pyramid_step);
if( Left_Imagecoord.m_Y > Half_template_size*b_factor + 10 && Left_Imagecoord.m_X > Half_template_size*b_factor + 10
&& Left_Imagecoord.m_Y < Imagesizes_ref.height - Half_template_size*b_factor - 10 && Left_Imagecoord.m_X < Imagesizes_ref.width - Half_template_size*b_factor - 10
&& Right_Imagecoord.m_Y > Half_template_size*b_factor + 10 && Right_Imagecoord.m_X > Half_template_size*b_factor + 10
&& Right_Imagecoord.m_Y < Imagesizes_tar.height - Half_template_size*b_factor - 10 && Right_Imagecoord.m_X < Imagesizes_tar.width - Half_template_size*b_factor - 10)
{
D2DPOINT Left(Left_Imagecoord.m_X, Left_Imagecoord.m_Y);
D2DPOINT Right(Right_Imagecoord.m_X, Right_Imagecoord.m_Y);
long index_l = (long)Left.m_Y*(long)Imagesizes_ref.width + (long)Left.m_X;
long index_r = (long)Right.m_Y*(long)Imagesizes_tar.width + (long)Right.m_X;
if( (index_l > 0 && index_l < (long)Imagesizes_ref.height*(long)Imagesizes_ref.width) && (index_r > 0 && index_r < (long)Imagesizes_tar.height*(long)Imagesizes_tar.width) && Image_ref[index_l] > 0 && Image_tar[index_r] > 0 )
{
D2DPOINT peak_pos;
double t_sum_weight_X = 0;
double t_sum_weight_Y = 0;
double t_sum_max_roh = 0;
if(postNCC_ortho(Pyramid_step, Left, Right, subA, TsubA, InverseSubA, Template_size, Imagesizes_ref, Imagesizes_tar, Image_ref, Image_tar, &t_sum_weight_X, &t_sum_weight_Y, &t_sum_max_roh, &peak_pos))
{
sum_weight_X += t_sum_weight_X;
sum_weight_Y += t_sum_weight_Y;
sum_max_roh += t_sum_max_roh;
D3DPOINT save_pts_tmp;
save_pts_tmp.m_X = peak_pos.m_X*pwrtwo(Pyramid_step);
save_pts_tmp.m_Y = peak_pos.m_Y*pwrtwo(Pyramid_step);
save_pts_tmp.m_Z = 0;
save_pts_tmp.flag = 1;
save_pts[count_pts] = save_pts_tmp;
mps_index_save[count_pts] = mps_index;
count_pts++;
}
}
}
}
if(count_pts > 10)
{
double shift_X = sum_weight_X/sum_max_roh*pwrtwo(Pyramid_step);
double shift_Y = sum_weight_Y/sum_max_roh*pwrtwo(Pyramid_step);
double sum_var_x = 0;
double sum_var_y = 0;
for(long c_i = 0 ; c_i < count_pts ; c_i++)
{
sum_var_x += (shift_X - save_pts[c_i].m_X)*(shift_X - save_pts[c_i].m_X);
sum_var_y += (shift_Y - save_pts[c_i].m_Y)*(shift_Y - save_pts[c_i].m_Y);
}
adjust_std->m_X = sqrt(sum_var_x/count_pts);
adjust_std->m_Y = sqrt(sum_var_y/count_pts);
if(fabs(shift_Y) < 0.01 && fabs(shift_X) < 0.01)
check_stop = true;
fprintf(fid_stat,"%d\t%f\t%f\t%f\t%f\t%d\n",*iter_count,shift_X,shift_Y,ImageAdjust[1],ImageAdjust[0],count_pts);
shift_X += ImageAdjust[1];
shift_Y += ImageAdjust[0];
ImageAdjust[1] = shift_X;
ImageAdjust[0] = shift_Y;
}
else
check_stop = true;
(*iter_count)++;
if(check_stop || *iter_count >= max_iteration)
{
for(long cc = 0 ; cc < count_pts ; cc++)
{
matched_MPs_ref.push_back(MPs[mps_index_save[cc]]);
D2DPOINT temp_pts(MPs[mps_index_save[cc]].m_X + ImageAdjust[1]*grid_dxy_tar.m_X, MPs[mps_index_save[cc]].m_Y - ImageAdjust[0]*grid_dxy_tar.m_Y);
matched_MPs.push_back(temp_pts);
fprintf(fid_pts,"%8.2f\t%8.2f\t%8.2f\t%8.2f\n",matched_MPs[cc].m_X,matched_MPs[cc].m_Y,matched_MPs[cc].m_X,matched_MPs[cc].m_Y);
}
*avg_rho = sum_max_roh/(double)(count_pts);
fclose(fid_pts);
fclose(fid_stat);
}
}
free(save_pts);
free(mps_index_save);
MPs.clear();
}
template <typename T>
bool postNCC_ortho(uint8 Pyramid_step, D2DPOINT Left, D2DPOINT Right, double subA[][6],double TsubA[][9],double InverseSubA[][6], uint8 Template_size, CSize leftsize, CSize rightsize, T* _leftimage, T* _rightimage, double *sum_weight_X, double *sum_weight_Y, double *sum_max_roh, D2DPOINT *peak_pos)
{
bool check_pt = false;
const int Half_template_size = (int)(Template_size/2);
const int half_mask_size = 1;
double *result_rho = (double*)calloc(9,sizeof(double));
double *XX = (double*)calloc(6,sizeof(double));
double *ATLT = (double*)calloc(6,sizeof(double));
int i, j, k;
uint8 cell_count = 0;
for(j=0;j<9;j++)
result_rho[j] = -1.00;
for(long mask_row = - half_mask_size ; mask_row <= half_mask_size ; mask_row++)
{
for(long mask_col = - half_mask_size ; mask_col <= half_mask_size ; mask_col++)
{
double Sum_LR = 0;
double Sum_L = 0;
double Sum_R = 0;
double Sum_L2 = 0;
double Sum_R2 = 0;
double Sum_LR_2 = 0;
double Sum_L_2 = 0;
double Sum_R_2 = 0;
double Sum_L2_2 = 0;
double Sum_R2_2 = 0;
double Sum_LR_3 = 0;
double Sum_L_3 = 0;
double Sum_R_3 = 0;
double Sum_L2_3 = 0;
double Sum_R2_3 = 0;
int Count_N[3] = {0};
for(long row = -Half_template_size; row <= Half_template_size ; row++)
{
for(long col = -Half_template_size; col <= Half_template_size ; col++)
{
double radius = sqrt((double)(row*row + col*col));
if(radius <= Half_template_size-1)
{
double pos_row_left = Left.m_Y + row;
double pos_col_left = Left.m_X + col;
double pos_row_right = Right.m_Y + row + mask_row;
double pos_col_right = Right.m_X + col + mask_col;
if(pos_row_right-3 >= 0 && pos_row_right+3 < rightsize.height && pos_col_right-3 >= 0 && pos_col_right+3 < rightsize.width &&
pos_row_left-3 >= 0 && pos_row_left+3 < leftsize.height && pos_col_left-3 >= 0 && pos_col_left+3 < leftsize.width)
{
//interpolate left_patch
double dx = pos_col_left - (int) (pos_col_left);
double dy = pos_row_left - (int) (pos_row_left);
double left_patch;
double right_patch;
double dxdy = dx * dy;
long position = (long) (pos_col_left) + (long) (pos_row_left) * leftsize.width;
left_patch = (double) (_leftimage[position]) * (1 - dx - dy + dxdy) + (double) (_leftimage[position + 1]) * (dx - dxdy) +
(double) (_leftimage[position + leftsize.width]) * (dy - dxdy) + (double) (_leftimage[position + 1 + leftsize.width]) * (dxdy);
//interpolate right_patch
dx = pos_col_right - (int) (pos_col_right);
dy = pos_row_right - (int) (pos_row_right);
dxdy = dx * dy;
position = (long) (pos_col_right) + (long) (pos_row_right) * rightsize.width;
right_patch = (double) (_rightimage[position]) * (1 - dx - dy + dxdy) + (double) (_rightimage[position + 1]) * (dx - dxdy) +
(double) (_rightimage[position + rightsize.width]) * (dy - dxdy) + (double) (_rightimage[position + 1 + rightsize.width]) * (dxdy);
if(left_patch > 1 && right_patch > 1)
{
Count_N[0]++;
Sum_LR = Sum_LR + left_patch*right_patch;
Sum_L = Sum_L + left_patch;
Sum_R = Sum_R + right_patch;
Sum_L2 = Sum_L2 + left_patch*left_patch;
Sum_R2 = Sum_R2 + right_patch*right_patch;
int size_1, size_2;
size_1 = (int)(Half_template_size/2);
if( row >= -Half_template_size + size_1 && row <= Half_template_size - size_1)
{
if( col >= -Half_template_size + size_1 && col <= Half_template_size - size_1)
{
Sum_LR_2 = Sum_LR_2 + left_patch*right_patch;
Sum_L_2 = Sum_L_2 + left_patch;
Sum_R_2 = Sum_R_2 + right_patch;
Sum_L2_2 = Sum_L2_2 + left_patch*left_patch;
Sum_R2_2 = Sum_R2_2 + right_patch*right_patch;
Count_N[1]++;
}
}
size_2 = size_1 + (int)((size_1/2.0) + 0.5);
if( row >= -Half_template_size + size_2 && row <= Half_template_size - size_2)
{
if( col >= -Half_template_size + size_2 && col <= Half_template_size - size_2)
{
Sum_LR_3 = Sum_LR_3 + left_patch*right_patch;
Sum_L_3 = Sum_L_3 + left_patch;
Sum_R_3 = Sum_R_3 + right_patch;
Sum_L2_3 = Sum_L2_3 + left_patch*left_patch;
Sum_R2_3 = Sum_R2_3 + right_patch*right_patch;
Count_N[2]++;
}
}
}
}
}
}
}
if(Count_N[0] > 0)
{
double N = Count_N[0];
double val1 = (double)(Sum_L2) - (double)(Sum_L*Sum_L)/N;
double val2 = (double)(Sum_R2) - (double)(Sum_R*Sum_R)/N;
double de = sqrt(val1*val2);
double de2 = (double)(Sum_LR) - (double)(Sum_L*Sum_R)/N;
double ncc_1, ncc_2, ncc_3;
if( val1*val2 > 0)
ncc_1 = de2/de;
else
ncc_1 = -1.0;
if(Count_N[1] > 0)
{
N = Count_N[1];
val1 = (double)(Sum_L2_2) - (double)(Sum_L_2*Sum_L_2)/N;
val2 = (double)(Sum_R2_2) - (double)(Sum_R_2*Sum_R_2)/N;
de = sqrt(val1*val2);
de2 = (double)(Sum_LR_2) - (double)(Sum_L_2*Sum_R_2)/N;
if( val1*val2 > 0)
ncc_2 = de2/de;
else
ncc_2 = -1.0;
}
if(Count_N[2] > 0)
{
N = Count_N[2];
val1 = (double)(Sum_L2_3) - (double)(Sum_L_3*Sum_L_3)/N;
val2 = (double)(Sum_R2_3) - (double)(Sum_R_3*Sum_R_3)/N;
de = sqrt(val1*val2);
de2 = (double)(Sum_LR_3) - (double)(Sum_L_3*Sum_R_3)/N;
if( val1*val2 > 0)
ncc_3 = de2/de;
else
ncc_3 = -1.0;
}
double temp_rho;
if(Count_N[1] > 0 && Count_N[2] > 0)
temp_rho = ((ncc_1 + ncc_2 + ncc_3)/3.0);
else if(Count_N[1] > 0)
temp_rho = ((ncc_1 + ncc_2)/2.0);
else if(Count_N[2] > 0)
temp_rho = ((ncc_1 + ncc_3)/2.0);
else
temp_rho = ncc_1;
long grid_index = (mask_row+1)*3 + (mask_col+1);
if(grid_index < 9)
result_rho[grid_index] = temp_rho;
cell_count++;
}
}
}
if(cell_count == 9)
{
for(i=0;i<6;i++)
{
for(j=0;j<1;j++)
{
double sum = 0.0;
for(k=0;k<9;k++)
sum += TsubA[i][k]*result_rho[k*1 + j];
ATLT[i*1 + j] = sum;
}
}
for(i=0;i<6;i++)
{
for(j=0;j<1;j++)
{
double sum = 0.0;
for(k=0;k<6;k++)
sum += InverseSubA[i][k]*ATLT[k*1 + j];
XX[i*1 + j] = sum;
}
}
double demnum = -pow(XX[4],2.0) + 4*XX[3]*XX[5];
if(demnum > 0 && XX[3] < 0)
{
double max_X = (- 2*XX[5]*XX[1] + XX[2]*XX[4])/demnum;
double max_Y = (- 2*XX[2]*XX[3] + XX[1]*XX[4])/demnum;
double max_roh = XX[0] + XX[1]*max_X + XX[2]*max_Y
+ XX[3]*max_X*max_X + XX[4]*max_X*max_Y + XX[5]*max_Y*max_Y;
bool find_index_1 = false;
bool find_index_2 = false;
bool find_index = false;
if(fabs(max_X) <= 1.0)
find_index_1 = true;
if(fabs(max_Y) <= 1.0)
find_index_2 = true;
if (Pyramid_step >= 2)
find_index = find_index_1 & find_index_2 & (max_roh > 0.80);
else
find_index = find_index_1 & find_index_2 & (max_roh > 0.60);
if(find_index)
{
*sum_weight_X = max_X*max_roh;
*sum_weight_Y = max_Y*max_roh;
*sum_max_roh = max_roh;
peak_pos->m_X = max_X;
peak_pos->m_Y = max_Y;
check_pt = true;
}
}
}
free(result_rho);
free(ATLT);
free(XX);
if(!check_pt)
{
*sum_weight_X = 0;
*sum_weight_Y = 0;
*sum_max_roh = 0;
}
return check_pt;
}
inline double SQRT(D2DPOINT a)
{
return sqrt( SQ(a.m_X) + SQ(a.m_Y) );
}
inline double SQRT(D2DPOINT a, D2DPOINT b)
{
return sqrt( SQ(a.m_X - b.m_X) + SQ(a.m_Y - b.m_Y) );
}
inline double SQRT(D3DPOINT a, int dimension)
{
if(dimension == 2)
return sqrt( SQ(a.m_X) + SQ(a.m_Y) );
else
return sqrt( SQ(a.m_X) + SQ(a.m_Y) + SQ(a.m_Z) );
}
inline double SQRT(D3DPOINT a, D3DPOINT b, int dimension)
{
if(dimension == 2)
return sqrt( SQ(a.m_X - b.m_X) + SQ(a.m_Y - b.m_Y) );
else
return sqrt( SQ(a.m_X - b.m_X) + SQ(a.m_Y - b.m_Y) + SQ(a.m_Z - b.m_Z) );
}
inline short DoubleToSignedChar_result(double val)
{
return (short)round(val*1000.0);
}
inline double SignedCharToDouble_result(short val)
{
return (double)(val)/1000.0;
}
inline short DoubleToSignedChar_grid(double val)
{
return (short)round(val*1000.0);
}
inline double SignedCharToDouble_grid(short val)
{
return (double)(val)/1000.0;
}
inline short DoubleToSignedChar_voxel(double val)
{
return (short)(val*1000.0);
}
inline double SignedCharToDouble_voxel(short val)
{
return (double)(val)/1000.0;
}
inline signed char FloatToSignedChar(float val)
{
return (signed char)(val*100.0);
}
inline float SignedCharToFloat(signed char val)
{
return (float)(val/100.0);