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Removing SkeletalApp references to simplify compilation
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@snavely
snavely committed Mar 22, 2014
1 parent ad0f67e commit 372f902
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374 changes: 0 additions & 374 deletions src/BundleTwo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -394,382 +394,8 @@ static void FixScaffoldEdges(int num_images, ModelMap &models)
}
}

ModelMap SkeletalApp::BundleAllPairs(char *out_file,
bool bundle_from_tracks,
bool detect_duplicates)
{
unsigned int num_images = GetNumImages();

if (out_file != NULL) {
FILE *f = fopen(out_file, "r");

bool load_pruned = false;
if (strstr(out_file, "pruned"))
load_pruned = true;

if (f != NULL) {
ModelMap models = ReadModels(f);
// p_edges_out = ReadPEdges(fp, num_images);
FixScaffoldEdges(num_images, models);
ThresholdTwists(num_images, models, m_image_data, true);
fclose(f);
return models;
}
}

/* Sort images by connectivity */
double *connectivity = new double[num_images];
// bool *connected = new bool[num_images * num_images];

#define MATCH_THRESHOLD 28 // 16

for (unsigned int i = 0; i < num_images; i++)
connectivity[i] = 0.0;

// for (int i = 0; i < num_images * num_images; i++) {
// connected[i] = false;
// }

unsigned long long num_connections = 0;
for (unsigned int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_has_init_focal)
continue;

MatchAdjList::iterator iter;

// for (int j = i+1; j < num_images; j++) {
for (iter = m_matches.Begin(i); iter != m_matches.End(i); iter++) {
unsigned int j = iter->m_index;

if (!m_image_data[j].m_has_init_focal)
continue;

if (i >= j)
continue;

int num_matches;

if (bundle_from_tracks) {
if (!ImagesMatch(i, j))
continue;
num_matches = GetNumTrackMatches(i,j);
} else {
num_matches = GetNumMatches(i, j);
}

if (num_matches >= MATCH_THRESHOLD) {
connectivity[i] += 1.0;
connectivity[j] += 1.0;
// connected[i * num_images + j] = true;
// connected[j * num_images + i] = true;
num_connections++;
}
}
}

#if 0
int *perm = new int[num_images];
qsort_descending();
qsort_perm(num_images, connectivity, perm);

for (int i = 0; i < num_images; i++) {
printf("connect[ %d ] = %0.3f\n", perm[i], connectivity[i]);
}

delete [] connectivity;
#else
for (unsigned int i = 0; i < num_images; i++) {
printf("connect[ %d ] = %0.3f\n", i, connectivity[i]);
}
#endif

double *match_array = new double[num_connections];
unsigned long *indices = new unsigned long [num_connections];

int count = 0;
for (unsigned int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_has_init_focal)
continue;

// for (int j = i+1; j < num_images; j++) {
MatchAdjList::iterator iter;

for (iter = m_matches.Begin(i); iter != m_matches.End(i); iter++) {
unsigned int j = iter->m_index;

if (!m_image_data[j].m_has_init_focal)
continue;

if (i >= j)
continue;

int num_matches;

if (bundle_from_tracks) {
if (!ImagesMatch(i, j))
continue;
num_matches = GetNumTrackMatches(i,j);
} else {
num_matches = GetNumMatches(i, j);
}

if (num_matches >= MATCH_THRESHOLD) {
match_array[count] = (double) num_matches;
indices[count] =
(unsigned long long) i * num_images +
(unsigned long long) j;
count++;
}
}
}

int *order = new int[num_connections];
qsort_perm((int) num_connections, match_array, order);
delete [] match_array;

bool preload_keys = true;
if (num_images > 30000)
preload_keys = false;

if (preload_keys) {
for (unsigned int i = 0; i < num_images; i++) {
if (m_image_data[i].m_has_init_focal) {
printf("[BundleAllPairs] Loading keys for image %d\n", i);
m_image_data[i].LoadKeys(false, !m_optimize_for_fisheye);

if (bundle_from_tracks) {
printf("[BundleAllPairs] Setting tracks for image %d\n",
i);
SetTracks(i);
}

fflush(stdout);
}
}
}

ModelMap models(num_images);

int *depends = new int[num_images];

for (unsigned int i = 0; i < num_images; i++) {
depends[i] = -1;
}

// for (int i = 0; i < num_images; i++) {
for (unsigned long i = 0; i < num_connections; i++) {
unsigned long long index = indices[order[i]];

unsigned long i1 = index / num_images;
unsigned long i2 = index - i1 * num_images;

if (connectivity[i2] > connectivity[i1]) {
int tmp = i1;
i1 = i2;
i2 = tmp;
}

// int i1 = perm[i];
if (depends[i1] != -1)
continue;

if (!m_image_data[i1].m_has_init_focal)
continue;

if (!preload_keys) {
m_image_data[i1].LoadKeys(false, !m_optimize_for_fisheye);
SetTracks(i1);
}

// for (int j = i+1; j < num_images; j++) {
// int i2 = perm[j];

if (depends[i2] != -1)
continue;

if (!m_image_data[i2].m_has_init_focal)
continue;

if (bundle_from_tracks) {
if (GetNumTrackMatches(i1, i2) < MATCH_THRESHOLD)
continue;
} else {
if (GetNumMatches(i1, i2) < MATCH_THRESHOLD)
continue;
}

printf("[BundleAllPairs] Bundling (%lu,%lu)\n", i1, i2);
fflush(stdout);

if (!preload_keys) {
m_image_data[i2].LoadKeys(false, !m_optimize_for_fisheye);
SetTracks(i2);
}

unsigned int i_min = MIN(i1, i2);
unsigned int i_max = MAX(i1, i2);

TwoFrameModel model;

clock_t start = clock();
double angle = 0.0;
int num_matches = 0;
bool success =
BundleTwoFrame(i_min, i_max,
&model, angle, num_matches,
bundle_from_tracks);
fflush(stdout);

#define MAX_DUPLICATE_ANGLE 0.5 // 1.0 // 0.5 // 1.0 // 2.5
#define MIN_DUPLICATE_MATCHES 64

bool dependent = false;
if (detect_duplicates && angle < MAX_DUPLICATE_ANGLE &&
num_matches > MIN_DUPLICATE_MATCHES) {

/* Check if i2 is adjacent to any nodes that i1 is not
* adjacent to */

// bool found = false;
int num_found = 0;
// for (int k = 0; k < num_images; k++) {
// if (k == i1 || k == i2)
// continue;

MatchAdjList::iterator iter;

for (iter = m_matches.Begin(i2);
iter != m_matches.End(i2);
iter++) {

unsigned long k = iter->m_index;

if (k == i1 || k == i2)
continue;

// if (!connected[i1 * num_images + k] &&
// connected[i2 * num_images + k]) {
if ((bundle_from_tracks &&
GetNumTrackMatches(i1,k) < MATCH_THRESHOLD &&
GetNumTrackMatches(i2,k) >= MATCH_THRESHOLD) ||
(!bundle_from_tracks &&
(GetNumMatches(i1,k) < MATCH_THRESHOLD ||
GetNumMatches(i2,k) >= MATCH_THRESHOLD))) {

int num_matches_i2k;
if (bundle_from_tracks)
num_matches_i2k = GetNumTrackMatches(i2, k);
else
num_matches_i2k = GetNumMatches(i2, k);

if (num_matches_i2k > 64) {
printf(" Image %lu is connected to %lu (%d matches) "
"but not %lu\n",
k, i2, num_matches_i2k, i1);

// found = true;
// break;

num_found++;
}
}
}

if (num_found < 1 /*MAX(1.0, 0.002 * num_images)*/) {
/* Make node i2 dependent on node i1 */
printf("[BundleAllPairs] "
"Node %lu depends on node %lu\n", i2, i1);

dependent = true;
depends[i2] = i1;

/* Get rid of other models with i2 */
// for (int k = 0; k < i2; k++) {
for (iter = m_matches.Begin(i2);
iter != m_matches.End(i2);
iter++) {

unsigned long k = iter->m_index;

// int idx = k * num_images + i2;
MatchIndex idx = GetMatchIndexUnordered(k, i2);
if (models.Contains(idx)) {
printf(" Removed model (%lu,%lu)\n", k, i2);
models.RemoveModel(idx);
}
}

#if 0
// FIXME LOOP
for (int k = i2 + 1; k < num_images; k++) {
// int idx = i2 * num_images + k;
MatchIndex idx = GetMatchIndex(i2, k);
if (models.Contains(idx)) {
printf(" Removed model (%d,%d)\n", i2, k);
models.RemoveModel(idx);
}
}
#endif
}
}

if (!dependent && success) {
printf("[BundleAllPairs] "
"(%lu,%lu) successfully bundled\n", i1, i2);

if (model.ComputeTrace(true) < 0.0) {
printf(" Error! trace2 < 0.0!\n");
}

if (model.ComputeTrace(false) < 0.0) {
printf(" Error! trace1 < 0.0!\n");
} else {
MatchIndex idx = GetMatchIndex(i_min, i_max);
models.AddModel(idx, model);
}
} else if (!dependent) {
printf("[BundleAllPairs] (%lu,%lu) bundle FAILED\n", i1, i2);
}

clock_t end = clock();

double t = (end - start) / (double) CLOCKS_PER_SEC;
printf("[BundleAllPairs] Bundle took %0.3fs\n", t);

if (!preload_keys) {
m_image_data[i2].UnloadKeys();
}
//}

if (!preload_keys) {
m_image_data[i1].UnloadKeys();
}
}

delete [] indices;
delete [] order;

if (out_file != NULL) {
WriteModels(models, num_images, out_file);
// WriteModelsProjections(models, num_images,
// m_track_data, m_image_data,
// "pairs.proj.out");
// WritePEdges(p_edges, num_images, "pedges.out");
}
fflush(stdout);

// p_edges_out = p_edges;

delete [] depends;
#if 0
delete [] perm;
#endif
delete [] connectivity;

return models;
}


static void PermuteMatches(std::vector<KeypointMatch> &matches)
{
int num_matches = (int) matches.size();
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