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start developing unit tests for frames.

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This commit is contained in:
Jordan
2024-03-22 09:07:04 -07:00
parent d85c25b21e
commit 7d225729ec
8 changed files with 260 additions and 73 deletions
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95
src/frame.cxx
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@ -90,6 +90,70 @@ openMVG::image::Image<u_char> DartOpenMvg::imageFromFrame(const CFrame *frame)
return openMVG::image::Image<uint8_t>(eigenMatrix);
}
DartOpenMvg::Frames::Frames(openMVG::sfm::Bundle_Adjustment_Ceres::BA_Ceres_options &options)
{
mAdjustment = openMVG::sfm::Bundle_Adjustment_Ceres(options);
}
void DartOpenMvg::Frames::computeMatches()
{
#ifdef OPENMVG_USE_OPENMP
OPENMVG_LOG_INFO << "Using the OPENMP thread interface";
const bool b_multithreaded_pair_search = (eMatcherType_ == CASCADE_HASHING_L2);
// -> set to true for CASCADE_HASHING_L2, since OpenMP instructions are not used in this matcher
#endif
// Match the pairs as a sequence
// Within openMvg::matching_image_collection::Matcher
// they matcha gainst *ALL* images. However, since we know the order of the
// image sequences (video frames), we'll stick to the sequence order.
for (size_t i = 0; i < this->size() - 1; ++i)
{
const Frame &frame1 = this->at(i);
const Frame &frame2 = this->at(i + 1);
auto *regions1 = frame1.mRegions.get();
auto *regions2 = frame2.mRegions.get();
// Initialize the matching interface
const std::unique_ptr<openMVG::matching::RegionsMatcher> matcher =
openMVG::matching::RegionMatcherFactory(openMVG::matching::EMatcherType::HNSW_L2, *regions1);
if (!matcher)
continue;
#ifdef OPENMVG_USE_OPENMP
#pragma omp parallel for schedule(dynamic) if (b_multithreaded_pair_search)
#endif
openMVG::matching::IndMatches vec_putative_matches;
matcher->MatchDistanceRatio(0.5, *regions2, vec_putative_matches);
if (vec_putative_matches.empty())
{
return;
}
mFeatureMap[std::make_pair(i, i + 1)] = vec_putative_matches;
}
};
void DartOpenMvg::Frames::buildTracks()
{
openMVG::tracks::TracksBuilder trackBuilder;
openMVG::matching::PairWiseMatches matches;
trackBuilder.Build(mFeatureMap);
trackBuilder.Filter();
trackBuilder.ExportToSTL(mTracks);
}
void DartOpenMvg::Frames::adjust()
{
const openMVG::sfm::Optimize_Options ba_refine_options(openMVG::cameras::Intrinsic_Parameter_Type::ADJUST_ALL,
openMVG::sfm::Extrinsic_Parameter_Type::ADJUST_ALL, // Adjust camera motion
openMVG::sfm::Structure_Parameter_Type::ADJUST_ALL, // Adjust scene structure
openMVG::sfm::Control_Point_Parameter(),
false);
mAdjustment.Adjust(mSfmData, ba_refine_options);
}
void DartOpenMvg::Frame::calculateFeatures()
{
using namespace openMVG::image;
@ -99,30 +163,15 @@ void DartOpenMvg::Frame::calculateFeatures()
mRegions = desc.Describe(image);
}
openMVG::image::Image<u_char> DartOpenMvg::Frame::getMvgImage() {
void DartOpenMvg::Frames::resection() {
// openMVG::tracks::TracksUtilsMap::GetFeatIndexPerViewAndTrackId(
// mTracks;
// )
}
openMVG::image::Image<u_char> DartOpenMvg::Frame::getMvgImage()
{
return imageFromFrame(this->cFrame);
}
void DartOpenMvg::Frames::computeMatches()
{
using namespace openMVG::matching;
using namespace openMVG::matching_image_collection;
using namespace openMVG::sfm;
using namespace openMVG::image;
Matcher *matcher = nullptr;
Regions_Provider provider = Regions_Provider();
matcher = new Matcher_Regions(0.8f, CASCADE_HASHING_L2);
openMVG::Pair_Set pairs = openMVG::Pair_Set();
Image im1 = this->at(0).getMvgImage();
Image im2 = this->at(1).getMvgImage();
auto pair = openMVG::Pair(0, 1);
pairs.insert(pair);
PairWiseMatches map_punitive_matches;
// matcher->Match(provider, pairs, map_punitive_matches, NULL);
#endif // __cplusplus