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SiftMatchApp.cpp
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//1)too strong block 2)should scale and orientation be used in block match
//
#include "PrjLog.hpp"
#include "../AtMatch/GlobalUtil_AtMatch.h"
#include "../AtMatch/SiftMatch.h"
#include "../AtMatch/StdImage.h"
#include "../AtMatch/MatchFile.h"
#include "../AtMatch/ImagesCoorAssociate.hpp"
#include "algorithms/Pretreatment.h"
#include "algorithms/Transformation.h"
#include "SiftMatchDef.h"
#define PI 3.1415926
#define RELEASE_NAME "1.2.2"
#define RELEASE_DATE "2016/5/11"
//#define SIFT_PYRM_IMAGE
const char* SiftMatchVersionInfo(){
return "SiftMatch "
#ifdef SIFT_PYRM_IMAGE
" (ImagePyramid) "
#endif
RELEASE_NAME
#ifdef _DEBUG
" debug "
#else
" released "
#endif
RELEASE_DATE;
}
/* ******************************************************************* */
/* Usage() */
/* ******************************************************************** */
static void Usage(const char* pszErrorMsg = NULL, int bShort = TRUE)
{
printf("Usage: SiftMatchEx [--help-general] [--long-usage]\n"
" [-enable-gpu(e/m)]\n"
" [-ws workspace] [-output match_result_file] [-log log_file]\n"
" [-range(G/B) search_range]\n"
" [-sift{D/R} distance/ratio]\n"
" [-ue] [-refine(h/f)] [-no-mutual]\n"
" [-scale ratio_min ratio_max] [-orientation diff_min(r) diff_max(r)]\n"
" src_dataset dst_dataset\n"
" [-id{s/d} image_id]\n"
" [-geo(s/d) (geo_file)]\n"
" [-rc(s/d) stCol stRow edCol edRow]\n"// this is only available for extract feature currently (should take exchange image into account).
" [-dem dem_file]\n");
if (!bShort)
{
printf("\n%s\n\n", SiftMatchVersionInfo());
printf("The following format drivers are configured :\n");
const char* strDriver[] = { "GTiff(*.tif,*tiff)", "HFA(*.img)", "PNG(*.png)", "JPEG(*.jpg)", "PCIDSK(*.pix)","BMP(*.bmp)" };
for (int iDr = 0; iDr < sizeof(strDriver) / sizeof(const char*); iDr++)
{
printf("%s;\t", strDriver[iDr]);
}
printf("\nThe following format GeoFile are configured :\n");
printf("RPC;\n");
printf("Default value: siftDist(%.2f) siftRatio(%.2f) GeoRange(%d) BlockRange(%d)\n", DEFAULT_SIFT_DIST, DEFAULT_SIFT_RATIO, RANGE_GEO, RANGE_BLOCK);
}
if (pszErrorMsg != NULL)
fprintf(stderr, "\nFAILURE: %s\n", pszErrorMsg);
exit(1);
}
#ifndef _MPT
#define _MPT
typedef struct tagMPt{
char nameL[POINTID_BUFFER_SIZE];
char nameR[POINTID_BUFFER_SIZE];
float xl;
float yl;
float xr;
float yr;
}MPt;
#endif
MPt* SiftMatch_Block(
int* ptSum,
CStdImage* imgL, const char* lpcstrSiftL, int stBlkColL, int stBlkRowL, int nBlkColsL, int nBlkRowsL,
CStdImage* imgR, const char* lpcstrSiftR,
CImagesCoorT* pCvt,
float siftDist, float siftRatio, int mutual_best_match
){
LogPrint(0, "\n<----SiftMatch_Block starting[range= %d]---->", pCvt->get_range());
*ptSum = 0;
CSiftMatch matcher;
if (!matcher.InitEnvi(GlobalParam::g_sift_match_gpu)) return NULL;
int nColNum, nRowNum;
int* rc_split = Pretreatment::split_image(nColNum, nRowNum, stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL, 8,
GlobalParam::g_match_buffer_size, Pretreatment::RECT_FIRST);
int blk_num = nColNum*nRowNum;
MPt* match_result = NULL;
int *pSplitRc = rc_split;
for (int i = 0; i < blk_num; i++, pSplitRc += 4){
LogPrint(0, ">>>>Block[%d/%d]", i + 1, blk_num);
int stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR;
if (!pCvt->overlap_on_right(pSplitRc[0], pSplitRc[1], pSplitRc[0] + pSplitRc[2], pSplitRc[1] + pSplitRc[3],
&stBlkColR, &stBlkRowR, &nBlkColsR, &nBlkRowsR)){
LogPrint(0, "No coverage.Continue.");
continue;
}
nBlkColsR = nBlkColsR - stBlkColR + 1; nBlkRowsR = nBlkRowsR - stBlkRowR + 1;
LogPrint(0, "(%s)[%d,%d]+[%d,%d]<=>(%s)[%d,%d]+[%d,%d]", imgL->GetImageName(), pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3], imgR->GetImageName(), stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR);
int ptNumL = imgL->ReadSiftFile(lpcstrSiftL, pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3]);
if (ptNumL < 1) { LogPrint(0, "Continue."); continue; }
int ptNumR = imgR->ReadSiftFile(lpcstrSiftR, stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR);
if (ptNumR < 1) { LogPrint(0, "Continue."); continue; }
int(*match_buf)[2] = new int[ptNumL>ptNumR ? ptNumL : ptNumR][2];
matcher.SetDescriptors(0, ptNumL, imgL->GetSiftDescriptors());
matcher.SetDescriptors(1, ptNumR, imgR->GetSiftDescriptors());
int match_num = matcher.GetSiftMatch(match_buf, siftDist, siftRatio, mutual_best_match);
if (match_num>0){
MPt* mpt = new MPt[*ptSum + match_num];
if (match_result) { memcpy(mpt, match_result, *ptSum*sizeof(MPt)); delete match_result; }
match_result = mpt;
MPt* pMPT = mpt + *ptSum; int sz = 0;
int i; float lx0 = -99, ly0 = -99, rx0 = -99, ry0 = -99;
for (i = 0; i < match_num; i++){
float* xyl = imgL->GetPtLocation() + match_buf[i][0] * 2;
float* xyr = imgR->GetPtLocation() + match_buf[i][1] * 2;
pMPT->xl = *xyl; pMPT->yl = *(xyl + 1);
pMPT->xr = *xyr; pMPT->yr = *(xyr + 1);
if (fabs(pMPT->xl - lx0) < 1e-5 && fabs(pMPT->yl - ly0) < 1e-5
&& fabs(pMPT->xr - rx0) < 1e-5 && fabs(pMPT->yr - ry0) < 1e-5) continue;
lx0 = pMPT->xl; ly0 = pMPT->yl; rx0 = pMPT->xr; ry0 = pMPT->yr;
strcpy(pMPT->nameL, imgL->get_pt_name(match_buf[i][0]));
strcpy(pMPT->nameR, imgR->get_pt_name(match_buf[i][1]));
pMPT++; sz++;
}
LogPrint(0, "Remove repeat correspond points.Final Num= %d", sz);
*ptSum += sz;
}
delete[] match_buf;
}
delete[] rc_split;
LogPrint(0, "<----SiftMatch_Block END[total num= %d][state= %s]---->\n", *ptSum, *ptSum<1?"Fail":"OK");
return match_result;
}
MPt* SiftMatch_Geo(
int* ptSum,
CStdImage* imgL, const char* lpcstrSiftL, int stBlkColL, int stBlkRowL, int nBlkColsL, int nBlkRowsL,
CStdImage* imgR, const char* lpcstrSiftR,
CImagesCoorT* pCvt,
float H[3][3], float hdistmax,
float F[3][3], float fdistmax,
float ratiomin_scale, float ratiomax_scale,
float ratiomin_ori, float ratiomax_ori,
float siftDist, float siftRatio,int mutual_best_match
){
LogPrint(0, "\n<----SiftMatch_Geo starting[range= %d]---->", pCvt->get_range());
*ptSum = 0;
CSiftMatch matcher;
if (!matcher.InitEnvi(GlobalParam::g_sift_match_gpu)) return NULL;
bool bScale = CheckLimitedScale(ratiomin_scale, ratiomax_scale);
bool bOri = CheckLimitedOrientation(ratiomin_ori, ratiomax_ori);
if (H) LogPrint(0, "Residual error of H = %.2f", hdistmax);
if (F) LogPrint(0, "Residual error of F = %.2f", fdistmax);
if (bScale) LogPrint(0, "Ratio range of sift scale feature = [%.2f,%.2f]", ratiomin_scale, ratiomax_scale);
if (bOri) LogPrint(0, "Ratio range of sift orientation feature = [%.2f,%.2f]", ratiomin_ori, ratiomax_ori);
int nColNum, nRowNum;
int* rc_split = Pretreatment::split_image(nColNum, nRowNum, stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL, 8,
GlobalParam::g_match_buffer_size, Pretreatment::RECT_FIRST);
int blk_num = nColNum*nRowNum;
MPt* match_result = NULL;
int *pSplitRc = rc_split;
for (int i = 0; i < blk_num; i++, pSplitRc += 4){
LogPrint(0, ">>>>Block[%d/%d]", i + 1, blk_num);
int stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR;
if (!pCvt->overlap_on_right(pSplitRc[0], pSplitRc[1], pSplitRc[0] + pSplitRc[2], pSplitRc[1] + pSplitRc[3],
&stBlkColR, &stBlkRowR, &nBlkColsR, &nBlkRowsR)){
LogPrint(0, "No coverage.Continue.");
continue;
}
nBlkColsR = nBlkColsR - stBlkColR + 1; nBlkRowsR = nBlkRowsR - stBlkRowR + 1;
LogPrint(0, "(%s)[%d,%d]+[%d,%d]<=>(%s)[%d,%d]+[%d,%d]", imgL->GetImageName(), pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3], imgR->GetImageName(), stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR);
int ptNumL = imgL->ReadSiftFile(lpcstrSiftL, pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3]);
if (ptNumL < 1) { LogPrint(0, "Continue."); continue; }
int ptNumR = imgR->ReadSiftFile(lpcstrSiftR, stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR);
if (ptNumR < 1) { LogPrint(0, "Continue."); continue; }
int(*match_buf)[2] = new int[ptNumL>ptNumR ? ptNumL : ptNumR][2];
matcher.SetDescriptors(0, ptNumL, imgL->GetSiftDescriptors());
matcher.SetDescriptors(1, ptNumR, imgR->GetSiftDescriptors());
matcher.SetLocation(0, imgL->GetPtLocation());
matcher.SetLocation(1, imgR->GetPtLocation());
if (bScale||bOri) {
matcher.SetFeature(0, imgL->GetSiftFeature());
matcher.SetFeature(1, imgR->GetSiftFeature());
}
int match_num = 0;
if (!H&&!F) match_num = matcher.GetLimitedXformSiftMatch(match_buf, geo_xform_err, pCvt, pCvt->get_range(),
ratiomin_scale, ratiomax_scale, ratiomin_ori, ratiomax_ori, siftDist, siftRatio, mutual_best_match);
else match_num = matcher.GetLimitedGuidedSiftMatch(match_buf, H, F, ratiomin_scale, ratiomax_scale, ratiomin_ori, ratiomax_ori, siftDist, siftRatio, hdistmax, fdistmax, mutual_best_match);
if (match_num>0){
MPt* mpt = new MPt[*ptSum + match_num];
if (match_result) { memcpy(mpt, match_result, *ptSum*sizeof(MPt)); delete match_result; }
match_result = mpt;
MPt* pMPT = mpt + *ptSum; int sz = 0;
int i; float lx0 = -99, ly0 = -99, rx0 = -99, ry0 = -99;
for (i = 0; i < match_num; i++){
float* xyl = imgL->GetPtLocation() + match_buf[i][0] * 2;
float* xyr = imgR->GetPtLocation() + match_buf[i][1] * 2;
pMPT->xl = *xyl; pMPT->yl = *(xyl + 1);
pMPT->xr = *xyr; pMPT->yr = *(xyr + 1);
if (fabs(pMPT->xl - lx0) < 1e-5 && fabs(pMPT->yl - ly0) < 1e-5
&& fabs(pMPT->xr - rx0) < 1e-5 && fabs(pMPT->yr - ry0) < 1e-5) continue;
lx0 = pMPT->xl; ly0 = pMPT->yl; rx0 = pMPT->xr; ry0 = pMPT->yr;
strcpy(pMPT->nameL, imgL->get_pt_name(match_buf[i][0]));
strcpy(pMPT->nameR, imgR->get_pt_name(match_buf[i][1]));
pMPT++; sz++;
}
LogPrint(0, "Remove repeat correspond points.Final Num= %d", sz);
*ptSum += sz;
}
delete[] match_buf;
}
delete[] rc_split;
LogPrint(0, "<----SiftMatch_Geo END[total num= %d][state= %s]---->\n", *ptSum, *ptSum<1 ? "Fail" : "OK");
return match_result;
}
#include <vector>
using namespace std;
inline float CheckSiftScaleMinimum(const float* siftScale,int nBufferSpace, int nFeaNum){
int num = 1000>nFeaNum ? nFeaNum : 1000;
float mini = 1000000.0f;
for (int i = 0; i < num; i++){
if (*siftScale < mini) mini = *siftScale;
siftScale += nBufferSpace;
}
return mini < 1000000.0f ? mini : 1;
}
inline int PickSift_ScaleMini(
const PtName* name_org, const PtLoc* loc_org, const PtFea* fea_org, const SiftDes* des_org,int ptNum,float scaleMini,
vector<PtName>& name, vector<PtLoc>& loc, vector<SiftDes>& des
){
for (int i = 0; i < ptNum; i++ ){
if (fea_org->scale >= scaleMini){
name.push_back(*name_org); loc.push_back(*loc_org); des.push_back(*des_org);
}
name_org++; loc_org++; fea_org++; des_org++;
}
return name.size();
}
static int PickPyrmSift(
const PtName* name_org, const PtLoc* loc_org, const PtFea* fea_org, const SiftDes* des_org, int ptNum,float zoomRate,
vector<PtName>& name, vector<PtLoc>& loc, vector<SiftDes>& des
){
float scaleBase = CheckSiftScaleMinimum((const float*)fea_org, 2, ptNum);
scaleBase = scaleBase / zoomRate;
name.clear(); name.reserve(ptNum / 5); loc.clear(); loc.reserve(ptNum / 5); des.clear(); des.reserve(ptNum / 5);
return PickSift_ScaleMini(name_org, loc_org, fea_org, des_org, ptNum, scaleBase, name, loc, des);
}
MPt* SiftMatch_Pyrm(
int* ptSum,
CStdImage* imgL, const char* lpcstrSiftL, int stBlkColL, int stBlkRowL, int nBlkColsL, int nBlkRowsL,
CStdImage* imgR, const char* lpcstrSiftR, int stBlkColR, int stBlkRowR, int nBlkColsR, int nBlkRowsR,
CImagesCoorT* pCvt, float zoomRateL, float zoomRateR,
float siftDist, float siftRatio, int mutual_best_match,
const char* lpcstrTempDir
){
LogPrint(0, "\n<----SiftMatch_Pyrm starting[range= %d;zoom= %f&%f]---->", pCvt->get_range(), zoomRateL,zoomRateR);
*ptSum = 0; MPt* match_result = NULL;
CSiftMatch matcher;
if (!matcher.InitEnvi(GlobalParam::g_sift_match_gpu)) return NULL;
#ifdef SIFT_PYRM_IMAGE
CStdImage imgPyrmL, imgPyrmR;
char strSiftPyrmL[512], strSiftPyrmR[512];
int nPyrmColsL, nPyrmRowsL, nPyrmColsR, nPyrmRowsR;
char strFile[512]; strcpy(strFile, lpcstrTempDir);
char* pS = strFile + strlen(strFile);
{
sprintf(pS, "/%s_%d_%d_%d_%d_%.f.tif", imgL->GetImageName(),
stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL, 1 / zoomRateL);
BYTE* pBuf = NULL; FILE* fp = NULL;
pBuf = new BYTE[int(nBlkColsL*zoomRateL*nBlkRowsL) + 8]; if (!pBuf) return NULL;
imgL->ReadGray8(pBuf, stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL, zoomRateL, &nPyrmColsL, &nPyrmRowsL);
if (!SaveImageFile(strFile, pBuf, nPyrmColsL, nPyrmRowsL, 1) || !imgPyrmL.Open(strFile))
{
delete pBuf;
return NULL;
}
delete pBuf;
strcpy(strrchr(strFile, '.'), ".info");
fp = fopen(strFile, "w"); if (!fp) return NULL; fprintf(fp, "%d\t%d\t%d\t%d\t%f", stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL, zoomRateL); fclose(fp);
strcpy(strrchr(strFile, '.'), ".sift"); strcpy(strSiftPyrmL, strFile);
if (imgPyrmL.ExtractSift2PtFile(strSiftPyrmL, -1) < 1) return NULL;
sprintf(pS, "/%s_%d_%d_%d_%d_%.f.tif", imgR->GetImageName(),
stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR, 1 / zoomRateR);
pBuf = new BYTE[int(nBlkColsR*zoomRateR*nBlkRowsR) + 8]; if (!pBuf) return NULL;
imgR->ReadGray8(pBuf, stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR, zoomRateR, &nPyrmColsR, &nPyrmRowsR);
if (!SaveImageFile(strFile, pBuf, nPyrmColsR, nPyrmRowsR, 1) || !imgPyrmR.Open(strFile))
{
delete pBuf;
return NULL;
}
delete pBuf;
strcpy(strrchr(strFile, '.'), ".info");
fp = fopen(strFile, "w"); if (!fp) return NULL; fprintf(fp, "%d\t%d\t%d\t%d\t%f", stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR, zoomRateR); fclose(fp);
strcpy(strrchr(strFile, '.'), ".sift"); strcpy(strSiftPyrmR, strFile);
if (imgPyrmR.ExtractSift2PtFile(strSiftPyrmR, -1) < 1) return NULL;
}
int nColNum, nRowNum;
int* rc_split = Pretreatment::split_image(nColNum, nRowNum, 0, 0, nPyrmColsL, nPyrmRowsL, 8,
GlobalParam::g_match_buffer_size, Pretreatment::RECT_FIRST);
int blk_num = nColNum*nRowNum;
int *pSplitRc = rc_split;
for (int i = 0; i < blk_num; i++, pSplitRc += 4){
LogPrint(0, ">>>>Pyrmblock[%d/%d]", i + 1, blk_num);
int scr, srr, ncr, nrr;
if (!pCvt->overlap_on_right(stBlkColL + pSplitRc[0] / zoomRateL, stBlkRowL + pSplitRc[1] / zoomRateL,
stBlkColL + (pSplitRc[0] + pSplitRc[2]) / zoomRateL, stBlkRowL + (pSplitRc[1] + pSplitRc[3]) / zoomRateL,
&scr, &srr, &ncr, &nrr)){
LogPrint(0, "No coverage.Continue.");
continue;
}
ncr = int((ncr - scr + 1)*zoomRateR); nrr = int((nrr - srr + 1)*zoomRateR);
scr -= stBlkColR; srr -= stBlkRowR;
// LogPrint(0, "left[%d,%d]+[%d,%d]<=>right[%d,%d]+[%d,%d]",
// pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3], stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR);
int ptNumL = imgPyrmL.ReadSiftFile(strSiftPyrmL, pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3]);
if (ptNumL < 1) { LogPrint(0, "Continue."); continue; }
int ptNumR = imgPyrmR.ReadSiftFile(strSiftPyrmR, scr, srr, ncr, nrr);
if (ptNumR < 1) { LogPrint(0, "Continue."); continue; }
int(*match_buf)[2] = new int[ptNumL>ptNumR ? ptNumL : ptNumR][2];
matcher.SetDescriptors(0, ptNumL, imgPyrmL.GetSiftDescriptors());
matcher.SetDescriptors(1, ptNumR, imgPyrmR.GetSiftDescriptors());
int match_num = matcher.GetSiftMatch(match_buf, siftDist, siftRatio, mutual_best_match);
if (match_num > 0){
MPt* mpt = new MPt[*ptSum + match_num];
if (match_result) { memcpy(mpt, match_result, *ptSum*sizeof(MPt)); delete match_result; }
match_result = mpt;
MPt* pMPT = mpt + *ptSum; int sz = 0;
int i; float lx0 = -99, ly0 = -99, rx0 = -99, ry0 = -99;
for (i = 0; i < match_num; i++){
float* xyl = imgPyrmL.GetPtLocation() + match_buf[i][0] * 2;
float* xyr = imgPyrmR.GetPtLocation() + match_buf[i][1] * 2;
pMPT->xl = *xyl; pMPT->yl = *(xyl + 1);
pMPT->xr = *xyr; pMPT->yr = *(xyr + 1);
if (fabs(pMPT->xl - lx0) < 1e-5 && fabs(pMPT->yl - ly0) < 1e-5
&& fabs(pMPT->xr - rx0) < 1e-5 && fabs(pMPT->yr - ry0) < 1e-5) continue;
lx0 = pMPT->xl; ly0 = pMPT->yl; rx0 = pMPT->xr; ry0 = pMPT->yr;
pMPT->xl = pMPT->xl / zoomRateL + stBlkColL; pMPT->yl = pMPT->yl / zoomRateL + stBlkRowL;
pMPT->xr = pMPT->xr / zoomRateR + stBlkColR; pMPT->yr = pMPT->yr / zoomRateR + stBlkRowR;
strcpy(pMPT->nameL, imgPyrmL.get_pt_name(match_buf[i][0]));
strcpy(pMPT->nameR, imgPyrmR.get_pt_name(match_buf[i][1]));
pMPT++; sz++;
}
LogPrint(0, "Remove repeat correspond points.Final Num= %d", sz);
*ptSum += sz;
}
delete[] match_buf;
}
delete[] rc_split;
#else
if (zoomRateL > 1 / 1.5) zoomRateL = 1 / 1.5; if (zoomRateL < 1 / 10.0) zoomRateL = 1 / 10.0f;
if (zoomRateR > 1 / 1.5) zoomRateR = 1 / 1.5; if (zoomRateR < 1 / 10.0) zoomRateR = 1 / 10.0f;
LogPrint(0, "[%s]zoomRate= %f;[%s]zoomRate= %f;", imgL->GetImageName(), zoomRateL, imgR->GetImageName(), zoomRateR);
int nColNum, nRowNum;
int* rc_split = Pretreatment::split_image(nColNum, nRowNum, stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL, 8,
int(GlobalParam::g_match_buffer_size / zoomRateL), Pretreatment::RECT_FIRST);
int blk_num = nColNum*nRowNum;
vector<PtName> nameL, nameR;
vector<PtLoc> locL, locR;
vector<SiftDes> desL, desR;
int *pSplitRc = rc_split;
for (int i = 0; i < blk_num; i++, pSplitRc += 4){
LogPrint(0, ">>>>Block[%d/%d]", i + 1, blk_num);
int scr, srr, ncr, nrr;
if (!pCvt->overlap_on_right(pSplitRc[0], pSplitRc[1], pSplitRc[0] + pSplitRc[2], pSplitRc[1] + pSplitRc[3],
&scr, &srr, &ncr, &nrr)){
LogPrint(0, "No coverage.Continue.");
continue;
}
ncr = ncr - scr + 1; nrr = nrr - srr + 1;
LogPrint(0, "(%s)[%d,%d]+[%d,%d]<=>(%s)[%d,%d]+[%d,%d]", imgL->GetImageName(), pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3],
imgR->GetImageName(), scr, srr, ncr, nrr);
int ptNumL = imgL->ReadSiftFile(lpcstrSiftL, pSplitRc[0], pSplitRc[1], pSplitRc[2], pSplitRc[3]);
if (ptNumL < 1) { LogPrint(0, "continue."); continue; }
ptNumL = PickPyrmSift((const PtName*)imgL->get_pt_name(0), (const PtLoc*)imgL->GetPtLocation(), (const PtFea*)imgL->GetSiftFeature(), (const SiftDes*)imgL->GetSiftDescriptors(),
ptNumL, zoomRateL, nameL, locL, desL);
LogPrint(0, "[%s]PyrmSift Num = %d.", imgL->GetImageName(), ptNumL); if (ptNumL < 1) { LogPrint(0, "continue."); continue; }
imgL->ClearPtBuffer();
int ptNumR = imgR->ReadSiftFile(lpcstrSiftR, scr, srr, ncr, nrr);
if (ptNumR < 1) { LogPrint(0, "continue."); continue; }
ptNumR = PickPyrmSift((const PtName*)imgR->get_pt_name(0), (const PtLoc*)imgR->GetPtLocation(), (const PtFea*)imgR->GetSiftFeature(), (const SiftDes*)imgR->GetSiftDescriptors(),
ptNumR, zoomRateR, nameR, locR, desR);
LogPrint(0, "[%s]PyrmSift Num = %d.", imgR->GetImageName(), ptNumR); if (ptNumR < 1) { LogPrint(0, "continue."); continue; }
imgR->ClearPtBuffer();
int(*match_buf)[2] = new int[ptNumL>ptNumR ? ptNumL : ptNumR][2];
matcher.SetDescriptors(0, ptNumL, (const unsigned char*)desL.data());
matcher.SetDescriptors(1, ptNumR, (const unsigned char*)desR.data());
int match_num = matcher.GetSiftMatch(match_buf, siftDist, siftRatio, mutual_best_match);
if (match_num > 0){
MPt* mpt = new MPt[*ptSum + match_num];
if (match_result) { memcpy(mpt, match_result, *ptSum*sizeof(MPt)); delete match_result; }
match_result = mpt;
MPt* pMPT = mpt + *ptSum; int sz = 0;
int i; float lx0 = -99, ly0 = -99, rx0 = -99, ry0 = -99;
for (i = 0; i < match_num; i++){
float* xyl = (float*)(locL.data() + match_buf[i][0]);
float* xyr = (float*)(locR.data() + match_buf[i][1]);
pMPT->xl = *xyl; pMPT->yl = *(xyl + 1);
pMPT->xr = *xyr; pMPT->yr = *(xyr + 1);
if (fabs(pMPT->xl - lx0) < 1e-5 && fabs(pMPT->yl - ly0) < 1e-5
&& fabs(pMPT->xr - rx0) < 1e-5 && fabs(pMPT->yr - ry0) < 1e-5) continue;
lx0 = pMPT->xl; ly0 = pMPT->yl; rx0 = pMPT->xr; ry0 = pMPT->yr;
strcpy(pMPT->nameL, (const char*)(nameL.data() + match_buf[i][0]));
strcpy(pMPT->nameR, (const char*)(nameR.data() + match_buf[i][1]));
pMPT++; sz++;
}
LogPrint(0, "Remove repeat correspond points.Final Num= %d", sz);
*ptSum += sz;
}
delete[] match_buf;
}
delete[] rc_split;
#endif
LogPrint(0, "<----SiftMatch_Pyrm END[total num= %d][state= %s]---->\n", *ptSum, *ptSum<1 ? "Fail" : "OK");
return match_result;
}
void FreeSiftMatchMem(MPt* pt) { delete pt; }
static bool ExtractSiftFile(CStdImage* img, int stBlkCol,int stBlkRow,int nBlkCols,int nBlkRows,
const char* lpcstrTempDir,bool bUseExist,char* strSiftFile){
char strSift[512],strTmpSift[512] = "",strTmpSiftInfo[512] = "";
CStdImage::get_attach_file_path(img->GetImagePath(), AFT_SIFT, strSift);
if (lpcstrTempDir) {
sprintf(strTmpSift, "%s/%s_part.sift", lpcstrTempDir, img->GetImageName());
strcpy(strTmpSiftInfo, strTmpSift); strcat(strTmpSiftInfo, ".info");
}
if (bUseExist) {
if (img->CheckSiftFile(strSift, -1) > 0){
LogPrint(0, "Use exist sift file %s.", strSift);
strcpy(strSiftFile, strSift); return true;
}
if (lpcstrTempDir) {
int stBlkColT, stBlkRowT, nBlkColsT, nBlkRowsT;
FILE* fp = fopen(strTmpSiftInfo, "r");
if (fp){
fscanf(fp, "%d%d%d%d", &stBlkColT, &stBlkRowT, &nBlkColsT, &nBlkRowsT); fclose(fp);
if (stBlkColT <= stBlkCol&&stBlkRowT <= stBlkRow
&& (stBlkColT + nBlkColsT >= stBlkCol + nBlkCols) && (stBlkRowT + nBlkRowsT >= stBlkRow + nBlkRows)){
if (img->CheckSiftFile(strTmpSift, -1) > 0){
LogPrint(0, "Use exist sift file %s.", strTmpSift);
strcpy(strSiftFile, strTmpSift); return true;
}
}
}
}
}
float sz = 1.0f*img->GetRows()*img->GetCols();
float s = (float)nBlkRows*nBlkCols / sz;
if (s > 0.8 || sz<GlobalParam::g_extract_buffer_size ) {
if (img->ExtractSift2PtFile(strSift, -1) < 1){
LogPrint(0, "Can't extract sift feature from %s.",
img->GetImageName());
return false;
}
strcpy(strSiftFile, strSift);
}
else if (!lpcstrTempDir) {
if (img->ExtractSift2PtFile(strSift, stBlkCol, stBlkRow, nBlkCols, nBlkRows, -1) < 1){
LogPrint(0, "Can't extract sift feature from %s.",
img->GetImageName());
return false;
}
strcpy(strSiftFile, strSift);
}
else{
if (img->ExtractSift2PtFile(strTmpSift, stBlkCol, stBlkRow, nBlkCols, nBlkRows, -1) < 1){
LogPrint(0, "Can't extract sift feature from %s.",
img->GetImageName());
return false;
}
FILE* fp = fopen(strTmpSiftInfo, "w");
if (fp){
fprintf(fp, "%d\t%d\t%d\t%d\n", stBlkCol, stBlkRow, nBlkCols, nBlkRows); fclose(fp);
}
strcpy(strSiftFile, strTmpSift);
}
return true;
}
#define CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(nExtraArg) \
do {if (i + nExtraArg >= argc) \
{ char str[1024]; sprintf(str, "%s option requires %d argument(s)", argv[i], nExtraArg); Usage(str); }} while (0)
#ifndef EQUAL
# if defined(WIN32) || defined(WIN32CE)
# define STRCASECMP(a,b) (stricmp(a,b))
# define STRNCASECMP(a,b,n) (strnicmp(a,b,n))
# else
# define STRCASECMP(a,b) (strcasecmp(a,b))
# define STRNCASECMP(a,b,n) (strncasecmp(a,b,n))
# endif
# define EQUALN(a,b,n) (STRNCASECMP(a,b,n)==0)
# define EQUAL(a,b) (STRCASECMP(a,b)==0)
#endif
int main(int argc, char* argv[])
{
#ifdef _DEBUG
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);
// _CrtSetBreakAlloc(269);
#endif
char strWsDir[512];
bool bGeoInfo = false;
bool bQuiet = false;
bool bUseExistSRTM = false, bUseExistSift = false;
const char *pszSource = NULL, *pszMatch = NULL, *pszWorkSpace = NULL, *pszMatchFile = NULL, *pszLogFile = NULL;
const char *pszSourceGeo = NULL, *pszMatchGeo = NULL,*pszDem = NULL;
const char *pszSourceID = NULL, *pszMatchID = NULL;
int rcL[4] = { -1 }, rcR[4] = { -1 };
char strErrMsg_rc[256];
sprintf(strErrMsg_rc, "The rectangle area of source dataset must be available"
"( stCol < dataset_cols ; stRow < dataset_rows ; 0 < edCol ; 0 < edRow ; edCol-stCol > %d ; edRow-stRow > %d ).", MIN_OVERLAP_LENGTH, MIN_OVERLAP_LENGTH);
float rangeG = RANGE_GEO, rangeB = RANGE_BLOCK, range = -1;
bool bRefine = false, bUseH = false, bUseF = false;
float H[3][3], F[3][3], hdistmax = -1, fdistmax = -1;
float siftDist = DEFAULT_SIFT_DIST, siftRatio = DEFAULT_SIFT_RATIO;
int mutual_best_match = 1;
float ratiomin_scale = -1, ratiomax_scale = -1, diffmin_ori = -1, diffmax_ori = -1;
/* -------------------------------------------------------------------- */
/* Handle command line arguments. */
/* -------------------------------------------------------------------- */
int i;
for (i = 1; i < argc; i++)
{
if (EQUAL(argv[i], "--help"))
Usage();
else if (EQUAL(argv[i], "--long-usage"))
{
Usage(NULL, FALSE);
}
else if (EQUAL(argv[i], "-enable-gpu"))
{
GlobalParam::g_sift_extract_gpu = GlobalParam::g_sift_match_gpu = true;
}
else if (EQUAL(argv[i], "-enable-gpue"))
{
GlobalParam::g_sift_extract_gpu = true;
}
else if (EQUAL(argv[i], "-enable-gpum"))
{
GlobalParam::g_sift_match_gpu = true;
}
else if ((EQUAL(argv[i], "-ws") || EQUAL(argv[i], "-workspace")) && i < argc - 1)
{
pszWorkSpace = argv[++i]; strcpy(strWsDir, pszWorkSpace); VERF_SLASH(strWsDir);
if (IsExist(strWsDir) && !IsDir(strWsDir)) Usage("Workspace must be a directory.");
}
else if (EQUAL(argv[i], "-output") && i < argc - 1)
{
pszMatchFile = argv[++i];
if (IsDir(pszMatchFile)) Usage("Output must not be a directory.");
}
else if (EQUAL(argv[i], "-log") && i < argc - 1)
{
pszLogFile = argv[++i];
OpenLog(pszLogFile);
}
else if (EQUAL(argv[i], "-q") || EQUAL(argv[i], "-quiet"))
{
bQuiet = TRUE;
}
else if (EQUAL(argv[i], "-range"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
range = (float)atof(argv[++i]);
if (range <= 0) Usage("Search range must > 0.");
}
else if (EQUAL(argv[i], "-rangeG") && i < argc - 1)
{
rangeG = atof(argv[++i]);
if (rangeG<0) Usage("Geo-Search range must >= 0.");
}
else if (EQUAL(argv[i], "-rangeB") && i < argc - 1)
{
rangeB = atof(argv[++i]);
if (rangeB<0) Usage("Block-Search range must >= 0.");
}
else if (EQUAL(argv[i], "-siftD") )
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
siftDist = atof(argv[++i]);
if (siftDist < 0 || siftDist > 2 ) Usage("Maximum sift feature match distance must in [0,2].");
}
else if (EQUAL(argv[i], "-siftR"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
siftRatio = atof(argv[++i]);
if (siftRatio < 0 || siftRatio > 1) Usage("Maximum sift feature match distance ratio must in [0,1].");
}
else if (EQUAL(argv[i], "-ue"))
{
bUseExistSRTM = bUseExistSift = true;
}
else if (EQUALN(argv[i], "-refine",7))
{
bRefine = true;
int l = strlen(argv[i]);
const char* pS = argv[i] + 7;
char strE[100]; sprintf(strE,"Unknown option name '%s' for 'refine'.", argv[i]);
if (l == 8) {
if (*pS == 'h' || *pS == 'H') bUseH = true;
else if (*pS == 'f' || *pS == 'F') bUseF = true;
else Usage(strE);
}else if (l==9){
if (EQUAL(pS, "FH") || EQUAL(pS, "HF")){
bUseF = bUseH = true;
}
else Usage(strE);
}
else if(l > 9 ) Usage(strE);
}
else if (EQUAL(argv[i], "-no-mutual"))
{
mutual_best_match = 0;
}
else if (EQUAL(argv[i], "-scale"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
ratiomin_scale = (float)atof(argv[++i]);
if (ratiomin_scale < 0) Usage("The scale ratio of Sift feature must >= 0.");
char* endptr = NULL;
if (argv[i + 1] != NULL
&& (strtof(argv[i + 1], &endptr) != 0.0 || argv[i + 1][0] == '0'))
{
/* Check that last argument is really a number and not a filename */
/* looking like a number (see ticket #863) */
if (endptr && *endptr == 0)
{
ratiomax_scale = (float)atof(argv[++i]);
if (ratiomax_scale < 0) Usage("The scale ratio of Sift feature must >= 0.");
if (ratiomax_scale < ratiomin_scale) Usage("The Maximum of scale ration must larger than the minimum.");
}
}
}
else if (EQUAL(argv[i], "-orientation"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
diffmin_ori = atof(argv[++i]);
if (argv[i][strlen(argv[i]) - 1] != 'r') { diffmin_ori = diffmin_ori*PI / 180; }
if (diffmin_ori < 0 || diffmin_ori > PI ) Usage("The orientation difference of Sift feature must in [0¡ã,180¡ã].");
char* endptr = NULL;
if (argv[i + 1] != NULL
&& (strtof(argv[i + 1], &endptr) != 0.0 || argv[i + 1][0] == '0'))
{
/* Check that last argument is really a number and not a filename */
/* looking like a number (see ticket #863) */
if (endptr && *endptr == 0)
{
diffmax_ori = atof(argv[++i]);
if (argv[i][strlen(argv[i]) - 1] != 'r') { diffmax_ori = diffmax_ori*PI / 180; }
if (diffmax_ori < 0 || diffmax_ori > PI) Usage("The orientation difference of Sift feature must in [0¡ã,180¡ã].");
if (diffmax_ori < diffmin_ori) Usage("The Maximum of orientation difference must larger than the minimum.");
}
}
}
else if (EQUAL(argv[i], "-ids")){
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
pszSourceID = argv[++i];
}
else if (EQUAL(argv[i], "-idd")){
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
pszMatchID = argv[++i];
}
else if (EQUAL(argv[i], "-geo"))
{
bGeoInfo = true;
}
else if (EQUAL(argv[i], "-geos"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
pszSourceGeo = argv[++i];
bGeoInfo = true;
}
else if (EQUAL(argv[i], "-geod"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(1);
pszMatchGeo = argv[++i];
bGeoInfo = true;
}
else if (EQUAL(argv[i], "-rc") || EQUAL(argv[i], "-rcs"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(4);
int t = atoi(argv[++i]); rcL[0] = t > 0 ? t : 0;
t = atoi(argv[++i]); rcL[1] = t > 0 ? t : 0;
t = atoi(argv[++i]); if (t <= 0 || t - rcL[0] <= MIN_OVERLAP_LENGTH) Usage(strErrMsg_rc); rcL[2] = t;
t = atoi(argv[++i]); if (t <= 0 || t - rcL[1] <= MIN_OVERLAP_LENGTH) Usage(strErrMsg_rc); rcL[3] = t;
}
else if (EQUAL(argv[i], "-rcd"))
{
CHECK_HAS_ENOUGH_ADDITIONAL_ARGS(4);
int t = atoi(argv[++i]); rcR[0] = t > 0 ? t : 0;
t = atoi(argv[++i]); rcR[1] = t > 0 ? t : 0;
t = atoi(argv[++i]); if (t <= 0 || t - rcR[0] <= MIN_OVERLAP_LENGTH) Usage(strErrMsg_rc); rcR[2] = t;
t = atoi(argv[++i]); if (t <= 0 || t - rcR[1] <= MIN_OVERLAP_LENGTH) Usage(strErrMsg_rc); rcR[3] = t;
}
else if (EQUAL(argv[i], "-dem") && i < argc - 1)
{
pszDem = argv[++i];
}
else if (argv[i][0] == '-')
{
char strE[512]; sprintf(strE, "Unknown option name '%s'", argv[i]);
Usage(strE);
}
else if (pszSource == NULL)
{
pszSource = argv[i];
}
else if (pszMatch == NULL)
{
pszMatch = argv[i];
}
else
{
Usage("Too many command options.");
}
}
if (rangeG > rangeB) Usage("Block-Search range must not less than Geo-Search range.");
#define RC_IMAGE(rc,img) \
{ \
if (rc[0] < 0) { rc[0] = 0; rc[1] = 0; rc[2] = img.GetCols(); rc[3] = img.GetRows(); } \
else if (rc[0] > img.GetCols() - 1 || rc[1] > img.GetRows() - 1) { LogPrint(0, strErrMsg_rc); return 1; }\
else{\
if (rc[2] > img.GetCols() - 1) rc[2] = img.GetCols() - 1; \
if (rc[3] > img.GetRows() - 1) rc[3] = img.GetRows() - 1; \
rc[2] = rc[2] - rc[0] + 1; rc[3] = rc[3] - rc[1] + 1; if (rc[2] <= MIN_OVERLAP_LENGTH || rc[3] <= MIN_OVERLAP_LENGTH) { LogPrint(0, strErrMsg_rc); return 1; } \
} }
CGeoImage imgL, imgR;
int ret_code = 0;
if (pszWorkSpace) {
if (!IsExist(strWsDir) && !CreateDir(strWsDir)) Usage("Fail to create workspace.");
CStdImage::set_workspace_path(strWsDir);
}
if (pszMatch == NULL)
{
if (pszSource == NULL)
Usage("No source dataset specified.");
else{
if (!imgL.Open(pszSource)){
LogPrint(0, "Can't open image %s.",
pszSource);
exit(1);
}
char strPath[512];
RC_IMAGE(rcL, imgL);
if (!ExtractSiftFile(&imgL,rcL[0],rcL[1],rcL[2],rcL[3],NULL,bUseExistSift,strPath) ){
LogPrint(0,
"Can't extract sift feature from %s.",
pszSource);
return 1;
}
return 0;
}
}
if (!pszMatchFile){
if (!pszWorkSpace) Usage("workspace and output are null.At least one of them must be set.");
}
if (!imgL.Open(pszSource)){
LogPrint(0,
"Can't open image %s.",
pszSource);
exit(1);
}
if (!imgR.Open(pszMatch)){
LogPrint(0,
"Can't open image %s.",
pszMatch);
exit(1);
}
CStdDem dem;
if (pszDem && !dem.Load4File(pszDem)){
LogPrint(0,
"Can't open DEM %s.",
pszDem);
exit(1);
}
#define EXCHANGEIMAGE \
{ \
CGeoImage img; img = imgL; imgL = imgR; imgR = img; bImgExchanged = !bImgExchanged; \
} \
bool bImgExchanged = false;
float fGsd_ratio = 1;
CImagesCoorT* pCvt = NULL;
CAltitude* pAlt = NULL;
if (bGeoInfo){
if (pszSourceGeo){
if (!imgL.InitRpcImage(pszSource, pszSourceGeo)){
LogPrint(0,
"%s is unsupported GeoFile.",
pszSourceGeo);
exit(1);
}
}
else if (!imgL.InitTFWImage(pszSource)){
LogPrint(0,
"%s is not GeoImage.",
pszSource);
exit(1);
}
if (pszMatchGeo){
if (!imgR.InitRpcImage(pszMatch, pszMatchGeo)){
LogPrint(0,
"%s is unsupported GeoFile.",
pszMatchGeo);
exit(1);
}
}
else if (!imgR.InitTFWImage(pszMatch)){
LogPrint(0,
"%s is not GeoImage.",
pszMatch);
exit(1);
}
if (pszSourceID) imgL.SetImageID(pszSourceID); if (pszMatchID) imgR.SetImageID(pszMatchID);
fGsd_ratio = imgR.GetGsd() / imgL.GetGsd();
if (fGsd_ratio < 0.9){
EXCHANGEIMAGE;
fGsd_ratio = 1 / fGsd_ratio;
}
/*
if (!pszDem){
char strSRTMPath[512]; CStdImage::get_attach_file_path(imgL.GetImagePath(), AFT_SRTM, strSRTMPath);
if (bUseExistSRTM&&CDUImage::CheckSRTMFile(strSRTMPath) && dem.Load4File(strSRTMPath)) {
LogPrint(0, "Use exist SRTM file %s.", strSRTMPath); pszDem = strSRTMPath;
}
else if (CDUImage::SRTM(&imgL, strSRTMPath) && dem.Load4File(strSRTMPath)) {
pszDem = strSRTMPath;
}
bUseExistSRTM = true;
}
if (pszDem){
CDemAltitude* pDem = new CDemAltitude;
pDem->init(&dem);
pAlt = pDem;
}
else{
CAvrAltitude* pAvr = new CAvrAltitude;
pAvr->init(0, 1000);
pAlt = pAvr;
}*/
if (pszDem){
CDemAltitude* pDem = new CDemAltitude;
pDem->init(&dem);
pAlt = pDem;
}
CGeoImagesCoorT* cvt = new CGeoImagesCoorT;
if (!cvt->init(&imgL, &imgR, pAlt)){
LogPrint(0, "Fail to initialize the transformation between two images.");
delete cvt;
goto end1;
}
pCvt = cvt;
}
else{
if (pszSourceID) imgL.SetImageID(pszSourceID); if (pszMatchID) imgR.SetImageID(pszMatchID);
if (ratiomax_scale>0 && (ratiomax_scale<1 || ratiomin_scale>1)){
if (ratiomax_scale < 1) fGsd_ratio = 1 / ratiomax_scale;
else{
EXCHANGEIMAGE;
fGsd_ratio = ratiomin_scale;
}
}
CStdImagesCoorT* cvt = new CStdImagesCoorT;
cvt->init(&imgL, &imgR);
pCvt = cvt;
range = -1;
}
pCvt->set_range((int)range);
char strModel[512]; char strTempDir[512];
int stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL;
int stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR;
char strSiftFileL[512], strSiftFileR[512];
MPt* match_result = NULL; int match_num;
if (pszMatchFile) strcpy(strModel, pszMatchFile);
if (pszWorkSpace){
sprintf(strTempDir, "%s/temp/%s_%s", CStdImage::get_workspace_path(),imgL.GetImageID(),imgR.GetImageID()); CreateDir(strTempDir);
}
else{
strcpy(strTempDir, pszMatchFile); char* pS = strrchr(strTempDir, '.'); if (!pS) pS = strTempDir + strlen(strTempDir);
strcpy(pS, "_temp"); CreateDir(strTempDir);
}
refine:
if (fGsd_ratio < 0.9 ){
EXCHANGEIMAGE;
CImagesCoorT* cvt = pCvt->CreateInvertT(false);
delete[] pCvt; pCvt = cvt;
fGsd_ratio = 1 / fGsd_ratio;
}
if (!pszMatchFile){
sprintf(strModel, "%s/%s=%s.model", CStdImage::get_workspace_path(), imgL.GetImageName(), imgR.GetImageName());
}
if (!pCvt->overlap_on_left(&stBlkColL, &stBlkRowL, &nBlkColsL, &nBlkRowsL)){
LogPrint(0,
"No overlap between the two images.");
ret_code = 2;
goto end2;
}
nBlkColsL = nBlkColsL - stBlkColL + 1; nBlkRowsL = nBlkRowsL - stBlkRowL + 1;
if (!pCvt->overlap_on_right(&stBlkColR, &stBlkRowR, &nBlkColsR, &nBlkRowsR)){
LogPrint(0,
"No overlap between the two images.");
ret_code = 2;
goto end2;
}
nBlkColsR = nBlkColsR - stBlkColR + 1; nBlkRowsR = nBlkRowsR - stBlkRowR + 1;
LogPrint(0, "\nOverlap=\t(%s)[%d,%d]+[%d,%d]<=>(%s)[%d,%d]+[%d,%d]\n",
imgL.GetImageName(), stBlkColL, stBlkRowL, nBlkColsL, nBlkRowsL, imgR.GetImageName(), stBlkColR, stBlkRowR, nBlkColsR, nBlkRowsR);
if (nBlkColsL < MIN_OVERLAP_LENGTH || nBlkRowsL < MIN_OVERLAP_LENGTH || nBlkColsR < MIN_OVERLAP_LENGTH || nBlkRowsR < MIN_OVERLAP_LENGTH){
LogPrint(0, "The overlap on row/col is too small (less than %d).", MIN_OVERLAP_LENGTH);
ret_code = 2;
goto end2;
}
int search_range = nBlkColsR>nBlkRowsR ? nBlkColsR : nBlkRowsR;
if (search_range < rangeB) search_range = rangeB;
if (range < 0 || range > search_range){
range = search_range;
}
#define SAVE_MATCH_FILE(strModel,imgL,imgR) \
{ int nb[7] = { sizeof(MPt), sizeof(MPt), sizeof(MPt), sizeof(MPt), sizeof(MPt), sizeof(MPt), 0 }; \
CMatchFile::WriteModelFile(strModel, \
imgL.GetImageID(), imgL.GetImagePath(), \
imgR.GetImageID(), imgR.GetImagePath(), \
match_result->nameL, &match_result->xl, &match_result->yl, match_result->nameR, &match_result->xr, &match_result->yr, NULL, match_num, nb); \
LogPrint(0, "Save match result to %s.",strModel); }\