| 52 | } |
| 53 | |
| 54 | bool perspective::initialize(const data::frame &cur_frm, const std::vector<int> &ref_matches_with_cur) |
| 55 | { |
| 56 | // set the current camera model |
| 57 | cur_camera_ = cur_frm.camera_; |
| 58 | |
| 59 | // store the keypoints and bearings |
| 60 | cur_undist_keypts_ = cur_frm.undist_keypts_; |
| 61 | cur_bearings_ = cur_frm.bearings_; |
| 62 | |
| 63 | // align matching information |
| 64 | ref_cur_matches_.clear(); // std::vector<std::pair<int, int>>, this member inherited from the base! |
| 65 | ref_cur_matches_.reserve(cur_frm.undist_keypts_.size()); |
| 66 | for (unsigned int ref_idx = 0; ref_idx < ref_matches_with_cur.size(); ++ref_idx) |
| 67 | { |
| 68 | const auto cur_idx = ref_matches_with_cur.at(ref_idx); |
| 69 | if (0 <= cur_idx) |
| 70 | { |
| 71 | ref_cur_matches_.emplace_back(std::make_pair(ref_idx, cur_idx)); |
| 72 | } |
| 73 | } |
| 74 | |
| 75 | // set the current camera matrix |
| 76 | cur_cam_matrix_ = get_camera_matrix(cur_frm.camera_); |
| 77 | |
| 78 | // FW: those are old functions used to calculate H and F |
| 79 | // compute H and F matrices in two parallel threads |
| 80 | // auto homography_solver = solve::homography_solver(ref_undist_keypts_, cur_undist_keypts_, ref_cur_matches_, 1.0); |
| 81 | // auto fundamental_solver = solve::fundamental_solver(ref_undist_keypts_, cur_undist_keypts_, ref_cur_matches_, 1.0); |
| 82 | |
| 83 | // FW: same solver but using graph-cut ransac (with image cols and rows as input) |
| 84 | auto homography_solver = solve::homography_solver(ref_undist_keypts_, cur_undist_keypts_, ref_cur_matches_, 1.0, |
| 85 | cur_frm._img_rgb.cols, cur_frm._img_rgb.rows); |
| 86 | auto fundamental_solver = solve::fundamental_solver(ref_undist_keypts_, cur_undist_keypts_, ref_cur_matches_, 1.0, |
| 87 | cur_frm._img_rgb.cols, cur_frm._img_rgb.rows); |
| 88 | |
| 89 | // FW: calculate H and F in parallel |
| 90 | // std::thread thread_for_H(&solve::homography_solver::find_via_ransac, &homography_solver, num_ransac_iters_, true); |
| 91 | // std::thread thread_for_F(&solve::fundamental_solver::find_via_ransac, &fundamental_solver, num_ransac_iters_, true); |
| 92 | |
| 93 | std::thread thread_for_H(&solve::homography_solver::find_via_graph_cut_ransac, &homography_solver); |
| 94 | // std::thread thread_for_F(&solve::fundamental_solver::find_via_graph_cut_ransac, &fundamental_solver); |
| 95 | std::thread thread_for_F(&solve::fundamental_solver::find_via_ransac, &fundamental_solver, num_ransac_iters_, true); |
| 96 | thread_for_H.join(); |
| 97 | thread_for_F.join(); // wait thread finish |
| 98 | |
| 99 | // compute a score |
| 100 | const auto score_H = homography_solver.get_best_score(); |
| 101 | const auto score_F = fundamental_solver.get_best_score(); |
| 102 | const float rel_score_H = score_H / (score_H + score_F); |
| 103 | |
| 104 | // select a case according to the score |
| 105 | if (0.40 < rel_score_H && homography_solver.solution_is_valid()) |
| 106 | { |
| 107 | const Mat33_t H_ref_to_cur = homography_solver.get_best_H_21(); |
| 108 | const auto is_inlier_match = homography_solver.get_inlier_matches(); |
| 109 | return reconstruct_with_H(H_ref_to_cur, is_inlier_match); |
| 110 | } |
| 111 | else if (fundamental_solver.solution_is_valid()) |
nothing calls this directly
no test coverage detected