* multithreaded matcher

* support for patched files
qwesda · Oct 8, 2011 · be4990c · be4990c
1 parent 4ec22da
commit be4990c
Show file tree

Hide file tree

Showing 5 changed files with 774 additions and 0 deletions.
diff --git a/README b/README
diff --git a/patched_files/src/bundler/src/KeyMatch.cpp b/patched_files/src/bundler/src/KeyMatch.cpp
@@ -0,0 +1,117 @@
+/* 
+ *  Copyright (c) 2008-2010  Noah Snavely (snavely (at) cs.cornell.edu)
+ *    and the University of Washington
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ */
+
+/* KeyMatch.cpp */
+/* Read in keys, match, write results to a file */
+
+#include <time.h>
+
+#include "keys2a.h"
+
+int main(int argc, char **argv) {
+    char *keys1_in;
+    char *keys2_in;
+    char *file_out;
+    double ratio;
+
+    if (argc != 4) {
+	printf("Usage: %s <keys1.in> <keys2.in> <out.txt>\n", argv[0]);
+	return -1;
+    }
+
+    keys1_in = argv[1];
+    keys2_in = argv[2];
+    ratio = 0.6; // atof(argv[3]);
+    file_out = argv[3];
+
+    clock_t start = clock();
+
+    unsigned char *keys1, *keys2;
+
+    int num1 = ReadKeyFile(keys1_in, &keys1);
+    int num2 = ReadKeyFile(keys2_in, &keys2);
+
+
+    /* Compute likely matches between two sets of keypoints */
+    std::vector<KeypointMatch> matches = 
+	MatchKeys(num1, keys1, num2, keys2, ratio);
+
+#if 0
+    std::vector<KeypointMatch> matches_sym = 
+	MatchKeys(num2, keys2, num1, keys1);
+#endif
+
+    int num_matches = (int) matches.size();
+    // int num_matches_sym = (int) matches_sym.size();
+
+ //   printf("num_matches = %d\n", num_matches);
+    // printf("num_matches_sym = %d\n", num_matches_sym);
+
+#if 0
+    /* Prune asymmetric matches */
+    for (int i = 0; i < num_matches; i++) {
+	int idx1 = matches[i].m_idx1;
+	int idx2 = matches[i].m_idx2;
+
+	for (int j = 0; j < num_matches_sym; j++) {
+	    if (matches_sym[j].m_idx1 == idx2) {
+		if (matches_sym[j].m_idx2 != idx1) {
+		    matches.erase(matches.begin() + i);
+		    i--;
+		    num_matches--;
+		}
+
+		break;
+	    }
+	}
+    }
+#endif
+
+    clock_t end = clock();    
+
+	int m = (num1 < num2 ? num1 : num2);
+	float r = (num_matches * 100 / m);
+
+
+    if (num_matches >= 16 && r > 5.0) {
+		FILE *f = fopen(file_out, "w");
+
+		/* Write the number of matches */
+		fprintf(f, "%d\n", (int) matches.size());
+
+		for (int i = 0; i < num_matches; i++) {
+		    fprintf(f, "%d %d\n", matches[i].m_idx1, matches[i].m_idx2);
+		}
+
+		fclose(f);
+    }
+
+  printf("%8d matches ~ %5.2f%% of %d in %6.3fs for %s\n", 
+		num_matches,
+		r,
+		m,
+	   (end - start) / ((double) CLOCKS_PER_SEC),
+		file_out);
+
+
+/*    printf("%8d matches = %5.2f%% %d in %6.3fs in %s\n", 
+		num_matches,
+		r,
+		m,
+	   (end - start) / ((double) CLOCKS_PER_SEC),
+		file_out);
+		*/
+}
diff --git a/patched_files/src/bundler/src/Makefile b/patched_files/src/bundler/src/Makefile
@@ -0,0 +1,82 @@
+# Makefile for bundler
+
+CC=gcc
+OPTFLAGS=-O3 -Wall
+
+OS=$(shell uname -o)
+
+ifeq ($(OS), Cygwin)
+BUNDLER=bundler.exe
+KEYMATCHFULL=KeyMatchFull.exe
+KEYMATCH=KeyMatch.exe
+BUNDLE2PMVS=Bundle2PMVS.exe
+BUNDLE2VIS=Bundle2Vis.exe
+RADIALUNDISTORT=RadialUndistort.exe
+else
+BUNDLER=bundler
+KEYMATCHFULL=KeyMatchFull
+KEYMATCH=KeyMatch
+BUNDLE2PMVS=Bundle2PMVS
+BUNDLE2VIS=Bundle2Vis
+RADIALUNDISTORT=RadialUndistort
+endif
+
+INCLUDE_PATH=-I../lib/imagelib -I../lib/sfm-driver -I../lib/matrix	\
+	-I../lib/5point -I../lib/sba-1.5 -I../lib/ann_1.1_char/include
+
+LIB_PATH=-L../lib -L../lib/ann_1.1_char/lib
+
+CPPFLAGS=$(OPTFLAGS) $(OTHERFLAGS) $(INCLUDE_PATH) $(DEFINES)
+
+BUNDLER_DEFINES=-D__NO_UI__ -D__BUNDLER__ -D__BUNDLER_DISTR__
+
+BUNDLER_OBJS=BaseApp.o BundlerApp.o keys.o Register.o Epipolar.o	\
+	Bundle.o BundleFast.o MatchTracks.o Camera.o Geometry.o		\
+	ImageData.o SifterUtil.o BaseGeometry.o BundlerGeometry.o	\
+	BoundingBox.o BundleAdd.o ComputeTracks.o BruteForceSearch.o	\
+	BundleIO.o ProcessBundle.o BundleTwo.o Decompose.o		\
+	RelativePose.o Distortion.o TwoFrameModel.o LoadJPEG.o
+
+BUNDLER_LIBS=-limage -lsfmdrv -lsba.v1.5 -lmatrix -lz -llapack -lblas \
+	-lcblas -lminpack -lm -l5point -ljpeg -lANN_char -lgfortran
+
+
+all: $(BUNDLER) $(KEYMATCHFULL) $(KEYMATCH) $(BUNDLE2PMVS) $(BUNDLE2VIS) $(RADIALUNDISTORT)
+
+%.o : %.cpp
+	$(CXX) -c -o $@ $(CPPFLAGS) $(WXFLAGS) $(BUNDLER_DEFINES) $<
+
+$(BUNDLER): $(BUNDLER_OBJS)
+	$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) \
+		$(BUNDLER_DEFINES) $(BUNDLER_OBJS) $(BUNDLER_LIBS)
+	cp $@ ../bin
+
+$(KEYMATCHFULL): KeyMatchFull.o keys2a.o
+	$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) KeyMatchFull.o keys2a.o \
+		-lANN_char -lz
+	cp $@ ../bin
+
+$(KEYMATCH): KeyMatch.o keys2a.o
+	$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) KeyMatch.o keys2a.o \
+		-lANN_char -lz
+	cp $@ ../bin
+
+$(BUNDLE2PMVS): Bundle2PMVS.o LoadJPEG.o
+	$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) Bundle2PMVS.o LoadJPEG.o \
+		-limage -lmatrix -llapack -lblas -lcblas -lgfortran \
+		-lminpack -ljpeg
+	cp $@ ../bin
+
+$(BUNDLE2VIS): Bundle2Vis.o
+	$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) Bundle2Vis.o
+	cp $@ ../bin
+
+$(RADIALUNDISTORT): RadialUndistort.o LoadJPEG.o
+	$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) $^ \
+		-limage -lmatrix -llapack -lblas -lcblas -lgfortran \
+		-lminpack -ljpeg
+	cp $@ ../bin
+
+clean:
+	rm -f *.o *~ $(BUNDLER) $(KEYMATCHFULL) $(KEYMATCH) $(BUNDLE2PMVS) \
+		$(BUNDLE2VIS) $(RADIALUNDISTORT)