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https://github.com/lucaspalomodevelop/meshlab.git
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- restored filter_mutualinfoxml with double precision support
This commit is contained in:
Guido Ranzuglia granzuglia
parent
450267c514
commit
d295f1e43a
@ -27,7 +27,7 @@
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#include <wrap/gl/shot.h>
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#include <wrap/gl/camera.h>
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bool MutualInfoPlugin::applyFilter( const QString& filterName,MeshDocument& md,EnvWrap&env, vcg::CallBackPos * cb )
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bool MutualInfoPlugin::applyFilter( const QString& filterName,MeshDocument& md,EnvWrap&env, vcg::CallBackPos * /*cb*/ )
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{
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if (md.mm() == NULL)
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return false;
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@ -87,7 +87,8 @@ void Parameters::initScale(CMeshO &mesh, int nsamples) {
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reset();
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const double step = 0.1;
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for(int i = 0; i < size(); i++) {
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for(int i = 0; i < size(); i++)
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{
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p[i] = step;
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Shot test = toShot(false);
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double diff = pixelDiff(test, mesh, nsamples)/step;
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@ -99,6 +100,7 @@ void Parameters::initScale(CMeshO &mesh, int nsamples) {
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}
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p[i] = 0.0;
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}
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/*scale[6] = 1;
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for(int i = 0; i < 300; i++) {
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p[6] = -20 + i*0.2;
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@ -127,7 +127,7 @@ double Solver::operator()(int ndim, double *x) {
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double k = mIweight;
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double error =0;
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if(align->correspList->size()>0)
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error = calculateError2(shot);
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error = calculateError2(shot);
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align->error = error;
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double result = k*info + (1-k)*error;
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@ -543,43 +543,41 @@ int Solver::levmar(AlignSet *_align, MutualInfo *_mutual, Shot &shot) {
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template<class Correlation>
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double Solver::calculateError(std::list<Correlation> *corrs, Shot &shot){
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typename std::list<Correlation>::iterator it_c;
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Correlation* c;
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double ratio = shot.Intrinsics.ViewportPx.X()/(double) shot.Intrinsics.ViewportPx.Y();
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vcg::Point3f *p1;
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vcg::Point2d *p2;
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//shot.Intrinsics.ViewportPx.X()/(double) shot.Intrinsics.ViewportPx.Y();
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int count=0;
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double error = 0;
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double error = 0;
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// OKKIO!!
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// for ( it_c= corrs->begin() ; it_c !=corrs->end(); it_c++ ){
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// c=&*it_c;
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// p1=&(c->point3d);
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// p2=&(c->point2d);
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// c=&*it_c;
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// p1=&(c->point3d);
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// p2=&(c->point2d);
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// if(p1!=NULL && p2!=NULL)
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// {
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// //Adjust 2D point
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// vcg::Point2d p2adj(((p2->X()/ratio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((p2->Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
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// //Project 3D point
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// vcg::Point2f p1proj = shot.Project(*p1);
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// //Calculate disntance
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// float dist = vcg::Distance<float>(p1proj,p2adj);
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// error += dist;
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// count++;
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// }
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//}//all corrs
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// if(p1!=NULL && p2!=NULL)
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// {
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// //Adjust 2D point
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// vcg::Point2d p2adj(((p2->X()/ratio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((p2->Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
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// //Project 3D point
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// vcg::Point2f p1proj = shot.Project(*p1);
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// //Calculate disntance
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// float dist = vcg::Distance<float>(p1proj,p2adj);
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// error += dist;
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// count++;
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// }
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//}//all corrs
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////Normalize error
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return error /= count;
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////Normalize error
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return error /= count;
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}
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double Solver::calculateError2( Shot &shot){
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//E' una pezza, andrebbe meglio pensato. Va a beccare direttamente le strutture dati PointCorrespondence di base.
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//align già è sicuramente settato perchè lo chiami da optimize (poi dovrai distinguere le due cose, p.e. fare un optimize2)
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QList<PointCorrespondence*> *correspList = align->correspList;
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double error = 0;
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int count=0;
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//E' una pezza, andrebbe meglio pensato. Va a beccare direttamente le strutture dati PointCorrespondence di base.
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//align già è sicuramente settato perchè lo chiami da optimize (poi dovrai distinguere le due cose, p.e. fare un optimize2)
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QList<PointCorrespondence*> *correspList = align->correspList;
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double error = 0;
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int count=0;
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for( int i=0; i<correspList->count(); i++){
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PointCorrespondence *corr = correspList->at(i);
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@ -589,129 +587,129 @@ double Solver::calculateError2( Shot &shot){
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vcg::Point3f currentPoint1(currentPointOnLayer1.pX, currentPointOnLayer1.pY,currentPointOnLayer1.pZ );
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vcg::Point3f currentPoint2(currentPointOnLayer2.pX, currentPointOnLayer2.pY,currentPointOnLayer2.pZ );
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vcg::Point2f p2adj;
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vcg::Point2f p1proj;
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vcg::Point2f p1proj;
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if(type1==_3D_POINT){
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//Adjust 2D point
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p2adj = vcg::Point2f(((currentPoint2.X()/align->imageRatio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((currentPoint2.Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
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//Project 3D point
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p1proj = shot.Project(currentPoint1);
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p2adj = vcg::Point2f(((currentPoint2.X()/align->imageRatio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((currentPoint2.Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
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//Project 3D point
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p1proj = shot.Project(currentPoint1);
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}
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else{
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//Adjust 2D point
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p2adj = vcg::Point2f(((currentPoint1.X()/align->imageRatio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((currentPoint1.Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
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//Project 3D point
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p1proj = shot.Project(currentPoint2);
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p2adj = vcg::Point2f(((currentPoint1.X()/align->imageRatio) +1)/2.0 * shot.Intrinsics.CenterPx.X()*2.0,((currentPoint1.Y())+1)/2.0 * shot.Intrinsics.CenterPx.Y()*2.0);
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//Project 3D point
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p1proj = shot.Project(currentPoint2);
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}
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float dist = vcg::Distance<float>(p1proj,p2adj);
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error += dist;
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count++;
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}
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float dist = vcg::Distance<float>(p1proj,p2adj);
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error += dist;
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count++;
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}
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//Normalize error
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return error /= count;
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//Normalize error
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return error /= count;
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}
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bool Solver::levmar(AlignSet *_align, Shot &shot){
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align = _align;
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align = _align;
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QList<PointCorrespondence*> *correspList = align->correspList;
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std::list<LevmarCorrelation> *corrs = new std::list<LevmarCorrelation>();
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for( int i=0; i<correspList->count(); i++){
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PointCorrespondence *corr = correspList->at(i);
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PointOnLayer currentPointOnLayer1= corr->getPointAt(0);
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PointOnLayer currentPointOnLayer2= corr->getPointAt(1);
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PointType type1 = currentPointOnLayer1.getType();
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LevmarCorrelation *corrLevmar = new LevmarCorrelation();
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if(type1==_3D_POINT){
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vcg::Point3f currentPoint3d(currentPointOnLayer1.pX, currentPointOnLayer1.pY,currentPointOnLayer1.pZ );
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corrLevmar->point3d = currentPoint3d;
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vcg::Point2d currentPoint2d(currentPointOnLayer2.pX, currentPointOnLayer2.pY);
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corrLevmar->point2d = currentPoint2d;
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}
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else{
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vcg::Point3f currentPoint3d(currentPointOnLayer2.pX, currentPointOnLayer2.pY,currentPointOnLayer2.pZ );
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corrLevmar->point3d = currentPoint3d;
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vcg::Point2d currentPoint2d(currentPointOnLayer1.pX, currentPointOnLayer1.pY);
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corrLevmar->point2d = currentPoint2d;
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}
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qDebug("Point3d %f %f %f",(float)corrLevmar->point3d.X(),(float)corrLevmar->point3d.Y(),(float)(float)corrLevmar->point3d.Z());
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qDebug("Point2d %f %f %f",(float)corrLevmar->point2d.X(),(float)corrLevmar->point2d.Y());
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std::list<LevmarCorrelation> *corrs = new std::list<LevmarCorrelation>();
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for( int i=0; i<correspList->count(); i++){
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PointCorrespondence *corr = correspList->at(i);
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PointOnLayer currentPointOnLayer1= corr->getPointAt(0);
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PointOnLayer currentPointOnLayer2= corr->getPointAt(1);
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PointType type1 = currentPointOnLayer1.getType();
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LevmarCorrelation *corrLevmar = new LevmarCorrelation();
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if(type1==_3D_POINT){
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vcg::Point3f currentPoint3d(currentPointOnLayer1.pX, currentPointOnLayer1.pY,currentPointOnLayer1.pZ );
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corrLevmar->point3d = currentPoint3d;
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vcg::Point2d currentPoint2d(currentPointOnLayer2.pX, currentPointOnLayer2.pY);
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corrLevmar->point2d = currentPoint2d;
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}
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else{
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vcg::Point3f currentPoint3d(currentPointOnLayer2.pX, currentPointOnLayer2.pY,currentPointOnLayer2.pZ );
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corrLevmar->point3d = currentPoint3d;
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vcg::Point2d currentPoint2d(currentPointOnLayer1.pX, currentPointOnLayer1.pY);
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corrLevmar->point2d = currentPoint2d;
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}
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qDebug("Point3d %f %f %f",(float)corrLevmar->point3d.X(),(float)corrLevmar->point3d.Y(),(float)(float)corrLevmar->point3d.Z());
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qDebug("Point2d %f %f %f",(float)corrLevmar->point2d.X(),(float)corrLevmar->point2d.Y());
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corrs->push_back(*corrLevmar);
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}
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corrs->push_back(*corrLevmar);
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}
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vcg::Camera<float> &cam = shot.Intrinsics;
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vcg::Camera<float> &cam = shot.Intrinsics;
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//DEBUG
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qDebug("\n TEST BEFORE CALIBRATION \n");
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qDebug("Focal %f",cam.FocalMm);
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qDebug("ViewportPx.X %i",cam.ViewportPx.X());
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qDebug("ViewportPx.Y %i",cam.ViewportPx.Y());
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qDebug("CenterPx.X %f",cam.CenterPx[0]);
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qDebug("CenterPx.Y %f",cam.CenterPx[1]);
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qDebug("DistorntedCenterPx.X %f",cam.DistorCenterPx[0]);
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qDebug("DistorntedCenterPx.Y %f",cam.DistorCenterPx[1]);
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qDebug("PixelSizeMm.X %f",cam.PixelSizeMm[0]);
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qDebug("PixelSizeMm.Y %f",cam.PixelSizeMm[1]);
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qDebug("k1 %f",cam.k[0]);
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qDebug("k2 %f",cam.k[1]);
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qDebug("Tra %f %f %f",shot.Extrinsics.Tra().X(),shot.Extrinsics.Tra().Y(),shot.Extrinsics.Tra().Z());
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for(int i=0;i<4;i++)
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qDebug("Rot %f %f %f %f", (shot.Extrinsics.Rot())[i][0],(shot.Extrinsics.Rot())[i][1],(shot.Extrinsics.Rot())[i][2],(shot.Extrinsics.Rot())[i][3] );
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//DEBUG
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qDebug("\n TEST BEFORE CALIBRATION \n");
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qDebug("Focal %f",cam.FocalMm);
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qDebug("ViewportPx.X %i",cam.ViewportPx.X());
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qDebug("ViewportPx.Y %i",cam.ViewportPx.Y());
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qDebug("CenterPx.X %f",cam.CenterPx[0]);
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qDebug("CenterPx.Y %f",cam.CenterPx[1]);
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qDebug("DistorntedCenterPx.X %f",cam.DistorCenterPx[0]);
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qDebug("DistorntedCenterPx.Y %f",cam.DistorCenterPx[1]);
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qDebug("PixelSizeMm.X %f",cam.PixelSizeMm[0]);
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qDebug("PixelSizeMm.Y %f",cam.PixelSizeMm[1]);
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qDebug("k1 %f",cam.k[0]);
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qDebug("k2 %f",cam.k[1]);
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qDebug("Tra %f %f %f",shot.Extrinsics.Tra().X(),shot.Extrinsics.Tra().Y(),shot.Extrinsics.Tra().Z());
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for(int i=0;i<4;i++)
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qDebug("Rot %f %f %f %f", (shot.Extrinsics.Rot())[i][0],(shot.Extrinsics.Rot())[i][1],(shot.Extrinsics.Rot())[i][2],(shot.Extrinsics.Rot())[i][3] );
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Shot previousShot = shot;
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//First calculate only extrinsics
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bool result = LevmarMethods::calibrate(&shot,corrs,false);
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//If user wants calibrate the focal (these have to be two different steps)
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if(optimize_focal)
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result = LevmarMethods::calibrate(&shot,corrs,optimize_focal);
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Shot previousShot = shot;
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//First calculate only extrinsics
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bool result = LevmarMethods::calibrate(&shot,corrs,false);
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//If user wants calibrate the focal (these have to be two different steps)
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if(optimize_focal)
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result = LevmarMethods::calibrate(&shot,corrs,optimize_focal);
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qDebug("End calibration");
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align->error = calculateError(corrs,shot);
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qDebug("End calibration");
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align->error = calculateError(corrs,shot);
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//DA SPEIGARE PERCHE'
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//cam.CenterPx[0] = cam.CenterPx[0] + (cam.CenterPx[0] - cam.DistorCenterPx[0]);
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//cam.CenterPx[1] = cam.CenterPx[1] + (cam.CenterPx[1] - cam.DistorCenterPx[1]);
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//DA SPEIGARE PERCHE'
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//cam.CenterPx[0] = cam.CenterPx[0] + (cam.CenterPx[0] - cam.DistorCenterPx[0]);
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//cam.CenterPx[1] = cam.CenterPx[1] + (cam.CenterPx[1] - cam.DistorCenterPx[1]);
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// //PAOLO BRIVIO
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// Shot idShot;
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// idShot.Intrinsics = shot.Intrinsics;
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// idShot.Extrinsics.SetTra(Point3d(0,0,1000));
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// //idShot = shot;
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// Shot2Track<Shot::ScalarType>(shot,idShot,track);
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// //shot.Extrinsics.SetIdentity();
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// shot = idShot;
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// //PAOLO BRIVIO
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// Shot idShot;
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// idShot.Intrinsics = shot.Intrinsics;
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// idShot.Extrinsics.SetTra(Point3d(0,0,1000));
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// //idShot = shot;
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// Shot2Track<Shot::ScalarType>(shot,idShot,track);
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// //shot.Extrinsics.SetIdentity();
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// shot = idShot;
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// //PAOLO BRIVIO
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// Shot idShot;
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// idShot.Intrinsics = shot.Intrinsics;
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//
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// Shot2Track<Shot::ScalarType>(shot,previousShot,track);
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// shot = idShot;
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// //PAOLO BRIVIO
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// Shot idShot;
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// idShot.Intrinsics = shot.Intrinsics;
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//
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// Shot2Track<Shot::ScalarType>(shot,previousShot,track);
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// shot = idShot;
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//DEBUG
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//vcg::Camera<double> &cam = shot.Intrinsics;
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qDebug("\n TEST AFTER CALIBRATION \n");
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qDebug("Focal %f",cam.FocalMm);
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qDebug("ViewportPx.X %i",cam.ViewportPx.X());
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qDebug("ViewportPx.Y %i",cam.ViewportPx.Y());
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qDebug("CenterPx.X %f",cam.CenterPx[0]);
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qDebug("CenterPx.Y %f",cam.CenterPx[1]);
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qDebug("DistortedCenterPx.X %f",cam.DistorCenterPx[0]);
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qDebug("DistortedCenterPx.Y %f",cam.DistorCenterPx[1]);
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qDebug("PixelSizeMm.X %f",cam.PixelSizeMm[0]);
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qDebug("PixelSizeMm.Y %f",cam.PixelSizeMm[1]);
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qDebug("k1 %f",cam.k[0]);
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qDebug("k2 %f",cam.k[1]);
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qDebug("Tra %f %f %f",shot.Extrinsics.Tra().X(),shot.Extrinsics.Tra().Y(),shot.Extrinsics.Tra().Z());
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for(int i=0;i<4;i++)
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qDebug("Rot %f %f %f %f", (shot.Extrinsics.Rot())[i][0],(shot.Extrinsics.Rot())[i][1],(shot.Extrinsics.Rot())[i][2],(shot.Extrinsics.Rot())[i][3] );
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align->shot=shot;
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return result;
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//DEBUG
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//vcg::Camera<double> &cam = shot.Intrinsics;
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qDebug("\n TEST AFTER CALIBRATION \n");
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qDebug("Focal %f",cam.FocalMm);
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qDebug("ViewportPx.X %i",cam.ViewportPx.X());
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qDebug("ViewportPx.Y %i",cam.ViewportPx.Y());
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qDebug("CenterPx.X %f",cam.CenterPx[0]);
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qDebug("CenterPx.Y %f",cam.CenterPx[1]);
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qDebug("DistortedCenterPx.X %f",cam.DistorCenterPx[0]);
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qDebug("DistortedCenterPx.Y %f",cam.DistorCenterPx[1]);
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qDebug("PixelSizeMm.X %f",cam.PixelSizeMm[0]);
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qDebug("PixelSizeMm.Y %f",cam.PixelSizeMm[1]);
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qDebug("k1 %f",cam.k[0]);
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qDebug("k2 %f",cam.k[1]);
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qDebug("Tra %f %f %f",shot.Extrinsics.Tra().X(),shot.Extrinsics.Tra().Y(),shot.Extrinsics.Tra().Z());
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for(int i=0;i<4;i++)
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qDebug("Rot %f %f %f %f", (shot.Extrinsics.Rot())[i][0],(shot.Extrinsics.Rot())[i][1],(shot.Extrinsics.Rot())[i][2],(shot.Extrinsics.Rot())[i][3] );
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align->shot=shot;
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return result;
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}
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