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update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 19 Jun 2023 17:09:56 -0400
parents 05ccd8ef150c
children
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1 #include "cvutils.hpp"
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2 #include "utils.hpp"
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4 #include "opencv2/core.hpp"
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5 #include "opencv2/highgui.hpp"
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6 #include "opencv2/features2d.hpp"
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8 #include <iostream>
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9 #include <vector>
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11 using namespace std;
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12 using namespace cv;
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14 Point2f project(const Point2f& p, const Mat& homography) {
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15 //Mat homogeneous(3, 1, CV_32FC1);
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16 float x, y;
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17 float w = homography.at<float>(2,0)*p.x+homography.at<float>(2,1)*p.y+homography.at<float>(2,2);
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18 if (w != 0) {
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19 x = (homography.at<float>(0,0)*p.x+homography.at<float>(0,1)*p.y+homography.at<float>(0,2))/w;
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20 y = (homography.at<float>(1,0)*p.x+homography.at<float>(1,1)*p.y+homography.at<float>(1,2))/w;
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21 } else {
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22 x = 0;
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23 y = 0;
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24 }
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25 return Point2f(x, y);
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26 }
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28 Point2f cameraProject(const Point2f& p, const Mat& cameraMatrix) {
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29 //Mat homogeneous(3, 1, CV_32FC1);
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30 float x, y;
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31 x = cameraMatrix.at<double>(0,0)*p.x+cameraMatrix.at<double>(0,2);
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32 y = cameraMatrix.at<double>(1,1)*p.y+cameraMatrix.at<double>(1,2);
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33 return Point2f(x, y);
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34 }
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36 Mat loadMat(const string& filename, const string& separator) {
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37 vector<vector<float> > numbers = ::loadNumbers(filename, separator);
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38
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39 Mat mat;
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41 if (!numbers.empty()) {
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42 mat = Mat(numbers.size(),numbers[0].size(), CV_32FC1);
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43 for (unsigned int i=0; i<numbers.size(); i++)
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44 for (unsigned int j=0; j<numbers[0].size(); j++)
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45 mat.at<float>(i,j) = numbers[i][j];
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46 }
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48 return mat;
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49 }
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51 void keyPoints2Points(const vector<KeyPoint>& kpts, vector<Point2f>& pts, const bool& clearPts /* = true */) {
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52 if (clearPts)
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53 pts.clear();
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54 pts.reserve(kpts.size());
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56 for (unsigned int i=0; i<kpts.size(); i++)
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57 pts.push_back(kpts[i].pt);
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58 }
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60 // IplImage* allocateImage(const int& width, const int& height, const int& depth, const int& channels) { return ::allocateImage(cvSize(width, height), depth, channels);}
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62 // IplImage* allocateImage(const CvSize& size, const int& depth, const int& channels) {
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63 // IplImage* image = cvCreateImage(size, depth, channels);
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65 // if (!image) {
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66 // cerr << "Error: Couldn't allocate image. Out of memory?\n" << endl;
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67 // exit(-1);
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68 // }
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70 // return image;
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71 // }
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73 // int goToFrameNum(CvCapture* inputVideo, const int& currentFrameNum, const int& targetFrameNum) {
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74 // int frameNum = currentFrameNum;
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75 // if (currentFrameNum > targetFrameNum) {
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76 // cerr << "Current frame number " << currentFrameNum << " is after the target frame number " << targetFrameNum << "." << endl;
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77 // } else if (currentFrameNum < targetFrameNum) {
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78 // IplImage* frame = cvQueryFrame(inputVideo);
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79 // frameNum++;
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80 // while (frame && frameNum<targetFrameNum) {
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81 // frame = cvQueryFrame(inputVideo);
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82 // frameNum++;
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83 // }
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84 // }
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85
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86 // return frameNum;
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87 // }
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88
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89 const Scalar Colors::color[] = {Colors::red(),
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90 Colors::green(),
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91 Colors::blue(),
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92 Colors::cyan(),
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93 Colors::magenta(),
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94 Colors::yellow(),
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95 Colors::white(),
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96 Colors::black()};
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97
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98 // Blue, Green, Red
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99 Scalar Colors::black(void) { return Scalar(0,0,0);}
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100 Scalar Colors::blue(void) { return Scalar(255,0,0);}
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101 Scalar Colors::green(void) { return Scalar(0,255,0);}
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102 Scalar Colors::red(void) { return Scalar(0,0,255);}
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103 Scalar Colors::white(void) { return Scalar(255,255,255);}
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104 Scalar Colors::magenta(void) { return Scalar(255,0,255);}
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105 Scalar Colors::yellow(void) { return Scalar(0,255,255);}
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106 Scalar Colors::cyan(void) { return Scalar(255,255,0);}
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107
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108 Scalar Colors::color3(const int& num) { return Colors::color[num%3];}
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109 Scalar Colors::color8(const int& num) { return Colors::color[num%Colors::nColors];}