kopia lustrzana https://github.com/OpenDroneMap/ODM
Daniel
rodzic
57d1ac53c3
commit
e0e4282798
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@ -4,11 +4,14 @@ $filename_base = $ARGV[0];
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$write_binary = 1;
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$filename_src = $filename_base.".key.sift";
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$filename_dest = $filename_base.($write_binary ? ".key.bin" : ".key");
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$filename_image = $filename_base.".jpg";
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$filename_src = $filename_base.".key.sift";
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$filename_dest_bin = $filename_base.".key.bin";
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$filename_dest_key = $filename_base.".key";
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$filename_image = $filename_base.".jpg";
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open (DEST_BIN, ">$filename_dest_bin");
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open (DEST_KEY, ">$filename_dest_key");
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open (DEST, ">$filename_dest");
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open (SRC, "$filename_src");
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$resolution_line = `jhead $filename_image | grep "Resolution"`;
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@ -17,11 +20,12 @@ $resolution_line = `jhead $filename_image | grep "Resolution"`;
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$linecount = 0;
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$linecount += tr/\n/\n/ while sysread(SRC, $_, 2 ** 16);
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seek(SRC, 0, 0);
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printf ("found %d features in %s (%d x %d)\n", $linecount, $filename_image, $res_x, $res_y);
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if($write_binary){
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print DEST pack("L", $linecount);
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seek(SRC, 0, 0);
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print DEST_BIN pack("L", $linecount);
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while ($record = <SRC>) {
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@parts = split(/ /, $record);
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@ -50,10 +54,13 @@ if($write_binary){
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@parts[$count+5] = @tmp;
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}
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print DEST pack("f4 C128", @parts);
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print DEST_BIN pack("f4 C128", @parts);
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}
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} else {
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print DEST $linecount, " 128\n";
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}
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seek(SRC, 0, 0);
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print DEST_KEY $linecount, " 128\n";
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while ($record = <SRC>) {
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@parts = split(/ /, $record);
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@ -66,7 +73,7 @@ if($write_binary){
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@parts[3] *= -1;
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printf (DEST "%.3f %.3f %.3f %.3f", @parts[1], @parts[0], @parts[2], @parts[3]);
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printf (DEST_KEY "%.3f %.3f %.3f %.3f", @parts[1], @parts[0], @parts[2], @parts[3]);
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shift(@parts);
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shift(@parts);
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@ -89,19 +96,20 @@ if($write_binary){
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foreach (@parts) {
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if((($counter) % 20) == 0) {
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print DEST "\n ";
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print DEST_KEY "\n ";
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} else {
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if($counter != 0){
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print DEST " ";
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print DEST_KEY " ";
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}
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}
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print DEST $_;
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print DEST_KEY $_;
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$counter++;
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}
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}
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}
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close(DEST);
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close(DEST_BIN);
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close(DEST_KEY);
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close(SRC);
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@ -18,6 +18,8 @@
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/* Read in keys, match, write results to a file */
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#include <time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include "keys2a.h"
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@ -25,18 +27,20 @@ int main(int argc, char **argv) {
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char *keys1_in;
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char *keys2_in;
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char *file_out;
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double ratio;
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double ratio, threshold;
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if (argc != 4) {
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printf("Usage: %s <keys1.in> <keys2.in> <out.txt>\n", argv[0]);
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return -1;
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if (argc != 6) {
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printf("Usage: %s <keys1.in> <keys2.in> <out.txt> <ratio> <threshold>\n", argv[0]);
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return -1;
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}
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keys1_in = argv[1];
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keys2_in = argv[2];
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ratio = 0.6; // atof(argv[3]);
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file_out = argv[3];
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ratio = atof(argv[4]);
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threshold = atof(argv[5]);
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clock_t start = clock();
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unsigned char *keys1, *keys2;
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@ -83,10 +87,13 @@ int main(int argc, char **argv) {
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clock_t end = clock();
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int m = (num1 < num2 ? num1 : num2);
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float r = (num_matches * 100 / m);
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float r = ((float)num_matches * 100 / m);
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if (num_matches >= 16 && r > 5.0) {
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bool used = false;
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if (num_matches >= 16 && r > threshold) {
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used = true;
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FILE *f = fopen(file_out, "w");
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/* Write the number of matches */
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@ -99,10 +106,10 @@ int main(int argc, char **argv) {
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fclose(f);
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}
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printf("%8d matches ~ %5.2f%% of %d in %6.3fs for %s\n",
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if(used) printf("\n%8d matches (%4.1f%%) took %5.2fs for %s\t",
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num_matches,
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r,
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m,
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(end - start) / ((double) CLOCKS_PER_SEC),
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file_out);
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177
run.pl
177
run.pl
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@ -58,12 +58,8 @@ sub run {
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die "\n\nquitting cause: \n\t$_[0]\nreturned with code ".$?."\n";
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}
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}
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sub now {
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(@date) = localtime;
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$date[5] += 1900;
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$date[4]++;
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print sprintf("%0.2d-%0.2d-%0.4d %0.2d:%0.2d:%0.2d",$date[3],$date[4]++, $date[5], $date[2],$date[1],$date[0]);;
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sub now {
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system("echo `date`");
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}
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sub parseArgs {
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@ -75,6 +71,9 @@ sub parseArgs {
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$args{"--end-with"} = "pmvs";
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$args{"--cmvs-maxImages"} = 100;
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$args{"--matcher-ratio"} = 0.6;
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$args{"--matcher-threshold"} = 2.0;
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$args{"--pmvs-level"} = 1;
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$args{"--pmvs-csize"} = 2;
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@ -115,6 +114,20 @@ sub parseArgs {
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} else {
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die "\n invalid parameter for \"".$ARGV[$i]."\": ".$ARGV[$i+1]."\n\t valid values are \"resize\", \"getKeypoints\", \"match\", \"bundler\", \"cmvs\", \"pmvs\"";
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}
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}
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if($ARGV[$i] eq "--matcher-threshold"){
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if($ARGV[$i+1] =~ /^-?[0-9]*\.?[0-9]*$/){
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$args{$ARGV[$i]} = $ARGV[$i+1];
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} else {
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die "\n invalid parameter for \"".$ARGV[$i]."\": ".$ARGV[$i+1];
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}
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}
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if($ARGV[$i] eq "--matcher-ratio"){
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if($ARGV[$i+1] =~ /^-?[0-9]*\.?[0-9]*$/){
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$args{$ARGV[$i]} = $ARGV[$i+1];
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} else {
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die "\n invalid parameter for \"".$ARGV[$i]."\": ".$ARGV[$i+1];
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}
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}
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if($ARGV[$i] eq "--cmvs-maxImages"){
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if($ARGV[$i+1] =~ /^[0-9]*$/){
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@ -182,59 +195,71 @@ sub parseArgs {
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print "\nit should be run from the folder contining the images to which should reconstructed";
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print "\n";
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print "\noptions:";
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print "\n --help: ";
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print "\n prints this screen";
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print "\n";
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print "\n --resize-to: <positive integer|\"orig\">";
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print "\n default: 1200";
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print "\n will resize the images so that the maximum width/height of the images are smaller or equal to the specified number";
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print "\n if \"--resize-to orig\" is used it will use the images without resizing";
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print "\n";
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print "\n --start-with: <\"resize\"|\"getKeypoints\"|\"match\"|\"bundler\"|\"cmvs\"|\"pmvs\">";
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print "\n default: resize";
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print "\n will start the sript at the specified step";
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print "\n";
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print "\n --end-with: <\"resize\"|\"getKeypoints\"|\"match\"|\"bundler\"|\"cmvs\"|\"pmvs\">";
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print "\n default: pmvs";
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print "\n will stop the sript after the specified step";
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print "\n";
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print "\n --run-only: <\"resize\"|\"getKeypoints\"|\"match\"|\"bundler\"|\"cmvs\"|\"pmvs\">";
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print "\n will only execute the specified step";
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print "\n equal to --start-with <step> --end-with <step>";
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print "\n";
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print "\n --force-focal: <positive float>";
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print "\n override the focal length information for the images";
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print "\n";
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print "\n --force-ccd: <positive float>";
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print "\n override the ccd width information for the images";
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print "\n";
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print "\n --cmvs-maxImages: <positive integer>";
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print "\n default: 100";
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print "\n the maximum number of images per cluster";
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print "\n";
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print "\n --pmvs-level: <positive integer>";
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print "\n default: 1";
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print "\n --pmvs-csize: <positive integer>";
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print "\n default: 2";
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print "\n --pmvs-threshold: <float: -1 <= x <= 1>";
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print "\n default: 0.7";
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print "\n --pmvs-wsize: <positive integer>";
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print "\n default: 7";
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print "\n--pmvs-minImageNum: <positive integer>";
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print "\n default: 3";
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print "\n see http://grail.cs.washington.edu/software/pmvs/documentation.html for an explanation of these parameters";
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print "\n --help: ";
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print "\n prints this screen";
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print "\n ";
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print "\n --resize-to: <positive integer|\"orig\">";
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print "\n default: 1200";
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print "\n will resize the images so that the maximum width/height of the images are smaller or equal to the specified number";
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print "\n if \"--resize-to orig\" is used it will use the images without resizing";
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print "\n ";
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print "\n --start-with: <\"resize\"|\"getKeypoints\"|\"match\"|\"bundler\"|\"cmvs\"|\"pmvs\">";
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print "\n default: resize";
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print "\n will start the sript at the specified step";
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print "\n ";
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print "\n --end-with: <\"resize\"|\"getKeypoints\"|\"match\"|\"bundler\"|\"cmvs\"|\"pmvs\">";
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print "\n default: pmvs";
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print "\n will stop the sript after the specified step";
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print "\n ";
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print "\n --run-only: <\"resize\"|\"getKeypoints\"|\"match\"|\"bundler\"|\"cmvs\"|\"pmvs\">";
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print "\n will only execute the specified step";
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print "\n equal to --start-with <step> --end-with <step>";
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print "\n ";
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print "\n --force-focal: <positive float>";
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print "\n override the focal length information for the images";
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print "\n ";
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print "\n --force-ccd: <positive float>";
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print "\n override the ccd width information for the images";
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print "\n ";
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print "\n --matcher-threshold: <float> (percent)";
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print "\n default: 2.0";
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print "\n ignore matched keypoints if the two images share less then <float> percent of keypoints";
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print "\n ";
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print "\n --matcher-ratio: <float";
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print "\n default: 0.6";
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print "\n ratio of the distance to the next best matched keypoint";
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print "\n ";
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print "\n --cmvs-maxImages: <positive integer>";
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print "\n default: 100";
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print "\n the maximum number of images per cluster";
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print "\n ";
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print "\n --pmvs-level: <positive integer>";
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print "\n default: 1";
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print "\n --pmvs-csize: <positive integer>";
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print "\n default: 2";
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print "\n --pmvs-threshold: <float: -1.0 <= x <= 1.0>";
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print "\n default: 0.7";
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print "\n --pmvs-wsize: <positive integer>";
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print "\n default: 7";
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print "\n --pmvs-minImageNum: <positive integer>";
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print "\n default: 3";
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print "\n see http://grail.cs.washington.edu/software/pmvs/documentation.html for an explanation of these parameters";
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print "\n";
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exit;
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@ -418,19 +443,23 @@ sub getKeypoints {
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$vlsiftJobs = "";
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$c = 0;
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foreach $fileObject (@objects) {
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$c = $c+1;
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if($fileObject->{isOk}){
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if($args{"--lowe-sift"}){
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$vlsiftJobs .= "convert -format pgm \"$fileObject->{step_0_resizedImage}\" \"$fileObject->{step_1_pgmFile}\"";
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$vlsiftJobs .= "echo -n \"$c/$objectStats{good} - \" && convert -format pgm \"$fileObject->{step_0_resizedImage}\" \"$fileObject->{step_1_pgmFile}\"";
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$vlsiftJobs .= " && \"$BIN_PATH/sift\" < \"$fileObject->{step_1_pgmFile}\" > \"$fileObject->{step_1_keyFile}\"";
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$vlsiftJobs .= " && gzip -f \"$fileObject->{step_1_keyFile}\"";
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$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_pgmFile}\"";
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$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_keyFile}.sift\"\n";
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} else {
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unless (-e "$jobOptions{jobDir}/$fileObject->{base}.key.bin") {
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$vlsiftJobs .= "convert -format pgm \"$fileObject->{step_0_resizedImage}\" \"$fileObject->{step_1_pgmFile}\"";
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$vlsiftJobs .= "echo -n \"$c/$objectStats{good} - \" && convert -format pgm \"$fileObject->{step_0_resizedImage}\" \"$fileObject->{step_1_pgmFile}\"";
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$vlsiftJobs .= " && \"$BIN_PATH/vlsift\" \"$fileObject->{step_1_pgmFile}\" -o \"$fileObject->{step_1_keyFile}.sift\" > /dev/null && perl \"$BIN_PATH/../convert_vlsift_to_lowesift.pl\" \"$jobOptions{jobDir}/$fileObject->{base}\"";
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# $vlsiftJobs .= " && gzip -f \"$fileObject->{step_1_keyFile}\"";
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$vlsiftJobs .= " && gzip -f \"$fileObject->{step_1_keyFile}\"";
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$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_pgmFile}\"";
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$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_keyFile}.sift\"\n";
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} else {
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@ -462,13 +491,15 @@ sub match {
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$matchesJobs = "";
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my $c = 0;
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my $t = ($objectStats{good}-1) * (($objectStats{good}-1) - ($objectStats{good}-1)%1)/2;
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my $t = ($objectStats{good}-1) * ($objectStats{good}/2);
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for (my $i = 0; $i < $objectStats{good}; $i++) {
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for (my $j = $i+1; $j < $objectStats{good}; $j++) {
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$c++;
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unless (-e "$jobOptions{step_2_matches_dir}/$i-$j.txt"){
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$matchesJobs .= "echo -n \" $c / $t\" && touch \"$jobOptions{step_2_matches_dir}/$i-$j.txt\" && \"$BIN_PATH/KeyMatch\" \"@objects[$i]->{step_1_keyFile}\" \"@objects[$j]->{step_1_keyFile}\" \"$jobOptions{step_2_matches_dir}/$i-$j.txt\"\n";
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$matchesJobs .= "echo -n \".\" && touch \"$jobOptions{step_2_matches_dir}/$i-$j.txt\" && \"$BIN_PATH/KeyMatch\" \"@objects[$i]->{step_1_keyFile}\" \"@objects[$j]->{step_1_keyFile}\" \"$jobOptions{step_2_matches_dir}/$i-$j.txt\" $args{'--matcher-ratio'} $args{'--matcher-threshold'}\n";
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}
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}
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}
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@ -479,7 +510,17 @@ sub match {
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run("\"$BIN_PATH/parallel\" --halt-on-error 1 -j+0 < \"$jobOptions{step_2_macthes_jobs}\"");
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return ;
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run("rm -f \"$jobOptions{step_2_matches}\"");
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for (my $i = 0; $i < $objectStats{good}; $i++) {
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for (my $j = $i+1; $j < $objectStats{good}; $j++) {
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$c++;
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if (-e "$jobOptions{step_2_matches_dir}/$i-$j.txt" && (-s "$jobOptions{step_2_matches_dir}/$i-$j.txt") > 0) {
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run("echo \"$i $j\" >> \"$jobOptions{step_2_matches}\" && cat \"$jobOptions{step_2_matches_dir}/$i-$j.txt\" >> \"$jobOptions{step_2_matches}\"");
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}
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}
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}
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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@ -488,12 +529,12 @@ sub match {
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}
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}
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}
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open (MATCH_DEST, ">$jobOptions{step_2_filelist}");
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print MATCH_DEST $filesList;
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close(MATCH_DEST);
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run("\"$BIN_PATH/KeyMatchFull\" \"$jobOptions{step_2_filelist}\" \"$jobOptions{step_2_matches}\" ");
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# run("\"$BIN_PATH/KeyMatchFull\" \"$jobOptions{step_2_filelist}\" \"$jobOptions{step_2_matches}\" ");
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if($args{"--end-with"} ne "match"){
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bundler();
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@ -532,7 +573,7 @@ sub bundler {
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$bundlerOptions .= "--variable_focal_length\n";
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$bundlerOptions .= "--use_focal_estimate\n";
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$bundlerOptions .= "--constrain_focal\n";
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$bundlerOptions .= "--constrain_focal_weight 0.0001\n";
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$bundlerOptions .= "--constrain_focal_weight 0.01\n";
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$bundlerOptions .= "--estimate_distortion\n";
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$bundlerOptions .= "--run_bundle";
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Ładowanie…
Reference in New Issue