kopia lustrzana https://github.com/OpenDroneMap/ODM
658 wiersze
25 KiB
Perl
Executable File
658 wiersze
25 KiB
Perl
Executable File
#!/usr/bin/perl
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##
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## created by Daniel Schwarz/daniel.schwarz@topoi.org
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## released under Creative Commons/CC-BY
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## Attribution
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##
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use File::Basename;
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use File::Copy;
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use File::Spec;
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use Data::Dumper;
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use Time::localtime;
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use Switch;
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use POSIX qw(strftime);
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## the defs
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chomp($CURRENT_DIR = `pwd`);
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chomp($BIN_PATH_REL = `dirname $0`);
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chomp($OS = `uname -o`);
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chomp($CORES = `ls -d /sys/devices/system/cpu/cpu[[:digit:]]* | wc -w`);
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if(!File::Spec->file_name_is_absolute($BIN_PATH_REL)){
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$BIN_PATH_ABS = File::Spec->rel2abs($BIN_PATH_REL);
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} else {
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$BIN_PATH_ABS = File::Spec->rel2abs($BIN_PATH_REL);
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}
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require "$BIN_PATH_ABS/ccd_defs.pl";
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$BIN_PATH = $BIN_PATH_ABS."/bin";
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my %objectStats = {
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count => 0,
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good => 0,
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bad => 0,
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minWidth => 0,
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minHeight => 0,
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maxWidth => 0,
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maxHeight => 0
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};
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my %jobOptions = {
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resizeTo => 0,
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srcDir => $CURRENT_DIR
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};
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my %args = {};
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$jobOptions{srcDir} = "$CURRENT_DIR";
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sub run {
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system($_[0]);
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if($? != 0){
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die "\n\nquitting cause: \n\t$_[0]\nreturned with code ".$?."\n";
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}
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}
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sub now {
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system("echo `date`");
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}
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sub parseArgs {
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## defaults
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$args{"--match-size"} = "200";
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$args{"--resize-to"} = "3000";
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$args{"--start-with"} = "resize";
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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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$args{"--pmvs-threshold"} = 0.7;
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$args{"--pmvs-wsize"} = 7;
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$args{"--pmvs-minImageNum"} = 3;
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for($i = 0; $i <= $#ARGV; $i++) {
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if($ARGV[$i] =~ /^--[^a-z\-]*/){
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$args{"$ARGV[$i]"} = true;
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if(!($ARGV[$i+1] =~ /^--[^a-z\-]*/)) {
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if($ARGV[$i] eq "--resize-to"){
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if($ARGV[$i+1] eq "orig" || $ARGV[$i+1] =~ /^[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 "--start-with"){
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if($ARGV[$i+1] eq "resize" || $ARGV[$i+1] eq "getKeypoints" || $ARGV[$i+1] eq "match" || $ARGV[$i+1] eq "bundler" || $ARGV[$i+1] eq "cmvs" || $ARGV[$i+1] eq "pmvs"){
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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]."\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 "--end-with"){
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if($ARGV[$i+1] eq "resize" || $ARGV[$i+1] eq "getKeypoints" || $ARGV[$i+1] eq "match" || $ARGV[$i+1] eq "bundler" || $ARGV[$i+1] eq "cmvs" || $ARGV[$i+1] eq "pmvs"){
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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]."\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 "--run-only"){
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if($ARGV[$i+1] eq "resize" || $ARGV[$i+1] eq "getKeypoints" || $ARGV[$i+1] eq "match" || $ARGV[$i+1] eq "bundler" || $ARGV[$i+1] eq "cmvs" || $ARGV[$i+1] eq "pmvs"){
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$args{"--start-with"} = $ARGV[$i+1];
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$args{"--end-with"} = $ARGV[$i+1];
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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]*$/){
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$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 "--pmvs-level"){
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if($ARGV[$i+1] =~ /^[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 "--pmvs-csize"){
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if($ARGV[$i+1] =~ /^[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 "--pmvs-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 "--pmvs-wsize"){
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if($ARGV[$i+1] =~ /^[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 "--pmvs-minImageNum"){
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if($ARGV[$i+1] =~ /^[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 "--force-focal"){
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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 "--force-ccd"){
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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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}
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}
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}
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if($args{"--help"}){
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print "\nusage: run.pl [options]";
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print "\nit should be run from the folder containing the images to be 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: 3000";
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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 than <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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}
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print "\n - configuration:";
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foreach $args_key (sort keys %args) {
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if($args{$args_key} ne ""){
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print "\n $args_key: $args{$args_key}";
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}
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}
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print "\n";
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print "\n";
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}
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sub prepareObjects {
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## get the source list
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@source_files = `ls -1 | egrep "\.[jJ]{1}[pP]{1}[eE]{0,1}[gG]{1}"`;
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print "\n - source files - "; now(); print "\n";
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foreach $file (@source_files) {
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chomp($file);
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chomp($file_make = `jhead \"$file\" | grep "Camera make"`);
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chomp($file_model = `jhead \"$file\" | grep "Camera model"`);
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chomp($file_focal = `jhead \"$file\" | grep "Focal length"`);
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chomp($file_ccd = `jhead \"$file\" | grep "CCD width"`);
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chomp($file_resolution = `jhead \"$file\" | grep "Resolution"`);
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my %fileObject = {};
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chomp(($fileObject{src}) = $file);
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chomp(($fileObject{base}) = $file);
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$fileObject{base} =~ s/\.[^\.]*$//;
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chomp(($fileObject{make}) = $file_make =~ /: ([^\n\r]*)/);
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chomp(($fileObject{model}) = $file_model =~ /: ([^\n\r]*)/);
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$fileObject{make} =~ s/^\s+//; $fileObject{make} =~ s/\s+$//;
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$fileObject{model} =~ s/^\s+//; $fileObject{model} =~ s/\s+$//;
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$fileObject{id} = $fileObject{make}." ".$fileObject{model};
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($fileObject{width}, $fileObject{height}) = $file_resolution =~ /: ([0-9]*) x ([0-9]*)/;
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if(!$args{"--force-focal"}){
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($fileObject{focal}) = $file_focal =~ /:[\ ]*([0-9\.]*)mm/;
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} else {
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$fileObject{focal} = $args{"--force-focal"};
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}
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if(!$args{"--force-ccd"}){
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($fileObject{ccd}) = $file_ccd =~ /:[\ ]*([0-9\.]*)mm/;
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if(!$fileObject{ccd}){;
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$fileObject{ccd} = $ccdWidths{$fileObject{id}};
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}
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} else {
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$fileObject{ccd} = $args{"--force-ccd"};
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}
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if($fileObject{ccd} && $fileObject{focal} && $fileObject{width} && $fileObject{height}){
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if($fileObject{width} > $fileObject{height}){
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$fileObject{focalpx} = $fileObject{width} * ($fileObject{focal} / $fileObject{ccd});
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} else {
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$fileObject{focalpx} = $fileObject{height} * ($fileObject{focal} / $fileObject{ccd});
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}
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$fileObject{isOk} = true;
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$objectStats{good}++;
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print "\n using $fileObject{src} dimensions: $fileObject{width}x$fileObject{height} / focal: $fileObject{focal}mm / ccd: $fileObject{ccd}mm";
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} else {
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$fileObject{isOk} = false;
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$objectStats{bad}++;
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print "\n no CCD width or focal length found for $fileObject{src} - camera: \"$fileObject{id}\"";
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}
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$objectStats{count}++;
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if($objectStats{minWidth} == 0) { $objectStats{minWidth} = $fileObject{width}; }
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if($objectStats{minHeight} == 0) { $objectStats{minHeight} = $fileObject{height}; }
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$objectStats{minWidth} = $objectStats{minWidth} < $fileObject{width} ? $objectStats{minWidth} : $fileObject{width};
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$objectStats{minHeight} = $objectStats{minHeight} < $fileObject{height} ? $objectStats{minHeight} : $fileObject{height};
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$objectStats{maxWidth} = $objectStats{maxWidth} > $fileObject{width} ? $objectStats{maxWidth} : $fileObject{width};
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$objectStats{maxHeight} = $objectStats{maxHeight} > $fileObject{height} ? $objectStats{maxHeight} : $fileObject{height};
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push(@objects, \%fileObject);
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}
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if(!$objectStats{good}){
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print "\n\n found no usable images - quitting\n";
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die;
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} else {
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print "\n\n found $objectStats{good} usable images";
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}
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print "\n";
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$jobOptions{resizeTo} = $args{"--resize-to"};
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print "\n using max image size of $jobOptions{resizeTo} x $jobOptions{resizeTo}";
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$jobOptions{jobDir} = "$jobOptions{srcDir}/reconstruction-with-image-size-$jobOptions{resizeTo}";
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$jobOptions{step_1_convert} = "$jobOptions{jobDir}/_convert.templist.txt";
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$jobOptions{step_1_vlsift} = "$jobOptions{jobDir}/_vlsift.templist.txt";
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$jobOptions{step_1_gzip} = "$jobOptions{jobDir}/_gzip.templist.txt";
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$jobOptions{step_2_filelist} = "$jobOptions{jobDir}/_filelist.templist.txt";
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$jobOptions{step_2_macthes_jobs} = "$jobOptions{jobDir}/_matches_jobs.templist.txt";
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$jobOptions{step_2_matches_dir} = "$jobOptions{jobDir}/matches";
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$jobOptions{step_2_matches} = "$jobOptions{jobDir}/matches.init.txt";
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$jobOptions{step_3_filelist} = "$jobOptions{jobDir}/list.txt";
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$jobOptions{step_3_bundlerOptions} = "$jobOptions{jobDir}/options.txt";
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mkdir($jobOptions{jobDir});
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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$fileObject->{step_0_resizedImage} = "$jobOptions{jobDir}/$fileObject->{base}.jpg";
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$fileObject->{step_1_pgmFile} = "$jobOptions{jobDir}/$fileObject->{base}.pgm";
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$fileObject->{step_1_keyFile} = "$jobOptions{jobDir}/$fileObject->{base}.key";
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$fileObject->{step_1_gzFile} = "$jobOptions{jobDir}/$fileObject->{base}.key.gz";
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}
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}
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# exit
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}
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sub resize {
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print "\n";
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print "\n - preparing images - "; now(); print "\n";
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print "\n";
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chdir($jobOptions{jobDir});
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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unless (-e "$fileObject->{step_0_resizedImage}"){
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if($jobOptions{resizeTo} != "orig" && (($fileObject->{width} > $jobOptions{resizeTo}) || ($fileObject->{height} > $jobOptions{resizeTo}))){
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print "\n resizing $fileObject->{src} \tto $fileObject->{step_0_resizedImage}";
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run("convert -resize $jobOptions{resizeTo}x$jobOptions{resizeTo} -quality 100 \"$jobOptions{srcDir}/$fileObject->{src}\" \"$fileObject->{step_0_resizedImage}\"");
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} else {
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print "\n copying $fileObject->{src} \tto $fileObject->{step_0_resizedImage}";
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copy("$CURRENT_DIR/$fileObject->{src}", "$fileObject->{step_0_resizedImage}");
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}
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} else {
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print "\n using existing $fileObject->{src} \tto $fileObject->{step_0_resizedImage}";
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}
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chomp($file_resolution = `jhead \"$fileObject->{step_0_resizedImage}\" | grep "Resolution"`);
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($fileObject->{width}, $fileObject->{height}) = $file_resolution =~ /: ([0-9]*) x ([0-9]*)/;
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print "\t ($fileObject->{width} x $fileObject->{height})";
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}
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}
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if($args{"--end-with"} ne "resize"){
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getKeypoints();
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}
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}
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sub getKeypoints {
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print "\n";
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print "\n - finding keypoints - "; now(); print "\n";
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print "\n\n";
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chdir($jobOptions{jobDir});
|
|
|
|
$vlsiftJobs = "";
|
|
|
|
$c = 0;
|
|
|
|
foreach $fileObject (@objects) {
|
|
$c = $c+1;
|
|
|
|
if($fileObject->{isOk}){
|
|
if($args{"--lowe-sift"}){
|
|
$vlsiftJobs .= "echo -n \" $c/$objectStats{good} - \" && convert -format pgm \"$fileObject->{step_0_resizedImage}\" \"$fileObject->{step_1_pgmFile}\"";
|
|
$vlsiftJobs .= " && \"$BIN_PATH/sift\" < \"$fileObject->{step_1_pgmFile}\" > \"$fileObject->{step_1_keyFile}\"";
|
|
$vlsiftJobs .= " && gzip -f \"$fileObject->{step_1_keyFile}\"";
|
|
$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_pgmFile}\"";
|
|
$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_keyFile}.sift\"\n";
|
|
} else {
|
|
unless (-e "$jobOptions{jobDir}/$fileObject->{base}.key.bin") {
|
|
$vlsiftJobs .= "echo -n \" $c/$objectStats{good} - \" && convert -format pgm \"$fileObject->{step_0_resizedImage}\" \"$fileObject->{step_1_pgmFile}\"";
|
|
$vlsiftJobs .= " && \"$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}\"";
|
|
$vlsiftJobs .= " && gzip -f \"$fileObject->{step_1_keyFile}\"";
|
|
$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_pgmFile}\"";
|
|
$vlsiftJobs .= " && rm -f \"$fileObject->{step_1_keyFile}.sift\"\n";
|
|
} else {
|
|
print "using existing $jobOptions{jobDir}/$fileObject->{base}.key.bin\n";
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
open (SIFT_DEST, ">$jobOptions{step_1_vlsift}");
|
|
print SIFT_DEST $vlsiftJobs;
|
|
close(SIFT_DEST);
|
|
|
|
run("\"$BIN_PATH/parallel\" --halt-on-error 1 -j+0 < \"$jobOptions{step_1_vlsift}\"");
|
|
|
|
if($args{"--end-with"} ne "getKeypoints"){
|
|
match();
|
|
}
|
|
}
|
|
|
|
sub match {
|
|
print "\n";
|
|
print "\n - matching keypoints - "; now(); print "\n";
|
|
print "\n";
|
|
|
|
chdir($jobOptions{jobDir});
|
|
mkdir($jobOptions{step_2_matches_dir});
|
|
|
|
$matchesJobs = "";
|
|
|
|
my $c = 0;
|
|
my $t = ($objectStats{good}-1) * ($objectStats{good}/2);
|
|
|
|
for (my $i = 0; $i < $objectStats{good}; $i++) {
|
|
for (my $j = $i+1; $j < $objectStats{good}; $j++) {
|
|
$c++;
|
|
unless (-e "$jobOptions{step_2_matches_dir}/$i-$j.txt"){
|
|
|
|
|
|
$matchesJobs .= "echo -n \".\" && touch \"$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'} $args{'--matcher-threshold'}\n";
|
|
}
|
|
}
|
|
}
|
|
|
|
open (MATCH_DEST, ">$jobOptions{step_2_macthes_jobs}");
|
|
print MATCH_DEST $matchesJobs;
|
|
close(MATCH_DEST);
|
|
|
|
run("\"$BIN_PATH/parallel\" --halt-on-error 1 -j+0 < \"$jobOptions{step_2_macthes_jobs}\"");
|
|
|
|
run("rm -f \"$jobOptions{step_2_matches}\"");
|
|
|
|
for (my $i = 0; $i < $objectStats{good}; $i++) {
|
|
for (my $j = $i+1; $j < $objectStats{good}; $j++) {
|
|
$c++;
|
|
|
|
if (-e "$jobOptions{step_2_matches_dir}/$i-$j.txt" && (-s "$jobOptions{step_2_matches_dir}/$i-$j.txt") > 0) {
|
|
run("echo \"$i $j\" >> \"$jobOptions{step_2_matches}\" && cat \"$jobOptions{step_2_matches_dir}/$i-$j.txt\" >> \"$jobOptions{step_2_matches}\"");
|
|
}
|
|
}
|
|
}
|
|
|
|
foreach $fileObject (@objects) {
|
|
if($fileObject->{isOk}){
|
|
if($fileObject->{isOk}){
|
|
$filesList .= "$fileObject->{step_1_keyFile}\n";
|
|
}
|
|
}
|
|
}
|
|
|
|
open (MATCH_DEST, ">$jobOptions{step_2_filelist}");
|
|
print MATCH_DEST $filesList;
|
|
close(MATCH_DEST);
|
|
|
|
# run("\"$BIN_PATH/KeyMatchFull\" \"$jobOptions{step_2_filelist}\" \"$jobOptions{step_2_matches}\" ");
|
|
|
|
if($args{"--end-with"} ne "match"){
|
|
bundler();
|
|
}
|
|
}
|
|
|
|
sub bundler {
|
|
print "\n";
|
|
print "\n - running bundler - "; now(); print "\n";
|
|
print "\n";
|
|
|
|
chdir($jobOptions{jobDir});
|
|
|
|
mkdir($jobOptions{jobDir}."/bundle");
|
|
mkdir($jobOptions{jobDir}."/pmvs");
|
|
mkdir($jobOptions{jobDir}."/pmvs/txt");
|
|
mkdir($jobOptions{jobDir}."/pmvs/visualize");
|
|
mkdir($jobOptions{jobDir}."/pmvs/models");
|
|
|
|
$filesList = "";
|
|
|
|
foreach $fileObject (@objects) {
|
|
if($fileObject->{isOk}){
|
|
if($fileObject->{isOk}){
|
|
$filesList .= sprintf("\./%s.jpg 0 %0.5f\n", $fileObject->{base}, $fileObject->{focalpx});
|
|
}
|
|
}
|
|
}
|
|
|
|
chomp($filesList);
|
|
|
|
$bundlerOptions = "--match_table matches.init.txt\n";
|
|
$bundlerOptions .= "--output bundle.out\n";
|
|
$bundlerOptions .= "--output_all bundle_\n";
|
|
$bundlerOptions .= "--output_dir bundle\n";
|
|
$bundlerOptions .= "--variable_focal_length\n";
|
|
$bundlerOptions .= "--use_focal_estimate\n";
|
|
$bundlerOptions .= "--constrain_focal\n";
|
|
$bundlerOptions .= "--constrain_focal_weight 0.01\n";
|
|
$bundlerOptions .= "--estimate_distortion\n";
|
|
$bundlerOptions .= "--run_bundle";
|
|
|
|
system("echo \"$bundlerOptions\" > \"$jobOptions{step_3_bundlerOptions}\"");
|
|
|
|
open (BUNDLER_DEST, ">$jobOptions{step_3_filelist}");
|
|
print BUNDLER_DEST $filesList;
|
|
close(BUNDLER_DEST);
|
|
|
|
run("\"$BIN_PATH/bundler\" \"$jobOptions{step_3_filelist}\" --options_file \"$jobOptions{step_3_bundlerOptions}\" > bundle/out");
|
|
run("\"$BIN_PATH/Bundle2PMVS\" \"$jobOptions{step_3_filelist}\" bundle/bundle.out");
|
|
run("\"$BIN_PATH/RadialUndistort\" \"$jobOptions{step_3_filelist}\" bundle/bundle.out pmvs");
|
|
|
|
$i = 0;
|
|
|
|
foreach $fileObject (@objects) {
|
|
if($fileObject->{isOk}){
|
|
if($fileObject->{isOk}){
|
|
if (-e "pmvs/$fileObject->{base}.rd.jpg"){
|
|
$nr = sprintf("%08d", $i++);
|
|
|
|
system("mv pmvs/$fileObject->{base}.rd.jpg pmvs/visualize/$nr.jpg");
|
|
system("mv pmvs/$nr.txt pmvs/txt/$nr.txt");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
system("\"$BIN_PATH/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat");
|
|
|
|
if($args{"--end-with"} ne "bundler"){
|
|
cmvs();
|
|
}
|
|
}
|
|
|
|
sub cmvs {
|
|
print "\n";
|
|
print "\n - running cmvs - "; now(); print "\n";
|
|
print "\n";
|
|
|
|
chdir($jobOptions{jobDir});
|
|
|
|
run("\"$BIN_PATH/cmvs\" pmvs/ $args{'--cmvs-maxImages'} $CORES");
|
|
run("\"$BIN_PATH/genOption\" pmvs/ $args{'--pmvs-level'} $args{'--pmvs-csize'} $args{'--pmvs-threshold'} $args{'--pmvs-wsize'} $args{'--pmvs-minImageNum'} $CORES");
|
|
|
|
if($args{"--end-with"} ne "cmvs"){
|
|
pmvs();
|
|
}
|
|
}
|
|
|
|
sub pmvs {
|
|
print "\n";
|
|
print "\n - running pmvs - ";
|
|
print "\n";
|
|
|
|
chdir($jobOptions{jobDir});
|
|
|
|
run("\"$BIN_PATH/pmvs2\" pmvs/ option-0000");
|
|
|
|
system("cp -Rf \"$jobOptions{jobDir}/pmvs/models\" \"$jobOptions{jobDir}-results\"");
|
|
}
|
|
|
|
parseArgs();
|
|
prepareObjects();
|
|
|
|
chdir($jobOptions{jobDir});
|
|
|
|
switch ($args{"--start-with"}) {
|
|
case "resize" { resize(); }
|
|
case "getKeypoints" { getKeypoints(); }
|
|
case "match" { match(); }
|
|
case "bundler" { bundler(); }
|
|
case "cmvs" { cmvs(); }
|
|
case "pmvs" { pmvs(); }
|
|
}
|
|
|
|
print "\n";
|
|
print "\n - done - "; now(); print "\n";
|
|
print "\n";
|