kopia lustrzana https://github.com/OpenDroneMap/ODM
415 wiersze
12 KiB
Perl
415 wiersze
12 KiB
Perl
#!/usr/bin/perl
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use File::Basename;
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use File::Copy;
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use Data::Dumper;
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use Time::localtime;
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use Switch;
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## the defs
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chomp($CURRENT_DIR = `pwd`);
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chomp($BIN_PATH_REL = $CURRENT_DIR."/".`dirname $0`);
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chomp($BIN_PATH = `readlink -f $BIN_PATH_REL`);
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chomp($OS = `uname -o`);
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chomp($CORES = `ls -d /sys/devices/system/cpu/cpu[[:digit:]]* | wc -w`);
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require "$BIN_PATH/ccd_defs.pl";
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$BIN_PATH = $BIN_PATH."/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 => $CURRENT_DIR
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};
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my %args = {};
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my @resizeSizes = (orig, 2800, 2400, 2000, 1600, 1200, 1000, 800, 600);
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$jobOptions{srcDir} = "$CURRENT_DIR";
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sub parseArgs {
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## defaults
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$args{"--start-with"} = "resize";
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$args{"--end-with"} = "poission";
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for($i = 0; $i < $#ARGV; $i++) {
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if($ARGV[$i] =~ /^--[^a-z\-]*/){
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if($ARGV[$i+1] =~ /^--[^a-z\-]*/){
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$args{"$ARGV[$i]"} = true;
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} else {
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if(($ARGV[$i] eq "--resize-to") && ($ARGV[$i+1] eq "orig" || $ARGV[$i+1] =~ /^[0-9]*$/)){
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$args{"--resize-to"} = $ARGV[$i+1];
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}
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if(($ARGV[$i] eq "--start-with") && ($ARGV[$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" || $ARGV[$i+1] eq "poission")){
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$args{"--start-with"} = $ARGV[$i+1];
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}
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if(($ARGV[$i] eq "--end-with") && ($ARGV[$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" || $ARGV[$i+1] eq "poission")){
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$args{"--end-with"} = $ARGV[$i+1];
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}
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if(($ARGV[$i] eq "--run-only") && ($ARGV[$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" || $ARGV[$i+1] eq "poission")){
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$args{"--start-with"} = $ARGV[$i+1];
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$args{"--end-with"} = $ARGV[$i+1];
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}
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}
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}
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}
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print Dumper(\%args);
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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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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{id} = $fileObject{make}." ".$fileObject{model};
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($fileObject{width}, $fileObject{height}) = $file_resolution =~ /: ([0-9]*) x ([0-9]*)/;
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($fileObject{focal}) = $file_focal =~ /:[\ ]*([0-9\.]*)mm/;
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($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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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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$objectStats{good}++;
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} else {
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$fileObject{isOk} = false;
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$objectStats{bad}++;
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print " no CCD width or focal length found for $fileObject{src} - ($fileObject{id})\n";
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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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print "\n found $objectStats{good} usable images";
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if(!$args{"--resize-to"}){
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print "\n> please choose a max resolution to shrink the files to";
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print "\n current images width ".($objectStats{minWidth} == $objectStats{maxWidth} ? "$objectStats{maxWidth}px" : " $objectStats{minWidth}px - $objectStats{maxWidth}px");
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print "\n current images height ".($objectStats{minHeight} == $objectStats{maxHeight} ? "$objectStats{maxHeight}px" : "$objectStats{minHeight}px - $objectStats{maxHeight}px");
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print "\n";
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print "\n";
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print "\n [0] original resolution << default";
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print "\n [1] $resizeSizes[1] x $resizeSizes[1]px";
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print "\n [2] $resizeSizes[2] x $resizeSizes[2]px";
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print "\n [3] $resizeSizes[3] x $resizeSizes[3]px";
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print "\n [4] $resizeSizes[4] x $resizeSizes[4]px";
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print "\n [5] $resizeSizes[5] x $resizeSizes[5]px";
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print "\n [6] $resizeSizes[6] x $resizeSizes[6]px";
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print "\n [7] $resizeSizes[7] x $resizeSizes[7]px";
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print "\n [8] $resizeSizes[8] x $resizeSizes[8]px";
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print "\n";
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print "\n [0-9] > ";
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chomp($resizeInput = <>);
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if($resizeInput >= 0 && $resizeInput < 10){
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$jobOptions{resizeTo} = $resizeSizes[$resizeInput];
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} else {
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$jobOptions{resizeTo} = $resizeSizes[4];
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}
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} else {
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$jobOptions{resizeTo} = $args{"--resize-to"};
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}
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if($args{"--verbose"}){
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print "\n using max image size of $jobOptions{resizeTo} x $jobOptions{resizeTo}";
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}
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$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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$jobOptions{step_1_sift} = "$jobOptions{jobDir}/_sift.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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$jobOptions{step_2_matches} = "$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 - ";
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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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if($jobOptions{resizeTo} != "orig" && ($fileObject->{widht} > $jobOptions{resizeTo} || $fileObject->{height} > $jobOptions{resizeTo})){
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if($args{"--verbose"}){
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print "\n resising $fileObject->{src} \tto $fileObject->{step_0_resizedImage}";
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}
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system("convert -resize $jobOptions{resizeTo}x$jobOptions{resizeTo} -quality 100 \"$jobOptions{srcDir}/$fileObject->{src}\" \"$fileObject->{step_0_resizedImage}\"");
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} else {
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if($args{"--verbose"}) {
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print "\n copying $fileObject->{src} \tto $fileObject->{step_0_resizedImage}";
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}
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copy("$CURRENT_DIR/$fileObject->{src}", "$fileObject->{step_0_resizedImage}");
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}
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}
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}
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if($args{"--end-with"} ne "resize"){
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getKeypoints();
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}
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}
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sub getKeypoints {
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print "\n";
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print "\n - finding keypoints - ";
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print "\n";
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chdir($jobOptions{jobDir});
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$pgmJobs = "";
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$siftJobs = "";
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$gzJobs = "";
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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$pgmJobs .= "convert -format pgm \"$fileObject->{step_0_resizedImage}\" \"$fileObject->{step_1_pgmFile}\"\n";
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$siftJobs .= "$BIN_PATH/sift < \"$fileObject->{step_1_pgmFile}\" > \"$fileObject->{step_1_keyFile}\"\n";
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$gzJobs .= "gzip -f \"$fileObject->{step_1_keyFile}\"\n";
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}
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}
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system("echo \"$pgmJobs\" > $jobOptions{step_1_convert}");
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system("echo \"$siftJobs\" > $jobOptions{step_1_sift} ");
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system("echo \"$gzJobs\" > $jobOptions{step_1_gzip} ");
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system("\"$BIN_PATH/parallel\" -j+0 < \"$jobOptions{step_1_convert}\" ");
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system("\"$BIN_PATH/parallel\" -j+0 < \"$jobOptions{step_1_sift}\" ");
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system("\"$BIN_PATH/parallel\" -j+0 < \"$jobOptions{step_1_gzip}\" ");
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system("rm -f \"$jobOptions{jobDir}/\"*.pgm");
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if($args{"--end-with"} ne "getKeypoints"){
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match();
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}
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}
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sub match {
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print "\n";
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print "\n - matching keypoints - ";
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print "\n";
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chdir($jobOptions{jobDir});
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$filesList = "";
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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if($fileObject->{isOk}){
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$filesList .= "\"$fileObject->{step_1_keyFile}\"\n";
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}
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}
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}
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system("echo \"$filesList\" > $jobOptions{step_2_filelist} ");
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system("\"$BIN_PATH/KeyMatchFull\" \"$jobOptions{step_2_filelist}\" \"$jobOptions{step_2_matches}\" ");
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if($args{"--end-with"} ne "match"){
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bundler();
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}
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}
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sub bundler {
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print "\n";
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print "\n - running bundler - ";
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print "\n";
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chdir($jobOptions{jobDir});
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mkdir($jobOptions{jobDir}."/bundle");
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mkdir($jobOptions{jobDir}."/pmvs");
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mkdir($jobOptions{jobDir}."/pmvs/txt");
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mkdir($jobOptions{jobDir}."/pmvs/visualize");
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mkdir($jobOptions{jobDir}."/pmvs/models");
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$filesList = "";
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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if($fileObject->{isOk}){
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$filesList .= sprintf("\./%s.jpg 0 %0.5f\n", $fileObject->{base}, $fileObject->{focalpx});
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}
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}
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}
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chomp($filesList);
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$bundlerOptions = "--match_table matches.init.txt\n";
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$bundlerOptions .= "--output bundle.out\n";
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$bundlerOptions .= "--output_all bundle_\n";
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$bundlerOptions .= "--output_dir bundle\n";
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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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$bundlerOptions .= "--estimate_distortion\n";
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$bundlerOptions .= "--run_bundle";
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system("echo \"$bundlerOptions\" > \"$jobOptions{step_3_bundlerOptions}\"");
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system("echo \"$filesList\" > \"$jobOptions{step_3_filelist}\"");
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system("\"$BIN_PATH/bundler\" \"$jobOptions{step_3_filelist}\" --options_file \"$jobOptions{step_3_bundlerOptions}\" > bundle/out");
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system("\"$BIN_PATH/Bundle2PMVS\" \"$jobOptions{step_3_filelist}\" bundle/bundle.out");
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system("\"$BIN_PATH/RadialUndistort\" \"$jobOptions{step_3_filelist}\" bundle/bundle.out pmvs");
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$i = 0;
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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if($fileObject->{isOk}){
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if (-e "pmvs/$fileObject->{base}.rd.jpg"){
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$nr = sprintf("%08d", $i++);
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system("mv pmvs/$fileObject->{base}.rd.jpg pmvs/visualize/$nr.jpg");
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system("mv pmvs/$nr.txt pmvs/txt/$nr.txt");
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}
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}
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}
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}
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system("\"$BIN_PATH/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat");
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if($args{"--end-with"} ne "bundler"){
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cmvs();
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}
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}
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sub cmvs {
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print "\n";
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print "\n - running cmvs - ";
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print "\n";
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chdir($jobOptions{jobDir});
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system("\"$BIN_PATH/cmvs\" pmvs/ 100 4");
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system("\"$BIN_PATH/genOption\" pmvs/ ");
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if($args{"--end-with"} ne "cmvs"){
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pmvs();
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}
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}
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sub pmvs {
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print "\n";
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print "\n - running pmvs - ";
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print "\n";
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chdir($jobOptions{jobDir});
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system("\"$BIN_PATH/pmvs2\" pmvs/ option-0000");
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if($args{"--end-with"} ne "pmvs"){
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poission();
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}
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}
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sub poission {
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print "\n";
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print "\n - running poission reconstruction - ";
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print "\n";
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foreach $fileObject (@objects) {
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if($fileObject->{isOk}){
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}
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}
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}
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parseArgs();
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prepareObjects();
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chdir($jobOptions{jobDir});
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switch ($args{"--start-with"}) {
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case "resize" { resize(); }
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case "getKeypoints" { getKeypoints(); }
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case "match" { match(); }
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case "bundler" { bundler(); }
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case "cmvs" { cmvs(); }
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case "pmvs" { pmvs(); }
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}
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print "\n";
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print "\n - done - ";
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print "\n";
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