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  • ped-dyn-emp/petrack
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.gitlab-ci.yml
View file @ a79788d7
......@@ -2,6 +2,8 @@ stages:
- build_environment
- build
- test
- build_installer
- deploy
###############################################################################
# Linux CI
......@@ -48,20 +50,19 @@ unit_test_linux:
reports:
junit: "build/tests/unit_test/unit_test_report.xml"
# Currently disabled
# Execute regression tests
#regression_test_linux:
# image: $CI_REGISTRY_IMAGE:${CI_COMMIT_REF_SLUG}_linux
# stage: test
# script:
# - cd tests/regression_test/tests
# - python -m pytest --path=../../../build/petrack --junitxml=pytest_report.xml >> "RegressionTestLog.txt"
# artifacts:
# when: on_failure
# paths:
# - "tests/regression_test/tests/RegressionTestLog.txt"
# reports:
# junit: "tests/regression_test/tests/pytest_report.xml"
regression_test_linux:
image: $CI_REGISTRY_IMAGE:${CI_COMMIT_REF_SLUG}_linux
stage: test
script:
- cd tests/regression_test/tests
- python -m pytest --path=../../../build/petrack --junitxml=pytest_report.xml >> "RegressionTestLog.txt"
artifacts:
when: on_failure
paths:
- "tests/regression_test/tests/RegressionTestLog.txt"
reports:
junit: "tests/regression_test/tests/pytest_report.xml"
###############################################################################
......@@ -115,3 +116,38 @@ regression_test_windows:
reports:
junit: "tests/regression_test/tests/pytest_report.xml"
needs: ["build_windows"]
build_windows_installer:
stage: build_installer
rules:
- if: $CI_PIPELINE_SOURCE == "schedule"
when: never
- if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
tags:
- windows
script:
- mkdir -Force build
- $env:Path += ";C:\Program Files\CMake\bin"
- cd build
- Remove-Item -Force -Recurse -Path *
- cmake -G"MinGW Makefiles" -DCMAKE_BUILD_TYPE=Release -DBUILD_UNIT_TESTS=ON -DUSE_3RD_PARTY=ON ..
- cpack -C Release
artifacts:
paths:
- "build/petrack-installer-*"
expire_in: 2hrs
make_release:
image: alpine
stage: deploy
rules:
- if: $CI_PIPELINE_SOURCE == "schedule"
when: never
- if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
needs: ["build_windows_installer"]
script:
- apk --no-cache add curl
- cd build
- winInst=$(echo petrack-installer-*)
- curl -k -T $winInst -u "${SCIEBO_TOKEN}:" https://fz-juelich.sciebo.de/public.php/webdav/$winInst
CMakeLists.txt
View file @ a79788d7
......@@ -18,7 +18,7 @@
# Project setup
################################################################################
cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
project(petrack LANGUAGES CXX)
project(petrack LANGUAGES CXX VERSION 0.8.14)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
......@@ -50,9 +50,6 @@ print_var(STEREO)
option(AVI "Use Avi File from Point Grey (currently not supported)" OFF)
print_var(AVI)
option(LIBELAS "Use Libelas" OFF)
print_var(LIBELAS)
option(DISABLE_STEREO "Disable Stereo features (currently must be taken)" ON)
print_var(DISABLE_STEREO)
......@@ -122,7 +119,7 @@ find_package(
REQUIRED)
# OpenCV
find_package(OpenCV 4.0.0 REQUIRED )
find_package(OpenCV 4.2.0 EXACT REQUIRED )
message("Building with OpenCV${OpenCV_VERSION_MAJOR}(${OpenCV_VERSION})")
# QWT
......@@ -147,6 +144,7 @@ set(CMAKE_AUTOUIC ON)
list(APPEND CMAKE_AUTOUIC_SEARCH_PATHS "${CMAKE_SOURCE_DIR}/ui" "./src")
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(AUTOGEN_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/${NAME}_autogen")
#**********************************************************
# Create library and exectuable *
......@@ -155,7 +153,6 @@ add_library(petrack_core STATIC)
add_executable(petrack src/main.cpp)
target_link_libraries(petrack PRIVATE petrack_core)
# TODO we should remove this compile option and be more strict
target_compile_options(petrack_core PRIVATE ${COMMON_COMPILE_OPTIONS})
target_compile_definitions(petrack_core PUBLIC STEREO_DISABLED)
......@@ -188,14 +185,14 @@ target_link_libraries(petrack_core PUBLIC ${OpenCV_LIBS})
# Linking QWT *
#*****************************************************************
if(APPLE)
target_link_directories(petrack_core PUBLIC ${QWT})
target_link_directories(petrack_core PUBLIC "${QWT}")
else()
target_compile_definitions(
petrack_core PRIVATE
$<$<AND:$<PLATFORM_ID:Windows>,$<BOOL:USE_3RD_PARTY>>:QWT QWT_DLL>)
target_include_directories(petrack_core PUBLIC ${QWT_INCLUDE_DIR})
target_link_libraries(petrack_core PUBLIC ${QWT_LIBRARY})
target_include_directories(petrack_core PUBLIC "${QWT_INCLUDE_DIR}")
target_link_libraries(petrack_core PUBLIC Qwt::Qwt)
endif()
target_sources(petrack_core PRIVATE src/analysePlot.cpp)
......@@ -203,19 +200,6 @@ target_sources(petrack_core PRIVATE src/analysePlot.cpp)
#*************************************************************
# Handling of Options *
#*************************************************************
if(LIBELAS)
target_compile_definitions(petrack_core PRIVATE LIBELAS)
add_library(elas STATIC
src/libelas/elasDescriptor.cpp
src/libelas/elas.cpp
src/libelas/elasFilter.cpp
src/libelas/elasMatrix.cpp
src/libelas/elasTriangle.cpp
)
target_include_directories(elas PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_compile_options(elas PRIVATE "-fpermissive")
target_link_libraries(petrack_core PRIVATE elas)
endif(LIBELAS)
# TODO currently not available
if(AVI)
......@@ -406,3 +390,9 @@ endif(${STEREO})
# # fuer pgrAviFile win32:LIBS += -lavifil32 win32:LIBS += -lmsvfw32 win64:LIBS
# += -lavifil32 win64:LIBS += -lmsvfw32
#####################################################
# Installer #
#####################################################
include(install_helper)
LICENSE 0 → 100644
View file @ a79788d7
The software PeTrack is free.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
\ No newline at end of file
ReadMe.md 0 → 100644
View file @ a79788d7
# PeTrack
Software for tracking pedestrians.
## Installation, Uninstallation:
To obtain the installer by following in the steps at https://www.fz-juelich.de/ias/ias-7/EN/Expertise/Software/PeTrack/petrackDownload.html.
Afterwards just execute `petrack-installer_<version>.exe` and follow the instructions.
To uninstall PeTrack execute `Uninstall.exe` in the PeTrack application folder.
## Usage:
The command line options can be displayed by calling
```bash
petrack -help
```
Key bindings can be found in the help menu of the program.
For more information see https://www.fz-juelich.de/ias/ias-7/EN/Expertise/Software/PeTrack/petrack.html.
Normal usage is interactive usage.
## Example:
To generate trajectories from a single image sequence starting with frame000.jpg to
with settings stored in project.pet, export tracker file tracker_file and exit
with saving the project to project.pet again:
```bash
petrack.exe -project project.pet -sequence frame000.jpg -autoTrack tracker_file -autoSave project.pet
```
## Changelog:
v0.8 : slanted view for external calibration, coordinate system and grid is possible, introduced multicolor marker with black dot, video support for various codecs <br/>
v0.7 : introduce stereo cameras; alternate height <br/>
background subtraction especially for stereo cameras; recognition of unmarked pedestrians; integration of 4 disparity algorithms <br/>
filter to swap picture; more video codecs; color blobs as marker using HSV triangle <br/>
marker with two dots added; export of viewing direction <br/>
v0.6 : bug fixes; improve speed; expand visualization possibilities; add variable tracking region adapted to head size; provide program combine to merge trajectories <br/>
v0.5 : improve robustness of tracking with interpolation and extrapolation; first analysis functionality <br/>
v0.4 : tracking import and export; manual adding and deleting of trackpoints <br/>
v0.3 : recognition; tracking; color mapping <br/>
v0.2 : add first recognition <br/>
v0.1 : only camera calibration is supported; import and export of video and image sequence <br/>
## Dependencies:
* Qwt (https://qwt.sf.net)
* Qt (https://www.qt.io/)
* OpenCV (https://opencv.org/)
cmake_modules/install_helper.cmake 0 → 100644
View file @ a79788d7
#########################################################
# INSTALL #
#########################################################
include(InstallRequiredSystemLibraries)
include(GNUInstallDirs)
install(TARGETS petrack)
# install Qwt and OpenCV
install(CODE "
include(BundleUtilities)
fixup_bundle(\"\${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}/petrack${CMAKE_EXECUTABLE_SUFFIX}\" \"\" \"\")
")
# NOTE: For Future Mac installer, use macdeployqt utility (think about the licenses as well)
if (WIN32)
# Install Qt dlls
set (WINDEPLOYQT_APP \"${Qt5Core_DIR}/../../../bin/windeployqt\")
install(CODE "
message(\"\${CMAKE_INSTALL_PREFIX}/petrack.exe\")
execute_process(COMMAND ${WINDEPLOYQT_APP} \"\${CMAKE_INSTALL_PREFIX}/bin/petrack.exe\")
")
install(FILES "${OpenCV_LIB_PATH}/../bin/opencv_videoio_ffmpeg${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}_64.dll" DESTINATION ${CMAKE_INSTALL_BINDIR})
# NOTE: Paths might be platform specific
install(DIRECTORY "${Qt5Core_DIR}/../../../../../Licenses" DESTINATION "Licenses/Qt_Licenses")
install(DIRECTORY "${OpenCV_DIR}/etc/licenses" DESTINATION "Licenses/OpenCV_Licenses")
install(FILES "${OpenCV_DIR}/LICENSE/" DESTINATION "Licenses/OpenCV_Licenses")
endif()
install(FILES "${CMAKE_SOURCE_DIR}/ReadMe.md" "${CMAKE_SOURCE_DIR}/LICENSE" DESTINATION ".")
##################################################################
# PACKAGE #
##################################################################
set(CPACK_PACKAGE_FILE_NAME "petrack-installer-${PROJECT_VERSION}")
set(CPACK_PACKAGE_VENDOR "Forschungszentrum Juelich GmbH")
set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERISON_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERISON_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERISON_PATCH})
set(CPACK_PACKAGE_DESCRIPTION "PeTrack is a software for the automated extraction of pedestrian trajectories from videos.")
set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/ReadMe.md")
set(CPACK_PACKAGE_HOMEPAGE_URL "https://www.fz-juelich.de/ias/ias-7/EN/Expertise/Software/PeTrack/petrack.html")
set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/ReadMe.md")
set(CPACK_PACKAGE_EXECUTABLES "petrack;PeTrack")
set(CPACK_MONOLITHIC_INSTALL TRUE)
set(CPACK_CREATE_DESKTOP_LINKS petrack)
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
if(WIN32)
set(CPACK_GENERATOR "NSIS")
set(CPACK_NSIS_MUI_ICON "${CMAKE_SOURCE_DIR}\\\\petrack.ico")
set(CPACK_NSIS_MODIFY_PATH ON)
set(CPACK_NSIS_DISPLAY_NAME "PeTrack")
set(CPACK_NSIS_PACKAGE_NAME "PeTrack")
set(CPACK_NSIS_INSTALLED_ICON_NAME "${CMAKE_SOURCE_DIR}\\\\petrack.ico")
set(CPACK_NSIS_HELP_LINK "https://www.fz-juelich.de/ias/ias-7/EN/Expertise/Software/PeTrack/petrack.html")
set(CPACK_NSIS_URL_INFO_ABOUT ${CPACK_NSIS_HELP_LINK})
set(CPACK_NSIS_CONTACT "petrack@fz-juelich.de")
set(CPACK_NSIS_ENABLE_UNINSTALL_BEFORE_INSTALL ON)
set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "
WriteRegStr HKCU 'Software\\\\Forschungszentrum Juelich GmbH\\\\PeTrack' 'fileExtension' 'pet'
WriteRegStr HKCU 'Software\\\\Forschungszentrum Juelich GmbH\\\\PeTrack' 'home' '$INSTDIR\\\\bin'
WriteRegStr HKCR '.pet' '' 'petfile'
WriteRegStr HKCR 'petfile' '' 'PeTrack Project File'
WriteRegStr HKCR 'petfile\\\\DefaultIcon' '' '$INSTDIR\\\\bin\\\\petrack.exe,0'
WriteRegStr HKCR 'petfile\\\\shell\\\\open\\\\command' '' '$INSTDIR\\\\bin\\\\petrack.exe %1'
WriteRegStr HKLM 'Software\\\\RegisteredApplications' 'petrack' '$INSTDIR\\\\petrack.exe'
WriteRegStr HKCU 'Software\\\\RegisteredApplications' 'petrack' '$INSTDIR\\\\petrack.exe'
WriteRegStr HKCU 'Software\\\\Microsoft\\\\Windows\\\\CurrentVersion\\\\Explorer\\\\FileExts\\\\.pet\\\\OpenWithList' 'a' '$INSTDIR\\\\bin\\\\petrack.exe'
")
set(CPACK_NSIS_EXTRA_UNINSTALL_COMMANDS "
DeleteRegKey HKCU 'Software\\\\Forschungszentrum Juelich GmbH\\\\PeTrack'
DeleteRegKey HKCR '.pet'
DeleteRegKey HKCR 'petfile'
DeleteRegKey HKLM 'Software\\\\RegisteredApplications\\\\petrack'
DeleteRegKey HKCU 'Software\\\\RegisteredApplications\\\\petrack'
DeleteRegKey HKCU 'Software\\\\Microsoft\\\\Windows\\\\CurrentVersion\\\\Explorer\\\\FileExts\\\\.pet'
")
endif()
include(CPack)
container/arch/Dockerfile
View file @ a79788d7
......@@ -3,6 +3,7 @@ FROM archlinux:20200705
# Update the repositories
RUN pacman -Syy
# Install the needed tools
RUN pacman -Syu --needed --noconfirm \
git \
gcc \
......@@ -11,14 +12,23 @@ RUN pacman -Syu --needed --noconfirm \
base-devel \
glew
# Install the needed libraries
RUN pacman -Syu --needed --noconfirm \
qt5-base \
opencv hdf5 vtk\
qwt \
catch2
# Install python
RUN pacman -Syu --needed --noconfirm \
python \
python-pip
RUN pip install pytest
# Install opencv 4.2 (last command to avoid any updates by pacman)
RUN pacman --needed --noconfirm -U \
https://archive.archlinux.org/packages/h/hdf5/hdf5-1.10.5-1-x86_64.pkg.tar.xz \
https://archive.archlinux.org/packages/v/vtk/vtk-8.2.0-9-x86_64.pkg.tar.xz \
https://archive.archlinux.org/packages/g/glew/glew-2.1.0-1-x86_64.pkg.tar.xz \
https://archive.archlinux.org/packages/o/openexr/openexr-2.4.0-6-x86_64.pkg.tar.xz \
https://archive.archlinux.org/packages/o/opencv/opencv-4.2.0-1-x86_64.pkg.tar.xz
include/analysePlot.h
View file @ a79788d7
......@@ -103,7 +103,6 @@ private:
// RectPlotItem *mRectItem;
// ViewAnalysePlotItem *mViewAnalyseItem;
QwtPlotZoomer *mZoomer;
int mGreyDiff;
int mActFrame;
};
......
include/animation.h
View file @ a79788d7
......@@ -107,6 +107,7 @@ public:
// Returns the FPS of the current animation if it is a video
double getFPS();
double getOriginalFPS();
void setFPS(double fps);
......@@ -170,6 +171,7 @@ private:
// Number of frames per second in video
double mFps;
double mOriginalFps;
// the time (seconds since 1.1.1970 0 uhr, microseconds (.000001s)) when the first frame was recorded (bumblebee .time file)
int mFirstSec;
......
include/aviFileWriter.h
View file @ a79788d7
......@@ -142,11 +142,7 @@ protected:
long int m_liBytesWritten;
/** avi file name */
#ifdef WINDOWS
char m_szAVIDestFile[ _MAX_PATH ];
#else
char m_szAVIDestFile[ PATH_MAX ];
#endif
std::string m_szAVIDestFile;
char* m_fourCC;
//int m_fourCC;
......
include/calibFilter.h
View file @ a79788d7
......@@ -25,11 +25,8 @@ private:
public:
CalibFilter();
// IplImage* act(IplImage *img, IplImage *res);
cv::Mat act(cv::Mat &img, cv::Mat &res);
// bool changed();
Parameter *getFx();
Parameter *getFy();
Parameter *getCx();
......
include/codeMarkerWidget.h
View file @ a79788d7
......@@ -46,67 +46,67 @@ private slots:
QDesktopServices::openUrl(QUrl("http://docs.opencv.org/trunk/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html#details", QUrl::TolerantMode));
QDesktopServices::openUrl(QUrl("http://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html", QUrl::TolerantMode));
}
void on_dictList_currentIndexChanged(int index)
void on_dictList_currentIndexChanged(int /*index*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_minMarkerPerimeter_valueChanged(double val)
void on_minMarkerPerimeter_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_maxMarkerPerimeter_valueChanged(double val)
void on_maxMarkerPerimeter_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_adaptiveThreshWinSizeMin_valueChanged(int i)
void on_adaptiveThreshWinSizeMin_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_adaptiveThreshWinSizeMax_valueChanged(int i)
void on_adaptiveThreshWinSizeMax_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_adaptiveThreshWinSizeStep_valueChanged(int i)
void on_adaptiveThreshWinSizeStep_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_adaptiveThreshConstant_valueChanged(int i)
void on_adaptiveThreshConstant_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_polygonalApproxAccuracyRate_valueChanged(double val)
void on_polygonalApproxAccuracyRate_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_minCornerDistance_valueChanged(double val)
void on_minCornerDistance_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_minDistanceToBorder_valueChanged(int i)
void on_minDistanceToBorder_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_minMarkerDistance_valueChanged(double val)
void on_minMarkerDistance_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
......@@ -118,55 +118,55 @@ private slots:
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_cornerRefinementWinSize_valueChanged(int i)
void on_cornerRefinementWinSize_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_cornerRefinementMaxIterations_valueChanged(int i)
void on_cornerRefinementMaxIterations_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_cornerRefinementMinAccuracy_valueChanged(double val)
void on_cornerRefinementMinAccuracy_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_markerBorderBits_valueChanged(int i)
void on_markerBorderBits_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_perspectiveRemovePixelPerCell_valueChanged(int i)
void on_perspectiveRemovePixelPerCell_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_perspectiveRemoveIgnoredMarginPerCell_valueChanged(double val)
void on_perspectiveRemoveIgnoredMarginPerCell_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_maxErroneousBitsInBorderRate_valueChanged(double val)
void on_maxErroneousBitsInBorderRate_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_errorCorrectionRate_valueChanged(double val)
void on_errorCorrectionRate_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_minOtsuStdDev_valueChanged(double val)
void on_minOtsuStdDev_valueChanged(double /*val*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
......
include/colorMarkerWidget.h
View file @ a79788d7
......@@ -41,60 +41,60 @@ private slots:
// if (mMainWindow && (mMainWindow->getScene()))
// mMainWindow->getScene()->update();
// }
void on_maskMask_stateChanged(int i)
void on_maskMask_stateChanged(int /*i*/)
{
mMainWindow->getScene()->update();
}
void on_opacity_valueChanged(int i)
void on_opacity_valueChanged(int /*i*/)
{
mMainWindow->getScene()->update();
}
// functions which force a new recognition
void on_inversHue_stateChanged(int i)
void on_inversHue_stateChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_useOpen_stateChanged(int i)
void on_useOpen_stateChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_useClose_stateChanged(int i)
void on_useClose_stateChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_closeRadius_valueChanged(int i)
void on_closeRadius_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_openRadius_valueChanged(int i)
void on_openRadius_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_minArea_valueChanged(int i)
void on_minArea_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_maxArea_valueChanged(int i)
void on_maxArea_valueChanged(int /*i*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
mMainWindow->updateImage();
}
void on_maxRatio_valueChanged(double d)
void on_maxRatio_valueChanged(double /*d*/)
{
mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
if( !mMainWindow->isLoading() )
......
include/control.h
View file @ a79788d7
......@@ -260,36 +260,36 @@ private slots:
void on_trackRegionLevels_valueChanged(int i);
void on_trackShowSearchSize_stateChanged(int i);
void on_trackShowOnlyVisible_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowOnlyVisible_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
// void on_trackShowOnlyNr_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowCurrentPoint_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowCurrentPoint_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackGotoNr_clicked();
void on_trackGotoStartNr_clicked();
void on_trackGotoEndNr_clicked();
void on_trackHeadSized_stateChanged(int i);
void on_trackShowPoints_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowPointsColored_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowPath_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowColColor_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowColorMarker_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowNumber_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowGroundPosition_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowGroundPath_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowHeightIndividual_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackNumberBold_stateChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackCurrentPointSize_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackPointSize_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackPathWidth_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackColColorSize_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackColorMarkerSize_valueChanged(int i) { mScene->update(); }
void on_trackNumberSize_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackGroundPositionSize_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackGroundPathSize_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowBefore_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowAfter_valueChanged(int i) { if (!isLoading()) mScene->update(); }
void on_trackShowPoints_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowPointsColored_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowPath_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowColColor_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowColorMarker_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowNumber_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowGroundPosition_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowGroundPath_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowHeightIndividual_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackNumberBold_stateChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackCurrentPointSize_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackPointSize_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackPathWidth_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackColColorSize_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackColorMarkerSize_valueChanged(int /*i*/) { mScene->update(); }
void on_trackNumberSize_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackGroundPositionSize_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackGroundPathSize_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowBefore_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_trackShowAfter_valueChanged(int /*i*/) { if (!isLoading()) mScene->update(); }
void on_performRecognition_stateChanged(int i);
void on_markerBrightness_valueChanged(int i);
......
include/ellipse.h
View file @ a79788d7
......@@ -22,7 +22,7 @@ public:
MyEllipse();
MyEllipse(double x, double y, double r1, double r2, double angle);
MyEllipse(QPointF center, QSizeF size, double angle);
MyEllipse(const MyEllipse &ellipse);
MyEllipse(const MyEllipse &ellipse) = default;
Vec2F center() const;
QSizeF size() const;
......
include/helper.h
View file @ a79788d7
......@@ -57,7 +57,7 @@ inline std::ostream& operator<<(std::ostream& s, const QString& t)
#include "cxcore.h"
void copyToQImage(QImage *qImg, IplImage *iplImg); // war static functin in animatioln class
#endif
void copyToQImage(QImage *qImg, cv::Mat &img);
void copyToQImage(QImage &qImg, cv::Mat &img);
#include <QLabel>
#ifndef STEREO_DISABLED
......@@ -199,7 +199,7 @@ inline QTextStream& operator>>(QTextStream& s, QColor& col)
inline QString getExistingFile(const QString &fileList, const QString &relToFileName)
{
QStringList list;
list = fileList.split(";", QString::SkipEmptyParts);
list = fileList.split(";", Qt::SkipEmptyParts);
for (int i = 0; i < list.size(); ++i)
{
if (QFile(list.at(i)).exists())
......
include/libelas/elas.h deleted 100644 → 0
View file @ b69bbe36
/*
Copyright 2011. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany
This file is part of libelas.
Authors: Andreas Geiger
libelas is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 3 of the License, or any later version.
libelas is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/
// Main header file. Include this to use libelas in your code.
#ifndef __ELAS_H__
#define __ELAS_H__
#include <iostream>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <vector>
#include <emmintrin.h>
// define fixed-width datatypes for Visual Studio projects
//#ifndef _MSC_VER
#include <stdint.h>
//#else
// typedef __int8 int8_t;
// typedef __int16 int16_t;
// typedef __int32 int32_t;
// typedef __int64 int64_t;
// typedef unsigned __int8 uint8_t;
// typedef unsigned __int16 uint16_t;
// typedef unsigned __int32 uint32_t;
// typedef unsigned __int64 uint64_t;
//#endif
#ifdef PROFILE
#include "timer.h"
#endif
class Elas {
public:
enum setting {ROBOTICS,MIDDLEBURY};
// parameter settings
struct parameters {
int32_t disp_min; // min disparity
int32_t disp_max; // max disparity
float support_threshold; // max. uniqueness ratio (best vs. second best support match)
int32_t support_texture; // min texture for support points
int32_t candidate_stepsize; // step size of regular grid on which support points are matched
int32_t incon_window_size; // window size of inconsistent support point check
int32_t incon_threshold; // disparity similarity threshold for support point to be considered consistent
int32_t incon_min_support; // minimum number of consistent support points
bool add_corners; // add support points at image corners with nearest neighbor disparities
int32_t grid_size; // size of neighborhood for additional support point extrapolation
float beta; // image likelihood parameter
float gamma; // prior constant
float sigma; // prior sigma
float sradius; // prior sigma radius
int32_t match_texture; // min texture for dense matching
int32_t lr_threshold; // disparity threshold for left/right consistency check
float speckle_sim_threshold; // similarity threshold for speckle segmentation
int32_t speckle_size; // maximal size of a speckle (small speckles get removed)
int32_t ipol_gap_width; // interpolate small gaps (left<->right, top<->bottom)
bool filter_median; // optional median filter (approximated)
bool filter_adaptive_mean; // optional adaptive mean filter (approximated)
bool postprocess_only_left; // saves time by not postprocessing the right image
bool subsampling; // saves time by only computing disparities for each 2nd pixel
// note: for this option D1 and D2 must be passed with size
// width/2 x height/2 (rounded towards zero)
// constructor
parameters (setting s=ROBOTICS) {
// default settings in a robotics environment
// (do not produce results in half-occluded areas
// and are a bit more robust towards lighting etc.)
if (s==ROBOTICS) {
disp_min = 0;
disp_max = 255;
support_threshold = 0.85;
support_texture = 10;
candidate_stepsize = 5;
incon_window_size = 5;
incon_threshold = 5;
incon_min_support = 5;
add_corners = 0;
grid_size = 20;
beta = 0.02;
gamma = 3;
sigma = 1;
sradius = 2;
match_texture = 1;
lr_threshold = 2;
speckle_sim_threshold = 1;
speckle_size = 200;
ipol_gap_width = 3;
filter_median = 0;
filter_adaptive_mean = 1;
postprocess_only_left = 1;
subsampling = 0;
// default settings for middlebury benchmark
// (interpolate all missing disparities)
} else {
disp_min = 0;
disp_max = 255;
support_threshold = 0.95;
support_texture = 10;
candidate_stepsize = 5;
incon_window_size = 5;
incon_threshold = 5;
incon_min_support = 5;
add_corners = 1;
grid_size = 20;
beta = 0.02;
gamma = 5;
sigma = 1;
sradius = 3;
match_texture = 0;
lr_threshold = 2;
speckle_sim_threshold = 1;
speckle_size = 200;
ipol_gap_width = 5000;
filter_median = 1;
filter_adaptive_mean = 0;
postprocess_only_left = 0;
subsampling = 0;
}
}
};
// constructor, input: parameters
Elas (parameters param) : param(param) {}
// deconstructor
~Elas () {}
// matching function
// inputs: pointers to left (I1) and right (I2) intensity image (uint8, input)
// pointers to left (D1) and right (D2) disparity image (float, output)
// dims[0] = width of I1 and I2
// dims[1] = height of I1 and I2
// dims[2] = bytes per line (often equal to width, but allowed to differ)
// note: D1 and D2 must be allocated before (bytes per line = width)
// if subsampling is not active their size is width x height,
// otherwise width/2 x height/2 (rounded towards zero)
void process (uint8_t* I1,uint8_t* I2,float* D1,float* D2,const int32_t* dims);
private:
struct support_pt {
int32_t u;
int32_t v;
int32_t d;
support_pt(int32_t u,int32_t v,int32_t d):u(u),v(v),d(d){}
};
struct triangle {
int32_t c1,c2,c3;
float t1a,t1b,t1c;
float t2a,t2b,t2c;
triangle(int32_t c1,int32_t c2,int32_t c3):c1(c1),c2(c2),c3(c3){}
};
inline uint32_t getAddressOffsetImage (const int32_t& u,const int32_t& v,const int32_t& width) {
return v*width+u;
}
inline uint32_t getAddressOffsetGrid (const int32_t& x,const int32_t& y,const int32_t& d,const int32_t& width,const int32_t& disp_num) {
return (y*width+x)*disp_num+d;
}
// support point functions
void removeInconsistentSupportPoints (int16_t* D_can,int32_t D_can_width,int32_t D_can_height);
void removeRedundantSupportPoints (int16_t* D_can,int32_t D_can_width,int32_t D_can_height,
int32_t redun_max_dist, int32_t redun_threshold, bool vertical);
void addCornerSupportPoints (std::vector<support_pt> &p_support);
inline int16_t computeMatchingDisparity (const int32_t &u,const int32_t &v,uint8_t* I1_desc,uint8_t* I2_desc,const bool &right_image);
std::vector<support_pt> computeSupportMatches (uint8_t* I1_desc,uint8_t* I2_desc);
// triangulation & grid
std::vector<triangle> computeDelaunayTriangulation (std::vector<support_pt> p_support,int32_t right_image);
void computeDisparityPlanes (std::vector<support_pt> p_support,std::vector<triangle> &tri,int32_t right_image);
void createGrid (std::vector<support_pt> p_support,int32_t* disparity_grid,int32_t* grid_dims,bool right_image);
// matching
inline void updatePosteriorMinimum (__m128i* I2_block_addr,const int32_t &d,const int32_t &w,
const __m128i &xmm1,__m128i &xmm2,int32_t &val,int32_t &min_val,int32_t &min_d);
inline void updatePosteriorMinimum (__m128i* I2_block_addr,const int32_t &d,
const __m128i &xmm1,__m128i &xmm2,int32_t &val,int32_t &min_val,int32_t &min_d);
inline void findMatch (int32_t &u,int32_t &v,float &plane_a,float &plane_b,float &plane_c,
int32_t* disparity_grid,int32_t *grid_dims,uint8_t* I1_desc,uint8_t* I2_desc,
int32_t *P,int32_t &plane_radius,bool &valid,bool &right_image,float* D);
void computeDisparity (std::vector<support_pt> p_support,std::vector<triangle> tri,int32_t* disparity_grid,int32_t* grid_dims,
uint8_t* I1_desc,uint8_t* I2_desc,bool right_image,float* D);
// L/R consistency check
void leftRightConsistencyCheck (float* D1,float* D2);
// postprocessing
void removeSmallSegments (float* D);
void gapInterpolation (float* D);
// optional postprocessing
void adaptiveMean (float* D);
void median (float* D);
// parameter set
parameters param;
// memory aligned input images + dimensions
uint8_t *I1,*I2;
int32_t width,height,bpl;
// profiling timer
#ifdef PROFILE
Timer timer;
#endif
};
#endif
include/libelas/elasDescriptor.h deleted 100644 → 0
View file @ b69bbe36
/*
Copyright 2011. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany
This file is part of libelas.
Authors: Andreas Geiger
libelas is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 3 of the License, or any later version.
libelas is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/
// NOTE: This descripter is a sparse approximation to the 50-dimensional
// descriptor described in the paper. It produces similar results, but
// is faster to compute.
#ifndef __DESCRIPTOR_H__
#define __DESCRIPTOR_H__
#include <iostream>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <math.h>
// Define fixed-width datatypes for Visual Studio projects
//#ifndef _MSC_VER
#include <stdint.h>
//#else
// typedef __int8 int8_t;
// typedef __int16 int16_t;
// typedef __int32 int32_t;
// typedef __int64 int64_t;
// typedef unsigned __int8 uint8_t;
// typedef unsigned __int16 uint16_t;
// typedef unsigned __int32 uint32_t;
// typedef unsigned __int64 uint64_t;
//#endif
class Descriptor {
public:
// constructor creates filters
Descriptor(uint8_t* I,int32_t width,int32_t height,int32_t bpl,bool half_resolution);
// deconstructor releases memory
~Descriptor();
// descriptors accessible from outside
uint8_t* I_desc;
private:
// build descriptor I_desc from I_du and I_dv
void createDescriptor(uint8_t* I_du,uint8_t* I_dv,int32_t width,int32_t height,int32_t bpl,bool half_resolution);
};
#endif
include/libelas/elasFilter.h deleted 100644 → 0
View file @ b69bbe36
/*
Copyright 2011. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany
This file is part of libelas.
Authors: Julius Ziegler, Andreas Geiger
libelas is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 3 of the License, or any later version.
libelas is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/
#ifndef __FILTER_H__
#define __FILTER_H__
#include <emmintrin.h>
#include <pmmintrin.h>
// define fixed-width datatypes for Visual Studio projects
//#ifndef _MSC_VER
#include <stdint.h>
//#else
// typedef __int8 int8_t;
// typedef __int16 int16_t;
// typedef __int32 int32_t;
// typedef __int64 int64_t;
// typedef unsigned __int8 uint8_t;
// typedef unsigned __int16 uint16_t;
// typedef unsigned __int32 uint32_t;
// typedef unsigned __int64 uint64_t;
//#endif
// fast filters: implements 3x3 and 5x5 sobel filters and
// 5x5 blob and corner filters based on SSE2/3 instructions
namespace filter {
// private namespace, public user functions at the bottom of this file
namespace detail {
void integral_image( const uint8_t* in, int32_t* out, int w, int h );
void unpack_8bit_to_16bit( const __m128i a, __m128i& b0, __m128i& b1 );
void pack_16bit_to_8bit_saturate( const __m128i a0, const __m128i a1, __m128i& b );
// convolve image with a (1,4,6,4,1) row vector. Result is accumulated into output.
// output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_14641_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h );
// convolve image with a (1,2,0,-2,-1) row vector. Result is accumulated into output.
// This one works on 16bit input and 8bit output.
// output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_12021_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h );
// convolve image with a (1,2,1) row vector. Result is accumulated into output.
// This one works on 16bit input and 8bit output.
// output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_121_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h );
// convolve image with a (1,0,-1) row vector. Result is accumulated into output.
// This one works on 16bit input and 8bit output.
// output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_101_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h );
void convolve_cols_5x5( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h );
void convolve_col_p1p1p0m1m1_5x5( const unsigned char* in, int16_t* out, int w, int h );
void convolve_row_p1p1p0m1m1_5x5( const int16_t* in, int16_t* out, int w, int h );
void convolve_cols_3x3( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h );
}
void sobel3x3( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h );
void sobel5x5( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h );
// -1 -1 0 1 1
// -1 -1 0 1 1
// 0 0 0 0 0
// 1 1 0 -1 -1
// 1 1 0 -1 -1
void checkerboard5x5( const uint8_t* in, int16_t* out, int w, int h );
// -1 -1 -1 -1 -1
// -1 1 1 1 -1
// -1 1 8 1 -1
// -1 1 1 1 -1
// -1 -1 -1 -1 -1
void blob5x5( const uint8_t* in, int16_t* out, int w, int h );
};
#endif
include/libelas/elasImage.h deleted 100644 → 0
View file @ b69bbe36
/*
Copyright 2011. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany
This file is part of libelas.
Authors: Andreas Geiger
libelas is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 3 of the License, or any later version.
libelas is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/
// basic image I/O, based on Pedro Felzenszwalb's code
#ifndef IMAGE_H
#define IMAGE_H
#include <cstdlib>
#include <climits>
#include <cstring>
#include <fstream>
// use imRef to access image data.
#define imRef(im, x, y) (im->access[y][x])
// use imPtr to get pointer to image data.
#define imPtr(im, x, y) &(im->access[y][x])
#define BUF_SIZE 256
typedef unsigned char uchar;
typedef struct { uchar r, g, b; } rgb;
inline bool operator==(const rgb &a, const rgb &b) {
return ((a.r == b.r) && (a.g == b.g) && (a.b == b.b));
}
// image class
template <class T> class image {
public:
// create image
image(const int width, const int height, const bool init = false);
// delete image
~image();
// init image
void init(const T &val);
// deep copy
image<T> *copy() const;
// get image width/height
int width() const { return w; }
int height() const { return h; }
// image data
T *data;
// row pointers
T **access;
private:
int w, h;
};
template <class T> image<T>::image(const int width, const int height, const bool init) {
w = width;
h = height;
data = new T[w * h]; // allocate space for image data
access = new T*[h]; // allocate space for row pointers
// initialize row pointers
for (int i = 0; i < h; i++)
access[i] = data + (i * w);
// init to zero
if (init)
memset(data, 0, w * h * sizeof(T));
}
template <class T> image<T>::~image() {
delete [] data;
delete [] access;
}
template <class T> void image<T>::init(const T &val) {
T *ptr = imPtr(this, 0, 0);
T *end = imPtr(this, w-1, h-1);
while (ptr <= end)
*ptr++ = val;
}
template <class T> image<T> *image<T>::copy() const {
image<T> *im = new image<T>(w, h, false);
memcpy(im->data, data, w * h * sizeof(T));
return im;
}
class pnm_error {};
void pnm_read(std::ifstream &file, char *buf) {
char doc[BUF_SIZE];
char c;
file >> c;
while (c == '#') {
file.getline(doc, BUF_SIZE);
file >> c;
}
file.putback(c);
file.width(BUF_SIZE);
file >> buf;
file.ignore();
}
image<uchar> *loadPGM(const char *name) {
char buf[BUF_SIZE];
// read header
std::ifstream file(name, std::ios::in | std::ios::binary);
pnm_read(file, buf);
if (strncmp(buf, "P5", 2)) {
std::cout << "ERROR: Could not read file " << name << std::endl;
throw pnm_error();
}
pnm_read(file, buf);
int width = atoi(buf);
pnm_read(file, buf);
int height = atoi(buf);
pnm_read(file, buf);
if (atoi(buf) > UCHAR_MAX) {
std::cout << "ERROR: Could not read file " << name << std::endl;
throw pnm_error();
}
// read data
image<uchar> *im = new image<uchar>(width, height);
file.read((char *)imPtr(im, 0, 0), width * height * sizeof(uchar));
return im;
}
void savePGM(image<uchar> *im, const char *name) {
int width = im->width();
int height = im->height();
std::ofstream file(name, std::ios::out | std::ios::binary);
file << "P5\n" << width << " " << height << "\n" << UCHAR_MAX << "\n";
file.write((char *)imPtr(im, 0, 0), width * height * sizeof(uchar));
}
#endif
include/libelas/elasMatrix.h deleted 100644 → 0
View file @ b69bbe36
/*
Copyright 2011. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany
This file is part of libviso2.
Authors: Andreas Geiger
libviso2 is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or any later version.
libviso2 is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
libviso2; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/
#ifndef MATRIX_H
#define MATRIX_H
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <iostream>
#include <vector>
//#ifndef _MSC_VER
#include <stdint.h>
//#else
// typedef __int8 int8_t;
// typedef __int16 int16_t;
// typedef __int32 int32_t;
// typedef __int64 int64_t;
// typedef unsigned __int8 uint8_t;
// typedef unsigned __int16 uint16_t;
// typedef unsigned __int32 uint32_t;
// typedef unsigned __int64 uint64_t;
//#endif
#define endll endl << endl // double end line definition
typedef double FLOAT; // double precision
//typedef float FLOAT; // single precision
class Matrix {
public:
// constructor / deconstructor
Matrix (); // init empty 0x0 matrix
Matrix (const int32_t m,const int32_t n); // init empty mxn matrix
Matrix (const int32_t m,const int32_t n,const FLOAT* val_); // init mxn matrix with values from array 'val'
Matrix (const Matrix &M); // creates deepcopy of M
~Matrix ();
// assignment operator, copies contents of M
Matrix& operator= (const Matrix &M);
// copies submatrix of M into array 'val', default values copy whole row/column/matrix
void getData(FLOAT* val_,int32_t i1=0,int32_t j1=0,int32_t i2=-1,int32_t j2=-1);
// set or get submatrices of current matrix
Matrix getMat(int32_t i1,int32_t j1,int32_t i2=-1,int32_t j2=-1);
void setMat(const Matrix &M,const int32_t i,const int32_t j);
// set sub-matrix to scalar (default 0), -1 as end replaces whole row/column/matrix
void setVal(FLOAT s,int32_t i1=0,int32_t j1=0,int32_t i2=-1,int32_t j2=-1);
// set (part of) diagonal to scalar, -1 as end replaces whole diagonal
void setDiag(FLOAT s,int32_t i1=0,int32_t i2=-1);
// clear matrix
void zero();
// extract columns with given index
Matrix extractCols (std::vector<int> idx);
// create identity matrix
static Matrix eye (const int32_t m);
void eye ();
// create diagonal matrix with nx1 or 1xn matrix M as elements
static Matrix diag(const Matrix &M);
// returns the m-by-n matrix whose elements are taken column-wise from M
static Matrix reshape(const Matrix &M,int32_t m,int32_t n);
// create 3x3 rotation matrices (convention: http://en.wikipedia.org/wiki/Rotation_matrix)
static Matrix rotMatX(const FLOAT &angle);
static Matrix rotMatY(const FLOAT &angle);
static Matrix rotMatZ(const FLOAT &angle);
// simple arithmetic operations
Matrix operator+ (const Matrix &M); // add matrix
Matrix operator- (const Matrix &M); // subtract matrix
Matrix operator* (const Matrix &M); // multiply with matrix
Matrix operator* (const FLOAT &s); // multiply with scalar
Matrix operator/ (const Matrix &M); // divide elementwise by matrix (or vector)
Matrix operator/ (const FLOAT &s); // divide by scalar
Matrix operator- (); // negative matrix
Matrix operator~ (); // transpose
FLOAT l2norm (); // euclidean norm (vectors) / frobenius norm (matrices)
FLOAT mean (); // mean of all elements in matrix
// complex arithmetic operations
static Matrix cross (const Matrix &a, const Matrix &b); // cross product of two vectors
static Matrix inv (const Matrix &M); // invert matrix M
bool inv (); // invert this matrix
FLOAT det (); // returns determinant of matrix
bool solve (const Matrix &M,FLOAT eps=1e-20); // solve linear system M*x=B, replaces *this and M
bool lu(int32_t *idx, FLOAT &d, FLOAT eps=1e-20); // replace *this by lower upper decomposition
void svd(Matrix &U,Matrix &W,Matrix &V); // singular value decomposition *this = U*diag(W)*V^T
// print matrix to stream
friend std::ostream& operator<< (std::ostream& out,const Matrix& M);
// direct data access
FLOAT **val;
int32_t m,n;
private:
void allocateMemory (const int32_t m_,const int32_t n_);
void releaseMemory ();
inline FLOAT pythag(FLOAT a,FLOAT b);
};
#endif // MATRIX_H