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void WorkerBunny::EstimateTransformation()
{
vector<Point2f> Model_Points, Image_Points, Inlier_Model_Points, Inlier_Image_Points;
vector<Point3f> Model_Points3d, Image_Points3d;
vector<uchar> Inlier_Points;
Mat tform, Mask, Mask2, tform_tmp(2, 2, CV_64F), tform2(3, 4, CV_64F);
vector<int> NumberInlierPoint;
for (int k = 0; k < vect_Matched_Model_keypoints.size(); k++)
{
// pour chaque modeles possible
//PROCESS_MEMORY_COUNTERS pmc;
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_begin = pmc.PagefileUsage;
Model_Points.clear();
Image_Points.clear();
Inlier_Model_Points.clear();
Inlier_Image_Points.clear();
Model_Points.shrink_to_fit();
Image_Points.shrink_to_fit();
Inlier_Model_Points.shrink_to_fit();
Inlier_Image_Points.shrink_to_fit();
// mise en forme des données
for (int j = 0; j < vect_Matched_Model_keypoints.at(k).vect_Model_KeyPoint.size(); j++)
{
Model_Points.push_back(vect_Matched_Model_keypoints.at(k).vect_Model_KeyPoint.at(j).pt);
Image_Points.push_back(vect_Matched_Model_keypoints.at(k).vect_Image_KeyPoint.at(j).pt);
}
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_end1 = pmc.PagefileUsage;
//long int diff1 = virtualMemUsedByPRocess_end1 - virtualMemUsedByPRocess_begin;
//long double ko1 = diff1 / 1024;
float ratio = ((float)params->InlierImagePointSeuil - 1) / Model_Points.size();
int* Good_Match_idx = (int*)malloc(Model_Points.size()*sizeof(int));
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_end2 = pmc.PagefileUsage;
//long int diff2 = virtualMemUsedByPRocess_end2 - virtualMemUsedByPRocess_begin;
//long double ko2 = diff2 / 1024;
// estomation de la transformation
tform = estimateRigidTransform_custom(Model_Points, Image_Points, false, MAX(2000, MIN(Model_Points.size() * 2, 10000)), 3, ratio, Good_Match_idx, params->ReprojectionThreshold);
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_end3 = pmc.PagefileUsage;
//long int diff3 = virtualMemUsedByPRocess_end3 - virtualMemUsedByPRocess_begin;
//long double ko3 = diff3 / 1024;
// Transform_Struct result = estimateRigidTransform_own(Model_Points, Image_Points, 2000, params->ReprojectionThreshold, 3, 0.70);
// tform = result.tform;
// for (int i = 0; i < result.Matchok.size();i++)Good_Match_idx[i] = result.Matchok.at(i);
//tform = findHomography_custom();
// Validation de la transformation
if (!tform.empty())
{
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_tformempty = pmc.PagefileUsage;
double* ptr0 = tform_tmp.ptr<double>(0);
double* ptr1 = tform_tmp.ptr<double>(1);
double val = tform.at<double>(0, 0);;
ptr0[0] = tform.at<double>(0, 0);
ptr0[1] = tform.at<double>(0, 1);
ptr1[0] = tform.at<double>(1, 0);
ptr1[1] = tform.at<double>(1, 1);
int sum = 0;
for (int j = 0; j < Model_Points.size(); j++)
{
if (Good_Match_idx[j])
{
Inlier_Model_Points.push_back(Model_Points.at(j));
Inlier_Image_Points.push_back(Image_Points.at(j));
sum++;
}
}
NumberInlierPoint.push_back(sum);
free(Good_Match_idx);
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_end4 = pmc.PagefileUsage;
//long int diff4 = virtualMemUsedByPRocess_end4 - virtualMemUsedByPRocess_begin;
//long double ko4 = diff4 / 1024;
//cout << "k = " << k << " ko4 = " << ko4 << endl;
int Nb_unique_inlier = 0;
for (int j = 0; j < Inlier_Image_Points.size(); j++)
{
for (int i = j; i < Inlier_Image_Points.size(); i++)
{
bool x = (Inlier_Image_Points.at(j).x == Inlier_Image_Points.at(i).x);
bool y = (Inlier_Image_Points.at(j).y == Inlier_Image_Points.at(i).y);
if (x && y)
{
Inlier_Image_Points.erase(Inlier_Image_Points.begin() + j);
}
}
}
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_end5 = pmc.PagefileUsage;
//long int diff5 = virtualMemUsedByPRocess_end5 - virtualMemUsedByPRocess_begin;
//long double ko5 = diff5 / 1024;
float n = norm(tform_tmp, NORM_L2);
if (n < params->TransformSeuil && n > 1 / params->TransformSeuil && Inlier_Image_Points.size() > params->InlierImagePointSeuil && Inlier_Model_Points.size() > params->InlierModelPointSeuil)
{
// si transformation ok on stop
TransformationStruct.Model_Found = vect_Matched_Model_keypoints.at(k).Name;
TransformationStruct.NbMatchingPoints = vect_Matched_Model_keypoints.at(k).vect_Model_KeyPoint.size();
TransformationStruct.NbInlierPoints = Inlier_Image_Points.size();
TransformationStruct.norm = n;
Model_Points.clear(); Image_Points.clear();
Inlier_Model_Points.clear(); Inlier_Image_Points.clear();
Model_Points3d.clear(), Image_Points3d.clear();
Inlier_Points.clear();
Model_Points.shrink_to_fit(); Image_Points.shrink_to_fit();
Inlier_Model_Points.shrink_to_fit(); Inlier_Image_Points.shrink_to_fit();
Model_Points3d.shrink_to_fit(), Image_Points3d.shrink_to_fit();
Inlier_Points.shrink_to_fit();
tform.release(); Mask.release(); Mask2.release(); tform_tmp.release(); tform2.release();
NumberInlierPoint.clear();
NumberInlierPoint.shrink_to_fit();
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_end6 = pmc.PagefileUsage;
//long int diff6 = virtualMemUsedByPRocess_end6 - virtualMemUsedByPRocess_begin;
//long double ko6 = diff6 / 1024;
//cout << "k = " << k << " ko6 = " << ko6 << endl;
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_tformempty_end = pmc.PagefileUsage;
//long int diff7 = virtualMemUsedByPRocess_tformempty_end - virtualMemUsedByPRocess_tformempty;
//long double ko7 = diff7 / 1024;
//cout << "inside if k = " << k << " ko7_ok = " << ko7 << endl;
return;// Transformation_Struct;
}
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_tformempty_end = pmc.PagefileUsage;
//long int diff7 = virtualMemUsedByPRocess_tformempty_end - virtualMemUsedByPRocess_tformempty;
//long double ko7 = diff7 / 1024;
//cout << "inside if k = " << k << " ko7 = " << ko7 << endl;
}
tform.release();
//GetProcessMemoryInfo(GetCurrentProcess(), &pmc, sizeof(pmc));
//SIZE_T virtualMemUsedByPRocess_end6 = pmc.PagefileUsage;
//long int diff6 = virtualMemUsedByPRocess_end6 - virtualMemUsedByPRocess_begin;
//long double ko6 = diff6 / 1024;
//cout << "k = " << k << " ko6 = " << ko6 << endl;
}
TransformationStruct.Model_Found = "";
TransformationStruct.NbInlierPoints = -1;
TransformationStruct.NbMatchingPoints = -1;
TransformationStruct.norm = -1;
TransformationStruct.tform = NULL;
Model_Points.clear(); Image_Points.clear();
Inlier_Model_Points.clear(); Inlier_Image_Points.clear();
Model_Points3d.clear(), Image_Points3d.clear();
Inlier_Points.clear();
Model_Points.shrink_to_fit(); Image_Points.shrink_to_fit();
Inlier_Model_Points.shrink_to_fit(); Inlier_Image_Points.shrink_to_fit();
Model_Points3d.shrink_to_fit(), Image_Points3d.shrink_to_fit();
Inlier_Points.shrink_to_fit();
tform.release(); Mask.release(); Mask2.release(); tform_tmp.release(); tform2.release();
NumberInlierPoint.clear();
NumberInlierPoint.shrink_to_fit();
return;// Transformation_Struct;
} |
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