hsm_test00.c

Go to the documentation of this file.

#include <string.h>
#include <pgm.h>
#include <options/options.h>

#include <csm/csm_all.h>

#include "hsm.h"
#include "hsm_interface.h"

const char * banner = 
        "Reads an image, computes HT, de-computes it \n\n";

struct {
        const char * file_input1;
        const char * file_input2;
        
        const char * prefix;
        int debug;
        
        struct hsm_params hsmp;
        
} p;

hsm_buffer create_ht_for_image(struct hsm_params*p, FILE*in, const double base[3]);
void write_ht_on_image(hsm_buffer b, FILE*out);
void write_function_on_image(int n, const double*f, int rows, FILE*out);


int main(int argc, const char**argv) {
        pgm_init(&argc, argv);
        options_banner(banner);
        
        
        struct option* ops = options_allocate(20);
        options_string(ops, "in1", &p.file_input1, "stdin", "Input file 1");
        options_string(ops, "in2", &p.file_input2, "", "Input file 2");
        options_string(ops, "out", &p.prefix, "test00", "Output file prefix ");
        
        hsm_add_options(ops, &p.hsmp);
        p.hsmp.linear_cell_size = 1; /* 1 pixel */
                
        options_int(ops, "debug", &p.debug, 0, "Shows debug information");
        
        if(!options_parse_args(ops, argc, argv)) {
                options_print_help(ops, stderr);
                return -1;
        }
        
        sm_debug_write(p.debug);


        FILE * in1 = open_file_for_reading(p.file_input1);   if(!in1) return -2;

        sm_debug("Computing HT for image %s.\n", p.file_input1);

        hsm_buffer b1 = create_ht_for_image(&(p.hsmp), in1, 0);  if(!b1) return -3;
        hsm_compute_spectrum(b1);


        if(!strcmp(p.file_input2,"")) {
                p.file_input2 = p.file_input1;
                p.hsmp.debug_true_x_valid = 1;
                p.hsmp.debug_true_x[0] = 20;
                p.hsmp.debug_true_x[1] = 50;
                p.hsmp.debug_true_x[2] = 0; /*deg2rad(40.0);*/
        } else {
                p.hsmp.debug_true_x_valid = 0;
        }

        FILE * in2 = open_file_for_reading(p.file_input2);       if(!in2 ) return -2;
        sm_debug("Computing HT for image %s.\n", p.file_input2);
        double *base = p.hsmp.debug_true_x_valid ? p.hsmp.debug_true_x : 0;
        hsm_buffer b2 = create_ht_for_image(&(p.hsmp), in2, base);     if(!b2) return -3;       
        hsm_compute_spectrum(b2);
        
        
        
        sm_debug("Doing scan-matching..\n"); 
        p.hsmp.max_translation = max(b1->rho_max, b2->rho_max);
        
        hsm_match(&(p.hsmp),b1,b2);

        char filename_ht1[256]; sprintf(filename_ht1, "%s_ht1.pgm", p.prefix);
        char filename_ht2[256]; sprintf(filename_ht2, "%s_ht2.pgm", p.prefix);
        char filename_hs1[256]; sprintf(filename_hs1, "%s_hs1.pgm", p.prefix);
        char filename_hs2[256]; sprintf(filename_hs2, "%s_hs2.pgm", p.prefix);
        char filename_hs_xc[256]; sprintf(filename_hs_xc, "%s_hs_xc.pgm", p.prefix);
        
        FILE * file_ht1 = open_file_for_writing(filename_ht1);
        FILE * file_ht2 = open_file_for_writing(filename_ht2);
        FILE * file_hs1 = open_file_for_writing(filename_hs1);
        FILE * file_hs2 = open_file_for_writing(filename_hs2);
        FILE * file_hs_xc = open_file_for_writing(filename_hs_xc);
        
        if(!file_ht1 | !file_ht2) return -4;
        if(!file_hs1 | !file_hs2) return -4;
        if(!file_hs_xc) return -5;
        
        write_ht_on_image(b1,file_ht1);
        write_ht_on_image(b2,file_ht2);
        write_function_on_image(b1->num_angular_cells, b1->hs, 200, file_hs1);
        write_function_on_image(b2->num_angular_cells, b2->hs, 200, file_hs2);
        write_function_on_image(b1->num_angular_cells, b1->hs_cross_corr, 200, file_hs_xc);
        

}


void write_function_on_image(int n, const double*f, int rows, FILE*out) {       
        int cols = n;
        gray ** grays = pgm_allocarray(cols, rows);
        
        double maxvalue=0;
        for(int i=0;i<n;i++)
                if(f[i]>0) /* case NAN */
                maxvalue = GSL_MAX(maxvalue, f[i]);
        if(maxvalue==0)maxvalue=1;

        gray maxgray = 255;

        for(int y=0;y<rows;y++)
        for(int x=0;x<cols;x++)
        grays[y][x] = 0;
        
        for(int x=0;x<cols;x++) {
                int y =  round((rows-2)*f[x]/maxvalue);
                y = (rows-1) - y;
                if(y>=0 && y<rows )
                grays[y][x] = maxgray;
        }
        
        pgm_writepgm(out,grays,cols,rows,maxgray,0);
        
        pgm_freearray(grays,rows);
}


void write_ht_on_image(hsm_buffer b, FILE*out) {        
        int rows = b->num_angular_cells;
        int cols = b->num_linear_cells;
        gray ** grays = pgm_allocarray(cols, rows);
        
        double maxvalue=0;
        for(int t=0;t<b->num_angular_cells;t++)
        for(int r=0;r<b->num_linear_cells;r++)
        maxvalue = GSL_MAX(maxvalue, b->ht[t][r]);

        gray maxgray = 255;

        for(int t=0;t<b->num_angular_cells;t++)
        for(int r=0;r<b->num_linear_cells;r++)
        grays[t][r] = (gray) ceil(b->ht[t][r] * (maxgray-1) / maxvalue);
        
        pgm_writepgm(out,grays,cols,rows,maxgray,0);
        
        pgm_freearray(grays,rows);
}

hsm_buffer create_ht_for_image(struct hsm_params*p, FILE*in, const double base[3]) {
        int cols, rows; gray max;
        gray **image = pgm_readpgm(in, &cols, &rows, &max);
        if(!image) { return 0; }

        p->max_norm = 1.1 * hypot(cols/2.0, rows/2.0);
        hsm_buffer b = hsm_buffer_alloc(p);

        if(base)
                hsm_compute_ht_base(b, base);
        
        int npoints = 0;
   for (int v=0; v<rows; v++)
        for (int u=0; u<cols; u++) {
                double x = u - cols/2;
                double y = v - rows/2;
                if(image[v][u]==0) continue;
                hsm_compute_ht_point(b, x, y, ((double)image[v][u])/max);
                npoints ++;
        }
        sm_debug("Used %d points.\n", npoints);
    /* write the modified image to stdout */
/*    pgm_writepgm(stdout, image, cols, rows, max, 1); */
    pgm_freearray(image, rows);
        return b;
}