You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
424 lines
18 KiB
Plaintext
424 lines
18 KiB
Plaintext
/*
|
|
* feature_based_registration implementation
|
|
*
|
|
* Copyright (C) HamidReza Houshiar
|
|
*
|
|
* Released under the GPL version 3.
|
|
*
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <fstream>
|
|
#include "slam6d/fbr/fbr_global.h"
|
|
#include "slam6d/fbr/scan_cv.h"
|
|
#include "slam6d/fbr/panorama.h"
|
|
#include "slam6d/fbr/feature.h"
|
|
#include "slam6d/fbr/feature_matcher.h"
|
|
#include "slam6d/fbr/registration.h"
|
|
|
|
using namespace std;
|
|
using namespace fbr;
|
|
|
|
struct information{
|
|
string local_time;
|
|
string dir, outDir;
|
|
int iWidth, iHeight, nImages, minDistance, minError, minInlier, fScanNumber, sScanNumber, verbose;
|
|
double pParam, mParam;
|
|
IOType sFormat;
|
|
projection_method pMethod;
|
|
feature_detector_method fMethod;
|
|
feature_descriptor_method dMethod;
|
|
matcher_method mMethod;
|
|
registration_method rMethod;
|
|
bool scanServer;
|
|
|
|
int fSPoints, sSPoints, fFNum, sFNum, mNum, filteredMNum;
|
|
double fSTime, sSTime, fPTime, sPTime, fFTime, sFTime, fDTime, sDTime, mTime, rTime;
|
|
} info;
|
|
|
|
/**
|
|
* usage : explains how to use the program CMD
|
|
*/
|
|
void usage(int argc, char** argv){
|
|
printf("\n");
|
|
printf("USAGE: %s dir -s firstScanNumber -e secondScanNumber \n", argv[0]);
|
|
printf("\n");
|
|
printf("\n");
|
|
printf("\tOptions:\n");
|
|
printf("\t\t-f scanFormat\t\t input scan file format [RIEGL_TXT|RXP|ALL SLAM6D SCAN_IO]\n");
|
|
printf("\t\t-W iWidth\t\t panorama image width\n");
|
|
printf("\t\t-H iHeight\t\t panorama image height\n");
|
|
printf("\t\t-p pMethod\t\t projection method [EQUIRECTANGULAR|CONIC|CYLINDRICAL|MERCATOR|RECTILINEAR|PANNINI|STEREOGRAPHIC|ZAXIS]\n");
|
|
printf("\t\t-N nImage\t\t number of images used for some projections\n");
|
|
printf("\t\t-P pParam\t\t special projection parameter (d for Pannini and r for stereographic)\n");
|
|
printf("\t\t-F fMethod\t\t feature detection method [SURF|SIFT|ORB|FAST|STAR]\n");
|
|
printf("\t\t-d dMethod\t\t feature description method [SURF|SIFT|ORB]\n");
|
|
printf("\t\t-m mMethod\t\t feature matching method [BRUTEFORCE|FLANN|KNN|RADIUS|RATIO]\n");
|
|
printf("\t\t-D minDistance \t\t threshold for min distance in registration process\n");
|
|
printf("\t\t-E minError \t\t threshold for min error in registration process\n");
|
|
printf("\t\t-I minInlier \t\t threshold for min number of inliers in registration process\n");
|
|
printf("\t\t-M mParam \t\t special matching paameter (knn for KNN and r for radius)\n");
|
|
printf("\t\t-r registration \t registration method [ALL|ransac]\n");
|
|
printf("\t\t-V verbose \t\t level of verboseness\n");
|
|
printf("\t\t-O outDir \t\t output directory if not stated same as input\n");
|
|
printf("\t\t-S scanServer \t\t Scan Server\n");
|
|
printf("\n");
|
|
printf("\tExamples:\n");
|
|
printf("\tUsing Bremen City dataset:\n");
|
|
printf("\tLoading scan000.txt and scan001.txt:\n");
|
|
printf("\t\t %s ~/dir/to/bremen_city -s 0 -e 1\n", argv[0]);
|
|
printf("\tLoading scan005.txt and scan006.txt and output panorma images and feature images and match images in ~/dir/to/bremen_city/out dir:\n");
|
|
printf("\t\t %s -V 1 -O ~/dir/to/bremen_city/out/ ~/dir/to/bremen_city -s 5 -e 6 \n", argv[0]);
|
|
printf("\tLoading scan010.txt and scan011.txt using Mercator projection and SURF feature detector and SIFT descriptor:\n");
|
|
printf("\t\t %s -p MERCATOR -F SURF -d SIFT -O ~/dir/to/bremen_city/out/ ~/dir/to/bremen_city -s 10 -e 11 \n", argv[0]);
|
|
printf("\n");
|
|
exit(1);
|
|
}
|
|
|
|
void parssArgs(int argc, char** argv, information& info){
|
|
time_t rawtime;
|
|
struct tm *timeinfo;
|
|
time(&rawtime);
|
|
char time[50];
|
|
timeinfo = localtime (&rawtime);
|
|
sprintf(time, "%d-%d-%d-%d:%d:%d", timeinfo->tm_year + 1900, timeinfo->tm_mon + 1, timeinfo->tm_mday, timeinfo->tm_hour, timeinfo->tm_min, timeinfo->tm_sec);
|
|
info.local_time = time;
|
|
|
|
//default values
|
|
info.iWidth = 3600;
|
|
info.iHeight = 1000;
|
|
info.nImages = 1;
|
|
info.minDistance = 50;
|
|
info.minError = 50;
|
|
info.minInlier = 5;
|
|
info.verbose = 0;
|
|
//depend on the projection method
|
|
info.pParam = 0;
|
|
info.mParam = 0;
|
|
//===============================
|
|
info.sFormat = RIEGL_TXT;
|
|
info.pMethod = EQUIRECTANGULAR;
|
|
info.fMethod = SIFT_DET;
|
|
info.dMethod = SIFT_DES;
|
|
info.mMethod = RATIO;
|
|
info.rMethod = RANSAC;
|
|
info.outDir = "";
|
|
info.scanServer = false;
|
|
|
|
int c;
|
|
opterr = 0;
|
|
//reade the command line and get the options
|
|
while ((c = getopt (argc, argv, "F:W:H:p:N:P:f:d:m:D:E:I:M:r:V:O:s:e:S")) != -1)
|
|
switch (c)
|
|
{
|
|
case 's':
|
|
info.fScanNumber = atoi(optarg);
|
|
break;
|
|
case 'e':
|
|
info.sScanNumber = atoi(optarg);
|
|
break;
|
|
case 'f':
|
|
info.sFormat = stringToScanFormat(optarg);
|
|
break;
|
|
case 'W':
|
|
info.iWidth = atoi(optarg);
|
|
break;
|
|
case 'H':
|
|
info.iHeight = atoi(optarg);
|
|
break;
|
|
case 'p':
|
|
info.pMethod = stringToProjectionMethod(optarg);
|
|
break;
|
|
case 'N':
|
|
info.nImages = atoi(optarg);
|
|
break;
|
|
case 'P':
|
|
info.pParam = atoi(optarg);
|
|
break;
|
|
case 'F':
|
|
info.fMethod = stringToFeatureDetectorMethod(optarg);
|
|
break;
|
|
case 'd':
|
|
info.dMethod = stringToFeatureDescriptorMethod(optarg);
|
|
break;
|
|
case 'm':
|
|
info.mMethod = stringToMatcherMethod(optarg);
|
|
break;
|
|
case 'D':
|
|
info.minDistance = atoi(optarg);
|
|
break;
|
|
case 'E':
|
|
info.minError = atoi(optarg);
|
|
break;
|
|
case 'I':
|
|
info.minInlier = atoi(optarg);
|
|
break;
|
|
case 'M':
|
|
info.mParam = atoi(optarg);
|
|
break;
|
|
case 'r':
|
|
info.rMethod = stringToRegistrationMethod(optarg);
|
|
break;
|
|
case 'V':
|
|
info.verbose = atoi(optarg);
|
|
break;
|
|
case 'O':
|
|
info.outDir = optarg;
|
|
break;
|
|
case 'S':
|
|
info.scanServer = true;
|
|
break;
|
|
case '?':
|
|
cout<<"Unknown option character "<<optopt<<endl;
|
|
usage(argc, argv);
|
|
break;
|
|
default:
|
|
usage(argc, argv);
|
|
}
|
|
if(info.pMethod == PANNINI && info.pParam == 0){
|
|
info.pParam = 1;
|
|
if(info.nImages < 3) info.nImages = 3;
|
|
}
|
|
if(info.pMethod == STEREOGRAPHIC && info.pParam == 0){
|
|
info.pParam = 2;
|
|
if(info.nImages < 3) info.nImages = 3;
|
|
}
|
|
if(info.pMethod == RECTILINEAR && info.nImages < 3)
|
|
info.nImages = 3;
|
|
if(info.mMethod == KNN && info.mParam == 0)
|
|
info.mParam = 3;
|
|
if(info.mMethod == RADIUS && info.mParam == 0)
|
|
info.mParam = 100;
|
|
if(info.dMethod == ORB_DES && info.fMethod == SIFT_DET){
|
|
cout<<"Error: SIFT feature doesn't work with ORB descriptor."<<endl;
|
|
usage(argc, argv);
|
|
}
|
|
if(info.mMethod == FLANN && info.dMethod == ORB_DES){
|
|
cout<<"Error: ORB descriptoronly works with BRUTEFORCE matcher."<<endl;
|
|
usage(argc, argv);
|
|
}
|
|
|
|
if (optind > argc - 1)
|
|
{
|
|
cout<<"Too few input arguments. At least dir and two scan numbers are required."<<endl;
|
|
usage(argc, argv);
|
|
}
|
|
|
|
info.dir = argv[optind];
|
|
//info.fScanNumber = atoi(argv[optind+1]);
|
|
//info.sScanNumber = atoi(argv[optind+2]);
|
|
if(info.outDir.empty()) info.outDir = info.dir;
|
|
else if(info.outDir.compare(info.outDir.size()-1, 1, "/") != 0) info.outDir += "/";
|
|
}
|
|
|
|
void informationDescription(information info){
|
|
cout<<"program parameters are:"<<endl;
|
|
cout<<endl;
|
|
cout<<"local time: "<<info.local_time<<endl;
|
|
cout<<"input dir: "<<info.dir<<endl;
|
|
cout<<"output dir: "<<info.outDir<<endl;
|
|
cout<<"first scan number: "<<info.fScanNumber<<endl;
|
|
cout<<"second scan number: "<<info.sScanNumber<<endl;
|
|
cout<<"scan format: "<<scanFormatToString(info.sFormat)<<endl;
|
|
cout<<endl;
|
|
cout<<"image width: "<<info.iWidth<<endl;
|
|
cout<<"image height: "<<info.iHeight<<endl;
|
|
cout<<"number of images: "<<info.nImages<<endl;
|
|
cout<<"projection parameter: "<<info.pParam<<endl;
|
|
cout<<"projection method: "<<projectionMethodToString(info.pMethod)<<endl;
|
|
cout<<endl;
|
|
cout<<"feature detector method: "<<featureDetectorMethodToString(info.fMethod)<<endl;
|
|
cout<<"feature descriptor method: "<<featureDescriptorMethodToString(info.dMethod)<<endl;
|
|
cout<<endl;
|
|
cout<<"matcher parameter: "<<info.mParam<<endl;
|
|
cout<<"matcher method: "<<matcherMethodToString(info.mMethod)<<endl;
|
|
cout<<endl;
|
|
cout<<"min distacne: "<<info.minDistance<<endl;
|
|
cout<<"min error: "<<info.minError<<endl;
|
|
cout<<"min inlier: "<<info.minInlier<<endl;
|
|
cout<<"registration method: "<<registrationMethodToString(info.rMethod)<<endl;
|
|
cout<<endl;
|
|
}
|
|
|
|
void info_yml(information info, double bError, double bErrorIdx, double* bAlign){
|
|
cv::Mat align(16, 1, CV_32FC(1), cv::Scalar::all(0));
|
|
for(int i = 0 ; i < 16 ; i++)
|
|
align.at<float>(i,0) = bAlign[i];
|
|
|
|
string yml;
|
|
yml = info.outDir+"fbr-yml.yml";
|
|
cv::FileStorage fs(yml.c_str(), cv::FileStorage::APPEND);
|
|
fs << "feature_bas_registration" << "{";
|
|
|
|
fs << "pair" << "{" << "scan" << to_string(info.fScanNumber, 3);
|
|
fs << "scan" << to_string(info.sScanNumber, 3) << "}";
|
|
|
|
fs << "time" << "{" << "local_time" << info.local_time << "}";
|
|
|
|
fs << "param" << "{";
|
|
fs << "DIR" << info.dir;
|
|
fs << "sFormat" << scanFormatToString(info.sFormat);
|
|
fs << "pMethod" << projectionMethodToString(info.pMethod);
|
|
fs << "nImage" << info.nImages;
|
|
fs << "pParam" << info.pParam;
|
|
fs << "iWidth" << info.iWidth;
|
|
fs << "iHeight" << info.iHeight;
|
|
fs << "fMethod" << featureDetectorMethodToString(info.fMethod);
|
|
fs << "dMethod" << featureDescriptorMethodToString(info.dMethod);
|
|
fs << "mMethod" << matcherMethodToString(info.mMethod);
|
|
fs << "mParam" << info.mParam;
|
|
fs << "rMethod" << registrationMethodToString(info.rMethod);
|
|
fs << "minDistance" << info.minDistance;
|
|
fs << "minInlier" << info.minInlier;
|
|
fs << "minError" << info.minError;
|
|
fs << "}";
|
|
|
|
fs << "input" << "{";
|
|
fs << "first_input" << "{";
|
|
fs << "name" << "{" << "scan" << to_string(info.fScanNumber, 3) << "}";
|
|
fs << "point" << "{" << "amount" << info.fSPoints << "time" << info.fSTime << "}";
|
|
fs << "projection" << "{" << "time" << info.fPTime << "}";
|
|
fs << "feature" << "{" << "amount" << info.fFNum << "fTime" << info.fFTime << "dTime" << info.fDTime << "}";
|
|
fs << "}";
|
|
fs << "second_input" << "{";
|
|
fs << "name" << "{" << "scan" << to_string(info.sScanNumber, 3) << "}";
|
|
fs << "point" << "{" << "amount" << info.sSPoints << "time" << info.sSTime << "}";
|
|
fs << "projection" << "{" << "time" << info.sPTime << "}";
|
|
fs << "feature" << "{" << "amount" << info.sFNum << "fTime" << info.sFTime << "dTime" << info.sDTime << "}";
|
|
fs << "}";
|
|
fs << "}";
|
|
|
|
fs << "matches" << "{";
|
|
fs << "amount" << info.mNum << "filteration" << info.filteredMNum << "time" << info.mTime << "}";
|
|
|
|
fs << "reg" << "{";
|
|
fs << "bestError" << bError << "bestErrorIdx" << bErrorIdx << "time" << info.rTime << "bAlign" << align << "}";
|
|
|
|
fs << "}";
|
|
}
|
|
|
|
int main(int argc, char** argv){
|
|
cout<<CV_VERSION<<endl;
|
|
string out;
|
|
cv::Mat outImage;
|
|
parssArgs(argc, argv, info);
|
|
if(info.verbose >= 1) informationDescription(info);
|
|
|
|
scan_cv fScan (info.dir, info.fScanNumber, info.sFormat, info.scanServer);
|
|
if(info.verbose >= 4) info.fSTime = (double)cv::getTickCount();
|
|
fScan.convertScanToMat();
|
|
if(info.verbose >= 4) info.fSTime = ((double)cv::getTickCount() - info.fSTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) fScan.getDescription();
|
|
panorama fPanorama (info.iWidth, info.iHeight, info.pMethod, info.nImages, info.pParam);
|
|
if(info.verbose >= 4) info.fPTime = (double)cv::getTickCount();
|
|
fPanorama.createPanorama(fScan.getMatScan());
|
|
if(info.verbose >= 4) info.fPTime = ((double)cv::getTickCount() - info.fPTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) fPanorama.getDescription();
|
|
//write panorama to image
|
|
if(info.verbose >= 1){
|
|
out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+".jpg";
|
|
imwrite(out, fPanorama.getReflectanceImage());
|
|
}
|
|
feature fFeature;
|
|
if(info.verbose >= 4) info.fFTime = (double)cv::getTickCount();
|
|
fFeature.featureDetection(fPanorama.getReflectanceImage(), info.fMethod);
|
|
if(info.verbose >= 4) info.fFTime = ((double)cv::getTickCount() - info.fFTime)/cv::getTickFrequency();
|
|
//write panorama with keypoints to image
|
|
if(info.verbose >= 1){
|
|
cv::drawKeypoints(fPanorama.getReflectanceImage(), fFeature.getFeatures(), outImage, cv::Scalar::all(-1), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS );
|
|
out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+".jpg";
|
|
imwrite(out, outImage);
|
|
outImage.release();
|
|
}
|
|
if(info.verbose >= 4) info.fDTime = (double)cv::getTickCount();
|
|
fFeature.featureDescription(fPanorama.getReflectanceImage(), info.dMethod);
|
|
if(info.verbose >= 4) info.fDTime = ((double)cv::getTickCount() - info.fDTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) fFeature.getDescription();
|
|
|
|
scan_cv sScan (info.dir, info.sScanNumber, info.sFormat, info.scanServer);
|
|
if(info.verbose >= 4) info.sSTime = (double)cv::getTickCount();
|
|
sScan.convertScanToMat();
|
|
if(info.verbose >= 4) info.sSTime = ((double)cv::getTickCount() - info.sSTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) sScan.getDescription();
|
|
panorama sPanorama (info.iWidth, info.iHeight, info.pMethod, info.nImages, info.pParam);
|
|
if(info.verbose >= 4) info.sPTime = (double)cv::getTickCount();
|
|
sPanorama.createPanorama(sScan.getMatScan());
|
|
if(info.verbose >= 4) info.sPTime = ((double)cv::getTickCount() - info.sPTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) sPanorama.getDescription();
|
|
//write panorama to image
|
|
if(info.verbose >= 1){
|
|
out = info.outDir+info.local_time+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+".jpg";
|
|
imwrite(out, sPanorama.getReflectanceImage());
|
|
}
|
|
feature sFeature;
|
|
if(info.verbose >= 4) info.sFTime = (double)cv::getTickCount();
|
|
sFeature.featureDetection(sPanorama.getReflectanceImage(), info.fMethod);
|
|
if(info.verbose >= 4) info.sFTime = ((double)cv::getTickCount() - info.sFTime)/cv::getTickFrequency();
|
|
//write panorama with keypoints to image
|
|
if(info.verbose >= 1){
|
|
cv::drawKeypoints(sPanorama.getReflectanceImage(), sFeature.getFeatures(), outImage, cv::Scalar::all(-1), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS );
|
|
out = info.outDir+info.local_time+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+".jpg";
|
|
imwrite(out, outImage);
|
|
outImage.release();
|
|
}
|
|
if(info.verbose >= 4) info.sDTime = (double)cv::getTickCount();
|
|
sFeature.featureDescription(sPanorama.getReflectanceImage(), info.dMethod);
|
|
if(info.verbose >= 4) info.sDTime = ((double)cv::getTickCount() - info.sDTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) sFeature.getDescription();
|
|
|
|
feature_matcher matcher (info.mMethod, info.mParam);
|
|
if(info.verbose >= 4) info.mTime = (double)cv::getTickCount();
|
|
matcher.match(fFeature, sFeature);
|
|
if(info.verbose >= 4) info.mTime = ((double)cv::getTickCount() - info.mTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) matcher.getDescription();
|
|
//write matcheed feature to image
|
|
if(info.verbose >= 1){
|
|
cv::drawMatches(fPanorama.getReflectanceImage(), fFeature.getFeatures(), sPanorama.getReflectanceImage(), sFeature.getFeatures(), matcher.getMatches(), outImage, cv::Scalar::all(-1), cv::Scalar::all(-1), vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
|
|
out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+"_"+featureDescriptorMethodToString(info.dMethod)+"_"+matcherMethodToString(info.mMethod)+".jpg";
|
|
imwrite(out, outImage);
|
|
outImage.release();
|
|
}
|
|
|
|
registration reg (info.minDistance, info.minError, info.minInlier, info.rMethod);
|
|
if(info.verbose >= 4) info.rTime = (double)cv::getTickCount();
|
|
reg.findRegistration(fPanorama.getMap(), fFeature.getFeatures(), sPanorama.getMap(), sFeature.getFeatures(), matcher.getMatches());
|
|
if(info.verbose >= 4) info.rTime = ((double)cv::getTickCount() - info.rTime)/cv::getTickFrequency();
|
|
if(info.verbose >= 2) reg.getDescription();
|
|
|
|
//write .dat and .frames files
|
|
if(info.verbose >= 0){
|
|
double *bAlign = reg.getBestAlign();
|
|
|
|
out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+"_"+featureDescriptorMethodToString(info.dMethod)+"_"+matcherMethodToString(info.mMethod)+"_"+registrationMethodToString(info.rMethod)+".dat";
|
|
ofstream dat(out.c_str());
|
|
dat << bAlign[0] << " " << bAlign[4] << " " << bAlign[8] << " " << bAlign[12] <<endl;
|
|
dat << bAlign[1] << " " << bAlign[5] << " " << bAlign[9] << " " << bAlign[13] <<endl;
|
|
dat << bAlign[2] << " " << bAlign[6] << " " << bAlign[10] << " " << bAlign[14] <<endl;
|
|
dat << bAlign[3] << " " << bAlign[7] << " " << bAlign[11] << " " << bAlign[15] <<endl;
|
|
dat.close();
|
|
|
|
out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+"_"+featureDescriptorMethodToString(info.dMethod)+"_"+matcherMethodToString(info.mMethod)+"_"+registrationMethodToString(info.rMethod)+".frames";
|
|
ofstream frames(out.c_str());
|
|
for (int n = 0 ; n < 2 ; n++)
|
|
{
|
|
for(int i = 0; i < 16; i++)
|
|
frames << bAlign[i] <<" ";
|
|
frames << "2" << endl;
|
|
}
|
|
frames.close();
|
|
}
|
|
|
|
if(info.verbose >= 3){
|
|
info.fSPoints = fScan.getNumberOfPoints();
|
|
info.sSPoints = sScan.getNumberOfPoints();
|
|
info.fFNum = fFeature.getNumberOfFeatures();
|
|
info.sFNum = sFeature.getNumberOfFeatures();
|
|
info.mNum = matcher.getNumberOfMatches();
|
|
info.filteredMNum = matcher.getNumberOfFilteredMatches();
|
|
|
|
info_yml(info, reg.getBestError(), reg.getBestErrorIndex(), reg.getBestAlign());
|
|
}
|
|
|
|
return 0;
|
|
}
|