From 91139ecf91aa7c0acf184b30b3d2c2c18519e9ae Mon Sep 17 00:00:00 2001
From: tw00275 <tw00275@surrey.ac.uk>
Date: Mon, 27 Aug 2018 16:25:28 +0100
Subject: [PATCH] Added function for obtaining albedo with Photometric Stereo
---
CMakeCache.txt | 4 +-
CMakeFiles/Makefile.cmake | 7 +-
CMakeFiles/Makefile2 | 4 +-
CMakeFiles/progress.marks | 2 +-
apps/CMakeFiles/progress.marks | 2 +-
.../CMakeFiles/progress.marks | 2 +-
.../specular_estimation.dir/CXX.includecache | 5206 +++++++++--------
.../specular_estimation.dir/DependInfo.cmake | 53 +-
.../specular_estimation.dir/build.make | 86 +-
.../specular_estimation.dir/cmake_clean.cmake | 2 +
.../specular_estimation.dir/depend.internal | 595 +-
.../specular_estimation.dir/depend.make | 595 +-
.../specular_estimation.dir/flags.make | 2 +-
.../specular_estimation.dir/link.txt | 2 +-
.../specular_estimation.dir/progress.make | 2 +
.../src/PFMAccess.cpp.o | Bin 0 -> 8504 bytes
.../src/PhotometricStereo.cc.o | Bin 0 -> 1334336 bytes
.../src/specular_estimation.cc.o | Bin 1352944 -> 1353528 bytes
apps/specular_estimation/Makefile | 60 +
apps/specular_estimation/src/Ceres.h | 38 +-
apps/specular_estimation/src/PFMAccess.cpp | 277 +
apps/specular_estimation/src/PFMAccess.h | 43 +
.../src/PhotometricStereo.cc | 873 +++
.../src/PhotometricStereo.h | 88 +
.../src/specular_estimation.cc | 9 +-
apps/specular_estimation/src/stdafx.h | 3 +
bin/specular_estimation | Bin 4096920 -> 4807624 bytes
27 files changed, 5091 insertions(+), 2864 deletions(-)
create mode 100644 apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.o
create mode 100644 apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o
create mode 100755 apps/specular_estimation/src/PFMAccess.cpp
create mode 100755 apps/specular_estimation/src/PFMAccess.h
create mode 100755 apps/specular_estimation/src/PhotometricStereo.cc
create mode 100755 apps/specular_estimation/src/PhotometricStereo.h
diff --git a/CMakeCache.txt b/CMakeCache.txt
index 263cc9c..675d869 100644
--- a/CMakeCache.txt
+++ b/CMakeCache.txt
@@ -248,7 +248,7 @@ OPENGL_opengl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenGL.so
OPENGL_xmesa_INCLUDE_DIR:PATH=OPENGL_xmesa_INCLUDE_DIR-NOTFOUND
//The directory containing a CMake configuration file for OpenCV.
-OpenCV_DIR:PATH=/home/thomas/Programs/opencv/build
+OpenCV_DIR:PATH=/usr/local/share/OpenCV
//The directory containing a CMake configuration file for glfw3.
glfw3_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/glfw3
@@ -410,7 +410,7 @@ FIND_PACKAGE_MESSAGE_DETAILS_GLEW:INTERNAL=[/usr/include][/usr/lib/x86_64-linux-
//Details about finding GLUT
FIND_PACKAGE_MESSAGE_DETAILS_GLUT:INTERNAL=[/usr/lib/x86_64-linux-gnu/libglut.so][/usr/include][v()]
//Details about finding OpenCV
-FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/home/thomas/Programs/opencv/build][cfound components: core imgproc highgui calib3d video aruco ][v4.0.0()]
+FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/usr/local][cfound components: core imgproc highgui calib3d video aruco ][v4.0.0()]
//Details about finding OpenGL
FIND_PACKAGE_MESSAGE_DETAILS_OpenGL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libOpenGL.so][/usr/lib/x86_64-linux-gnu/libGLX.so][/usr/include][c ][v()]
//Details about finding Threads
diff --git a/CMakeFiles/Makefile.cmake b/CMakeFiles/Makefile.cmake
index d0daa09..93e2b15 100644
--- a/CMakeFiles/Makefile.cmake
+++ b/CMakeFiles/Makefile.cmake
@@ -13,9 +13,6 @@ set(CMAKE_MAKEFILE_DEPENDS
"CMakeLists.txt"
"apps/CMakeLists.txt"
"apps/specular_estimation/CMakeLists.txt"
- "/home/thomas/Programs/opencv/build/OpenCVConfig-version.cmake"
- "/home/thomas/Programs/opencv/build/OpenCVConfig.cmake"
- "/home/thomas/Programs/opencv/build/OpenCVModules.cmake"
"/usr/lib/cmake/eigen3/Eigen3Config.cmake"
"/usr/lib/cmake/eigen3/Eigen3ConfigVersion.cmake"
"/usr/lib/cmake/eigen3/Eigen3Targets.cmake"
@@ -34,6 +31,10 @@ set(CMAKE_MAKEFILE_DEPENDS
"/usr/local/lib/cmake/Ceres/FindEigen.cmake"
"/usr/local/lib/cmake/Ceres/FindGflags.cmake"
"/usr/local/lib/cmake/Ceres/FindGlog.cmake"
+ "/usr/local/share/OpenCV/OpenCVConfig-version.cmake"
+ "/usr/local/share/OpenCV/OpenCVConfig.cmake"
+ "/usr/local/share/OpenCV/OpenCVModules-release.cmake"
+ "/usr/local/share/OpenCV/OpenCVModules.cmake"
"/usr/share/cmake-3.10/Modules/CMakeCInformation.cmake"
"/usr/share/cmake-3.10/Modules/CMakeCXXInformation.cmake"
"/usr/share/cmake-3.10/Modules/CMakeCommonLanguageInclude.cmake"
diff --git a/CMakeFiles/Makefile2 b/CMakeFiles/Makefile2
index 916e411..9752c6b 100644
--- a/CMakeFiles/Makefile2
+++ b/CMakeFiles/Makefile2
@@ -102,7 +102,7 @@ apps/specular_estimation/preinstall:
apps/specular_estimation/CMakeFiles/specular_estimation.dir/all:
$(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend
$(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/build
- @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/thomas/Documents/Minimisation/CMakeFiles --progress-num=1,2,3,4,5,6 "Built target specular_estimation"
+ @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/thomas/Documents/Minimisation/CMakeFiles --progress-num=1,2,3,4,5,6,7,8 "Built target specular_estimation"
.PHONY : apps/specular_estimation/CMakeFiles/specular_estimation.dir/all
# Include target in all.
@@ -112,7 +112,7 @@ all: apps/specular_estimation/CMakeFiles/specular_estimation.dir/all
# Build rule for subdir invocation for target.
apps/specular_estimation/CMakeFiles/specular_estimation.dir/rule: cmake_check_build_system
- $(CMAKE_COMMAND) -E cmake_progress_start /home/thomas/Documents/Minimisation/CMakeFiles 6
+ $(CMAKE_COMMAND) -E cmake_progress_start /home/thomas/Documents/Minimisation/CMakeFiles 8
$(MAKE) -f CMakeFiles/Makefile2 apps/specular_estimation/CMakeFiles/specular_estimation.dir/all
$(CMAKE_COMMAND) -E cmake_progress_start /home/thomas/Documents/Minimisation/CMakeFiles 0
.PHONY : apps/specular_estimation/CMakeFiles/specular_estimation.dir/rule
diff --git a/CMakeFiles/progress.marks b/CMakeFiles/progress.marks
index 1e8b314..45a4fb7 100644
--- a/CMakeFiles/progress.marks
+++ b/CMakeFiles/progress.marks
@@ -1 +1 @@
-6
+8
diff --git a/apps/CMakeFiles/progress.marks b/apps/CMakeFiles/progress.marks
index 1e8b314..45a4fb7 100644
--- a/apps/CMakeFiles/progress.marks
+++ b/apps/CMakeFiles/progress.marks
@@ -1 +1 @@
-6
+8
diff --git a/apps/specular_estimation/CMakeFiles/progress.marks b/apps/specular_estimation/CMakeFiles/progress.marks
index 1e8b314..45a4fb7 100644
--- a/apps/specular_estimation/CMakeFiles/progress.marks
+++ b/apps/specular_estimation/CMakeFiles/progress.marks
@@ -1 +1 @@
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diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
index 2d0b1aa..bc8c1ad 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
@@ -84,6 +84,48 @@ ceres/ceres.h
glog/logging.h
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/glog/logging.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.cpp
+PFMAccess.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
+string.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/string.h
+
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
+stdio.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/stdio.h
+stdlib.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/stdlib.h
+
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.cc
+PhotometricStereo.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.h
+cmath
+-
+cstdlib
+-
+iostream
+-
+climits
+-
+cstdio
+-
+Eigen/SparseCholesky
+-
+
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.h
+string
+-
+vector
+-
+opencv2/core/core.hpp
+-
+opencv2/highgui/highgui.hpp
+-
+opencv2/imgproc/imgproc.hpp
+-
+PFMAccess.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
+
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/objloader.cpp
vector
-
@@ -187,6 +229,10 @@ Ceres.h
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/Ceres.h
Macbeth.h
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/Macbeth.h
+PhotometricStereo.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.h
+PFMAccess.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/texture.cpp
stdio.h
@@ -216,197 +262,45 @@ string.h
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/vboindexer.h
-/home/thomas/Programs/opencv/build/cv_cpu_config.h
-
-/home/thomas/Programs/opencv/build/cvconfig.h
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-/home/thomas/Programs/opencv/build/opencv2/opencv_modules.hpp
-
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-opencv2/imgproc/imgproc_c.h
-/home/thomas/Programs/opencv/include/opencv/opencv2/imgproc/imgproc_c.h
-opencv2/photo/photo_c.h
-/home/thomas/Programs/opencv/include/opencv/opencv2/photo/photo_c.h
-opencv2/video/tracking_c.h
-/home/thomas/Programs/opencv/include/opencv/opencv2/video/tracking_c.h
-opencv2/objdetect/objdetect_c.h
-/home/thomas/Programs/opencv/include/opencv/opencv2/objdetect/objdetect_c.h
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-/home/thomas/Programs/opencv/include/opencv/cxcore.h
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cuda_types.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cv_cpu_dispatch.h
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emmintrin.h
-
+xmmintrin.h
+-
pmmintrin.h
-
tmmintrin.h
@@ -415,2676 +309,3024 @@ smmintrin.h
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nmmintrin.h
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--
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--
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--
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--
-immintrin.h
--
immintrin.h
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--
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--
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--
altivec.h
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-emmintrin.h
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--
-arm_neon.h
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arm_neon.h
-
-altivec.h
--
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cv_cpu_helper.h
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvdef.h
-cvconfig.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvconfig.h
-limits.h
+vecintrin.h
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-opencv2/core/hal/interface.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/hal/interface.h
-cv_cpu_dispatch.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cv_cpu_dispatch.h
-intrin.h
+vector_types.h
-
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-
-cstdint
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-
-stdint.h
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-
-stdint.h
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-opencv2/core/fast_math.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/fast_math.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvstd.hpp
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cstddef
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cstdlib
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cmath
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-emmintrin.h
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-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/hal/interface.h
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type_traits
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/neon_utils.hpp
-opencv2/core/cvdef.h
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/operations.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/ovx.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/saturate.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/traits.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/types.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/types_c.h
-ipl.h
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/utility.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/version.hpp
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-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/vsx_utils.hpp
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-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn.hpp
-opencv2/dnn/dnn.hpp
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-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/dict.hpp
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-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/dnn.hpp
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-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/dnn.inl.hpp
-opencv2/dnn.hpp
--
-
-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/layer.hpp
-opencv2/dnn.hpp
--
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-/home/thomas/Programs/opencv/modules/features2d/include/opencv2/features2d.hpp
-opencv2/opencv_modules.hpp
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-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann.hpp
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-kdtree_index.h
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-kdtree_single_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_single_index.h
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-stdlib.h
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-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/any.h
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-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/composite_index.h
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-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/config.h
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-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/arm_neon.h
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-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dynamic_bitset.h
-boost/dynamic_bitset.hpp
--
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--
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--
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--
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--
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--
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--
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--
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-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-dist.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dist.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-heap.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-allocator.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-logger.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/logger.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/linear_index.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/logger.h
-stdio.h
--
-stdarg.h
--
-defines.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/defines.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/lsh_index.h
-algorithm
--
-cassert
--
-cstring
--
-map
--
-vector
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-heap.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-lsh_table.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/lsh_table.h
-allocator.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/lsh_table.h
-algorithm
--
-iostream
--
-iomanip
--
-limits.h
--
-unordered_map
--
-map
--
-math.h
--
-stddef.h
--
-dynamic_bitset.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dynamic_bitset.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-stdio.h
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/miniflann.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/core.hpp
-opencv2/flann/defines.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/flann/defines.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-params.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/params.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/params.h
-any.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/any.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-iostream
--
-map
--
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-algorithm
--
-cstdlib
--
-vector
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-algorithm
--
-cstring
--
-iostream
--
-limits
--
-set
--
-vector
--
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/sampling.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-cstring
--
-vector
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/timer.h
-time.h
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/core.hpp
-opencv2/core/utility.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/core/utility.hpp
-
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/opencv2/core.hpp
-opencv2/imgcodecs.hpp
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/opencv2/imgcodecs.hpp
-opencv2/videoio.hpp
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/opencv2/videoio.hpp
-
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/highgui_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/core/core_c.h
-opencv2/imgproc/imgproc_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/imgproc/imgproc_c.h
-opencv2/imgcodecs/imgcodecs_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/imgcodecs/imgcodecs_c.h
-opencv2/videoio/videoio_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/videoio/videoio_c.h
-
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/imgcodecs.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/imgcodecs/imgcodecs_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/imgcodecs/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/imgproc_c.h
-opencv2/imgproc/types_c.h
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/opencv2/imgproc/types_c.h
-
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/types_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/ml/include/opencv2/ml.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/ml/include/opencv2/opencv2/core.hpp
-float.h
--
-map
--
-iostream
--
-opencv2/ml/ml.inl.hpp
--
-
-/home/thomas/Programs/opencv/modules/ml/include/opencv2/ml/ml.inl.hpp
-
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/opencv2/core.hpp
-opencv2/objdetect/detection_based_tracker.hpp
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/opencv2/objdetect/detection_based_tracker.hpp
-
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect/detection_based_tracker.hpp
-opencv2/core.hpp
--
-vector
--
-
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect/objdetect_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect/opencv2/core/core_c.h
-deque
--
-vector
--
-
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/photo.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/opencv2/core.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/photo/photo_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/photo/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape.hpp
-opencv2/shape/emdL1.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/emdL1.hpp
-opencv2/shape/shape_transformer.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/shape_transformer.hpp
-opencv2/shape/hist_cost.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/hist_cost.hpp
-opencv2/shape/shape_distance.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/shape_distance.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/emdL1.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/hist_cost.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/shape_distance.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/core.hpp
-opencv2/shape/hist_cost.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/shape/hist_cost.hpp
-opencv2/shape/shape_transformer.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/shape/shape_transformer.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/shape_transformer.hpp
-vector
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/core.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/core.hpp
-opencv2/features2d.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/features2d.hpp
-opencv2/stitching/warpers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/warpers.hpp
-opencv2/stitching/detail/matchers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/matchers.hpp
-opencv2/stitching/detail/motion_estimators.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/motion_estimators.hpp
-opencv2/stitching/detail/exposure_compensate.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/exposure_compensate.hpp
-opencv2/stitching/detail/seam_finders.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/seam_finders.hpp
-opencv2/stitching/detail/blenders.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/blenders.hpp
-opencv2/stitching/detail/camera.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/camera.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/blenders.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/core/cuda.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/camera.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/exposure_compensate.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/matchers.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/features2d.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/features2d.hpp
-opencv2/opencv_modules.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
-opencv2/xfeatures2d/cuda.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/xfeatures2d/cuda.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-matchers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/matchers.hpp
-util.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util.hpp
-camera.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/camera.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/seam_finders.hpp
-set
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/opencv_modules.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util.hpp
-list
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-util_inl.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util_inl.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util_inl.hpp
-queue
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-util.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/core/cuda.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/imgproc.hpp
-opencv2/opencv_modules.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
-warpers_inl.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-warpers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers.hpp
-limits
--
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/warpers.hpp
-opencv2/stitching/detail/warpers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/opencv2/stitching/detail/warpers.hpp
-
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/superres.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/opencv2/core.hpp
-opencv2/superres/optical_flow.hpp
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/opencv2/superres/optical_flow.hpp
-
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/superres/optical_flow.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/superres/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video.hpp
-opencv2/video/tracking.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/opencv2/video/tracking.hpp
-opencv2/video/background_segm.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/opencv2/video/background_segm.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/background_segm.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/tracking.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/core.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/tracking_c.h
-opencv2/imgproc/types_c.h
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/imgproc/types_c.h
-
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/videoio.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/videoio/videoio_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/videoio/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab.hpp
-opencv2/videostab/stabilizer.hpp
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-
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/deblurring.hpp
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--
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--
-queue
--
-algorithm
--
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-
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--
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--
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--
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--
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-
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--
-opencv2/core.hpp
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--
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--
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-
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--
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--
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--
-ctime
--
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-opencv2/videostab/wobble_suppression.hpp
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--
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-
-/home/thomas/Programs/opencv_contrib/modules/aruco/include/opencv2/aruco.hpp
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--
-vector
--
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--
-vector
--
-opencv2/aruco.hpp
--
-
-/home/thomas/Programs/opencv_contrib/modules/aruco/include/opencv2/aruco/dictionary.hpp
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--
-
-/home/thomas/Programs/opencv_contrib/modules/tracking/include/opencv2/tracking.hpp
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--
-opencv2/tracking/tldDataset.hpp
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--
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--
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-/usr/include/eigen3/Eigen/StdVector
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-/usr/include/eigen3/Eigen/Core
-vector
--
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-/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
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vector
--
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--
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-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/internal/autodiff.h
-stddef.h
+/usr/local/include/opencv2/objdetect/objdetect_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/objdetect/opencv2/core/core_c.h
+deque
+-
+vector
-
-ceres/jet.h
-/usr/local/include/ceres/internal/ceres/jet.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/internal/ceres/internal/eigen.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-ceres/internal/variadic_evaluate.h
-/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
-/usr/local/include/ceres/internal/config.h
+/usr/local/include/opencv2/opencv.hpp
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+/usr/local/include/opencv2/opencv2/opencv_modules.hpp
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+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/calib3d.hpp
+/usr/local/include/opencv2/opencv2/calib3d.hpp
+opencv2/features2d.hpp
+/usr/local/include/opencv2/opencv2/features2d.hpp
+opencv2/dnn.hpp
+/usr/local/include/opencv2/opencv2/dnn.hpp
+opencv2/flann.hpp
+/usr/local/include/opencv2/opencv2/flann.hpp
+opencv2/highgui.hpp
+/usr/local/include/opencv2/opencv2/highgui.hpp
+opencv2/imgcodecs.hpp
+/usr/local/include/opencv2/opencv2/imgcodecs.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/opencv2/imgproc.hpp
+opencv2/ml.hpp
+/usr/local/include/opencv2/opencv2/ml.hpp
+opencv2/objdetect.hpp
+/usr/local/include/opencv2/opencv2/objdetect.hpp
+opencv2/photo.hpp
+/usr/local/include/opencv2/opencv2/photo.hpp
+opencv2/shape.hpp
+/usr/local/include/opencv2/opencv2/shape.hpp
+opencv2/stitching.hpp
+/usr/local/include/opencv2/opencv2/stitching.hpp
+opencv2/superres.hpp
+/usr/local/include/opencv2/opencv2/superres.hpp
+opencv2/video.hpp
+/usr/local/include/opencv2/opencv2/video.hpp
+opencv2/videoio.hpp
+/usr/local/include/opencv2/opencv2/videoio.hpp
+opencv2/videostab.hpp
+/usr/local/include/opencv2/opencv2/videostab.hpp
+opencv2/viz.hpp
+/usr/local/include/opencv2/opencv2/viz.hpp
+opencv2/cudaarithm.hpp
+/usr/local/include/opencv2/opencv2/cudaarithm.hpp
+opencv2/cudabgsegm.hpp
+/usr/local/include/opencv2/opencv2/cudabgsegm.hpp
+opencv2/cudacodec.hpp
+/usr/local/include/opencv2/opencv2/cudacodec.hpp
+opencv2/cudafeatures2d.hpp
+/usr/local/include/opencv2/opencv2/cudafeatures2d.hpp
+opencv2/cudafilters.hpp
+/usr/local/include/opencv2/opencv2/cudafilters.hpp
+opencv2/cudaimgproc.hpp
+/usr/local/include/opencv2/opencv2/cudaimgproc.hpp
+opencv2/cudaobjdetect.hpp
+/usr/local/include/opencv2/opencv2/cudaobjdetect.hpp
+opencv2/cudaoptflow.hpp
+/usr/local/include/opencv2/opencv2/cudaoptflow.hpp
+opencv2/cudastereo.hpp
+/usr/local/include/opencv2/opencv2/cudastereo.hpp
+opencv2/cudawarping.hpp
+/usr/local/include/opencv2/opencv2/cudawarping.hpp
-/usr/local/include/ceres/internal/disable_warnings.h
+/usr/local/include/opencv2/opencv_modules.hpp
-/usr/local/include/ceres/internal/eigen.h
-Eigen/Core
-/usr/local/include/ceres/internal/Eigen/Core
+/usr/local/include/opencv2/photo.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/opencv2/imgproc.hpp
-/usr/local/include/ceres/internal/fixed_array.h
-cstddef
--
-Eigen/Core
-/usr/local/include/ceres/internal/Eigen/Core
-ceres/internal/macros.h
-/usr/local/include/ceres/internal/ceres/internal/macros.h
-ceres/internal/manual_constructor.h
-/usr/local/include/ceres/internal/ceres/internal/manual_constructor.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+/usr/local/include/opencv2/photo/photo_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/photo/opencv2/core/core_c.h
-/usr/local/include/ceres/internal/manual_constructor.h
-new
--
+/usr/local/include/opencv2/shape.hpp
+opencv2/shape/emdL1.hpp
+/usr/local/include/opencv2/opencv2/shape/emdL1.hpp
+opencv2/shape/shape_transformer.hpp
+/usr/local/include/opencv2/opencv2/shape/shape_transformer.hpp
+opencv2/shape/hist_cost.hpp
+/usr/local/include/opencv2/opencv2/shape/hist_cost.hpp
+opencv2/shape/shape_distance.hpp
+/usr/local/include/opencv2/opencv2/shape/shape_distance.hpp
-/usr/local/include/ceres/internal/numeric_diff.h
-cstring
+/usr/local/include/opencv2/shape/emdL1.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/shape/opencv2/core.hpp
+
+/usr/local/include/opencv2/shape/hist_cost.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/shape/opencv2/imgproc.hpp
+
+/usr/local/include/opencv2/shape/shape_distance.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/shape/opencv2/core.hpp
+opencv2/shape/hist_cost.hpp
+/usr/local/include/opencv2/shape/opencv2/shape/hist_cost.hpp
+opencv2/shape/shape_transformer.hpp
+/usr/local/include/opencv2/shape/opencv2/shape/shape_transformer.hpp
+
+/usr/local/include/opencv2/shape/shape_transformer.hpp
+vector
-
-Eigen/Dense
-/usr/local/include/ceres/internal/Eigen/Dense
-Eigen/StdVector
-/usr/local/include/ceres/internal/Eigen/StdVector
-ceres/cost_function.h
-/usr/local/include/ceres/internal/ceres/cost_function.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/internal/ceres/internal/scoped_ptr.h
-ceres/internal/variadic_evaluate.h
-/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/internal/ceres/numeric_diff_options.h
-ceres/types.h
-/usr/local/include/ceres/internal/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+opencv2/core.hpp
+/usr/local/include/opencv2/shape/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/shape/opencv2/imgproc.hpp
-/usr/local/include/ceres/internal/port.h
-cstddef
+/usr/local/include/opencv2/stitching.hpp
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+/usr/local/include/opencv2/opencv2/core.hpp
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+/usr/local/include/opencv2/opencv2/features2d.hpp
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+/usr/local/include/opencv2/opencv2/stitching/warpers.hpp
+opencv2/stitching/detail/matchers.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/matchers.hpp
+opencv2/stitching/detail/motion_estimators.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/motion_estimators.hpp
+opencv2/stitching/detail/exposure_compensate.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/exposure_compensate.hpp
+opencv2/stitching/detail/seam_finders.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/seam_finders.hpp
+opencv2/stitching/detail/blenders.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/blenders.hpp
+opencv2/stitching/detail/camera.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/camera.hpp
+
+/usr/local/include/opencv2/stitching/detail/blenders.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/core/cuda.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
+
+/usr/local/include/opencv2/stitching/detail/camera.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+
+/usr/local/include/opencv2/stitching/detail/exposure_compensate.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+
+/usr/local/include/opencv2/stitching/detail/matchers.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/features2d.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/features2d.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
+opencv2/xfeatures2d/cuda.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/xfeatures2d/cuda.hpp
+
+/usr/local/include/opencv2/stitching/detail/motion_estimators.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+matchers.hpp
+/usr/local/include/opencv2/stitching/detail/matchers.hpp
+util.hpp
+/usr/local/include/opencv2/stitching/detail/util.hpp
+camera.hpp
+/usr/local/include/opencv2/stitching/detail/camera.hpp
+
+/usr/local/include/opencv2/stitching/detail/seam_finders.hpp
+set
-
-ceres/internal/config.h
-/usr/local/include/ceres/internal/ceres/internal/config.h
-tr1/memory
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
+
+/usr/local/include/opencv2/stitching/detail/util.hpp
+list
-
-memory
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+util_inl.hpp
+/usr/local/include/opencv2/stitching/detail/util_inl.hpp
+
+/usr/local/include/opencv2/stitching/detail/util_inl.hpp
+queue
-
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+util.hpp
+/usr/local/include/opencv2/stitching/detail/util.hpp
-/usr/local/include/ceres/internal/reenable_warnings.h
+/usr/local/include/opencv2/stitching/detail/warpers.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/core/cuda.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/imgproc.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
+warpers_inl.hpp
+/usr/local/include/opencv2/stitching/detail/warpers_inl.hpp
-/usr/local/include/ceres/internal/variadic_evaluate.h
-stddef.h
+/usr/local/include/opencv2/stitching/detail/warpers_inl.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+warpers.hpp
+/usr/local/include/opencv2/stitching/detail/warpers.hpp
+limits
-
-ceres/jet.h
-/usr/local/include/ceres/internal/ceres/jet.h
-ceres/types.h
-/usr/local/include/ceres/internal/ceres/types.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/internal/ceres/internal/eigen.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
-/usr/local/include/ceres/iteration_callback.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/local/include/opencv2/stitching/warpers.hpp
+opencv2/stitching/detail/warpers.hpp
+/usr/local/include/opencv2/stitching/opencv2/stitching/detail/warpers.hpp
-/usr/local/include/ceres/jet.h
-cmath
+/usr/local/include/opencv2/superres.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/superres/optical_flow.hpp
+/usr/local/include/opencv2/opencv2/superres/optical_flow.hpp
+
+/usr/local/include/opencv2/superres/optical_flow.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/superres/opencv2/core.hpp
+
+/usr/local/include/opencv2/tracking.hpp
+opencv2/core/cvdef.h
+/usr/local/include/opencv2/opencv2/core/cvdef.h
+opencv2/tracking/tracker.hpp
-
-iosfwd
+opencv2/tracking/tldDataset.hpp
-
+
+/usr/local/include/opencv2/tracking/feature.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/tracking/opencv2/imgproc.hpp
iostream
-
-limits
--
string
-
-Eigen/Core
-/usr/local/include/ceres/Eigen/Core
-ceres/fpclassify.h
-/usr/local/include/ceres/ceres/fpclassify.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
+time.h
+-
-/usr/local/include/ceres/local_parameterization.h
-vector
+/usr/local/include/opencv2/tracking/onlineBoosting.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+
+/usr/local/include/opencv2/tracking/onlineMIL.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+limits
-
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/loss_function.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/local/include/opencv2/tracking/tldDataset.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
-/usr/local/include/ceres/numeric_diff_cost_function.h
-Eigen/Dense
-/usr/local/include/ceres/Eigen/Dense
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-ceres/internal/numeric_diff.h
-/usr/local/include/ceres/ceres/internal/numeric_diff.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/ceres/numeric_diff_options.h
-ceres/sized_cost_function.h
-/usr/local/include/ceres/ceres/sized_cost_function.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/local/include/opencv2/tracking/tracker.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+opencv2/imgproc/types_c.h
+/usr/local/include/opencv2/tracking/opencv2/imgproc/types_c.h
+feature.hpp
+/usr/local/include/opencv2/tracking/feature.hpp
+onlineMIL.hpp
+/usr/local/include/opencv2/tracking/onlineMIL.hpp
+onlineBoosting.hpp
+/usr/local/include/opencv2/tracking/onlineBoosting.hpp
-/usr/local/include/ceres/numeric_diff_options.h
+/usr/local/include/opencv2/video.hpp
+opencv2/video/tracking.hpp
+/usr/local/include/opencv2/opencv2/video/tracking.hpp
+opencv2/video/background_segm.hpp
+/usr/local/include/opencv2/opencv2/video/background_segm.hpp
-/usr/local/include/ceres/ordered_groups.h
-map
+/usr/local/include/opencv2/video/background_segm.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/video/opencv2/core.hpp
+
+/usr/local/include/opencv2/video/tracking.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/video/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/video/opencv2/imgproc.hpp
+
+/usr/local/include/opencv2/video/tracking_c.h
+opencv2/imgproc/types_c.h
+/usr/local/include/opencv2/video/opencv2/imgproc/types_c.h
+
+/usr/local/include/opencv2/videoio.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+
+/usr/local/include/opencv2/videoio/videoio_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/videoio/opencv2/core/core_c.h
+
+/usr/local/include/opencv2/videostab.hpp
+opencv2/videostab/stabilizer.hpp
+/usr/local/include/opencv2/opencv2/videostab/stabilizer.hpp
+opencv2/videostab/ring_buffer.hpp
+/usr/local/include/opencv2/opencv2/videostab/ring_buffer.hpp
+
+/usr/local/include/opencv2/videostab/deblurring.hpp
+vector
-
-set
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+
+/usr/local/include/opencv2/videostab/fast_marching.hpp
+cmath
-
-vector
+queue
-
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+algorithm
+-
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+fast_marching_inl.hpp
+/usr/local/include/opencv2/videostab/fast_marching_inl.hpp
-/usr/local/include/ceres/problem.h
-cstddef
+/usr/local/include/opencv2/videostab/fast_marching_inl.hpp
+opencv2/videostab/fast_marching.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/fast_marching.hpp
+
+/usr/local/include/opencv2/videostab/frame_source.hpp
+vector
-
-map
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+
+/usr/local/include/opencv2/videostab/global_motion.hpp
+vector
-
-set
+fstream
-
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+opencv2/features2d.hpp
+/usr/local/include/opencv2/videostab/opencv2/features2d.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/videostab/opencv2/opencv_modules.hpp
+opencv2/videostab/optical_flow.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/optical_flow.hpp
+opencv2/videostab/motion_core.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/motion_core.hpp
+opencv2/videostab/outlier_rejection.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/outlier_rejection.hpp
+opencv2/cudaimgproc.hpp
+/usr/local/include/opencv2/videostab/opencv2/cudaimgproc.hpp
+
+/usr/local/include/opencv2/videostab/inpainting.hpp
vector
-
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
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diff --git a/apps/specular_estimation/Makefile b/apps/specular_estimation/Makefile
index 85ef6de..50d1619 100644
--- a/apps/specular_estimation/Makefile
+++ b/apps/specular_estimation/Makefile
@@ -125,6 +125,60 @@ specular_estimation/fast:
cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/build
.PHONY : specular_estimation/fast
+src/PFMAccess.o: src/PFMAccess.cpp.o
+
+.PHONY : src/PFMAccess.o
+
+# target to build an object file
+src/PFMAccess.cpp.o:
+ cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.o
+.PHONY : src/PFMAccess.cpp.o
+
+src/PFMAccess.i: src/PFMAccess.cpp.i
+
+.PHONY : src/PFMAccess.i
+
+# target to preprocess a source file
+src/PFMAccess.cpp.i:
+ cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.i
+.PHONY : src/PFMAccess.cpp.i
+
+src/PFMAccess.s: src/PFMAccess.cpp.s
+
+.PHONY : src/PFMAccess.s
+
+# target to generate assembly for a file
+src/PFMAccess.cpp.s:
+ cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.s
+.PHONY : src/PFMAccess.cpp.s
+
+src/PhotometricStereo.o: src/PhotometricStereo.cc.o
+
+.PHONY : src/PhotometricStereo.o
+
+# target to build an object file
+src/PhotometricStereo.cc.o:
+ cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o
+.PHONY : src/PhotometricStereo.cc.o
+
+src/PhotometricStereo.i: src/PhotometricStereo.cc.i
+
+.PHONY : src/PhotometricStereo.i
+
+# target to preprocess a source file
+src/PhotometricStereo.cc.i:
+ cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.i
+.PHONY : src/PhotometricStereo.cc.i
+
+src/PhotometricStereo.s: src/PhotometricStereo.cc.s
+
+.PHONY : src/PhotometricStereo.s
+
+# target to generate assembly for a file
+src/PhotometricStereo.cc.s:
+ cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.s
+.PHONY : src/PhotometricStereo.cc.s
+
src/objloader.o: src/objloader.cpp.o
.PHONY : src/objloader.o
@@ -269,6 +323,12 @@ help:
@echo "... rebuild_cache"
@echo "... specular_estimation"
@echo "... edit_cache"
+ @echo "... src/PFMAccess.o"
+ @echo "... src/PFMAccess.i"
+ @echo "... src/PFMAccess.s"
+ @echo "... src/PhotometricStereo.o"
+ @echo "... src/PhotometricStereo.i"
+ @echo "... src/PhotometricStereo.s"
@echo "... src/objloader.o"
@echo "... src/objloader.i"
@echo "... src/objloader.s"
diff --git a/apps/specular_estimation/src/Ceres.h b/apps/specular_estimation/src/Ceres.h
index b46a8b9..5f0dde9 100644
--- a/apps/specular_estimation/src/Ceres.h
+++ b/apps/specular_estimation/src/Ceres.h
@@ -84,27 +84,31 @@ class MyScalarCostFunctor {
void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double residualValue, cv::Vec3d residual, std::vector<cv::Vec3d> residuals, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, int numberOfLights, GLuint SpecularIntensityID, GLuint SpecularPowerID, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages) {
- // The variable to solve for with its initial value. It will be mutated in place by the solver.
- const double initialSpecularIntensity = SpecularIntensity;
- const double initialSpecularPower = SpecularPower;
+ // The variable to solve for with its initial value. It will be mutated in place by the solver.
+ const double initialSpecularIntensity = SpecularIntensity;
+ const double initialSpecularPower = SpecularPower;
- // Build the problem.
- ceres::Problem problem;
+ // Build the problem.
+ ceres::Problem problem;
- // Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
- // AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
- ceres::CostFunction* cost_function = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 1, 1>(new MyScalarCostFunctor(residualValue, residual, residuals, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages));
- problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
+ // Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
+ // AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
+ ceres::CostFunction* cost_function = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 1, 1>(new MyScalarCostFunctor(residualValue, residual, residuals, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages));
+ problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
- // Run the solver!
- Solver::Options options;
- options.minimizer_progress_to_stdout = true;
- Solver::Summary summary;
- Solve(options, &problem, &summary);
+ problem.SetParameterLowerBound(&SpecularIntensity, 0, 0);
+ problem.SetParameterUpperBound(&SpecularIntensity, 0, 1);
+ problem.SetParameterLowerBound(&SpecularPower, 0, 0);
- std::cout << summary.BriefReport() << "\n";
- std::cout << "Specular Intensity: " << initialSpecularIntensity << " -> " << SpecularIntensity << "\n";
- std::cout << "Specular Power: " << initialSpecularPower << " -> " << SpecularPower << "\n";
+ // Run the solver!
+ Solver::Options options;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "Specular Intensity: " << initialSpecularIntensity << " -> " << SpecularIntensity << "\n";
+ std::cout << "Specular Power: " << initialSpecularPower << " -> " << SpecularPower << "\n";
}
#endif
diff --git a/apps/specular_estimation/src/PFMAccess.cpp b/apps/specular_estimation/src/PFMAccess.cpp
new file mode 100755
index 0000000..fdade41
--- /dev/null
+++ b/apps/specular_estimation/src/PFMAccess.cpp
@@ -0,0 +1,277 @@
+//#include "StdAfx.h"
+#include "PFMAccess.h"
+#include "string.h"
+
+
+CPFMAccess::CPFMAccess(void)
+{
+ m_data = NULL;
+ m_width = -1;
+ m_height = -1;
+}
+
+CPFMAccess::~CPFMAccess(void)
+{
+ if(m_data!=NULL)
+ delete []m_data;
+}
+
+
+bool CPFMAccess::LoadFromFile(char* fn)
+{
+ FILE * fp = fopen(fn,"rb");
+ if(fp == NULL)
+ return false;
+ int dataStartPos = ReadPFMHead(fp, &m_width, &m_height);
+ if(dataStartPos == 0)
+ {
+ fclose(fp);
+ return false;
+ }
+ fseek(fp,dataStartPos,SEEK_SET);
+
+ if(m_data != NULL)
+ {
+ delete []m_data;
+ m_data = NULL;
+ }
+ m_data = new float[3*m_width*m_height];
+ if(fread(m_data,sizeof(float),3*m_width*m_height,fp) != 3*m_width*m_height)
+ {
+ delete []m_data;
+ m_data =NULL;
+ fclose(fp);
+ return false;
+ }
+
+ fclose(fp);
+ return true;
+}
+
+bool CPFMAccess::SaveToFile(char* fn)
+{
+ if(m_data == NULL)
+ return false;
+
+ FILE * fp = fopen(fn,"wb");
+ if(fp == NULL)
+ return false;
+
+ //fprintf(fp ,"PF\x0a%d %d\x0a-1.000000\x0a",m_width, m_height);
+ fprintf(fp ,"PF\x0a%d\x0a%d\x0a-1.000000\x0a",m_width, m_height); // by zlzhou
+
+ if(fwrite(m_data, sizeof(float), 3*m_width*m_height,fp) != 3*m_width*m_height)
+ {
+ fclose(fp);
+ return false;
+ }
+
+ fclose(fp);
+ return true;
+}
+
+
+int CPFMAccess::ReadPFMHead(FILE * pFile, int* width,int* height)
+{
+ char Header[513];
+ fseek(pFile, 0, SEEK_SET);
+ int len = fread(Header, sizeof(char), 512, pFile);
+ Header[len] = 0;
+
+ if(len > 3)
+ {
+ Header[len-1] = 0;
+ if( (Header[0] == 'P' && Header[1] == 'F') ||
+ (Header[0] == 'p' && Header[1] == 'f') )
+ {
+ char* p = strchr(Header,0xa);
+ if(p)
+ {
+
+ p++;
+
+
+ //for the read of pfm file generated from photoshop
+ int cx, cy;
+ char* end;
+ end = strchr(p,0xa);
+ end = &(end[1]);
+ end = strchr(end,0xa);
+ end[0] = 0;
+ if(sscanf(p,"%d %d", &cx,&cy)==2)
+ {
+ *width = cx;
+ *height = cy;
+ p = &end[1];
+ end = strchr(p,0xa);
+ if(end)
+ {
+ return (end-Header)+1;
+ }
+
+ }
+
+
+ //for read of other pfm files
+// end = strchr(p,0xa);
+// if(end)
+// {
+// end[0] = 0;
+//
+// int cx,cy;
+// if(sscanf(p,"%d %d",&cx,&cy) == 2)
+// {
+// *width = cx;
+// *height = cy;
+// p = &end[1];
+// end = strchr(p,0xa);
+// if(end)
+// {
+// return (end-Header)+1;
+// }
+// }
+// } //if (end)
+
+
+ } //if(p)
+ } //if(Header)
+ }// if (len)
+ return 0;
+}
+
+bool CPFMAccess::SetSize(int width,int height)
+{
+ if(m_width*m_height == width*height)
+ return true;
+
+ if(m_data !=NULL)
+ delete m_data;
+ m_width = width;
+ m_height = height;
+ m_data = new float[3*width*height];
+ for(int i=0; i<m_width; i++)
+ for(int j=0; j<m_height; j++)
+ {
+ m_data[3*(i*m_height+j)+0] = 0;
+ m_data[3*(i*m_height+j)+1] = 0;
+ m_data[3*(i*m_height+j)+2] = 0;
+ }
+ return true;
+}
+
+bool CPFMAccess::SetData(float*data)
+{
+ if(m_width ==-1||m_height ==-1)
+ return false;
+ memcpy(m_data,data,3*sizeof(float)*m_height*m_width);
+ return true;
+}
+
+void CPFMAccess::SetPixelValue(int x,int y,const float r, const float g, const float b)
+{
+ m_data[0+3*x+3*y*m_width] = r;
+ m_data[1+3*x+3*y*m_width] = g;
+ m_data[2+3*x+3*y*m_width] = b;
+}
+
+void CPFMAccess::SetPixelValue(int x,int y,const float*value)
+{
+ for(int i=0;i<3;i++)
+ m_data[i+3*x+3*y*m_width] = value[i];
+}
+
+void CPFMAccess::SetPixelRValue(int x, int y, const float r)
+{
+ m_data[3*x+3*y*m_width] = r;
+}
+
+void CPFMAccess::SetPixelGValue(int x, int y, const float g)
+{
+ m_data[1+3*x+3*y*m_width] = g;
+}
+
+
+void CPFMAccess::SetPixelBValue(int x, int y, const float b)
+{
+ m_data[2+3*x+3*y*m_width] = b;
+}
+
+
+void CPFMAccess::SetPixelComponentValue(int x, int y, const int component_id, const float v)
+{
+ if(component_id<0 || component_id>2)
+ return;
+ m_data[component_id+3*x+3*y*m_width] = v;
+}
+
+
+void CPFMAccess::GetPixelValue(int x,int y,float *value)
+{
+ if(x<0||x>=m_width||y<0||y>=m_height)
+ {
+ value[0] = value[1] = value[2] =0.0;
+ return;
+ }
+ for(int i=0;i<3;i++)
+ value[i] = m_data[i+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelValue(int x, int y, float* r, float* g, float* b)
+{
+ if(x<0||x>=m_width||y<0||y>=m_height)
+ {
+ *r = *g = *b =0.0;
+ return;
+ }
+ *r = m_data[0+3*x+3*y*m_width];
+ *g = m_data[1+3*x+3*y*m_width];
+ *b = m_data[2+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelRValue(int x, int y, float *value)
+{
+ if(x<0||x>=m_width||y<0||y>=m_height)
+ {
+ *value = 0.0;
+ return;
+ }
+ *value = m_data[0+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelGValue(int x, int y, float *value)
+{
+ if(x<0||x>=m_width||y<0||y>=m_height)
+ {
+ *value = 0.0;
+ return;
+ }
+ *value = m_data[1+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelBValue(int x, int y, float *value)
+{
+ if(x<0||x>=m_width||y<0||y>=m_height)
+ {
+ *value = 0.0;
+ return;
+ }
+ *value = m_data[2+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelComponentValue(int x, int y, int component_id, float *value)
+{
+ if(x<0||x>=m_width||y<0||y>=m_height)
+ {
+ *value = 0.0;
+ return;
+ }
+ if(component_id<0 || component_id>2)
+ {
+ *value = 0.0;
+ return;
+ }
+ *value = m_data[component_id+3*x+3*y*m_width];
+}
+
+
+
diff --git a/apps/specular_estimation/src/PFMAccess.h b/apps/specular_estimation/src/PFMAccess.h
new file mode 100755
index 0000000..26f848f
--- /dev/null
+++ b/apps/specular_estimation/src/PFMAccess.h
@@ -0,0 +1,43 @@
+#pragma once
+#include "stdio.h"
+#include "stdlib.h"
+
+
+class CPFMAccess
+{
+public:
+ CPFMAccess(void);
+ CPFMAccess(const CPFMAccess&) = delete;
+ CPFMAccess operator = (const CPFMAccess&) = delete;
+ ~CPFMAccess(void);
+
+ bool LoadFromFile(char* fn);
+ bool SaveToFile(char* fn);
+ float* GetData(){return m_data;}
+ int GetWidth(){return m_width;}
+ int GetHeight(){return m_height;}
+ bool SetSize(int width,int height);
+ bool SetData(float* data);
+
+ void SetPixelValue(int x,int y,const float * value);
+ void SetPixelValue(int x,int y,const float r, const float g, const float b);
+ void SetPixelBValue(int x, int y, const float b);
+ void SetPixelGValue(int x, int y, const float g);
+ void SetPixelRValue(int x, int y, const float r);
+ void SetPixelComponentValue(int x, int y, const int component_id, const float v);
+
+ void GetPixelValue(int x, int y, float* r, float* g, float* b);
+ void GetPixelValue(int x,int y,float *value);
+ void GetPixelValue(float x,float y,float *value);
+ void GetPixelRValue(int x, int y, float* value);
+ void GetPixelGValue(int x, int y, float* value);
+ void GetPixelBValue(int x, int y, float* value);
+ void GetPixelComponentValue(int x, int y, int component_id, float* value);
+
+ int ReadPFMHead(FILE * pFile, int* width,int* height);
+public:
+ float * m_data;
+ int m_width;
+ int m_height;
+
+};
diff --git a/apps/specular_estimation/src/PhotometricStereo.cc b/apps/specular_estimation/src/PhotometricStereo.cc
new file mode 100755
index 0000000..dad8621
--- /dev/null
+++ b/apps/specular_estimation/src/PhotometricStereo.cc
@@ -0,0 +1,873 @@
+#include "PhotometricStereo.h"
+
+#include <cmath>
+#include <cstdlib>
+#include <iostream>
+#include <climits>
+#include <cstdio>
+#include <Eigen/SparseCholesky>
+
+namespace phoSte {
+
+namespace {
+// use iniRSize points to get the initial r
+const int iniRSize = 10;
+// use 20 points to get the circle information
+const int adjustSize = 20;
+// iterate iterTimes to get the circle
+const int iterTime = 10;
+// threshold of stopping the iteration
+const double normThresh = 0.01;
+
+phoSte::circle getCircle(std::vector<cv::Point>& contour) {
+ double circle_x = 0;
+ double circle_y = 0;
+ double r = 0;
+ int pointSize = contour.size();
+ if(pointSize < iniRSize) {
+ std::cout << "the counter is error" << std::endl;
+ exit(-1);
+ }
+ for(int i = 0; i < pointSize; i++) {
+ circle_x += contour[i].x;
+ circle_y += contour[i].y;
+ }
+ circle_x /= pointSize;
+ circle_y /= pointSize;
+ for(int i = 0; i < iniRSize; i++) {
+ r += sqrt((contour[i].x - circle_x) * (contour[i].x - circle_x) +
+ (contour[i].y - circle_y) * (contour[i].y - circle_y));
+ }
+ r /= iniRSize;
+
+ // use adjustment calculation to get the circle
+ if(pointSize < adjustSize) {
+ std::cout << "the counter is error" << std::endl;
+ exit(-1);
+ }
+ std::vector<int> pointIndex;
+ pointIndex.reserve(adjustSize);
+ int distanceOfIndex = pointSize / adjustSize;
+ pointIndex.push_back(0);
+ for(int i = 1; i < adjustSize; i++) {
+ pointIndex.push_back(pointIndex[i - 1] + distanceOfIndex);
+ }
+
+ cv::Mat B(adjustSize, 3, CV_64F);
+ cv::Mat L(adjustSize, 1, CV_64F);
+ double v_norm = INT_MAX;
+ for(int i = 0; i < iterTime; i++) {
+ double *pB = (double *)B.data;
+ double *pL = (double *)L.data;
+ for(int j = 0; j < adjustSize; j++) {
+ *pB = contour[pointIndex[j] + i].x - circle_x;
+ *(pB + 1) = contour[pointIndex[j] + i].y - circle_y;
+ *(pB + 2) = r;
+ pB += 3;
+ *pL = ((contour[pointIndex[j] + i].x - circle_x) * (contour[pointIndex[j] + i].x - circle_x)
+ + (contour[pointIndex[j] + i].y - circle_y) * (contour[pointIndex[j] + i].y - circle_y)
+ - r * r) / 2;
+ pL++;
+ }
+ cv::Mat pseudoInverse;
+ cv::invert(B, pseudoInverse, cv::DECOMP_SVD);
+ cv::Mat result = pseudoInverse * L;
+ circle_x += result.at<double>(0, 0);
+ circle_y += result.at<double>(1, 0);
+ r += result.at<double>(2, 0);
+ }
+ return phoSte::circle(circle_x, circle_y, r);
+}
+
+// get the direction of light according to the metalCircle
+phoSte::light getLightDirection(const phoSte::circle& metalCircle,
+ const cv::Point& maxPoint) {
+ int maxX = maxPoint.x;
+ int maxY = maxPoint.y;
+ double nx = maxX - metalCircle.mCenterX;
+ double ny = maxY - metalCircle.mCenterY;
+ double nz = sqrt(metalCircle.mR * metalCircle.mR - nx * nx - ny * ny);
+ double rootSquareSum = sqrt(nx * nx + ny * ny + nz * nz);
+ nx /= rootSquareSum;
+ ny /= rootSquareSum;
+ nz /= rootSquareSum;
+ double nDotR = nz;
+ double lx = 2 * nDotR * nx;
+ double ly = 2 * nDotR * ny;
+ double lz = 2 * nDotR * nz - 1;
+
+ return phoSte::light(lx, ly, lz);
+}
+
+void swapNum(double& a, double& b) {
+ double tmp = a;
+ a = b;
+ b = tmp;
+
+}
+
+// find the num at the ratio of the nums
+// always use the endI as the pivot
+// use the random integer because there might be some order of the pixel value
+double quickSelect(std::vector<double>& nums, int startI, int endI, int selectI) {
+ if(startI == endI)
+ return nums[startI];
+ int pivotIndex = rand() % (endI - startI + 1) + startI;
+ swapNum(nums[endI], nums[pivotIndex]);
+ double pivot = nums[endI];
+ int i = startI - 1;
+ int j = startI;
+ while(j != endI) {
+ if(nums[j] < pivot) {
+ i++;
+ swapNum(nums[j], nums[i]);
+ }
+ j++;
+ }
+ i++;
+ swapNum(nums[endI], nums[i]);
+ if(i == selectI)
+ return nums[i];
+ else if(i < selectI) {
+ return quickSelect(nums, i + 1, endI, selectI);
+ } else
+ return quickSelect(nums, startI, i - 1, selectI);
+}
+
+// do the transform to image to output
+// maxValue to 255, minValue to 0
+int linearTransform(double max, double min, double value) {
+ return 255 / (max - min) * (value - min);
+}
+}
+
+photometryStero::~photometryStero() {
+ if(!mImageStorage.empty()) {
+ for(int i = 0; i < mImageStorage.size(); i++) {
+ delete mImageStorage[i];
+ }
+ }
+}
+
+photometryStero::photometryStero(int n, int startI, int endI, std::string path,
+ std::string metal1Phere1Name, std::string metal2Phere1Name,
+ std::string lambertPhereName, std::string objectName,
+ double discardRatio): mDiscardRatio(discardRatio), imageNum(n) {
+ int distance = (endI - startI + 1) / n;
+ for (int i = 0; i < n; i++) {
+ int index = i * distance + startI;
+ char imageName[100];
+ sprintf(imageName, "image%03d.pbm", index);
+ std::string imageNameStr = imageName;
+ imageNameStr = path + imageNameStr;
+ mImageNames.push_back(imageNameStr);
+ }
+ std::string mask1Name = metal1Phere1Name;
+ std::string mask2Name = metal2Phere1Name;
+ std::string mask3Name = lambertPhereName;
+
+ mMaskNames.push_back(path + mask1Name);
+ mMaskNames.push_back(path + mask2Name);
+ mMaskNames.push_back(path + mask3Name);
+ mMaskNames.push_back(path + objectName);
+}
+
+// read image and mask image according to the name
+// return true if read successfully
+// return false if read fail
+bool photometryStero::readImage() {
+ if(mImageNames.empty() || mMaskNames.empty())
+ return false;
+
+ // read the image
+ for(int i = 0; i < mImageNames.size(); i++) {
+ CPFMAccess* PFMAccessI = new CPFMAccess();
+ char *tpChar = new char[mImageNames[i].size() + 1];
+ std::strcpy(tpChar, mImageNames[i].c_str());
+ if(! (PFMAccessI -> LoadFromFile(tpChar)) )
+ return false;
+ delete[]tpChar;
+ float *imageData = PFMAccessI -> GetData();
+ mImageStorage.push_back(PFMAccessI);
+ cv::Mat image((PFMAccessI->GetWidth()) * (PFMAccessI->GetHeight()), 3,
+ CV_32F, imageData);
+ cv::Mat p2Image (0.2989 * image.col(0) + 0.5870 * image.col(1)
+ + 0.1140 * image.col(2));
+ p2Image = p2Image.reshape(0, PFMAccessI->GetHeight());
+ mp2Images.push_back(p2Image);
+ }
+ // read the maskImage
+ for(int i = 0; i < mMaskNames.size(); i++) {
+ cv::Mat p2Mask(cv::imread(mMaskNames[i], cv::IMREAD_GRAYSCALE));
+ if(! p2Mask.data )
+ return false;
+ mp2Mask.push_back(p2Mask);
+ }
+ return true;
+}
+
+void photometryStero::getLightInformation(const int metalIndex, const int lambIndex) {
+ // get the metal circle
+ cv::threshold(mp2Mask[metalIndex], mp2Mask[metalIndex], 255 / 2, 255, cv::THRESH_BINARY);
+ std::vector<std::vector<cv::Point>> metalContour;
+ cv::findContours(mp2Mask[metalIndex], metalContour, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+ // use the contour with the max size to calculate the circle
+ int mostPoint = 0;
+ int mostPointIdx = 0;
+ for(int i = 0; i < metalContour.size(); i++) {
+ if(metalContour.size() > mostPoint) {
+ mostPoint = metalContour.size();
+ mostPointIdx = i;
+ }
+ }
+ m_metalSphere = getCircle(metalContour[mostPointIdx]);
+
+ // get the lambertian circle
+ cv::threshold(mp2Mask[lambIndex], mp2Mask[lambIndex], 255 / 2, 255, cv::THRESH_BINARY);
+ std::vector<std::vector<cv::Point>> lambContour;
+ cv::findContours(mp2Mask[lambIndex], lambContour, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+ // use the contour with the max size to calculate the circle
+ mostPoint = 0;
+ mostPointIdx = 0;
+ for(int i = 0; i < lambContour.size(); i++) {
+ if(lambContour.size() > mostPoint) {
+ mostPoint = lambContour.size();
+ mostPointIdx = i;
+ }
+ }
+ m_lambSpere = getCircle(lambContour[mostPointIdx]);
+
+ // get the direction and the intensity of every image
+ for(int i = 0; i < mp2Images.size(); i++) {
+ cv::Point metalMaxPoint;
+ cv::minMaxLoc(mp2Images[i], NULL, NULL, NULL, &metalMaxPoint, mp2Mask[metalIndex]);
+ m_light.push_back(getLightDirection(m_metalSphere, metalMaxPoint));
+ double lightIntensity;
+ cv::minMaxLoc(mp2Images[i], NULL, &lightIntensity, NULL, NULL, mp2Mask[lambIndex]);
+ m_light[i].mIntensity = lightIntensity;
+ }
+}
+
+// calculate the norm and albedo for every pixel
+// here, threshold is for the dark discard
+void photometryStero::getPixelNormAndAlbedo(const int objectIndex) {
+ // calculate the pixel num
+ std::vector<double> pixelThreshold;
+ for(int i = 0; i < mp2Mask[objectIndex].rows; i++) {
+ for(int j = 0; j < mp2Mask[objectIndex].cols; j++) {
+ if(mp2Mask[objectIndex].at<unsigned char>(i, j) >= 255) {
+ mObjectX.push_back(j);
+ mObjectY.push_back(i);
+ }
+ }
+ }
+ std::vector<std::vector<double>> allPixelValue;
+ allPixelValue.reserve(imageNum);
+ int objectPixelNum = mObjectX.size();
+ for(int i = 0; i < imageNum; i++) {
+ std::vector<double> pixelValue;
+ allPixelValue.push_back(pixelValue);
+ allPixelValue[i].reserve(objectPixelNum);
+ for(int j = 0; j < objectPixelNum; j++) {
+ allPixelValue[i].push_back(mp2Images[i].at<float>(mObjectY[j], mObjectX[j]));
+ }
+ }
+ // threshold for every image;
+ std::vector<double> allThreshold;
+ allThreshold.reserve(imageNum);
+ int thresholdIndex = mDiscardRatio * objectPixelNum;
+ for(int i = 0; i < imageNum; i++) {
+ std::vector<double> tmpPixelValue = allPixelValue[i];
+ allThreshold.push_back(
+ quickSelect(tmpPixelValue, 0, objectPixelNum - 1, thresholdIndex));
+ }
+
+ cv::Mat I(imageNum, objectPixelNum, CV_64F);
+ cv::Mat L(imageNum, 3, CV_64F);
+ mN.create(3, objectPixelNum, CV_64F);
+ mAlbedo.create(1, objectPixelNum, CV_64F);
+ double *pL = (double *)L.data;
+ for(int i = 0; i < imageNum; i++) {
+ *pL = m_light[i].mx;
+ *(pL + 1) = m_light[i].my;
+ *(pL + 2) = m_light[i].mz;
+ pL += 3;
+ }
+ cv::Mat LPseudoInvert;
+ cv::invert(L, LPseudoInvert, cv::DECOMP_SVD);
+ double *pI = (double *)I.data;
+ double *pN = (double *)mN.data;
+
+ for(int i = 0; i < objectPixelNum; i++) {
+ int inValidNum = 0;
+ cv::Mat specificL;
+ for(int j = 0; j < imageNum; j++) {
+ if(allPixelValue[j][i] < allThreshold[j]) {
+ inValidNum ++;
+ if(inValidNum == 1) {
+ L.copyTo(specificL);
+ }
+ double *p2LRow = specificL.ptr<double>(j);
+ *(p2LRow) = 0;
+ *(p2LRow + 1) = 0;
+ *(p2LRow + 2) = 0;
+ *(pI + j * objectPixelNum + i) = 0;
+ } else {
+ *(pI + j * objectPixelNum + i) = allPixelValue[j][i] / m_light[j].mIntensity;
+ }
+ if(imageNum - inValidNum < 3) {
+ break;
+ }
+ }
+ if(inValidNum == 0) {
+ mN.col(i) = LPseudoInvert * I.col(i);
+ double nx = mN.col(i).at<double>(0, 0);
+ double ny = mN.col(i).at<double>(1, 0);
+ double nz = mN.col(i).at<double>(2, 0);
+ mAlbedo.at<double>(0, i) = sqrt(nx * nx + ny * ny + nz * nz);
+ } else if(imageNum - inValidNum >= 3) {
+ cv::Mat specificLPseudoInvert;
+ cv::invert(specificL, specificLPseudoInvert, cv::DECOMP_SVD);
+ mN.col(i) = specificLPseudoInvert * I.col(i);
+ double nx = mN.col(i).at<double>(0, 0);
+ double ny = mN.col(i).at<double>(1, 0);
+ double nz = mN.col(i).at<double>(2, 0);
+ mAlbedo.at<double>(0, i) = sqrt(nx * nx + ny * ny + nz * nz);
+ } else {
+ mN.at<double>(0, i) = 0;
+ mN.at<double>(1, i) = 0;
+ mN.at<double>(2, i) = 0;
+ mAlbedo.at<double>(0, i) = 0;
+ mInvalidIndex.push_back(i);
+ }
+ }
+}
+
+void photometryStero::outputImage() {
+ double max = INT_MIN, min = INT_MAX;
+ if (mp2Images.empty()) {
+ std::cout << "no image to output" << std::endl;
+ }
+ cv::Mat out(mp2Images[0].rows, mp2Images[0].cols, CV_8U);
+ for (int i = 0; i < mp2Images[0].rows; i++) {
+ for (int j = 0; j < mp2Images[0].cols; j++) {
+ double pixelValue = mp2Images[0].at<float>(i, j);
+ max = pixelValue > max ? pixelValue : max;
+ min = pixelValue < min ? pixelValue : min;
+ }
+ }
+ for (int i = 0; i < mp2Images[0].rows; i++) {
+ for (int j = 0; j < mp2Images[0].cols; j++) {
+ double pixelValue = mp2Images[0].at<float>(i, j);
+ out.at<unsigned char>(i, j) = linearTransform(max, min, pixelValue);
+ }
+ }
+ cv::imshow("outputImage", out);
+ cv::waitKey(0);
+}
+
+cv::Mat photometryStero::outputNormalImage(int objectIndex) {
+ cv::Mat result = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_32FC3);
+ int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+ int nextInvalidIndex = 0;
+ int invalidPixelNum = 0;
+ for (int i = 0; i < mObjectX.size(); i++) {
+ double nx = mN.at<double>(0, i);
+ double ny = mN.at<double>(1, i);
+ double nz = mN.at<double>(2, i);
+ if (i == nextInvalid) {
+ invalidPixelNum++;
+ result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[0] = 0;
+ result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[1] = 0;
+ result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[2] = 0;
+ if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+ nextInvalid = INT_MAX;
+ } else {
+ nextInvalidIndex++;
+ nextInvalid = mInvalidIndex[nextInvalidIndex];
+ }
+ } else {
+ double rootsquareSum = sqrt(nx * nx + ny * ny + nz * nz);
+ float nxf = (1 + nx / rootsquareSum) / 2;
+ float nyf = (1 + ny / rootsquareSum) / 2;
+ float nzf = (1 + nz / rootsquareSum) / 2;
+ result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[0] = nxf;
+ result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[1] = nyf;
+ result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[2] = nzf;
+ }
+ }
+ std::cout << invalidPixelNum << " pixels are not drawn" << std::endl;
+ return result;
+}
+
+// this function is only for debug
+void photometryStero::addSmallMaskForObject(int size, int midX, int midY) {
+ cv::Mat smallMask = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_8U);
+ int num = 0;
+ for (int i = midY - size / 2; i <= midY + size / 2; i++) {
+ for (int j = midX - size / 2; j <= midX + size / 2; j++) {
+ smallMask.at<unsigned char>(i, j) = 255;
+ num++;
+ }
+ }
+ mp2Mask.push_back(smallMask);
+}
+
+cv::Mat photometryStero::outputAlbedoImage(int objectIndex) {
+ cv::Mat result = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_32F);
+ int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+ int nextInvalidIndex = 0;
+ int invalidPixelNum = 0;
+ for (int i = 0; i < mObjectX.size(); i++) {
+ float albedo = mAlbedo.at<double>(0, i);
+ if (i == nextInvalid) {
+ invalidPixelNum++;
+ result.at<float>(mObjectY[i], mObjectX[i]) = 0;
+ if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+ nextInvalid = INT_MAX;
+ } else {
+ nextInvalidIndex++;
+ nextInvalid = mInvalidIndex[nextInvalidIndex];
+ }
+ } else {
+ result.at<float>(mObjectY[i], mObjectX[i]) = albedo;
+ }
+ }
+ std::cout << invalidPixelNum << " pixels are not drawn" << std::endl;
+ return result;
+}
+
+// use the normal direction dot the (0, 0, 1) and then times the albedo
+cv::Mat photometryStero::outputNormalWithAlbedo(int objectIndex) {
+ cv::Mat result = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_32F);
+ int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+ int nextInvalidIndex = 0;
+ int invalidPixelNum = 0;
+ for (int i = 0; i < mObjectX.size(); i++) {
+ float albedo = mAlbedo.at<double>(0, i);
+ double nx = mN.at<double>(0, i);
+ double ny = mN.at<double>(1, i);
+ double nz = mN.at<double>(2, i);
+ float intensity = nz / sqrt(nx * nx + ny * ny + nz * nz) * albedo;
+ if (i == nextInvalid) {
+ invalidPixelNum++;
+ result.at<float>(mObjectY[i], mObjectX[i]) = 0;
+ if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+ nextInvalid = INT_MAX;
+ } else {
+ nextInvalidIndex++;
+ nextInvalid = mInvalidIndex[nextInvalidIndex];
+ }
+ } else {
+ result.at<float>(mObjectY[i], mObjectX[i]) = intensity;
+ }
+ }
+ std::cout << invalidPixelNum << " pixels are not drawn" << std::endl;
+ return result;
+}
+
+// use the normal map to get the height map
+// mode 1: use the discard ratio to discard some low lengths
+// mode 2: use sigmoid function to map to the depth
+// in order to avoid the mistake due to the small nz, I plus 0.05 when nz is too small
+cv::Mat photometryStero::getHeightMap(int mode, double parameter) {
+ // make the map from object pixel to object index
+ int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+ int nextInvalidIndex = 0;
+ cv::Mat pixel2ObjectIndex = cv::Mat::zeros(mp2Images[0].rows,
+ mp2Images[0].cols, CV_32S);
+ for (int i = 0; i < mObjectX.size(); i++) {
+ if (i == nextInvalid) {
+ pixel2ObjectIndex.at<int>(mObjectY[i], mObjectX[i]) = -1;
+ if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+ nextInvalid = INT_MAX;
+ } else {
+ nextInvalidIndex++;
+ nextInvalid = mInvalidIndex[nextInvalidIndex];
+ }
+ } else {
+ // use i + 1 to prevent the collision with 0
+ pixel2ObjectIndex.at<int>(mObjectY[i], mObjectX[i]) = i + 1;
+
+ }
+ }
+ // first of all, iterate until all object points have normal value
+ // I use the 3*3 window to get average normal
+ cv::Mat NForHeight;
+ mN.copyTo(NForHeight);
+ cv::Mat heightMap = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].rows, CV_32F);
+ int nInvalid = mInvalidIndex.size();
+ int iterateTime = 0;
+ while (nInvalid > 0) {
+ if (iterateTime > 10) {
+ std::cout << "too many iterations during getting values to the invalid pixel"
+ << std::endl;
+ return heightMap;
+ }
+ iterateTime++;
+ for (int i = 0; i < mInvalidIndex.size(); i++) {
+ int index = mInvalidIndex[i];
+ if (pixel2ObjectIndex.at<int>(mObjectY[index], mObjectX[index]) == -1) {
+ int x = mObjectX[index];
+ int y = mObjectY[index];
+ double nxSum = 0;
+ double nySum = 0;
+ double nzSum = 0;
+ int nValid = 0;
+ for (int dx = -1; dx <= 1; dx++) {
+ for (int dy = -1; dy <= 1; dy++) {
+ if (pixel2ObjectIndex.at<int>(y + dy, x + dx) > 0) {
+ nValid++;
+ nxSum += NForHeight.at<double>(0, pixel2ObjectIndex.at<int>(y + dy, x + dx));
+ nySum += NForHeight.at<double>(1, pixel2ObjectIndex.at<int>(y + dy, x + dx));
+ nzSum += NForHeight.at<double>(2, pixel2ObjectIndex.at<int>(y + dy, x + dx));
+ }
+ }
+ }
+ if (nValid > 0) {
+ pixel2ObjectIndex.at<int>(y, x) = index + 1;
+ nInvalid--;
+ nxSum /= nValid;
+ nySum /= nValid;
+ nzSum /= nValid;
+ double squareSum = sqrt(nxSum * nxSum + nySum * nySum + nzSum * nzSum);
+ NForHeight.at<double>(0, index) = nxSum / squareSum;
+ NForHeight.at<double>(1, index) = nySum / squareSum;
+ NForHeight.at<double>(2, index) = nzSum / squareSum;
+ }
+ }
+ }
+ }
+ std::cout << "the iteration time is " << iterateTime;
+
+ // form the sparse matrix and solve the linear equation
+ // first of all, scan all the points to find the number of equations
+ int nEquation = 0;
+ for (int i = 0; i < mObjectX.size(); i++) {
+ int x = mObjectX[i];
+ int y = mObjectY[i];
+ if (pixel2ObjectIndex.at<int>(y + 1, x) > 0) {
+ nEquation++;
+ }
+ if (pixel2ObjectIndex.at<int>(y, x + 1) > 0) {
+ nEquation++;
+ }
+ }
+ // then use the sparse matrix to solve the linear equation
+ // I set z(allIndex / 2)=0 as the coordinate origin
+ int midIndex = mObjectX.size() / 2;
+ int midX = mObjectX[midIndex];
+ int midY = mObjectY[midIndex];
+ double midNx_midNz = -(NForHeight.at<double>(0, midIndex)) / (NForHeight.at<double>(2, midIndex));
+ double midNy_midNz = -(NForHeight.at<double>(1, midIndex)) / (NForHeight.at<double>(2, midIndex));
+ Eigen::VectorXd b(nEquation);
+ typedef Eigen::SparseMatrix<double> SpMat;
+ // since the sparse matrix of eigen is col main, so use the transpose to store the data
+ SpMat A(mObjectX.size() - 1, nEquation);
+ typedef Eigen::Triplet<double> T;
+ std::vector<T> tripletList;
+ tripletList.reserve(nEquation * 3);
+ int currentEquation = 0;
+ for (int i = 0; i < mObjectX.size(); i++) {
+ int x = mObjectX[i];
+ int y = mObjectY[i];
+ if (i != midIndex) {
+ int thisZIndex = i < midIndex ? i : i - 1;
+ if (pixel2ObjectIndex.at<int>(y + 1, x) > 0) {
+ if (y + 1 != midY || x != midX) {
+ int index = pixel2ObjectIndex.at<int>(y + 1, x) - 1;
+ int upZIndex = index < midIndex ? index : index - 1;
+ tripletList.push_back(T(upZIndex, currentEquation, 1));
+ tripletList.push_back(T(thisZIndex, currentEquation, -1));
+ if (NForHeight.at<double>(2, index) < 0.001) {
+ b(currentEquation) = -(NForHeight.at<double>(1, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+ } else {
+ b(currentEquation) = -(NForHeight.at<double>(1, index)) / (NForHeight.at<double>(2, index));
+ }
+ currentEquation++;
+ } else {
+ int index = pixel2ObjectIndex.at<int>(y + 1, x) - 1;
+ tripletList.push_back(T(thisZIndex, currentEquation, -1));
+ if (NForHeight.at<double>(2, index) < 0.001) {
+ b(currentEquation) = -(NForHeight.at<double>(1, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+ } else {
+ b(currentEquation) = -(NForHeight.at<double>(1, index)) / (NForHeight.at<double>(2, index));
+ }
+ currentEquation++;
+ }
+ }
+ if (pixel2ObjectIndex.at<int>(y, x + 1) > 0) {
+ if (y != midY || x + 1 != midX) {
+ int index = pixel2ObjectIndex.at<int>(y, x + 1) - 1;
+ int rightZIndex = index < midIndex ? index : index - 1;
+ tripletList.push_back(T(rightZIndex, currentEquation, 1));
+ tripletList.push_back(T(thisZIndex, currentEquation, -1));
+ if (NForHeight.at<double>(2, index) < 0.001) {
+ b(currentEquation) = -(NForHeight.at<double>(0, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+ } else {
+ b(currentEquation) = -(NForHeight.at<double>(0, index)) / (NForHeight.at<double>(2, index));
+ }
+ currentEquation++;
+ } else {
+ int index = pixel2ObjectIndex.at<int>(y, x + 1) - 1;
+ tripletList.push_back(T(thisZIndex, currentEquation, -1));
+ if (NForHeight.at<double>(2, index) < 0.001) {
+ b(currentEquation) = -(NForHeight.at<double>(0, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+ } else {
+ b(currentEquation) = -(NForHeight.at<double>(0, index)) / (NForHeight.at<double>(2, index));
+ }
+ currentEquation++;
+ }
+ }
+ } else {
+ int thisIndex = midIndex;
+ if (pixel2ObjectIndex.at<int>(y + 1, x) > 0) {
+ int index = pixel2ObjectIndex.at<int>(y + 1, x) - 1;
+ int upZIndex = index < midIndex ? index : index - 1;
+ tripletList.push_back(T(upZIndex, currentEquation, 1));
+ b(currentEquation) = -midNy_midNz;
+ currentEquation++;
+ }
+ if (pixel2ObjectIndex.at<int>(y, x + 1) > 0) {
+ int index = pixel2ObjectIndex.at<int>(y, x + 1) - 1;
+ int rightZIndex = index < midIndex ? index : index - 1;
+ tripletList.push_back(T(rightZIndex, currentEquation, 1));
+ b(currentEquation) = -midNx_midNz;
+ currentEquation++;
+ }
+ }
+ }
+ A.setFromTriplets(tripletList.begin(), tripletList.end());
+ SpMat Atranspose = A.transpose();
+ A = A * Atranspose;
+ A.makeCompressed();
+ Eigen::SimplicialLLT <Eigen::SparseMatrix<double>> solver;
+ solver.compute(A);
+ if (solver.info() != Eigen::Success) {
+ std::cout << "decomposition fails" << std::endl;
+ return heightMap;
+ }
+ b = Atranspose.transpose() * b;
+ Eigen::VectorXd z = solver.solve(b);
+ if (solver.info() != Eigen::Success) {
+ std::cout << "solving failed" << std::endl;
+ return heightMap;
+ }
+
+ // try to discard ratio to show;
+ switch (mode) {
+ case 1: {
+ std::vector<double> zVec;
+ zVec.reserve(mObjectX.size());
+ for (int i = 0; i < mObjectX.size() - 1; i++) {
+ zVec.push_back(z(i));
+ }
+ zVec.push_back(0);
+ std::vector<double> zVec2(zVec.begin(), zVec.end());
+ double minThreshold = quickSelect(zVec, 0, zVec.size() - 1, zVec.size() * parameter);
+ double maxZ = z.maxCoeff();
+ for (int i = 0; i < mObjectX.size(); i++) {
+ int x = mObjectX[i];
+ int y = mObjectY[i];
+ double originz;
+ if (i < midIndex) {
+ originz = z(i);
+ } else if (i > midIndex) {
+ originz = z(i - 1);
+ } else {
+ originz = 0;
+ }
+
+ if (originz < minThreshold) {
+ heightMap.at<float>(y, x) = 0;
+ } else {
+ float newz = (originz - minThreshold) / (maxZ - minThreshold);
+ heightMap.at<float>(y, x) = newz;
+ }
+ }
+ break;
+ }
+ case 2: {
+ std::vector<double> zVec;
+ zVec.reserve(mObjectX.size());
+ for (int i = 0; i < mObjectX.size() - 1; i++) {
+ zVec.push_back(z(i));
+ }
+ zVec.push_back(0);
+ std::vector<double> zVec2(zVec.begin(), zVec.end());
+ for (int i = 0; i < mObjectX.size(); i++) {
+ int x = mObjectX[i];
+ int y = mObjectY[i];
+ double originz;
+ if (i < midIndex) {
+ originz = z(i);
+ } else if (i > midIndex) {
+ originz = z(i - 1);
+ } else {
+ originz = 0;
+ }
+ heightMap.at<float>(y, x) = 1 / (1 + exp(parameter * originz));
+ }
+ break;
+ }
+ default:
+ break;
+ }
+ // output the height map to matrix;
+ return heightMap;
+}
+
+}
+
+void drawAppleNormal() {
+ phoSte::photometryStero A(21, 2, 22,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputNormalImage(3);
+ cv::imshow("apple normal image", result);
+ cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/normal.jpg", result);
+ cv::waitKey(0);
+}
+
+void drawAppleAlbedo() {
+ phoSte::photometryStero A(21, 2, 22,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputAlbedoImage(3);
+ cv::imshow("apple albedo image", result);
+ cv::waitKey(0);
+}
+
+void drawAppleNormalWithAlbedo() {
+ phoSte::photometryStero A(21, 2, 22,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputNormalWithAlbedo(3);
+ cv::imshow("apple albedo image", result);
+ cv::waitKey(0);
+}
+
+void getAppleHeight() {
+ std::string path = "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/";
+ phoSte::photometryStero A(21, 2, 22,
+ path, "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat heightMap = A.getHeightMap(2, -0.1);
+ std::string fileName = "appleDepth.png";
+ cv::imwrite(path + fileName, heightMap);
+ cv::imshow(fileName, heightMap);
+ cv::waitKey(0);
+}
+
+void drawElephantNormal() {
+ phoSte::photometryStero A(21, 1, 21,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputNormalImage(3);
+ cv::imshow("elephant normal image", result);
+ cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/elephantNormal.jpg", result);
+ cv::waitKey(0);
+}
+
+void drawElephantNormalwithAlbedo() {
+ phoSte::photometryStero A(21, 1, 21,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputNormalWithAlbedo(3);
+ cv::imshow("elephant normal image", result);
+ cv::waitKey(0);
+}
+
+void drawElephantAlbedo() {
+ phoSte::photometryStero A(21, 1, 21,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputAlbedoImage(3);
+ cv::imshow("elephant albedo image", result);
+ cv::waitKey(0);
+}
+
+void getElephantHeight() {
+ std::string path = "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/";
+ phoSte::photometryStero A(21, 1, 21,
+ path, "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat heightMap = A.getHeightMap(2, -0.1);
+ std::string fileName = "elephantHeight.png";
+ cv::imwrite(path + fileName, heightMap);
+ cv::imshow(fileName, heightMap);
+ cv::waitKey(0);
+}
+
+void drawPearNormal() {
+ phoSte::photometryStero A(21, 1, 21,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputNormalImage(3);
+ cv::imshow("pear normal image", result);
+ cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/pearNormal.jpg", result);
+ cv::waitKey(0);
+}
+
+void drawPearAlbedo() {
+ phoSte::photometryStero A(21, 1, 21,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputAlbedoImage(3);
+ cv::imshow("pear albedo image", result);
+ cv::waitKey(0);
+}
+
+void drawPearNormalWithAlbedo() {
+ phoSte::photometryStero A(21, 1, 21,
+ "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/",
+ "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat result = A.outputNormalWithAlbedo(3);
+ cv::imshow("pear albedo image", result);
+ cv::waitKey(0);
+}
+
+void getPearHeight() {
+ std::string path = "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/";
+ phoSte::photometryStero A(21, 1, 21,
+ path, "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+ A.readImage();
+ A.getLightInformation(1, 2);
+ A.getPixelNormAndAlbedo(3);
+ cv::Mat heightMap = A.getHeightMap(2, -0.1);
+ std::string fileName = "pearHeight.png";
+ cv::imwrite(path + fileName, heightMap);
+ cv::imshow(fileName, heightMap);
+ cv::waitKey(0);
+}
diff --git a/apps/specular_estimation/src/PhotometricStereo.h b/apps/specular_estimation/src/PhotometricStereo.h
new file mode 100755
index 0000000..9e6afb2
--- /dev/null
+++ b/apps/specular_estimation/src/PhotometricStereo.h
@@ -0,0 +1,88 @@
+#ifndef PCVASSIGNMENT1_PHOTOMETRICSTEREO_H_
+#define PCVASSIGNMENT1_PHOTOMETRICSTEREO_H_
+
+#include <string>
+#include <vector>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "PFMAccess.h"
+
+void drawAppleNormal();
+void drawAppleAlbedo();
+void drawAppleNormalWithAlbedo();
+void getAppleHeight();
+void drawElephantNormal();
+void drawElephantAlbedo();
+void drawElephantNormalwithAlbedo();
+void getElephantHeight();
+void drawPearNormal();
+void drawPearAlbedo();
+void drawPearNormalWithAlbedo();
+void getPearHeight();
+
+namespace phoSte {
+struct circle {
+ circle(double x = 0, double y = 0, double r = 0): mCenterX(x), mCenterY(y), mR(r) {
+ }
+ double mCenterX;
+ double mCenterY;
+ double mR;
+};
+
+struct light {
+ light(double x, double y, double z): mx(x), my(y), mz(z) {
+ }
+ double mx;
+ double my;
+ double mz;
+ double mIntensity;
+};
+
+class photometryStero {
+ public:
+ // fill the imageNames and maskNames
+ // use image with euqal distance
+ photometryStero(int n, int startI, int endI, std::string path,
+ std::string metal1Phere1Name, std::string metal2Phere1Name,
+ std::string lambertPhereName, std::string objectName, double discardRatio = 0.1);
+ photometryStero(const photometryStero&) = delete;
+ photometryStero& operator = (const photometryStero&) = delete;
+ ~photometryStero();
+ bool readImage(); // read the images and masks according to the ImageNames
+ void getLightInformation(const int metalIndex, const int lambIndex);
+ void getPixelNormAndAlbedo(const int objectIndex);
+ cv::Mat outputNormalImage(int objectIndex);
+ cv::Mat outputAlbedoImage(int objectIndex);
+ cv::Mat outputNormalWithAlbedo(int objectIndex);
+ cv::Mat getHeightMap(int mode, double parameter);
+ // below are functions for test
+ //
+ void outputImage();
+ // build one mask with size*size in the middle to test the N;
+ void addSmallMaskForObject(int size, int midX, int midY);
+ private:
+ const int imageNum; // the num of images used to calculate;
+ std::vector<std::string> mImageNames; // the name of images
+ std::vector<std::string> mMaskNames; // the name of mask
+ std::vector<cv::Mat> mp2Images;
+ std::vector<cv::Mat> mp2Mask;
+ // when the PFMACCess destructs, the data will be destroyed
+ // so it's very dangerous, it should not be copied
+ std::vector<CPFMAccess*> mImageStorage;
+ // tht circle data for the metalSphere
+ phoSte::circle m_metalSphere;
+ phoSte::circle m_lambSpere;
+ std::vector<phoSte::light> m_light;
+ cv::Mat mN;
+ cv::Mat mAlbedo;
+ std::vector<int> mObjectX;
+ std::vector<int> mObjectY;
+ std::vector<int> mInvalidIndex;
+ const double mDiscardRatio;
+};
+}
+
+#endif
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 53cc137..0646d2b 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -43,6 +43,13 @@ int main(int argc, char** argv) {
std::cout << std::endl;
+
+ drawAppleNormal();
+ drawAppleAlbedo();
+ drawAppleNormalWithAlbedo();
+ getAppleHeight();
+
+
// Define the paths for the model images, calibration images and the albedo texture
//const std::string sourcePath = "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/";
//const std::string imagesPath = "/media/tw00275/ESD-USB/";
@@ -53,7 +60,7 @@ int main(int argc, char** argv) {
const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
const std::string texturePath = modelPath + "texture.png";
- detectMacbeth("/media/thomas/ESD-USB/2017-12-04/macbeth/macbeth.0.png");
+ detectMacbeth("/home/thomas/Documents/2017-12-04/macbeth/macbeth.0.png");
// A vector of Mats allow multiple images to be allocated to the same object
// textureImages are the full colour photographs that are used to create the texture
diff --git a/apps/specular_estimation/src/stdafx.h b/apps/specular_estimation/src/stdafx.h
index cc35b54..3307d8a 100644
--- a/apps/specular_estimation/src/stdafx.h
+++ b/apps/specular_estimation/src/stdafx.h
@@ -43,3 +43,6 @@ using namespace glm;
#include "OpenGL.h"
#include "Ceres.h"
#include "Macbeth.h"
+
+#include "PhotometricStereo.h"
+#include "PFMAccess.h"
diff --git a/bin/specular_estimation b/bin/specular_estimation
index 20631f4dec582f923bc69eeab98dd3f785025cfa..72d5beae6606f1d9b39935c8ca4666a1a8edb9ee 100755
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