/** Associates the features together. */
public void associate() {
// initialize data structures
matches.reset();
unassociatedSrc.reset();
// find and add the matches
assoc.setSource((FastQueue) srcPositive);
assoc.setDestination((FastQueue) dstPositive);
assoc.associate();
FastQueue<AssociatedIndex> m = assoc.getMatches();
for (int i = 0; i < m.size; i++) {
AssociatedIndex a = m.data[i];
int globalSrcIndex = srcPositive.data[a.src].index;
int globalDstIndex = dstPositive.data[a.dst].index;
matches.grow().setAssociation(globalSrcIndex, globalDstIndex, a.fitScore);
}
GrowQueue_I32 un = assoc.getUnassociatedSource();
for (int i = 0; i < un.size; i++) {
unassociatedSrc.add(srcPositive.data[un.get(i)].index);
}
assoc.setSource((FastQueue) srcNegative);
assoc.setDestination((FastQueue) dstNegative);
assoc.associate();
m = assoc.getMatches();
for (int i = 0; i < m.size; i++) {
AssociatedIndex a = m.data[i];
int globalSrcIndex = srcNegative.data[a.src].index;
int globalDstIndex = dstNegative.data[a.dst].index;
matches.grow().setAssociation(globalSrcIndex, globalDstIndex, a.fitScore);
}
un = assoc.getUnassociatedSource();
for (int i = 0; i < un.size; i++) {
unassociatedSrc.add(srcNegative.data[un.get(i)].index);
}
}
private void processImage() {
final List<Point2D_F64> leftPts = new ArrayList<Point2D_F64>();
final List<Point2D_F64> rightPts = new ArrayList<Point2D_F64>();
FastQueue<TupleDesc> leftDesc = UtilFeature.createQueue(describe, 10);
FastQueue<TupleDesc> rightDesc = UtilFeature.createQueue(describe, 10);
final ProgressMonitor progressMonitor =
new ProgressMonitor(this, "Associating Features", "Detecting Left", 0, 3);
// show a progress dialog if it is slow. Needs to be in its own thread so if this stalls
// the window will pop up
progress = 0;
new Thread() {
public synchronized void run() {
while (progress < 3) {
SwingUtilities.invokeLater(
new Runnable() {
public void run() {
progressMonitor.setProgress(progress);
}
});
try {
wait(100);
} catch (InterruptedException e) {
}
}
progressMonitor.close();
}
}.start();
// find feature points and descriptions
extractImageFeatures(imageLeft, grayLeft, leftDesc, leftPts);
progress++;
extractImageFeatures(imageRight, grayRight, rightDesc, rightPts);
progress++;
matcher.setSource(leftDesc);
matcher.setDestination(rightDesc);
matcher.associate();
progress = 3;
SwingUtilities.invokeLater(
new Runnable() {
public void run() {
panel.setAssociation(leftPts, rightPts, matcher.getMatches());
repaint();
}
});
}