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SFMToolKits.cpp
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#include "SFMToolKits.h"
namespace sfm
{
SFMToolKits::SFMToolKits()
{
}
SFMToolKits::~SFMToolKits()
{
}
bool SFMToolKits::computeFocal(const std::string& imgDir, const std::string& outDir, const std::string& dataBase, double focalPixPermm)
{
std::ofstream log;
std::string logPath = "log/log_sfm_computeFocal.log";
std::string logDir = stlplus::folder_part(logPath);
if (!stlplus::folder_exists(logDir))
{
stlplus::folder_create(logDir);
}
log.open(logPath.c_str());
if (!stlplus::folder_exists(outDir))
{
stlplus::folder_create(outDir);
}
std::vector<std::string> vec_image = stlplus::folder_files(imgDir);
// Write the new file
std::ofstream listTXT(stlplus::create_filespec(outDir,"lists.txt").c_str());
if (listTXT)
{
std::sort(vec_image.begin(), vec_image.end());
for (std::vector<std::string>::const_iterator iter_image = vec_image.begin();
iter_image != vec_image.end();
iter_image++)
{
// Read meta data to fill width height and focalPixPermm
std::string sImageFilename = stlplus::create_filespec(imgDir, *iter_image);
size_t width = -1;
size_t height = -1;
std::unique_ptr<Exif_IO> exifReader(new Exif_IO_OpenExif());
exifReader->open(sImageFilename);
// Consider the case where focal is provided
std::ostringstream os;
//If image do not contains meta data
if (!exifReader->doesHaveExifInfo() || focalPixPermm != -1)
{
Image<unsigned char> image;
if (openMVG::ReadImage(sImageFilename.c_str(), &image)) {
width = image.Width();
height = image.Height();
}
else
{
Image<RGBColor> imageRGB;
if (openMVG::ReadImage(sImageFilename.c_str(), &imageRGB)) {
width = imageRGB.Width();
height = imageRGB.Height();
}
else
{
Image<RGBAColor> imageRGBA;
if (openMVG::ReadImage(sImageFilename.c_str(), &imageRGBA)) {
width = imageRGBA.Width();
height = imageRGBA.Height();
}
else
continue; // image is not considered, cannot be read
}
}
if (focalPixPermm == -1)
os << *iter_image << ";" << width << ";" << height << std::endl;
else
os << *iter_image << ";" << width << ";" << height << ";"
<< focalPixPermm << ";" << 0 << ";" << width / 2.0 << ";"
<< 0 << ";" << focalPixPermm << ";" << height / 2.0 << ";"
<< 0 << ";" << 0 << ";" << 1 << std::endl;
}
else // If image contains meta data
{
double focal = focalPixPermm;
width = exifReader->getWidth();
height = exifReader->getHeight();
std::string sCamName = exifReader->getBrand();
std::string sCamModel = exifReader->getModel();
std::vector<Datasheet> vec_database;
Datasheet datasheet;
if (parseDatabase(dataBase, vec_database))
{
if (getInfo(sCamName, sCamModel, vec_database, datasheet))
{
// The camera model was found in the database so we can compute it's approximated focal length
double ccdw = datasheet._sensorSize;
focal = (std::max)(width, height) * exifReader->getFocal() / ccdw;
os << *iter_image << ";" << width << ";" << height << ";" << focal << ";" << sCamName << ";" << sCamModel << std::endl;
}
else
{
log << "Camera \"" << sCamName << "\" model \"" << sCamModel << "\" doesn't exist in the database" << std::endl;
os << *iter_image << ";" << width << ";" << height << ";" << sCamName << ";" << sCamModel << std::endl;
}
}
else
{
log << "Sensor width database \"" << dataBase << "\" doesn't exist." << std::endl;
log << "Please consider add your camera model in the database." << std::endl;
os << *iter_image << ";" << width << ";" << height << ";" << sCamName << ";" << sCamModel << std::endl;
}
}
log << os.str();
listTXT << os.str();
}
}
listTXT.close();
if (log.is_open()) log.close();
return true;
}
bool SFMToolKits::computeMatch(const std::string& imgDir, const std::string& outDir, const char gModel, float distratio, bool octminus1, float peakThreshold)
{
std::ofstream log;
std::string logPath = "log/log_sfm_computeMatch.log";
std::string logDir = stlplus::folder_part(logPath);
if (!stlplus::folder_exists(logDir))
{
stlplus::folder_create(logDir);
}
log.open(logPath.c_str());
if (!stlplus::folder_exists(outDir))
{
stlplus::folder_create(outDir);
}
eGeometricModel gModelToCompute = FUNDAMENTAL_MATRIX;
std::string sGeometricMatchesFilename = "";
switch (gModel)
{
case 'f': case 'F':
gModelToCompute = FUNDAMENTAL_MATRIX;
sGeometricMatchesFilename = "matches.f.txt";
break;
case 'e': case 'E':
gModelToCompute = ESSENTIAL_MATRIX;
sGeometricMatchesFilename = "matches.e.txt";
break;
case 'h': case 'H':
gModelToCompute = HOMOGRAPHY_MATRIX;
sGeometricMatchesFilename = "matches.h.txt";
break;
default:
std::cerr << "Unknown geometric model" << std::endl;
return EXIT_FAILURE;
}
// Create output dir
if (!stlplus::folder_exists(outDir))
stlplus::folder_create(outDir);
//---------------------------------------
// a. List images
//---------------------------------------
std::string sListsFile = stlplus::create_filespec(outDir, "lists.txt");
if (!stlplus::is_file(sListsFile))
{
log << "The input file \"" << sListsFile << "\" is missing" << std::endl;
if (log.is_open()) log.close();
return false;
}
typedef openMVG::SfMIO::CameraInfo sfmCF;
typedef openMVG::SfMIO::IntrinsicCameraInfo sfmICF;
std::vector<sfmCF> camList;
std::vector<sfmICF> focalList;
if (!openMVG::SfMIO::loadImageList(camList, focalList, sListsFile))
{
log << "error: " << "\nEmpty image list." << std::endl;
if (log.is_open()) log.close();
return false;
}
if (gModelToCompute == ESSENTIAL_MATRIX)
{
//只能存在一个本质矩阵（照片只能来之于同一<型号>照相机）
//-- In the case of the essential matrix we check if only one K matrix is present.
//-- Due to the fact that the generic framework allows only one K matrix for the
// robust essential matrix estimation in image collection.
std::vector<sfmICF>::iterator iterF =
std::unique(focalList.begin(), focalList.end(), [](sfmICF const &ci1, sfmICF const &ci2)->bool{return ci1.m_K == ci2.m_K; });
focalList.resize(std::distance(focalList.begin(), iterF));
if (focalList.size() == 1)
{
// Set all the intrinsic ID to 0
for (size_t i = 0; i < camList.size(); ++i)
camList[i].m_intrinsicId = 0;
}
else
{
log << "There is more than one focal group in the lists.txt file." << std::endl
<< "Only one focal group is supported for the image collection robust essential matrix estimation." << std::endl;
if (log.is_open()) log.close();
return false;
}
}
//-- Two alias to ease access to image filenames and image sizes
std::vector<std::string> fileNames;
std::vector<std::pair<size_t, size_t> > imagesSize;
for (std::vector<sfmCF>::const_iterator iter_camInfo = camList.begin(); iter_camInfo != camList.end(); iter_camInfo++)
{
imagesSize.push_back(std::make_pair(focalList[iter_camInfo->m_intrinsicId].m_w, focalList[iter_camInfo->m_intrinsicId].m_h));
fileNames.push_back(stlplus::create_filespec(imgDir, iter_camInfo->m_sImageName));
}
//---------------------------------------
// b.Compute features and descriptor
// - extract sift features and descriptor
// - if keypoints already computed, re-load them
// - else save features and descriptors on disk
//---------------------------------------
typedef Descriptor<unsigned char, 128> DescriptorT;
typedef SIOPointFeature FeatureT;
typedef std::vector<FeatureT> FeatsT;
typedef vector<DescriptorT > DescsT;
typedef KeypointSet<FeatsT, DescsT > KeypointSetT;
{
log << "\n\nEXTRACT FEATURES" << std::endl;
imagesSize.resize(fileNames.size());
Image<unsigned char> imageGray;
#pragma omp parallel for private(imageGray)
for (int i = 0; i < (int)fileNames.size(); ++i)
{
std::string sFeat = stlplus::create_filespec(outDir,stlplus::basename_part(fileNames[i]), "feat");
std::string sDesc = stlplus::create_filespec(outDir,stlplus::basename_part(fileNames[i]), "desc");
//If descriptors or features file are missing, compute them
if (!stlplus::file_exists(sFeat) || !stlplus::file_exists(sDesc))
{
if (!ReadImage(fileNames[i].c_str(), &imageGray)) continue;
Image<float> img(imageGray.GetMat().cast<float>());
// Compute features and descriptors and export them to files
KeypointSetT kpSet;
SIFTDetector(img, kpSet.features(), kpSet.descriptors(), octminus1, true, peakThreshold);
kpSet.saveToBinFile(sFeat, sDesc);
}
}
}
//---------------------------------------
// c. Compute putative descriptor matches
// - L2 descriptor matching
// - Keep correspondences only if NearestNeighbor ratio is ok
//---------------------------------------
IndexedMatchPerPair map_PutativesMatches;
// Define the matcher and the used metric (Squared L2)
// ANN matcher could be defined as follow:
typedef flann::L2<DescriptorT::bin_type> MetricT;
typedef ArrayMatcher_Kdtree_Flann<DescriptorT::bin_type, MetricT> MatcherT;
// Brute force matcher can be defined as following:
//typedef L2_Vectorized<DescriptorT::bin_type> MetricT;
//typedef ArrayMatcherBruteForce<DescriptorT::bin_type, MetricT> MatcherT;
// If the matches already exists, reload them
if (stlplus::file_exists(outDir + "/matches.putative.txt"))
{
PairedIndMatchImport(outDir + "/matches.putative.txt", map_PutativesMatches);
log << std::endl << "PUTATIVE MATCHES -- PREVIOUS RESULTS LOADED" << std::endl;
}
else // Compute the putatives matches
{
Matcher_AllInMemory<KeypointSetT, MatcherT> collectionMatcher(distratio);
if (collectionMatcher.loadData(fileNames, outDir))
{
log << std::endl << "PUTATIVE MATCHES" << std::endl;
collectionMatcher.Match(fileNames, map_PutativesMatches);
//---------------------------------------
//-- Export putative matches
//---------------------------------------
std::ofstream file(std::string(outDir + "/matches.putative.txt").c_str());
if (file.is_open())
PairedIndMatchToStream(map_PutativesMatches, file);
file.close();
}
}
//-- export putative matches Adjacency matrix
PairWiseMatchingToAdjacencyMatrixSVG(fileNames.size(),
map_PutativesMatches,
stlplus::create_filespec(outDir, "PutativeAdjacencyMatrix", "svg"));
//---------------------------------------
// d. Geometric filtering of putative matches
// - AContrario Estimation of the desired geometric model
// - Use an upper bound for the a contrario estimated threshold
//---------------------------------------
IndexedMatchPerPair map_GeometricMatches;
ImageCollectionGeometricFilter<FeatureT> collectionGeomFilter;
const double maxResidualError = 4.0;
if (collectionGeomFilter.loadData(fileNames, outDir))
{
log << std::endl << " - GEOMETRIC FILTERING - " << std::endl;
switch (gModelToCompute)
{
case FUNDAMENTAL_MATRIX:
{
collectionGeomFilter.Filter(
GeometricFilter_FMatrix_AC(maxResidualError),
map_PutativesMatches,
map_GeometricMatches,
imagesSize);
}
break;
case ESSENTIAL_MATRIX:
{
collectionGeomFilter.Filter(
GeometricFilter_EMatrix_AC(focalList[0].m_K, maxResidualError),
map_PutativesMatches,
map_GeometricMatches,
imagesSize);
//-- Perform an additional check to remove pairs with poor overlap
std::vector<IndexedMatchPerPair::key_type> vec_toRemove;
for (IndexedMatchPerPair::const_iterator iterMap = map_GeometricMatches.begin();
iterMap != map_GeometricMatches.end(); ++iterMap)
{
size_t putativePhotometricCount = map_PutativesMatches.find(iterMap->first)->second.size();
size_t putativeGeometricCount = iterMap->second.size();
float ratio = putativeGeometricCount / (float)putativePhotometricCount;
if (putativeGeometricCount < 50 || ratio < .3f) {
// the pair will be removed
vec_toRemove.push_back(iterMap->first);
}
}
//-- remove discarded pairs
for (std::vector<IndexedMatchPerPair::key_type>::const_iterator
iter = vec_toRemove.begin(); iter != vec_toRemove.end(); ++iter)
{
map_GeometricMatches.erase(*iter);
}
}
break;
case HOMOGRAPHY_MATRIX:
{
collectionGeomFilter.Filter(
GeometricFilter_HMatrix_AC(maxResidualError),
map_PutativesMatches,
map_GeometricMatches,
imagesSize);
}
break;
}
//---------------------------------------
//-- Export geometric filtered matches
//---------------------------------------
std::ofstream file(string(outDir + "/" + sGeometricMatchesFilename).c_str());
if (file.is_open())
PairedIndMatchToStream(map_GeometricMatches, file);
file.close();
//-- export Adjacency matrix
log << "\n Export Adjacency Matrix of the pairwise's geometric matches"
<< std::endl;
PairWiseMatchingToAdjacencyMatrixSVG(fileNames.size(),
map_GeometricMatches,
stlplus::create_filespec(outDir, "GeometricAdjacencyMatrix", "svg"));
}
if (log.is_open()) log.close();
return true;
}
bool SFMToolKits::computeMatchE(const std::string& imgDir, const std::string& outDir, float distratio, bool octminus1, float peakThreshold)
{
return computeMatch(imgDir, outDir, 'e', distratio,octminus1,peakThreshold);
}
bool SFMToolKits::computeMatchF(const std::string& imgDir, const std::string& outDir, float distratio, bool octminus1, float peakThreshold)
{
return computeMatch(imgDir, outDir, 'f', distratio, octminus1, peakThreshold);
}
bool SFMToolKits::computeMatchH(const std::string& imgDir, const std::string& outDir, float distratio, bool octminus1, float peakThreshold)
{
return computeMatch(imgDir, outDir, 'h', distratio, octminus1, peakThreshold);
}
bool SFMToolKits::incrementalSfM(const std::string& imgDir, const std::string& matcheDir, const std::string& outDir)
{
std::ofstream log;
std::string logPath = "log/log_sfm_incrementalSfM.log";
std::string logDir = stlplus::folder_part(logPath);
if (!stlplus::folder_exists(logDir))
{
stlplus::folder_create(logDir);
}
log.open(logPath.c_str());
if (!stlplus::folder_exists(outDir))
stlplus::folder_create(outDir);
bool bPmvsExport = false;
bool bRefinePPandDisto = true;
bool bColoredPointCloud = true;
std::pair<size_t, size_t> initialPair(0, 0);
//---------------------------------------
// Incremental reconstruction process
//---------------------------------------
clock_t timeStart = clock();
IncrementalReconstructionEngine to3DEngine(imgDir,matcheDir,outDir,true);
to3DEngine.setInitialPair(initialPair);
to3DEngine.setIfRefinePrincipalPointAndRadialDisto(bRefinePPandDisto);
if (to3DEngine.Process())
{
clock_t timeEnd = clock();
log << std::endl << " Ac-Sfm took : " << (timeEnd - timeStart) / CLOCKS_PER_SEC << " seconds." << std::endl;
const reconstructorHelper & reconstructorHelperRef = to3DEngine.refToReconstructorHelper();
std::vector<Vec3> tracksColor;
if (bColoredPointCloud)
{
// Compute the color of each track
to3DEngine.ColorizeTracks(tracksColor);
}
reconstructorHelperRef.exportToPly(
stlplus::create_filespec(outDir, "FinalColorized", ".ply"), tracksColor);
// Export to openMVG format
log << std::endl << "Export 3D scene to openMVG format" << std::endl
<< " -- Point cloud color: " << (bColoredPointCloud ? "ON" : "OFF") << std::endl;
reconstructorHelperRef.ExportToOpenMVGFormat(
stlplus::folder_append_separator(outDir) + "SfM_output",
to3DEngine.getFilenamesVector(),
imgDir,
to3DEngine.getImagesSize(),
to3DEngine.getTracks(),
tracksColor
);
// Manage export data to desired format
// -> PMVS
if (bPmvsExport)
{
log << std::endl << "Export 3D scene to PMVS format" << std::endl;
reconstructorHelperRef.exportToPMVSFormat(
stlplus::folder_append_separator(outDir) + "PMVS",
to3DEngine.getFilenamesVector(),
imgDir);
}
if (log.is_open()) log.close();
return true;
}
else
{
log << "\n error:" << "\n Something goes wrong in the Structure from Motion process" << std::endl;
if (log.is_open()) log.close();
return false;
}
}
bool SFMToolKits::globalSfM(const std::string& imgDir, const std::string& matcheDir, const std::string& outDir)
{
if (!stlplus::folder_exists(outDir))
stlplus::folder_create(outDir);
//---------------------------------------
// Global reconstruction process
//---------------------------------------
bool bColoredPointCloud = true;
clock_t timeStart = clock();
GlobalReconstructionEngine to3DEngine(imgDir,matcheDir,outDir,true);
to3DEngine.setRotationMethod(1);
if (to3DEngine.Process())
{
clock_t timeEnd = clock();
std::cout << std::endl << " Total Ac-Global-Sfm took : " << (timeEnd - timeStart) / CLOCKS_PER_SEC << std::endl;
//-- Export computed data to disk
to3DEngine.ExportToOpenMVGFormat(bColoredPointCloud);
return true;
}
else
{
return false;
}
}
bool SFMToolKits::exportToBundlerFormat(const std::string& sOutFile, const std::string& sOutListFile, const Document & doc)
{
std::ofstream os(sOutFile.c_str());
std::ofstream osList(sOutListFile.c_str());
if (!os.is_open() || !osList.is_open())
{
return false;
}
else
{
os << "# Bundle file v0.3" << os.widen('\n')
<< doc._map_camera.size()
<< " " << doc._tracks.size() << os.widen('\n');
size_t count = 0;
for (std::map<size_t, PinholeCamera>::const_iterator iter = doc._map_camera.begin();
iter != doc._map_camera.end(); ++iter)
{
const PinholeCamera & PMat = iter->second;
Mat3 D;
D.fill(0.0);
D.diagonal() = Vec3(1., -1., -1.); // mapping between our pinhole and Bundler convention
Mat3 R = D * PMat._R;
Vec3 t = D * PMat._t;
double focal = PMat._K(0, 0);
double k1 = 0.0, k2 = 0.0; // distortion already removed
os << focal << " " << k1 << " " << k2 << os.widen('\n') //f k1 k2
<< R(0, 0) << " " << R(0, 1) << " " << R(0, 2) << os.widen('\n') //R[0]
<< R(1, 0) << " " << R(1, 1) << " " << R(1, 2) << os.widen('\n') //R[1]
<< R(2, 0) << " " << R(2, 1) << " " << R(2, 2) << os.widen('\n') //R[2]
<< t(0) << " " << t(1) << " " << t(2) << os.widen('\n'); //t
osList << doc._vec_imageNames[iter->first] << " 0 " << focal << os.widen('\n');
}
size_t trackIndex = 0;
for (std::map< size_t, tracks::submapTrack >::const_iterator
iterTracks = doc._tracks.begin();
iterTracks != doc._tracks.end();
++iterTracks, ++trackIndex)
{
const size_t trackId = iterTracks->first;
const tracks::submapTrack & map_track = iterTracks->second;
const float * ptr3D = &doc._vec_points[trackIndex * 3];
os << ptr3D[0] << " " << ptr3D[1] << " " << ptr3D[2] << os.widen('\n');
os << "255 255 255" << os.widen('\n');
os << map_track.size() << " ";
const Vec3 vec(ptr3D[0], ptr3D[1], ptr3D[2]);
for (tracks::submapTrack::const_iterator iterTrack = map_track.begin();
iterTrack != map_track.end();
++iterTrack)
{
const PinholeCamera & PMat = doc._map_camera.find(iterTrack->first)->second;
Vec2 pt = PMat.Project(vec);
os << iterTrack->first << " " << iterTrack->second << " " << pt(0) << " " << pt(1) << " ";
}
os << os.widen('\n');
}
os.close();
osList.close();
}
return true;
}
bool SFMToolKits::exportToCMPMVSFormat(const std::string& imgDir, const std::string& outDir, const Document & doc)
{
bool bOk = true;
// Create basis directory structure
if (!stlplus::is_folder(outDir))
{
stlplus::folder_create(outDir);
bOk = stlplus::is_folder(outDir);
}
if (!bOk)
{
std::cerr << "Cannot access to one of the desired output directory" << std::endl;
return false;
}
else
{
// Export data :
//Camera
size_t count = 1;
for (std::map<size_t, PinholeCamera>::const_iterator iter = doc._map_camera.begin();
iter != doc._map_camera.end(); ++iter, ++count)
{
const Mat34 & PMat = iter->second._P;
std::ostringstream os;
os << std::setw(5) << std::setfill('0') << count << "_P";
std::ofstream file(
stlplus::create_filespec(stlplus::folder_append_separator(outDir),
os.str(), "txt").c_str());
file << "CONTOUR\n"
<< PMat.row(0) << "\n" << PMat.row(1) << "\n" << PMat.row(2) << std::endl;
file.close();
}
// Image
count = 1;
int w, h; // Image size (suppose they are all the same)
Image<RGBColor> image;
for (std::map<size_t, PinholeCamera>::const_iterator iter = doc._map_camera.begin();
iter != doc._map_camera.end(); ++iter, ++count)
{
size_t imageIndex = iter->first;
const std::string & sImageName = doc._vec_imageNames[imageIndex];
std::ostringstream os;
os << std::setw(5) << std::setfill('0') << count;
ReadImage(stlplus::create_filespec(imgDir, sImageName).c_str(), &image);
w = image.Width();
h = image.Height();
std::string sCompleteImageName = stlplus::create_filespec(
stlplus::folder_append_separator(outDir), os.str(), "jpg");
WriteImage(sCompleteImageName.c_str(), image);
}
// Write the mvs_firstRun script
std::ostringstream os;
os << "[global]" << std::endl
<< "dirName=\"" << stlplus::folder_append_separator(outDir) << "\"" << std::endl
<< "prefix=\"\"" << std::endl
<< "imgExt=\"jpg\"" << std::endl
<< "ncams=" << doc._map_camera.size() << std::endl
<< "width=" << w << std::endl
<< "height=" << h << std::endl
<< "scale=2" << std::endl
<< "workDirName=\"_tmp_fast\"" << std::endl
<< "doPrepareData=TRUE" << std::endl
<< "doPrematchSifts=TRUE" << std::endl
<< "doPlaneSweepingSGM=TRUE" << std::endl
<< "doFuse=TRUE" << std::endl
<< "nTimesSimplify=10" << std::endl
<< std::endl
<< "[prematching]" << std::endl
<< "minAngle=3.0" << std::endl
<< std::endl
<< "[grow]" << std::endl
<< "minNumOfConsistentCams=6" << std::endl
<< std::endl
<< "[filter]" << std::endl
<< "minNumOfConsistentCams=2" << std::endl
<< std::endl
<< "#do not erase empy lines after this comment otherwise it will crash ... bug" << std::endl
<< std::endl
<< std::endl;
std::ofstream file(
stlplus::create_filespec(stlplus::folder_append_separator(outDir),
"01_mvs_firstRun", "ini").c_str());
file << os.str();
file.close();
// limitedScale
os.str("");
os << "[global]" << std::endl
<< "dirName=\"" << stlplus::folder_append_separator(outDir) << "\"" << std::endl
<< "prefix=\"\"" << std::endl
<< "imgExt=\"jpg\"" << std::endl
<< "ncams=" << doc._map_camera.size() << std::endl
<< "width=" << w << std::endl
<< "height=" << h << std::endl
<< "scale=2" << std::endl
<< "workDirName=\"_tmp_fast\"" << std::endl
<< "doPrepareData=FALSE" << std::endl
<< "doPrematchSifts=FALSE" << std::endl
<< "doPlaneSweepingSGM=FALSE" << std::endl
<< "doFuse=FALSE" << std::endl
<< std::endl
<< "[uvatlas]" << std::endl
<< "texSide=1024" << std::endl
<< "scale=1" << std::endl
<< std::endl
<< "[delanuaycut]" << std::endl
<< "saveMeshTextured=FALSE" << std::endl
<< std::endl
<< "[hallucinationsFiltering]" << std::endl
<< "useSkyPrior=FALSE" << std::endl
<< "doLeaveLargestFullSegmentOnly=FALSE" << std::endl
<< "doRemoveHugeTriangles=TRUE" << std::endl
<< std::endl
<< "[largeScale]" << std::endl
<< "doGenerateAndReconstructSpaceMaxPts=TRUE" << std::endl
<< "doGenerateSpace=TRUE" << std::endl
<< "planMaxPts=3000000" << std::endl
<< "doComputeDEMandOrtoPhoto=FALSE" << std::endl
<< "doGenerateVideoFrames=FALSE" << std::endl
<< std::endl
<< "[meshEnergyOpt]" << std::endl
<< "doOptimizeOrSmoothMesh=FALSE" << std::endl
<< std::endl
<< std::endl
<< "#EOF" << std::endl
<< std::endl
<< std::endl;
std::ofstream file2(
stlplus::create_filespec(stlplus::folder_append_separator(outDir),
"02_mvs_limitedScale", "ini").c_str());
file2 << os.str();
file2.close();
}
return bOk;
}
bool SFMToolKits::exportToPMVSFormat(const std::string& imgDir, const std::string& outDir, const Document & doc, const int resolution, const int cpuNu)
{
bool bOk = true;
if (!stlplus::is_folder(outDir))
{
stlplus::folder_create(outDir);
bOk = stlplus::is_folder(outDir);
}
// Create basis directory structure
stlplus::folder_create(stlplus::folder_append_separator(outDir) + "models");
stlplus::folder_create(stlplus::folder_append_separator(outDir) + "txt");
stlplus::folder_create(stlplus::folder_append_separator(outDir) + "visualize");
if (bOk &&
stlplus::is_folder(stlplus::folder_append_separator(outDir) + "models") &&
stlplus::is_folder(stlplus::folder_append_separator(outDir) + "txt") &&
stlplus::is_folder(stlplus::folder_append_separator(outDir) + "visualize")
)
{
bOk = true;
}
else {
std::cerr << "Cannot access to one of the desired output directory" << std::endl;
}
if (bOk)
{
// Export data :
//Camera
size_t count = 0;
for (std::map<size_t, PinholeCamera>::const_iterator iter = doc._map_camera.begin();
iter != doc._map_camera.end(); ++iter, ++count)
{
const Mat34 & PMat = iter->second._P;
std::ostringstream os;
os << std::setw(8) << std::setfill('0') << count;
std::ofstream file(
stlplus::create_filespec(stlplus::folder_append_separator(outDir) + "txt",
os.str(), "txt").c_str());
file << "CONTOUR" << os.widen('\n')
<< PMat.row(0) << "\n" << PMat.row(1) << "\n" << PMat.row(2) << os.widen('\n');
file.close();
}
// Image
count = 0;
Image<RGBColor> image;
for (std::map<size_t, PinholeCamera>::const_iterator iter = doc._map_camera.begin();
iter != doc._map_camera.end(); ++iter, ++count)
{
size_t imageIndex = iter->first;
const std::string & sImageName = doc._vec_imageNames[imageIndex];
std::ostringstream os;
os << std::setw(8) << std::setfill('0') << count;
std::string srcImage = stlplus::create_filespec(imgDir, sImageName);
std::string dstImage = stlplus::create_filespec(
stlplus::folder_append_separator(outDir) + "visualize", os.str(), "jpg");
if (stlplus::extension_part(srcImage) == "JPG" ||
stlplus::extension_part(srcImage) == "jpg")
{
stlplus::file_copy(srcImage, dstImage);
}
else
{
ReadImage(srcImage.c_str(), &image);
WriteImage(dstImage.c_str(), image);
}
}
//pmvs_options.txt
std::ostringstream os;
os << "level " << resolution << os.widen('\n')
<< "csize 2" << os.widen('\n')
<< "threshold 0.7" << os.widen('\n')
<< "wsize 7" << os.widen('\n')
<< "minImageNum 3" << os.widen('\n')
<< "CPU " << cpuNu << os.widen('\n')
<< "setEdge 0" << os.widen('\n')
<< "useBound 0" << os.widen('\n')
<< "useVisData 0" << os.widen('\n')
<< "sequence -1" << os.widen('\n')
<< "maxAngle 10" << os.widen('\n')
<< "quad 2.0" << os.widen('\n')
<< "timages -1 0 " << doc._map_camera.size() << os.widen('\n')
<< "oimages 0" << os.widen('\n'); // ?
std::ofstream file(stlplus::create_filespec(outDir, "pmvs_options", "txt").c_str());
file << os.str();
file.close();
}
return bOk;
}
bool SFMToolKits::exportToCMPMVS(const std::string& sfmOutDir, const std::string& outDir)
{
if (!stlplus::folder_exists(outDir))
stlplus::folder_create(outDir);
Document m_doc;
if (m_doc.load(sfmOutDir))
{
exportToCMPMVSFormat(
stlplus::folder_append_separator(sfmOutDir) + "images",
stlplus::folder_append_separator(outDir) + "CMPMVS",
m_doc);
return true;
}
else
{
return false;
}
}
bool SFMToolKits::exportToPMVS(const std::string& sfmOutDir, const std::string& outDir)
{
int resolution = 1;
int CPU = 8;
// Create output dir
if (!stlplus::folder_exists(outDir))
stlplus::folder_create(outDir);
Document m_doc;
if (m_doc.load(sfmOutDir))
{
exportToPMVSFormat(
stlplus::folder_append_separator(sfmOutDir) + "images",
stlplus::folder_append_separator(outDir) + "PMVS",
m_doc,
resolution,
CPU);
exportToBundlerFormat(
stlplus::folder_append_separator(outDir) +
stlplus::folder_append_separator("PMVS") + "bundle.rd.out",
stlplus::folder_append_separator(outDir) +
stlplus::folder_append_separator("PMVS") + "list.txt",
m_doc
);
return true;
}
else
{
return false;
}
}
bool SFMToolKits::exportToMESHLAB(const std::string& sfmOutDir, const std::string& ply, const std::string& outDir)
{
if (!stlplus::folder_exists(sfmOutDir))
{
std::cerr << "\nSfM directory doesn't exist" << std::endl;
return false;
}
if (!stlplus::file_exists(ply))
{
std::cerr << "\nPly file doesn't exist" << std::endl;
return false;
}
// Create output dir
if (!stlplus::folder_exists(outDir))
stlplus::folder_create(outDir);
Document m_doc;
std::cout << "\n Open the directory : \n" << sfmOutDir << std::endl;
//Read SfM output directory
if (!m_doc.load(sfmOutDir))
{
std::cout << "Impossible to open the openMVG SfM project." << std::endl;
return false;
}
std::ofstream outfile(stlplus::create_filespec(outDir, "sceneMeshlab", "mlp").c_str());
//Init mlp file
outfile << "<!DOCTYPE MeshLabDocument>" << std::endl
<< "<MeshLabProject>" << std::endl
<< " <MeshGroup>" << std::endl
<< " <MLMesh label=\"" << ply << "\" filename=\"" << ply << "\">" << std::endl
<< " <MLMatrix44>" << std::endl
<< "1 0 0 0 " << std::endl
<< "0 1 0 0 " << std::endl
<< "0 0 1 0 " << std::endl
<< "0 0 0 1 " << std::endl
<< "</MLMatrix44>" << std::endl
<< " </MLMesh>" << std::endl
<< " </MeshGroup>" << std::endl;
outfile << " <RasterGroup>" << std::endl;
std::map<size_t, PinholeCamera >::const_iterator iterCamera = m_doc._map_camera.begin();
std::map<size_t, std::pair<size_t, size_t> >::const_iterator iterSize = m_doc._map_imageSize.begin();
std::vector<std::string>::const_iterator iterName = m_doc._vec_imageNames.begin();
for (;
iterCamera != m_doc._map_camera.end();
iterCamera++,
iterSize++,
iterName++)
{
PinholeCamera camera = iterCamera->second;
Mat34 P = camera._P;
for (int i = 1; i < 3; i++)
for (int j = 0; j < 4; j++)
P(i, j) *= -1;
Mat3 R, K;
Vec3 t;
KRt_From_P(P, &K, &R, &t);
Vec3 optical_center = R.transpose() * t;
outfile << " <MLRaster label=\"" << *iterName << "\">" << std::endl
<< " <VCGCamera TranslationVector=\""
<< optical_center[0] << " "
<< optical_center[1] << " "
<< optical_center[2] << " "
<< " 1 \""
<< " LensDistortion=\"0 0\""
<< " ViewportPx=\"" << iterSize->second.first << " " << iterSize->second.second << "\""
<< " PixelSizeMm=\"" << 1 << " " << 1 << "\""
<< " CenterPx=\"" << iterSize->second.first / 2.0 << " " << iterSize->second.second / 2.0 << "\""
<< " FocalMm=\"" << (double)K(0, 0) << "\""
<< " RotationMatrix=\""
<< R(0, 0) << " " << R(0, 1) << " " << R(0, 2) << " 0 "
<< R(1, 0) << " " << R(1, 1) << " " << R(1, 2) << " 0 "
<< R(2, 0) << " " << R(2, 1) << " " << R(2, 2) << " 0 "
<< "0 0 0 1 \"/>" << std::endl;
std::string soffsetImagePath = stlplus::create_filespec(sfmOutDir, "imagesOffset");
if (stlplus::folder_exists(soffsetImagePath))
outfile << " <Plane semantic=\"\" fileName=\"" << stlplus::create_filespec(soffsetImagePath,
stlplus::basename_part(*iterName) + "_of",
stlplus::extension_part(*iterName)) << "\"/> " << std::endl;
else
outfile << " <Plane semantic=\"\" fileName=\"" << stlplus::create_filespec(stlplus::create_filespec(sfmOutDir, "images"),
*iterName) << "\"/> " << std::endl;
outfile << " </MLRaster>" << std::endl;
}
outfile << " </RasterGroup>" << std::endl
<< "</MeshLabProject>" << std::endl;
outfile.close();
return true;
}
bool SFMToolKits::cmvs(const std::string& sfmOutDir)
{
//----------------------------------------------------------------------
// If you want more control of the program, you can also change the
// following two parameters.
// scoreRatioThreshold, and coverageThreshold correspond to
// \\lambda and \\delta in our CVPR 2010 paper.
// Please refer to the paper for their definitions. The following are
// brief explanations.
//
// CMVS tries to make sure that multi-view stereo (MVS)
// reconstruction accuracy will be more than a certain threshold at
// Structure-from-Motion (SfM) points. scoreRatioThreshold is this
// threshold on the reconstruction accuracy [0, 1.0]. CMVS makes
// sure that the ratio of "satisfied" SfM points is more than