/// Compute the Root Mean Square Error of the residuals
static double RMSE(const SfM_Data & sfm_data)
{
// Compute residuals for each observation
std::vector<double> vec;
for(Landmarks::const_iterator iterTracks = sfm_data.GetLandmarks().begin();
iterTracks != sfm_data.GetLandmarks().end();
++iterTracks)
{
const Observations & obs = iterTracks->second.obs;
for(Observations::const_iterator itObs = obs.begin();
itObs != obs.end(); ++itObs)
{
const View * view = sfm_data.GetViews().find(itObs->first)->second.get();
const geometry::Pose3 pose = sfm_data.GetPoseOrDie(view);
const std::shared_ptr<cameras::IntrinsicBase> intrinsic = sfm_data.GetIntrinsics().at(view->id_intrinsic);
const Vec2 residual = intrinsic->residual(pose, iterTracks->second.X, itObs->second.x);
//std::cout << residual << " ";
vec.push_back( residual(0) );
vec.push_back( residual(1) );
}
}
const Eigen::Map<Eigen::RowVectorXd> residuals(&vec[0], vec.size());
const double RMSE = std::sqrt(residuals.squaredNorm() / vec.size());
return RMSE;
}
void Frustum_Filter::init_z_near_z_far_depth
(
const SfM_Data & sfm_data,
const double zNear,
const double zFar
)
{
// If z_near & z_far are -1 and structure if not empty,
// compute the values for each camera and the structure
const bool bComputed_Z = (zNear == -1. && zFar == -1.) && !sfm_data.structure.empty();
if (bComputed_Z) // Compute the near & far planes from the structure and view observations
{
for (Landmarks::const_iterator itL = sfm_data.GetLandmarks().begin();
itL != sfm_data.GetLandmarks().end(); ++itL)
{
const Landmark & landmark = itL->second;
const Vec3 & X = landmark.X;
for (Observations::const_iterator iterO = landmark.obs.begin();
iterO != landmark.obs.end(); ++iterO)
{
const IndexT id_view = iterO->first;
const View * view = sfm_data.GetViews().at(id_view).get();
if (!sfm_data.IsPoseAndIntrinsicDefined(view))
continue;
const Pose3 pose = sfm_data.GetPoseOrDie(view);
const double z = Depth(pose.rotation(), pose.translation(), X);
NearFarPlanesT::iterator itZ = z_near_z_far_perView.find(id_view);
if (itZ != z_near_z_far_perView.end())
{
if ( z < itZ->second.first)
itZ->second.first = z;
else
if ( z > itZ->second.second)
itZ->second.second = z;
}
else
z_near_z_far_perView[id_view] = {z,z};
}
}
}
else
{
// Init the same near & far limit for all the valid views
for (Views::const_iterator it = sfm_data.GetViews().begin();
it != sfm_data.GetViews().end(); ++it)
{
const View * view = it->second.get();
if (!sfm_data.IsPoseAndIntrinsicDefined(view))
continue;
if (z_near_z_far_perView.find(view->id_view) == z_near_z_far_perView.end())
z_near_z_far_perView[view->id_view] = {zNear, zFar};
}
}
}
/// Build a list of pair that share visibility content from the SfM_Data structure
Pair_Set BuildPairsFromStructureObservations(const SfM_Data & sfm_data)
{
Pair_Set pairs;
for (Landmarks::const_iterator itL = sfm_data.GetLandmarks().begin();
itL != sfm_data.GetLandmarks().end(); ++itL)
{
const Landmark & landmark = itL->second;
for (Observations::const_iterator iterI = landmark.obs.begin();
iterI != landmark.obs.end(); ++iterI)
{
const IndexT id_viewI = iterI->first;
Observations::const_iterator iterJ = landmark.obs.begin();
std::advance(iterJ, 1);
for (; iterJ != landmark.obs.end(); ++iterJ)
{
const IndexT id_viewJ = iterJ->first;
pairs.insert( std::make_pair(id_viewI,id_viewJ));
}
}
}
return pairs;
}
inline bool Generate_SfM_Report
(
const SfM_Data & sfm_data,
const std::string & htmlFilename
)
{
// Compute mean,max,median residual values per View
IndexT residualCount = 0;
Hash_Map< IndexT, std::vector<double> > residuals_per_view;
for ( const auto & iterTracks : sfm_data.GetLandmarks() )
{
const Observations & obs = iterTracks.second.obs;
for ( const auto & itObs : obs )
{
const View * view = sfm_data.GetViews().at(itObs.first).get();
const geometry::Pose3 pose = sfm_data.GetPoseOrDie(view);
const cameras::IntrinsicBase * intrinsic = sfm_data.GetIntrinsics().at(view->id_intrinsic).get();
// Use absolute values
const Vec2 residual = intrinsic->residual(pose, iterTracks.second.X, itObs.second.x).array().abs();
residuals_per_view[itObs.first].push_back(residual(0));
residuals_per_view[itObs.first].push_back(residual(1));
++residualCount;
}
}
using namespace htmlDocument;
// extract directory from htmlFilename
const std::string sTableBegin = "<table border=\"1\">",
sTableEnd = "</table>",
sRowBegin= "<tr>", sRowEnd = "</tr>",
sColBegin = "<td>", sColEnd = "</td>",
sNewLine = "<br>", sFullLine = "<hr>";
htmlDocument::htmlDocumentStream htmlDocStream("SFM report.");
htmlDocStream.pushInfo(
htmlDocument::htmlMarkup("h1", std::string("SFM report.")));
htmlDocStream.pushInfo(sFullLine);
htmlDocStream.pushInfo( "Dataset info:" + sNewLine );
std::ostringstream os;
os << " #views: " << sfm_data.GetViews().size() << sNewLine
<< " #poses: " << sfm_data.GetPoses().size() << sNewLine
<< " #intrinsics: " << sfm_data.GetIntrinsics().size() << sNewLine
<< " #tracks: " << sfm_data.GetLandmarks().size() << sNewLine
<< " #residuals: " << residualCount << sNewLine;
htmlDocStream.pushInfo( os.str() );
htmlDocStream.pushInfo( sFullLine );
htmlDocStream.pushInfo( sTableBegin);
os.str("");
os << sRowBegin
<< sColBegin + "IdView" + sColEnd
<< sColBegin + "Basename" + sColEnd
<< sColBegin + "#Observations" + sColEnd
<< sColBegin + "Residuals min" + sColEnd
<< sColBegin + "Residuals median" + sColEnd
<< sColBegin + "Residuals mean" + sColEnd
<< sColBegin + "Residuals max" + sColEnd
<< sRowEnd;
htmlDocStream.pushInfo( os.str() );
for (const auto & iterV : sfm_data.GetViews() )
{
const View * v = iterV.second.get();
const IndexT id_view = v->id_view;
os.str("");
os << sRowBegin
<< sColBegin << id_view << sColEnd
<< sColBegin + stlplus::basename_part(v->s_Img_path) + sColEnd;
// IdView | basename | #Observations | residuals min | residual median | residual max
if (sfm_data.IsPoseAndIntrinsicDefined(v))
{
if( residuals_per_view.find(id_view) != residuals_per_view.end() )
{
const std::vector<double> & residuals = residuals_per_view.at(id_view);
if (!residuals.empty())
{
double min, max, mean, median;
minMaxMeanMedian(residuals.begin(), residuals.end(), min, max, mean, median);
os << sColBegin << residuals.size()/2 << sColEnd // #observations
<< sColBegin << min << sColEnd
<< sColBegin << median << sColEnd
<< sColBegin << mean << sColEnd
<< sColBegin << max <<sColEnd;
}
}
}
os << sRowEnd;
htmlDocStream.pushInfo( os.str() );
}
htmlDocStream.pushInfo( sTableEnd );
htmlDocStream.pushInfo( sFullLine );
// combine all residual values into one vector
// export the SVG histogram
{
IndexT residualCount = 0;
for (Hash_Map< IndexT, std::vector<double> >::const_iterator
it = residuals_per_view.begin();
it != residuals_per_view.end();
++it)
{
residualCount += it->second.size();
}
// Concat per view residual values into one vector
std::vector<double> residuals(residualCount);
residualCount = 0;
for (Hash_Map< IndexT, std::vector<double> >::const_iterator
it = residuals_per_view.begin();
it != residuals_per_view.end();
++it)
{
std::copy(it->second.begin(),
it->second.begin()+it->second.size(),
residuals.begin()+residualCount);
residualCount += it->second.size();
}
if (!residuals.empty())
{
// RMSE computation
const Eigen::Map<Eigen::RowVectorXd> residuals_mapping(&residuals[0], residuals.size());
const double RMSE = std::sqrt(residuals_mapping.squaredNorm() / (double)residuals.size());
os.str("");
os << sFullLine << "SfM Scene RMSE: " << RMSE << sFullLine;
htmlDocStream.pushInfo(os.str());
const double maxRange = *max_element(residuals.begin(), residuals.end());
Histogram<double> histo(0.0, maxRange, 100);
histo.Add(residuals.begin(), residuals.end());
svg::svgHisto svg_Histo;
svg_Histo.draw(histo.GetHist(), std::pair<float,float>(0.f, maxRange),
stlplus::create_filespec(stlplus::folder_part(htmlFilename), "residuals_histogram", "svg"),
600, 200);
os.str("");
os << sNewLine<< "Residuals histogram" << sNewLine;
os << "<img src=\""
<< "residuals_histogram.svg"
<< "\" height=\"300\" width =\"800\">\n";
htmlDocStream.pushInfo(os.str());
}
}
std::ofstream htmlFileStream(htmlFilename.c_str());
htmlFileStream << htmlDocStream.getDoc();
const bool bOk = !htmlFileStream.bad();
return bOk;
}
/// Save SfM_Data in an ASCII BAF (Bundle Adjustment File).
// --Header
// #Intrinsics
// #Poses
// #Landmarks
// --Data
// Intrinsic parameters [foc ppx ppy, ...]
// Poses [angle axis, camera center]
// Landmarks [X Y Z #observations id_intrinsic id_pose x y ...]
//--
//- Export also a _imgList.txt file with View filename and id_intrinsic & id_pose.
// filename id_intrinsic id_pose
// The ids allow to establish a link between 3D point observations & the corresponding views
//--
// Export missing poses as Identity pose to keep tracking of the original id_pose indexes
static bool Save_BAF(
const SfM_Data & sfm_data,
const std::string & filename,
ESfM_Data flags_part)
{
std::ofstream stream(filename.c_str());
if (!stream.is_open())
return false;
bool bOk = false;
{
stream
<< sfm_data.GetIntrinsics().size() << '\n'
<< sfm_data.GetViews().size() << '\n'
<< sfm_data.GetLandmarks().size() << '\n';
const Intrinsics & intrinsics = sfm_data.GetIntrinsics();
for (Intrinsics::const_iterator iterIntrinsic = intrinsics.begin();
iterIntrinsic != intrinsics.end(); ++iterIntrinsic)
{
//get params
const std::vector<double> intrinsicsParams = iterIntrinsic->second.get()->getParams();
std::copy(intrinsicsParams.begin(), intrinsicsParams.end(),
std::ostream_iterator<double>(stream, " "));
stream << '\n';
}
const Poses & poses = sfm_data.GetPoses();
for (Views::const_iterator iterV = sfm_data.GetViews().begin();
iterV != sfm_data.GetViews().end();
++ iterV)
{
const View * view = iterV->second.get();
if (!sfm_data.IsPoseAndIntrinsicDefined(view))
{
const Mat3 R = Mat3::Identity();
const double * rotation = R.data();
std::copy(rotation, rotation+9, std::ostream_iterator<double>(stream, " "));
const Vec3 C = Vec3::Zero();
const double * center = C.data();
std::copy(center, center+3, std::ostream_iterator<double>(stream, " "));
stream << '\n';
}
else
{
// [Rotation col major 3x3; camera center 3x1]
const double * rotation = poses.at(view->id_pose).rotation().data();
std::copy(rotation, rotation+9, std::ostream_iterator<double>(stream, " "));
const double * center = poses.at(view->id_pose).center().data();
std::copy(center, center+3, std::ostream_iterator<double>(stream, " "));
stream << '\n';
}
}
const Landmarks & landmarks = sfm_data.GetLandmarks();
for (Landmarks::const_iterator iterLandmarks = landmarks.begin();
iterLandmarks != landmarks.end();
++iterLandmarks)
{
// Export visibility information
// X Y Z #observations id_cam id_pose x y ...
const double * X = iterLandmarks->second.X.data();
std::copy(X, X+3, std::ostream_iterator<double>(stream, " "));
const Observations & obs = iterLandmarks->second.obs;
stream << obs.size() << " ";
for (Observations::const_iterator iterOb = obs.begin();
iterOb != obs.end(); ++iterOb)
{
const IndexT id_view = iterOb->first;
const View * v = sfm_data.GetViews().at(id_view).get();
stream
<< v->id_intrinsic << ' '
<< v->id_pose << ' '
<< iterOb->second.x(0) << ' ' << iterOb->second.x(1) << ' ';
}
stream << '\n';
}
stream.flush();
bOk = stream.good();
stream.close();
}
// Export View filenames & ids as an imgList.txt file
{
const std::string sFile = stlplus::create_filespec(
stlplus::folder_part(filename), stlplus::basename_part(filename) + std::string("_imgList"), "txt");
stream.open(sFile.c_str());
if (!stream.is_open())
return false;
for (Views::const_iterator iterV = sfm_data.GetViews().begin();
iterV != sfm_data.GetViews().end();
++ iterV)
{
const std::string sView_filename = stlplus::create_filespec(sfm_data.s_root_path,
iterV->second->s_Img_path);
stream
<< sView_filename
<< ' ' << iterV->second->id_intrinsic
<< ' ' << iterV->second->id_pose << "\n";
}
stream.flush();
bOk = stream.good();
stream.close();
}
return bOk;
}
/* OpenGL draw function & timing */
static void draw(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
{
// convert opengl coordinates into the document information coordinates
glPushMatrix();
glMultMatrixf((GLfloat*)m_convert);
// apply view offset
openMVG::Mat4 offset_w = l2w_Camera(Mat3::Identity(), Vec3(x_offset,y_offset,z_offset));
glMultMatrixd((GLdouble*)offset_w.data());
// then apply current camera transformation
const View * view = sfm_data.GetViews().at(vec_cameras[current_cam]).get();
const Pose3 pose = sfm_data.GetPoseOrDie(view);
const openMVG::Mat4 l2w = l2w_Camera(pose.rotation(), pose.translation());
glPushMatrix();
glMultMatrixd((GLdouble*)l2w.data());
glPointSize(3);
glDisable(GL_TEXTURE_2D);
glDisable(GL_LIGHTING);
//Draw Structure in GREEN (as seen from the current camera)
size_t nbPoint = sfm_data.GetLandmarks().size();
size_t cpt = 0;
glBegin(GL_POINTS);
glColor3f(0.f,1.f,0.f);
for (Landmarks::const_iterator iter = sfm_data.GetLandmarks().begin();
iter != sfm_data.GetLandmarks().end(); ++iter)
{
const Landmark & landmark = iter->second;
glVertex3d(landmark.X(0), landmark.X(1), landmark.X(2));
}
glEnd();
glDisable(GL_CULL_FACE);
for (int i_cam=0; i_cam < vec_cameras.size(); ++i_cam)
{
const View * view = sfm_data.GetViews().at(vec_cameras[i_cam]).get();
const Pose3 pose = sfm_data.GetPoseOrDie(view);
const IntrinsicBase * cam = sfm_data.GetIntrinsics().at(view->id_intrinsic).get();
if (isPinhole(cam->getType()))
{
const Pinhole_Intrinsic * camPinhole = dynamic_cast<const Pinhole_Intrinsic*>(cam);
// Move frame to draw the camera i_cam by applying its inverse transformation
// Warning: translation has to be "fixed" to remove the current camera rotation
// Fix camera_i translation with current camera rotation inverse
const Vec3 trans = pose.rotation().transpose() * pose.translation();
// compute inverse transformation matrix from local to world
const openMVG::Mat4 l2w_i = l2w_Camera(pose.rotation().transpose(), -trans);
// stack it and use it
glPushMatrix();
glMultMatrixd((GLdouble*)l2w_i.data());
// 1. Draw optical center (RED) and image center (BLUE)
glPointSize(3);
glDisable(GL_TEXTURE_2D);
glDisable(GL_LIGHTING);
glBegin(GL_POINTS);
glColor3f(1.f,0.f,0.f);
glVertex3f(0, 0, 0); // optical center
glColor3f(0.f,0.f,1.f);
glVertex3f(0, 0, normalized_focal); // image center
glEnd();
// compute image corners coordinated with normalized focal (f=normalized_focal)
const int w = camPinhole->w();
const int h = camPinhole->h();
const double focal = camPinhole->focal();
// use principal point to adjust image center
const Vec2 pp = camPinhole->principal_point();
Vec3 c1( -pp[0]/focal * normalized_focal, (-pp[1]+h)/focal * normalized_focal, normalized_focal);
Vec3 c2((-pp[0]+w)/focal * normalized_focal, (-pp[1]+h)/focal * normalized_focal, normalized_focal);
Vec3 c3((-pp[0]+w)/focal * normalized_focal, -pp[1]/focal * normalized_focal, normalized_focal);
Vec3 c4( -pp[0]/focal * normalized_focal, -pp[1]/focal * normalized_focal, normalized_focal);
// 2. Draw thumbnail
if (i_cam == current_cam)
{
glEnable(GL_TEXTURE_2D);
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glBindTexture(GL_TEXTURE_2D, m_image_vector[i_cam].texture);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_BLEND);
glDisable(GL_DEPTH_TEST);
if (i_cam == current_cam) {
glColor4f(0.5f,0.5f,0.5f, 0.7f);
} else {
glColor4f(0.5f,0.5f,0.5f, 0.5f);
}
glBegin(GL_QUADS);
glTexCoord2d(0.0,1.0); glVertex3d(c1[0], c1[1], c1[2]);
glTexCoord2d(1.0,1.0); glVertex3d(c2[0], c2[1], c2[2]);
glTexCoord2d(1.0,0.0); glVertex3d(c3[0], c3[1], c3[2]);
glTexCoord2d(0.0,0.0); glVertex3d(c4[0], c4[1], c4[2]);
glEnd();
glDisable(GL_TEXTURE_2D);
glDisable(GL_BLEND); glEnable(GL_DEPTH_TEST);
}
// 3. Draw camera cone
if (i_cam == current_cam) {
glColor3f(1.f,1.f,0.f);
} else {
glColor3f(1.f,0.f,0.f);
}
glBegin(GL_LINES);
glVertex3d(0.0,0.0,0.0); glVertex3d(c1[0], c1[1], c1[2]);
glVertex3d(0.0,0.0,0.0); glVertex3d(c2[0], c2[1], c2[2]);
glVertex3d(0.0,0.0,0.0); glVertex3d(c3[0], c3[1], c3[2]);
glVertex3d(0.0,0.0,0.0); glVertex3d(c4[0], c4[1], c4[2]);
glVertex3d(c1[0], c1[1], c1[2]); glVertex3d(c2[0], c2[1], c2[2]);
glVertex3d(c2[0], c2[1], c2[2]); glVertex3d(c3[0], c3[1], c3[2]);
glVertex3d(c3[0], c3[1], c3[2]); glVertex3d(c4[0], c4[1], c4[2]);
glVertex3d(c4[0], c4[1], c4[2]); glVertex3d(c1[0], c1[1], c1[2]);
glEnd();
glPopMatrix(); // go back to current camera frame
}
}
glPopMatrix(); // go back to (document +offset) frame
glPopMatrix(); // go back to identity
}
}
bool CreatePoint3DFile( const SfM_Data & sfm_data,
const std::string & sPoints3DFilename)
{
/* points3D.txt
# 3D point list with one line of data per point:
# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)
# Number of points: X, mean track length: Y
*/
std::ofstream points3D_file( sPoints3DFilename );
if ( ! points3D_file )
{
std::cerr << "Cannot write file" << sPoints3DFilename << std::endl;
return false;
}
points3D_file << "# 3D point list with one line of data per point:\n";
points3D_file << "# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)\n";
points3D_file << "# Number of points: X, mean track length: Y\n";
const Landmarks & landmarks = sfm_data.GetLandmarks();
std::vector<Vec3> vec_3dPoints, vec_tracksColor;
if (!ColorizeTracks(sfm_data, vec_3dPoints, vec_tracksColor)) {
return false;
}
C_Progress_display my_progress_bar( landmarks.size(), std::cout, "\n- CREATE POINT3D FILE -\n" );
int point_index = 0;
for ( Landmarks::const_iterator iterLandmarks = landmarks.begin();
iterLandmarks != landmarks.end(); ++iterLandmarks, ++my_progress_bar )
{
const Vec3 exportPoint = iterLandmarks->second.X;
const IndexT point3d_id = iterLandmarks->first;
points3D_file << point3d_id << " "
<< exportPoint.x() << " "
<< exportPoint.y() << " "
<< exportPoint.z() << " "
<< static_cast<int>(vec_tracksColor.at(point_index)(0)) << " "
<< static_cast<int>(vec_tracksColor.at(point_index)(1)) << " "
<< static_cast<int>(vec_tracksColor.at(point_index)(2)) << " ";
++point_index;
const double error = 0.0; // Some error
points3D_file << error;
const Observations & obs = iterLandmarks->second.obs;
for ( Observations::const_iterator itObs = obs.begin(); itObs != obs.end(); ++itObs )
{
const IndexT viewId = itObs->first;
const IndexT featId = itObs->second.id_feat;
points3D_file << " "
<< viewId << " "
<< featId;
}
points3D_file << "\n";
}
return true;
}
bool CreateImageFile( const SfM_Data & sfm_data,
const std::string & sImagesFilename)
{
/* images.txt
# Image list with two lines of data per image:
# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME
# POINTS2D[] as (X, Y, POINT3D_ID)
# Number of images: X, mean observations per image: Y
*/
// Header
std::ofstream images_file( sImagesFilename );
if ( ! images_file )
{
std::cerr << "Cannot write file" << sImagesFilename << std::endl;
return false;
}
images_file << "# Image list with two lines of data per image:\n";
images_file << "# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n";
images_file << "# POINTS2D[] as (X, Y, POINT3D_ID)\n";
images_file << "# Number of images: X, mean observations per image: Y\n";
std::map< IndexT, std::vector< std::tuple<double, double, IndexT> > > viewIdToPoints2D;
const Landmarks & landmarks = sfm_data.GetLandmarks();
{
for ( Landmarks::const_iterator iterLandmarks = landmarks.begin();
iterLandmarks != landmarks.end(); ++iterLandmarks)
{
const IndexT point3d_id = iterLandmarks->first;
// Tally set of feature observations
const Observations & obs = iterLandmarks->second.obs;
for ( Observations::const_iterator itObs = obs.begin(); itObs != obs.end(); ++itObs )
{
const IndexT currentViewId = itObs->first;
const Observation & ob = itObs->second;
viewIdToPoints2D[currentViewId].push_back(std::make_tuple(ob.x( 0 ), ob.x( 1 ), point3d_id));
}
}
}
{
C_Progress_display my_progress_bar( sfm_data.GetViews().size(), std::cout, "\n- CREATE IMAGE FILE -\n" );
for (Views::const_iterator iter = sfm_data.GetViews().begin();
iter != sfm_data.GetViews().end(); ++iter, ++my_progress_bar)
{
const View * view = iter->second.get();
if ( !sfm_data.IsPoseAndIntrinsicDefined( view ) )
{
continue;
}
const Pose3 pose = sfm_data.GetPoseOrDie( view );
const Mat3 rotation = pose.rotation();
const Vec3 translation = pose.translation();
const double Tx = translation[0];
const double Ty = translation[1];
const double Tz = translation[2];
Eigen::Quaterniond q( rotation );
const double Qx = q.x();
const double Qy = q.y();
const double Qz = q.z();
const double Qw = q.w();
const IndexT image_id = view->id_view;
// Colmap's camera_ids correspond to openMVG's intrinsic ids
const IndexT camera_id = view->id_intrinsic;
const std::string image_name = view->s_Img_path;
// first line per image
//IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME
images_file << image_id << " "
<< Qw << " "
<< Qx << " "
<< Qy << " "
<< Qz << " "
<< Tx << " "
<< Ty << " "
<< Tz << " "
<< camera_id << " "
<< image_name << " "
<< "\n";
// second line per image
//POINTS2D[] as (X, Y, POINT3D_ID)
for (auto point2D: viewIdToPoints2D[image_id])
{
images_file << std::get<0>(point2D) << " " <<
std::get<1>(point2D) << " " <<
std::get<2>(point2D) << " ";
}
images_file << "\n";
}
}
return true;
}
/// Find the color of the SfM_Data Landmarks/structure
bool ColorizeTracks(
const SfM_Data & sfm_data,
std::vector<Vec3> & vec_3dPoints,
std::vector<Vec3> & vec_tracksColor)
{
// Colorize each track
// Start with the most representative image
// and iterate to provide a color to each 3D point
{
C_Progress_display my_progress_bar(sfm_data.GetLandmarks().size(),
std::cout,
"\nCompute scene structure color\n");
vec_tracksColor.resize(sfm_data.GetLandmarks().size());
vec_3dPoints.resize(sfm_data.GetLandmarks().size());
//Build a list of contiguous index for the trackIds
std::map<IndexT, IndexT> trackIds_to_contiguousIndexes;
IndexT cpt = 0;
for (Landmarks::const_iterator it = sfm_data.GetLandmarks().begin();
it != sfm_data.GetLandmarks().end(); ++it, ++cpt)
{
trackIds_to_contiguousIndexes[it->first] = cpt;
vec_3dPoints[cpt] = it->second.X;
}
// The track list that will be colored (point removed during the process)
std::set<IndexT> remainingTrackToColor;
std::transform(sfm_data.GetLandmarks().begin(), sfm_data.GetLandmarks().end(),
std::inserter(remainingTrackToColor, remainingTrackToColor.begin()),
stl::RetrieveKey());
while( !remainingTrackToColor.empty() )
{
// Find the most representative image (for the remaining 3D points)
// a. Count the number of observation per view for each 3Dpoint Index
// b. Sort to find the most representative view index
std::map<IndexT, IndexT> map_IndexCardinal; // ViewId, Cardinal
for (std::set<IndexT>::const_iterator
iterT = remainingTrackToColor.begin();
iterT != remainingTrackToColor.end();
++iterT)
{
const size_t trackId = *iterT;
const Observations & obs = sfm_data.GetLandmarks().at(trackId).obs;
for (Observations::const_iterator iterObs = obs.begin();
iterObs != obs.end(); ++iterObs)
{
const size_t viewId = iterObs->first;
if (map_IndexCardinal.find(viewId) == map_IndexCardinal.end())
map_IndexCardinal[viewId] = 1;
else
++map_IndexCardinal[viewId];
}
}
// Find the View index that is the most represented
std::vector<IndexT> vec_cardinal;
std::transform(map_IndexCardinal.begin(),
map_IndexCardinal.end(),
std::back_inserter(vec_cardinal),
stl::RetrieveValue());
using namespace stl::indexed_sort;
std::vector< sort_index_packet_descend< IndexT, IndexT> > packet_vec(vec_cardinal.size());
sort_index_helper(packet_vec, &vec_cardinal[0], 1);
// First image index with the most of occurence
std::map<IndexT, IndexT>::const_iterator iterTT = map_IndexCardinal.begin();
std::advance(iterTT, packet_vec[0].index);
const size_t view_index = iterTT->first;
const View * view = sfm_data.GetViews().at(view_index).get();
const std::string sView_filename = stlplus::create_filespec(sfm_data.s_root_path,
view->s_Img_path);
Image<RGBColor> image_rgb;
Image<unsigned char> image_gray;
const bool b_rgb_image = ReadImage(sView_filename.c_str(), &image_rgb);
if (!b_rgb_image) //try Gray level
{
const bool b_gray_image = ReadImage(sView_filename.c_str(), &image_gray);
if (!b_gray_image)
{
std::cerr << "Cannot open provided the image." << std::endl;
return false;
}
}
// Iterate through the remaining track to color
// - look if the current view is present to color the track
std::set<IndexT> set_toRemove;
for (std::set<IndexT>::const_iterator
iterT = remainingTrackToColor.begin();
iterT != remainingTrackToColor.end();
++iterT)
{
const size_t trackId = *iterT;
const Observations & obs = sfm_data.GetLandmarks().at(trackId).obs;
Observations::const_iterator it = obs.find(view_index);
if (it != obs.end())
{
// Color the track
const Vec2 & pt = it->second.x;
const RGBColor color = b_rgb_image ? image_rgb(pt.y(), pt.x()) : RGBColor(image_gray(pt.y(), pt.x()));
vec_tracksColor[ trackIds_to_contiguousIndexes[trackId] ] = Vec3(color.r(), color.g(), color.b());
set_toRemove.insert(trackId);
++my_progress_bar;
}
}
// Remove colored track
for (std::set<IndexT>::const_iterator iter = set_toRemove.begin();
iter != set_toRemove.end(); ++iter)
{
remainingTrackToColor.erase(*iter);
}
}
}
return true;
}