int main(int argc, char *argv[])
{
// Info: reads only the _first_ 3D model in the NVM file!
TCLAP::CmdLine cmd("LINE3D++");
TCLAP::ValueArg<std::string> inputArg("i", "input_folder", "folder containing the images (if not specified, path in .nvm file is expected to be correct)", false, "", "string");
cmd.add(inputArg);
TCLAP::ValueArg<std::string> nvmArg("m", "nvm_file", "full path to the VisualSfM result file (.nvm)", true, ".", "string");
cmd.add(nvmArg);
TCLAP::ValueArg<std::string> outputArg("o", "output_folder", "folder where result and temporary files are stored (if not specified --> input_folder+'/Line3D++/')", false, "", "string");
cmd.add(outputArg);
TCLAP::ValueArg<int> scaleArg("w", "max_image_width", "scale image down to fixed max width for line segment detection", false, L3D_DEF_MAX_IMG_WIDTH, "int");
cmd.add(scaleArg);
TCLAP::ValueArg<int> neighborArg("n", "num_matching_neighbors", "number of neighbors for matching", false, L3D_DEF_MATCHING_NEIGHBORS, "int");
cmd.add(neighborArg);
TCLAP::ValueArg<float> sigma_A_Arg("a", "sigma_a", "angle regularizer", false, L3D_DEF_SCORING_ANG_REGULARIZER, "float");
cmd.add(sigma_A_Arg);
TCLAP::ValueArg<float> sigma_P_Arg("p", "sigma_p", "position regularizer (if negative: fixed sigma_p in world-coordinates)", false, L3D_DEF_SCORING_POS_REGULARIZER, "float");
cmd.add(sigma_P_Arg);
TCLAP::ValueArg<float> epipolarArg("e", "min_epipolar_overlap", "minimum epipolar overlap for matching", false, L3D_DEF_EPIPOLAR_OVERLAP, "float");
cmd.add(epipolarArg);
TCLAP::ValueArg<int> knnArg("k", "knn_matches", "number of matches to be kept (<= 0 --> use all that fulfill overlap)", false, L3D_DEF_KNN, "int");
cmd.add(knnArg);
TCLAP::ValueArg<int> segNumArg("y", "num_segments_per_image", "maximum number of 2D segments per image (longest)", false, L3D_DEF_MAX_NUM_SEGMENTS, "int");
cmd.add(segNumArg);
TCLAP::ValueArg<int> visibilityArg("v", "visibility_t", "minimum number of cameras to see a valid 3D line", false, L3D_DEF_MIN_VISIBILITY_T, "int");
cmd.add(visibilityArg);
TCLAP::ValueArg<bool> diffusionArg("d", "diffusion", "perform Replicator Dynamics Diffusion before clustering", false, L3D_DEF_PERFORM_RDD, "bool");
cmd.add(diffusionArg);
TCLAP::ValueArg<bool> loadArg("l", "load_and_store_flag", "load/store segments (recommended for big images)", false, L3D_DEF_LOAD_AND_STORE_SEGMENTS, "bool");
cmd.add(loadArg);
TCLAP::ValueArg<float> collinArg("r", "collinearity_t", "threshold for collinearity", false, L3D_DEF_COLLINEARITY_T, "float");
cmd.add(collinArg);
TCLAP::ValueArg<bool> cudaArg("g", "use_cuda", "use the GPU (CUDA)", false, true, "bool");
cmd.add(cudaArg);
TCLAP::ValueArg<bool> ceresArg("c", "use_ceres", "use CERES (for 3D line optimization)", false, L3D_DEF_USE_CERES, "bool");
cmd.add(ceresArg);
TCLAP::ValueArg<float> minBaselineArg("x", "min_image_baseline", "minimum baseline between matching images (world space)", false, L3D_DEF_MIN_BASELINE, "float");
cmd.add(minBaselineArg);
TCLAP::ValueArg<float> constRegDepthArg("z", "const_reg_depth", "use a constant regularization depth (only when sigma_p is metric!)", false, -1.0f, "float");
cmd.add(constRegDepthArg);
// read arguments
cmd.parse(argc,argv);
std::string inputFolder = inputArg.getValue().c_str();
std::string nvmFile = nvmArg.getValue().c_str();
// check if NVM file exists
boost::filesystem::path nvm(nvmFile);
if(!boost::filesystem::exists(nvm))
{
std::cerr << "NVM file " << nvmFile << " does not exist!" << std::endl;
return -1;
}
bool use_full_image_path = false;
if(inputFolder.length() == 0)
{
// parse input folder from .nvm file
use_full_image_path = true;
inputFolder = nvm.parent_path().string();
}
std::string outputFolder = outputArg.getValue().c_str();
if(outputFolder.length() == 0)
outputFolder = inputFolder+"/Line3D++/";
int maxWidth = scaleArg.getValue();
unsigned int neighbors = std::max(neighborArg.getValue(),2);
bool diffusion = diffusionArg.getValue();
bool loadAndStore = loadArg.getValue();
float collinearity = collinArg.getValue();
bool useGPU = cudaArg.getValue();
bool useCERES = ceresArg.getValue();
float epipolarOverlap = fmin(fabs(epipolarArg.getValue()),0.99f);
float sigmaA = fabs(sigma_A_Arg.getValue());
float sigmaP = sigma_P_Arg.getValue();
float minBaseline = fabs(minBaselineArg.getValue());
int kNN = knnArg.getValue();
unsigned int maxNumSegments = segNumArg.getValue();
unsigned int visibility_t = visibilityArg.getValue();
float constRegDepth = constRegDepthArg.getValue();
// create output directory
boost::filesystem::path dir(outputFolder);
boost::filesystem::create_directory(dir);
// create Line3D++ object
L3DPP::Line3D* Line3D = new L3DPP::Line3D(outputFolder,loadAndStore,maxWidth,
maxNumSegments,true,useGPU);
// read NVM file
std::ifstream nvm_file;
nvm_file.open(nvmFile.c_str());
std::string nvm_line;
std::getline(nvm_file,nvm_line); // ignore first line...
std::getline(nvm_file,nvm_line); // ignore second line...
// read number of images
std::getline(nvm_file,nvm_line);
std::stringstream nvm_stream(nvm_line);
unsigned int num_cams;
nvm_stream >> num_cams;
if(num_cams == 0)
{
std::cerr << "No aligned cameras in NVM file!" << std::endl;
return -1;
}
// read camera data (sequentially)
std::vector<std::string> cams_imgFilenames(num_cams);
std::vector<float> cams_focals(num_cams);
std::vector<Eigen::Matrix3d> cams_rotation(num_cams);
std::vector<Eigen::Vector3d> cams_translation(num_cams);
std::vector<Eigen::Vector3d> cams_centers(num_cams);
std::vector<float> cams_distortion(num_cams);
for(unsigned int i=0; i<num_cams; ++i)
{
std::getline(nvm_file,nvm_line);
// image filename
std::string filename;
// focal_length,quaternion,center,distortion
double focal_length,qx,qy,qz,qw;
double Cx,Cy,Cz,dist;
nvm_stream.str("");
nvm_stream.clear();
nvm_stream.str(nvm_line);
nvm_stream >> filename >> focal_length >> qw >> qx >> qy >> qz;
nvm_stream >> Cx >> Cy >> Cz >> dist;
cams_imgFilenames[i] = filename;
cams_focals[i] = focal_length;
cams_distortion[i] = dist;
// rotation amd translation
Eigen::Matrix3d R;
R(0,0) = 1.0-2.0*qy*qy-2.0*qz*qz;
R(0,1) = 2.0*qx*qy-2.0*qz*qw;
R(0,2) = 2.0*qx*qz+2.0*qy*qw;
R(1,0) = 2.0*qx*qy+2.0*qz*qw;
R(1,1) = 1.0-2.0*qx*qx-2.0*qz*qz;
R(1,2) = 2.0*qy*qz-2.0*qx*qw;
R(2,0) = 2.0*qx*qz-2.0*qy*qw;
R(2,1) = 2.0*qy*qz+2.0*qx*qw;
R(2,2) = 1.0-2.0*qx*qx-2.0*qy*qy;
Eigen::Vector3d C(Cx,Cy,Cz);
cams_centers[i] = C;
Eigen::Vector3d t = -R*C;
cams_translation[i] = t;
cams_rotation[i] = R;
}
// read number of images
std::getline(nvm_file,nvm_line); // ignore line...
std::getline(nvm_file,nvm_line);
nvm_stream.str("");
nvm_stream.clear();
nvm_stream.str(nvm_line);
unsigned int num_points;
nvm_stream >> num_points;
// read features (for image similarity calculation)
std::vector<std::list<unsigned int> > cams_worldpointIDs(num_cams);
std::vector<std::vector<float> > cams_worldpointDepths(num_cams);
for(unsigned int i=0; i<num_points; ++i)
{
// 3D position
std::getline(nvm_file,nvm_line);
std::istringstream iss_point3D(nvm_line);
double px,py,pz,colR,colG,colB;
iss_point3D >> px >> py >> pz;
iss_point3D >> colR >> colG >> colB;
Eigen::Vector3d pos3D(px,py,pz);
// measurements
unsigned int num_views;
iss_point3D >> num_views;
unsigned int camID,siftID;
float posX,posY;
for(unsigned int j=0; j<num_views; ++j)
{
iss_point3D >> camID >> siftID;
iss_point3D >> posX >> posY;
cams_worldpointIDs[camID].push_back(i);
cams_worldpointDepths[camID].push_back((pos3D-cams_centers[camID]).norm());
}
}
nvm_file.close();
// load images (parallel)
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(unsigned int i=0; i<num_cams; ++i)
{
if(cams_worldpointDepths[i].size() > 0)
{
// parse filename
std::string fname = cams_imgFilenames[i];
boost::filesystem::path img_path(fname);
// load image
cv::Mat image;
if(use_full_image_path)
image = cv::imread(inputFolder+"/"+fname,CV_LOAD_IMAGE_GRAYSCALE);
else
image = cv::imread(inputFolder+"/"+img_path.filename().string(),CV_LOAD_IMAGE_GRAYSCALE);
// setup intrinsics
float px = float(image.cols)/2.0f;
float py = float(image.rows)/2.0f;
float f = cams_focals[i];
Eigen::Matrix3d K = Eigen::Matrix3d::Zero();
K(0,0) = f;
K(1,1) = f;
K(0,2) = px;
K(1,2) = py;
K(2,2) = 1.0;
// undistort (if necessary)
float d = cams_distortion[i];
cv::Mat img_undist;
if(fabs(d) > L3D_EPS)
{
// undistorting
Eigen::Vector3d radial(-d,0.0,0.0);
Eigen::Vector2d tangential(0.0,0.0);
Line3D->undistortImage(image,img_undist,radial,tangential,K);
}
else
{
// already undistorted
img_undist = image;
}
// median point depth
std::sort(cams_worldpointDepths[i].begin(),cams_worldpointDepths[i].end());
size_t med_pos = cams_worldpointDepths[i].size()/2;
float med_depth = cams_worldpointDepths[i].at(med_pos);
// add to system
Line3D->addImage(i,img_undist,K,cams_rotation[i],
cams_translation[i],
med_depth,cams_worldpointIDs[i]);
}
}
// match images
Line3D->matchImages(sigmaP,sigmaA,neighbors,epipolarOverlap,
minBaseline,kNN,constRegDepth);
// compute result
Line3D->reconstruct3Dlines(visibility_t,diffusion,collinearity,useCERES);
// save end result
std::vector<L3DPP::FinalLine3D> result;
Line3D->get3Dlines(result);
// save as STL
Line3D->saveResultAsSTL(outputFolder);
// save as OBJ
Line3D->saveResultAsOBJ(outputFolder);
// save as TXT
Line3D->save3DLinesAsTXT(outputFolder);
// cleanup
delete Line3D;
}
void PSSMLightShadowMap::_calcPlanesCullForShadowCasters(Vector< Vector<PlaneF> > &out, const Frustum &viewFrustum, const Point3F &_ligthDir)
{
#define ENABLE_CULL_ASSERT
PROFILE_SCOPE(PSSMLightShadowMap_render_getCullFrustrum);
Point3F ligthDir = _ligthDir;
PlaneF lightFarPlane, lightNearPlane;
MatrixF lightFarPlaneMat(true);
MatrixF invLightFarPlaneMat(true);
// init data
{
ligthDir.normalize();
Point3F viewDir = viewFrustum.getTransform().getForwardVector();
viewDir.normalize();
const Point3F viewPosition = viewFrustum.getPosition();
const F32 viewDistance = viewFrustum.getBounds().len();
lightNearPlane = PlaneF(viewPosition + (viewDistance * -ligthDir), ligthDir);
const Point3F lightFarPlanePos = viewPosition + (viewDistance * ligthDir);
lightFarPlane = PlaneF(lightFarPlanePos, -ligthDir);
lightFarPlaneMat = MathUtils::createOrientFromDir(-ligthDir);
lightFarPlaneMat.setPosition(lightFarPlanePos);
lightFarPlaneMat.invertTo(&invLightFarPlaneMat);
}
Vector<Point2F> projVertices;
//project all frustum vertices into plane
// all vertices are 2d and local to far plane
projVertices.setSize(8);
for (int i = 0; i < 8; ++i) //
{
const Point3F &point = viewFrustum.getPoints()[i];
#ifdef ENABLE_CULL_ASSERT
AssertFatal( PlaneF::Front == lightNearPlane.whichSide(point), "" );
AssertFatal( PlaneF::Front == lightFarPlane.whichSide(point), "" );
#endif
Point3F localPoint(lightFarPlane.project(point));
invLightFarPlaneMat.mulP(localPoint);
projVertices[i] = Point2F(localPoint.x, localPoint.z);
}
//create hull arround projected proints
Vector<Point2F> hullVerts;
MathUtils::mBuildHull2D(projVertices, hullVerts);
Vector<PlaneF> planes;
planes.push_back(lightNearPlane);
planes.push_back(lightFarPlane);
//build planes
for (int i = 0; i < (hullVerts.size() - 1); ++i)
{
Point2F pos2D = (hullVerts[i] + hullVerts[i + 1]) / 2;
Point3F pos3D(pos2D.x, 0, pos2D.y);
Point3F pos3DA(hullVerts[i].x, 0, hullVerts[i].y);
Point3F pos3DB(hullVerts[i + 1].x, 0, hullVerts[i + 1].y);
// move hull points to 3d space
lightFarPlaneMat.mulP(pos3D);
lightFarPlaneMat.mulP(pos3DA);
lightFarPlaneMat.mulP(pos3DB);
PlaneF plane(pos3D, MathUtils::mTriangleNormal(pos3DB, pos3DA, (pos3DA - ligthDir)));
planes.push_back(plane);
}
//recalculate planes for each splits
for (int split = 0; split < mNumSplits; ++split)
{
Frustum subFrustum(viewFrustum);
subFrustum.cropNearFar(mSplitDist[split], mSplitDist[split + 1]);
subFrustum.setFarDist(getMin(subFrustum.getFarDist()*2.5f, viewFrustum.getFarDist()));
subFrustum.update();
Vector<PlaneF> subPlanes = planes;
for (int planeIdx = 0; planeIdx < subPlanes.size(); ++planeIdx)
{
PlaneF &plane = subPlanes[planeIdx];
F32 minDist = 0;
//calculate near vertex distance
for (int vertexIdx = 0; vertexIdx < 8; ++vertexIdx)
{
Point3F point = subFrustum.getPoints()[vertexIdx];
minDist = getMin(plane.distToPlane(point), minDist);
}
// move plane to near vertex
Point3F newPos = plane.getPosition() + (plane.getNormal() * minDist);
plane = PlaneF(newPos, plane.getNormal());
#ifdef ENABLE_CULL_ASSERT
for(int x = 0; x < 8; ++x)
{
AssertFatal( PlaneF::Back != plane.whichSide( subFrustum.getPoints()[x] ), "");
}
#endif
}
out.push_back(subPlanes);
}
#undef ENABLE_CULL_ASSERT
}
