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};
}
}
}
/// Export camera poses positions as a Vec3 vector
void GetCameraPositions(const SfM_Data & sfm_data, std::vector<Vec3> & vec_camPosition)
{
for (const auto & view : sfm_data.GetViews())
{
if (sfm_data.IsPoseAndIntrinsicDefined(view.second.get()))
{
const geometry::Pose3 pose = sfm_data.GetPoseOrDie(view.second.get());
vec_camPosition.push_back(pose.center());
}
}
}
// Init a frustum for each valid views of the SfM scene
void Frustum_Filter::initFrustum
(
const SfM_Data & sfm_data
)
{
for (NearFarPlanesT::const_iterator it = z_near_z_far_perView.begin();
it != z_near_z_far_perView.end(); ++it)
{
const View * view = sfm_data.GetViews().at(it->first).get();
if (!sfm_data.IsPoseAndIntrinsicDefined(view))
continue;
Intrinsics::const_iterator iterIntrinsic = sfm_data.GetIntrinsics().find(view->id_intrinsic);
if (!isPinhole(iterIntrinsic->second->getType()))
continue;
const Pose3 pose = sfm_data.GetPoseOrDie(view);
const Pinhole_Intrinsic * cam = dynamic_cast<const Pinhole_Intrinsic*>(iterIntrinsic->second.get());
if (!cam)
continue;
if (!_bTruncated) // use infinite frustum
{
const Frustum f(
cam->w(), cam->h(), cam->K(),
pose.rotation(), pose.center());
frustum_perView[view->id_view] = f;
}
else // use truncated frustum with defined Near and Far planes
{
const Frustum f(cam->w(), cam->h(), cam->K(),
pose.rotation(), pose.center(), it->second.first, it->second.second);
frustum_perView[view->id_view] = f;
}
}
}
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;
}
int main(int argc, char *argv[]) {
CmdLine cmd;
std::string sSfM_Data_Filename;
cmd.add( make_option('i', sSfM_Data_Filename, "sfmdata") );
try {
if (argc == 1) throw std::string("Invalid command line parameter.");
cmd.process(argc, argv);
} catch(const std::string& s) {
std::cerr << "Usage: " << argv[0] << '\n'
<< "[-i|--sfmdata filename, the SfM_Data file to read]\n"
<< std::endl;
std::cerr << s << std::endl;
return EXIT_FAILURE;
}
// Read the SfM scene
if (!Load(sfm_data, sSfM_Data_Filename, ESfM_Data(ALL))) {
std::cerr << std::endl
<< "The input SfM_Data file \""<< sSfM_Data_Filename << "\" cannot be read." << std::endl;
return EXIT_FAILURE;
}
// List valid camera (view that have a pose & a valid intrinsic data)
for(Views::const_iterator iter = sfm_data.GetViews().begin();
iter != sfm_data.GetViews().end(); ++iter)
{
const View * view = iter->second.get();
if (!sfm_data.IsPoseAndIntrinsicDefined(view))
continue;
vec_cameras.push_back(iter->first);
}
current_cam = 0;
std::cout << "Press left or right key to navigate between cameras ;-)" << std::endl
<< "Move viewpoint with Q,W,E,A,S,D" << std::endl
<< "Change Normalized focal (camera cones size) with '+' and '-'" << std::endl
<< "Reset viewpoint position with R" << std::endl
<< "Esc to quit" << std::endl;
//-- Create the GL window context
GLFWwindow* window;
int width, height;
if( !glfwInit() )
{
fprintf( stderr, "Failed to initialize GLFW\n" );
exit( EXIT_FAILURE );
}
glfwWindowHint(GLFW_DEPTH_BITS, 16);
window = glfwCreateWindow( 1000, 600, "SfmViewer", NULL, NULL );
if (!window)
{
fprintf( stderr, "Failed to open GLFW window\n" );
glfwTerminate();
exit( EXIT_FAILURE );
}
// Set callback functions
glfwSetWindowCloseCallback(window, window_close_callback);
glfwSetWindowSizeCallback(window, reshape);
glfwSetKeyCallback(window, key);
glfwMakeContextCurrent(window);
glfwSwapInterval( 1 );
glfwGetWindowSize(window, &width, &height);
reshape(window, width, height);
load_textures();
// Main loop
while( running )
{
// Draw SfM Scene
draw();
// Swap buffers
glfwSwapBuffers(window);
glfwPollEvents();
}
// Terminate GLFW
glfwTerminate();
// Exit program
exit( EXIT_SUCCESS );
}
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;
}
void SfM_Data_Structure_Computation_Blind::triangulate(SfM_Data & sfm_data) const
{
std::deque<IndexT> rejectedId;
std::unique_ptr<C_Progress_display> my_progress_bar;
if (_bConsoleVerbose)
my_progress_bar.reset( new C_Progress_display(
sfm_data.structure.size(),
std::cout,
"Blind triangulation progress:\n" ));
#ifdef OPENMVG_USE_OPENMP
#pragma omp parallel
#endif
for(Landmarks::iterator iterTracks = sfm_data.structure.begin();
iterTracks != sfm_data.structure.end();
++iterTracks)
{
#ifdef OPENMVG_USE_OPENMP
#pragma omp single nowait
#endif
{
if (_bConsoleVerbose)
{
#ifdef OPENMVG_USE_OPENMP
#pragma omp critical
#endif
++(*my_progress_bar);
}
// Triangulate each landmark
Triangulation trianObj;
const Observations & obs = iterTracks->second.obs;
for(Observations::const_iterator itObs = obs.begin();
itObs != obs.end(); ++itObs)
{
const View * view = sfm_data.views.at(itObs->first).get();
if (sfm_data.IsPoseAndIntrinsicDefined(view))
{
const IntrinsicBase * cam = sfm_data.GetIntrinsics().at(view->id_intrinsic).get();
const Pose3 pose = sfm_data.GetPoseOrDie(view);
trianObj.add(
cam->get_projective_equivalent(pose),
cam->get_ud_pixel(itObs->second.x));
}
}
if (trianObj.size() < 2)
{
#ifdef OPENMVG_USE_OPENMP
#pragma omp critical
#endif
{
rejectedId.push_front(iterTracks->first);
}
}
else
{
// Compute the 3D point
const Vec3 X = trianObj.compute();
if (trianObj.minDepth() > 0) // Keep the point only if it have a positive depth
{
iterTracks->second.X = X;
}
else
{
#ifdef OPENMVG_USE_OPENMP
#pragma omp critical
#endif
{
rejectedId.push_front(iterTracks->first);
}
}
}
}
}
// Erase the unsuccessful triangulated tracks
for (auto& it : rejectedId)
{
sfm_data.structure.erase(it);
}
}
bool exportToCMPMVSFormat(
const SfM_Data & sfm_data,
const std::string & sOutDirectory // Output CMPMVS files directory
)
{
bool bOk = true;
// Create basis directory structure
if (!stlplus::is_folder(sOutDirectory))
{
stlplus::folder_create(sOutDirectory);
bOk = stlplus::is_folder(sOutDirectory);
}
if (!bOk)
{
std::cerr << "Cannot access to one of the desired output directory" << std::endl;
return false;
}
else
{
// Export data :
C_Progress_display my_progress_bar( sfm_data.GetViews().size()*2 );
// Since CMPMVS requires contiguous camera index, and that some views can have some missing poses,
// we reindex the poses to ensure a contiguous pose list.
Hash_Map<IndexT, IndexT> map_viewIdToContiguous;
// Export valid views as Projective Cameras:
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);
Intrinsics::const_iterator iterIntrinsic = sfm_data.GetIntrinsics().find(view->id_intrinsic);
// View Id re-indexing
map_viewIdToContiguous.insert(std::make_pair(view->id_view, map_viewIdToContiguous.size()));
// We have a valid view with a corresponding camera & pose
const Mat34 P = iterIntrinsic->second.get()->get_projective_equivalent(pose);
std::ostringstream os;
os << std::setw(5) << std::setfill('0') << map_viewIdToContiguous[view->id_view] << "_P";
std::ofstream file(
stlplus::create_filespec(stlplus::folder_append_separator(sOutDirectory),
os.str() ,"txt").c_str());
file << "CONTOUR" << os.widen('\n')
<< P.row(0) <<"\n"<< P.row(1) <<"\n"<< P.row(2) << os.widen('\n');
file.close();
}
// Export (calibrated) views as undistorted images
std::pair<unsigned int, unsigned int> w_h_image_size;
Image<RGBColor> image, image_ud;
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;
Intrinsics::const_iterator iterIntrinsic = sfm_data.GetIntrinsics().find(view->id_intrinsic);
// We have a valid view with a corresponding camera & pose
const std::string srcImage = stlplus::create_filespec(sfm_data.s_root_path, view->s_Img_path);
std::ostringstream os;
os << std::setw(5) << std::setfill('0') << map_viewIdToContiguous[view->id_view];
std::string dstImage = stlplus::create_filespec(
stlplus::folder_append_separator(sOutDirectory), os.str(),"jpg");
const IntrinsicBase * cam = iterIntrinsic->second.get();
if (map_viewIdToContiguous[view->id_view] == 0)
w_h_image_size = std::make_pair(cam->w(), cam->h());
else
{
// check that there is no image sizing change (CMPMVS support only images of the same size)
if (cam->w() != w_h_image_size.first ||
cam->h() != w_h_image_size.second)
{
std::cerr << "CMPMVS support only image having the same image size";
return false;
}
}
if (cam->have_disto())
{
// undistort the image and save it
ReadImage( srcImage.c_str(), &image);
UndistortImage(image, cam, image_ud, BLACK);
WriteImage(dstImage.c_str(), image_ud);
}
else // (no distortion)
{
// copy the image if extension match
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);
}
}
}
// Write the mvs_firstRun script
std::ostringstream os;
os << "[global]" << os.widen('\n')
<< "dirName=\"" << stlplus::folder_append_separator(sOutDirectory) <<"\"" << os.widen('\n')
<< "prefix=\"\"" << os.widen('\n')
<< "imgExt=\"jpg\"" << os.widen('\n')
<< "ncams=" << map_viewIdToContiguous.size() << os.widen('\n')
<< "width=" << w_h_image_size.first << os.widen('\n')
<< "height=" << w_h_image_size.second << os.widen('\n')
<< "scale=2" << os.widen('\n')
<< "workDirName=\"_tmp_fast\"" << os.widen('\n')
<< "doPrepareData=TRUE" << os.widen('\n')
<< "doPrematchSifts=TRUE" << os.widen('\n')
<< "doPlaneSweepingSGM=TRUE" << os.widen('\n')
<< "doFuse=TRUE" << os.widen('\n')
<< "nTimesSimplify=10" << os.widen('\n')
<< os.widen('\n')
<< "[prematching]" << os.widen('\n')
<< "minAngle=3.0" << os.widen('\n')
<< os.widen('\n')
<< "[grow]" << os.widen('\n')
<< "minNumOfConsistentCams=6" << os.widen('\n')
<< os.widen('\n')
<< "[filter]" << os.widen('\n')
<< "minNumOfConsistentCams=2" << os.widen('\n')
<< os.widen('\n')
<< "#do not erase empy lines after this comment otherwise it will crash ... bug" << os.widen('\n')
<< os.widen('\n')
<< os.widen('\n');
std::ofstream file(
stlplus::create_filespec(stlplus::folder_append_separator(sOutDirectory),
"01_mvs_firstRun" ,"ini").c_str());
file << os.str();
file.close();
// limitedScale
os.str("");
os << "[global]" << os.widen('\n')
<< "dirName=\"" << stlplus::folder_append_separator(sOutDirectory) <<"\"" << os.widen('\n')
<< "prefix=\"\"" << os.widen('\n')
<< "imgExt=\"jpg\"" << os.widen('\n')
<< "ncams=" << map_viewIdToContiguous.size() << os.widen('\n')
<< "width=" << w_h_image_size.first << os.widen('\n')
<< "height=" << w_h_image_size.second << os.widen('\n')
<< "scale=2" << os.widen('\n')
<< "workDirName=\"_tmp_fast\"" << os.widen('\n')
<< "doPrepareData=FALSE" << os.widen('\n')
<< "doPrematchSifts=FALSE" << os.widen('\n')
<< "doPlaneSweepingSGM=FALSE" << os.widen('\n')
<< "doFuse=FALSE" << os.widen('\n')
<< os.widen('\n')
<< "[uvatlas]" << os.widen('\n')
<< "texSide=1024" << os.widen('\n')
<< "scale=1" << os.widen('\n')
<< os.widen('\n')
<< "[delanuaycut]" << os.widen('\n')
<< "saveMeshTextured=FALSE" << os.widen('\n')
<< os.widen('\n')
<< "[hallucinationsFiltering]" << os.widen('\n')
<< "useSkyPrior=FALSE" << os.widen('\n')
<< "doLeaveLargestFullSegmentOnly=FALSE" << os.widen('\n')
<< "doRemoveHugeTriangles=TRUE" << os.widen('\n')
<< os.widen('\n')
<< "[largeScale]" << os.widen('\n')
<< "doGenerateAndReconstructSpaceMaxPts=TRUE" << os.widen('\n')
<< "doGenerateSpace=TRUE" << os.widen('\n')
<< "planMaxPts=3000000" << os.widen('\n')
<< "doComputeDEMandOrtoPhoto=FALSE" << os.widen('\n')
<< "doGenerateVideoFrames=FALSE" << os.widen('\n')
<< os.widen('\n')
<< "[meshEnergyOpt]" << os.widen('\n')
<< "doOptimizeOrSmoothMesh=FALSE" << os.widen('\n')
<< os.widen('\n')
<< os.widen('\n')
<< "#EOF" << os.widen('\n')
<< os.widen('\n')
<< os.widen('\n');
std::ofstream file2(
stlplus::create_filespec(stlplus::folder_append_separator(sOutDirectory),
"02_mvs_limitedScale" ,"ini").c_str());
file2 << os.str();
file2.close();
}
return bOk;
}