{

TCLAP::CmdLine cmd("LINE3D++");

TCLAP::ValueArg<std::string> inputArg("i", "input_folder", "folder containing the images", true, "", "string");

cmd.add(inputArg);

TCLAP::ValueArg<std::string> sfmArg("m", "sfm_folder", "full path to the colmap result files (cameras.txt, images.txt, and points3D.txt), if not specified --> input_folder", false, "", "string");

cmd.add(sfmArg);

TCLAP::ValueArg<std::string> outputArg("o", "output_folder", "folder where result and temporary files are stored (if not specified --> sfm_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 sfmFolder = sfmArg.getValue().c_str();

if(sfmFolder.length() == 0)

sfmFolder = inputFolder;

// check if colmap result folder

boost::filesystem::path sfm(sfmFolder);

if(!boost::filesystem::exists(sfm))

{

std::cerr << "colmap result folder " << sfm << " does not exist!" << std::endl;

return -1;

}

std::string outputFolder = outputArg.getValue().c_str();

if(outputFolder.length() == 0)

outputFolder = sfmFolder+"/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);

// check if result files exist

boost::filesystem::path sfm_cameras(sfmFolder+"/cameras.txt");

boost::filesystem::path sfm_images(sfmFolder+"/images.txt");

boost::filesystem::path sfm_points3D(sfmFolder+"/points3D.txt");

if(!boost::filesystem::exists(sfm_cameras) || !boost::filesystem::exists(sfm_images) ||

!boost::filesystem::exists(sfm_points3D))

{

std::cerr << "at least one of the colmap result files does not exist in sfm folder: " << sfm << std::endl;

return -2;

}

std::cout << std::endl << "reading colmap result..." << std::endl;

// read cameras.txt

std::ifstream cameras_file;

cameras_file.open(sfm_cameras.c_str());

std::string cameras_line;

std::map<unsigned int,Eigen::Matrix3d> cams_K;

std::map<unsigned int,Eigen::Vector3d> cams_radial;

std::map<unsigned int,Eigen::Vector2d> cams_tangential;

while(std::getline(cameras_file,cameras_line))

{

// check first character for a comment (#)

if(cameras_line.substr(0,1).compare("#") != 0)

{

std::stringstream cameras_stream(cameras_line);

unsigned int camID,width,height;

std::string model;

// parse essential data

cameras_stream >> camID >> model >> width >> height;

double fx,fy,cx,cy,k1,k2,k3,p1,p2;

// check camera model

if(model.compare("SIMPLE_PINHOLE") == 0)

{

// f,cx,cy

cameras_stream >> fx >> cx >> cy;

fy = fx;

k1 = 0; k2 = 0; k3 = 0;

p1 = 0; p2 = 0;

}

else if(model.compare("PINHOLE") == 0)

{

// fx,fy,cx,cy

cameras_stream >> fx >> fy >> cx >> cy;

k1 = 0; k2 = 0; k3 = 0;

p1 = 0; p2 = 0;

}

else if(model.compare("SIMPLE_RADIAL") == 0)

{

// f,cx,cy,k

cameras_stream >> fx >> cx >> cy >> k1;

fy = fx;

k2 = 0; k3 = 0;

p1 = 0; p2 = 0;

}

else if(model.compare("RADIAL") == 0)

{

// f,cx,cy,k1,k2

cameras_stream >> fx >> cx >> cy >> k1 >> k2;

fy = fx;

k3 = 0;

p1 = 0; p2 = 0;

}

else if(model.compare("OPENCV") == 0)

{

// fx,fy,cx,cy,k1,k2,p1,p2

cameras_stream >> fx >> fy >> cx >> cy >> k1 >> k2 >> p1 >> p2;

k3 = 0;

}

else if(model.compare("FULL_OPENCV") == 0)

{

// fx,fy,cx,cy,k1,k2,p1,p2,k3[,k4,k5,k6]

cameras_stream >> fx >> fy >> cx >> cy >> k1 >> k2 >> p1 >> p2 >> k3;

}

else

{

std::cerr << "camera model " << model << " unknown!" << std::endl;

std::cerr << "please specify its parameters in the main_colmap.cpp in order to proceed..." << std::endl;

return -3;

}

Eigen::Matrix3d K;

K(0,0) = fx; K(0,1) = 0; K(0,2) = cx;

K(1,0) = 0; K(1,1) = fy; K(1,2) = cy;

K(2,0) = 0; K(2,1) = 0; K(2,2) = 1;

cams_K[camID] = K;

cams_radial[camID] = Eigen::Vector3d(k1,k2,k3);

cams_tangential[camID] = Eigen::Vector2d(p1,p2);

}

}

cameras_file.close();

std::cout << "found " << cams_K.size() << " cameras in [cameras.txt]" << std::endl;

// read images.txt

std::ifstream images_file;

images_file.open(sfm_images.c_str());

std::string images_line;

std::map<unsigned int,Eigen::Matrix3d> cams_R;

std::map<unsigned int,Eigen::Vector3d> cams_t;

std::map<unsigned int,Eigen::Vector3d> cams_C;

std::map<unsigned int,unsigned int> img2cam;

std::map<unsigned int,std::string> cams_images;

std::map<unsigned int,std::list<unsigned int> > cams_worldpoints;

std::map<unsigned int,Eigen::Vector3d> wps_coords;

std::vector<unsigned int> img_seq;

unsigned int imgID,camID;

bool first_line = true;

while(std::getline(images_file,images_line))

{

// check first character for a comment (#)

if(images_line.substr(0,1).compare("#") != 0)

{

std::stringstream images_stream(images_line);

if(first_line)

{

// image data

double qw,qx,qy,qz,tx,ty,tz;

std::string img_name;

images_stream >> imgID >> qw >> qx >> qy >> qz >> tx >> ty >> tz >> camID >> img_name;

// convert rotation

if(cams_K.find(camID) != cams_K.end())

{

Eigen::Matrix3d R = Line3D->rotationFromQ(qw,qx,qy,qz);

Eigen::Vector3d t(tx,ty,tz);

Eigen::Vector3d C = (R.transpose()) * (-1.0 * t);

cams_R[imgID] = R;

cams_t[imgID] = t;

cams_C[imgID] = C;

cams_images[imgID] = img_name;

img2cam[imgID] = camID;

img_seq.push_back(imgID);

}

first_line = false;

}

else

{

if(cams_K.find(camID) != cams_K.end())

{

// 2D points

double x,y;

std::string wpID;

std::list<unsigned int> wps;

bool process = true;

while(process)

{

wpID = "";

images_stream >> x >> y >> wpID;

if(wpID.length() > 0)

{

int wp = atoi(wpID.c_str());

if(wp >= 0)

{

wps.push_back(wp);

wps_coords[wp] = Eigen::Vector3d(0,0,0);

}

}

else

{

// end reached

process = false;

}

}

cams_worldpoints[imgID] = wps;

}

first_line = true;

}

}

}

images_file.close();

std::cout << "found " << cams_R.size() << " images and " << wps_coords.size() << " worldpoints in [images.txt]" << std::endl;

// read points3D.txt

std::ifstream points3D_file;

points3D_file.open(sfm_points3D.c_str());

std::string points3D_line;

while(std::getline(points3D_file,points3D_line))

{

// check first character for a comment (#)

if(images_line.substr(0,1).compare("#") != 0)

{

std::stringstream points3D_stream(points3D_line);

// read id and coords

double X,Y,Z;

unsigned int pID;

points3D_stream >> pID >> X >> Y >> Z;

if(wps_coords.find(pID) != wps_coords.end())

{

wps_coords[pID] = Eigen::Vector3d(X,Y,Z);

}

}

}

points3D_file.close();

// load images (parallel)

#ifdef L3DPP_OPENMP

#pragma omp parallel for

#endif //L3DPP_OPENMP

for(unsigned int i=0; i<img_seq.size(); ++i)

{

// get camera params

unsigned int imgID = img_seq[i];

unsigned int camID = img2cam[imgID];

// intrinsics

Eigen::Matrix3d K = cams_K[camID];

Eigen::Vector3d radial = cams_radial[camID];

Eigen::Vector2d tangential = cams_tangential[camID];

if(cams_R.find(imgID) != cams_R.end())

{

// extrinsics

Eigen::Matrix3d R = cams_R[imgID];

Eigen::Vector3d t = cams_t[imgID];

Eigen::Vector3d C = cams_C[imgID];

// read image

cv::Mat image = cv::imread(inputFolder+"/"+cams_images[imgID],CV_LOAD_IMAGE_GRAYSCALE);

// undistort image

cv::Mat img_undist;

if(fabs(radial(0)) > L3D_EPS || fabs(radial(1)) > L3D_EPS || fabs(radial(2)) > L3D_EPS ||

fabs(tangential(0)) > L3D_EPS || fabs(tangential(1)) > L3D_EPS)

{

// undistorting

Line3D->undistortImage(image,img_undist,radial,tangential,K);

}

else

{

// already undistorted

img_undist = image;

}

// compute depths

if(cams_worldpoints.find(imgID) != cams_worldpoints.end())

{

std::list<unsigned int> wps_list = cams_worldpoints[imgID];

std::vector<float> depths;

std::list<unsigned int>::iterator it = wps_list.begin();

for(; it!=wps_list.end(); ++it)

{

depths.push_back((C-wps_coords[*it]).norm());

}

// median depth

if(depths.size() > 0)

{

std::sort(depths.begin(),depths.end());

float med_depth = depths[depths.size()/2];

// add image

Line3D->addImage(imgID,img_undist,K,R,t,med_depth,wps_list);

}

}

}

}

// 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;