Merge pull request #695 from alicevision/dev/sfmTransformFromMarkers

Coordinate system alignment to specific markers or between scenes

src/aliceVision/feature/cctag/ImageDescriber_CCTAG.hpp

@@ -16,7 +16,7 @@
 #include <numeric>
 
 namespace cctag {
-  class Parameters; // Hidden implementation
+  struct Parameters; // Hidden implementation
 }
 
 namespace aliceVision {

src/aliceVision/feature/imageDescriberCommon.hpp

@@ -67,6 +67,15 @@ EImageDescriberType EImageDescriberType_stringToEnum(const std::string& imageDes
   */
 std::vector<EImageDescriberType> EImageDescriberType_stringToEnums(const std::string& describerMethods);
 
+inline bool isMarker(EImageDescriberType imageDescriberType)
+{
+#if ALICEVISION_IS_DEFINED(ALICEVISION_HAVE_CCTAG)
+    return imageDescriberType == EImageDescriberType::CCTAG3 || imageDescriberType == EImageDescriberType::CCTAG4;
+#else
+    return false;
+#endif
+}
+
 /**
  * @brief getStrongSupportCoeff
  * @param imageDescriberType

src/aliceVision/mesh/Texturing.cpp

@@ -881,6 +881,9 @@ void Texturing::loadFromOBJ(const std::string& filename, bool flipNormals)
 
 void Texturing::remapVisibilities(EVisibilityRemappingMethod remappingMethod, const Mesh& refMesh, const mesh::PointsVisibility& refPointsVisibilities)
 {
+  if (refPointsVisibilities.empty())
+    throw std::runtime_error("Texturing: Cannot remap visibilities as there is no reference points.");
+
   assert(pointsVisibilities == nullptr);
   pointsVisibilities = new mesh::PointsVisibility();
 

src/aliceVision/sfm/CMakeLists.txt

@@ -38,6 +38,7 @@ set(sfm_files_sources
   pipeline/localization/SfMLocalizer.cpp
   pipeline/localization/SfMLocalizationSingle3DTrackObservationDatabase.cpp
   pipeline/sequential/ReconstructionEngine_sequentialSfM.cpp
+  pipeline/ReconstructionEngine.cpp
   pipeline/RigSequence.cpp
   pipeline/RelativePoseInfo.cpp
   pipeline/structureFromKnownPoses/StructureEstimationFromKnownPoses.cpp

src/aliceVision/sfm/pipeline/ReconstructionEngine.cpp

@@ -0,0 +1,77 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2019 AliceVision contributors.
+// This Source Code Form is subject to the terms of the Mozilla Public License,
+// v. 2.0. If a copy of the MPL was not distributed with this file,
+// You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include "ReconstructionEngine.hpp"
+
+#include <aliceVision/feature/RegionsPerView.hpp>
+#include <aliceVision/sfm/pipeline/regionsIO.hpp>
+
+
+namespace aliceVision {
+namespace sfm {
+
+
+void retrieveMarkersId(sfmData::SfMData& sfmData)
+{
+    std::set<feature::EImageDescriberType> allMarkerDescTypes;
+#if ALICEVISION_IS_DEFINED(ALICEVISION_HAVE_CCTAG)
+    allMarkerDescTypes.insert(feature::EImageDescriberType::CCTAG3);
+    allMarkerDescTypes.insert(feature::EImageDescriberType::CCTAG4);
+#endif
+    if (allMarkerDescTypes.empty())
+        return;
+
+    std::set<feature::EImageDescriberType> usedDescTypes = sfmData.getLandmarkDescTypes();
+
+    std::vector<feature::EImageDescriberType> markerDescTypes;
+    std::set_intersection(allMarkerDescTypes.begin(), allMarkerDescTypes.end(),
+        usedDescTypes.begin(), usedDescTypes.end(),
+        std::back_inserter(markerDescTypes));
+
+    std::set<feature::EImageDescriberType> markerDescTypes_set(markerDescTypes.begin(), markerDescTypes.end());
+
+    if(markerDescTypes.empty())
+        return;
+
+    // load the corresponding view regions
+    feature::RegionsPerView regionPerView;
+    std::set<IndexT> filter;
+    // It could be optimized by loading only the minimal number of desc files,
+    // but as we are only retrieving them for markers, the performance impact is limited.
+    if (!sfm::loadRegionsPerView(regionPerView, sfmData, sfmData.getFeaturesFolders(), markerDescTypes, filter))
+    {
+        ALICEVISION_THROW_ERROR("Error while loading markers regions.");
+    }
+    for (auto& landmarkIt : sfmData.getLandmarks())
+    {
+        auto& landmark = landmarkIt.second;
+        if (landmark.observations.empty())
+            continue;
+        if (markerDescTypes_set.find(landmark.descType) == markerDescTypes_set.end())
+            continue;
+        landmark.rgb = image::BLACK;
+
+        const auto obs = landmark.observations.begin();
+        const feature::Regions& regions = regionPerView.getRegions(obs->first, landmark.descType);
+        const feature::CCTAG_Regions& cctagRegions = dynamic_cast<const feature::CCTAG_Regions&>(regions);
+        const auto& d = cctagRegions.Descriptors()[obs->second.id_feat];
+        for (int i = 0; i < d.size(); ++i)
+        {
+            if (d[i] == 255)
+            {
+                ALICEVISION_LOG_TRACE("Found marker: " << i << " (landmarkId: " << landmarkIt.first << ").");
+                landmark.rgb.r() = i;
+                break;
+            }
+        }
+    }
+}
+
+
+} // namespace sfm
+} // namespace aliceVision

src/aliceVision/sfm/pipeline/ReconstructionEngine.hpp

@@ -15,6 +15,9 @@
 namespace aliceVision {
 namespace sfm {
 
+void retrieveMarkersId(sfmData::SfMData& sfmData);
+
+
 /**
  * @brief Basic Reconstruction Engine.
  * Process Function handle the reconstruction.
@@ -68,12 +71,18 @@ class ReconstructionEngine
     sfmData::colorizeTracks(_sfmData);
   }
 
+  void retrieveMarkersId()
+  {
+      aliceVision::sfm::retrieveMarkersId(_sfmData);
+  }
+
 protected:
   /// Output folder where outputs will be stored
   std::string _outputFolder;
   /// Internal SfMData
   sfmData::SfMData _sfmData;
 };
 
+
 } // namespace sfm
 } // namespace aliceVision

src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.cpp

@@ -246,6 +246,13 @@ std::size_t ReconstructionEngine_sequentialSfM::fuseMatchesIntoTracks()
     // build tracks with STL compliant type
     tracksBuilder.exportToSTL(_map_tracks);
     ALICEVISION_LOG_DEBUG("Build tracks per view");
+
+    // Init tracksPerView to have an entry in the map for each view (even if there is no track at all)
+    for(const auto& viewIt: _sfmData.views)
+    {
+        // create an entry in the map
+        _map_tracksPerView[viewIt.first];
+    }
     track::tracksUtilsMap::computeTracksPerView(_map_tracks, _map_tracksPerView);
     ALICEVISION_LOG_DEBUG("Build tracks pyramid per view");
     computeTracksPyramidPerView(
@@ -652,7 +659,8 @@ bool ReconstructionEngine_sequentialSfM::bundleAdjustment(std::set<IndexT>& newR
     // - the number of cameras to refine cannot be < to the number of newly added cameras (set to 'refine' by default)
     if((nbRefinedPoses <= newReconstructedViews.size()) && _sfmData.getRigs().empty())
     {
-      throw std::runtime_error("The local bundle adjustment refinement has not been done: the new cameras are not connected to the rest of the graph.");
+      ALICEVISION_LOG_INFO("Local bundle adjustment: the new cameras are not connected to the rest of the graph"
+                           " (nbRefinedPoses: " << nbRefinedPoses << ", newReconstructedViews.size(): " << newReconstructedViews.size() << ").");
     }
   }
 
@@ -722,6 +730,12 @@ void ReconstructionEngine_sequentialSfM::exportStatistics(double reconstructionT
     << "\t- elapsed time: " << reconstructionTime << std::endl
     << "\t- residual RMSE: " <<  residual);
 
+  std::map<feature::EImageDescriberType, int> descTypeUsage = _sfmData.getLandmarkDescTypesUsages();
+  for(const auto& d: descTypeUsage)
+  {
+    ALICEVISION_LOG_INFO(" - # " << EImageDescriberType_enumToString(d.first) << ": " << d.second);
+  }
+
   // residual histogram
   Histogram<double> residualHistogram;
   computeResidualsHistogram(&residualHistogram);
@@ -843,11 +857,7 @@ bool ReconstructionEngine_sequentialSfM::findConnectedViews(
     const bool isIntrinsicsReconstructed = reconstructedIntrinsics.count(intrinsicId);
 
     // Compute 2D - 3D possible content
-    aliceVision::track::TracksPerView::const_iterator tracksIdsIt = _map_tracksPerView.find(viewId);
-    if(tracksIdsIt == _map_tracksPerView.end())
-      continue;
-
-    const aliceVision::track::TrackIdSet& set_tracksIds = tracksIdsIt->second;
+    const aliceVision::track::TrackIdSet& set_tracksIds = _map_tracksPerView.at(viewId);
     if (set_tracksIds.empty())
       continue;