Skip to content

Commit

Permalink
Merge branch 'develop' (#422)
Browse files Browse the repository at this point in the history 
* dense: improve PatchMatch algorithm

* viewer: improve pick-tool

* dense: increase patch size

* match: extend cylinder/cone functionality

* dense: visibility filter

* dense: adjust patch size for average scene types

* dense: correct normal

* common: log number of cores

* dense: various tweaks

* dense: clean-up

* cmake: improve CGAL linking

* dense: fix fuse with missing depth-maps

* cmake: fix find CGAL

* interface: import P camera list

* io: use legacy type names if requested

* interface: export dense point-cloud to COLMAP

* dense: improve refine stage

(cherry picked from commit d42ec8d4f04d69a2e41257bf391ccb29b1a147bb)

* dense: fine-tune patch-match

* common: fix VC2019 warnings

* common: fix build with opencv older than 3.4

* io: remove unused code

* dense: improve confidence computation
  • Loading branch information
@cdcseacave
cdcseacave authored May 26, 2019
1 parent d19dae8 commit eacdde9
Show file tree
Hide file tree
Showing 47 changed files with 2,109 additions and 6,290 deletions.
2 changes: 1 addition & 1 deletion .appveyor.yml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -108,5 +108,5 @@ test_script:
#- sh: ctest -j4

on_success:
- cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\x64\%Configuration%\*.dll"
- cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.dll"
- cmd: appveyor PushArtifact OpenMVS_x64.7z
1 change: 0 additions & 1 deletion CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,6 @@ ConfigLibrary()

# List configuration options
SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
SET(OpenMVS_USE_EXIV2 OFF CACHE BOOL "Link and use EXIV2 library")
SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
Expand Down
35 changes: 28 additions & 7 deletions apps/DensifyPointCloud/DensifyPointCloud.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ String strOutputFileName;
String strMeshFileName;
String strDenseConfigFileName;
float fSampleMesh;
int thFilterPointCloud;
int nArchiveType;
int nProcessPriority;
unsigned nMaxThreads;
Expand Down Expand Up @@ -85,22 +86,27 @@ bool Initialize(size_t argc, LPCTSTR* argv)

// group of options allowed both on command line and in config file
unsigned nResolutionLevel;
unsigned nMaxResolution;
unsigned nMinResolution;
unsigned nNumViews;
unsigned nMinViewsFuse;
unsigned nOptimize;
unsigned nEstimateColors;
unsigned nEstimateNormals;
boost::program_options::options_description config("Densify options");
config.add_options()
("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud")
("resolution-level", boost::program_options::value<unsigned>(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
("min-resolution", boost::program_options::value<unsigned>(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
("number-views", boost::program_options::value<unsigned>(&nNumViews)->default_value(4), "number of views used for depth-map estimation (0 - all neighbor views available)")
("number-views-fuse", boost::program_options::value<unsigned>(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier")
("estimate-colors", boost::program_options::value<unsigned>(&nEstimateColors)->default_value(1), "estimate the colors for the dense point-cloud")
("estimate-normals", boost::program_options::value<unsigned>(&nEstimateNormals)->default_value(0), "estimate the normals for the dense point-cloud")
("sample-mesh", boost::program_options::value<float>(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(3200), "do not scale images higher than this resolution")
("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier")
("optimize", boost::program_options::value(&nOptimize)->default_value(7), "filter used after depth-map estimation (0 - disabled, 1 - remove speckles, 2 - fill gaps, 4 - cross-adjust)")
("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud")
("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(0), "estimate the normals for the dense point-cloud")
("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
;

// hidden options, allowed both on command line and
Expand Down Expand Up @@ -161,13 +167,17 @@ bool Initialize(size_t argc, LPCTSTR* argv)
OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_dense.mvs");

// init dense options
if (!Util::isFullPath(OPT::strDenseConfigFileName))
OPT::strDenseConfigFileName = MAKE_PATH(OPT::strDenseConfigFileName);
OPTDENSE::init();
const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
OPTDENSE::update();
OPTDENSE::nResolutionLevel = nResolutionLevel;
OPTDENSE::nMaxResolution = nMaxResolution;
OPTDENSE::nMinResolution = nMinResolution;
OPTDENSE::nNumViews = nNumViews;
OPTDENSE::nMinViewsFuse = nMinViewsFuse;
OPTDENSE::nOptimize = nOptimize;
OPTDENSE::nEstimateColors = nEstimateColors;
OPTDENSE::nEstimateNormals = nEstimateNormals;
if (!bValidConfig)
Expand All @@ -184,6 +194,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
// start memory dumper
MiniDumper::Create(APPNAME, WORKING_FOLDER);
#endif

Util::Init();
return true;
}

Expand Down Expand Up @@ -233,6 +245,15 @@ int main(int argc, LPCTSTR* argv)
VERBOSE("error: empty initial point-cloud");
return EXIT_FAILURE;
}
if (OPT::thFilterPointCloud < 0) {
// filter point-cloud based on camera-point visibility intersections
scene.PointCloudFilter(OPT::thFilterPointCloud);
const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T("_filtered"));
scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
scene.pointcloud.Save(baseFileName+_T(".ply"));
Finalize();
return EXIT_SUCCESS;
}
if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
TD_TIMER_START();
if (!scene.DenseReconstruction())
Expand Down
210 changes: 128 additions & 82 deletions apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -85,11 +85,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
("help,h", "produce this help message")
("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
#if TD_VERBOSE != TD_VERBOSE_OFF
("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
#if TD_VERBOSE == TD_VERBOSE_DEBUG
3
#else
Expand All @@ -105,7 +105,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
("normalize,f", boost::program_options::value<bool>(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to MVS format")
("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to MVS format")
;

boost::program_options::options_description cmdline_options;
Expand Down Expand Up @@ -185,6 +185,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
// start memory dumper
MiniDumper::Create(APPNAME, WORKING_FOLDER);
#endif

Util::Init();
return true;
}

Expand Down Expand Up @@ -318,7 +320,6 @@ struct Image {
return true;
}
bool Write(std::ostream& out) const {
ASSERT(!projs.empty());
out << ID+1 << _T(" ")
<< q.w() << _T(" ") << q.x() << _T(" ") << q.y() << _T(" ") << q.z() << _T(" ")
<< t(0) << _T(" ") << t(1) << _T(" ") << t(2) << _T(" ")
Expand Down Expand Up @@ -434,7 +435,7 @@ bool ImportScene(const String& strFolder, Interface& scene)
camera.C = Interface::Pos3d(0,0,0);
if (OPT::bNormalizeIntrinsics) {
// normalize camera intrinsics
const double fScale(1.0/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
const REAL fScale(REAL(1)/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
camera.K(0,0) *= fScale;
camera.K(1,1) *= fScale;
camera.K(0,2) *= fScale;
Expand Down Expand Up @@ -555,6 +556,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)

// write camera list
CLISTDEF0IDX(KMatrix,uint32_t) Ks;
CLISTDEF0IDX(COLMAP::Camera,uint32_t) cams;
{
const String filenameCameras(strFolder+COLMAP_CAMERAS);
LOG_OUT() << "Writing cameras: " << filenameCameras << std::endl;
Expand Down Expand Up @@ -614,12 +616,17 @@ bool ExportScene(const String& strFolder, const Interface& scene)
K(1,1) = cam.params[1];
K(0,2) = cam.params[2];
K(1,2) = cam.params[3];
cams.emplace_back(cam);
}
}

// create images list
COLMAP::Images images;
CameraArr cameras;
float maxNumPointsSparse(0);
const float avgViewsPerPoint(3.f);
const uint32_t avgResolutionSmallView(640*480), avgResolutionLargeView(6000*4000);
const uint32_t avgPointsPerSmallView(3000), avgPointsPerLargeView(12000);
{
images.resize(scene.images.size());
cameras.resize(scene.images.size());
Expand All @@ -641,41 +648,125 @@ bool ExportScene(const String& strFolder, const Interface& scene)
camera.R = pose.R;
camera.C = pose.C;
camera.ComposeP();
const COLMAP::Camera& cam = cams[image.platformID];
const uint32_t resolutionView(cam.width*cam.height);
const float linearFactor(float(avgResolutionLargeView-resolutionView)/(avgResolutionLargeView-avgResolutionSmallView));
maxNumPointsSparse += (avgPointsPerSmallView+(avgPointsPerLargeView-avgPointsPerSmallView)*linearFactor)/avgViewsPerPoint;
}
}

// write points list
{
const String filenamePoints(strFolder+COLMAP_POINTS);
LOG_OUT() << "Writing points: " << filenamePoints << std::endl;
std::ofstream file(filenamePoints);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenamePoints.c_str());
return false;
// auto-select dense or sparse mode based on number of points
const bool bSparsePointCloud(scene.vertices.size() < (size_t)maxNumPointsSparse);
if (bSparsePointCloud) {
// write points list
{
const String filenamePoints(strFolder+COLMAP_POINTS);
LOG_OUT() << "Writing points: " << filenamePoints << std::endl;
std::ofstream file(filenamePoints);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenamePoints.c_str());
return false;
}
file << _T("# 3D point list with one line of data per point:") << std::endl;
file << _T("# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)") << std::endl;
for (uint32_t ID=0; ID<(uint32_t)scene.vertices.size(); ++ID) {
const Interface::Vertex& vertex = scene.vertices[ID];
COLMAP::Point point;
point.ID = ID;
point.p = vertex.X;
for (const Interface::Vertex::View& view: vertex.views) {
COLMAP::Image& img = images[view.imageID];
COLMAP::Point::Track track;
track.idImage = view.imageID;
track.idProj = (uint32_t)img.projs.size();
point.tracks.push_back(track);
COLMAP::Image::Proj proj;
proj.idPoint = ID;
const Point3 X(vertex.X);
ProjectVertex_3x4_3_2(cameras[view.imageID].P.val, X.ptr(), proj.p.data());
img.projs.push_back(proj);
}
point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;
point.e = 0;
if (!point.Write(file))
return false;
}
}
file << _T("# 3D point list with one line of data per point:") << std::endl;
file << _T("# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)") << std::endl;
for (uint32_t ID=0; ID<(uint32_t)scene.vertices.size(); ++ID) {
const Interface::Vertex& vertex = scene.vertices[ID];
COLMAP::Point point;
point.ID = ID;
point.p = vertex.X;
for (const Interface::Vertex::View& view: vertex.views) {
COLMAP::Image& img = images[view.imageID];
COLMAP::Point::Track track;
track.idImage = view.imageID;
track.idProj = (uint32_t)img.projs.size();
point.tracks.push_back(track);
COLMAP::Image::Proj proj;
proj.idPoint = ID;
const Point3 X(vertex.X);
ProjectVertex_3x4_3_2(cameras[view.imageID].P.val, X.ptr(), proj.p.data());
img.projs.push_back(proj);

Util::ensureFolder(strFolder+COLMAP_STEREO_FOLDER);

// write fusion list
{
const String filenameFusion(strFolder+COLMAP_FUSION);
LOG_OUT() << "Writing fusion configuration: " << filenameFusion << std::endl;
std::ofstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;
point.e = 0;
if (!point.Write(file))
for (const COLMAP::Image& img: images) {
if (img.projs.empty())
continue;
file << img.name << std::endl;
if (file.fail())
return false;
}
}

// write patch-match list
{
const String filenameFusion(strFolder+COLMAP_PATCHMATCH);
LOG_OUT() << "Writing patch-match configuration: " << filenameFusion << std::endl;
std::ofstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
for (const COLMAP::Image& img: images) {
if (img.projs.empty())
continue;
file << img.name << std::endl;
if (file.fail())
return false;
file << _T("__auto__, 20") << std::endl;
if (file.fail())
return false;
}
}

Util::ensureFolder(strFolder+COLMAP_STEREO_CONSISTENCYGRAPHS_FOLDER);
Util::ensureFolder(strFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
Util::ensureFolder(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
} else {
// export dense point-cloud
const String filenameDensePoints(strFolder+COLMAP_DENSE_POINTS);
const String filenameDenseVisPoints(strFolder+COLMAP_DENSE_POINTS_VISIBILITY);
LOG_OUT() << "Writing points: " << filenameDensePoints << " and " << filenameDenseVisPoints << std::endl;
File file(filenameDenseVisPoints, File::WRITE, File::CREATE | File::TRUNCATE);
if (!file.isOpen()) {
VERBOSE("error: unable to write file '%s'", filenameDenseVisPoints.c_str());
return false;
}
const uint64_t numPoints(scene.vertices.size());
file.write(&numPoints, sizeof(uint64_t));
PointCloud pointcloud;
for (size_t i=0; i<numPoints; ++i) {
const Interface::Vertex& vertex = scene.vertices[i];
pointcloud.points.emplace_back(vertex.X);
if (!scene.verticesNormal.empty())
pointcloud.normals.emplace_back(scene.verticesNormal[i].n);
if (!scene.verticesColor.empty())
pointcloud.colors.emplace_back(scene.verticesColor[i].c);
const uint32_t numViews((uint32_t)vertex.views.size());
file.write(&numViews, sizeof(uint32_t));
for (uint32_t v=0; v<numViews; ++v) {
const Interface::Vertex::View& view = vertex.views[v];
file.write(&view.imageID, sizeof(uint32_t));
}
}
if (!pointcloud.Save(filenameDensePoints, true)) {
VERBOSE("error: unable to write file '%s'", filenameDensePoints.c_str());
return false;
}
}

Expand All @@ -692,55 +783,10 @@ bool ExportScene(const String& strFolder, const Interface& scene)
file << _T("# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
file << _T("# POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
for (const COLMAP::Image& img: images) {
if (!img.projs.empty() && !img.Write(file))
if ((bSparsePointCloud && img.projs.empty()) || !img.Write(file))
return false;
}
}

Util::ensureFolder(strFolder+COLMAP_STEREO_FOLDER);

// write fusion list
{
const String filenameFusion(strFolder+COLMAP_FUSION);
LOG_OUT() << "Writing fusion configuration: " << filenameFusion << std::endl;
std::ofstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
for (const COLMAP::Image& img: images) {
if (img.projs.empty())
continue;
file << img.name << std::endl;
if (file.fail())
return false;
}
}

// write patch-match list
{
const String filenameFusion(strFolder+COLMAP_PATCHMATCH);
LOG_OUT() << "Writing patch-match configuration: " << filenameFusion << std::endl;
std::ofstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
for (const COLMAP::Image& img: images) {
if (img.projs.empty())
continue;
file << img.name << std::endl;
if (file.fail())
return false;
file << _T("__auto__, 20") << std::endl;
if (file.fail())
return false;
}
}

Util::ensureFolder(strFolder+COLMAP_STEREO_CONSISTENCYGRAPHS_FOLDER);
Util::ensureFolder(strFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
Util::ensureFolder(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
return true;
}

Expand Down
Loading

0 comments on commit eacdde9

Please sign in to comment.