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Update sfmBootstraping parameters #1794

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Dec 18, 2024
Merged

Update sfmBootstraping parameters #1794

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d419fb6
Update sfmBootstraping parameters
servantftechnicolor Nov 25, 2024
11b520b
Remove duplicate retrieveViewIdFromImageName
servantftechnicolor Dec 16, 2024
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21 changes: 21 additions & 0 deletions src/aliceVision/sfmData/SfMData.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -359,6 +359,27 @@ void SfMData::getBoundingBox(Eigen::Vector3d & bbMin, Eigen::Vector3d & bbMax)
}
}

IndexT SfMData::findView(const std::string & imageName) const
{
IndexT out_viewId = UndefinedIndexT;

// list views uid / filenames and find the one that correspond to the user ones
for (const auto& viewPair : getViews())
{
const auto & v = viewPair.second;

if (imageName == std::to_string(v->getViewId()) ||
imageName == fs::path(v->getImage().getImagePath()).filename().string() ||
imageName == v->getImage().getImagePath())
{
out_viewId = v->getViewId();
break;
}
}

return out_viewId;
}

LandmarksPerView getLandmarksPerViews(const SfMData& sfmData)
{
LandmarksPerView landmarksPerView;
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7 changes: 7 additions & 0 deletions src/aliceVision/sfmData/SfMData.hpp
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Expand Up @@ -376,6 +376,13 @@ class SfMData
*/
View::sptr getViewSharedPtr(IndexT viewId) { return _views.at(viewId); }

/**
* @brief Retrieve the view id in the sfmData from the image filename.
* @param[in] name the image name to find (uid or filename or path)
* @return a view Id if a view is found or UndefinedIndexT
*/
IndexT findView(const std::string & imageName) const;

/**
* @brief Gives the pose of the input view. If this view is part of a rig, it returns rigPose + rigSubPose.
* @param[in] view The given view
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52 changes: 15 additions & 37 deletions src/software/pipeline/main_incrementalSfM.cpp
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Expand Up @@ -38,35 +38,6 @@ namespace fs = std::filesystem;
using namespace aliceVision::track;
using namespace aliceVision::sfm;

/**
* @brief Retrieve the view id in the sfmData from the image filename.
* @param[in] sfmData the SfM scene
* @param[in] name the image name to find (uid or filename or path)
* @param[out] out_viewId the id found
* @return if a view is found
*/
bool retrieveViewIdFromImageName(const sfmData::SfMData& sfmData, const std::string& name, IndexT& out_viewId)
{
out_viewId = UndefinedIndexT;

// list views uid / filenames and find the one that correspond to the user ones
for (const auto& viewPair : sfmData.getViews())
{
const sfmData::View& v = *(viewPair.second.get());

if (name == std::to_string(v.getViewId()) || name == fs::path(v.getImage().getImagePath()).filename().string() ||
name == v.getImage().getImagePath())
{
out_viewId = v.getViewId();
break;
}
}

if (out_viewId == UndefinedIndexT)
ALICEVISION_LOG_ERROR("Can't find the given initial pair view: " << name);

return out_viewId != UndefinedIndexT;
}

int aliceVision_main(int argc, char** argv)
{
Expand Down Expand Up @@ -277,7 +248,6 @@ int aliceVision_main(int argc, char** argv)
// return EXIT_FAILURE;
}

// handle initial pair parameter
if (!initialPairString.first.empty() || !initialPairString.second.empty())
{
if (initialPairString.first == initialPairString.second)
Expand All @@ -286,20 +256,28 @@ int aliceVision_main(int argc, char** argv)
return EXIT_FAILURE;
}

if (!initialPairString.first.empty() && !retrieveViewIdFromImageName(sfmData, initialPairString.first, sfmParams.userInitialImagePair.first))
if (!initialPairString.first.empty())
{
ALICEVISION_LOG_ERROR("Could not find corresponding view in the initial pair: " + initialPairString.first);
return EXIT_FAILURE;
sfmParams.userInitialImagePair.first = sfmData.findView(initialPairString.first);
if (sfmParams.userInitialImagePair.first == UndefinedIndexT)
{
ALICEVISION_LOG_ERROR("Could not find corresponding view in the initial pair: " + initialPairString.first);
return EXIT_FAILURE;
}
}

if (!initialPairString.second.empty() &&
!retrieveViewIdFromImageName(sfmData, initialPairString.second, sfmParams.userInitialImagePair.second))
if (!initialPairString.second.empty())
{
ALICEVISION_LOG_ERROR("Could not find corresponding view in the initial pair: " + initialPairString.second);
return EXIT_FAILURE;
sfmParams.userInitialImagePair.second = sfmData.findView(initialPairString.second);
if (sfmParams.userInitialImagePair.second == UndefinedIndexT)
{
ALICEVISION_LOG_ERROR("Could not find corresponding view in the initial pair: " + initialPairString.second);
return EXIT_FAILURE;
}
}
}


sfm::ReconstructionEngine_sequentialSfM sfmEngine(sfmData, sfmParams, extraInfoFolder, (fs::path(extraInfoFolder) / "sfm_log.html").string());

sfmEngine.initRandomSeed(randomSeed);
Expand Down
75 changes: 73 additions & 2 deletions src/software/pipeline/main_sfmBootstraping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -220,8 +220,10 @@

// user optional parameters
const double maxEpipolarDistance = 4.0;
const double minAngle = 5.0;
const double maxAngle = 40.0;
double minAngle = 5.0;
double maxAngle = 40.0;
std::pair<std::string, std::string> initialPairString("", "");
std::pair<IndexT, IndexT> initialPair(UndefinedIndexT, UndefinedIndexT);

int randomSeed = std::mt19937::default_seed;

Expand All @@ -232,130 +234,199 @@
("tracksFilename,t", po::value<std::string>(&tracksFilename)->required(), "Tracks file.")
("pairs,p", po::value<std::string>(&pairsDirectory)->required(), "Path to the pairs directory.");

po::options_description optionalParams("Required parameters");
optionalParams.add_options()
("minAngleInitialPair", po::value<double>(&minAngle)->default_value(minAngle), "Minimum angle for the initial pair.")
("maxAngleInitialPair", po::value<double>(&maxAngle)->default_value(maxAngle), "Maximum angle for the initial pair.")
("initialPairA", po::value<std::string>(&initialPairString.first)->default_value(initialPairString.first), "UID or filepath or filename of the first image.")
("initialPairB", po::value<std::string>(&initialPairString.second)->default_value(initialPairString.second), "UID or filepath or filename of the second image.");

CmdLine cmdline("AliceVision SfM Bootstraping");

cmdline.add(requiredParams);
cmdline.add(optionalParams);
if(!cmdline.execute(argc, argv))
{
return EXIT_FAILURE;
}

// set maxThreads
HardwareContext hwc = cmdline.getHardwareContext();
omp_set_num_threads(hwc.getMaxThreads());

// load input SfMData scene
sfmData::SfMData sfmData;
if(!sfmDataIO::load(sfmData, sfmDataFilename, sfmDataIO::ESfMData::ALL))
{
ALICEVISION_LOG_ERROR("The input SfMData file '" + sfmDataFilename + "' cannot be read.");
return EXIT_FAILURE;
}


if (sfmData.getValidViews().size() >= 2)
{
ALICEVISION_LOG_INFO("SfmData has already an initialization");
return EXIT_SUCCESS;
}

if (!initialPairString.first.empty() || !initialPairString.second.empty())
{
if (initialPairString.first == initialPairString.second)
{
ALICEVISION_LOG_ERROR("Invalid image names. You cannot use the same image to initialize a pair.");
return EXIT_FAILURE;
}

if (!initialPairString.first.empty())
{
initialPair.first = sfmData.findView(initialPairString.first);
if (initialPair.first == UndefinedIndexT)
{
ALICEVISION_LOG_ERROR("Could not find corresponding view in the initial pair: " + initialPairString.first);
return EXIT_FAILURE;
}
}

if (!initialPairString.second.empty())
{
initialPair.second = sfmData.findView(initialPairString.second);
if (initialPair.second == UndefinedIndexT)
{
ALICEVISION_LOG_ERROR("Could not find corresponding view in the initial pair: " + initialPairString.second);
return EXIT_FAILURE;
}
}
}

if (initialPair.first != UndefinedIndexT)
{
ALICEVISION_LOG_INFO("Force one of the selected view to be " << initialPair.first);
}

if (initialPair.second != UndefinedIndexT)
{
ALICEVISION_LOG_INFO("Force one of the selected view to be " << initialPair.second);
}

// Load tracks
ALICEVISION_LOG_INFO("Load tracks");
track::TracksHandler tracksHandler;
if (!tracksHandler.load(tracksFilename, sfmData.getViewsKeys()))
{
ALICEVISION_LOG_ERROR("The input tracks file '" + tracksFilename + "' cannot be read.");
return EXIT_FAILURE;
}


//Result of pair estimations are stored in multiple files
std::vector<sfm::ReconstructedPair> reconstructedPairs;
const std::regex regex("pairs\\_[0-9]+\\.json");
for(fs::directory_entry & file : boost::make_iterator_range(fs::directory_iterator(pairsDirectory), {}))
{
if (!std::regex_search(file.path().string(), regex))
{
continue;
}

std::ifstream inputfile(file.path().string());

boost::json::error_code ec;
std::vector<boost::json::value> values = readJsons(inputfile, ec);
for (const boost::json::value & value : values)
{
std::vector<sfm::ReconstructedPair> localVector = boost::json::value_to<std::vector<sfm::ReconstructedPair>>(value);
reconstructedPairs.insert(reconstructedPairs.end(), localVector.begin(), localVector.end());
}
}


//Check all pairs
ALICEVISION_LOG_INFO("Give a score to all pairs");
int count = 0;

double bestScore = std::numeric_limits<double>::lowest();
sfm::ReconstructedPair bestPair;
bestPair.reference = UndefinedIndexT;
std::vector<std::size_t> bestUsedTracks;

for (const sfm::ReconstructedPair & pair: reconstructedPairs)
{
std::vector<std::size_t> usedTracks;
double angle = 0.0;

if (initialPair.first != UndefinedIndexT)
{
if (pair.reference != initialPair.first && pair.next != initialPair.first)
{
continue;
}
}

if (initialPair.second != UndefinedIndexT)
{
if (pair.reference != initialPair.second && pair.next != initialPair.second)
{
continue;
}
}

ALICEVISION_LOG_INFO("Processing pair " << initialPair.first << " / " << initialPair.second);

if (!estimatePairAngle(sfmData, pair.reference, pair.next, pair.pose, tracksHandler.getAllTracks(), tracksHandler.getTracksPerView(), angle, usedTracks))
{
continue;
}

ALICEVISION_LOG_INFO("angle " << initialPair.first << " / " << initialPair.second << " : " << radianToDegree(angle));

if (radianToDegree(angle) > maxAngle)
{
continue;
}

//If the angle is too small, then dramatically reduce its chances
if (radianToDegree(angle) < minAngle)
{
angle = -1.0 / angle;
}

const sfmData::View & vref = sfmData.getView(pair.reference);
const sfmData::View & vnext = sfmData.getView(pair.next);

int maxref = std::max(vref.getImage().getWidth(), vref.getImage().getHeight());
int maxnext = std::max(vnext.getImage().getWidth(), vnext.getImage().getHeight());

double refScore = sfm::ExpansionPolicyLegacy::computeScore(tracksHandler.getAllTracks(), usedTracks, pair.reference, maxref, 5);
double nextScore = sfm::ExpansionPolicyLegacy::computeScore(tracksHandler.getAllTracks(), usedTracks, pair.next, maxnext, 5);

ALICEVISION_LOG_INFO("image score " << initialPair.first << " / " << initialPair.second << " : " << refScore << " / " << nextScore);

double score = std::min(refScore, nextScore) * std::max(1.0, radianToDegree(angle));


if (score > bestScore)
{
bestPair = pair;
bestScore = score;
bestUsedTracks = usedTracks;
}
}

if (bestPair.reference == UndefinedIndexT)
{
ALICEVISION_LOG_INFO("No valid pair");
return EXIT_FAILURE;
}

if (!buildSfmData(sfmData, bestPair.reference, bestPair.next, bestPair.pose, tracksHandler.getAllTracks(), bestUsedTracks))
{
return EXIT_FAILURE;
}

ALICEVISION_LOG_INFO("Best selected pair is : ");
ALICEVISION_LOG_INFO(" - " << sfmData.getView(bestPair.reference).getImage().getImagePath());
ALICEVISION_LOG_INFO(" - " << sfmData.getView(bestPair.next).getImage().getImagePath());

sfmDataIO::save(sfmData, sfmDataOutputFilename, sfmDataIO::ESfMData::ALL);

return EXIT_SUCCESS;
Expand Down
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