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openMVS/apps/TextureMesh/TextureMesh.cpp

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/*
* TextureMesh.cpp
*
* Copyright (c) 2014-2015 SEACAVE
*
* Author(s):
*
* cDc <cdc.seacave@gmail.com>
*
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Affero General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Affero General Public License for more details.
*
* You should have received a copy of the GNU Affero General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*
* Additional Terms:
*
* You are required to preserve legal notices and author attributions in
* that material or in the Appropriate Legal Notices displayed by works
* containing it.
*/
#include "../../libs/MVS/Common.h"
#include "../../libs/MVS/Scene.h"
#include <boost/program_options.hpp>
#include "../InterfaceCOLMAP/endian.h"
using namespace MVS;
// D E F I N E S ///////////////////////////////////////////////////
#define APPNAME _T("TextureMesh")
#define COLMAP_IMAGES_FOLDER _T("/images/")
// #define COLMAP_SPARSE_FOLDER _T("/sparse/0/")
#define COLMAP_CAMERAS_TXT _T("/cameras.txt")
#define COLMAP_IMAGES_TXT _T("/images.txt")
#define COLMAP_POINTS_TXT _T("/points3D.txt")
#define COLMAP_CAMERAS_BIN _T("/cameras.bin")
#define COLMAP_IMAGES_BIN _T("/images.bin")
#define COLMAP_POINTS_BIN _T("/points3D.bin")
#define COLMAP_DENSE_POINTS _T("fused.ply")
#define COLMAP_DENSE_POINTS_VISIBILITY _T("fused.ply.vis")
#define COLMAP_STEREO_FOLDER _T("stereo/")
#define COLMAP_PATCHMATCH COLMAP_STEREO_FOLDER _T("patch-match.cfg")
#define COLMAP_STEREO_DEPTHMAPS_FOLDER COLMAP_STEREO_FOLDER _T("depth_maps/")
#define COLMAP_STEREO_NORMALMAPS_FOLDER COLMAP_STEREO_FOLDER _T("normal_maps/")
// S T R U C T S ///////////////////////////////////////////////////
namespace {
namespace OPT {
String strInputFileName;
String strMeshFileName;
String strOutputFileName;
String strViewsFileName;
String strImageFolder;
float fDecimateMesh;
unsigned nCloseHoles;
unsigned nResolutionLevel;
unsigned nMinResolution;
unsigned minCommonCameras;
float fOutlierThreshold;
float fRatioDataSmoothness;
bool bGlobalSeamLeveling;
bool bLocalSeamLeveling;
bool bNormalizeIntrinsics;
bool bOriginFaceview;
unsigned nID;
unsigned nTextureSizeMultiple;
unsigned nRectPackingHeuristic;
uint32_t nColEmpty;
float fSharpnessWeight;
int nIgnoreMaskLabel;
unsigned nOrthoMapResolution;
unsigned nArchiveType;
int nProcessPriority;
unsigned nMaxThreads;
int nMaxTextureSize;
String strExportType;
String strConfigFileName;
boost::program_options::variables_map vm;
} // namespace OPT
class Application {
public:
Application() {}
~Application() { Finalize(); }
bool Initialize(size_t argc, LPCTSTR* argv);
void Finalize();
}; // Application
// initialize and parse the command line parameters
bool Application::Initialize(size_t argc, LPCTSTR* argv)
{
// initialize log and console
OPEN_LOG();
OPEN_LOGCONSOLE();
// group of options allowed only on command line
boost::program_options::options_description generic("Generic options");
generic.add_options()
("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")
("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("obj")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 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(&g_nVerbosityLevel)->default_value(
#if TD_VERBOSE == TD_VERBOSE_DEBUG
3
#else
2
#endif
), "verbosity level")
#endif
#ifdef _USE_CUDA
("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to texture the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
#endif
;
// group of options allowed both on command line and in config file
boost::program_options::options_description config("Texture options");
config.add_options()
("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses")
("mesh-file,m", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to texture (overwrite existing mesh)")
("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
("resolution-level", boost::program_options::value(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
("outlier-threshold", boost::program_options::value(&OPT::fOutlierThreshold)->default_value(6e-2f), "threshold used to find and remove outlier face textures (0 - disabled)")
("cost-smoothness-ratio", boost::program_options::value(&OPT::fRatioDataSmoothness)->default_value(0.1f), "ratio used to adjust the preference for more compact patches (1 - best quality/worst compactness, ~0 - worst quality/best compactness)")
("virtual-face-images", boost::program_options::value(&OPT::minCommonCameras)->default_value(0), "generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)")
("global-seam-leveling", boost::program_options::value(&OPT::bGlobalSeamLeveling)->default_value(true), "generate uniform texture patches using global seam leveling")
("local-seam-leveling", boost::program_options::value(&OPT::bLocalSeamLeveling)->default_value(true), "generate uniform texture patch borders using local seam leveling")
("texture-size-multiple", boost::program_options::value(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
("patch-packing-heuristic", boost::program_options::value(&OPT::nRectPackingHeuristic)->default_value(3), "specify the heuristic used when deciding where to place a new patch (0 - best fit, 3 - good speed, 100 - best speed)")
("empty-color", boost::program_options::value(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
("sharpness-weight", boost::program_options::value(&OPT::fSharpnessWeight)->default_value(0.9f), "amount of sharpness to be applied on the texture (0 - disabled)")
("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
("ignore-mask-label", boost::program_options::value(&OPT::nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (-1 - auto estimate mask for lens distortion, -2 - disabled)")
("max-texture-size", boost::program_options::value(&OPT::nMaxTextureSize)->default_value(8192), "maximum texture size, split it in multiple textures of this size if needed (0 - unbounded)")
("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
("origin-faceview", boost::program_options::value(&OPT::bOriginFaceview)->default_value(false), "use origin faceview selection")
("id", boost::program_options::value(&OPT::nID)->default_value(0), "id")
;
// hidden options, allowed both on command line and
// in config file, but will not be shown to the user
boost::program_options::options_description hidden("Hidden options");
hidden.add_options()
("views-file", boost::program_options::value<std::string>(&OPT::strViewsFileName), "file name containing the list of views to be used for texturing (optional)")
;
boost::program_options::options_description cmdline_options;
cmdline_options.add(generic).add(config).add(hidden);
boost::program_options::options_description config_file_options;
config_file_options.add(config).add(hidden);
boost::program_options::positional_options_description p;
p.add("input-file", -1);
try {
// parse command line options
boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
boost::program_options::notify(OPT::vm);
INIT_WORKING_FOLDER;
// parse configuration file
std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
if (ifs) {
boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
boost::program_options::notify(OPT::vm);
}
}
catch (const std::exception& e) {
LOG(e.what());
return false;
}
// initialize the log file
OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-")+Util::getUniqueName(0)+_T(".log")).c_str());
// print application details: version and command line
Util::LogBuild();
LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
// validate input
Util::ensureValidPath(OPT::strInputFileName);
if (OPT::vm.count("help") || OPT::strInputFileName.empty()) {
boost::program_options::options_description visible("Available options");
visible.add(generic).add(config);
GET_LOG() << visible;
}
if (OPT::strInputFileName.empty())
return false;
OPT::strExportType = OPT::strExportType.ToLower();
if (OPT::strExportType == _T("obj"))
OPT::strExportType = _T(".obj");
else
if (OPT::strExportType == _T("glb"))
OPT::strExportType = _T(".glb");
else
if (OPT::strExportType == _T("gltf"))
OPT::strExportType = _T(".gltf");
else
OPT::strExportType = _T(".ply");
// initialize optional options
Util::ensureValidPath(OPT::strMeshFileName);
Util::ensureValidPath(OPT::strOutputFileName);
Util::ensureValidPath(OPT::strViewsFileName);
if (OPT::strMeshFileName.empty() && (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
if (OPT::strOutputFileName.empty())
OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
return true;
}
// finalize application instance
void Application::Finalize()
{
MVS::Finalize();
CLOSE_LOGFILE();
CLOSE_LOGCONSOLE();
CLOSE_LOG();
}
} // unnamed namespace
IIndexArr ParseViewsFile(const String& filename, const Scene& scene) {
IIndexArr views;
std::ifstream file(filename);
printf("filename: %s\n", filename.c_str());
if (!file.good()) {
VERBOSE("error: unable to open views file '%s'", filename.c_str());
return views;
}
while (true) {
String imageName;
std::getline(file, imageName);
if (file.fail() || imageName.empty())
break;
LPTSTR endIdx;
const IDX idx(strtoul(imageName, &endIdx, 10));
const size_t szIndex(*endIdx == '\0' ? size_t(0) : imageName.size());
FOREACH(idxImage, scene.images) {
const Image& image = scene.images[idxImage];
if (szIndex == 0) {
// try to match by index
if (image.ID != idx)
continue;
} else {
// try to match by file name
const String name(Util::getFileNameExt(image.name));
if (name.size() < szIndex || _tcsnicmp(name, imageName, szIndex) != 0)
continue;
}
views.emplace_back(idxImage);
break;
}
}
return views;
}
bool DetermineInputSource(const String& filenameTXT, const String& filenameBIN, std::ifstream& fileStream, String& filenameCamera, bool& isBinaryFormat)
{
// Try to open the TXT file first.
fileStream.open(filenameTXT);
if (fileStream.good()) {
filenameCamera = filenameTXT;
isBinaryFormat = false;
return true;
}
fileStream.open(filenameBIN, std::ios::binary);
if (fileStream.good()) {
filenameCamera = filenameBIN;
isBinaryFormat = true;
return true;
}
VERBOSE("error: unable to open file '%s'", filenameTXT.c_str());
VERBOSE("error: unable to open file '%s'", filenameBIN.c_str());
return false;
}
namespace COLMAP {
using namespace colmap;
// See colmap/src/util/types.h
typedef uint32_t camera_t;
typedef uint32_t image_t;
typedef uint64_t image_pair_t;
typedef uint32_t point2D_t;
typedef uint64_t point3D_t;
const std::vector<String> mapCameraModel = {
"SIMPLE_PINHOLE",
"PINHOLE",
"SIMPLE_RADIAL",
"RADIAL",
"OPENCV",
"OPENCV_FISHEYE",
"FULL_OPENCV",
"FOV",
"SIMPLE_RADIAL_FISHEYE",
"RADIAL_FISHEYE",
"THIN_PRISM_FISHEYE"
};
// tools
bool NextLine(std::istream& stream, std::istringstream& in, bool bIgnoreEmpty=true) {
String line;
do {
std::getline(stream, line);
Util::strTrim(line, _T(" "));
if (stream.fail())
return false;
} while (((bIgnoreEmpty && line.empty()) || line[0u] == '#') && stream.good());
in.clear();
in.str(line);
return true;
}
// structure describing a camera
struct Camera {
uint32_t ID; // ID of the camera
String model; // camera model name
uint32_t width, height; // camera resolution
std::vector<REAL> params; // camera parameters
uint64_t numCameras{0}; // only for binary format
Camera() {}
Camera(uint32_t _ID) : ID(_ID) {}
bool operator < (const Camera& rhs) const { return ID < rhs.ID; }
struct CameraHash {
size_t operator()(const Camera& camera) const {
const size_t h1(std::hash<String>()(camera.model));
const size_t h2(std::hash<uint32_t>()(camera.width));
const size_t h3(std::hash<uint32_t>()(camera.height));
size_t h(h1 ^ ((h2 ^ (h3 << 1)) << 1));
for (REAL p: camera.params)
h = std::hash<REAL>()(p) ^ (h << 1);
return h;
}
};
struct CameraEqualTo {
bool operator()(const Camera& _Left, const Camera& _Right) const {
return _Left.model == _Right.model &&
_Left.width == _Right.width && _Left.height == _Right.height &&
_Left.params == _Right.params;
}
};
bool Read(std::istream& stream, bool binary) {
if (binary)
return ReadBIN(stream);
return ReadTXT(stream);
}
bool Write(std::ostream& stream, bool binary) {
if (binary)
return WriteBIN(stream);
return WriteTXT(stream);
}
// Camera list with one line of data per camera:
// CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
bool ReadTXT(std::istream& stream) {
std::istringstream in;
if (!NextLine(stream, in))
return false;
in >> ID >> model >> width >> height;
if (in.fail())
return false;
--ID;
if (model != _T("PINHOLE"))
return false;
params.resize(4);
in >> params[0] >> params[1] >> params[2] >> params[3];
return !in.fail();
}
// See: colmap/src/base/reconstruction.cc
// void Reconstruction::ReadCamerasBinary(const std::string& path)
bool ReadBIN(std::istream& stream) {
if (stream.peek() == EOF)
return false;
if (numCameras == 0) {
// Read the first entry in the binary file
numCameras = ReadBinaryLittleEndian<uint64_t>(&stream);
}
ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
model = mapCameraModel[ReadBinaryLittleEndian<int>(&stream)];
width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
if (model != _T("PINHOLE"))
return false;
params.resize(4);
ReadBinaryLittleEndian<double>(&stream, &params);
return true;
}
bool WriteTXT(std::ostream& out) const {
out << ID+1 << _T(" ") << model << _T(" ") << width << _T(" ") << height;
if (out.fail())
return false;
for (REAL param: params) {
out << _T(" ") << param;
if (out.fail())
return false;
}
out << std::endl;
return true;
}
bool WriteBIN(std::ostream& stream) {
if (numCameras != 0) {
// Write the first entry in the binary file
WriteBinaryLittleEndian<uint64_t>(&stream, numCameras);
numCameras = 0;
}
WriteBinaryLittleEndian<camera_t>(&stream, ID+1);
const int64 modelId(std::distance(mapCameraModel.begin(), std::find(mapCameraModel.begin(), mapCameraModel.end(), model)));
WriteBinaryLittleEndian<int>(&stream, (int)modelId);
WriteBinaryLittleEndian<uint64_t>(&stream, width);
WriteBinaryLittleEndian<uint64_t>(&stream, height);
for (REAL param: params)
WriteBinaryLittleEndian<double>(&stream, param);
return !stream.fail();
}
};
typedef std::vector<Camera> Cameras;
// structure describing an image
struct Image {
struct Proj {
Eigen::Vector2f p;
uint32_t idPoint;
};
uint32_t ID; // ID of the image
Eigen::Quaterniond q; // rotation
Eigen::Vector3d t; // translation
uint32_t idCamera; // ID of the associated camera
String name; // image file name
std::vector<Proj> projs; // known image projections
uint64_t numRegImages{0}; // only for binary format
Image() {}
Image(uint32_t _ID) : ID(_ID) {}
bool operator < (const Image& rhs) const { return ID < rhs.ID; }
bool Read(std::istream& stream, bool binary) {
if (binary)
return ReadBIN(stream);
return ReadTXT(stream);
}
bool Write(std::ostream& stream, bool binary) {
if (binary)
return WriteBIN(stream);
return WriteTXT(stream);
}
// 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)
bool ReadTXT(std::istream& stream) {
std::istringstream in;
if (!NextLine(stream, in))
return false;
in >> ID
>> q.w() >> q.x() >> q.y() >> q.z()
>> t(0) >> t(1) >> t(2)
>> idCamera >> name;
if (in.fail())
return false;
--ID; --idCamera;
Util::ensureValidPath(name);
if (!NextLine(stream, in, false))
return false;
projs.clear();
while (true) {
Proj proj;
in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
if (in.fail())
break;
--proj.idPoint;
projs.emplace_back(proj);
}
return true;
}
// See: colmap/src/base/reconstruction.cc
// void Reconstruction::ReadImagesBinary(const std::string& path)
bool ReadBIN(std::istream& stream) {
if (stream.peek() == EOF)
return false;
if (!numRegImages) {
// Read the first entry in the binary file
numRegImages = ReadBinaryLittleEndian<uint64_t>(&stream);
}
ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
q.w() = ReadBinaryLittleEndian<double>(&stream);
q.x() = ReadBinaryLittleEndian<double>(&stream);
q.y() = ReadBinaryLittleEndian<double>(&stream);
q.z() = ReadBinaryLittleEndian<double>(&stream);
t(0) = ReadBinaryLittleEndian<double>(&stream);
t(1) = ReadBinaryLittleEndian<double>(&stream);
t(2) = ReadBinaryLittleEndian<double>(&stream);
idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
name = "";
while (true) {
char nameChar;
stream.read(&nameChar, 1);
if (nameChar == '\0')
break;
name += nameChar;
}
Util::ensureValidPath(name);
const size_t numPoints2D = ReadBinaryLittleEndian<uint64_t>(&stream);
projs.clear();
for (size_t j = 0; j < numPoints2D; ++j) {
Proj proj;
proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
projs.emplace_back(proj);
}
return true;
}
bool WriteTXT(std::ostream& out) const {
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(" ")
<< idCamera+1 << _T(" ") << name
<< std::endl;
for (const Proj& proj: projs) {
out << proj.p(0) << _T(" ") << proj.p(1) << _T(" ") << (int)proj.idPoint+1 << _T(" ");
if (out.fail())
return false;
}
out << std::endl;
return !out.fail();
}
bool WriteBIN(std::ostream& stream) {
if (numRegImages != 0) {
// Write the first entry in the binary file
WriteBinaryLittleEndian<uint64_t>(&stream, numRegImages);
numRegImages = 0;
}
WriteBinaryLittleEndian<image_t>(&stream, ID+1);
WriteBinaryLittleEndian<double>(&stream, q.w());
WriteBinaryLittleEndian<double>(&stream, q.x());
WriteBinaryLittleEndian<double>(&stream, q.y());
WriteBinaryLittleEndian<double>(&stream, q.z());
WriteBinaryLittleEndian<double>(&stream, t(0));
WriteBinaryLittleEndian<double>(&stream, t(1));
WriteBinaryLittleEndian<double>(&stream, t(2));
WriteBinaryLittleEndian<camera_t>(&stream, idCamera+1);
stream.write(name.c_str(), name.size()+1);
WriteBinaryLittleEndian<uint64_t>(&stream, projs.size());
for (const Proj& proj: projs) {
WriteBinaryLittleEndian<double>(&stream, proj.p(0));
WriteBinaryLittleEndian<double>(&stream, proj.p(1));
WriteBinaryLittleEndian<point3D_t>(&stream, proj.idPoint+1);
}
return !stream.fail();
}
};
typedef std::vector<Image> Images;
// structure describing a 3D point
struct Point {
struct Track {
uint32_t idImage;
uint32_t idProj;
};
uint32_t ID; // ID of the point
Interface::Pos3f p; // position
Interface::Col3 c; // BGR color
float e; // error
std::vector<Track> tracks; // point track
uint64_t numPoints3D{0}; // only for binary format
Point() {}
Point(uint32_t _ID) : ID(_ID) {}
bool operator < (const Image& rhs) const { return ID < rhs.ID; }
bool Read(std::istream& stream, bool binary) {
if (binary)
return ReadBIN(stream);
return ReadTXT(stream);
}
bool Write(std::ostream& stream, bool binary) {
if (binary)
return WriteBIN(stream);
return WriteTXT(stream);
}
// 3D point list with one line of data per point:
// POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)
bool ReadTXT(std::istream& stream) {
std::istringstream in;
if (!NextLine(stream, in))
return false;
int r,g,b;
in >> ID
>> p.x >> p.y >> p.z
>> r >> g >> b
>> e;
c.x = CLAMP(b,0,255);
c.y = CLAMP(g,0,255);
c.z = CLAMP(r,0,255);
if (in.fail())
return false;
--ID;
tracks.clear();
while (true) {
Track track;
in >> track.idImage >> track.idProj;
if (in.fail())
break;
--track.idImage; --track.idProj;
tracks.emplace_back(track);
}
return !tracks.empty();
}
// See: colmap/src/base/reconstruction.cc
// void Reconstruction::ReadPoints3DBinary(const std::string& path)
bool ReadBIN(std::istream& stream) {
if (stream.peek() == EOF)
return false;
if (!numPoints3D) {
// Read the first entry in the binary file
numPoints3D = ReadBinaryLittleEndian<uint64_t>(&stream);
}
int r,g,b;
ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
p.x = (float)ReadBinaryLittleEndian<double>(&stream);
p.y = (float)ReadBinaryLittleEndian<double>(&stream);
p.z = (float)ReadBinaryLittleEndian<double>(&stream);
r = ReadBinaryLittleEndian<uint8_t>(&stream);
g = ReadBinaryLittleEndian<uint8_t>(&stream);
b = ReadBinaryLittleEndian<uint8_t>(&stream);
e = (float)ReadBinaryLittleEndian<double>(&stream);
c.x = CLAMP(b,0,255);
c.y = CLAMP(g,0,255);
c.z = CLAMP(r,0,255);
const size_t trackLength = ReadBinaryLittleEndian<uint64_t>(&stream);
tracks.clear();
for (size_t j = 0; j < trackLength; ++j) {
Track track;
track.idImage = ReadBinaryLittleEndian<image_t>(&stream)-1;
track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream)-1;
tracks.emplace_back(track);
}
return !tracks.empty();
}
bool WriteTXT(std::ostream& out) const {
ASSERT(!tracks.empty());
const int r(c.z),g(c.y),b(c.x);
out << ID+1 << _T(" ")
<< p.x << _T(" ") << p.y << _T(" ") << p.z << _T(" ")
<< r << _T(" ") << g << _T(" ") << b << _T(" ")
<< e << _T(" ");
for (const Track& track: tracks) {
out << track.idImage+1 << _T(" ") << track.idProj+1 << _T(" ");
if (out.fail())
return false;
}
out << std::endl;
return !out.fail();
}
bool WriteBIN(std::ostream& stream) {
ASSERT(!tracks.empty());
if (numPoints3D != 0) {
// Write the first entry in the binary file
WriteBinaryLittleEndian<uint64_t>(&stream, numPoints3D);
numPoints3D = 0;
}
WriteBinaryLittleEndian<point3D_t>(&stream, ID+1);
WriteBinaryLittleEndian<double>(&stream, p.x);
WriteBinaryLittleEndian<double>(&stream, p.y);
WriteBinaryLittleEndian<double>(&stream, p.z);
WriteBinaryLittleEndian<uint8_t>(&stream, c.z);
WriteBinaryLittleEndian<uint8_t>(&stream, c.y);
WriteBinaryLittleEndian<uint8_t>(&stream, c.x);
WriteBinaryLittleEndian<double>(&stream, e);
WriteBinaryLittleEndian<uint64_t>(&stream, tracks.size());
for (const Track& track: tracks) {
WriteBinaryLittleEndian<image_t>(&stream, track.idImage+1);
WriteBinaryLittleEndian<point2D_t>(&stream, track.idProj+1);
}
return !stream.fail();
}
};
typedef std::vector<Point> Points;
// structure describing an 2D dynamic matrix
template <typename T>
struct Mat {
size_t width_ = 0;
size_t height_ = 0;
size_t depth_ = 0;
std::vector<T> data_;
size_t GetNumBytes() const {
return data_.size() * sizeof(T);
}
const T* GetChannelPtr(size_t c) const {
return data_.data()+width_*height_*c;
}
// See: colmap/src/mvs/mat.h
void Read(const std::string& path) {
std::streampos pos; {
std::fstream text_file(path, std::ios::in | std::ios::binary);
char unused_char;
text_file >> width_ >> unused_char >> height_ >> unused_char >> depth_ >>
unused_char;
pos = text_file.tellg();
}
data_.resize(width_ * height_ * depth_);
std::fstream binary_file(path, std::ios::in | std::ios::binary);
binary_file.seekg(pos);
ReadBinaryLittleEndian<T>(&binary_file, &data_);
}
void Write(const std::string& path) const {
{
std::fstream text_file(path, std::ios::out);
text_file << width_ << "&" << height_ << "&" << depth_ << "&";
}
std::fstream binary_file(path, std::ios::out | std::ios::binary | std::ios::app);
WriteBinaryLittleEndian<T>(&binary_file, data_);
}
};
} // namespace COLMAP
typedef Eigen::Matrix<double,3,3,Eigen::RowMajor> EMat33d;
typedef Eigen::Matrix<double,3,1> EVec3d;
bool ImportScene(const String& inputFolder, const String& outputFolder, Interface& scene, PointCloud& pointcloud)
{
// Define a map to store camera IDs and associated platform index.
typedef std::unordered_map<uint32_t,uint32_t> CamerasMap;
CamerasMap mapCameras;
{
// Determine the camera file source between TXT and BIN formats.
const String filenameCamerasTXT(inputFolder+COLMAP_CAMERAS_TXT);
const String filenameCamerasBIN(inputFolder+COLMAP_CAMERAS_BIN);
std::ifstream cameraFile;
bool isBinaryFormat;
String filenameCamera;
if (!DetermineInputSource(filenameCamerasTXT, filenameCamerasBIN, cameraFile, filenameCamera, isBinaryFormat)) {
return false; // Exit if file source determination fails.
}
LOG_OUT() << "Reading cameras: " << filenameCamera << std::endl;
typedef std::unordered_map<COLMAP::Camera,uint32_t,COLMAP::Camera::CameraHash,COLMAP::Camera::CameraEqualTo> CamerasSet;
CamerasSet setCameras;
COLMAP::Camera colmapCamera;
while (cameraFile.good() && colmapCamera.Read(cameraFile, isBinaryFormat)) {
const auto setIt(setCameras.emplace(colmapCamera, (uint32_t)scene.platforms.size()));
mapCameras.emplace(colmapCamera.ID, setIt.first->second);
if (!setIt.second) {
// reuse existing platform
continue;
}
// create new platform
Interface::Platform platform;
platform.name = String::FormatString(_T("platform%03u"), colmapCamera.ID); // only one camera per platform supported
Interface::Platform::Camera camera;
camera.name = colmapCamera.model;
camera.K = Interface::Mat33d::eye();
// account for different pixel center conventions as COLMAP uses pixel center at (0.5,0.5)
camera.K(0,0) = colmapCamera.params[0];
camera.K(1,1) = colmapCamera.params[1];
camera.K(0,2) = colmapCamera.params[2]-REAL(0.5);
camera.K(1,2) = colmapCamera.params[3]-REAL(0.5);
camera.R = Interface::Mat33d::eye();
camera.C = Interface::Pos3d(0,0,0);
if (OPT::bNormalizeIntrinsics) {
// normalize camera intrinsics
camera.K = Camera::ScaleK<double>(camera.K, 1.0/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
} else {
camera.width = colmapCamera.width;
camera.height = colmapCamera.height;
}
platform.cameras.emplace_back(camera);
scene.platforms.emplace_back(platform);
}
}
if (mapCameras.empty()) {
VERBOSE("error: no valid cameras (make sure they are in PINHOLE model)");
return false;
}
// Function to read and process image data from input files
typedef std::map<COLMAP::Image, uint32_t> ImagesMap;
ImagesMap mapImages;
{
// Define a map to associate COLMAP image structures with scene image indices
const String filenameImagesTXT(inputFolder+COLMAP_IMAGES_TXT);
const String filenameImagesBIN(inputFolder+COLMAP_IMAGES_BIN);
std::ifstream file;
bool binary;
String filenameImages;
if (!DetermineInputSource(filenameImagesTXT, filenameImagesBIN, file, filenameImages, binary)) {
return false;
}
LOG_OUT() << "Reading images: " << filenameImages << std::endl;
// Read image data from the file and store in the scene structure
COLMAP::Image imageColmap;
while (file.good() && imageColmap.Read(file, binary)) {
mapImages.emplace(imageColmap, (uint32_t)scene.images.size());
Interface::Platform::Pose pose;
Eigen::Map<EMat33d>(pose.R.val) = imageColmap.q.toRotationMatrix();
EnsureRotationMatrix((Matrix3x3d&)pose.R);
Eigen::Map<EVec3d>(&pose.C.x) = -(imageColmap.q.inverse() * imageColmap.t);
Interface::Image image;
// Start Generation Here
if (!OPT::strImageFolder.empty() && OPT::strImageFolder.back() != '/')
OPT::strImageFolder += '/';
image.name = MAKE_PATH_REL(outputFolder,OPT::strImageFolder+imageColmap.name);
image.platformID = mapCameras.at(imageColmap.idCamera);
image.cameraID = 0;
image.ID = imageColmap.ID;
Interface::Platform& platform = scene.platforms[image.platformID];
image.poseID = (uint32_t)platform.poses.size();
platform.poses.emplace_back(pose);
scene.images.emplace_back(image);
}
}
// read points list
const String filenameDensePoints(inputFolder+COLMAP_DENSE_POINTS);
const String filenameDenseVisPoints(inputFolder+COLMAP_DENSE_POINTS_VISIBILITY);
printf("Don't read any cloud points\n");
// {
// // parse sparse point-cloud
// const String filenamePointsTXT(inputFolder+COLMAP_POINTS_TXT);
// const String filenamePointsBIN(inputFolder+COLMAP_POINTS_BIN);
// std::ifstream file;
// bool binary;
// String filenamePoints;
// if (!DetermineInputSource(filenamePointsTXT, filenamePointsBIN, file, filenamePoints, binary)) {
// return false;
// }
// LOG_OUT() << "Reading points: " << filenamePoints << std::endl;
// // Process each point in the file
// COLMAP::Point point;
// while (file.good() && point.Read(file, binary)) {
// Interface::Vertex vertex;
// vertex.X = point.p; // Assign 3D coordinates to vertex
// // Process each track associated with the point
// for (const COLMAP::Point::Track& track: point.tracks) {
// Interface::Vertex::View view;
// view.imageID = mapImages.at(COLMAP::Image(track.0)); // Map COLMAP image ID to internal image ID
// view.confidence = 0;
// vertex.views.emplace_back(view);
// }
// // Ensure views are sorted by image ID to maintain consistency
// std::sort(vertex.views.begin(), vertex.views.end(),
// [](const Interface::Vertex::View& view0, const Interface::Vertex::View& view1) { return view0.imageID < view1.imageID; });
// scene.vertices.emplace_back(std::move(vertex));
// scene.verticesColor.emplace_back(Interface::Color{point.c});
// }
// }
pointcloud.Release();
if (File::access(filenameDensePoints) && File::access(filenameDenseVisPoints)) {
// parse dense point-cloud
LOG_OUT() << "Reading points: " << filenameDensePoints << " and " << filenameDenseVisPoints << std::endl;
if (!pointcloud.Load(filenameDensePoints)) {
VERBOSE("error: unable to open file '%s'", filenameDensePoints.c_str());
return false;
}
File file(filenameDenseVisPoints, File::READ, File::OPEN);
if (!file.isOpen()) {
VERBOSE("error: unable to open file '%s'", filenameDenseVisPoints.c_str());
return false;
}
uint64_t numPoints(0);
file.read(&numPoints, sizeof(uint64_t));
if (pointcloud.GetSize() != numPoints) {
VERBOSE("error: point-cloud and visibility have different size");
return false;
}
pointcloud.pointViews.resize(numPoints);
for (size_t i=0; i<numPoints; ++i) {
PointCloud::ViewArr& views = pointcloud.pointViews[i];
uint32_t numViews(0);
file.read(&numViews, sizeof(uint32_t));
for (uint32_t v=0; v<numViews; ++v) {
uint32_t imageID;
file.read(&imageID, sizeof(uint32_t));
views.emplace_back(imageID);
}
views.Sort();
}
}
// read depth-maps
const String pathDepthMaps(inputFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
const String pathNormalMaps(inputFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
if (File::isFolder(pathDepthMaps) && File::isFolder(pathNormalMaps)) {
// read patch-match list
CLISTDEF2IDX(IIndexArr,IIndex) imagesNeighbors((IIndex)scene.images.size());
{
const String filenameFusion(inputFolder+COLMAP_PATCHMATCH);
LOG_OUT() << "Reading patch-match configuration: " << filenameFusion << std::endl;
std::ifstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
while (true) {
String imageName, neighbors;
std::getline(file, imageName);
std::getline(file, neighbors);
if (file.fail() || imageName.empty() || neighbors.empty())
break;
const ImagesMap::const_iterator it_image = std::find_if(mapImages.begin(), mapImages.end(),
[&imageName](const ImagesMap::value_type& image) {
return image.first.name == imageName;
});
if (it_image == mapImages.end())
continue;
IIndexArr& imageNeighbors = imagesNeighbors[it_image->second];
CLISTDEF2(String) neighborNames;
Util::strSplit(neighbors, _T(','), neighborNames);
FOREACH(i, neighborNames) {
String& neighborName = neighborNames[i];
Util::strTrim(neighborName, _T(" "));
const ImagesMap::const_iterator it_neighbor = std::find_if(mapImages.begin(), mapImages.end(),
[&neighborName](const ImagesMap::value_type& image) {
return image.first.name == neighborName;
});
if (it_neighbor == mapImages.end()) {
if (i == 0)
break;
continue;
}
imageNeighbors.emplace_back(scene.images[it_neighbor->second].ID);
}
}
}
LOG_OUT() << "Reading depth-maps/normal-maps: " << pathDepthMaps << " and " << pathNormalMaps << std::endl;
Util::ensureFolder(outputFolder);
const String strType[] = {".geometric.bin", ".photometric.bin"};
FOREACH(idx, scene.images) {
const Interface::Image& image = scene.images[idx];
COLMAP::Mat<float> colDepthMap, colNormalMap;
const String filenameImage(Util::getFileNameExt(image.name));
for (int i=0; i<2; ++i) {
const String filenameDepthMaps(pathDepthMaps+filenameImage+strType[i]);
if (File::isFile(filenameDepthMaps)) {
colDepthMap.Read(filenameDepthMaps);
const String filenameNormalMaps(pathNormalMaps+filenameImage+strType[i]);
if (File::isFile(filenameNormalMaps)) {
colNormalMap.Read(filenameNormalMaps);
}
break;
}
}
if (!colDepthMap.data_.empty()) {
IIndexArr IDs = {image.ID};
IDs.Join(imagesNeighbors[(IIndex)idx]);
const Interface::Platform& platform = scene.platforms[image.platformID];
const Interface::Platform::Pose pose(platform.GetPose(image.cameraID, image.poseID));
const Interface::Mat33d K(platform.GetFullK(image.cameraID, (uint32_t)colDepthMap.width_, (uint32_t)colDepthMap.height_));
MVS::DepthMap depthMap((int)colDepthMap.height_, (int)colDepthMap.width_);
memcpy(depthMap.getData(), colDepthMap.data_.data(), colDepthMap.GetNumBytes());
MVS::NormalMap normalMap;
if (!colNormalMap.data_.empty()) {
normalMap.create((int)colNormalMap.height_, (int)colNormalMap.width_);
cv::merge(std::vector<cv::Mat>{
cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(0)),
cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(1)),
cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(2))
}, normalMap);
}
MVS::ConfidenceMap confMap;
MVS::ViewsMap viewsMap;
const auto depthMM(std::minmax_element(colDepthMap.data_.cbegin(), colDepthMap.data_.cend()));
const MVS::Depth dMin(*depthMM.first), dMax(*depthMM.second);
if (!ExportDepthDataRaw(outputFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(outputFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
return false;
}
}
}
return true;
}
bool checkFileExistence(const std::string& filename) {
std::ifstream file(filename);
return file.good();
}
int main(int argc, LPCTSTR* argv)
{
#ifdef _DEBUGINFO
// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
#endif
Application application;
if (!application.Initialize(argc, argv))
return EXIT_FAILURE;
if (1) {
if (checkFileExistence(MAKE_PATH_SAFE(OPT::strOutputFileName).c_str())) {
std::cout << "The file exists." << std::endl;
} else {
std::cout << "The file does not exist." << std::endl;
}
// read COLMAP input data
Interface scene;
const String strOutFolder(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
printf("Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)): %s\n", Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)).c_str());
PointCloud pointcloud;
if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), strOutFolder, scene, pointcloud))
return EXIT_FAILURE;
printf("###########\n");
// write MVS input data
Util::ensureFolder(strOutFolder);
if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName)))
return EXIT_FAILURE;
printf("MAKE_PATH_SAFE(OPT::strOutputFileName): %s\n", MAKE_PATH_SAFE(OPT::strOutputFileName).c_str());
if (checkFileExistence(MAKE_PATH_SAFE(OPT::strOutputFileName).c_str())) {
std::cout << "The file exists." << std::endl;
} else {
std::cout << "The file does not exist." << std::endl;
}
}
Scene scene(OPT::nMaxThreads);
printf("OPT::strViewsFileName: %s\n", OPT::strViewsFileName.c_str());
printf("MAKE_PATH_SAFE(OPT::strViewsFileName): %s\n", MAKE_PATH_SAFE(OPT::strViewsFileName).c_str());
// load and texture the mesh
printf("MAKE_PATH_SAFE(OPT::strOutputFileName): %s\n", MAKE_PATH_SAFE(OPT::strOutputFileName).c_str());
const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strOutputFileName)));
if (sceneType == Scene::SCENE_NA)
return EXIT_FAILURE;
printf("Now\n");
VERBOSE(MAKE_PATH_SAFE(OPT::strMeshFileName));
if (!OPT::strMeshFileName.empty() && !scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName))) {
VERBOSE("error: cannot load mesh file");
return EXIT_FAILURE;
}
if (scene.mesh.IsEmpty()) {
VERBOSE("error: empty initial mesh");
return EXIT_FAILURE;
}
const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
if (OPT::nOrthoMapResolution && !scene.mesh.HasTexture()) {
// the input mesh is already textured and an orthographic projection was requested
goto ProjectOrtho;
}
{
// decimate to the desired resolution
if (OPT::fDecimateMesh < 1.f) {
ASSERT(OPT::fDecimateMesh > 0.f);
scene.mesh.Clean(OPT::fDecimateMesh, 0.f, false, OPT::nCloseHoles, 0u, 0.f, false);
scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 3)
scene.mesh.Save(baseFileName +_T("_decim")+OPT::strExportType);
#endif
}
// fetch list of views to be used for texturing
IIndexArr views;
// VERBOSE(MAKE_PATH_SAFE(OPT::strViewsFileName));
printf("MAKE_PATH_SAFE(OPT::strViewsFileName): %s\n", MAKE_PATH_SAFE(OPT::strViewsFileName).c_str());
if (!OPT::strViewsFileName.empty())
views = ParseViewsFile(MAKE_PATH_SAFE(OPT::strViewsFileName), scene);
printf("Second\n");
// compute mesh texture
TD_TIMER_START();
if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness,
OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty),
OPT::fSharpnessWeight, OPT::nIgnoreMaskLabel, OPT::nMaxTextureSize, views, baseFileName, OPT::bOriginFaceview,
OPT::strInputFileName, OPT::strMeshFileName))
return EXIT_FAILURE;
VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
// save the final mesh
scene.mesh.Save(baseFileName+OPT::strExportType);
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 2)
scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);
#endif
if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
}
if (OPT::nOrthoMapResolution) {
// project mesh as an orthographic image
ProjectOrtho:
Image8U3 imageRGB;
Image8U imageRGBA[4];
Point3 center;
scene.mesh.ProjectOrthoTopDown(OPT::nOrthoMapResolution, imageRGB, imageRGBA[3], center);
Image8U4 image;
cv::split(imageRGB, imageRGBA);
cv::merge(imageRGBA, 4, image);
image.Save(baseFileName+_T("_orthomap.png"));
SML sml(_T("OrthoMap"));
sml[_T("Center")].val = String::FormatString(_T("%g %g %g"), center.x, center.y, center.z);
sml.Save(baseFileName+_T("_orthomap.txt"));
}
return EXIT_SUCCESS;
}
/*----------------------------------------------------------------*/