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openMVS/apps/InterfaceMetashape/InterfaceMetashape.cpp

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/*
* InterfaceMetashape.cpp
*
* Copyright (c) 2014-2021 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 "../../libs/IO/TinyXML2.h"
#include <boost/program_options.hpp>
using namespace MVS;
// D E F I N E S ///////////////////////////////////////////////////
#define APPNAME _T("InterfaceMetashape") // previously PhotoScan
#define MVS_FILE_EXTENSION _T(".mvs")
#define XML_EXT _T(".xml")
#define PLY_EXT _T(".ply")
// S T R U C T S ///////////////////////////////////////////////////
namespace {
namespace OPT {
String strInputFileName;
String strPointsFileName;
String strOutputFileName;
String strOutputImageFolder;
unsigned nArchiveType;
int nProcessPriority;
unsigned nMaxThreads;
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", "imports SfM scene stored either in Metashape Agisoft/BlocksExchange or ContextCapture BlocksExchange XML format")
("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(&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
;
// group of options allowed both on command line and in config file
boost::program_options::options_description config("Main options");
config.add_options()
("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
("points-file,p", boost::program_options::value<std::string>(&OPT::strPointsFileName), "input filename containing the 3D points")
("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
("output-image-folder", boost::program_options::value<std::string>(&OPT::strOutputImageFolder)->default_value("undistorted_images"), "output folder to store undistorted images")
;
boost::program_options::options_description cmdline_options;
cmdline_options.add(generic).add(config);
boost::program_options::options_description config_file_options;
config_file_options.add(config);
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::strPointsFileName);
Util::ensureValidPath(OPT::strInputFileName);
Util::ensureValidFolderPath(OPT::strOutputImageFolder);
const bool bInvalidCommand(OPT::strInputFileName.empty());
if (OPT::vm.count("help") || bInvalidCommand) {
boost::program_options::options_description visible("Available options");
visible.add(generic).add(config);
GET_LOG() << visible;
}
if (bInvalidCommand)
return false;
// initialize optional options
Util::ensureValidPath(OPT::strOutputFileName);
if (OPT::strOutputFileName.empty())
OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_FILE_EXTENSION;
MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
return true;
}
// finalize application instance
void Application::Finalize()
{
MVS::Finalize();
CLOSE_LOGFILE();
CLOSE_LOGCONSOLE();
CLOSE_LOG();
}
struct DistCoeff {
union {
REAL coeff[8];
struct {
REAL k1, k2, p1, p2, k3, k4, k5, k6;
};
};
DistCoeff() : k1(0), k2(0), p1(0), p2(0), k3(0), k4(0), k5(0), k6(0) {}
bool HasDistortion() const { return k1 != 0 || k2 != 0 || k3 != 0 || k4 != 0 || k5 != 0 || k6 != 0; }
};
typedef cList<DistCoeff> DistCoeffs;
typedef cList<DistCoeffs> PlatformDistCoeffs;
void ImageListParseC(const LPSTR* argv, Point3& C)
{
// read position vector
C.x = String::FromString<REAL>(argv[0]);
C.y = String::FromString<REAL>(argv[1]);
C.z = String::FromString<REAL>(argv[2]);
}
void ImageListParseR(const LPSTR* argv, Matrix3x3& R)
{
// read rotation matrix
R(0, 0) = String::FromString<REAL>(argv[0]);
R(0, 1) = String::FromString<REAL>(argv[1]);
R(0, 2) = String::FromString<REAL>(argv[2]);
R(1, 0) = String::FromString<REAL>(argv[3]);
R(1, 1) = String::FromString<REAL>(argv[4]);
R(1, 2) = String::FromString<REAL>(argv[5]);
R(2, 0) = String::FromString<REAL>(argv[6]);
R(2, 1) = String::FromString<REAL>(argv[7]);
R(2, 2) = String::FromString<REAL>(argv[8]);
}
void ImageListParseP(const LPSTR* argv, Matrix3x4& P)
{
// read projection matrix
P(0, 0) = String::FromString<REAL>(argv[0]);
P(0, 1) = String::FromString<REAL>(argv[1]);
P(0, 2) = String::FromString<REAL>(argv[2]);
P(0, 3) = String::FromString<REAL>(argv[3]);
P(1, 0) = String::FromString<REAL>(argv[4]);
P(1, 1) = String::FromString<REAL>(argv[5]);
P(1, 2) = String::FromString<REAL>(argv[6]);
P(1, 3) = String::FromString<REAL>(argv[7]);
P(2, 0) = String::FromString<REAL>(argv[8]);
P(2, 1) = String::FromString<REAL>(argv[9]);
P(2, 2) = String::FromString<REAL>(argv[10]);
P(2, 3) = String::FromString<REAL>(argv[11]);
}
// parse images list containing calibration and pose information
// and load the corresponding 3D point-cloud
bool ParseImageListXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
{
String strInputFileName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
Util::ensureValidPath(strInputFileName);
tinyxml2::XMLElement* elem;
if (doc.ErrorID() != tinyxml2::XML_SUCCESS)
goto InvalidDocument;
{
tinyxml2::XMLElement* document = doc.FirstChildElement(_T("document"))->FirstChildElement(_T("chunk"));
if (document == NULL)
goto InvalidDocument;
{
bool bMetashapeFile(false);
CLISTDEF0(cv::Size) resolutions;
std::unordered_map<IIndex,IIndex> mapPlatformID;
std::unordered_map<IIndex,IIndex> mapImageID;
// parse platform and camera models
{
tinyxml2::XMLElement* sensors = document->FirstChildElement(_T("sensors"));
if (sensors == NULL)
goto InvalidDocument;
{
for (tinyxml2::XMLElement* sensor=sensors->FirstChildElement(); sensor!=NULL; sensor=sensor->NextSiblingElement()) {
unsigned ID;
if (0 != _tcsicmp(sensor->Value(), _T("sensor")) || sensor->QueryUnsignedAttribute(_T("id"), &ID) != tinyxml2::XML_SUCCESS)
goto InvalidDocument;
{
// add new camera
enum CameraModel {METASHAPE=0, VSFM};
int model(METASHAPE);
sensor->QueryIntAttribute(_T("model"), &model);
mapPlatformID.emplace(ID, scene.platforms.size());
Platform& platform = scene.platforms.AddEmpty();
LPCTSTR name;
if ((name=sensor->Attribute(_T("label"))) != NULL)
platform.name = name;
// parse intrinsics
tinyxml2::XMLElement* calibration = sensor->FirstChildElement(_T("calibration"));
if (calibration == NULL)
goto InvalidDocument;
{
if ((elem=calibration->FirstChildElement(_T("resolution"))) != NULL) {
resolutions.emplace_back(
elem->UnsignedAttribute(_T("width")),
elem->UnsignedAttribute(_T("height"))
);
ASSERT(model == METASHAPE);
bMetashapeFile = true;
}
Platform::Camera& camera = platform.cameras.AddEmpty();
camera.K = KMatrix::IDENTITY;
camera.R = RMatrix::IDENTITY;
camera.C = CMatrix::ZERO;
DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty();
for (elem=calibration->FirstChildElement(); elem!=NULL; elem=elem->NextSiblingElement()) {
if (0 == _tcsicmp(elem->Value(), _T("f"))) {
camera.K(0,0) = camera.K(1,1) = String::FromString<REAL>(elem->GetText());
} else
if (0 == _tcsicmp(elem->Value(), _T("fx"))) {
elem->QueryDoubleText(&camera.K(0,0));
} else
if (0 == _tcsicmp(elem->Value(), _T("fy"))) {
elem->QueryDoubleText(&camera.K(1,1));
} else
if (0 == _tcsicmp(elem->Value(), _T("cx"))) {
elem->QueryDoubleText(&camera.K(0,2));
} else
if (0 == _tcsicmp(elem->Value(), _T("cy"))) {
elem->QueryDoubleText(&camera.K(1,2));
} else
if (0 == _tcsicmp(elem->Value(), _T("k1"))) {
elem->QueryDoubleText(&dc.k1);
} else
if (0 == _tcsicmp(elem->Value(), _T("k2"))) {
elem->QueryDoubleText(&dc.k2);
} else
if (0 == _tcsicmp(elem->Value(), _T("k3"))) {
elem->QueryDoubleText(&dc.k3);
} else
if (0 == _tcsicmp(elem->Value(), _T("p1"))) {
elem->QueryDoubleText(&dc.p1);
} else
if (0 == _tcsicmp(elem->Value(), _T("p2"))) {
elem->QueryDoubleText(&dc.p2);
} else
if (0 == _tcsicmp(elem->Value(), _T("k4"))) {
elem->QueryDoubleText(&dc.k4);
} else
if (0 == _tcsicmp(elem->Value(), _T("k5"))) {
elem->QueryDoubleText(&dc.k5);
} else
if (0 == _tcsicmp(elem->Value(), _T("k6"))) {
elem->QueryDoubleText(&dc.k6);
}
}
if (bMetashapeFile) {
const cv::Size& resolution = resolutions.back();
camera.K(0,2) += resolution.width*REAL(0.5);
camera.K(1,2) += resolution.height*REAL(0.5);
camera.K = camera.GetScaledK(REAL(1)/Camera::GetNormalizationScale(resolution.width, resolution.height));
std::swap(dc.p1, dc.p2);
}
++nCameras;
}
}
}
}
}
// parse poses
{
tinyxml2::XMLElement* cameras = document->FirstChildElement(_T("cameras"));
if (cameras == NULL)
goto InvalidDocument;
{
PMatrix P;
size_t argc;
const String strPath(Util::getFilePath(strInputFileName));
for (tinyxml2::XMLElement* camera=cameras->FirstChildElement(); camera!=NULL; camera=camera->NextSiblingElement()) {
unsigned ID;
if (0 != _tcsicmp(camera->Value(), _T("camera")) || camera->QueryUnsignedAttribute(_T("id"), &ID) != tinyxml2::XML_SUCCESS)
goto InvalidDocument;
{
// add new image
mapImageID.emplace(ID, scene.images.size());
Image& imageData = scene.images.AddEmpty();
LPCTSTR name;
if ((name=camera->Attribute(_T("type"))) != NULL && _tcsicmp(name, _T("frame")) != 0) {
DEBUG_EXTRA("warning: unsupported camera calibration '%s'", name);
continue;
}
if ((name=camera->Attribute(_T("label"))) != NULL)
imageData.name = name;
Util::ensureUnifySlash(imageData.name);
if (Util::getFileExt(imageData.name).empty())
imageData.name += _T(".jpg");
imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
imageData.platformID = mapPlatformID.at(camera->UnsignedAttribute(_T("sensor_id")));
imageData.cameraID = 0; // only one camera per platform supported by this format
imageData.ID = mapImageID.at(ID);
const cv::Size& resolution = resolutions[imageData.platformID];
imageData.width = resolution.width;
imageData.height = resolution.height;
imageData.scale = 1;
if (!bMetashapeFile && !camera->BoolAttribute(_T("enabled"))) {
imageData.poseID = NO_ID;
DEBUG_EXTRA("warning: uncalibrated image '%s'", name);
continue;
}
// set pose
CAutoPtrArr<LPSTR> argv;
if ((elem=camera->FirstChildElement(_T("transform"))) == NULL ||
(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
(argc != (bMetashapeFile ? 16 : 12)))
{
VERBOSE("Invalid image list camera: %u", ID);
continue;
}
Platform& platform = scene.platforms[imageData.platformID];
imageData.poseID = platform.poses.size();
Platform::Pose& pose = platform.poses.AddEmpty();
ImageListParseP(argv, P);
DecomposeProjectionMatrix(P, pose.R, pose.C);
if (bMetashapeFile) {
pose.C = pose.R*(-pose.C);
pose.R = pose.R.t();
}
imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
++nPoses;
}
}
scene.nCalibratedImages = (unsigned)nPoses;
}
// parse bounding-box
{
tinyxml2::XMLElement* region = document->FirstChildElement(_T("region"));
if (region == NULL)
goto InvalidDocument;
{
size_t argc;
CAutoPtrArr<LPSTR> argv;
Point3 C, E; Matrix3x3 R;
if ((elem=region->FirstChildElement(_T("center"))) == NULL ||
(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
argc != 3)
{
VERBOSE("Invalid image list region: %s", elem->GetText());
goto InvalidDocument;
}
ImageListParseC(argv, C);
if ((elem=region->FirstChildElement(_T("size"))) == NULL ||
(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
argc != 3)
{
VERBOSE("Invalid image list region: %s", elem->GetText());
goto InvalidDocument;
}
ImageListParseC(argv, E);
E *= REAL(0.5);
if ((elem=region->FirstChildElement(_T("R"))) == NULL ||
(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
argc != 9)
{
VERBOSE("Invalid image list region: %s", elem->GetText());
goto InvalidDocument;
}
ImageListParseR(argv, R);
scene.obb.m_rot = Cast<float>(R);
scene.obb.m_pos = Cast<float>(C);
scene.obb.m_ext = Cast<float>(E);
}
}
}
}
}
return true;
InvalidDocument:
VERBOSE("Invalid camera list");
return false;
}
// parse scene stored in ContextCapture BlocksExchange format containing cameras, images and sparse point-cloud
bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses) {
String strInputFileName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
Util::ensureValidPath(strInputFileName);
const tinyxml2::XMLElement* blocksExchange;
const tinyxml2::XMLElement* document;
const tinyxml2::XMLElement* photogroups;
if (doc.ErrorID() != tinyxml2::XML_SUCCESS ||
(blocksExchange=doc.FirstChildElement("BlocksExchange")) == NULL ||
(document=blocksExchange->FirstChildElement("Block")) == NULL ||
(photogroups=document->FirstChildElement("Photogroups")) == NULL) {
VERBOSE("error: invalid scene file");
return false;
}
CLISTDEF0(cv::Size) resolutions;
std::unordered_map<IIndex,IIndex> mapImageID;
const String strPath(Util::getFilePath(strInputFileName));
const tinyxml2::XMLElement* elem;
for (const tinyxml2::XMLElement* photogroup=photogroups->FirstChildElement(); photogroup!=NULL; photogroup=photogroup->NextSiblingElement()) {
if ((elem=photogroup->FirstChildElement("CameraModelType")) == NULL ||
std::strcmp(elem->GetText(), "Perspective") != 0)
continue;
if ((elem=photogroup->FirstChildElement("ImageDimensions")) == NULL)
continue;
const IIndex platformID = scene.platforms.size();
Platform& platform = scene.platforms.AddEmpty();
platform.name = photogroup->FirstChildElement("Name")->GetText();
resolutions.emplace_back(
elem->FirstChildElement("Width")->UnsignedText(),
elem->FirstChildElement("Height")->UnsignedText()
);
// parse camera
Platform::Camera& camera = platform.cameras.AddEmpty();
camera.K = KMatrix::IDENTITY;
camera.R = RMatrix::IDENTITY;
camera.C = CMatrix::ZERO;
const float resolutionScale = Camera::GetNormalizationScale(resolutions.back().width, resolutions.back().height);
if ((elem=photogroup->FirstChildElement("FocalLengthPixels")) != NULL) {
camera.K(0,0) = camera.K(1,1) = photogroup->FirstChildElement("FocalLengthPixels")->DoubleText();
} else {
camera.K(0,0) = camera.K(1,1) = photogroup->FirstChildElement("FocalLength")->DoubleText() * resolutionScale / photogroup->FirstChildElement("SensorSize")->DoubleText();
}
if ((elem=photogroup->FirstChildElement("PrincipalPoint")) != NULL) {
camera.K(0,2) = elem->FirstChildElement("x")->DoubleText();
camera.K(1,2) = elem->FirstChildElement("y")->DoubleText();
} else {
camera.K(0,2) = resolutions.back().width*REAL(0.5);
camera.K(1,2) = resolutions.back().height*REAL(0.5);
}
if ((elem=photogroup->FirstChildElement("AspectRatio")) != NULL)
camera.K(1,1) *= elem->DoubleText();
if ((elem=photogroup->FirstChildElement("Skew")) != NULL)
camera.K(0,1) = elem->DoubleText();
camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
// parse distortion parameters
DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty(); {
const tinyxml2::XMLElement* distortion=photogroup->FirstChildElement("Distortion");
if (distortion) {
if ((elem=distortion->FirstChildElement("K1")) != NULL)
dc.k1 = elem->DoubleText();
if ((elem=distortion->FirstChildElement("K2")) != NULL)
dc.k2 = elem->DoubleText();
if ((elem=distortion->FirstChildElement("K3")) != NULL)
dc.k3 = elem->DoubleText();
if ((elem=distortion->FirstChildElement("P1")) != NULL)
dc.p2 = elem->DoubleText();
if ((elem=distortion->FirstChildElement("P2")) != NULL)
dc.p1 = elem->DoubleText();
}
}
++nCameras;
for (const tinyxml2::XMLElement* photo=photogroup->FirstChildElement("Photo"); photo!=NULL; photo=photo->NextSiblingElement()) {
const IIndex idxImage = scene.images.size();
Image& imageData = scene.images.AddEmpty();
imageData.platformID = platformID;
imageData.cameraID = 0; // only one camera per platform supported by this format
imageData.poseID = NO_ID;
imageData.ID = photo->FirstChildElement("Id")->UnsignedText();
imageData.name = photo->FirstChildElement("ImagePath")->GetText();
Util::ensureUnifySlash(imageData.name);
imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
mapImageID.emplace(imageData.ID, idxImage);
// set image resolution
const cv::Size& resolution = resolutions[imageData.platformID];
imageData.width = resolution.width;
imageData.height = resolution.height;
imageData.scale = 1;
// set camera pose
const tinyxml2::XMLElement* photoPose = photo->FirstChildElement("Pose");
if (photoPose == NULL)
continue;
if ((elem=photoPose->FirstChildElement("Rotation")) == NULL)
continue;
imageData.poseID = platform.poses.size();
Platform::Pose& pose = platform.poses.AddEmpty();
pose.R = Matrix3x3(
elem->FirstChildElement("M_00")->DoubleText(),
elem->FirstChildElement("M_01")->DoubleText(),
elem->FirstChildElement("M_02")->DoubleText(),
elem->FirstChildElement("M_10")->DoubleText(),
elem->FirstChildElement("M_11")->DoubleText(),
elem->FirstChildElement("M_12")->DoubleText(),
elem->FirstChildElement("M_20")->DoubleText(),
elem->FirstChildElement("M_21")->DoubleText(),
elem->FirstChildElement("M_22")->DoubleText());
if ((elem=photoPose->FirstChildElement("Center")) == NULL)
continue;
pose.C = Point3(
elem->FirstChildElement("x")->DoubleText(),
elem->FirstChildElement("y")->DoubleText(),
elem->FirstChildElement("z")->DoubleText());
imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
// set depth stats
if ((elem=photo->FirstChildElement("MedianDepth")) != NULL)
imageData.avgDepth = (float)elem->DoubleText();
else if (photo->FirstChildElement("NearDepth") != NULL && photo->FirstChildElement("FarDepth") != NULL)
imageData.avgDepth = (float)((photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2);
else
imageData.avgDepth = 0;
++nPoses;
}
}
if (scene.images.size() < 2)
return false;
scene.nCalibratedImages = (unsigned)nPoses;
// transform poses to a local coordinate system
const bool bLocalCoords(document->FirstChildElement("SRSId") == NULL ||
((elem=blocksExchange->FirstChildElement("SpatialReferenceSystems")) != NULL && (elem=elem->FirstChildElement("SRS")) != NULL && (elem=elem->FirstChildElement("Name")) != NULL && _tcsncmp(elem->GetText(), "Local Coordinates", 17) == 0));
Point3 center = Point3::ZERO;
if (!bLocalCoords) {
for (const Image& imageData : scene.images)
center += imageData.camera.C;
center /= scene.images.size();
for (Platform& platform : scene.platforms)
for (Platform::Pose& pose : platform.poses)
pose.C -= center;
}
// try to read also the sparse point-cloud
const tinyxml2::XMLElement* tiepoints = document->FirstChildElement("TiePoints");
if (tiepoints == NULL)
return true;
for (const tinyxml2::XMLElement* tiepoint=tiepoints->FirstChildElement(); tiepoint!=NULL; tiepoint=tiepoint->NextSiblingElement()) {
if ((elem=tiepoint->FirstChildElement("Position")) == NULL)
continue;
scene.pointcloud.points.emplace_back(
(float)elem->FirstChildElement("x")->DoubleText(),
(float)elem->FirstChildElement("y")->DoubleText(),
(float)elem->FirstChildElement("z")->DoubleText());
if (!bLocalCoords)
scene.pointcloud.points.back() -= Cast<float>(center);
if ((elem=tiepoint->FirstChildElement("Color")) != NULL)
scene.pointcloud.colors.emplace_back(
(uint8_t)CLAMP(elem->FirstChildElement("Red")->DoubleText()*255, 0.0, 255.0),
(uint8_t)CLAMP(elem->FirstChildElement("Green")->DoubleText()*255, 0.0, 255.0),
(uint8_t)CLAMP(elem->FirstChildElement("Blue")->DoubleText()*255, 0.0, 255.0));
PointCloud::ViewArr views;
for (const tinyxml2::XMLElement* view=tiepoint->FirstChildElement("Measurement"); view!=NULL; view=view->NextSiblingElement())
views.emplace_back(mapImageID.at(view->FirstChildElement("PhotoId")->UnsignedText()));
scene.pointcloud.pointViews.emplace_back(std::move(views));
}
return true;
}
// parse scene stored either in Metashape images list format or ContextCapture BlocksExchange format
bool ParseSceneXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
{
// parse XML file
const String strInputFileName(MAKE_PATH_SAFE(OPT::strInputFileName));
tinyxml2::XMLDocument doc; {
ISTREAMPTR pStream(new File(strInputFileName, File::READ, File::OPEN));
if (!((File*)(ISTREAM*)pStream)->isOpen()) {
VERBOSE("error: failed opening the input scene file");
return false;
}
const size_t nLen(pStream->getSize());
String str; str.resize(nLen);
pStream->read(&str[0], nLen);
doc.Parse(str.c_str(), nLen);
}
if (doc.ErrorID() != tinyxml2::XML_SUCCESS) {
VERBOSE("error: invalid XML file");
return false;
}
// parse scene
if (doc.FirstChildElement("BlocksExchange") == NULL)
return ParseImageListXML(doc, scene, pltDistCoeffs, nCameras, nPoses);
return ParseBlocksExchangeXML(doc, scene, pltDistCoeffs, nCameras, nPoses);
}
// undistort image using Brown's model
bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
{
// do we need to undistort?
if (!dc.HasDistortion())
return true;
// load image pixels
if (!imageData.ReloadImage())
return false;
// initialize intrinsics
const cv::Vec<double,8>& distCoeffs = *reinterpret_cast<const cv::Vec<REAL,8>*>(dc.coeff);
const KMatrix prevK(imageData.camera.GetK<REAL>(imageData.width, imageData.height));
#if 1
const KMatrix& K(prevK);
#else
const KMatrix K(cv::getOptimalNewCameraMatrix(prevK, distCoeffs, imageData.size(), 0.0, cv::Size(), NULL, true));
ASSERT(K(0,2) == Camera::ComposeK(prevK(0,0), prevK(1,1), imageData.width(), imageData.height())(0,2));
ASSERT(K(1,2) == Camera::ComposeK(prevK(0,0), prevK(1,1), imageData.width(), imageData.height())(1,2));
if (K.IsEqual(prevK)) {
int i(0);
while (distCoeffs(i++) == 0.0) {
if (i == 8)
return true; // nothing to do
}
}
#endif
// undistort image
Image8U3 imgUndist;
cv::undistort(imageData.image, imgUndist, prevK, distCoeffs, K);
imageData.ReleaseImage();
// save undistorted image
imageData.image = imgUndist;
imageData.name = pathData + String::FormatString(_T("%05u.jpg"), ID);
Util::ensureFolder(imageData.name);
return imageData.image.Save(imageData.name);
}
// project all points in this image and keep those looking at the camera and are most in front
void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
{
ASSERT(pointcloud.IsValid());
const int CHalfSize(1);
const int FHalfSize(5);
const Depth thCloseDepth(0.1f);
// sort points by depth
IndexScoreArr points(0, pointcloud.points.size());
FOREACH(p, pointcloud.points) {
const PointCloud::Point& X(pointcloud.points[p]);
const float d((float)imageData.camera.PointDepth(X));
if (d <= 0)
continue;
points.emplace_back((uint32_t)p, d);
}
points.Sort();
// project all points to this view
DepthMap depthMap(imageData.GetSize());
TImage<cuint32_t> pointMap(imageData.GetSize());
depthMap.fill(FLT_MAX);
pointMap.memset((uint8_t)NO_ID);
RFOREACHPTR(pPD, points) {
const Point3 X(pointcloud.points[pPD->idx]);
const Point3f Xc(imageData.camera.TransformPointW2C(X));
// (also the view to point vector cause the face is in camera view space)
// point skip already in the previous step if the (cos) angle between
// the view to point vector and the view direction is negative
ASSERT(Xc.z > 0);
// skip point if the (cos) angle between
// its normal and the point to view vector is negative
if (!pointcloud.normals.empty() && Xc.dot(pointcloud.normals[pPD->idx]) > 0)
continue;
const Point2f x(imageData.camera.TransformPointC2I(Xc));
const ImageRef ir(ROUND2INT(x));
if (!depthMap.isInside(ir))
continue;
// skip point if the there is a very near by point closer
for (int i=-CHalfSize; i<=CHalfSize; ++i) {
const int rw(ir.y+i);
for (int j=-CHalfSize; j<=CHalfSize; ++j) {
const int cw(ir.x+j);
if (!depthMap.isInside(ImageRef(cw,rw)))
continue;
if (depthMap(rw,cw) < Xc.z)
goto NEXT_POINT;
}
}
// skip the point if there is a near by point much closer
for (int i=-FHalfSize; i<=FHalfSize; ++i) {
const int rw(ir.y+i);
for (int j=-FHalfSize; j<=FHalfSize; ++j) {
const int cw(ir.x+j);
if (!depthMap.isInside(ImageRef(cw,rw)))
continue;
const Depth depth(depthMap(rw,cw));
if (depth < Xc.z && !IsDepthSimilar(depth, Xc.z, thCloseDepth))
goto NEXT_POINT;
}
}
// store this point
depthMap(ir) = Xc.z;
pointMap(ir) = pPD->idx;
NEXT_POINT:;
}
// add all points viewed by this camera
const int HalfSize(1);
const int RowsEnd(pointMap.rows-HalfSize);
const int ColsEnd(pointMap.cols-HalfSize);
unsigned nNumPoints(0);
#ifdef _USE_OPENMP
#pragma omp critical
#endif
for (int r=HalfSize; r<RowsEnd; ++r) {
for (int c=HalfSize; c<ColsEnd; ++c) {
const uint32_t idx(pointMap(r,c));
if (idx == NO_ID)
continue;
#ifdef _USE_OPENMP
pointcloud.pointViews[idx].InsertSort(ID);
#else
pointcloud.pointViews[idx].Insert(ID);
ASSERT(pointcloud.pointViews[idx].IsSorted());
#endif
++nNumPoints;
}
}
DEBUG_ULTIMATE("\tview %3u sees %u points", ID, nNumPoints);
}
} // unnamed namespace
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;
TD_TIMER_START();
Scene scene(OPT::nMaxThreads);
// convert data from Metashape format to OpenMVS
PlatformDistCoeffs pltDistCoeffs;
size_t nCameras(0), nPoses(0);
if (!ParseSceneXML(scene, pltDistCoeffs, nCameras, nPoses))
return EXIT_FAILURE;
// read the 3D point-cloud if available
if (!OPT::strPointsFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
return EXIT_FAILURE;
const bool bAssignPoints(!scene.pointcloud.IsEmpty() && !scene.pointcloud.IsValid());
if (bAssignPoints)
scene.pointcloud.pointViews.resize(scene.pointcloud.GetSize());
// undistort images
const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
Util::Progress progress(_T("Processed images"), scene.images.size());
GET_LOGCONSOLE().Pause();
#ifdef _USE_OPENMP
bool bAbort(false);
#pragma omp parallel for shared(bAbort) schedule(dynamic)
for (int ID=0; ID<(int)scene.images.size(); ++ID) {
#pragma omp flush (bAbort)
if (bAbort)
continue;
#else
FOREACH(ID, scene.images) {
#endif
++progress;
Image& imageData = scene.images[ID];
if (!imageData.IsValid())
continue;
if (!UndistortBrown(imageData, ID, pltDistCoeffs[imageData.platformID][imageData.cameraID], pathData)) {
#ifdef _USE_OPENMP
bAbort = true;
#pragma omp flush (bAbort)
continue;
#else
return EXIT_FAILURE;
#endif
}
imageData.UpdateCamera(scene.platforms);
if (bAssignPoints)
AssignPoints(imageData, ID, scene.pointcloud);
}
GET_LOGCONSOLE().Play();
#ifdef _USE_OPENMP
if (bAbort)
return EXIT_FAILURE;
#endif
progress.close();
if (scene.pointcloud.IsValid()) {
// filter invalid points
RFOREACH(i, scene.pointcloud.points)
if (scene.pointcloud.pointViews[i].size() < 2)
scene.pointcloud.RemovePoint(i);
// compute average scene depth per image
if (!std::any_of(scene.images.begin(), scene.images.end(), [](const Image& imageData) { return imageData.avgDepth > 0; })) {
std::vector<float> avgDepths(scene.images.size(), 0.f);
std::vector<uint32_t> numDepths(scene.images.size(), 0u);
FOREACH(idxPoint, scene.pointcloud.points) {
const Point3 X(scene.pointcloud.points[idxPoint]);
for (const PointCloud::View& idxImage: scene.pointcloud.pointViews[idxPoint]) {
const Image& imageData = scene.images[idxImage];
const float depth((float)imageData.camera.PointDepth(X));
if (depth > 0) {
avgDepths[idxImage] += depth;
++numDepths[idxImage];
}
}
}
FOREACH(idxImage, scene.images) {
Image& imageData = scene.images[idxImage];
if (numDepths[idxImage] > 0)
imageData.avgDepth = avgDepths[idxImage] / numDepths[idxImage];
}
}
}
// print average scene depth per image stats
MeanStdMinMax<float,double> acc;
for (const Image& imageData: scene.images)
if (imageData.avgDepth > 0)
acc.Update(imageData.avgDepth);
// write OpenMVS input data
scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images, %u vertices, %g min / %g mean (%g std) / %g max average scene depth per image (%s)",
scene.platforms.size(), nCameras, nPoses, scene.images.size(), scene.pointcloud.GetSize(),
acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal,
TD_TIMER_GET_FMT().c_str());
return EXIT_SUCCESS;
}
/*----------------------------------------------------------------*/