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openMVS/apps/ReconstructMesh/ReconstructMesh.cpp

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/*
* ReconstructMesh.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>
using namespace MVS;
// D E F I N E S ///////////////////////////////////////////////////
#define APPNAME _T("ReconstructMesh")
// uncomment to enable multi-threading based on OpenMP
#ifdef _USE_OPENMP
#define RECMESH_USE_OPENMP
#endif
// S T R U C T S ///////////////////////////////////////////////////
namespace {
namespace OPT {
String strInputFileName;
String strPointCloudFileName;
String strOutputFileName;
String strMeshFileName;
String strImportROIFileName;
String strImagePointsFileName;
bool bMeshExport;
float fDistInsert;
bool bUseOnlyROI;
bool bUseConstantWeight;
bool bUseFreeSpaceSupport;
float fThicknessFactor;
float fQualityFactor;
float fDecimateMesh;
unsigned nTargetFaceNum;
float fRemoveSpurious;
bool bRemoveSpikes;
unsigned nCloseHoles;
unsigned nSmoothMesh;
float fEdgeLength;
bool bCrop2ROI;
float fBorderROI;
float fSplitMaxArea;
unsigned nArchiveType;
int nProcessPriority;
unsigned nMaxThreads;
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("ply")), "file type used to export the 3D scene (ply or obj)")
("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 reconstruct 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_main("Reconstruct options");
config_main.add_options()
("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "dense point-cloud with views file name to reconstruct (overwrite existing point-cloud)")
("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
("min-point-distance,d", boost::program_options::value(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
("integrate-only-roi", boost::program_options::value(&OPT::bUseOnlyROI)->default_value(false), "use only the points inside the ROI")
("constant-weight", boost::program_options::value(&OPT::bUseConstantWeight)->default_value(true), "considers all view weights 1 instead of the available weight")
("free-space-support,f", boost::program_options::value(&OPT::bUseFreeSpaceSupport)->default_value(false), "exploits the free-space support in order to reconstruct weakly-represented surfaces")
("thickness-factor", boost::program_options::value(&OPT::fThicknessFactor)->default_value(1.f), "multiplier adjusting the minimum thickness considered during visibility weighting")
("quality-factor", boost::program_options::value(&OPT::fQualityFactor)->default_value(1.f), "multiplier adjusting the quality weight considered during graph-cut")
;
boost::program_options::options_description config_clean("Clean options");
config_clean.add_options()
("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range (0..1] to be applied to the reconstructed surface (1 - disabled)")
("target-face-num", boost::program_options::value(&OPT::nTargetFaceNum)->default_value(0), "target number of faces to be applied to the reconstructed surface. (0 - disabled)")
("remove-spurious", boost::program_options::value(&OPT::fRemoveSpurious)->default_value(20.f), "spurious factor for removing faces with too long edges or isolated components (0 - disabled)")
("remove-spikes", boost::program_options::value(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
("smooth", boost::program_options::value(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
("edge-length", boost::program_options::value(&OPT::fEdgeLength)->default_value(0.f), "remesh such that the average edge length is this size (0 - disabled)")
("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
;
// 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()
("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to clean (skips the reconstruction step)")
("mesh-export", boost::program_options::value(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
("split-max-area", boost::program_options::value(&OPT::fSplitMaxArea)->default_value(0.f), "maximum surface area that a sub-mesh can contain (0 - disabled)")
("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
("image-points-file", boost::program_options::value<std::string>(&OPT::strImagePointsFileName), "input filename containing the list of points from an image to project on the mesh (optional)")
;
boost::program_options::options_description cmdline_options;
cmdline_options.add(generic).add(config_main).add(config_clean).add(hidden);
boost::program_options::options_description config_file_options;
config_file_options.add(config_main).add(config_clean).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_main).add(config_clean);
GET_LOG() << visible;
}
if (OPT::strInputFileName.empty())
return false;
OPT::strExportType = OPT::strExportType.ToLower() == _T("obj") ? _T(".obj") : _T(".ply");
// initialize optional options
Util::ensureValidPath(OPT::strPointCloudFileName);
Util::ensureValidPath(OPT::strOutputFileName);
Util::ensureValidPath(OPT::strImportROIFileName);
Util::ensureValidPath(OPT::strImagePointsFileName);
Util::ensureValidPath(OPT::strMeshFileName);
if (OPT::strPointCloudFileName.empty() && (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
OPT::strPointCloudFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
if (OPT::strOutputFileName.empty())
OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.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
// export 3D coordinates corresponding to 2D coordinates provided by inputFileName:
// parse image point list; first line is the name of the image to project,
// each consequent line store the xy coordinates to project:
// <image-name> <number-of-points>
// <x-coord1> <y-coord1>
// <x-coord2> <y-coord2>
// ...
//
// for example:
// N01.JPG 3
// 3090 2680
// 3600 2100
// 3640 2190
bool Export3DProjections(Scene& scene, const String& inputFileName) {
SML smlPointList(_T("ImagePoints"));
smlPointList.Load(inputFileName);
ASSERT(smlPointList.GetArrChildren().size() <= 1);
IDX idx(0);
// read image name
size_t argc;
CAutoPtrArr<LPSTR> argv;
while (true) {
argv = Util::CommandLineToArgvA(smlPointList.GetValue(idx).val, argc);
if (argc > 0 && argv[0][0] != _T('#'))
break;
if (++idx == smlPointList.size())
return false;
}
if (argc < 2)
return false;
String imgName(argv[0]);
IIndex imgID(NO_ID);
for (const Image& imageData : scene.images) {
if (!imageData.IsValid())
continue;
if (imageData.name.substr(imageData.name.size() - imgName.size()) == imgName) {
imgID = imageData.ID;
break;
}
}
if (imgID == NO_ID) {
VERBOSE("Unable to find image named: %s", imgName.c_str());
return false;
}
// read image points
std::vector<Point2f> imagePoints;
while (++idx != smlPointList.size()) {
// parse image element
const String& line(smlPointList.GetValue(idx).val);
argv = Util::CommandLineToArgvA(line, argc);
if (argc > 0 && argv[0][0] == _T('#'))
continue;
if (argc < 2) {
VERBOSE("Invalid image coordinates: %s", line.c_str());
continue;
}
const Point2f pt(
String::FromString<float>(argv[0], -1),
String::FromString<float>(argv[1], -1));
if (pt.x > 0 && pt.y > 0)
imagePoints.emplace_back(pt);
}
if (imagePoints.empty()) {
VERBOSE("Unable to read image points from: %s", imgName.c_str());
return false;
}
// prepare output file
String outFileName(Util::insertBeforeFileExt(inputFileName, "_3D"));
File oStream(outFileName, File::WRITE, File::CREATE | File::TRUNCATE);
if (!oStream.isOpen()) {
VERBOSE("Unable to open output file: %s", outFileName.c_str());
return false;
}
// print image name
oStream.print("%s %u\n", imgName.c_str(), imagePoints.size());
// init mesh octree
const Mesh::Octree octree(scene.mesh.vertices, [](Mesh::Octree::IDX_TYPE size, Mesh::Octree::Type /*radius*/) {
return size > 256;
});
scene.mesh.ListIncidenteFaces();
// save 3D coord in the output file
const Image& imgToExport = scene.images[imgID];
for (const Point2f& pt : imagePoints) {
// define ray from camera center to each x,y image coord
const Ray3 ray(imgToExport.camera.C, normalized(imgToExport.camera.RayPoint<REAL>(pt)));
// find ray intersection with the mesh
const IntersectRayMesh intRay(octree, ray, scene.mesh);
if (intRay.pick.IsValid()) {
const Point3d ptHit(ray.GetPoint(intRay.pick.dist));
oStream.print("%.7f %.7f %.7f\n", ptHit.x, ptHit.y, ptHit.z);
} else
oStream.print("NA\n");
}
return true;
}
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;
Scene scene(OPT::nMaxThreads);
// load project
const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName),
OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0 || !OPT::strImportROIFileName.empty()));
if (sceneType == Scene::SCENE_NA)
return EXIT_FAILURE;
if (!OPT::strPointCloudFileName.empty() && (File::isFile(MAKE_PATH_SAFE(OPT::strPointCloudFileName)) ?
!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName)) :
!scene.pointcloud.IsValid())) {
VERBOSE("error: cannot load point-cloud file");
return EXIT_FAILURE;
}
if (!OPT::strMeshFileName.empty() && !scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName))) {
VERBOSE("error: cannot load mesh file");
return EXIT_FAILURE;
}
const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
if (OPT::fSplitMaxArea > 0) {
// split mesh using max-area constraint
Mesh::FacesChunkArr chunks;
if (scene.mesh.Split(chunks, OPT::fSplitMaxArea))
scene.mesh.Save(chunks, baseFileName);
return EXIT_SUCCESS;
}
if (!OPT::strImportROIFileName.empty()) {
std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
if (!fs)
return EXIT_FAILURE;
fs >> scene.obb;
if (OPT::bCrop2ROI && !scene.mesh.IsEmpty() && !scene.IsValid()) {
TD_TIMER_START();
const size_t numVertices = scene.mesh.vertices.size();
const size_t numFaces = scene.mesh.faces.size();
scene.mesh.RemoveFacesOutside(scene.obb);
VERBOSE("Mesh trimmed to ROI: %u vertices and %u faces removed (%s)",
numVertices-scene.mesh.vertices.size(), numFaces-scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
scene.mesh.Save(baseFileName+OPT::strExportType);
return EXIT_SUCCESS;
}
}
if (!OPT::strImagePointsFileName.empty() && !scene.mesh.IsEmpty()) {
Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
return EXIT_SUCCESS;
}
if (OPT::bMeshExport) {
// check there is a mesh to export
if (scene.mesh.IsEmpty())
return EXIT_FAILURE;
// save mesh
const String fileName(MAKE_PATH_SAFE(OPT::strOutputFileName));
scene.mesh.Save(fileName);
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 2)
scene.ExportCamerasMLP(baseFileName+_T(".mlp"), fileName);
#endif
} else {
const OBB3f initialOBB(scene.obb);
if (OPT::fBorderROI > 0)
scene.obb.EnlargePercent(OPT::fBorderROI);
else if (OPT::fBorderROI < 0)
scene.obb.Enlarge(-OPT::fBorderROI);
if (OPT::strMeshFileName.empty() && scene.mesh.IsEmpty()) {
// reset image resolution to the original size and
// make sure the image neighbors are initialized before deleting the point-cloud
#ifdef RECMESH_USE_OPENMP
bool bAbort(false);
#pragma omp parallel for
for (int_t idx=0; idx<(int_t)scene.images.size(); ++idx) {
#pragma omp flush (bAbort)
if (bAbort)
continue;
const uint32_t idxImage((uint32_t)idx);
#else
FOREACH(idxImage, scene.images) {
#endif
Image& imageData = scene.images[idxImage];
if (!imageData.IsValid())
continue;
// reset image resolution
if (!imageData.ReloadImage(0, false)) {
#ifdef RECMESH_USE_OPENMP
bAbort = true;
#pragma omp flush (bAbort)
continue;
#else
return EXIT_FAILURE;
#endif
}
imageData.UpdateCamera(scene.platforms);
// select neighbor views
if (imageData.neighbors.empty()) {
IndexArr points;
scene.SelectNeighborViews(idxImage, points);
}
}
#ifdef RECMESH_USE_OPENMP
if (bAbort)
return EXIT_FAILURE;
#endif
// reconstruct a coarse mesh from the given point-cloud
TD_TIMER_START();
if (OPT::bUseConstantWeight)
scene.pointcloud.pointWeights.Release();
if (!scene.ReconstructMesh(OPT::fDistInsert, OPT::bUseFreeSpaceSupport, OPT::bUseOnlyROI, 4, OPT::fThicknessFactor, OPT::fQualityFactor))
return EXIT_FAILURE;
VERBOSE("Mesh reconstruction completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 2) {
// dump raw mesh
scene.mesh.Save(baseFileName+_T("_raw")+OPT::strExportType);
}
#endif
} else if (!OPT::strMeshFileName.empty()) {
// load existing mesh to clean
scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
}
// clean the mesh
if (OPT::bCrop2ROI && scene.IsBounded()) {
TD_TIMER_START();
const size_t numVertices = scene.mesh.vertices.size();
const size_t numFaces = scene.mesh.faces.size();
scene.mesh.RemoveFacesOutside(scene.obb);
VERBOSE("Mesh trimmed to ROI: %u vertices and %u faces removed (%s)",
numVertices-scene.mesh.vertices.size(), numFaces-scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
}
const float fDecimate(OPT::nTargetFaceNum ? static_cast<float>(OPT::nTargetFaceNum) / scene.mesh.faces.size() : OPT::fDecimateMesh);
scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, OPT::fEdgeLength, false);
scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0u, 0.f, false); // extra cleaning trying to close more holes
scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
scene.obb = initialOBB;
// 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::strImagePointsFileName.empty()) {
Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
return EXIT_SUCCESS;
}
return EXIT_SUCCESS;
}
/*----------------------------------------------------------------*/