edgarriba
9 years ago
parent
6faed7812a
commit
d3dd859459
9 changed files with 489 additions and 2 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
|
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
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//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
|
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
|
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_SFM_IO_HPP__ |
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#define __OPENCV_SFM_IO_HPP__ |
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#include <opencv2/core.hpp> |
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namespace cv |
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{ |
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namespace sfm |
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{ |
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//! @addtogroup io
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//! @{
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/** @brief Different supported file formats.
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*/ |
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enum { |
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SFM_IO_BUNDLER = 0, |
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SFM_IO_VISUALSFM = 1, |
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SFM_IO_OPENSFM = 2, |
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SFM_IO_OPENMVG = 3, |
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SFM_IO_THEIASFM = 4 |
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}; |
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/** @brief Import a reconstruction file.
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@param file The path to the file. |
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@param Rs Output vector of 3x3 rotations of the camera |
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@param Ts Output vector of 3x1 translations of the camera. |
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@param Ks Output vector of 3x3 instrinsics of the camera. |
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@param points3d Output array with 3d points. Is 3 x N. |
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@param file_format The format of the file to import. |
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The function supports reconstructions from Bundler. |
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*/ |
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CV_EXPORTS_W |
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void |
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importReconstruction(const cv::String &file, OutputArrayOfArrays Rs, |
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OutputArrayOfArrays Ts, OutputArrayOfArrays Ks, |
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OutputArray points3d, int file_format = SFM_IO_BUNDLER); |
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//! @} sfm
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} /* namespace sfm */ |
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} /* namespace cv */ |
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#endif |
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/* End of file. */ |
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#include <opencv2/sfm.hpp> |
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#include <opencv2/viz.hpp> |
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#include <iostream> |
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using namespace std; |
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using namespace cv; |
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using namespace cv::sfm; |
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static void help() { |
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cout |
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<< "\n---------------------------------------------------------------------------\n" |
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<< " This program shows how to import a reconstructed scene in the \n" |
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<< " OpenCV Structure From Motion (SFM) module.\n" |
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<< " Usage:\n" |
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<< " example_sfm_import_reconstruction <path_to_file>\n" |
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<< " where: file_path is the absolute path file into your system which contains\n" |
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<< " the reconstructed scene. \n" |
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<< "---------------------------------------------------------------------------\n\n" |
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<< endl; |
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} |
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int main(int argc, char* argv[]) |
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{ |
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/// Read input parameters
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if ( argc != 2 ) { |
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help(); |
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exit(0); |
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} |
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/// Immport a reconstructed scene
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vector<Mat> Rs, Ts, Ks, points3d; |
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importReconstruction(argv[1], Rs, Ts, Ks, points3d, SFM_IO_BUNDLER); |
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/// Create 3D windows
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viz::Viz3d window("Coordinate Frame"); |
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window.setWindowSize(Size(500,500)); |
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window.setWindowPosition(Point(150,150)); |
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window.setBackgroundColor(); // black by default
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/// Create the pointcloud
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vector<Vec3d> point_cloud; |
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for (int i = 0; i < points3d.size(); ++i){ |
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point_cloud.push_back(Vec3f(points3d[i])); |
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} |
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/// Recovering cameras
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vector<Affine3d> path; |
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for (size_t i = 0; i < Rs.size(); ++i) |
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path.push_back(Affine3d(Rs[i], Ts[i])); |
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/// Create and show widgets
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viz::WCloud cloud_widget(point_cloud, viz::Color::green()); |
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viz::WTrajectory trajectory(path, viz::WTrajectory::FRAMES, 0.5); |
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viz::WTrajectoryFrustums frustums(path, Vec2f(0.889484, 0.523599), 0.5, |
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viz::Color::yellow()); |
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window.showWidget("point_cloud", cloud_widget); |
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window.showWidget("cameras", trajectory); |
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window.showWidget("frustums", frustums); |
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/// Wait for key 'q' to close the window
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cout << endl << "Press 'q' to close each windows ... " << endl; |
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window.spin(); |
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return 0; |
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} |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
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//
|
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//
|
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// License Agreement
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// For Open Source Computer Vision Library
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//
|
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// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
|
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// This software is provided by the copyright holders and contributors "as is" and
|
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// any express or implied warranties, including, but not limited to, the implied
|
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// In no event shall the Intel Corporation or contributors be liable for any direct,
|
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// indirect, incidental, special, exemplary, or consequential damages
|
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
|
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include <opencv2/sfm/io.hpp> |
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#include "io/io_bundler.h" |
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namespace cv |
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{ |
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namespace sfm |
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{ |
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void |
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importReconstruction(const cv::String &file, OutputArrayOfArrays _Rs, |
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OutputArrayOfArrays _Ts, OutputArrayOfArrays _Ks, |
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OutputArray _points3d, int file_format) { |
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std::vector<Matx33d> Rs, Ks; |
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std::vector<Vec3d> Ts, points3d; |
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if (file_format == SFM_IO_BUNDLER) { |
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readBundlerFile(file, Rs, Ts, Ks, points3d); |
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} else if (file_format == SFM_IO_VISUALSFM) { |
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CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented"); |
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} else if (file_format == SFM_IO_OPENSFM) { |
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CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented"); |
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} else if (file_format == SFM_IO_OPENMVG) { |
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CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented"); |
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} else if (file_format == SFM_IO_THEIASFM) { |
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CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented"); |
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} else { |
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CV_Error(Error::StsBadArg, "The file format one of SFM_IO_BUNDLER, SFM_IO_VISUALSFM, SFM_IO_OPENSFM, SFM_IO_OPENMVG or SFM_IO_THEIASFM"); |
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} |
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const size_t num_cameras = Rs.size(); |
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const size_t num_points = points3d.size(); |
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_Rs.create(num_cameras, 1, CV_64F); |
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_Ts.create(num_cameras, 1, CV_64F); |
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_Ks.create(num_cameras, 1, CV_64F); |
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_points3d.create(num_points, 1, CV_64F); |
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for (size_t i = 0; i < num_cameras; ++i) { |
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Mat(Rs[i]).copyTo(_Rs.getMatRef(i)); |
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Mat(Ts[i]).copyTo(_Ts.getMatRef(i)); |
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Mat(Ks[i]).copyTo(_Ks.getMatRef(i)); |
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} |
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for (size_t i = 0; i < num_points; ++i) |
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Mat(points3d[i]).copyTo(_points3d.getMatRef(i)); |
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} |
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} /* namespace sfm */ |
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} /* namespace cv */ |
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@ -0,0 +1,189 @@ |
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/*
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Based on TheiaSfM library. |
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https://github.com/sweeneychris/TheiaSfM/blob/master/src/theia/io/read_bundler_files.cc
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Adapted by Edgar Riba <edgar.riba@gmail.com> |
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*/ |
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#include <iostream> |
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#include <fstream> |
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#include <opencv2/core.hpp> |
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// The bundle files contain the estimated scene and camera geometry have the
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// following format:
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// # Bundle file v0.3
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// <num_cameras> <num_points> [two integers]
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// <camera1>
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// <camera2>
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// ...
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// <cameraN>
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// <point1>
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// <point2>
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// ...
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// <pointM>
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// Each camera entry <cameraI> contains the estimated camera intrinsics and
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// extrinsics, and has the form:
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// <f> <k1> <k2> [the focal length, followed by two radial distortion
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// coeffs]
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// <R> [a 3x3 matrix representing the camera rotation]
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// <t> [a 3-vector describing the camera translation]
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// The cameras are specified in the order they appear in the list of images.
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//
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// Each point entry has the form:
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// <position> [a 3-vector describing the 3D position of the point]
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// <color> [a 3-vector describing the RGB color of the point]
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// <view list> [a list of views the point is visible in]
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//
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// The view list begins with the length of the list (i.e., the number of cameras
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// the point is visible in). The list is then given as a list of quadruplets
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// <camera> <key> <x> <y>, where <camera> is a camera index, <key> the index of
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// the SIFT keypoint where the point was detected in that camera, and <x> and
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// <y> are the detected positions of that keypoint. Both indices are 0-based
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// (e.g., if camera 0 appears in the list, this corresponds to the first camera
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// in the scene file and the first image in "list.txt"). The pixel positions are
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// floating point numbers in a coordinate system where the origin is the center
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// of the image, the x-axis increases to the right, and the y-axis increases
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// towards the top of the image. Thus, (-w/2, -h/2) is the lower-left corner of
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// the image, and (w/2, h/2) is the top-right corner (where w and h are the
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// width and height of the image).
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bool readBundlerFile(const std::string &file, |
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std::vector<cv::Matx33d> &Rs, |
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std::vector<cv::Vec3d> &Ts, |
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std::vector<cv::Matx33d> &Ks, |
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std::vector<cv::Vec3d> &points3d) { |
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// Read in num cameras, num points.
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std::ifstream ifs(file.c_str(), std::ios::in); |
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if (!ifs.is_open()) { |
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std::cout << "Cannot read the file from " << file << std::endl; |
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return false; |
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} |
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const cv::Matx33d bundler_to_opencv(1, 0, 0, 0, -1, 0, 0, 0, -1); |
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std::string header_string; |
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std::getline(ifs, header_string); |
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// If the first line starts with '#' then it is a comment, so skip it!
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if (header_string[0] == '#') { |
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std::getline(ifs, header_string); |
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} |
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const char* p = header_string.c_str(); |
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char* p2; |
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const int num_cameras = strtol(p, &p2, 10); |
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p = p2; |
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const int num_points = strtol(p, &p2, 10); |
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// Read in the camera params.
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for (int i = 0; i < num_cameras; i++) { |
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// Read in focal length, radial distortion.
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std::string internal_params; |
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std::getline(ifs, internal_params); |
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p = internal_params.c_str(); |
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const double focal_length = strtod(p, &p2); |
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p = p2; |
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//const double k1 = strtod(p, &p2);
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p = p2; |
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//const double k2 = strtod(p, &p2);
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p = p2; |
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cv::Matx33d intrinsics; |
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intrinsics(0,0) = intrinsics(1,1) = focal_length; |
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Ks.push_back(intrinsics); |
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// Read in rotation (row-major).
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cv::Matx33d rotation; |
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for (int r = 0; r < 3; r++) { |
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std::string rotation_row; |
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std::getline(ifs, rotation_row); |
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p = rotation_row.c_str(); |
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for (int c = 0; c < 3; c++) { |
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rotation(r, c) = strtod(p, &p2); |
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p = p2; |
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} |
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} |
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std::string translation_string; |
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std::getline(ifs, translation_string); |
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p = translation_string.c_str(); |
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cv::Vec3d translation; |
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for (int j = 0; j < 3; j++) { |
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translation(j) = strtod(p, &p2); |
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p = p2; |
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} |
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rotation = bundler_to_opencv * rotation; |
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translation = bundler_to_opencv * translation; |
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cv::Matx33d rotation_t = rotation.t(); |
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translation = -1.0 * rotation_t * translation; |
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Rs.push_back(rotation); |
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Ts.push_back(translation); |
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if ((i + 1) % 100 == 0 || i == num_cameras - 1) { |
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std::cout << "\r Loading parameters for camera " << i + 1 << " / " |
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<< num_cameras << std::flush; |
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} |
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} |
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std::cout << std::endl; |
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// Read in each 3D point and correspondences.
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for (int i = 0; i < num_points; i++) { |
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// Read position.
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std::string position_str; |
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std::getline(ifs, position_str); |
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p = position_str.c_str(); |
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cv::Vec3d position; |
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for (int j = 0; j < 3; j++) { |
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position(j) = strtod(p, &p2); |
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p = p2; |
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} |
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points3d.push_back(position); |
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// Read color.
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std::string color_str; |
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std::getline(ifs, color_str); |
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p = color_str.c_str(); |
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cv::Vec3d color; |
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for (int j = 0; j < 3; j++) { |
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color(j) = static_cast<double>(strtol(p, &p2, 10)) / 255.0; |
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p = p2; |
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} |
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// Read viewlist.
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std::string view_list_string; |
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std::getline(ifs, view_list_string); |
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p = view_list_string.c_str(); |
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const int num_views = strtol(p, &p2, 10); |
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p = p2; |
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// Reserve the view list for this 3D point.
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for (int j = 0; j < num_views; j++) { |
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// Camera key x y
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//const int camera_index = strtol(p, &p2, 10);
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p = p2; |
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// Returns the index of the sift descriptor in the camera for this track.
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strtol(p, &p2, 10); |
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p = p2; |
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//const float x_pos = strtof(p, &p2);
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p = p2; |
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//const float y_pos = strtof(p, &p2);
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p = p2; |
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} |
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if ((i + 1) % 100 == 0 || i == num_points - 1) { |
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std::cout << "\r Loading 3D points " << i + 1 << " / " << num_points |
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<< std::flush; |
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} |
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} |
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std::cout << std::endl; |
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ifs.close(); |
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return true; |
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} |
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@ -0,0 +1,28 @@ |
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Import Reconstruction {#tutorial_sfm_import_reconstruction} |
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===================== |
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Goal |
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---- |
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In this tutorial you will learn how to import a reconstruction from a given file obtained with Bundler [1]: |
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- Load a file containing a set of cameras and 3D points. |
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- Show obtained results using Viz. |
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Code |
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---- |
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@include sfm/samples/import_reconstruction.cpp |
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Results |
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------- |
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The following picture shows a reconstruction from la *Sagrada Familia* (BCN) using dataset [2]. |
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 |
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[1] [http://www.cs.cornell.edu/~snavely/bundler](http://www.cs.cornell.edu/~snavely/bundler) |
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[2] Penate Sanchez, A. and Moreno-Noguer, F. and Andrade Cetto, J. and Fleuret, F. (2014). LETHA: Learning from High Quality Inputs for 3D Pose Estimation in Low Quality Images. Proceedings of the International Conference on 3D vision (3DV). |
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[URL](http://www.iri.upc.edu/research/webprojects/pau/datasets/sagfam) |
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