Merge pull request #1069 from pierotofy/sift2

SIFT features

Former-commit-id: e4d162ec83

SuperBuild/cmake/External-OpenCV.cmake

@@ -1,7 +1,29 @@
 set(_proj_name opencv)
 set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
 
+ExternalProject_Add(opencv_contrib
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/pierotofy/opencv_contrib/archive/346sift.zip
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/opencv_contrib
+  CONFIGURE_COMMAND ""
+  BUILD_IN_SOURCE 1
+  BUILD_COMMAND   ""
+  INSTALL_COMMAND ""
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
+
 ExternalProject_Add(${_proj_name}
+  DEPENDS           opencv_contrib
   PREFIX            ${_SB_BINARY_DIR}
   TMP_DIR           ${_SB_BINARY_DIR}/tmp
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
@@ -46,6 +68,8 @@ ExternalProject_Add(${_proj_name}
     -DBUILD_opencv_java=OFF
     -DBUILD_opencv_ocl=OFF
     -DBUILD_opencv_ts=OFF
+    -DOPENCV_EXTRA_MODULES_PATH=${SB_SOURCE_DIR}/opencv_contrib/modules
+    -DBUILD_opencv_xfeatures2d=ON
     -DCMAKE_BUILD_TYPE:STRING=Release
     -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
   #--Build step-----------------

opendm/config.py

@@ -113,6 +113,14 @@ def config():
                         help=('Minimum number of features to extract per image. '
                               'More features leads to better results but slower '
                               'execution. Default: %(default)s'))
+    
+    parser.add_argument('--feature-type',
+            metavar='<string>',
+            default='sift',
+            choices=['sift', 'hahog'],
+            help=('Choose the algorithm for extracting keypoints and computing descriptors. '
+                'Can be one of: [sift, hahog]. Default: '
+                '%(default)s'))
 
     parser.add_argument('--matcher-neighbors',
                         type=int,
@@ -249,7 +257,7 @@ def config():
 
     parser.add_argument('--mesh-octree-depth',
                         metavar='<positive integer>',
-                        default=11,
+                        default=10,
                         type=int,
                         help=('Oct-tree depth used in the mesh reconstruction, '
                               'increase to get more vertices, recommended '

opendm/osfm.py

@@ -93,6 +93,7 @@ class OSFMContext:
                     log.ODM_WARNING("Cannot set camera_models_overrides.json: %s" % str(e))
 
             use_bow = False
+            feature_type = "SIFT"
 
             matcher_neighbors = args.matcher_neighbors
             if matcher_neighbors != 0 and reconstruction.multi_camera is not None:
@@ -128,9 +129,18 @@ class OSFMContext:
                 log.ODM_INFO("No GPS information, using BOW matching")
                 use_bow = True
 
+            feature_type = args.feature_type.upper()
+
             if use_bow:
                 config.append("matcher_type: WORDS")
 
+                # Cannot use SIFT with BOW
+                if feature_type == "SIFT":
+                    log.ODM_WARNING("Using BOW matching, will use HAHOG feature type, not SIFT")
+                    feature_type = "HAHOG"
+            
+            config.append("feature_type: %s" % feature_type)
+
             if has_alt:
                 log.ODM_INFO("Altitude data detected, enabling it for GPS alignment")
                 config.append("use_altitude_tag: yes")