kopia lustrzana https://github.com/OpenDroneMap/ODM
Revert "Upgrade Bundler + add support for Ceres solver"
Stephen Mather
rodzic
6770b13c79
commit
667ea4e8ff
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@ -8,4 +8,4 @@ odm_texturing-build/
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*.user
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cmvs.tar.gz
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parallel.tar.bz2
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pcl.tar.gz
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pcl.tar.gz
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|
|
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@ -1,6 +0,0 @@
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[submodule "src/bundler"]
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path = src/bundler
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url = https://github.com/chris-cooper/bundler_sfm
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[submodule "src/ceres-solver"]
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path = src/ceres-solver
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url = https://ceres-solver.googlesource.com/ceres-solver
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Plik binarny nie jest wyświetlany.
47
install.sh
47
install.sh
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@ -31,15 +31,14 @@ echo " - script started - `date`"
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INC_PATH="/usr/local/include"
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## source paths
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BUNDLER_PATH="$TOOLS_SRC_PATH/bundler"
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CMVS_PATH="$TOOLS_SRC_PATH/cmvs"
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PMVS_PATH="$TOOLS_SRC_PATH/pmvs"
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CLAPACK_PATH="$TOOLS_SRC_PATH/clapack"
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VLFEAT_PATH="$TOOLS_SRC_PATH/vlfeat"
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PARALLEL_PATH="$TOOLS_SRC_PATH/parallel"
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PSR_PATH="$TOOLS_SRC_PATH/PoissonRecon"
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GRACLUS_PATH="$TOOLS_SRC_PATH/graclus"
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CERES_PATH="$TOOLS_SRC_PATH/ceres-solver"
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BUNDLER_PATH="$TOOLS_SRC_PATH/bundler"
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CMVS_PATH="$TOOLS_SRC_PATH/cmvs"
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PMVS_PATH="$TOOLS_SRC_PATH/pmvs"
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CLAPACK_PATH="$TOOLS_SRC_PATH/clapack"
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VLFEAT_PATH="$TOOLS_SRC_PATH/vlfeat"
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PARALLEL_PATH="$TOOLS_SRC_PATH/parallel"
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PSR_PATH="$TOOLS_SRC_PATH/PoissonRecon"
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GRACLUS_PATH="$TOOLS_SRC_PATH/graclus"
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PCL_PATH="$TOOLS_SRC_PATH/pcl"
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ODM_MESHING_PATH="$TOOLS_SRC_PATH/odm_meshing"
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@ -104,10 +103,6 @@ uname -a > "$TOOLS_LOG_PATH/sysinfo.txt"
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echo
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echo " > installing required packages"
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echo " - installing git submodules"
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git submodule init
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git submodule update
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echo " - updating"
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sudo apt-get update --assume-yes > "$TOOLS_LOG_PATH/apt-get_get.log" 2>&1
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@ -125,7 +120,6 @@ sudo apt-get install --assume-yes --install-recommends \
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libzip-dev \
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libswitch-perl libjson-perl \
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libcv-dev libcvaux-dev libopencv-dev \
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libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev \
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> "$TOOLS_LOG_PATH/apt-get_install.log" 2>&1
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else
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sudo apt-get install --assume-yes --install-recommends \
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@ -139,7 +133,6 @@ sudo apt-get install --assume-yes --install-recommends \
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libzip-dev \
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libswitch-perl \
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libcv-dev libcvaux-dev libopencv-dev \
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libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev \
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> "$TOOLS_LOG_PATH/apt-get_install.log" 2>&1
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fi
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@ -168,6 +161,7 @@ do
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done <<EOF
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parallel.tar.bz2 http://ftp.gnu.org/gnu/parallel/parallel-20141022.tar.bz2
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clapack.tgz http://www.netlib.org/clapack/clapack-3.2.1-CMAKE.tgz
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bundler.zip http://phototour.cs.washington.edu/bundler/distr/bundler-v0.4-source.zip
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PoissonRecon.zip http://www.cs.jhu.edu/~misha/Code/PoissonRecon/Version2/PoissonRecon.zip
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vlfeat.tar.gz http://www.vlfeat.org/download/vlfeat-0.9.13-bin.tar.gz
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cmvs.tar.gz http://www.di.ens.fr/cmvs/cmvs-fix2.tar.gz
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@ -196,11 +190,13 @@ wait
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mv -f graclus1.2 "$GRACLUS_PATH"
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mv -f clapack-3.2.1-CMAKE "$CLAPACK_PATH"
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mv -f vlfeat-0.9.13 "$VLFEAT_PATH"
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mv -f bundler-v0.4-source "$BUNDLER_PATH"
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mv -f parallel-20141022 "$PARALLEL_PATH"
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mv -f PoissonRecon "$PSR_PATH"
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mv -f cmvs "$CMVS_PATH"
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mv -f pcl-pcl-1.7.2 "$PCL_PATH"
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echo " < done - `date`"
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@ -350,34 +346,21 @@ echo " > cmvs/pmvs"
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echo " < done - `date`"
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echo
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echo " > ceres"
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cd "$CERES_PATH"
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echo " - configuring ceres"
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mkdir -p build
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cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=$TOOLS_PATH \
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-DCMAKE_C_FLAGS=-fPIC -DCMAKE_CXX_FLAGS=-fPIC \
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-DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF > "$TOOLS_LOG_PATH/ceres_1_config.log" 2>&1
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echo " - building ceres"
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make install > "$TOOLS_LOG_PATH/ceres_1_build.log" 2>&1
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echo " < done - `date`"
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echo
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echo " > bundler"
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cd "$BUNDLER_PATH"
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sed -i "$BUNDLER_PATH/src/BundlerApp.h" -e "620c\ BundlerApp();"
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echo " - cleaning bundler"
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make clean > "$TOOLS_LOG_PATH/bundler_1_clean.log" 2>&1
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echo " - building bundler"
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make -j > "$TOOLS_LOG_PATH/bundler_2_build.log" 2>&1
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ln -s "$BUNDLER_PATH/bin/Bundle2PMVS" "$BUNDLER_PATH/bin/Bundle2Vis" "$BUNDLER_PATH/bin/KeyMatchFull" "$BUNDLER_PATH/bin/KeyMatch" "$BUNDLER_PATH/bin/bundler" "$BUNDLER_PATH/bin/RadialUndistort" "$TOOLS_BIN_PATH/"
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cp -f "$BUNDLER_PATH/bin/Bundle2PMVS" "$BUNDLER_PATH/bin/Bundle2Vis" "$BUNDLER_PATH/bin/KeyMatchFull" "$BUNDLER_PATH/bin/KeyMatch" "$BUNDLER_PATH/bin/bundler" "$BUNDLER_PATH/bin/RadialUndistort" "$TOOLS_BIN_PATH/"
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ln -s "$BUNDLER_PATH/lib/libANN_char.so" "$TOOLS_LIB_PATH/"
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cp -f "$BUNDLER_PATH/lib/libANN_char.so" "$TOOLS_LIB_PATH/"
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echo " < done - `date`"
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echo
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@ -0,0 +1,124 @@
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/*
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* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
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* and the University of Washington
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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/* KeyMatch.cpp */
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/* Read in keys, match, write results to a file */
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#include <time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include "keys2a.h"
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int main(int argc, char **argv) {
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char *keys1_in;
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char *keys2_in;
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char *file_out;
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double ratio, threshold;
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if (argc != 6) {
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printf("Usage: %s <keys1.in> <keys2.in> <out.txt> <ratio> <threshold>\n", argv[0]);
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return -1;
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}
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keys1_in = argv[1];
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keys2_in = argv[2];
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file_out = argv[3];
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ratio = atof(argv[4]);
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threshold = atof(argv[5]);
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clock_t start = clock();
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unsigned char *keys1, *keys2;
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int num1 = ReadKeyFile(keys1_in, &keys1);
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int num2 = ReadKeyFile(keys2_in, &keys2);
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/* Compute likely matches between two sets of keypoints */
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std::vector<KeypointMatch> matches =
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MatchKeys(num1, keys1, num2, keys2, ratio);
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#if 0
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std::vector<KeypointMatch> matches_sym =
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MatchKeys(num2, keys2, num1, keys1);
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#endif
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int num_matches = (int) matches.size();
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// int num_matches_sym = (int) matches_sym.size();
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// printf("num_matches = %d\n", num_matches);
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// printf("num_matches_sym = %d\n", num_matches_sym);
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#if 0
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/* Prune asymmetric matches */
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for (int i = 0; i < num_matches; i++) {
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int idx1 = matches[i].m_idx1;
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int idx2 = matches[i].m_idx2;
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for (int j = 0; j < num_matches_sym; j++) {
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if (matches_sym[j].m_idx1 == idx2) {
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if (matches_sym[j].m_idx2 != idx1) {
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matches.erase(matches.begin() + i);
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i--;
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num_matches--;
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}
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break;
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}
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}
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}
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#endif
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clock_t end = clock();
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int m = (num1 < num2 ? num1 : num2);
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float r = ((float)num_matches * 100 / m);
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bool used = false;
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if (num_matches >= 16 && r > threshold) {
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used = true;
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FILE *f = fopen(file_out, "w");
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/* Write the number of matches */
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fprintf(f, "%d\n", (int) matches.size());
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for (int i = 0; i < num_matches; i++) {
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fprintf(f, "%d %d\n", matches[i].m_idx1, matches[i].m_idx2);
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}
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fclose(f);
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}
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if(used) printf("\n%8d matches (%4.1f%%) took %5.2fs for %s\t",
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num_matches,
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r,
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(end - start) / ((double) CLOCKS_PER_SEC),
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file_out);
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/* printf("%8d matches = %5.2f%% %d in %6.3fs in %s\n",
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num_matches,
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r,
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m,
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(end - start) / ((double) CLOCKS_PER_SEC),
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file_out);
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*/
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}
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@ -0,0 +1,82 @@
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# Makefile for bundler
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CC=gcc
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OPTFLAGS=-O3 -Wall
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OS=$(shell uname -o)
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ifeq ($(OS), Cygwin)
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BUNDLER=bundler.exe
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KEYMATCHFULL=KeyMatchFull.exe
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KEYMATCH=KeyMatch.exe
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BUNDLE2PMVS=Bundle2PMVS.exe
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BUNDLE2VIS=Bundle2Vis.exe
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RADIALUNDISTORT=RadialUndistort.exe
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else
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BUNDLER=bundler
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KEYMATCHFULL=KeyMatchFull
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KEYMATCH=KeyMatch
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BUNDLE2PMVS=Bundle2PMVS
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BUNDLE2VIS=Bundle2Vis
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RADIALUNDISTORT=RadialUndistort
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endif
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INCLUDE_PATH=-I../lib/imagelib -I../lib/sfm-driver -I../lib/matrix \
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-I../lib/5point -I../lib/sba-1.5 -I../lib/ann_1.1_char/include
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LIB_PATH=-L../lib -L../lib/ann_1.1_char/lib
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CPPFLAGS=$(OPTFLAGS) $(OTHERFLAGS) $(INCLUDE_PATH) $(DEFINES)
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BUNDLER_DEFINES=-D__NO_UI__ -D__BUNDLER__ -D__BUNDLER_DISTR__
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BUNDLER_OBJS=BaseApp.o BundlerApp.o keys.o Register.o Epipolar.o \
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Bundle.o BundleFast.o MatchTracks.o Camera.o Geometry.o \
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ImageData.o SifterUtil.o BaseGeometry.o BundlerGeometry.o \
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BoundingBox.o BundleAdd.o ComputeTracks.o BruteForceSearch.o \
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BundleIO.o ProcessBundle.o BundleTwo.o Decompose.o \
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RelativePose.o Distortion.o TwoFrameModel.o LoadJPEG.o
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BUNDLER_LIBS=-limage -lsfmdrv -lsba.v1.5 -lmatrix -lz -llapack -lblas \
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-lcblas -lminpack -lm -l5point -ljpeg -lANN_char -lgfortran
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all: $(BUNDLER) $(KEYMATCHFULL) $(KEYMATCH) $(BUNDLE2PMVS) $(BUNDLE2VIS) $(RADIALUNDISTORT)
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%.o : %.cpp
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$(CXX) -c -o $@ $(CPPFLAGS) $(WXFLAGS) $(BUNDLER_DEFINES) $<
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$(BUNDLER): $(BUNDLER_OBJS)
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$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) \
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$(BUNDLER_DEFINES) $(BUNDLER_OBJS) $(BUNDLER_LIBS)
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cp $@ ../bin
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$(KEYMATCHFULL): KeyMatchFull.o keys2a.o
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$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) KeyMatchFull.o keys2a.o \
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-lANN_char -lz
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cp $@ ../bin
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$(KEYMATCH): KeyMatch.o keys2a.o
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$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) KeyMatch.o keys2a.o \
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-lANN_char -lz
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cp $@ ../bin
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$(BUNDLE2PMVS): Bundle2PMVS.o LoadJPEG.o
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$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) Bundle2PMVS.o LoadJPEG.o \
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-limage -lmatrix -llapack -lblas -lcblas -lgfortran \
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-lminpack -ljpeg
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cp $@ ../bin
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$(BUNDLE2VIS): Bundle2Vis.o
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$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) Bundle2Vis.o
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cp $@ ../bin
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$(RADIALUNDISTORT): RadialUndistort.o LoadJPEG.o
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$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) $^ \
|
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-limage -lmatrix -llapack -lblas -lcblas -lgfortran \
|
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-lminpack -ljpeg
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cp $@ ../bin
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clean:
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rm -f *.o *~ $(BUNDLER) $(KEYMATCHFULL) $(KEYMATCH) $(BUNDLE2PMVS) \
|
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$(BUNDLE2VIS) $(RADIALUNDISTORT)
|
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|
|
@ -0,0 +1,465 @@
|
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/*
|
||||
* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
|
||||
* and the University of Washington
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 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 General Public License for more details.
|
||||
*
|
||||
*/
|
||||
|
||||
/* keys2.cpp */
|
||||
/* Class for SIFT keypoints */
|
||||
|
||||
#include <assert.h>
|
||||
#include <math.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
|
||||
#include <zlib.h>
|
||||
|
||||
#include "keys2a.h"
|
||||
|
||||
int GetNumberOfKeysNormal(FILE *fp)
|
||||
{
|
||||
int num, len;
|
||||
|
||||
if (fscanf(fp, "%d %d", &num, &len) != 2) {
|
||||
printf("Invalid keypoint file.\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return num;
|
||||
}
|
||||
|
||||
int GetNumberOfKeysGzip(gzFile fp)
|
||||
{
|
||||
int num, len;
|
||||
|
||||
char header[256];
|
||||
gzgets(fp, header, 256);
|
||||
|
||||
if (sscanf(header, "%d %d", &num, &len) != 2) {
|
||||
printf("Invalid keypoint file.\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return num;
|
||||
}
|
||||
|
||||
/* Returns the number of keys in a file */
|
||||
int GetNumberOfKeys(const char *filename)
|
||||
{
|
||||
FILE *file;
|
||||
|
||||
file = fopen (filename, "r");
|
||||
if (! file) {
|
||||
/* Try to file a gzipped keyfile */
|
||||
char buf[1024];
|
||||
sprintf(buf, "%s.gz", filename);
|
||||
gzFile gzf = gzopen(buf, "rb");
|
||||
|
||||
if (gzf == NULL) {
|
||||
printf("Could not open file: %s\n", filename);
|
||||
return 0;
|
||||
} else {
|
||||
int n = GetNumberOfKeysGzip(gzf);
|
||||
gzclose(gzf);
|
||||
return n;
|
||||
}
|
||||
}
|
||||
|
||||
int n = GetNumberOfKeysNormal(file);
|
||||
fclose(file);
|
||||
return n;
|
||||
}
|
||||
|
||||
/* This reads a keypoint file from a given filename and returns the list
|
||||
* of keypoints. */
|
||||
int ReadKeyFile(const char *filename, unsigned char **keys, keypt_t **info)
|
||||
{
|
||||
FILE *file;
|
||||
|
||||
file = fopen (filename, "r");
|
||||
if (! file) {
|
||||
/* Try to file a gzipped keyfile */
|
||||
char buf[1024];
|
||||
sprintf(buf, "%s.bin", filename);
|
||||
FILE *binfile = fopen(buf, "rb");
|
||||
|
||||
if (binfile == NULL) {
|
||||
printf("Could not open file: %s\n", filename);
|
||||
return 0;
|
||||
} else {
|
||||
int n = ReadKeysBin(binfile, keys, info);
|
||||
fclose(binfile);
|
||||
return n;
|
||||
}
|
||||
}
|
||||
|
||||
int n = ReadKeys(file, keys, info);
|
||||
fclose(file);
|
||||
return n;
|
||||
|
||||
// return ReadKeysMMAP(file);
|
||||
}
|
||||
|
||||
#if 0
|
||||
/* Read keys using MMAP to speed things up */
|
||||
std::vector<Keypoint *> ReadKeysMMAP(FILE *fp)
|
||||
{
|
||||
int i, j, num, len, val, n;
|
||||
|
||||
std::vector<Keypoint *> kps;
|
||||
|
||||
struct stat sb;
|
||||
|
||||
/* Stat the file */
|
||||
if (fstat(fileno(fp), &sb) < 0) {
|
||||
printf("[ReadKeysMMAP] Error: could not stat file\n");
|
||||
return kps;
|
||||
}
|
||||
|
||||
char *file = (char *)mmap(NULL, sb.st_size, PROT_READ, MAP_SHARED,
|
||||
fileno(fp), 0);
|
||||
|
||||
char *file_start = file;
|
||||
|
||||
if (sscanf(file, "%d %d%n", &num, &len, &n) != 2) {
|
||||
printf("[ReadKeysMMAP] Invalid keypoint file beginning.");
|
||||
return kps;
|
||||
}
|
||||
|
||||
file += n;
|
||||
|
||||
if (len != 128) {
|
||||
printf("[ReadKeysMMAP] Keypoint descriptor length invalid "
|
||||
"(should be 128).");
|
||||
return kps;
|
||||
}
|
||||
|
||||
for (i = 0; i < num; i++) {
|
||||
/* Allocate memory for the keypoint. */
|
||||
unsigned char *d = new unsigned char[len];
|
||||
float x, y, scale, ori;
|
||||
|
||||
if (sscanf(file, "%f %f %f %f%n", &y, &x, &scale, &ori, &n) != 4) {
|
||||
printf("[ReadKeysMMAP] Invalid keypoint file format.");
|
||||
return kps;
|
||||
}
|
||||
|
||||
file += n;
|
||||
|
||||
for (j = 0; j < len; j++) {
|
||||
if (sscanf(file, "%d%n", &val, &n) != 1 || val < 0 || val > 255) {
|
||||
printf("[ReadKeysMMAP] Invalid keypoint file value.");
|
||||
return kps;
|
||||
}
|
||||
d[j] = (unsigned char) val;
|
||||
file += n;
|
||||
}
|
||||
|
||||
kps.push_back(new Keypoint(x, y, scale, ori, d));
|
||||
}
|
||||
|
||||
/* Unmap */
|
||||
if (munmap(file_start, sb.st_size) < 0) {
|
||||
printf("[ReadKeysMMAP] Error: could not unmap memory\n");
|
||||
return kps;
|
||||
}
|
||||
|
||||
return kps;
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Read keypoints from the given file pointer and return the list of
|
||||
* keypoints. The file format starts with 2 integers giving the total
|
||||
* number of keypoints and the size of descriptor vector for each
|
||||
* keypoint (currently assumed to be 128). Then each keypoint is
|
||||
* specified by 4 floating point numbers giving subpixel row and
|
||||
* column location, scale, and orientation (in radians from -PI to
|
||||
* PI). Then the descriptor vector for each keypoint is given as a
|
||||
* list of integers in range [0,255]. */
|
||||
int ReadKeys(FILE *fp, unsigned char **keys, keypt_t **info)
|
||||
{
|
||||
int i, num, len;
|
||||
|
||||
std::vector<Keypoint *> kps;
|
||||
|
||||
if (fscanf(fp, "%d %d", &num, &len) != 2) {
|
||||
printf("Invalid keypoint file\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (len != 128) {
|
||||
printf("Keypoint descriptor length invalid (should be 128).");
|
||||
return 0;
|
||||
}
|
||||
|
||||
*keys = new unsigned char[128 * num + 8];
|
||||
|
||||
if (info != NULL)
|
||||
*info = new keypt_t[num];
|
||||
|
||||
unsigned char *p = *keys;
|
||||
for (i = 0; i < num; i++) {
|
||||
/* Allocate memory for the keypoint. */
|
||||
// short int *d = new short int[128];
|
||||
float x, y, scale, ori;
|
||||
|
||||
if (fscanf(fp, "%f %f %f %f\n", &y, &x, &scale, &ori) != 4) {
|
||||
printf("Invalid keypoint file format.");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (info != NULL) {
|
||||
(*info)[i].x = x;
|
||||
(*info)[i].y = y;
|
||||
(*info)[i].scale = scale;
|
||||
(*info)[i].orient = ori;
|
||||
}
|
||||
|
||||
char buf[1024];
|
||||
for (int line = 0; line < 7; line++) {
|
||||
fgets(buf, 1024, fp);
|
||||
|
||||
if (line < 6) {
|
||||
sscanf(buf,
|
||||
"%hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu "
|
||||
"%hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu",
|
||||
p+0, p+1, p+2, p+3, p+4, p+5, p+6, p+7, p+8, p+9,
|
||||
p+10, p+11, p+12, p+13, p+14,
|
||||
p+15, p+16, p+17, p+18, p+19);
|
||||
|
||||
p += 20;
|
||||
} else {
|
||||
sscanf(buf,
|
||||
"%hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu",
|
||||
p+0, p+1, p+2, p+3, p+4, p+5, p+6, p+7);
|
||||
p += 8;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return num; // kps;
|
||||
}
|
||||
|
||||
int ReadKeysBin(FILE* fp, unsigned char **keys, keypt_t **info)
|
||||
{
|
||||
|
||||
int32_t num_keys;
|
||||
fread(&num_keys, sizeof(int), 1, fp);
|
||||
// printf("num_keys: %d\n", num_keys);
|
||||
|
||||
|
||||
*keys = new unsigned char[128 * num_keys + 8];
|
||||
|
||||
if (info != NULL)
|
||||
*info = new keypt_t[num_keys];
|
||||
|
||||
unsigned char *p = *keys;
|
||||
for (int i = 0; i < num_keys; i++) {
|
||||
/* Allocate memory for the keypoint. */
|
||||
// short int *d = new short int[128];
|
||||
float x, y, scale, ori;
|
||||
|
||||
fread(&x, sizeof(float), 1, fp);
|
||||
fread(&y, sizeof(float), 1, fp);
|
||||
fread(&scale, sizeof(float), 1, fp);
|
||||
fread(&ori, sizeof(float), 1, fp);
|
||||
|
||||
if (info != NULL) {
|
||||
(*info)[i].x = x;
|
||||
(*info)[i].y = y;
|
||||
(*info)[i].scale = scale;
|
||||
(*info)[i].orient = ori;
|
||||
}
|
||||
|
||||
fread(p, sizeof(unsigned char), 128, fp);
|
||||
|
||||
// printf("key %d: %f, %f, %f, %f - %d\n", i, x, y, scale, ori, *p);
|
||||
|
||||
p += 128;
|
||||
}
|
||||
|
||||
|
||||
return num_keys;
|
||||
}
|
||||
int ReadKeysGzip(gzFile fp, unsigned char **keys, keypt_t **info)
|
||||
{
|
||||
int i, num, len;
|
||||
|
||||
std::vector<Keypoint *> kps;
|
||||
char header[256];
|
||||
gzgets(fp, header, 256);
|
||||
|
||||
if (sscanf(header, "%d %d", &num, &len) != 2) {
|
||||
printf("Invalid keypoint file.\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (len != 128) {
|
||||
printf("Keypoint descriptor length invalid (should be 128).");
|
||||
return 0;
|
||||
}
|
||||
|
||||
*keys = new unsigned char[128 * num + 8];
|
||||
|
||||
if (info != NULL)
|
||||
*info = new keypt_t[num];
|
||||
|
||||
unsigned char *p = *keys;
|
||||
for (i = 0; i < num; i++) {
|
||||
/* Allocate memory for the keypoint. */
|
||||
// short int *d = new short int[128];
|
||||
float x, y, scale, ori;
|
||||
char buf[1024];
|
||||
gzgets(fp, buf, 1024);
|
||||
|
||||
if (sscanf(buf, "%f %f %f %f\n", &y, &x, &scale, &ori) != 4) {
|
||||
printf("Invalid keypoint file format.");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (info != NULL) {
|
||||
(*info)[i].x = x;
|
||||
(*info)[i].y = y;
|
||||
(*info)[i].scale = scale;
|
||||
(*info)[i].orient = ori;
|
||||
}
|
||||
|
||||
for (int line = 0; line < 7; line++) {
|
||||
char *str = gzgets(fp, buf, 1024);
|
||||
assert(str != Z_NULL);
|
||||
|
||||
if (line < 6) {
|
||||
sscanf(buf,
|
||||
"%hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu "
|
||||
"%hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu",
|
||||
p+0, p+1, p+2, p+3, p+4, p+5, p+6, p+7, p+8, p+9,
|
||||
p+10, p+11, p+12, p+13, p+14,
|
||||
p+15, p+16, p+17, p+18, p+19);
|
||||
|
||||
p += 20;
|
||||
} else {
|
||||
sscanf(buf,
|
||||
"%hhu %hhu %hhu %hhu %hhu %hhu %hhu %hhu",
|
||||
p+0, p+1, p+2, p+3, p+4, p+5, p+6, p+7);
|
||||
p += 8;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
assert(p == *keys + 128 * num);
|
||||
|
||||
return num; // kps;
|
||||
}
|
||||
|
||||
/* Create a search tree for the given set of keypoints */
|
||||
ANNkd_tree *CreateSearchTree(int num_keys, unsigned char *keys)
|
||||
{
|
||||
// clock_t start = clock();
|
||||
|
||||
/* Create a new array of points */
|
||||
ANNpointArray pts = annAllocPts(num_keys, 128);
|
||||
|
||||
for (int i = 0; i < num_keys; i++) {
|
||||
memcpy(pts[i], keys + 128 * i, sizeof(unsigned char) * 128);
|
||||
}
|
||||
|
||||
/* Create a search tree for k2 */
|
||||
ANNkd_tree *tree = new ANNkd_tree(pts, num_keys, 128, 16);
|
||||
// clock_t end = clock();
|
||||
|
||||
// printf("Building tree took %0.3fs\n",
|
||||
// (end - start) / ((double) CLOCKS_PER_SEC));
|
||||
|
||||
return tree;
|
||||
}
|
||||
|
||||
std::vector<KeypointMatch> MatchKeys(int num_keys1, unsigned char *k1,
|
||||
ANNkd_tree *tree2,
|
||||
double ratio, int max_pts_visit)
|
||||
{
|
||||
annMaxPtsVisit(max_pts_visit);
|
||||
std::vector<KeypointMatch> matches;
|
||||
|
||||
/* Now do the search */
|
||||
// clock_t start = clock();
|
||||
for (int i = 0; i < num_keys1; i++) {
|
||||
ANNidx nn_idx[2];
|
||||
ANNdist dist[2];
|
||||
|
||||
tree2->annkPriSearch(k1 + 128 * i, 2, nn_idx, dist, 0.0);
|
||||
|
||||
if (((double) dist[0]) < ratio * ratio * ((double) dist[1])) {
|
||||
matches.push_back(KeypointMatch(i, nn_idx[0]));
|
||||
}
|
||||
}
|
||||
// clock_t end = clock();
|
||||
|
||||
// printf("Searching tree took %0.3fs\n",
|
||||
// (end - start) / ((double) CLOCKS_PER_SEC));
|
||||
|
||||
return matches;
|
||||
}
|
||||
|
||||
/* Compute likely matches between two sets of keypoints */
|
||||
std::vector<KeypointMatch> MatchKeys(int num_keys1, unsigned char *k1,
|
||||
int num_keys2, unsigned char *k2,
|
||||
double ratio, int max_pts_visit)
|
||||
{
|
||||
annMaxPtsVisit(max_pts_visit);
|
||||
|
||||
int num_pts = 0;
|
||||
std::vector<KeypointMatch> matches;
|
||||
|
||||
num_pts = num_keys2;
|
||||
clock_t start = clock();
|
||||
|
||||
/* Create a new array of points */
|
||||
ANNpointArray pts = annAllocPts(num_pts, 128);
|
||||
|
||||
for (int i = 0; i < num_pts; i++) {
|
||||
memcpy(pts[i], k2 + 128 * i, sizeof(unsigned char) * 128);
|
||||
}
|
||||
|
||||
/* Create a search tree for k2 */
|
||||
ANNkd_tree *tree = new ANNkd_tree(pts, num_pts, 128, 16);
|
||||
clock_t end = clock();
|
||||
|
||||
// printf("Building tree took %0.3fs\n",
|
||||
// (end - start) / ((double) CLOCKS_PER_SEC));
|
||||
|
||||
/* Now do the search */
|
||||
start = clock();
|
||||
for (int i = 0; i < num_keys1; i++) {
|
||||
ANNidx nn_idx[2];
|
||||
ANNdist dist[2];
|
||||
|
||||
tree->annkPriSearch(k1 + 128 * i, 2, nn_idx, dist, 0.0);
|
||||
|
||||
if (((double) dist[0]) < ratio * ratio * ((double) dist[1])) {
|
||||
matches.push_back(KeypointMatch(i, nn_idx[0]));
|
||||
}
|
||||
}
|
||||
end = clock();
|
||||
// printf("Searching tree took %0.3fs\n",
|
||||
// (end - start) / ((double) CLOCKS_PER_SEC));
|
||||
|
||||
/* Cleanup */
|
||||
annDeallocPts(pts);
|
||||
// annDeallocPt(axis_weights);
|
||||
|
||||
delete tree;
|
||||
|
||||
return matches;
|
||||
}
|
||||
|
|
@ -0,0 +1,110 @@
|
|||
/*
|
||||
* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
|
||||
* and the University of Washington
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 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 General Public License for more details.
|
||||
*
|
||||
*/
|
||||
|
||||
/* keys2a.h */
|
||||
/* Class for SIFT keypoints */
|
||||
|
||||
#ifndef __keys2a_h__
|
||||
#define __keys2a_h__
|
||||
|
||||
#include <vector>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <zlib.h>
|
||||
|
||||
#include "ANN/ANN.h"
|
||||
|
||||
using namespace ann_1_1_char;
|
||||
|
||||
class Keypoint {
|
||||
public:
|
||||
Keypoint(float x, float y, float scale, float ori, short int *d) :
|
||||
m_x(x), m_y(y), m_scale(scale), m_ori(ori), m_d(d)
|
||||
{ }
|
||||
|
||||
float m_x, m_y; /* Subpixel location of keypoint. */
|
||||
float m_scale, m_ori; /* Scale and orientation (range [-PI,PI]) */
|
||||
short int *m_d; /* Vector of descriptor values */
|
||||
};
|
||||
|
||||
|
||||
/* Data struct for matches */
|
||||
class KeypointMatch {
|
||||
public:
|
||||
KeypointMatch()
|
||||
{ }
|
||||
|
||||
#if 0
|
||||
KeypointMatch(int idx1, int idx2, float x1, float y1, float x2, float y2) :
|
||||
m_idx1(idx1), m_idx2(idx2), m_x1(x1), m_y1(y1), m_x2(x2), m_y2(y2)
|
||||
{ }
|
||||
#endif
|
||||
|
||||
KeypointMatch(int idx1, int idx2) :
|
||||
m_idx1(idx1), m_idx2(idx2)
|
||||
{ }
|
||||
|
||||
int m_idx1, m_idx2;
|
||||
// float m_x1, m_y1;
|
||||
// float m_x2, m_y2;
|
||||
};
|
||||
|
||||
typedef struct {
|
||||
float x, y;
|
||||
float scale;
|
||||
float orient;
|
||||
} keypt_t;
|
||||
|
||||
/* Returns the number of keys in a file */
|
||||
int GetNumberOfKeys(const char *filename);
|
||||
|
||||
/* This reads a keypoint file from a given filename and returns the list
|
||||
* of keypoints. */
|
||||
int ReadKeyFile(const char *filename, unsigned char **keys,
|
||||
keypt_t **info = NULL);
|
||||
|
||||
int ReadKeyPositions(const char *filename, keypt_t **info);
|
||||
|
||||
/* Read keypoints from the given file pointer and return the list of
|
||||
* keypoints. The file format starts with 2 integers giving the total
|
||||
* number of keypoints and the size of descriptor vector for each
|
||||
* keypoint (currently assumed to be 128). Then each keypoint is
|
||||
* specified by 4 floating point numbers giving subpixel row and
|
||||
* column location, scale, and orientation (in radians from -PI to
|
||||
* PI). Then the descriptor vector for each keypoint is given as a
|
||||
* list of integers in range [0,255]. */
|
||||
int ReadKeys(FILE *fp, unsigned char **keys, keypt_t **info = NULL);
|
||||
int ReadKeysBin(FILE *fp, unsigned char **keys, keypt_t **info = NULL);
|
||||
int ReadKeysGzip(gzFile fp, unsigned char **keys, keypt_t **info = NULL);
|
||||
|
||||
/* Read keys using MMAP to speed things up */
|
||||
std::vector<Keypoint *> ReadKeysMMAP(FILE *fp);
|
||||
|
||||
/* Create a search tree for the given set of keypoints */
|
||||
ANNkd_tree *CreateSearchTree(int num_keys, unsigned char *keys);
|
||||
|
||||
/* Compute likely matches between two sets of keypoints */
|
||||
std::vector<KeypointMatch> MatchKeys(int num_keys1, unsigned char *k1,
|
||||
int num_keys2, unsigned char *k2,
|
||||
double ratio = 0.6,
|
||||
int max_pts_visit = 200);
|
||||
|
||||
std::vector<KeypointMatch> MatchKeys(int num_keys1, unsigned char *k1,
|
||||
ANNkd_tree *tree2,
|
||||
double ratio = 0.6,
|
||||
int max_pts_visit = 200);
|
||||
|
||||
#endif /* __keys2_h__ */
|
||||
1
run.pl
1
run.pl
|
|
@ -684,7 +684,6 @@ sub bundler {
|
|||
$bundlerOptions .= "--constrain_focal\n";
|
||||
$bundlerOptions .= "--constrain_focal_weight 0.0\n";
|
||||
$bundlerOptions .= "--estimate_distortion\n";
|
||||
$bundlerOptions .= "--use_ceres\n";
|
||||
$bundlerOptions .= "--run_bundle";
|
||||
|
||||
system("echo \"$bundlerOptions\" > \"$jobOptions{step_3_bundlerOptions}\"");
|
||||
|
|
|
|||
|
|
@ -1 +0,0 @@
|
|||
Subproject commit b34cc5dcd54345272028b68f82fa4d0ae8a103c9
|
||||
|
|
@ -1 +0,0 @@
|
|||
Subproject commit b0696f6269d12abc6ea63083d565fe2ec8172da9
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Ładowanie…
Reference in New Issue