Revert "Revert "Upgrade Bundler + add support for Ceres solver""

This reverts commit b64592a921 [formerly 667ea4e8ff].

Conflicts:
	.gitignore
	install.sh

Former-commit-id: 5041494d32
gh-pages
Dakota Benjamin 2015-08-21 14:13:42 -04:00
rodzic 26b0ca48b6
commit 843562ecc7
11 zmienionych plików z 45 dodań i 797 usunięć

4
.gitignore vendored
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@ -8,6 +8,10 @@ odm_texturing-build/
*.user
cmvs.tar.gz
parallel.tar.bz2
<<<<<<< HEAD
LAStools.zip
pcl.tar.gz
*.pyc
=======
pcl.tar.gz
>>>>>>> parent of 667ea4e... Revert "Upgrade Bundler + add support for Ceres solver"

6
.gitmodules vendored 100644
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@ -0,0 +1,6 @@
[submodule "src/bundler"]
path = src/bundler
url = https://github.com/chris-cooper/bundler_sfm
[submodule "src/ceres-solver"]
path = src/ceres-solver
url = https://ceres-solver.googlesource.com/ceres-solver

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@ -1 +0,0 @@
adcbb33f758d9d13c5bf07348d048620b70dc392

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@ -31,14 +31,15 @@ echo " - script started - `date`"
INC_PATH="/usr/local/include"
## source paths
BUNDLER_PATH="$TOOLS_SRC_PATH/bundler"
CMVS_PATH="$TOOLS_SRC_PATH/cmvs"
PMVS_PATH="$TOOLS_SRC_PATH/pmvs"
CLAPACK_PATH="$TOOLS_SRC_PATH/clapack"
VLFEAT_PATH="$TOOLS_SRC_PATH/vlfeat"
PARALLEL_PATH="$TOOLS_SRC_PATH/parallel"
PSR_PATH="$TOOLS_SRC_PATH/PoissonRecon"
GRACLUS_PATH="$TOOLS_SRC_PATH/graclus"
BUNDLER_PATH="$TOOLS_SRC_PATH/bundler"
CMVS_PATH="$TOOLS_SRC_PATH/cmvs"
PMVS_PATH="$TOOLS_SRC_PATH/pmvs"
CLAPACK_PATH="$TOOLS_SRC_PATH/clapack"
VLFEAT_PATH="$TOOLS_SRC_PATH/vlfeat"
PARALLEL_PATH="$TOOLS_SRC_PATH/parallel"
PSR_PATH="$TOOLS_SRC_PATH/PoissonRecon"
GRACLUS_PATH="$TOOLS_SRC_PATH/graclus"
CERES_PATH="$TOOLS_SRC_PATH/ceres-solver"
PCL_PATH="$TOOLS_SRC_PATH/pcl"
LASTOOLS_PATH="$TOOLS_SRC_PATH/lastools"
@ -104,6 +105,10 @@ uname -a > "$TOOLS_LOG_PATH/sysinfo.txt"
echo
echo " > installing required packages"
echo " - installing git submodules"
git submodule init
git submodule update
echo " - updating"
sudo apt-get update --assume-yes > "$TOOLS_LOG_PATH/apt-get_get.log" 2>&1
@ -123,6 +128,7 @@ sudo apt-get install --assume-yes --install-recommends \
libcv-dev libcvaux-dev libopencv-dev \
gdal-bin \
exiv2 \
libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev \
> "$TOOLS_LOG_PATH/apt-get_install.log" 2>&1
else
sudo apt-get install --assume-yes --install-recommends \
@ -138,6 +144,7 @@ sudo apt-get install --assume-yes --install-recommends \
libcv-dev libcvaux-dev libopencv-dev \
gdal-bin \
exiv2 \
libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev \
> "$TOOLS_LOG_PATH/apt-get_install.log" 2>&1
fi
@ -166,7 +173,6 @@ do
done <<EOF
parallel.tar.bz2 http://ftp.gnu.org/gnu/parallel/parallel-20141022.tar.bz2
clapack.tgz http://www.netlib.org/clapack/clapack-3.2.1-CMAKE.tgz
bundler.zip http://phototour.cs.washington.edu/bundler/distr/bundler-v0.4-source.zip
PoissonRecon.zip http://www.cs.jhu.edu/~misha/Code/PoissonRecon/Version2/PoissonRecon.zip
vlfeat.tar.gz http://www.vlfeat.org/download/vlfeat-0.9.13-bin.tar.gz
cmvs.tar.gz http://www.di.ens.fr/cmvs/cmvs-fix2.tar.gz
@ -196,7 +202,6 @@ wait
mv -f graclus1.2 "$GRACLUS_PATH"
mv -f clapack-3.2.1-CMAKE "$CLAPACK_PATH"
mv -f vlfeat-0.9.13 "$VLFEAT_PATH"
mv -f bundler-v0.4-source "$BUNDLER_PATH"
mv -f parallel-20141022 "$PARALLEL_PATH"
mv -f PoissonRecon "$PSR_PATH"
mv -f cmvs "$CMVS_PATH"
@ -204,7 +209,6 @@ mv -f pcl-pcl-1.7.2 "$PCL_PATH"
mv -f LAStools "$LASTOOLS_PATH"
echo " < done - `date`"
@ -371,21 +375,34 @@ echo " > cmvs/pmvs"
echo " < done - `date`"
echo
echo " > ceres"
cd "$CERES_PATH"
echo " - configuring ceres"
mkdir -p build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$TOOLS_PATH \
-DCMAKE_C_FLAGS=-fPIC -DCMAKE_CXX_FLAGS=-fPIC \
-DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF > "$TOOLS_LOG_PATH/ceres_1_config.log" 2>&1
echo " - building ceres"
make install > "$TOOLS_LOG_PATH/ceres_1_build.log" 2>&1
echo " < done - `date`"
echo
echo " > bundler"
cd "$BUNDLER_PATH"
sed -i "$BUNDLER_PATH/src/BundlerApp.h" -e "620c\ BundlerApp();"
echo " - cleaning bundler"
make clean > "$TOOLS_LOG_PATH/bundler_1_clean.log" 2>&1
echo " - building bundler"
make -j > "$TOOLS_LOG_PATH/bundler_2_build.log" 2>&1
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" "$TOOLS_BIN_PATH/"
ln -s "$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/"
cp -f "$BUNDLER_PATH/lib/libANN_char.so" "$TOOLS_LIB_PATH/"
ln -s "$BUNDLER_PATH/lib/libANN_char.so" "$TOOLS_LIB_PATH/"
echo " < done - `date`"
echo

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@ -1,124 +0,0 @@
/*
* 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.
*
*/
/* KeyMatch.cpp */
/* Read in keys, match, write results to a file */
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include "keys2a.h"
int main(int argc, char **argv) {
char *keys1_in;
char *keys2_in;
char *file_out;
double ratio, threshold;
if (argc != 6) {
printf("Usage: %s <keys1.in> <keys2.in> <out.txt> <ratio> <threshold>\n", argv[0]);
return -1;
}
keys1_in = argv[1];
keys2_in = argv[2];
file_out = argv[3];
ratio = atof(argv[4]);
threshold = atof(argv[5]);
clock_t start = clock();
unsigned char *keys1, *keys2;
int num1 = ReadKeyFile(keys1_in, &keys1);
int num2 = ReadKeyFile(keys2_in, &keys2);
/* Compute likely matches between two sets of keypoints */
std::vector<KeypointMatch> matches =
MatchKeys(num1, keys1, num2, keys2, ratio);
#if 0
std::vector<KeypointMatch> matches_sym =
MatchKeys(num2, keys2, num1, keys1);
#endif
int num_matches = (int) matches.size();
// int num_matches_sym = (int) matches_sym.size();
// printf("num_matches = %d\n", num_matches);
// printf("num_matches_sym = %d\n", num_matches_sym);
#if 0
/* Prune asymmetric matches */
for (int i = 0; i < num_matches; i++) {
int idx1 = matches[i].m_idx1;
int idx2 = matches[i].m_idx2;
for (int j = 0; j < num_matches_sym; j++) {
if (matches_sym[j].m_idx1 == idx2) {
if (matches_sym[j].m_idx2 != idx1) {
matches.erase(matches.begin() + i);
i--;
num_matches--;
}
break;
}
}
}
#endif
clock_t end = clock();
int m = (num1 < num2 ? num1 : num2);
float r = ((float)num_matches * 100 / m);
bool used = false;
if (num_matches >= 16 && r > threshold) {
used = true;
FILE *f = fopen(file_out, "w");
/* Write the number of matches */
fprintf(f, "%d\n", (int) matches.size());
for (int i = 0; i < num_matches; i++) {
fprintf(f, "%d %d\n", matches[i].m_idx1, matches[i].m_idx2);
}
fclose(f);
}
if(used) printf("\n%8d matches (%4.1f%%) took %5.2fs for %s\t",
num_matches,
r,
(end - start) / ((double) CLOCKS_PER_SEC),
file_out);
/* printf("%8d matches = %5.2f%% %d in %6.3fs in %s\n",
num_matches,
r,
m,
(end - start) / ((double) CLOCKS_PER_SEC),
file_out);
*/
}

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@ -1,82 +0,0 @@
# Makefile for bundler
CC=gcc
OPTFLAGS=-O3 -Wall
OS=$(shell uname -o)
ifeq ($(OS), Cygwin)
BUNDLER=bundler.exe
KEYMATCHFULL=KeyMatchFull.exe
KEYMATCH=KeyMatch.exe
BUNDLE2PMVS=Bundle2PMVS.exe
BUNDLE2VIS=Bundle2Vis.exe
RADIALUNDISTORT=RadialUndistort.exe
else
BUNDLER=bundler
KEYMATCHFULL=KeyMatchFull
KEYMATCH=KeyMatch
BUNDLE2PMVS=Bundle2PMVS
BUNDLE2VIS=Bundle2Vis
RADIALUNDISTORT=RadialUndistort
endif
INCLUDE_PATH=-I../lib/imagelib -I../lib/sfm-driver -I../lib/matrix \
-I../lib/5point -I../lib/sba-1.5 -I../lib/ann_1.1_char/include
LIB_PATH=-L../lib -L../lib/ann_1.1_char/lib
CPPFLAGS=$(OPTFLAGS) $(OTHERFLAGS) $(INCLUDE_PATH) $(DEFINES)
BUNDLER_DEFINES=-D__NO_UI__ -D__BUNDLER__ -D__BUNDLER_DISTR__
BUNDLER_OBJS=BaseApp.o BundlerApp.o keys.o Register.o Epipolar.o \
Bundle.o BundleFast.o MatchTracks.o Camera.o Geometry.o \
ImageData.o SifterUtil.o BaseGeometry.o BundlerGeometry.o \
BoundingBox.o BundleAdd.o ComputeTracks.o BruteForceSearch.o \
BundleIO.o ProcessBundle.o BundleTwo.o Decompose.o \
RelativePose.o Distortion.o TwoFrameModel.o LoadJPEG.o
BUNDLER_LIBS=-limage -lsfmdrv -lsba.v1.5 -lmatrix -lz -llapack -lblas \
-lcblas -lminpack -lm -l5point -ljpeg -lANN_char -lgfortran
all: $(BUNDLER) $(KEYMATCHFULL) $(KEYMATCH) $(BUNDLE2PMVS) $(BUNDLE2VIS) $(RADIALUNDISTORT)
%.o : %.cpp
$(CXX) -c -o $@ $(CPPFLAGS) $(WXFLAGS) $(BUNDLER_DEFINES) $<
$(BUNDLER): $(BUNDLER_OBJS)
$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) \
$(BUNDLER_DEFINES) $(BUNDLER_OBJS) $(BUNDLER_LIBS)
cp $@ ../bin
$(KEYMATCHFULL): KeyMatchFull.o keys2a.o
$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) KeyMatchFull.o keys2a.o \
-lANN_char -lz
cp $@ ../bin
$(KEYMATCH): KeyMatch.o keys2a.o
$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) KeyMatch.o keys2a.o \
-lANN_char -lz
cp $@ ../bin
$(BUNDLE2PMVS): Bundle2PMVS.o LoadJPEG.o
$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) Bundle2PMVS.o LoadJPEG.o \
-limage -lmatrix -llapack -lblas -lcblas -lgfortran \
-lminpack -ljpeg
cp $@ ../bin
$(BUNDLE2VIS): Bundle2Vis.o
$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) Bundle2Vis.o
cp $@ ../bin
$(RADIALUNDISTORT): RadialUndistort.o LoadJPEG.o
$(CXX) -o $@ $(CPPFLAGS) $(LIB_PATH) $^ \
-limage -lmatrix -llapack -lblas -lcblas -lgfortran \
-lminpack -ljpeg
cp $@ ../bin
clean:
rm -f *.o *~ $(BUNDLER) $(KEYMATCHFULL) $(KEYMATCH) $(BUNDLE2PMVS) \
$(BUNDLE2VIS) $(RADIALUNDISTORT)

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@ -1,465 +0,0 @@
/*
* 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;
}

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@ -1,110 +0,0 @@
/*
* 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
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@ -684,6 +684,7 @@ 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
src/bundler 160000

@ -0,0 +1 @@
Subproject commit b34cc5dcd54345272028b68f82fa4d0ae8a103c9

1
src/ceres-solver 160000

@ -0,0 +1 @@
Subproject commit b0696f6269d12abc6ea63083d565fe2ec8172da9